Transport device and wear state determination method

Abstract

To evaluate a consumption state of a support member used for a gripper without disassembling the gripper.SOLUTION: The transport device includes a plurality of grippers each including a pair of gripping pieces and configured to move in a predetermined circulating trajectory, a sensor configured to acquire actual measurement data on an inclination of the gripping pieces, and a controller configured to determine a consumption state of a support member configured to swingably support the gripping pieces based on the actual measurement data. The controller preferably determines the wear-out state of the bush by comparing actual measurement data, which is the inclination of the gripping pieces with respect to the horizontal direction, with threshold data related to the inclination corresponding to the actual measurement data.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a conveying device that conveys containers such as plastic bottles when processing such as filling the containers with a liquid product. [Background technology]

[0002] For example, a known container conveying device in equipment for filling beverages into containers includes a rotating body called a star wheel that is rotated by a drive source and a plurality of gripping devices called grippers that are provided on the outer periphery of the rotating body. This conveying device grips parts of the containers, such as the body or neck, with the grippers and rotates and conveys them. In beverage production lines, multiple rotary conveying devices are installed adjacent to each other, and containers are transferred in sequence from an upstream conveying device to a downstream conveying device, where processes such as filling the containers with beverages, sealing them, and attaching labels to the containers are performed.

[0003] For stable beverage production, Patent Document 1 discloses a rotary conveying device that conveys containers while gripping them, in which idle operation data relating to vibrations during idle operation when the gripper is not holding a container and actual operation data relating to vibrations during actual operation when the gripper is holding a container are acquired. According to Patent Document 1, whether abnormal vibrations will occur is determined by comparing the idle operation data with the actual operation data. According to Patent Document 1, it is possible to prevent actual malfunctions in the conveying section from causing stoppages in advance. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-20146 Summary of the Invention [Problem to be solved by the invention]

[0005] According to Patent Document 1, it is possible to know that there is a high probability that an abnormality will occur in a specific gripper, but it is difficult to identify from vibration data which of the multiple parts that make up the gripper is abnormal. An example of a component that makes up a gripper is a bushing that is provided between the shaft and the shaft hole through which the shaft passes. This bushing functions as a sliding bearing and is treated as a consumable item. As a consumable item, the bushing must be replaced when it wears out due to wear or other reasons. However, it is difficult to determine the progress of wear from vibration data, and the wear status is usually determined by disassembling the gripper. While disassembling a gripper made up of multiple parts is time-consuming, the wear of the bushing confirmed by disassembly may be within an acceptable range. Here, a bushing is used as an example of a consumable item in a gripper, but there are other support members in a gripper that wear out in addition to the bushing. In view of the above, an object of the present disclosure is to evaluate the wear state of a support member used in a gripper without disassembling the gripper. [Means for solving the problem]

[0006] The conveying device according to the present disclosure comprises: a plurality of grippers each having a pair of gripping pieces and moving along a predetermined circular path; a sensor for acquiring actual measurement data regarding the inclination of the gripping piece; a controller that determines a wear state of a support member that supports the gripping piece so that the gripping piece can swing based on actual measurement data; Equipped with.

[0007] The method for determining a state of consumption according to the present disclosure includes: A method for determining a wear state of a support member in a gripper in which a gripping piece is swingably supported via the support member, comprising: a data acquisition step of acquiring actual measurement data of the inclination of the gripping piece relative to the horizontal direction; and a determining step of determining the state of wear by comparing predetermined threshold data with the actual measurement data. [Effects of the Invention]

