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 and a second holding part 27B used to hold an object used in container processing, the first holding part provided at the first arm and the second holding part provided at the second arm. A clearance between a first carrier reference point and a second carrier reference point narrows to expand a clearance between the first holding part and the second holding part, and the clearance between the first carrier reference point and the second carrier reference point expands to narrow the clearance between the first holding part and the second holding part.SELECTED DRAWING: Figure 2

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 orientation of the arm and the holding part also changes accordingly.

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

[0006] On the other hand, when two carriers forming a pair move on a curved trajectory such as an arc, even if the distance between their reference points is maintained constant, the two carriers are oriented in different directions, and the arms and holding parts mounted on each of the two carriers forming the pair 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 carriers forming the pair changes according to the orientations of the two carriers, so it changes when the two carriers enter from a straight trajectory onto a curved trajectory. 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 for container processing by a holding part that moves together with a carrier.

Means for Solving the Problems

[0008] One aspect of the present disclosure 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, 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 a connecting member rotatably attached to 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 a reference location of the first carrier and a reference location of the second carrier. When the distance between the reference location of the first carrier and the reference location of the second carrier decreases, the distance between the first holding portion and the second holding portion increases. When the distance between the reference location of the first carrier and the reference location of the second carrier increases, the distance between the first holding portion and the second holding portion decreases. The first connection attachment location on the first arm where the connecting member is attached is located between the first carrier attachment location on the first arm where the first carrier is attached and the first holding portion. The second connection attachment location on the second arm where the connecting member is attached is located between the second carrier attachment location on the second arm where the second carrier is attached and the second holding portion. The present disclosure relates to a container processing apparatus.

[0009] The reference location of the first carrier may be the first arm attachment location on the first carrier where the first arm is rotatably attached, and the reference location of the second carrier may be the second arm attachment location on the second carrier where the second arm is rotatably attached.

[0010] The transfer path may include a first track and a second track having a curvature different from that of the first track.

[0011] The curvature of the second track is greater than that of the first track. The second track is connected to the first track. The first carrier and the second carrier travel from the first track to the second track. The distance between the reference position of the first carrier and the reference position of the second carrier 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 smaller than the distance between the reference position of the first carrier and the reference position of the second carrier when the first carrier and the second carrier move along at least a part of the first track.

[0012] The curvature of the second track is greater than that of the first track. The second track is connected to the first track. The first carrier and the second carrier travel from the first track to the second track. The distance between the reference position of the first carrier and the reference position of the second carrier 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 larger than the distance between the reference position of the first carrier and the reference position of the second carrier when the first carrier and the second carrier move along at least a part of the first track.

[0013] The first carrier and the second carrier may be moved along the transfer track under the influence of magnetic force.

[0014] Another aspect of the present disclosure is a container processing method for transferring objects used in container processing by a container processing apparatus. 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, a first holding portion and a second holding portion for holding objects used in container processing, the first holding portion provided on the first arm and the second holding portion provided on the second arm, and a connecting member rotatably attached to 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 a reference location of the first carrier and a reference location of the second carrier. When the interval between the reference location of the first carrier and the reference location of the second carrier narrows, the interval between the first holding portion and the second holding portion expands. When the interval between the reference location of the first carrier and the reference location of the second carrier expands, the interval between the first holding portion and the second holding portion narrows. The first connection attachment location on the first arm where the connecting member is attached is located between the first carrier attachment location on the first arm where the first carrier is attached and the first holding portion. The second connection attachment location on the second arm where the connecting member is attached is located between the second carrier attachment location on the second arm where the second carrier is attached and the second holding portion. 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 reference location of the first carrier and the reference location of the second carrier.

Effect of the Invention

[0015] According to the present disclosure, it is advantageous to stably hold an object used in container processing by a holding portion that moves together with the carrier.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

DETAILED DESCRIPTION OF THE INVENTION

[0017] FIG. 1 is a plan view showing a schematic configuration of an example of a container processing system (container processing apparatus) 10.

[0018] 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.

[0019] 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 after being processed by the processing device 12 toward the subsequent stage.

[0020] 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 unprocessed bag (for example, an empty flat bag) C to the container transfer device 11 (particularly the holding and transferring 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 open mouth of the 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.

