Container processing device and container processing method

Abstract

To provide a container processing device which is advantageous for holding an object used in container processing stably with a holding part moving with a carrier, and to provide a container processing method.SOLUTION: A container processing device includes: a first carrier 25A and a second carrier 25B configured to move along a transfer track Tr; a first arm 26A rotatably attached to the first carrier and a second arm 26B rotatably attached to the second carrier; and a first holding part 27A provided at the first arm and a second holding part 27B provided at the second arm. A distance between the first holding part and the second holding part is determined according to a distance between a first arm attachment portion 25C attached with the first arm of the first carrier and a second arm attachment portion 25D attached with the second arm of the second carrier.SELECTED DRAWING: Figure 6A

Description

Technical Field

[0001] The present disclosure relates to a container processing apparatus and a container processing method.

Background Art

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When an arm and a holding part are fixedly mounted on a carrier such as a mover moving on a transfer track, the carrier, the arm, and the holding part move integrally. In particular, when the arm and the holding part are fixedly mounted on the carrier in a state where relative movement of the arm and the holding part with respect to the carrier is not allowed, when the orientation of the carrier changes, the orientations of the arm and the holding part also change accordingly.

[0005] While two carriers forming a pair are moving on a linear track, by moving while maintaining the same posture and the distance between them, the two corresponding holding parts can stably hold a container such as a bag in the same state while keeping the distance between them constant.

[0006] On the other hand, when two paired carriers move on a curved orbit such as an arc, even if the distance between their reference points is kept constant, the two carriers are oriented in different directions, and the arms and holding parts mounted on each of the two paired carriers are also oriented in different directions. In particular, the distance between two corresponding holding parts provided at positions different from the reference points of the two paired carriers changes according to the directions of the two carriers, so it changes when the two carriers enter from a straight orbit onto a curved orbit. As a result, a situation where the container cannot be stably held by the two holding parts can be assumed.

[0007] The present disclosure provides a technique advantageous for stably holding an object used in container processing by a holding part that moves together with a carrier.

Means for Solving the Problems

[0008] One aspect of the present disclosure relates to a container processing apparatus including a first carrier and a second carrier that move along a transfer orbit, a first arm rotatably attached to the first carrier and a second arm rotatably attached to the second carrier, and a first holding part and a second holding part for holding an object used in container processing, the first holding part provided on the first arm and the second holding part provided on the second arm, wherein the distance between the first holding part and the second holding part is determined according to the distance between a first arm attachment location on the first carrier to which the first arm is attached and a second arm attachment location on the second carrier to which the second arm is attached.

[0009] The container processing apparatus may include one or more connecting members that connect the first arm and the second arm to each other.

[0010] The container processing apparatus may include a connecting member to which the first arm and the second arm are slidably attached.

[0011] The container processing apparatus may include a first connecting member and a third connecting member rotatably attached to the first arm, a second connecting member and a fourth connecting member rotatably attached to the second arm, and a fifth connecting member to which the first connecting member, the second connecting member, the third connecting member, and the fourth connecting member are rotatably attached.

[0012] The container processing apparatus includes a first connecting member rotatably attached to each of the first arm and the second arm, and a second connecting member rotatably attached to each of the first arm and the second arm. The distance between the first holding portion and the second holding portion is determined according to the distance between the first arm attachment location on the first carrier to which the first arm is attached and the second arm attachment location on the second carrier to which the second arm is attached. In the first arm, the location where the first connecting member is attached is located between the location where the second connecting member is attached and the first holding portion. In the second arm, the location where the second connecting member is attached is located between the location where the first connecting member is attached and the second holding portion. The first connecting member may be slidably attached to one of the first arm and the second arm, and the second connecting member may be slidably attached to the other of the first arm and the second arm.

[0013] The transfer track includes a first track and a second track having a curvature different from that of the first track. As the distance between the first arm attachment location on the first carrier to which the first arm is attached and the second arm attachment location on the second carrier to which the second arm is attached increases, the distance between the first holding portion and the second holding portion increases. The distance between the first arm attachment location and the second arm attachment location when at least one of the first carrier and the second carrier moves along at least a part of the second track does not have to be greater than the distance between the first arm attachment location and the second arm attachment location when the first carrier and the second carrier move along at least a part of the first track.

[0014] The transfer track includes a first track and a second track having a curvature different from that of the first track. As the distance between the first arm attachment location on the first carrier to which the first arm is attached and the second arm attachment location on the second carrier to which the second arm is attached increases, the distance between the first holding portion and the second holding portion increases. When at least one of the first carrier and the second carrier moves along the transfer track, the distance between the first arm attachment location and the second arm attachment location during the movement of at least a part of the second track does not necessarily have to be smaller than the distance between the first arm attachment location and the second arm attachment location during the movement of at least a part of the first track by the first carrier and the second carrier.

[0015] The first carrier and the second carrier may be moved along the transfer track by receiving a magnetic force.

[0016] Another aspect of the present disclosure is a container processing method for transferring an object used for container processing by a container processing apparatus. The container processing apparatus includes a first carrier and a second carrier that move along a transfer track, a first arm rotatably attached to the first carrier and a second arm rotatably attached to the second carrier, and a first holding portion and a second holding portion for holding an object used for container processing, the first holding portion provided on the first arm and the second holding portion provided on the second arm. The container processing method includes a step of adjusting the distance between the first holding portion and the second holding portion by adjusting the distance between the first arm attachment location on the first carrier to which the first arm is attached and the second arm attachment location on the second carrier to which the second arm is attached.

Advantages of the Invention

[0017] According to the present disclosure, it is advantageous to stably hold an object used for container processing by a holding portion that moves together with the carrier.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6A

Figure 6B

Figure 7A

Figure 7B

Figure 8

Figure 9

Figure 10

[0019] FIG. 1 is a plan view showing a schematic configuration of an example of a container processing system (container processing apparatus) 10.

[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 has a bag (container) C supplied thereto, conveys the bag C along a transfer track Tr, and discharges the bag C that has been processed by the processing device 12 toward the subsequent stage.

[0022] The plurality of processing devices 12 perform various processes on the bag C conveyed by the container transfer device 11 and / or the contents accommodated in the bag C. The specific processing contents performed by the processing device 12 are not limited, and each processing device 12 can perform any process according to the purpose of the container processing system 10. As an example, a processing device 12 that provides a new untreated bag (for example, an empty flat bag) C to the container transfer device 11 (particularly the holding transfer unit 22), a processing device 12 that performs printing on the bag C, a processing device 12 that introduces contents into the bag 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 out the bag C toward the subsequent stage may be provided.

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

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

[0025] The transfer device 21 supplies power to each of the plurality of holding transfer units 22 under the control of the control device 13 and moves each holding transfer unit 22 along the transfer track Tr. The transfer device 21 in this example has a linear motor (not shown) that supplies power to each holding transfer unit 22 using magnetic force. However, the transfer device 21 may have any other drive device, and a force other than magnetic force may be used as the power for moving each holding transfer unit 22.

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

[0027] The transfer track Tr is not limited to the example shown in FIG. 1, but includes a plurality of tracks (see the first track Tr1 and the second track Tr2) having different curvatures from each other, a track having a relatively small curvature (see the first track Tr1), and a track having a relatively large curvature (see the second track Tr2 having a larger curvature than the first track Tr1).

[0028] Each holding and transfer unit 22 includes a paired first holding and transfer set 22A and second holding and transfer set 22B.

[0029] The first holding and transfer set 22A has a first carrier 25A that moves along the transfer track Tr, a first arm 26A attached to the first carrier 25A, and a first holding portion 27A provided on the first arm 26A. Similarly, the second holding and transfer set 22B has a second carrier 25B that moves along the transfer track Tr, a second arm 26B attached to the second carrier 25B, and a second holding portion 27B provided on the second arm 26B.

[0030] In FIG. 1, for the holding and transfer unit 22 on the second track Tr2, only the carriers 25A and 25B are shown by dotted lines, and the illustration of other components (for example, the arms 26A and 26B and the holding portions 27A and 27B) is omitted.

