Agitation method and manufacturing method of product using the same

Abstract

To provide a stirring method which can efficiently perform wide variety of variable production of containers with different contents, and a method for producing a product using the same.SOLUTION: A stirring method according to the present invention stirs contents stored in a container, using a conveying device 200 provided with a conveying surface 25 and a plurality of conveying bodies t that move on the conveying surface 25. The stirring method comprises a stirring step of stirring contents in containers loaded on the conveying bodies t, by operating the conveying bodies t. The conveying device 200 is equipped with a conveying stage 20 constituting the conveying surface 25. It is preferably that the device has a magnetic force generating part that floats the conveying bodies t from the conveying stage 20 and moves the conveying bodies on the conveying stage 20, by magnetic force.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a stirring method for stirring contents contained in a container using a conveying device having a conveying surface and a plurality of conveying bodies that move on the conveying surface, and a method for manufacturing a product using the same. [Background technology]

[0002] Containers containing contents such as a liquid containing multiple components are generally manufactured by mixing multiple types of materials containing the individual components to obtain a mixed material, and then filling the mixed material into the container. As an example of a filling device for such containers, Patent Document 1 discloses a liquid absorber filling device that includes a stage on which the container is placed and a vibration imparting unit that imparts vibration to the container on the stage, and that imparts vibration using a vibration surface that forms an angle with a horizontal plane within a predetermined angle range.

[0003] Patent Document 2 discloses a system used for manufacturing containers containing contents. The system includes a plurality of carriers loaded with containers, a workspace in which the carriers move, and a unit operation station in which processing operations are performed on the containers loaded on the carriers. The carriers are capable of moving within the workspace without tracks, and the routes of the individual carriers can be set independently. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-104863 [Patent Document 2] Special Publication No. 2021-513487 Summary of the Invention [Problem to be solved by the invention]

[0005] Products containing liquid contents, such as cosmetics, facial cleansers, or detergents, are sometimes sold in series with different volumes or ingredients, and each series requires a mixing process in which a liquid mixture with a composition specific to that product is mixed. In this mixing process, depending on the scale of the mixing equipment or the production volume of the product, the amount of liquid mixture obtained by mixing may be excessive compared to the number of products produced. Furthermore, when switching between different types of product production, cleaning of the mixing equipment and filling equipment and preparation for starting up the equipment are required. The technologies in Patent Documents 1 and 2 leave room for improvement in terms of efficiently producing a wide variety of containers (products) with different contents in variable quantities.

[0006] The present invention relates to providing a stirring method and a manufacturing method of a product using the same, which can efficiently carry out variable-volume production of a wide variety of containers with different contents. [Means for solving the problem]

[0007] The present invention relates to a method for stirring contents contained in a container using a conveying device having a conveying surface and a plurality of conveying bodies that move on the conveying surface. In one embodiment, the stirring method preferably includes a stirring step of stirring the contents in the container placed on the conveying body by the operation of the conveying body.

[0008] The present invention also relates to a manufacturing method for manufacturing products having different compositions in which a plurality of types of materials constituting the contents are mixed, using the stirring method. In one embodiment, the manufacturing method preferably includes a filling step of filling a material into the container transported by the transport body. In one embodiment, the manufacturing method preferably includes, as the filling step, a main agent filling step of filling a main agent and a secondary agent filling step of filling a different secondary agent for each of the different products. In one embodiment, the base material filling step is preferably performed using a filling device that is common to a plurality of different products. In one embodiment, the auxiliary agent filling step is preferably performed using a filling device selected from a plurality of filling devices depending on the type of the product. In one embodiment, the manufacturing method preferably includes performing the stirring step in parallel with or after the filling step. [Effects of the Invention]

[0009] According to the method for manufacturing an article of the present invention, it is possible to efficiently carry out variable-volume production of a wide variety of items. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view showing an embodiment of a container manufacturing apparatus equipped with a conveying device according to the present invention. [Figure 2] FIG. 2 is a plan view of the manufacturing apparatus shown in FIG. [Figure 3] FIG. 3 is a perspective view showing the carrier of FIG. [Figure 4] 4 is a perspective view showing the inside of the carrier shown in FIG. 1. FIG. [Figure 5] FIG. 5 is a perspective view showing the transfer stage of FIG. 1, with some sections being seen through. [Figure 6] FIG. 6 is a block diagram of a manufacturing control unit included in the manufacturing apparatus shown in FIG. [Figure 7] FIG. 7 is a side view showing one embodiment of the stirring step performed by the operation of the conveying body shown in FIG. [Figure 8] FIG. 8 is a side view showing another embodiment of the stirring step performed by the operation of the carrier shown in FIG. [Figure 9] FIG. 9 is a side view showing yet another embodiment of the stirring step performed by the operation of the carrier shown in FIG. [Figure 10] 10(a) and 10(b) are plan views showing still another embodiment of the stirring step performed by the operation of the conveying body shown in FIG. [Figure 11]FIG. 11 is a side view showing one embodiment of the stirring step carried out in parallel with the filling step. [Figure 12] 12(a) to 12(c) are side views showing one embodiment of the operation of the filling nozzle in the stirring step shown in FIG. [Figure 13] 13(a) and 13(b) are a plan view and a corresponding side view showing another embodiment of the stirring step carried out in parallel with the filling step. [Figure 14] 14(a) to 14(c) are side views showing another embodiment of the operation of the filling nozzle in the stirring step shown in FIG. [Figure 15] 15(a) to 15(c) are side views showing still another embodiment of the operation of the filling nozzle in the stirring step shown in FIG. [Figure 16] FIG. 16 is a perspective view showing another embodiment of a carrier according to the present invention. [Figure 17] 17(a) to 17(d) are side views showing one embodiment of a work process (mounting process) using the carrier shown in FIG. [Figure 18] 18(a) and (b) are side views showing one embodiment of the stirring step carried out in parallel with the working step shown in FIG. [Figure 19] FIG. 19 is a side view showing one embodiment of the stirring step using a working device having stirring means and a conveying body. [Figure 20] FIG. 20(a) is a plan view and (b) is a side view showing still another embodiment of a carrier according to the present invention. [Figure 21] 21(a) and (b) are plan views showing one embodiment of the filling step. [Figure 22] FIG. 22 is a plan view showing an embodiment of a manufacturing apparatus used in the manufacturing method according to the present invention. [Figure 23] 23(a) and 23(b) are diagrams showing another embodiment of a container according to the present invention, and are a plan view and a side view showing one embodiment of a filling step for the container. [Figure 24] FIG. 24 is a plan view showing another embodiment of the filling process for the container shown in FIG. [Figure 25] FIG. 25 is a flow chart of a manufacturing method for manufacturing the container (product) shown in FIG. 1 using the manufacturing apparatus shown in FIG. [Figure 26] 26(a) to 26(f) are cross-sectional views showing still another embodiment of the conveying body according to the present invention, the cross-sectional views showing the conveying body having agitating means. DETAILED DESCRIPTION OF THE INVENTION

[0011] The stirring method of the present invention (hereinafter also simply referred to as the "stirring method") and a manufacturing method for manufacturing a product using the same (hereinafter also simply referred to as the "manufacturing method") will be described below based on preferred embodiments with reference to the drawings. The stirring method of the present invention stirs the contents contained in a container 1, and the stirring method can be used in the manufacturing method for manufacturing the container 1.

[0012] The contents contained in container 1 are mainly liquids, but may also contain gases or solids such as powders in addition to liquids. Examples of container 1 include bottle containers, squeeze containers, pouch containers, etc. that contain liquids such as liquid cosmetics and liquid cleansers. Containers that contain liquids, such as bottle containers and squeeze containers, may be equipped with a pump dispenser or dispenser depending on the method for dispensing the liquid.

[0013] FIG. 1 shows a manufacturing apparatus 100 for carrying out one embodiment of the manufacturing method of the present invention. The container 1, which is the product of the manufacturing method of this embodiment, is a bottle container 1 containing a liquid product such as a liquid cleanser or liquid cosmetic. This bottle container 1 comprises a container body 1b having a storage space for the contents, and a cap 1c that is removably attached to the neck portion of the container body 1b. The neck portion is a cylindrical portion with an opening that allows the liquid to be discharged to the outside, and is formed at the upper end of the container body 1b. In addition, a threaded portion is formed on the outer peripheral surface of the neck portion, and by threading this portion onto a threaded portion (not shown) formed on the inner peripheral surface of the cap 1c, the cap 1c is attached to the neck portion.

[0014] The container 1 of this embodiment is manufactured using a manufacturing apparatus 100 shown in Figures 1 and 2. The manufacturing apparatus 100 of this embodiment includes a conveying device 200 having a conveying surface 25 and a plurality of conveyance bodies t that move on the conveying surface 25. The manufacturing apparatus 100 also includes working devices W1 to W4 that have working areas on the conveying surface 25, and a manufacturing control unit 50 (not shown in Figures 1 and 2) that controls the operations of the conveyance bodies t, the conveying stage 20, and the working devices W1 to W4. The transport surface 25 in this embodiment is an area that extends in a plane, and is constituted by the transport stage 20 provided in the transport device 200 (see FIG. 1). The transport surface 25 is the area in which the transport body t moves, i.e., the movable range of the transport body t. In this embodiment, the transport surface 25 is formed by the upper surface of the transport stage 20.

[0015] In the transfer device 200 of this embodiment, the transfer stage 20 is placed on a horizontal surface and extends horizontally. The transfer stage 20 of this embodiment has an X direction and a Y direction perpendicular to the X direction, and has a rectangular shape that is long in the X direction (see FIGS. 1 and 2). The transfer stage 20 of this embodiment is composed of multiple segments 21. Each segment 21 is the smallest unit of hardware that is individually supplied with power and generates magnetic force. The transfer stage 20 can be composed of one or multiple segments 21. Furthermore, the transfer stage 20 can arbitrarily arrange multiple segments 21 to form the transfer surface 25 with a desired planar shape. In the transfer stage 20, the multiple segments 21 are arranged adjacent to each other in the X and Y directions, with no gaps between them. The transfer stage 20 of this embodiment is configured by arranging multiple segments 21 in both the X and Y directions. Each segment 21 has a segment body 22 that defines the outer shape of the segment 21. The segment body 22 has a square shape in a plan view. The upper surfaces of the segment bodies 22 are substantially flush with each other. As a result, the upper surface of the transfer stage 20, i.e., the transfer surface 25, is substantially flat.

[0016] The segment 21 of this embodiment includes a flat segment body 22 and a magnetic force generator 23 provided within the segment body 22 (see FIG. 5). The magnetic force generator 23 of this embodiment includes coils 23a, 23b, 23c, and 23d arranged along the periphery of the four sides of the segment body 22, and generates magnetic force using electric power. In a plan view, these coils 23a, 23b, 23c, and 23d are arranged in a substantially rectangular ring shape. In the segment 21, two coils 23a and 23d are arranged parallel to each other and facing each other, and two other coils 23b and 23c are arranged parallel to each other and perpendicular to the coils 23a and 23d. As described above, the transfer stage 20 of this embodiment generates magnetic force using electric power, but the transfer stage may also generate magnetic force without using electric power.

