Container transfer device

Abstract

To provide a technique advantageous for stably holding a container by a holding part that moves together with a carrier.SOLUTION: A container transfer device includes: a carrier 25 that moves along a transfer track; a holding device that includes a first holding unit 23A having a first holding part 27A for holding a container and a second holding unit 23B having a second holding part 27B for holding the container, and moves with the carrier 25; and an opening and closing device 30 that is attached to the first holding unit 23A and the second holding unit 23B, and changes an interval between the first holding part 27A and the second holding part 27B.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a container transfer device. [Background technology]

[0002] Patent Document 1 discloses a conveying device that conveys bag-shaped containers by using a linear motor including an electromagnetic coil and a permanent magnet. In the conveying device of Patent Document 1, a gripper runs along an elliptical conveying path while gripping a bag-shaped container. Each gripper in Patent Document 1 includes two sets of a mover, an arm, and a gripping claw, and the two sets form a pair to grip a bag-shaped container. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-172140 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the conveying device of Patent Document 1, two gripping claws for gripping one bag-shaped container are mounted on two movable elements, respectively. When one container is supported and conveyed by a plurality of holders (e.g., gripping claws) moved by separate carriers (e.g., movable elements) in this manner, the distance between the holders is adjusted by changing the distance between the carriers.

[0005] In this case, in order to transport the container while supporting it in the desired state with the holding part, it is necessary to move the two carriers in a pair in a synchronized manner. In particular, when transporting a large number of containers at the same time, it is necessary to simultaneously control the movements of the large number of carriers, and a complex control process is required to move such a large number of carriers in a synchronized manner.

[0006] Furthermore, if the orientation of the holding parts mounted on the carriers changes depending on the orientation of the carriers, the spacing between the holding parts may change with the change in the orientation of the carriers even if the spacing between the carriers (particularly the reference positions) is kept constant. In this case, for example, in order to keep the spacing between the holding parts constant, it is necessary to move each carrier while taking into account the orientation of each carrier in addition to the spacing between the carriers, which requires complex control processing.

[0007] When complex control processing is required to transport the containers together with the carrier as described above, a high-performance and expensive control device is required to perform such control processing at high speed. On the other hand, when a cheap control device with inferior performance is used, it is difficult to perform complex calculation processing at high speed, and it may become impossible to properly calculate the control parameters, which may result in the containers not being held stably.

[0008] The present disclosure has been made in consideration of the above-mentioned circumstances, and provides a technology that is advantageous for stably holding a container by a holding part that moves together with a carrier. [Means for solving the problem]

[0009] One aspect of the present disclosure relates to a container transfer apparatus comprising a carrier moving along a transfer track, a first holding unit having a first holding portion for holding a container, and a second holding unit having a second holding portion for holding a container, the apparatus comprising a holding device moving with the carrier, and an opening / closing device attached to the first holding unit and the second holding unit for changing the spacing between the first holding portion and the second holding portion.

[0010] The first holding unit may have a first arm supporting the first holding portion, the second holding unit may have a second arm supporting the second holding portion, and the opening / closing device may move the first arm and the second arm symmetrically.

[0011] The first holding unit may have a first arm supporting the first holding part, and the second holding unit may have a second arm supporting the second holding part, and the opening / closing device may include a first drive link rotatably attached to the first arm, a second drive link rotatably attached to the second arm, and a link swinging part that swings the first drive link and the second drive link so as to change the distance between the first arm and the second arm.

[0012] The link swinging portion may include a link driver rotatably attached to the first drive link and the second drive link, and a drive mechanism portion that moves the link driver to swing the first drive link and the second drive link.

[0013] The opening and closing device includes a first guide body attached to a first arm, a second guide body attached to a second arm, and a guide member that guides the first guide body and the second guide body in a first direction, and the link drive body has a cam, and the drive mechanism portion may have a cam guide surface that has undulations and on which the cam is placed, and relative movement between the cam and the cam guide surface in the first direction causes the cam to move in a second direction perpendicular to the first direction, thereby swinging the first drive link and the second drive link.

[0014] The first holding unit may have a first arm supporting the first holding portion, and the second holding unit may have a second arm supporting the second holding portion, and the opening / closing device may include a connecting link rotatably connected to each of the first arm and the second arm, and an arm swinging portion that swings at least one of the first arm and the second arm.