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

[0032] The transfer device 21 can stop the first carrier 25A (first holding and transfer set 22A) and the second carrier 25B (second holding and transfer set 22B) of each holding and transfer unit 22 at any position on the transfer track Tr, or move them at any speed. In the example shown in FIG. 1, each holding and transfer unit 22 is moved in a certain direction (clockwise direction in FIG. 1) along the transfer track Tr, and the first holding and transfer set 22A moves ahead of the second holding and transfer set 22B. However, the moving direction of each holding and transfer unit 22 is not limited, and each holding and transfer unit 22 may be moved along the transfer track Tr in the reverse direction (counterclockwise direction in FIG. 1) at any timing.

[0033] The first holding part 27A and the second holding part 27B are mainly provided for holding the bag (container) C. The bag C moves along the transfer track Tr together with the corresponding holding and transfer unit 22 while being held by the first holding part 27A and the second holding part 27B. The first holding part 27A and the second holding part 27B in this example are configured as gripping parts for gripping both side parts of the bag C, and are driven by the transfer device 21 under the control of the control device 13 to close and open for gripping and releasing the bag C. Note that the holding mode of the bag C by the first holding part 27A and the second holding part 27B is not limited, and the first holding part 27A and the second holding part 27B may utilize means other than gripping (such as suction, etc.).

[0034] By adjusting the interval between the paired first carrier 25A and second carrier 25B under the control of the control device 13 by the transfer device 21, the interval between the corresponding first holding part 27A and second holding part 27B is adjusted. By expanding the interval between the first holding part 27A and the second holding part 27B that are gripping the bag C, it is possible to tension the bag C. On the other hand, by narrowing the interval between the first holding part 27A and the second holding part 27B that are gripping the bag C, it is possible to bend the bag C. For example, when the mouth part formed by the top of the bag C is not sealed, it is possible to open the mouth part.

[0035] In the container processing system 10 shown in FIG. 1 having the above-described configuration, when each holding and transfer unit 22 moves along the transfer track Tr, the directions Or of the carriers 25A and 25B of each holding and transfer unit 22 are set to be perpendicular to the transfer track Tr. Therefore, while each holding and transfer unit 22 moves on a linear track (see the first track Tr1), the first carrier 25A and the second carrier 25B of each holding and transfer unit 22 are oriented in the same direction as each other. On the other hand, while at least one of the carriers 25A and 25B of each holding and transfer unit 22 moves on a curved track (see the second track Tr2), these carriers 25A and 25B are oriented in different directions from each other.

[0036] Even in a case where the directions between the carriers 25A and 25B of each holding and transfer unit 22 are different according to the shape of the transfer track Tr as described above, advantageous embodiments for stably holding the bag C by the holding portions 27A and 27B that move together with the carriers 25A and 25B are illustratively shown below.

[0037] [First Embodiment] FIG. 2 is an enlarged plan view showing an example of the container transfer device 11 of the first embodiment. In FIG. 2, the illustration of some elements is omitted. For example, the illustration of the bag C held by each holding and transfer unit 22 is omitted in FIG. 2.

[0038] FIG. 3 is a view of the first holding and transfer set 22A shown in FIG. 2 as seen from the side. Note that FIG. 3 is shown partially in perspective and partially in cross-section for ease of understanding.

[0039] FIG. 4 is a view showing the holding and transfer unit 22 of FIG. 2, showing a state where the distance between the holding portions 27A and 27B is relatively large. FIG. 5 is a view showing the holding and transfer unit 22 of FIG. 2, showing a state where the distance between the holding portions 27A and 27B is relatively small.

[0040] Each holding and transfer unit 22 shown in FIGS. 2 to 5 includes a single linear connecting member 31 to which the first arm 26A and the second arm 26B are slidably attached.

[0041] End stoppers 31a are provided at both ends of the connecting member 31, and the first connection attachment location 26E of the first arm 26A and the second connection attachment location 26F of the second arm 26B are slidably attached to the rod-shaped region between the end stoppers 31a of the connecting member 31.

[0042] The first arm 26A is rotatably attached to the first carrier 25A via a first connecting shaft 30a. Similarly, the second arm 26B is rotatably attached to the second carrier 25B via the first connecting shaft 30a.

[0043] In the example shown in FIGS. 2 to 5, each first connecting shaft 30a (first arm attachment location 25C, first carrier attachment location 26C, second arm attachment location 25D, and second carrier attachment location 26D) is located between the corresponding connection attachment locations 26E, 26F and the holding portions 27A, 27B.

[0044] That is, in the first arm 26A, the first connection attachment location 26E to which the connecting member 31 is attached is located on the side opposite to the first holding portion 27A via the first carrier attachment location 26C to which the first carrier 25A is attached. Similarly, in the second arm 26B, the second connection attachment location 26F to which the connecting member 31 is attached is located on the side opposite to the second holding portion 27B via the second carrier attachment location 26D to which the second carrier 25B is attached.

[0045] Thus, the first connection attachment location 26E and the second connection attachment location 26F are located on one end side of the first arm 26A and the second arm 26B, and the first holding portion 27A and the second holding portion 27B are located on the other end side of the first arm 26A and the second arm 26B.

[0046] Of the ends of the arms 26A and 26B of each holding and transferring unit 22, the end on the side where the holding portions 27A and 27B are located is called the tip end, and the end on the side opposite to the tip end is called the base end. Similarly, of the carriers 25A and 25B of each holding and transferring unit 22, the end on the side where the holding portions 27A and 27B are located is called the tip end 25a, and the end on the side opposite to the tip end 25a (the end on the transfer device 21 side) is called the base end 25b.

[0047] The first carrier attachment portion 26C of the first arm 26A coincides with the first arm attachment portion 25C of the first carrier 25A where the first arm 26A is rotatably attached in a plan view (that is, in the vertical line direction). Similarly, the second carrier attachment portion 26D of the second arm 26B coincides with the second arm attachment portion 25D of the second carrier 25B where the second arm 26B is rotatably attached in a plan view (that is, in the vertical line direction).

[0048] However, the positions of the respective first connecting shafts 30a (the first arm attachment portion 25C, the first carrier attachment portion 26C, the second arm attachment portion 25D, and the second carrier attachment portion 26D) are not limited to the examples shown in FIGS. 2 to 5. For example, between the holding portions 27A and 27B and the respective first connecting shafts 30a (the first arm attachment portion 25C, the first carrier attachment portion 26C, the second arm attachment portion 25D, and the second carrier attachment portion 26D), corresponding connecting attachment portions 26E and 26F attached to the connecting member 31 may be provided.

[0049] As shown in FIG. 3, on the main body portion of the first carrier 25A, a power acting portion 35 for applying power for movement (including movement stop) and rotating wheels 36 installed above and below the power acting portion 35 are provided. The power acting portion 35 in this example receives the magnetic force applied from the transfer device 21 under the control of the control device 13, so that the first holding and transferring set 22A moves along the transfer track Tr. Each rotating wheel 36 rolls on the side surface of the transfer device 21 that defines the transfer track Tr, reduces the frictional force acting between the first carrier 25A and the transfer device 21, and enables the smooth movement of the first carrier 25A along the transfer track Tr.

[0050] In the example shown in FIG. 3, the fixture 38 is fixedly attached to the first carrier 25A, and the corresponding first connecting shaft 30a is rotatably supported by the bearing of the fixture 38. The first connecting shaft 30a is fixedly attached to the first arm 26A (particularly the first carrier attachment portion 26C) so as not to rotate, and rotates together with the first arm 26A about the arm rotation axis Aa passing through the center of the bearing of the fixture 38.

[0051] The second holding and transfer set 22B has the same configuration as the first holding and transfer set 22A shown in FIG. 3. That is, the fixture 38 is fixedly attached to the second carrier 25B, and the corresponding first connecting shaft 30a is rotatably supported by the bearing of the fixture 38. The first connecting shaft 30a is fixedly attached to the second arm 26B (particularly the second carrier attachment portion 26D) so as not to rotate, and rotates together with the second arm 26B about the arm rotation axis Aa passing through the center of the bearing of the fixture 38. Then, when the second carrier 25B (particularly the power acting portion 35) receives the power (magnetic force) applied from the transfer device 21 under the control of the control device 13, the second holding and transfer set 22B moves along the transfer track Tr.