[0017] The conveying body t of this embodiment has a flat conveying body tb and holding portions 11 and 12 provided on the upper surface of the conveying body tb and holding the container body 1b or the cap 1c (see FIG. 2). The conveying body tb has a substantially square shape with rounded corners in a plan view as shown in FIGS. 2 and 3. The shape of the conveying body tb in a plan view may be hexagonal, circular, or the like. The holding units 11 and 12 are fixed to the upper surface of the conveying body t by joining means such as bolts or adhesive. It is preferable that the holding units 11 and 12 are fixed to the upper surface of the conveying body t by positioning pins or positioning guide members.

[0018] The plurality of conveyance bodies t may have different types of holding parts depending on the shape of the container body 1b to be conveyed, etc. For example, the carrier t1 for carrying the container body 1b of this embodiment (see FIG. 3) is equipped with a holder 11 having a cylindrical portion 11b capable of accommodating the bottom of the container body 1b and a plate portion 11a on which the cylindrical portion 11b is erected, and the plate portion 11a is fixed to the upper surface of the carrier body tb. For ease of explanation, the cylindrical portion 11b of the holder 11 is not shown in FIG. Furthermore, the carrier t2 that carries the cap 1c of this embodiment (see FIG. 2) is equipped with a holder 12 made of a sheet member fixed to the upper surface of the carrier t. An adsorption sheet with micro-suction cups can be used as the holder 12. The micro-suction cups have many tiny concave holes, and when a pressing force is applied from above the micro-suction cups due to the weight of the container body 1b, they exert an adsorption force on the pressed container body 1b.

[0019] In the present embodiment, the center position of the holding part 12 on the upper surface of the transport body tb coincides with the center position of the upper surface when the transport body t is viewed from above. Alternatively, the center position of the holding part 11 may be in a position that does not coincide with the center position of the upper surface of the transport body tb when the transport body t is viewed from above. Such a configuration will be described later.

[0020] From the viewpoint of reducing the weight of the holding portion, the holding portion 11 that holds the container body 1b in an upright state is preferably made of synthetic resin, aluminum, or the like. Furthermore, although the conveying body t1 of this embodiment is provided with the holding portion 11, it does not necessarily have to be provided with the holding portion 11.

[0021] The carrier t in this embodiment is identifiable and is provided with identification information. The identification information is information for identifying each carrier t and may be displayed using, for example, letters, numbers, symbols, or a combination thereof, or may be displayed in an electronically readable manner. Examples of optically or electronically readable display methods include two-dimensional codes such as barcodes and QR Codes (registered trademarks), and electronic information media such as RFID (Radio Frequency Identification) tags. RFID tags can be read by an RFID reader (RFID antenna). The identification information may also be the arrangement of the magnet arrays 33a, 33b, 33c, and 33d of the carrier t, or the shape of a specific part of the carrier t (a shape unique to each carrier t). The identification information may be assigned to the vehicle t based on a video of the vehicle t on the transport stage 20. For example, based on an analysis of a video stream relating to the vehicle t, the behavior of the vehicle t may be monitored and analyzed, and an identifier (identification information) that associates multiple characteristics of the vehicle t with the tracking of the vehicle t may be assigned.

[0022] The carrier t of this embodiment includes a magnet (permanent magnet) inside the carrier body tb. More specifically, the carrier body tb includes magnet arrays 33a, 33b, 33c, and 33d arranged along the four peripheries of the carrier body tb (see FIG. 4). The magnet arrays 33a, 33b, 33c, and 33d are arranged in a substantially rectangular ring shape. On the conveyance body t, two magnet arrays 33a and 33d are arranged parallel to each other and facing each other, and two other magnet arrays 33b and 33c are arranged parallel to each other and perpendicular to the magnet arrays 33a and 33d. The carrier t may be provided with a single magnet array instead of multiple magnet arrays.

[0023] The transfer stage 20 of this embodiment has a magnetic force generator 23 that generates a magnetic force and, through interaction with the magnet arrays 33a, 33b, 33c, and 33d, levitates the transfer object t from the transfer stage 20 and moves it on the transfer stage 20. More specifically, when power is supplied to the magnetic force generator 23 provided in each segment 21 of the transfer stage 20, a magnetic force is generated in the horizontal direction (X direction and Y direction). This magnetic force causes the transfer object t to levitate from the upper surface of the transfer stage 20 (segment 21) and move in the horizontal direction (X direction and Y direction). The transfer stage 20 may move the transfer body t by changing the distance, angle, polarity direction of the magnets provided on the stage, or a combination of these.

[0024] The direction of movement of the conveyance body t can be changed depending on the mode of power supply to the multiple coils 23a, 23b, 23c, and 23d provided in the segment 21, for example, the combination of coils supplying power. As a result, on each segment 21, each conveyance body t can be moved in one of the X and Y directions, or a combination of both. For example, if the Y direction is the front-to-back direction and the X direction is the left-to-right direction, the conveyance body t can be moved in a desired direction selected from forward, backward, left, right, and diagonal directions thereof. In this embodiment, the conveyance body t can move along a path that moves linearly in the X or Y direction, or a path that moves linearly in a direction diagonal to the X or Y direction, or a combination of both (not shown). The conveyance body t can also move curvedly in a direction diagonal to the X or Y direction, and can also rotate or revolve. That is, the conveyance body t can move linearly, curvedly, or rotated in any direction in a plan view, or a combination of these. In this way, the transport body t of this embodiment is freely movable on the transport surface 25, and can arbitrarily set a path (course) from the movement start point to the target point on the transport stage 20. The setting and adjustment of such a movement path of the transport body t are performed by the manufacturing control unit 50, which will be described later.

[0025] In this embodiment, by floating and moving the transport object t above the transport surface 25, the mechanical resistance (friction) between the transport object t and the transport surface 25 becomes close to zero, and the transport object t can be moved at high speed. In other words, the travel time until the transport object t reaches the target point can be shortened, which makes it possible to improve efficiency and productivity. Furthermore, the conveying body t of this embodiment can also be raised from the conveying surface 25 and tilted relative to the horizontal direction. For example, the conveying body t can be moved with the front side inclined lower in the direction of travel than the rear side, preventing the container body 1b or the container 1, etc. on the conveying body t from shifting backward or falling. This is particularly effective when accelerating the moving speed of the conveying body t. Conversely, the conveying body t can be moved with the front side inclined higher in the direction of travel than the rear side, preventing the container body 1b or the container 1, etc. on the conveying body t from shifting forward or falling. This is particularly effective when decelerating the moving speed of the conveying body t.

[0026] In this embodiment, the transport body t floats in the normal direction relative to the transport surface 25 (each segment 21) of the transport stage 20. In this embodiment, each of the multiple transport bodies t floats upward in the vertical direction Z relative to the transport surface 25 (each segment 21). The amount of float that each transport body t floats above the transport stage 20 (each segment 21) is approximately the same. The amount of float is the distance between the transport surface 25 and the bottom surface of the transport body t in the normal direction of the transport stage 20 (hereinafter simply referred to as the "normal direction"). In this embodiment, the distance between the bottom surface of the transport body t and the transport stage 20 in the vertical direction Z is the amount of float of the transport body t. From the viewpoint of smoother transport and stirring, which will be described later, the amount of float of the transport body t is preferably 3 mm or more and 30 mm or less, and more preferably 10 mm or more and 30 mm or less.

[0027] The operating principle of levitating and moving the transport body t using the magnetic force generating unit 23 of the transport stage 20 is similar to the principle of levitating and moving a movable stage equipped with multiple magnet arrays using the coils of the stator stage disclosed in JP-A-2014-531189.

[0028] The transport stage 20, which is an assembly of multiple segments 21, has a larger area (planar dimensions) than the transport body t. The area (planar dimensions) of the segments 21 may be larger than, equal to, or smaller than the area (planar dimensions) of the transport body t. In this embodiment, the segments 21 have a larger area (planar dimensions) than the transport body t. From the viewpoint of controlling the movement of the transport body t with higher precision, the length of one side of the square segment 21 is preferably between two and four times the length of one side of the approximately square transport body t.

[0029] The manufacturing apparatus 100 of this embodiment is equipped with working devices W1 to W4 that perform work on the container 1, container body 1b, or cap 1c (see FIGS. 1 and 2). More specifically, the manufacturing apparatus 100 is equipped with, as working devices, a supplying device W1 that supplies the container body 1b to the movement path of the conveyance body t1 on the conveyance surface 25, filling devices W2 and W3 that fill the inside of the container body 1b with liquid, and an attaching device W4 that attaches the cap 1c to the container body 1b. The supply device W1 includes a work holding unit 32 equipped with a suction pad and a device body 31 that supports the work holding unit 32 so that it can be raised and lowered. As shown in Fig. 1, the supply device W1 has a work holding unit 32 that can be raised and lowered in the vertical direction Z by the device body 31 and can also rotate horizontally around the device body 31 as an axis. As a result, the container body 1b arranged outside the conveying stage 20 is gripped by the work holding unit 32 with the suction pad, moved onto the conveying surface 25, and loaded onto an unloaded conveyed body t1 on the conveying surface 25. The container body 1b may be held by the work holding part 32 not only by suction with a suction pad but also by gripping or pinching with a gripper or the like.

[0030] The manufacturing apparatus 100 of this embodiment is equipped with multiple filling devices W2 and W3. These filling devices W2 and W3 have a common configuration except for the difference in the composition of the contents (liquid) to be filled. Here, the configuration of filling device W2 will be described. The description of filling device W2 can also be applied to the other filling device W3. As shown in Figures 1 and 2, the filling device W2 comprises a filling nozzle 35 that fills the container body 1b with liquid, and a movable nozzle support part 34 that holds the filling nozzle 35. The filling nozzle 35 has an opening / closing mechanism at its base and is connected to a supply hose through which the liquid is supplied. The diameter, length, etc. of the filling nozzle 35 can be selected to suit the contents to be filled. The movable nozzle support part 34 is in the form of a robot arm and comprises an arm that holds the filling nozzle 35 at its tip (end effector) and a support part that can move the tip of the arm up and down and / or rotate it in any direction (for example, horizontally).

[0031] The manufacturing apparatus 100 of this embodiment includes a placement device W4. The placement device W4 is in the form of a robot arm. More specifically, the placement device W4 includes a robot hand 38 and a hand movable support unit 37 that holds the robot hand 38. The hand movable support unit 37 includes an arm that holds the robot hand 38 at its tip (end effector), and a support unit that can raise and lower the tip of the arm and / or rotate it in any direction (for example, horizontally).

[0032] These working devices W1 to W4 perform their work operations on the transfer surface 25. The transfer surface 25 has a work area where the working devices W1 to W4 perform their work. The working area is the area on the transport surface 25 where the working devices W1 to W4 perform their work, and is the movable area of ​​the end effectors of the movable support parts (arms) such as the nozzle movable support part 34 or the hand movable support part 37. The working area includes the working positions where the working devices W1 to W4 perform their work. The working positions are reference positions on the transport surface 25 when the working devices W1 to W4 perform their work, and are set as coordinate positions (X, Y) on the transport surface 25.

