Container processing apparatus and container processing method

Abstract

To provide a technique that is advantageous for suppressing unintentional variations of intervals between adjacent holding transfer sets when a plurality of holding transfer sets are moved along a common transfer track.SOLUTION: A container processing apparatus 10 includes: a plurality of holding and transfer sets 22A, 22B that transfer objects C used in container processing; and a control unit 13 that controls the movement of the plurality of holding and transfer sets 22A, 22B. A transfer path Tr includes: a first transfer path section Tr1; and a second transfer path section Tr2 that is connected to the first transfer path section Tr1 and has a curvature different from that of the first transfer path section Tr1. The control unit 13 controls the movement of adjacent holding and transfer sets 22A, 22B so as to adjust an interval between the adjacent holding and transfer sets 22A, 22B when the adjacent holding and transfer sets 22A, 22B move from the first transfer path section Tr1 to the second transfer path section Tr2, depending on the size of the object C and the curvature of the second transfer path section Tr2.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

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

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-172140 Summary of the Invention [Problem to be solved by the invention]

[0004] A plurality of holding and transfer sets each having a carrier such as a mover, an arm, and a holding portion are provided, and the plurality of holding and transfer sets move along a common transfer path while holding objects such as containers, thereby enabling the continuous transfer of a large number of objects. Each of the objects transferred with the plurality of holding and transfer sets can be subjected to any processing during transfer.

[0005] When multiple holding transfer sets move along a common transfer track in this way, in order to efficiently and reliably transfer multiple objects, it is necessary to move the multiple holding transfer sets so that adjacent holding transfer sets maintain a desired distance apart. In particular, when multiple holding transfer sets move on a track with changing curvature, such as when multiple holding transfer sets enter a curved track from a straight track or when multiple curved tracks enter a straight track, the distance between adjacent holding transfer sets is likely to change.

[0006] The present disclosure provides an advantageous technique for reducing unintentional spacing variations between adjacent support transfer sets when multiple support transfer sets are moved along a common transfer trajectory. [Means for solving the problem]

[0007] One aspect of the present disclosure relates to a container processing device comprising a plurality of holding transfer sets that move along a transfer path, the holding transfer sets transporting objects used in container processing, and a control unit that controls the movement of the plurality of holding transfer sets, wherein the transfer path includes a first transfer path section and a second transfer path section connected to the first transfer path section and having a curvature different from that of the first transfer path section, and the control unit controls the movement of adjacent holding transfer sets so as to adjust the spacing between adjacent holding transfer sets when they move from the first transfer path section to the second transfer path section depending on the size of the objects and the curvature of the second transfer path section.

[0008] Each of the multiple holding transfer sets has a carrier, an arm protruding from the carrier, and a holding portion attached to the arm for holding an object, and the control unit may adjust the spacing between adjacent holding transfer sets so that the arms do not collide with each other when adjacent holding transfer sets move from the first transfer path section to the second transfer path section.

[0009] The arms of each of the plurality of holding transfer sets may protrude from the carrier in a direction approaching the centre of the circle of curvature of the second transfer path section while moving along the second transfer path section.

[0010] The control unit may control the movement of multiple holding transfer sets so that the distance between the arms of adjacent holding transfer sets in the first transfer path section just before the adjacent holding transfer sets enter the second transfer path section is greater than the distance between the arms of the adjacent holding transfer sets just after the entire adjacent holding transfer sets have entered the second transfer path section.

[0011] Each of the multiple holding transfer sets has a carrier, an arm protruding from the carrier, and a holding portion attached to the arm for holding an object, and the control unit may control the movement of the multiple holding transfer sets so that the distance between the holding portions of adjacent holding transfer sets holding an object is maintained constant when the adjacent holding transfer sets move from the first transfer path section to the second transfer path section.

[0012] The control unit may control the speed of movement of adjacent holding transfer sets so as to adjust the spacing between adjacent holding transfer sets when the adjacent holding transfer sets move from the first transfer path section to the second transfer path section.

[0013] At least one of the region of the first transfer path section immediately preceding the second transfer path section and the region of the second transfer path section immediately following the first transfer path section may be a buffer path section in which the speed of movement of one of adjacent holding transfer sets is made different from the speed of movement of the other.

[0014] Another aspect of the present disclosure relates to a container processing method that includes a step of moving a plurality of holding and transfer sets that transport objects used in container processing along a transfer path, the transfer path including a first transfer path section and a second transfer path section connected to the first transfer path section and having a different curvature than the first transfer path section, and when adjacent holding and transfer sets move from the first transfer path section to the second transfer path section, the spacing between adjacent holding and transfer sets is adjusted depending on the size of the objects and the curvature of the second transfer path section. [Effects of the Invention]

[0015] The technique of the present disclosure is advantageous in suppressing unintentional variations in spacing between adjacent holding transfer sets when multiple holding transfer sets are moved along a common transfer track. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a plan view showing a schematic configuration of an example of a container processing system. [Figure 2] FIG. 2 is an enlarged plan view showing an example of movement control of a holding and transferring unit (holding and transferring set) in the case of an outward curved trajectory. [Figure 3] FIG. 3 is an enlarged plan view showing an example of movement control of a holding and transferring unit (holding and transferring set) in the case of an inward curved track. [Figure 4] FIG. 4 is an enlarged plan view showing an example of movement control of a holding and transferring unit (holding and transferring set) in the case of an inward curved track. [Figure 5A] FIG. 5A is a plan view showing a typical example of a transfer track. [Figure 5B] FIG. 5A is a plan view showing a typical example of a transfer track. [Figure 5C] FIG. 5A is a plan view showing a typical example of a transfer track. [Figure 5D] FIG. 5A is a plan view showing a typical example of a transfer track. [Figure 5E] FIG. 5A is a plan view showing a typical example of a transfer track. [Figure 5F] FIG. 5A is a plan view showing a typical example of a transfer track. [Figure 5G] FIG. 5A is a plan view showing a typical example of a transfer track. [Figure 5H] FIG. 5A is a plan view showing a typical example of a transfer track. [Figure 5I] FIG. 5A is a plan view showing a typical example of a transfer track. [Figure 6A] FIG. 6A is a plan view showing an example of a holding and transferring unit. [Figure 6B] FIG. 6B is a plan view showing an example of a holding and transferring unit. [Figure 7A] FIG. 7A is a plan view showing an example of a holding and transferring unit. [Figure 7B] FIG. 7B is a plan view showing an example of a holding and transferring unit. [Figure 8A] FIG. 8A is a plan view showing an example of a holding and transferring unit. [Figure 8B] FIG. 8B is a plan view showing an example of a holding and transferring unit. [Figure 9] FIG. 9 is a side view showing an example of a holding and transferring unit. 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. As shown in FIG.

[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 (control unit) 13.

[0019] The container transfer device 11 receives bags (containers) C, transports the bags C along a transfer track (transfer path) Tr, and discharges the bags (product bags) C after being processed by the processing device 12 toward the subsequent stage.

