JP6079987B2 - Container supply device - Google Patents

Description

  The present invention relates to a container supply device, and more particularly, to a container supply device that supplies a container to a supply position on the lower side after the container is reversed while being transferred downward.

Conventionally, filling lines for filling food containers such as pudding and jelly into containers are known. In such a conventional filling line, there is a case where an empty container is first taken out from the magazine, and then the container is reversed while being transported downward and then supplied to the lower conveying means. In that case, after supplying the container to the conveying means, food such as pudding is filled in the container conveyed by the conveying means, and then a sealing member is attached to the opening of the container by the sealing device. Yes.
By the way, when a filling device or a sealing device is operated at a high speed in a filling line that requires a high processing capacity, it is necessary to supply the container to the conveying means at a high speed. Conventionally, for example, Patent Document 1 and Patent Document 2 are known as container supply devices in which an empty container is taken out from a magazine, then inverted while being lowered, and then supplied to a lower supply position.
The apparatus of Patent Document 1 includes a horizontal rotation shaft 105 provided with a plurality of holding members 106, and a cam plate 107 is attached to the horizontal rotation shaft 105. When the horizontal rotating shaft 105 and the holding member 106 are lowered, the rotating shaft 105 and the holding member 106 are rotated forward and backward by 180 degrees by engaging the cam plate 107 with the roller cam 108. Accordingly, the container held by the holding member 106 is inverted while being lowered.
On the other hand, the apparatus of Patent Document 2 is provided with a plurality of suction nozzles 20 in a cylindrical lift / reverse unit 2, and a container held by the suction nozzle 20 by rotating the lift / reverse unit 2 by a rotary cylinder or the like. Is to be reversed.

JP 2001-253412 A JP 2009-255936 A

By the way, the devices of Patent Document 1 and Patent Document 2 have the following problems. That is, in the apparatus of Patent Document 1, when the holding member 106 is inverted and lowered at a high speed, the swinging speed of the container increases and the inertial force applied to the container increases .
Therefore, in the apparatus of Patent Document 1, a pair of L-shaped pressing pieces 123 are rotatably attached to the left and right sides of the holding member 106, and the container is adsorbed by the negative pressure of the holding member 106 and the L-shaped. The holding piece 106 is held by the holding piece 123. Therefore, in Patent Document 1, the mechanism around the holding member 106 is complicated. In addition, in the apparatus of Patent Document 1, when the configuration in which the pair of L-shaped pressing pieces 123 is omitted and the container is sucked and held only by the negative pressure of the holding member 106, the container is reversed when the container is reversed. There was a risk that the holding member 106 would fall off the container.
On the other hand, in the apparatus of Patent Document 2, simply increasing the rotation and descending speed of the lift / reverse unit 2 increases the inertial force applied to the container, and there is a risk of causing the same trouble as in Patent Document 1.

In view of the circumstances described above, the present invention provides a suction head that detachably holds a container, a rotation mechanism that rotates the suction head, a lifting mechanism that lifts and lowers the suction head and the rotation mechanism, and the rotation mechanism and the lifting mechanism. A container supply device for controlling the operation of the container, and taking out the lowest container in the magazine by the suction head and inverting it while transferring it downward to supply the container to the lower supply position Because
The rotation mechanism includes a rotation shaft provided rotatably and a rotation shaft provided with the suction head, and a rotation servo motor that rotates the rotation shaft.
The elevating mechanism includes an elevating member that holds the rotary shaft and is movable up and down, an elevating rotary shaft that is rotatably provided in a horizontal state, and the elevating rotary shaft and the elevating member. A link mechanism to be interlocked, and a lift servo motor for rotating the lift rotary shaft,
When the suction head holding the container is reversed while being lowered through the lifting mechanism and the rotation mechanism, the control means rotates the suction head while the suction head is being reversed together with the lifting member. The lifting and lowering servo motors are controlled so that the lifting and lowering member is once raised while continuing the operation so that the container is reversed at a constant speed.

According to this configuration, when inverting the container by the suction head, the container of being inverted at a constant speed, it is possible to prevent positional deviation or withdrawal container from the suction head. Therefore, the container can be reliably supplied to the supply position after being inverted at high speed by the suction head.

