Boxing apparatus for glass bottle

Abstract

To provide a boxing apparatus for glass bottles which can diagnose abnormalities generated in a boxing step with further accuracy.SOLUTION: A boxing apparatus 10 for glass bottles 30 comprises: a plurality of holding parts 16 for holding mouth parts 32 of the glass bottles 30; a fitting part 14 fitted so that the holding parts 16 hang downward; a carrier 12 elevating and horizontally moving the fitting part 14; a force sensor 20 provided between the fitting part 14 and the carrier 12, and detecting external force applied to the fitting part 14; and an abnormality diagnosis part 56 diagnosing the abnormalities of the holding parts 16 based on information related to the external force outputted from the force sensor 20.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a glass bottle boxing machine. [Background technology]

[0002] There is a glass bottle packing machine that packs bottles manufactured in a bottle-making factory or bottles filled with contents by a beverage manufacturer or the like (for example, Patent Document 1). The glass bottle packing machine holds a line of glass bottles at the end of a conveyor that transports the glass bottles, and moves the machine, still holding the glass bottles, to just above a casing guide using a movement mechanism. The glass bottles are positioned and lowered into each of the box-shaped openings separated by partition plates in the casing guide, and the holding section releases the glass bottles, allowing them to fall into a designated, divided area of ​​the box while being guided. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3030633 Summary of the Invention [Problem to be solved by the invention]

[0004] During this packing process, several abnormal conditions can occur, and in some cases, these abnormal conditions can result in the loss of part of the glass bottle. Currently, various monitoring methods are used to detect the occurrence of abnormal conditions.

[0005] The present invention provides a glass bottle packing machine that can diagnose abnormalities that occur during the packing process with greater accuracy. [Means for solving the problem]

[0006] The present invention has been made to solve at least some of the above-mentioned problems, and can be realized as the following aspects or application examples.

[0007] [1] One aspect of the glass bottle boxing device of the present invention is as follows: a plurality of holders for holding mouths of glass bottles; a mounting portion to which the plurality of holding portions are attached so as to hang downward; a carrier that moves the mounting portion up and down and horizontally; a force sensor that detects an external force applied to the mounting portion; an abnormality diagnosis unit that diagnoses an abnormality in the holding unit based on information about the external force output from the force sensor; The present invention is characterized by comprising:

[0008] According to one aspect of the above-described glass bottle boxing device, abnormalities occurring during the boxing process can be diagnosed with high accuracy by using information regarding the external force acting on the mounting portion.

[0009] [2] In one embodiment of the glass bottle boxing device, The force sensor may be a three-axis or six-axis force sensor.

[0010] [3] In one embodiment of the glass bottle boxing device, The abnormality diagnosis unit detects information about a force in the vertical direction detected by the force sensor when the carrier is lowered and information about moments around two axes that are perpendicular to the vertical direction and perpendicular to each other. Based on the information, it is possible to diagnose abnormalities caused by a collision between the holder and the glass bottle.

[0011] According to one aspect of the above-mentioned glass bottle packing device, abnormalities caused by collisions between the holder and the glass bottle can be diagnosed by using information on vertical force and information on moments around two axes detected by a force sensor.

[0012] [4] In one embodiment of the glass bottle boxing device, The abnormality diagnosis unit can diagnose abnormalities in the state in which the holding unit holds the glass bottle based on information on vertical force detected by the force sensor from the time the holding unit holds the glass bottle until it releases it inside the box, and information on moments around two axes that are perpendicular to the vertical direction and perpendicular to each other.

[0013] According to one aspect of the above-mentioned glass bottle packing device, by using information on vertical force and information on moments around two axes detected by a force sensor, it is possible to diagnose abnormalities in the state in which the holding portion is holding the glass bottle.

[0014] [5] In one embodiment of the glass bottle boxing device, The abnormality diagnosis unit can diagnose abnormalities in which the glass bottle collides with parts other than the holding unit based on information on vertical force detected by the force sensor when the holding unit lowers the glass bottle into the box and information on moments around two axes that are perpendicular to the vertical direction and perpendicular to each other.