[0020] The multiple processing devices 12 perform various processes on the bags C transported by the container transfer device 11 and / or the contents contained in the bags C. The specific process performed by the processing devices 12 is 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 may be provided that provides new unprocessed bags (e.g., empty flat bags) C to the container transfer device 11 (particularly the holding and transfer unit 22), a processing device 12 that prints on the bags C, a processing device 12 that introduces contents into the bags C through the mouths of the opened bags C, a processing device 12 that seals the mouths of the bags C, and / or a processing device 12 that sends the bags C to a subsequent stage.

[0021] In the container processing system 10 shown in Figure 1, multiple processing devices 12 are provided along the linear first orbit Tr1 of the transfer orbit Tr, but one or more processing devices 12 may be provided along any other location of the transfer orbit Tr (for example, the curved second orbit Tr2).

[0022] The container transfer apparatus 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 transfer device 21, thereby controlling the movement (operation) of each of the plurality of holding and transfer units 22 (a plurality of holding and transfer sets 22A, 22B).

[0023] The transfer device 21, under the control of the control device 13, applies power to each of the multiple holding and transferring units 22, causing each holding and transferring unit 22 to move along the transfer track Tr. In this example, the transfer device 21 has a linear motor (not shown) that uses magnetic force to power each holding and transferring unit 22. However, the transfer device 21 may have any other driving device, and may use a force other than magnetic force as power to move each holding and transferring unit 22.

[0024] In the example shown in Fig. 1, a transfer track Tr is set along the outer periphery of the main body of the transfer device 21, and each holding / 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 the third track Tr3) and two curved (semicircular) tracks (see the second track Tr2 and the fourth track Tr4) connecting the ends of the two linear tracks. That is, the transfer track Tr shown in Fig. 1 includes the first track Tr1, the second track Tr2 connected to the first track Tr1 and having a curvature different from that of the first track Tr1, the third track Tr3 connected to the second track Tr2 and having a curvature different from that of the second track Tr2, and the fourth track Tr4 connected to the third track Tr3 and the first track Tr1 and having a curvature different from that of the third track Tr3 and the first track Tr1.

[0025] The transfer trajectory Tr is not limited to the example shown in FIG. 1, but includes a plurality of trajectories having mutually different curvatures, including a trajectory having a relatively small curvature and a trajectory having a relatively large curvature.

[0026] Each holding and transferring unit 22 moving along the transfer track Tr includes a pair of a first holding and transferring set 22A and a second holding and transferring set 22B, and transfers an object (bag C in this example) used in container processing.

[0027] The first holding and transfer set 22A has a first carrier 25A that moves along the transfer path Tr, a first arm 26A attached to the first carrier 25A via a connecting shaft 30, and a first holding unit 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 path Tr, a second arm 26B attached to the second carrier 25B via a connecting shaft 30, and a second holding unit 27B provided on the second arm 26B.

[0028] In each holding and transferring set 22A, 22B, an arm 26A, 26B projects horizontally from the corresponding carrier 25A, 25B, and a holding portion 27A, 27B is attached to the projecting portion of the corresponding arm 26A, 26B and is provided for holding a bag C.

[0029] In FIG. 1, for the holding and transferring unit 22 on the second track Tr2, only the carriers 25A and 25B are shown by dotted lines, and other components (for example, arms 26A and 26B and holders 27A and 27B) are not shown.

[0030] First carrier 25A and second carrier 25B move along transfer track Tr by receiving power (magnetic force in this example) from transfer device 21. First arm 26A and first holding unit 27A move along transfer track Tr together with first carrier 25A, and second arm 26B and second holding unit 27B move along transfer track Tr together with second carrier 25B.

[0031] The transfer device 21 can stop the first carrier 25A (first transfer set 22A) and the second carrier 25B (second transfer set 22B) of each transfer unit 22 at any position on the transfer track Tr or move them at any speed. In the example shown in Figure 1, each transfer unit 22 is moved in a fixed direction (clockwise in Figure 1) along the transfer track Tr, with the first transfer set 22A moving ahead of the second transfer set 22B. However, the direction of movement of each transfer unit 22 is not limited, and each transfer unit 22 may be moved in the opposite direction (counterclockwise in Figure 1) along the transfer track Tr at any timing.

[0032] The first holding portion 27A and the second holding portion 27B are provided mainly to hold bags (containers) C, and the bags C move along the transfer track Tr together with the corresponding holding and transferring units 22 while being held by the first holding portion 27A and the second holding portion 27B. In this example, the first holding portion 27A and the second holding portion 27B are configured as gripping portions that grip both sides of the bag C, and are driven by the transfer device 21 under the control of the control device 13 to close and open in order to grip and release the grip of the bag C. Note that the manner in which the first holding portion 27A and the second holding portion 27B hold the bag C is not limited, and the first holding portion 27A and the second holding portion 27B may use means other than gripping (for example, suction, etc.).

[0033] The distance between the paired first carrier 25A and second carrier 25B is adjusted by the transfer device 21 under the control of the control device 13, thereby adjusting the distance between the corresponding first holding portion 27A and second holding portion 27B. By widening the distance between the first holding portion 27A and the second holding portion 27B holding the bag C, it is possible to tense the bag C. On the other hand, by narrowing the distance between the first holding portion 27A and the second holding portion 27B holding the bag C, it is possible to flex the bag C, and for example, if the mouth formed by the top of the bag C is not sealed, it is possible to open the mouth.

[0034] 1 having the above-described configuration, when each holding and transferring unit 22 moves along the transfer track Tr, the orientation Or of the carriers 25A, 25B of each holding and transferring unit 22 is perpendicular to the transfer track Tr. Therefore, while each holding and transferring unit 22 moves along a linear track (see the first track Tr1), the first carrier 25A and the second carrier 25B of each holding and transferring unit 22 are oriented in the same direction. On the other hand, while at least one of the carriers 25A, 25B of each holding and transferring unit 22 moves along a curved track (see the second track Tr2), these carriers 25A, 25B are oriented in different directions from each other.

[0035] In each holding and transferring unit 22 of this embodiment, the first arm 26A and the first holding part 27A (first holding unit) are attached so as not to rotate relative to the first carrier 25A. Similarly, the second arm 26B and the second holding part 27B (second holding unit) are attached so as not to rotate relative to the second carrier 25B.

[0036] Therefore, the orientation of the first holding unit (first arm 26A and first holding part 27A) moving along the transfer track Tr together with first carrier 25A changes depending on the orientation of first carrier 25A, and in this example, is the same as the orientation Or of first carrier 25A. Similarly, the orientation of the second holding unit (second arm 26B and second holding part 27B) moving along the transfer track Tr together with second carrier 25B changes depending on the orientation of second carrier 25B, and in this example, is the same as the orientation Or of second carrier 25B.

[0037] As described above, in this embodiment, depending on the shape of the transfer track Tr, the orientation may differ between the first holding and transfer set 22A (first carrier 25A, first arm 26A, and first holding part 27A) and the second holding and transfer set 22B (second carrier 25B, second arm 26B, and second holding part 27B) of each holding and transfer unit 22. Furthermore, the orientations of the holding and transfer sets 22A and 22B may differ between adjacent holding and transfer units 22.