[0052] Thus, the first holding and transfer set 22A and the second holding and transfer set 22B have the same configuration as each other.

[0053] In each holding and transfer unit 22 of the present embodiment, the first arm 26A and the second arm 26B maintain a relative posture so as to extend parallel to each other regardless of the orientations of the first carrier 25A and the second carrier 25B. And the distance between the first holding portion 27A and the second holding portion 27B of each holding and transfer unit 22 is determined according to the distance between the first arm attachment portion 25C and the second arm attachment portion 25D (and thus the distance between the first carrier attachment portion 26C and the second carrier attachment portion 26D).

[0054] That is, as the distance between the first arm attachment point 25C and the second arm attachment point 25D increases, the distance between the first holding part 27A and the second holding part 27B increases. Therefore, by expanding the interval between the first arm attachment point 25C and the second arm attachment point 25D (and thus the interval between the first carrier attachment point 26C and the second carrier attachment point 26D), the interval between the first holding part 27A and the second holding part 27B expands. On the other hand, by narrowing the interval between the first arm attachment point 25C and the second arm attachment point 25D (and thus the interval between the first carrier attachment point 26C and the second carrier attachment point 26D), the interval between the first holding part 27A and the second holding part 27B narrows.

[0055] Also, as long as the distance between the first arm attachment point 25C and the second arm attachment point 25D is maintained constant, even if the distances between other locations of the carriers 25A, 25B change, the distance between the first holding part 27A and the second holding part 27B is maintained constant.

[0056] The control device 13 controls the transfer device 21 to control the movement of each holding and transfer unit 22 having the above-described configuration and the opening and closing for gripping of each holding part 27A, 27B. In particular, the control device 13 of the present embodiment controls the power (magnetic force in this example) applied from the transfer device 21 to the power acting parts 35 (see FIG. 3) of each holding and transfer unit 22 (specifically, the carriers 25A, 25B) so that the first holding and transfer sets 22A and the second holding and transfer sets 22B of each holding and transfer unit 22 can be individually moved along the transfer track Tr.

[0057] Specifically, the control device 13 controls the positions and speeds of the reference locations of the carriers 25A, 25B of each holding and transfer unit 22 to individually arrange each of the holding and transfer sets 22A, 22B of each holding and transfer unit 22 at a desired position or move them at a desired speed. In the example shown in FIG. 2, each holding and transfer unit 22 is installed such that the first arm attachment point 25C of the first carrier 25A and the second arm attachment point 25D of the second carrier 25B move on the transfer track Tr as the reference locations of the carriers 25A, 25B.

[0058] However, the reference positions of carriers 25A and 25B are not limited to the first arm attachment positions 25C and the second arm attachment positions 25D. The control device 13 may control the positions and speeds of the first holding and transferring sets 22A and the second holding and transferring sets 22B of the respective holding and transferring units 22 based on other positions of the carriers 25A and 25B.

[0059] That is, the relative positions of the first arm attachment positions 25C and the second arm attachment positions 25D with respect to the transfer paths Tr (the first path Tr1 and the second path Tr2) are not limited. For example, the first arm attachment positions 25C and the second arm attachment positions 25D may be located on the side of the holding portions 27A and 27B rather than the transfer path Tr in a plan view, or may be located on the transfer path Tr or on the proximal end side of the arms 26A and 26B (opposite to the holding portions 27A and 27B) rather than the transfer path Tr. However, from the viewpoint of suppressing the widening of the distance between the first holding portion 27A and the second holding portion 27B when the holding and transferring unit 22 advances from the first path Tr1 to the second path Tr2 (the "outward curved path" described later) in the example shown in FIG. 2, it is advantageous that the first arm attachment positions 25C and the second arm attachment positions 25D are located on the transfer path Tr or on the proximal end side of the arms 26A and 26B (opposite to the holding portions 27A and 27B) rather than the transfer path Tr in a plan view.

[0060] The control device 13 adjusts the distance between the holding portions 27A and 27B by adjusting the distance between the arm attachment positions 25C and 25D (that is, the distance between the reference positions of the carriers 25A and 25B) via the transfer device 21. That is, the distance between the first holding portion 27A and the second holding portion 27B is determined according to the distance between the reference position of the first carrier 25A (the first arm attachment position 25C in this embodiment) and the reference position of the second carrier 25B (the second arm attachment position 25D in this embodiment). Therefore, by adjusting the distance between the reference position of the first carrier 25A (the first arm attachment position 25C) and the reference position of the second carrier 25B (the second arm attachment position 25D), the distance between the first holding portion 27A and the second holding portion 27B is adjusted.

[0061] In particular, according to the holding and transfer unit 22 of the present embodiment, the distance between the reference positions (the first arm attachment positions 25C) of the first carrier 25A and the reference positions (the second arm attachment positions 25D) of the second carrier 25B is reduced, so that the distance between the first holding portion 27A and the second holding portion 27B is reduced. On the other hand, when the distance between the reference positions (the first arm attachment positions 25C) of the first carrier 25A and the reference positions (the second arm attachment positions 25D) of the second carrier 25B increases, the distance between the first holding portion 27A and the second holding portion 27B increases.

[0062] Therefore, the control device 13 can maintain the distance between the holding portions 27A and 27B constant by maintaining the distance between the arm attachment positions 25C and 25D constant via the transfer device 21. Further, the control device 13 can narrow the distance between the holding portions 27A and 27B by narrowing the distance between the arm attachment positions 25C and 25D via the transfer device 21, and can widen the distance between the holding portions 27A and 27B by widening the distance between the arm attachment positions 25C and 25D.

[0063] In the container transfer device 11 having the above-described configuration, assume, as an example, a case where each holding and transfer unit 22 is moved from the first track Tr1 to the second track Tr2 while maintaining the distance between the reference positions of the carriers 25A and 25B (that is, the distance between the arm attachment positions 25C and 25D) constant.

[0064] In this case, while the entire each holding and transfer unit 22 (that is, both the first holding and transfer set 22A and the second holding and transfer set 22B) is moving on the first track Tr1, the first carrier 25A and the second carrier 25B are oriented in the same direction, and the distance between the first carrier 25A and the second carrier 25B is maintained constant.

[0065] While at least a part of each holding and transferring unit 22 (for example, only one of the first holding and transferring set 22A and the second holding and transferring set 22B, or both the first holding and transferring set 22A and the second holding and transferring set 22B) is moving on the second track Tr2, the first carrier 25A and the second carrier 25B are oriented in different directions from each other. That is, the first carrier 25A and the second carrier 25B are oriented in the radial direction (radius direction) with respect to the center of rotation R, which is the center (center of curvature) of the semicircular transfer track Tr, while moving on the second track Tr2.

[0066] On the other hand, the arms 26A and 26B are rotatably attached to the carriers 25A and 25B and are restricted by the connecting member 31, so as to maintain a state of extending in parallel regardless of the change in the orientation of the carriers 25A and 25B. In particular, by maintaining a constant interval between the reference portions (that is, the arm attachment portions 25C and 25D) of the carriers 25A and 25B, the interval between the arms 26A and 26B (and thus the interval between the holding portions 27A and 27B) is also maintained constant.

[0067] When the first carrier 25A and the second carrier 25B enter from the first track Tr1 to the second track Tr2 in this way, the distance between a part (the tip 25a) of the first carrier 25A and a part (the tip 25a) of the second carrier 25B becomes larger, but by preventing the distance between the first arm attachment portion 25C and the second arm attachment portion 25D (and thus the distance between the first carrier attachment portion 26C and the second carrier attachment portion 26D) from becoming larger, it is possible to avoid an increase in the interval between the arms 26A and 26B and the interval between the holding portions 27A and 27B.

[0068] In this way, the interval between the arms 26A and 26B and the interval between the holding portions 27A and 27B are maintained constant on the transfer track Tr regardless of the first track Tr1 and the second track Tr2 as long as the distance between the arm attachment portions 25C and 25D is maintained constant. Therefore, even when each holding and transferring unit 22 enters from the first track Tr1 to the second track Tr2, the bag C can be stably held by the holding portions 27A and 27B with the interval maintained.