The side view which shows the whole structure of the filling seal system provided with the container supply apparatus which concerns on one Example of this invention. The side view which expands and shows the principal part of the said container supply apparatus. The side view which shows the rotation mechanism and raising / lowering mechanism of the said container supply apparatus. The rear view which shows the rotation mechanism and raising / lowering mechanism of the said container supply apparatus. The top view which shows the rotation mechanism and raising / lowering mechanism of the said container supply apparatus. Explanatory drawing which shows operation | movement of the said container supply apparatus. The side view which shows the other Example of this invention.

The present invention will be described below with reference to the illustrated embodiments. In FIGS. 1 and 2, reference numeral 1 denotes a filling seal system. The filling and sealing system 1 fills the container 2 with jelly while intermittently transporting the container 2 by the transport means 3, then seals the opening 2 </ b> A of the container 2 with the sealing member S, and finally attaches to the container 2. Unnecessary portions of the sealed member S are trimmed. The container 2 in the present embodiment is made of a synthetic resin and has a cup shape in which the upper opening 2A is expanded.
The filling and sealing system 1 includes a transport unit 3 that holds the container 2 with the opening 2A facing upward and intermittently transports it downstream, and a supply position A that is the upstream end of the transport process of the transport unit 3. 5 rows of magazines 4 arranged on the upper side and holding empty containers 2 in a stacked state, and 5 containers 2 stacked in one row of 5 rows of magazines 4 are synchronously taken out and then supplied. A container supply device 5 that supplies to the pocket P of the retainer 6 that is stopped at A, and a conventionally known filling device 7, a sealing device 8, and the like that are sequentially provided in the transfer process of the transfer means 3 downstream from the supply position A; A trimming device 9 and a control means 10 for controlling the operation of the conveying means 3 and the devices 5, 7 to 9 are provided.

The transport means 3 includes a pair of left and right endless chains (not shown) spanned between two sets of left and right sprockets 11, and a plurality of plate-like retainers 6 are hung over the left and right endless chains. Handed over and attached. Each retainer 6 is formed with five pockets P at equal intervals in a direction orthogonal to the conveying direction of the conveying means 3. As shown in FIG. 2, the container 2 with the opening 2 </ b> A facing upward can be held in the five pockets P of the retainer 6.
The sprocket 11 is intermittently rotated in conjunction with a motor (not shown), and the motor for intermittently rotating the sprocket 11 is controlled by the control means 10. When the control means 10 intermittently rotates the sprocket 11 of the transport means 3 in the direction of the arrow via a motor (not shown), the retainers 6 (pockets P) are sequentially stopped at the supply position A for a predetermined time. .
On the other hand, the five rows of magazines 4 that hold the empty containers 2 in a stacked state are arranged at the same height above the pockets P of the retainer 6 stopped at the supply position A. .

The container supply device 5 is provided with five suction heads 14 in a horizontal row corresponding to the number of pockets P of the magazine 4 and the retainer 6, and these suction heads 14 serve as a negative pressure source via a flexible tube (not shown). Communicate. The control means 10 controls the negative pressure supply / discharge operation of the suction head 14 from the negative pressure source, so that the container 2 is sucked and held by the suction head 14 or the held state is released.
In the present embodiment, the lowermost containers 2 in the five rows of magazines 4 are sucked and held in synchronization by the five suction heads 14, taken out, transferred downward, and then retained at the supply position A. 6 is supplied in synchronism with the five pockets P. As will be described in detail later, since the five suction heads 14 that have taken out the containers 2 are inverted while being lowered, the containers 2 with the openings 2A facing upward are supplied in synchronization with the five pockets P. It has become so.

A stopper mechanism 15 is provided over the lower part of the five rows of magazines 4. The stopper mechanism 15 supports the lowermost containers 2 in the five rows of magazines 4, and the lowermost containers 2 are smoothed by the suction head 14. It can be taken out from the magazine 4. Each magazine 4 accommodates containers 2 with the opening 2A facing downward in a stacked state, and the stacked containers 2 in the magazine 4 are supported by a stopper mechanism 15. Since FIGS. 1 and 2 are side views, only one magazine 4 and one suction head 14 are displayed.
As shown in FIG. 2, the stopper mechanism 15 includes a pair of front and rear upper stoppers 16 and 16 ′ disposed to face each other, and a pair of front and rear lower stoppers 17 and 17 ′ disposed to face each other. A set of air cylinders 21 and 21 'for moving the upper stoppers 16 and 16' in advance and retreating in synchronization, and a set of air cylinders 22 and 22 'for moving the lower stoppers 17 and 17' in advance and retreating in synchronization. And. The operation of the air cylinders 21, 21 ′, 22, 22 ′ is controlled by the control means 10, and when the lowest container 2 of each magazine 4 is sucked and taken out by the five suction heads 14. Then, the control means 10 moves the stoppers 16, 16 ', 17, 17' forward and backward through the air cylinders 21, 21 ', 22, 22' as follows.