[0038] Therefore, even if the distance between the reference points of carriers 25A and 25B of each holding and transferring unit 22 is maintained constant, the distance between holding parts 27A and 27B, which are provided at positions different from the reference points of carriers 25A and 25B, changes depending on the orientation of carriers 25A and 25B. Therefore, when each holding and transferring unit 22 moves on a track with varying curvature, even if carriers 25A and 25B move at the same speed, the distance between holding parts 27A and 27B may increase or decrease due to fluctuations in the orientation of carriers 25A and 25B.

[0039] For example, when holding and transferring unit 22 moves from a straight trajectory to a curved trajectory, the distance between holding parts 27A and 27B, which are holding bag C in a tensile state, increases, raising concerns that holding parts 27A and 27B may not be able to maintain proper holding of bag C. Similarly, when holding and transferring unit 22 moves from a curved trajectory to a straight trajectory, the distance between holding parts 27A and 27B, which are holding bag C, decreases, raising concerns that holding parts 27A and 27B may not be able to maintain proper holding of bag C.

[0040] Therefore, even if the orientations of the holding and transferring sets 22A and 22B may differ, an embodiment that is advantageous for stably holding the bag C by the holding and transferring sets 22A and 22B (holding portions 27A and 27B) will be shown below as an example.

[0041] The control device 13 controls the transfer device 21 to move each of the holding and transfer units 22 having the above-described configuration and to open and close each of the holding portions 27A, 27B for gripping. In particular, the control device 13 of this embodiment controls the power (magnetic force in this example) that is applied from the transfer device 21 to each of the holding and transfer units 22 (particularly the power application portions (not shown) of the carriers 25A, 25B), thereby making it possible to move the first holding and transfer set 22A and the second holding and transfer set 22B of each holding and transfer unit 22 individually along the transfer trajectory Tr.

[0042] Specifically, the control device 13 controls the position and speed of the reference points of the carriers 25A, 25B of each holding and transfer unit 22, so that the holding and transfer sets 22A, 22B of each holding and transfer unit 22 are placed at desired positions and moved at desired speeds, independently of each other or in synchronization with each other. As an example, each holding and transfer unit 22 may be provided so that a location on the first carrier 25A where the first arm 26A is attached (first arm attachment location; see connecting shaft 30) and a location on the second carrier 25B where the second arm 26B is attached (second arm attachment location; see connecting shaft 30) are used as reference points for the carriers 25A, 25B, and move on the transfer track Tr.

[0043] However, the reference points of the carriers 25A, 25B are not limited to the first arm attachment point and the second arm attachment point, and the control device 13 may control the position and speed of the first holding and transfer set 22A and the second holding and transfer set 22B of each holding and transfer unit 22 based on other points of the carriers 25A, 25B. Therefore, the relative positions of the arm attachment points of the carriers 25A, 25B with respect to the transfer track Tr are not limited. For example, the arm attachment points of the carriers 25A, 25B may be located closer to the holders 27A, 27B than the transfer track Tr in a plan view, or may be located on the transfer track Tr or closer to the base ends of the arms 26A, 26B than the transfer track Tr (the opposite side from the holders 27A, 27B).

[0044] Control device 13 adjusts the distance between holding units 27A and 27B by adjusting the distance between the reference points of carriers 25A and 25B via transport device 21. That is, the distance between first holding unit 27A and second holding unit 27B can vary depending on the distance between the reference point of first carrier 25A (e.g., the first arm attachment point) and the reference point of second carrier 25B (e.g., the second arm attachment point). Therefore, by adjusting the distance between the reference point of first carrier 25A and the reference point of second carrier 25B, it is possible to adjust the distance between first holding unit 27A and second holding unit 27B.

[0045] In particular, according to holding and transferring unit 22 of this embodiment, the gap between the reference point of first carrier 25A and the reference point of second carrier 25B narrows, thereby narrowing the gap between first holding part 27A and second holding part 27B. On the other hand, the gap between the reference point of first carrier 25A and the reference point of second carrier 25B widens, thereby widening the gap between first holding part 27A and second holding part 27B.

[0046] However, as described above, the distance between the first holding portion 27A and the second holding portion 27B is determined not only based on the distance (distance) between the reference point of the first carrier 25A and the reference point of the second carrier 25B, but also based on the orientation of the first carrier 25A and the second carrier 25B (holding and transfer sets 22A, 22B).

[0047] The orientations of the first carrier 25A and the second carrier 25B (holding transfer sets 22A, 22B) are determined according to the shape (curvature) of the transfer track Tr. In particular, the control device 13 of this embodiment cannot dynamically change the orientations of the first carrier 25A and the second carrier 25B (holding transfer sets 22A, 22B) regardless of the shape (curvature) of the transfer track Tr. However, the control device 13 may be configured to dynamically change the orientations of the first carrier 25A and the second carrier 25B (holding transfer sets 22A, 22B) via the transfer device 21 regardless of the shape (curvature) of the transfer track Tr.

[0048] In this embodiment, the control device 13 controls the movement of adjacent holding and transferring sets 22A, 22B so as to adjust the spacing between the adjacent holding and transferring sets 22A, 22B when they move from the first transfer path section to the second transfer path section, depending on the size of the bag (item transferred by the holding and transferring unit 22) C and the curvature of the second transfer path section. Here, the upstream first transfer path section and the downstream second transfer path section are connected to each other and have different curvatures, but may be either a straight track (see the first track Tr1 and the third track Tr3) or a curved track (see the second track Tr2 and the fourth track Tr4).

[0049] When moving from a straight track (curvature = 0) to a curved track (curvature ≠ 0), the arms 26A and 26B of the holding and transfer sets 22A and 22B are oriented in the same direction on the straight track, so collisions (interference) between the arms 26A and 26B do not generally occur. Therefore, when the first transfer path section is a straight track, the curvature of the straight track (first transfer path section) does not need to be taken into consideration when adjusting the spacing between adjacent holding and transfer sets 22A and 22B. On the other hand, when moving from a curved track (first transfer path section) to another track (straight track or curved track: second transfer path section), it is preferable that the control device 13 controls the movement of adjacent holding and transfer sets 22A, 22B to adjust the spacing between adjacent holding and transfer sets 22A, 22B depending on the size of the bag C, the curvature of the curved track (first transfer path section) and the curvature of the other track (second transfer path section) so that the arms 26A, 26B do not collide (interfere) with each other on the curved track (first transfer path section).

[0050] Figure 2 is an enlarged plan view showing an example of movement control of the holding and transfer unit 22 (holding and transfer sets 22A and 22B) in the case of an outward curved trajectory. Figure 3 is an enlarged plan view showing an example of movement control of the holding and transfer unit 22 (holding and transfer sets 22A and 22B) in the case of an inward curved trajectory.

