JP6875754B2 - Container supply device - Google Patents

Description

The present invention relates to a container supply device that supplies a container to each of a plurality of storage portions formed on the upper surface of a pallet.

Conventionally, a manufacturing apparatus for intermittently manufacturing a plurality of capsules as one unit is known. For example, the capsule-containing product (capsule) manufacturing apparatus described in Patent Document 1 supplies capsules by fitting them into each of 50 capsule holding portions formed on the upper surface of a capsule transport pallet (main pallet). Then, cosmetic powder is filled in each capsule. Then, this manufacturing apparatus seals the cosmetic powder in each capsule by attaching a lid material made of an aluminum film to the opening of each capsule. In other words, this manufacturing apparatus intermittently manufactures 50 capsules as one unit for each capsule transport pallet.

In this manufacturing apparatus, as a preparatory work before filling the capsule with cosmetic powder, first, a capsule is manually placed in each of a plurality of capsule holding portions formed on the upper surface of an auxiliary pallet (dummy pallet) by an operator. It is supplied by mating. Next, the manufacturing apparatus sucks a plurality of capsules supplied to the auxiliary pallet, holds them by the suction head, and then transfers the capsules to the capsule transport pallet. Then, the manufacturing apparatus fills the capsules transferred to the capsule transport pallet with the cosmetic powder.
On the other hand, in the container supply device described in Patent Document 2, a plurality of storage portions formed on the upper surface of the pallet by supplying a plurality of containers (capsules) toward the upper surface of the pallet (dummy pallet). It is automatically supplied to each of the.

Japanese Unexamined Patent Publication No. 6-191593 Japanese Unexamined Patent Publication No. 2015-098347

However, since the container supply device described in Patent Document 2 supplies the container to the pallet accommodating portion by dropping a plurality of containers on the upper surface of the pallet, all the accommodating portions to which the container should be supplied are supplied with the container. There is a problem that the container may not be supplied, which in turn reduces the manufacturing efficiency.

An object of the present invention is to provide a container supply device capable of reliably supplying a container to a pallet accommodating portion and improving manufacturing efficiency.

The container supply device of the present invention is a container supply device that supplies a container to each of a plurality of storage portions formed on the upper surface of the pallet, and is a pallet transport means for transporting the pallet along a predetermined direction and a pallet transport means. The pallet accommodating portion transported in the above is divided into a supply accommodating portion for supplying the container and a spare accommodating portion for which the container does not need to be supplied, and the container is supplied among the supply accommodating portions. Based on the detection results of the storage unit detecting means for detecting the empty supply storage unit and the spare storage unit to which the container is supplied among the spare storage parts, and the storage unit detecting means, the spare storage unit is used. It is characterized by comprising a container replenishing means for replenishing the container supplied to the accommodating portion to the empty supply accommodating portion.

According to such a configuration, the container supply device includes the container replenishment means for replenishing the container supplied to the spare storage unit with the empty supply storage unit based on the detection result of the storage unit detection means. Therefore, the container can be reliably supplied to the supply accommodating portion of the pallet, and the manufacturing efficiency can be improved. Further, since the container replenishing means replenishes the container supplied to the spare accommodating portion to the empty supply accommodating portion, the container may be moved from the spare accommodating portion to the supply accommodating portion, for example, a pallet. Compared with the case where the container is moved from the outside of the container to the supply accommodating portion, the moving distance can be shortened, and the manufacturing efficiency of the container supply device can be improved.

In the present invention, the pallet includes a plurality of accommodating portions arranged in a grid pattern along the row direction and the column direction, and the accommodating portion detecting means aligns the accommodating portion of the pallet along either the row direction or the column direction. It is preferable to divide it into a supply accommodating portion and a spare accommodating portion by dividing the region into two regions.

According to such a configuration, the supply accommodating portion and the spare accommodating portion are arranged in a grid pattern along the row direction and the column direction, respectively, so that the container supply device can be, for example, a container replenishment device. When the container is replenished to the empty supply storage by means and then the container housed in the supply storage is transferred to another device different from the container supply device, the container is stored in the supply storage. The containers can be handled together, and the manufacturing efficiency of the entire manufacturing device including the container supply device can be improved.

In the present invention, have a plurality of temporary portion that temporarily placed a plurality of containers, the pallet comprising a container temporary location means that is different from the container supplement means, based on the detection result of the housing portion detection means, temporary container It is preferable to replenish the empty supply storage portion with the container temporarily placed in the temporary storage portion of the storage means.

According to such a configuration, the container replenishment means is a temporary storage part of the container temporary storage means even when the number of empty supply storage parts is larger than the number of containers supplied to the spare storage part. The container temporarily placed in the container can be replenished in the empty supply housing. Therefore, the container supply device can reliably supply the container to the supply accommodating portion of the pallet, and can improve the manufacturing efficiency.

In the present invention, the first container replenishing means provided on the upstream side of the pallet transporting means and the second container refilling means provided on the downstream side of the pallet transporting means are provided, and the first container replenishing means and the first container replenishing means are provided. It is preferable that the container replenishing means of 2 is shared with each other to replenish the empty supply accommodating portion based on the detection result of the accommodating portion detecting means.

According to such a configuration, the first container replenishing means and the second container replenishing means share the same with each other based on the detection result of the accommodating unit detecting means, and replenish the container to the empty supply accommodating unit. For example, by refilling half of the empty supply container with the first container replenishment means and refilling the other half of the empty supply container with the second container replenishment means. The container can be efficiently supplied to the pallet supply accommodating portion. In other words, the container supply device can increase the speed of transporting the pallets by the pallet transporting means, and can further improve the manufacturing efficiency.

In the present invention, the container replenishing means does not refill the empty supply accommodating portion when the number of empty supply accommodating portions detected by the accommodating unit detecting means is equal to or more than a predetermined threshold value. preferable.

Here, in the container supply device, if the number of empty supply accommodating portions detected by the accommodating portion detecting means increases, it will take time to replenish the container by the container replenishing means. .. Therefore, the container supply device must slow down the speed of transporting the pallets by the pallet transporting means, which reduces the manufacturing efficiency.
On the other hand, according to the present invention, the container replenishment means is used to supply an empty container when the number of empty supply storage units detected by the storage unit detection means is equal to or more than a predetermined threshold value. Since the accommodating portion is not replenished, the speed at which the pallet is conveyed by the pallet conveying means can be increased even when the number of empty supply accommodating portions detected by the accommodating portion detecting means is large, and the manufacturing efficiency can be increased. Can be further improved.
For the pallet in which the container is not replenished to the empty supply accommodating portion, the container may be resupplied to the pallet accommodating portion by dropping a plurality of containers on the upper surface of the pallet or the like.

Perspective view showing the capsule The figure which shows the manufacturing apparatus of a capsule Top view of the main pallet used for the main conveyor Diagram showing the main conveyor Top view and sectional view of a dummy pallet used in the container supply device according to the embodiment of the present invention. Top view of the container supply device that supplies containers to the dummy pallet Side view of container supply device Enlarged side view of the vicinity of the container supply hopper Enlarged top view of the vicinity of the container supply hopper A magnified view of the container supply hopper The figure which shows the relationship between the accommodating part of a dummy pallet, and a guide member. Side view showing a container storage tank and a container transport means Schematic diagram showing a state in which the periphery of the container supply arrangement table of the container supply device is viewed from above. Enlarged view showing the periphery of the upstream pallet conveyor Enlarged view showing the periphery of the downstream pallet conveyor Top view and side view of the container replenishment mechanism of the container supply device Schematic diagram showing the posture correction means viewed from the side The figure which shows the state which the posture of a container is corrected by the posture correction means. The figure which shows the state of the accommodating part of the dummy pallet detected by the CCD camera The figure which shows the state which the container supplied to the spare storage part is replenishing the empty supply storage part. The figure which shows the state which the container housed in the temporary place | storage part of a temporary place table is replenishing the empty supply storage part. Functional block diagram showing a schematic configuration of a container supply device The figure which shows the state which puts a plurality of containers inside a bucket Diagram showing the state in which the bucket is raised The figure which shows the state which the guide member was rotated to the container holding position. The figure which shows the state which the main body part of the container supply hopper was moved along the rail member. Schematic diagram showing a state in which the dummy pallet is transported from the carry-out standby position of the dummy pallet. Schematic diagram showing a state in which a dummy pallet is pushed out toward a container supply arrangement table. Schematic diagram showing a state in which the dummy pallet is pulled out from the container supply arrangement table. The figure which shows the state which the container is replenished to the empty supply accommodating part by the 1st arm robot when the number of empty supply accommodating part is eight. The figure which shows the state which the container is replenished to the empty supply accommodating part by the 2nd arm robot when the number of empty supply accommodating part is eight. The figure which shows the state which the container is temporarily placed in the temporary place of the temporary place by the 1st arm robot when the number of empty supply accommodating part is ten. The figure which shows the state which the container is temporarily placed in the temporary place of the temporary place by the 2nd arm robot when the number of empty supply accommodating part is ten. The figure which shows the flowchart of the container transport supply process executed by the container supply apparatus. The figure which shows the flowchart of the pallet transfer process executed by the container supply apparatus. The figure which shows the flowchart of the container replenishment process executed by the container supply apparatus. Top view and side view of the container cleaning device Top view and side view of the container transfer device Top view and side view of the circulation pallet conveyor Side view showing the state where the cleaning head is lowered Side view showing the state where the cleaning head is slid Top view of filling device Side view of filling device Schematic cross-sectional view of the weighing filling mechanism and filling hopper The figure which shows the state which the shutter of a measuring unit is closed The figure which shows the state which the measuring hole of a measuring plate is filled with the powder or granular material. The figure which shows the state which the container is filled with the powder or granular material Schematic diagram showing a filling check device Side view of film feeder, film die-cutting device, and film transfer device Top view of film feeder, film die-cutting device, and film transfer device The figure which shows the film cut by the film die cutting apparatus Cross-sectional view showing the main part of the suction head Side view of the sealing device Side view of film separator Enlarged sectional view showing a through hole of a bent plate Top view of the film separator Schematic diagram showing the shape of the transfer head of the capsule transfer mechanism Side view of scrap discharge device Perspective view showing the appearance of the scrap holding table Top view of the capsule sorting device Perspective view showing the capsule and case Perspective view showing a pedestal for a case that holds the case Top view of the case conveyor Schematic diagram of the case vibration means viewed from the side Side view of capsule sorting device Functional block diagram showing a schematic configuration of a capsule sorting device The figure which shows the flowchart of the capsule sorting process The figure which shows the state which the 1st storage judgment part judged that the capsule was stored in the case. The figure which shows the state which the 1st case is carried out by the case transport conveyor. The figure which shows the state which the 1st case is transferred from the 2nd lane to the 3rd lane. The figure which shows the state which the 2nd storage judgment part judged that the capsule was stored in the case. The figure which shows the state which the 2nd case is carried out by the case transfer conveyor. The figure which shows the state which the 1st case and the 2nd case are transferred from the 2nd lane to the 3rd lane.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
In the capsule manufacturing apparatus to which the container supply apparatus according to the embodiment of the present invention is applied, a powder or granular material as a content is filled in a container, and a film-like lid material is attached to the opening of the container to obtain powder. A device for producing capsules in which granules are sealed in a container.
Hereinafter, each component of the capsule manufacturing apparatus will be described in order, and the container supply apparatus according to the embodiment of the present invention will be described in detail later. First, the above-mentioned capsule will be described.
In the present embodiment, the capsule manufacturing apparatus is filled with powder or granular material in a container, but may be configured to fill the container with other contents such as powder or liquid.

FIG. 1 is a perspective view showing a capsule.
As shown in FIG. 1, the capsule C includes a container C1 filled with the powder or granular material P, and a film-shaped lid material C2 for sealing the powder or granular material P by being attached to the opening of the container C1. ing.
The container C1 has a body C11 having a hexagonal cross section formed in a bottomed tubular shape and slightly reduced in diameter from the top to the bottom, and a flange C12 formed on the top. ing.
The lid material C2 has a hexagonal base portion C21 that covers the opening of the container C1 and a rectangular ear portion C22 formed on each of the two opposing sides of the base portion C21.

In the present embodiment, the container C1 has a body C11 having a hexagonal cross section, but may have a body having another cross section such as a square cross section. Further, although the container C1 has the flange C12, it does not have to have the flange C12. Further, although the lid material C2 has two rectangular ears C22, it may or may not have one or three or more ears. .. In short, in the present invention, the container and the lid material may have any shape.

FIG. 2 is a diagram showing a capsule manufacturing apparatus. Specifically, FIG. 2 is a schematic view of the capsule manufacturing apparatus 1 viewed from the vertically upper side. In FIG. 2, the vertically upward direction is defined as the + Z axis direction, and the two axes orthogonal to the Z axis are described as the X and Y axes. The same applies to the following drawings.
As shown in FIG. 2, the capsule manufacturing apparatus 1 includes a main conveyor 2 for transporting a plurality of containers C1 by transporting a main pallet MP containing a plurality of containers C1 in a predetermined direction (+ X-axis direction). ing.

Further, the capsule manufacturing device 1 includes a container supply device 3, a container cleaning device 4, a container transfer device 5, a filling device 6, a filling check device 7, a film supply device 8, and a film die cutting device 9. The film transfer device 10, the sealing device 11, the film separation device 12, the scrap discharge device 13, and the capsule sorting device 14 are provided, and these devices are provided from the upstream side to the downstream side of the main conveyor 2. It is arranged.
The main conveyor 2 and the devices 3 to 14 are housed inside a region sealed by a frame FL in which a glass plate is fitted. The operator can perform maintenance of the main conveyor 2 and the devices 3 to 14 by opening the doors arranged in the vicinity of the main conveyor 2 and the devices 3 to 14, respectively.

The container supply device 3 supplies a plurality of containers C1 to a dummy pallet DP formed in a shape substantially similar to that of the main pallet MP. The container supply device 3 and the dummy pallet DP will be described in detail later.
The container cleaning device 4 cleans a plurality of containers C1 supplied to the dummy pallet DP by the container supply device 3 to remove foreign substances such as dust adhering to the container C1. The container cleaning device 4 will be described in detail later.
The container transfer device 5 transfers a plurality of containers C1 supplied to the dummy pallet DP by the container supply device 3 and accommodates them in the main pallet MP. The main pallet MP to which a plurality of containers C1 have been transferred by the container transfer device 5 is conveyed by the main conveyor 2.
The filling device 6 fills the container C1 housed in the main pallet MP conveyed by the main conveyor 2 with the powder or granular material P.
The filling check device 7 confirms whether or not the container C1 is filled with the powder or granular material P by the filling device 6.

The film supply device 8 supplies the film die-cutting device 9 with a film for cutting out the lid material C2.
The film die-cutting device 9 forms a perforation for cutting out the lid material C2 in the film supplied by the film feeding device 8, and cuts this film to a size corresponding to the main pallet MP.
The film transfer device 10 transfers the film cut by the film die-cut device 9 to the main pallet MP conveyed by the main conveyor 2. At this time, the film transfer device 10 transfers the film so that the position of the lid material C2 formed on the film and the position of the opening of the container C1 housed in the main pallet MP are aligned.

The sealing device 11 seals and adheres the lid material C2 formed on the film transferred to the main pallet MP by the film transfer device 10 and the opening of the container C1 housed in the main pallet MP. To seal the powder or granular material P in the capsule C.
The film separating device 12 seals and adheres the lid material C2 formed on the film and the opening of the container C1 housed in the main pallet MP with the sealing device 11, and then separates the lid material C2 from the film. ..

The scrap discharging device 13 collects the remaining film (scrap) after separating the lid material C2 by the film separating device 12 from the main pallet MP and discharges it.
The capsule sorting device 14 takes out the capsule C after separating the lid material C2 by the film separating device 12 from the main pallet MP, sorts the capsules C by a predetermined number, and stores them in the case.
As described above, the capsule manufacturing apparatus 1 intermittently manufactures each of the main pallet MPs with a plurality of capsules C as one unit.
Hereinafter, each apparatus constituting the capsule manufacturing apparatus 1 will be described in order.

[Main conveyor]
FIG. 3 is a top view of the main pallet used for the main conveyor.
The main conveyor 2 conveys the plurality of containers C1 by conveying the main pallet MP containing the plurality of containers C1 in a predetermined direction (+ X-axis direction). First, the main pallet MP used for the main conveyor 2 will be described.
As shown in FIG. 3, the main pallet MP is a metal pallet formed in the shape of a rectangular plate. The main pallet MP is formed so as to penetrate the upper and lower surfaces, and has a plurality of hexagonal cross-section accommodating portions MP1 for inserting and accommodating the container C1 from the upper surface side. In other words, the accommodating portion MP1 is a hole formed in the same cross-sectional shape as the body C11 of the container C1, and one container C1 can be accommodated inside.

Specifically, in the main pallet MP, 10 accommodating portions MP1 are arranged at equal intervals along the longitudinal direction (row direction), and 5 accommodating portions MP1 are arranged at equal intervals along the lateral direction (column direction). The accommodating part MP1 of is arranged. In other words, the main pallet MP has 50 accommodating portions MP1 in a grid pattern.
In the present embodiment, the main pallet MP has 50 accommodating portions MP1 in a grid pattern, but it is sufficient that the main pallet MP has two or more accommodating portions different from 50. Further, in the present embodiment, the accommodating portions are arranged in a grid pattern, but the accommodating portions may not be arranged in a grid dot pattern, and the arrangement thereof may not have regularity.

Here, the outer diameter of the body C11 of the container C1 is formed to be slightly smaller than the inner diameter of the accommodating portion MP1. Further, the outer diameter of the flange C12 of the container C1 is formed to be slightly larger than the inner diameter of the accommodating portion MP1.
Therefore, when the container C1 is accommodated inside the accommodating portion MP1 of the main pallet MP, the flange C12 projects to the outside of the accommodating portion MP1 and the body C11 is accommodated inside the accommodating portion MP1. In other words, the container C1 is housed in the accommodating portion MP1 so as to have a fixed posture in which the top is positioned vertically above and the bottom is positioned vertically below, and the container C1 takes the opposite posture. In this way, it is not accommodated in the accommodating portion MP1.
As described above, the container C1 has a body C11 having a hexagonal cross section, which is formed in a bottomed tubular shape and has a diameter slightly reduced from the top to the bottom. , It is easy to enter the accommodating part MP1.

Further, the main pallet MP is formed at each of the end portions in the longitudinal direction, and is formed at each of the two columnar pin MP2s protruding upward and the end portions on the lower left side of FIG. 3 and the upper right side of FIG. It has two through holes MP3 having a circular cross section formed through the upper and lower surfaces, and two disc-shaped urethane rubber MP4s attached to the side surfaces on the −X axis direction side. These sites will be described in detail later.

FIG. 4 is a diagram showing a main conveyor. Specifically, FIG. 4 is a schematic view of the main conveyor 2 viewed from the vertically upper side.
As shown in FIG. 4, the main conveyor 2 conveys the main pallet MP containing the plurality of containers C1 in a predetermined direction (+ X-axis direction), thereby transporting the plurality of containers C1 and the outbound conveyor 21. The main pallet MP is arranged in parallel with the conveyor 21, and the main pallet MP from which a plurality of containers C1 are collected is conveyed in the direction opposite to the predetermined direction (-X-axis direction), so that the main pallet MP is upstream of the outbound conveyor 21. It is provided with a return conveyor 22 for transporting to the side.

The outbound conveyor 21 includes a plurality of rollers 21A provided so as to come into contact with both ends of the main pallet MP in the longitudinal direction, and a motor 21B for rotating each roller 21A. The outbound conveyor 21 conveys the main pallet MP mounted on each roller 21A in the + X axis direction by rotating each roller 21A by the motor 21B.

The return conveyor 22 includes a plurality of rollers 22A provided so as to come into contact with both ends of the main pallet MP in the longitudinal direction, and a motor 22B for rotating each roller 22A. The return conveyor 22 conveys the main pallet MP mounted on each roller 22A in the −X axis direction by rotating each roller 22A by the motor 22B.

Further, the return conveyor 22 is provided in the middle of transporting the main pallet MP, and is provided with a pallet cleaning mechanism 22C for cleaning the main pallet MP. This pallet cleaning mechanism 22C is a pallet cleaning suction machine 22C1 (only the pallet cleaning suction machine 22C1 on the vertically upper side) provided at two locations on the vertically upper side and the vertically lower side of the main pallet MP so as to sandwich the main pallet MP. (Shown), and by being mounted inside each pallet cleaning suction machine 22C1 and being rotated by a motor (not shown), the powder or granular material P or foreign matter adhering to the upper and lower surfaces of the main pallet MP is rubbed. It is equipped with a drop brush (not shown). Then, the pallet cleaning mechanism 22C scrapes off the powder or granular material P and foreign matter adhering to the upper surface and the lower surface of the main pallet MP conveyed by the return conveyor 22 with a brush, and makes each pallet cleaning suction machine 22C1. Clean the main pallet MP by sucking and removing.

Further, the main conveyor 2 includes an outbound delivery mechanism 23 that sends the main pallet MP conveyed to the upstream side of the outbound conveyor 21 by the inbound conveyor 22 to the outbound conveyor 21, and a inbound conveyor 21 for the inbound route. It is provided with a return path sending mechanism 24 that sends the main pallet MP conveyed to the upstream side of the conveyor 22 to the return path conveyor 22.

The outbound delivery mechanism 23 is rotatably provided around the X-axis, and is in contact with a plurality of rollers 23A provided so as to abut the central portion of the main pallet MP and the side surface of the main pallet MP on the + Y-axis direction side. The delivery plate 23B in contact, the moving mechanism 23C for moving the delivery plate 23B along the Y-axis direction, the container detecting means 23D provided in the middle of transporting the main pallet MP, and the end point position of the outgoing delivery mechanism 23. The static electricity removing means 23E provided in the above is provided. The outbound delivery mechanism 23 sends the main pallet MP mounted on each roller 23A to the outbound conveyor 21 by moving the delivery plate 23B in the −Y axis direction by the moving mechanism 23C.

The container detecting means 23D is provided along the lateral direction of the main pallet MP, and includes five sensors 23D1 for inspecting the presence or absence of the container C1 housed in the storage portion MP1 of the main pallet MP. Each sensor 23D1 is arranged vertically above the container C1 housed in the storage part MP1 of the main pallet MP, and is arranged at a position corresponding to the container C1 in each row housed in the storage part MP1 of the main pallet MP. It is installed. In this embodiment, each sensor 23D1 employs a transmission type laser sensor.

The static electricity removing means 23E is arranged vertically above the main pallet MP sent to the outbound conveyor 21 by the outbound delivery mechanism 23, and removes static electricity from a plurality of containers C1 housed in the main pallet MP. To do. In this embodiment, the static electricity removing means 23E employs a blower type static electricity removing device.

The return path delivery mechanism 24 is rotatably provided around the X axis, and is provided on a plurality of rollers 24A provided so as to abut the central portion of the main pallet MP and on the side surface of the main pallet MP on the −Y axis direction side. It includes a delivery plate 24B that comes into contact with the delivery plate 24B and a moving mechanism 24C that moves the delivery plate 24B along the Y-axis direction. The return path delivery mechanism 24 sends the main pallet MP mounted on each roller 24A to the return path conveyor 22 by moving the delivery plate 24B in the + Y axis direction by the moving mechanism 24C.

Therefore, in the main conveyor 2, after the main pallet MP is conveyed by the outbound conveyor 21 in the + X-axis direction, it is sent out to the inbound conveyor 22 by the inbound delivery mechanism 24, and is sent out to the inbound conveyor 22 by the inbound conveyor 22 in the −X axis direction. After the transfer, the outbound delivery mechanism 23 sends it back to the outbound conveyor 21, so that the main pallet MP is circulated so as to rotate around the Z axis and conveyed.

[Container supply device]
The container supply device 3 of the present invention can reliably supply the container C1 to the accommodating portion of the dummy pallet DP (pallet), and can improve the manufacturing efficiency.
Hereinafter, the container supply device 3 according to the embodiment of the present invention will be described.

FIG. 5 is a top view and a cross-sectional view of a dummy pallet used in the container supply device according to the embodiment of the present invention. Specifically, FIG. 5 (A) is a top view of the dummy pallet DP, and FIG. 5 (B) is a cross-sectional view of AA obtained by cutting the dummy pallet DP along the longitudinal direction.
The container supply device 3 is a device that supplies the container C1 to the dummy pallet DP. First, the dummy pallet DP used in the container supply device 3 will be described.
As shown in FIG. 5, the dummy pallet DP consists of a resin base DPB formed in a rectangular plate shape with chamfered four corners and a stainless steel plate DPL screwed to the upper surface of the base DPB. Have. Further, the upper surface of the plate DPL is subjected to surface treatment to smooth the surface. Therefore, in the present embodiment, the upper surface of the dummy pallet DP is subjected to surface treatment for smoothing the surface.

Here, as the surface treatment for smoothing the surface, for example, Nidax (registered trademark) treatment can be adopted, but if it is a surface treatment for smoothing the surface, other treatments are adopted. You may.
In the present embodiment, the upper surface of the dummy pallet DP is subjected to surface treatment for smoothing the surface, but the surface treatment may not be applied.

The base DPB is formed so as to penetrate the upper and lower surfaces, and has a plurality of hexagonal cross-section accommodating portions DP1 for inserting and accommodating the container C1 from the upper surface side. In other words, the accommodating portion DP1 is a hole formed in the same cross-sectional shape as the body C11 of the container C1, and one container C1 can be accommodated inside.

Specifically, in the base DPB, 10 accommodating portions DP1 are arranged at equal intervals along the longitudinal direction (row direction), and 6 accommodating portions DP1 are arranged at equal intervals along the lateral direction (column direction). The accommodating part DP1 is arranged. In other words, the base DPB has 60 accommodating portions DP1 in a grid pattern.
In the present embodiment, the base DPB has 60 accommodating portions DP1 in a grid pattern, but it is sufficient that the base DPB has two or more accommodating portions different from 60. Further, in the present embodiment, the accommodating portions are arranged in a grid pattern, but the accommodating portions may not be arranged in a grid dot pattern, and the arrangement thereof may not have regularity.

Here, the outer diameter of the body C11 of the container C1 is formed to be slightly smaller than the inner diameter of the accommodating portion DP1. Further, the outer diameter of the flange C12 of the container C1 is formed to be slightly larger than the inner diameter of the accommodating portion DP1.
Therefore, when the container C1 is accommodated inside the accommodating portion DP1 of the base DPB, the flange C12 projects to the outside of the accommodating portion DP1, and the body C11 is accommodated inside the accommodating portion DP1. In other words, the container C1 is accommodated in the accommodating portion DP1 in a fixed posture in which the top is positioned vertically above and the bottom is positioned vertically below, and the container C1 takes the opposite posture. In this way, it is not accommodated in the accommodating section DP1.
Further, as described above, since the container C1 has a body C11 having a hexagonal cross section formed so as to have a bottomed tubular shape and a slightly reduced diameter from the top to the bottom. , It is easy to enter the accommodation unit DP1.

The plate DPL has a through hole DP2 having a circular cross section formed at a position corresponding to the accommodating portion DP1 of the base DPB. Each through hole DP2 is formed so as to increase in diameter from the lower surface side to the upper surface side of the dummy pallet DP.
Therefore, the accommodating portion DP1 of the dummy pallet DP includes the through hole DP2, and the through hole DP2 functions as an expansion portion that expands toward the upper surface side of the dummy pallet DP.
In the present embodiment, the accommodating portion DP1 of the dummy pallet DP is provided with a through hole DP2, and the through hole DP2 is formed so as to increase in diameter from the lower surface side to the upper surface side of the dummy pallet DP. However, it does not have to be formed so as to increase the diameter.

Further, the dummy pallet DP is formed at each end portion in the longitudinal direction, and has two through holes DP3 having a circular cross section that penetrate the upper and lower surfaces of the base DPB and the plate DPL. These sites will be described in detail later.

FIG. 6 is a top view of a container supply device that supplies a container to a dummy pallet. Specifically, FIG. 6 is a view of the container supply device 3 viewed from the + Z axis direction side.
As shown in FIG. 6, the container supply device 3 is arranged so as to be parallel to each other along the X-axis direction, and the container C1 is provided in each of the plurality of accommodating portions DP1 formed on the upper surface of the dummy pallet DP. The pallet transport means 36, which is arranged so as to surround the two container supply mechanisms 3A and 3B and the container supply mechanisms 3A and 3B, and carries in and out the dummy pallet DP to the container supply mechanisms 3A and 3B. And a container replenishment mechanism 37 for replenishing the container C1 to the accommodating portion DP1 that could not be supplied with the container C1 by the container supply mechanisms 3A and 3B.

FIG. 7 is a side view of the container supply device. Specifically, FIG. 7 is a view of the container supply device 3 viewed from the −Y axis direction side.
The container supply mechanisms 3A and 3B have the same configuration, and as shown in FIG. 7, the container supply arrangement table 31 for arranging the dummy pallet DP and the container supply arrangement table 31 are vibrated by vibrating the container supply arrangement table 31. A small electromagnetic feeder 32 as a pallet vibrating means for vibrating the dummy pallet DP, and a container supply for container supply which is arranged above the container supply arrangement table 31 (arrangement position of the dummy pallet DP) and holds a plurality of containers C1. It is equipped with a hopper 33.

