State detection device, and article conveyance device

Abstract

To precisely detect a state of an opening of a paper container.SOLUTION: There is provided a state detection device for detecting at least one of a state of a holding part moving a box body along a conveyance passage by holding the cylindrical box body, and a state of the box body. There is provided a position detection part arranged above the conveyance passage. The position detection part that detects at least one of a feature point of the box body and a feature point of the holding part comprises a storage part for storing the foregoing detected information.SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present invention relates to a state detection device that detects the state of a paper container and a holder that holds the paper container, and an article transport device equipped with the state detection device. [Background technology]

[0002] Conventionally, there is known a paper container in which a liquid content is filled in the paper container, and then the opening at the top is heat-sealed to form a sloped roof. For such a paper container, for example, a random inspection is performed on the production line after sealing (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2000-203539 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, although the above-mentioned sampling inspection makes it possible to determine whether the final product is good or bad, it is difficult to identify the cause of defects in paper containers on the production line.

[0005] An object of the present invention is to provide a state detection device that accurately detects the state of the opening of a paper container in order to identify the cause of a defect in the paper container. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention detects the state of at least one of a holding part that holds a cylindrical box and moves the box along a transport path. The state detection device has a position detection part disposed above the transport path. The position detection part detects at least one of a characteristic point of the box and a characteristic point of the holding part, and has a memory part in which the detected information is stored. Effect of the Invention

[0007] According to the state detection device of the present invention, the state of the opening of the paper container can be accurately detected in order to identify the cause of a defect in the paper container. [Brief description of the drawings]

[0008] [Figure 1] 1 is a perspective view of a paper container viewed from above and in front. [Diagram 2] 1 is a perspective view of the cylindrical body as seen from above in front; [Diagram 3] FIG. 2 is a schematic front view of an example of a filling device. [Figure 4] FIG. 2 is a functional block diagram of the filling device. [Diagram 5] FIG. 2 is a schematic plan view of the article transport device. [Figure 6] 2 is a schematic perspective view showing the vicinity of a state detection device of the article transport apparatus; FIG. [Figure 7] FIG. 2 is a perspective view showing the top end of the molded box. [Figure 8] FIG. 11 is an enlarged perspective view showing a state in which the upper end portion of the box body is heated by a heater. [Figure 9] 11 is an image showing imaging data Ph1 obtained by imaging the box stopped at the inspection position and the holder that holds the box. [Figure 10] FIG. 2 is a schematic diagram showing processing data. [Figure 11] FIG. 4 is a diagram showing information on feature points stored in a storage unit. [Figure 12] 13 is a flowchart showing a procedure for accumulating feature points. [Figure 13] FIG. 13 is a diagram showing processed data in a state where feature points are misaligned. [Figure 14] FIG. 13 is a diagram showing processed data in a state where feature points are misaligned. [Figure 15] FIG. 13 is a diagram showing processed data in a state where feature points are misaligned. [Figure 16] FIG. 13 is a plan view of a modified example of an article transport device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a perspective view of a paper container 1 as viewed from above the front. Fig. 2 is a perspective view of a cylindrical body 101 as viewed from above the front. In this embodiment, the directions of the paper container 1, cylindrical body 101, and box body 102, such as "front," "rear," "upper," "lower," "right," and "left," are based on the paper container 1 shown in Fig. 1 and the box body 102 shown in Fig. 2.

[0010] As shown in Fig. 1, the paper container 1 is of a Goebel-top type. The paper container 1 is filled with liquid contents such as alcoholic beverages (sake, wine, shochu, etc.), beverages (coffee, milk drinks, juice, tea, etc.), seasonings (soy sauce, dressing, etc.), and hygiene products (shampoo, body soap, etc.), and then sealed. Note that the paper container 1 is not limited to the Goebel-top type.

[0011] <Paper container 1> The paper container 1 has a main body 2 and a pouring member 3. The main body 2 is formed, for example, by bending a paper blank plate into a box shape. The pouring member 3 is a resin molded body, and is attached to the main body 2. The pouring member 3 is openable and closable, and when the pouring member 3 is opened, the pouring member 3 forms a pouring outlet for pouring out the contents. In the following description, the blank plates bonded together into a cylindrical shape is referred to as a cylinder 101, and the state in which the cylinder 101 is formed with a bottom 40 that closes the lower end of the box 102 is referred to as a box 102.

[0012] <Main body 2> As shown in FIG. 1 etc., the main body 2 has a trunk 10, a sloped roof 20, and a bottom 40. In the main body 2, the sloped roof 20 is disposed on the upper part of the trunk 10. The trunk 10 is a cylinder having opposing front and back panels 13 and 11, both ends of which are connected by a pair of side panels 12, 14. The horizontal cross section of the trunk 10 is rectangular (here, square). The upper end of the trunk 10 is closed by the sloped roof 20. The lower end of the trunk 10 is closed by the bottom 40.

[0013] <Sloped roof section 20> As shown in FIG. 1, the inclined roof portion 20 has a rear inclined top plate portion 21, a right side top plate portion 22, a front inclined top plate portion 23, and a left side top plate portion 24. The front inclined top plate portion 23 is configured to have a spouting member 3 attached thereto, but otherwise has the same configuration as the rear inclined top plate portion 21. Therefore, the rear inclined top plate portion 21 and the front inclined top plate portion 23 may be collectively referred to as a pair of inclined top plate portions. The right side top plate portion 22 and the left side top plate portion 24 have the same configuration. Therefore, the right side top plate portion 22 and the left side top plate portion 24 may be collectively referred to as a pair of side top plate portions.

[0014] The rearwardly inclined top plate portion 21 is connected to the upper end of the front plate 13 and inclines forward. The frontwardly inclined top plate portion 23 is connected to the upper end of the back plate 11 and inclines backward. In addition, the right side top plate portion 22 and the left side top plate portion 24 are connected to the upper ends of the side plates 12 and 14, respectively, incline inward, and are disposed between the frontwardly inclined top plate portion 23 and the rearwardly inclined top plate portion 21.