[0069] In the container transfer device 11 having the above configuration, in order to stably hold the bag C by the holding portions 27A and 27B, for example, it is effective to prevent the distance between the holding portions 27A and 27B that hold the bag C in a tensioned state from expanding. Therefore, when the first carrier 25A and the second carrier 25B (the first holding and transfer set 22A and the second holding and transfer set 22B) move so as to proceed from the first track Tr1 to the second track Tr2, at least a part of the second track Tr2 is at least one of the first carrier 25A and the second carrier 25B. The distance between the first arm attachment portion 25C and the second arm attachment portion 25D (and thus the distance between the first carrier attachment portion 26C and the second carrier attachment portion 26D) when moving is the distance between the first arm attachment portion 25C and the second arm attachment portion 25D (and thus the distance between the first carrier attachment portion 26C and the second carrier attachment portion 26D) when the first carrier 25A and the second carrier 25B move on at least a part of the first track Tr1. The control device 13 may control the movement of each holding and transfer unit 22 via the transfer device 21 so that it is not made larger.

[0070] Note that the distance between the holding portions 27A and 27B may be changed while each holding and transfer unit 22 moves on each of the linear track (see the first track Tr1) and the curved track (see the second track Tr2) of the transfer track Tr. For example, the distance between the arm attachment portions 25C and 25D (and thus the distance between the carrier attachment portions 26C and 26D) when the carriers 25A and 25B of each holding and transfer unit 22 move on at least a part of the second track Tr2 may be made larger or smaller than the distance between the arm attachment portions 25C and 25D (and thus the distance between the carrier attachment portions 26C and 26D) when the carriers 25A and 25B move on at least a part of the first track Tr1.

[0071] As described above, according to the container transfer device 11 and the container transfer method (container processing method) of the present embodiment, the arms 26A, 26B and the holding parts 27A, 27B are rotatably provided with respect to the carriers 25A, 25B. Therefore, regardless of the orientation of the carriers 25A, 25B, the arms 26A, 26B and the holding parts 27A, 27B can be oriented, and the interval between the holding parts 27A, 27B can be controlled regardless of the orientation of the carriers 25A, 25B. Therefore, the container transfer device 11 of the present embodiment is advantageous for stably holding the bag C by the holding parts 27A, 27B that move together with the carriers 25A, 25B.

[0072] In particular, in both the linear track (first track Tr1) and the curved track (second track Tr2) of the transfer track Tr, it is easy to keep the interval between the holding parts 27A, 27B at a desired interval. Therefore, the container transfer device 11 of the present embodiment is advantageous for effectively utilizing the transfer track Tr, and can effectively contribute to the reduction of the footprint (space saving) and the improvement of the production efficiency.

[0073] For example, when each holding and transfer unit 22 passes through a point (boundary) where the curvature of the track changes in the transfer track Tr, the control device 13 may perform drive control of the corresponding carriers 25A, 25B so that the interval between the holding parts 27A, 27B is maintained before and after the point (boundary).

[0074] In addition, by adopting a so-called linear track configuration that uses magnetic force as power, independent drive control for each of the carriers 25A, 25B (and thus for each of the holding and transfer sets 22A, 22B including the arms 26A, 26B and the holding parts 27A, 27B) is possible. Therefore, for example, it is also easy to divide a plurality of carriers 25A, 25B (a plurality of holding and transfer sets 22A, 22B) into a plurality of groups and perform control in units of groups. According to such a linear track configuration, it is possible to easily realize processes and drive control that were difficult to realize with conventional rotary packaging machines using a cam drive mechanism.

[0075] [Second Embodiment] In the present embodiment, elements that are the same as or corresponding to those in the above-described first embodiment are denoted by the same reference numerals, and detailed descriptions thereof are omitted.

[0076] FIG. 6A is an enlarged plan view showing an example of the container transfer device 11 of the second embodiment. FIG. 6B is a view of the second holding and transfer set 22B shown in FIG. 6A as seen from the side. Note that FIG. 6B is shown partially transparently and partially in cross-section for ease of understanding.

[0077] Each holding and transfer unit 22 of the present embodiment includes a plurality of connecting members 31A to 31E that connect the first arm 26A and the second arm 26B to each other.

[0078] That is, a first connecting member 31A and a third connecting member 31C that are rotatably attached to the first arm 26A, a second connecting member 31B and a fourth connecting member 31D that are rotatably attached to the second arm 26B, and a fifth connecting member 31E are provided. The fifth connecting member 31E has a first relay portion 31b and a second relay portion 31c at each of both ends. The first connecting member 31A and the second connecting member 31B are rotatably attached to the first relay portion 31b via a third connecting shaft 30c. The third connecting member 31C and the fourth connecting member 31D are rotatably attached to the second relay portion 31c via a third connecting shaft 30c.

[0079] By means of a link mechanism including five connecting members 31A to 31E that are rotatably connected to each other in this way, the first arm 26A and the second arm 26B (and thus the first holding portion 27A and the second holding portion 27B) perform a line-symmetrical behavior about the fifth connecting member 31E (specifically, a reference line passing through the center of the first relay portion 31b and the center of the second relay portion 31c).

[0080] The first arm 26A is rotatably attached to the first carrier 25A via a first connecting shaft 30a, and the second arm 26B is rotatably attached to the second carrier 25B via a first connecting shaft 30a.

[0081] In the example shown in FIG. 6A, a first carrier attachment location 26C on the first arm 26A where the first carrier 25A is attached has a first connecting member 31A attached via a first connecting shaft 30a, and is located between a third connecting attachment location 26G where a third connecting member 31C is attached and the first holding portion 27A. Also, a second carrier attachment location 26D on the second arm 26B where the second carrier 25B is attached has a second connecting member 31B attached via the first connecting shaft 30a, and is located between a fourth connecting attachment location 26H where a fourth connecting member 31D is attached and the second holding portion 27B.

[0082] In the example shown in FIG. 6B, a fixture 38 is fixedly attached to the second carrier 25B, and a corresponding first connecting shaft 30a is rotatably supported by a bearing of the fixture 38. The first connecting shaft 30a is fixedly attached so as not to rotate with respect to the second arm 26B (particularly the second carrier attachment location 26D), and rotates together with the second arm 26B about an arm rotation axis Aa passing through the center of the bearing of the fixture 38.

[0083] The first holding and transfer set 22A has the same configuration as the second holding and transfer set 22B shown in FIG. 6B. That is, a fixture 38 is fixedly attached to the first carrier 25A, and a corresponding first connecting shaft 30a is rotatably supported by a bearing of the fixture 38. The first connecting shaft 30a is fixedly attached so as not to rotate with respect to the first arm 26A (particularly the first carrier attachment location 26C), and rotates together with the first arm 26A about an arm rotation axis Aa passing through the center of the bearing of the fixture 38. Then, when the first carrier 25A (particularly the power acting portion 35) receives power (magnetic force) applied from the transfer device 21 under the control of the control device 13, the first holding and transfer set 22A moves along the transfer track Tr.

[0084] Note that the first carrier attachment location 26C on the first arm 26A and the second carrier attachment location 26D on the second arm 26B are not limited to the arrangement example shown in FIG. 6A, and any other arbitrary arrangement can be adopted. For example, the first carrier attachment location 26C may be located between the first connection attachment location 26E where the first connection member 31A is attached on the first arm 26A and the first holding portion 27A, or may be located between the first connection attachment location 26E and the third connection attachment location 26G, or may be located on the side opposite to the first holding portion 27A via the third connection attachment location 26G. Similarly, the second carrier attachment location 26D may be located between the second connection attachment location 26F where the second connection member 31B is attached on the second arm 26B and the second holding portion 27B, or may be located between the second connection attachment location 26F and the fourth connection attachment location 26H, or may be located on the side opposite to the second holding portion 27B via the fourth connection attachment location 26H.

[0085] Other configurations of the container transfer device 11 shown in FIGS. 6A and 6B are the same as those of the container transfer device 11 of the first embodiment described above.