In the following description, the container supply arrangement table 31 of the container supply mechanism 3A is referred to as a container supply arrangement table 31A, the small electromagnetic feeder 32 is referred to as a small electromagnetic feeder 32A, and the container supply hopper 33 is referred to as a container supply hopper 33A. To do. Further, the container supply arrangement table 31 of the container supply mechanism 3B is a container supply arrangement table 31B, the small electromagnetic feeder 32 is a small electromagnetic feeder 32B, and the container supply hopper 33 is a container supply hopper 33B.

Further, the container supply mechanisms 3A and 3B are provided below the container supply hopper 33, and are a container storage tank 34 as a storage means for storing a plurality of containers C1 and a plurality of containers stored in the container storage tank 34. It is provided with a container transport means 35 that is held by the container supply hopper 33 by transporting C1.
In the present embodiment, the small electromagnetic feeder 32 is adopted as the pallet vibration means, but a vibration generator of another type different from the electromagnetic type may be adopted. In short, in the present invention, the pallet vibrating means only needs to be able to vibrate the dummy pallet.

FIG. 8 is an enlarged side view of the vicinity of the container supply hopper. FIG. 9 is an enlarged top view of the vicinity of the container supply hopper. Specifically, FIG. 8 is an enlarged view of the vicinity of the container supply hopper 33 from the −Y axis direction side, and FIG. 9 is an enlarged view of the vicinity of the container supply hopper 33 from the + Z axis direction side. It is a figure that I saw.
As shown in FIG. 8, the container supply arrangement table 31 is inclined so as to descend toward the container storage tank 34 side (left side of the paper surface), and two dummy pallet DPs are arranged along the lateral direction. ..

Specifically, each dummy pallet DP is arranged on the container supply arrangement table 31 with the front and back directions of the paper surface as the longitudinal direction and the left and right directions of the paper surface as the lateral direction.
In the present embodiment, the container supply arrangement table 31 is configured to arrange two dummy pallet DPs, but may be configured to arrange one dummy pallet DP. It may be configured to arrange three or more dummy pallet DPs.

Here, the container supply arrangement table 31A and the container supply arrangement table 31B are provided adjacent to each other along the Y-axis direction as shown in FIG. In other words, the dummy pallet DP arranged on the container supply arrangement table 31A as the first region and the dummy pallet DP arranged on the container supply arrangement table 31B as the second area are for container supply. The arrangement table 31A and the container supply arrangement table 31B are arranged adjacent to each other along the adjacent direction.
In the present embodiment, the term "adjacent" means a state in which two members are adjacent to each other, and includes a state in which the two members are not in contact with each other. Further, the adjacent direction means the direction in which the two members are adjacent to each other. Therefore, the adjacent direction of the container supply arrangement table 31A and the container supply arrangement table 31B is the Y-axis direction.

Further, in the present embodiment, the container supply hopper 33A is arranged above the container supply arrangement table 31A and functions as a first holding means for holding the plurality of containers C1. Further, in the present embodiment, the container supply hopper 33B is arranged above the container supply arrangement table 31B and functions as a second holding means for holding the plurality of containers C1.

Further, the container supply device 3 is provided so as to be able to move up and down between the dummy pallet DP arranged on the container supply arrangement table 31A and the dummy pallet DP arranged on the container supply arrangement table 31B. A partition plate 3C is provided as a regulating means for regulating the movement of the container C1.
The partition plate 3C is lowered when the container C1 is supplied to each of the plurality of accommodating portions DP1 formed on the upper surface of the dummy pallet DP, and is arranged on each of the container supply arrangement table 31A and the container supply arrangement table 31B. The movement of the plurality of containers C1 is restricted by contacting the end of the dummy pallet DP. Further, the partition plate 3C rises when the dummy pallet DP is carried in and out of the container supply mechanisms 3A and 3B, and the dummy pallets are arranged in the container supply arrangement table 31A and the container supply arrangement table 31B, respectively. Separate from the end of the DP.

As shown in FIG. 8, the small electromagnetic feeder 32 is arranged below the container supply arrangement table 31 and vibrates the two dummy pallet DPs arranged on the container supply arrangement table 31.
The container supply hopper 33 is arranged parallel to the lateral direction of the dummy pallet DP arranged on the container supply arrangement table 31 and is inclined in the same manner as the container supply arrangement table 31 for container supply. It is attached to a rail member 33R arranged above the arrangement table 31. The container supply hopper 33 drops a plurality of containers C1 toward the dummy pallet DP arranged on the container supply arrangement table 31.

As shown in FIGS. 8 and 9, the rail member 33R is provided on both sides in the longitudinal direction of the two dummy pallet DPs arranged on the container supply arrangement table 31A and the container supply arrangement table 31B, respectively. There is. Further, the rail member 33R is attached to the upper end portion (the right end portion of the paper surface), and the compressor 33C discharges air to the container storage tank 34 side along the upper surface of the dummy pallet DP arranged on the container supply arrangement table 31. It has.

As shown in FIG. 9, the compressor 33C discharges air to the container storage tank 34 side (left side of the paper surface) along the upper surface of the dummy pallet DP arranged on the container supply arrangement table 31A, thereby causing the plurality of containers C1. Air is blown to the container storage tank 34 side (left side of the paper) along the upper surface of the compressor 33CA as the first air discharge part and the dummy pallet DP arranged on the container supply arrangement table 31B. It is provided with a compressor 33CB as a second air discharge unit that drops a plurality of containers C1 into the container storage tank 34 by discharging. Here, the air discharged by the compressor 33CB is set to be weaker than the air discharged by the compressor 33CA.

The compressor 33CA and the compressor 33CB have four discharge ports 33D branched so as to discharge air to the container storage tank 34 side along the upper surface of the dummy pallet DP, and the strength of the air discharged from each discharge port 33D. Are configured to be adjustable respectively.
In the present embodiment, the compressor 33CA and the compressor 33CB have four discharge ports 33D, but may have a different number of discharge ports. Further, in the present embodiment, the strength of the air discharged from each discharge port 33D is configured to be adjustable, but may not be adjustable.

FIG. 10 is a further enlarged view of the container supply hopper.
As shown in FIG. 10, the container supply hopper 33 has a slider 331 that is provided so as to be able to advance and retreat along the rail member 33R, a main body 332 that is attached to the slider 331 and holds a plurality of containers C1, and a main body. It includes a guide member 333 attached to the portion 332.

The slider 331 includes wheels (not shown) that roll on the upper surface of the rail member 33R, and the wheels are rotated by the driving force of a motor (not shown) provided inside the slider 331 to move along the rail member 33R. The main body portion 332 moves along the rail member 33R with the movement of the slider 331. Therefore, the rail member 33R and the slider 331 function as a container supply moving means for moving the container supply hopper 33 along a predetermined direction (the lateral direction of the dummy pallet DP).
In the present embodiment, the container supply device 3 is provided with the container supply moving means, but it may not be provided.

The main body 332 includes a hopper conveyor 332A forming the bottom surface and a cover 332B forming three side surfaces excluding the side surface on the right side of the paper surface of the main body 332, and is provided in the space formed by the hopper conveyor 332A and the cover 332B. Holds a plurality of containers C1.
The hopper conveyor 332A moves the transport path from the upstream side (left side of the paper surface) to the downstream side (right side of the paper surface) of the main body portion 332 by the driving force of the motor 332A1 attached to the main body portion 332. As a result, the plurality of containers C1 housed in the main body portion 332 move from the upstream side to the downstream side of the main body portion 332.
Here, since the cover 332B does not form a side surface on the downstream side of the main body portion 332, when the transport path of the hopper conveyor 332A is moved from the upstream side to the downstream side of the main body portion 332, the plurality of containers C1 become available. After being conveyed by the hopper conveyor 332A, it will fall from the downstream side of the main body 332.

The guide member 333 is rotatably attached to the main body 332 about a shaft in the front and back directions of the paper surface, and is rotated by a driving force of a cylinder (not shown) provided in the main body 332. Specifically, the guide member 333 has either a container holding position (two-dot chain line in the figure) with the tip positioned upward and a guide position (solid line in the figure) with the tip positioned downward. It rotates and stops.
In the present embodiment, the container supply hopper 33 includes the guide member 333, but the guide member 333 may not be provided. In short, in the present invention, the holding means only needs to be able to supply a plurality of containers toward the upper surface of the dummy pallet.

At the container holding position, the guide member 333 is inclined so as to rise toward the tip side, so that a bottomed tubular space is formed by cooperating with the hopper conveyor 332A and the cover 332B, and a plurality of bottomed tubular spaces are formed. Prevent the container C1 from dropping from the lower end side of the main body 332. In other words, in a state where the guide member 333 is rotated to the container holding position and stopped, the guide member 333 constitutes a side surface on the downstream side of the main body portion 332.
At the guide position, the guide member 333 is inclined so as to descend toward the tip side, so that the plurality of containers C1 slide on the upper surface of the guide member 333 after being conveyed by the hopper conveyor 332A and the main body. It will fall from the downstream side of the portion 332.

In the present embodiment, the guide member 333 may rotate and stop at one of two positions, a container holding position with the tip positioned upward and a guide position with the tip positioned downward. It is configured so that it can rotate, but it does not have to be configured so that it can rotate. In this case, the guide member 333 may be fixed at the guide position.

FIG. 11 is a diagram showing the relationship between the accommodating portion of the dummy pallet and the guide member. Specifically, FIG. 11A is a view of the dummy pallet DP and the guide member 333 viewed from above, and FIG. 11B is a guide member along the left-right direction of the paper surface of FIG. 11A. It is a figure which shows the cross section which cut 333. Further, FIG. 11A is a diagram showing a state in which the guide member 333 is rotated to the guide position and stopped.
As shown in FIGS. 10 and 11, the guide member 333 is formed in a rail shape that is inclined so as to descend from the base end portion attached to the main body portion 332 toward the tip end portion on the dummy pallet DP side. It has a number of rail portions 333A, and each rail portion 333A is integrally formed into one member.

Each rail portion 333A is provided so as to correspond to ten accommodating portions DP1 arranged at equal intervals along the longitudinal direction of the dummy pallet DP. Further, each rail portion 333A has a V-shaped groove portion 333A1 that slides and guides the container C1 toward the center of each accommodating portion DP1 of the dummy pallet DP. Specifically, each rail portion 333A is provided along a direction parallel to the lateral direction of the dummy pallet DP, and the groove portion 333A1 positions the deepest portion vertically above the center of the accommodating portion DP1. (One-dot chain line in the figure). Therefore, the guide member 333 guides the container C1 so as to drop toward the center of the accommodating portion DP1 of the dummy pallet DP.

In the present embodiment, the guide member 333 is formed in a rail shape that is inclined so as to descend from the base end portion attached to the main body portion 332 toward the tip end portion on the dummy pallet DP side, and the dummy pallet is formed. Although it has a V-shaped groove portion 333A1 that slides and guides the container C1 toward the center of each accommodating portion DP1 of the DP, it may be formed in another shape such as a tunnel shape. In short, the guide member may guide the container so as to drop it toward the center of the accommodating portion of the dummy pallet.

Further, each rail portion 333A is provided so as to project from the tip on the dummy pallet DP side along the direction of guiding the container C1, and includes a pair of projecting pieces 333A2 provided on both sides of the groove portion 333A1. The distance between the pair of protruding pieces 333A2 becomes wider toward the tip on the dummy pallet DP side. The distance between the tips is wider than the outer diameter of the body C11 of the container C1 and narrower than the outer diameter of the flange C12 of the container C1.

In the present embodiment, the distance between the pair of protruding pieces 333A2 becomes wider toward the tip on the dummy pallet DP side, but the distance from the base end to the tip may be constant.
Further, in the present embodiment, the guide member 333 includes a pair of projecting pieces 333A2, but the guide member 333 does not have to be provided.

FIG. 12 is a side view showing a container storage tank and a container transport means. Specifically, FIG. 12 is a view of the container storage tank 34 and the container transport means 35 as viewed from the −Y axis direction side.
As shown in FIG. 12, the container storage tank 34 is dropped onto the upper surface of the dummy pallet DP by a storage cover 341 that covers an opening formed on the vertically upper side for charging the container C1 and a container supply hopper 33. Of the plurality of containers C1, a collection port 342 for collecting a plurality of containers C1 not stored in the storage unit DP1 of the dummy pallet DP and a collection port 342 formed below the collection port 342 and stored inside the collection port 342. It is provided with a carry-out outlet 343 for carrying out the container C1.

The container transport means 35 is provided on the right side of the paper surface of the container storage tank 34, and has a bucket mechanism 351 that is held by the container supply hopper 33 by transporting a plurality of containers C1 stored in the container storage tank 34, and a container. It is provided with a belt conveyor 352 that conveys a plurality of containers C1 from the storage tank 34 to the bucket mechanism 351.
In the present embodiment, the container transporting means 35 includes a bucket mechanism 351 and a belt conveyor 352, but the configuration may be different from this. In short, the container transporting means may be held by the first holding means and the second holding means by transporting a plurality of containers stored in the storage means.

The bucket mechanism 351 includes a bucket 351A, an elevator 351B, and a holding conveyor 351C.
The bucket 351A is formed in a bottomed square tube shape having a bottom surface portion 351A1 that is openable and closable while being inclined so as to descend toward the container storage tank 34 side. The bucket 351A stores a plurality of containers C1 inside the bottom surface portion 351A1 by closing the bottom surface portion 351A1, and sends out the plurality of containers C1 stored inside the bucket 351A by opening the bottom surface portion 351A1. Here, FIG. 12 shows a state in which the bottom surface portion 351A1 of the bucket 351A is opened.

The elevator 351B raises and lowers the bucket 351A in the vertical vertical direction so that the height position of the container storage tank 34 (specifically, the opening on the upper side of the bucket 351A from the upper surface of the transport path of the belt conveyor 352 is opened. It reciprocates between the lower position) and the height position of the container supply hopper 33. Here, FIG. 12 shows a state in which the bucket 351A is raised to the height position of the container supply hopper 33 by the elevator 351B.

In the holding conveyor 351C, a plurality of containers C1 delivered by the bucket 351A are placed on the transport path 351C1, and the transport path 351C1 is directed from the upstream side (paper surface right side) to the downstream side (paper surface left side) by the motor 351C2. By moving the container C1 and transporting the plurality of containers C1, the container supply hopper 33 holds the container C1. Specifically, the plurality of containers C1 placed on the transport path 351C1 fall from the downstream side of the holding conveyor 351C toward the container supply hopper 33.
In the present embodiment, the bucket mechanism 351 is provided with a holding conveyor 351C, and the holding conveyor 351C is held by the container supply hopper 33 by transporting a plurality of containers C1. On the other hand, the bucket mechanism 351 may be held by the container supply hopper 33 by another mechanism such as pushing out a plurality of containers C1.

Further, the holding conveyor 351C includes a rectangular plate-shaped gate 351C3 provided vertically above the transport path 351C1 at predetermined intervals. The gate 351C3 is arranged over the entire width of the transport path 351C1. In other words, the holding conveyor 351C has an inlet having a predetermined area for introducing a plurality of containers C1.
In the present embodiment, the holding conveyor 351C includes a rectangular plate-shaped gate 351C3, but the holding conveyor 351C does not have to have the gate 351C3.

Since the gate 351C3 is attached to the holding conveyor 351C by inserting the pin 351C4 along the Y-axis direction into the upper end thereof, the gate 351C3 can swing around the Y-axis. Therefore, the gate 351C3 can oscillate the lower end of the gate 351C3 when passing through the plurality of containers C1.
In the present embodiment, the gate 351C3 is attached to the holding conveyor 351C so that the lower end thereof can be swung when passing through the plurality of containers C1, but the lower end thereof can be swung. It does not have to be attached.

FIG. 13 is a schematic view showing a state in which the periphery of the container supply arrangement table of the container supply device is viewed from above. Specifically, FIG. 13 is a diagram schematically showing a state in which the periphery of the container supply arrangement tables 31A and 31B of the container supply device is viewed from the + Z axis direction side.
As shown in FIG. 13, the container supply device 3 includes the above-mentioned pallet transport means 36 that carries in and out of the container supply arrangement table 31 by transporting the dummy pallet DP. The pallet transport means 36 is arranged on the upstream side pallet conveyor 361 and pusher 362 arranged on the + Y axis direction side of the container supply arrangement table 31 and on the −Y axis direction side of the container supply arrangement table 31. It includes a puller 363, a downstream pallet conveyor 364, and a circulation pallet conveyor 365 arranged on the + X-axis direction side of the container supply arrangement table 31.

The upstream pallet conveyor 361 conveys the dummy pallet DP to the carry-in standby position W1 of the dummy pallet DP provided adjacent to the container supply arrangement table 31A on the + Y axis direction side.
The pusher 362 pushes the dummy pallet DP conveyed to the carry-in standby position W1 of the dummy pallet DP by the upstream pallet conveyor 361 toward the container supply arrangement table 31A.
The puller 363 pulls out the two dummy pallet DPs arranged on the container supply arrangement table 31B up to the carry-out standby position W2 of the dummy pallet DP provided on the −Y axis direction side adjacent to the container supply arrangement table 31B. ..

The downstream pallet conveyor 364 conveys the dummy pallet DP from the carry-out standby position W2 of the dummy pallet DP to the circulation pallet conveyor 365.
The circulation pallet conveyor 365 circulates the dummy pallet DP by transporting the dummy pallet DP arriving at the end point position of the downstream pallet conveyor 364 to the start point position of the upstream pallet conveyor 361.

The pallet transporting means 36 may have a configuration different from the above-described configuration including the upstream pallet conveyor 361, the pusher 362, the puller 363, the downstream pallet conveyor 364, and the circulation pallet conveyor 365. .. For example, the pallet transporting means may transport the dummy pallet manually by the operator. In short, the pallet transporting means only needs to be able to transport the dummy pallet along a predetermined direction.

FIG. 14 is an enlarged view showing the periphery of the upstream pallet conveyor. Specifically, FIG. 14A is a view of the periphery of the upstream pallet conveyor 361 viewed from the + Z axis direction side, and FIG. 14B is a view of the periphery of the upstream pallet conveyor 361 on the + Y axis direction side. It is a figure seen from.
As shown in FIGS. 13 and 14, the upstream pallet conveyor 361 has a transfer path 361A that moves toward the carry-in standby position W1 of the dummy pallet DP (toward the −X axis direction) and a transfer direction of the transfer path 361A. It is provided with a pair of guide rails 361B provided on both sides of the transport path 361A as well as being provided in parallel with the above. The distance between the pair of guide rails 361B is set to be slightly longer than the length of the dummy pallet DP in the longitudinal direction. Here, at the carry-in standby position W1 of the dummy pallet DP, the transport path 361A is inclined in the same manner as the container supply arrangement table 31 (see FIG. 14B).

As shown in FIG. 14, the pusher 362 includes an abutting portion 362A that abuts on the side surface of the dummy pallet DP, and an advancing / retreating mechanism 362B that advances / retreats the abutting portion 362A along the Y-axis direction. The pusher 362 advances the contact portion 362A toward the −Y axis direction by the advance / retreat mechanism 362B, so that the dummy pallet DP is conveyed to the carry-in standby position W1 of the dummy pallet DP by the upstream pallet conveyor 361. Is pushed toward the container supply pallet 31A.

FIG. 15 is an enlarged view showing the periphery of the downstream pallet conveyor. Specifically, FIG. 15A is a view of the periphery of the downstream pallet conveyor 364 viewed from the + Z axis direction, and FIG. 15B is a view of the periphery of the downstream pallet conveyor 364 in the −Y axis direction. It is a view seen from the side.
As shown in FIG. 15, the puller 363 includes a pin 363A to be inserted into the through hole DP3 formed on the −Y axis direction side of the two through holes DP3 (see FIG. 5) formed in the dummy pallet DP. It is provided with an advancing / retreating mechanism 363B that advances / retreats the pin 363A along the Y-axis direction. This puller 363 is inserted into the through hole DP3 of the dummy pallet DP after the pin 363A is advanced toward the + Y axis direction by the advance / retreat mechanism 363B, and the pin 363A is moved toward the −Y axis direction by the advance / retreat mechanism 363B. By retracting toward the container, the two dummy pallet DPs arranged on the container supply arrangement table 31B are pulled out to the carry-out standby position W2 of the dummy pallet DP.

As shown in FIGS. 13 and 15, the downstream pallet conveyor 364 has a transport path 364A that moves from the dummy pallet DP carry-out standby position W2 toward the right side of the paper surface and a dummy pallet DP carry-out standby position on the puller 363. It is provided with a pusher 364B that pushes the dummy pallet DP drawn out to W2 toward the conveyor 364A, and a pair of guide rails 364C provided on both sides of the conveyor 364A while being provided parallel to the moving direction of the conveyor 364A. ing. The distance between the pair of guide rails 364C is set to be slightly longer than the length of the dummy pallet DP in the longitudinal direction. Here, at the carry-out standby position W2 of the dummy pallet DP, the transport path 364A is inclined in the same manner as the container supply arrangement table 31 (see FIG. 15B).

Further, as shown in FIG. 15, the downstream pallet conveyor 364 switches the state of the carry-out standby position W2 of the dummy pallet DP between an inclined state and a horizontal state as in the container supply arrangement table 31. It is equipped with a mechanism 364D.
The switching mechanism 364D includes a pedestal 364D1 having a carry-out standby position W2 for the dummy pallet DP, and a pedestal support portion 364D2 that rotatably supports the pedestal 364D1 around the Y axis. The switching mechanism 364D rotates the pedestal 364D1 around the Y axis by the driving force of a motor (not shown), so that the state of the dummy pallet DP carry-out standby position W2 is tilted in the same manner as the container supply arrangement table 31. Switch between the flat state and the horizontal state.

As shown in FIG. 13, the circulation pallet conveyor 365 is placed with a dummy pallet DP and moves in the + Y-axis direction from the end point position of the downstream pallet conveyor 364 to the start point position of the upstream pallet conveyor 361. The transport path 365A, the plate 365B that abuts on the + X-axis direction side surface of the dummy pallet DP that has arrived at the end point of the transport path 365A, and the advancing / retreating mechanism 365C that advances and retreats the plate 365B along the X-axis direction. I have. The circulation pallet conveyor 365 sends the dummy pallet DP arriving at the starting point position of the upstream pallet conveyor 361 to the upstream pallet conveyor 361 by advancing the plate 365B toward the −X axis direction by the advance / retreat mechanism 365C.

FIG. 16 is a top view and a side view of the container replenishment mechanism of the container supply device. Specifically, FIG. 16A is a top view of the container refilling mechanism 37 viewed from the + Z axis direction side, and FIG. 16B is a side view of the container refilling mechanism 37 viewed from the −Y axis direction side. It is a figure.
As shown in FIG. 16, the container supply device 3 includes the above-mentioned container replenishment mechanism 37 that replenishes the container C1 to the accommodating portion DP1 that could not be supplied with the container C1 by the container supply mechanisms 3A and 3B.

The downstream pallet conveyor 364 includes a pin (not shown) to be inserted into the through hole DP3 of the dummy pallet DP, and a moving mechanism (not shown) to move this pin toward the + X axis direction. The downstream pallet conveyor 364 conveys the dummy pallet DP by inserting a pin into the through hole DP3 of the dummy pallet DP and moving the pin by a moving mechanism. Specifically, the downstream pallet conveyor 364 moves the dummy pallet DP toward the + X-axis direction by repeating the movement and stopping of the pins for each distance of one dummy pallet DP to move the dummy pallet DP intermittently. Transport intermittently.

The container replenishment mechanism 37 includes a first abnormality detection sensor 371 and a second abnormality detection sensor 372, a posture correction means 373, a CCD camera 374, a temporary stand 375, a first arm robot 376, and a second arm robot. It is equipped with 377.
Hereinafter, the stop position of the dummy pallet DP located on the −X axis direction side of the temporary stand 375 is referred to as DPS1 and DPS2, and the stop position of the dummy pallet DP located on the + X axis direction side of the temporary stand 375 is referred to as DPS3.

Note that, in FIG. 16A, the posture correction means 373 and the CCD camera 374 are not shown, and in FIG. 16B, the first abnormality detection sensor 371, the second abnormality detection sensor 372, and the first arm robot 376 are shown. And the illustration of the second arm robot 377 is omitted. The first arm robot 376 and the second arm robot 377 are also shown in FIG. 6 described above.

As shown in FIG. 16A, the first abnormality detection sensor 371 is arranged on the −X axis direction side of the downstream pallet conveyor 364. The first abnormality detection sensor 371 emits light along the upper surface of the dummy pallet DP in the + Y-axis direction, so that the dummy pallet DP is conveyed to the stop position DPS1 by the downstream pallet conveyor 364 and stopped. The floating of the container C1 supplied to the part DP1 is detected.
The second abnormality detection sensor 372 is arranged on the + X axis direction side of the first abnormality detection sensor 371. Similar to the first abnormality detection sensor 371, the second abnormality detection sensor 372 emits light along the upper surface of the dummy pallet DP in the + Y-axis direction to reach the stop position DPS2 on the downstream pallet conveyor 364. The floating of the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP that has been transported and stopped is detected.

FIG. 17 is a schematic view showing a state in which the posture correcting means is viewed from the side.
As shown in FIGS. 16 and 17, the posture correcting means 373 is inserted from the lower surface side into the accommodating portion DP1 of the dummy pallet DP which has been conveyed to the stop position DPS1 by the downstream pallet conveyor 364 and stopped. It includes a plate 373A having a plurality of rod-shaped bodies 373A1 that abut and push up the container C1 housed in the storage portion DP1 of the dummy pallet DP, and a cylinder 373B that raises and lowers the plate 373A. The posture correcting means 373 corrects the posture of the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP conveyed by the downstream pallet conveyor 364.

FIG. 18 is a diagram showing a state in which the posture of the container is corrected by the posture correcting means. Specifically, FIG. 18A is a diagram showing a state in which the plate 373A is raised, and FIG. 18B is a diagram showing a state in which the plate 373A is lowered.
As shown in FIG. 18A, the posture correcting means 373 abuts a plurality of rod-shaped bodies 373A1 on the container C1 housed in the housing portion DP1 of the dummy pallet DP by raising the plate 373A by the cylinder 373B. Let it push up (see the upward arrow in the figure). At this time, the cylinder 373B raises the plate 373A so that the upper surface of the rod-shaped body 373A1 is positioned vertically downward with respect to the upper surface of the dummy pallet DP. In other words, the cylinder 373B raises the plate 373A to the extent that the rod-shaped body 373A1 does not protrude from the upper surface of the dummy pallet DP.

After that, the posture correcting means 373 lowers the plate 373A at the cylinder 373B as shown in FIG. 18 (B) (see the downward arrow in the figure). Here, as described above, the container C1 has a body C11 having a hexagonal cross section formed so as to have a bottomed tubular shape and a slightly reduced diameter from the top to the bottom. Therefore, the posture correcting means 373 can correct the posture of the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP by lowering the plate 373A.
Therefore, in the present embodiment, the posture correcting means 373 changes the posture of the container C1 supplied from the upper surface side of the dummy pallet DP to the housing portion DP1 of the dummy pallet DP from the lower surface side of the dummy pallet DP to the housing portion of the dummy pallet DP. The rod-shaped body 373A1 is inserted into the DP1 and brought into contact with the bottom surface of the container C1 for correction.

As shown in FIG. 16B, the CCD camera 374 is arranged vertically above the downstream pallet conveyor 364. The CCD camera 374 detects the state of the accommodating portion DP1 of the dummy pallet DP by imaging the dummy pallet DP that has been conveyed to the stop position DPS2 by the downstream pallet conveyor 364 and stopped.

FIG. 19 is a diagram showing a state of the accommodating portion of the dummy pallet detected by the CCD camera.
Specifically, as shown in FIG. 19, the CCD camera 374 uses the storage unit DP1 of the dummy pallet DP conveyed by the downstream pallet conveyor 364 as the supply storage unit DP1F to which the container C1 should be supplied, and the container. It is divided into a spare storage unit DP1S that does not need to supply C1.
Here, the CCD camera 374 divides the accommodating portion DP1 of the dummy pallet DP into two regions along the longitudinal direction (row direction) into the supply accommodating portion DP1F and the spare accommodating portion DP1S. Specifically, the CCD camera 374 divides the accommodating portion DP1 of the dummy pallet DP into two regions along the longitudinal direction, so that the accommodating portions DP1 of the dummy pallet DP are divided into two regions at equal intervals along the longitudinal direction (row direction). And the supply accommodating unit DP1F in which five accommodating units DP1 are arranged at equal intervals along the lateral direction (column direction) and at equal intervals along the longitudinal direction (row direction). It is divided into a spare accommodating unit DP1S in which 10 accommodating units DP1 are arranged and one accommodating unit DP1 is arranged at equal intervals along the lateral direction (row direction).

In the present embodiment, the CCD camera 374 divides the accommodating portion DP1 of the dummy pallet DP into two regions along the row direction, thereby dividing the accommodating portion DP1F into the supply accommodating portion DP1F and the spare accommodating portion DP1S. , By dividing into two regions along the row direction, it may be divided into a supply accommodating portion DP1F and a spare accommodating portion DP1S. Further, the CCD camera 374 may be divided into a supply accommodating portion DP1F and a spare accommodating portion DP1S based on conditions different from those in the row direction and the column direction.