[0015] <Bottom 40> As shown in FIG. 4, the bottom portion 40 is formed by bending the lower end of the cylindrical body 101 flat and fixing it by thermal adhesion.

[0016] <Pour-out member 3> The pouring member 3 is inserted into and fixed to an insertion hole 232 formed in the front inclined top plate portion 23 of the inclined roof portion 20. As shown in FIG. 1, the pouring member 3 has a pipe portion 31, a flange portion, and a lid portion 33. The pipe portion 31 is cylindrical. The flange portion is disk-shaped and expands radially outward from one axial end side of the pipe portion 31. The pouring member 3 is fixed to the inner surface of the front inclined top plate portion 23 by thermal bonding.

[0017] A male thread (not shown) is formed on the outer peripheral surface of the tube portion 31. The lid portion 33 is cylindrical with a lid and has a female thread (not shown) formed on the inner surface. The female thread of the lid portion 33 is screwed into the male thread of the tube portion 31, whereby the lid portion 33 opens and closes the tube portion 31. In other words, the pouring member 3 can be opened and closed by the lid portion 33. A packing may be provided on the inner surface of the lid portion 33. With this configuration, the pouring member 3 can be closed in a highly sealed state. The paper container 1 may be configured without the pouring member 3.

[0018] In the paper container 1, a blank plate is folded and the ends are bonded together to form a cylindrical body 101. Then, the lower end of the cylindrical body 101 is folded and bonded to form a bottom 40. This forms a box body 102 having an opening 103 at the top.

[0019] <Filling device 5> The filling device 5 is a device for manufacturing a product in which the contents are filled in the paper container 1. In the filling device 5, a process of making the box body 102, a process of attaching the pouring member 3, a process of filling the contents, and a process of sealing the box body 102 are carried out. The filling device 5 will be described with reference to the drawings. Fig. 3 is a schematic front view of an example of the filling device 5. Fig. 4 is a functional block diagram of the filling device 5.

[0020] As shown in Figure 3, in the filling device 5, a cylindrical supply section 51, a bottom assembly section 52, a pouring member mounting section 54, a filling section 55, a top assembly section 56 and a sorting section 57 are arranged in order along the conveying direction along the article conveying device 53.

[0021] As shown in Fig. 4, the filling device 5 has a control unit 80 that controls the operation of each unit. The above-mentioned cylinder supply unit 51, bottom assembly unit 52, article conveying device 53, pouring member attachment unit 54, filling unit 55, top assembly unit 56 and sorting unit 57 are connected to the control unit 80 and operate according to instructions from the control unit 80. The state detection device 6 is also connected to the control unit 80 and operates according to instructions from the control unit 80. The control unit 80 has an internal arithmetic circuit such as a CPU and an MPU.

[0022] As shown in Fig. 4, the filling device 5 further includes an input unit 81, a display unit 82, and a storage unit 83. The storage unit 83, the input unit 81, and the display unit 82 are connected to the control unit 80 and are controlled by the control unit 80. The storage unit 83 includes a storage medium having a semiconductor memory such as a ROM or a RAM, a portable memory such as a flash memory, a hard disk, etc. The storage unit 83 stores information such as various settings, an operating state log, and image data. In addition, a control program may be stored in the storage unit 83, and the control unit 80 may start the necessary control program as necessary to perform control.

[0023] Examples of the input unit 81 include devices that accept input from a user (e.g., an operator who operates the filling device 5), such as a keyboard, a touch panel, or a joystick. Other input devices may also be used. Examples of the display unit 82 include a display device that displays an image sent from the state detection device 6, an input image for input via a touch panel, and the like. Examples of the display device include, but are not limited to, a liquid crystal panel, an organic EL panel, and the like. The display unit 82 may also have a device that transmits information to the user by voice, vibration, or the like.

[0024] <Cylinder supply section 51> The cylinder supply unit 51 stocks the cylinders 101 in a folded state. The cylinder supply unit 51 has a conventionally known configuration, and detailed description thereof will be omitted. The cylinder supply unit 51 moves the folded cylinders 101 and supplies the upright cylinders 101 to the bottom assembly unit 52.

[0025] <Bottom assembly section 52> The bottom assembly unit 52 bends the lower end of the cylindrical body 101 and thermally bonds it to assemble the bottom 40. The bottom assembly unit 52 includes six mandrels 520 and a turret 521.

[0026] 3, the mandrel 520 protrudes radially outward from each side of the turret 521. The cylindrical body 101 fits around the mandrel 520. The turret 521 rotates in accordance with instructions from the control unit 80. Each time the turret 521 rotates, the lower end of the cylindrical body 101 is heated by the heater 522, the lower end is folded along the fold lines in the shaping unit to be shaped, and the cylindrical body 101 is pressed and thermally bonded by the pressing unit. In this way, the bottom 40 is formed, and the box body 102 is completed.

[0027] Thereafter, the box 102 is placed upright on the item transport device 53 with the bottom 40 facing down. At this time, the holders 70 attached to the pair of moving mechanisms 531 of the item transport device 53 hold the four corners of the box 102 in a plan view.

[0028] <Item transport device 53> The article transport apparatus 53 has a transport path 530 along which the box bodies 102 are transported linearly. The article transport apparatus 53 moves the box bodies 102 along the transport path 530. Details of the article transport apparatus 53 will be described with reference to the drawings. Fig. 5 is a schematic plan view of the article transport apparatus 53. Fig. 6 is a schematic perspective view showing the vicinity of the state detection device 6 of the article transport apparatus 53.

[0029] 5, the article transport device 53 has a pair of moving mechanisms 531 extending along the transport path 530. The pair of moving mechanisms 531 extend along the transport path 530 and are arranged in parallel with the transport path 530 in between. Hereinafter, when it is necessary to separately show the moving mechanisms 531, they will be referred to as a right moving mechanism 531R and a left moving mechanism 531L, based on a state viewed from the upstream side to the downstream side in the transport direction.