[0015] The arm swinging portion may have a swing link attached to the second arm, a cam attached to the swing link, and a cam guide surface having an undulating shape and on which the cam is placed, wherein relative movement in the first direction between the cam and the cam guide surface causes the cam to move so as to swing the second arm together with the swing link. Effect of the Invention

[0016] The present disclosure provides an advantageous technique for stably holding a container by a holding part that moves together with a carrier. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a plan view showing a schematic configuration of an example of a container processing system. [Diagram 2] FIG. 2 is a front view showing an example of the holding and transferring unit of the first embodiment, showing a state in which the interval between the holding parts is relatively narrow. [Diagram 3] FIG. 3 is a front view showing an example of the holding and transferring unit of the first embodiment, showing a state in which the interval between the holding parts is relatively wide. [Figure 4] FIG. 4 is a side view showing an example of the holding and transferring unit of the first embodiment. [Diagram 5] FIG. 5 is a front view showing an example of the holding and transferring unit of the second embodiment, showing a state in which the interval between the holding parts is relatively narrow. [Figure 6] FIG. 6 is a front view showing an example of the holding and transferring unit of the second embodiment, showing a state in which the interval between the holding parts is relatively wide. [Figure 7] FIG. 7 is a side view showing an example of the holding and transferring unit of the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, an embodiment of the present disclosure will be described by way of example with reference to the drawings. In the following description and in each drawing, the X direction, the Y direction, and the Z direction are mutually perpendicular directions, the Z direction coincides with the height direction (vertical direction), and the X direction and the Y direction coincide with the horizontal direction.

[0019] FIG. 1 is a plan view showing a schematic configuration of an example of a container processing system 10. As shown in FIG.

[0020] The container processing system 10 shown in FIG. 1 includes a container transfer device 11, a plurality of processing devices 12, and a control device 13.

[0021] The container transfer device 11 is supplied with bags (containers) C, transports the bags C along a transfer track Tr, and discharges the bags C after they have been processed by the processing device 12 toward the rear stage.

[0022] The multiple processing devices 12 perform various types of processing on the bags C transported by the container transfer device 11 and / or the contents contained in the bags C. The specific processing contents performed by the processing devices 12 are not limited, and each processing device 12 can perform any processing according to the purpose of the container processing system 10. As an example, a processing device 12 that provides new unprocessed bags (e.g., empty flat bags) C to the container transfer device 11 (particularly the holding and transferring unit 22), a processing device 12 that prints on the bags C, a processing device 12 that introduces contents into the bags C through the mouth of the opened bag C, a processing device 12 that seals the mouth of the bag C, and / or a processing device 12 that sends the bag C to a subsequent stage may be provided.

[0023] In the container processing system 10 shown in FIG. 1, multiple processing devices 12 are provided along the linear first orbit Tr1 of the transfer orbit Tr, but one or more processing devices 12 may be provided along any other location of the transfer orbit Tr (for example, the curved second orbit Tr2).

[0024] The container transfer apparatus 11 includes a transfer device 21 controlled by a control device 13, and a plurality of holding and transferring units 22 driven by the transfer device 21. The control device 13 controls the transfer device 21, thereby controlling the operation of each of the plurality of holding and transferring units 22.

[0025] The transfer device 21, under the control of the control device 13, applies power to each of the multiple holding and transferring units 22, and moves each holding and transferring unit 22 along the transfer track Tr. The transfer device 21 in this example has a linear motor (not shown) that uses magnetic force to apply power to each holding and transferring unit 22. However, the transfer device 21 may have any other driving device, and may use a force other than magnetic force as a power for moving each holding and transferring unit 22.

[0026] 1, a transfer track Tr is set along the outer periphery of the main body of the transfer device 21, and each holding and transferring unit 22 is cyclically moved along this endless transfer track Tr. The transfer track Tr shown in FIG 1 includes two linear tracks (see first track Tr1) and two curved (semicircular) tracks (see second track Tr2) connecting the ends of the two linear tracks.

[0027] The transfer trajectory Tr is not limited to the example shown in FIG. 1 and may include, for example, a trajectory having a relatively small curvature (see the first trajectory Tr1) and a trajectory having a relatively large curvature (see the second trajectory Tr2 having a curvature larger than that of the first trajectory Tr1).

[0028] Each holding and transferring unit 22 includes a carrier 25 and a holding device 23 that moves together with the carrier 25. The holding device 23 includes a pair of a first holding unit 23A and a second holding unit 23B. The first holding unit 23A has a first arm 26A and a first holding portion 27A, and the second holding unit 23B has a second arm 26B and a second holding portion 27B.

[0029] The base end of each of the first arm 26A and the second arm 26B is attached to the carrier 25 via an attachment member 28. A first holding portion 27A and a second holding portion 27B are attached to the tip end of the first arm 26A and the second arm 26B on the opposite side to the base end, respectively, and the first holding portion 27A and the second holding portion 27B are supported by the first arm 26A and the second arm 26B.

[0030] In FIG. 1, for the holding and transferring unit 22 on the second track Tr2, only the carrier 25 is indicated by a dotted line, and other elements (such as the holding device 23) are omitted from the illustration.