[0033] For example, in the manufacturing method of the bottle container 1, the working position P1 of the supplying device W1 is the loading position on the conveying surface 25 when the container body 1b is loaded onto the conveying body t (see FIG. 2). The working positions P2 and P3 of the filling devices W2 and W3 are filling positions on the conveying surface 25 where the filling nozzle 35 supplies liquid to the container body 1b, and are positions where the central axis of the discharge port of the filling nozzle 35 is located during filling (see FIG. 2). The working position P4 of the attachment device W4 is the gripping position P4a on the conveying surface 25 where the robot hand 38 grips the cap 1c and the attachment position P4b where the robot hand 38 attaches the cap 1c to the container body 1b (see FIG. 2). In this way, the transfer surface 25 of this embodiment has a plurality of work positions for different types of work according to the work devices W1 to W4 for different types of work, and a work area including these work positions. Hereinafter, the work area where the liquid is filled by the filling device will also be referred to as the "filling work area," and the work position in the filling work area will also be referred to as the "filling work position."

[0034] As described above, the route (path) of the transport body t from the movement start point to the destination point on the transport stage 20 can be set arbitrarily, and the route can be set for each transport body t. Furthermore, the route is not necessarily uniquely determined, but can be changed to an arbitrary route as needed depending on the movement, arrangement, etc. of other transport bodies t. The movement of the transport object t on the transport surface 25, including the setting and changing of the path, is controlled by the manufacturing control unit 50. The manufacturing control unit 50 is communicatively connected to the transport stage 20 (segment 21) via a network. The transport stage 20 sets or changes the movement path of the transport object t under the control of the manufacturing control unit 50. The manufacturing control unit 50 may also be communicatively connected to the transport object t.

[0035] The manufacturing control unit 50 includes a communication module 51, a transport information acquisition unit 52, a path generation unit 53, a transport control unit 54, and a mixing control unit 55 (see FIG. 6). The communication module 51 is capable of communicating with the transfer stage 20, the transfer body t, and the working devices W1 to W4, and receives signals from the transfer stage 20 and the working devices W1 to W4, as well as identification information and position information of the transfer body t. The communication module 51 also transmits various pieces of information generated or calculated by the path generation unit 53 (such as path information or path change information for the transfer body t, which will be described later) to the transfer stage 20 (segment 21). The communication module 51 can be, for example, a communication module compatible with LTE, 4G, or 5G, or a communication module compatible with existing standards such as IEEE802.11.

[0036] The transport information acquisition unit 52 chronologically records the identification information and position information of the transport body t. The position information of the transport body t is information related to the coordinate position of the transport body t on the transport stage 20, and includes information on the coordinate position where the transport body t is actually located (hereinafter also referred to as the "actual coordinate position") and the coordinate position of the planned movement path (hereinafter also referred to as the "planned coordinate position"). In this embodiment, these coordinate positions are indicated as positions (X, Y) in the X direction and the Y direction when the transfer stage 20 is viewed from above. While the manufacturing apparatus 100 is in operation, the transfer information acquisition unit 52 acquires position information of the transfer object t every 0.0001 to 1 second. This makes it possible to show (map) the continuous change over time (trajectory) of the actual coordinate position as the path that the transfer object t actually moved. The information on the planned coordinate position is information that indicates the planned route from the movement start point of the transport body t to the target point using continuous coordinate positions. The movement start point and the target start point are each indicated by a coordinate position on the transport stage 20. This makes it possible to grasp the actual coordinate position (current location) on the planned route on the transport surface 25. The information on the planned coordinate position is generated by the path generating unit 53. Furthermore, based on the signals or the information on the actual coordinate position received from the work devices W1 to W4, the path generating unit 53 changes the information on the planned coordinate position to change the planned path of the transport body t.

[0037] Position information of the transport body t can be obtained for each of the multiple sections that make up the transport stage 20. The section is made up of a segment 21 of the transport stage 20 or a collection of two or more segments 21. For example, a collection of four segments 21 that form a square can be set as one section. From the perspective of obtaining more detailed position information, it is preferable that the sections set on the transport stage 20 be each a single segment 21.

[0038] The transport information acquisition unit 52 associates and records the identification information of the transport body t with information on the transported object transported by the transport body t. That is, for each transport body t, the transported object transported by the transport body t is recorded. In this embodiment, the transported object is a container 1, a container body 1b, or a cap 1c. In this embodiment, the transport information acquisition unit 52 associates and records the identification information of the transport body t, position information corresponding to the transport body t, and information on the transported object transported by the transport body t. The identification information, position information, and transported object information are stored in a recording unit (not shown) of the manufacturing control unit 50.

[0039] The path generating unit 53 generates or changes the movement path of the transport body t on the transport stage 20. In other words, it generates or changes the planned coordinate position (planned path). The movement path on the transport stage 20 can be set as a trajectory that connects the coordinate positions of the transport body t on the stage 20. The path generating unit 53 generates a movement path along which the conveyance object t moves through the work areas corresponding to the individual work devices on the conveyance surface 25 in the order of the manufacturing process for manufacturing the container 1. This movement path is set for each conveyance object t based on the identification information. In this embodiment, the plurality of transport bodies t simultaneously transport (move) along the movement path generated by the path generating unit 53.

[0040] The path generating unit 53 generates a movement path for moving the transport body t to the working area including the working position based on information on the working area of ​​the working device and the working position included in that area. The working position and the working area including it are set in advance for each working device. The path generation unit 53 can use a known algorithm to generate or change the movement path, for example, Dijkstra's algorithm, A-star algorithm, etc. The path generation unit 53 is configured to set the current position of another conveying body t and a movement area (planned coordinate position) that precedes the other conveying body t by a predetermined time as obstacles in the movement path of the other conveying body t, and to generate or change a path that avoids the other conveying body t.

[0041] The transfer control unit 54 transmits a work start signal (work start command) to the working devices W1 to W4 based on the position information of the transfer body t. Furthermore, based on the work completion signals transmitted from the working devices W1 to W4, the transfer control unit 54 transmits to the transfer stage 20 a movement command to move the transfer body t to the next work position, a target point movement command to move the transfer body t to the target point, or a return movement command to return the transfer body t to the movement start point. Based on these movement commands, the transfer stage 20 controls the magnetic force to move the transfer body t to either the next work position, the target point, or the movement start point.

[0042] The agitation control unit 55 controls the operation of the conveyance body t based on the position information of the conveyance body t or the filling operation of the filling devices W2 and W3, and agitates the contents in the container body 1b (container 1) placed on the conveyance body t1 through the operation of the conveyance body t1. More specifically, based on an arrival signal notifying that the conveyance body t1 has arrived at the operation positions P2 and P3 of the filling devices W2 and W3, a filling start signal notifying that the filling operation of the filling devices W2 and W3 has started, a filling completion signal notifying that the filling operation has been completed, or a signal corresponding to the amount of the contents filled in the container, the agitation control unit 55 transmits an operation start command to the conveyance stage 20 to agitate the contents in the container body 1b being conveyed by the conveyance body t1. This causes the conveyance body t1 on the conveyance stage 20 to perform the operation for agitating. The operation for agitation [agitation operation (1) to (3)] will be described later.

[0043] The manufacturing control unit 50 described above includes a CPU, a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, a camera, a display unit, and an input device through which the user performs input operations. The CPU may include a graphics processing unit (GPU) for displaying images, a multimedia processor for encoding and decoding high-definition (HD) video and the like, a display controller for controlling the display, and a power management integrated circuit (IC) for controlling power supply and charging. The display unit included in the manufacturing control unit 50 may be a touch panel or the like that combines display and operation functions. The manufacturing control unit 50 may also be manually operated. In this case, examples of the input device include a touch panel, keyboard, keypad, touchpad, mouse, microphone, and the like.

[0044] The processes performed by each part of the manufacturing control unit 50 (such as the transport control unit 54) are realized by the CPU expanding a program stored in a ROM, a disk, etc. into a RAM and executing it. The processes may be realized by an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array), or may be realized by a combination of an ASIC and an FPGA.

[0045] Next, a method for manufacturing the container 1 using the stirring method of this embodiment will be described with reference to FIGS. 1, 2, and 7 to 10, taking as an example a method for manufacturing the bottle container 1 shown in FIG. The manufacturing method of this embodiment includes a transport information acquisition step of acquiring transport information, a transport step of transporting container body 1b to a work area by transport body t, a working step of performing work on container body 1b in the work area, and a stirring step of stirring the contents in container body 1b by the operation of transport body t1. The transport information acquisition step, transport step, working step, and stirring step are performed by the manufacturing apparatus 100 described above.

[0046] The transport information acquisition process is a process of acquiring information related to the transport of the transport body t, and includes a position information acquisition process of acquiring position information and a container body information acquisition process of setting the container body 1b to be transported for each transport body t. The position information acquisition process acquires position information of each conveyed body t on the conveying surface 25, i.e., information on the actual coordinate position and the planned coordinate position. In this process, the identification information of each conveyed body t1, t2 is associated with the position information of the conveyed bodies t1, t2. A planned path (planned coordinate position) is set in advance for each identification information of the conveyed body t by the path generation unit 53. In other words, a movement path is set in advance for each conveyed body t1, t2. In the position information acquisition process of this embodiment, position information is acquired in real time while the conveyed body t is being conveyed. The container body 1b information acquisition process associates the identification information of each conveyance body t1, t2 with information on the container body 1b (container body 1b, cap 1c) conveyed by the conveyance body t1, t2. That is, the type of container body 1b to be conveyed is set based on the identification information of the conveyance body t1, t2.

[0047] The above-mentioned transportation information acquisition process makes it possible to grasp each transport object t, the actual movement path of the transport object t, and the container body 1b transported by the transport object t. This makes it possible to track (trace) the products manufactured by the transportation of each transport object t. The transport information acquisition step of this embodiment is executed by the transport information acquisition unit 52, and the acquired information is stored in a storage unit (not shown) of the manufacturing control unit 50.

[0048] In the conveying process of this embodiment, one or more conveyance bodies t each convey a container body 1b to a work area. In the conveying process, the conveyance bodies t1 and t2 are moved along a movement path set for each conveyance body t1 and t2. In the embodiment shown in FIG. 2, the conveyance body t1 is moved along a movement path (dotted arrow in FIG. 2). This movement path moves the conveyance body t1 to the work area corresponding to each work device W1 to W4. In addition, in the conveying process, for another conveyance body t2, the conveyance body t2 is moved along a movement path (white arrow in FIG. 2) that moves the conveyance body t2 to the work area corresponding to the attachment device W4 in the order of a movement start point (not shown in FIG. 2) → attachment device W4 → movement start point. In this way, the conveyance body t1 that conveys the container body 1b and the conveyance body t2 that conveys the cap 1c each have a different movement path. These movement paths constitute a manufacturing line for the product (bottle container 1).

[0049] In the manufacturing method of this embodiment, a transport step in which transported bodies t1 and t2 loaded with container bodies 1b or caps 1c move to a work area is performed for each work process performed by each work device W1 to W4. For example, if the work processes include a filling process and an attachment process, the method includes a transport step in which the transported body t moves to the work area of ​​the filling devices W2 and W3, and a transport step in which the transported body t moves to the work area of ​​the attachment device W4. In this way, the method includes a transport step in which the transported body moves to the work area of ​​the work process corresponding to the work process. Furthermore, if the method includes a supply process, the method includes a supply movement step in which an unloaded transported body t moves to the work area of ​​the supply device W1. The transport step of this embodiment includes a pre-filling transport step in which the transport body t transports the container body 1b to a filling work area.