[0021] 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, but one or a plurality of processing devices 12 may be provided along any other location of the transfer track Tr (for example, the curved second track Tr2).

[0022] The container transfer device 11 includes a transfer device 21 controlled by a control device 13 and a plurality of holding and transfer units 22 driven by the transfer device 21. The control device 13 controls the operations of each of the plurality of holding and transfer units 22 by controlling the transfer device 21.

[0023] Under the control of the control device 13, the transfer device 21 supplies power to each of the plurality of holding and transfer units 22 and moves each holding and transfer unit 22 along the transfer track Tr. The transfer device 21 in this example has a linear motor (not shown) that uses magnetic force to supply power to each holding and transfer unit 22. 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 and transfer unit 22.

[0024] 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) that connect the ends of the two linear tracks.

[0025] 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, 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).

[0026] Each holding and transfer unit 22 includes a paired first holding and transfer set 22A and second holding and transfer set 22B.

[0027] The first holding and transfer set 22A includes 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 includes 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.

[0028] In addition, in FIG. 1, regarding 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, arms 26A and 26B and holding portions 27A and 27B) is omitted.

[0029] 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.

[0030] 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.

[0031] 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 that grip both side parts of the bag C, and are driven by the transfer device 21 under the control of the control device 13 to open and close 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 use means other than gripping (such as suction, etc.).

[0032] 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.

[0033] 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 (refer to 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 (refer to the second track Tr2), these carriers 25A and 25B are oriented in different directions from each other.

[0034] Even when the directions of the carriers 25A and 25B of each holding and transferring unit 22 are different from each other according to the shape of the transfer path Tr as described above, an advantageous embodiment for stably holding the bag C by the holding portions 27A and 27B that move together with the carriers 25A and 25B is illustratively shown below.

[0035] FIG. 2 is an enlarged plan view showing an example of the container transfer device 11. In FIG. 2, the illustration of some elements is omitted. For example, only the second carrier 25B is shown for the holding and transferring unit 22 located most downstream (particularly the second holding and transferring set 22B). Also, the illustration of the bag C held by each holding and transferring unit 22 is omitted in FIG. 2.

[0036] FIG. 3 is a view of the first holding and transferring set 22A shown in FIG. 2 as seen from the side.

[0037] Each holding and transferring unit 22 of the present embodiment includes one or a plurality of connecting members 31 that connect the first arm 26A and the second arm 26B to each other.

[0038] In the example shown in FIGS. 2 and 3, a single connecting member 31 is rotatably attached to the first arm 26A and the second arm 26B. One end of the connecting member 31 is rotatably attached to the first arm 26A via the second connecting shaft 30b, and the other end of the connecting member 31 is rotatably attached to the second arm 26B via the second connecting shaft 30b. Each second connecting shaft 30b is fixedly attached so as not to rotate with respect to the corresponding first arm 26A or second arm 26B, but is rotatably connected to the connecting member 31.

[0039] The first arm 26A is rotatably attached to the first carrier 25A via a first connecting shaft 30a. The second arm 26B is rotatably attached to the second carrier 25B via the first connecting shaft 30a. Each first connecting shaft 30a is fixedly attached to the corresponding first arm 26A or second arm 26B so as not to rotate. On the other hand, a fixture 38 (see FIG. 3) is fixed to each of the first carrier 25A and the second carrier 25B, and the corresponding first connecting shaft 30a is rotatably supported by the bearing of the fixture 38.

[0040] In the first arm 26A, a first connecting attachment portion 26E to which the connecting member 31 is attached is located between a first carrier attachment portion 26C to which the first carrier 25A is attached and a first holding portion 27A. In the second arm 26B, a second connecting attachment portion 26F to which the connecting member 31 is attached is located between a second carrier attachment portion 26D to which the second carrier 25B is attached and a second holding portion 27B.

[0041] Note that the first carrier attachment portion 26C of the first arm 26A coincides with a first arm attachment portion 25C of the first carrier 25A where the first arm 26A is rotatably attached in a plan view (i.e., in the vertical line direction). Similarly, the second carrier attachment portion 26D of the second arm 26B coincides with a second arm attachment portion 25D of the second carrier 25B where the second arm 26B is rotatably attached in a plan view (i.e., in the vertical line direction).