[0086] In the present embodiment, the first arm 26A and the second arm 26B maintain a relative posture so as to extend parallel to each other regardless of the orientations of the first carrier 25A and the second carrier 25B. And the distance between the first holding portion 27A and the second holding portion 27B of each holding and transfer unit 22 is determined according to the distance between the first arm attachment location 25C and the second arm attachment location 25D (and thus the distance between the first carrier attachment location 26C and the second carrier attachment location 26D).

[0087] That is, as the distance between the first arm attachment location 25C and the second arm attachment location 25D increases, the distance between the first holding portion 27A and the second holding portion 27B increases. Therefore, by expanding the interval between the first arm attachment location 25C and the second arm attachment location 25D (and thus the interval between the first carrier attachment location 26C and the second carrier attachment location 26D), the interval between the first holding portion 27A and the second holding portion 27B expands. On the other hand, by narrowing the interval between the first arm attachment location 25C and the second arm attachment location 25D (and thus the interval between the first carrier attachment location 26C and the second carrier attachment location 26D), the interval between the first holding portion 27A and the second holding portion 27B narrows.

[0088] The control device 13 of the present embodiment also controls the positions and speeds of the reference locations of the carriers 25A and 25B of each holding and transfer unit 22, so as to individually arrange each of the holding and transfer sets 22A and 22B of each holding and transfer unit 22 at a desired position or move them at a desired speed. In the examples shown in FIGS. 6A and 6B, each holding and transfer unit 22 is installed such that the first arm attachment location 25C of the first carrier 25A and the second arm attachment location 25D of the second carrier 25B move on the transfer track Tr as the reference locations of the carriers 25A and 25B.

[0089] The control device 13 adjusts the distance between the holding portions 27A and 27B by adjusting the distance between the reference locations of the carriers 25A and 25B (that is, the distance between the arm attachment locations 25C and 25D) via the transfer device 21. For example, by keeping the interval between the arm attachment locations 25C and 25D constant, the interval between the holding portions 27A and 27B can be kept constant. Also, by narrowing the interval between the arm attachment locations 25C and 25D, the interval between the holding portions 27A and 27B can be narrowed, and by expanding the interval between the arm attachment locations 25C and 25D, the interval between the holding portions 27A and 27B can be expanded.

[0090] In the container transfer device 11 having the above-described configuration, assume, as an example, a case where each holding and transfer unit 22 is moved from the first track Tr1 to the second track Tr2 while maintaining a constant distance between the reference positions of the carriers 25A and 25B (i.e., the distance between the arm attachment positions 25C and 25D).

[0091] In this case, while the entire each holding and transfer unit 22 (i.e., both the first holding and transfer set 22A and the second holding and transfer set 22B) is moving on the first track Tr1, the first carrier 25A and the second carrier 25B are oriented in the same direction, and the distance between the first carrier 25A and the second carrier 25B is maintained constant.

[0092] On the other hand, while at least a part of each holding and transfer unit 22 (e.g., only one of the first holding and transfer set 22A and the second holding and transfer set 22B, or both the first holding and transfer set 22A and the second holding and transfer set 22B) is moving on the second track Tr2, the first carrier 25A and the second carrier 25B are oriented in different directions from each other. In contrast, the arms 26A and 26B, which are rotatably attached to the carriers 25A and 25B and are restricted by a plurality of connecting members 31A to 31E, maintain a state of extending in parallel regardless of the change in the orientation of the carriers 25A and 25B. In particular, since the distance between the reference positions (i.e., the arm attachment positions 25C and 25D) of the carriers 25A and 25B is maintained constant, the distance between the arms 26A and 26B (and thus the distance between the holding portions 27A and 27B) is also maintained constant.

[0093] When the first carrier 25A and the second carrier 25B enter from the first track Tr1 to the second track Tr2 in this way, the distance between a part (the tip portion 25a) of the first carrier 25A and a part (the tip portion 25a) of the second carrier 25B increases. However, by preventing the distance between the first arm attachment position 25C and the second arm attachment position 25D (and thus the distance between the first carrier attachment position 26C and the second carrier attachment position 26D) from increasing, it is possible to avoid an increase in the distance between the arms 26A and 26B and the distance between the holding portions 27A and 27B.

[0094] In the container transfer device 11 having the above-described configuration, in order to stably hold the bag C by the holding portions 27A and 27B, for example, it is effective to prevent the distance between the holding portions 27A and 27B that hold the bag C in a tensioned state from expanding. Therefore, when the first carrier 25A and the second carrier 25B (the first holding transfer set 22A and the second holding transfer set 22B) move so as to proceed from the first track Tr1 to the second track Tr2, at least a part of the second track Tr2 is the first carrier 25A and the second carrier 25A. The distance between the first arm attachment portion 25C and the second arm attachment portion 25D when at least one of the carriers 25B moves (and thus the distance between the first carrier attachment portion 26C and the second carrier attachment portion 26D) is the first track Tr1. The control device 13 may control the movement of each holding transfer unit 22 via the transfer device 21 so that it is not made larger than the distance between the first arm attachment portion 25C and the second arm attachment portion 25D (and thus the distance between the first carrier attachment portion 26C and the second carrier attachment portion 26D) when the first carrier 25A and the second carrier 25B move on at least a part of the above.

[0095] [Third Embodiment] In the present embodiment, the same reference numerals are given to the same or corresponding elements as those in the above-described first and second embodiments, and detailed descriptions thereof are omitted.

[0096] FIG. 7A is an enlarged plan view showing an example of the container transfer device 11 according to the third embodiment. FIG. 7B is a view of the second holding transfer set 22B shown in FIG. 7A as viewed from the side. Note that FIG. 7B is shown partially in perspective, partially in cross-section, and the illustration of some elements is omitted for ease of understanding.

[0097] Each holding transfer unit 22 of the present embodiment includes a plurality of connecting members 31A and 31B that connect the first arm 26A and the second arm 26B to each other.

[0098] That is, a first connecting member 31A rotatably attached to each of the first arm 26A and the second arm 26B, and a second connecting member 31B rotatably attached to each of the first connecting member 31A, the first arm 26A, and the second arm 26B are provided.

[0099] In the first arm 26A, the location (first connection attachment location 26Ea) where the first connecting member 31A is attached via the second connecting shaft 30b is located between the location (second connection attachment location 26Fb) where the second connecting member 31B is attached and the first holding portion 27A. In the second arm 26B, the location (second connection attachment location 26Fa) where the second connecting member 31B is attached via the second connecting shaft 30b is located between the location (first connection attachment location 26Eb) where the first connecting member 31A is attached and the second holding portion 27B.

[0100] The first connecting member 31A is slidably attached to the second arm 26B via the second slide support mechanism 41B. The second connecting member 31B is slidably attached to the first arm 26A via the first slide support mechanism 41A.

[0101] The first slide support mechanism 41A shown in FIG. 7A includes a first slide groove 42A linearly formed at the proximal end side end of the first arm 26A, and a first slider 43A provided in a protruding shape at the proximal end side end of the second connecting member 31B. The first slider 43A is slidably fitted into the first slide groove 42A. Similarly, the second slide support mechanism 41B shown in FIG. 7A includes a second slide groove 42B linearly formed at the proximal end side end of the second arm 26B, and a second slider 43B provided in a protruding shape at the proximal end side end of the first connecting member 31A. The second slider 43B is slidably fitted into the second slide groove 42B.

[0102] Each of the first arm 26A and the second arm 26B in the example shown in FIG. 7B includes a plurality of members fixed to each other. That is, each of the arms 26A and 26B shown in FIG. 7B includes a main body member (for example, a cylindrical member) to which the holding portions 27A and 27B are attached, and a groove forming member (for example, a flat plate member) that is attached to the proximal end side end portion of the main body member by welding or the like and has slide grooves 42A and 42B. Note that the specific configurations of the first arm 26A and the second arm 26B are not limited, and each of the arms 26A and 26B may include a single or a plurality of members having any shape.

[0103] Also, in the example shown in FIG. 7B, the fixture 38 is fixedly attached to the second carrier 25B, and the corresponding first connecting shaft 30a is rotatably supported by the bearing of the fixture 38. The first connecting shaft 30a is fixedly attached to the second arm 26B (particularly, the second carrier attachment portion 26D) so as not to rotate, and rotates together with the second arm 26B about an arm rotation axis passing through the center of the bearing of the fixture 38.

