JP6285698B2 - Container holding device and container holding method - Google Patents

Description

  The present invention relates to a container holding device and a container holding method suitable for mounting or cooperating with an apparatus that performs processing such as filling and covering with the body of the container held.

  In the filling and packaging industry and the like, a fixed amount of contents are filled into a container while transporting various containers such as resin, glass, and metal, and a cap is then attached.

  One kind of the container is a resin container containing a highly viscous content such as ketchup or mayonnaise, and has a bottom having a squeeze (flexibility) so that the content can be extruded and used. And a relatively soft mouth and neck part integrally formed with the body part, and a soft container made of a resin (hereinafter referred to as a cap) around which the cap is wound. , Called squeeze bottle). And for the squeeze bottle, the container body is filled with contents from its opening while gripping the body of the container with a gripper, and a cap is wrapped around the mouth and neck. (See Patent Document 1).

JP 2011-235937 A

  However, if the body part of the squeeze bottle is gripped by applying a strong force from the outside, the body part is deformed (buckled), and as a result, the central axis of the mouth-and-neck part is inclined, and the cap is fitted to the mouth-and-neck part. In some cases, the mating is not performed properly, or the cap tightening torque does not act properly, resulting in a capping defect.

  In addition, according to the Containers and Packaging Recycling Law and consumer needs, containers including squeeze bottles will tend to be thinner and lighter in the future.

  The problem caused by the holding state of the container by the gripper is not limited to the squeeze bottle. For example, in the case of a container made of a material whose outer peripheral surface is slippery, the holding becomes unstable, The container may slide and rotate, and the tightening torque may not work properly.

  The present invention has been made in view of such problems, and even if it is a soft container provided with squeezing properties or a container whose surface is slippery and difficult to grip, it can be securely held, filled and covered. An object of the present invention is to provide a container holding device and a container holding method that can be used for such processing.

In order to achieve the above-described object, the container holding device according to the first aspect of the present invention includes an open position in which a tip portion is separated so that a container can be loaded and unloaded, and a body portion of the container from the outside to the center. Open and close three positions: a gripping position where the tip portion is brought close to be pressed and deformed, and a holding position where the container is held between the open position and the gripping position A container holding device including a pair of movable grippers, wherein a portion of the pair of grippers facing the container is disposed on an outer peripheral surface of a body portion of the container when the pair of grippers are closed and moved. contact holding member is provided, wherein the holding member is a recess opening to form a closed space of negative pressure is provided between the container by the intake of driving the intake air system, the pair The gripper moves from the open position to the grip position After the operation and the holding member presses the outer peripheral surface of the container at the gripping position, the intake device is driven by the subsequent opening operation until the holding member is positioned at the holding position, so that the inside of the concave opening Control for controlling the drive of the intake device so as to hold the container in a state where a closed space of a negative pressure is formed between the concave opening and the outer peripheral surface of the container at the holding position. Means are provided.

According to such a configuration, after the holding member presses the outer peripheral surface of the container at the holding position by the closing operation of the pair of grippers, until the holding member is positioned at the holding position by the subsequent opening operation. The air intake device is driven during this period, and a negative pressure is generated in a closed space formed between the outer peripheral surface of the container, so that the container is attracted and held by a pair of grippers, and the drive of the air intake device is stopped. is, by releasing the abutment of the holding member with respect to the outer peripheral surface of the front Symbol vessel a closed space which is formed between the outer surface of the container to co returning to normal pressure, it is possible to open the container .

  By adsorbing the body portion, the outer shape of the container can be held stably and firmly without impairing, and centering can also be performed.

  Therefore, not only filling of the filling liquid but also work processing such as tightening of the cap, which requires applying a predetermined torque to the container, avoids the cap fitting being inclined, It is possible to execute the tightening with the desired torque applied.

  The container holding device according to the second aspect of the present invention is characterized in that the holding member is formed of an elastic member that is elastically deformable. According to such a configuration, the elastic member is elastically deformed, whereby the holding member can be easily brought into contact with the outer peripheral surface of the container, and the concave opening can be made a closed space. Therefore, the container can be held using the adsorption force without relying entirely on the gripping force of the container by the pair of grippers. According to the holding of the container using the suction force, the outer shape of the tail squeeze bottle is not deformed.

