Container transport device

Abstract

To provide a container transport device suppressed in outward jumping of a content.SOLUTION: A container transport device comprises: a first rotary body rotatable by a first rotary shaft along a vertical direction; a first gripper device with one end in a longitudinal direction supported by a periphery of the first rotary body and with the other end capable of gripping a neck part of a container; a second rotary body rotatable by a second rotary shaft along the vertical direction; a second gripper device with one end in the longitudinal direction supported by a periphery of the second rotary body and with the other end capable of gripping a neck part of the container gripped by the first gripper device at a container delivery position; and a first gripper moving device for moving the first gripper device from a first prescribed position upstream a rotation direction of the first rotary body from the container delivery position and applying, to the container, a centrifugal force for canceling liquid level variation in the container occurring at the container delivery position.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present disclosure relates to a container transport device that grips and transports containers filled with food, beverages, etc. [Background technology]

[0002] A filling device that fills containers with beverage products fills containers (e.g., plastic bottles, etc.) transported by a transport device with beverage and attaches a cap (lid) to the mouth of the container to complete a container product. At this time, the container is transported through various processes while being held by a gripper device. For example, a beverage filling machine has a rotating table, and gripper devices are provided on the outer periphery of the rotating table at equal intervals along the circumferential direction. The rotating table rotates with each gripper device gripping a container, and the beverage is filled into the rotating container. The container filled with the beverage is transported to a capper device via a transfer wheel. The capper device attaches a cap to the mouth of the container filled with the beverage.

[0003] The capper device has a capper wheel. The transfer wheel and the capper wheel have the same configuration. Gripper devices are provided on the outer periphery of each of the transfer wheel and the capper wheel at equal intervals along the circumferential direction. The transfer wheel grips and transports the container received by the gripper device from the beverage filling machine, and the capper wheel receives and transports the container gripped by the gripper device of the transfer wheel. Examples of such technology include those described in the following patent documents. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 11-100096 [Patent Document 2] Japanese Patent Application Publication No. 08-169493 Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-mentioned transfer wheel and capper wheel, the gripper device grips the top of a container filled with a beverage and rotates, so that centrifugal force acts on the transported container. The transfer wheel and capper wheel are arranged with their outer peripheries adjacent to each other. Therefore, when a container is handed over from the gripper device of the transfer wheel to the gripper device of the capper wheel, the direction of the centrifugal force acting on the container is reversed. Then, the direction of the centrifugal force acting on the container is reversed, causing liquid surface sloshing (hereinafter referred to as sloshing), and the phenomenon of the beverage splashing outwards occurs. Conventionally, in order to prevent the phenomenon of the beverage splashing outwards, it has been necessary to reduce the rotation speed of the transfer wheel and capper wheel, which has the problem of reducing work efficiency.

[0006] The present disclosure is devised to solve the above-mentioned problems, and aims to provide a container transport device that prevents the contents from splashing to the outside. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the container transport device of the present disclosure comprises a first rotating body rotatable by a first rotating shaft aligned along a vertical direction, a first gripper device having one longitudinal end supported on the outer periphery of the first rotating body and the other end capable of gripping the neck of a container, a second rotating body rotatable by a second rotating shaft aligned along a vertical direction, a second gripper device having one longitudinal end supported on the outer periphery of the second rotating body and the other end capable of gripping the neck of the container gripped by the first gripper device at a container transfer position, and a first gripper moving device that moves the first gripper device from a first predetermined position upstream of the container transfer position in the rotation direction of the first rotating body and applies a centrifugal force to the container to counteract liquid level fluctuations in the container that occur at the container transfer position. Effect of the Invention

[0008] According to the container transport device of the present disclosure, it is possible to prevent the contents from splashing to the outside. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic plan view showing the arrangement of a container filling apparatus according to a first embodiment. [Diagram 2] FIG. 2 is a plan view of the main part showing the arrangement of a transfer wheel and a capper wheel as the container transport device of the first embodiment. [Diagram 3] FIG. 3 is a side view of the essential parts showing the arrangement of the transfer wheel and the capper wheel. [Figure 4] FIG. 4 is a schematic diagram showing the operation of the container transport device. [Diagram 5] FIG. 5 is a schematic diagram showing the liquid level fluctuation caused by the movement of the container. [Figure 6] FIG. 6 is a schematic diagram showing the transport path of containers in the transfer wheel and the capper wheel. [Figure 7] FIG. 7 is a time chart showing the relationship between the centrifugal force acting on the container and the liquid level fluctuation. [Figure 8] FIG. 8 is a schematic diagram showing the container transport path in the transfer wheel and the capper wheel of the container filling device of the second embodiment. [Figure 9] FIG. 9 is a time chart showing the relationship between the centrifugal force acting on the container and the liquid level fluctuation. [Figure 10] FIG. 10 is a side view of a main portion illustrating a gripper device according to the third embodiment. [Figure 11] FIG. 11 is a side view of a main part showing an inclined state of the gripper device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Preferred embodiments of the present disclosure will be described in detail below with reference to the drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes a configuration in which each embodiment is combined. In addition, the components in the embodiments include those that a person skilled in the art can easily imagine, those that are substantially the same, and those that are within the so-called equivalent range.

[0011] [First embodiment] <Configuration of container filling device> FIG. 1 is a schematic plan view showing the arrangement of a container filling apparatus according to a first embodiment.

[0012] The container filling device of the present invention fills food and beverages into food containers. Here, the food container is a container filled with fluids including slurries, particles, powders, etc. used as foods such as beverages and seasonings. In addition, beverages include soft drinks, water, tea, coffee, black tea, cocoa, fruit juice drinks, milk, health drinks, alcoholic beverages, etc., and cooking ingredients include soy sauce, vinegar, cooking sake, mirin, oil, various sauces, salt, sugar, etc. In addition, food containers include plastic bottles (PET bottles), glass bottles, metal cans, paper containers, etc.

[0013] As shown in Figure 1, the first embodiment of the container filling apparatus 10 includes a container inspection machine 11, a container washing machine 12, a container sterilization machine 13, a container rinsing machine 14, a beverage filling machine 15, a capping machine 16, and a cap sterilization machine 17.

[0014] The container inspection machine 11 inspects containers (food containers) for damage. The container washing machine 12 cleans the inside of the container. The container sterilizing device 13 sterilizes the inside of the container. The container rinsing device 14 rinses the inside of the container. The beverage filling machine 15 fills the inside of the container with a beverage. The capping device 16 attaches a cap (lid) to a container filled with a beverage. The cap sterilizing machine 17 sterilizes the cap attached to the container.