[0008] According to the present disclosure, the wear state of a support member used in a gripper can be evaluated without disassembling the gripper. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating a schematic configuration of a conveying device according to an embodiment of the present disclosure. [Figure 2] 2 is a plan view showing a specific example of the configuration of the transport device in FIG. 1. FIG. [Figure 3] 2 is a side view showing a specific example of the configuration of the transport device in FIG. 1. FIG. [Figure 4] 2 is a plan view (PV) and a partial cross-sectional side view (SV) showing a gripper of the transport device in FIG. 1. [Figure 5] 5 is a diagram showing a swing shaft of the gripper in FIG. 4 and a bushing in which the swing shaft is fitted. FIG. [Figure 6] 1A and 1B are diagrams showing a bushing in a gripper in a normal state (I) and a worn state (II). [Figure 7] FIG. 2 is a diagram illustrating an example of the configuration of a control unit according to the present embodiment. [Figure 8] FIG. 10 is a diagram illustrating an example of a method for determining a slope according to the present embodiment. [Figure 9] FIG. 10 is a flowchart showing a procedure for determining the degree of wear in the present embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of a determination result in the present embodiment. [Figure 11] FIG. 10 is a diagram illustrating an example of a distance measurement position in a gripper. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments will be described with reference to the accompanying drawings. [Overall configuration of conveying device 1] As shown in FIG. 1, the conveying device 1 according to this embodiment includes a first conveying section 10, a second conveying section 20, a third conveying section 30, and a fourth conveying section 40 arranged in this order from upstream (US) to downstream (DS). The conveying device 1 includes a controller 70 that controls the operations of the first conveying section 10 to the fourth conveying section 40. The conveying device 1 determines the wear state of bushes provided in the grippers by determining the inclination of the grippers in the first conveying section 10 to the fourth conveying section 40. The controller 70 performs this determination. The bushes are an example of support members for the gripping pieces provided in the grippers.

[0011] The container 100 is delivered to the first conveying section 10, which is located at the most upstream (US), and then conveyed in the order of the first conveying section 10, the second conveying section 20, the third conveying section 30, and the fourth conveying section 40. The container 100 delivered to the fourth conveying section 40 is then conveyed by the fourth conveying section 40 and delivered to the downstream (DS).

[0012] Various devices (not shown) are attached to the first to fourth conveying sections 10 to 40, and as the containers 100 are conveyed from the first to fourth conveying sections 10 to 40 in this order, processes such as filling the containers with beverage, sealing the containers 100, and attaching labels to the containers 100 are performed. Therefore, the first to fourth conveying sections 10 to 40 are each attached with devices having different functions.

[0013] In order to perform the predetermined processes as described above, the first to fourth transport units 10 to 40 are provided with a plurality of gripping tools, or grippers 50, around their peripheries. Note that the illustration of the grippers 50 is omitted in FIG. 1. As shown in FIGS. 2 and 3, each of the first to fourth conveying units 10 to 40 includes a star wheel 15 that is driven to rotate by a drive source (not shown), such as a rotating electric machine, and a plurality of grippers 50 that are evenly spaced around the star wheel 15. As an example, the second conveying unit 20 receives a container 100 from the first conveying unit 10 located upstream with each gripper 50, and processes such as filling a beverage into the container 100 gripped by the gripper 50 during one rotation. The plurality of grippers 50 in each of the first to fourth conveying units 10 to 40 move along a predetermined circular orbit as the star wheel 15 rotates. An example of this orbit is shown by the dashed-dotted circle drawn outside the star wheel 15 in FIG. 2.

[0014] The first to fourth transport units 10 to 40 have the same basic structure, but differ, for example, in radial dimensions and in the equipment attached thereto corresponding to the processing performed on the containers 100. Because the first to fourth transport units 10 to 40 transfer and receive the containers 100, the pitch of the grippers 50 on the upstream and downstream transport units, for example, the pitch of the grippers 50 on the first transport unit 10 side and the pitch of the grippers 50 on the second transport unit 20 side, are the same. Therefore, the first to fourth transport units 10 to 40, which have different diameters, each have a different number of grippers 50. This suggests that there is not a one-to-one correspondence between the grippers 50 of the upstream first transport unit 10 and the downstream second transport unit 20 involved in the transfer and reception.

[0015] [Gripper 50: see Figures 4 and 5] As shown in FIG. 4 as an example, the gripper 50 has a pair of gripping pieces 51 that can be opened and closed. FIG. 4 shows the gripping pieces 51 in a closed state. When the gripping pieces 51 are closed, the gripper 50 grips the container 100, and when the gripping pieces 51 are opened, the gripper 50 releases the container 100. For example, in the first conveying section 10, when a predetermined process is performed on the container 100 while it is being conveyed, the gripper 50 grips the container 100. When the process is completed and the container 100 is handed over to the second conveying section 20 downstream, the gripping pieces 51 open and release the container 100. The gripping piece 51 on the side that receives the container 100 receives the container 100 in an open state, and then closes the gripping piece 51 to grip the container 100.

[0016] 4 and 5, the gripper 50 includes a holder 53 that holds a pair of gripping pieces 51 so that they can rotate forward and backward, i.e., swing. Each of the gripping pieces 51 is supported so that it can swing around a swing shaft 55 fixed to the holder 53. A bushing 57 is provided between the swing shaft 55 and the gripping pieces 51, and it can be said that the gripping pieces 51 are supported by the bushing 57 so that they can swing.