[0051] When the transfer trajectory Tr includes a curved trajectory, the direction of the curved trajectory is not limited. In the example shown in Figures 1 and 2, in the curved trajectory (see the second trajectory Tr2), the direction (hereinafter also referred to as the "arm direction") from the base end (carrier-side end) of the arm 26A, 26B of each holding / transfer unit 22 to the tip end (holding-part-side end) is directed in a direction away from the center (center of curvature) of the circle of curvature of the curved trajectory (i.e., outward). However, the curved trajectory included in the transfer trajectory Tr is not limited to such an outward curved trajectory (outward curved trajectory; see Figures 1 and 2), and the transfer trajectory Tr may include, for example, a curved trajectory in which the arm direction is directed inward, approaching the center of the circle of curvature (inward curved trajectory; see Figure 3). Thus, the arms 26A, 26B of the holding transfer sets 22A, 22B protrude from the carriers 25A, 25B in a direction away from the center of curvature on the outward curved trajectory, whereas they protrude from the carriers 25A, 25B in a direction toward the center of curvature on the inward curved trajectory.

[0052] In the example of the outward curved track shown in Figure 2, the control device 13 controls the movement of the first carrier 25A and the second carrier 25B, for example, so as to narrow the gap between the first holding portion 27A and the second holding portion 27B on the first track Tr1 (e.g., the first buffer path section Tb1) before the first carrier 25A and the second carrier 25B enter the curved second track Tr2 from the straight first track Tr1.

[0053] That is, the control device 13 controls the movement of the multiple holding transfer sets 22A, 22B so that the distance between the arms 26A, 26B of adjacent holding transfer sets 22A, 22B in the area of the first orbit Tr1 (first buffer path section Tb1) just before the adjacent holding transfer sets 22A, 22B of each holding transfer unit 22 enter the second orbit Tr2 is smaller than the distance between the arms 26A, 26B of the adjacent holding transfer sets 22A, 22B just after the entire adjacent holding transfer sets 22A, 22B have entered the second orbit Tr2.

[0054] As an example, the control device 13 controls the speed and / or direction of movement of adjacent holding transfer sets 22A, 22B to adjust the spacing between adjacent holding transfer sets 22A, 22B when they move from the first orbit Tr1 to the second orbit Tr2.

[0055] For example, the control device 13 may reduce the speed of the first carrier 25A, which moves ahead of the second carrier 25B, on the first track Tr1 (e.g., the first buffer path portion Tb1 located immediately before the second track Tr2), thereby narrowing the gap between the first holding unit 27A and the second holding unit 27B. Alternatively, the control device 13 may reduce the speed of the second carrier 25B, which moves following the first carrier 25A, on the first track Tr1, thereby narrowing the gap between the first holding unit 27A and the second holding unit 27B. Alternatively, the control device 13 may reduce the gap between the first holding unit 27A and the second holding unit 27B by moving the first carrier 25A, which moves ahead, toward the second carrier 25B on the first track Tr1 (i.e., by moving the first carrier 25A upstream).

[0056] In this way, by narrowing the gap between the holding portions 27A and 27B on the first track Tr1 before the holding and transferring unit 22 enters the second track Tr2, it is possible to maintain proper holding of the bag C by the holding portions 27A and 27B even if the gap between the holding portions 27A and 27B widens when the holding and transferring unit 22 enters the second track Tr2 from the first track Tr1.

[0057] In this way, it is possible to narrow the gap between the first holding section 27A and the second holding section 27B on the first orbit Tr1 immediately before the holding / transfer unit 22 (particularly the preceding first holding / transfer set 22A) enters the second orbit Tr2, but the timing at which the gap between the first holding section 27A and the second holding section 27B on the first orbit Tr1 is narrowed is not limited. That is, the first buffer path section Tb1, where the gap between adjacent holding / transfer sets 22A, 22B is adjusted, is set in the "area where processing by the processing device is not performed" on the first orbit Tr1, located downstream of the area where processing by the processing device 12 (see FIG. 1) is performed, in this example, but may also be set in the "area where processing by the processing device is performed."

[0058] In order to suppress the influence of the increase in the distance between the holding portions 27A and 27B caused by the change in orientation of the carriers 25A and 25B when they move from the first orbit Tr1 to the second orbit Tr2, it is preferable to narrow the gap between the first holding portion 27A and the second holding portion 27B in the first orbit Tr1 in advance by a distance equal to or greater than the increase in the distance between the holding portions 27A and 27B.

[0059] Specifically, the control device 13 can control the movement of the first carrier 25A and the second carrier 25B so as to narrow the gap between the first holding unit 27A and the second holding unit 27B on the first track Tr1 (first buffer path section Tb1) from a first distance to a second distance. Here, the "first distance - second distance" is preferably set to the amount of increase in the distance between the holding units 27A and 27B caused by a change in the orientation of the carriers 25A and 25B when they move from the first track Tr1 to the second track Tr2, or to a value larger than this increase.

[0060] In this case, while first carrier 25A moves along second track Tr2 and second carrier 25B moves along first track Tr1, control device 13 may control the movement of first carrier 25A and second carrier 25B so that the distance between first holding unit 27A and second holding unit 27B is equal to or greater than the second distance and equal to or less than the first distance. Also, control device 13 may control the movement of first carrier 25A and second carrier 25B so that the distance between first holding unit 27A and second holding unit 27B is the first distance immediately after second carrier 25B enters second track Tr2 from first track Tr1 following first carrier 25A.

[0061] On the other hand, in the example of the inward curved track shown in Figure 3, the control device 13 controls the movement of the first carrier 25A and the second carrier 25B so as to increase the distance between the first holding portion 27A and the second holding portion 27B on the first track Tr1 (e.g., the first buffer path portion Tb1) before the first carrier 25A and the second carrier 25B enter the curved second track Tr2 from the straight first track Tr1.

[0062] That is, the control device 13 controls the movement of the multiple holding transfer sets 22A, 22B so that the distance between the arms 26A, 26B of adjacent holding transfer sets 22A, 22B in the area of the first orbit Tr1 (first buffer path section Tb1) just before the adjacent holding transfer sets 22A, 22B of each holding transfer unit 22 enter the second orbit Tr2 is greater than the distance between the arms 26A, 26B of the adjacent holding transfer sets 22A, 22B just after the entire adjacent holding transfer sets 22A, 22B have entered the second orbit Tr2.

[0063] Specifically, in this example, the control device 13 controls the speed and / or direction of movement of adjacent holding transfer sets 22A, 22B so as to adjust the spacing between adjacent holding transfer sets 22A, 22B when they move from the first orbit Tr1 to the second orbit Tr2.

[0064] For example, the control device 13 may increase the speed of the first carrier 25A, which moves ahead of the second carrier 25B, on the first track Tr1 (e.g., the first buffer path portion Tb1 located immediately before the second track Tr2), thereby increasing the spacing between the first holding unit 27A and the second holding unit 27B. Alternatively, the control device 13 may increase the spacing between the first holding unit 27A and the second holding unit 27B by decreasing the speed of the second carrier 25B, which moves following the first carrier 25A, on the first track Tr1. Alternatively, the control device 13 may increase the spacing between the first holding unit 27A and the second holding unit 27B by moving the second carrier 25B, which moves following the first carrier 25A, in a direction away from the first carrier 25A on the first track Tr1 (i.e., by moving the second carrier 25B upstream).