Then, the CCD camera 374 supplies a plurality of containers C1 held by the container supply hopper 33A and the container supply hopper 33B toward the upper surface of the dummy pallet DP, and then supplies the container C1 among the supply accommodating portions DP1F. The empty supply accommodating unit DP1F that is not supplied with the container C1 and the spare accommodating unit DP1S to which the container C1 is supplied are detected among the spare accommodating units DP1S. As described above, in the present embodiment, the CCD camera 374 functions as the accommodating portion detecting means.

For example, in FIG. 19, assuming that the accommodating portion DP1 in the upper left corner is the first row and the first column, the CCD camera 374 serves as an empty supply accommodating portion DP1F in which the container C1 is not supplied. Detects three supply accommodating units DP1F in the second row, the third column, the third row, the seventh column, and the fourth row and the second column. Further, the CCD camera 374 has eight spare storage units other than the sixth row, the fourth column, and the sixth row and the eighth column as the spare storage unit DP1S to which the container C1 is supplied among the spare storage units DP1S. DP1S is detected.

As shown in FIG. 16, the temporary stand 375 is located on the + X-axis direction side of the CCD camera 374, is arranged vertically above the pallet conveyor 364 on the downstream side, and has a plurality of temporary positions for temporarily placing a plurality of containers C1. It has a pallet 375A. The dummy pallet DP passes vertically below the temporary stand 375.
Therefore, in the present embodiment, the temporary storage table 375 functions as a container temporary storage means having a plurality of temporary storage portions 375A for temporarily placing the plurality of containers C1.
In the present embodiment, the container supply device 3 is provided with a temporary stand 375, but it is not necessary to provide the temporary stand 375.

Specifically, the temporary storage table 375 includes a first temporary storage area 375A1 provided on the first arm robot 376 side and a second temporary storage area 375A2 provided on the second arm robot 377 side. There is.
The temporary storage table 375 has three through holes having a rectangular cross section formed between the first temporary storage area 375A1 and the second temporary storage area 375A2, and the first temporary storage area 375A1 and the second temporary storage area 375A2. It clearly separates 375A2.

In the first temporary storage region 375A1, ten temporary storage portions 375A are arranged at equal intervals along the longitudinal direction (row direction), and two temporary storage portions 375A are arranged at equal intervals along the lateral direction (column direction). Temporary placement portions 375A are arranged. In other words, the first temporary storage region 375A1 has 20 temporary storage portions 375A in a grid pattern.
In the second temporary storage region 375A2, 10 temporary storage portions 375A are arranged at equal intervals along the longitudinal direction (row direction), and two temporary storage portions 375A are arranged at equal intervals along the lateral direction (column direction). Temporary placement portions 375A are arranged. In other words, the second temporary storage region 375A2 has 20 temporary storage portions 375A in a grid pattern.
In the present embodiment, the first temporary storage area 375A1 and the second temporary storage area 375A2 have 20 temporary storage portions 375A in a grid pattern, but the number of temporary storage regions is two or more different from 20. It suffices to have a place. Further, in the present embodiment, the temporary placement portions are arranged in a grid dot pattern, but the temporary placement portions may not be arranged in a grid dot pattern, and the arrangement thereof may not have regularity.

Here, the shape of the temporary storage portion 375A of the temporary storage base 375 is formed to be the same as the shape of the storage portion DP1 of the dummy pallet DP.
Therefore, when the container C1 is housed inside the temporary place 375A of the temporary place 375, the flange C12 protrudes to the outside of the temporary place 375A, and the body C11 is housed inside the temporary place 375A. In other words, the container C1 is housed in the temporary placement portion 375A so as to have a fixed posture in which the top is positioned vertically above and the bottom is positioned vertically below, and the container C1 is housed in the opposite posture. It is not accommodated in the temporary storage portion 375A as if it were taken.
Further, as described above, since the container C1 has a body C11 having a hexagonal cross section formed so as to have a bottomed tubular shape and a slightly reduced diameter from the top to the bottom. , It is easy to enter the temporary storage portion 375A.

As shown in FIGS. 6 and 16A, the first arm robot 376 includes a robot body 376A and a hand 376B (FIGS. 20 and 21) provided at the tip of the robot body 376A to hold the container C1. (See), and is arranged on the −Y axis direction side of the temporary stand 375.
By moving the hand 376B, the robot body 376A is a storage unit for the temporary pallet DP of the first temporary storage area 375A1 and the dummy pallet DP which is transported to the stop position DPS2 by the downstream pallet conveyor 364 and stopped. It goes back and forth with each of DP1.

As shown in FIGS. 6 and 16A, the second arm robot 377 includes a robot body 377A and a hand 377B (FIGS. 20 and 21) provided at the tip of the robot body 377A to hold the container C1. (See), and is arranged on the + X-axis direction side of the first arm robot 376.
By moving the hand 377B, the robot body 377A is a storage unit for the temporary pallet DP of the second temporary storage area 375A2 and the dummy pallet DP which is conveyed to the stop position DPS3 by the downstream pallet conveyor 364 and stopped. It goes back and forth with each of DP1.

FIG. 20 is a diagram showing a state in which the container supplied to the spare storage unit is replenished to the empty supply storage unit. Specifically, FIG. 20 (A) is a diagram showing a state in which the hands 376B and 377B are moved to the position of the container C1 supplied to the spare accommodating portion DP1S, and FIG. 20 (B) is a diagram showing a state in which the hands 376B and 377B are moved to the position of the container C1. It is a figure which shows the state which moved 376B and 377B to the position of the empty supply accommodating part DP1F. In FIG. 20, the container C1 is illustrated with hatching.

Based on the detection result of the CCD camera 374, the first arm robot 376 is used as a spare for the dummy pallet DP which is conveyed to the stop position DPS2 by the downstream pallet conveyor 364 and stopped, as shown in FIG. 20 (A). The container C1 supplied to the accommodating portion DP1S is held by the hand 376B. Then, based on the detection result of the CCD camera 374, the first arm robot 376 stops the container C1 on the downstream pallet conveyor 364 by moving the hand 376B as shown in FIG. 20 (B). The dummy pallet DP that has been transported to the position DPS2 and stopped is replenished to the empty supply accommodating unit DP1F (see the left arrow in the figure).

Further, based on the detection result of the CCD camera 374, the second arm robot 377 is a dummy pallet DP that is conveyed to the stop position DPS3 by the downstream pallet conveyor 364 and stopped, as shown in FIG. 20 (A). The container C1 supplied to the spare accommodating portion DP1S is held by the hand 377B. Then, based on the detection result of the CCD camera 374, the second arm robot 377 stops the container C1 on the downstream pallet conveyor 364 by moving the hand 377B as shown in FIG. 20 (B). The dummy pallet DP that has been transported to the position DPS3 and stopped is replenished to the empty supply accommodating unit DP1F (see the left arrow in the figure).

As described above, in the present embodiment, the first arm robot 376 and the second arm robot 377 supply an empty container C1 supplied to the spare accommodating portion DP1S based on the detection result of the CCD camera 374. It functions as a container replenishment means for replenishing the storage unit DP1F. Further, the first arm robot 376 functions as a first container refilling means provided on the upstream side of the downstream pallet conveyor 364, and the second arm robot 377 is provided on the upstream side of the downstream pallet conveyor 364. It functions as a second container refilling means.
In the present embodiment, the container supply device 3 includes two arm robots 376 and 377, but the container supply device 3 may be one or three or more. In short, the container supply device may include at least one container replenishment means.

FIG. 21 is a diagram showing a state in which the container housed in the temporary place of the temporary place is refilled with the empty supply house. Specifically, FIG. 21 (A) is a diagram showing a state in which the hands 376B and 377B are moved to the position of the container C1 housed in the temporary storage portion 375A of the temporary storage table 375, and FIG. 21 (B) is a diagram. Is a diagram showing a state in which the hands 376B and 377B are moved to the position of the empty supply accommodating unit DP1F. In FIG. 21, the container C1 is shown with hatching.

As shown in FIG. 21 (A), the first arm robot 376 holds the container C1 temporarily placed in the temporary storage portion 375A of the first temporary storage area 375A1 by the hand 376B. Then, based on the detection result of the CCD camera 374, the first arm robot 376 stops the container C1 on the downstream pallet conveyor 364 by moving the hand 376B as shown in FIG. 21 (B). The dummy pallet DP that has been transported to the position DPS2 and stopped is replenished to the empty supply accommodating unit DP1F (see the left arrow in the figure).

Further, as shown in FIG. 21 (A), the second arm robot 377 holds the container C1 temporarily placed in the temporary storage portion 375A of the second temporary storage area 375A2 by the hand 377B. Then, based on the detection result of the CCD camera 374, the second arm robot 377 stops the container C1 on the downstream pallet conveyor 364 by moving the hand 377B as shown in FIG. 21 (B). The dummy pallet DP that has been transported to the position DPS3 and stopped is replenished to the empty supply accommodating unit DP1F (see the arrow pointing to the right in the figure).

As described above, in the present embodiment, the first arm robot 376 and the second arm robot 377 are temporarily placed in the temporary storage portion 375A of the temporary storage base 375 based on the detection result of the CCD camera 374. Functions as a container replenishing means for replenishing the empty supply accommodating unit DP1F.

FIG. 22 is a functional block diagram showing a schematic configuration of the container supply device.
Further, as shown in FIG. 22, the container supply device 3 includes a container supply control means 38 that controls the entire container supply device 3.
The container supply control means 38 is composed of a CPU (Central Processing Unit), a memory, and the like, and executes information processing according to a predetermined program stored in the memory. The container supply control means 38 includes a container transport unit 381, a container supply unit 382, a pallet transport unit 383, and a container replenishment unit 384.

The container transport unit 381 includes a container loading section 381A, a loading stop section 381B, and a container moving section 381C, and controls the container transporting means 35 to transport a plurality of containers C1 stored in the container storage tank 34. Holds the container supply hopper 33.
Hereinafter, the functions of the respective units 381A to 381C constituting the container transport unit 381 will be described in detail.

FIG. 23 is a diagram showing a state in which a plurality of containers are charged inside the bucket.
As shown in FIG. 23, the container charging section 381A closes the bottom surface portion 351A1 of the bucket 351A after moving the bucket 351A to the height position of the container storage tank 34 (downward arrow in the figure). Then, the container charging unit 381A loads the plurality of containers C1 transported by the belt conveyor 352 into the bucket 351A by causing the belt conveyor 352 to start moving the transport path (arrow pointing to the right in the figure).
Here, since the belt conveyor 352 has an inlet (delivery outlet 343 of the container storage tank 34) having a predetermined area for introducing the plurality of containers C1 stored in the container storage tank 34, the belt conveyor 352 is put into the bucket 351A. The quantity of the container C1 per unit time can be kept constant.

The charging stop unit 381B causes the belt conveyor 352 to stop the movement of the transport path when a predetermined time elapses after the belt conveyor 352 starts the movement of the transport path. In other words, when a certain amount of containers C1 are charged into the bucket 351A, the charging stop unit 381B stops the movement of the transport path on the belt conveyor 352 to the buckets 351A of the plurality of containers C1. Stop inputting.
Here, the charging stop unit 381B stops the charging of the plurality of containers C1 into the bucket 351A of the container supply mechanism 3B, and then stops the charging of the plurality of containers C1 into the bucket 351A of the container supply mechanism 3A. In other words, the quantity of the plurality of containers C1 charged into the bucket 351A of the container supply mechanism 3A is larger than the quantity of the plurality of containers C1 charged into the bucket 351A of the container supply mechanism 3B.

In the present embodiment, the charging stop unit 381B causes the belt conveyor 352 to stop the movement of the transport path when a predetermined time elapses after the belt conveyor 352 starts the movement of the transport path. The charging of the plurality of containers C1 into the bucket 351A was stopped. On the other hand, for example, when a predetermined time elapses after the sensor detects that the plurality of containers C1 have come into contact with the floor surface of the bucket 351A, the loading / stopping unit connects the conveyor to the belt conveyor 352. By stopping the movement, the charging of the plurality of containers C1 into the bucket 351A may be stopped. Further, for example, the loading / stopping unit measures the weights of the plurality of containers charged into the bucket, and when the weight reaches a predetermined weight, the belt conveyor 352 stops the movement of the transport path, whereby the plurality of containers C1 May be stopped from being put into the bucket. In short, in the present invention, when a certain amount of a plurality of containers are charged inside the bucket, the charging stop unit stops the movement of the transport path on the belt conveyor to stop the charging of the plurality of containers into the bucket. do it.

FIG. 24 is a diagram showing a state in which the bucket is raised.
After the loading stop section 381B stops the loading of the plurality of containers C1 into the bucket 351A, the container moving section 381C sets the bucket 351A at the height position of the container supply hopper 33 by the elevator 351B as shown in FIG. (Upward arrow in the figure).

Then, as shown in FIG. 12, the container moving portion 381C places a plurality of containers C1 stored in the bucket 351A on the transport path 351C1 of the holding conveyor 351C by opening the bottom surface portion 351A1 of the bucket 351A. ..
Further, the container moving unit 381C moves the transport path 351C1 from the upstream side to the downstream side by driving the motor 351C2 to transport the plurality of containers C1, thereby moving the plurality of containers C1 into the container supply hopper. Hold it at 33.
As described above, since the quantity of the plurality of containers C1 charged into the bucket 351A of the container supply mechanism 3A is larger than the quantity of the plurality of containers C1 charged into the bucket 351A of the container supply mechanism 3B, the container supply hopper The quantity of the plurality of containers C1 supplied by the 33A is larger than the quantity of the plurality of containers C1 supplied by the container supply hopper 33B.

Here, since the holding conveyor 351C is provided with an inlet (gate 351C3) having a predetermined area for introducing a plurality of containers C1, the number of containers C1 per unit time of falling into the container supply hopper 33 is kept constant. be able to.
Since the gates 351C3 are arranged so that the lower ends thereof can be swung when the plurality of containers C1 pass through, it is possible to prevent the plurality of containers C1 from being deformed.

In this way, the container transport unit 381 controls the container transport means 35 to transport the plurality of containers C1 stored in the container storage tank 34, thereby causing the container supply hopper 33 to hold the container C1. Further, in the present embodiment, the container transport means 35 causes the container supply hopper 33 to hold a certain amount of a plurality of containers C1.

As shown in FIG. 24, the container supply unit 382 includes a hopper drive unit 382A, a pallet vibration unit 382B, and an air discharge unit 382C, and controls a small electromagnetic feeder 32 and a container supply hopper 33 to control a dummy pallet DP. The container C1 is supplied to each of the plurality of accommodating portions DP1 formed on the upper surface of the container.
Hereinafter, the functions of the respective units 382A to 382C constituting the container supply unit 382 will be described in detail.

FIG. 25 is a diagram showing a state in which the guide member is rotated to the container holding position.
As shown in FIG. 25, the hopper drive unit 382A rotates the guide member 333 from the guide position to the container holding position (upward arrow in the figure), thereby causing the container supply hopper 33 from the downstream side of the holding conveyor 351C. A plurality of containers C1 that have fallen toward the container C1 are held by the container supply hopper 33.
Then, as shown in FIG. 8, the hopper drive unit 382A rotates the guide member 333 from the container holding position to the guide position, and guides the transport path of the hopper conveyor 332A (see FIG. 10) from the upper end side of the main body unit 332. Move toward the lower end side. As a result, the plurality of containers C1 slide on the upper surface of the guide member 333 and fall from the lower end side of the main body portion 332.

FIG. 26 is a diagram showing a state in which the main body of the container supply hopper is moved along the rail member.
Further, as shown in FIG. 26, the hopper drive unit 382A moves the slider 331 along the rail member 33R when the plurality of containers C1 are dropped from the lower end side of the main body unit 332, thereby causing the main body unit 382A. The 332 is moved to the container storage tank 34 side along the rail member 33R.
At this time, the movement of the container C1 between the dummy pallet DP arranged on the container supply arrangement table 31A and the dummy pallet DP arranged on the container supply arrangement table 31B is regulated by the partition plate 3C described above. ing.

Here, since the rail member 33R is arranged parallel to the lateral direction of the dummy pallet DP arranged on the container supply arrangement table 31, the dummy pallet DP is the main body portion of the rail member 33R and the slider 331. It has a plurality of accommodating portions DP1 formed so as to be arranged along a direction (predetermined direction) for moving 332.
Then, the hopper drive unit 382A supplies a plurality of containers C1 held by the main body unit 332 toward the upper surface of the dummy pallet DP when the main body unit 332 is being moved by the rail member 33R and the slider 331. There is.

The pallet vibration unit 382B is a dummy by vibrating the container supply arrangement table 31 with the small electromagnetic feeder 32 when a plurality of containers C1 are dropped from the lower end side of the main body unit 332 by the hopper drive unit 382A. Vibrate the pallet DP.
Therefore, the container supply unit 382 supplies the plurality of containers C1 held by the container supply hopper 33 toward the upper surface of the dummy pallet DP when the dummy pallet DP is vibrated by the small electromagnetic feeder 32.

Here, the small electromagnetic feeder 32 is arranged on the container supply arrangement table 31 which is weaker than the first vibration intensity and the first vibration intensity that vibrates the dummy pallet DP arranged on the container supply arrangement table 31. It has a second vibration intensity that vibrates the dummy pallet DP.
Further, the first vibration strength of the small electromagnetic feeder 32B is weaker than the first vibration strength of the small electromagnetic feeder 32A, and the second vibration strength of the small electromagnetic feeder 32B is the second vibration strength of the small electromagnetic feeder 32A. Weaker than.

Then, the pallet vibration unit 382B supplies the small electromagnetic feeder 32 from the first vibration intensity to the second when the plurality of containers C1 held by the container supply hopper 33 are supplied toward the upper surface of the dummy pallet DP. Switch to vibration intensity. In other words, the pallet vibration unit 382B weakens the vibration of the small electromagnetic feeder 32 when the plurality of containers C1 held by the container supply hopper 33 are supplied toward the upper surface of the dummy pallet DP.

In the present embodiment, the small electromagnetic feeder 32 has a first vibration intensity and a second vibration intensity that is weaker than the first vibration intensity and vibrates the dummy pallet DP arranged on the container supply arrangement table 31. The pallet vibration unit 382B supplies the small electromagnetic feeder 32 from the first vibration intensity when the plurality of containers C1 held by the container supply hopper 33 are supplied toward the upper surface of the dummy pallet DP. Although it was switched to the vibration intensity of 2, it is not necessary to switch in this way.

The plurality of containers C1 dropped on the upper surface of the dummy pallet DP by the container supply unit 382 will enter each storage unit DP1 of the dummy pallet DP while rolling due to the vibration of the dummy pallet DP.
On the other hand, since the container supply arrangement table 31 is inclined so as to descend toward the container storage tank 34 side, a plurality of containers dropped on the upper surface of the dummy pallet DP by the container supply unit 382. Among C1, a plurality of containers C1 that are not housed in the storage section DP1 of the dummy pallet DP will freely fall into the container storage tank 34. Therefore, in the present embodiment, the container supply arrangement table 31 drops a plurality of containers C1 into the container storage tank 34 by inclining the dummy pallet DP so as to descend toward the container storage tank 34 side. Functions as a means.

The air discharge unit 382C drops a plurality of containers C1 from the lower end side of the main body 332 by the hopper drive unit 382A, and then discharges air to the compressor 33C. According to this, among the plurality of containers C1 dropped on the upper surface of the dummy pallet DP by the container supply unit 382, the plurality of containers C1 not accommodated in the storage unit DP1 of the dummy pallet DP are blown off and stored in the container. It will fall into the tank 34.
The strength of the air discharged from each discharge port 33D of the compressor 33C is adjusted and optimized in advance for each part of the dummy pallet DP. For example, the strength of the air discharged from the discharge port 33D corresponding to the part of the dummy pallet DP that is difficult to blow off the container C1 is strongly adjusted, and the air is discharged from the discharge port 33D corresponding to the part of the dummy pallet DP that is easy to blow off the container C1. It is like adjusting the strength of the air weakly.
Therefore, in the present embodiment, the compressor 33C functions as a dropping means for dropping the plurality of containers C1 into the container storage tank 34 by discharging air toward the container storage tank 34 along the upper surface of the dummy pallet DP.

Here, the small electromagnetic feeder 32 has a third vibration strength that is weaker than the second vibration strength and vibrates the dummy pallet DP arranged on the container supply arrangement table 31.
Further, the third vibration intensity of the small electromagnetic feeder 32B is weaker than the third vibration intensity of the small electromagnetic feeder 32A.
As described above, in the present embodiment, the small electromagnetic feeder 32A functions as a first pallet vibrating means for vibrating the dummy pallet DP arranged on the container supply arrangement table 31A, and the small electromagnetic feeder 32B is for container supply. It functions as a second pallet vibrating means for vibrating the dummy pallet DP arranged on the arranging table 31B weaker than the small electromagnetic feeder 32A.

Then, the pallet vibration unit 382B switches the small electromagnetic feeder 32 from the second vibration intensity to the third vibration intensity when the plurality of containers C1 are dropped into the container storage tank 34 by the compressor 33C. In other words, the pallet vibration unit 382B further weakens the vibration of the small electromagnetic feeder 32 when the compressor 33C drops the plurality of containers C1 into the container storage tank 34.

In the present embodiment, the small electromagnetic feeder 32 has a second vibration strength and a third vibration strength that is weaker than the second vibration strength and vibrates the dummy pallet DP arranged on the container supply arrangement table 31. The pallet vibration unit 382B switched the small electromagnetic feeder 32 from the second vibration intensity to the third vibration intensity when the plurality of containers C1 were dropped into the container storage tank 34 by the compressor 33C. It is not necessary to switch in this way.

Further, in the present embodiment, the container supply arrangement table 31 for dropping the plurality of containers C1 onto the container storage tank 34 and the dummy by inclining the dummy pallet DP so as to descend toward the container storage tank 34 side. A compressor 33C that drops a plurality of containers C1 into the container storage tank 34 by discharging air to the container storage tank 34 side along the upper surface of the pallet DP is adopted as the drop means, but only one of them is used. It may be adopted. Further, the dropping means may drop a plurality of containers into the storage means by, for example, vibrating a dummy pallet. In short, in the present invention, the dropping means is a plurality of containers supplied toward the upper surface of the dummy pallet by the first holding means and the second holding means, which are not accommodated in the accommodating portion of the dummy pallet. It suffices if the container can be dropped into the storage means.

In this way, the container supply control means 38 holds the plurality of containers C1 in the container supply hopper 33 by the container transport means 35, and then holds the plurality of containers C1 held in the container supply hopper 33 as a dummy pallet. The plurality of containers C1 are circulated and reused by supplying them toward the upper surface of the DP and dropping the plurality of containers C1 into the container storage tank 34 by the dropping means.
Further, as described above, since the container transport means 35 holds a certain amount of a plurality of containers C1 in the container supply hopper 33, the container supply hopper 33 is used in one cycle of circulating the plurality of containers C1. Holds a certain amount of a plurality of containers C1.
In the present embodiment, the container transport means 35 causes the container supply hopper 33 to hold a fixed amount of the plurality of containers C1 in one cycle of circulating the plurality of containers C1, but a fixed amount of the plurality of containers C1. It is not necessary to hold the container C1.

As shown in FIG. 22, the pallet transport section 383 includes a pallet carry-out section 383A, a pallet extrusion section 383B, a pallet lead-out section 383C, and a pallet carry-in section 383D, and controls the pallet transport means 36 to control the dummy pallet DP. The dummy pallet DP is carried in and out of the container supply arrangement table 31.
Hereinafter, the functions of the respective units 383A to 383D constituting the pallet transport unit 383 will be described in detail.

FIG. 27 is a schematic view showing a state in which the dummy pallet is conveyed from the carry-out standby position of the dummy pallet.
When the dummy pallet DP is arranged at the carry-out standby position W2 of the dummy pallet DP, the pallet unloading unit 383A pushes the dummy pallet DP toward the transport path 364A with the pusher 364B as shown in FIG. 27. Two dummy pallet DPs are placed on the transport path 364A. Then, when the dummy pallet DP is placed on the transport path 364A of the downstream pallet conveyor 364, the pallet carry-out unit 383A conveys the dummy pallet DP to the downstream pallet conveyor 364 (arrow pointing to the right in the figure).
The downstream pallet conveyor 364 guides the dummy pallet DP with the guide rail 364C so that the lateral direction of the dummy pallet DP and the moving direction of the transport path 364A are parallel to each other. Transport.

After that, when the dummy pallet DP is arranged at the end point position of the downstream pallet conveyor 364, the pallet carry-out unit 383A conveys this dummy pallet DP to the start point position of the upstream pallet conveyor 361 by the circulation pallet conveyor 365, and upstream. When the dummy pallet DP is arranged at the starting point position of the side pallet conveyor 361, the dummy pallet DP is sent out to the upstream pallet conveyor 361 by the plate 365B.

FIG. 28 is a schematic view showing a state in which the dummy pallet is pushed out toward the container supply arrangement table.
As shown in FIG. 28, the pallet extrusion unit 383B pushes out the two dummy pallet DPs conveyed to the carry-in standby position W1 by the upstream pallet conveyor 361 toward the container supply arrangement table 31A by the pusher 362. Two dummy pallet DPs are arranged on the container supply arrangement table 31A. Further, the pallet extrusion unit 383B carries the dummy pallet DP into the container supply arrangement table 31A by the pusher 362, thereby pushing out the dummy pallet DP previously arranged in the container supply arrangement table 31A for container supply. It is sent to the arrangement table 31B.

Therefore, the pusher 362 carries the dummy pallet DP into the container supply arrangement table 31A by moving the dummy pallet DP along the adjacent direction (Y-axis direction) of the container supply arrangement table 31A and the container supply arrangement table 31B. It functions as a means for bringing in pallets. Further, the pusher 362 supplies the container by moving the dummy pallet DP arranged on the container supply arrangement table 31A along the adjacent direction (Y-axis direction) of the container supply arrangement table 31A and the container supply arrangement table 31B. It functions as a pallet sending means to be sent to the arrangement table 31B.

In the present embodiment, the pusher 362 is adopted as the pallet carrying means, but other configurations may be adopted. In short, the pallet carrying means may be able to carry the pallet into the first region by moving it along the adjacent directions of the first region and the second region.
Further, in the present embodiment, the pusher 362 is adopted as the pallet delivery means, but other configurations may be adopted. In short, the pallet sending means may be able to send the pallets arranged in the first region to the second region by moving the pallets arranged in the first region along the adjacent directions of the first region and the second region.
Further, in the present embodiment, the pusher 362 has the functions of the pallet carrying means and the pallet sending means and is integrally configured, but the pallet carrying means and the pallet sending means may be separately configured.

FIG. 29 is a schematic view showing a state in which the dummy pallet is pulled out from the container supply arrangement table.
As shown in FIG. 29, the pallet drawer unit 383C pulls out the two dummy pallet DPs arranged on the container supply arrangement table 31B by the puller 363, so that the dummy pallet DP is moved to the carry-out standby position W2 of the dummy pallet DP. To place.
Therefore, the puller 363 carries out the dummy pallet DP arranged on the container supply arrangement table 31B by moving the dummy pallet DP arranged along the adjacent direction (Y-axis direction) of the container supply arrangement table 31A and the container supply arrangement table 31B. Functions as a pallet unloading means.
In the present embodiment, the puller 363 is adopted as the pallet carrying-out means, but other configurations may be adopted. In short, the pallet unloading means may be able to unload the pallets arranged in the second region by moving them along the adjacent directions of the first region and the second region.

When the dummy pallet DP is placed on the transport path 361A of the upstream pallet conveyor 361 by the circulation pallet conveyor 365, the pallet loading unit 383D puts the dummy pallet DP on the upstream pallet conveyor 361 as shown in FIG. The dummy pallet DP is conveyed to the carry-in standby position W1.
The upstream pallet conveyor 361 guides the dummy pallet DP by the guide rail 361B so that the lateral direction of the dummy pallet DP and the moving direction of the transport path 361A are parallel to each other. Transport.

As shown in FIG. 22, the container replenishment unit 384 includes a container posture correction unit 384A, a container replenishment determination unit 384B, and a container replenishment execution unit 384C, and controls the container replenishment mechanism 37 to control the container replenishment mechanism 37 to supply the containers 3A and 3B. The empty container DP1 that could not be supplied with the container C1 is replenished with the container C1.
Hereinafter, the functions of the respective units 384A to 384C constituting the container replenishment unit 384 will be described in detail.

When the container posture correction unit 384A detects the floating of the container C1 supplied to the storage unit DP1 of the dummy pallet DP which has been transported to the stop position DPS1 by the downstream pallet conveyor 364 and stopped by the first abnormality detection sensor 371, the container posture correction unit 384A determines. As shown in FIG. 18, the posture of the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP is corrected by the posture correcting means 373.

Therefore, in the present embodiment, the first abnormality detection sensor 371 functions as an abnormality detecting means for detecting an abnormality in the posture of the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP conveyed by the downstream pallet conveyor 364. To do. Further, in the present embodiment, the posture correcting means 373 corrects the posture of the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP that has detected the abnormality of the posture of the container C1 by the first abnormality detection sensor 371.
In the present embodiment, the posture correcting means 373 corrects the posture of the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP that has detected the abnormality of the posture of the container C1 by the first abnormality detection sensor 371. However, the posture of the container C1 supplied to the accommodating portion DP1 of all the dummy pallet DPs may be modified. In this case, the container replenishment mechanism 37 may not include the first abnormality detection sensor 371.