That is, before the suction head 14 is lifted to the rising end that is located immediately below the magazine 4, the air cylinders 21, 21 ′ are not operated, so that the upper stoppers 16, 16 ′ do not support the container 2. It is located at the position (state of FIG. 2). On the other hand, the air cylinders 22 and 22 'are actuated so that the lower stoppers 17 and 17' are advanced to the forward end, and the lowermost containers 2 in each magazine 4 are supported by the advanced lower stoppers 17 and 17 '. Has been.
In this state, the five suction heads 14 of the container supply device 5 are synchronously raised to the ascending end that is a position immediately below each magazine 4 at the corresponding position. At this time, since a negative pressure is introduced to each suction head 14, the lowest container 2 in each magazine 4 is sucked and held by the corresponding suction head 14. Then, the control means 10 stops the operation of the air cylinders 22 and 22 ′ and retracts the lower stoppers 17 and 17 ′, while operating the air cylinders 21 and 21 ′ to move the upper stoppers 16 and 16 ′ to the forward end position. Move forward. Thereby, the support state of the lowermost container 2 by the lower stoppers 17 and 17 ′ is released, while the second container 2 from the lowermost part in each magazine 4 is supported by the upper stoppers 16 and 16 ′.
Thereafter, the suction head 14 holding the lowermost container 2 is synchronously lowered vertically by a predetermined amount, so that the lowermost container 2 is taken out from each magazine 4 by the suction head 14. ing.
Thereafter, the air cylinders 22 and 22 'are operated by the control means 10 to advance the lower stoppers 17 and 17' to the forward end, and then the operation of the air cylinders 21 and 21 'is stopped by the control means 10. The upper stoppers 16, 16 'are retracted. As a result, the container 2 that has been located second from the bottom in the magazine 4 is positioned at the bottom, and the bottom container 2 is supported by the lower stoppers 17 and 17 '. .
As described above, the control means 10 moves the upper stoppers 16 and 16 'and the lower stoppers 17 and 17' of the stopper mechanism 15 forward and backward, so that the lowermost portion is moved by the five suction heads 14 from the five rows of magazines 4. The containers 2 can be taken out one by one in synchronization.

On the other hand, the five suction heads 14 corresponding to one row from which the containers 2 have been taken out from the five rows of magazines 4 are inverted while being lowered by the control means 10 along the following movement trajectory. The held container 2 is also reversed while being lowered along the same movement locus. That is, the take-out step S1 that descends vertically immediately after holding the container 2 at the ascending end position, the reversing step S2 that is reversed 180 ° while descending, and the descent step to the descending end vertically after the reversing step S2. Then, the control means 10 moves the five suction heads 14 for one row in synchronization so that three steps of the insertion step S3 for supplying the containers 2 to the pockets P can be obtained.
In this way, by moving the suction head 14 holding the container 2 in three operation steps S1 to S3, the container 2 held by five suction heads 14 for one horizontal row has five pockets at the supply position A. Supplied in P. When the container 2 is supplied into the pocket P by the suction head 14, the control means 10 stops supplying negative pressure to each suction head 14, so that the holding state of the container 2 by the suction head 14 is released. . Accordingly, the container 2 with the opening 2A facing upward is supplied into the pocket P.
Thereafter, the operation of the suction head 14 is controlled by the control means 10, and is reversed while being lifted from the position of the lowering end to return to the rising end which is the position immediately below the magazine 4. Negative pressure is introduced into the head 14. For this reason, the lowermost container 2 of the magazine 4 at the corresponding position is sucked and held by the five suction heads 14. Thereafter, as described above, the containers 2 are taken out from the respective magazines 4 by the suction heads 14, and each time the retainers 6 stop at the supply position A along with the intermittent transport of the transport means 3, the suction heads 14 The container 2 is supplied into the pocket P.

