Conveyance device and method for determining wear state

Abstract

Provided is a conveyance device capable of evaluating the wear state of a support member used for grippers without disassembling the grippers.　The conveyance device comprises: a plurality of grippers, each of which comprises a pair of gripping pieces and moves along a predetermined circular path; a sensor that acquires measurement data pertaining to the inclination of the gripping pieces; and a controller that, on the basis of the measurement data, determines the wear state of a support member that pivotably supports the gripping pieces.　The controller determines the wear state of a bushing by, preferably, comparing measurement data regarding the inclination of the gripping pieces with respect to the horizontal direction, and threshold data pertaining to the inclination corresponding to the measurement data.

Description

Conveying device and method for determining wear state

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

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

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

[0004] Japanese Patent Application Laid-Open No. 2022-20146

[0005] According to Patent Document 1, it is possible to determine the high probability of an abnormality occurring in a specific gripper, but it is difficult to identify which of the multiple components constituting the gripper is abnormal from vibration data. One example of a component constituting a gripper is a bushing installed between a shaft and a shaft hole through which the shaft is inserted. This bushing functions as a sliding bearing and is treated as a consumable item. Consumable bushings must be replaced when they wear out due to wear or other reasons. However, it is difficult to determine the progress of wear from vibration data; the wear status is usually determined by disassembling the gripper. While disassembling a gripper consisting of multiple components is time-consuming, the wear of the bushing confirmed by disassembly may be within an acceptable range. While bushings are used as an example of a consumable item in a gripper, there are other support members in a gripper that also wear out. Therefore, the present disclosure aims to evaluate the wear status of support members used in a gripper without disassembling the gripper.

[0006] The conveying device according to the present disclosure comprises a plurality of grippers, each having a pair of gripping pieces and moving along a predetermined circular orbit, a sensor that acquires actual measurement data relating to the inclination of the gripping pieces, and a controller that determines the wear state of a support member that supports the gripping pieces so that they can oscillate, based on the actual measurement data.

[0007] The method for determining the wear state according to the present disclosure is a method for determining the wear state of a support member in a gripper in which the gripping piece is supported so as to be swingable via the support member, and includes a data acquisition step for acquiring actual measurement data of the inclination of the gripping piece relative to the horizontal direction, and a determination step for determining the wear state by comparing the actual measurement data with predetermined threshold data.

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

[0009] 4 is a diagram showing a schematic configuration of a conveying device according to an embodiment of the present disclosure. FIG. 5 is a plan view showing a specific configuration example of the conveying device in FIG. 1. FIG. 6 is a side view showing a specific configuration example of the conveying device in FIG. 1. FIG. 7 is a plan view (PV) and a partial cross-sectional side view (SV) showing a gripper of the conveying device in FIG. 1. FIG. 8 is a diagram showing the swing shaft of the gripper in FIG. 4 and a bushing into which the swing shaft is fitted. FIG. 9 is a diagram showing a normal state (I) and a worn state (II) of the bushing in the gripper. FIG. 10 is a diagram showing an example of the configuration of a control unit according to the present embodiment. FIG. 11 is a diagram explaining an example of a method for determining an inclination according to the present embodiment. FIG. 12 is a flow chart showing a procedure for determining a wear state in the present embodiment. FIG. 13 is a diagram showing an example of a determination result in the present embodiment. FIG. 14 is a diagram showing an example of a distance measurement position in the gripper.

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

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

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

[0013] To perform the predetermined processes described above, the first to fourth conveying units 10 to 40 are provided with a plurality of gripping devices, or grippers 50, around their peripheries. The grippers 50 are not shown in FIG. 1 . As shown in FIGS. 2 and 3 , each of the first to fourth conveying units 10 to 40 includes a star wheel 15 driven by a drive source (not shown), such as a rotating electric motor, and a plurality of grippers 50 evenly spaced around the star wheel 15. As an example, the second conveying unit 20 receives a container P from the upstream first conveying unit 10 using each of the grippers 50, and performs processes such as filling the container P gripped by the grippers 50 with beverage during one rotation. The plurality of grippers 50 in each of the first to fourth conveying units 10 to 40 move along a predetermined circular orbit as the star wheel 15 rotates. The dashed-dotted circle outside the star wheel 15 in FIG. 2 illustrates an example of this orbit.

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

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

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

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

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

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

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

[0021] [Tilt of gripping piece 51: see FIG. 6] When the bushing 57 is new, the tilt of the gripping piece 51 with respect to the horizontal direction H is zero, excluding play (FIG. 6(I)). However, as the conveying device 1 is used, the bushing 57 wears out, reducing its dimensions mainly in the radial direction (FIG. 6(II) upper part), causing the gripping piece 51 to tilt with respect to the horizontal direction H (FIG. 6(II) lower part). If this tilt θ increases, the gripper 50 may no longer be able to grip the container P, or the gripping pieces 51, 51 may no longer be able to smoothly open and close, so the bushing 57 must be replaced with a new one. Wear of the bushing 57 can occur on both the inner peripheral surface 57A and the outer peripheral surface 57B (FIG. 5), but here we show an example in which the inner peripheral surface (57A) is worn out.