The container replenishment determination unit 384B determines whether or not the number of empty supply accommodating units DP1F detected by the CCD camera 374 is 10 or more. In other words, the container replenishment determination unit 384B determines whether or not the number of empty supply accommodating units DP1F detected by the CCD camera 374 is equal to or greater than a predetermined threshold value.
In the present embodiment, the predetermined threshold value is set to 20% (10 pieces) of the number (50 pieces) of the supply accommodating unit DP1F, but it may be set to a number other than this.

When the container replenishment execution unit 384C determines that the number of empty supply accommodating units DP1F is not 10 or more by the container replenishment determination unit 384B, the dummy pallet DP is stopped at the downstream pallet conveyor 364. When it is transported to the DPS2 and stopped, it is temporarily placed in the container C1 supplied to the spare storage unit DP1S or in the temporary storage portion 375A of the first temporary storage region 375A1 based on the detection result of the CCD camera 374. The container C1 is replenished with the empty supply accommodating portion DP1F by the first arm robot 376 (see FIGS. 20 and 21).

Further, when the container replenishment execution unit 384C determines that the number of empty supply accommodating units DP1F is not 10 or more by the container replenishment determination unit 384B, the dummy pallet DP is used on the downstream pallet conveyor 364. When transported to the stop position DPS3 and stopped, it is temporarily placed in the temporary storage portion 375A of the container C1 or the second temporary storage region 375A2 supplied to the spare storage portion DP1S based on the detection result of the CCD camera 374. The container C1 is replenished with the empty supply storage unit DP1F by the second arm robot 377 (see FIGS. 20 and 21).

Here, the first arm robot 376 and the second arm robot 377 share the container C1 with the empty supply accommodating unit DP1F based on the detection result of the CCD camera 374.
In the present embodiment, the first arm robot 376 and the second arm robot 377 share the container C1 with the empty supply accommodating unit DP1F, but they do not have to share the container C1.

FIG. 30 is a diagram showing a state in which the container is replenished to the empty supply accommodating portion by the first arm robot when the number of empty supply accommodating portions is eight. Specifically, FIG. 30 (A) is a diagram showing a state before the container is replenished to the empty supply accommodating portion by the first arm robot, and FIG. 30 (B) is a diagram showing the state before the container is replenished by the first arm robot. It is a figure which shows the state after replenishing the empty supply accommodating part by the arm robot of.

For example, when the number of empty supply accommodating units DP1F detected by the CCD camera 374 is 8, the first arm robot 376 is as shown in FIGS. 30 (A) and 30 (B). Based on the detection result of the CCD camera 374, the container C1 or the first temporary storage area supplied to the spare accommodating portion DP1S of the dummy pallet DP which has been conveyed to the stop position DPS2 by the downstream pallet conveyor 364 and stopped. The container C1 temporarily placed in the temporary storage portion 375A of the 375A1 is replenished to the empty supply storage portion DP1F (see the left arrow in FIG. 30B).

Specifically, as shown in FIG. 30B, the first arm robot 376 corresponds to half of the number (8) of the empty supply accommodating units DP1F detected by the CCD camera 3744. The individual containers C1 are replenished to the empty supply accommodating unit DP1F.
In the present embodiment, the first arm robot 376 uses the number of containers C1 corresponding to half of the number of empty supply accommodating units DP1F detected by the CCD camera 374 in the empty supply accommodating unit DP1F. It is replenished, but it does not have to be half the number.

Here, the first arm robot 376 includes the number of containers C1 supplied to the spare storage unit DP1S of the dummy pallet DP which has been transported to the stop position DPS2 by the downstream pallet conveyor 364 and stopped, and the temporary stand 375. Containers supplied to the spare storage section DP1S of the dummy pallet DP based on the number of containers C1 temporarily placed in the temporary storage section 375A of (first temporary storage area 375A1 and second temporary storage area 375A2). Of the containers C1 temporarily placed in the temporary storage portion 375A of the first temporary storage region 375A1 or the first temporary storage region 375A1, which container C1 is to be replenished to the empty supply storage unit DP1F is determined. Specifically, the first arm robot 376 sets the container C1 as an empty supply accommodating unit so as not to increase the transport speed of the dummy pallet DP of the downstream pallet conveyor 364 and cause the dummy pallet DP to stay. The method of replenishing DP1F has been decided.
In the example of FIG. 30, the first arm robot 376 determines that the four containers C1 supplied to the spare storage unit DP1S of the dummy pallet DP are replenished to the empty supply storage unit DP1F. ..

FIG. 31 is a diagram showing a state in which the container is replenished to the empty supply accommodating portion by the second arm robot when the number of empty supply accommodating portions is eight. Specifically, FIG. 31 (A) is a diagram showing a state before the container is replenished to the empty supply accommodating portion by the second arm robot, and FIG. 31 (B) is a diagram showing the state before the container is refilled with the second arm robot. It is a figure which shows the state after replenishing the empty supply accommodating part by the arm robot of.

Next, as shown in FIGS. 31A and 31B, the second arm robot 377 is conveyed to the stop position DPS3 by the downstream pallet conveyor 364 based on the detection result of the CCD camera 374. The container C1 supplied to the spare accommodating portion DP1S of the dummy pallet DP or the container C1 temporarily accommodating in the temporary accommodating portion 375A of the second temporary accommodating area 375A2 is replenished to the empty supply accommodating portion DP1F. (See FIG. 31 (B) left-pointing arrow).

Here, the second arm robot 377 has four containers C1 corresponding to the other half of the number (8) of the empty supply accommodating units DP1F detected by the CCD camera 374 in the empty supply accommodating unit. Replenish DP1F.
In the present embodiment, the second arm robot 377 has an empty supply accommodating unit DP1F having a number of containers C1 corresponding to the other half of the number of empty supply accommodating units DP1F detected by the CCD camera 374. However, the number does not have to correspond to the other half.

Here, the second arm robot 377 has the number of containers C1 supplied to the spare storage unit DP1S of the dummy pallet DP which has been conveyed to the stop position DPS3 by the downstream pallet conveyor 364 and stopped, and the temporary storage table 375. Containers supplied to the spare storage section DP1S of the dummy pallet DP based on the number of containers C1 temporarily placed in the temporary storage section 375A of (first temporary storage area 375A1 and second temporary storage area 375A2). Of the containers C1 temporarily placed in the temporary storage portion 375A of the C1 or the second temporary storage region 375A2, which container C1 is to be replenished to the empty supply storage unit DP1F is determined. Specifically, the second arm robot 377 sets the container C1 as an empty supply accommodating unit so as not to increase the transport speed of the dummy pallet DP of the downstream pallet conveyor 364 and cause the dummy pallet DP to stay. The method of replenishing DP1F has been decided.
In the example of FIG. 31, the second arm robot 377 determines that the four containers C1 supplied to the spare storage unit DP1S of the dummy pallet DP are replenished to the empty supply storage unit DP1F. ..

In the present embodiment, the first arm robot 376 and the second arm robot 377 share each other with the empty supply accommodating unit DP1F of one dummy pallet DP based on the detection result of the CCD camera 374. Although the container C1 is replenished, the container C1 may be replenished by sharing each dummy pallet DP. Specifically, for example, in the container supply device, the container is replenished by the first container replenishing means with respect to the pallet on the upstream side transported by the pallet transporting means, and the downstream side transported by the pallet transporting means. The pallets may be replenished with containers by the second container replenishing means, and then the pallets may be intermittently transported by the pallet transporting means at intervals of two sheets.

On the other hand, when the container replenishment execution unit 384C determines that the number of empty supply accommodating units DP1F is 10 or more by the container replenishment determination unit 384B, this dummy pallet DP is the downstream pallet. When the container C1 is conveyed to the stop position DPS2 by the conveyor 364 and stopped, the container C1 is not replenished to the empty supply accommodating unit DP1F, and based on the detection result of the CCD camera 374, the accommodating unit DP1 of this dummy pallet DP is used. The container C1 supplied to the pallet C1 is temporarily placed in the temporary storage portion 375A of the first temporary storage area 375A1.

Further, when the container replenishment execution unit 384C determines that the number of empty supply accommodating units DP1F is 10 or more by the container replenishment determination unit 384B, the dummy pallet DP is transferred to the downstream pallet conveyor 364. When the container C1 is conveyed to the stop position DPS3 and stopped, the container C1 is supplied to the storage unit DP1 of the dummy pallet DP based on the detection result of the CCD camera 374 without replenishing the empty supply storage unit DP1F. The container C1 is temporarily placed in the temporary storage portion 375A of the second temporary storage area 375A2.

FIG. 32 is a diagram showing a state in which the container is temporarily placed on the temporary storage portion of the temporary storage table by the first arm robot when the number of empty supply accommodating portions is 10. Specifically, FIG. 32 (A) is a diagram showing a state before the container is temporarily placed on the temporary place portion of the temporary stand by the first arm robot, and FIG. 32 (B) is a view showing the state before the container is temporarily placed on the temporary place portion of the temporary stand. It is a figure which shows the state after temporarily placing on the temporary place part of the temporary place table by 1 arm robot.

For example, when the number of empty supply accommodating units DP1F detected by the CCD camera 374 is 10, the first arm robot 376 is as shown in FIGS. 32 (A) and 32 (B). In addition, the container C1 was not replenished to the empty supply accommodating unit DP1F, and based on the detection result of the CCD camera 374, the accommodating unit of the dummy pallet DP which was conveyed to the stop position DPS2 by the downstream pallet conveyor 364 and stopped. The container C1 supplied to the DP1 is temporarily placed in the temporary storage portion 375A of the first temporary storage region 375A1 (see the right-pointing arrow in FIG. 32 (B)).

The first arm robot 376 is placed in the temporary storage portion 375A of the first temporary storage area 375A1 so as not to increase the transport speed of the dummy pallet DP of the downstream pallet conveyor 364 and cause the dummy pallet DP to stay. The number of containers C1 to be temporarily placed is determined.
Here, in the example of FIG. 32, when the first arm robot 376 temporarily places the four containers C1 supplied to the accommodating portion DP1 of the dummy pallet DP in the temporary storage portion 375A of the first temporary storage region 375A1. I have decided.

FIG. 33 is a diagram showing a state in which the container is temporarily placed on the temporary storage portion of the temporary storage table by the second arm robot when the number of empty supply accommodating portions is 10. Specifically, FIG. 33 (A) is a diagram showing a state before the container is temporarily placed on the temporary place portion of the temporary stand by the second arm robot, and FIG. 33 (B) is a view showing the state before the container is temporarily placed on the temporary place portion of the temporary stand. It is a figure which shows the state after being temporarily placed on the temporary place part of the temporary place table by the arm robot of 2.

Next, as shown in FIGS. 33 (A) and 33 (B), the second arm robot 377 captures the detection result of the CCD camera 374 without replenishing the container C1 with the empty supply accommodating unit DP1F. Based on this, the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP that has been conveyed to the stop position DPS3 by the downstream pallet conveyor 364 and stopped is temporarily placed in the temporary storage portion 375A of the second temporary storage area 375A2 (FIG. 33 (B) See left arrow).

The second arm robot 377 is placed in the temporary storage portion 375A of the second temporary storage area 375A2 so as to increase the transport speed of the dummy pallet DP of the downstream pallet conveyor 364 so that the dummy pallet DP does not stay. The number of containers C1 to be temporarily placed is determined.
Here, in the example of FIG. 33, when the second arm robot 377 temporarily places the four containers C1 supplied to the accommodating portion DP1 of the dummy pallet DP in the temporary storage portion 375A of the second temporary storage region 375A2. I have decided.

As described above, in the present embodiment, the first arm robot 376 and the second arm robot 377 are the accommodating portions of the dummy pallet DP conveyed by the downstream pallet conveyor 364 based on the detection result of the CCD camera 374. The container C1 supplied to the DP1 is temporarily placed on the temporary storage portion 375A of the temporary storage table 375.
In the present embodiment, the first arm robot 376 and the second arm robot 377 give priority to the container C1 supplied to the spare accommodating portion DP1S of the dummy pallet DP, and give priority to the temporary storage portion 375A of the temporary storage base 375. However, the container C1 supplied to the supply accommodating unit DP1F may be temporarily placed in the temporary storage unit 375A of the temporary storage table 375.

FIG. 34 is a diagram showing a flowchart of a container transport supply process executed by the container supply device.
When the container C1 is supplied to the dummy pallet DP by the container supply device 3, the container supply control means 38 executes steps S1 to S4 as shown in FIG. 34 according to a predetermined program stored in the memory. To do.
Hereinafter, the details of steps S1 to S4 will be described with reference to the above-described drawings.

First, as shown in FIG. 23, the container charging section 381A closes the bottom surface portion 351A1 of the bucket 351A after moving the bucket 351A to the height position of the container storage tank 34. Then, the container loading section 381A loads a plurality of containers C1 transported by the belt conveyor 352 into the bucket 351A by causing the belt conveyor 352 to start moving the transport path (arrow pointing to the right in the figure). S1: Container charging step).
Next, the charging stop unit 381B causes the belt conveyor 352 to start moving the transport path, and then stops the movement of the transport path on the belt conveyor 352 when a predetermined time elapses, whereby the plurality of containers C1 Is stopped from being charged into the bucket 351A (S2: loading stop step).

After the loading stop section 381B stops the loading of the plurality of containers C1 into the bucket 351A, the container moving section 381C sets the bucket 351A at the height position of the container supply hopper 33 by the elevator 351B as shown in FIG. 24. Raise to. After that, as shown in FIG. 12, the container moving portion 381C places a plurality of containers C1 stored in the bucket 351A on the transport path 351C1 of the holding conveyor 351C by opening the bottom surface portion 351A1 of the bucket 351A. ..

Further, the container moving unit 381C moves the transport path 351C1 from the upstream side to the downstream side by driving the motor 351C2 to transport the plurality of containers C1, thereby moving the plurality of containers C1 into the container supply hopper. Hold it at 33 (S3: container moving step).
At this time, as shown in FIG. 25, the hopper drive unit 382A supplies the container from the downstream side of the holding conveyor 351C by rotating the guide member 333 from the guide position to the container holding position (upward arrow in the figure). A plurality of containers C1 that have fallen toward the container supply hopper 33 are held by the container supply hopper 33.

Next, as shown in FIG. 8, the hopper drive unit 382A rotates the guide member 333 from the container holding position to the guide position, and sets the transport path of the hopper conveyor 332A (see FIG. 10) to the upper end side of the main body unit 332. Move toward the lower end side. As a result, the plurality of containers C1 slide on the upper surface of the guide member 333 and fall from the lower end side of the main body portion 332 (S4: container supply step).
Then, as shown in FIG. 26, the hopper drive unit 382A moves the slider 331 along the rail member 33R when the plurality of containers C1 are dropped from the lower end side of the main body unit 332, thereby causing the main body unit 382A. The 332 is moved to the container storage tank 34 side along the rail member 33R.

As described above, the pallet vibration unit 382B uses the small electromagnetic feeder 32 to provide the container supply arrangement table 31 when a plurality of containers C1 are dropped from the lower end side of the main body unit 332 by the hopper drive unit 382A. The dummy pallet DP is vibrated by vibrating. Here, the pallet vibration unit 382B supplies the small electromagnetic feeder 32 from the first vibration intensity to the second when the plurality of containers C1 held by the container supply hopper 33 are supplied toward the upper surface of the dummy pallet DP. Switch to the vibration intensity of.
Further, as described above, the air discharge unit 382C causes the hopper drive unit 382A to drop a plurality of containers C1 from the lower end side of the main body unit 332, and then discharges air to the compressor 33C. Here, the pallet vibration unit 382B switches the small electromagnetic feeder 32 from the second vibration intensity to the third vibration intensity when the plurality of containers C1 are dropped into the container storage tank 34 by the compressor 33C.

Finally, the hopper drive unit 382A stops the movement of the transport path of the hopper conveyor 332A and moves the slider 331 along the rail member 33R to move the main body unit 332 along the rail member 33R to the bucket mechanism 351 side. Move it back to.
After that, the container supply control means 38 repeatedly executes steps S1 to S4 by executing the above-mentioned step S1 again, and supplies the plurality of containers C1 to the dummy pallet DP by the container supply device 3.

FIG. 35 is a diagram showing a flowchart of a pallet transfer process executed by the container supply device.
When the dummy pallet DP is transported by the pallet transport means 36 to be carried in and out of the container supply arrangement table 31, the container supply control means 38 follows a predetermined program stored in the memory. As shown in FIG. 35, steps S11 to S14 are executed.
Hereinafter, the details of steps S11 to S14 will be described with reference to the above-described drawings.

First, when the dummy pallet DP is arranged at the carry-out standby position W2 of the dummy pallet DP, the pallet unloading unit 383A pushes the dummy pallet DP toward the transport path 364A by the pusher 364B as shown in FIG. Two dummy pallet DPs are placed on the transport path 364A. After that, the pallet carry-out unit 383A moves the pusher 364B away from the transport path 364A and returns it to its original position.
Then, when the dummy pallet DP is placed on the transport path 364A of the downstream pallet conveyor 364, the pallet unloading unit 383A conveys the dummy pallet DP to the downstream pallet conveyor 364 (S11: pallet unloading step).

Next, as shown in FIG. 28, the pallet extrusion unit 383B directs the two dummy pallet DPs conveyed to the carry-in standby position W1 by the upstream pallet conveyor 361 toward the container supply arrangement table 31A by the pusher 362. Two dummy pallets DP are arranged on the container supply arrangement table 31A (S12: pallet extrusion step). Further, the pallet extrusion unit 383B carries the dummy pallet DP into the container supply arrangement table 31A by the pusher 362, thereby pushing out the dummy pallet DP previously arranged in the container supply arrangement table 31A for container supply. It is sent to the arrangement table 31B. After that, the pallet extrusion unit 383B moves the pusher 362 away from the container supply arrangement table 31A and returns it to its original position.

Next, as shown in FIG. 29, the pallet drawer unit 383C pulls out the two dummy pallet DPs arranged on the container supply arrangement table 31B by the puller 363 to reach the carry-out standby position W2 of the dummy pallet DP. A dummy pallet DP is arranged (S13: pallet withdrawal step). After that, the pallet drawer portion 383C moves the puller 363 away from the container supply arrangement table 31B and returns it to its original position.

Then, when the dummy pallet DP is placed on the transport path 361A of the upstream pallet conveyor 361, the pallet loading unit 383D has a dummy pallet DP loading standby position W1 on the upstream pallet conveyor 361 as shown in FIG. The dummy pallet DP is conveyed to (S14: pallet loading step).

After that, the container supply control means 38 repeatedly executes steps S11 to S14 by executing the above-mentioned step S11 again, and the pallet transport means 36 transports the dummy pallet DP.

Here, steps S11 to S14 are executed in parallel with steps S1 to S4 described above in time.
Specifically, steps S11 to S14 are executed at a timing after the container supply step S4 is executed and before the container movement step S3 of the next cycle is executed.
Therefore, the container supply control means 38 has two dummy pallet DPs arranged on the container supply arrangement table 31A by the pusher 362 and two dummy pallets DP arranged on the container supply arrangement table 31A by the pusher 362. When the dummy pallet DP is sent to the container supply arrangement table 31B, a plurality of containers C1 held by the container supply hopper 33 are supplied toward the upper surface of the dummy pallet DP, thereby forming on the upper surface of the dummy pallet DP. The container C1 is supplied to each of the plurality of housing units DP1.

FIG. 36 is a diagram showing a flowchart of a container replenishment process executed by the container supply device.
When the container C1 is replenished by the container replenishment mechanism 37 to the empty storage unit DP1 that could not be supplied by the container supply mechanisms 3A and 3B, the container supply control means 38 is stored in a predetermined memory. As shown in FIG. 36, steps S21 to S26 are executed according to the program of.
Hereinafter, the details of steps S21 to S26 will be described with reference to the above-described drawings.

First, the container posture correction unit 384A detects the floating of the container C1 supplied to the storage unit DP1 of the dummy pallet DP which has been transported to the stop position DPS1 by the downstream pallet conveyor 364 and stopped by the first abnormality detection sensor 371. (S21: First abnormality detection step).
Then, when the container posture correction unit 384A detects the floating of the container C1 supplied to the storage unit DP1 of the dummy pallet DP by the first abnormality detection sensor 371, the dummy pallet DP is as shown in FIG. The posture of the container C1 supplied to the accommodating portion DP1 is corrected by the posture correction means 373 (S22: container posture correction step).

After executing the container posture correction step S22, or when the first abnormality detection sensor 371 does not detect the floating of the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP, the dummy pallet DP is on the downstream side. It is conveyed to the stop position DPS2 by the pallet conveyor 364.

Next, the container supply control means 38 captures the dummy pallet DP that has been conveyed to the stop position DPS2 by the downstream pallet conveyor 364 and stopped by the CCD camera 374, whereby the state of the dummy pallet DP accommodating portion DP1. Is detected and this information is stored in the memory.
Specifically, the container supply control means 38 uses the CCD camera 374 to take an image of the dummy pallet DP that has been conveyed to the stop position DPS2 by the downstream pallet conveyor 364 and has stopped, so that the container supply accommodating unit DP1F , The empty supply accommodating unit DP1F to which the container C1 is not supplied and the spare accommodating unit DP1S to which the container C1 is supplied are detected among the spare accommodating units DP1S, and these information are stored in the memory. ..

After that, the container supply control means 38 determines whether or not the container C1 is present in the temporary storage portion 375A of the temporary storage table 375 (first temporary storage area 375A1 and second temporary storage area 375A2) (S23: temporary storage table container). Judgment step).
Here, the container supply control means 38 includes the number of empty supply accommodating units DP1F detected by the CCD camera 374, the number of containers C1 supplied to the spare accommodating unit DP1S, and the temporary storage table 375. If the container C1 can be replenished to all of the empty supply accommodating units DP1F detected by the CCD camera 374 based on the number of containers C1 temporarily placed in the temporary storage unit 375A, the temporary storage base 375 is temporarily placed. It is determined that the container C1 is in the placement portion 375A. In other words, in the container supply control means 38, the total of the number of containers C1 supplied to the spare storage unit DP1S and the number of containers C1 temporarily placed in the temporary storage unit 375A of the temporary storage table 375 is calculated. When the number of empty supply accommodating units DP1F is exceeded, it is determined that the container C1 is located in the temporary storage unit 375A of the temporary storage table 375.
In the present embodiment, when the container replenishment mechanism 37 is returned to the initial state, the container supply control means 38 temporarily places the container C1 on all of the temporary storage portions 375A of the temporary storage table 375, and displays this information. It is stored in the memory.

When it is determined in the temporary storage table container determination step S23 that the temporary storage unit 375A of the temporary storage table 375 has the container C1, the container replenishment determination unit 384B uses the CCD camera 374 based on the information stored in the memory. It is determined whether or not the number of detected empty supply accommodating units DP1F is 10 or more (S24: container replenishment determination step).

When the container replenishment execution unit 384C determines that the number of empty supply accommodating units DP1F is not 10 or more by the container replenishment determination unit 384B, the container replenishment execution unit 384C uses the container C1 as the first arm robot 376 and the second arm. The robot 377 replenishes the empty supply storage unit DP1F (S25: container replenishment execution step).

In the container replenishment execution step S25, the container replenishment execution unit 384C detects the CCD camera 374 as shown in FIG. 30 when the dummy pallet DP is conveyed to the stop position DPS2 by the downstream pallet conveyor 364 and stops. Based on the result, the container C1 supplied to the spare storage unit DP1S or the container C1 temporarily placed in the temporary storage portion 375A of the first temporary storage area 375A1 is used for empty supply by the first arm robot 376. Replenish the containment unit DP1F.
Further, when the dummy pallet DP is conveyed to the stop position DPS3 by the downstream pallet conveyor 364 and stopped, the container replenishment execution unit 384C is based on the detection result of the CCD camera 374 as shown in FIG. 31. The container C1 supplied to the spare storage unit DP1S or the container C1 temporarily placed in the temporary storage unit 375A of the second temporary storage area 375A2 is replenished to the empty supply storage unit DP1F by the second arm robot 377. To do.

On the other hand, when it is determined in the temporary storage table container determination step S23 that the temporary storage unit 375A of the temporary storage table 375 does not have the container C1, or the container replenishment determination unit 384B determines that the number of empty supply storage units DP1F is large. When it is determined that the number is 10 or more, the container replenishment execution unit 384C does not replenish the container C1 to the empty supply storage unit DP1F, and based on the detection result of the CCD camera 374, the dummy pallet DP The container C1 supplied to the accommodating portion DP1 is temporarily placed in the temporary storage portion 375A of the temporary storage table 375 (first temporary storage area 375A1 and second temporary storage area 375A2) (S26: container temporary storage execution step).

In the present embodiment, when it is determined in the temporary storage table container determination step S23 that the temporary storage unit 375A of the temporary storage table 375 does not have the container C1, or the container replenishment determination unit 384B determines that the empty supply storage unit DP1F When it was determined that the number was 10 or more, the container C1 was temporarily placed in the temporary storage portion 375A of the temporary storage table 375. However, in the temporary storage table container determination step S23, the container was temporarily placed in the temporary storage portion 375A of the temporary storage table 375. The container C1 may be temporarily placed on the temporary storage portion 375A of the temporary storage table 375 between the container replenishment execution step S25 executed when it is determined that C1 is present.

In the container temporary placement execution step S26, the container replenishment execution unit 384C empty the container C1 as shown in FIG. 32 when the dummy pallet DP is conveyed to the stop position DPS2 by the downstream pallet conveyor 364 and stops. Based on the detection result of the CCD camera 374, the container C1 supplied to the storage unit DP1 of the dummy pallet DP is temporarily placed in the temporary storage unit 375A of the first temporary storage area 375A1 without replenishing the supply storage unit DP1F. Place.
Further, when the dummy pallet DP is conveyed to the stop position DPS3 by the downstream pallet conveyor 364 and stopped, the container replenishment execution unit 384C sets the container C1 as an empty supply storage unit DP1F as shown in FIG. 33. Based on the detection result of the CCD camera 374, the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP is temporarily placed in the temporary storage portion 375A of the second temporary storage region 375A2.

After executing the container replenishment execution step S25 or the container temporary placement execution step S26, the container supply control means 38 conveys the dummy pallet DP to the circulation pallet conveyor 365 by the downstream pallet conveyor 364.
After that, the container supply control means 38 repeatedly executes steps S21 to S26 by executing the above-mentioned steps S21 again, and the empty storage unit DP1 that could not supply the container C1 by the container supply mechanisms 3A and 3B. The container C1 is replenished by the container replenishment mechanism 37.

The container supply control means 38 uses the second abnormality detection sensor 372 to check the floating of the container C1 supplied to the storage unit DP1 of the dummy pallet DP that has been stopped by being conveyed to the stop position DPS2 by the downstream pallet conveyor 364. To detect. Further, when the floating of the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP is detected by the second abnormality detection sensor 372, the container supply control means 38 performs the above-mentioned steps S1 to S4 and steps S11 to S11 to 1. The repetition of S14 and steps S21 to S26 is stopped.

Further, the container supply control means 38 repeats steps S1 to S4, steps S11 to S14, and steps S21 to S26 described above when the stop button (not shown) provided in the container supply device 3 is pressed. To stop. Further, the container supply control means 38 includes a container supply hopper 33, a container transport means 35, a pallet transport means 36, and a container replenishment when a reset button (not shown) provided in the container supply device 3 is pressed. The mechanism 37 is returned to the initial state.

Further, in the present embodiment, the container supply device 3 is provided with a small electromagnetic feeder 32 as a pallet vibration means for vibrating the dummy pallet DP, but the container supply device 3 may not be provided.
Further, in the present embodiment, the container supply device 3 includes a container storage tank 34, a container transport means 35, and a drop means, and after holding a plurality of containers C1 in the container supply hopper 33, the container is supplied. The plurality of containers C1 held in the hopper 33 are supplied toward the upper surface of the dummy pallet DP, and the plurality of containers C1 are dropped into the container storage tank 34 by the dropping means to circulate the plurality of containers C1. It was reused, but it does not have to be reused.

[Container cleaning device and container transfer device]
FIG. 37 is a top view and a side view of the container cleaning device. Specifically, FIG. 37 (A) is a view of the container cleaning device 4 viewed from the + Z axis direction side, and FIG. 37 (B) is a view of the container cleaning device 4 viewed from the + X axis direction side. ..
The container cleaning device 4 cleans a plurality of containers C1 supplied to the dummy pallet DP by the container supply device 3 to remove foreign substances such as dust adhering to the container C1.

As shown in FIG. 37, the container cleaning device 4 comprises a dropout preventing means 41 arranged vertically above the dummy pallet DP and a plurality of containers C1 housed in the dummy pallet DP via the dropout prevention means 41. A cleaning head 42 as a cleaning means for cleaning, a vertical moving mechanism 43 for moving the cleaning head 42 in the vertical vertical direction, and a horizontal moving mechanism 44 for moving the vertical moving mechanism 43 in the horizontal direction are provided. .. Therefore, in the present embodiment, the vertical movement mechanism 43 and the horizontal movement mechanism 44 function as a cleaning movement mechanism for moving the cleaning head 42.