[0065] In this way, by widening the gap between the holding portions 27A and 27B on the first track Tr1 before the holding and transferring unit 22 enters the second track Tr2, it is possible to maintain proper holding of the bag C by the holding portions 27A and 27B even if the gap between the holding portions 27A and 27B narrows when the holding and transferring unit 22 enters the second track Tr2 from the first track Tr1.

[0066] In this way, it is possible to widen the gap between the first holding section 27A and the second holding section 27B on the first orbit Tr1 immediately before the holding / transfer unit 22 (particularly the preceding first holding / transfer set 22A) enters the second orbit Tr2, but the timing for widening the gap between the first holding section 27A and the second holding section 27B on the first orbit Tr1 is not limited. That is, the first buffer path section Tb1, where the gap between adjacent holding / transfer sets 22A, 22B is adjusted, is set in the "area where processing by the processing device is not performed" on the first orbit Tr1, located downstream of the area where processing by the processing device 12 (see FIG. 1) is performed, in this example, but may also be set in the "area where processing by the processing device is performed."

[0067] In order to suppress the effect of the narrowing of the distance between the holding portions 27A and 27B caused by the change in orientation of the carriers 25A and 25B when they move from the first orbit Tr1 to the second orbit Tr2, it is preferable to widen the gap between the first holding portion 27A and the second holding portion 27B in the first orbit Tr1 in advance by a distance equal to or greater than the narrowing of the distance between the holding portions 27A and 27B.

[0068] Specifically, the control device 13 can control the movement of the first carrier 25A and the second carrier 25B so as to increase the distance between the first holding unit 27A and the second holding unit 27B on the first track Tr1 from the second distance to the first distance. Here, the "first distance - second distance" is preferably set to the amount of narrowing of the distance between the holding units 27A and 27B caused by a change in the orientation of the carriers 25A and 25B when they move from the first track Tr1 to the second track Tr2, or to a value larger than the amount of narrowing.

[0069] In this case, while first carrier 25A moves along second track Tr2 and second carrier 25B moves along first track Tr1, control device 13 may control the movement of first carrier 25A and second carrier 25B so that the distance between first holding unit 27A and second holding unit 27B is equal to or greater than the second distance and equal to or less than the first distance. Also, control device 13 may control the movement of first carrier 25A and second carrier 25B so that the distance between first holding unit 27A and second holding unit 27B is the first distance immediately after second carrier 25B enters second track Tr2 from first track Tr1 following first carrier 25A.

[0070] 2 and 3, the distance between the holding and transfer sets 22A, 22B of each holding and transfer unit 22 holding bags C is adjusted in the first transfer path section (first track Tr1), particularly just before the second transfer path section (second track Tr2). However, the control device 13 may also control the movement of the multiple holding and transfer sets 22A, 22B so as to adjust the distance between the holding and transfer sets 22A, 22B while moving the holding and transfer sets 22A, 22B from the first transfer path section to the second transfer path section.

[0071] For example, the control device 13 may control the movement of multiple holding and transfer sets 22A, 22B to adjust the spacing between adjacent holding and transfer sets 22A, 22B so that the distance between the holding portions 27A, 27B of the adjacent holding and transfer sets 22A, 22B is maintained constant when adjacent holding and transfer sets 22A, 22B of each holding and transfer unit 22 holding a bag C move from the first orbit Tr1 to the second orbit Tr2.

[0072] In the examples shown in Figures 2 and 3 above, the control is mainly concerned with controlling the adjustment of the spacing between the holding and transfer sets 22A and 22B provided in each holding and transfer unit 22, but the control device 13 also performs control to adjust the spacing between the holding and transfer sets 22A and 22B between adjacent holding and transfer units 22.

[0073] An example of control of adjusting the interval between the holding and transfer sets 22A and 22B between adjacent holding and transfer units 22 will be described below with reference to FIG.

[0074] Figure 4 is an enlarged plan view showing an example of movement control of the holding and transfer unit 22 (holding and transfer sets 22A, 22B) in the case of an inward curved trajectory. In Figure 4, each holding and transfer unit 22 (carriers 25A, 25B, arms 26A, 26B, and holders 27A, 27B) is shown in a simplified manner, and some elements (for example, some holders 27A, 27B) are not shown.

[0075] The example shown in Figure 4, similar to Figures 2 and 3 described above, shows a case where adjacent holding and transferring units 22 move from a straight track (first track Tr1: first transfer path section) to a semicircular inward curved track (second track Tr2: second transfer path section).

[0076] In the example shown in Figure 4, a collision between adjacent holding and transfer units 22 that may occur on the second orbit Tr2 typically occurs between the second holding and transfer set 22B (particularly the second arm 26B) of the leading holding and transfer unit 22 and the first holding and transfer set 22A (particularly the first arm 26A) of the trailing holding and transfer unit 22.

[0077] Assume that the first holding / transfer set 22A and the second holding / transfer set 22B are of the same size and have symmetrical structures.

[0078] In this case, the actual length of the arms 26A and 26B is represented by "L." Furthermore, the ideal length of the arms 26A and 26B when it is assumed that the adjacent arms on the second trajectory Tr2 (i.e., the second arm 26B of the second holding and transfer set 22B of the leading holding and transfer unit 22 and the first arm 26A of the first holding and transfer set 22A of the trailing holding and transfer unit 22) are simply in contact with each other without substantially exerting force on each other is represented by "L'."

[0079] The distance between the first carrier 25A and the second carrier 25B of each holding and transferring unit 22 (and therefore the distance between the first arm 26A and the second arm 26B of each holding and transferring unit 22) is represented by "W".

[0080] The radius of curvature of the second orbit Tr2 is represented by "R", and the center of the circle (center of curvature) of the second orbit Tr2 is represented by "O".

[0081] Furthermore, of adjacent holding and transferring units 22, the central angle formed by the second carrier 25B (particularly the point located on the transfer track Tr and connected to the second arm 26B) of the preceding holding and transferring unit 22, the first carrier 25A (particularly the point located on the transfer track Tr and connected to the first arm 26A) of the succeeding holding and transferring unit 22, and the center of curvature O is represented by "2×θ1." Furthermore, the central angle formed by the first carrier 25A (particularly the point located on the transfer track Tr and connected to the first arm 26A) and the second carrier 25B (particularly the point located on the transfer track Tr and connected to the second arm 26B) of each holding and transferring unit 22, and the center of curvature O is represented by "2×θ2."

[0082] Furthermore, the angle formed by a straight line passing through the first carrier 25A (particularly the point located on the transfer track Tr and where the first arm 26A is connected) and the second carrier 25B (particularly the point located on the transfer track Tr and where the second arm 26B is connected) of each holding and transferring unit 22 and a straight line passing through each carrier 25A, 25B (particularly the point located on the transfer track Tr and where the arms 26A, 26B are connected) and the center of curvature O, relative to the second track Tr2, is represented by "β".