[0104] The first holding and transfer set 22A has the same configuration as the second holding and transfer set 22B shown in FIG. 7B. That is, the fixture 38 is fixedly attached to the first carrier 25A, and the corresponding first connecting shaft 30a is rotatably supported by the bearing of the fixture 38. The first connecting shaft 30a is fixedly attached to the first arm 26A (particularly, the first carrier attachment portion 26C) so as not to rotate, and rotates together with the first arm 26A about an arm rotation axis Aa passing through the center of the bearing of the fixture 38. Then, when the first carrier 25A (particularly, the power acting portion 35) receives the power (magnetic force) applied from the transfer device 21 under the control of the control device 13, the first holding and transfer set 22A moves along the transfer track Tr.

[0105] Note that the slide support mechanisms 41A and 41B are not limited to the examples shown in FIGS. 7A and 7B. For example, the slide support mechanisms 41A and 41B may have a shaft provided on one of the connecting members 31A and 31B and the arms 26A and 26B, and a bearing provided on the other and configured to slidably support the shaft.

[0106] Other configurations of the container transfer device 11 shown in FIGS. 7A and 7B are the same as those of the container transfer device 11 in the above-described first and second embodiments.

[0107] In the present embodiment, the first arm 26A and the second arm 26B maintain a relative posture such that they extend parallel to each other regardless of the orientations of the first carrier 25A and the second carrier 25B. And the distance between the first holding portion 27A and the second holding portion 27B of each holding and transfer unit 22 is determined according to the distance between the first arm attachment location 25C and the second arm attachment location 25D (and thus the distance between the first carrier attachment location 26C and the second carrier attachment location 26D).

[0108] That is, as the distance between the first arm attachment location 25C and the second arm attachment location 25D increases, the distance between the first holding portion 27A and the second holding portion 27B increases. Therefore, by expanding the interval between the first arm attachment location 25C and the second arm attachment location 25D (and thus the interval between the first carrier attachment location 26C and the second carrier attachment location 26D), the interval between the first holding portion 27A and the second holding portion 27B expands. On the other hand, by narrowing the interval between the first arm attachment location 25C and the second arm attachment location 25D (and thus the interval between the first carrier attachment location 26C and the second carrier attachment location 26D), the interval between the first holding portion 27A and the second holding portion 27B narrows.

[0109] The control device 13 of the present embodiment also controls the positions and speeds of the reference points of the carriers 25A and 25B of each holding and transfer unit 22, so as to individually place each of the holding and transfer sets 22A and 22B of each holding and transfer unit 22 at a desired position or move it at a desired speed. In the example shown in FIGS. 7 and 7B, the first arm attachment location 25C of the first carrier 25A and the second arm attachment location 25D of the second carrier 25B are used as the reference points of the carriers 25A and 25B, and each holding and transfer unit 22 is installed so as to move on the transfer track Tr.

[0110] The control device 13 adjusts the distance between the reference points of the carriers 25A and 25B (that is, the distance between the arm attachment locations 25C and 25D) via the transfer device 21, thereby adjusting the distance between the holding portions 27A and 27B. For example, by maintaining a constant interval between the arm attachment locations 25C and 25D, the interval between the holding portions 27A and 27B can be maintained constant. Also, by narrowing the interval between the arm attachment locations 25C and 25D, the interval between the holding portions 27A and 27B can be narrowed, and by expanding the interval between the arm attachment locations 25C and 25D, the interval between the holding portions 27A and 27B can be expanded.

[0111] In the container transfer device 11 having the above-described configuration, assume, as an example, a case where each holding and transfer unit 22 is moved from the first track Tr1 to the second track Tr2 while maintaining a constant distance between the reference points of the carriers 25A and 25B (that is, the distance between the arm attachment locations 25C and 25D).

[0112] In this case, while the entire body of each holding and transfer unit 22 (that is, both the first holding and transfer set 22A and the second holding and transfer set 22B) is moving on the first track Tr1, the first carrier 25A and the second carrier 25B are oriented in the same direction, and the interval between the first carrier 25A and the second carrier 25B is maintained constant.

[0113] On the one hand, while at least a part of each holding and transferring unit 22 (for example, only one of the first holding and transferring set 22A and the second holding and transferring set 22B, or both the first holding and transferring set 22A and the second holding and transferring set 22B) is moving on the second track Tr2, the first carrier 25A and the second carrier 25B are oriented in different directions from each other. In contrast, the arms 26A, 26B, which are rotatably attached to the carriers 25A, 25B and are restricted by a plurality of connecting members 31A, 31B, maintain a state of extending in parallel regardless of the change in the orientation of the carriers 25A, 25B. In particular, by keeping the distance between the reference points (i.e., the arm attachment points 25C, 25D) of the carriers 25A, 25B constant, the distance between the arms 26A, 26B (and thus the distance between the holding parts 27A, 27B) is also kept constant.

[0114] In this way, when the first carrier 25A and the second carrier 25B enter from the first track Tr1 into the second track Tr2, the distance between a part (the tip 25a) of the first carrier 25A and a part (the tip 25a) of the second carrier 25B becomes larger. However, by preventing the distance between the first arm attachment point 25C and the second arm attachment point 25D (and thus the distance between the first carrier attachment point 26C and the second carrier attachment point 26D) from becoming larger, it is possible to avoid an increase in the distance between the arms 26A, 26B and the distance between the holding parts 27A, 27B.

[0115] In the container transfer device 11 having the above-described configuration, in order to stably hold the bag C by the holding portions 27A and 27B, for example, it is effective to prevent the distance between the holding portions 27A and 27B that hold the bag C in a tensioned state from expanding. Therefore, when the first carrier 25A and the second carrier 25B (the first holding transfer set 22A and the second holding transfer set 22B) move so as to proceed from the first track Tr1 to the second track Tr2, at least a part of the second track Tr2 is between the first arm attachment portion 25C and the second arm attachment portion 25D when at least one of the first carrier 25A and the second carrier 25B moves (and thus the distance between the first carrier attachment portion 26C and the second carrier attachment portion 26D). The control device 13 may control the movement of each holding transfer unit 22 via the transfer device 21 so that the distance is not made larger than the distance between the first arm attachment portion 25C and the second arm attachment portion 25D (and thus the distance between the first carrier attachment portion 26C and the second carrier attachment portion 26D) when the first carrier 25A and the second carrier 25B move on at least a part of the first track Tr1.

[0116] In the examples shown in FIGS. 7A and 7B, the first connecting member 31A is provided slidably with respect to the second arm 26B and the second connecting member 31B is provided slidably with respect to the first arm 26A, but the present invention is not limited thereto. For example, the first connecting member 31A (see the first connecting attachment portion 26Ea) may be provided slidably with respect to the first arm 26A, and the second connecting member 31B (see the second connecting attachment portion 26Fa) may be provided slidably with respect to the second arm 26B.

[0117] As described above, the first connecting member 31A can be slidably attached to one of the first arm 26A and the second arm 26B, and the second connecting member 31B can be slidably attached to the other of the first arm 26A and the second arm 26B. In this case, the first connecting member 31A may be slidably attached to the other of the first arm 26A and the second arm 26B, or the second connecting member 31B may be slidably attached to one of the first arm 26A and the second arm 26B.

[0118] [Modified Example] In each of the above-described embodiments, the transfer orbit Tr includes a linear orbit (see the first orbit Tr1) and a curved orbit (see the second orbit Tr2). However, the specific orbit shape of the transfer orbit Tr is not limited, and the above-described technology is applicable to the entire transfer orbit Tr including the first orbit Tr1 and the second orbit Tr2 having different curvatures from each other. For example, the technology of each of the above-described embodiments is applicable to all cases where the transfer orbit Tr includes a first orbit having a relatively small curvature and a second orbit having a relatively large curvature (where the second orbit is connected to the downstream end of the first orbit), that is, all cases where "the curvature of the first orbit < the curvature of the second orbit". Therefore, the transfer orbit Tr may include, for example, a curved orbit (the first orbit) having a gentle curvature with a relatively large radius of curvature and a curved orbit (the second orbit) having a sharp curvature with a relatively small radius of curvature.