[0042] As shown in Fig. 3, on the main body of the first carrier 25A, a power acting part 35 on which power for movement (including movement stop) acts, and rotating wheels 36 installed above and below the power acting part 35 are provided. The power acting part 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 transfer 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, reducing the frictional force acting between the first carrier 25A and the transfer device 21, and enabling the smooth movement of the first carrier 25A along the transfer track Tr.

[0043] The second holding and transfer set 22B has the same configuration as the first holding and transfer set 22A shown in Fig. 3. The second carrier 25B (especially the power acting part 35) receives the magnetic force applied from the transfer device 21 under the control of the control device 13, so that it moves along the transfer track Tr.

[0044] In each holding and transfer unit 22 having the above-described configuration, when the distance between the first holding part 27A and the second holding part 27B is reduced, the distance between at least a part of the first carrier 25A and at least a part of the second carrier 25B is increased.

[0045] In the example shown in Figs. 2 and 3, the distance between the first holding part 27A and the second holding part 27B is determined according to the distance between the first arm attachment location 25C of the first carrier 25A and the second arm attachment location 25D of the second carrier 25B (and thus the distance between the first carrier attachment location 26C of the first arm 26A and the second carrier attachment location 26D of the second arm 26B). Since the first arm 26A swings around the first connection attachment location 26E and the second arm 26B swings around the second connection attachment location 26F, the interval between the holding parts 27A and 27B changes according to the interval between the carrier attachment locations 26C and 26D (and thus the interval between the arm attachment locations 25C and 25D).

[0046] Specifically, as the distance between the first arm attachment location 25C and the second arm attachment location 25D increases (and thus as the distance between the first carrier attachment location 26C and the second carrier attachment location 26D increases), the distance between the first holding portion 27A and the second holding portion 27B decreases. On the other hand, as the distance between the first arm attachment location 25C and the second arm attachment location 25D decreases (and thus as the distance between the first carrier attachment location 26C and the second carrier attachment location 26D decreases), the distance between the first holding portion 27A and the second holding portion 27B increases.

[0047] Also, as long as the distance between the first arm attachment location 25C and the second arm attachment location 25D is maintained constant (i.e., as long as the distance between the first carrier attachment location 26C and the second carrier attachment location 26D is maintained constant), the distance between the first holding portion 27A and the second holding portion 27B is maintained constant even if the distance between other locations of the carriers 25A, 25B changes.

[0048] The control device 13 controls the transfer device 21 to control the movement of each holding transfer unit 22 having the above-described configuration and the opening and closing for gripping of each of the holding portions 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 application portions 35 (see FIG. 3) of the carriers 25A, 25B of each holding transfer unit 22, so that the first holding transfer sets 22A and the second holding transfer sets 22B of each holding transfer unit 22 can be individually moved along the transfer track Tr.

[0049] Specifically, the control device 13 controls the positions and speeds of the reference locations of the carriers 25A, 25B of each holding transfer unit 22 to individually arrange each of the holding transfer sets 22A, 22B of each holding transfer unit 22 at a desired position or move it at a desired speed. In the example shown in FIGS. 2 and 3, each holding transfer unit 22 is installed so 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, 25B.

[0050] 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.

[0051] 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 with respect to the transfer path Tr in a plan view, or may be located on the transfer path Tr or on the base end side of the arms 26A and 26B (opposite to the holding portions 27A and 27B) with respect to 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 tip side (the holding portion 27A and 27B side) of the arms 26A and 26B with respect to the transfer path Tr in a plan view.

[0052] 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.

[0053] 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 part 27A and the second holding part 27B is increased. 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 is increased, the distance between the first holding part 27A and the second holding part 27B is reduced.

[0054] Therefore, the control device 13 can maintain the distance between the holding parts 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 increase the distance between the holding parts 27A and 27B by reducing the distance between the arm attachment positions 25C and 25D via the transfer device 21, and can reduce the distance between the holding parts 27A and 27B by increasing the distance between the arm attachment positions 25C and 25D.