[0015] According to one aspect of the above-mentioned glass bottle packing device, by using information on vertical force and information on moments around two axes detected by a force sensor, it is possible to diagnose abnormalities such as glass bottles colliding with parts other than the holding portion.

[0016] [6] In one embodiment of the glass bottle boxing device of the present invention, The abnormality diagnosis unit can diagnose an abnormality in the holding unit using a trained model.

[0017] According to one aspect of the above-mentioned glass bottle manufacturing method, abnormalities can be diagnosed with high accuracy by using a trained model that has been machine-learned. [Effects of the Invention]

[0018] According to one aspect of the glass bottle boxing device of the present invention, abnormalities occurring during the boxing process can be diagnosed with high accuracy. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 2 is a front view schematically showing the packing device. [Figure 2] 10 is a schematic diagram illustrating a state in which the holding portion collides with a glass bottle. FIG. [Figure 3] 10 is a schematic diagram illustrating a state in which a glass bottle collides with a casing guide. FIG. [Figure 4] 10 is a schematic diagram illustrating a state in which the holding portion fails to grip the glass bottle. FIG. [Figure 5] 10 is a schematic diagram illustrating a state in which the holding portion is late in releasing the glass bottle. FIG. [Figure 6] 10 is a schematic diagram illustrating a state in which the holding portion is unable to release the glass bottle. FIG. [Figure 7] 10 is a schematic diagram illustrating the state in which the holder drops a glass bottle. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0020] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Note that the embodiments described below are not intended to unduly limit the scope of the present invention as defined in the claims. Furthermore, not all of the configurations described below are necessarily essential components of the present invention.

[0021] The glass bottle packing device of this embodiment is characterized by comprising a plurality of holding parts that hold the mouths of glass bottles, an attachment part to which the plurality of holding parts are attached so that they hang down, a carrier that raises and lowers and moves the attachment parts horizontally, a force sensor that is provided between the attachment parts and the carrier and detects external forces acting on the attachment parts, and an abnormality diagnosis part that diagnoses abnormalities in the holding parts based on information regarding the external force output from the force sensor.

[0022] 1. Packing equipment The boxing device 10 for glass bottles 30 will be described in detail with reference to Figure 1. Figure 1 is a front view showing a schematic diagram of the boxing device 10 according to this embodiment. The boxing device 10 shown in FIG. 1 is an example of a device that boxes glass bottles 30 manufactured in a bottle manufacturing factory, or boxes glass bottles 30 filled with contents by a manufacturer of beverages or the like.

[0023] The boxing device 10 packs a plurality of glass bottles 30, which have been transported and aligned on a conveyor 40, into boxes 46 made of cardboard or the like. The boxes 46 containing the packed glass bottles 30 have lids (not shown) closed, and are transported, for example, on a roller conveyor 48 for shipping.

[0024] The packing device 10 includes a plurality of holding units 16, an attachment unit 14, a carrier 12, a force sensor 20, and an abnormality diagnosis unit 56. The abnormality diagnosis unit 56 may be part of the control device 50 of the packing device 10.

[0025] The multiple holding units 16 each hold the mouths 32 of the multiple glass bottles 30. The number of holding units 16 is at least equal to the number of glass bottles 30 transferred to boxes 46 in one packing operation. The holding units 16 can employ any known structure as long as they have the function of holding the mouths 32 of the glass bottles 30 during the packing operation. The holding mechanism of the holding units 16 may, for example, hold the mouths 32 by adsorbing them to the mouths 32 and sucking out the air inside the glass bottles 30, or may grip the mouths 32 using a mechanical gripping mechanism.

[0026] The mounting portion 14 is attached so that multiple holding portions 16 hang down. The mounting portion 14 extends in the X-axis direction over the range in which the multiple holding portions 16 are lined up. While Fig. 1 shows four glass bottles 30 being held at once, multiple rows of holding portions 16 may be provided in the front-to-back direction of the figure, in which case the mounting portions 14 would also extend in the front-to-back direction of the figure (the Z-axis direction, not shown, in the XZ horizontal plane).