[0050] The working steps are a supplying step of supplying the container body 1b or the cap 1c to the moving path from outside the conveying surface 25, a filling step of filling the container body 1b with the material that constitutes the contents, a storing step of storing something other than the material in the container body 1b, an attaching step of attaching the cap 1c to the container body 1b, and a processing step of processing the container body 1b or the cap 1c. The manufacturing method of this embodiment includes at least a filling step as a working step. In addition to the filling step, the working process may include any one of a supplying step, a containing step, a mounting step, and a processing step, or may include a combination of two or more of these steps. The containing step is a step of containing an object other than the material constituting the contents inside the container body 1b transported by the transport body t. The object other than the material constituting the contents may be, for example, a stainless steel ball. The stainless steel ball is contained in the container body 1b to mix liquids that are prone to separation or sedimentation, such as some emulsions or sunscreens. The processing step is a step in which processing is performed on the container body 1b transported by the transport body t, and examples of such processing include printing, attaching a label or other attachment, packaging, cutting, spraying, laser engraving, embossing, bending, and other plastic processing. The supplying step and the mounting step will be described in detail later.

[0051] The work process of this embodiment includes, in order, a supply step of supplying container bodies 1b to a conveying body t1, two filling steps for container bodies 1b conveyed by conveying body t1, and a step of attaching caps 1c to container bodies 1b conveyed by conveying body t1. More specifically, the supply step is performed by supplying device W1, followed by filling steps by filling devices W2 and W3, and then by attaching step by attaching device W4. That is, the interior of container body 1b is filled with liquid, and then in the subsequent attaching step, caps 1c are attached to container bodies 1b.

[0052] Each work process, such as the supply process, filling process, mounting process, and processing process, may be performed while the transport body t is moving. For example, in each work process, the arm 37 or robot hand 38 of the work device W may be caused to follow the movement of the transport body t. In this case, multiple work positions are set consecutively in accordance with the following. This makes it possible to further reduce the time when no work is being performed, thereby further improving work efficiency and productivity.

[0053] Hereinafter, the working process of this embodiment will be described using as an example the process carried out along the movement path of the conveyance body t1 (see FIG. 2). In the supplying step, the container body 1b is loaded onto the conveying body t from outside the conveying surface 25. That is, the container body 1b is supplied to the movement path C1 without being conveyed by the conveying body t. In the supplying step of this embodiment, the supplying device W1 loads the container bodies 1b onto the carrier t1 on the conveying surface 25 (see FIG. 1). In other words, the container bodies 1b are loaded onto the carrier t1 that has moved to the working area of ​​the supplying device W1. In the supplying device W1, the landing point of the container bodies 1b, which are lowered by the working holder 32 on the conveying surface 25, is the working position P1, and the carrier t1 moves to this working position P1. This allows the container bodies 1b to be placed on the carrier t1. In the supplying step of this embodiment, as shown in FIG. 3, the container bodies 1b are inserted into the cylindrical portion 11b of the holder 12 and placed on the carrier t. After this supplying step, the carrier t1 loaded with the container bodies 1b moves sequentially to the working areas of the two filling devices W2 and W3.

[0054] In addition, the manufacturing method of this embodiment includes a supply step (not shown) in which another supply device loads caps 1c onto the carrier t2 on the conveying surface 25. This supply step is performed by a supply device equipped with a robot arm equipped with a robot hand. The supply of caps 1c from outside the conveying surface 25 is performed at the start point of the movement path of the carrier t2. The start points (coordinate positions) of the movement of the carriers t1 and t2 on the conveying surface 25 may be different.

[0055] The manufacturing method of this embodiment includes a pre-filling conveying step in which a conveying body t1 conveys an empty container body 1b to a filling work area. In the pre-filling conveying step, the conveying body t1 carrying the container body 1b moves from the work position P1 of the supply device W1 to the filling work position P2 of the filling device W2. After this pre-filling conveying step, a filling step is performed in which the material that constitutes the contents is filled. In both of the two filling steps of this embodiment, the liquid that constitutes the contents is filled into the container body 1b. In the filling step, a solid material such as a powder that constitutes the contents may be filled in addition to or instead of the liquid.

[0056] In the filling process, a liquid (material) is filled into the interior of the container body 1b transported by the transport body t1. In the manufacturing method of this embodiment, two filling processes are performed using different filling devices W2 and W3. More specifically, the first filling process is performed on the container body 1b on the transport body t1 that has moved to the filling work area of ​​one of the filling devices, W2. The transport body t1 then moves to the filling work area of ​​the other filling device, W3, where the second filling process is performed on the container body 1b on the transport body t1. In these filling devices W2 and W3, the position of the filling nozzle 35, which is raised and lowered by an arm (movable nozzle support part) 34 on the transport surface 25, is set to the filling work position P2 or P3, and the transport body t1 moves to the filling work position P2 or P3. This allows the filling devices W2 and W3 to fill the container body 1b on the transport body t1 with the supplied contents via the filling nozzle 35 at the work position P2 or P3 (filling position). The liquids filled in the two filling steps, that is, the liquids filled by the two filling devices W2 and W3, have different compositions. After the above two filling steps, the conveyance body t1 loaded with the container body 1b filled with the contents moves to the working area of ​​the mounting device W4.

[0057] The contents may be supplied to the filling devices W2 and W3 used in the filling process by a conveyance t. For example, the conveyance t may convey a container containing the contents to the working area of ​​the filling devices W2 and W3, and the filling devices W2 and W3 may replenish the contents from the container. In this case, the filling nozzle 35 of the filling devices W2 and W3 also functions as a suction nozzle.

[0058] In the manufacturing method of this embodiment, the stirring step is performed after the filling step. The stirring step may be performed after each of the two filling steps, or after either one of the filling steps. In the latter case, from the viewpoint of further improving the stirring efficiency, it is preferable to perform the stirring step after the filling step that is furthest downstream on the movement path of the conveying body t1 (after the second filling step in this embodiment). The stirring step is a step of stirring the contents in the container body 1b placed on the conveying body t1 by the operation of the conveying body t1. The operation of the conveying body t1 in the stirring step (hereinafter also referred to as the "stirring operation") is any one of the following operations (1) to (3), or a combination of two or more of the following operations (1) to (3). (1) Rotational movement of the conveyed body t1 around a vertical axis VL extending in the vertical direction Z (see FIGS. 7 and 8). (2) Swinging motion of the carrier t1 (see Figure 9) (3) The lifting operation of the conveyor t1

[0059] The rotational motion of (1) above includes the following rotational motions of (1a) and (1b). (1a) Horizontal rotation r1 (see Figure 7) in which the transport body t1 rotates around the central axis CL, which is perpendicular to the transport body t1 and passes through the center of the transport body t1, while the central axis CL is aligned with the vertical direction Z. (1b) Inclined rotation r2 (see Figure 8) in which the central axis CL, which is perpendicular to the conveying body t1 and passes through the center of the conveying body t1, is inclined with respect to the vertical axis VL passing through the center. In horizontal rotation r1, the transport body t1 in a horizontal state rotates around the central axis CL, which is the vertical axis VL. In tilted rotation r2, the transport body t1 tilted relative to the horizontal direction rotates around the vertical axis VL. The rotational actions (1a) and (1b) described above can generate convection such as turbulent or laminar flow, or a rotating vortex (spiral flow) in the contents within the container body 1b, thereby stirring the contents. The rotation direction of the rotation operation (1) may be reversed midway, which applies an inertial force to the contents in the container body 1b, thereby further improving the stirring efficiency.

[0060] From the viewpoint of further improving the stirring efficiency, the rotation speed of the rotation operations r1 and r2 in (1a) and (1b) is preferably 100 rpm or more and preferably 1500 rpm or less, more preferably 200 rpm or more and preferably 1000 rpm or less. From the same viewpoint as above, in the inclined rotation r2 of (1b), the inclination angle θ1 (see FIG. 8) of the central axis CL relative to the vertical axis VL is preferably 3° or more and preferably 60° or less, more preferably 4° or more and preferably 45° or less.

[0061] In the swinging operation (2), the carrier t1 swings horizontally around a predetermined vertical axis VL (see FIG. 9). In this swinging operation, the carrier t1 moves back and forth from a horizontal position around the vertical axis VL so that the central axis CL of the carrier t1 is inclined relative to the vertical axis VL. This generates a vortex in the vertical direction Z in the contents of the container body 1b, thereby agitating the contents. From the viewpoint of further improving the stirring efficiency, the angle range θ2 of the swinging motion (see FIG. 9) is preferably 3° or more and preferably 60° or less, more preferably 4° or more and preferably 45° or less. The angle range θ2 is the angle of the central axis of the conveying body t1 with respect to the vertical axis VL which is the center of the swinging motion.

[0062] The lifting and lowering operation (3) is an operation for increasing or decreasing the floating amount of the conveying body t1. This applies an inertial force to the contents in the container body 1b, allowing the contents to be agitated. The lifting and lowering operation causes the amount of change in the floating amount of the conveying body t1 to be preferably 0.5 mm or more and preferably 10 mm or less, more preferably 0.5 mm or more and preferably 5 mm or less. This amount of change is the amount of increase or decrease in the floating amount. From the viewpoint of further improving the stirring efficiency, the lifting and lowering operation is preferably performed by repeatedly lifting and lowering the conveying body t1. For example, the number of times the conveying body t1 lifts and lowers per unit time is preferably 300 times / min or more and preferably 6000 times / min or less, more preferably 600 times / min or more and preferably 1800 times / min or less. An operation in which the conveying body t1 lifts and then lowers is considered to be one lifting and lowering operation.

[0063] In the stirring step, the conveying body t1 may perform a combination of two or more of the stirring operations (1) to (3) above. For example, the conveying body t1 may perform the horizontal rotation r1 of (1a) above while performing the swinging operation of (2) above. By combining two or more of the stirring operations (1) to (3) above, more convection, vortex or inertial force can be generated in the contents, thereby further improving the stirring efficiency.

[0064] The operations (1) to (3) may be performed continuously or intermittently. In the latter case, interrupting these operations can generate more inertial force in the contents within the container body 1b, thereby allowing the contents to be more thoroughly stirred. From the viewpoint of further improving such effects, when the operations (1) to (3) are performed intermittently, the interruption time is preferably 0.05 seconds or more and preferably 1 second or less, more preferably 0.1 seconds or more and preferably 0.5 seconds or less.

[0065] The manufacturing method of this embodiment includes a mixing step performed by the operation of the conveying body t1, allowing for mixing of liquids without the need for a separate mixing device. This eliminates the need for cleaning and preparation for starting up the mixing device when switching between different types of products (containers 1), resulting in superior productivity. Furthermore, the mixing step mixes the liquid for each container body 1b, allowing for the efficient production of the liquid mixture. This prevents the amount of liquid mixture obtained by mixing from being excessive compared to the number of products (containers 1) produced. Because the manufacturing method of this embodiment allows for mixing for each container body 1b, it is possible to efficiently produce a wide variety of containers with different contents in variable quantities. For example, by varying the content ratios of the two types of liquids (materials) filled by the filling devices W2 and W3 or by transporting container bodies 1b with different volumes using separate conveying bodies t1, multiple types of products (containers) with different content ratios or volumes can be easily produced.

[0066] The stirring step preferably includes an stirring control step of controlling the stirring operations (1) to (3) of the transport body t1. The stirring control step controls either or both of the operation of the transport body in a plan view and the tilt of the container relative to the vertical direction, so that the transport body t1 performs one of the operations (1) to (3) or a combination of two or more of the operations (1) to (3). In the stirring control step of this embodiment, the transport stage 20 controls the magnetic force based on a stirring operation signal transmitted by the stirring control unit 55, causing the transport body t1 to perform the stirring operation.