[0015] The beverage filling machine 15 has a rotating table 21 and a gripper device 22. The gripper devices 22 are provided on the outer periphery of the rotating table 21 at equal intervals along the circumferential direction. The rotating table 21 can rotate at a predetermined speed. The gripper device 22 can grip the container supplied from the container rinsing device 14. A transfer wheel 23 is disposed between the beverage filling machine 15 and the capper device 16. The transfer wheel 23 has gripper devices 24 provided on the outer periphery of the transfer wheel 23 at equal intervals along the circumferential direction. The transfer wheel 23 can rotate at a predetermined speed. The gripper device 24 can grip the container supplied from the beverage filling machine 15. The capper device 16 has a capper wheel 25 and a gripper device 26. The capper wheel 25 has gripper devices 26 provided on the outer periphery of the capper wheel 25 at equal intervals along the circumferential direction. The capper wheel 25 can rotate at a predetermined speed. The gripper device 26 can grip the container supplied from the transfer wheel 23.

[0016] <Transfer wheel and capper wheel> Figure 2 is a plan view of the essential parts showing the arrangement of transfer wheels and capper wheels as a container transporting device of this embodiment, Figure 3 is a side view of the essential parts showing the arrangement of transfer wheels and capper wheels, and Figure 4 is a schematic diagram showing the operation of the container transporting device.

[0017] As shown in Figs. 2 to 4, the container 30 has a container body 31, a mouth portion 32, and a neck portion 33. The container body 31 is, for example, cylindrical in shape and has a bottom portion (not shown) that is closed at the lower portion in the longitudinal direction. The container body 31 has a neck portion 33, with the outer diameter of the upper end portion being reduced. The container body 31 has a mouth portion 32 at the upper end. The mouth portion 32 is an opening portion that can be filled with a beverage. The container body 31 also has a threaded portion 34 and a neck ring 35 on the neck portion 33. The threaded portion 34 is a male thread that is screwed into a female thread of a cap (not shown). The neck ring 35 has a ring shape that protrudes outward from the outer circumferential surface of the neck portion 33.

[0018] The transfer wheel 23 has a disk shape and is rotatably supported by a rotating shaft along the vertical direction (direction perpendicular to the paper surface in FIG. 2). The transfer wheel 23 can be driven to rotate in the clockwise direction in FIG. 2 by a driving device not shown. A gripper device 24 is provided on the outer periphery of the transfer wheel 23. The gripper device 24 is capable of gripping the neck portion 33 of the container 30. The capper wheel 25 has a disk shape and is rotatably supported by a rotating shaft along the vertical direction (direction perpendicular to the paper surface in FIG. 2). The capper wheel 25 can be driven to rotate in the counterclockwise direction in FIG. 2 by a driving device not shown. A gripper device 26 is provided on the outer periphery of the capper wheel 25. The gripper device 26 is capable of gripping the neck portion 33 of the container 30.

[0019] The transfer wheel 23 and the capper wheel 25 are arranged at a predetermined interval in the horizontal direction. The transfer wheel 23 and the capper wheel 25 rotate synchronously at the same speed (circumferential speed). The gripper device 24 of the transfer wheel 23 and the gripper device 26 of the capper wheel 25 have almost the same configuration. The transfer wheel 23 conveys the container 30 in the circumferential direction by rotating with the gripper device 24 gripping the container 30. When the transfer wheel 23 reaches a position where the gripper device 24 of the transfer wheel 23 and the gripper device 26 of the capper wheel 25 face each other, that is, a container transfer position, the gripper device 24 of the transfer wheel 23 transfers the container 30 held by the gripper device 24 to the gripper device 26 of the capper wheel 25.

[0020] <Container transport device> The container transport device of the first embodiment comprises a transfer wheel (first rotating body) 23, a gripper device (first gripper device) 24, a capper wheel (second rotating body) 25, a gripper device (second gripper device) 26, a gripper moving device (first gripper moving device) 27, and a gripper moving device (second gripper moving device) 28.

[0021] The gripper device 24 is disposed along the radial direction (left-right direction in Figs. 2 and 3) of the transfer wheel 23. The gripper device 24 has a pair of gripper members 41, 42. The gripper members 41, 42 are disposed side by side in the circumferential direction of the transfer wheel 23, and their longitudinal intermediate portions are rotatably supported by a support member 45 by support shafts 43, 44 that extend along the vertical direction.

[0022] The gripper members 41 and 42 are provided with gripping portions 41a and 42a at one end in the longitudinal direction. The gripping portions 41a and 42a are formed in an arc shape and can grip the neck portion 33 of the container 30. Therefore, the gripping portions 41a and 42a are formed in an arc shape that can closely contact the outer periphery of the neck portion 33 of the container 30. At this time, the gripping portions 41a and 42a grip a position above the neck ring 35 on the neck portion 33 of the container 30. The gripper members 41 and 42 are provided with spring receiving portions 41b and 42b at the other end in the longitudinal direction. A compression coil spring 46 is attached between the spring receiving portions 41b and 42b. The compression coil spring 46 applies a biasing force to the gripper members 41 and 42 in a direction in which the spring receiving portions 41b and 42b move away from each other.

[0023] 2, one gripper member 41 is biased and supported in a counterclockwise direction about the support shaft 43 by the biasing force of the compression coil spring 46. The other gripper member 42 is biased and supported in a clockwise direction about the support shaft 44 by the biasing force of the compression coil spring 46. Then, the gripper members 41, 42 are biased and supported in a direction in which the gripping portions 41a, 42a approach each other by the biasing force of the compression coil spring 46. The gripper members 41, 42 are capable of gripping the neck portion 33 of the container 30 by the biasing force of the compression coil spring 46 such that the gripping portions 41a, 42a pinch the neck portion 33 of the container 30.

[0024] One end of a lever 47 is connected to the gripper member 42. The lever 47 extends from the other end of the gripper member 42 toward the gripper member 41. A cam roller 48 is rotatably attached to the other end of the lever 47. A cam 49 is disposed below the transfer wheel 23. The cam 49 is fixed near the container transfer position. The cam roller 48 and the cam 49 are disposed at approximately the same position in the vertical direction, and the cam roller 48 can contact the cam 49. In other words, the cam roller 48 of the gripper device 24, which rotates together with the transfer wheel 23, can contact the cam 49, which is fixed so as not to move. The gripper members 41 and 42 can be linked together by a linking mechanism (e.g., a gear mechanism) not shown.