[0027] The carrier 12 is driven by a drive mechanism (not shown) to raise and lower the mounting portion 14 vertically (Y-axis direction) and move it horizontally (X-axis direction and / or Z-axis direction (not shown)). The packing device 10 controls the drive mechanism to repeatedly move the carrier 12 through a series of movements from the glass bottle 30 holding position to the packing position, thereby packing the glass bottles 30 into boxes. The drive mechanism may be any known drive mechanism used in packing devices, such as an electric motor such as a servo motor or stepping motor, an air cylinder, or a hydraulic cylinder. The mounting portion 14 is attached to the carrier 12, for example, below the carrier 12 via a force sensor 20. While FIG. 1 shows the mounting portion 14 connected to the carrier 12 at one location, it may be connected at multiple locations.

[0028] The force sensor 20 is provided between the mounting portion 14 and the carrier 12 and is capable of detecting an external force acting on the mounting portion 14. The force sensor 20 is provided between the mounting portion 14 and the carrier 12. One or more may be provided. The force sensor 20 is, for example, a three-axis or six-axis force sensor. A known force sensor can be used as the force sensor 20. The three axes in the force sensor can be, for example, the vertical direction (one axis along the Y axis), the X and Z axes that are perpendicular to the Y axis and perpendicular to each other (the Z axis is a direction perpendicular to the X axis and perpendicular to the Y axis, not shown; it is a front-to-back direction in FIG. 1), or an axis along the Y axis and rotational directions around two axes along the X and Z axes. A three-axis force sensor can detect, for example, a force along the Y axis and a rotational moment around two axes along the X and Z axes. Furthermore, the six axes in the force sensor can be, for example, three axes along the X, Y, and Z axes and rotational directions around these three axes. A six-axis force sensor can detect, for example, forces along the X, Y, and Z axes and moments in rotational directions around the three axes along the X, Y, and Z axes. The external force acting on the mounting portion 14 may be, for example, a load or torque. Because the force sensor 20 is a three-axis or six-axis force sensor, it can resolve the external force acting on the mounting portion 14 via the holder 16 that holds the glass bottle 30 into each axis, allowing for more accurate detection of the external force. In particular, if it is known which operation of the carrier 12 the external force is acting on, it is easier to estimate the type of abnormality from the direction of the external force. The force sensor 20 can employ, for example, an electrical resistance type using a strain gauge. The electrical resistance type is preferred because it is compact, highly accurate, and has excellent responsiveness. Other detection types, such as capacitance, piezoelectric, or optical force sensors, may also be used.

[0029] The force sensor 20 can output information relating to the external force acting on the attachment portion 14 to the control device 50.

[0030] The control device 50 includes, for example, a packing control unit 52, a storage unit 54, and an abnormality diagnosis unit 56. The control device 50 is a computer including a CPU (Central Processing Unit) and can execute programs stored in the storage unit 54. The packing control unit 52 and the abnormality diagnosis unit 56 perform arithmetic processing using the CPU. The control device 50 may be electrically connected to an operation unit 60 and a display unit 62. Note that in this embodiment, the term "unit" does not simply mean a physical means, but also includes cases where the functions of the "unit" are realized by a program. Furthermore, the functions of one "unit" may be realized by two or more physical means or programs, for example, by connecting multiple server devices to each other. Part or all of the control device 50 may be provided on a cloud via the Internet.

[0031] The packing control unit 52 controls each operation of the packing device 10. Specifically, the packing control unit 52 calculates rotation command values ​​for a drive mechanism, such as a servo motor, from commands related to the position and speed of the carrier 12, in accordance with a program stored in the memory unit 54, and controls the rotation position, rotation speed, and current of the servo motor based on the rotation command values. The packing control unit 52 also controls the operation of the holder 16 to hold the glass bottles 30, such as suction and degassing. The packing control unit 52 may output information regarding which operation the carrier 12 is currently performing to the abnormality diagnosis unit 56.