[0030] The pair of moving mechanisms 531 includes a chain 532, a holding unit 70, a driving sprocket 533, and a driven sprocket 534. The driving sprocket 533 and the driven sprocket 534 are arranged in the conveying direction of the boxes 102 on the conveying path 530. The driving sprocket 533 is disposed downstream of the driven sprocket 534 in the conveying direction.

[0031] As shown in FIG. 6, in the moving mechanism 531, two chains 532 are arranged vertically in a line. The two chains 532 are arranged vertically apart. The holding unit 70 is attached to the vertically separate chains 532 and moves according to the movement of the chains 532. By attaching the holding unit 70 to the vertically separate chains 532, tilting of the holding unit 70 accompanying the movement of the chains 532 is suppressed. Note that the article conveying device 53 of this embodiment has a configuration in which two chains 532 are arranged vertically in parallel, but is not limited thereto, and three or more chains may be used. Also, in a configuration in which the holding unit 70 does not tilt with the movement of the chain 532, the chain 532 may be one.

[0032] The chain 532 is connected in an endless manner so as to have an outgoing path portion 5321 that moves in the conveying direction of the box 102 and a returning path portion 5322 that moves in the opposite direction to the conveying direction. The outgoing path portion 5321 is disposed adjacent to the box 102.

[0033] In the moving mechanism 531, the chain 532 is wound around a driving sprocket 533 and a driven sprocket 534 with a certain amount of tension applied thereto. A driving device such as a motor (not shown) is attached to the driving sprocket 533. The driving device operates based on instructions from the control unit 80. This causes the chain 532 to rotate.

[0034] 5 and 6, the holding part 70 is attached to a chain 532 and moves together with the chain 532. The holding part 70 has a holding body 71, a fixing member 72, and a support 73. As shown in Fig. 6, the holding body 71 is a rectangular plate with the vertical direction as the longitudinal direction. The holding body 71 comes into contact with a surface facing a direction intersecting the conveying direction of the box body 102, i.e., with the back panel 11 or the front panel 13.

[0035] The fixing members 72 are provided in pairs, one above the other. The pair of fixing members 72 protrude integrally from the upper and lower short sides of the holding body 71, respectively. As shown in Fig. 6, the upper fixing member 72 is fixed to the upper surface of the outer plate of the upper chain 532. The lower fixing member 72 is fixed to the lower surface of the outer plate of the lower chain 532. Each fixing member 72 is fixed to the chain 532 by a connect pin 535 of the chain 532, but is not limited to this.

[0036] The support 73 has a rectangular plate shape and protrudes from one of the long sides adjacent to the short side of the holding body 71 to the opposite side to the fixed member 72. The support 73 comes into contact with one of the side panels 12 or 14 of the box 102. That is, the holding unit 70 holds the ridge portions that become corners in a plan view of the box 102. That is, the four corners of the box 102 in a plan view are held by the supports 73 of the holding units 70 arranged in each of the pair of moving mechanisms 531. As a result, the box 102 is transported along the transport path 530 while maintaining a stable posture.

[0037] The article conveying device 53 conveys the box body 102 and the paper container 1 formed from the box body 102. The article conveying device 53 moves the box body 102 a fixed distance in a fixed period of time, and then stops for a fixed time. That is, the article conveying device 53 conveys the box body 102 intermittently. By configuring the article conveying device 53 to convey the box body 102 intermittently, the box body 102 stops for a fixed time at a fixed position for each processing section. Each processing section performs a fixed process on the stopped box body 102. The above-mentioned fixed time is determined according to the longest processing time in each processing section.

[0038] As shown in Fig. 6, the holding portion 70 may be shown as a front holding portion 70F where the support 73 contacts the front surface (here, the side panel 14) of the box body 102 in the conveying direction, and a rear holding portion 70B where the support 73 contacts the rear surface (here, the side panel 12). In addition, in the moving mechanism 531 of the present embodiment described above, the holding portion 70 is fixed to each outer plate of the chain 532, but this is not limiting. The holding portion 70 may be fixed to each of two or more outer plates according to the shape of the box body 102, in other words, the size and shape of the surface to be held.

[0039] <Pour-out member mounting portion 54> In the spouting member attachment portion 54, the spouting member 3 is inserted into an insertion hole 232 formed in the upper part of the box body 102. At this time, the flange portion of the spouting member 3 comes into contact with the peripheral portion of the insertion hole 232. Then, the flange portion is heated by irradiating it with ultrasonic waves and pressurized, thereby thermally welding the flange portion to the inner surface of the box body 102. Thermal welding using ultrasonic waves is a conventionally known technique, and details will be omitted.

[0040] In the spouting member mounting section 54, the sealing state of the spouting member 3 is inspected, for example, based on the temperature at the time of thermal adhesion. The spouting member mounting section 54 sends the result of the judgment of the quality of the sealing state to the control section 80. Note that the inspection of the sealing state is not limited to being based on the temperature at the time of thermal adhesion.

[0041] <Filling section 55> The filling section 55 fills the box 102 with the assembled bottom 40 with liquid contents. The filling section 55 includes a cleaning and sterilizing process for cleaning and sterilizing the inside of the box 102 and a drying process for drying the inside of the box 102 before filling the contents. In the cleaning and sterilizing process, for example, a liquid agent having cleaning and sterilizing properties such as alcohol is sprayed from the opening 103 of the box 102. By configuring the box 102 to spray the liquid agent, it is possible to spread the liquid agent over the inner surface of the box 102. The liquid agent having cleaning and sterilizing properties may be one agent or a combination of multiple liquid agents. In the drying process, the liquid agent sprayed in the linear sterilization process is removed.

[0042] The filling section 55 has a nozzle having a discharge part at the bottom. The discharge part of the nozzle is inserted into the inside of the box 102 from the opening 103 at the top. A valve is provided at the discharge part, and the valve is controlled by the control section 80, so that the contents are filled into the box 102 from the tank via the nozzle and the valve. In the filling section 55, the nozzle may be sent into the box 102 by raising the box 102 using a lifting mechanism such as a lift while the nozzle is fixed. Conversely, the nozzle may be moved to insert the nozzle into the box 102.