[0025] Therefore, when the cam roller 48 is not in contact with the cam 49, the gripper members 41, 42 can grip the neck 33 of the container 30 with the gripping portions 41a, 42a by the biasing force of the compression coil spring 46. On the other hand, when the transfer wheel 23 rotates and the cam roller 48 contacts the cam 49, the gripper member 42 rotates counterclockwise in FIG. 2 around the support shaft 44 against the biasing force of the compression coil spring 46. At this time, the rotational motion of the gripper member 42 is transmitted to the gripper member 41 via the interlocking mechanism. The gripper member 41 rotates clockwise in FIG. 2 around the support shaft 43 against the biasing force of the compression coil spring 46. Then, the gripper members 41, 42 move the gripping portions 41a, 42a away from the neck 33 of the container 30, and the grip of the container 30 is released.

[0026] On the other hand, the gripper device 26 has a configuration almost similar to that of the gripper device 24. The gripper device 26 is disposed along the radial direction of the capper wheel 25 (the left-right direction in Figs. 2 and 3). The gripper device 26 has a pair of gripper members 51, 52. The gripper members 51, 52 are disposed side by side in the circumferential direction of the transfer wheel 23, and their longitudinal intermediate portions are rotatably supported by a support member 55 by support shafts 53, 54 that are aligned along the vertical direction.

[0027] The gripper members 51 and 52 are provided with gripping portions 51a and 52a at one end in the longitudinal direction. The gripping portions 51a and 52a are formed in an arc shape and can grip the neck portion 33 of the container 30. Therefore, the gripping portions 51a and 52a are formed in an arc shape that can closely contact the outer periphery of the neck portion 33 of the container 30. At this time, the gripping portions 51a and 52a grip a position below the neck ring 35 on the neck portion 33 of the container 30. The gripper members 51 and 52 are provided with spring receiving portions 51b and 52b at the other end in the longitudinal direction. A compression coil spring 56 is attached between the spring receiving portions 51b and 52b. The compression coil spring 56 applies a biasing force to the gripper members 51 and 52 in a direction in which the spring receiving portions 51b and 52b move away from each other.

[0028] 2, one gripper member 51 is biased and supported in a clockwise direction about the support shaft 53 by the biasing force of the compression coil spring 56. The other gripper member 52 is biased and supported in a counterclockwise direction about the support shaft 54 ​​by the biasing force of the compression coil spring 56. Then, the gripper members 51, 52 are biased and supported in a direction in which the gripping portions 51a, 52a approach each other by the biasing force of the compression coil spring 56. The gripper members 51, 52 are capable of gripping the neck portion 33 of the container 30 so that the gripping portions 51a, 52a pinch the neck portion 33 of the container 30 by the biasing force of the compression coil spring 56.

[0029] One end of a lever 57 is connected to the gripper member 51. The lever 57 extends from the other end of the gripper member 51 toward the gripper member 52. A cam roller 58 is rotatably attached to the other end of the lever 57. A cam 59 is disposed below the capper wheel 25. The cam 59 is fixed in the vicinity of the container transfer position. The cam roller 58 and the cam 59 are disposed at approximately the same position in the vertical direction, and the cam roller 58 can contact the cam 59. That is, the cam roller 58 of the gripper device 26, which rotates together with the capper wheel 25, can contact the cam 59, which is fixed so as not to move. The gripper member 51 and the gripper member 52 can be interlocked by an interlocking mechanism (e.g., a gear mechanism) not shown.

[0030] Therefore, when the cam roller 58 is not in contact with the cam 59, the gripper members 51, 52 can grip the neck 33 of the container 30 with the gripping portions 51a, 52a by the biasing force of the compression coil spring 56. On the other hand, when the capper wheel 25 rotates and the cam roller 58 contacts the cam 59, the gripper member 51 rotates counterclockwise in FIG. 2 around the support shaft 53 against the biasing force of the compression coil spring 56. At this time, the rotational motion of the gripper member 51 is transmitted to the gripper member 52 via the interlocking mechanism. The gripper member 52 rotates clockwise in FIG. 2 around the support shaft 54 ​​against the biasing force of the compression coil spring 56. Then, the gripper members 51, 52 move the gripping portions 51a, 52a away from the neck 33 of the container 30, and the grip of the container 30 is released.

[0031] The gripper moving device (first gripper moving device) 27 moves the gripper device 24 along the radial direction of the transfer wheel 23 from a first predetermined position upstream in the rotation direction of the transfer wheel 23 from the container transfer position where the container 30 is transferred from the gripper device 24 to the gripper device 26.

[0032] The gripper moving device 27 has a guide member 61, a tension coil spring (biasing member) 62, and a cam mechanism 63. The transfer wheel 23 has the guide member 61 fixed to the lower surface of the outer periphery. The guide member 61 is provided with a pair of guide grooves 64 along the radial direction of the transfer wheel 23. A pair of support pins 65 are fixed to the support member 45 on which the gripper members 41, 42 are supported. Each support pin 65 is movably supported in each guide groove 64 of the guide member 61. Therefore, the gripper members 41, 42 are supported movably along the radial direction of the transfer wheel 23 via the support member 45 and the guide member 61.

[0033] The transfer wheel 23 has an attachment piece 66 fixed to it closer to the rotation center than the guide member 61 (left side in Figs. 2 and 3). One end of the tension coil spring 62 is connected to the support member 45, and the other end is connected to the attachment piece 66. Therefore, the gripper members 41, 42 are biased and supported toward the rotation center of the transfer wheel 23 via the support member 45 and the guide member 61.

[0034] The cam mechanism 63 can move the gripper members 41, 42 radially outward of the transfer wheel 23. The cam mechanism 63 has a lever 67, a cam roller 68, and a cam 69. The lever 67 is fixed to the side of the support member 45, and the cam roller 68 is rotatably supported by the lever 67. The cam 69 is disposed below the transfer wheel 23. The cam 69 is fixed upstream of the container transfer position in the rotation direction of the transfer wheel 23. The cam roller 68 and the cam 69 are disposed at approximately the same position in the vertical direction, and the cam roller 68 can come into contact with the cam 69. That is, the cam roller 68 of the gripper device 24, which rotates together with the transfer wheel 23, can come into contact with the cam 69, which is fixed so as not to move.