Then, the containers 2 held in the pockets P of the retainers 6 are transported to the downstream side along with the intermittent transport of the transport means 3, and the following processing is performed. That is, when five horizontal rows of containers 2 in the retainer 6 are loaded into the filling position B with the opening 2A facing upward, a predetermined amount of jelly is put into the horizontal rows of five containers 2 by the filling device 7. Is filled. Thereafter, when the retainer 6 holding the filled containers 2 is carried into the sealing position C, the sealing device 8 attaches the belt-like sealing members S to the opening portions 2A at the upper ends of the five containers 2 in a row. It is done. Thereby, the opening 2 </ b> A of each container 2 is sealed by the seal member 2.
Thereafter, when the container 2 to which the seal member S is attached is carried into the trimming position D, unnecessary portions of the seal member S in each container 2 are trimmed by the trimming device 9. That is, the seal member S is cut and aligned in a shape that follows the outline of the opening 2A of the container 2.
In this manner, the jelly filling, the mounting of the seal member S, and the unnecessary portion of the seal member S are trimmed for the five rows 2 of containers 2 held intermittently by the retainer 6. Then, five containers 2 corresponding to one horizontal row held by the retainer 6 after these processes are completed are removed from the retainer 6 of the transport means 3 by a discharge means (not shown) and then transferred to a downstream accumulation position (not shown). It has become so. In addition, since the structure of the filling apparatus 7, the sealing apparatus 8, and the trimming apparatus 9 is conventionally well-known, detailed description regarding them is abbreviate | omitted.

Therefore, in this embodiment, when the five suction heads 14 for one row included in the container supply device 5 are moved by the above-described steps S1 to S3, the suction head 14 and the container 2 held by the suction head 14 are moved in the reversing step S2. The container 2 is reversed at a constant speed, thereby preventing the container 2 to be reversed from falling off or being displaced from the suction head 14.
Hereinafter, a detailed configuration of the container supply device 5 will be described. 3 to 5, the container supply device 5 includes five suction heads 14 for one row that sucks and holds the containers 2, a rotation mechanism 23 that rotates the suction heads 14 for one row in synchronization, and a suction head. 14 and an elevating mechanism 24 that elevates and lowers the rotating mechanism 23, and the operation of the rotating mechanism 23 and the elevating mechanism 24 is controlled by the control means 10, whereby the suction head 14 is moved in each of the above-described steps S1 to S3. It is like that.
The container supply device 5 includes a pair of left and right support columns 25 and 25 arranged with the conveying means 3 interposed therebetween, and a pair of guide rails 26 and 26 are connected to the outer surface of the support columns 25 in the vertical direction. . A pair of left and right elevating members 31, 31 are attached to the left and right guide rails 26, 26 via slide members 27, 27 so as to be movable up and down. A shaft 32 is rotatably attached. The rotating shaft 32 is supported on the transport unit 3 in a direction orthogonal to the transport direction of the transport unit 3 and horizontally. The five suction heads 14 are attached at equal intervals in the longitudinal direction of the rotating shaft 32 with the openings directed in the same direction. As described above, each suction head 14 communicates with a negative pressure source via a flexible tube (not shown), and the control means 10 introduces a negative pressure in synchronization with each suction head 14 when necessary, The introduction of pressure is stopped. Thereby, the container 2 can be held by the suction head 14 or the held state can be released.
A servo motor 33 is connected to one end of the rotating shaft 32, and the servo motor 33 is rotated by the control means 10 by a required amount in the forward and reverse directions. That is, the control means 10 rotates the rotating shaft 32 in the forward and reverse directions by the servo motor 33 so that the openings of the five suction heads 14 attached to the rotating shaft 32 are directed vertically upward, It can be moved from a state in which it is directed vertically upward to a state in which the axis of the rotary shaft 32 is rotated by 180 ° about the axis of rotation, that is, a state in which the suction head 14 is inverted. The rotation mechanism 23 according to the present embodiment includes a rotation shaft 32 and a servo motor 33.

Next, the elevating mechanism 24 that elevates and lowers the rotating mechanism 23 and the suction head 14 will be described. A rotating shaft 34 is rotatably supported in a horizontal state across the upper ends of the left and right support columns 25, 25, and the rotating shaft 34 is linked to a servo motor 35 through a plurality of gears (not shown). The operation of the servo motor 35 is controlled by the control means 10, and when necessary, the servo means 35 is rotated by the control means 10 in the required amount in the forward and reverse directions.
Both end portions of the rotating shaft 34 are projected to the outside of the both columns 25, 25, and both end portions of the rotating shaft 34 are interposed via a pair of left and right link mechanisms 36, 36 including a swing lever 29 and a connecting rod 30. Are connected to the left and right lifting members 24, 24. Therefore, when the servo motor 35 is rotated forward and backward by the required amount by the control means 10 and the rotary shaft 34 is rotated forward and reverse, both the lifting members 31 and 31 and the rotary shaft are connected via the left and right link mechanisms 36 and 36. The 32 and 5 suction heads 14 are moved up and down along the guide rail 26, and accordingly, the rotary shaft 32 and the five suction heads 14 disposed on the lifting members 31 and 31 are also lifted and lowered. ing. In the present embodiment, the elevating mechanism 24 is configured by the elevating members 31 and 31, the link mechanisms 36 and 36, the rotating shaft 34 and the servo motor 35.