[0017] The bushing 57 may be made of any material. Generally, bushings are classified into metal-based bushings and resin-based bushings. Typical metal-based bushings include cast iron, aluminum alloy, copper alloy, and steel. Typical resin-based bushings include aramid resin, polyamide resin, fluororesin, and polyacetal resin. The bushing 57 in the present disclosure may be made of any of the above materials or other materials. However, as the first conveying section 10 to the fourth conveying section 40 continue to operate, the bushing 57 will wear out due to wear on the inner circumferential surface 57A and the outer circumferential surface 57B caused by sliding with the holder 53 and the swing shaft 55. When the wear amount exceeds an allowable value, the bushing 57 needs to be replaced with a new one. However, the conveying device 1 can determine whether replacement is necessary without disassembling the gripper 50.

[0018] [Distance sensor 60: see Figures 3 and 4] In order to determine whether the bushing 57 needs to be replaced without disassembling the gripper 50, the conveying device 1 is provided with a distance measuring sensor 60 in each of the first conveying section 10 to the fourth conveying section 40. Note that although Fig. 3 illustrates the first conveying section 10, each of the second conveying section 20 to the fourth conveying section 40 is also provided with a similar distance measuring sensor 60. As an example, the distance measurement sensor 60 is disposed at a predetermined position in the vertical direction V above the orbit of the gripper 50 supported by the star wheel 15, and measures the distance in the vertical direction V to each gripper 50 that moves in an arc-shaped orbit as the star wheel 15 rotates. The distance measurement sensor 60 includes a first distance measurement sensor 61 and a second distance measurement sensor 63 at two fixed points along the radial direction RD of the star wheel 15. The first distance measurement sensor 61 and the second distance measurement sensor 63 are preferably disposed apart from each other in the radial direction RD of the orbit along which the gripper 50 moves, and at the same position in the vertical direction V. Disposing the first distance measurement sensor 61 and the second distance measurement sensor 63 at the same position in the vertical direction V makes it easy to check changes in the distance in the vertical direction V to the gripper 50. However, in the present disclosure, even if the first distance measurement sensor 61 and the second distance measurement sensor 63 are disposed at different positions in the vertical direction V, the tilt (described later) can be calculated by using each position as the origin.

[0019] The first distance measurement sensor 61 measures the distance in the vertical direction V from the first distance measurement sensor 61 to a first distance measurement position P1 on the outer side of the gripping piece 51 in the radial direction RD, and the second distance measurement sensor 63 measures the distance in the vertical direction V from the second distance measurement sensor 63 to a second distance measurement position P2 on the inner side of the gripping piece 51 in the radial direction RD. The first distance measurement sensor 61 and the second distance measurement sensor 63 measure a distance D1 to the first distance measurement position P1 and a distance D2 to the second distance measurement position P2 in accordance with instructions from the controller 70, and information on the measured distance D1 (first distance measurement data D1) and information on the measured distance D2 (second distance measurement data D2) are sent to the controller 70. The controller 70 determines actual measurement data θa, which is the inclination of the gripping piece 51 with respect to the horizontal direction H, from the first distance measurement data D1 and the second distance measurement data D2. The first distance measurement position P1 and the second distance measurement position P2 represent the positions of the gripping piece 51 before it is tilted.

[0020] There is no limitation on the type of the first distance measuring sensor 61 and the second distance measuring sensor 63 as long as they can measure the distances D1 and D2. Typically, a laser-type distance measuring sensor can be used, but LED-type, ultrasonic-type, contact-type, eddy current-type, and TOF (Time of Flight)-type distance measuring sensors can also be used.

[0021] [Inclination of the gripping piece 51: see Figure 6] When the bushing 57 is new, the inclination of the gripping piece 51 with respect to the horizontal direction H is zero, excluding play (FIG. 6(I)). However, as the conveying device 1 is used, the bushing 57 wears out and its dimensions decrease, mainly in the radial direction (FIG. 6(II) upper part), causing the gripping piece 51 to incline with respect to the horizontal direction H (FIG. 6(II) lower part). If this inclination θ becomes large, the gripper 50 may no longer be able to grip the container 100, or the gripping pieces 51, 51 may no longer be able to open and close smoothly, so the bushing 57 must be replaced with a new one. The wear of the bushing 57 can occur on both the inner peripheral surface 57A and the outer peripheral surface 57B (FIG. 4), but here an example is shown in which the inner peripheral surface (57A) is worn.