  Furthermore, the container holding device according to the third aspect of the present invention is characterized in that the holding member is provided with a self-locking portion that is displaced vertically downward under the weight of the container. According to such a configuration, the holding member can increase the gripping force of the container by the self-locking portion. That is, when the container is suspended while the holding member is in contact with the outer circumferential surface of the container and the container is suspended, the self-locking portion of the gripping member is the container (when the contents are filled). (Including the contents of the container), and the outer shape of the container is firmly deformed in combination with the suction of the container due to the negative pressure in the closed space by being displaced vertically downward in response to external force. Can be held without causing.

Moreover, containers holding method of the present invention is a container holding method for holding a container with a pair of grippers which are opened and closed migration, the pair of grippers to loading and unloading can be spaced the container The container body is closed from the open position to the gripping position that is pressed and deformed from the outside toward the center so that it can be gripped, and is provided at a portion of the pair of grippers facing the container at the gripping position. The holding member is pressed against the outer peripheral surface of the container, and the intake device is driven to suck in the concave opening formed in the holding member, and the pair of grippers are brought into contact with the body of the container from the gripping position. The container is held in a state where a closed space of a negative pressure is formed between the concave opening and the outer peripheral surface of the container at the holding position by opening to a holding position that is in contact with and close to the holding position. To be characterized by That.

  According to such a configuration, in the initial stage of holding the container, the holding member is pressed against the outer peripheral surface of the container at the gripping position, and the intake device is driven to suck the inside of the concave opening. It becomes possible to more reliably hold the container by suction. For example, even when the outer peripheral surface of the container has a dent or bends, when the holding member pressed against the outer peripheral surface of the container at the gripping position opens to the holding position, the container Since the opening operation is performed with the outer peripheral surface of the container being adsorbed, the container is held in a state in which the container is returned to a fixed shape without any depression or deflection.

  As described above, the container is held by the holding member brought into contact with the outer peripheral surface of the container, and the container is adsorbed by the negative pressure generated in the closed space, so that the container has an outer shape. Can be held stably and firmly without impairing the container, and the container can be centered.

  The container holding device and the container holding device of the present invention are capable of centering accuracy while maintaining a desired outer shape even if the surface is a soft container provided with squeezing property or a container whose surface is difficult to slide and hold. It can be held well and has secondary effects such as reducing the frequency of occurrence of processing defects when subjected to processing such as filling and covering.

Overall view showing a case where the container holding device of the embodiment of the present invention is mounted on a winding machine The configuration of the gripper in the container holding device of the embodiment of the present invention, and the gripper holding position and the open position (first and second embodiments of the method) when the container holding method of the present invention is executed using the gripper configuration are shown. Illustration showing Sectional drawing of the principal part which shows an example of the gripper (a holding member and a gripper main body) in the container holding apparatus of this embodiment. Sectional drawing of the principal part which shows another example of the gripper (a holding member and a gripper main body) in the container holding apparatus of this embodiment. Sectional drawing of the principal part which shows another example of the gripper (a holding member and a gripper main body) in the container holding apparatus of this embodiment. Explanatory drawing which shows the holding position and holding position of a gripper at the time of performing the container holding method (2nd Embodiment of a method) of this invention using the container holding apparatus of this embodiment.

    The container holding device of the present invention is a soft resin container such as a so-called squeeze bottle, which is used for a filling position of a filling machine or a winding machine of a cap (hereinafter simply referred to as “clamping machine”). It is for holding in the tightening position. Hereinafter, an embodiment in which the container holding device according to the present invention is mounted on a known winding machine will be described with reference to FIGS. 1 to 6.

  As shown in FIG. 1, the container 2 held in the container holding device 1 of the present embodiment is integrally formed with a neck portion 2 a having a bottom and a neck portion 2 b having an opening above the bottom portion. The squeeze property (flexibility) is imparted so that the contents can be extruded and used, and the neck portion 2b is formed with high rigidity so that the cap 3 can be wound. And the shoulder part 2c between both which connects the mouth neck part 2b and the trunk | drum 2a has comparatively high rigidity also in the trunk | drum 2a formed by providing squeeze property, and tightening etc. Since there is no support in this work process, the shoulder 2c is formed to be gripped.