[0031] The carrier 25 moves along the transfer track Tr by receiving power (magnetic force in this example) from the transfer device 21. The first holding unit 23A (first arm 26A and first holding portion 27A) and the second holding unit 23B (second arm 26B and second holding portion 27B) move along the transfer track Tr together with the carrier 25.

[0032] While the carrier 25 moves along the transfer track Tr, the orientation Or of the carrier 25 is perpendicular to the transfer track Tr. Therefore, while two or more holding and transferring units 22 move on a linear track (see the first track Tr1), the carriers 25 of the two or more holding and transferring units 22 are oriented in the same direction as each other. On the other hand, while the holding and transferring unit 22 moves on a curved track (see the second track Tr2), the orientation Or of the carrier 25 of the holding and transferring unit 22 is oriented in a direction along the radial direction of the curvature circle that defines the curvature of the curved track (the direction in which the radius of curvature extends).

[0033] The transfer device 21 can stop the carrier 25 of each holding transfer unit 22 at any position on the transfer track Tr or move it at any speed. In the example shown in Fig. 1, each holding transfer unit 22 is moved in a certain direction (clockwise direction in Fig. 1) along the transfer track Tr, and the first holding unit 23A is located on the forward direction side of the second holding unit 23B. However, the movement direction of each holding transfer unit 22 is not limited, and each holding transfer unit 22 may be moved along the transfer track Tr in the opposite direction (counterclockwise direction in Fig. 1) at any timing.

[0034] The first holding portion 27A and the second holding portion 27B are provided mainly to hold a bag (container) C, and the bag C moves along the transfer track Tr together with the corresponding holding and transferring unit 22 while being held by the first holding portion 27A and the second holding portion 27B. The first holding portion 27A and the second holding portion 27B in this example are configured as gripping portions that grip both sides of the bag C, and are driven by the transfer device 21 under the control of the control device 13 to close and open in order to grip and release the grip of the bag C. Note that the manner in which the first holding portion 27A and the second holding portion 27B hold the bag C is not limited, and the first holding portion 27A and the second holding portion 27B may utilize a means other than gripping (for example, suction, etc.).

[0035] 1 having the above-mentioned configuration, the pair of first holding part 27A (first holding unit 23A) and second holding part 27B (second holding unit 23B) are mounted on the same single carrier 25. Therefore, the distance between the pair of first holding part 27A and second holding part 27B is basically not affected by the relative positional relationship (spacing, etc.) between the carriers 25. Therefore, the container processing system 10 shown in FIG. 1 is advantageous in stably holding bags C by the holding parts 27A and 27B that move together with the carrier 25.

[0036] 1 is provided with a separate opening / closing device that can adjust the distance between the pair of first and second holding parts 27A and 27B. For example, by widening the distance between the first and second holding parts 27A and 27B gripping the bag C, the bag C can be made taut. On the other hand, by narrowing the distance between the first and second holding parts 27A and 27B gripping the bag C, the bag C can be flexed, and for example, when the mouth formed by the top of the bag C is not sealed, the mouth can be opened.

[0037] Such an opening and closing device capable of adjusting the mutual interval between the multiple holding parts 27A, 27B mounted on the single carrier 25 can have any configuration. Examples of such an opening and closing device are shown below.

[0038] Note that the structure of the holding and transferring unit 22 shown in each of the following embodiments (e.g., the extension direction of arms 26A, 26B) does not necessarily match the structure of the holding and transferring unit 22 shown in Figure 1, but the following explanations of each embodiment can also be applied as appropriate to the holding and transferring unit 22 shown in Figure 1.

[0039] [First embodiment] Fig. 2 is a front view showing an example of the holding and transferring unit 22 of the first embodiment, showing a state in which the interval between the holding parts 27A and 27B is relatively narrow. Fig. 3 is a front view showing an example of the holding and transferring unit 22 of the first embodiment, showing a state in which the interval between the holding parts 27A and 27B is relatively wide. Fig. 4 is a side view showing an example of the holding and transferring unit 22 of the first embodiment.

[0040] 2 to 4, the bag C is not depicted in order to facilitate understanding of the structure of the holding and transferring unit 22, but in reality the bag C may be held by the holding parts 27A and 27B.

[0041] 2 to 4, the first arm 26A and the second arm 26B extend in the height direction (Z direction), and a first holding portion 27A and a second holding portion 27B are attached to upper ends (tip ends) of the first arm 26A and the second arm 26B. A main body of the carrier 25 is attached to lower ends (base ends) of the first arm 26A and the second arm 26B via a second guide body 31B, a guide member 31C, and an attachment member 28.