[0043] 7 is a perspective view showing the upper end of the shaped box 102. When folding the box 102, it is necessary to fold it accurately along the fold lines, and it is also necessary to apply a certain degree of strong force to the box 102. If the upper end of the box 102 is folded while the contents are filled inside, there is a risk that the box 102 may shift when folded, and the contents may spill out due to the force of folding. For this reason, the shaping section is disposed before the section where the contents are injected into the box 102.

[0044] The molding section folds the top of the box body 102 along the fold lines in advance to mold the box body 102, in order to facilitate the assembly of the sloping roof section 20. If the amount of contents is small, the viscosity of the contents is high, or the box body 102 is unlikely to spill even if it moves slightly, the molding section may be located after the filling section 55. In this case, the molding section may be formed as a part of the top assembly section 56.

[0045] <Top assembly section 56> The top assembly part 56 bends the upper end of the box body 102 and thermally bonds the top part 25 to form the sloped roof part 20. As shown in Figures 3 and 4, the top assembly part 56 has two heaters 561 and two pressing parts 562.

[0046] Fig. 8 is an enlarged perspective view showing a state in which the upper end portion of the box 102 is heated by the heater 561. As shown in Fig. 8, in the top assembly section 56, the heater 561 is inserted from the opening 103 of the box 102 located at the heating position 560, and hot air is blown onto the inner surface of the box 102 to heat it. Then, in the top assembly section 56, after heating with the two heaters 561, pressure is applied by the pressing section 562. As a result, the top 25 is sealed.

[0047] In the top assembly unit 56, when the inner surface of the box body 102 is heated, if the box body 102 deviates from the heating position 560, the heater 561 may not be able to be inserted into the box body 102 at an appropriate position. If the box body 102 deviates from the heating position 560, the gap between the heater 561 and the inner surface of the box body 102 varies. As a result, the temperature of the inner surface of the box body 102 varies, and there is a risk of insufficient thermal adhesion.

[0048] In the filling device 5 of this embodiment, if the chain 532 is stretched, bent, twisted, or the like, the box 102 may be displaced from the heating position 560. In addition, the box 102 may be displaced from the intended shape or may be deformed due to, for example, the characteristics of the blank plate, insufficient bending, insufficient thermal adhesion of the body 10 or the bottom 40, etc. In this case, even if the holding part 70 holding the box 102 is in the correct position, the opening 103 may not be positioned accurately with respect to the heater 561.

[0049] In order to suppress these problems, in the filling device 5 of this embodiment, a status detection device 6 is arranged in front of the top assembly unit 56 in the conveying direction, and detects characteristic points of the opening 103 of the box body 102 and characteristic points of the holding unit 70 of the moving mechanism 531.

[0050] <Top assembly section 56> The top assembly part 56 bends the upper end of the box body 102 and thermally bonds the top part 25 to form the sloped roof part 20. As shown in Figures 3 and 4, the top assembly part 56 has two heaters 561 and two pressing parts 562.

[0051] Fig. 8 is an enlarged perspective view showing a state in which the upper end portion of the box 102 is heated by the heater 561. As shown in Fig. 8, in the top assembly section 56, the heater 561 is inserted from the opening 103 of the box 102 located at the heating position 560, and hot air is blown onto the inner surface of the box 102 to heat it. Then, in the top assembly section 56, after heating with the two heaters 561, pressure is applied by the pressing section 562. As a result, the top 25 is sealed.

[0052] In the top assembly unit 56, when the inner surface of the box body 102 is heated, if the box body 102 deviates from the heating position 560, the heater 561 may not be able to be inserted into the box body 102 at an appropriate position. If the box body 102 deviates from the heating position 560, the gap between the heater 561 and the inner surface of the box body 102 varies. As a result, the temperature of the inner surface of the box body 102 varies, and there is a risk of insufficient thermal adhesion.

[0053] In the filling device 5 of this embodiment, the state detection device 6 is disposed upstream of the top assembly unit 56 in the conveying direction, and detects the characteristic points of the opening 103 of the box 102 and the characteristic points of the holding unit 70 of the moving mechanism 531.

[0054] <Status detection device 6> Here, a specific configuration and processing of the state detection device 6 will be described. The state detection device 6 detects the state of the opening 103 of the box 102. The state of the opening 103 includes the shape of the opening 103. Furthermore, the state of the opening 103 can include information including, for example, the coordinates of a characteristic point of the opening 103 and the coordinates of a characteristic point of the holding part 70, as will be described in detail later.

[0055] The state detection device 6 has a position detection unit 61. The position detection unit 61 has an imaging unit 62 and an image processing unit 63 (see FIG. 4). The imaging unit 62 is disposed directly above an inspection position 60 disposed in front of the top assembly unit 56 in the conveying direction of the conveying path 530. In the article conveying device 53, the box 102 is stopped at a predetermined position when each corresponding process is performed in the above-mentioned pouring member attachment unit 54, the filling unit 55, and the top assembly unit 56. The inspection position 60 is set to a position where the box 102 stops when the article conveying device 53 is stopped to perform the process in each processing unit.

[0056] The imaging unit 62 is fixed, for example, to a frame (not shown) that holds the item transport device 53, and its relative position is fixed with respect to the item transport device 53. In other words, the imaging unit 62 has a fixed angle of view, and captures an image of the opening 103 of the box 102 stopped at the inspection position 60 and the holder 70 that holds the box 102. The imaging unit 62 transmits the captured imaging data to the image processing unit 63.

[0057] The image processing unit 63 has a calculation device capable of performing image processing of image data from the imaging unit 62. The image processing unit 63 generates states such as coordinates of the characteristic points of the opening 103 of the box 102 and the characteristic points of the holding unit 70. The image processing unit 63 is connected to the control unit 80, and transmits position information of the characteristic points of the opening 103 and the characteristic points of the holding unit 70 acquired by the image processing unit 63 to the control unit 80. The image processing unit 63 may transmit only the processed position information, or may transmit the imaging data and the position information to the control unit 80.