[0067] The stirring control step may control the stirring operation by varying the stirring operation of (1) to (3) and the parameters of the stirring operation according to the viscosity or composition of the liquid filled in the container body 1b, i.e., for each type of product (container 1). For example, when the viscosity of the contents is high, the stirring operation is set to a combination of the tilt rotation of (1b) and the rocking operation of (2), and the rotation speed is set according to the viscosity. This allows the contents to be stirred well even if they are highly viscous. On the other hand, when the viscosity of the contents is low, the stirring operation is set to one of (1) to (3), and the rotation speed, the tilt angle θ1 of the central axis CL with respect to the vertical axis VL, the angle range θ2 of the rocking operation, or the amount of change in the floating amount are set according to the viscosity. This prevents excessive stirring. Furthermore, the stirring operations (1) to (3) and their parameters may be appropriately set depending on either or both of the storage space and the dimensions of the neck of the container body 1b. For example, if the opening of the neck of the container body 1b is equal to or larger than a predetermined area and the container body 1b is less than a predetermined height, a stirring operation other than the tilt rotation (1b), the swinging operation (2), and the lifting and lowering operation (3) may be set, and a low speed or low rotation speed may be set. In this case, the contents can be stirred while preventing them from overflowing from the container body 1b.

[0068] In the manufacturing method of this embodiment, after the stirring step, a transport step is performed in which the transport body t1 moves to the working area of ​​the mounting device W4 and transports the stirred container body 1b to the working position P4b of the working device W4. Alternatively, the manufacturing method of this embodiment may include a stirring and transporting step in which the container body 1b is transported while performing a stirring step after the filling step. In the stirring and transporting step, the container body 1b is moved to a working area corresponding to the step following the filling step while performing any one of the stirring operations (1) to (3) above or a combination of these stirring operations. This configuration can shorten the time required compared to when the stirring and transporting steps are performed independently, thereby further improving manufacturing efficiency. For example, in the embodiment shown in FIGS. 1 and 2, the stirring step may be performed after each of the two filling steps. In this case, the stirring step is performed between the first and second filling steps, and the stirring step is performed after the second filling step. Details of this embodiment will be described later using the flow diagram shown in FIG. 25.

[0069] In the mixing and conveying process, the conveying body t moves horizontally to the working area corresponding to the next process while performing a stirring operation. That is, it moves horizontally along a movement path toward the working area. In the horizontal movement in the conveying process, which only involves conveying, the trajectory of the conveying body t1 in the planar direction is linear or curved. However, in the mixing and conveying process, the trajectory may be linear or curved, or may be irregular, such as an orbital movement (see FIG. 10(a)), a spiral movement (see FIG. 10(b)), or a zigzag movement. Such irregular movement applies inertial force to the contents in the container body 1b, further improving the stirring efficiency of the contents.

[0070] From the viewpoint of further improving the stirring efficiency, in the stirring and conveying step, the moving speed of the conveying body t1 is preferably 200 mm / sec or more and preferably 2000 mm / sec or less, more preferably 300 mm / sec or more and preferably 500 mm / sec or less. In addition, in the stirring and conveying step, the container body 1b may be moved horizontally to the working area corresponding to the next step while repeatedly accelerating and decelerating, as long as the contents in the container body 1b do not overflow. In this case, the efficiency of stirring the contents can be further improved. The explanation of the horizontal movement in the stirring and transporting step also applies to the case where the stirring step is performed in parallel with the filling step and transporting step, which will be described later.

[0071] The attachment process following the stirring process or the stirring / transporting process is an attachment process in which a cap 1c is attached to the neck of the container body 1b. In this embodiment, the attachment process is performed by the attachment device W4, and a cap 1c is attached to the container body 1b on a carrier t1 that has been moved to the work area of ​​the attachment device W4 from a separate carrier t2 that has been moved to the work area. More specifically, on the transport surface 25, two positions are defined as the work position P4 of the attachment device W4: a gripping position P4a of the robot hand 38 that is moved by the arm 37 of the attachment device W4, and a rotation position P4b of the robot hand 38. The carrier t2 that is transporting the cap 1c moves to the gripping position P4a, and the carrier t1 that is transporting the container body 1b filled with contents moves to the rotation position P4b. As a result, the mounting device W4 allows the robot hand 38 to grasp the cap 1c on the conveying body t2 at the grasping position P4a, and by rotating the robot hand 38 or the conveying body t1 at the rotation position P4b, the cap 1c can be attached (screwed) to the neck portion of the container body 1b on the conveying body t1.

[0072] The fitting step is a step of fitting the opening of the neck portion of the container body 1b with a sealing member (e.g., cap 1c). Examples of the fitting step include engagement, fitting, screwing, and joining. Fitting includes clearance fitting, interference fitting (press fitting), and intermediate fitting. Joining includes adhesion and fusion.

[0073] In this way, the bottle container 1 is completed on the conveying body t1. After the mounting process (mounting process), the conveying body t1 moves to a target point on the conveying surface 25 to transport the container 1. The target point is the working area of ​​a removal device, which removes the completed container 1 (product) from the conveying surface 25 and packages the container 1 in a package such as a cardboard box. The removal device can be a composite device that combines a robot arm equipped with a robot hand that grasps the item with a known packaging device. Alternatively, instead of using a removal device, the removal and packaging of the completed item from the conveying surface 25 may be performed manually. The transport body t1, from which the completed container 1 has been removed, moves to the movement start point based on a return movement command signal from the production control unit 50. After returning to the movement start point, the transport body t1 repeats movement along the movement path (the path indicated by the dotted line in FIG. 2) to manufacture the bottle container 1.

[0074] Furthermore, the transport body t2 that transported the cap 1c moves to the movement start point based on a return movement command signal from the manufacturing control unit 50. After returning to the movement start point, the transport body t2 receives the cap 1c from outside the transport surface 25 and then moves again to the gripping position P4b. The transport body t2 repeatedly moves back and forth between the movement start point and the gripping position P4b.

[0075] In the manufacturing method (stirring method) of the above-described embodiment, the stirring step is performed after the filling step, but the timing of the stirring step is not limited to this. In the embodiment described below, differences from the above-described embodiment will be mainly described, and similar components will be assigned the same reference numerals and will not be described again. For components not specifically described, the description of the above-described embodiment will be applied as appropriate.

[0076] As will be described later, the stirring process may be performed in parallel with the working process. For example, in the embodiment shown in FIG. 11, the stirring process is performed in parallel with the filling process, which is one of the working processes. In other words, the filling process and stirring process are performed simultaneously on the container body 1b on the conveying body t1 after the pre-filling conveying process. In this case, the stirring process is performed in parallel with the filling process in the filling work area. This eliminates the time required to perform the stirring process alone, thereby further improving manufacturing efficiency. 11, the conveyance body t1 that has arrived at the filling operation position P5 of the filling device W5 performs the stirring operation of (1a) above, about a vertical axis that passes through the filling operation position P5 and the central axis of the filling nozzle 35. Although the stirring operation is not limited to (1a) above, by performing the stirring operation, even if the viscosity of the liquid is high, the liquid can be spread throughout the entire storage space of the container body 1b, and uneven distribution of the liquid in the storage space can be suppressed.

[0077] During the filling process, the height position of the filling nozzle 35 provided on the filling device W5 is preferably adjusted in response to changes in the amount of liquid 10 being filled so that the filling nozzle 35 does not come into contact with the liquid 10 (material constituting the contents) in the container body 1b (see FIG. 12). The height position of the filling nozzle 35 is a position along the central axis of the container body 1b. In FIG. 12, the central axis coincides with the vertical direction. In the filling process shown in FIG. 12, the filling nozzle 35 is inserted into the container body 1b through the opening in the neck portion (see FIG. 12(a)). Then, the liquid 10 is filled into the container body 1b from the filling nozzle 35 (see FIG. 12(b)). During this filling, as the amount of liquid 10 being filled increases, the height position of the filling nozzle 35 is raised so that the tip of the filling nozzle 35 does not come into contact with the liquid 10 in the container body 1b (see FIGS. 12(b) and (c)). This prevents splashing or foaming of the liquid 10. Furthermore, since the filling nozzle 35 is prevented from becoming dirty with the liquid 10, cleaning of the filling nozzle 35 is not required, and the filling process can be carried out smoothly. For the sake of convenience, the stirring operation shown in Fig. 12 is the horizontal rotation as described above in (1a), but is not limited to this.

[0078] When adjusting the height of the filling nozzle 35, the filling amount of the filling nozzle 35 can be grasped by a flow meter that measures the filling amount, or by the filling speed and filling time. In order to further suppress splashing and foaming of the liquid, the distance between the filling nozzle 35 and the liquid 10 in the container body 1b in the vertical direction Z is preferably 5 mm or more and preferably 150 mm or less, and more preferably 10 mm or more and preferably 100 mm or less. In the filling step, the filling speed may be constant or may be varied. In the latter case, for example, the filling speed may be gradually increased or decreased from the start of filling. In the embodiment shown in FIG. 12, the filling step and the stirring step are carried out in parallel, but it is preferable to adjust the height of the filling nozzle 35 in the filling step, regardless of the timing of the stirring step.

[0079] In the filling process shown in FIG. 12, the agitation process is carried out simultaneously with the start of the filling process. The start of the filling process is the start of filling of the liquid 10 from the filling nozzle 35. Alternatively, the agitation process may be carried out partway through the filling process. In the latter case, for example, the agitation process may be carried out when the amount of liquid 10 filled is 20% of the full amount of the container body 1b. The amount of filling can be determined using the aforementioned measuring meter or the filling speed and filling time. Furthermore, when the filling step is carried out by a plurality of filling devices, the stirring step may be carried out in parallel with the filling step carried out by any one of the plurality of filling devices. For example, as shown in FIG. 13(a), when the filling process is performed using two filling devices W6 and W7, each of which fills a different liquid 10a, 10b, the mixing process is performed in the filling work area of ​​the filling device W7, which is downstream in the movement path of the conveying body t1. That is, the mixing process is performed in parallel with the filling process, which is the most downstream in the movement path. This configuration is preferable because the second and subsequent fillings make it easier to disperse two or more liquids, allowing the two or more liquids to be more thoroughly mixed. Furthermore, from the viewpoint of further improving mixing efficiency, two or more liquids may be filled alternately and repeatedly.

[0080] In the embodiment shown in FIG. 13(a), the liquid 10a filled by the upstream filling device W6 preferably has a lower viscosity than the liquid 10b filled by the downstream filling device W7. This makes it easier to mix two or more liquids with different viscosities. To further enhance this effect, the difference in viscosity between the liquid 10a filled by the upstream filling device W6 and the liquid 10b filled by the downstream filling device W7 is preferably 1.00 Pa·s or more, preferably 10,000.00 Pa·s or less, and more preferably 1.00 Pa·s or more, preferably 5,000.00 Pa·s or less. The viscosity of the liquid can be measured by the method described below. Furthermore, it is preferable that the liquid 10a filled by the upstream filling device W6 has a lower density than the liquid 10b filled by the downstream filling device W7. This makes it easier to mix two or more liquids with different densities. In such a case, there are no particular restrictions on the densities of the liquid 10a filled by the upstream filling device W6 and the liquid 10b filled by the downstream filling device W7.