[0055] 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.

[0056] 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.

[0057] On the other 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. 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.

[0058] Therefore, the distance between the tip portions (the ends opposite to the transfer device 21) 25a of the first carrier 25A and the second carrier 25B of each holding and transferring unit 22 is more spread out on the second track Tr2 than in the case of the first track Tr1. On the other hand, the distance between the base portions (the ends on the transfer device 21 side) 25b of the first carrier 25A and the second carrier 25B of each holding and transferring unit 22 is narrowed on the second track Tr2 as compared with the case of the first track Tr1.

[0059] On the other hand, the distance between the arms 26A and 26B and the distance between the holding portions 27A and 27B are kept constant on the transfer track Tr regardless of whether it is the first track Tr1 or the second track Tr2 as long as the distance between the arm attachment points 25C and 25D is maintained constant as described above. 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 distance maintained.

[0060] 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 location 25C and the second arm attachment location 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 location 26C and the second carrier attachment location 26D) is not made smaller than 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) when the first carrier 25A and the second carrier 25B move along at least a part of the first track Tr1. The control device 13 may control the movement of each holding transfer unit 22 via the transfer device 21.

[0061] Note that the distance between the holding portions 27A and 27B of each holding transfer unit 22 may be changed while the unit moves along each of the straight 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 locations 25C and 25D (and thus the distance between the carrier attachment locations 26C and 26D) when the carriers 25A and 25B of each holding transfer unit 22 move along at least a part of the second track Tr2 may be made larger or smaller than the distance between the arm attachment locations 25C and 25D (and thus the distance between the carrier attachment locations 26C and 26D) when the carriers 25A and 25B move along at least a part of the first track Tr1.

[0062] 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 and 26B and the holding parts 27A and 27B are rotatably provided with respect to the carriers 25A and 25B. Therefore, regardless of the orientation of the carriers 25A and 25B, the arms 26A and 26B and the holding parts 27A and 27B can be oriented, and the interval between the holding parts 27A and 27B can be controlled regardless of the orientation of the carriers 25A and 25B. Therefore, the container transfer device 11 of the present embodiment is advantageous for stably holding the bag C by the holding parts 27A and 27B that move together with the carriers 25A and 25B.

[0063] 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 and 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.

[0064] 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 and 25B so that the interval between the holding parts 27A and 27B is maintained before and after the point (boundary).

[0065] Also, by adopting a so-called linear track configuration that uses magnetic force as power, independent drive control for each of the carriers 25A and 25B (and thus for each of the holding and transfer sets 22A and 22B including the arms 26A and 26B and the holding parts 27A and 27B) is possible. Therefore, for example, it is also easy to divide a plurality of carriers 25A and 25B (a plurality of holding and transfer sets 22A and 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.

[0066] FIG. 4 is an enlarged plan view showing another example of the container transfer device 11. In FIG. 4, illustration of some elements is omitted. For example, illustration of the bag C held by the holding and transfer unit 22 located most upstream in FIG. 4 and the bag C held by the holding and transfer unit 22 located most downstream is omitted.

[0067] In the example shown in FIG. 4, elements that are the same as or corresponding to those in the example shown in FIG. 2 described above are denoted by the same reference numerals, and detailed description thereof is omitted.

[0068] When the transfer track Tr includes a curved track, the direction of the curved track is not limited. Also, the orientation of each holding and transfer unit 22 on the transfer track Tr is not limited.

[0069] In the example shown in FIG. 2 described above, in the curved track (see the second track Tr2), the direction from the base end (carrier side end) to the tip end (holding part side end) of the arms 26A and 26B of each holding and transfer unit 22 (hereinafter also referred to as the “arm direction”) is directed in a direction away from the center of the curvature circle (rotation center R) of the curved track (i.e., the outward direction). The curved track included in the transfer track Tr is not limited to such an outward curved track (see the second track Tr2 shown in FIG. 2; also referred to as the “outward curved track”), and for example, the transfer track Tr may include a curved track (also referred to as the “inward curved track”) in which the arm direction is directed in an inward direction approaching the center of the curvature circle.