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

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

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

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

[0026] [Storage Unit 73] The storage unit 73 stores threshold data θt required to determine whether the bushing 57 of the gripper 50 needs to be replaced. The threshold data θt is a value representing the inclination of the bushing 57, and is compared with actual measurement data θa obtained from the first distance measurement data D1 and the second distance measurement data D2. The threshold data θt can be set commonly for the first to fourth transport units 10 to 40, or can be set individually for the first to fourth transport units 10 to 40.

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

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

[0029] [Determination unit 75] The determination unit 75 determines whether or not replacement of the bush 57 is necessary based on the inclination (actual measurement data θa) of the gripping piece 51. To make this determination, the determination unit 75 acquires the first distance measurement data D1 and the second distance measurement data D2 received by the communication unit 71 and stored in the memory unit 73, as well as the threshold data θt stored in the memory unit 73.

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

[0031] The determination unit 75 acquires the threshold data θt from the storage unit 73, and compares the acquired threshold data θt with the measured data θa to make a determination. The determination is made based on whether the measured data θa exceeds the threshold data θt, that is, whether the following formula (2) is satisfied. The determination result by the determination unit 75 is sent to the instruction unit 77. The determination unit 75 uses the first distance measurement sensor 61 and the second distance measurement sensor 63 to make a determination based on formulas (1) and (2) for all the grippers 50 provided on each of the first to fourth transport units 10 to 40. Measured data θa>threshold data θt... formula (2)

[0032] [Instruction Unit 77] The instruction unit 77 instructs the rotational driving of the star wheels 15 in each of the first to fourth transport units 10 to 40, and instructs the first distance measuring sensor 61 and the second distance measuring sensor 63 to measure the distance to the gripping piece 51 while the star wheels 15 are rotating. In addition, the instruction unit 77 can receive the judgment result from the judgment unit 75 and display a notification based on the judgment result on the display unit 79. Specific examples of the notification will be described in the next judgment procedure. By referring to this notification, an operator involved in the operation of the transport device 1 including the first transport unit 10 can take further action on the transport device 1, such as arranging for maintenance.

[0033] [Determination Procedure: See FIG. 9] Next, an example of the procedure for determining the wear state of the gripper 50 in the conveying device 1 will be described with reference to FIG. 9. The conveying device 1 functions as, for example, an element of a filling machine that fills containers P with beverage. The determination procedure is executed by instructions from the controller 70. The controller 70 instructs the first to fourth conveying units 10 to 40 to rotate their star wheels 15 to start operation of the filling machine (FIG. 9, S101). Furthermore, the controller 70 instructs the first distance measurement sensor 61 and the second distance measurement sensor 63 to obtain first distance measurement data D1 and second distance measurement data D2 and calculate actual measurement data θa (S103).

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

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

[0036] The determination based on the comparison of the measured data θa with the threshold data θt is performed for all grippers 50 included in each of the first to fourth transport units 10 to 40. For example, for the first transport unit 10, the measured data θa1, θa2, θa3, θa4, ..., the measured data θa14, and θa15 are each compared with the threshold data θt. The determination is then made based on the aforementioned measured data θa > threshold data θt... equation (2). If the measured data θa3, θa8, and θa12 satisfy equation (2), replacement of the bushings 57 included in the corresponding grippers 50-3, 50-8, and 50-12 is recommended. The determination result is notified to the instruction unit 77 by the determination unit 75.

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

[0038] [Effects of the Embodiment] [First Effect] The conveying device 1 according to the present embodiment described above has the following effects. According to the present embodiment, by measuring the inclination of the gripper 50 while the gripper 50 is attached, it is possible to grasp the wear state of the bush 57 and determine the need for replacement. Therefore, according to the present embodiment, it is not necessary to disassemble the gripper 50, and therefore the work of replacing the bush 57 can be simplified. Moreover, according to the present embodiment, the need for replacement of the bush 57 is determined based on objective information, namely the inclination, so the reliability of the determination is high.

