JP2004217427A - Chuck device of vessel and carrying device equipped with this chuck device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve a degree of freedom of operation of a chuck device; to simplify a constitution; and to enhance adaptability to a high speed carry. <P>SOLUTION: A chuck device is equipped with a pair of arms 15L and 15R rotatably supported by arm shafts 16L and 16R, and an operation member 23. The one arm 15L is provided with a roller shaft 17 integrally rotatable around the arm shaft 16L, and the other arm 15R is provided with an arm driving part 28 integrally rotatable with the arm 15R. The arm 15R is energized so that the arm driving part 28 is pressed to a second roller 31. A motion input mechanism is arranged between the operation member 23 and the roller shaft 17 for converting motion of the operation member 23 into rotary motion around the arm shaft 16L of the roller shaft 17, and an interlocking mechanism is arranged between the roller shaft 17 and the arm driving part 28 for rotating the arm driving part 28 around the arm shaft 16R by interlocking with the motion around the arm shaft 16L of the roller shaft 17. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

  The present invention relates to a container chuck device and a transport device provided with the chuck device.

As a transport device incorporated into a beer bottle inspection device, etc., rotating a disk called a star wheel provided with a number of pockets into which bottles are fitted on the outer periphery, switching the holding and opening of the bottle in each pocket and switching the star wheel 2. Description of the Related Art There is known a star wheel device capable of delivering a bottle at an appropriate position on a rotation path. As a means for holding a bottle in a star wheel device, for example, a device using a suction cup (see Patent Document 1) and a device using a pair of openable and closable chuck claws (see Patent Document 2) are known.
JP-A-11-106039 JP-A-10-7243

  It is considered that the chuck type star wheel device is more suitable for speeding up than the suction type, but when a mechanical type chuck device is provided, simplification of the mechanism and flexibility of operation contents are required.

  Therefore, an object of the present invention is to provide a chuck device that can increase the degree of freedom in designing the operation of the arm, simplify the configuration, and increase the adaptability to a higher transfer speed, and a transfer device using the chuck device. And

  Hereinafter, the chuck device and the transfer device of the present invention will be described. In addition, in order to facilitate understanding of the present invention, reference numerals in the accompanying drawings are added in parentheses, but the present invention is not limited to the illustrated embodiment.

  The chuck device of the present invention is rotatably supported by the support means via support means (10, 14, 16L, 16R, 32) and a pair of arm shafts (16L, 16R). A tip (40) that opens and closes with rotation is provided with a pair of arms (15L, 15R) provided with chuck claws (50) for gripping a container, and an operation member (23) that can be operated from outside. Inside each of the pair of arms, a first drive unit (17, 18, 31) that can rotate integrally with the one arm (15L) around the arm axis (16L) with respect to the one arm (15L); A second drive unit (28) that is located closer to the distal end portion of the arm than the first drive unit and is rotatable integrally with the other arm (15R) around an arm axis (16R) with respect to the other arm (15R). ) And is provided before Each of the pair of arms is urged by urging means (33, 35; 55) in a direction in which the respective tip ends close around the arm axis, and is provided between the operating member and the first drive unit. Is provided with a movement input mechanism (22, 21, 25, 18) for converting a movement accompanying an external operation of the operation member into a rotation movement about the arm axis of the first drive unit, Rotational movement of the first drive unit about the arm axis is performed between the first drive unit and the second drive unit, and rotation movement of the second drive unit about the arm axis is performed between the first drive unit and the second drive unit. The above-mentioned problem is solved by a container chucking device provided with an interlocking mechanism (31, 30) for converting into a.

  According to this invention, when the operating member is operated to rotate the first drive section around the arm axis, the second drive section is also rotated around the arm axis in conjunction therewith, and the pair of arms are chucked. Rotate to open and close the nail. The movement of the operating member is first transmitted from the first drive unit to one arm to rotate the arm, and the rotational movement is transmitted to the second drive unit via the interlocking mechanism. , The operation mode of each arm can be appropriately set. For example, an interlocking mechanism that changes only the operation form of the other arm without changing the operation of one arm with respect to the operation of the operation member, or changes the operation of one arm with respect to the operation of the operation member and cancels the change Can be set such that the operation of the other arm is not changed by adjusting Of course, the pair of arms can be operated symmetrically.

  In the chuck device of the present invention, the movement input mechanism may convert a movement of the operation member into a rotation movement of the first drive unit using a cam mechanism (25, 18). If a cam mechanism is used, it is only necessary to press the other component (cam follower) against the cam surface, and there is no need to interconnect components such as a link mechanism. Therefore, the configuration is simplified, and assembly and disassembly can be easily performed.

  An arm drive cam (25), wherein the cam mechanism of the motion input mechanism is supported by the support means so as to be rotatable about a cam axis parallel to the arm axis and has a cam surface (26) on the outer periphery. Wherein the arm driving cam is disposed on the opposite side of the second driving unit with respect to the first driving unit, and the operating member rotates the arm driving cam by an operation from the outside. The cam surface of the arm drive cam is provided with a position at which the first drive unit is pushed to the second drive unit side with the rotation of the arm drive cam, and a position of the second drive unit. It may be configured to reciprocate between a position retracted to the opposite side.

  In this case, the arm drive cam reciprocates in accordance with the operation direction of the operation member, and the first drive unit is pushed out to the second drive unit side, or in the direction away from the second drive unit side. Driven. Since the second drive unit is pressed against the first drive unit by the urging means, the second drive unit is interlocked with the first drive unit even when the first drive unit is driven in any direction. And rotate around the arm axis.