The rotating mechanism 23 and the lifting mechanism 24 of the container supply device 5 are configured as described above, and the control means 10 controls the operation of the servo motor 33 of the rotating mechanism 23 and the servo motor 35 of the lifting mechanism 24. More specifically, the outermost when the reversing step S2 is moved so that each of the operation steps S1 to S3 can be obtained between the rising end and the lowering end of the five suction heads 14 for one row. The operation of the servo motor 33 of the rotating mechanism 23 and the servo motor 35 of the elevating mechanism 24 is controlled so that the center of the bottom surface of the container 2 moving at a constant speed moves, and the container 2 is taken out from the magazine 4 to supply position A. Is supplied to the pocket P.
Hereinafter, the operation of the container supply device 5 according to an embodiment of the present invention will be described.
First, the control means 10 controls the operation of both the servomotors 33 and 35 so that the suction head 14 with the opening directed upward via the rotation mechanism 23 and the lifting mechanism 24 is moved closer to the lower side of each magazine 4. To the rising end (see FIG. 2). At this time, since the negative pressure is introduced to each suction head 14 by the control means 10, the lowermost containers 2 in the five rows of magazines 4 are suction-held by each suction head 14.
Thereafter, as described above, the support state of the containers 2 in each magazine 4 by the stopper mechanism 15 is released. At this time, the retainer 6 of the transport means 3 is stopped at the supply position A on the lower side.

Next, the control means 10 controls the operation of the servo motor 35 to lower the suction head 14 and the rotation mechanism 23 by a predetermined amount via the lifting mechanism 24. Thereby, the lowermost container 2 in each magazine 4 is sucked and held by the suction head 14 and taken out (takeout step S1).
Thereafter, the control means 10 continues the rotation of the servo motor 35 and lowers the suction head 14 via the elevating mechanism 24, while rotating the servo motor 33 in the forward direction to move the suction head 14 via the rotation mechanism 23. It is rotated counterclockwise as shown in FIG. 2 (reversing step S2). In this embodiment, in the middle of the reversing step S2, before the shaft center of the suction head 14 being reversed is rotated to a position that is substantially horizontal, that is, in FIG. 6 showing the operation of the reversing step S2. The rotating shaft 32 is lowered from a) to (b), but the suction head 14 continues the reversing operation along the path from (b) to (d), while the control means 10 causes the servo motor 35 to move. The rotating shaft 32 is lifted by a predetermined amount in the reverse direction. Thereafter, the control means 10 rotates the servo motor 35 in the original rotation direction. As a result, the inertial force associated with the descending operation related to the container 2 is canceled out, and the inertial force related to the container 2 can be reduced compared to the case where the inertial force is reversed while descending. Also, the lowering stroke can be shortened, and the container supply device 5 can be made compact.
In FIG. 6, K1 indicates a movement point at the center of the bottom surface of the container 2, and K2 indicates the movement locus thereof.
By this reversal step S2, the suction head 14 and the container 2 held by the suction head 14 are reversed while drawing an arcuate movement locus on a virtual vertical plane along the transport direction of the transport means 3, as shown in FIG. It is like that. The control means 10 controls the rotation speeds of the servo motors 33 and 35 so that the reversing speed at the center of the top surface of the container 2 is constant when the container 2 is reversed while drawing such a movement locus. .
As described above, in the reversing step S2, since the center of the top surface of the container 2 sucked and held by the suction head 14 is reversed so as to move at a constant speed, the container 2 falls off from the suction head 14 or is displaced. Can be suppressed. In the present embodiment, the servo motors 33 and 35 are controlled so that the portion located at the center of the top surface of the outermost container 2 during the reversing operation moves at a constant speed. However, the present invention is not limited to this. Alternatively, the servo motors 33 and 35 may be controlled so that the center of the entire container 2 and the center of the suction portion of the suction head 14 move at a constant speed. By this reversal step S2, each container 2 held by the suction head 14 is reversed with the opening 2A facing upward, and the container 2 is supported above the bucket P stopped at the supply position A. .