[0070] The container transfer device 11 in the example shown in FIG. 4 has basically the same configuration as the container transfer device 11 in the example shown in FIG. 2 described above. However, the transfer track Tr shown in FIG. 2 includes the second track Tr2 which is an outward curved track, while the transfer track Tr shown in FIG. 4 includes the second track Tr2 which is an inward curved track.

[0071] When the second track Tr2 is an inwardly curved track and the first carrier 25A and the second carrier 25B (the first holding transfer set 22A and the second holding transfer set 22B) move from the first track Tr1 to the second track Tr2, when at least one of the first carrier 25A and the second carrier 25B moves, the distance between the first arm attachment point 25C and the second arm attachment point 25D of at least a part of the second track Tr2 (and thus the distance between the first carrier attachment point 26C and the second carrier attachment point 26D) is not made larger 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 on at least a part of the first track Tr1. The control device 13 may control the movement of each holding transfer unit 22 via the transfer device 21.

[0072] In this way, the container transfer device 11 is effective for both the outwardly curved track (see FIG. 2) and the inwardly curved track (see FIG. 4), and it is possible to easily and accurately control the intervals between the carriers 25A and 25B, the intervals between the arms 26A and 26B, and the intervals between the holding parts 27A and 27B. In particular, in the case of the inwardly curved track (see FIG. 4), interference (collision) between the carriers 25A and 25B, interference between the arms 26A and 26B, and interference between the holding parts 27A and 27B may occur relatively easily. However, even in such a case, according to the above-described container transfer device 11, the occurrence of such interference can be effectively prevented.

[0073] Also, regardless of whether it is an outwardly curved track (see FIG. 2) or an inwardly curved track (see FIG. 4), it is possible to construct a flexible layout of the transfer track Tr.

[0074] [Modification Example] In the above-described embodiment, 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 the above-described embodiment 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 bend with a relatively large radius of curvature and a curved orbit (the second orbit) having a sharp bend with a relatively small radius of curvature.

[0075] Also, the technology of the above-described embodiment 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".

[0076] In the above-described embodiment, the transfer orbit Tr is set as a predetermined single orbit. However, the transfer orbit Tr may be determined by appropriately selecting an optimal orbit according to the situation from a plurality of predetermined candidate orbits, or may not be predetermined. Each holding and transfer unit 22 (the first carrier 25A and the second carrier 25B) may be moved by a transfer device 21 driven under the control of the control device 13 so as to draw an arbitrary orbit along, for example, a two-dimensionally extended plane.

[0077] Also, 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.

[0078] In addition, each holding and transferring unit 22 includes two holding and transferring 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 transferring sets (i.e., three or more carriers, three or more arms, and three or more holding parts). Further, among the plurality of holding and transferring units 22 provided in the container transfer device 11, there may be included a holding and transferring unit 22 having only a single holding and transferring set (i.e., one carrier, one arm, and one holding part).

[0079] When the distance 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 positions 26C and 26D (first connecting shaft 30a) and the connecting attachment positions 26E and 26F (second connecting shaft 30b) as in the above-described embodiment, the position of the bag C held by the holding parts 27A and 27B (particularly the position in the depth direction) varies according to the degree of swinging of the arms 26A and 26B (and thus according to the distance between the holding parts 27A and 27B). The "position in the depth direction" of the bag C referred to here is the position in the direction perpendicular to the extending direction of the transfer track 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 position of the bag C in the depth direction, the distance (particularly the distance in the depth direction) between the bag C and the processing device 12 can be changed. Therefore, the control device 13 may adjust the position of the processing device 12 and / or each holding and transferring unit 22 (e.g., carriers 25A and 25B and / or arms 26A and 26B) in the depth direction by moving the processing device 12 and / or each holding and transferring unit 22 (e.g., carriers 25A and 25B) along the depth direction according to the degree of swinging of the arms 26A and 26B (and thus according to the distance between the holding parts 27A and 27B).