[0032] The storage unit 54 stores various operation programs and diagnostic programs. The storage unit 54 is a storage medium such as a read-only memory (ROM), a random access memory (RAM), or a hard disk drive (HDD).

[0033] The abnormality diagnosis unit 56 diagnoses an abnormality in the holding unit 16 based on information relating to the external force output from the force sensor 20. The information output from the force sensor 20 is information relating to the external force acting on the attachment unit 14. By using the information relating to the external force acting on the attachment unit 14, an abnormality occurring in the packing process can be diagnosed with high accuracy. The abnormality diagnosis unit 56 acquires information relating to the external force from the force sensor 20 and compares it with, for example, diagnostic reference information stored in the memory unit 54 to diagnose the abnormality. , and diagnoses whether or not there is an abnormality in the holding unit 16. The abnormality diagnosing unit 56 may acquire information regarding the operation of the carrier 12 from the packing control unit 52. The diagnostic criterion information may be a threshold value for information regarding an external force linked to the operation of the carrier 12. The diagnostic criterion information is, for example, a value for diagnosing an abnormality when information regarding an external force equal to or less than or equal to the threshold value is acquired. Linking the information to the operation of the carrier 12 improves the accuracy of the diagnostic results.

[0034] The abnormality diagnosis unit 56 can diagnose abnormalities in the holding unit 16 using a trained model. The boxing apparatus 10 may further include a trained model. The trained model can be stored in the memory unit 54. The trained model can be pre-trained by machine learning using training data containing information about external forces in normal and abnormal states during multiple processes in which the boxing apparatus 10 packs glass bottles 30 into boxes 46. Supervised machine learning performs supervised learning using normal data labeled with normal states and abnormal data labeled with abnormal states as training data. Examples of supervised learning methods include well-known algorithms, such as tree-based learning (decision trees, regression trees, etc.), ensemble learning (bagging, boosting, etc.), neural network-based learning (including deep learning) (recurrent neural networks, convolutional neural networks, LSTM, etc.), clustering (k-nearest neighbors, k-means, etc.), multivariate analysis (factor analysis, logistic regression, etc.), and support vector machines. The trained model may also be trained using unsupervised learning. In the case of unsupervised learning, a method can be adopted in which learning is performed using only information about external forces in normal states and outliers are searched for. Examples of learning methods that can be used in unsupervised learning include known algorithms, such as neural networks, principal component analysis, Gaussian mixture models, one-class support vector machines, graphical lasso, hierarchical clustering, and non-hierarchical clustering. The training data preferably includes information about external forces for each process in the packing process, and it is preferable to prepare training data for each process for highly accurate diagnosis. For example, it is preferable that the training data includes information about external forces in abnormal states, labeled with the type of abnormal state. This is because the results of abnormality diagnosis can be classified and notified by the type of abnormality. By using a trained model developed by machine learning, the abnormality diagnosis unit 56 can accurately diagnose abnormalities.

[0035] The operation unit 60 may be, for example, a touch panel type that is integrated with the display unit 62, or may employ a known input means (for example, a mouse, trackball, keyboard, etc.) that is provided separately from the display unit 62.

[0036] The display unit 62 can display the diagnosis results from the abnormality diagnosis unit 56. The display unit 62 can be, for example, a liquid crystal display (LCD (Liquid Crystal Display)), or any other known display device (for example, an organic EL (Electro Luminescence) display, etc.).

[0037] The glass bottle 30 has, for example, a mouth 32, a body 34, and a bottom 36. In this embodiment, the packing of four glass bottles 30 will be described, but there is no limit to the number of glass bottles 30 that can be processed in one operation.