[0119] Also, the technology of each of the above-described embodiments is applicable to all cases where the transfer orbit Tr includes a first orbit having a relatively large curvature and a second orbit having a relatively small curvature (where the second orbit is connected to the downstream end of the first orbit), that is, all cases where "the curvature of the first orbit > the curvature of the second orbit".

[0120] When the transfer orbit Tr includes a curved orbit, the direction of the curved orbit is not limited either. In the example shown in FIG. 1 and the like above, in the curved orbit (see the second orbit Tr2), the direction from the base end portion (carrier side end portion) to the tip end portion (holding portion side end portion) of the arms 26A and 26B of each holding transfer unit 22 (hereinafter also referred to as the "arm direction") is directed in a direction away from the center of the curvature circle of the curved orbit (that is, the outward direction). The curved orbit included in the transfer orbit Tr is not limited to such an outward curved orbit (see the second orbit Tr2 shown in FIG. 1 and the like; also referred to as an "outward curved orbit"). For example, the transfer orbit Tr may include a curved orbit (also referred to as an "inward curved orbit") in which the arm direction is directed in an inward direction approaching the center of the curvature circle.

[0121] For example, in the container transfer device 11 of the above-described first embodiment, in the example shown in FIG. 2, the second track Tr2 of the outward curve track is shown, but the transfer track Tr may include the second track Tr2 of the inward curve track (see FIG. 8). Similarly, in the container transfer device 11 of the second embodiment, it may include the second track Tr2 of the inward curve track (see FIG. 9), and in the container transfer device 11 of the third embodiment, it may also include the second track Tr2 of the inward curve track (see FIG. 10).

[0122] When the second track Tr2 is an inward curve track, when the first carrier 25A and the second carrier 25B (the first holding and transfer set 22A and the second holding and transfer set 22B) move from the first track Tr1 to the second track Tr2, at least a part of the second track Tr2 is between the first arm attachment point 25C and the second arm attachment point 25D when at least one of the first carrier 25A and the second carrier 25B moves (and thus the distance between the first carrier attachment point 26C and the second carrier attachment point 26D). The control device 13 may control the movement of each holding and transfer unit 22 via the transfer device 21 so that the distance is not smaller than the distance between the first arm attachment point 25C and the second arm attachment point 25D (and thus the distance between the first carrier attachment point 26C and the second carrier attachment point 26D) when the first carrier 25A and the second carrier 25B move along at least a part of the first track Tr1.

[0123] Also, in each of the above-described embodiments, the transfer track Tr is set as a predetermined single track, but the transfer track Tr may be determined by appropriately selecting an optimal track according to the situation from a plurality of predetermined candidate tracks, or may not be predetermined. Each holding and transfer unit 22 (the first carrier 25A and the second carrier 25B) may be moved by the transfer device 21 driven under the control of the control device 13 to draw an arbitrary track along, for example, a two-dimensionally expanding plane.

[0124] The transfer orbit Tr may be a closed-loop orbit as described above (see FIG. 1), or may not be a closed-loop orbit. When the transfer orbit Tr is not a closed-loop orbit, each carrier (holding and transfer unit 22) may be driven and controlled by the control device 13 so as to reciprocate between one end and the other end of the transfer orbit Tr.

[0125] Also, each holding and transfer unit 22 includes two holding and transfer sets 22A and 22B (i.e., two carriers 25A and 25B, two arms 26A and 26B, and two holding parts 27A and 27B) in the above-described embodiment, but may include three or more holding and transfer sets (i.e., three or more carriers, three or more arms, and three or more holding parts). Further, the plurality of holding and transfer units 22 provided in the container transfer device 11 may include a holding and transfer unit 22 having only a single holding and transfer set (i.e., one carrier, one arm, and one holding part).

[0126] When the interval between the holding parts 27A and 27B is adjusted according to the swinging of the arms 26A and 26B with reference to the carrier attachment points 26C and 26D (first connection shaft 30a) and the connection attachment points 26E and 26F (second connection shaft 30b) as in the above-described embodiment, the position of the bag C held by the holding parts 27A and 27B (particularly the depth direction position) varies according to the degree of swinging of the arms 26A and 26B (and thus according to the interval between the holding parts 27A and 27B). The "depth direction position" of the bag C here is the position in the direction perpendicular to the extending direction of the transfer orbit Tr, and is the position in the direction in which the arms 26A and 26B and the holding parts 27A and 27B protrude from the carriers 25A and 25B. By the variation of the depth direction position of the bag C, the interval between the bag C and the processing device 12 (particularly the depth direction interval) can change. Therefore, the control device 13 may adjust the depth direction position of the processing device 12 and / or each holding and transfer unit 22 (e.g., carriers 25A and 25B and / or arms 26A and 26B) along the depth direction by moving the processing device 12 and / or each holding and transfer unit 22 (carriers 25A and 25B) according to the degree of swinging of the arms 26A and 26B (and thus according to the interval between the holding parts 27A and 27B).

[0127] Alternatively, any other container may be used instead of the above-described bag C, and each holding and transferring unit 22 (particularly the holding parts 27A and 27B) may be provided so as to be able to support a container other than a bag (for example, a bottle). Also, each holding and transferring unit 22 may support and convey an object "used for container processing" other than a container (for example, a workpiece such as a spout). For example, when each holding and transferring unit 22 supports and transfers a bottle, by hooking the bottle (for example, a portion protruding in the horizontal direction) on the holding parts 27A and 27B, the holding and transferring unit 22 can support the bottle in a suspended state. In this case, by moving at least one of the holding parts 27A and 27B along the transfer track Tr to expand or contract the interval between the holding parts 27A and 27B, the holding and transferring unit 22 can support or release the bottle. Also, by rotating at least one of the holding parts 27A and 27B so as to change its orientation and expanding or contracting the interval between the holding parts 27A and 27B at least in part (for example, by arranging the holding parts 27A and 27B in a V shape and an inverted V shape), the holding and transferring unit 22 can support or release the bottle. Thus, according to the above-described holding and transferring unit 22, it is possible to support and release the bottle only by adjusting the interval between the holding parts 27A and 27B, which can promote the speeding up of the processing.

[0128] It should be noted that all the embodiments and modified examples disclosed in this specification are merely illustrative in all respects and should not be construed as restrictive. The above-described embodiments and modified examples can be omitted, substituted, and changed in various forms without departing from the scope and spirit of the appended claims. For example, the above-described embodiments and modified examples may be combined in whole or in part, or embodiments other than the above may be combined with the above-described embodiments or modified examples. Also, the effects of the present disclosure described in this specification are merely illustrative, and other effects may be brought about.

[0129] The technical category that embodies 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 of manufacturing or using the above device. Further, the above technical idea may be embodied by a computer-readable non-transitory recording medium on which such a computer program is recorded.

[0130] For example, in order to execute a container transfer method of transferring the bag C by the container transfer device 11, the above technical idea may be embodied as a computer program for causing a computer to execute the step of adjusting the distance between the first holding part 27A and the second holding part 27B by adjusting the distance between the first arm attachment location 25C on the first carrier 25A to which the first arm 26A is attached and the second arm attachment location 25D on the second carrier 25B to which the second arm 26B is attached, which is included in the container transfer method. Also, the above technical idea may be embodied as a recording medium on which such a computer program is recorded.

[0131] [Appendix] The disclosed technology can be embodied as follows.

[0132] [Item 1] A first carrier and a second carrier that move along a transfer track, A first arm rotatably attached to the first carrier and a second arm rotatably attached to the second carrier, A first holding part and a second holding part for holding an object used for container processing, the first holding part provided on the first arm and the second holding part provided on the second arm, The distance between the first holding part and the second holding part is determined according to the distance between the first arm attachment location on the first carrier to which the first arm is attached and the second arm attachment location on the second carrier to which the second arm is attached. Container processing device.

[0133] [Item 2] The container processing device according to item 1, comprising one or a plurality of connecting members that connect the first arm and the second arm to each other.