  The first drive unit may be provided with a first roller (18) in contact with a cam surface of the arm drive cam. By using the rollers, the frictional resistance to the cam surface can be reduced and the operation of the mechanism can be smoothed. Further, the first drive unit is provided with a roller shaft (17) parallel to the arm axis. On the roller shaft, a first roller (18) in contact with a cam surface of the arm drive cam, A second roller (31) in contact with the second drive unit may be provided.

  A holding section (26b) for holding the first driving section at a position pushed toward the second driving section may be provided on a cam surface of the arm driving cam. By providing such a holding portion, when the first drive unit is pushed toward the second drive unit against the force of the urging means, the holding force opposing the force of the urging means is operated. The arm drive cam can be held at the same position without continuously inputting the arm drive cam from a member. Therefore, restrictions on the mechanism design for operating the operation member are reduced. For example, in a case where the chucking pawl is urged in the closing direction by the urging means, if the holding portion is not provided, to continuously open the chuck pawl, the operating member is continuously guided by a cam groove or the like and the holding force is applied to the operating member. Need to keep working. However, when the holding unit is provided, the first driving unit is guided to the holding unit, and thereafter, the arm driving cam and the first driving unit are held in a fixed position without applying any force to the operating member. Thus, the chuck claws can be kept open. Therefore, the mechanism for operating the operation member is simplified. If a cam groove or the like is provided along the transport path to hold the operation member, the size of the cam will increase and the cost will increase, and especially in the case of the cam groove, frequent cleaning is required to prevent clogging. Is bothersome. In the case where the holding portion is provided on the cam surface, such a disadvantage is solved.

  The interlocking mechanism may use a cam mechanism (31, 30) to convert the rotational movement of the first drive unit to the rotational movement of the second drive unit. Also in this case, it is not necessary to connect the first drive unit and the second drive unit to each other by using the cam mechanism. Therefore, the configuration is simplified, and assembly and disassembly can be easily performed. In particular, it is most preferable to use a cam mechanism for both the motion input mechanism and the interlocking mechanism. In a preferred aspect of the cam mechanism of the interlocking mechanism, the second drive section is provided with a cam surface (30) that is in contact with the first drive section. By giving the cam surface various shapes, the interlocking relationship of one arm with the other arm can be changed.

  The urging means may include a spring means (33) disposed between the support means and the other arm to urge the other arm in a direction in which the chuck pawl closes. Just providing the urging means between the arms cannot restrict the movement of each arm tilting around the arm axis in the same direction. When such a movement occurs, the first drive unit and the second drive unit are displaced away from each other, and the interlocking relation of each arm is temporarily lost, so that each arm can move freely. However, according to the above aspect in which the urging means is provided between the support means and the other arm, the second drive unit can be pressed toward the first drive unit regardless of the operation state of the arm. .

  Further, as the urging means, a torsion coil spring (55) may be provided on each of the pair of arm shafts for urging the pair of arms in a direction in which the tip ends close. By providing the torsion coil spring on the arm axis, the pair of arms can be symmetrically urged, and it is not necessary to extend the arm behind the arm axis. Thus, the configuration of the arm is simplified, and the space behind the arm can be effectively used.

  Furthermore, in the aspect in which the cam mechanism is provided with an arm driving cam, the torsion for urging the pair of arms in a direction in which the tip ends close on each of the pair of arm shafts as the urging means. A coil spring (55) may be provided, and both ends of the pair of arm shafts and a cam shaft rotatably supporting the arm driving cam may be supported by the support means. This makes it possible to firmly support each of the arm shaft and the cam shaft of the arm driving cam, thereby suppressing their bending.

  Further, the container transfer device of the present invention includes the above-described chuck device (5) of the present invention, and a moving body (6) that moves the support means of the chuck device along a predetermined transfer path. is there. According to such a transport device, the container can be transported by moving the movable body while holding the container by the chuck device. Note that the moving body may be provided with a plurality of chuck devices arranged along a transport path. For example, if the chuck devices are arranged outward on the outer periphery of the rotating wheel, that is, the chuck claws are arranged so as to face the outer peripheral side, a star-wheel type transfer device can be configured. Further, an operation unit (60, 70, 80) that contacts the operation member and operates the operation member as the chuck device moves may be provided on the transport path. If the operation member is appropriately operated by the operation unit, the chuck claw can be closed at a specific position on the transport path, or the chuck claw can be opened to take in or take out the container to or from the chuck device.

  The operation unit may include a movable unit (71) movable between an operation position in contact with the operation member to operate the operation member and a standby position separated from the operation member. In this case, by switching the operating body between the operating position and the standby position as needed, it is possible to change the presence or absence of the operation of the chuck jaws at the installation location of the operating body. Further, the movable portion may be driven between the working position and the standby position by an electric servomotor (73). If a servomotor is used, the driver can be operated at high speed and accurately. Therefore, the adaptability to the increase in the transport speed is improved.

  As described above, according to the present invention, the movement of the operating member is first transmitted from the first drive unit to one arm to rotate the arm, and the rotational movement is transmitted to the second drive via the interlocking mechanism. Since this is transmitted to the section, the degree of freedom regarding the operation of each arm is increased by changing the conversion form of the movement. Further, since all of the components from the operation member to each arm are constituted by mechanical mechanisms, the accuracy and reliability of the operation are high, and the adaptability to the increase in the transport speed can be enhanced. Further, by using the cam mechanism for the motion input mechanism and the interlocking mechanism, the configuration can be simplified and the reliability of the operation can be further improved.