[0038] The box 46 in which the glass bottles 30 are packed has a capacity capable of packing a predetermined number of glass bottles 30. The box 46 may have, for example, a partition plate provided inside between adjacent glass bottles 30. Although an example is illustrated in which the empty box 46 is placed on the roller conveyor 48 and rises and falls together with the roller conveyor 48, the casing guide 42 may rise and fall relative to the box 46 on the roller conveyor 48 without the box 46 rising and falling. For example, instead of the rising and falling roller conveyor 48, a conveyor that transports the box 46 at a predetermined height may be used. The casing guide 42 guides the glass bottles 30 to a predetermined position in the box 46. The casing guide 42 has a plurality of centering cones 43 protruding from the top surface and a plurality of centering cones 44 protruding from the bottom surface. The box is equipped with a blade guide 45 and a grid 44 that forms multiple box-shaped openings that penetrate vertically. The centering cone 43 functions to guide the glass bottles 30 that are lowered from above into each grid 44, and the blade guide 45 functions to guide the glass bottles 30 that have passed through each grid 44 so that they are lowered into a predetermined position in a box 46.

[0039] Next, the boxing process will be described with reference to FIG. 1. First, a predetermined number of glass bottles 30 are transported by the conveyor 40 to below the carrier 12 and aligned. Next, the boxing control unit 52 controls the drive mechanism to lower the carrier 12 to the holding position, and the holder 16 contacts the mouths 32 of the glass bottles 30 aligned on the conveyor 40. The holder 16 suctions and holds the glass bottles 30, for example, by sucking air from inside the bottles 30 through the mouths 32. Next, the boxing control unit 52 raises the carrier 12, lifting the glass bottles 30 from the conveyor 40 while they are held by the holder 16, and then moves the carrier 12 horizontally to place the glass bottles 30 above empty boxes 46 positioned at a predetermined position on the roller conveyor 48. Next, the boxing control unit 52 lowers the carrier 12 toward the casing guide 42 to the boxing position, and raises the roller conveyor 48 toward the casing guide 42. The glass bottles 30 held by the holder 16 are guided by the centering cone 43, pass through the grid 44, and are then guided by the blade guides 45 that have entered the box 46, and are lowered into the box 46. Finally, the glass bottles 30 are released from the holder 16, and the carrier 12 is raised and the roller conveyor 48 is lowered. The box 46, now packed with a predetermined number of glass bottles 30, is then driven along the roller conveyor 48 and shipped, for example.

[0040] 2. Abnormality diagnosis The abnormality diagnosis process for each type of abnormality will be explained using Figures 2 to 7. Figure 2 is a schematic diagram illustrating the state when the holding unit 16 collides with the glass bottle 30, Figure 3 is a schematic diagram illustrating the state when the glass bottle 30 collides with the casing guide 42, Figure 4 is a schematic diagram illustrating the state when the holding unit 16 fails to grip the glass bottle 30, Figure 5 is a schematic diagram illustrating the state when the holding unit 16 is late in releasing the glass bottle 30, Figure 6 is a schematic diagram illustrating the state when the holding unit 16 is unable to release the glass bottle 30, and Figure 7 is a schematic diagram illustrating the state when the holding unit 16 drops the glass bottle 30.

[0041] In FIG. 2 , an abnormal state occurs when the carrier 12 descends to the holding position and the holder 16 collides with the mouths 32 of the glass bottles 30 aligned on the conveyor 40. The abnormality diagnosis unit 56 can diagnose an abnormality caused by a collision between the holder 16 and the glass bottles 30 based on force information, for example, in the vertical direction (Y-axis), detected by the six-axis force sensor 20 as the carrier 12 descends, and moment information about two axes (X-axis and Z-axis) perpendicular to the vertical direction and perpendicular to each other. The abnormality diagnosis unit 56 acquires information about the operation of the carrier 12 from the packing control unit 52, such as operation sequence information and position information about the carrier 12. From this information, the abnormality diagnosis unit 56 determines that the operation of the carrier 12 is a process from when the carrier 12 starts descending above the holding position to when the carrier 12 reaches the holding position, and acquires information detected by the force sensor 20 during this process. The information detected by the force sensor 20 may include, for example, information about the force in the vertical direction as well as moment information about two axes, along the X-axis and Z-axis. When the holder 16 collides with the opening 32, the force sensor 20 generates a force in the Y-axis direction and horizontally that is greater than normal. The collision also causes changes in the moments around two axes, the X-axis and the Z-axis. By using this information detected by the force sensor 20, the abnormality diagnosis unit 56 can diagnose an abnormality caused by the collision between the holder 16 and the glass bottle 30.