Thereafter, the control means 10 controls the operation of the servo motor 35 to lower the suction head 14 and the rotation mechanism 23 by a predetermined amount via the lifting mechanism 24 (insertion step S3). Thereby, each container 2 held by the suction head 14 is inserted into the pocket P at the corresponding position. Immediately after the container 2 is inserted into the pocket P, the control means 10 stops the introduction of the negative pressure to each suction head 14, so that the holding state of the container 2 by the suction head 14 is released and each container 2 is opened. It is supplied into the pocket P with 2A facing upward.
In this way, the suction head 14 whose operation is controlled by the control means 10 passes the three operation steps S1 to S3 so as to supply the container 2 into the five pockets P stopped at the supply position A. It has become.
Thereafter, the suction head 14 that has released the holding state of the container 2 at the descending end is raised by the control means 10 controlling the operation of the servo motor 35, and the control means 10 controls the operation of the servo motor 33. As a result, it is reversed in the reverse direction to the reversing step S <b> 2, and returns to the rising end that is located immediately below each magazine 4.
In the above embodiment, a pair of suction heads 14 are attached to the rotary shaft 32 in the same direction. However, as shown in FIG. 7, two sets of suction heads are shifted by 180 ° in the circumferential direction of the rotary shaft 32. The head 14 may be attached to the rotating shaft 32. When two sets of the suction heads 14 are attached in this way, after the one set of suction heads 14 supplies the container 2 into the pocket P, if the rotary shaft 32 is lifted as it is, the other set of suction heads 14 is provided. Can be positioned at the rising end, so that it can be operated at a higher speed than in the above embodiment.

  Thereafter, each time the retainers 6 of the transport means 3 are intermittently moved to the supply position A and stopped, the containers 2 are taken out of the magazine 4 by the suction head 14 of the container supply device 5 and reversed as described above. Then, it is supplied into the pocket P of the retainer 6 at the supply position A. Then, as described above, after this, processing such as filling of the jelly 2 to the container 2 intermittently transported downstream by the retainer 6 of the transport means 3, mounting of the seal member S, and alignment of unnecessary parts, etc. Is given.

In the above embodiment, the container 2 is inserted by the suction head 14 into the pocket P of the retainer 6 that is temporarily stopped at the supply position A. However, the suction head 14 is inserted into the retainer 6 that is moving the supply position A in the transport direction. The container 2 may be inserted into the pocket P while being moved following the conveying direction. By adopting such a configuration, the container 2 can be supplied at a higher speed.
Further, in the above embodiment, the container 2 with the bottom surface facing upward is taken out from the magazine 4 and inverted, and then supplied to the pocket P of the retainer 6. However, the orientation of the container 2 and the supply location are limited. Not what you want. The container 2 with the bottom face down in the magazine 4 may be taken out, or the container 2 may be supplied to a place other than the retainer 6.

2 ... Container 5 ... Container supply device 10 ... Control means 14 ... Suction head 23 ... Rotating mechanism 24 ... Lifting mechanism A ... Supply position

Claims (1)

A suction head that detachably holds the container, a rotation mechanism that rotates the suction head, a lifting mechanism that lifts and lowers the suction head and the rotation mechanism, and a control unit that controls the operation of the rotation mechanism and the lifting mechanism. A container supply apparatus that takes out the lowest container in the magazine by the suction head and reverses it while transferring it downward to supply the container to the supply position on the lower side,
The rotation mechanism includes a rotation shaft provided rotatably and a rotation shaft provided with the suction head, and a rotation servo motor that rotates the rotation shaft.
The elevating mechanism includes an elevating member that holds the rotary shaft and is movable up and down, an elevating rotary shaft that is rotatably provided in a horizontal state, and the elevating rotary shaft and the elevating member. A link mechanism to be interlocked, and a lift servo motor for rotating the lift rotary shaft,
When the suction head holding the container is reversed while being lowered through the lifting mechanism and the rotation mechanism, the control means rotates the suction head while the suction head is being reversed together with the lifting member. The container supply device characterized by controlling the rotation servo motor and the lift servo motor so that the lift member is temporarily raised while continuing the operation so that the container is reversed at a constant speed.

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