  FIG. 1 is a plan view of a star wheel device for transporting a beer bottle to which the chuck device of the present invention is applied. The star wheel device 1 is configured as, for example, an outlet-side star wheel device of an inspection device for inspecting the bottle BT, and the bottle BT is placed at a carry-in position P1 from another star wheel device 2 that holds the bottle BT under inspection. And is sent from the first unloading position P2 or the second unloading position P3 to the first transport conveyor 3 or the second unloading conveyor 4. In order to hold the bottle BT, a number of chuck devices 5 are provided on the outer periphery of the star wheel device 1 at a constant pitch in the circumferential direction.

  As shown in FIG. 2, the chuck device 5 includes a base 10 and a chuck claw 50 for holding the bottle BT. The base 10 is fixed to the outer periphery of the wheel (moving body) 6 of the star wheel device 1 using fixing means 7 such as bolts. The wheel 6 is driven to rotate in a predetermined rotation direction (indicated by an arrow R in FIG. 1) about a wheel center Cw in FIG. 1 by a driving device (not shown). Accordingly, the chuck device 5 is also driven to rotate about the wheel center Cw together with the wheel 6.

  A guide 13 is attached to the base 10. The guide 13 has a guide surface 13a curved along the outer periphery of the bottle BT. The radius of curvature of the guide surface 13a of the guide 13 is set to be somewhat larger than the radius of the bottle BT in consideration of an error in the diameter of the bottle BT gripped by the chuck device 5. When the chuck device 5 supports bottles BT of a plurality of sizes, the guide 13 may be provided in accordance with the bottle BT having the largest diameter, or the guide 13 may be replaced according to the bottle BT. However, in this embodiment, when the bottle BT can be sufficiently restrained by the chuck claw 50, the guide 13 may be omitted.

  As shown in FIGS. 3 to 6, a pair of left and right arms 15 </ b> L and 15 </ b> R are rotatably mounted on upper surfaces of the base 10 around arm shafts 16 </ b> L and 16 </ b> R extending in the vertical direction. The arm shafts 16L and 16R are provided at symmetrical positions with respect to a reference line CL connecting the center Cb of the bottle BT and the wheel center Cw (see FIG. 1). The upper ends of the arm shafts 16L and 16R are connected to each other via a top plate 14 and bolts 14a. As shown in FIG. 2, the guide 13 is also attached to the top plate 14. In this embodiment, the left and right sides of the chuck device 5 are defined in a state where the chuck device 5 is viewed from the wheel center Cw side along the reference line CL. Accordingly, the upper side of the reference line CL in FIG. 3 and the right side in FIG. 4 correspond to the left side of the chuck device 5, respectively.

  As shown in FIGS. 3, 5 and 6, a roller shaft 17 is mounted inside the arm 15L in parallel with the arm shaft 16L, and a first roller 18 is rotatably mounted on the outer periphery of the lower portion of the roller shaft 17. Installed. A bracket 20 is fixed to the lower surface side of the base 10 using a bolt 20a, and a cam shaft 21 extending in a vertical direction is rotatably attached to the bracket 20. The camshaft 21 is disposed on the reference line CL and shifted from the roller shaft 17 toward the wheel center Cw (to the left in FIG. 5). As shown in FIG. 7, the lower end of the camshaft 21 projects below the base 10, and a cam drive lever 22 is attached to the projecting portion so as to rotate integrally with the camshaft 21. A cam drive roller 23 as an operation member is attached to the tip of the cam drive lever 22 so as to be rotatable around a support shaft (bolt) 24.

  As shown in FIG. 5, an arm drive cam 25 is attached to the upper end of the cam shaft 21 so as to be able to rotate integrally with the cam shaft 21. As shown in detail in FIG. 8, the arm driving cam 25 has a cam surface 26 that contacts the first roller 18. The cam surface 26 is configured by smoothly connecting the first concave portion 26a, the second concave portion 26b as a holding portion, and the convex portion 26c disposed therebetween. The radius of curvature of each recess 26a, 26b is the same as or slightly larger than the radius of the first roller 18. The distance of the cam surface 26 from the rotation center of the camshaft 21 is minimum at the bottom of the first concave portion 26a, and is maximum near the boundary between the convex portion 26c and the second concave portion 26b. The distance from the rotation center of the camshaft 21 to the bottom of the second recess 26b is sufficiently larger than the distance from the rotation center of the camshaft 21 to the bottom of the first recess 26a.

  As shown in FIGS. 3 and 9, an arm driving unit (second driving unit) 28 is provided on the right arm 15R so as to face the cam shaft 21, and the arm driving unit 28 has a cam surface 30. Is provided. A second roller 31 is rotatably mounted on the outer periphery of the roller shaft 17 corresponding to the cam surface 30. A post 32 is arranged behind the left arm 15L, and the upper end of the post 32 is fixed to the top plate 14 (see FIG. 5). As shown in FIG. 9, the post 32 is provided with a spring receiving hole 32a, and a coil spring 33 is compressed between the spring receiving hole 32a and the spring receiving hole 15a provided at the rear end of the right arm 15R. It is attached with. The post 32 is connected to the base 10 via the top plate 14 and the arm shafts 16L, 16R, thereby functioning as a part of the support means for the arms 15L, 15R. Therefore, the arm 15R is pressed in the direction in which the chuck pawl 50 is closed by the spring 33 as biasing means provided between the arm 15R and the supporting means. A bolt 34 for guiding the inner periphery of a coil spring 33 is attached to the post 32.