[0083] Furthermore, the interior angles of a triangle formed by the second carrier 25B (particularly the point located on the transfer track Tr and connected to the second arm 26B) of the preceding holding and transfer unit 22, the first carrier 25A (particularly the point located on the transfer track Tr and connected to the first arm 26A) of the succeeding holding and transfer unit 22, and the point where the second arm 26B and the first arm 26A contact each other are represented by "γ," "γ," and "2×α." That is, the interior angle corresponding to each of the second carrier 25B of the preceding holding and transfer unit 22 and the first carrier 25A of the succeeding holding and transfer unit 22 is represented by "γ," and the interior angle corresponding to the point where the first arm 26A and the second arm 26B contact each other is represented by "2×α."

[0084] In the example shown in FIG. 4 above, the following relational expression holds: 2β+2θ2=180° β=90°-θ2 (Equation 1)

[0085] In the example shown in FIG. 4, the following relational expression holds: 2γ+2α=180° γ=90°-α (Equation 2)

[0086] In the example shown in FIG. 4, the following relational expression holds: · {(90°-β)+γ}×2+2θ1=180° 90°-β+γ+θ1=90° β=γ+θ1(Equation 3)

[0087] Based on the above formulas 2 and 3, the following relational expression is established: β=90°-α+θ1 α=90°-β+θ1(Equation 4)

[0088] Based on the above formulas 1 and 4, the following relational expression is established: α=90°-(90°-θ2)+θ1 α=θ1+θ2(Equation 5)

[0089] On the other hand, as is clear from FIG. 4, the following relational expression holds: L'sinα=Rsinθ1 · L'=(sinθ1 / sinα)R (Formula 6) sinθ2=(W / 2) / R · sinθ2=W / 2R (formula 7)

[0090] Based on the above formulas 5 and 6, the following relational expression is established: · L'=(sinθ1 / sin(θ1+θ2))R (Equation 8)

[0091] When the actual length L of the arms 26A, 26B is shorter than the ideal length L' of the arms 26A, 26B expressed by the above formula 8, it is possible to effectively avoid collisions between the arms 26A, 26B between adjacent holding and transferring units 22. In other words, when the following relational expression is satisfied, it is possible to effectively avoid collisions between the arms 26A, 26B between adjacent holding and transferring units 22. L <L’ L<(sinθ1 / sin(θ1+θ2))R · (L / R)<{sinθ1 / sin(θ1+θ2)} (Equation 9)

[0092] Based on the above formulas 7 and 9, the following relational expression is established: (L / R)<{sinθ1 / sin(θ1+sin -1 (W / 2R))}(Equation 10)

[0093] The control device 13 can effectively avoid collisions between the holding transfer sets 22A and 22B by controlling the movement of multiple holding transfer units 22 (especially adjacent holding transfer units 22 (first holding transfer set 22A and second holding transfer set 22B)) traveling on the transfer track Tr so that the above equation is satisfied.

[0094] In the example shown in FIG. 4, the arms 26A and 26B of the multiple holding and transfer sets 22A and 22B protrude from the carriers 25A and 25B in a direction approaching the center of the circle of curvature (center of curvature O) of the second orbit Tr2 while moving along the second orbit Tr2. However, the above description based on FIG. 4 can be similarly applied to other cases. For example, when multiple holding and transfer sets 22A and 22B move along an outward curved orbit, the arms 26A and 26B may extend so as to protrude from the carriers 25A and 25B not only in a direction away from the center of curvature O of the curved orbit (see the second orbit Tr2), but also in a direction approaching the center of curvature O. In this case, in order to avoid collision (interference) between the "portions of the arms 26A and 26B protruding from the carriers 25A and 25B in a direction approaching the center of curvature O," the above formula described based on FIG. 4 can be applied to the "portions protruding from the carriers 25A and 25B in a direction approaching the center of curvature O."

[0095] [Transfer trajectory] The transfer track Tr along which the holding and transferring unit 22 moves is not limited to the examples shown in FIGS.

[0096] 5A to 5I are plan views showing typical examples of the transfer track Tr.

[0097] The transfer track Tr shown in Fig. 5A has a planar shape configured as a curved track with rounded corners of a square (rectangle). The transfer track Tr shown in Fig. 5B has a planar shape configured as a curved track with rounded corners of a parallelogram. The transfer track Tr shown in Fig. 5C has a planar shape configured as a curved track with rounded corners of a trapezoid.

[0098] The transfer track Tr shown in Fig. 5D is an endless track generally having an L-shape overall, and has a planar shape configured as a curved track with rounded corners and ends. The transfer track Tr shown in Fig. 5E is an endless track generally having a C-shape overall, and has a planar shape configured as a curved track with rounded corners and ends.

[0099] The transfer track Tr shown in Figure 5F is an endless track having a generally serifed I-shape overall, with a planar shape configured as a curved track with rounded corners and ends. The transfer track Tr shown in Figure 5G is an endless track having a generally S-shape overall, with a planar shape configured as a curved track with rounded corners and ends.

[0100] The transfer track Tr shown in Fig. 5H is an endless track having a generally inverted T-shape overall, and has a planar shape configured as a curved track with rounded corners and ends. The transfer track Tr shown in Fig. 5I is an endless track having a shape in which the transfer track Tr shown in Fig. 5G and the transfer track Tr shown in Fig. 5H overlap.

[0101] Each of the transfer tracks Tr shown in FIGS. 5A to 5I includes a straight track and a curved track connected to the straight track. In particular, in the transfer tracks Tr shown in FIGS. 5A to 5C, all of the curved tracks have a common polarity of curvature (i.e., only one of "positive curvature" and "negative curvature"). On the other hand, the transfer tracks Tr shown in FIGS. 5D to 5I include one or more curved tracks with positive curvature and one or more curved tracks with negative curvature. Therefore, the transfer tracks Tr shown in FIGS. 5A to 5C are configured as tracks including only one of an outward curved track and an inward curved track. On the other hand, the transfer tracks Tr shown in FIGS. 5D to 5I are configured as tracks including both an outward curved track and an inward curved track.

[0102] As mentioned above, whether a curved track is classified as an outward curved track or an inward curved track is determined not only by the polarity (sign) of the track curvature but also by the arm direction of the holding and transfer sets 22A, 22B of each holding and transfer unit 22. Therefore, the curved track included in the transfer track Tr shown in Figures 5A to 5C can be configured as either an outward curved track or an inward curved track, depending on the arm direction of the holding and transfer sets 22A, 22B of each holding and transfer unit 22.

[0103] As described above, according to the above-described container processing system 10 (including the container transfer device 11) and container processing method (including the container transfer method), when adjacent holding and transfer sets 22A, 22B move from a first transfer path section (for example, the first track Tr1) to a second transfer path section (the second track Tr2), the movement of the adjacent holding and transfer sets 22A, 22B is controlled so as to adjust the spacing between the adjacent holding and transfer sets 22A, 22B in accordance with the size of the bag C and the curvature of the second track Tr2. Therefore, when multiple holding and transfer sets 22A, 22B are moved along a common transfer track Tr, it is possible to suppress unintended fluctuations in the spacing between adjacent holding and transfer sets 22A, 22B.