[0035] Therefore, when the cam roller 68 is not in contact with the cam 69, the support member 45 on which the gripper members 41, 42 are supported is biased and supported toward the rotation center of the transfer wheel 23 by the biasing force of the tension coil spring 62. On the other hand, when the transfer wheel 23 rotates and the cam roller 68 comes into contact with the cam 69, the support member 45 on which the gripper members 41, 42 are supported moves radially outward of the transfer wheel 23 against the biasing force of the tension coil spring 62. Then, the container 30 gripped by the gripper members 41, 42 can be moved radially outward of the transfer wheel 23.

[0036] On the other hand, the gripper moving device 28 moves the gripper device 26 along the radial direction of the capper wheel 25 from the container transfer position to a second predetermined position downstream of the container transfer position in the rotation direction of the capper wheel 25.

[0037] The gripper moving device (second gripper moving device) 28 has a configuration almost similar to that of the gripper moving device 27. The gripper moving device 28 has a guide member 71, a tension coil spring (biasing member) 72, and a cam mechanism 73. The capper wheel 25 has the guide member 71 fixed to the lower surface of the outer periphery. The guide member 71 is provided with a pair of guide grooves 74 along the radial direction of the capper wheel 25. A pair of support pins 75 are fixed to the support member 55 on which the gripper members 51 and 52 are supported. Each support pin 75 is movably supported in each guide groove 74 of the guide member 71. Therefore, the gripper members 51 and 52 are supported movably along the radial direction of the capper wheel 25 via the support member 55 and the guide member 71.

[0038] The capper wheel 25 has an attachment piece 76 fixed to the rotation center side (the right side in Figs. 2 and 3) of the guide member 71. One end of the tension coil spring 72 is connected to the support member 55, and the other end is connected to the attachment piece 76. Therefore, the gripper members 51, 52 are biased and supported toward the rotation center side of the capper wheel 25 via the support member 55 and the guide member 71.

[0039] The cam mechanism 73 can move the gripper members 51, 52 radially outward of the capper wheel 25. The cam mechanism 73 has a lever 77, a cam roller 78, and a cam 79. The lever 77 is fixed to the side of the support member 55, and the cam roller 78 is rotatably supported by the lever 77. The cam 79 is disposed below the capper wheel 25. The cam 79 is fixed downstream in the rotation direction of the capper wheel 25 from the container transfer position. The cam roller 78 and the cam 79 are disposed at approximately the same position in the vertical direction, and the cam roller 78 can contact the cam 79. That is, the cam roller 78 of the gripper device 26, which rotates together with the capper wheel 25, can contact the cam 79 fixed immovably.

[0040] Therefore, when the cam roller 78 is not in contact with the cam 79, the support member 55 on which the gripper members 51, 52 are supported is biased toward the rotation center of the capper wheel 25 by the biasing force of the tension coil spring 72. On the other hand, when the capper wheel 25 rotates and the cam roller 78 contacts the cam 79, the support member 55 on which the gripper members 51, 52 are supported moves radially outward of the capper wheel 25 against the biasing force of the tension coil spring 72. Then, the container 30 gripped by the gripper members 51, 52 can be moved radially outward of the capper wheel 25.

[0041] The gripper moving devices 27 and 28 are not limited to the above-mentioned configuration. For example, a fluid cylinder such as an air cylinder or a hydraulic cylinder, a ball screw mechanism, or the like may be used as a configuration for moving the gripper devices 24 and 26 along the radial direction of the transfer wheel 23 or the capper wheel 25.

[0042] <Liquid level fluctuation in container> FIG. 5 is a schematic diagram showing the liquid level fluctuation caused by the movement of the container.

[0043] Incidentally, the transfer wheel 23 and the capper wheel 25 rotate while gripping the neck 33 of the container 30 filled with beverage with the gripper devices 24, 26, respectively, and therefore the container 30 being transported is subjected to centrifugal force acting outward from the transfer wheel 23 and the capper wheel 25. When the gripper device 24 of the transfer wheel 23 delivers the gripped container 30 to the gripper device 26 of the capper wheel 25, the direction of the centrifugal force acting on the container 30 is reversed. Then, the direction of the centrifugal force acting on the container 30 is reversed, which may cause the liquid surface to slosh, i.e., sloshing, and cause the beverage to splash outward.

[0044] 5 is a schematic diagram showing a state in which the container 30 is gripped by the gripper devices 24, 26 at the container transfer position. As shown in FIG. 5, the container 30 gripped by the gripper device 24 of the rotating transfer wheel 23 receives a centrifugal force F1 that moves the container 30 radially outward on the transfer wheel 23 to the container transfer position. On the other hand, after the container transfer position, the container 30 gripped by the gripper device 26 of the capper wheel 25 receives a centrifugal force F2 that moves the container 30 radially outward on the capper wheel 25. Here, the centrifugal forces F1 and F2 are in opposite directions. That is, the centrifugal force F1 is directed toward the center of the capper wheel 25, and the centrifugal force F2 is directed toward the center of the transfer wheel 23.

[0045] At the container transfer position, the centrifugal force acting on the transported container 30 switches from centrifugal force F1 to centrifugal force F2. Therefore, the liquid level of the beverage filled in the container 30 is liquid level A, which is higher on the capper wheel 25 (gripper device 26) side, before the container is transferred, and immediately after the direction of the centrifugal force is switched, the liquid level changes from liquid level A to liquid level B, which is higher on the transfer wheel 23 (gripper device 24) side. Thereafter, the liquid level on the capper wheel 25 (gripper device 26) side becomes higher, and such liquid level fluctuations are repeated.

[0046] <Operation of container transport device> FIG. 6 is a schematic diagram showing the transport path of the container in the transfer wheel and the capper wheel, and FIG. 7 is a time chart showing the relationship between the centrifugal force acting on the container and the liquid level fluctuation.

[0047] In the first embodiment, as shown in Figures 2 to 4, the gripper moving device 27 moves the gripper device 24 from a first predetermined position upstream of the container transfer position in the rotation direction of the transfer wheel 23, and applies centrifugal force to the container 30 to counteract liquid level fluctuations in the container 30 that occur at the container transfer position.

[0048] In this case, the gripper moving device 27 changes the centrifugal force in the radial direction of the transfer wheel 23 on the container 30 by moving the gripper device 24 gripping the container 30 along the radial direction of the transfer wheel 23 .

[0049] At this time, the gripper moving device 27 utilizes resonance by changing the centrifugal force of the container 30 so as to correlate with the natural period of the liquid level fluctuation in the container 30, and can effectively suppress the liquid level fluctuation with a small radial movement amount by the gripper moving device 27. Furthermore, the gripper moving device 27 changes the centrifugal force acting on the container 30 by moving the container 30 gripped by the gripper device 24 back and forth in the radial direction of the transfer wheel 23 at least once.