[0081] 13(b), the stirring step may be performed in parallel with the filling step and the conveying step. In the embodiment shown in FIG. 13(b), the filling device W8 moves on rails 39 extending in one direction (X direction) provided outside the conveying surface 25. That is, the filling operation position of the filling device W8 and the filling nozzle 35 are movable along the extension direction of the rails 39 (X direction). In this case, as the filling nozzle 35 moves, multiple filling operation positions are set consecutively. In the embodiment shown in FIG. 13(b), the filling device W8 moves on rails 39 while filling the container body 1b with liquid 10 from the filling nozzle 35. The conveying body t1 moves on the conveying surface 25 in synchronization with the movement of the filling device W8, while also performing the rotational movement (1a) described above. That is, the filling nozzle 35 and the conveying body t1 performing the stirring operation are moved while their relative positions are aligned, so that the filling process, conveying process, and stirring process can be carried out simultaneously. This allows the manufacturing time of the product (container 1) to be further shortened.

[0082] When performing the stirring and conveying process, or when the filling process, conveying process, and stirring process are performed simultaneously, if the conveying body t1 is suddenly moved from a stopped state, the liquid filled in the container body 1b is likely to overflow due to the influence of the acceleration applied to the container body 1b. From the viewpoint of further suppressing the liquid from overflowing outside the container body 1b, it is preferable that the conveying acceleration of the conveying body t1 gradually increases from the initial movement (start of conveyance). For example, it is preferable that the conveying body t1 moves at an acceleration lower than the acceleration along a modified sine curve. In this case, a pattern of a graph line (conveying operation curve) showing the movement amount (conveyance amount) of the conveying body t1 over time is set in advance, and the conveyance of the conveying body t1 is controlled according to that pattern. Alternatively, a plurality of such patterns is set, and the operation of the conveying body t1 is controlled by appropriately selecting a pattern from the plurality of patterns according to the shape of the container body 1b or the viscosity of the liquid. For the sake of convenience, the stirring operation shown in FIGS. 13(a) and (b) is the horizontal rotation of (1a) above, but is not limited to this.

[0083] In the embodiment shown in Figures 14 and 15, when the filling process and the stirring process are performed in parallel, the inclination of the filling nozzle 35 with respect to the vertical direction Z is changed in the filling process in accordance with the operation of the conveying body t1 for the stirring process. 14, for example, the agitation step is performed during the filling step while the tilt angle of the filling nozzle 35 relative to the vertical direction Z and the tilt angle of the container body 1b (container) relative to the vertical direction Z are aligned. In this configuration, the central axis CL of the container body 1b and the central axis NL of the filling nozzle 35 are aligned, and the filling step and agitation step are performed while synchronizing the tilt angles of these central axes CL and NL relative to the vertical direction Z. This makes it possible to reduce contact between the filling nozzle 35 and the container body 1b while increasing the range of agitation compared to when the central axes CL and NL of the container body 1b and the filling nozzle 35 are aligned with the vertical direction Z.

[0084] 15, the stirring step is performed while varying the inclination angles of the central axis CL of the container body 1b and the central axis NL of the filling nozzle 35 relative to the vertical direction Z. In this case, these central axes CL and NL are angled relative to the vertical direction Z, and there is also an angle between these central axes CL and NL. In other words, the central axis CL of the container body 1b and the central axis NL of the filling nozzle 35 do not coincide. The stirring operation in the embodiment shown in FIGS. 14 and 15 is the tilt rotation r2 of (1b) above, but may be the swinging operation of (2) above instead.

[0085] Although the container 1 manufactured in the above-described embodiment is provided with a cap 1c, it may be provided with a pump dispenser 3c instead of the cap 1c. Fig. 16 shows a carrier t3 used in the transport step for transporting the pump dispenser 3c. The carrier t3 shown in FIG. 16 includes a holder 13 for holding components such as a pump dispenser 3c. The holder 13 includes a bottom surface 13a and upright holders 15, 16, and 17 that stand upright from the bottom surface 13a. The upright holder 15 includes a holder plate 15b having an insertion hole through which a liquid supply pipe 3d of the pump dispenser 3c is inserted, and a pair of rod-shaped supports 15a that stand upright from the bottom surface 13a. The holder plate 15b is supported on the supports 15a, and the length between the holder plate 15b and the bottom surface 13a in the vertical direction Z is longer than the length of the liquid supply pipe. The insertion hole formed in the holder plate 15b has an inner diameter smaller than the outer diameter of the pump head that can be moved up and down in the pump dispenser 3c and larger than the outer diameter of the liquid supply pipe. As a result, the holder 13 holds the pump dispenser 3c with the liquid supply pipe inserted into the insertion hole and the pump head placed on the holder plate 15b (see FIG. 16).

[0086] The holder 13 has upright holders 16 and 17 that hold flat lid members 4c and 5c. The lid members 4c and 5c are used to manufacture the pump container 3 equipped with the pump dispenser 3c and containers other than the container 1 described above. The upright holders 16 and 17 have the same configuration as the upright holder 15 described above, except that, instead of insertion holes, the holder discs 16b and 17b have mounting grooves on which the flat lid members 4c and 5c are placed. That is, the pair of supports 16a, 16a, 17a, and 17a support the holder discs 16b and 17b in a state spaced apart from the bottom surface 13a in the vertical direction Z. The upright holders 16 and 17 place the lid members 4c and 5c in the mounting grooves of the holder discs 16b and 17b and hold the lid members 4c and 5c. This makes it easier to pick up the cover members 4c and 5c from the holder discs 16b and 17b.

[0087] 16 can be used to manufacture a pump container 3. The manufacturing method of the pump container 3 includes a supplying step, a filling step, and an attachment step, similar to the manufacturing method of the bottle container 1. This manufacturing method is performed in the same manner as the manufacturing method of the bottle container 1 described above, except that the liquid (content) filled into the container body 1b in the filling step is different, and that a pump dispenser 3c is attached to the container body 1b in the attachment step.

[0088] The mounting step in the manufacturing method of the pump container 3 is a capping step shown in FIGS. 17(a) to 17(d). The capping process shown in Fig. 17 is performed by a mounting device W17 having a capping head 36 attached to an end effector. For the sake of convenience, only the upright holder 15 that holds the pump dispenser 3c is shown as the holder of the conveying body t3 shown in Fig. 17, and only the capping head 36 of the mounting device W17 is shown.

[0089] In the capping process shown in FIG. 17, first, the pump dispenser 3c is transported by the carrier t3 to the working position of the mounting device W17 (capping head 36). In this transport process, the pump head of the pump dispenser 3c held by the carrier t3 is aligned with the working position of the mounting device W17 (capping head 36). Then, the capping head 36 is lowered toward the carrier t3 to grip the pump head (see FIG. 17(a)). Next, the capping head 36 is raised, and the liquid supply pipe 3d of the pump dispenser 3c is pulled out of the insertion hole of the holder plate 15b (see FIG. 17(b)). Next, the carrier t3, holding the container body 1b by the upright holder 15, moves out of the working area of ​​the mounting device W17, and then the container body 1b is transported to the working position of the mounting device W17 by the carrier t1. This container body 1b is filled with the contents (not shown). When the container body 1b is transported to the working position of the attachment device W17, the capping head 36 holding the pump dispenser 3c descends at the working position and inserts the pump dispenser 3c into the opening in the neck of the container body 1b (see FIG. 17(c)). The capping head 36 descends until the height of the threaded portion located on the inner peripheral surface of the base end of the pump head is approximately equal to the height of the threaded portion on the outer peripheral surface of the neck of the container body 1b. Next, the capping head 36 or the carrier t1 rotates around its central axis, threading the threaded portions of the pump head and the neck together and capping (attaching) the pump dispenser 3c to the container body 1b. In this way, in the capping process shown in FIG. 17, the lifting and lowering of the capping head 36 makes it possible to more easily perform the picking and capping operations.

[0090] In the manufacturing method of the pump container 3, the stirring step may be performed in parallel with the capping step. For example, as shown in FIGS. 18(a) and 18(b), in the capping step, the conveying body t1 may perform tilted rotation r2 while the liquid supply pipe 3d is inserted into the container body 1b, and the stirring step may proceed simultaneously. In this case, the liquid supply pipe 3d serves as a stirring rod, and can mix the liquid 10 in the container body 1b. In the embodiment shown in FIG. 18, the pump dispenser 3c may be attached to the container body 1b by the rotation of the conveying body t1 and the lowering of the capping head 36. In this way, when the manufacturing method for the product (container 3) includes a work process (mounting process in Figure 18) in which work is performed on the container body 1b transported by the transport body t1 using the work device W17, a stirring process may be performed in parallel with the work process.

[0091] The stirring step may be performed using a working device W18 (hereinafter also referred to as "stirring device W18") that performs stirring in conjunction with the movement of the conveying body t1. The stirring device W18 shown in FIG. 19 has a stirring shaft 38a attached to an end effector, and the stirring shaft 38a can be raised and lowered. A stirring blade is provided at the tip of the stirring shaft 38a. Known stirring blades can be used, such as paddle blades, turbine blades, propeller blades, screw blades, disk turbine blades, Pfaudle blades, Max Blend blades, and Full Zone blades. The paddle blades may be one stage or two or more stages. In the stirring step, the stirring device W18 may or may not rotate the stirring shaft 38a. Even in the latter case, the conveying body t1 can generate convection by the stirring shaft 38a by performing the rotational motion (1) or the swinging motion (2) above. The agitator W18 may also be one that performs agitation by air blowing. In this case, convection is generated by blowing air onto the contents with an air nozzle inserted into the container body 1b.

[0092] In the above-described embodiment, the container body 1b is loaded on the carrier t1 so that the central axis of the container body 1b is located at the center of the carrier t1 in a planar view. However, the loading position of the container body 1b is not limited to this. In the stirring process, the carrier t may load the container body 1b at a position other than the center of the carrier t in a planar view. For example, the approximately square-shaped carrier t4 shown in FIGS. 20(a) and 20(b) has an area more than twice the area of ​​the container body 1b in a planar view. The carrier t4 is divided into four equal regions by a cross, and a holder 12a is disposed in one of the four regions, with the container body 1b loaded on the holder 12a. In this way, when the central axis CL of the container body 1b is spaced from the center position tc of the carrier t4, the centrifugal force or inertial force generated by the stirring operations (1) and (2) above is more likely to act, thereby improving stirring efficiency. To ensure this effect, the shortest distance between the central axis CL of the container body 1b and the central position tc of the conveying body t4 is preferably 10 mm or more and 100 mm or less, and more preferably 10 mm or more and 50 mm or less.

[0093] The manufacturing method shown in Figures 1 and 13(a) described above includes a plurality of filling steps, and in each of the filling steps, different liquids 10 (materials constituting the contents) are filled in different filling work areas. More specifically, different liquids 10 are filled in different filling work positions. In such a case, the plurality of filling work areas may or may not overlap partially. When multiple filling processes are provided, different liquids 10 (materials constituting the contents) may be filled in the same filling work area in each filling process (see FIG. 21). In the embodiment shown in FIG. 21, two filling devices W10 and W11 share the same filling work area, and the same filling work position P10 is set within the same filling work area. In this embodiment, one filling device W10 aligns the center axis of the filling nozzle 35 with the filling work position P10 and performs the filling process (see FIG. 21(a)), then moves the filling nozzle 35 out of the filling work area (see FIG. 21(b)). Next, the other filling device W11 aligns the center axis of the filling nozzle 35 with the filling work position P10 and performs the filling process (see FIG. 21(b)). In other words, multiple filling devices W10 and W11 sequentially move their filling nozzles 35 in the same filling work area to perform multiple filling processes. This allows for space-saving manufacturing (conveying surface 25).