  The container holding device 1 of the present embodiment has a pair of grippers 13a and 13b that grip the shoulder 2c of the body 2a of the container 2, and the grippers 13a and 13b make their respective distal end portions approach each other. The holding position for holding the shoulder 2c of the container 2 (solid line position in FIGS. 2 and 6) and the open position for opening the container 2 so that it can be loaded and unloaded by separating the respective distal end sides (FIG. 2). And the position of the one-dot chain line).

  Specifically, the winding machine 9 has a rotary table 5 that can be rotated by intermittent drive of the rotary shaft 4. The rotary table 5 has container mounts arranged at equal intervals in the circumferential direction. A pair of grippers 13 a and 13 b of the container holding device 1 are provided corresponding to the placement unit 6. A cap tightening position of the cap 3 is provided on the rotation trajectory of the container mounting portion 6, and the container 2 is carried into the container mounting portion 6 on the upstream side of the winding tightening position on the rotation trajectory and is downstream. It is carried out from the inside of the container mounting part 6 on the side. And the capping head 8 of the winding machine 9 provided with the chuck | zipper 7 which hold | grips the cap 3 is arrange | positioned so that raising / lowering drive is possible above the rotary table 5 in a winding position.

  The grippers 13a and 13b are supported on the rotary table 5 so as to be rotatable around the vertical axis with the rotation shafts 14a and 14b. As shown in FIG. 2, gears 16 a and 16 b that mesh with each other are fixed to the rotary shafts 14 a and 14 b, and a lever 18 is provided at the lower end of one rotary shaft 14 b that protrudes downward from the rotary table 5. It is fixed. A cam follower 20 that engages in a cam groove (not shown) of a cam (not shown) disposed in the winder 9 is rotatably attached to the tip of the lever 18.

  When the cam follower 20 rolls in the cam groove along with the rotation of the rotary table 5 of the winding machine, one of the rotating shafts 14b is rotated forward and backward by the lever 18, and a pair of gears 16a, 16b meshing with each other. Thus, both the rotating shafts 14a and 14b are rotated in the reverse direction in synchronism, and both grippers 13a and 13b are configured to open and close between the holding position and the open position.

  Here, the grippers 13a and 13b are planar arcuate rubber grippers (formed by elastically deformable elastic members) that come into contact with the outer peripheral surface of the body 2a of the container 2 when the grippers 13a and 13b are closed. The rubber gripper 22 is held by a known fixing method so that the rubber gripper 22 faces the container 2 and is connected to the rotary shaft 14 and is formed by a rubber gripper holding portion (gripper main body) 23.

  On the inner peripheral side of the rubber gripper 22, when the grippers 13 a and 13 b are closed, they contact the outer peripheral surface of the body 2 a of the container 2, and a closed space can be formed between the rubber gripper 22 and the container 2 at that time. A recess opening 24 is formed, and each gripper 13a, 13b is formed with an intake path for communicating the recess opening 24 with the air pipe 27 of the intake device 26.

  Here, FIGS. 3 to 5 show examples of formation of the recess opening 24 and the intake path in the grippers 13a and 13b.

  The rubber gripper 22 of the gripper 13 shown in FIG. 3 is formed with two elastically deformable flange portions 22 a and 22 b formed in an arc shape in the vertical vertical direction on the tip side facing the container 2. As shown in FIG. 3, in the present embodiment, the upper flange portion 22a located above the two flange portions 22a and 22b is a surface facing the container 2 of the rubber gripper holding portion 23 with an upward angle in the horizontal direction. Of the two flanges 22a and 22b, the lower flange 22b positioned below the two flanges 22a and 22b has a horizontal downward angle from the surface facing the container 2 of the rubber gripper holding part 23. Further, the upper flange portion 22a is formed in a shape of the shoulder portion 2c of the container 2 held by the rubber gripper 22, that is, a shape in which the lower portion is formed to have a larger diameter than the upper portion in the vertical direction. In accordance with this, it is formed so as to protrude toward the container 2 from the lower flange 22b. The rubber gripper 22 including the flange portions 22a and 22b formed in this way increases the gripping force by adding a self-locking function by receiving the external weight and the external weight of the container 2 and the contents and then moving vertically downward. Let

  And the trough part formed in the boundary between the upper collar part 22a of the rubber gripper 22 and the lower collar part 22b is made into the recessed part opening part 24, and the rubber gripper 22 has the recessed part opening part 24 in the container 2 side. A vent hole 25 (holding part vent hole 25a) is formed to position the opening end portion.