  As shown in FIG. 3, a coil spring 35 as another urging means is mounted in a compressed state between the spring receiving portions 15b and 15c of the arms 15L and 15R below the coil spring 33. The repulsive forces of these coil springs 33 and 35 urge the arms 15L and 15R around the arm shafts 16L and 16R in the direction in which the chuck receiving portions 40 at the respective ends close (direction approaching the reference line CL). . Thereby, the cam surface 30 is pressed against the second roller 31, and the first roller 18 coaxial with the second roller 31 is pressed against the cam surface 26 of the arm driving cam 25. Accordingly, the first roller 18 and the second roller 31 move around the arm axis 16L in conjunction with the rotation of the arm drive cam 25, and the arm 15L also rotates around the arm axis 16L accordingly. Further, following the movement of the second roller 31, the arm driving unit 28 of the arm 15R rotates around the arm axis 16R, whereby the arm 15R also rotates around the arm axis 16R.

  As shown in FIG. 8A, when the first roller 18 is engaged with the first concave portion 26a of the cam surface 26, the cam shaft 21 is positioned between the arm shafts 16L and 16R and on the reference line CL. The chuck receiving portions 40 at the tips of 15L and 15R are closed. When the arm drive cam 25 rotates so that the first roller 18 moves toward the second concave portion 26b of the cam surface 26 as shown in FIG. 8B, the cam shaft 21 is pushed out to the outer peripheral side of the wheel 6. The arms 15L and 15R rotate around the arm shafts 16L and 16R so as to open the chuck receiving portion 40. When the first roller 18 rides over the convex portion 26c and meshes with the second concave portion 26b, the first roller 18 is disengaged from the second concave portion 26b against the force of the coil springs 33 and 35 closing the arms 15L and 15R. Is held in a meshed state. However, if a rotational moment enough to allow the first roller 18 to ride over the convex portion 26c is applied to the arm driving cam 25, the cam 25 is moved by the force of the springs 33 and 35 so that the first concave portion 26a meshes with the first roller 18. Rotate up to.

  In the following, the position of the arm drive cam 25 in FIG. 8A is referred to as a restraint position, and the position in FIG. 8B is referred to as a release position. The cam drive roller 23 shown in FIG. 7 moves backward to the wheel center Cw when the arm drive cam 25 is at the restraining position, and is displaced toward the outer periphery of the wheel 6 when the arm drive cam 25 is at the release position. It is associated with the cam 25.

  Next, the mounting structure of the chuck claw 50 will be described. As shown in FIGS. 3 and 9, a cylindrical receiving surface 41 is formed on the inner surface of the base end of the chuck receiving portion 40 of each of the arms 15L and 15R. A screw hole 42 is formed. The screw hole 42 obliquely penetrates the arms 15L, 15R so as to retreat radially inward from the inside to the outside of the arms 15L, 15R. As shown in FIG. 10, a cylindrical holding piece 43 is attached to the receiving surface 41 by screwing a single bolt 44 into the screw hole 42 from inside the arms 15L and 15R. By using these holding pieces 43, the chuck claws 50 are mounted on the tips of the arms 15L and 15R. The coil springs 45, 45 are stretched between the upper end portions and the lower end portions of the holding pieces 43 in a stretched state. FIG. 9 shows a coil spring 45 on the upper end side of the pressing piece 43. A part of the lower coil spring 45 appears in FIG.

  The chuck claw 50 is formed by sheet metal processing of a thin plate having high rigidity such as a stainless steel plate. As shown in FIG. 11, the chuck claw 50 includes a gripper 51 for gripping the bottle BT and a mounting base 52 for mounting to the arms 15L and 15R. The mounting base 52 is curved so as to extend along the receiving surface 41, and a slit 53 extending in the circumferential direction of the mounting base 52 is formed substantially at the center in the vertical direction. Similarly, a slit 54 is formed on the grip portion 51 side. The grip portion 51 is vertically divided by the slit 54. The slit 54 on the grip portion 51 side extends so as to cross the center line of the screw hole 42, and the width of the slit 54 is set to a size that allows a tool (for example, a hexagon wrench) for operating the bolt 44 to be inserted. ing. In addition, as shown by an imaginary line in FIG. 11, a non-slip member 50 a may be provided on the inner surface side of the grip portion 51.

  The attachment of the chuck claw 50 is performed as follows. The bolt 44 is loosened to create a gap between the presser piece 43 and the receiving surface, which is somewhat larger than the thickness of the chuck claw 50. The chuck base 50 is rotated along the receiving surface 41 and the mounting base 52 is pressed. Insert into the gap between 43 and receiving surface 41. The bolt 44 passes through the slit 53. Thereafter, by tightening the bolt 44, the mounting base 52 of the chuck claw 50 is firmly sandwiched between the receiving surface 41 and the pressing piece 43. When removing the chuck claw 50, the bolt 44 may be loosened and the mounting base 52 of the chuck claw 50 may be removed from between the pressing piece 43 and the receiving surface 41.

  In the configuration of the chuck device 5 described above, the mutual operating relationship between the arms 15L and 15R can be variously changed depending on the shape of the cam surface 30. Here, the shape of the cam surface 30 is determined so that the chuck pawl 50 operates symmetrically with respect to the reference line CL. However, various operations can be given to the chuck claws 50, 50 according to the shape of the cam surface 30, such as opening one of the chuck claws 50 in advance.

  As shown in FIG. 1, operation units 60, 70, and 80 are provided at the carry-in position P1 and the carry-out positions P2 and P3, respectively. As shown in FIG. 12, a cam block 61 is provided on the operation unit 60 at the carry-in position P1. The cam block 61 is attached to a fixed portion of the star wheel device 1, for example, a base, and is restrained at a fixed position with respect to the rotation of the wheel 6. The cam block 61 has a cam surface 61a facing the wheel center Cw. The cam surface 61a comes into contact with the cam drive roller 23 when the arm drive cam 25 of the chuck device 5 is at the release position, and the first roller 18 is moved from the second recess 26b of the arm drive cam 25 to a position where the wheel 6 can escape. The cam drive roller 23 is sent to the wheel center Cw side by using the rotation.