[0042] In FIG. 3, the carrier 12 descends toward the casing guide 42, and an abnormal state occurs in which the bottom 36 of the glass bottle 30 held by the holder 16 collides with the grid 44. The abnormality diagnosis unit 56 detects the presence or absence of the glass bottle 30 by the six-axis force sensor when the holder 16 descends the glass bottle 30 into the box 46. Based on information about force in the vertical direction (Y-axis), for example, detected by the force sensor 20, and information about moments around two axes (X-axis and Z-axis) perpendicular to the vertical direction and perpendicular to each other, the abnormality diagnosis unit 56 can diagnose an abnormality in which the glass bottle 30 collides with a portion other than the holder 16. The abnormality diagnosis unit 56 acquires information about the operation of the carrier 12 from the boxing control unit 52. From this information, the abnormality diagnosis unit 56 determines that the operation of the carrier 12 is the process from when the glass bottle 30 is placed above the casing guide 42 to when the glass bottle 30 is placed in the box 46, and acquires information detected by the force sensor 20 during this process. The information detected by the force sensor 20 may include, for example, information about the vertical force, as well as information about moments around two axes, along the X-axis and the Z-axis. When the bottom 36 collides with the grid 44, a load greater than that in the normal state is generated in the force sensor 20 along the Y-axis and horizontal direction. The collision also causes changes in the moments around two axes, along the X-axis and the Z-axis. By using information detected by such force sensor 20, abnormality diagnosis unit 56 can diagnose abnormalities caused by a collision between a portion other than the holding portion, such as casing guide 42 and glass bottle 30.

[0043] In Figure 4, an abnormality occurs in which the carrier 12 fails to hold and grip some of the multiple glass bottles 30 while ascending from the holding position. Also, in Figure 5, an abnormality occurs in which the carrier 12 delays the release of the glass bottles 30 while still holding them while ascending from the packing position. Also, in Figure 6, an abnormality occurs in which the carrier 12 lifts up a glass bottle 30 without releasing it while ascending from the packing position. Furthermore, in Figure 7, an abnormality occurs in which the carrier 12 releases and drops a glass bottle 30 while descending to the packing position. The abnormality diagnosis unit 56 can diagnose abnormalities in the state in which the holder 16 is holding the glass bottles 30 based on force information in the vertical direction (Y-axis), for example, and moment information about two axes (X-axis and Z-axis) perpendicular to the vertical direction and perpendicular to each other, detected by the six-axis force sensor 20 from the time the holder 16 holds the glass bottle 30 until it releases it inside the box 46. The abnormality diagnosis unit 56 acquires information about the operation of the carrier 12 from the packing control unit 52. In the example of FIG. 4, the abnormality diagnosis unit 56 determines, based on this information, that the operation of the carrier 12 is a process from the position where the glass bottles 30 are held to the completion of the lifting of the glass bottles 30, and acquires information detected by the force sensor 20 during this process. In the examples of FIGS. 5 and 6, the abnormality diagnosis unit 56 determines, based on this information, that the operation of the carrier 12 is a process from the position where the glass bottles 30 are packed to the completion of the lifting of the carrier 12, and acquires information detected by the force sensor 20 during this process. In the example of FIG. 7, the abnormality diagnosis unit 56 determines, based on this information, that the operation of the carrier 12 is a process from the start of the descent of the carrier 12 while holding the glass bottles 30 to the completion of the descent, and acquires information detected by the force sensor 20 during this process. The information detected by the force sensor 20 may include, for example, information about the force in the vertical direction (Y-axis) as well as information about moments about two axes along the X-axis and Z-axis. If the load of the glass bottles 30 held by the holder 16 is smaller than the load of a predetermined number of glass bottles 30, the force sensor 20 can only detect a load along the Y-axis direction that is smaller than the normal load. In addition, if the glass bottle 30 is not grasped properly, is released late, or falls, changes occur in the moments around two axes along the X-axis and Z-axis.By using information detected by such force sensor 20, it is possible to diagnose abnormalities in the state in which holding portion 16 holds glass bottle 30.