  The rubber gripper holding portion 23 to which the rubber gripper 22 is fixed is formed with a vent hole 25 (main body vent hole 25b) that communicates with the holding portion vent hole 25a and constitutes an intake path together. The opening 24 and the intake device 26 communicate with each other by connecting an air pipe 27 of the intake device 26 to the opening end of the main body vent 25b on the side opposite to the container.

  In addition, the gripper 13 shown in FIG. 4 is prepared by preparing the upper flange 22a portion and the lower flange 22b portion of the gripper of FIG. 3 as separate parts, and between the upper flange 22a portion and the lower flange 22b portion. The spacers 28 are disposed on the rubber gripper holding portion 23 while being laminated. In the gripper 13 shown in FIG. 4, a vent hole 25 (spacer vent hole 25 c) that forms an intake path is formed in the spacer 28. That is, the spacer vent 25c has the opening end on the container 2 side positioned between the upper flange 22a and the lower flange 22b, and the recess opening 24 and the intake device 26 are connected to the spacer vent 25c. The air pipe 27 of the intake device 26 is connected to the opening end on the side opposite to the container to communicate with each other.

  The gripper 13 shown in FIG. 5 is formed by fixing a rubber gripper 22 on the surface of the rubber gripper holding portion 23 facing the container 2. The rubber gripper 22 shown in FIG. 5 is formed in a single sheet shape, and a plurality of ventilation holes 24a serving as the recess openings 24 are formed in the plane. The rubber gripper 22 is adhered to the surface of the rubber gripper holding portion 23 facing the container 2 so that one surface is brought into contact with the container 2. Vent holes 25 (main body vent holes 25b) for positioning the opening ends on the container 2 side are formed in the vent holes 24a, and the respective recess openings 24 and the intake devices 26 formed of the vent holes 24a are connected to the main body vent holes 25b. The air pipe 27 of the intake device 26 is connected to the opening end on the side opposite to the container to communicate with each other. The gripper 13 shown in FIG. 5 has a lower edge of the surface of the rubber gripper 22 that faces the container 2 in accordance with the shape of the shoulder 2c of the container 2, that is, the shape in which the lower part is formed larger in diameter than the upper part in the vertical direction. The arc of the upper edge is formed so as to have an inversely tapered cross section having a small diameter.

  The recessed space 24 does not need to be uniformly formed in the region where the gripper 13 on the outer periphery of the container 2 abuts, and can be changed as appropriate. For example, the gripper 13 shown in FIG. 1 is a modified example of the gripper 13 shown in FIG. 5, but only in a region (approximately 90 ° region) on the rotating shaft 4 side of the winding machine 9 in the rubber gripper holding portion 23. The intake path is provided, the thickness of the tip of the rubber gripper holding portion 23 is made thin, and the intake path of the rubber gripper 22 is also formed correspondingly.

  An example of a preferable material for the rubber gripper 22 is silicon rubber. Silicone rubber can be finely set (40 ° to 100 °: JIS K6253 type E durometer), has good moldability, can be molded into complex shapes, and conforms to the Food Sanitation Act (food standards) It is for conformity. Moreover, as a preferable material of the rubber gripper holding part 23, a metal such as stainless steel or aluminum or a hard elastic member can be adopted.

  Returning to the description of the container holding device 1, as shown in FIG. 1, the container holding device 1 controls the opening / closing operation of the grippers 13a, 13b, the timing of the opening / closing operation of the grippers 13a, 13b, and the conveyance of the container 2. Is provided with a control means 30 for controlling the driving of the intake device 26 (ON / OFF of intake air) in accordance with the above timing. The drive timing of the intake device 26 can be set as appropriate, and the control means 30 is configured to cooperate (or may be used in combination) with the control means of the winding machine 9 as necessary.

  Next, the operation of the container holding device 1 of the present embodiment (embodiment of the container holding method) will be described.

  When the container 2 placed on the container placing portion 6 on the turntable 5 is transported to the winding position by the rotation of the turntable 5, the cam follower 20 rolls in the cam groove and the grippers 13a and 13b hold. As shown in FIG. 2, it moves to the holding position and abuts on and holds the shoulder 2c of the container 2 placed on the container placing portion 6.