  As shown in FIGS. 13 and 14, a rotor 71 as a movable unit is provided in the operation unit 70 at the unloading position P2. The rotor 71 is provided rotatably about the vertical axis, and a pair of arms 71a, 71a capable of contacting the cam drive roller 23 are formed on the outer periphery thereof. Further, as shown in FIG. 1, the rotor 71 is connected to an output shaft 73 a of a servomotor 73 via a transmission mechanism 72. As the transmission mechanism 72, for example, a belt-type transmission device is used. The servo motor 73 causes the rotor 71 to move one arm 71a toward the chuck device 5 (FIG. 14), and a standby position (FIG. 13) in which each arm 71a is retracted closer to the wheel center Cw than the working position. And is rotationally driven. As shown in FIG. 14, the arm 71a when the rotor 71 is in the operating position contacts the cam driving roller 23 when the arm driving cam 25 of the chuck device 5 is in the restraining position, and the arm driving cam 25 is released. The cam drive roller 23 is fed to the outer peripheral side of the wheel 6 by utilizing the rotation of the wheel 6 until it moves to the position. When the rotor 71 is at the standby position, the arm 71a retreats to the wheel center Cw side of the cam driving roller 23 regardless of the position of the arm driving cam 25.

  Next, the operation of the star wheel device 1 configured as described above will be described. First, at the carry-in position P <b> 1 of the star wheel device 1, the chuck device 5 is sequentially fed out with the rotation of the wheel 6. The arm drive cam 25 is at the release position just before the carry-in position P1, and the chuck claws 50 are open. When the chuck device 5 is transported to the carry-in position P1 by the wheel 6, the cam driving roller 23 comes into contact with the cam surface 61a and is pushed toward the wheel center Cw, whereby the first roller 18 is moved to the second position of the arm driving cam 25. The arm drive cam 25 returns from the recess 26b to the restrained position. Thus, the chuck claws 50 are closed. In conjunction with the closing operation of the chuck claws 50, the bottle BT is transferred between the chuck claws 50 from the star wheel device 2, and the bottle BT is gripped by the chuck claws 50, 50 (see FIG. 12).

  The bottle BT gripped by the chuck claws 50 is first transported to the first unloading position P2 with the rotation of the wheel 6. At the first unloading position P2, the rotor 71 is held at the standby position shown in FIG. 13, and when the bottle BT is the bottle BT to be unloaded to the first unloading conveyor 3, the chuck device 5 for holding the bottle BT. The servo motor 73 is driven at the timing when the cam drive roller 23 is carried out to the first carry-out position P2, and the arm 71a is driven to the operation position shown in FIG. As a result, the cam drive roller 23 comes into contact with the arm 71a and is pushed toward the outer periphery, and the arm drive cam 25 is driven from the restrained position to the release position. Accordingly, the chuck claws 50 are opened and the bottle BT is carried out to the first carry-out conveyor 3. After unloading the bottle BT, the rotor 71 is temporarily returned to the standby position before the roller 23 of the next chuck device 5 reaches the rotation range of the arm 71a.

  On the other hand, when a bottle BT unsuitable for unloading to the first unloading conveyor 3 is sent to the first unloading position P2, the servomotor 73 is not driven, and the rotor 71 is held at the standby position. Therefore, the cam drive roller 23 of the chuck device 5 holding the bottle BT cannot contact the arm 71a, and the arm drive cam 25 is held at the restrained position. Therefore, as shown in FIG. 13, the bottle BT that is not properly unloaded is not released from the chuck claws 50 and passes directly through the first unloading position P1 to the next second unloading position P3.

  As shown in FIG. 15, at the second unloading position P3, the cam drive rollers 23 of the chuck device 5, which are sequentially fed with the rotation of the wheel 6, come into contact with the cam surface 81a, and the respective arm drive cams 25 move from the restrained position to the release position. Is always driven. Therefore, the chuck pawl 50 is always opened at the second unloading position P3. Thereby, the bottle BT transported to the second unloading position P3 is unloaded to the second unloading conveyor 4.

  As described above, according to the star wheel device 1 of the present embodiment, the bottle BT is transferred to the first unloading conveyor 3 or the second unloading conveyor 4 by switching the position of the rotor 71 installed at the first unloading position P2. It can be selectively carried out. For example, when the bottle BT and its contents are inspected before the star wheel device 1, the rotor 71 is moved from the standby position at the timing when the bottle BT determined to pass the inspection reaches the first unloading position P2. When driven to the operating position, a non-defective product that has passed the inspection can be unloaded to the first unloading conveyor 3 and a defective product that has failed the inspection can be unloaded to the second unloading conveyor 4.

  Conversely, when the bottle BT that has passed the inspection is being conveyed to the first unloading position P2, the rotor 71 is held at the standby position, and when the rejected bottle BT is sent to the first unloading position P2, the rotor 71 is stopped. If the 71 is driven to the operating position, it is possible to carry out defective products that have failed the inspection to the first carry-out conveyor 3 and carry out good products that have passed the test to the second carry-out conveyor 4. That is, at normal times, the rotor 71 is held at the standby position, the opening of the chuck pawl 5 at the first unloading position P2 is suspended, and the chuck pawl 50 is opened using the cam block 81 at the second unloading position P3 to open the bottle BT. When the chuck device 5 holding the bottle BT reaches the first unloading position P2 when the bottle BT needs to be selected for some reason such as an inspection failure, the rotor 71 is switched to the operating position. The chuck 70 may be opened, and thereafter, the rotor 71 may be returned to the standby position earlier than when the next bottle BT reaches the first unloading position P2.