[0050] As shown in FIG. 6, the container transfer position 30A where the container 30 is transferred from the gripper device 24 to the gripper device 26 is located on the center line L1 connecting the rotation center O1 of the transfer wheel 23 and the rotation center O2 of the capper wheel 25. The gripper moving device 27 moves the gripper device 24 back and forth along the radial direction of the transfer wheel 23 in a region α from a first predetermined position 30B on the upstream side of the container transfer position 30A in the rotation direction of the transfer wheel 23 to the container transfer position 30A. That is, first, when the gripper device 24 moves from the first predetermined position 30B toward the container transfer position 30A, the gripper moving device 27 moves the gripper device 24 toward the radial outward direction of the transfer wheel 23. Next, when the gripper device 24 moves toward the container transfer position 30A, the gripper moving device 27 moves the gripper device 24 toward the radial inward direction of the transfer wheel 23 (toward the rotation center O1). The gripper device 24 may start moving in the radial direction from the inside in the radial direction.

[0051] In the first embodiment, while the gripper device 24 gripping the container 30 moves from the first predetermined position 30B to the container transfer position 30A, the gripper moving device 27 moves the gripper device 24 gripping the container 30 back and forth three times along the radial direction of the transfer wheel 23. Note that the number of times the gripper device 24 reciprocates by the gripper moving device 27 is not limited to three times. Also, the amount of radially outward movement and the amount of radially inward movement of the gripper device 24 by the gripper moving device 27 may be the same or different.

[0052] The solid line at the bottom of FIG. 7 is the movement trajectory of the center of the container 30 gripped by the gripper device 24 over time (rotation of the transfer wheel 23). The upper part of the dashed and dotted line is the amount of movement of the container 30 radially outwardly of the transfer wheel 23. The solid line at the top of FIG. 7 is the centrifugal force F acting on the container 30 when the container 30 gripped by the gripper device 24 moves along the above-mentioned movement trajectory. The lower part of the dashed and dotted line is the centrifugal force acting on the container 30 radially outwardly of the transfer wheel 23, and the upper part is the centrifugal force acting on the container 30 radially inwardly of the transfer wheel 23. The solid line in the middle of FIG. 7 is the liquid level fluctuation B1 of the beverage when the centrifugal force F acts on the container 30 gripped by the gripper device 24. Here, the liquid level fluctuation B1 is the difference between the liquid level of the beverage when no centrifugal force acts on the container 30 and the liquid level of the beverage when centrifugal force acts on the container 30. The dashed dotted line represents the liquid level of the beverage when no centrifugal force F acts on the container 30. There is a delay time T1 between the centrifugal force F generated in the container 30 and the liquid level fluctuation B1.

[0053] As shown in Figures 6 and 7, at time t0, the container 30 held by the gripper device 24 starts moving outward in the radial direction of the transfer wheel 23. At time t1, the container 30 held by the gripper device 24 reaches the outermost position in the radial direction of the transfer wheel 23 and starts moving inward in the radial direction of the transfer wheel 23. Thereafter, the container 30 held by the gripper device 24 repeats moving outward and inward in the radial direction of the transfer wheel 23. Then, at times t2 and t3, the container 30 held by the gripper device 24 reaches the outermost position in the radial direction of the transfer wheel 23. Thereafter, at time t12=t22, the container transfer position 30A is reached.

[0054] When the container 30 held by the gripper device 24 moves along this movement path, a centrifugal force acts on the container 30 in the radial direction of the transfer wheel 23. That is, a centrifugal force acts on the container 30 along the movement path of the container 30. Therefore, the centrifugal force F is maximum at time t1. Here, when the container 30 does not move in the radial direction on the transfer wheel 23, the centrifugal force acting on the container 30 is a centrifugal force acting outward in the radial direction of the transfer wheel 23, and is a constant value below the dashed line. However, when the container 30 moves in the radial direction on the transfer wheel 23, the centrifugal force acting on the container 30 varies in magnitude around the constant value. Then, when the container 30 held by the gripper device 24 moves along the movement path and the centrifugal force F acts on the container 30, a liquid level fluctuation occurs in the container 30 in the radial direction on the transfer wheel 23. That is, a liquid level fluctuation B1 occurs in the container 30 with a delay time T1 with respect to the centrifugal force F of the container 30. Therefore, the liquid level fluctuation B1 reaches a maximum at time t21, which is shifted from time t11 by the delay time T1.

[0055] At time t12=t22, when the container 30 held by the gripper device 24 of the transfer wheel 23 reaches the container transfer position 30A, the container 30 held by the gripper device 24 is transferred to the capper wheel 25 and gripper device 26 at the container transfer position 30A. At this time, the centrifugal force acting on the container 30 is reversed. That is, when the container 30 is held by the gripper device 24 and moves, it receives a centrifugal force toward the outside in the radial direction of the transfer wheel 23, that is, toward the right in FIG. 2. On the other hand, when the container 30 is held by the gripper device 26 and moves, it receives a centrifugal force toward the outside in the radial direction of the capper wheel 25, that is, toward the left in FIG. 2. Therefore, at time t12, the centrifugal force acting on the container 30 switches from a centrifugal force toward the outside in the radial direction of the transfer wheel 23 to a centrifugal force toward the outside in the radial direction of the capper wheel 25. Then, between time t22 and time t24, a liquid level fluctuation B2 occurs in the container 30 due to the change in centrifugal force, and the liquid level fluctuation B2 reaches a maximum at time t23.

[0056] However, in the first embodiment, the container 30 receives centrifugal force by moving in the radial direction of the transfer wheel 23 before reaching the container transfer position 30A, and liquid level fluctuation B1 occurs in advance. The liquid level fluctuation B2 caused by the switching of the centrifugal force and the liquid level fluctuation B1 caused by the radial movement of the container 30 are in opposite phases, and the liquid level fluctuation B2 is attenuated to the liquid level fluctuation B3 by canceling each other out. That is, the gripper moving device 27 moves the gripper device 24 in the radial direction so that the direction of the liquid level fluctuation B2 generated when the centrifugal force acting on the container 30 is switched is opposite to the direction of the liquid level fluctuation B1 generated by moving the container 30 in advance. Thereafter, when the container 30 is gripped by the gripper device 26 of the capper wheel 25 and moves, the liquid level fluctuation B2 (liquid level fluctuation B3) gradually attenuates. Therefore, splashing of the beverage outside the container 30 at the container transfer position 30A is suppressed.