[0058] The state detection device 6 detects feature points for the openings 103 of all boxes 102 transported along the article transport device 53 and the holders 70 that hold the boxes 102. However, this is not limited to this, and feature points may be detected at fixed intervals. In addition to these, a wide variety of methods can be used to detect the states of the boxes 102 and the holders 70 at timing that allows accurate understanding of the state of the boxes 102, the holders 70 that hold the boxes 102, and the movement mechanism 531 that moves the holders 70.

[0059] Here, the details of detection of the state of the opening 103 of the box 102 by the state detection device 6 will be described with reference to the drawings. Fig. 9 is an image showing imaging data Ph1 obtained by imaging the box 102 and the holder 70 that holds the box 102. Fig. 10 is a schematic diagram showing processing data Pr1.

[0060] In the image shown in Fig. 10, the line Ln1 indicates the allowable range Ar1 that can be taken. In other words, if the line Ln1 is within the allowable range Ar1, the heater 561 can be inserted while maintaining a certain distance from the inner surface of the opening 103. Fig. 10 also shows the allowable range Ar2 that can be taken by the characteristic points Pt1 to Pt4. Figs. 9 and 10 also show the case when the box 102 and the holder 70 are in the reference position.

[0061] 9, the imaging unit 62 acquires imaging data Ph1 that captures images of the box 102, the chain 532, and the holder 70. The image processing unit 63 executes image processing on the imaging data Ph1.

[0062] As shown in Fig. 10, the image processing unit 63 detects the opening 103 from the imaging data Ph1 as a line diagram Ln1 combining six line segments Ln11 to Ln16. As shown in Figs. 9 and 10, the opening 103 has a polygonal shape in which straight lines are arranged in a direction perpendicular to the transport direction, and the upstream and downstream sides of the straight lines in the transport direction are connected by inwardly bent lines. The image processing unit 63 detects the upper end (edge) of the opening 103 and recognizes it as a line segment, for example, by edge detection that detects edges by detecting discontinuous parts of changes in pixel luminance and chromaticity.

[0063] The opening 103 detected by the image processing unit 63 is recognized as a polygonal line drawing Ln1 formed by combining line segments Ln11 to Ln16 as shown in Fig. 10. The image processing unit 63 recognizes the connection points between the multiple line segments Ln11 to Ln16 that make up the line drawing Ln1 as feature points Ps1 to Ps6, and recognizes their positions as position information. In Fig. 10, the upper left corner is feature point Ps1, the upper right corner is feature point Ps2, the lower left corner is feature point Ps3, the lower right corner is feature point Ps4, the corner to the left of the vertical center is feature point Ps5, and the corner to the right of the vertical center is feature point Ps6.

[0064] Furthermore, in the movement mechanism 531, the box 102 is held by two holding parts 70 on both the left and right sides toward the rear in the transport direction. Each holding part 70 is fixed by two connect pins 535 aligned in the transport direction, and when the position of one of the connect pins 535 is determined, the state including the position of the holding part 70 can be detected.

[0065] Therefore, the image processing unit 63 sets the center points of the rear connect pin 535 of the holding unit 70F on the front side in the transport direction and the front connect pin 535 of the holding unit 70B on the rear side in the transport direction as feature points Pt1 and Pt2, respectively, of the two holding units 70 on the right side toward the rear side in the transport direction. Similarly, the center points of the connect pins 535 of the holding units 70F and 70B on the left side are set as feature points Pt3 and Pt4. Note that the feature points Pt1 to Pt4 are not limited to this, and all eight connect pins 535 may be set as feature points. Furthermore, a location where the state of the holding unit 70 can be determined may be acquired as a feature point.

[0066] In the image processing unit 63, the information on the characteristic points Pt1 to Pt4 may include the coordinates of the center points of the connect pins 535 set as the characteristic points Pt1 to Pt4. In addition, the information on the outer diameter of the connect pins 535 may also be included.

[0067] Then, the image processing unit 63 acquires the coordinates of the characteristic points Ps1 to Ps6 and the characteristic points Pt1 to Pt4 as information on the characteristic points. The coordinates are orthogonal coordinates with respect to a predetermined origin in the imaging data Ph1. However, the coordinates are not limited to this. For example, the coordinates set in the filling device 5 may be used. In this case, imaging may be performed so that the coordinates of the origin are reflected in the imaging data Ph1.

[0068] The information on the feature points detected by the image processing unit 63 will be described with reference to the drawings. Fig. 11 is a diagram showing the information on the feature points Ps1 to Ps6 and Pt1 to Pt4 stored in the storage unit 83. Note that the table Tb shown in Fig. 11 is shown in the form of a table for ease of understanding.

[0069] 11 includes an identification number column Tb1, a feature point column Tb2, an X-coordinate column Tb3, a Y-coordinate column Tb4, an X-shift amount column Tb5, a Y-shift amount column Tb6, and a pass / fail judgment column Tb7. It is sufficient that the table Tb includes at least the identification number column Tb1, the feature point column Tb2, the X-coordinate column Tb3, and the Y-coordinate column Tb4. The table Tb may also be configured to include information other than these.

[0070] When storing information on feature points, the information on feature points is associated with the detected box 102. That is, an individual identification number for identifying the individual box 102 whose feature points have been detected by the state detection device 6 is input into the identification number field Tb1. Information specifying the feature points Ps1 to Ps6 and Pt1 to Pt4 is stored in order from the top into the feature point column Tb2. Note that if the feature points are always the same, the feature point column Tb2 may be omitted.

[0071] The X coordinate column Tb3 and the Y coordinate column Tb4 respectively store the X coordinates and the Y coordinates of the feature points in the feature point column Tb2. The X deviation amount column Tb5 and the Y deviation amount column Tb6 store the X coordinate deviation amount and the Y coordinate deviation amount from a reference value described later. Furthermore, the pass / fail judgment column Tb7 stores the judgment result of whether or not the state of the opening 103 is an appropriate state (position) for the heater 561 based on the X deviation amount and the Y deviation amount. In the table Tb shown in FIG. 11, "G" is stored if it is good, and "N" is stored if it is bad.