[0022] To determine whether the bushing 57 needs to be replaced, the actual measurement data θa of the inclination of the gripping piece 51 is obtained from the first distance measurement data D1 and the second distance measurement data D2, and is compared with the threshold data θt stored in the controller 70.

[0023] [Controller 70: see Figures 7 and 8] The controller 70 controls the operation of the first to fourth transport units 10 to 40 and the operation of the distance measurement sensor 60. The controller 70 also estimates the degree of wear of the bushing 57 based on data on the distance D1 (first distance measurement data D1) and data on the distance D2 (second distance measurement data D2) measured by the first distance measurement sensor 61 and the second distance measurement sensor 63, respectively, and determines whether the bushing 57 needs to be replaced.

[0024] To make this determination, the controller 70 has the functions shown in Fig. 7. That is, the controller 70 has a communication unit 71, a storage unit 73, a determination unit 75, an instruction unit 77, and a display unit 79, and can transmit and receive data among them. The controller 70 includes a computer device and a display device such as an LCD (Liquid Crystal Display).

[0025] [Communications Section 71] The communication unit 71 receives the first distance measurement data D1 and the second distance measurement data D2 detected and transmitted by the first distance measurement sensor 61 and the second distance measurement sensor 63. The received first distance measurement data D1 and second distance measurement data D2 are transferred to the storage unit 73. The communication unit 71 also transmits control signals to the first distance measurement sensor 61 and the second distance measurement sensor 63 to control distance measurement by the first distance measurement sensor 61 and the second distance measurement sensor 63. This control signal is received from the instruction unit 77.

[0026] [Storage section 73] The memory unit 73 stores threshold data θt required to determine whether or not replacement is required for the bushing 57 of the gripper 50. The threshold data θt is a value representing the inclination of the bushing 57, and is compared with actual measurement data θa obtained from the first distance measurement data D1 and the second distance measurement data D2. The threshold data θt can be set commonly for the first conveying section 10 to the fourth conveying section 40, or can be set individually for the first conveying section 10 to the fourth conveying section 40.

[0027] The threshold data θt can be obtained experimentally. That is, a bushing 57 with a known state of wear is incorporated into the gripper 50, and the operation of the gripping pieces 51, 51 is confirmed. At this time, multiple bushings 57 with different states of wear are used in turn, and the inclination θ of the gripping pieces 51, 51 when operation becomes abnormal is obtained. This inclination θ is set as the threshold data θt.

[0028] The storage unit 73 stores the first distance measurement data D1 and the second distance measurement data D2 received by the communication unit 71. The stored first distance measurement data D1 and second distance measurement data D2 are used for determination, which will be described next.

[0029] [Judgment section 75] The determining unit 75 determines whether or not the bushing 57 needs to be replaced based on the inclination of the gripping piece 51 (actual measurement data θa). To make this judgment, the judgment unit 75 acquires the first ranging data D1 and the second ranging data D2 received by the communication unit 71 and stored in the memory unit 73, as well as the threshold data θt stored in the memory unit 73.

[0030] The determination unit 75 calculates the actual measurement data θa based on the acquired first distance measurement data D1 and second distance measurement data D2. The calculation procedure for this actual measurement data θa will be described with reference to Fig. 8. Note that this is based on the premise that the gripping piece 51 is tilted. The first placement position A1 of the first distance measuring sensor 61 and the placement position B1 of the second distance measuring sensor 63 are known as (xa, y0) and (x0, y0), respectively. The distance D1 from the first placement position A1 of the first distance measurement sensor 61 to the first distance measurement position A2 is measured by the first distance measurement sensor 61, and the distance D2 from the placement position B2 of the second distance measurement sensor 63 to the second distance measurement position B2 is measured by the second distance measurement sensor 63. The first distance measurement position A2 is (xa, ya), and the second distance measurement position B2 is (x0, yb). Note that the first distance measurement position A2 corresponds to the first distance measurement position P1 shown in FIG. 4, and the second distance measurement position B2 similarly corresponds to the second distance measurement position P2. In other words, the first distance measurement position A2 corresponds to the first distance measurement position P1 after the gripping piece 51 has tilted, and the second distance measurement position B2 corresponds to the second distance measurement position P2 after the gripping piece 51 has tilted. The inclination (measured data θa) of the line segment connecting the first distance measurement position A2 and the second distance measurement position B2 with respect to the horizontal direction H can be calculated by the following equation (1). Tanθa=D4 / D3=(D2-D1) / (xa-x0)…Equation (1)