  In the present embodiment, the control means 30 drives the intake device 26 in accordance with this timing, sucks the inside of the recess opening 24 via the intake path and the air pipe 27, and the outer peripheral surface of the container 2 and the rubber gripper 22. A negative pressure is generated in a closed space surrounded by the recess opening 24 (see FIG. 3).

  As a result, the container 2 is held by the rubber gripper 22 in contact with the outer peripheral surface at the tightening position, and is adsorbed by the negative pressure generated in the closed space, without damaging its outer shape. Holds securely.

  Further, the dead weight of the container 2 and the contents filled in the container 2 acts as a force F for pulling the container 2 downward from between the rubber grippers 22, but the self-locking function as in the rubber gripper shown in FIGS. 3 and 4. Is applied to the rubber gripper 22, and the pulling force F acts on the contact surface between the rubber gripper 22 and the shoulder 2 c of the container 2, so that the upper collar 22 a is shouldered. By displacing the portion 2c in the direction of biting (inward), the gripping force can be increased by adding a self-locking function, so that it can be held more firmly.

  Further, like the rubber gripper 22 shown in FIG. 5, the surface that contacts the container 2 is formed in accordance with the shape of the shoulder 2c of the container 2, that is, the shape in which the lower part is formed with a larger diameter than the upper part in the vertical direction. In the case where the container 2 is attracted to the rubber gripper 22, the accuracy of centering of the container 2 after the adsorption (including the height positioning in the vertical direction) can be remarkably improved.

  Therefore, it is essential to apply a predetermined torque to the container 2, and even when the work process is such as tightening the cap 3, it is possible to prevent the cap 3 from being fitted and to apply a desired torque. It is possible to execute the tightening performed.

  After the cap 3 is tightened using the capping head 8 at the tightening position, the control means 30 stops driving the intake device 26 at a predetermined timing and returns the closed space to a constant pressure. Further, the holding of the container 2 is released by opening the grippers 13a and 13b, and the container 2 after the cap 13 has been tightened can be carried out by further opening and positioning it to the open position. Can carry in the next container 2.

  The timing of holding and opening the container 2 by the grippers 13a and 13b, and the timing of driving and stopping of the intake device 26 by the control means 30 can be set as appropriate.

  For example, the timing when the grippers 13a and 13b are held in contact with the container 2 is set immediately after the container 2 is carried into the container mounting portion 6 on the upstream side of the winding tightening position, and the opening timing is set at the winding tightening position. It is good also as just before carrying out the container 2 from the container mounting part 6 in the downstream. The intake device 26 may be driven before the rubber grippers 22a and 22b are brought into contact with the outer peripheral surface of the container 2 and the recess opening 24 is closed. Furthermore, the timing of stopping the drive of the intake device 26 is also determined after the tightening is finished (after the container 2 does not have to be held or centered to withstand the tightening torque), and the grippers 13a and 13b are What is necessary is just to make it open.

  Further, the grippers 13a and 13b of the container holding device 1 are deformed by pressing and deforming the containers 2 from the outside toward the center, and the open positions where the tips of the grippers 13a and 13b are separated so that the containers 2 can be loaded and unloaded. The gripper 13a, 13b can be gripped by moving the gripper 13a, 13b close to the gripping position (the two-dot chain line position in FIG. 6). The open position, the gripping position, the open position, and the gripping position It is also possible to configure to open and close the three positions including the holding position located between the two.

  In this case, first, as shown in FIG. 6, the grippers 13a and 13b are closed from the open position to the gripping position, and the rubber grippers 22a and 22b are pressed against the outer peripheral surface of the shoulder 2c of the container 2 at the gripping position. Thereafter, the air intake device 26 is driven, and the grippers 13a and 13b are opened from the gripping position to the holding position while sucking the inside of the concave opening portions 24 formed in the rubber grippers 22a and 22b. The container 2 is held in a state where a negative pressure closed space is formed between the portion 24 and the outer peripheral surface of the container 2.