[0072] The image processing unit 63 has reference values ​​for the X and Y coordinates of the feature points Ps1 to Ps6 of the opening 103 of the box 102, and reference values ​​for the coordinates of the feature points Pt1 to Pt4 of the holder 70. These reference values ​​are set so that when the heater 561 is inserted into the opening 103 of the box 102, the gap between the heater 561 and the inner surface of the box 102 falls within a certain range. In other words, a tolerance is specified for the reference value for each feature point so that the X and Y coordinates of each feature point fall within a certain range.

[0073] Next, the procedure of storing feature points by the control unit 80 will be described with reference to the drawings. FIG. 12 is a flow chart showing the procedure of storing feature points. As shown in FIG. 12, the image processing unit 63 acquires the X-coordinate Xi and the Y-coordinate Yi of each feature point of the box 102 to be detected and the holder 70 holding the box 102 (step S101). The control unit 80 determines whether the X-coordinate Xi and the Y-coordinate Yi of the i-th feature point of the box 102 to be detected and the holder 70 holding the box 102 are within the allowable range. More specifically, the control unit 80 calls the X-coordinate Xsi and the Y-coordinate Ysi of the reference point set for each feature point, and calculates the X-shift amount dXi and the Y-shift amount dYi, which are the difference from the acquired X-coordinate Xi and Y-coordinate Yi, respectively (step S102).

[0074] Then, the control unit 80 judges whether the X-shift amount dXi and the Y-shift amount dYi are smaller than the predetermined allowable ranges Xmi and Ymi (step S103). If the X-shift amount dXi and the Y-shift amount dYi are smaller than the allowable ranges Xmi and Ymi (Yes in step S103), the control unit 80 judges that the feature point is within the allowable range, that is, that the feature point is good (G) (step S104).

[0075] Furthermore, if at least one of the X-shift amount dXi being larger than the allowable width Xmi and the Y-shift amount dYi being larger than the allowable width Ymi occurs (No in step S103), the control unit 80 determines that the feature point is outside the allowable range, that is, that the feature point is defective (N) (step S105). The control unit 80 accumulates in the memory unit 83 the X-coordinate Xi, the Y-coordinate Yi, the X-shift amount dXi, the Y-shift amount dYi, and the pass / fail determination result of the feature point together with the individual identification information of the box 102 (step S106).

[0076] Then, the control unit 80 judges whether or not the state information of all the feature points has been accumulated (step S107). If the state information of all the feature points has not been accumulated (if No in step S107), the control unit 80 returns to step S101 and executes accumulation of state information of the next feature point. If the state information of all the feature points has been accumulated (if Yes in step S107), the control unit 80 ends the process of accumulating state information of the feature points of the box body 102 that is the current detection target. Note that, in this embodiment, the quality of the feature points is judged, but this is not limited thereto, and only the X coordinate Xi, Y coordinate Yi, X deviation amount dXi, and Y deviation amount dYi of the feature points may be accumulated. In this case, the quality judgment may be performed by the user, or may be performed by analyzing the accumulated data by another calculation device or the like.

[0077] The control unit 80 may, for example, when it determines that it is necessary to display information on characteristic points of a defect because the information has been acquired, or when there is a request from the user, cause the display unit 82 to display processed data Pr1 as shown in FIG. 10 or a table Tb as shown in FIG. 11, or both.

[0078] Based on the accumulated information, the user can check whether the container 102 is being held accurately by the holding unit s70. Furthermore, based on the accumulated information, the user can obtain the cause of the deviation of the container 102 from the reference. The cause of the deviation of the container 102 from the reference may be determined by the user or by the control unit 80. Here, the cause of the deviation of the opening 103 of the container 102 determined by the control unit 80 will be described with reference to the drawings. Figs. 13 to 15 are diagrams showing processing data in a state where the characteristic points Ps1 to Ps6 and Pt1 to Pt4 are deviated.

[0079] The cause of the misalignment of the opening 103 may be, for example, misalignment of the holding portion 70, abnormality such as deformation of the holding portion 70, abnormality in the shape of the box 102 itself, stretching or sagging of the chain 532, and the like.

[0080] For example, if both chains 532 of both moving mechanisms 531 are slack, the position of the holding part 70 will be shifted rearward in the conveying direction from the normal position. A similar shift will also occur if both chains 532 of both moving mechanisms 531 are stretched. In other words, if all of the characteristic points Ps1 to Ps6 and Pt1 to Pt4 are shifted rearward in the conveying direction from the reference point (see FIG. 13), it can be determined that both chains 532 of both moving mechanisms 531 are slack or stretched. In such a case, both chains 532 are adjusted. For example, this can be corrected by adjusting the driving sprocket 533 or the driven sprocket 534.

[0081] Furthermore, when the chain 532 of one of the moving mechanisms 531 is slack or stretched, the box body 102 rotates so that the side of the chain 532 where the slack or stretched is delayed to the rear in the conveying direction. In other words, when the characteristic points Pt1 and Pt2 are misaligned in the conveying direction or the characteristic points Pt3 and Pt4 are misaligned in the conveying direction (see FIG. 14), it can be determined that the chain 532 to which the retaining part 70 that is misaligned to the rear is fixed is stretched or slack. In such a case, it is possible to correct by adjusting the chain 532 that is determined to be slack or stretched.