[0080] Alternatively, any other container (workpiece) may be used instead of the above-described bag C, and each holding and transferring unit 22 (particularly the holding portions 27A and 27B) may be provided so as to be capable of supporting a container other than a bag (for example, a bottle). Further, 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 transfers while supporting a bottle, the holding and transferring unit 22 can support the bottle in a suspended state by hooking the bottle (for example, a portion protruding in the horizontal direction) onto the holding portions 27A and 27B. In this case, by moving at least one of the holding portions 27A and 27B along the transfer track Tr to expand or contract the distance between the holding portions 27A and 27B, the holding and transferring unit 22 can support and release the bottle. Further, by rotating at least one of the holding portions 27A and 27B so as to change the direction thereof and expanding or contracting the distance between the holding portions 27A and 27B at least in part (for example, by arranging the holding portions 27A and 27B in a V shape and an inverted V shape), the holding and transferring unit 22 can support and 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 distance between the holding portions 27A and 27B, which can promote the speeding up of the processing.

[0081] It should be noted that all the embodiments and modifications disclosed in this specification are merely illustrative in all respects and should not be construed in a limiting sense. The above-described embodiments and modifications 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 modifications may be combined in whole or in part, or an embodiment other than the above may be combined with the above-described embodiments or modifications. Further, the effects of the present disclosure described in this specification are merely illustrative, and other effects may be brought about.

[0082] The technical category for embodying the above technical idea is not limited. For example, the above technical idea may be embodied by a computer program for causing a computer to execute one or more procedures (steps) included in a method for manufacturing or using the above device. Further, the above technical idea may be embodied by a computer-readable non-transitory recording medium on which such a computer program is recorded.

[0083] For example, in order to execute a container transfer method (container processing 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 "a 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 to which the first arm 26A of the first carrier 25A is attached and the second arm attachment location 25D to which the second arm 26B of the second carrier 25B is attached" included in the container transfer method, or the above technical idea may be embodied as a recording medium on which such a computer program is recorded.

[0084] [Appendix] The disclosed technology can be embodied as follows.

[0085] [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, And a connecting member rotatably attached to the first arm and the second arm. The distance between the first holding part and the second holding part is determined according to the distance between the reference position of the first carrier and the reference position of the second carrier. When the interval between the reference position of the first carrier and the reference position of the second carrier narrows, the interval between the first holding part and the second holding part expands. When the interval between the reference position of the first carrier and the reference position of the second carrier expands, the interval between the first holding part and the second holding part narrows. The first connection attachment location on the first arm, to which the connection member is attached, is located between the first carrier attachment location on the first arm, to which the first carrier is attached, and the first holding part. The second connection attachment location on the second arm, to which the connection member is attached, is located between the second carrier attachment location on the second arm, to which the second carrier is attached, and the second holding part. Container processing apparatus.

[0086] [Item 2] The reference position of the first carrier is the first arm attachment location on the first carrier to which the first arm is rotatably attached. The reference position of the second carrier is the second arm attachment location on the second carrier to which the second arm is rotatably attached. The container processing apparatus according to Item 1.

[0087] [Item 3] The transfer track includes a first track and a second track having a curvature different from that of the first track. The container processing apparatus according to Item 1 or 2.

[0088] [Item 4] The curvature of the second track is greater than the curvature of the first track. The second track is connected to the first track. The first carrier and the second carrier travel from the first track to the second track. When at least one of the first carrier and the second carrier moves, the distance between the reference position of the first carrier and the reference position of the second carrier when moving along at least a part of the second track is not less than the distance between the reference position of the first carrier and the reference position of the second carrier when moving along at least a part of the first track by the first carrier and the second carrier. The container processing apparatus according to item 3.

[0089] [Item 5] The curvature of the second track is greater than the curvature of the first track. The second track is connected to the first track. The first carrier and the second carrier proceed from the first track to the second track. When at least one of the first carrier and the second carrier moves, the distance between the reference position of the first carrier and the reference position of the second carrier when moving along at least a part of the second track is not greater than the distance between the reference position of the first carrier and the reference position of the second carrier when moving along at least a part of the first track by the first carrier and the second carrier. The container processing apparatus according to item 3.

[0090] [Item 6] The container processing apparatus according to any one of items 1 to 5, wherein the first carrier and the second carrier are moved along the transfer track by receiving a magnetic force.