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

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

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

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

[0043] [Modifications] In addition to the above, the configurations described in the above embodiments can be selected or changed as appropriate. [Data Related to the Inclination of the Grip Piece 51] For example, in the above embodiment, the inclination of the grip piece 51 (actual measurement data θa) is calculated from the first distance measurement data D1 and the second distance measurement data D2 to determine whether the bushing 57 needs to be replaced. However, the present disclosure is not limited to this. For example, the difference (D1-D2) between the first distance measurement data D1 and the second distance measurement data D2 may be used as actual measurement data ΔDa, and the need to replace the bushing 57 may be determined by comparing this data with threshold data ΔDt. The actual measurement data ΔDa obtained from this difference (D1-D2) is calculated based on the inclination of the grip piece 51, and is an example of data related to the inclination of the grip piece 51 in the present disclosure. Furthermore, while the first distance measurement data D1 and the second distance measurement data D2 were obtained to obtain the actual measurement data θa, the actual measurement data θa related to the tilt can be measured directly by using a certain type of sensor. An example of this type of sensor is an area sensor. An area sensor is typically composed of a transmitter (emitter) and a receiver. The transmitter emits light or sound waves, which are reflected by an object and reach the receiver as a signal. Based on this signal, the position and state of the object can be detected.

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

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

[0046] [Determination Timing] The series of operations related to the determination is preferably performed during a period when the conveying device 1 is not producing beverages, such as filling the containers P, but the present disclosure is not limited to this. In other words, the series of operations related to the determination can also be performed when the conveying device 1 is in production mode.

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

[0048] [Method of Notifying Determination Result] In the embodiment described above, an example was shown in which the determination result was displayed on the display unit 79, but the present disclosure is not limited to this. For example, the determination result can be printed on paper or other sheet-like material. Furthermore, for example, a warning light can be provided near each corresponding gripper 50, and the warning light corresponding to the gripper 50 for which it has been determined that the bushing 57 needs to be replaced can be turned on to notify the determination result.

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

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

[0051] [Notes] The above disclosure provides the following configuration: [Note 1] A conveying device (1) includes a plurality of grippers (50) each having a pair of gripping pieces (51) and moving along a predetermined circular orbit, a sensor that acquires measured data (θa) relating to the inclination of the gripping pieces (51), and a controller (70) that determines, based on the measured data, the wear state of support members (56A, 56B, 57) that swingably support the gripping pieces (51).

[0052] [Appendix 2] In Appendix 1, it is preferable that the controller (70) determines the wear state of the support member (57) by comparing actual measurement data (θa), which is the inclination of the gripping piece (51) relative to the horizontal direction (H), with threshold data (θt) regarding the inclination corresponding to the actual measurement data (θa).

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

[0054] [Supplementary Note 4] A preferred sensor (61, 63) in any of Supplementary Note 1 to Supplementary Note 3 comprises a first distance measurement sensor (61) that measures first distance measurement data (D1) and a second distance measurement sensor (63) that measures second distance measurement data (D2), and each of the first distance measurement sensor (61) and the second distance measurement sensor (63) is provided at a fixed point.

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

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

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

[0058] REFERENCE SIGNS LIST 1 Conveying device 10 First conveying section 15 Star wheel 20 Second conveying section 30 Third conveying section 40 Fourth conveying section 50 Gripper 51 Grip piece 53 Holder 55 Swing shaft 56A, 56B Plate 57 Bush 60 Distance measuring sensor 61 First distance measuring sensor 63 Second distance measuring sensor 70 Controller 71 Communication section 73 Memory section 75 Determination section 77 Indication section 79 Display section P Container θa Actual measurement data θt Threshold data P1 First distance measuring position P2 Second distance measuring position A1 First placement position B1 Second placement position A2 First distance measuring position B2 Second distance measuring position D1 First distance measuring data D2 Second distance measuring data RD Radial direction H Horizontal direction V Vertical direction

Claims

1. A conveying device comprising: a plurality of grippers, each having a pair of gripping pieces and moving along a predetermined circular orbit; a sensor that acquires measured data relating to the inclination of the gripping pieces; and a controller that determines the wear state of a support member that swingably supports the gripping pieces based on the measured data.

2. The conveying device described in claim 1, wherein the controller determines the wear state of the support member by comparing the actual measurement data, which is the inclination of the gripping piece relative to the horizontal direction, with threshold data regarding the inclination corresponding to the actual measurement data.

3. A conveying device as described in claim 1, wherein in the controller, the actual measurement data is obtained based on first distance measurement data and second distance measurement data in the vertical direction from a predetermined position to a first distance measurement position and a second distance measurement position that are spaced apart in a direction perpendicular to the circular orbit on the gripping piece.

4. The conveying device described in claim 3, wherein the sensor comprises a first distance measurement sensor that measures the first distance measurement data and a second distance measurement sensor that measures the second distance measurement data, and each of the first distance measurement sensor and the second distance measurement sensor is provided at a fixed point.

5. A conveying device as described in claim 4, comprising a star wheel that holds a plurality of the grippers on its outer periphery and is driven to rotate, and each of the first distance measuring sensor and the second distance measuring sensor is provided at the fixed point above or below the orbit of the star wheel.

6. The conveying device according to claim 2, wherein the controller determines the wear state of the support member for each of a plurality of grippers, and displays the gripper for which the actual measurement data has reached the threshold data.

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

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

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