[0082] Furthermore, the shape of the box 102 may deviate from the standard shape due to the nature of the blank plate, insufficient bending, insufficient thermal adhesion of the body 10 or the bottom 40, etc. In such a case, for example, the characteristic points Pt1 to Pt4 of the holding part 70 are within the allowable range. On the other hand, for example, the characteristic points Ps1 and Ps2 of the box 102 may deviate rearward in the conveying direction from the characteristic points Ps3 and Ps4 (see FIG. 15). In this case, it can be determined that the body 10 of the box 102 is twisted counterclockwise as it moves upward. In such a case, the holding part 70F where the characteristic point Pt1 is arranged and the holding part 70B where the characteristic point Pt2 is arranged are adjusted so as to move forward in the conveying direction, and the characteristic points Ps1 to Ps6 are adjusted so as to fall within the allowable range. Note that, when performing this adjustment, the holding part 70F where the characteristic point Pt3 is arranged and the holding part 70B where the characteristic point Pt4 is arranged may be moved rearward in the conveying direction. Furthermore, the holders 70F and 70B where the characteristic points Pt1 and Pt2 are arranged may be moved to the front side in the transport direction, and the holders 70F and 70B where the characteristic points Pt3 and Pt4 are arranged may be moved to the rear side in the transport direction.

[0083] Also, when the holding body 71 and the support 73 of the holding part 70 are deformed, the characteristic points Ps1 to Ps6 of the box body 102 may deviate from the allowable range. For example, if the support 73 of the holding part 70 on the rear side of the conveying direction of the moving mechanism 531L on the left side toward the rear side in the conveying direction is bent, the characteristic points Pt1 to Pt4 of the holding part 70 are not deviated, but the characteristic point Ps4 on the rear side of the left side toward the rear side in the conveying direction among the characteristic points of the box body 102 is deviated toward the rear side in the conveying direction. Also, depending on the deformation amount of the support 73, the characteristic point Ps3 may also deviate toward the rear side in the conveying direction. In other words, the characteristic points Ps1 and Ps2 on the right side toward the rear side in the conveying direction are within the allowable range, and at least the characteristic point Ps4 of the characteristic points Ps3 and Ps4 is deviated toward the rear side in the conveying direction. In this case, it can be determined that there is an abnormality in at least one of the holding body 71 and the support 73 of the holding part 70 on the left rear side toward the rear side in the conveying direction. In addition, if there is an abnormality in the holding body 71, the support 73, etc. of the holding unit 70, it is difficult to make an adjustment immediately. Therefore, adjustments may be made such as not using the abnormal holding unit 70 until the article transport device 53 is stopped for the next maintenance or the like.

[0084] The relationship between the deviation of the characteristic points and the cause thereof described above is merely an example, and deviation of the characteristic points different from the above may occur due to a cause other than the above. In that case, the position of the holding part 70 may be adjusted so that the opening 103 of the box body 102 falls within the allowable range. These adjustments may be performed by an operator, or, for example, when the deviation can be corrected by adjusting the driving sprocket 533 or the driven sprocket 534, the control part 80 may perform the adjustments.

[0085] In the filling device 5 of this embodiment, characteristic points of all the boxes 102 that are transported and characteristic points of the holding parts 70 are stored. From the stored information, the characteristics of each lot of the boxes 102 can be acquired. As a result, by making the same adjustment for the same lot, it is possible to correct the misalignment of the openings 103.

[0086] <Sorting section 57, receiving container 58> The paper container 1 with the sloping roof portion 20 assembled in the top assembly unit 56 is transported to the sorting unit 57. In accordance with instructions from the control unit 80, the sorting unit 57 ships a non-defective paper container 1 as a product when it is transported. Also, when a defective paper container 1 is transported, it ejects the paper container 1 into a receiving container 58. The sorting unit 57 and the receiving container 58 are well known in the art, so detailed explanations will be omitted.

[0087] In the above-described state detection device 6, the X and Y coordinates of the corners of the opening 103 are given as information on the characteristic points of the opening 103 of the box body 102, but the information is not limited to this. For example, the shape of the straight lines constituting the opening 103 may be detected and compared with a reference shape to detect deviations, deformations, and the like of the shape of the opening 103. In addition to these, for example, information capable of accurately identifying the shape of the opening 103, such as the shape of a printed matter on the exterior part of the box body 102, may be detected as information on the characteristic points.

[0088] In the above-described state detection device 6, the coordinates of the center of one of the connect pins 535 that fixes the holding unit 70 are set as the characteristic point of the holding unit 70, but this is not limited thereto. For example, the coordinates of the centers of both of the two connect pins 535 to which the holding unit 70 is fixed may be set as the information of the characteristic point of the holding unit 70. Also, the shape of the connect pin 535 itself may be detected as the information of the characteristic point, and the state of the holding unit 70 may be detected by comparing it with a reference shape. Furthermore, the coordinates of points such as the corners and tips of the holding main body 71 and the support 73 may be detected as the information of the characteristic point of the holding unit 70.

[0089] <Modification> In the article conveying device 53 of this embodiment, the holding unit 70 holds four corners of the box body 102, which is rectangular in plan view, but is not limited thereto. For example, if the contents to be stored inside the paper container 1 are heavy, four points are required to hold the contents, but if the contents are light, it is possible to hold the contents at two points diagonally. Even in this case, the box body 102 may be held by four holding units 70 and 74, as shown in FIG. 16. FIG. 16 is a plan view of an article conveying device 53A of a modified example. Note that the article conveying device 53A shown in FIG. 16 differs from the article conveying device 53 in that the holding unit 74 is used as part of the holding unit 70. In other respects, the article conveying device 53A is substantially the same as the article conveying device 53, and the same parts are given the same reference numerals, and detailed description of the same parts is omitted.

[0090] As shown in Fig. 16, in the right moving mechanism 531R of the article transport device 53A, the holding unit 70F and the holding unit 74F are alternately arranged. In addition, in the left moving mechanism 531L, the holding unit 70B and the holding unit 74F are alternately arranged. The holding units 70F and 70B have the same configuration as the holding units 70F and 70B described above. In addition, the holding units 74F and 74B have the same configuration as the holding units 70F and 70B, except that the support 73 is omitted.

[0091] 16, holding portion 70F and holding portion 70B are arranged to hold a front corner on the right side facing rear in the transport direction of box body 102, and a rear corner on the left side facing rear in the transport direction of box body 102. Holding portion 74B arranged rear of holding portion 70F on the right side contacts and supports rear plate 11 of box body 102. Holding portion 74F arranged front of holding portion 70B on the left side contacts and supports front plate 13 of box body 102.