[0042] The extension direction of the first arm 26A and the second arm 26B is not limited, and the first arm 26A and the second arm 26B may extend horizontally (see FIG. 1), or may extend diagonally upward or diagonally downward.

[0043] 4 is provided with a power application unit 51 on which power for movement (including stopping of movement) acts, and rotating wheels 52 installed above and below the power application unit 51. The power application unit 51 in this example receives a magnetic force applied from the transport device 21 under the control of the control device 13, and moves along the transfer track Tr. Each rotating wheel 52 rolls on the side of the main body of the transport device 21 that defines the transfer track Tr, reducing the frictional force acting between the carrier 25 and the transport device 21, enabling the carrier 25 to move smoothly along the transfer track Tr.

[0044] The opening / closing device 30 is attached to the first holding unit 23A and the second holding unit 23B, and changes the interval between the first holding portion 27A and the second holding portion 27B. The opening / closing device 30 shown in FIGS. 2 to 4 includes a first driving link 32A, a second driving link 32B, and link swing portions 33 and 40.

[0045] The first driving link 32A is rotatably attached to the first arm 26A via a first guide body 31 A. The second driving link 32B is rotatably attached to the second arm 26B via a second guide body 31B.

[0046] The first guide body 31A is fixedly attached to the first arm 26A and moves integrally with the first arm 26A. The second guide body 31B is fixedly attached to the second arm 26B and moves integrally with the second arm 26B. A guide member 31C extending in the horizontal direction is fixedly provided on the mounting member 28 fixed to the main body of the carrier 25. The first guide body 31A and the second guide body 31B slidably engage with the guide member 31C and are guided in the horizontal direction by the guide member 31C.

[0047] The link swinging portions 33, 40 swing the first driving link 32A and the second driving link 32B so as to change the distance between the first arm 26A and the second arm 26B.

[0048] 2 to 4 include a cam 33 (link driver) rotatably attached to the first driving link 32A and the second driving link 32B, and a driving mechanism 40 that moves the cam 33 to swing the first driving link 32A and the second driving link 32B. The driving mechanism 40 has a cam guide surface 41 that has undulations in the height direction (Z direction) and on which the cam 33 is placed. Relative movement between the cam 33 and the cam guide surface 41 in the horizontal direction (first direction) moves the cam 33 in the height direction (second direction) perpendicular to the horizontal direction, causing the first driving link 32A and the second driving link 32B to swing.

[0049] Next, an example of opening / closing adjustment between the holding parts 27A, 27B of the holding / transporting unit 22 shown in the above-mentioned FIGS. 2 to 4 will be described.

[0050] As described above, the holding and transferring unit 22 shown in Figures 2 to 4 moves along the transfer track Tr or stops on the transfer track Tr when the power acting portion 51 of the carrier 25 receives a magnetic force from the transfer device 21 driven under the control of the control device 13 shown in Figure 1.

[0051] While each holding and transferring unit 22 moves at least a portion of the transfer track Tr (in this example, the entire section), the cam 33 of each holding and transferring unit 22 is placed on the cam guide surface 41, and the height position of the cam 33 is determined by the cam guide surface 41.

[0052] For example, when cam 33 is placed on cam guide surface 41 that is in a relatively low position as shown in Figure 2, cam 33 is also positioned in a relatively low position. On the other hand, when cam 33 is placed on cam guide surface 41 that is in a relatively high position as shown in Figure 3, cam 33 is also positioned in a relatively high position.

[0053] The horizontal distance between first holding unit 23A (first arm 26A and first holding portion 27A) and second holding unit 23B (second arm 26B and second holding portion 27B) is determined according to the height position of cam 33. That is, the swing posture (particularly the inclination) of drive links 32A and 32B is determined according to the height position of cam 33, the horizontal distance between guide bodies 31A and 31B is determined according to the swing posture of drive links 32A and 32B, and the horizontal distance between holding units 23A and 23B is determined according to the horizontal distance between guide bodies 31A and 31B.

[0054] More specifically, as the height position of cam 33 becomes lower (i.e., as it becomes farther from the height positions of guide bodies 31A, 31B), the swing posture of drive links 32A, 32B approaches a vertical posture, the horizontal interval between guide bodies 31A, 31B becomes narrower, and the horizontal interval between holding units 23A, 23B becomes narrower (see FIG. 2).On the other hand, as the height position of cam 33 approaches the height positions of guide bodies 31A, 31B, the swing posture of drive links 32A, 32B approaches a horizontal posture, the horizontal interval between guide bodies 31A, 31B becomes wider, and the horizontal interval between holding units 23A, 23B becomes wider (see FIG. 3).