[0031] The determination unit 75 acquires threshold data θt from the memory unit 73 and compares the acquired threshold data θt with the measured data θa to make a determination. The determination is made based on whether or not the measured data θa exceeds the threshold data θt, that is, whether or not the following formula (2) is satisfied. The determination result by the determination unit 75 is sent to the instruction unit 77. The determination unit 75 uses the first distance measurement sensor 61 and the second distance measurement sensor 63 to make a determination based on formulas (1) and (2) for all grippers 50 provided on each of the first to fourth transport units 10 to 40. Measured data θa>threshold data θt...Equation (2)

[0032] [Instruction section 77] The instruction unit 77 instructs the rotational driving of the star wheel 15 in each of the first conveying unit 10 to the fourth conveying unit 40, and also instructs the first distance measuring sensor 61 and the second distance measuring sensor 63 to measure the distance to the gripping piece 51 while the star wheel 15 is being rotated. Furthermore, the instruction unit 77 can receive the determination result from the determination unit 75 and issue a notification based on the determination result on the display unit 79. A specific example of notification will be mentioned in the next determination procedure. By referring to this notice, an operator involved in the operation of the conveying device 1 including the first conveying section 10 can take action on the conveying device 1, such as making arrangements for maintenance.

[0033] [Determination procedure: See Figure 9] Next, an example of a procedure for determining the wear state of the gripper 50 in the conveying device 1 will be described with reference to Fig. 9. The conveying device 1 functions as, for example, an element of a filling machine that fills beverages into containers 100. The determination procedure is executed in response to instructions from the controller 70. The filling machine, i.e., the first conveying unit 10 to the fourth conveying unit 40, is instructed to rotate each star wheel 15 to start operation (FIG. 9, S101).Furthermore, the first distance measuring sensor 61 and the second distance measuring sensor 63 are instructed to obtain the first distance measurement data D1 and the second distance measurement data D2, and to calculate the actual measurement data θa (S103).

[0034] It is determined (S105) whether the acquisition of the first distance measurement data D1 and the second distance measurement data D2 and the calculation of the actual measurement data θa have been completed for all of the grippers 50 corresponding to one rotation of the star wheels 15 of each of the first to fourth transport units 10 to 40. If the calculation process for one rotation has been completed (YES in S105), the process proceeds to determining the degree of wear of the bushing 57 by comparing the actual measurement data θa with the threshold data θt (S107). The criteria for determining whether the calculation process for one revolution has been completed are arbitrary. For example, if a mark is provided on a specific gripper 50 and the mark can be detected twice, it can be determined that the star wheel 15 has rotated more than one revolution and that the calculation process for one revolution has been completed. As another method, if a rotating electric machine with a servo function is used as the drive source of the star wheel 15, one revolution can be detected by the servo function, and it can be determined that the calculation process for one revolution has been completed based on this detection result. Note that it is sufficient if the calculation process for one revolution has been completed, but it is also acceptable to perform the calculation process for more than one revolution.

[0035] 2, the first transport unit 10 is assumed to have 15 grippers 50, which are designated as gripper 50-1, gripper 50-2, gripper 50-3, gripper 50-4, ..., gripper 50-14, and gripper 50-15. In this case, actual measurement data θa1, actual measurement data θa2, actual measurement data θa3, actual measurement data θa4, ..., actual measurement data θa14, and actual measurement data θa15 are calculated for each of the grippers 50-1...

[0036] The determination based on the comparison between the measured data θa and the threshold data θt is performed for all the grippers 50 provided in each of the first to fourth transport units 10 to 40. For example, for the first conveying unit 10, each of the measured data θa1, measured data θa2, measured data θa3, measured data θa4, ... measured data θa14, and measured data θa15 is compared with the threshold data θt. Then, a determination is made based on the above-mentioned measured data θa > threshold data θt... equation (2). As a result, if the measured data θa3, measured data θa8, and measured data θa12 satisfy equation (2), replacement of the bushings 57 provided in the corresponding grippers 50-3, 50-8, and 50-12 is recommended. This result is notified from the determining unit 75 to the instructing unit 77.