[0044] In the examples of Figures 2 to 7, a 6-axis force sensor 20 is used, but this is not limiting, and other force sensors may be used as long as they can obtain information on force in the vertical direction (Y axis) and information on moments around two axes (two axes along the X axis and Z axis) that are perpendicular to the vertical direction and perpendicular to each other.

[0045] The present invention is not limited to the above-described embodiment, and various modifications are possible, including configurations that are substantially the same as those described in the embodiment. For example, when an abnormality is detected, the control device 50 automatically stops the packing device 10, or automatically stops the roller conveyor 48. Box 46 can be automatically removed. Here, "the same configuration" means a configuration with the same function, method, and result, or a configuration with the same purpose and effect. The present invention also includes a configuration in which non-essential parts of the configuration described in the embodiment are replaced. The present invention also includes a configuration that achieves the same action and effect as the configuration described in the embodiment, or a configuration that can achieve the same purpose. The present invention also includes a configuration in which publicly known technology is added to the configuration described in the embodiment. [Explanation of symbols]

[0046] 10...packing device, 12...carrier, 14...mounting portion, 16...holding portion, 20...force sensor, 30...glass bottle, 32...mouth portion, 34...body portion, 36...bottom portion, 40...conveyor, 42...casing guide, 43...centering cone, 44...grid, 45...blade guide, 46...box, 48...roller conveyor, 50...control device, 52...packing control portion, 54...memory portion, 56...abnormality diagnosis portion, 60...operation portion, 62...display portion

Claims

1. a plurality of holders for holding mouths of glass bottles; a mounting portion to which the plurality of holding portions are attached so as to hang downward; a carrier that moves the mounting portion up and down and horizontally; a force sensor that detects an external force applied to the mounting portion; an abnormality diagnosis unit that diagnoses an abnormality in the holding unit based on information about the external force output from the force sensor; A glass bottle boxing device comprising:

2. The glass bottle boxing device according to claim 1, 10. The glass bottle packing device, wherein the force sensor is a three-axis or six-axis force sensor.

3. The glass bottle boxing device according to claim 2, This glass bottle packing device is characterized in that the abnormality diagnosis unit diagnoses abnormalities caused by a collision between the holding unit and the glass bottle based on information on vertical force detected by the force sensor when the carrier is descending and information on moments around two axes perpendicular to the vertical direction and perpendicular to each other.

4. The glass bottle boxing device according to claim 2, A glass bottle packing device characterized in that the abnormality diagnosis unit diagnoses abnormalities in the state in which the holding unit holds the glass bottle based on information on vertical force detected by the force sensor from the time the holding unit holds the glass bottle until it releases it inside the box, and information on moments around two axes perpendicular to the vertical direction and perpendicular to each other.

5. 3. The glass bottle boxing device according to claim 2, The device for packing glass bottles into boxes is characterized in that the abnormality diagnosis unit diagnoses abnormalities in which the glass bottle collides with parts other than the holding unit based on information on vertical force detected by the force sensor when the holding unit lowers the glass bottle into the box and information on moments around two axes perpendicular to the vertical direction and perpendicular to each other.

6. The glass bottle packing device according to any one of claims 1 to 5, A glass bottle packing device, characterized in that the abnormality diagnosis unit diagnoses abnormalities in the holding unit using a trained model.

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