FIG. 38 is a top view and a side view of the container transfer device. Specifically, FIG. 38 (A) is a view of the container transfer device 5 from the + Z axis direction side, and FIG. 38 (B) is a view of the container transfer device 5 from the −Y axis direction side. It is a figure.
The container transfer device 5 transfers a plurality of containers C1 supplied to the dummy pallet DP by the container supply device 3 and accommodates them in the main pallet MP. As described above, the main pallet MP to which the plurality of containers C1 have been transferred by the container transfer device 5 is conveyed by the main conveyor 2.
When the container temporary placement execution step S26 is executed by the container supply device 3, the container transfer device 5 does not replenish the container C1 to the empty supply storage unit DP1F, so that the dummy pallet is used. The plurality of containers C1 supplied to the DP will not be transferred.

As shown in FIG. 38, the container transfer device 5 includes a container transfer head 51 for transferring a plurality of containers C1 supplied to the dummy pallet DP by the container supply device 3 to the main pallet MP, and the container transfer device 5. It includes a vertical moving mechanism 52 that moves the mounting head 51 in the vertical vertical direction, and a horizontal moving mechanism 53 that moves the vertical moving mechanism 52 in the horizontal direction. Therefore, in the present embodiment, the vertical movement mechanism 52 and the horizontal movement mechanism 53 function as a container transfer movement mechanism for moving the container transfer head 51.

The container transfer head 51 is provided so as to correspond to each of the plurality of containers C1 supplied to the supply accommodating portion DP1F of the dummy pallet DP by the container supply device 3, and sucks the plurality of containers C1. It has a plurality of suction cups 51A to be held. In other words, the container transfer head 51 has 10 suction cups 51A arranged at equal intervals along the longitudinal direction (row direction) and along the lateral direction (column direction). Five suction cups 51A are arranged and held at equal intervals.
By moving the vertical movement mechanism 52 in the horizontal direction, the horizontal movement mechanism 53 moves back and forth between the vertical upper side of the container supply device 3 and the vertical upper side of the main conveyor 2.

FIG. 39 is a top view and a side view of the circulation pallet conveyor. Specifically, FIG. 39 (A) is a view of the circulation pallet conveyor 365 viewed from the + Z axis direction side, and FIG. 39 (B) is a view of the circulation pallet conveyor 365 viewed from the + X axis direction side. ..
The circulation pallet conveyor 365 is provided at the starting point position of the upstream pallet conveyor 361 as shown in FIG. 39 in addition to the above-mentioned transport path 365A, plate 365B, and advancing / retreating mechanism 365C, and is for a dummy for arranging a dummy pallet DP. It is equipped with a pallet 365D. Further, the circulation pallet conveyor 365 includes the above-mentioned dropout preventing means 41 arranged vertically above the transport path 365A.

The transport path 365A includes a belt conveyor having a contact portion 365A1 that abuts on the side surface of the dummy pallet DP on the −Y axis direction, and the belt conveyor is repeatedly moved and stopped for each distance of one dummy pallet DP. By moving the dummy pallet DP intermittently, the dummy pallet DP is intermittently conveyed toward the + Y-axis direction.
The dummy placement table 365D includes two pins 365D1 to be inserted into through holes DP3 (see FIG. 5) formed at the longitudinal ends of the dummy pallet DP, and a cylinder 365D2 for raising and lowering each pin 365D1. There is.

As shown in FIGS. 37 and 39, the dropout prevention means 41 has nine rail portions 41A1 extending along a direction (X-axis direction) orthogonal to the direction in which the dummy pallet DP is conveyed by the circulation pallet conveyor 365. A rectangular frame-shaped plate 41A having an internal structure and an elevating mechanism 41B for raising and lowering the plate 41A are provided.
Therefore, in the present embodiment, the dropout prevention means 41 extends along the direction (column direction) in which the accommodating portion DP1 of the dummy pallet DP is small among the row direction and the column direction of the accommodating portion DP1 of the dummy pallet DP. It is formed in a shape.

If the number of pallet accommodating portions in the row direction and the number in the column direction are the same, the dropout prevention means is a rail extending along either of the row direction and the column direction of the pallet accommodating portion. It suffices if it is formed in a shape.
Further, in the present embodiment, the dropout preventing means 41 is formed in a rail shape extending along the direction in which the accommodating portion DP1 of the dummy pallet DP is small among the row direction and the column direction of the accommodating portion DP1 of the dummy pallet DP. However, it may be formed in a rail shape extending along the direction in which the accommodating portion DP1 of the dummy pallet DP is large.

The plate 41A is arranged at a position vertically above the upper end of the container C1 housed in the housing part DP1 of the dummy pallet DP. Further, the rail portions 41A1 are arranged at predetermined intervals along the longitudinal direction of the dummy pallet DP, and the intervals are set to be substantially the same as the intervals between the openings of the container C1.
The elevating mechanism 41B can be separated from the dummy pallet DP by raising the plate 41A, and can be brought close to the dummy pallet DP by lowering the plate 41A. In other words, the dropout prevention means 41 can hold down the opening edges of the plurality of containers C1 housed in the dummy pallet DP by lowering the plate 41A by the elevating mechanism 41B, so that the dropout prevention means 41 can prevent the plurality of containers C1 from falling off. Can be prevented.

As shown in FIG. 37, the cleaning head 42 includes two cleaning covers 421 that cover a plurality of containers C1 whose opening edges are held down by the dropout prevention means 41, and a plate 422 that holds each cleaning cover 421. , A nozzle 423 that is housed inside each cleaning cover 421 and blows air to each of the plurality of containers C1 whose opening edges are suppressed by the dropout prevention means 41, and a plurality of containers covered with the cleaning cover 421. It is provided with a container cleaning suction machine 424 that sucks the container C1 of the above. The cleaning head 42 cleans a plurality of containers C1 whose opening edges are held down by the dropout preventing means 41.
In FIG. 37, the inside of the cleaning cover 421 is illustrated by removing the side surface (the side surface on the + X axis direction) of the cleaning cover 421 on the −Y axis direction side of the two cleaning covers 421. There is.

Here, the two cleaning covers 421 are held on the plate 422 so as to sandwich the four rows of containers C1 between them.
Hereinafter, the functions of the container cleaning device 4 and the container transfer device 5 will be described in order.

First, regarding the function of the container cleaning device 4, the state of the container cleaning device 4 shown in FIG. 37 will be described as an initial state.

FIG. 40 is a side view showing a state in which the cleaning head is lowered.
As shown in FIG. 40, the container cleaning device 4 lowers the plate 41A by the elevating mechanism 41B when the dummy pallet DP is conveyed vertically below the dropout prevention means 41 by the circulation pallet conveyor 365 and stops. The cleaning cover 421 is brought into contact with the upper surface of the drop-out preventing means 41 by bringing the cleaning head 42 closer to the dummy pallet DP and lowering the cleaning head 42 by the vertical movement mechanism 43 (see the downward arrow in the drawing).

Next, the container cleaning device 4 blows air through the nozzle 423 to each of the plurality of containers C1 whose opening edges are suppressed by the dropout prevention means 41, and the plurality of containers C1 covered with the cleaning cover 421. Is sucked by the container cleaning suction machine 424 to remove foreign substances such as dust adhering to the container C1.
Therefore, in the present embodiment, the container cleaning device 4 keeps the dummy pallet DP stationary when cleaning the plurality of containers C1 with the cleaning head 42.

FIG. 41 is a side view showing a state in which the cleaning head is slid.
Further, as shown in FIG. 41, the container cleaning device 4 slides the cleaning head 42 toward the −Y axis direction by the horizontal movement mechanism 44 by a distance of one row of the container C1 (in the figure). (Refer to the left arrow), air is blown by the nozzle 423 to each of the plurality of containers C1 whose opening edges are suppressed by the dropout prevention means 41, and the plurality of containers C1 covered with the cleaning cover 421 are cleaned. Foreign matter such as dust adhering to the container C1 is removed by sucking with the suction machine 424.

Then, the container cleaning device 4 repeatedly slides the cleaning head 42 and removes foreign matter such as dust adhering to the container C1 by the horizontal movement mechanism 44, and dust and the like adhering to all the containers C1. After removing the foreign matter, the cleaning head 42 is raised by the vertical movement mechanism 43 to separate the cleaning cover 421 from the upper surface of the dropout preventing means 41, and the plate 41A is raised by the elevating mechanism 41B. Separates from the dummy pallet DP.
After that, the dummy pallet DP is conveyed on the circulation pallet conveyor 365 toward the dummy arrangement table 365D.

Next, the function of the container transfer device 5 will be described with reference to FIGS. 38 and 39.
The container transfer device 5 is positioned vertically above the dummy arrangement table 365D by moving the container transfer head 51 by the horizontal movement mechanism 53.
Here, in the container supply device 3, when the dummy pallet DP is conveyed to the dummy arrangement table 365D by the circulation pallet conveyor 365 and stopped, each pin 365D1 is raised by the cylinder 365D2 to raise each through hole DP3 of the dummy pallet DP. By inserting into, the dummy pallet DP is raised and positioned.
Therefore, in the present embodiment, the dummy arrangement table 365D has a plurality of pins 365D1 that are freely inserted and removed from the plurality of holes (through holes DP3) of the dummy pallet DP, and each pin 365D1 is a dummy pallet. The dummy pallet DP is positioned by inserting it into each through hole DP3 of the DP.

In the present embodiment, the dummy placement table 365D is positioned by raising the dummy pallet DP by raising the two pins 365D1 by the cylinder 365D2 and inserting them into the two through holes DP3 of the dummy pallet DP. However, the dummy pallet may be raised and positioned by raising three or more pins and inserting them into the three or more holes of the dummy pallet. Further, the dummy arrangement table 365D may be positioned without raising the dummy pallet DP, or the dummy pallet DP may be positioned by adopting another mechanism such as a holding mechanism for stopping the dummy pallet DP. Good.

Next, the container transfer device 5 lowers the container transfer head 51 by the vertical movement mechanism 52, and then causes the container transfer head 51 to start suctioning the plurality of containers C1 to cause the dummy pallet DP. A plurality of containers C1 housed in the container C1 are sucked and held. At this time, the container transfer device 5 lowers the container transfer head 51 in accordance with the supply accommodating portion DP1F of the dummy pallet DP.
Then, the container transfer device 5 raises the container transfer head 51 by the vertical movement mechanism 52 to move a plurality of containers C1 housed in the supply accommodating portion DP1F of the dummy pallet DP from the dummy pallet DP. Remove.
Here, the container supply device 3 sends the dummy pallet DP arranged on the dummy arrangement table 365D to the upstream pallet conveyor 361 by advancing the plate 365B in the −X axis direction by the advance / retreat mechanism 365C.
The dummy pallet DP is sent out to the upstream pallet conveyor 361 while leaving the container C1 housed in the spare storage unit DP1S.

Further, when the container temporary placement execution step S26 is executed by the container supply device 3, the container transfer device 5 does not replenish the container C1 to the empty supply storage unit DP1F, so that the dummy pallet is used. The plurality of containers C1 supplied to the DP will not be transferred. In other words, in this case, the container transfer head 51 does not suck and hold the plurality of containers C1 housed in the dummy pallet DP, so that the dummy pallet DP is the storage part DP1 (supply storage part). It will be sent out to the upstream pallet conveyor 361 while leaving the container C1 housed in the DP1F and the spare storage section DP1S).

Next, the container transfer device 5 is positioned vertically above the end point position (see FIG. 4) of the return conveyor 22 of the main conveyor 2 by moving the container transfer head 51 by the horizontal movement mechanism 53. ..
Here, the main conveyor 2 is provided so as to be retractable along the vertical direction, and by projecting toward the vertically upward side, the side surface of the main pallet MP transported by the main conveyor 2 on the transport direction side. It is provided with two stoppers ST1 (see FIG. 4) that come into contact with the main pallet MP and make the main pallet MP stand still.
When the main pallet MP is detected by the photoelectric sensor (not shown) arranged on the side of the main conveyor 2, the stopper ST1 in the previous stage is projected toward the vertically upward side, so that the main pallet is projected onto the stopper ST1. The MPs are brought into contact with each other to stand by at a predetermined position. Then, the main conveyor 2 arranges one main pallet MP at the end point position of the return conveyor 22 by coordinating the stoppers ST1.

As described above, since the main pallet MP has two disc-shaped urethane rubber MP4s attached to the side surface on the -X-axis direction side, it comes into contact with the stopper ST1 in the previous stage and is in a predetermined position. It is possible to alleviate the impact at the time of collision between the main pallet MP waiting in and the subsequent main pallet MP.

Then, in the main conveyor 2, after arranging the main pallet MP at the end point position of the return conveyor 22, two pins (not shown) are raised by a cylinder (not shown) to raise each through hole MP3 (not shown) of the main pallet MP. By inserting it into each of (see FIG. 3), the main pallet MP is raised and positioned in the same manner as the dummy arrangement table 365D.
Therefore, in the present embodiment, the main conveyor 2 has a plurality of pins that are freely inserted and removed from the plurality of holes (through holes MP3) of the main pallet MP, and each pin penetrates each of the main pallet MP. The main pallet MP is positioned by inserting it into each of the holes MP3.

In the present embodiment, the main conveyor 2 is positioned by raising the main pallet MP by raising the two pins by the cylinder and inserting them into the two through holes MP3 of the main pallet MP. The main pallet may be raised and positioned by raising three or more pins and inserting them into the three or more holes of the main pallet. Further, the main conveyor 2 may be positioned without raising the main pallet MP, or the main pallet MP may be positioned by adopting another mechanism such as a holding mechanism for stopping the main pallet MP.

Therefore, in the present embodiment, the end points of the dummy arranging table 365D and the return conveyor 22 are transferred to a container in which the dummy pallet DP and the main pallet MP are arranged side by side along the lateral direction of the dummy pallet DP and the main pallet MP. Functions as a pallet. Then, the vertical movement mechanism 52 and the horizontal movement mechanism 53 move the container transfer head 51 along the lateral direction of the dummy pallet DP and the main pallet MP.

Next, the container transfer device 5 lowers the container transfer head 51 by the vertical movement mechanism 52, so that the lower ends of the plurality of containers C1 are reduced to about half of the body C11. By stopping and releasing the suction of the plurality of containers C1 on the container transfer head 51, the plurality of containers C1 are dropped and the plurality of containers C1 are accommodated and transferred to the main pallet MP.

Here, as described above, the container C1 has a body C11 having a hexagonal cross section, which is formed in a bottomed tubular shape and has a diameter slightly reduced from the top to the bottom. Therefore, the diameter is reduced from the upper end side to the lower end side. Further, the size of the accommodating portion DP1 of the dummy pallet DP is set to be larger than the size of the accommodating portion MP1 of the main pallet MP. Therefore, the container transfer device 5 can easily accommodate the lower end portion of the container C1 when it is accommodated in the accommodating portion MP1 of the main pallet MP.
Further, the container transfer device 5 accommodates the lower end portions of the plurality of containers C1 in each accommodating portion MP1 of the main pallet MP up to about half of the body C11, and stops the suction of the plurality of containers C1 in the container transfer head 51. Since it is released, it is possible to suppress damage to the plurality of containers C1.

In the present embodiment, the container C1 is formed so as to reduce its diameter from the upper end side to the lower end side, but it may be formed in a shape different from this.
Further, in the present embodiment, the size of the accommodating portion DP1 of the dummy pallet DP is set to be larger than the size of the accommodating portion MP1 of the main pallet MP. It may be the same, and may be smaller than the size of the accommodating portion MP1 of the main pallet MP.

After that, the container transfer device 5 raises the container transfer head 51 by the vertical movement mechanism 52, and then moves the container transfer head 51 by the horizontal movement mechanism 53, whereby the dummy arrangement table 365D is used. Position it vertically above and put it back.

As described above, in the present embodiment, the container supply device 3 replenishes the container C1 with the empty supply storage unit DP1F by the first arm robot 376 and the second arm robot 377, and then replenishes the empty supply storage unit DP1F. The container C1 housed in the container C1 is transferred to another device (main conveyor 2) different from the container supply device 3. Further, the container supply device 3 arranges two dummy pallet DPs at the arrangement positions of the dummy pallet DPs by circulating an odd number of dummy pallet DPs by the pallet transport means 36.

In the present embodiment, the container supply device 3 arranges two dummy pallet DPs at the arrangement positions of the dummy pallets DP by circulating an odd number of dummy pallet DPs by the pallet transport means 36. The number of dummy pallet DPs circulated by the pallet transport means 36 does not have to be an odd number, and the number of dummy pallet DPs arranged at the positions where the dummy pallet DPs are arranged does not have to be two.

[Filling device]
FIG. 42 is a top view of the filling device. FIG. 43 is a side view of the filling device. Specifically, FIG. 42 is a view of the filling device 6 viewed from the + Z axis direction side, and FIG. 43 is a view of the filling device 6 viewed from the −Y axis direction side.
As shown in FIGS. 42 and 43, the filling device 6 includes a measuring filling mechanism 61 provided on the downstream side of the main conveyor 2, a filling hopper 62 provided on the upstream side of the main conveyor 2, and a filling hopper. It is provided with an advancing / retreating mechanism 63 that moves 62 by advancing / retreating along the transport direction of the main conveyor 2, and two filling suction machines 64 provided on both sides of the filling hopper 62 in the advancing / retreating direction. The filling device 6 fills the container C1 housed in the main pallet MP conveyed by the main conveyor 2 with the powder or granular material P.

FIG. 44 is a schematic cross-sectional view of the measuring filling mechanism and the filling hopper. Specifically, FIG. 44 is a schematic view showing a cross section of the measuring filling mechanism 61 and the filling hopper 62 cut along the XZ plane.
Further, as shown in FIG. 44, the filling device 6 is provided on the vertically lower side of the measuring filling mechanism 61, and also includes a positioning mechanism 65 for positioning the main pallet MP at a predetermined position on the main conveyor 2.

The measuring and filling mechanism 61 is a measuring unit 66 arranged above the main pallet MP and an extrusion unit 67 arranged above the measuring unit 66 and adjacent to the filling hopper 62. And have.

The measuring unit 66 is a rectangular plate-shaped measuring plate 661 fixed below the extrusion unit 67, and a rectangular plate-shaped shutter 662 that is attached below the measuring plate 661 and slides by the driving force of a motor (not shown). And a rectangular plate-shaped guide plate 663 attached below the shutter 662.

The measuring plate 661 has a plurality of measuring holes 661A formed so as to correspond to each of the accommodating portions MP1 of the main pallet MP.
The shutter 662 is slidably attached along a direction (Y-axis direction) orthogonal to the transport direction of the outbound conveyor 21 of the main conveyor 2. The shutter 662 has a through hole 662A formed so as to correspond to each of the measuring holes 661A of the measuring plate 661. The inner diameter of the through hole 662A is larger than the inner diameter of the measuring hole 661A of the measuring plate 661.
The guide plate 663 has a through hole 663A formed so as to correspond to each of the measuring holes 661A of the measuring plate 661. The inner diameter of the through hole 663A is substantially the same as that of the through hole 662A of the shutter 662.

Therefore, the measuring unit 66 is configured by superimposing the measuring plate 661, the shutter 662, and the guide plate 663. Further, the measuring unit 66 switches between a state in which the measuring holes 661A and the through holes 662A and 663A are communicated with each other and a state in which the measuring holes 662 are not communicated with each other by sliding the shutter 662 to open and close the shutter 662. be able to.

The extrusion unit 67 includes an elevating plate 671 provided so as to be able to move up and down with respect to the measuring plate 661, and a plurality of extrusion pins 672 provided in the elevating plate 671 so as to correspond to each of the measuring holes 661A of the measuring plate 661. It is provided with an extrusion cylinder 673 that raises and lowers the elevating plate 671. By lowering the elevating plate 671 with the extrusion cylinder 673, the extrusion unit 67 can lower each extrusion pin 672 to a position penetrating each measurement hole 661A of the measurement unit 66.

As shown in FIGS. 42 to 44, the filling hopper 62 is slidably mounted on the upper surface of the measuring plate 661, and has a square tubular storage tank 621 for internally storing the powder or granular material P. It is arranged so as to be overlapped on the vertically upper side of the storage tank 621, and has a bottomed tubular charging tank 622 having an opening for charging the powder or granular material P on the vertically upper side, and a filling hopper 62 on the vertically upper side. It is provided with a filling cover 623 provided. Note that FIGS. 42 and 43 omit the illustration of the filling cover 623.

The charging tank 622 has a bottomed square tubular lower cylinder 622A formed on the vertically lower side and an upper cylinder 622B formed on the vertically upper side of the lower cylinder 622A and having an opening on the upper side. The charging tank 622 is made of acrylic resin and is transparent so that the powder or granular material P charged into the charging tank 622 can be visually recognized.
The lower cylinder 622A has a plurality of circular hole portions 622A1 on the bottom surface thereof. Each hole 622A1 has a cylindrical protrusion 622A2 that projects toward the inside of the storage tank 621 (see FIGS. 42 and 44).

Specifically, in the lower cylinder 622A, five hole portions 622A1 are arranged at equal intervals along the longitudinal direction, and two hole portions 622A1 are arranged at equal intervals along the lateral direction. There is. In other words, the lower cylinder 622A has 10 holes 622A1 in a grid pattern.
Therefore, in the present embodiment, the charging tank 622 communicates with the ten hole portions 622A1 formed on the bottom surface and each hole portion 622A1 and has a cylindrical protruding portion 622A2 that protrudes toward the inside of the storage tank 621. And have.

In the present embodiment, the lower cylinder 622A has 10 holes 622A1 in a grid pattern, but may have a number of holes different from 10. In short, the charging tank may have at least one hole formed in the bottom surface. Further, in the present embodiment, the holes are arranged in a grid pattern, but the holes may not be arranged in a grid pattern, and the arrangement may not have regularity. Further, in the present embodiment, the charging tank 622 has a protruding portion 622A2, and the protruding portion 622A2 is formed in a cylindrical shape. On the other hand, the charging tank may not have a protruding portion, and the protruding portion may be formed in a tubular shape having another cross-sectional shape such as a square tubular shape.

The upper cylinder 622B is formed so as to become wider in the transport direction (X-axis direction) of the outbound conveyor 21 of the main conveyor 2 toward the vertically upward side.
Here, as described above, since the filling device 6 includes a moving / retreating mechanism 63 that moves the filling hopper 62 forward / backward along the transport direction of the main conveyor 2, the opening of the filling hopper 62 is open. It is formed so as to become wider in the swaying direction of the filling hopper 62 toward the vertically upper side.

In the present embodiment, the opening of the filling hopper 62 is formed so as to become wider in the swaying direction of the filling hopper 62 toward the vertically upward side, but even if it is not formed in this way. Good.
Further, in the present embodiment, the filling hopper 62 is configured by stacking two tanks, a storage tank 621 and a charging tank 622, and the charging tank 622 has a hole portion 622A1 and a protruding portion 622A2. On the other hand, the filling hopper may be composed of one tank and may not have a hole and a protrusion. In short, the filling hopper only needs to be able to store the powder or granular material inside.

As shown in FIG. 44, the filling cover 623 is arranged so as to cover the opening of the upper cylinder 622B. The filling cover 623 is provided at a position where it always communicates with the opening of the filling hopper 62 when the filling hopper 62 is swung by the advancing / retreating mechanism 63, and is provided with an input port 623A for charging the powder or granular material P. ing.
In the present embodiment, the filling cover 623 is a glass plate fitted in the frame FL (see FIG. 2) described above. Further, the input port 623A has a lid (not shown) for closing the opening thereof. By removing the lid, the operator can charge the powder or granular material P into the filling hopper 62 via the charging port 623A.

As shown in FIGS. 42 and 43, the advancing / retreating mechanism 63 slidably supports the base 631 on which the filling hopper 62 and the extrusion unit 67 are placed and the base 631, and along the transport direction of the main conveyor 2. The base 631 is moved back and forth along the rail 632 by the driving force of a motor (not shown).
Therefore, the advancing / retreating mechanism 63 advances / retreats the filling hopper 62 and the extrusion unit 67 mounted on the base 631 along the transport direction of the main conveyor 2 by advancing / retreating the base 631 along the rail 632.

The filling suction machine 64 is provided on both sides (+ X-axis direction side and −X-axis direction side) of the filling hopper 62 and the extrusion unit 67 in the advancing / retreating direction, respectively, and the powder or granular material P leaking to the upper surface of the measuring plate 661 And so on.
In the present embodiment, the filling device 6 includes two filling suction machines 64, but may include one filling suction machine, and includes three or more filling suction machines. May be. Further, the filling device does not have to be provided with a filling suction machine.

As shown in FIG. 44, the positioning mechanism 65 includes two pins 651 to be inserted into each through hole MP3 (see FIG. 3) formed in the main pallet MP, and a cylinder for raising and lowering a plate supporting each pin 651. It is equipped with 652. Further, the positioning mechanism 65 is provided so as to be retractable along the vertical direction, and by projecting toward the vertically upward side, the positioning mechanism 65 is provided on the side surface of the main pallet MP transported by the main conveyor 2 on the transport direction side. It is provided with two stoppers ST2 (see FIG. 4) that abut and stop the main pallet MP.
Hereinafter, the function of the filling device 6 will be described in detail with the state of the filling device 6 shown in FIG. 44 as the initial state.

First, the filling device 6 raises a plurality of extrusion pins 672 by lowering the pin 651 by the cylinder 652 and raising the elevating plate 671 by the extrusion cylinder 673 to bring the plurality of extrusion pins 672 into the initial state. Further, in this initial state, the filling device 6 moves the extrusion unit 67 vertically above the measuring hole 661A of the measuring plate 661 by advancing and retreating the base 631 by the advancing / retreating mechanism 63.

FIG. 45 is a diagram showing a state in which the shutter of the measuring unit is closed.
Next, the filling device 6 causes the stopper ST2 in the previous stage to project vertically upward when the main pallet MP is detected by the photoelectric sensor (not shown) arranged on the side of the main conveyor 2. , The main pallet MP is brought into contact with the stopper ST2, and the main pallet MP conveyed by the main conveyor 2 is made to stand by at a predetermined position. Then, in the main conveyor 2, the main pallets MP are arranged one by one vertically above the positioning mechanism 65 by coordinating the stoppers ST2.

When the main pallet MP conveyed by the main conveyor 2 comes into contact with the stopper ST2 in the subsequent stage and is arranged vertically above the positioning mechanism 65, the filling device 6 is pinned by the cylinder 652 as shown in FIG. 45. By raising 651 and inserting it into each through hole MP3 of the main pallet MP, the main pallet MP is raised and positioned (upward arrow in the figure). As a result, the openings of the plurality of containers C1 housed in the main pallet MP are close to the through holes 663A of the guide plate 663.

Next, the filling device 6 slides the shutter 662 to close the shutter 662, thereby switching to a state in which the measuring holes 661A and the through holes 662A and 663A are not in communication with each other. Here, the concave space partitioned by each measuring hole 661A and the shutter 662 corresponds to the content of the powder or granular material P to be filled in the capsule C.
After that, the filling device 6 moves the filling hopper 62 vertically upward of the measuring hole 661A of the measuring plate 661 by advancing and retreating the base 631 by the advancing / retreating mechanism 63 (arrow pointing to the right in the drawing). As a result, the powder or granular material P stored in the storage tank 621 of the filling hopper 62 is filled in the measuring hole 661A of the measuring plate 661. Specifically, the filling device 6 drops the powder or granular material P from the storage tank 621 and fills the measuring hole 661A as the to-filled portion.

Therefore, the powder or granular material P stored inside the storage tank 621 is reduced by filling the measuring hole 661A. Then, the storage tank 621 stores the powder or granular material P inside by dropping the powder or granular material P charged into the charging tank 622 through the hole portion 622A1 and the protruding portion 622A2. Here, the horizontal position where the powder or granular material P charged into the charging tank 622 drops into the storage tank 621 is different from the horizontal position of the measuring hole 661A. In other words, the horizontal position where the powder or granular material charged into the charging tank falls into the storage tank is different from the horizontal position where the powder or granular material is filled in the filled portion in the storage tank.
In the present embodiment, the horizontal position where the powder or granular material charged into the charging tank falls into the storage tank is different from the horizontal position where the powder or granular material is filled in the filled portion in the storage tank, but is the same. It may be a position.

FIG. 46 is a diagram showing a state in which the measuring holes of the measuring plate are filled with powder or granular material.
After that, as shown in FIG. 46, the filling device 6 moves the extrusion unit 67 again vertically upward of the measuring hole 661A of the measuring plate 661 by advancing and retreating the base 631 by the advancing / retreating mechanism 63 (leftward in the drawing). Arrow). As a result, the powder or granular material P filled in the measuring hole 661A of the measuring plate 661 is worn off at the lower end of the storage tank 621 of the filling hopper 62, so that the filling device 6 has each measuring hole 661A and the shutter 662. A certain amount of powder or granular material P can be filled in the concave space partitioned by.
Here, the filling device 6 causes each filling suction machine 64 to suck the powder or granular material P that has leaked without being filled in each measuring hole 661A when the powder or granular material P is dropped from the filling hopper 62 (FIG. 6). 42 and FIG. 43).

As described above, the advancing / retreating mechanism 63 functions as a oscillating means for oscillating the filling hopper 62 along the horizontal direction, and when the powder or granular material P is dropped from the storage tank 621 and filled in the measuring hole 661A, the filling hopper Swing 62.