  According to the star wheel device 1 or the chuck device 5 of the present embodiment, the following operational effects can be obtained.

  (1) Since everything from the cam drive roller 23 to the cam surface 30 of the chuck device 5 is mechanically configured, the responsiveness and reliability of the opening and closing operation of the chuck claw 50 are high, and the adaptability to the speeding up of the wheel 6 is improved. high.

  (2) Since the cam surfaces 26 and 30 are brought into close contact with the opposing (follower) rollers 18 and 31 using the forces of the coil springs 33 and 35, respectively, the arm driving cam 25 and the arm 15L driven thereby are provided. , 15R need not be mechanically connected, and assembly and disassembly can be easily performed. Further, since the cam surfaces 26 and 30 are brought into contact with the rollers 18 and 31, the frictional resistance is reduced and the operation is facilitated. In the present invention, the rotation of the camshaft 21 using the cam drive roller 23 may be converted into an opening / closing operation of the arms 15L and 15R by a link mechanism. However, when the link mechanism is used, it is necessary to connect the links or the link and the arm or the like, which increases the number of assembling steps.

  (3) Since the cam surface 26 is provided with the second concave portion 26b for holding the arm driving cam 25 at the release position against the coil springs 33 and 35, the star wheel is used to hold the chuck claw 50 in an open state. In the apparatus 1, there is no need to continuously restrain the cam drive roller 23 at a position corresponding to the release position of the arm drive cam 25. Therefore, the rotor 71 and the cam 81 need only push the roller 23 until the first roller 18 gets over the convex portion 26c and enters the second concave portion 26b. Even after the arm driving cam 25 is switched to the release position, the cam 71 and the like are used. Even if the roller 23 is not kept pressed, the chuck claw 50 can be kept open. If there is no such self-holding action of the arm driving cam 25, it is necessary to design the cam 61 so that the chuck pawl 50 is first opened at the carry-in position P1, and the chuck pawl 50 is closed in response to the reception of the bottle BT. And the cam 61 becomes complicated.

  (4) In order to rotationally urge the arms 15L and 15R in the direction in which the chuck claw 50 closes, not only the coil spring 35 is provided between the arms 15L and 15R, but also the side (post) that rotatably supports the arms 15L and 15R. A coil spring 33 is also provided between the arm 32R and the arm 15R to urge the arm 15R in a direction in which the cam surface 30 is pressed against the second roller 31. If only the coil spring 35 is provided, the arms 15L and 15R rotate clockwise in FIG. 3 around the arm shafts 16L and 16R, respectively, so that the cam surface 30 and the second roller 31 are separated from each other. The claws 50, 50 may be loose. However, when the arm 15R is urged counterclockwise around the arm axis 16R by the coil spring 33, such rotation of the arm 15R is restricted, and the cam surface 30 and the second roller 31 are brought into contact with each other. Can be kept.

  (5) Since the servo motor 73 is used to drive the rotor 71, the operation of the rotor 71 can be controlled at high speed and with high accuracy, and the adaptability to the high speed of the wheel 6 can be improved.

  (6) Further, according to the attachment structure of the chuck claw 50 in the present embodiment, there are the following advantages. First, since the chuck jaws 50 are sandwiched between the cylindrical receiving surface 41 and the cylindrical pressing piece 43, the chuck jaws 50 rotate around the bolts 44 even in a configuration in which the chuck jaws 50 are tightened with a single bolt 44. There is no fear. Further, since the slit 53 for passing the bolt 44 is provided, it is not necessary to remove both the pressing piece 43 and the bolt 44 from the arms 15L and 15R when attaching and detaching the chuck claw 50. Therefore, attachment and detachment of the chuck claw 50 can be easily performed. When the bolt 44 is loosened, the holding piece 43 is pulled away from the receiving surface 41 by the pulling force of the coil spring 45, so that the mounting base 52 of the chuck claw 50 can be mounted more easily.

  Since the chuck claws 50 are mounted inside the arms 15L and 15R, the reaction force when the bottle BT is gripped by the chuck claws 50 can be received by the arms 15L and 15R, and the reaction force acts on the bolt 44. do not do. Therefore, it is advantageous for securing the rigidity of the attachment portion of the chuck claw 50. Since a tool (wrench) for operating the bolt 44 can be inserted using the slit 54 on the gripper 51 side, even if the chuck claw 50 is attached to one arm 15L or 15R, the opposite side is used. The chuck claw 50 can be easily attached to and detached from the arm 15R or 15L. The slit 54 is necessary because the screw hole 42 is inclined obliquely. The reason why such an inclination is given is as follows.

  In order to firmly fix the chuck claw 50, it is necessary to secure a sufficient screw-in depth of the bolt 44, but the chuck which can be attached to the wheel 6 by reducing the pitch when the chuck devices 5 are arranged in the circumferential direction is reduced. In order to increase the number of the devices 5, it is necessary to limit the thickness of the chuck receiving portion 40 as small as possible within a range necessary for maintaining strength. Therefore, even if the screw hole 42 is formed in a direction orthogonal to the chuck receiving portion 40, a sufficient screwing depth cannot be obtained. On the other hand, since the arm shafts 16L and 16R are arranged behind the chuck receiving portion 40, even if the screw hole 42 is formed from the receiving surface 41 along the reference line CL, the screw hole 42 cannot be sufficiently extended. Therefore, by extending the screw hole 42 obliquely outward from the receiving surface 41, the length of the screw hole 42 is maximized within a limited range.