[0055] 2 to 4, the first driving link 32A and the second driving link 32B behave symmetrically with respect to each other, the first guide body 31A and the second guide body 31B behave symmetrically with respect to each other, and the first arm 26A and the second arm 26B behave symmetrically with respect to each other with respect to the cam 33. Therefore, the opening / closing device 30 of this example moves the first arm 26A and the second arm 26B (and thus the first holding portion 27A and the second holding portion 27B) symmetrically.

[0056] Therefore, by adjusting the height position (undulation) of the cam guide surface 41 of the drive mechanism 40 provided along the transfer track Tr, the horizontal distance between the first holding part 27A and the second holding part 27B can be adjusted. Specifically, in a section of the transfer track Tr where it is desired to narrow the distance between the holding parts 27A and 27B (for example, a section where the bag C is in a flexed state (for example, a section for introducing the contents into the bag C through the open mouth)), the height position of the cam guide surface 41 is set low (particularly far from the height position of the guide bodies 31A and 31B) (see FIG. 2). On the other hand, in a section of the transfer track Tr where it is desired to widen the distance between the holding parts 27A and 27B (for example, a section where the bag C is in a tensed state (for example, a section for sealing the closed mouth)), the height position of the cam guide surface 41 is set high (particularly close to the height position of the guide bodies 31A and 31B) (see FIG. 3).

[0057] The cam guide surface 41 (drive mechanism 40) does not necessarily have to be provided over the entire section of the transfer track Tr, and may be provided only in a portion of the transfer track Tr. In a section where the cam guide surface 41 is not provided, the cam 33 is not supported by the cam guide surface 41 (drive mechanism 40) and is positioned at a low position under the influence of gravity, so the distance between the holders 27A and 27B becomes narrow. Therefore, in a section of the transfer track Tr where the distance between the holders 27A and 27B may be narrow (for example, a section where the bag C is in a bent state or a section where the bag C does not move together with the bag C (for example, a section after the bag C that has been processed in the container processing system 10 has been sent to a subsequent stage and before new unprocessed bags C are provided)), the cam guide surface 41 (drive mechanism 40) may not be provided.

[0058] 2 to 4, the combination of the cam 33 and the cam guide surface 41 (drive mechanism 40) is used as a link swinging part that swings the drive links 32A, 32B so as to change the distance between the arms 26A, 26B, but the link swinging part may have any other configuration. For example, a link swinging part (not shown) that is electrically driven under the control of the control device 13 may be mounted on each carrier 25, and the link swinging part may swing the drive links 32A, 32B so as to change the distance between the arms 26A, 26B (and thus the distance between the holders 27A, 27B) in each holding and transferring unit 22.

[0059] [Second embodiment] In this embodiment, elements that are the same as or correspond to those in the above-described first embodiment are given the same reference numerals, and detailed description thereof will be omitted.

[0060] Fig. 5 is a front view showing an example of the holding and transferring unit 22 of the second embodiment, showing a state in which the interval between the holding parts 27A and 27B is relatively narrow. Fig. 6 is a front view showing an example of the holding and transferring unit 22 of the second embodiment, showing a state in which the interval between the holding parts 27A and 27B is relatively wide. Fig. 7 is a side view showing an example of the holding and transferring unit 22 of the second embodiment.

[0061] The holding and transferring unit 22 shown in Fig. 5 is illustrated in a simplified manner, but actually has a similar configuration to the holding and transferring unit 22 shown in Fig. 6 and Fig. 7. Furthermore, Fig. 5 illustrates the bag C held by the holding parts 27A and 27B, but Fig. 6 and Fig. 7 do not illustrate the bag C held by the holding parts 27A and 27B.

[0062] The opening / closing device 30 of this embodiment includes a connecting link 60 rotatably connected to each of the first arm 26A and the second arm 26B, and an arm swinging unit 59 that swings at least one of the first arm 26A and the second arm 26B. When one of the first arm 26A and the second arm 26B swings, a force accompanying the swing is transmitted from the one to the other via the connecting link 60, causing the other to swing as well. Therefore, for example, when one of the first arm 26A and the second arm 26B is swung by the arm swinging unit 59, the other is also swung.

[0063] 5 to 7, a first arm mounting member 63A is fixedly attached to the lower end (base end) of first arm 26A, and a link mounting portion 64 is fixedly attached to first arm mounting member 63A. Similarly, a second arm mounting member 63B is fixedly attached to the lower end (base end) of second arm 26B, and a link mounting portion 64 is fixedly attached to second arm mounting member 63B.

[0064] 7, the base end of each of these link mounting parts 64 is rotatably supported by a mounting member 28 fixed to the main body of the carrier 25. A mounting shaft 66 protrudes horizontally from the tip end (the end opposite the base end) of the link mounting part 64 attached to the second arm mounting member 63B. The link mounting part 64 is fixedly attached to this mounting shaft 66 at the base end side, and the swing link 61 is fixedly attached to the tip end (the end opposite the base end).