FIG. 47 is a diagram showing a state in which the container is filled with powder or granular material.
Next, as shown in FIG. 47, the filling device 6 slides the shutter 662 to open the shutter 662, thereby switching to a state in which the measuring holes 661A and the through holes 662A and 663A communicate with each other. As a result, the powder or granular material P filled in the measuring hole 661A of the measuring plate 661 falls into a plurality of containers C1 housed in the main pallet MP and is filled.
Further, the filling device 6 accommodates the powder or granular material P filled in the measuring holes 661A of the measuring plate 661 by a plurality of extrusion pins 672 by lowering the elevating plate 671 by the extrusion cylinder 673 in the main pallet MP. Extrude into a plurality of containers C1 (down arrow in the figure).

In the present embodiment, the filling device 6 extrudes the powder or granular material P filled in the measuring hole 661A of the measuring plate 661 with a plurality of extrusion pins 672. On the other hand, for example, when the particle size of the powder or granular material P is large, the filling device 6 may drop the powder or granular material P into a plurality of containers C1 and fill the powder or granular material P only by opening and closing the shutter 662. .. Further, for example, when the particle size of the powder or granular material P is small, the filling device 6 vibrates a plurality of extrusion pins 672 to easily drop the powder or granular material P into the plurality of containers C1 for filling. You may.

After that, the filling device 6 lowers the pin 651 by the cylinder 652 and immerses the stopper ST2 vertically downward to convey the main pallet MP to the main conveyor 2. Next, the filling device 6 raises the plurality of extrusion pins 672 by raising the elevating plate 671 with the extrusion cylinder 673 to bring the plurality of extrusion pins 672 into the initial state again.

[Filling check device]
FIG. 48 is a schematic view showing a filling check device. Specifically, FIG. 48 is a schematic view of the filling check device 7 as viewed from the + X axis direction side.
As shown in FIG. 48, the filling check device 7 includes a CCD camera 71 that captures an image of the upper surface of the main pallet MP conveyed by the main conveyor 2.

The filling check device 7 has the same mechanism as the positioning mechanism 65 of the filling device 6 described above. Specifically, the filling check device 7 raises and lowers two pins (not shown) to be inserted into each through hole MP3 (see FIG. 3) formed in the main pallet MP and a plate supporting each pin. It is equipped with a cylinder (not shown). Further, the filling check device 7 is provided so as to be retractable along the vertical direction, and by projecting toward the vertically upward side, the side surface of the main pallet MP transported by the main conveyor 2 on the transport direction side. It is provided with a stopper (not shown) that comes into contact with the main pallet MP and makes the main pallet MP stand still.

The filling check device 7 projects the stopper vertically upward when the main pallet MP is detected by the photoelectric sensor (not shown) arranged on the side of the main conveyor 2. Then, in the filling check device 7, when the main pallet MP conveyed by the main conveyor 2 comes into contact with the stopper and is arranged vertically below the CCD camera 71, the pin is raised by the cylinder to raise the pin of the main pallet MP. By inserting it into each through hole MP3, the main pallet MP is raised and positioned.

Then, the filling check device 7 causes the CCD camera 71 to image the upper surface of the main pallet MP, and performs a predetermined process on the image captured by the CCD camera 71 so that the container C1 housed in the main pallet MP is powdered. It is confirmed whether or not the grain P is filled.
After that, the filling check device 7 lowers the pin by the cylinder and immerses the stopper vertically downward to convey the main pallet MP to the main conveyor 2.

[Film supply device]
FIG. 49 is a side view of the film supply device, the film die cutting device, and the film transfer device. FIG. 50 is a top view of the film supply device, the film die cutting device, and the film transfer device. Specifically, FIG. 49 is a view of the film supply device 8, the film die cutting device 9, and the film transfer device 10 from the −X axis direction side, and FIG. 50 is a view of the film supply device 10 from the + Z axis direction side. 8. It is the figure which looked at the film die cutting apparatus 9, and the film transfer apparatus 10.
In addition, FIGS. 49 and 50 are also referred to in the description of the film die-cutting apparatus 9 and the film transfer apparatus 10 which will be described later.

As shown in FIGS. 49 and 50, the film supply device 8 includes a holder 81 for holding a sheet roll SR in which a sheet-shaped film (aluminum film) SR1 is wound around a paper tube, and a film SR1 drawn out from the sheet roll SR. It is provided with a plurality of guide rollers 82 for guiding by hanging around. The film supply device 8 supplies the film SR1 for cutting out the lid material C2 to the film die cutting device 9.
Each guide roller 82 is arranged in order from the holder 81 toward the film die-cutting device 9 in order to guide the film SR1. Specifically, the film SR1 of the sheet roll SR held in the holder 81 is supplied to the film die-cutting device 9 by being hung and guided in the order of the guide rollers 821 to 826.

As shown in FIGS. 49 and 50, the film die-cutting device 9 includes a film stand 91 on which the film SR1 supplied by the film supply device 8 is placed, and a press head 92 provided vertically above the film stand 91. , An elevator 93 for raising and lowering the press head 92, and an air hand 94 for pulling out the film SR1 supplied by the film supply device 8 from the film supply device 8.

FIG. 51 is a diagram showing a film cut by a film die cutting device.
As shown in FIG. 51, the film die-cutting device 9 forms a perforation SR11 for cutting out the lid material C2 in the film SR1 supplied by the film feeding device 8. Further, the film die-cutting device 9 forms punch holes SR12 at positions corresponding to the two pins MP2 formed at the end portions of the main pallet MP in the longitudinal direction. Then, the film die-cutting device 9 cuts the cut line SR13 along the lateral direction of the film SR1 to a size corresponding to the main pallet MP.

The press head 92 includes a die-cut blade for forming the perforation SR11, a punch for forming the punch hole SR12, and a cutter for cutting the cut line SR13 (not shown), and is a film as shown in FIGS. 49 and 50. By pressing the film SR1 placed on the table 91, the perforations SR11 and the punched holes SR12 are formed in the film SR1, and the film SR1 is cut into a size corresponding to the main pallet MP.

The elevator 93 presses the press head 92 against the film SR1 placed on the film base 91 by lowering the press head 92.
The air hands 94 are provided on both sides of the film SR1 in the lateral direction (X-axis direction), and a pair of sandwiching portions 941 for sandwiching the film SR1 and each sandwiching portion 941 are arranged along the longitudinal direction of the film SR1. It is provided with a moving mechanism 942 that moves on the rail.
Hereinafter, the functions of the film die-cutting device 9 will be described in detail.

First, the film die-cutting device 9 sandwiches the film SR1 supplied by the film supply device 8 between the pair of sandwiching portions 941 of the air hand 94, and then moves each sandwiching portion 941 in the longitudinal direction of the film SR1 by the moving mechanism 942. By moving along the film SR1, the film SR1 is pulled out and placed on the film stand 91. Specifically, the film die-cutting device 9 draws out the length of one sheet of the main pallet MP (the length in the longitudinal direction of the main pallet MP).

Here, the moving mechanism 942 moves each holding portion 941 at a predetermined speed to a position before the end point. After that, the moving mechanism 942 moves each holding portion 941 to the end point at a speed slower than the speed to the position before the end point. In other words, the moving mechanism 942 moves each holding portion 941 at a lower speed in the vicinity of the end point. According to this, the moving mechanism 942 can easily align the film SR1 with the film base 91.

Next, the film die-cutting device 9 presses the press head 92 against the film SR1 placed on the film stand 91 by lowering the press head 92 with the elevator 93. As a result, the film die-cutting device 9 forms the perforations SR11 and the punched holes SR12 in the film SR1 and cuts the cut line SR13 of the film SR1.

Here, the film SR1 pulled out from the film stand 91 by the pair of holding portions 941 of the air hand 94 is cut to a length corresponding to one sheet of the main pallet MP by cutting the cut line SR13. (Hereinafter, the film SR1 processed in this state is referred to as a cut film CF). The cut film CF already has the perforations SR11 and punched holes SR12 formed in the previous step.

Then, the film die-cutting device 9 releases the film SR1 to the pair of holding portions 941 of the air hand 94, raises the press head 92 by the elevator 93, and then moves each holding portion 941 to the film SR1 by the moving mechanism 942. It is moved to the vicinity of the film base 91 along the longitudinal direction and returned to its original position.

[Film transfer device]
As shown in FIGS. 49 and 50, the film transfer device 10 sucks and holds the film (cut film CF) cut by the film die-cutting device 9, and the suction head 101 in the vertical direction and in the vertical direction. It is provided with a moving mechanism 102 that moves along the horizontal direction.

FIG. 52 is a cross-sectional view showing a main part of the suction head. Specifically, FIG. 52 is a cross-sectional view of a part of the suction head 101 cut along the YZ plane.
As shown in FIG. 52, the suction head 101 is inserted into the hole 101A and the hole 101A provided at positions corresponding to the two pins MP2 formed at the longitudinal end of the main pallet MP, respectively. At the same time, the protrusion 101B is provided so as to project from the surface for sucking the cut film CF, and the spring 101C is housed inside the hole 101A and urges the protrusion 101B vertically downward.
By pushing the protruding portion 101B toward the hole 101A against the urging force of the spring 101C, the tip of the protruding portion 101B has a length that allows the tip of the protruding portion 101B to sink into the surface of the suction head 101 that sucks the cut film CF. It is set.
Hereinafter, the functions of the film transfer device 10 will be described in detail.

First, the film transfer device 10 moves the suction head 101 by the moving mechanism 102 to position it above the cut film CF, lowers the suction head 101, and then causes the suction head 101 to start suction to cut the film. Holds the film CF. At this time, since the protruding portion 101B is inserted into each punch hole SR12 formed in the cut film CF, the suction head 101 can hold the cut film CF in a predetermined position.

Next, the film transfer device 10 moves the suction head 101 by the moving mechanism 102 and positions it vertically above the main pallet MP that has been conveyed by the main conveyor 2.
Here, the film transfer device 10 has the same mechanism as the positioning mechanism 65 of the filling device 6 described above. Specifically, the film transfer device 10 raises and lowers two pins (not shown) to be inserted into each through hole MP3 (see FIG. 3) formed in the main pallet MP and a plate supporting each pin. It is equipped with a cylinder (not shown). Further, the film transfer device 10 is provided so as to be retractable along the vertical direction, and by projecting toward the vertically upward side, the film transfer device 10 is on the transport direction side of the main pallet MP transported by the main conveyor 2. It is provided with a stopper ST3 (see FIG. 4) that abuts on the side surface and stops the main pallet MP.

The film transfer device 10 projects the stopper ST3 vertically upward when the main pallet MP is detected by a photoelectric sensor (not shown) arranged on the side of the main conveyor 2. Then, in the film transfer device 10, when the main pallet MP conveyed by the main conveyor 2 comes into contact with the stopper ST3 and is arranged vertically below the suction head 101, the pin is raised by the cylinder to raise the main pallet. The main pallet MP is raised and positioned by inserting it into each through hole MP3 of the MP.

Then, the film transfer device 10 brings the protrusion 101B into contact with each pin MP2 of the main pallet MP by lowering the suction head 101. After that, the film transfer device 10 pushes each pin MP2 of the main pallet MP into the hole 101A by further lowering the suction head 101 by the moving mechanism 102 (downward arrow in the figure).

Next, the film transfer device 10 releases the cut film CF by stopping the suction by the suction head 101 in a state where the cut film CF and the main pallet MP are close to each other. As a result, the film transfer device 10 transfers the cut film CF to the main pallet MP that has been conveyed by the main conveyor 2.
After that, the film transfer device 10 lowers the pin by the cylinder and immerses the stopper ST3 vertically downward to convey the main pallet MP to the main conveyor 2.
Therefore, the film transfer device 10 transfers the cut film CF so that the position of the lid material C2 formed on the cut film CF and the position of the opening of the container C1 housed in the main pallet MP are aligned with each other. be able to.

[Seal device]
FIG. 53 is a side view of the sealing device. Specifically, FIG. 53 is a view of the sealing device 11 as viewed from the + X axis direction side.
As shown in FIG. 53, the sealing device 11 has an opening of a lid material C2 formed on the cut film CF transferred to the main pallet MP by the film transfer device 10 and a container C1 housed in the main pallet MP. It is provided with a sealing mechanism 111 that seals and adheres the portions, and a pushing mechanism 112 that positions the main pallet MP at a predetermined position on the main conveyor 2 and pushes up the container C1 housed in the accommodating portion MP1 of the main pallet MP. The powder granule P is sealed in the capsule C.
In FIG. 53, each pin MP2 of the main palette MP and the cut film CF are not shown in order to simplify the drawing.

The sealing mechanism 111 includes a seal head 111A having a hot plate 111A1 whose lower surface is kept at a high temperature for sealing and adhering the lid material C2 to the opening of the container C1, and a fluororesin sheet covering the lower surface of the hot plate 111A1. It is provided with 111B and an elevator 111C for raising and lowering the seal head 111A.
The sheet 111B includes a pair of reels 111B1 for winding both ends thereof, and by winding from one of the reels 111B1 to the other reel 111B1, the portion covering the lower surface of the hot plate 111A1 can be renewed.
The elevator 111C includes a slide shaft 111C1 that slidably supports the seal head 111A in the vertical vertical direction, and an air cylinder 111C2 that slides the seal head 111A up and down along the slide shaft 111C1.

The push-up mechanism 112 is provided corresponding to each of the two pins 112A to be inserted into each through hole MP3 formed in the main pallet MP and the accommodating portion MP1 of the main pallet MP, and is provided in the accommodating portion MP1 of the main pallet MP. On the other hand, by inserting from the lower surface side, a plurality of rod-shaped bodies 112B that abut and push up the container C1 housed in the storage portion MP1 of the main pallet MP, and a plate that supports each pin 112A and each rod-shaped body 112B are inserted. It is provided with a cylinder 112C for raising and lowering. Further, the push-up mechanism 112 is provided so as to be retractable along the vertical direction, and by projecting toward the vertically upward side, the push-up mechanism 112 is provided on the side surface of the main pallet MP transported by the main conveyor 2 on the transport direction side. It is provided with a stopper ST4 (see FIG. 4) that abuts and stops the main pallet MP.
Hereinafter, the function of the sealing device 11 will be described in detail.

First, the sealing device 11 lowers each pin 112A and each rod-shaped body 112B by the cylinder 112C. Then, the seal device 11 raises the seal head 111A by the elevator 111C to bring it into the initial state.
Next, the sealing device 11 projects the stopper ST4 vertically upward when the main pallet MP is detected by the photoelectric sensor (not shown) arranged on the side of the main conveyor 2. Then, in the sealing device 11, when the main pallet MP conveyed by the main conveyor 2 comes into contact with the stopper ST4 and is arranged vertically above the push-up mechanism 112, each pin 112A is raised by the cylinder 112C to be main. By inserting it into each through hole MP3 of the pallet MP, the main pallet MP is raised and positioned, and each rod-shaped body 112B is raised to push up the container C1 housed in each storage portion MP1 of the main pallet MP. ..

Therefore, in the present embodiment, the push-up mechanism 112 is provided on the lower side of the main pallet MP, and the seal that pushes up the container C1 by inserting the rod-shaped body 112B from the lower surface side into the accommodating portion MP1 of the main pallet MP. Functions as a push-up mechanism.
Further, in the present embodiment, the push-up mechanism 112 has a plurality of pins 112A that are freely inserted and removed from the plurality of holes (through holes MP3) of the main pallet MP, and each pin 112A is used as the main pallet MP. The main pallet MP is positioned by inserting it into each of the through holes MP3.

In the present embodiment, the push-up mechanism 112 raises and positions the main pallet MP by raising the two pins 112A by the cylinder 112C and inserting them into the two through holes MP3 of the main pallet MP. However, the main pallet may be raised and positioned by raising the three or more pins and inserting them into the three or more holes of the main pallet. Further, the push-up mechanism 112 may be positioned without raising the main pallet MP, or the main pallet MP may be positioned by adopting another mechanism such as a holding mechanism for stopping the main pallet MP.

Here, as described above, since each pin MP2 of the main pallet MP is inserted into each punch hole SR12 formed in the cut film CF, the movement of the cut film CF can be restricted. In other words, in the present embodiment, each pin MP2 of the main pallet MP functions as a sealing regulating mechanism that regulates the movement of the cut film CF placed on the main pallet MP.

In the present embodiment, the sealing device 11 employs each pin MP2 of the main pallet MP as a sealing regulating mechanism, but for example, a frame body that presses the peripheral edge of the cut film CF toward the main pallet MP. May be adopted as a sealing regulation mechanism. In short, the sealing regulating mechanism need only be able to regulate the movement of the film placed on the pallet, and may be provided on at least one of the pallet and the sealing device. Further, in the present embodiment, the sealing device 11 includes a sealing regulating mechanism, but the sealing device 11 does not have to be provided.

Next, the sealing device 11 lowers the sealing head 111A by the elevator 111C to bring the opening of the container C1 and the hot plate 111A1 into close contact with each other via the lid material C2. As a result, the sealing device 11 seals and adheres the lid material C2 to the opening of the container C1. Specifically, the sealing device 11 seals the lid material C2 in the opening of the container C1 by melting the heat-melting adhesive applied to the lower surface of the cut film CF at a high temperature of the hot plate 111A1. And glue.

Therefore, in the present embodiment, the sealing device 11 seals the lid material C2 in the opening of the container C1 by pushing up the container C1 by the pushing mechanism 112 and then lowering the hot plate 111A1 by the sealing mechanism 111. Is glued.

After that, the sealing device 11 lowers the pin 112A and the rod-shaped body 112B by the cylinder 112C, and immerses the stopper ST4 vertically downward to convey the main pallet MP to the main conveyor 2. Next, the seal device 11 raises the seal head 111A by the elevator 111C to bring it back to the initial state.

[Film separator]
FIG. 54 is a side view of the film separator. Specifically, FIG. 54 is a view of the film separating device 12 as viewed from the + X axis direction side.
As shown in FIG. 54, the film separation device 12 has a film separation mechanism 121 that separates the lid material C2 sealed by the sealing device 11 from the cut film CF, and the capsule C by sucking and holding the capsule C. Is provided with a capsule transfer mechanism 122, which is taken out from the main pallet MP and transferred to the capsule sorting device 14.
In addition, in FIG. 54, in order to simplify the drawing, the illustration of each pin MP2 and the cut film CF of the main palette MP is omitted.

The film separation mechanism 121 is provided on the vertically upper side of the main pallet MP conveyed by the main conveyor 2, and also includes a folding plate 121A (see FIG. 4) that bends the ear portion C22 of the lid material C2 and the main conveyor 2. It is provided with a push-up mechanism 121B that positions the main pallet MP at a predetermined position, pushes up the capsule C housed in the housing portion MP1 of the main pallet MP, and separates the lid material C2 from the cut film CF.
The folding plate 121A has a plurality of through holes 121A1 formed so as to correspond to each of the capsules C housed in the main pallet MP.

FIG. 55 is an enlarged cross-sectional view showing a through hole of the bent plate. Specifically, FIG. 55 is an enlarged cross-sectional view of the through hole 121A1 of the bent plate 121A cut along the YZ plane.
The through hole 121A1 of the bent plate 121A is formed in a hexagonal shape similar to the opening of the container C1. Further, as shown in FIG. 55, the through hole 121A1 has an inclined portion 121A2 whose diameter increases toward the capsule C side, and is formed to have an inner diameter slightly larger than the outer diameter of the opening of the container C1. There is.

As shown in FIG. 54, the push-up mechanism 121B is provided corresponding to each of the two pins 121B1 to be inserted into each through hole MP3 formed in the main pallet MP and the accommodating portion MP1 of the main pallet MP, and is also provided as a main. A plurality of rod-shaped bodies 121B2 that abut and push up the container C1 housed in the storage portion MP1 of the main pallet MP by inserting the pallet MP into the accommodating portion MP1 from the lower surface side, each pin 121B1 and each rod-shaped body 121B2. It is provided with a cylinder 121B3 for raising and lowering a plate supporting the above. Further, the push-up mechanism 121B is provided so as to be retractable along the vertical direction, and by projecting toward the vertically upward side, the push-up mechanism 121B is provided on the side surface of the main pallet MP transported by the main conveyor 2 on the transport direction side. It is provided with a stopper ST5 (see FIG. 4) that abuts and stops the main pallet MP.

FIG. 56 is a top view of the film separator. Specifically, FIG. 56 is a view of the film separating device 12 as viewed from the + Z axis direction side.
As shown in FIGS. 54 and 56, the capsule transfer mechanism 122 is provided so as to correspond to each of the capsules C housed in the main pallet MP, and is provided on the main pallet MP conveyed by the main conveyor 2. A plurality of suction cups 122A that suck and hold the contained capsule C, a plurality of transfer heads 122B that support the plurality of suction cups 122A, and a plurality of transfer heads 122B along the longitudinal direction of the main pallet MP. The head holding mechanism 122C that holds the head holding mechanism 122C so as to be close to each other, the vertical moving mechanism 122D that moves the head holding mechanism 122C in the vertical direction, and the head holding mechanism 122C that moves the head holding mechanism 122C vertically above the main conveyor 2 It is provided with a horizontal movement mechanism 122E that moves back and forth vertically above the capsule sorting device 14.

FIG. 57 is a schematic view showing the shape of the transfer head of the capsule transfer mechanism. Specifically, FIG. 57 is a view of a plurality of transfer heads 122B viewed from the + Z axis direction side.
As shown in FIG. 57, the plurality of transfer heads 122B are provided so as to correspond to each of the capsules C housed in the main pallet MP, and are housed in the main pallet MP conveyed by the main conveyor 2. Of the capsules C, the three transfer heads 122B1 to 3 supporting the suction cup 122A that sucks and holds 16 capsules C and the suction cup 122A that sucks and holds the two capsules C are supported. It is equipped with one transfer head 122B4.

Then, as shown in FIG. 57 (A), the plurality of transfer heads 122B are brought close to each other by the head holding mechanism 122C, so that the positions of the plurality of suction cups 122A are placed in the main pallet MP of the capsule C. It can be made to correspond to each.
Further, as shown in FIG. 57 (B), the plurality of transfer heads 122B are separated from each other by the head holding mechanism 122C (see the arrow in the figure), so that 50 capsules C are separated into 16 groups. It is divided into two groups and transferred to the capsule sorting device 14.
Hereinafter, the function of the film separation device 12 will be described in detail.

First, the film separating device 12 lowers the pin 121B1 at the cylinder 121B3. Then, the film separating device 12 brings the plurality of transfer heads 122B close to each other by the head holding mechanism 122C and moves the head holding mechanism 122C in the horizontal direction by the horizontal moving mechanism 122E so that the head holding mechanism 122C is vertically bent by the bending plate 121A. Move it upward to the initial state.

Next, the film separation device 12 causes the stopper ST5 to project vertically upward when the main pallet MP is detected by a photoelectric sensor (not shown) arranged on the side of the main conveyor 2. Then, in the film separation device 12, when the main pallet MP conveyed by the main conveyor 2 comes into contact with the stopper ST5 and is arranged vertically above the push-up mechanism 121B, the pin 121B1 is raised by the cylinder 121B3 to be main. By inserting it into each through hole MP3 of the pallet MP, the main pallet MP is raised and positioned, and the rod-shaped body 121B2 is raised to push up the capsule C housed in the accommodating portion MP1 of the main pallet MP.

Therefore, in the present embodiment, the push-up mechanism 121B has a plurality of pins 121B1 that are freely inserted and removed from the plurality of holes (through holes MP3) of the main pallet MP, and each pin 121B1 is used as the main pallet MP. The main pallet MP is positioned by inserting it into each of the through holes MP3.

In the present embodiment, the push-up mechanism 121B raises and positions the main pallet MP by raising the two pins 121B1 by the cylinder 121B3 and inserting them into the two through holes MP3 of the main pallet MP. However, the main pallet may be raised and positioned by raising the three or more pins and inserting them into the three or more holes of the main pallet. Further, the push-up mechanism 121B may be positioned without raising the main pallet MP, or may be positioned by adopting another mechanism such as a holding mechanism for stopping the main pallet MP.

Further, the film separation device 12 pushes up each capsule C by the push-up mechanism 121B and at the same time starts suction to each suction cup 122A, thereby passing through the through hole 121A1 of the bending plate 121A to the plurality of transfer heads 122B. Hold each capsule C. As a result, the film separating device 12 separates the lid material C2 sealed by the sealing device 11 from the cut film CF.
Therefore, in the present embodiment, the push-up mechanism 121B is provided on the lower side of the main pallet MP, and the container C1 is pushed up by inserting the rod-shaped body 121B2 from the lower surface side into the accommodating portion MP1 of the main pallet MP. It functions as a separation push-up mechanism for separating the lid material C2 from the cut film CF.

Further, in the present embodiment, the folding plate 121A is provided on the upper side of the main pallet MP, and the cut film CF is regulated for separation by pressing a portion different from the lid material C2 of the cut film CF to regulate the rise of the cut film CF. Functions as a mechanism.
In the present embodiment, the separation regulation mechanism employs the bending plate 121A, but a mechanism different from this may be adopted. For example, the separation regulatory mechanism may regulate the rise of the film by pressing the four corners of the film. In short, it suffices that the separation regulating mechanism is provided on the upper side of the pallet and can regulate the rise of the film by pressing a portion different from the lid material of the film.

Further, in the present embodiment, the transfer head 122B is provided on the upper side of the bending plate 121A, and the capsule C is sucked and held by the pushing mechanism 121B to suck and hold the capsule C from the main pallet MP. It functions as a pull-up mechanism.
In the present embodiment, the transfer head 122B is provided on the upper side of the bending plate 121A, but may be provided at a different position. In other words, the transfer head 122B pushes up each capsule C by the push-up mechanism 121B and at the same time starts suction to each suction cup 122A, so that the transfer head 122B passes through the through hole 121A1 of the bending plate 121A and holds each capsule C. However, it is not necessary to start suction by each suction cup 122A at the same time as pushing up each capsule C by the push-up mechanism 121B.

Here, since the through hole 121A1 of the bending plate 121A has an inclined portion 121A2 whose diameter increases toward the capsule C side, each capsule C has an ear portion C22 of the lid material C2 at the inclined portion 121A2. Will pass through the through hole 121A1 of the bending plate 121A while being bent.
Therefore, in the present embodiment, the folding plate 121A has a through hole 121A1 that bends the lid material C2 along the capsule C by passing the capsule C pulled up by the transfer head 122B.
In the present embodiment, the bending plate 121A has a through hole 121A1 for bending the lid material C2 along the capsule C, but the folding plate 121A may not have such a through hole 121A1.

Next, the film separating device 12 moves the head holding mechanism 122C vertically upward by the vertical moving mechanism 122D, and then moves the head holding mechanism 122C vertically upward by the horizontal moving mechanism 122E.
Then, the film separating device 12 isolates the plurality of transfer heads 122B from each other by the head holding mechanism 122C, moves the head holding mechanism 122C vertically downward by the vertical moving mechanism 122D, and then moves the head holding mechanism 122C vertically downward to each suction cup 122A. By stopping the suction, each capsule C is released and transferred to the capsule sorting device 14.

After that, the film separating device 12 lowers the pin 121B1 and the rod-shaped body 121B2 by the cylinder 121B3, and immerses the stopper ST5 vertically downward to convey the main pallet MP to the main conveyor 2. Next, the film separating device 12 moves the head holding mechanism 122C vertically upward by the vertical moving mechanism 122D, and then moves the head holding mechanism 122C vertically upward by the horizontal moving mechanism 122E again. Set to the initial state.

[Scrap discharge device]
FIG. 58 is a side view of the scrap discharge device. Specifically, FIG. 58 is a view of the scrap discharge device 13 as viewed from the −Y axis direction side.
As shown in FIG. 58, the scrap discharge device 13 includes a suction plate 131 that sucks the scrap SC (see FIG. 51) after separating the lid material C2 sealed by the sealing device 11 from the cut film CF, and a suction plate. It is provided with a moving mechanism 132 for moving the 131 in the vertical direction and the horizontal direction, and a scrap holding table 133 for holding the scrap SC sucked by the suction plate 131.

The suction plate 131 has four suction pads 131A attached so as to correspond to each of the four corners of the scrap SC.
The moving mechanism 132 moves back and forth between the lift cylinder 132A that moves the suction plate 131 in the vertical direction and the vertical upper side of the main conveyor 2 and the vertical upper side of the scrap holding table 133 by moving the suction plate 131 in the horizontal direction. It is equipped with a rodless cylinder 132B. In FIG. 58, the main conveyor 2 is not shown.

FIG. 59 is a perspective view showing the appearance of the scrap holding table.
As shown in FIG. 59, the scrap holding table 133 includes two poles 133A protruding vertically upward. The scrap holding table 133 holds the scrap SC by inserting each pole 133A into the hole SC1 formed in the scrap SC sucked by the suction plate 131.
Hereinafter, the function of the scrap discharge device 13 will be described in detail.

First, the scrap discharge device 13 moves the suction plate 131 vertically upward of the main conveyor 2 by moving the suction plate 131 in the horizontal direction by the moving mechanism 132 to bring it into the initial state.
Here, in the main conveyor 2, after the main pallet MP is arranged vertically below the suction plate 131, two pins (not shown) are raised by a cylinder (not shown) to form each through hole MP3 of the main pallet MP. By inserting into each, the main pallet MP is raised and positioned.