[0104] According to the container transfer device 11 shown in FIGS. 1 to 4, each holding and transfer unit 22 includes a first holding and transfer set 22A and a second holding and transfer set 22B that can be driven to move independently of each other.

[0105] This allows the spacing between the first holding and transfer set 22A and the second holding and transfer set 22B (particularly the spacing between the first holding section 27A and the second holding section 27B) to be adaptively adjusted under the control of the control device 13 so that various bags C with different bag widths (including, for example, irregularly shaped bags having non-rectangular planar shapes) can be properly held by each holding and transfer unit 22 (see Figures 6A and 6B).

[0106] In addition, the spacing between the first holding and transfer set 22A and the second holding and transfer set 22B (particularly the spacing between the first holding portion 27A and the second holding portion 27B) can be adaptively adjusted under the control of the control device 13 so that the degree of deflection of the bag C held by each holding and transfer unit 22 can be changed (for example, so that the degree of opening of the mouth portion Cm of the bag C can be optimized depending on the processing content and other conditions) (see Figures 7A and 7B).

[0107] In the examples shown in Figures 1 to 4 above, each holding / transfer unit 22 includes two holding / transfer sets 22A and 22B, but each holding / transfer unit 22 may include only one holding / transfer set, or may include three or more holding / transfer sets.

[0108] 8A and 8B, each holding and transferring unit 22 may include three holding and transferring sets 22A, 22B, and 22C so as to hold a connected bag body C0 including two (or more) integrally connected bags C1 and C2. In this case, both sides of the first bag C1 are held by the first holding and transferring set 22A (first holding portion 27A) and the second holding and transferring set 22B (second holding portion 27B), while both sides of the second bag C2 are held by the second holding and transferring set 22B (second holding portion 27B) and the third holding and transferring set 22C (third holding portion 27C). The tension and deflection of the first bag C1 (e.g., the opening degree of the opening portion Cm) can be controlled by adjusting the distance between the first holding and transferring set 22A (first holding portion 27A) and the second holding and transferring set 22B (second holding portion 27B). Similarly, by adjusting the distance between the second holding and transferring set 22B (second holding portion 27B) and the third holding and transferring set 22C (third holding portion 27C), the tension and deflection of the second bag C2 can be controlled.

[0109] In particular, by adjusting the relative position of the first holding and transfer set 22A (first holding portion 27A) with respect to the second holding and transfer set 22B (second holding portion 27B) while maintaining the relative position between the second holding and transfer set 22B (second holding portion 27B) and the third holding and transfer set 22C (third holding portion 27C), it is possible to change the state of the first bag C1 while keeping the state of the second bag C2 basically unchanged. Similarly, by adjusting the relative position of the third holding and transfer set 22C (third holding portion 27C) with respect to the second holding and transfer set 22B (second holding portion 27B) while maintaining the relative position between the first holding and transfer set 22A (first holding portion 27A) and the second holding and transfer set 22B (second holding portion 27B), it is possible to change the state of the second bag C2 while keeping the state of the first bag C1 basically unchanged.

[0110] In addition, in the example shown in Figures 1 to 4 above, each of the two holding and transferring sets 22A, 22B of each holding and transferring unit 22 has holding portions 27A, 27B provided as gripping portions, but a holding and transferring set may be provided that supports the bag C by a holding means other than gripping.

[0111] 9, in addition to the first holding and transferring set 22A and the second holding and transferring set 22B having holding portions 27A and 27B provided as grippers, a third holding and transferring set 22C may be provided having a third holding portion (e.g., a receiving plate) 27C that contacts the front or back portion extending between both side portions of the bag C. The third holding portion 27C is fixedly attached via a third arm 26C to a third carrier 25C that is moved along the transfer path Tr by the transfer device 21 under the control of the control device 13. The third holding portion 27C may be pressed against the bag C so as to tension the printing surface of the bag C when the bag C undergoes a printing process, may be pressed against the bag C so as to tension the inspection surface of the bag C when the bag C undergoes an inspection process, or may be pressed against the bag C during a molding process or any other process.

[0112] [Variations] 2 and 3, the first transfer path section (first track Tr1) and the second transfer path section (second track Tr2) have different curvatures, and a buffer path section (first buffer path section Tb1) is provided in the upstream first transfer path section (particularly the region immediately before the second transfer path section), and the speed of one of the adjacent holding / transfer sets 22A, 22B is made different from the speed of the other in this buffer path section. Such a buffer path section may also be provided in the downstream second transfer path section (particularly the region immediately after the first transfer path section; see second buffer path section Tb2 in FIG. 1).

[0113] 2 to 4, the spacing between adjacent retention transfer sets 22A, 22B is adjusted primarily when the adjacent retention transfer sets 22A, 22B move from the first orbit Tr1 to the second orbit Tr2. However, the control device 13 may also control the movement of adjacent retention transfer sets 22A, 22B to adjust the spacing between adjacent retention transfer sets 22A, 22B in any other orbit with varying curvature. For example, in the transfer orbit Tr shown in FIG. 1, the control device 13 may control the movement of adjacent retention transfer sets 22A, 22B to adjust the spacing between adjacent retention transfer sets 22A, 22B moving between the second orbit Tr2 and the third orbit Tr3, the third orbit Tr3 and the fourth orbit Tr4, and / or the fourth orbit Tr4 and the first orbit Tr1.

[0114] Alternatively, any other container may be used instead of the bag C, and each holding / transfer unit 22 (particularly, holding portions 27A and 27B) may be configured to be able to support a container other than a bag (e.g., a bottle). Each holding / transfer unit 22 may also support and transport an "object used in container processing" (e.g., a workpiece such as a spout) other than a container. For example, when each holding / transfer unit 22 supports and transfers a bottle, the bottle (e.g., a horizontally protruding portion) can be hooked onto holding portions 27A and 27B, allowing holding / transfer unit 22 to support the bottle in a suspended state. In this case, by moving at least one of holding portions 27A and 27B along the transfer path Tr to increase or decrease the distance between holding portions 27A and 27B, the bottle can be supported or released by holding / transfer unit 22. Furthermore, by rotating at least one of holding portions 27A, 27B to change its orientation and thereby expanding or contracting at least a portion of the space between holding portions 27A, 27B (for example, by arranging holding portions 27A, 27B in a V-shape or an inverted V-shape), bottles can be supported or released by holding and transferring unit 22. In this way, with the above-described holding and transferring unit 22, bottles can be supported and released simply by adjusting the space between holding portions 27A, 27B, which helps to speed up processing.

[0115] It should be noted that the embodiments and modifications disclosed in this specification are merely illustrative in all respects and should not be construed as limiting. The above-described embodiments and modifications may be omitted, substituted, and modified in various ways 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, and embodiments other than those described above may be combined with the above-described embodiments or modifications. Furthermore, the effects of the present disclosure described in this specification are merely illustrative, and other effects may be obtained.