[0057] In the above-described embodiment, after the container 30 is transferred to the gripper device 26 of the capper wheel 25, the gripper device 26 is not moved in the radial direction of the capper wheel 25. However, the gripper device 26 may be moved in the radial direction of the capper wheel 25 to quickly damp the liquid level fluctuation B2 (liquid level fluctuation B3).

[0058] As shown by the two-dot chain line in Fig. 6, after the container 30 is transferred from the gripper device 24 to the gripper device 26 at the container transfer position 30A, the gripper moving device 28 reciprocates the gripper device 26 along the radial direction of the capper wheel 25 in a region β from the container transfer position 30A to a second predetermined position 30C downstream of the container transfer position 30A in the rotation direction of the capper wheel 25. That is, first, when the gripper device 24 moves from the container transfer position 30A toward the second predetermined position 30C, the gripper moving device 28 moves the gripper device 26 toward the radial outward direction of the capper wheel 25. Next, when the gripper device 26 moves toward the second predetermined position 30C, the gripper moving device 28 moves the gripper device 26 toward the radial inward direction of the capper wheel 25 (toward the rotation center O2). In the first embodiment, while the gripper device 26 holding the container 30 moves from the container transfer position 30A to the second predetermined position 30C, the gripper moving device 28 moves the gripper device 26 holding the container 30 back and forth three times along the radial direction of the capper wheel 25, but this number of times is not limited to this.

[0059] Therefore, after the container 30 is transferred from the gripper device 24 to the gripper device 26 at the container transfer position 30A, the remaining liquid level fluctuation B2 (liquid level fluctuation B3) can be attenuated quickly. In other words, after the transfer of the container 30, the liquid level fluctuation caused by moving the container 30 in the radial direction is attenuated quickly so as to cancel out the liquid level fluctuation occurring during the transfer.

[0060] [Second embodiment] Fig. 8 is a schematic diagram showing the container transport path in the transfer wheel and capper wheel of the container filling device of the second embodiment, and Fig. 9 is a time chart showing the relationship between the centrifugal force acting on the container and the liquid level fluctuation. Note that the basic configuration of the second embodiment is the same as that of the first embodiment described above, and will be described using Figs. 2 to 4. Members having similar functions are given the same reference numerals and detailed description will be omitted.

[0061] In the second embodiment, as shown in Figures 2 to 4, the gripper moving device 27 moves the gripper device 24 from a first predetermined position upstream of the container transfer position in the rotation direction of the transfer wheel 23, and applies centrifugal force to the container 30 to counteract liquid level fluctuations in the container 30 that occur at the container transfer position.

[0062] As shown in FIG. 8, the container transfer position 30A where the container 30 is transferred from the gripper device 24 to the gripper device 26 is located on the center line L1 connecting the rotation center O1 of the transfer wheel 23 and the rotation center O2 of the capper wheel 25. The gripper moving device 27 reciprocates the gripper device 24 along the radial direction of the transfer wheel 23 in a region α from a first predetermined position 30B on the upstream side of the container transfer position 30A in the rotation direction of the transfer wheel 23 to the container transfer position 30A. That is, first, when the gripper device 24 moves from the first predetermined position 30B toward the container transfer position 30A, the gripper moving device 27 moves the gripper device 24 toward the radial outward direction of the transfer wheel 23. Next, when the gripper device 24 moves toward the container transfer position 30A, the gripper moving device 27 moves the gripper device 24 toward the radial inward direction of the transfer wheel 23 (toward the rotation center O1).

[0063] In the second embodiment, while the gripper device 24 holding the container 30 moves from the first predetermined position 30B to the container transfer position 30A, the gripper moving device 27 moves the gripper device 24 holding the container 30 back and forth once along the radial direction of the transfer wheel 23.

[0064] 8 and 9, at time t0, the container 30 held by the gripper device 24 starts moving outward in the radial direction of the transfer wheel 23. At time t1=t11, the container 30 held by the gripper device 24 reaches the outermost position in the radial direction of the transfer wheel 23 and starts moving inward in the radial direction of the transfer wheel 23. Thereafter, at time t12=t22, the container 30 reaches the container transfer position 30A.

[0065] When the container 30 held by the gripper device 24 moves along this movement trajectory, a centrifugal force acts on the container 30 in the radial direction on the transfer wheel 23. The centrifugal force F is maximum at time t1=t11. When the container 30 moves in the radial direction on the transfer wheel 23, the magnitude of the centrifugal force acting on the container 30 varies. When the container 30 held by the gripper device 24 moves along the movement trajectory and the centrifugal force F acts on the container 30, a liquid level fluctuation occurs in the container 30 in the radial direction on the transfer wheel 23. That is, a liquid level fluctuation B1 occurs in the container 30 with a delay time T1 with respect to the centrifugal force F of the container 30. Therefore, the liquid level fluctuation B1 is maximum at time t21, which is shifted from time t11 by the delay time T1.

[0066] At time t12=t22, when the container 30 held by the gripper device 24 of the transfer wheel 23 reaches the container transfer position 30A, the container 30 held by the gripper device 24 is transferred to the gripper device 26 of the capper wheel 25 at the container transfer position 30A. At this time, the centrifugal force acting on the container 30 is reversed. Therefore, at time t12, the centrifugal force acting on the container 30 is switched from a centrifugal force directed outward in the radial direction of the transfer wheel 23 to a centrifugal force directed outward in the radial direction of the capper wheel 25. Then, between time t22 and time t24, a liquid level fluctuation B2 occurs in the container 30 due to the switch in centrifugal force, and the liquid level fluctuation B2 reaches a maximum at time t23.

[0067] However, in the second embodiment, the container 30 is subjected to centrifugal force by moving in the radial direction of the transfer wheel 23 before reaching the container transfer position 30A, and liquid level fluctuation B1 occurs in advance. The liquid level fluctuation B2 caused by the change in centrifugal force and the liquid level fluctuation B1 caused by the radial movement of the container 30 are in opposite phases, and cancel each other out, so that the liquid level fluctuation B2 is attenuated to the liquid level fluctuation B3. Thereafter, when the container 30 is gripped by the gripper device 26 of the capper wheel 25 and moves, the liquid level fluctuation B2 (liquid level fluctuation B3) is gradually attenuated. Therefore, splashing of the beverage out of the container 30 at the container transfer position 30A is suppressed.

[0068] In the second embodiment, similarly to the first embodiment, the gripper device 26 may be moved in the radial direction of the capper wheel 25 to attenuate the liquid level fluctuation B2 (liquid level fluctuation B3) early.