Therefore, in the present embodiment, the main conveyor 2 has a plurality of pins that are freely inserted and removed from the plurality of holes (through holes MP3) of the main pallet MP, and each pin penetrates each of the main pallet MP. The main pallet MP is positioned by inserting it into each of the holes MP3.

In the present embodiment, the main conveyor 2 is positioned by raising the main pallet MP by raising the two pins by the cylinder and inserting them into the two through holes MP3 of the main pallet MP. The main pallet may be raised and positioned by raising three or more pins and inserting them into the three or more holes of the main pallet. Further, the main conveyor 2 may be positioned without raising the main pallet MP, or the main pallet MP may be positioned by adopting another mechanism such as a holding mechanism for stopping the main pallet MP.

Next, the scrap discharge device 13 positions the suction plate 131 in the vicinity of the cut film CF by moving the suction plate 131 vertically downward by the moving mechanism 132, and sucks the suction plate 131 to the suction pad 131A of the suction plate 131. By starting, the scrap SC after separating the lid material C2 from the cut film CF is held. Then, the scrap discharge device 13 moves the suction plate 131 vertically upward by the moving mechanism 132 to separate the scrap SC held by the suction plate 131 from the main pallet MP, and then moves the suction plate 131 to the moving mechanism 132. By moving the suction plate 131 in the horizontal direction, the suction plate 131 is moved vertically upward of the scrap holding table 133.

Next, the scrap discharge device 13 releases the scrap SC after separating the lid material C2 from the cut film CF by stopping the suction on the suction pad 131A of the suction plate 131, and holds the scrap SC on the scrap holding table 133.
After that, the scrap discharge device 13 conveys the main pallet MP to the main conveyor 2 by lowering the pin with the cylinder. Next, the scrap discharge device 13 moves the suction plate 131 vertically upward of the main conveyor 2 by moving it in the horizontal direction by the moving mechanism 132, and returns it to the initial state again.

[Capsule sorting device]
FIG. 60 is a top view of the capsule sorting device. Specifically, FIG. 60 is a view of the capsule sorting device 14 as viewed from the + Z axis direction side.
As shown in FIG. 60, the capsule sorting device 14 is a capsule dividing conveyor 141 that divides and conveys the capsule C transferred by the film separating device 12, and a downstream side (below the paper surface) of the capsule dividing conveyor 141 in the conveying direction. It is provided on the side) and includes a case transport conveyor 142 for transporting the case CS for accommodating the capsule C, and a capsule shooter 143 provided between the capsule division conveyor 141 and the case transport conveyor 142. The capsule sorting device 14 sorts the capsules C transferred by the film separating device 12 by a predetermined number and stores them in the case CS. Specifically, the capsule sorting device 14 sorts the capsules C into 32 capsules and stores them in the case CS.
In FIG. 60, the case CS is illustrated with hatching. The same applies to the following drawings.

FIG. 61 is a perspective view showing the capsule and the case.
As shown in FIG. 61, the case CS has a storage portion CS1 formed in a bottomed tubular shape having an elliptical cross section, an elliptical lid portion CS2 that closes the opening of the storage portion CS1, and a storage portion CS1. It is provided with a hinge portion CS3 that connects the lid portion CS2 so as to be openable and closable. As described above, the case CS is formed in a size capable of accommodating 32 capsules C and closing the lid CS2.

FIG. 62 is a perspective view showing a case pedestal for holding the case.
As shown in FIG. 62, the case pedestal CSP has a pedestal portion CSP1 formed in a rectangular parallelepiped shape and a recessed CSP2 formed at a substantially central position of the pedestal portion CSP1. The recess CSP2 has the same cross-sectional shape as the bottom surface of the case CS, and is formed to have a cross-sectional shape slightly larger than the bottom surface of the case CS. Further, the depth of the recessed CSP2 is set so that about half of the case CS can be inserted.
Therefore, the case pedestal CSP can hold the case CS by inserting the case CS into the recessed CSP2 from the bottom surface side.

As shown in FIG. 60, the capsule division conveyor 141 has a transport path 141A on which the capsule C is placed and the capsule C is conveyed along a predetermined transport direction (lower direction in the figure), and along the transport direction. It includes five guide rails 141B1 to 141B5 provided and a photoelectric sensor 141C provided on the downstream side of the transport path 141A.
The guide rails 141B1 to 141B4 contain 16 capsules C held by the transfer heads 122B1 to 122B3 when a plurality of transfer heads 122B are separated from each other by the head holding mechanism 122C of the film separation device 12. It is provided so as to have a width wide enough to be mounted on the transport path 141A.
Further, the guide rails 141B5 are held by the transfer heads 122B4 when the plurality of transfer heads 122B are separated from each other by the head holding mechanism 122C of the film separating device 12 with respect to the guide rails 141B4. The capsule C is provided so as to have a width wide enough to be placed on the transport path 141A.

Therefore, the capsule division conveyor 141 divides 50 capsules C, which correspond to one main pallet MP, into 16 groups and 2 groups by dividing the 50 capsules C by the guide rails 141B1 to 141B5. Can be transported. In other words, in the present embodiment, the capsule division conveyor 141 divides one unit of capsule C (50 capsules C corresponding to one main pallet MP) into a first group (16 capsules). The group) and the second group (two groups) having a different number from the first group are divided and transported.
The number of capsules C in one unit, the number of capsules in the first group and the second group, and the number of capsules C stored in the case CS may be different from those in the present embodiment.

Further, the head holding mechanism 122C of the film separating device 12 has a plurality of parts (transfer heads 122B1 to 122B4) configured so as to be close to each other, and the plurality of parts are brought close to each other to hold one unit of capsule C. At the same time, by isolating a plurality of parts and dividing one unit of capsule C into a plurality of groups and releasing the capsule C, it functions as a sorting holding mechanism for sorting one unit of capsule C into a predetermined number.
In other words, in the present embodiment, the capsule sorting device 14 includes the capsule transfer mechanism 122 of the film separating device 12.

The photoelectric sensor 141C detects 50 capsules C corresponding to one main pallet MP by detecting the capsule C in the first row among the capsules C transferred by the film separation device 12. Detects whether or not it has been transported. Therefore, in the present embodiment, the photoelectric sensor 141C functions as a capsule detection means for detecting whether or not one unit of capsule C has been conveyed.

FIG. 63 is a top view of the case transfer conveyor. Specifically, FIG. 63 is a view of the case transfer conveyor 142 as viewed from the + Z axis direction side.
As shown in FIGS. 60 and 63, the case transfer conveyor 142 mounts the case CS via the case pedestal CSP and conveys the case CS along a predetermined transfer direction (+ Y-axis direction). The case CS is placed via the case pedestal CSP and the first lane 142A and the second lane 142B, and the case CS is provided along a predetermined transfer direction (-Y-axis direction). It is equipped with a third lane 142C.

In the present embodiment, the upstream side of the first lane 142A and the downstream side of the third lane 142C are connected to each other. Therefore, the case pedestal CSP that has been conveyed in the −Y axis direction in the third lane 142C is directly conveyed in the + Y axis direction in the first lane 142A. Further, the connecting portion of the first lane 142A and the third lane 143C is covered with the box body 142D.

Further, the case transfer conveyor 142 has a stopper 144A provided on the downstream side of the first lane 142A, a stopper 144B provided on the downstream side of the second lane 142B, and a case pedestal mounted on the first lane 142A. A case transfer mechanism 145 for transferring the CSP to the second lane 142B, a case transfer mechanism 146 for transferring the case pedestal CSP mounted on the second lane 142B to the third lane 142C, and a first lane 142A. The stopper 147 that stops the case pedestal CSP conveyed in the above case in front of the case transfer mechanism 145 and the case vibration that vibrates the case pedestal CSP mounted on the first lane 142A in the vertical vertical direction. It is equipped with means 148 (see FIG. 64).
Here, the case transfer conveyor 142 is arranged vertically below the capsule division conveyor 141 at a predetermined interval, and conveys the case CS along a direction orthogonal to the transfer direction of the capsule division conveyor 141. It is arranged in.

The stopper 144A is located on the downstream side of the first lane 142A and is fixed to the case transfer conveyor 142. The stopper 144A abuts on the case pedestal CSP transported in the first lane 142A, and stops the case pedestal CSP at the end point position of the first lane 142A against the movement of the transport path in the first lane 142A. .. Further, the case pedestal CSP which has been conveyed in the first lane 142A after the case pedestal CSP comes into contact with the case pedestal CSP and stands still in order against the movement of the transport path in the first lane 142A. Will go. In the present embodiment, the stopper 144A makes a total of four case pedestal CSPs stationary at the end point position of the first lane 142A against the movement of the transport path of the first lane 142A.

The stopper 144B is located on the downstream side of the second lane 142B and is fixed to the case transfer conveyor 142. The stopper 144B abuts on the case pedestal CSP transported in the second lane 142B, and stops the case pedestal CSP at the end point position of the second lane 142B against the movement of the transport path in the second lane 142B. .. Further, the case pedestal CSP that has been transported in the second lane 142B after the case pedestal CSP comes into contact with the case pedestal CSP and stands still in order against the movement of the transport path in the second lane 142B. Will go.

In the present embodiment, the case transfer conveyor 142 has a stopper 144A for stopping the case pedestal CSP at a predetermined position in the first lane 142A and a stopper for stopping the case pedestal CSP at a predetermined position in the second lane 142B. Although 144B is provided, the case pedestal CSP may be stopped at a predetermined position by another method such as stopping the transfer path of the case transfer conveyor 142.

The case transfer mechanism 145 includes two pushers 145A arranged so as to be retractable along the X-axis direction, and a guide rail 145B arranged on the opposite side of the pusher 145A with the first lane 142A interposed therebetween. ing.
In the present embodiment, the pusher 145A provided on the upstream side of the first lane 142A will be referred to as the pusher 145A1, and the pusher 145A provided on the downstream side of the first lane 142A will be referred to as the pusher 145A2.

The pusher 145A1 pushes out the three case pedestal CSPs on the upstream side toward the second lane 142B among the four case pedestal CSPs stationary at the end point position of the first lane 142A by the stopper 144A. Transferred to lane 142B.
The pusher 145A2 pushes one of the four case pedestal CSPs stationary at the end point position of the first lane 142A at the stopper 144A toward the second lane 142B on the downstream side. Transferred to lane 142B.
The guide rail 145B is arranged so as to be retractable along the Z-axis direction. The guide rail 145B is lowered when the case pedestal CSP is pushed out by each pusher 145A, and is raised at other times.

The case transfer mechanism 146 includes a plate 146A arranged so as to be able to advance and retreat along the X-axis direction, and the plate 146A is attached to four case pedestal CSPs stationary at the end point position of the second lane 142B by the stopper 144B. By abutting and pushing out, it is transferred to the third lane 142C.

The stopper 147 is arranged so as to be able to advance and retreat along the X-axis direction. The stopper 147 pushes out the case pedestal CSP with each pusher 145A and then retracts toward the −X-axis direction side, and carries the case pedestal CSP to the end point position of the first lane 142A. Further, the stopper 147 advances toward the + X axis direction after carrying the four case pedestal CSPs to the end points of the first lane 142A, and makes the case pedestal CSP stationary in front of the case transfer mechanism 145.

FIG. 64 is a schematic view of the case vibrating means as viewed from the side surface side. Specifically, FIG. 64 is a schematic view of the case vibrating means as viewed from the + X axis direction side.
As shown in FIG. 64, the case vibrating means 148 is provided so as to be able to move up and down along the vertical vertical direction, and the case pedestal CSP is raised and lowered in the vertical vertical direction by contacting the bottom surface of the case pedestal CSP. It is provided with a vibrating mechanism 148A that vibrates along the line and a vibrator 148B that is attached inside the vibrating mechanism 148A and vibrates the vibrating mechanism 148A.
The vibration mechanism 148A includes a pin 148A1 that abuts on the bottom surface of the case pedestal CSP through a gap between rollers forming the first lane 142A, and an elevator (not shown) that raises and lowers the pin 148A1.

In the present embodiment, the case vibrating means 148 is configured to vibrate the case pedestal CSP in the vertical vertical direction, but it may be configured to vibrate in the horizontal and horizontal directions. Good. Further, the case vibrating means 148 includes a vibrating mechanism 148A and a vibrator 148B, but only one of them may be provided, and if the case pedestal CSP can be vibrated, mechanical elements other than these may be provided. May be provided. Further, although the case transfer conveyor 142 includes the case vibrating means 148, the case vibrating means 148 may not be provided when the case pedestal CSP does not need to be vibrated.

FIG. 65 is a side view of the capsule sorting device. Specifically, FIG. 65 is a view of the capsule sorting device 14 as viewed from the −Y axis direction side.
As shown in FIGS. 60 and 65, the capsule shooter 143 is attached to the capsule dividing conveyor 141 so as to incline vertically downward toward the tip side. The capsule shooter 143 includes a guide portion 143A provided corresponding to each group conveyed by the capsule division conveyor 141 (see FIG. 60).

Each guide unit 143A corresponds to three guide units 143A1 provided corresponding to each of the first group conveyed by the capsule division conveyor 141 and a second group conveyed by the capsule division conveyor 141. It is provided with one guide portion 143A2 provided in the above.

Each guide portion 143A1 is a square tubular member formed so as to reduce the cross-sectional area from the base end to the tip end. Each guide portion 143A1 has an opening area at the tip of the case CS so that the capsule C can be inserted into the opening of the storage portion CS1 of the case CS mounted on the transport path of the first lane 142A via the case pedestal CSP. It is set to be smaller than the opening area.
As shown in FIGS. 60 and 63, the guide portions 143A1 are arranged adjacent to each other along the transport direction of the case transport conveyor 142, and are stationary by the stopper 144A of the case transport conveyor 142. It is arranged at a position corresponding to the three cases CS on the upstream side. Further, the tip of each guide portion 143A1 and the opening of the case CS are arranged at a distance smaller than the size of the capsule C.

The guide portion 143A2 is a square tubular member formed so as to have the same cross-sectional area from the base end to the tip end. Each guide portion 143A2 has an opening area from the base end to the tip end of each guide portion 143A2 so as to insert the capsule C into the opening of the storage portion CS1 of the case CS mounted on the transport path of the first lane 142A via the case pedestal CSP. Is set to be smaller than the opening area of the case CS.
The guide portion 143A2 is arranged at a position corresponding to one case CS on the downstream side, which is stationary by the stopper 144A of the case transfer conveyor 142. Further, the tip of the guide portion 143A2 and the opening of the case CS are arranged at a distance smaller than the size of the capsule C.

In the present embodiment, the tip of each guide portion 143A and the opening of the case CS are arranged at a distance smaller than the size of the capsule C, but at a distance larger than this. You may be.

Therefore, the first group conveyed by the capsule division conveyor 141 slides down the capsule shooter 143 and falls through the tip of each guide portion 143A1 set to an opening area smaller than the opening area of the case CS. The case is dropped and stored in three cases CS on the upstream side mounted on the transport path of the case transport conveyor 142.
Further, the second group conveyed by the capsule dividing conveyor 141 slides down on the capsule shooter 143 and falls through the tip of the guide portion 143A2 set to an opening area smaller than the opening area of the case CS. It falls and is stored in one case CS on the downstream side mounted on the transport path of the case transport conveyor 142.

As described above, in the present embodiment, the capsule shooter 143 functions as a guiding means for guiding each group conveyed by the capsule dividing conveyor 141 to the case CS conveyed by the case transfer conveyor 142.
In the present embodiment, the capsule sorting device 14 includes the capsule shooter 143, but the guiding means may have a different configuration. In short, the guide means may be provided between the split transport means and the case transport conveyor, and may be able to guide each group transported by the split transport means to the case transported by the case transport conveyor. Further, the sorting device does not have to be provided with the guiding means.

FIG. 66 is a functional block diagram showing a schematic configuration of a capsule sorting device.
The capsule sorting device 14 includes, in addition to the capsule dividing conveyor 141, the case transfer conveyor 142, and the capsule shooter 143 described above, as shown in FIG. 66, a sorting control means 149 for controlling the entire capsule sorting device 14. ..
The sorting control means 149 is composed of a CPU (Central Processing Unit), a memory, and the like, and executes information processing according to a predetermined program stored in the memory. The sorting control means 149 includes a first storage determination unit 149A, a second storage determination unit 149B, a carry-out execution unit 149C, and a vibration execution unit 149D.

The first storage determination unit 149A stores 32 capsules C in three cases CS on the upstream side (hereinafter referred to as the first case CS10) stationary at the end point position of the first lane 142A by the stopper 144A. Judge whether or not. Specifically, the first storage determination unit 149A counts the number of times that the photoelectric sensor 141C detects that one unit (50 capsules) has been conveyed, and determines whether or not the number of times has reached two. It is determined whether or not 32 capsules C are contained in the case CS.
The second storage determination unit 149B stores 32 capsules C in one case CS on the downstream side (hereinafter referred to as the second case CS20) stationary at the end point position of the first lane 142A by the stopper 144A. Judge whether or not. Specifically, the second storage determination unit 149B counts the number of times that the photoelectric sensor 141C detects that one unit (50 capsules) has been conveyed, and determines whether or not the number of times has reached 16. It is determined whether or not 32 capsules C are contained in the case CS.

In the present embodiment, the first storage determination unit 149A and the second storage determination unit 149B count the number of times that the photoelectric sensor 141C detects that one unit (50 capsules) of capsules C has been conveyed. Although it is determined whether or not 32 capsules C are stored in the case CS, 32 capsules are stored in the case CS by other methods such as measuring the total weight of the capsule C and the case CS. It may be determined whether or not C is stored. In short, the first storage determination unit and the second storage determination unit need only be able to determine whether or not a predetermined number of capsules are stored in the case transported by the case transfer conveyor.

When the unloading execution unit 149C determines that the first storage determination unit 149A has stored 32 capsules C in the first case CS10, the pusher 145A1 and the guide rail 145B cooperate with each other to cause the first lane. The first case CS10 mounted on the transport path of 142A via the case pedestal CSP is transferred to the second lane 142B. Further, when the second storage determination unit 149B determines that the second storage determination unit 149B has stored 32 capsules C in the second case CS20, the carry-out execution unit 149C causes the pusher 145A2 and the guide rail 145B to cooperate with each other. The second case CS20 mounted on the transport path of the first lane 142A via the case pedestal CSP is transferred to the second lane 142B.

The vibration executing unit 149D brings the pin 148A1 of the vibration mechanism 148A into contact with the bottom surface of the case pedestal CSP, and vibrates the vibration mechanism 148A with the vibrator 148B.
Further, when the vibration executing unit 149D detects that one unit (50 pieces) of capsules C has been conveyed by the photoelectric sensor 141C, the vibration mechanism 148A vibrates the case pedestal CSP along the vertical vertical direction. ..

Therefore, in the present embodiment, the vibration mechanism 148A vibrates the case pedestal CSP in the vertical vertical direction after the plurality of capsules C are put into the case CS by the capsule sorting device 14. Further, in the present embodiment, in the vibrator 148B, when a plurality of capsules C are charged into the case CS by the capsule sorting device 14, and when a plurality of capsules C are charged into the case CS by the capsule sorting device 14, the plurality of capsules C are charged. After that, the vibration mechanism 148A is vibrated.
Hereinafter, the function of the capsule sorting device 14 will be described in detail.

FIG. 67 is a diagram showing a flowchart of capsule sorting processing.
When the capsule sorting device 14 sorts the capsules C into a predetermined number and stores them in the case CS, the sorting control means 149 steps according to a predetermined program stored in the memory as shown in FIG. 67. Execute S31 to S36.
Hereinafter, the details of steps S31 to S36 will be described with reference to the drawings.

First, the sorting control means 149 retracts each pusher 145A in the −X-axis direction and retracts the stopper 147 in the −X-axis direction to bring the case CS into the initial state, and conveys the case CS in the first lane 142A.
The case pedestal CSP conveyed in the first lane 142A comes into contact with the stopper 144A and stands still at the end point position of the first lane 142A.

Then, when the four case pedestal CSPs stop at the end points of the first lane 142A at the stopper 144A, the sorting control means 149 advances the stopper 147 toward the + X axis direction, thereby causing the subsequent case pedestal CSP to advance. Is stationary in front of the case transfer mechanism 145 (see FIG. 63).
Therefore, in the present embodiment, the first lane 142A mounts a plurality of case CSs for accommodating each group sorted by the capsule transfer mechanism 122, and the plurality of case CSs are placed along a predetermined transport direction. It functions as a carry-in route for moving and carrying in.

Further, when the four case pedestal CSPs are stationary at the end points of the first lane 142A by the stopper 144A, the vibration executing unit 149D brings the pin 148A1 of the vibration mechanism 148A into contact with the bottom surface of the case pedestal CSP and vibrates. The mechanism 148A is vibrated by the vibrator 148B.

After that, each group conveyed by the capsule division conveyor 141 slides down on the capsule shooter 143, is guided by the guide portion 143A, and falls on the first case CS10 mounted on the first lane 142A. Is stored. Specifically, the first group conveyed by the capsule division conveyor 141 slides down the capsule shooter 143, is guided by the guide portion 143A1, and is placed on the first lane 142A. It falls into the case CS10 of 1 and is stored. Further, the second group conveyed by the capsule division conveyor 141 slides down the capsule shooter 143 and is guided by the guide portion 143A2 to the second case CS20 mounted on the first lane 142A. It falls and is stored.

Next, the first storage determination unit 149A determines whether or not 32 capsules C are stored in the first case CS10 (S31: first storage determination step). In other words, the first storage determination unit 149A determines whether or not the first case CS10 accommodating the first group can be carried out.

FIG. 68 is a diagram showing a state in which the first storage determination unit determines that the capsule is stored in the case.
When the unloading execution unit 149C determines that the first storage determination unit 149A has stored 32 capsules C in the first case CS10, the unloading execution unit 149C advances the pusher 145A1 toward the + X axis direction as shown in FIG. By lowering the guide rail 145B, the first case CS10 mounted on the first lane 142A is transferred to the second lane 142B.

FIG. 69 is a diagram showing a state in which the first case is carried out by the case transfer conveyor.
After that, as shown in FIG. 69, the carry-out execution unit 149C retracts the pusher 145A1 in the −X-axis direction and carries out the first case CS10 mounted on the second lane 142B (S32: first). Case unloading execution step). In other words, when the unloading execution unit 149C conveys one unit of capsule C twice on the capsule division conveyor 141 (16 first groups are conveyed twice and 32 capsules C are first conveyed). The first case CS10 is carried out (when stored in the case CS10).
Further, the carry-out execution unit 149C moves the first case CS10 to the second lane 142B and then retracts the stopper 147 in the −X-axis direction to move the first case CS10 to the end point position of the first lane 142A. The CS10 is newly stopped.

FIG. 70 is a diagram showing a state in which the first case is transferred from the second lane to the third lane.
When the case pedestal CSP stands still at the end point position of the second lane 142B at the stopper 144B, the sorting control means 149 pushes the plate 146A into contact with the case pedestal CSP as shown in FIG. 70. The case pedestal CSP mounted on the second lane 142B is transferred to the third lane 142C. Then, the sorting control means 149 conveys the case pedestal CSP mounted on the third lane 142C.
When the case pedestal CSP is stationary at the end point position of the second lane 142B at the stopper 144B, the operator takes out the first case CS10 housed in the case pedestal CSP and visually inspects the case, and then performs a subsequent step. Send to.

Therefore, in the present embodiment, the second lane 142B mounts a plurality of case CSs carried in via the first lane 142A, and moves the plurality of case CSs along a predetermined transport direction to carry them out. Functions as a carry-out route.
In the present embodiment, in the first lane 142A and the second lane 142B, a plurality of case CSs are moved along the same transport direction, but even if the plurality of cases are moved along different transport directions. Good.

Next, the second storage determination unit 149B determines whether or not 32 capsules C are stored in the second case CS20 (S33: second storage determination step). In other words, the second storage determination unit 149B determines whether or not the second case CS20 that stores the second group can be carried out.

FIG. 71 is a diagram showing a state in which the second storage determination unit determines that the capsule is stored in the case.
When the second storage determination unit 149B determines that the second storage determination unit 149B has stored 32 capsules C in the second case CS20, the carry-out execution unit 149C advances the pusher 145A2 toward the + X axis direction as shown in FIG. By lowering the guide rail 145B, the second case CS20 mounted on the first lane 142A is transferred to the second lane 142B.

FIG. 72 is a diagram showing a state in which the second case is carried out by the case transfer conveyor.
After that, as shown in FIG. 72, the unloading execution unit 149C retracts the pusher 145A2 toward the −X axis direction and unloads the second case CS20 mounted on the second lane 142B (S34: second). Case unloading execution step). In other words, when the unloading execution unit 149C conveys one unit of capsule C 16 times on the capsule division conveyor 141 (2 second groups are conveyed 16 times and 32 capsules C are transferred to the second capsule C). The second case CS20 is carried out (when stored in the case CS20).
Further, the carry-out execution unit 149C moves the second case CS20 to the second lane 142B and then retracts the stopper 147 in the −X-axis direction to move the second case CS20 to the end point position of the first lane 142A. The CS20 is newly stopped.

As described above, the carry-out execution unit 149C carries out the first case CS10 containing the first group when one unit of capsule C is conveyed twice on the capsule division conveyor 141, so that the second case CS10 is carried out. When the second case CS20 containing the group is carried out, the first case CS10 containing the first group is carried out at the same time.

FIG. 73 is a diagram showing a state in which the first case and the second case are transferred from the second lane to the third lane.
When the case pedestal CSP stands still at the end point position of the second lane 142B at the stopper 144B, the sorting control means 149 pushes the plate 146A into contact with the case pedestal CSP as shown in FIG. 73. The case pedestal CSP mounted on the second lane 142B is transferred to the third lane 142C. Then, the sorting control means 149 conveys the case pedestal CSP mounted on the third lane 142C.
When the case pedestal CSP is stationary at the end point position of the second lane 142B at the stopper 144B, the operator takes out the first case CS10 and the second case CS20 housed in the case pedestal CSP and visually inspects them. After that, it is sent to a later process.

When the vibration execution unit 149D determines in the second storage determination step S33 that 32 capsules C are not stored in the second case CS20, or after executing the second case unloading execution step S34, the photoelectric is photoelectric. It is determined whether or not the sensor 141C has detected that one unit (50 capsules) of capsules C has been conveyed (S35: capsule detection step).

Then, when the vibration executing unit 149D determines that the photoelectric sensor 141C has detected that one unit (50) of capsules C has been conveyed, the case pedestal CSP is moved along the vertical vertical direction by the vibration mechanism 148A. The first case CS10 and the second case CS20 are vibrated (S36: vibration execution step). In other words, the vibration execution unit 149D conveys one unit of capsules C on the capsule division conveyor 141, and each time these are stored in the first case CS10 and the second case CS20, the first case CS10 and the first case CS10 and the second case CS20. The case CS20 of 2 is vibrated.

In the present embodiment, when the vibration executing unit 149D determines that the photoelectric sensor 141C has detected that one unit (50 capsules) of capsules C has been conveyed, the first case CS10 and the second case The CS20 was vibrating. On the other hand, the vibration executing unit may vibrate the case in a case different from this.

After that, the sorting control means 149 repeatedly executes steps S31 to S36 by executing step S31 again, and sorts the capsules C into a predetermined number and stores them in the case CS.
The sorting control means 149 stops the repetition of steps S31 to S36 described above when the stop button (not shown) provided in the capsule sorting device 14 is pressed. Further, the sorting control means 149 returns the stopper 147, the pusher 145A, and the guide rail 145B to the initial state when the reset button (not shown) provided in the capsule sorting device 14 is pressed.

According to such an embodiment, the following actions and effects can be obtained.
(1) When the container supply control means 38 carries the dummy pallet DP into the container supply arrangement table 31A by the pusher 362, the container supply hopper 33A holds a plurality of containers C1 on the upper surface of the dummy pallet DP. The container C1 can be supplied to each of the plurality of accommodating portions DP1 formed on the upper surface of the dummy pallet DP. Further, when the container supply control means 38 sends the dummy pallet DP to the container supply arrangement table 31B by the pusher 362, the container supply control means 38 puts a plurality of containers C1 held by the container supply hopper 33B on the upper surface of the dummy pallet DP. The container C1 can be supplied to each of the plurality of accommodating portions DP1 formed on the upper surface of the dummy pallet DP. After that, the container supply control means 38 can carry out the dummy pallet DP arranged on the container supply arrangement table 31B by the puller 363. According to this, since the container supply device 3 can drop the plurality of containers C1 twice on the upper surface of the same dummy pallet DP, there is a case where the plurality of containers C1 are dropped once on the upper surface of the dummy pallet DP. In comparison, it is possible to facilitate the entry of the plurality of containers C1 into the accommodating portion DP1 of the dummy pallet DP. Therefore, the container supply device 3 can sufficiently supply the plurality of containers C1 to the dummy pallet DP, and can improve the manufacturing efficiency.

(2) Since the pusher 362 and the puller 363 move the dummy pallet DP along the adjacent direction of the container supply arrangement table 31A and the container supply arrangement table 31B, the dummy pallet DP is equal to the distance of one dummy pallet DP. By moving the dummy pallet DP, each step of carrying in, sending out, and carrying out the dummy pallet DP can be executed. Therefore, the container supply device 3 can shorten the cycle of supplying the plurality of containers C1 and can improve the manufacturing efficiency.