[0037] When the instruction unit 77 receives the judgment result from the judgment unit 75, it causes the judgment result to be displayed on the display unit 79. An example of the display is shown in Fig. 10. In this example, the grippers 50-3, 50-8, and 50-12 that have the bushings 57 to be replaced according to the previous judgment result are displayed. Although an example of the display for the first transport unit 10 is shown here, the judgment results for the second transport unit 20, the third transport unit 30, and the fourth transport unit 40 can also be displayed in the same way.

[0038] [Effects of the embodiment] [First effect] According to the transport device 1 according to the present embodiment described above, the following effects are achieved. According to this embodiment, by measuring the inclination of the gripper 50 while the gripper 50 is attached, it is possible to grasp the wear state of the bush 57 and determine the need for replacement. Therefore, according to this embodiment, it is not necessary to disassemble the gripper 50, which simplifies the work of replacing the bush 57. Moreover, according to this embodiment, the need for replacement of the bush 57 is determined based on objective information, namely the inclination, so the reliability of the determination is high.

[0039] [Second effect] According to this embodiment, the actual measurement data θa for all the grippers 50 can be obtained and compared with the threshold data θt during at least one rotation of the star wheel 15, which can rotate at high speed. Therefore, according to this embodiment, it is possible to very quickly determine whether the bushing 57 needs to be replaced.

[0040] [Third effect] According to this embodiment, the determination result can be displayed on the display unit 79, so that an operator involved in the operation of the conveying device 1 can reliably recognize the determination result by referring to the display unit 79. Therefore, according to this embodiment, the operator can reliably perform maintenance on the bushing 57 of the conveying device 1.

[0041] [Fourth effect] According to this embodiment, the first distance measurement sensor 61 and the second distance measurement sensor 63 are each placed at a fixed point, and the first distance measurement data D1 and the second distance measurement data D2 are acquired while the star wheel 15 is rotated. For example, to rotate the distance measurement sensor 60 (the first distance measurement sensor 61 and the second distance measurement sensor 63), a new drive source must be provided. In contrast, since the star wheel 15 requires rotational drive for producing beverages, for example, this embodiment does not require a new rotational drive source.

[0042] [Fifth effect] According to this embodiment, the distance measurement sensor 60 is disposed above the orbit of the gripper 50. In the present disclosure, the distance measurement sensor 60 can also be disposed below the gripper 50; however, there are restrictions on the placement of the distance measurement sensor 60 because equipment for performing the processes required by each of the first to fourth transport units 10 to 40 is provided below the gripper 50. In contrast, there is more open space above the gripper 50 than below, so there are fewer restrictions on the placement of the distance measurement sensor 60.

[0043] [Example of change] In addition to the above, it is possible to select and discard the configurations given in the above embodiments, or to change them to other configurations as appropriate. [Data regarding the inclination of the gripping piece 51] For example, in the above embodiment, the tilt (actual measurement data θa) of the gripping piece 51 is obtained from the first distance measurement data D1 and the second distance measurement data D2 to determine whether the bush 57 needs to be replaced, but the present disclosure is not limited to this. For example, the difference (D1-D2) between the first distance measurement data D1 and the second distance measurement data D2 may be set as actual measurement data ΔDa, and this may be compared with threshold data ΔDt to determine whether or not the bushing 57 needs to be replaced. The actual measurement data ΔDa based on this difference (D1-D2) is obtained based on the tilt of the gripping piece 51, and is an example of data relating to the tilt of the gripping piece 51 in the present disclosure. Furthermore, while the first distance measurement data D1 and the second distance measurement data D2 were obtained to obtain the actual measurement data θa, the actual measurement data θa related to the tilt can be measured directly by using a certain type of sensor. One example of this type of sensor is an area sensor. An area sensor typically consists of a transmitter (emitter) and a receiver. The transmitter emits light or sound waves, which are reflected by an object and reach the receiver as a signal. Based on this signal, the position and state of the object can be detected.