[0065] Therefore, the swing link 61 is provided so as to be swingable about the mounting shaft 66 and the link mounting portion 64. The mounting shaft 66 and the link mounting portion 64 rotate in response to the swinging of the swing link 61, and as a result, the second arm mounting member 63B, the second arm 26B, and the second holding portion 27B swing.

[0066] The cam 62 is attached via a camshaft 65 to the other end of the swing link 61, one end of which is attached to the mounting shaft 66 in this manner. The camshaft 65 extends horizontally from the cam 62 and is fixed to the cam 62 so as to be rotatable integrally with the cam 62. The swing link 61 rotatably supports the camshaft 65, and therefore rotatably supports the cam 62 via the camshaft 65.

[0067] 5 to 7 includes a swing link 61 attached to the second arm 26B, a cam 62 attached to the swing link 61, and a cam guide surface 45 having an undulating surface and on which the cam 62 is placed, and is configured to swing the second arm 26B. In particular, the cam 62 moves so as to swing the second arm 26B together with the swing link 61 due to relative movement between the cam 62 and the cam guide surface 45 in the horizontal direction (first direction).

[0068] The connecting link 60 is provided rotatably relative to each of the first arm mounting member 63A and the second arm mounting member 63B. Therefore, when the second arm mounting member 63B swings, the first arm mounting member 63A swings receiving a force from the second arm mounting member 63B via the connecting link 60, and the first arm 26A and the second arm 26B swing together with the first arm mounting member 63A.

[0069] Next, an example of opening / closing adjustment between the holding parts 27A, 27B of the holding / transporting unit 22 shown in the above-mentioned FIGS. 5 to 7 will be described.

[0070] 5 to 7 also move along the transfer track Tr or stop on the transfer track Tr when the power application section 51 receives a magnetic force from the transfer device 21 driven under the control of the control device 13 shown in Fig. 1. While each holding and transferring unit 22 moves through at least a portion of the transfer track Tr (the entire section in this example), the cam 62 of each holding and transferring unit 22 is placed on the cam guide surface 45, and the height position of the cam 62 is determined by the cam guide surface 45.

[0071] For example, when cam 62 is placed on cam guide surface 45 that is in a relatively low position as shown in Fig. 5, cam 62 is also positioned in a relatively low position. On the other hand, when cam 62 is placed on cam guide surface 45 that is in a relatively high position as shown in Fig. 6, cam 62 is also positioned in a relatively high position.

[0072] The horizontal distance between the first holding unit 23A (the first arm 26A and the first holding portion 27A) and the second holding unit 23B (the second arm 26B and the second holding portion 27B) is determined according to the height position of the cam 62. That is, the swing posture (particularly the inclination) of the swing link 61 is determined according to the height position of the cam 62, and the swing posture of the second arm mounting member 63B is determined according to the swing posture of the swing link 61. The swing posture of the second holding unit 23B (the second arm 26B and the second holding portion 27B) and the swing posture of the first arm mounting member 63A are determined according to the swing posture of the second arm mounting member 63B, and thus the swing posture of the first holding unit 23A (the first arm 26A and the first holding portion 27A) is determined.

[0073] That is, the lower the height position of cam 62 (i.e., the farther it is from the reference height position), the more the arm mounting members 63A, 63B are tilted inwardly so as to approach each other, and the horizontal distance between holding portions 27A, 27B becomes narrower (see FIG. 5).On the other hand, the higher the height position of cam 62 is and the closer it is to the reference height position, the less the arm mounting members 63A, 63B are tilted inwardly, and the horizontal distance between holding portions 27A, 27B becomes wider (see FIG. 6).

[0074] In this way, the horizontal distance between the holding portions 27A, 27B is determined according to the swing posture of the holding units 23A, 23B, and is therefore adjusted based on the swing posture of the second arm mounting member 63B, and ultimately on the height position of the cam 62.

[0075] Therefore, by adjusting the height position (undulation) of the cam guide surface 45 of the drive mechanism 44 provided along the transfer track Tr, the horizontal distance between the first holding portion 27A and the second holding portion 27B can be adjusted. Specifically, in a section of the transfer track Tr where it is desired to narrow the distance between the holding portions 27A and 27B, the height position of the cam guide surface 45 is set low (particularly far from the reference height position) (see FIG. 5). On the other hand, in a section of the transfer track Tr where it is desired to widen the distance between the holding portions 27A and 27B, the height position of the cam guide surface 45 is set high (particularly close to the reference height position) (see FIG. 6).