[0116] 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 that causes a computer to execute one or more procedures (steps) included in a method of manufacturing or using the above device. The above technical idea may also be embodied by a computer-readable non-transitory recording medium on which such a computer program is recorded.

[0117] [Note] The disclosed technology can be realized in the following manner.

[0000] [Aspect 1] a plurality of holding and transfer sets moving along a transfer path, the plurality of holding and transfer sets transporting items used in vessel processing; a control unit that controls movement of the plurality of holding and transferring sets; the transfer path includes a first transfer path section and a second transfer path section connected to the first transfer path section and having a curvature different from that of the first transfer path section; the control unit controls the movement of the adjacent holding and transfer sets so as to adjust the spacing between the adjacent holding and transfer sets in accordance with the size of the object and the curvature of the second transfer path section when the adjacent holding and transfer sets move from the first transfer path section to the second transfer path section. Container processing equipment.

[0000] [Aspect 2] each of the plurality of holding and transferring sets includes a carrier, an arm protruding from the carrier, and a holding portion attached to the arm for holding the object; the control unit adjusts the interval between the adjacent holding and transfer sets so that the arms do not collide with each other between the adjacent holding and transfer sets when the adjacent holding and transfer sets move from the first transfer path section to the second transfer path section. 2. The container processing apparatus of claim 1.

[0000] [Aspect 3] the arms of each of the plurality of holding transfer sets protrude from the carrier in a direction approaching a center of a circle of curvature of the second transfer path section while moving along the second transfer path section; 3. The container processing device according to claim 2.

[0000] [Aspect 4] the control unit controls the movement of the plurality of holding and transfer sets so that the distance between the arms of the adjacent holding and transfer sets in the first transfer path section immediately before the adjacent holding and transfer sets enter the second transfer path section is greater than the distance between the arms of the adjacent holding and transfer sets immediately after the entire adjacent holding and transfer sets have entered the second transfer path section. 4. The container processing device of embodiment 3.

[0000] [Aspect 5] each of the plurality of holding and transferring sets includes a carrier, an arm protruding from the carrier, and a holding portion attached to the arm for holding the object; the control unit controls the movement of the plurality of holding transfer sets so that the distance between the holding portions of the adjacent holding transfer sets holding the object is maintained constant when the adjacent holding transfer sets move from the first transfer path portion to the second transfer path portion. A container processing apparatus according to any one of aspects 1 to 4.

[0000] [Aspect 6] the control unit controls the speed of movement of the adjacent holding transfer sets so as to adjust the interval between the adjacent holding transfer sets when the adjacent holding transfer sets move from the first transfer path section to the second transfer path section. A container processing apparatus according to any one of aspects 1 to 5.

[0000] [Aspect 7] At least one of a region of the first transfer path section immediately before the second transfer path section and a region of the second transfer path section immediately after the first transfer path section is a buffer path section in which the speed of movement of one of the adjacent holding transfer sets is made different from the speed of movement of the other. A container processing apparatus according to any one of aspects 1 to 6.

[0000] [Aspect 8] moving a plurality of holding transfer sets along a transfer path to transport items used in vessel processing; the transfer path includes a first transfer path section and a second transfer path section connected to the first transfer path section and having a curvature different from that of the first transfer path section; When adjacent holding and transfer sets move from the first transfer path section to the second transfer path section, the spacing between the adjacent holding and transfer sets is adjusted depending on the size of the object and the curvature of the second transfer path section. Container processing method. [Explanation of symbols]

[0118] 10 Container processing system, 11 Container transfer device, 12 Processing device, 13 Control device, 21 Transfer device, 22 Holding and transferring unit, 22A First holding and transferring set, 22B Second holding and transferring set, 22C Third holding and transferring set, 25A First carrier, 25B Second carrier, 25C Third carrier, 26A First arm, 26B Second arm, 26C Third arm, 27A First holding part, 27B Second holding part, 27C Third holding part, 30 Connecting shaft, C Bag, Cm Mouth part, C0 Connecting bag body, C1 First bag, C2 Second bag, O Center of curvature, Tb1 First buffer path part, Tb2 Second buffer path part, Tr Transfer track, Tr1 First track, Tr2 Second track, Tr3 Third track, Tr4 Fourth track

Claims

1. a plurality of holding and transfer sets moving along a transfer path, the plurality of holding and transfer sets transporting items used in vessel processing; a control unit that controls movement of the plurality of holding and transferring sets; the transfer path includes a first transfer path section and a second transfer path section connected to the first transfer path section and having a curvature different from that of the first transfer path section; the control unit controls the movement of the adjacent holding and transfer sets so as to adjust the spacing between the adjacent holding and transfer sets in accordance with the size of the object and the curvature of the second transfer path section when the adjacent holding and transfer sets move from the first transfer path section to the second transfer path section. Container processing equipment.

2. each of the plurality of holding and transferring sets includes a carrier, an arm protruding from the carrier, and a holding portion attached to the arm for holding the object; the control unit adjusts the interval between the adjacent holding and transfer sets so that the arms do not collide with each other when the adjacent holding and transfer sets move from the first transfer path section to the second transfer path section. The container processing device according to claim 1 .

3. the arms of each of the plurality of holding transfer sets protrude from the carrier in a direction approaching a center of a circle of curvature of the second transfer path section while moving along the second transfer path section; The container processing device according to claim 2 .

4. the control unit controls the movement of the plurality of holding transfer sets so that the distance between the arms of the adjacent holding transfer sets in the first transfer path section immediately before the adjacent holding transfer sets enter the second transfer path section is greater than the distance between the arms of the adjacent holding transfer sets immediately after the entire adjacent holding transfer sets have entered the second transfer path section. The container processing device according to claim 3 .

5. each of the plurality of holding and transferring sets includes a carrier, an arm protruding from the carrier, and a holding portion attached to the arm for holding the object; the control unit controls the movement of the plurality of holding transfer sets so that the distance between the holding portions of the adjacent holding transfer sets is maintained constant when the adjacent holding transfer sets holding the objects move from the first transfer path portion to the second transfer path portion. The container processing device according to claim 1 .

6. the control unit controls the speed of movement of the adjacent holding transfer sets so as to adjust the interval between the adjacent holding transfer sets when the adjacent holding transfer sets move from the first transfer path section to the second transfer path section. The container processing device according to claim 1 .

7. At least one of a region of the first transfer path section immediately before the second transfer path section and a region of the second transfer path section immediately after the first transfer path section is a buffer path section in which the speed of movement of one of the adjacent holding transfer sets is made different from the speed of movement of the other. The container processing device according to claim 1 .

8. moving a plurality of holding transfer sets along a transfer path to transport items used in vessel processing; the transfer path includes a first transfer path section and a second transfer path section connected to the first transfer path section and having a curvature different from that of the first transfer path section; When adjacent holding and transfer sets move from the first transfer path section to the second transfer path section, the spacing between the adjacent holding and transfer sets is adjusted depending on the size of the object and the curvature of the second transfer path section. Container processing method.

Images