[0044] [Measurement position on gripping piece 51] In the embodiment described above, an example has been shown in which the actual measurement data θa is measured for one of the pair of gripping pieces 51 to determine the state of wear, and the other gripping piece 51 is not determined to be in a worn state. However, the present disclosure is not limited to this. For example, as shown in Figure 11 (I), first distance measurement positions P11, P21, P12, and P22 can be provided on both of the pair of gripping pieces 51, and first distance measurement data D1 and second distance measurement data D2 can be obtained on both of the pair of gripping pieces 51, and actual measurement data θa can be calculated. Furthermore, as shown in Figure 11 (II), the first distance measurement data D1 and the second distance measurement data D2 can be obtained at the first distance measurement position P1 on one gripping piece 51 and the second distance measurement position P2 on the other gripping piece 51, and the actual measurement data θa can be calculated.

[0045] [Determination procedure] In the embodiment described above, an example was shown in which the first distance measurement data D1 and the second distance measurement data D2 for one revolution of the star wheel 15 are acquired and the actual measurement data θa is calculated, followed by comparison with the threshold data θt and determination, but the present disclosure is not limited to this. For example, before the acquisition of the first distance measurement data D1 and the second distance measurement data D2 for one revolution of the star wheel 15 is completed, the actual measurement data θa may be calculated based on the first distance measurement data D1 and the second distance measurement data D2 acquired up to that point, and compared with the threshold data θt.

[0046] [Judgment time] The series of operations relating to the determination is preferably performed during a period when the conveying device 1 is not engaged in production such as filling the containers 100 with beverages, but the present disclosure is not limited to this. In other words, the present disclosure can also perform the series of operations relating to the determination even when the conveying device 1 is in production mode.

[0047] [Judgment result] In the embodiment described above, the determination result is determined based on whether the actual measurement data θa exceeds the threshold data θt. However, the present disclosure is not limited to this. For example, the determination result may be the difference between the actual measurement data θa and the threshold data θt. In this case, the operator of the conveyance device 1 can identify the gripper 50 whose bushing 57 needs to be replaced by referring to the difference between the actual measurement data θa and the threshold data θt.

[0048] [Method of notifying the judgment result] In the embodiment described above, an example was shown in which the determination result was displayed on the display unit 79, but the present disclosure is not limited to this. For example, the determination result can be printed on paper or other sheet-like material. Also, for example, warning lights can be provided near the corresponding grippers 50, and the determination result can be notified by turning on the warning light corresponding to the gripper 50 for which it has been determined that the bushing 57 needs to be replaced.

[0049] [Type of orbit of the transport device] In the embodiment described above, the orbit of the gripper 50 forms an arc by using the star wheel 15, but the present disclosure is not limited to this. For example, the present disclosure is applicable to a conveyance device having a racetrack-shaped or elliptical orbit and equipped with the gripper 50. A racetrack-shaped conveyance device can move the gripper 50 by, for example, a linear motor.

[0050] [Examples of support parts] In the above embodiment, the bushing 57 is exemplified as a consumable part that supports the pair of gripping pieces 57, but the support member in the present disclosure is not limited to the bushing 57. For example, in the gripper 50 shown in FIG. 4, the plates 56A and 56B that support the pair of gripping pieces 51 above and below the gripper 50 can also be subject to the determination. That is, the plates 56A and 56B wear at the contact portions with the pair of gripping pieces 51 due to the swinging motion of the gripping pieces 51, and this wear can cause the gripping pieces 51 to tilt in the same way as wear of the bushing 57. Depending on the structure of the gripper 50, there may be other components besides the plates 56A and 56B and the bushing 57 that are consumable parts that are subject to wear due to tilting.

[0051] [Note] From the above disclosure, the following configuration can be understood. [Appendix 1] The conveying device (1) a plurality of grippers (50) each having a pair of gripping pieces (51) and moving along a predetermined circular path; a sensor for acquiring measured data (θa) relating to the inclination of the gripping piece (51); and a controller (70) that determines the wear state of the support members (56A, 56B, 57) that swingably support the gripping piece (51) based on actual measurement data.

[0052] [Appendix 2] In Appendix 1, The controller (70) Measured data (θa) which is the inclination of the gripping piece (51) relative to the horizontal direction (H), It is preferable to determine the state of wear of the bushing (57) by comparing the actual measurement data (θa) with threshold data (θt) relating to the slope corresponding to the actual measurement data (θa).

[0053] [Appendix 3] 10. The preferred controller (70) of claim 1 or claim 2, The actual measurement data (θa) is The distance is determined based on the first distance measurement data (D1) and the second distance measurement data (D2) in the vertical direction (V) from a predetermined position to the first distance measurement position (A2) and the second distance measurement position (B2) that are separated in a direction perpendicular to the circular orbit of the gripping piece (51).