  At this time, when the rubber grippers 22a and 22 are pressed against the outer peripheral surface of the container 2 in the gripping position, the air is sucked into the concave opening 24 so that the outer peripheral surface of the container 2 has a dent or is bent. Even in this case, after pressing the rubber grippers 22a and 22b so as to bend the outer peripheral surface of the container 2, the container 2 is depressed or bent by opening the outer peripheral surface to the holding position while adsorbing the outer peripheral surface. In a holding position, the container 2 can be held in a state in which a closed space of negative pressure is formed between the concave opening 24 and the outer peripheral surface of the container 2.

  As described above, according to the container holding device and the container holding method of the present invention, it is possible to maintain a desired outer shape even in a soft container provided with squeezing property or a container that slips and is difficult to be fixed and held. Thus, the centering can be reliably held with high accuracy, and the frequency of processing defects can be reduced when used for processing such as filling and covering.

  In addition, this invention is not limited to embodiment mentioned above, A various change can be made in the limit which does not impair the characteristic of this invention.

  For example, the means for opening and closing the grippers 13 and 13b can be performed by electrical control of a servo motor or the like without depending on the mechanical configuration. Further, the driving of the intake device 26 of the container holding device 1 of the present invention can be controlled so as to control the opening and closing of the grippers 13a and 13b.

  In the present embodiment, the container 2 is transported on the turntable 5, and a predetermined process is performed while being gripped by the grippers 13a and 13b at a processing position (clamping position) on the arc-shaped transport path. Although the case where it was made was demonstrated, the conveyance path | route may be formed linearly and the processing position may be provided on the linear conveyance path | route. Further, the container may be directly placed at the processing position of the processing device (clamping device) without being transported along the transport path. In this case, the control means opens and closes the grippers 13a and 13b by a known method such as using a servo motor linked to the timing of driving the processing apparatus with respect to the container 2, and controls the driving of the intake device 26. By doing so, the container holding method of the present invention can be executed.

DESCRIPTION OF SYMBOLS 1 Container holding device 2 Container 2a Trunk part 2b Mouth neck part 2c Shoulder part 3 Cap 4 Rotating shaft 5 Rotating table 6 Container mounting part 7 Chuck 8 Capping head 9 Clamping machine 13 Gripper 14 Rotating shaft 16 Gear 18 Lever 20 Cam follower 22 Rubber Gripper (holding member)
22a collar (upper collar)
22b buttock (lower buttock)
23 Rubber gripper holder (gripper body)
24 recess opening 24a vent hole 25 vent hole 25a holding part vent hole 25b main body vent hole 25c spacer vent hole 26 air intake device 27 air piping 28 spacer 30 control means

Claims (4)

An open position in which the tip portion is separated so that a container can be loaded and unloaded, a grip position in which the tip portion is brought close to the container so that the body portion of the container can be pressed and deformed from the outside toward the center, and the open position A container holding device comprising a pair of grippers positioned between a gripping position and a holding position for holding the container, the gripper being capable of opening and closing ;
A portion of the pair of grippers facing the container is provided with a holding member that comes into contact with the outer peripheral surface of the body of the container when the pair of grippers are closed and moved.
Wherein the holding member has recesses opening is provided to form a closed space in the negative pressure state between the container by the intake of driving air suction device,
After the pair of grippers are closed from the open position to the gripping position and the holding member presses the outer peripheral surface of the container at the gripping position, until the gripper is positioned at the holding position by a subsequent opening operation. The intake device is driven during the period to suck the inside of the concave opening, and in the holding position, a closed space of negative pressure is formed between the concave opening and the outer peripheral surface of the container. A container holding device comprising control means for controlling the drive of the intake device so as to hold the container.   The container holding device according to claim 1, wherein the holding member is formed of an elastic member that is elastically deformable.   The container holding device according to claim 2, wherein the holding member includes a self-locking portion that is displaced vertically downward under the weight of the container.   A container holding method for holding a container using a pair of grippers that can be opened and closed freely,
  The pair of grippers are closed from the open position where the container can be loaded and unloaded to the gripping position where the body of the container is pressed and deformed from the outside toward the center and close to the gripping position. While holding the holding member provided in the portion of the pair of grippers facing the container at the gripping position against the outer peripheral surface of the container and driving the intake device to suck in the concave opening formed in the holding member, The pair of grippers are opened from the gripping position to a holding position in contact with the body portion of the container so as to be held so that the concave opening and the outer peripheral surface of the container are in the holding position. A container holding method, wherein the container is held in a state where a closed space of negative pressure is formed therebetween.