  Further, since the grip portion 51 is divided into upper and lower portions by the slit 54 of the chuck claw 50, the grip portion 51 can be deformed into different shapes at the upper and lower portions of the slit 54 so as to conform to the shape of the bottle BT. When the chuck claw 50 is made of a metal material such as stainless steel, sufficient rigidity is ensured even when the grip portion 51 is thin, and a relatively large elastic deformation can be obtained. Even if a different bottle BT is taken in, the chuck claw 50 is elastically deformed, so that the bottle BT having a different diameter can be handled without replacing the chuck claw 50. However, it goes without saying that the chuck claws 50 may be replaced according to the bottle BT.

  In the above embodiment, the base 10, the arm shafts 16L and 16R, the top plate 14 and the post 32 constitute support means, and the roller shaft 17, the first roller 18 and the second roller 31 constitute a first drive unit. The lever 22, the camshaft 21, the arm driving cam 25, and the first roller 18 constitute a motion input mechanism, and the second roller 31 and the cam surface 30 constitute an interlocking mechanism. However, the present invention is not limited to the above embodiment, and may be implemented in various forms. For example, in the chuck device 5, the chuck claws 50 may be provided in a plurality of stages in the vertical direction with respect to the arms 15L and 15R. Two or more pairs of arms 15L and 15R may be provided in a plurality of stages in the vertical direction, and one or more chuck claws may be attached to each arm. When a plurality of chuck claws 50 are provided in the vertical direction, it is desirable to optimize the shape of the gripper 51 of the chuck claws 50 according to the shape of the bottle BT at the gripping position of the chuck claws 50. A roller may be rotatably provided on the inner surface side of the chuck claw 50, and the bottle BT may be held by the chuck claw 50 so as to be able to rotate by gripping the bottle BT via the roller. Such a configuration is suitable for an inspection process for rotating the bottle BT and the like.

  The urging means for the arms 15L, 15R is not limited to the coil springs 33, 35, but may be changed as appropriate. 16 to 20 show other embodiments in which the urging means is changed. Parts common to those in FIGS. 1 to 15 are denoted by the same reference numerals, and description thereof is omitted.

  In the embodiment shown in FIGS. 16 to 20, a pair of arm shafts 16L and 16R protrude above the top plate 14, and torsion coil springs 55 as urging means are fitted on the outer periphery of the protruding portion 16a via a bush 16b. Have been combined. The upper ends of the arm shafts 16L and 16R are connected to each other via a connecting plate 56 and a bolt 57, and a block 58 for hanging a spring is fixed to the lower surface of the connecting plate 56 using a bolt 58a. Note that the tightening force of the bolt 57 is received by the top plate 14 via the bush 16b, whereby the arm shafts 16L and 16R are supported between the base 10 as the support means and the top plate 14.

  As shown in FIGS. 18 and 19, each of the coil springs 55 has one arm 55a provided on the block 58 and the other arm 55b provided on the arms 15L and 15R while pushing and opening the pair of arms 55a and 55b somewhat. They are mounted on arm shafts 16L and 16R, respectively, hooked on pins 15d. The arms 55a, 55b are urged in the direction approaching each other (the direction indicated by the arrow A in FIG. 19) by the elastic restoring force generated in the coil portion 55c by pushing and opening the arms 55a, 55b. The chuck pawl 50 is urged in the closing direction.

  If the torsion coil spring 55 is used as the urging means as described above, the spring receiving holes 15a (FIG. 9) for extending the arms 15L and 15R behind the arm shafts 16L and 16R to receive the coil springs 33 and 35 and the springs are provided. There is no need to provide the receiving portions 15b and 15c (FIG. 3). Therefore, the rear ends of the arms 15L and 15R are packed up to the fitting portion with the arm shafts 16L and 16R, and the post 32 is also omitted. Thus, the shapes of the arms 15L and 15R are simplified, and the number of parts is reduced. As is clear from FIG. 19, since the torsion coil spring 55 is arranged symmetrically with respect to the reference line CL, the arms 15L and 15R can be symmetrically urged to increase the symmetry of the operation.

  As shown in FIGS. 16, 19 and 20, a space is created behind the roller shaft 17 by shortening the arms 15L and 15R and omitting the post 32 and the coil springs 33 and 35 so that the space is filled. The camshaft 21 extends upward. The upper end of the cam shaft 21 is connected to the top plate 14 by a bolt 59. Thereby, both ends of the cam shaft 21 are supported, and the bending of the cam shaft 21 can be suppressed as compared with the configuration of FIG.

  The chuck device of the present invention can be suitably applied to a star wheel device, but is not limited to this, and can be applied to various transport devices that are required to grip a container.

FIG. 2 is a plan view of a star wheel device to which the chuck device of the present invention is applied. FIG. 2 is a side view of the chuck device of FIG. 1. FIG. 3 is a sectional view taken along the line III-III in FIG. 2. The figure which shows the state which looked at the chuck apparatus from the arrow IV direction of FIG. FIG. 5 is a sectional view taken along the line VV in FIG. 3. FIG. 6 is a sectional view taken along the line VI-VI in FIG. 5. The figure which shows the state which looked at the chuck apparatus from the arrow VII direction of FIG. FIG. 6 is a sectional view taken along the line VIII-VIII in FIG. 5. FIG. 6 is a sectional view taken along the line IX-IX in FIG. 5. FIG. 3 is a schematic view from the tip side of the chuck device. FIG. FIG. 2 is an enlarged view near the carry-in position in FIG. 1. FIG. 2 is an enlarged view showing a state in which unloading of the bottle is suspended at a first unloading position in FIG. 1. FIG. 2 is an enlarged view showing a state in which the bottle is unloaded at a first unloading position in FIG. 1. FIG. 2 is an enlarged view showing a state where a bottle is carried out at a second carry-out position in FIG. 1. FIG. 10 is a cross-sectional view along an arm axis in another embodiment using a torsion coil spring as an urging unit. The figure which shows the state which looked at the chuck apparatus from the arrow XVII direction of FIG. FIG. 17 is a plan view of the chuck device of FIG. 16. FIG. 17 is a sectional view taken along the line XIX-XIX in FIG. 16. FIG. 17 is a cross-sectional view of the chuck device of FIG. 16 corresponding to FIG.