(3) The dummy pallet DP arranged on the container supply arrangement table 31A and the dummy pallet DP arranged on the container supply arrangement table 31B are along the adjacent directions of the container supply arrangement table 31A and the container supply arrangement table 31B. Since they are arranged adjacent to each other, each dummy pallet DP can be arranged without a gap. Therefore, the container supply device 3 can suppress the drop of the container C1 from the dummy pallet DP to the container supply arrangement table 31A and the container supply arrangement table 31B.
(4) The pusher 362 carries the dummy pallet DP into the container supply arrangement table 31A, pushes out the dummy pallet DP previously arranged in the container supply arrangement table 31A, and sends the dummy pallet DP to the container supply arrangement table 31B. Therefore, each step of carrying in and sending out the dummy pallet DP can be shortened and executed. Therefore, the container supply device 3 can shorten the cycle of supplying the plurality of containers C1 and can improve the manufacturing efficiency.

(5) Since the quantity of the plurality of containers C1 supplied by the container supply hopper 33A is larger than the quantity of the plurality of containers C1 supplied by the container supply hopper 33B, the container supply arrangement is performed by the pusher 362. When the dummy pallet DP is carried into the table 31A, in other words, when the container C1 is not supplied to the plurality of accommodating portions DP1, a large number of the plurality of containers C1 held in the container supply hopper 33A are used as the dummy pallet. By supplying the container C1 toward the upper surface of the DP, the container C1 can be supplied to each of the plurality of accommodating portions DP1 formed on the upper surface of the dummy pallet DP. Then, when the dummy pallet DP is sent to the container supply arrangement table 31B by the pusher 362, in other words, after the container C1 is supplied to the plurality of accommodating portions DP1 by the container supply hopper 33A, the container supply hopper By supplying a small amount of the plurality of containers C1 held in the 33B toward the upper surface of the dummy pallet DP, the containers C1 can be supplied to each of the plurality of accommodating portions DP1 formed on the upper surface of the dummy pallet DP. .. Therefore, the container supply device 3 can efficiently supply the plurality of containers C1 to the dummy pallet DP.

(6) The container supply device 3 regulates the movement of the plurality of containers C1 between the dummy pallet DP arranged on the container supply arrangement table 31A and the dummy pallet DP arranged on the container supply arrangement table 31B. Since the partition plate 3C is provided, it is possible to prevent mixing of the plurality of containers C1 supplied by the container supply hopper 33A and the plurality of containers C1 supplied by the container supply hopper 33B. Therefore, the container supply device 3 can reliably manage the quantity of the plurality of containers C1 supplied by the container supply hopper 33A and the quantity of the plurality of containers C1 supplied by the container supply hopper 33B. Therefore, a plurality of containers C1 can be efficiently supplied to the dummy pallet DP.

(7) The container supply device 3 includes a container storage tank 34, a container transport means 35, a container supply hopper 33, and a drop means, and circulates and reuses a plurality of containers C1. Therefore, a dummy pallet DP Of the plurality of containers C1 that have fallen on the upper surface of the dummy pallet DP, the container C1 that has not entered the storage section DP1 of the dummy pallet DP will repeatedly fall on the upper surface of the dummy pallet DP, and eventually will be placed in the storage section DP1 of the dummy pallet DP. It will get in. Therefore, the container supply device 3 can automatically supply a plurality of containers C1 to the dummy pallet DP, and can improve the manufacturing efficiency.

(8) Since the container transporting means 35 includes a holding conveyor 351C that is held by the container supply hopper 33 by mounting and transporting a plurality of containers C1 on the transport path 351C1, the transport path of the holding conveyor 351C. By adjusting the movement amount of 351C1, the quantity of a plurality of containers C1 to be held by the container supply hopper 33 can be adjusted. Therefore, the container supply device 3 can simplify the configuration of the container transport means 35.
(9) Since the holding conveyor 351C has an inlet having a predetermined area for introducing the plurality of containers C1, the transport amount of the plurality of containers C1 per unit time can be made constant. Therefore, the holding conveyor 351C can surely adjust the quantity of the plurality of containers C1 to be held by the container supply hopper 33.

(10) The container supply device 3 supplies a plurality of containers C1 held by the container supply hopper 33 toward the upper surface of the dummy pallet DP when the dummy pallet DP is vibrated by the small electromagnetic feeder 32. Therefore, the plurality of containers C1 that have fallen on the upper surface of the dummy pallet DP enter each accommodating portion DP1 of the dummy pallet DP while rolling due to the vibration of the dummy pallet DP. Therefore, the container supply device 3 can further facilitate the entry of the plurality of containers C1 into the accommodating portion DP1 of the dummy pallet DP.

(11) The container supply device 3 supplies the small electromagnetic feeder 32 from the first vibration strength when the plurality of containers C1 held by the container supply hopper 33 are supplied toward the upper surface of the dummy pallet DP. Since the vibration intensity is switched to the above, it is possible to prevent the plurality of containers C1 that have already entered the accommodating portion DP1 of the dummy pallet DP from falling off.
(12) Since the container supply device 3 switches the small electromagnetic feeder 32 from the second vibration intensity to the third vibration intensity when the plurality of containers C1 are dropped into the container storage tank 34 by the compressor 33C, the dummy pallet DP It is possible to prevent the plurality of containers C1 that have already entered the accommodating portion DP1 of the above from falling off.

(13) The compressor 33CA can drop a large number of containers C1 supplied by the container supply hopper 33A into the container storage tank 34 by discharging air, and the compressor 33CB is larger than the container 33CA. By discharging air weakly, a small number of containers C1 supplied by the container supply hopper 33B can be dropped into the container storage tank 34. Therefore, the compressor 33C can efficiently drop a plurality of containers into the container storage tank 34.
(14) Since the compressor 33CA and the compressor 33CB can adjust the strength of the air discharged from the plurality of discharge ports 33D for each of the plurality of discharge ports 33D, the strength of the air can be adjusted for each part of the dummy pallet DP. Can be adjusted. Therefore, the compressor 33C can efficiently drop the plurality of containers C1 into the container storage tank 34.
(15) The accommodating portion DP1 of the dummy pallet DP is provided with a through hole DP2, and the through hole DP2 expands toward the upper surface side of the dummy pallet DP, so that a plurality of containers C1 can be more easily inserted. be able to.

(16) The container supply device 3 replenishes the container C1 supplied to the spare storage unit DP1S to the empty supply storage unit DP1F based on the detection result of the CCD camera 374, and the first arm robot 376 and the first arm robot 3. Since the arm robot 377 of No. 2 is provided, the container C1 can be reliably supplied to the supply accommodating portion DP1F of the dummy pallet DP, and the manufacturing efficiency can be improved.
(17) Since the first arm robot 376 and the second arm robot 377 replenish the container C1 supplied to the spare accommodating unit DP1S to the empty supply accommodating unit DP1F, the container C1 is supplied from the spare accommodating unit DP1S. The container C1 may be moved to the storage unit DP1F, and the moving distance can be shortened as compared with the case where the container C1 is moved from the outside of the dummy pallet DP to the supply storage unit DP1F, and thus the container. The manufacturing efficiency of the supply device 3 can be improved.

(18) Since each of the supply accommodating unit DP1F and the spare accommodating unit DP1S will be arranged in a grid pattern along the row direction and the column direction, the container supply device 3 may be, for example, a first arm. After the container C1 is replenished to the empty supply storage unit DP1F by the robot 376 and the second arm robot 377, the container C1 housed in the supply storage unit DP1F is moved to the main conveyor 2 different from the container supply device 3. In the case of mounting, the containers C1 housed in the supply storage unit DP1F can be collectively handled, and the production efficiency of the entire capsule manufacturing device 1 including the container supply device 3 can be improved.
(19) In the first arm robot 376 and the second arm robot 377, even when the number of empty supply accommodating units DP1F is larger than the number of containers C1 supplied to the spare accommodating unit DP1S. The container C1 temporarily placed in the temporary storage unit 375A of the temporary storage table 375 can be replenished to the empty supply storage unit DP1F. Therefore, the container supply device 3 can reliably supply the container C1 to the supply accommodating portion DP1F of the dummy pallet DP, and can improve the manufacturing efficiency.

(20) The first arm robot 376 and the second arm robot 377 transfer the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP conveyed by the pallet conveying means 36 to the temporary accommodating portion 375A of the temporary storage base 375. Since the container C1 is temporarily placed, it can be temporarily placed on the temporary storage portion 375A of the temporary storage table 375 without newly preparing the container C1, and the manufacturing efficiency of the container supply device 3 can be improved.
(21) The first arm robot 376 and the second arm robot 377 share the container C1 with each other based on the detection result of the CCD camera 374, and replenish the container C1 to the empty supply accommodating unit DP1F. The arm robot 376 of 1 replenishes the container C1 to half of the empty supply accommodating unit DP1F, and the second arm robot 377 replenishes the other half of the empty supply accommodating unit DP1F with the container C1. The container C1 can be efficiently supplied to the supply accommodating portion DP1F of the dummy pallet DP. In other words, the container supply device 3 can increase the speed at which the dummy pallet DP is conveyed by the pallet transfer means 36, and can further improve the manufacturing efficiency.

(22) The first arm robot 376 and the second arm robot 377 empty the container C1 when the number of empty supply accommodating units DP1F detected by the CCD camera 374 is equal to or greater than a predetermined threshold value. Since the supply accommodating unit DP1F is not replenished, the speed at which the dummy pallet DP is conveyed by the pallet conveying means 36 is increased even when the number of empty supply accommodating units DP1F detected by the CCD camera 374 is large. This can be done, and the manufacturing efficiency can be further improved.
(23) The first arm robot 376 and the second arm robot 377 empty the container C1 when the number of empty supply accommodating units DP1F detected by the CCD camera 374 is equal to or greater than a predetermined threshold value. The container C1 supplied to the storage unit DP1 of the dummy pallet DP is temporarily placed in the temporary storage unit 375A of the temporary storage table 375 based on the detection result of the CCD camera 374. Therefore, the time required to replenish the container C1 in the empty supply accommodating portion DP1F can be used to temporarily place the container C1 in the temporary storage portion 375A of the temporary storage base 375. Therefore, the container supply device 3 can further improve the manufacturing efficiency.

(24) Since the CCD camera 374 detects the state of the accommodating portion DP1 of the dummy pallet DP after correcting the attitude of the container C1 by the attitude correcting means 373, erroneous detection of the state of the accommodating portion DP1 of the dummy pallet DP is detected. It can be suppressed and the manufacturing efficiency of the container supply device 3 can be improved.
(25) The posture correcting means 373 corrects the posture of the container C1 supplied to the accommodating portion DP1 of the dummy pallet DP that has detected the abnormality of the posture of the container C1 by the first abnormality detection sensor 371. The manufacturing efficiency of the product can be further improved.

(26) The posture correcting means 373 inserts the rod-shaped body 373A1 into the accommodating portion DP1 of the dummy pallet DP from the lower surface side of the dummy pallet DP and brings it into contact with the bottom surface of the container C1 to bring it into the accommodating portion DP1 of the dummy pallet DP. Since the posture of the supplied container C1 is corrected, the configuration of the posture correcting means 373 can be simplified.
(27) The CCD camera 374 supplies the plurality of containers C1 held in the container supply hopper 33 toward the upper surface of the dummy pallet DP, and then does not supply the container C1 among the supply accommodating portions DP1F. Since the empty supply accommodating unit DP1F and the spare accommodating unit DP1S to which the container C1 is supplied are detected among the spare accommodating units DP1S, the container supply device 3 detects the supply accommodating unit DP1F of the dummy pallet DP. The container C1 can be reliably supplied to the container, and the manufacturing efficiency can be improved.

(28) The container supply device 3 arranges two dummy pallet DPs at the positions where the dummy pallet DPs are arranged by circulating an odd number of dummy pallet DPs in the pallet transfer means 36. Focusing on one dummy pallet DP that is circulated in the same manner, the dummy pallet DP is arranged at the arrangement position of two dummy pallet DPs while alternately alternating each turn. Therefore, in the container supply device 3, for example, when the arrangement position of one dummy pallet DP and the arrangement position of the other dummy pallet DP are compared, there is a difference in the supply efficiency of the container C1. Also, the difference in the supply efficiency of the container C1 can be leveled, and the manufacturing efficiency can be improved.

(29) The container cleaning device 4 includes a dropout preventing means 41 for preventing the plurality of containers C1 from falling off, and cleans the plurality of containers C1 whose opening edges are suppressed by the dropout prevention means 41, so that the dummy pallet DP can be used. Foreign matter can be reliably removed without dropping the contained container C1.
(30) Since the dropout preventing means 41 is formed in a rail shape extending along the direction in which the accommodating portion DP1 of the dummy pallet DP is small among the row direction and the column direction of the accommodating portion DP1 of the dummy pallet DP. A plurality of containers C1 can be efficiently cleaned as compared with the case where the dummy pallet DP is formed in a rail shape extending along the direction in which the accommodating portion DP1 is large.

(31) Since the container cleaning device 4 makes the dummy pallet DP stationary when cleaning the plurality of containers C1 with the cleaning head 42, the plurality of containers C1 are more efficient than the case where the dummy pallet DP is not made stationary. Can be cleaned well.
(32) The capsule manufacturing device 1 is a system in which a container supply device 3 that intermittently conveys pallets and a main conveyor 2 that continuously conveys pallets are mixed, and the container cleaning device 4 is a container. It is incorporated in the circulation pallet conveyor 365 of the supply device 3. Therefore, the capsule manufacturing apparatus 1 can stop the dummy pallet DP when cleaning the plurality of containers C1 with the cleaning head 42 without stopping the main pallet MP of the main conveyor 2.

(33) The cleaning head 42 blows air to the plurality of containers C1 by the nozzle 423 and sucks the plurality of containers C1 by the container cleaning suction machine 424. Therefore, by blowing air through the nozzle 423, the cleaning head 42 blows air to the plurality of containers C1. Foreign matter such as dust adhering to the container C1 can be removed, and these foreign matter can be sucked by the container cleaning suction machine 424.
(34) The container cleaning suction machine 424 sucks a plurality of containers C1 covered with the cleaning cover 421, and the nozzle 423 is housed inside the cleaning cover 421. , Foreign matter can be reliably removed without scattering to the outside.

(35) The container transfer device 5 accommodates the lower ends of the plurality of containers C1 in each storage portion MP1 of the main pallet MP up to about half of the body C11, and causes the container transfer head 51 to release the plurality of containers C1. As a result, since the plurality of containers C1 are dropped and accommodated in the main pallet MP, it is possible to prevent the containers C1 from coming into contact with the accommodating portion MP1 of the main pallet MP. Therefore, the container transfer device 5 can suppress the deformation of the container C1 and improve the manufacturing efficiency.
(36) Since each of the plurality of containers C1 is formed so as to reduce the diameter from the upper end side to the lower end side, the container transfer device 5 uses the lower ends of the plurality of containers C1 as the main pallet. It becomes easy to accommodate when accommodating in each accommodating portion MP1 of MP. Therefore, the container transfer device 5 can further prevent the container C1 from coming into contact with the accommodating portion MP1 of the main pallet MP.

(37) Since the horizontal movement mechanism 53 moves the container transfer head 51 along the lateral direction of the dummy pallet DP and the main pallet MP, the container transfer head 51 is moved along the longitudinal direction of the dummy pallet DP and the main pallet MP. The moving distance can be shortened as compared with the case of moving along the direction, and the space required for installing the container transfer device 5 can be reduced.

(38) The end points of the dummy arrangement table 365D and the return conveyor 22 position the dummy pallet DP and the main pallet MP by inserting a plurality of pins into the plurality of holes of the dummy pallet DP and the main pallet MP, respectively. Therefore, the dummy pallet DP and the main pallet MP can be reliably positioned.
(39) The end point positions of the dummy arrangement table 365D and the return conveyor 22 raise the dummy pallet DP and the main pallet MP by inserting a plurality of pins into the plurality of holes of the dummy pallet DP and the main pallet MP, respectively. Therefore, only a plurality of pins support the dummy pallet DP and the main pallet MP. Therefore, the end points of the dummy arrangement table 365D and the return conveyor 22 can reliably position the dummy pallet DP and the main pallet MP.

(40) Since the size of the accommodating portion DP1 of the dummy pallet DP is larger than the size of the accommodating portion MP1 of the main pallet MP, the container supply device 3 has the plurality of accommodating portions DP1 formed on the upper surface of the dummy pallet DP. It is possible to facilitate the supply when the container C1 is fitted to each and supplied. Therefore, the capsule manufacturing apparatus 1 can improve the manufacturing efficiency.

(41) The main conveyor 2 includes a container detecting means 23D for inspecting the presence or absence of the container C1 housed in the storage portion MP1 of the main pallet MP, and the presence or absence of the plurality of containers C1 cleaned by the cleaning head 42 has fallen off. Therefore, it is possible to reliably prevent the plurality of containers C1 housed in the main pallet MP from falling off.
(42) The main conveyor 2 includes static electricity removing means 23E for removing static electricity from a plurality of containers C1 housed in the main pallet MP, and can remove static electricity from the plurality of containers C1 housed in the main pallet MP. Therefore, it is possible to prevent foreign matter such as dust from adhering to the plurality of containers C1 cleaned by the cleaning head 42 again.

(43) Since the input port 623A of the filling cover 623 is provided at a position where it always communicates with the opening of the filling hopper 62 when the filling hopper 62 is swung by the advancing / retreating mechanism 63, the filling hopper 62 The powder or granular material P can be charged into the filling hopper 62 via the charging port 623A of the filling cover 623 without stopping the movement of the powder or granular material P.
(44) Since the opening of the filling hopper 62 is formed so as to become wider in the swinging direction of the filling hopper 62 toward the vertically upward side, the filling device 6 is formed by the advancing / retreating mechanism 63 for each measuring hole 661A. The filling hopper 62 can be oscillated larger than the width of the region in which the is present. Therefore, the filling device 6 can improve the degree of freedom in design.

(45) When the powder / granular material P is dropped from the filling hopper 62, the filling device 6 may suck the powder / granular material P that has leaked without being filled in each measuring hole 661A by the filling suction machine 64. Therefore, it is possible to prevent the powder or granular material P from accumulating around each measuring hole 661A.
(46) In the storage tank 621, the powder or granular material P charged into the charging tank 622 falls through the hole 622A1 to store the powder or granular material P inside, so that each measuring hole 661A is filled. The reduced powder or granular material P is constantly replenished in the storage tank 621 by dropping the powder or granular material P charged into the charging tank 622 through the hole 622A1. Therefore, since the filling device 6 can always keep the bulkiness of the powder or granular material P stored inside the storage tank 621 constant, the filling pressure of the powder or granular material P can be kept constant, and a constant amount can be obtained. The powder or granular material P can be filled in each measuring hole 661A.

(47) The sealing device 11 can smooth out the wrinkles of the lid material C2 formed on the cut film CF by pushing up the container C1 with the pushing mechanism 112 against the weight of the cut film CF. After that, the sealing device 11 seals and adheres the lid material C2 to the opening of the container C1 by lowering the hot plate 111A1 by the sealing mechanism 111, so that the wrinkles of the lid material C2 are smoothed and the opening of the container C1 is opened. Can be sealed on the part.
(48) Since the main pallet MP includes each pin MP2, the sealing device 11 causes the push-up mechanism 112 against each pin MP2 that regulates the movement of the cut film CF placed on the main pallet MP. By pushing up the container C1, the wrinkles of the lid material C2 formed on the cut film CF can be smoothed out. Therefore, the sealing device 11 can further extend the wrinkles of the lid material C2 and seal the opening of the container C1.

(49) The sealing device 11 positions the main pallet MP by inserting the plurality of pins 112A into the plurality of through holes MP3 of the main pallet MP, so that the main pallet MP can be reliably positioned.
(50) Since the sealing device 11 raises the main pallet MP by inserting the plurality of pins 112A into the plurality of through holes MP3 of the main pallet MP, the main pallet MP is supported only by the plurality of pins 112A. .. Therefore, the sealing device 11 can reliably position the main pallet MP.

(51) The main pallet MP is formed so as to penetrate the upper and lower surfaces, and includes a storage portion MP1 for inserting and accommodating the container C1 from the upper surface side, and the film separation device 12 regulates the rise of the cut film CF. Since the folding plate 121A and the push-up mechanism 121B that pushes up the container C1 and separates the lid material C2 from the cut film CF can be provided, the structure of the main pallet MP can be simplified and the lid material C2 is separated from the cut film CF. can do.

(52) Since the film separation device 12 can cooperate with the push-up mechanism 121B that pushes up the container C1 to separate the lid material C2 from the cut film CF and the transfer head 122B that pulls up the container C1 from the main pallet MP. , The lid material C2 can be reliably separated from the cut film CF.
(53) The film separating device 12 pushes up the container C1 by the push-up mechanism 121B to separate the lid material C2 from the cut film CF, and pulls the container C1 from the main pallet MP by the transfer head 122B along the container C1. Since the lid material C2 can be bent, the manufacturing efficiency can be improved.

(54) The capsule transfer mechanism 122 holds a unit of capsule C by bringing a plurality of sites close to each other, isolates the plurality of sites, divides the unit of capsule C into a plurality of groups, and releases the capsule C. , One unit of capsules C can be sorted by a predetermined number. Therefore, the capsule sorting device 14 can efficiently sort the capsules C without relying on human hands even when a number different from one unit is collectively stored in the case CS.

(55) The capsule sorting device 14 uses the first case CS10 for storing the first group when the first storage determination unit 149A determines that a predetermined number of capsules C are stored in the first case CS10. When the second storage determination unit 149B determines that a predetermined number of capsules C have been stored in the second case CS20, the second storage determination unit 149B carries out the second case CS20 for storing the second group. Since the 149C is provided, the first case CS10 for storing the first group and the second case CS20 for storing the second group can be carried out independently. Therefore, the capsule sorting device 14 can carry out the case CS containing a predetermined number of capsules C prior to the case CS that has not yet stored a predetermined number of capsules C.

(56) In the first lane 142A and the second lane 142B, the case CS is placed via the case pedestal CSP that holds the case CS, so that the first lane 142A and the second lane 142B come into contact with the case CS. Can be suppressed. Therefore, the capsule sorting device 14 can suppress damage to the case CS, and can improve the manufacturing efficiency of the capsule manufacturing device 1 that intermittently manufactures a plurality of capsules as one unit.

(57) Since the capsule sorting device 14 includes a case vibrating means 148 that vibrates the case pedestal CSP in the vertical vertical direction, a plurality of capsules C housed in the case CS can be leveled. Therefore, the capsule sorting device 14 can efficiently store a plurality of capsules C in the case CS.
(58) Since the case vibrating means 148 vibrates the case pedestal CSP in the vertical vertical direction, the case CS is less likely to fall down as compared with the case where the case pedestal CSP is vibrated in the horizontal and horizontal directions. can do. Therefore, since the case vibrating means 148 can give a large vibration to the case CS and the capsule C housed therein, it is possible to confirm the leakage of the powder or granular material P due to the peeling of the lid material C2. It is possible to make it easier to find a defect in the capsule C.

(59) The case vibrating means 148 includes a vibrating mechanism 148A that vibrates the case pedestal CSP in the vertical vertical direction and a vibrator 148B that vibrates the vibrating mechanism 148A as a whole, and is therefore housed in the case CS. The plurality of capsules C that have been formed can be efficiently leveled. Therefore, the capsule sorting device 14 can more efficiently store the plurality of capsules C in the case CS.
(60) The case vibrating means 148 can vibrate the case CS small only by the vibrator 148B when a plurality of capsules C are charged into the case CS by the capsule sorting device 14. Further, the case vibrating means 148 can vibrate the case CS significantly by the vibrating mechanism 148A and the vibrator 148B after the plurality of capsules C are put into the case CS by the capsule sorting device 14. Therefore, the case vibrating means 148 can prevent the capsule C from leaking out of the case CS when a plurality of capsules C are charged into the case CS by the capsule sorting device 14, and the capsule sorting device 14 can be used. After charging the plurality of capsules C into the case CS, the plurality of capsules C stored in the case CS can be reliably leveled.

[Modified example of the embodiment]
The present invention is not limited to the above-described embodiment, and modifications, improvements, and the like within the range in which the object of the present invention can be achieved are included in the present invention.
For example, in the above-described embodiment, the container supply device 3 is used in the capsule manufacturing device 1 that intermittently manufactures a plurality of capsules C as one unit, but may be adopted in other manufacturing devices. ..

As described above, the present invention can be suitably used for a container supply device that supplies a container to each of a plurality of storage portions formed on the upper surface of the pallet.

1 Capsule manufacturing equipment 2 Main conveyor 3 Container supply equipment 3C Partition plate (regulatory means)
4 Container cleaning device 5 Container transfer device 6 Filling device 7 Filling check device 8 Film supply device 9 Film die cutting device 10 Film transfer device 11 Sealing device 12 Film separation device 13 Scrap discharge device 14 Capsule sorting device 23D Container detection means 23E Static electricity Removal means 31 Container supply arrangement table 31A Container supply arrangement table (first area)
31B Container supply placement table (second area)
32 Small electromagnetic feeder 32A Small electromagnetic feeder (first pallet vibration means)
32B small electromagnetic feeder (second pallet vibration means)
33 Container supply hopper 33A Container supply hopper (first holding means)
33B Container supply hopper (second holding means)
33C compressor (falling means)
33CA compressor (first air discharge part)
33CB compressor (second air discharge part)
33D Discharge port 34 Container storage tank (storage means)
35 Container transport means 36 Pallet transport means 37 Container replenishment mechanism 38 Container supply control means 41 Falling prevention means 42 Cleaning head (cleaning means)
51 Container transfer head 52 Vertical movement mechanism (container transfer movement mechanism)
53 Horizontal movement mechanism (movement mechanism for container transfer)
61 Weighing filling mechanism 62 Filling hopper 63 Advance / retreat mechanism (moving means)
64 Filling suction machine 65 Positioning mechanism 111 Seal mechanism 112 Push-up mechanism 112A Pin 112B Rod-shaped body 121 Film separation mechanism 121A Bending plate 121A1 Through hole 121B Push-up mechanism 121B 1 pin 121B2 Rod-shaped body 122 Capsule transfer mechanism 122B Transfer head mechanism)
141 Capsule split conveyor 142 Case transfer conveyor 142A 1st lane (carry-in path)
142B 2nd lane (delivery route)
143 Capsule shooter 148 Vibration means for case 148A Vibration mechanism 148B Vibrator 149 Sorting control means 149A First storage judgment unit 149B Second storage judgment unit 149C Carry-out execution unit 149D Vibration execution unit 351C Holding conveyor 351D Upstream distribution means 361 Conveyor 362 Pusher (Pallet loading means)
363 puller (pallet unloading means)
364 Downstream pallet conveyor 365D Dummy placement stand (container transfer placement stand)
621 Storage tank 622 Input tank 622A1 Hole 623A Input port 371 First abnormality detection sensor (abnormality detection means)
372 Second anomaly detection sensor 373 Posture correction means 373A1 Rod-shaped body 374 CCD camera (accommodation part detection means)
375 Temporary stand (container temporary storage means)
375A Temporary placement part 376 First arm robot (first container refilling means)
377 Second arm robot (second container refilling means)
421 Cleaning cover 423 Nozzle 424 Container cleaning suction machine C capsule C1 container C2 Lid material CF cut film CS case CSP Case pedestal DP dummy pallet DP1 storage part MP main pallet MP1 storage part MP2 pin (regulatory mechanism for sealing)
MP3 through hole

Claims (5)

A container supply device that supplies a container to each of a plurality of storage portions formed on the upper surface of a pallet.
A pallet transporting means for transporting the pallet along a predetermined direction,
The accommodating portion of the pallet transported by the pallet transporting means is divided into a supply accommodating portion to which the container should be supplied and a spare accommodating portion which does not need to supply the container. Among them, an empty supply accommodating portion for which a container is not supplied, and an accommodating portion detecting means for detecting the spare accommodating portion to which a container is supplied among the spare accommodating portions.
A container supply device comprising: a container replenishment means for replenishing a container supplied to the spare storage unit to the empty supply storage unit based on a detection result of the storage unit detection means. The container supply device according to claim 1.
The pallet includes a plurality of accommodating portions arranged in a grid pattern along the row direction and the column direction.
The accommodating portion detecting means is characterized in that the accommodating portion of the pallet is divided into two regions along either the row direction and the column direction, thereby dividing the pallet accommodating portion into the supply accommodating portion and the spare accommodating portion. Container supply device. In the container supply device according to claim 1 or 2.
Have a plurality of temporary portion that temporarily placed the plurality of containers, comprising a container temporary location means that is different from said pallet,
The container replenishment means is characterized in that the container temporarily placed in the temporary storage portion of the container temporary storage means is replenished to the empty supply storage portion based on the detection result of the storage portion detection means. Container supply device. In the container supply device according to any one of claims 1 to 3.
The first container replenishment means provided on the upstream side of the pallet transport means and
A second container refilling means provided on the downstream side of the pallet transporting means is provided.
The first container replenishment means and the second container replenishment means are characterized in that, based on the detection result of the storage unit detection means, the container is replenished to the empty supply storage unit in a shared manner. Container supply device. In the container supply device according to any one of claims 1 to 4.
When the number of empty supply accommodating portions detected by the accommodating unit detecting means is equal to or more than a predetermined threshold value, the container replenishing means does not replenish the empty supply accommodating portion. Characterized container supply device.

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