[0091] [Item 7] 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, 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, and a connecting member rotatably attached to the first arm and the second arm. According to the distance between the reference position of the first carrier and the reference position of the second carrier, the distance between the first holding part and the second holding part is determined. When the interval between the reference position of the first carrier and the reference position of the second carrier narrows, the interval between the first holding part and the second holding part expands. When the interval between the reference position of the first carrier and the reference position of the second carrier expands, the interval between the first holding part and the second holding part narrows. The first connection attachment location on the first arm where the connecting member is attached is located between the first carrier attachment location on the first arm where the first carrier is attached and the first holding part. The second connection attachment location on the second arm where the connecting member is attached is located between the second carrier attachment location on the second arm where the second carrier is attached and the second holding part. Including a step of adjusting the distance between the first holding part and the second holding part by adjusting the distance between the reference position of the first carrier and the reference position of the second carrier. Container processing method.

Explanation of symbols

[0092] 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, 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, 26F Second connection attachment location, 27A First holding part, 27B Second holding part, 30a First connection shaft, 30b Second connection shaft, 31 Connection member, 35 Power acting part, 36 Rotating wheel, 38 Fixture, C Bag, Cm Mouth part, C0 Connecting bag body, C1 First bag, C2 Second bag, Or Carrier orientation, R Rotation center, Tr Transfer track, Tr1 First track, Tr2 Second track

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 objects used in container processing, the first holding part provided on the first arm and the second holding part provided on the second arm, and a connecting member rotatably attached to 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 reference location of the first carrier and a reference location of the second carrier. When the interval between the reference location of the first carrier and the reference location of the second carrier narrows, the interval between the first holding part and the second holding part expands. When the interval between the reference location of the first carrier and the reference location of the second carrier expands, the interval between the first holding part and the second holding part narrows. A first connection attachment location on the first arm to which the connecting member is attached is located between a first carrier attachment location on the first arm to which the first carrier is attached and the first holding part. A second connection attachment location on the second arm to which the connecting member is attached is located between a second carrier attachment location on the second arm to which the second carrier is attached and the second holding part. A container processing apparatus.

2. The reference location of the first carrier is a first arm attachment location on the first carrier to which the first arm is rotatably attached. The reference location of the second carrier is a second arm attachment location on the second carrier to which the second arm is rotatably attached. The container processing apparatus according to Claim 1.

3. The transfer track includes a first track and a second track having a curvature different from that of the first track. The container processing apparatus according to Claim 1 or 2.

4. The curvature of the second track is greater than the curvature of the first track. The second track is connected to the first track. The first carrier and the second carrier proceed from the first track to the second track. 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 reference position of the first carrier and the reference position of the second carrier is not made smaller than the distance between the reference position of the first carrier and the reference position of the second carrier when the first carrier and the second carrier move along at least a part of the first track. The container processing apparatus according to claim 3.

5. The curvature of the second track is greater than the curvature of the first track. The second track is connected to the first track. The first carrier and the second carrier travel from the first track to the second track. 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 reference position of the first carrier and the reference position of the second carrier is not made larger than the distance between the reference position of the first carrier and the reference position of the second carrier when the first carrier and the second carrier move along at least a part of the first track. The container processing apparatus according to claim 3.

6. The container processing apparatus according to claim 1 or 2, wherein the first carrier and the second carrier are moved along the transfer track by receiving a magnetic force.

7. 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 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 a connecting member rotatably attached to the first arm and the second arm. The distance between the first holding part and the second holding part is determined according to the distance between the reference part of the first carrier and the reference part of the second carrier. When the interval between the reference part of the first carrier and the reference part of the second carrier narrows, the interval between the first holding part and the second holding part expands. When the interval between the reference part of the first carrier and the reference part of the second carrier expands, the interval between the first holding part and the second holding part narrows. The first connection attachment location on the first arm, to which the connection member is attached, is located between the first carrier attachment location on the first arm, to which the first carrier is attached, and the first holding part. The second connection attachment location on the second arm, to which the connection member is attached, is located between the second carrier attachment location on the second arm, to which the second carrier is attached, and the second holding part. A container processing method including a step of adjusting the distance between the first holding part and the second holding part by adjusting the distance between the reference part of the first carrier and the reference part of the second carrier. Container processing method.

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