[0134] [Item 3] Comprising a connecting member to which the first arm and the second arm are slidably attached, The container processing device according to item 1 or 2.

[0135] [Item 4] A first connecting member and a third connecting member rotatably attached to the first arm, and A second connecting member and a fourth connecting member rotatably attached to the second arm, and A fifth connecting member to which the first connecting member, the second connecting member, the third connecting member, and the fourth connecting member are rotatably attached, The container processing device according to any one of items 1 to 3.

[0136] [Item 5] A first connecting member rotatably attached to each of the first arm and the second arm, and A second connecting member rotatably attached to each of the first arm and the second arm, The distance between the first holding portion and the second holding portion is determined according to the distance between the first arm attachment location on the first carrier to which the first arm is attached and the second arm attachment location on the second carrier to which the second arm is attached, In the first arm, the location where the first connecting member is attached is located between the location where the second connecting member is attached and the first holding portion, In the second arm, the location where the second connecting member is attached is located between the location where the first connecting member is attached and the second holding portion, The first connecting member is slidably attached to one of the first arm and the second arm, and the second connecting member is slidably attached to the other of the first arm and the second arm. The container processing apparatus according to any one of Items 1 to 4.

[0137] [Item 6] The transfer track includes a first track and a second track having a curvature different from that of the first track. As the distance between the first arm attachment location on the first carrier to which the first arm is attached and the second arm attachment location on the second carrier to which the second arm is attached increases, the distance between the first holding portion and the second holding portion increases. When at least one of the first carrier and the second carrier moves along at least a part of the second track, the distance between the first arm attachment location and the second arm attachment location is not made larger than the distance between the first arm attachment location and the second arm attachment location when the first carrier and the second carrier move along at least a part of the first track. The container processing apparatus according to any one of Items 2 to 5.

[0138] [Item 7] The transfer track includes a first track and a second track having a curvature different from that of the first track. As the distance between the first arm attachment location on the first carrier to which the first arm is attached and the second arm attachment location on the second carrier to which the second arm is attached increases, the distance between the first holding portion and the second holding portion increases. When at least one of the first carrier and the second carrier moves along at least a part of the second track, the distance between the first arm attachment location and the second arm attachment location is not made larger than the distance between the first arm attachment location and the second arm attachment location when the first carrier and the second carrier move along at least a part of the first track. The container processing apparatus according to any one of items 2 to 5.

[0139] [Item 8] The container processing apparatus according to any one of items 1 to 7, wherein the first carrier and the second carrier are moved along the transfer path by receiving magnetic force.

[0140] [Item 9] A container processing method for transferring an object used for container processing by a container processing apparatus, wherein the container processing apparatus includes a first carrier and a second carrier that move along a transfer path, a first arm rotatably attached to the first carrier and a second arm rotatably attached to the second carrier, and a first holding portion and a second holding portion for holding an object used for container processing, the first holding portion provided on the first arm and the second holding portion provided on the second arm, and includes a step of adjusting the distance between the first holding portion and the second holding portion by adjusting the distance between a first arm attachment location on the first carrier to which the first arm is attached and a second arm attachment location on the second carrier to which the second arm is attached. Container processing method.

Explanation of reference numerals

[0141] 10 Container processing system, 11 Container transfer device, 12 Processing device, 13 Control device, 21 Transfer device, 22 Holding and transfer unit, 22A First holding and transfer set, 22B Second holding and transfer set, 22C Third holding and transfer set, 25A First carrier, 25B Second carrier, 25C First arm attachment location, 25D Second arm attachment location, 25a Tip end, 25b Base end, 26A First arm, 26B Second arm, 26C First carrier attachment location, 26D Second carrier attachment location, 26E First connection attachment location, 26Ea First connection attachment location, 26Eb First connection attachment location, 26F Second connection attachment location, 26Fa Second connection attachment location, 26Fb Second connection attachment location, 26G Third connection attachment location, 26H Fourth connection attachment location, 27A First holding part, 27B Second holding part, 27C Third holding part, 30a First connection shaft, 30b Second connection shaft, 30c Third connection shaft, 31 Connection member, 31A First connection member, 31B Second connection member, 31C Third connection member, 31D Fourth connection member, 31E Fifth connection member, 31a End stopper, 31b First relay location, 31c Second relay location, 35 Power acting part, 36 Rotating wheel, 38 Fixture, 41A First slide support mechanism, 41B Second slide support mechanism, 42A First slide groove, 42B Second slide groove, 43A First slider, 43B Second slider, C Bag, Cm Mouth part, C0 Connecting bag body, C1 First bag, C2 Second bag, Tr Transfer track, Tr1 First track, Tr2 Second track, Or Direction of the carrier, R Rotation center

Claims

1. A first carrier and a second carrier that move along a transfer track, a first arm rotatably attached to the first carrier and a second arm rotatably attached to the second carrier, a first holding part and a second holding part for holding an object used for container processing, the first holding part provided on the first arm and the second holding part provided on the second arm, wherein the distance between the first holding part and the second holding part is determined according to the distance between a first arm attachment location on the first carrier where the first arm is attached and a second arm attachment location on the second carrier where the second arm is attached, a container processing apparatus.

2. The container processing apparatus according to claim 1, further comprising one or more connecting members that connect the first arm and the second arm to each other.

3. The container processing apparatus according to claim 1, further comprising a connecting member to which the first arm and the second arm are slidably attached.

4. a first connecting member and a third connecting member rotatably attached to the first arm, a second connecting member and a fourth connecting member rotatably attached to the second arm, and a fifth connecting member to which the first connecting member, the second connecting member, the third connecting member, and the fourth connecting member are rotatably attached. The container processing apparatus according to claim 1.

5. a first connecting member rotatably attached to each of the first arm and the second arm, a second connecting member rotatably attached to each of the first arm and the second arm, wherein the distance between the first holding part and the second holding part is determined according to the distance between a first arm attachment location on the first carrier where the first arm is attached and a second arm attachment location on the second carrier where the second arm is attached, in the first arm, the location where the first connecting member is attached is located between the location where the second connecting member is attached and the first holding part, in the second arm, the location where the second connecting member is attached is located between the location where the first connecting member is attached and the second holding part, the first connecting member is slidably attached to one of the first arm and the second arm, and the second connecting member is slidably attached to the other of the first arm and the second arm. The container processing apparatus according to claim 1.

6. The transfer track includes a first track and a second track having a curvature different from that of the first track, as the distance between the first arm attachment location on the first carrier to which the first arm is attached and the second arm attachment location on the second carrier to which the second arm is attached increases, the distance between the first holding portion and the second holding portion increases, when at least one of the first carrier and the second carrier moves along at least a part of the second track, the distance between the first arm attachment location and the second arm attachment location is not made larger than the distance between the first arm attachment location and the second arm attachment location when the first carrier and the second carrier move along at least a part of the first track, The container processing apparatus according to any one of claims 2 to 5.

7. The transfer track includes a first track and a second track having a curvature different from that of the first track, as the distance between the first arm attachment location on the first carrier to which the first arm is attached and the second arm attachment location on the second carrier to which the second arm is attached increases, the distance between the first holding portion and the second holding portion increases, when at least one of the first carrier and the second carrier moves along at least a part of the second track, the distance between the first arm attachment location and the second arm attachment location is not made smaller than the distance between the first arm attachment location and the second arm attachment location when the first carrier and the second carrier move along at least a part of the first track, The container processing apparatus according to any one of claims 2 to 5.

8. The container processing apparatus according to claim 1, wherein the first carrier and the second carrier are moved along the transfer track by receiving a magnetic force.

9. A container processing method for transferring an object used for container processing by a container processing apparatus, wherein the container processing apparatus includes a first carrier and a second carrier that move along a transfer track, a first arm rotatably attached to the first carrier and a second arm rotatably attached to the second carrier, A first holding part and a second holding part for holding an object used for the container processing, the first holding part provided on the first arm and the second holding part provided on the second arm, and including a step of adjusting the distance between the first holding part and the second holding part by adjusting the distance between a first arm attachment location on the first carrier to which the first arm is attached and a second arm attachment location on the second carrier to which the second arm is attached. A container processing method.

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