[0076] The cam guide surface 45 (drive mechanism 44) does not necessarily have to be provided over the entire section of the transfer track Tr, and may be provided only in a portion of the transfer track Tr. In a section where the cam guide surface 45 is not provided, the cam 62 is not supported by the cam guide surface 45 and is positioned at a low position under the influence of gravity, so that the distance between the holding portions 27A, 27B becomes narrow. Therefore, in a section of the transfer track Tr where the distance between the holding portions 27A, 27B may be narrow, the cam guide surface 45 (drive mechanism 44) does not have to be provided.

[0077] 5 to 7, the arm swinging portion 59 (swing link 61, cam 62 and cam guide surface 45) directly swings the second arm mounting member 63B (and thus the second arm 26B), but may instead directly swing the first arm mounting member 63A (and thus the first arm 26A). For example, the swing link 61 that rotatably supports the cam 62 may be fixedly attached to the first arm mounting member 63A (for example, via the mounting shaft 66 and link mounting portion 64) rather than to the second arm mounting member 63B.

[0078] 5 to 7, a combination of the swing link 61, the cam 62, and the cam guide surface 45 (drive mechanism 44) is used as an arm swinging unit 59 that swings at least one of the first arm 26A and the second arm 26B, but the arm swinging unit 59 may have any other configuration. For example, an arm swinging unit (not shown) that is electrically driven under the control of the control device 13 may be mounted on each carrier 25, and the arm swinging unit may swing the first arm 26A and / or the second arm 26B so as to change the mutual interval between the arms 26A, 26B in each holding and transferring unit 22 (and thus the mutual interval between the holding units 27A, 27B).

[0079] [Variations] 1, the transfer track Tr includes a straight track (see the first track Tr1) and a curved track (see the second track Tr2), but the specific shape of the transfer track Tr is not limited. The transfer track Tr may include, for example, a curved track (first track) having a gentle curve with a relatively large radius of curvature, and a curved track (second track) having a sharp curve with a relatively small radius of curvature.

[0080] 1, in the curved track (see the second track Tr2), the direction (hereinafter also referred to as the "arm direction") from the base end (carrier side end) to the tip end (holding part side end) of the arms 26A, 26B of each holding and transferring unit 22 is directed in a direction away from the center of the curvature circle of the curved track (i.e., outward direction). The curved track included in the transfer track Tr is not limited to such an outward curved track (see the second track Tr2), and the transfer track Tr may include, for example, a curved track in which the arm direction is directed in an inward direction approaching the center of the curvature circle.

[0081] 1, the transfer trajectory Tr is set as a single predetermined trajectory, but the transfer trajectory Tr may be determined by appropriately selecting an optimal trajectory according to the situation from a plurality of predetermined candidate trajectories, or may not be determined in advance. Each holding and transferring unit 22 (particularly the carrier 25) may be moved by the transferring device 21 driven under the control of the control device 13 so as to draw an arbitrary trajectory along a surface extending two-dimensionally, for example.

[0082] Moreover, any other container may be used in place of the above-mentioned bag C, and each holding and transferring unit 22 (particularly, the holding portions 27A, 27B) may be provided so as to be capable of supporting a container other than a bag.

[0083] It should be noted that the embodiments and modifications disclosed in this specification are merely illustrative and should not be construed as limiting in all respects. The above-mentioned embodiments and modifications can be omitted, substituted, and modified in various forms without departing from the scope and spirit of the appended claims. For example, the above-mentioned embodiments and modifications may be combined in whole or in part, and embodiments other than those described above may be combined with the above-mentioned embodiments or modifications. In addition, the effects of the present disclosure described in this specification are merely illustrative, and other effects may be obtained.

[0084] The technical category embodying the above technical idea is not limited. For example, the above technical idea may be embodied by a computer program for causing a computer to execute one or more procedures (steps) included in a method for manufacturing or using the above device. The above technical idea may also be embodied by a non-transitory recording medium readable by a computer on which such a computer program is recorded.

[0085] [Note] The disclosed technology can be embodied as follows.

[0086] [Item 1] A carrier moving along a transfer track; a holding device including a first holding unit having a first holding portion for holding a container and a second holding unit having a second holding portion for holding the container, the holding device moving with the carrier; An opening / closing device attached to the first holding unit and the second holding unit, and adapted to change a distance between the first holding portion and the second holding portion; A container transfer device comprising:

[0087] [Item 2] the first holding unit has a first arm that supports the first holding part, the second holding unit has a second arm that supports the second holding part, The opening and closing device moves the first arm and the second arm symmetrically. Item 1. A container transfer device according to item 1.