[0054] [Appendix 4] A preferred sensor (61, 63) in any one of Supplementary Note 1 to Supplementary Note 3 is The system includes a first distance measurement sensor (61) that measures first distance measurement data (D1) and a second distance measurement sensor (63) that measures second distance measurement data (D2), Each of the first distance measuring sensor (61) and the second distance measuring sensor (63) It is installed at a fixed point.

[0055] [Appendix 5] In any one of Supplementary Note 1 to Supplementary Note 4, preferably, a star wheel (11) is provided which holds the plurality of grippers (50) on its outer periphery and is driven to rotate; Each of the first distance measuring sensor (61) and the second distance measuring sensor (63) It is installed at a fixed point above or below the orbit of the star wheel (11).

[0056] [Appendix 6] In any one of Supplementary Note 1 to Supplementary Note 4, a preferred controller (70) is determining a wear state of the support members (56A, 56B, 57) for each of the plurality of grippers (50); The gripper (50) whose actual measurement data (θa) reaches the threshold data (θt) is displayed. A typical example of the support member is a bush (57) provided around a swing shaft (55) that swingably supports the grip piece (51).

[0057] [Appendix 7] The method for determining a state of consumption according to the present disclosure includes: A method for determining a wear state of a bush (57) in a gripper (50) in which a gripping piece (51) is swingably supported via the bush (57), comprising: a data acquisition step of acquiring measured data (θa) of the inclination of the gripping piece (51) relative to the horizontal direction (H); and a determining step of determining the state of wear by comparing predetermined threshold data (θt) with the actual measurement data (θa). [Explanation of symbols]

[0058] 1. Conveyor device 10 First conveying section 15 Star Wheel 20 Second conveying section 30 Third conveying section 40 Fourth conveyor section 50 Gripper 51 Grip piece 53 Holding body 55 Swing axis 56A, 56B Plate 57 Bush 60 Distance measuring sensor 61 First distance measuring sensor 63 Second distance measuring sensor 70 Controller 71 Communications Department 73 Memory section 75 Judgment section 77 Instruction section 79 indicates the section 100 containers θa θt threshold value P1 First distance measurement position P2 Second distance measuring position A1 First Configuration Position B1 Second Configuration Position A2 First Distance Measurement Position B2 Second Distance Measurement Position D1 First Distance Data D2 Second Distance Data RD radial direction H horizontal direction V Vertical direction

Claims

1. a plurality of grippers each having a pair of gripping pieces and moving along a predetermined circular path; a sensor for acquiring actual measurement data regarding the inclination of the gripping piece; a controller that determines a wear state of a support member that swingably supports the gripping piece based on the actual measurement data; A conveying device comprising:

2. The controller The measured data is the inclination of the gripping piece relative to the horizontal direction; and determining a wear state of the bushing by comparing the actual measurement data with threshold data relating to the slope corresponding to the actual measurement data. The conveying device according to claim 1 .

3. In the controller, The measured data is The distance is calculated based on first distance measurement data and second distance measurement data in a vertical direction from a predetermined position to a first distance measurement position and a second distance measurement position that are spaced apart in a direction perpendicular to the orbit of the gripping piece. The conveying device according to claim 1 .

4. The sensor a first distance measurement sensor that measures the first distance measurement data and a second distance measurement sensor that measures the second distance measurement data; Each of the first distance measurement sensor and the second distance measurement sensor includes: Set up at fixed points, The conveying device according to claim 3 .

5. a star wheel that holds the plurality of grippers on its outer periphery and is driven to rotate; Each of the first distance measurement sensor and the second distance measurement sensor includes: The star wheel is provided at the fixed point above or below the orbit of the star wheel. The conveying device according to claim 4.

6. The controller determining the wear state of the support member for each of a plurality of grippers; displaying the gripper whose actual measurement data reaches the threshold data; The conveying device according to claim 2 .

7. The support member is A bush is provided around a swing shaft that swingably supports the gripping piece. The conveying device according to claim 1 .

8. 1. A method for determining a wear state of a support member in a gripper in which a gripping piece is swingably supported via the support member, comprising: a data acquisition step of acquiring actual measurement data of the inclination of the gripping piece relative to the horizontal direction; a determining step of determining the state of wear by comparing the actual measurement data with predetermined threshold data; A method for determining a state of wear comprising:

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