[0094] In the embodiments shown in Figures 1, 13(a), and 21, multiple filling steps are performed by multiple filling devices, but multiple filling steps may be performed by a single filling device. In this case, one filling device is equipped with multiple filling nozzles and is configured to be able to fill multiple types of liquids (materials that make up the contents) (not shown). In this case, the multiple filling steps may be performed at the same filling operation position or at multiple filling operation positions.

[0095] FIG. 22 shows another embodiment of the manufacturing method of the present invention. The manufacturing method shown in FIG. 22 is a manufacturing method for manufacturing different products f1 to f3 (containers). This manufacturing method is a method for manufacturing products with different compositions in which multiple types of materials are mixed. The materials may be multiple types of liquids and solids, or multiple types of liquids or multiple types of solids. The manufacturing method of the embodiment shown in FIG. 22 performs a main agent filling step and an auxiliary agent filling step for each of the different products. The main agent filling step is a filling step in which the main agent is filled into the container body 1b. The main agent is the main ingredient of the contents of the product (container) and accounts for 50% by mass or more of the contents. The auxiliary agent filling step is a filling step in which an auxiliary agent is filled. The auxiliary agent is an auxiliary ingredient of the contents of the product (container) and accounts for less than 50% by mass of the contents.

[0096] The manufacturing method of this embodiment uses multiple filling devices W12 to W16 to perform the filling process (see FIG. 22), which includes a main agent filling process and an auxiliary agent filling process. More specifically, the main agent filling process is performed by filling device W12, which fills the main agent, and the auxiliary agent filling process is performed by multiple filling devices W13 to W16, which fill auxiliary agents a1 to a4. The filling devices W13 to W16 that perform the auxiliary agent filling process fill different types of auxiliary agents a1 to a4 (see Table 1 below). 22, the conveyance body t1 moves along different movement paths c1 to c3 according to the products f1 to f3, and moves to the working areas of the filling devices W12 to W16 in the following order to produce contents corresponding to each of the products f1 to f3. As a result, the contents obtained via each movement path c1 to c3 have different compositions (see Table 1 below). Route c1: W12 → W13 → W14 → Product f1 Route c2: W12 → W14 → W15 → Product f2 Route c3: W12 → W15 → W16 → Product f3

[0097] [Table 1]

[0098] As shown in FIG. 22 and Table 1, the base filling step is performed using a filling device W12 that is common to a plurality of different products f1 to f3. All of the movement paths c1 to c3 of the conveyor t1 set on the conveying surface 25 shown in FIG. 22 have in common the fact that they move to the filling work area (filling work position) of the filling device W12. That is, along all of the movement paths c1 to c3, the base is filled from the filling device W12 into the container body 1b. In the embodiment shown in FIG. 22, the base filling step is performed for the different products f1 to f3 in the same filling work area.

[0099] Meanwhile, the auxiliary agent filling process is performed using a filling device selected from multiple filling devices W13-W16 depending on the type of products f1-f3. More specifically, as shown in FIG. 22 and Table 1, along movement path c1, auxiliary agent a1 is filled by filling device W13, and auxiliary agent a2 is filled by filling device W14. Along movement path c2, auxiliary agent a2 is filled by filling device W14, and auxiliary agent a3 is filled by filling device W15. Along movement path c3, auxiliary agent a3 is filled by filling device W15, and auxiliary agent a4 is filled by filling device W16. In this way, by using different filling devices W13-W16 to fill the auxiliary agents in the auxiliary agent filling process, the types of auxiliary agents a1-a4 can be varied. As a result, multiple types of products can be produced that share a common main agent but different auxiliary agents. 22 is effective in that it can efficiently produce a series of products f1 to f3 with different ingredients, and can efficiently carry out variable-volume production of a wide variety of products (containers) with different contents. For example, when producing a wide variety of products in small-volume containers (approximately 5 to 100 mL) such as cosmetics, products with different content compositions can be easily and efficiently produced by using the same main ingredient while varying trace amounts of secondary ingredients such as fragrances or dyes. In the embodiment shown in Fig. 22, the auxiliary agent filling process is performed in different filling work areas for different products f1 to f3. As shown in Fig. 21, when multiple filling devices share the same filling work area, the auxiliary agent filling process may be performed in the same filling work area.

[0100] 22, a stirring step is performed in parallel with or after either the main component filling step or the auxiliary component filling step. The stirring method of each of the above-described embodiments can be applied to the manufacturing method of this embodiment as appropriate.

[0101] As shown in Figure 22, when multiple filling processes are performed using multiple filling devices W12-W13, the order in which the liquids are filled by each filling device W12-W13 may be random. In this case, since it is sufficient to fill the types of liquids corresponding to the products f1-f3, the order in which the conveyor t1 moves through the filling work area can be changed. For example, if it is okay to change the order in which the contents of product f1 obtained by movement path c1 are filled, the movement path can be changed to the following. Route c1a: W12 → W14 → W13 → Product f1 Route c1b: W13 → W14 → W12 → Product f1 Route c1c: W14 → W13 → W12 → Product f1 When the multiple filling steps are composed of a main agent filling step and an auxiliary agent filling step, it is preferable to carry out the main agent filling step before the auxiliary agent filling step, from the viewpoint of further improving the stirring efficiency.

[0102] 22 is a manufacturing method that includes multiple filling processes, thereby filling multiple types of liquids (materials) into the container body 1. In such a manufacturing method, the fact that each container body 1b can be agitated by the agitation action of the conveying body t1 described above is particularly effective from the viewpoint of improving the efficiency of multi-item variable-volume production of products with different content compositions.

[0103] The filling process may involve filling the liquid at multiple locations within a predetermined range, depending on the shape of the container transported by the transport body t and the viscosity of the liquid to be filled. For example, as shown in FIG. 23 , if the container 6 is a flat, dish-shaped container that extends in the planar direction, multiple filling positions for the filling nozzle 35 may be provided within the opening of the container 6. In the container 6 shown in FIG. 23 , the opening in a planar view is divided into 16 equal sections, and filling is performed by the filling nozzle 35 for each section. That is, a filling position is set for each section. In the embodiment shown in FIGS. 23(a) and 23(b), the liquid 10c is filled while the filling nozzle 35 is moved sequentially along the X direction. By performing a stirring process after this filling process, the liquid 10c can be quickly distributed throughout the entire storage space of the dish-shaped container 6, even if the liquid 10c has a high viscosity. The high-viscosity liquid 10c has a viscosity of 10,000.00 mPa·s or more at 25°C. A viscosity measurement method will be described later. There is no particular limitation on the direction of movement of the filling nozzle 35 within the range of the opening of the container 6. For example, the filling nozzle 35 may move toward the work area for the next process.

[0104] Furthermore, in the filling step, the liquid may be filled using a filling aid 19. For example, the filling aid 19 shown in FIG. 24 is made of a lattice-shaped frame member, and the lattice can divide the opening of the container 6 into 16 regions. The filling aid 19 is installed so as to cover the opening of the container 6. In the filling step shown in FIG. 24, the filling nozzle 35 is aligned with the center position of each lattice of the filling aid 19 in a plan view, and then the liquid 10c is filled. After the filling step, the filling aid 19 is removed from the container 6. Thereafter, a stirring step is performed using a carrier t (not shown in FIG. 24) to distribute the liquid 10c throughout the container 6. In the embodiments shown in Figures 23 and 24, two or more liquids may be filled in layers.

[0105] In the filling step of each of the above-described embodiments, the viscosity of the liquid to be filled is not particularly limited. The liquid to be filled in the filling step preferably has a viscosity at 25°C of 1.00 mPa·s or more and 150,000.00 mPa or less, more preferably 1.00 mPa·s or more and 10,000.00 mPa or less. The viscosity can be measured at a temperature of 25°C, for example, using the viscosity measurement method using a single cylindrical rotational viscometer in accordance with JIS Z8803-9.

[0106] Next, the flow of the manufacturing method of the above-mentioned embodiment will be described with reference to Figure 25. The flow shown in Figure 25 relates to a manufacturing method of a container 1 containing a content, which includes a stirring and transporting step. In the flow shown in FIG. 25, the container 1 is manufactured by moving (transporting) the transport body t1 that transports the container body 1b. First, the manufacturing apparatus 100 is started up, and production of the bottle container 1 by the manufacturing apparatus 100 begins (step S1). In the following step S2, the conveyance control unit 54 issues a movement command to the conveyance stage 20 to move the conveyed object t1 to the working position P1. As a result, the conveyed object t1 moves to the working position P1. In the following step S3, it is determined whether the conveyed object t1 has arrived at the working position P1. The determination in step S3 is made based on whether the actual coordinate position of the conveyed object t1 matches the working position P1. This step S3 is performed by the conveyance control unit 54. If the actual coordinate position of the conveyed object t1 does not match the working position P1, step S3 is repeatedly executed at a frequency of 1 time per second or more and 10,000 times per second or less. Such a frequency can also be applied to steps S7, S12, and S17, which will be described later.

[0107] If it is determined in step S3 that the transport body t1 has arrived at the work position P1, the process proceeds to step S4. In step S4, the transport control unit 54 issues a work start command to the supply device W1 to start the supply process. In the following step S5, the transport control unit 54 determines whether the work (supply process) by the supply device W1 has been completed. The determination in step S5 is made based on the presence or absence of a work completion signal sent from the supply device W1. If the work completion signal is not received in step S5, step S5 is repeatedly executed at a frequency of 1 time per second or more and 10,000 times per second or less. Such a frequency can also be applied to steps S9, S14, and S19 described below. If the transport control unit 54 receives a work completion signal from the supply device W1 in step S5, the process proceeds to step S6.

[0108] In step S6, the transport control unit 54 issues a movement command to the transport stage 20 to move the transported body t1 to the work position (filling work position) P2. As a result, the transported body t1 moves to the work position P2. In the following step S7, it is determined whether the transported body t1 has arrived at the filling work position P2. The determination in step S7 is made, as in step S3, by determining whether the actual coordinate position of the transported body t1 matches the work position P2. This step S7 is performed by the transport control unit 54.

[0109] If it is determined in step S7 that the transport body t1 has arrived at the work position P2, the process proceeds to step S8. In step S8, the transport control unit 54 issues a filling start command to the filling device W2 to start the filling process. In the following step S9, the transport control unit 54 determines whether the work (filling process) by the filling device W2 has been completed. The determination in step S9 is made based on whether or not a work completion signal is sent from the filling device W2. If the transport control unit 54 receives the work completion signal from the filling device W2 in step S9, the process proceeds to step S10.

[0110] In step S10, the transfer control unit 54 issues a movement command to the transfer stage 20 to move the transfer object t1 to the work position (filling work position) P3. In the following step S11, the stirring control unit 55 issues a stirring and transfer start command to the transfer stage 20. As a result, the transfer object t1 moves to the work position P3 and performs the stirring operation of any one of (1) to (3) above or a combination of these. That is, the above-mentioned stirring and transfer process is performed. In the following step S12, it is determined whether the transported object t1 has arrived at the work position (filling work position) P3. The determination in step S12 is made, similar to step S3, by determining whether the actual coordinate position of the transported object t1 matches the filling work position P3. This step S12 is performed by the transport control unit 54.