[0092] That is, in the article conveying device 53A, the box 102 holds a plane constituting a corner portion arranged diagonally in a plan view. Even with this configuration, the state detection device 6 can accurately detect the state of the box 102 and the states of the holding parts 70 and 74, and can insert the heater 561 into an accurate position of the opening 103 of the box 102 to heat the inside of the box 102 to a certain temperature range. This makes it possible to improve the sealing performance of the paper container 1 formed by sealing the top of the box 102.

[0093] In this embodiment, since high positioning accuracy is required between the heater 561 of the top assembly unit 56 and the opening 103 of the box 102, the state detection device 6 is arranged immediately before the top assembly unit 56, but is not limited to this. For example, in the article transport device 53, the state detection device 6 may be arranged at the most upstream part of the route along which the box 102 is transported, so as to detect the state of the opening 103 of the box 102.

[0094] In addition, the state detection device 6 may be arranged in front of at least two of the processing sections, the pouring member attachment section 54, the filling section 55, and the top assembly section 56, in the conveying direction. When the state detection device 6 is arranged in a plurality of locations, the allowable range of the feature point of the state detection device 6 may be changed according to the processing operation of the processing section arranged immediately after. For example, in the filling section 55, it is sufficient that the nozzle used in the cleaning / sterilizing process, the drying process, and the filling process can be inserted from the opening 103. In the top assembly section 56, it is necessary to insert a heater 561 that faces the inner surface of the opening 103 at a certain distance. In other words, the allowable range of the state detection device 6 arranged in front of the filling section 55 may be wider than the allowable range of the state detection device 6 arranged in front of the top assembly section 56. When the control section 80 adjusts the chain 532, it is performed based on the information on the feature point from the state detection device 6 with the narrowest allowable range, and the feature points detected by all the state detection devices 6 are adjusted so as to fall within the allowable range of the state detection device 6.

[0095] Although the embodiment of the present invention has been described above, the present invention is not limited to the contents thereof. Furthermore, various modifications can be made to the embodiment of the present invention without departing from the spirit of the invention. [Industrial Applicability]

[0096] INDUSTRIAL APPLICABILITY The present invention can be used as an inspection device for inspecting a filling device that fills contents into paper containers. [Explanation of symbols]

[0097] 1 Paper container 2 Main unit 3. Injection parts 5 Filling equipment 6. Status detection device 10. Torso 11 Back plate 12, 14 Side plate 13 Front plate 20 Sloping roof 21 Rear inclined top plate section 22 Right side top panel 23 Front inclined top plate section 24 Left side top panel 25 Top 31 Pipe section 33 Lid 40 bottom 51 Cylinder supply section 52 Bottom assembly 53, 53A Item transport device 54 Spout member attachment part 55 Filling section 56 Top assembly section 57 Sorting Department 58 Receptacle 60 Inspection Position 61 Position detection unit 62 Imaging unit 63 Image Processing Unit 70, 70B, 70F holding part 71 Holding body 72 Fixing member 73 Support 74, 74B, 74F holding part 80 Control section 81 Input section 82 Display section 83 Storage section 101 Cylinder 102 Box body 103 Aperture 232 Insertion hole 520 Mandrel 521 Turret 522 Heater 530 Transport Path 531, 531L, 531R movement mechanism 532 Chain 5321 Outbound Section 5322 Return section 533 Drive sprocket 534 Driven sprocket 535 Connect Pin 560 heating position 561 Heater 562 Pressing part Ln1 diagram Line segments Ln11 to Ln16 Phase 1 imaging data Pr1 Processing data Ps1~Ps6 Features Pt1~Pt4 Characteristic points

Claims

1. A state detection device that detects a state of at least one of a holding unit that holds a cylindrical box and moves the box along a conveying path and the box. A position detector is provided above the transport path, the position detection unit detects at least one of a characteristic point of the box body and a characteristic point of the holding part, A condition detection device having a memory unit in which the detected information is stored.

2. The position detection unit includes an imaging unit that acquires imaging data of at least one of the box body and the holding unit; The state detection device according to claim 1 , further comprising an image processing unit that performs image processing on the captured image data to identify at least one of a characteristic point of the box body and a characteristic point of the holder.

3. The inspection device according to claim 2 , wherein the imaging unit captures an image when the holding unit stops.

4. The box has an opening at an upper portion, the opening being polygonal in plan view, The state detection device according to claim 1 , wherein at least one vertex of the opening is set at a characteristic point of the box body.

5. The state detection device according to claim 1 , wherein the box body has a rectangular cross section when cut on a plane perpendicular to a cylindrical central axis, and the box body is held by the holding portion at least at corners that are arranged diagonally when viewed in a plane.

6. Further comprising a control unit, A reference point is set in advance for each of the feature points, 2. The state detection device according to claim 1, wherein the control unit accumulates a deviation amount of the box body, which is a difference value between the detected characteristic point of the box body and a predetermined reference point, and a deviation amount of the holding part, which is a difference value between the detected characteristic point of the holding part and a predetermined reference point.

7. Further comprising a control unit, The control unit is The state detection device according to claim 1 , further comprising: a determination as to whether the cause of the misalignment of the characteristic point of the box body is the box body or the holding part, based on at least one of the accumulated amounts of misalignment of the box body and the holding part.

8. a pair of moving mechanisms arranged side by side on either side of the transport path to move the holding unit along the transport path; An article transport device comprising the state detection device according to any one of claims 1 to 7, An article transport apparatus in which the movement mechanisms are each individually adjustable.

9. The moving mechanism includes an endlessly connected roller chain, 9. The article transport apparatus according to claim 8, wherein the holding portion is fixed to the roller chain.

10. A processing section is disposed in the middle of the conveying path, where a top assembly process is performed to heat and seal the opening of the cylindrical body, 9. The article transport apparatus according to claim 8, wherein the state detection device is disposed before the processing section in the transport direction.

Images