[0088] [Item 3] the first holding unit has a first arm that supports the first holding part, the second holding unit has a second arm that supports the second holding part, The opening and closing device includes a first drive link rotatably attached to the first arm, a second drive link rotatably attached to the second arm, and a link swinging unit that swings the first drive link and the second drive link so as to change a distance between the first arm and the second arm. 3. The container transfer device according to item 1 or 2.

[0089] [Item 4] The link swinging unit includes a link driver rotatably attached to the first driving link and the second driving link, and a drive mechanism that moves the link driver to swing the first driving link and the second driving link. Item 3. The container transfer device according to item 3.

[0090] [Item 5] the opening / closing device includes a first guide body attached to the first arm, a second guide body attached to the second arm, and a guide member that guides the first guide body and the second guide body in a first direction, The link driver has a cam. the drive mechanism portion has a cam guide surface having an undulation and on which the cam is placed, and the cam moves in a second direction perpendicular to the first direction by relative movement between the cam and the cam guide surface, thereby swinging the first drive link and the second drive link; 5. The container transfer device according to item 4.

[0091] [Item 6] the first holding unit has a first arm that supports the first holding part, the second holding unit has a second arm that supports the second holding part, The opening / closing device includes a connecting link rotatably connected to each of the first arm and the second arm, and an arm swinging unit that swings at least one of the first arm and the second arm. 6. A container transfer device according to any one of items 1 to 5.

[0092] [Item 7] The arm swinging portion includes a swing link attached to the second arm, a cam attached to the swing link, and a cam guide surface having an undulating shape and on which the cam is placed, the cam moving in such a way that the cam swings the second arm together with the swing link due to a relative movement between the cam and the cam guide surface in a first direction. Item 7. The container transfer device according to item 6. [Explanation of symbols]

[0093] 10 container processing system, 11 container transfer device, 12 processing device, 13 control device, 21 transfer device, 22 holding and transferring unit, 23 holding device, 23A first holding unit, 23B second holding unit, 25 carrier, 26A first arm, 26B second arm, 27A first holding portion, 27B second holding portion, 28 mounting member, 30 opening and closing device, 31A first guide body, 31B second guide body, 31C guide member, 32A first driving link, 32B second driving link, 33 cam, 40 driving mechanism portion, 41 cam guide surface, 44 driving mechanism portion, 45 cam guide surface, 51 power action portion, 52 rotating wheel, 59 arm swing portion, 60 connecting link, 61 swing link, 62 cam, 63A first arm mounting member, 63B second arm mounting member, 64 link mounting portion, 65 Camshaft, 66 Mounting shaft, C Bag, Tr Transfer track, Tr1 1st track, Tr2 2nd track

Claims

1. A carrier moving along a transfer track; a holding device moving with the carrier, the holding device including a first holding unit having a first holding part for holding a container and a second holding unit having a second holding part for holding the container; an opening / closing device attached to the first holding unit and the second holding unit, the opening / closing device changing a distance between the first holding portion and the second holding portion; A container transfer device comprising:

2. the first holding unit has a first arm that supports the first holding part, the second holding unit has a second arm that supports the second holding portion, The opening and closing device moves the first arm and the second arm symmetrically.

2. The container transfer device according to claim 1.

3. the first holding unit has a first arm that supports the first holding part, the second holding unit has a second arm that supports the second holding portion, The opening and closing device includes a first drive link rotatably attached to the first arm, a second drive link rotatably attached to the second arm, and a link swinging portion that swings the first drive link and the second drive link so as to change a distance between the first arm and the second arm.

2. The container transfer device according to claim 1.

4. the link swinging unit includes a link driver rotatably attached to the first drive link and the second drive link, and a drive mechanism that moves the link driver to swing the first drive link and the second drive link.

4. The container transfer device according to claim 3.

5. the opening / closing device includes a first guide body attached to the first arm, a second guide body attached to the second arm, and a guide member that guides the first guide body and the second guide body in a first direction, The link driver has a cam. the drive mechanism portion has a cam guide surface having an undulation and on which the cam is placed, and the cam guide surface moves the cam in a second direction perpendicular to the first direction by relative movement between the cam and the cam guide surface in the first direction, thereby swinging the first drive link and the second drive link; 5. The container transfer device according to claim 4.

6. the first holding unit has a first arm that supports the first holding part, the second holding unit has a second arm that supports the second holding portion, The opening / closing device includes a connecting link rotatably connected to each of the first arm and the second arm, and an arm swinging unit that swings at least one of the first arm and the second arm.

2. The container transfer device according to claim 1.

7. The arm swinging portion includes a swing link attached to the second arm, a cam attached to the swing link, and a cam guide surface having an undulating shape and on which the cam is placed, the cam moving in a manner that swings the second arm together with the swing link by a relative movement between the cam and the cam guide surface in a first direction.

7. The container transfer device according to claim 6.

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