[0069] [Third embodiment] Fig. 10 is a side view of the main part of the gripper device of the third embodiment, and Fig. 11 is a side view of the main part of the gripper device in an inclined state. Note that members having the same functions as those in the first embodiment described above are given the same reference numerals and detailed description thereof will be omitted.

[0070] As shown in FIG. 10, the container transport device of the third embodiment includes a transfer wheel 23, a gripper device 24, and a gripper moving device (first gripper moving device) 27A.

[0071] The gripper device 24 is substantially the same as that of the first embodiment described above. The gripper device 24 has a pair of gripper members 41, 42. The gripper members 41, 42 are rotatably supported by a support member 45 by support shafts 43, 44 (see FIG. 2) whose middle parts are aligned along the vertical direction. The gripper members 41, 42 are provided with gripping portions 41a, 42a at one end and with spring receiving portions 41b, 42b at the other end. A compression coil spring 46 (see FIG. 2) is attached between the spring receiving portions 41b, 42b.

[0072] The gripper moving device (first gripper moving device) 27A rotates the gripper device 24 around a horizontal axis that intersects with the radial direction of the transfer wheel 23 from a first predetermined position upstream in the rotation direction of the transfer wheel 23 from the container transfer position where the container 30 is transferred from the gripper device 24 to the gripper device 26.

[0073] The gripper moving device 27A has a rotation mechanism 81 and a cam mechanism 82. The transfer wheel 23 has an attachment member 83 fixed to the lower surface of the outer periphery. The support member 45 on which the gripper members 41, 42 are supported is rotatably supported by the attachment member 83 through a connecting shaft 84. The connecting shaft 84 constitutes the rotation mechanism 81 and is aligned along a horizontal direction intersecting with the radial direction of the transfer wheel 23.

[0074] The cam mechanism 82 can tilt the gripper members 41, 42 around a horizontal axis intersecting the radial direction of the transfer wheel 23 by a connecting shaft 84. The cam mechanism 82 has a cam roller 85 and a cam 86. The gripper members 41, 42 have a connecting member 87 connected to the other end, and the cam roller 85 is rotatably attached to the connecting member 87. The cam roller 85 can rotate around an axis along the radial direction of the transfer wheel 23. The cam 86 is disposed below the transfer wheel 23. The cam 86 has a cam groove 88 that opens in the radial direction of the transfer wheel 23. The cam roller 85 is disposed within the cam groove 88 of the cam 86. The cam groove 88 of the cam 86 has a curved shape that repeatedly moves up and down in the area where the gripper device 24 moves from the first predetermined position to the container transfer position area.

[0075] Therefore, the posture of the gripper device 24 is changed by the rotation mechanism 81 and the cam mechanism 82. That is, when the gripper device 24 moves with the rotation of the transfer wheel 23, the cam roller 85 moves in the cam groove 88 of the cam 86 by the cam mechanism 82. For example, when the cam groove 88 is located at an upper position, the gripper device 24 holds the container 30 at a position where the container center O3 is aligned with the vertical direction. On the other hand, when the cam groove 88 is located at a lower position, as shown in FIG. 11, the gripper members 41 and 42 rotate in the counterclockwise direction in FIG. 11 around the connecting shaft 84. Then, the container 30 is held at a position where the container center O3 is aligned with the container center O3a inclined by the predetermined angle θ with respect to the vertical direction.

[0076] When the gripper device 24 gripping the container 30 moves from the first predetermined position to an area other than the container transfer position, the container 30 is held at a position where the container center O3 is aligned along the vertical direction. On the other hand, when the gripper device 24 gripping the container 30 moves from the first predetermined position to an area of ​​the container transfer position, the container 30 moves back and forth between a position where the container center O3 is aligned along the vertical direction and a position where the container center O3a is aligned. Note that the container 30 may be moved back and forth alternately outward and inward from the position where the container center O3 is aligned along the vertical direction.

[0077] In the container transport device of the third embodiment, the gripper moving device 27A moves the gripper device 24 from a first predetermined position upstream of the container transfer position in the rotation direction of the transfer wheel 23, and applies tilt fluctuation to the container 30 to cancel out the liquid level fluctuation in the container 30 that occurs at the container transfer position. The operation of the container transport device is similar to that of the first or second embodiment described above. In the first and second embodiments, the entire container 30 is moved back and forth in the radial direction, but in the third embodiment, the lower part of the container 30 is moved back and forth in the radial direction. As the rest is almost the same, a description thereof will be omitted.

[0078] <Effects of this embodiment> The container transport device according to the first aspect includes a transfer wheel (first rotating body) 23 that can rotate about a rotation center (first rotation axis) O1 along the vertical direction, a gripper device (first gripper device) 24 having one longitudinal end supported on the outer periphery of the transfer wheel 23 and the other end capable of gripping the neck portion 33 of the container 30, a capper wheel (second rotating body) 25 that can rotate about a rotation center (second rotation axis) O2 along the vertical direction, and a gripper device (first gripper device) 24 having one longitudinal end supported on the outer periphery of the capper wheel 25. The gripper device is provided with a gripper device (second gripper device) 26 which is capable of gripping the neck 33 of the container 30 whose other end is gripped by the gripper device 24 at the container transfer position 30A, and a gripper moving device (first gripper moving device) 27, 27A which moves the gripper device 24 from a first predetermined position 30B which is upstream of the container transfer position 30A in the rotation direction of the transfer wheel 23, and applies a centrifugal force to the container 30 to counteract fluctuations in the liquid level of the container 30 which occur at the container transfer position 30A.

[0079] According to the container conveying device of the first aspect, when the gripper device 24 moves from the first predetermined position 30B to the container transfer position 30A, the gripper moving device 27, 27A moves the gripper device 24 along the radial direction of the transfer wheel 23 to apply centrifugal force to the container 30 to generate liquid level fluctuations in advance. When the container 30 gripped by the gripper device 24 reaches the container transfer position 30A and is transferred from the gripper device 24 of the transfer wheel 23 to the gripper device 26 of the capper wheel 25, the direction of the centrifugal force acting on the container 30 becomes the opposite direction, so that liquid level fluctuations occur. At this time, the liquid level fluctuation occurs in the container before it reaches the container transfer position 30A, and the liquid level fluctuations that occurred in advance and the liquid level fluctuations that occurred at the container transfer position 30A cancel each other out, so that the liquid level fluctuations are attenuated. As a result, the occurrence of sloshing at the container transfer position 30A is suppressed, and splashing of the beverage outside the container 30 can be suppressed.