[0111] If it is determined in step S12 that the transported body t1 has arrived at the work position P2, the process proceeds to step S13. In step S13, the transport control unit 54 issues a filling start command to the filling device W3 to start the filling process. In the following step S14, the transport control unit 54 determines whether the work (filling process) by the filling device W3 has been completed. The determination in step S14 is made based on whether or not a work completion signal is sent from the filling device W3. If the transport control unit 54 receives the work completion signal from the filling device W3 in step S14, the process proceeds to step S15.

[0112] In step S15, the transfer control unit 54 issues a movement command to the transfer stage 20 to move the transfer body t1 to the working position P4. In the following step S16, the stirring control unit 55 issues a stirring and transfer start command to the transfer stage 20. As a result, the transfer body t1 moves to the working position P4 and performs the stirring operation of any one of (1) to (3) above or a combination of these. That is, the above-mentioned stirring and transfer process is performed. In the following step S17, it is determined whether the transported body t1 has arrived at the work position (filling work position) P4b and whether the transported body t2 has arrived at the work position P4a. The determination in step S17 is made, similar to step S4, by determining whether the actual coordinate position of the transported body t1 coincides with the work position P4b and whether the actual coordinate position of the transported body t2 coincides with the work position P4a. This step S17 is performed by the transport control unit 54.

[0113] If it is determined in step S17 that the conveyed body t1 has arrived at the work position P4 (P4b in FIG. 2) and the conveyed body t2 has arrived at the work position P4 (P4a in FIG. 2), the process proceeds to step S18. In step S18, the transport control unit 54 issues a work start command to the mounting device W4 to start the mounting process. In the following step S19, the transport control unit 54 determines whether the work (mounting process) by the mounting device W4 has been completed. The determination in step S19 is made based on the presence or absence of a work completion signal transmitted from the mounting device W4. If the transport control unit 54 receives the work completion signal from the mounting device W4 in step S19, the process proceeds to step S20. At this point, the bottle container 1 is completed.

[0114] In step S20, the transfer control unit 54 issues a command to move the transfer body t1 to the target point to the transfer stage 20. As a result, the transfer body t1 moves from the work position P4b to the target point of the transfer body t1 and transfers the bottle container 1 to the target point. Also, at the timing of step S20, the transfer control unit 54 issues a return movement command for the transfer body t2 (not shown in FIG. 25). As a result, the transfer body t2 returns from the work position P4a to the movement start point of the transfer body t2. In the next step S21, it is determined whether or not to terminate the manufacture (production) of the bottle container 1 by the manufacturing apparatus 100, based on the transport information from the transport information acquisition unit 52. More specifically, when a container 1 is removed from the transport body t1 that has arrived at the destination point and the container 1 is unloaded, the number of containers 1 to be manufactured (variable i) is incremented, and it is determined whether the number of containers to be manufactured (variable i+1) is equal to the set planned production number.

[0115] The container 1 can be released from the loading position by detecting whether or not the container removal device receives a signal indicating completion of the removal operation outside the conveying surface 25, a decrease in the weight of the conveyed body t1 detected by a load cell, or a change in the current value for maintaining the floating amount of the conveyed body t1. Alternatively, the release can be performed by object recognition using various sensors or external processing devices such as an imaging device. These various sensors can be any type capable of detecting the release of the bottle container 1. For example, optical sensors or fiber sensors capable of detecting the presence or absence of the bottle container 1 on the conveyed body t1 can be used. The removal device may also be equipped with sensors appropriate for its operation. For example, if the removal device removes the bottle container 1 by vacuum suction, a pressure sensor can detect the removal of the bottle container 1 (the release of the bottle container). If the removal device removes the bottle container 1 using an electric gripper, a force sensor can detect the release of the bottle container. Furthermore, if the removal device removes the bottle container 1 using a pneumatic gripper, a proximity sensor can detect the release of the bottle container.

[0116] If it is determined in step S21 that the number of containers 1 to be manufactured has reached the set planned production number, the manufacturing (production) of the bottle containers 1 by the manufacturing apparatus 100 is terminated. On the other hand, if it is determined in step S21 that the number of containers 1 to be manufactured is less than the set planned production number, the process returns to step S2, and steps S2 to S21 are repeated.

[0117] Although the present invention has been described above based on the preferred embodiments, the present invention is not limited to the above-described embodiments. For example, the manufacturing apparatus 100 of the above-described embodiment includes a conveying device having a conveying stage 20 and a plurality of conveying bodies t that move while floating from the conveying stage 20, but is not limited to such an embodiment. For example, the conveying device may include a conveying surface 25 set on the floor and conveying bodies that move freely on the conveying surface 25 by electric vehicles.

[0118] In the above-described embodiment, the stirring process is performed by the relative movement of the conveying body t1 itself with respect to the conveying surface 25. However, the stirring operation may be performed without such relative movement. The relative movement of the conveying body t1 includes the movement of the conveying body t1 in a plan view, including its rotation, and the movement of the conveying body t1 in the vertical direction Z (change in the floating amount). An example of a stirring process without relative movement is a form in which the contents are stirred by a conveying device equipped with a conveying body t10 equipped with a stirring means (see FIG. 26). For example, the conveying device may include a conveyor having an endless belt stretched between a driving roll and a driven roll, with multiple conveying bodies t10 attached to the endless belt at equal intervals along the conveying direction. In this conveyor, the driving roll is driven by the rotational power of a servo motor, which is controlled by the conveying control unit 54. The surface of the endless belt on which the conveying bodies t10 are attached forms the conveying surface 25.

[0119] FIG. 26 shows an embodiment of a carrier t10 provided in the carrier device provided with the conveyor. The conveying body t10 shown in Figure 26(a) comprises a holding section 71 that can graspably hold the container body 1b and perform a stirring operation, and a conveying body tb that has a built-in drive section that drives the stirring operation. The holding section 71 comprises a support section that stands upright from the upper surface of the conveying body tb, and a clamping section that is connected to the support section in the radial direction and clamps the container body 1b from both sides, and can hold the container body 1b in a floating state above the upper surface of the conveying body tb. The holding section 71 shown in Figure 26(a) is configured to be able to rotate horizontally using power from a battery provided in the conveying body tb, and stirs the contents in the container body 1b by this horizontal rotation. 26(b) to (f), the conveyance body t10 will be described below, focusing on the configurations different from the configuration shown in Fig. 26(a). For configurations not specifically described, the description of Fig. 26(a) will be applied as appropriate.

[0120] A conveying body t10 shown in FIG. 26(b) is configured such that a holding portion 71 can swing instead of rotate. A conveying body t10 shown in FIG. 26(c) is configured such that a holding portion 71 can move up and down instead of rotating on its axis. 26(d), the conveying body t10 is configured such that the holding part 71 can vibrate instead of rotate. The frequency (Hz) of the vibrating motion is preferably 10 Hz or more and preferably 150 Hz or less, more preferably 50 Hz or more and preferably 100 Hz or less.

[0121] The conveying body t10 shown in FIGS. 26(e) and (f) is provided with a holding portion 73 on a conveying body tb, in which a placement recess 72 for accommodating the bottom of the container body 1b is formed. The holding portion 73 shown in FIG. 26(e) is capable of horizontal rotation about the central axis of the holding portion 73. The holding portion 73 shown in FIG. 26(f) is capable of tilting and rotating about the central axis of the holding portion 73. [Explanation of symbols]

[0122] 1 Bottle container (container) 1b Container body 1c Cap 3 Pump container 3c Pump Dispenser 3d liquid supply pipe 4c, 5c Cover member 6 containers 10,10a,10b,10c liquid 11,12,12a,13 Holding part 11a Plate part 11b Cylinder part 13a Bottom part 15 Upright holding part 15a Support part 15b Holding plate 16,17 Upright holding part 16a,17a Support part 16b,17b Holding board 19 Filling aids 20 Transfer stage 21 segments 22 Segment body 23 Magnetic force generating unit 23a, 23b, 23c, 23d Coils 25 Conveying surface 31 Device body 32 Work holding part 33a, 33b, 33c, 33d Magnet array 34, 37 Arm (movable nozzle support part) 35 Filling Nozzle 36 Capping head 38 Robot Hand 38a Stirring shaft 39 Rail 50 Manufacturing Control Department 51 Communication Module 52 Transportation information acquisition unit 53 Route generation unit 54 Transport control unit 55 Mixing control section 71 Holding part 72 Recessed mounting area 73 Holding part 100 Manufacturing equipment 200 Conveyor

Claims

1. A stirring method for stirring contents contained in a container using a conveying device having a conveying surface and a plurality of conveying bodies that move on the conveying surface, comprising: the conveying surface has a filling work area in which a filling device fills the material that constitutes the content, a pre-filling transport step in which the transport body transports the container to the filling work area; a filling step of filling the material into the container transported in the pre-filling transport step; a stirring step of stirring the contents in the container placed on the conveying body by the operation of the conveying body, The stirring method, wherein the stirring step is carried out in parallel with the filling step.

2. The conveying device is a conveying stage that constitutes the conveying surface, 2. The stirring method according to claim 1, further comprising a magnetic force generating unit that uses magnetic force to levitate the transport body from the transport stage and move it on the transport stage.

3. 3. The stirring method according to claim 1, wherein the stirring step includes a stirring control step of controlling either or both of the movement of the transport body in a plan view and the tilt of the container relative to the vertical direction.

4. 3. The stirring method according to claim 1, further comprising a stirring and transporting step of transporting the container while performing the stirring step after the filling step.

5. A stirring method as described in claim 1 or 2, wherein the movement of the conveying body in the stirring process is a rotational movement in which the conveying body rotates around a vertical axis extending in the vertical direction, and is (1a) or (1b) below. (1a) Horizontal rotation in which the transport body rotates about a central axis that is perpendicular to the transport body and passes through the center of the transport body, with the central axis being aligned with the vertical direction. (1b) Inclined rotation in which the conveying body rotates about a vertical axis that passes through the center of the conveying body and is perpendicular to the conveying body, with the central axis being inclined relative to the vertical axis that passes through the center.

6. A stirring method as described in claim 5, wherein the rotational motion is (1a) and the rotation speed is 100 rpm or more and 1500 rpm or less.

7. A stirring method as described in claim 1 or 2, wherein, regarding the loading position of the container in a planar view, the shortest distance between the central axis of the container body of the container and the central position of the conveying body is 10 mm or more.

8. A manufacturing method for manufacturing products having different compositions in which a plurality of types of materials constituting the contents are mixed, using the stirring method according to claim 1 or 2, comprising: For each of the different products, the filling step includes a main agent filling step of filling a main agent and a secondary agent filling step of filling a different secondary agent, The base material filling step is carried out using a filling device that is common to a plurality of different products, A method for manufacturing a product, wherein the auxiliary agent filling step is performed using a filling device selected from a plurality of filling devices depending on the type of the product.

9. The main component filling process is carried out in the same filling work area for the different products, The method for manufacturing a product according to claim 8 , wherein the auxiliary agent filling step is performed for the different products in different filling work areas or in the same filling work area.

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