Explanation of reference numerals

1 Star wheel device (transportation device)
2 Another star wheel device 5 Chuck device 6 Wheel (moving body)
10 Base (supporting means)
14 Top plate (supporting means)
15L, 15R arm 16L, 16R arm shaft (support means)
17 Roller shaft (first drive unit)
18 1st roller (motion input mechanism)
21 camshaft (motion input mechanism)
22 Cam drive lever (motion input mechanism)
23 Cam drive roller (operation member)
25 Arm drive cam 26 Cam surface 26b Second concave portion (holding portion)
28 Arm drive unit (drive unit)
30 Cam surface (interlocking mechanism)
31 2nd roller (interlocking mechanism)
33, 35 Coil spring (biasing means)
Reference Signs List 40 chuck receiving portion 41 receiving surface 42 screw hole 43 holding piece 44 bolt 45 coil spring 50 chuck claw 51 gripping portion 52 mounting base 53 slit 54 slit 55 torsion coil spring (biasing means)
60, 70, 80 Operation unit 71 Rotor (movable part)
73 Servo motor BT Bottle Cw Wheel center

Claims (16)

A pair of arms, which are rotatably supported by the support means via a pair of arm shafts and open and close with rotation around the arm shaft, and provided with chuck claws for gripping a container at a tip end; , An operation member that can be operated from the outside,
Inside each of the pair of arms, a first drive unit that can rotate integrally with the one arm around an arm axis related to the one arm, and the tip of the arm more than the first drive unit. A second drive unit, which is located on the side of the unit and is rotatable integrally with the other arm around an arm axis for the other arm,
Each of the pair of arms is urged by urging means in the direction in which the respective tip ends close around the arm axis,
A motion input mechanism between the operating member and the first driving unit for converting a motion accompanying an external operation of the operating member into a rotating motion of the first driving unit about the arm axis; Is provided,
Between the first drive unit and the second drive unit, the rotational movement of the first drive unit about the arm axis is performed by rotating the second drive unit about the arm axis. An interlocking mechanism that converts to motion is provided.
A chuck device for a container, comprising:   The chuck device according to claim 1, wherein the movement input mechanism converts a movement of the operation member into a rotation movement of the first driving unit using a cam mechanism. The cam mechanism of the movement input mechanism includes an arm drive cam that is supported by the support means in a rotatable state around a cam axis parallel to the arm axis and has a cam surface on an outer periphery thereof,
The arm driving cam is disposed on the opposite side of the second driving unit with respect to the first driving unit;
The operating member is provided to rotate the arm drive cam by the operation from the outside,
The cam surface of the arm drive cam retreats to a position where the first drive unit is pushed out to the second drive unit side and to a side opposite to the second drive unit with the rotation of the arm drive cam. The chuck device according to claim 2, wherein the chuck device is configured to reciprocate to and from a set position.   4. The chuck device according to claim 3, wherein the first driving unit is provided with a first roller that is in contact with a cam surface of the arm driving cam.   The first drive unit is provided with a roller shaft parallel to the arm axis. On the roller shaft, a first roller in contact with a cam surface of the arm drive cam, and a second roller in contact with the second drive unit The chuck device according to claim 3, further comprising a roller.   6. The arm drive cam according to claim 3, wherein a cam portion is provided on a cam surface of the arm drive cam to hold the first drive portion at a position pushed toward the second drive portion. The chuck device according to claim 1.   The said interlocking mechanism converts the rotational movement of the said 1st drive part into the rotational movement of the said 2nd drive part using a cam mechanism, The claim 1 characterized by the above-mentioned. Chuck device.   The chuck device according to claim 7, wherein the cam mechanism of the interlocking mechanism includes a cam surface provided on the second drive unit and in contact with the first drive unit.   2. The device according to claim 1, wherein the urging unit includes a spring unit disposed between the supporting unit and the other arm to urge the other arm in a direction in which the chuck pawl closes. 9. The chuck device according to any one of items 8 to 8.   The torsion coil spring for urging the pair of arms in a direction in which the tip ends close is provided on each of the pair of arm shafts as the urging means. The chuck device according to any one of the above items. As the biasing means, a torsion coil spring that biases the pair of arms in a direction in which the tip ends close is provided on each of the pair of arm shafts,
4. The chuck device according to claim 3, wherein both ends of the pair of arm shafts and a cam shaft rotatably supporting the arm driving cam are supported by the support means. A chuck device according to any one of claims 1 to 11,
A moving body for moving the supporting means of the chuck device along a predetermined conveying path.   13. The transfer device according to claim 12, wherein a plurality of the chuck devices are provided on the movable body along a transfer path.   The transfer device according to claim 13, wherein an operation unit that contacts the operation member and operates the operation member in accordance with movement of the chuck device is provided on the transfer path.   15. The operation unit according to claim 14, wherein the operation unit includes a movable unit that can move between an operation position in contact with the operation member and operating the operation member and a standby position away from the operation member. 3. The transfer device according to claim 1. 16. The transfer device according to claim 15, wherein the movable portion is driven between the operation position and the standby position by an electric servomotor.

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