[0080] In the container transport device according to the second aspect, the gripper moving device 27, 27A applies centrifugal force in the radial direction of the transfer wheel 23 to the container 30. This makes it possible to efficiently cancel out liquid level fluctuations that occur when the direction of the centrifugal force acting on the container 30 at the container transfer position 30A becomes reversed due to liquid level fluctuations that occur before the container reaches the container transfer position 30A.

[0081] In the container transport device according to the third aspect, the gripper moving device 27, 27A applies centrifugal force to the container 30 in the opposite direction to the switching direction of the centrifugal force acting on the container 30 at the container transfer position 30A. This makes it possible to properly cancel out the liquid level fluctuation that occurs when the direction of the centrifugal force acting on the container 30 becomes reversed at the container transfer position 30A.

[0082] In the container transport device according to the fourth aspect, the gripper moving device 27, 27A utilizes resonance by changing the centrifugal force acting on the container 30 so as to correlate with the natural period of the generated liquid level fluctuation in the container 30, thereby effectively suppressing the liquid level fluctuation with a small amount of movement in the system direction by the gripper moving device. In other words, at the container transfer position 30A, the direction of the centrifugal force acting on the container 30 is reversed, and the liquid level fluctuation generated can be efficiently canceled out.

[0083] In the container transport device according to the fifth aspect, the gripper moving devices 27, 27A apply centrifugal force to the container 30 gripped by the gripper device 24 by making at least one reciprocating motion in the radial direction of the transfer wheel 23. This reduces the reciprocating motion of the gripper device 24 by the gripper moving devices 27, 27A, thereby simplifying the control.

[0084] The container transport device according to the sixth aspect has a gripper moving device (second gripper moving device) 28 that moves the gripper device 26 from the container transfer position 30A to a second predetermined position 30C downstream of the container transfer position 30A in the rotation direction of the capper wheel 25, and applies centrifugal force to the container 30 to cancel the liquid level fluctuation generated at the container transfer position 30A. This makes it possible to quickly attenuate the liquid level fluctuation remaining in the container 30 that has passed the container transfer position 30A.

[0085] In the container transport device according to the seventh aspect, the gripper moving device 27 can move the gripper device 24 gripping the container 30 along the radial direction of the transfer wheel 23. This makes it possible to appropriately cancel out fluctuations in the liquid level of the container 30.

[0086] In the container transport device according to the eighth aspect, the gripper moving device 27A can rotate the gripper device 24 gripping the container 30 around a horizontal axis that intersects with the radial direction of the transfer wheel 23. This makes it possible to appropriately cancel out fluctuations in the liquid level of the container 30.

[0087] In the above embodiment, the container body 31 has been described as having a cylindrical shape, but the shape is not limited to this and may be, for example, a polygonal cylindrical shape.

[0088] In the above embodiment, the rotating body of the present invention is applied to the transfer wheel 23 and the capper wheel 25, but it may be applied to the rotary table 21 and the capper wheel 25, etc. [Explanation of symbols]

[0089] 10 Container filling equipment 11 Container inspection machine 12 Container washer 13 Container sterilizer 14 Container rinsing device 15 Beverage filling machine 16 Capper device 17 Cap sterilizer 21 Rotating Table 22 Gripper device 23 Transfer wheel (first rotating body) 24 Gripper device (first gripper device) 25 Capa wheel (second rotating body) 26 Gripper device (second gripper device) 27 Gripper moving device (first gripper moving device) 28 Gripper movement device (second gripper movement device) 30 containers 30A Container delivery position 30B 1st predetermined position 30C 2nd predetermined position 31 Container body 32 Mouth 33 Neck 34 Threaded section 35 Neck Ring 41, 42, 51, 52 Gripper members 41a,42a,51a,52a Grip part 41b, 42b, 51b, 52b Spring bearing part 43,44,53,54 Support shaft 45,55 Support member 46,56 Compression coil spring 47,57 Lever 48,58 Cam roller 49,59 Cam 61,71 Guide member 62, 72 Tension coil spring (biasing member) 63,73 Cam mechanism 64,74 Guide groove 65,75 Support pin 66,76 Mounting piece 67,77 Lever 68,78 Cam roller 69,79 Cam 81 Rotating mechanism 82 Cam mechanism 83 Mounting material 84 Connecting shaft 85 Cam Roller 86 Cam 87 Connecting member 88 Cam groove L1 center line O1 Rotation center (first rotation axis) O2 Rotation center (second rotation axis) O3, O3a container center

Claims

1. a first rotating body rotatable about a first rotation axis along a vertical direction; a first gripper device having one longitudinal end supported by an outer periphery of the first rotor and the other longitudinal end capable of gripping a neck portion of a container; A second rotating body that can rotate about a second rotation axis along a vertical direction; a second gripper device having one longitudinal end supported by an outer periphery of the second rotor and having the other longitudinal end capable of gripping a neck of the container gripped by the first gripper device at a container transfer position; a first gripper moving device that moves the first gripper device from a first predetermined position upstream of the container transfer position in the rotation direction of the first rotor to apply a centrifugal force to the container to counteract a liquid level fluctuation in the container that occurs at the container transfer position; Equipped with the first gripper moving device applies the centrifugal force to the container so as to correlate with a natural period of a liquid level fluctuation occurring in the container; Container transport device.

2. The first gripper moving device applies centrifugal force in a radial direction of the first rotor to the container.

2. The container transport device according to claim 1.

3. The first gripper moving device applies a centrifugal force to the container in a direction opposite to a switching direction of the centrifugal force acting on the container at the container transfer position.

3. The container transport device according to claim 1 or 2.

4. the first gripper moving device causes the container gripped by the first gripper device to reciprocate at least once in a radial direction of the first rotor, thereby applying the centrifugal force to the container; The container transport device according to any one of claims 1 to 3.

5. a second gripper moving device that moves the second gripper device from the container transfer position to a second predetermined position downstream of the container transfer position in the rotation direction of the second rotor, and applies a centrifugal force to the container to counteract the liquid level fluctuation generated at the container transfer position; The container transport device according to any one of claims 1 to 4.

6. The first gripper moving device is capable of moving the first gripper device gripping the container along a radial direction of the first rotating body. The container transport device according to any one of claims 1 to 5.

7. the first gripper moving device is capable of rotating the first gripper device gripping the container about a horizontal axis that intersects with a radial direction of the first rotor as a rotation center. The container transport device according to any one of claims 1 to 5.

Images