JP2017105564A - Regulator for synchronous operation of rotary conveyance part, rotary conveyance part, conveyance system, method for regulating synchronous operation of rotary conveyance part, and method for manufacturing filling bottle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To synchronously rotate a pair of rotary conveyance parts without regulation by a manual operation of an operator.SOLUTION: An image acquisition unit acquires picked-up images on which a first mark as a part of a first rotary conveyance part and a second mark as a part of a second rotary conveyance part are photographed. A deviation amount specification unit specifies a deviation amount between a positional relation of the first mark and the second mark which are photographed on the picked-up images and a prescribed target positional relation. A rotation control unit controls rotational driving of at least one of the first rotary conveyance part and the second rotary conveyance part so that such a deviation amount is reduced.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a synchronous operation adjusting device for a rotary conveyance unit, a rotary conveyance unit, a conveyance system, a synchronous operation adjustment method for a rotary conveyance unit, and a method for manufacturing a filled bottle.

A bottle such as a PET bottle is manufactured by blow molding a preform by a blow molding machine (see, for example, Patent Document 1). In recent years, in order to fill a bottle with an article to be packaged in a sterile state, a molding and filling system in which the filling machine fills the bottle with the article to be packaged immediately after the blow molding machine molds the bottle has become widespread.
Delivery of the bottle between the blow molding machine and the filling machine in the molding and filling system is generally performed via a rotary conveyance unit called a star wheel. The star wheel is a transport unit in which grippers for gripping the bottles are arranged radially on the rotating disk. The blow molding machine and the filling machine each have a star wheel, and the star wheel of the blow molding machine and the star wheel of the filling machine rotate synchronously with each other, so that the bottle held by the gripper of the blow molding machine is transferred to the gripper of the filling machine. Delivered.

Special table 2008-505785 gazette

Generally, since the blow molding machine and the filling machine are separate devices, each is controlled by a separate control device. Therefore, the star wheel of the blow molding machine and the star wheel of the filling machine are rotationally controlled by separate control devices. Therefore, in order to rotate the two star wheels synchronously, it is necessary to adjust so that the grip centers of the two grippers coincide when the two grippers come closest to each other by the rotation of the star wheel. However, it is difficult to determine the adjustment amount by visually confirming the deviation between the grip centers of the two grippers, and it requires skill of an operator.
SUMMARY OF THE INVENTION An object of the present invention is to provide a synchronous operation adjusting device for a rotary transport unit that adjusts the operation of a pair of rotary transport units that are rotationally controlled by different control devices, regardless of the manual work of an operator, a rotary transport unit, a transport system, and It is providing the manufacturing method of a filling bottle.

  According to the first aspect of the present invention, the synchronous operation adjusting device of the rotary transport unit is configured to rotate with respect to each other, the first gripper included in the first rotary transport unit and the second gripper included in the second rotary transport unit. In a pair of rotary transfer units that deliver a workpiece between the first and second rotary transfer units, a first mark that is a part of the first rotary transfer unit and a second mark that is a part of the second rotary transfer unit are captured. An image acquisition unit for acquiring a deviation amount specifying unit for specifying a deviation amount between a positional relationship between the first mark and the second mark in the captured image and a predetermined target positional relationship; and A rotation control unit for controlling rotation driving of at least one of the first rotation conveyance unit and the second rotation conveyance unit so as to be small.

  According to the second aspect of the present invention, the synchronous operation adjusting device of the rotary conveyance unit according to the first aspect further includes a deviation amount determination unit that determines whether or not the deviation amount exceeds a predetermined range, When the amount of deviation exceeds the range, the rotation control unit rotates at least one of the first rotation conveyance unit and the second rotation conveyance unit so that the deviation amount becomes small. Control.

  According to the third aspect of the present invention, in the synchronous operation adjusting device of the rotary conveyance unit according to the first or second aspect, the first mark is the first gripper, and the second mark is A second gripper;

  According to the fourth aspect of the present invention, in the synchronous operation adjusting device for the rotary transport unit according to any one of the first to third aspects, the deviation amount specifying unit includes the reference image representing the target positional relationship and the The amount of deviation is specified by comparing the captured image.

  According to the fifth aspect of the present invention, the rotary transport unit includes a rotary plate having a gripper capable of delivering a workpiece to and from another rotary transfer unit, an electric motor that rotationally drives the rotary plate, and the electric motor. A synchronous operation adjusting device that controls rotational driving, and the synchronous operation adjusting device captures a captured image in which a first mark that is a part of a rotating disk and a second mark that is a part of the other rotary conveyance unit are reflected. An image acquisition unit to acquire, a shift amount specifying unit for specifying a shift amount between the positional relationship between the first mark and the second mark and the predetermined target positional relationship that appear in the captured image, and the shift amount is small A rotation control unit for controlling the rotation drive of the electric motor.

  According to the sixth aspect of the present invention, the transfer system includes a first rotary transfer unit and a second rotary transfer unit that deliver the workpiece while rotating with each other, and the first rotary transfer unit or the second rotary transfer unit. A synchronous operation adjusting device that controls the rotational driving of the rotary conveyance unit, and the synchronous operation adjustment device includes a first mark that is a part of the first rotary conveyance unit and a part of the second rotary conveyance unit. An image acquisition unit that acquires a captured image in which a second mark is captured; a shift that specifies a shift amount between a positional relationship between the first mark and the second mark that is captured in the captured image and a predetermined target positional relationship; An amount specifying unit; and a rotation control unit that controls at least one of the first rotation conveyance unit and the second rotation conveyance unit so as to reduce the deviation amount.

  According to the seventh aspect of the present invention, the method for adjusting the synchronous operation of the rotary transport unit includes the first gripper provided in the first rotary transfer unit and the second gripper provided in the second rotary transfer unit while rotating with respect to each other. In a pair of rotary transfer units that deliver bottles between the first and second rotation transfer units, a first mark that is a part of the first rotation transfer unit and a second mark that is a part of the second rotation transfer unit are captured. A step of specifying a deviation amount between the positional relationship between the first mark and the second mark and the predetermined target positional relationship that appear in the captured image, and the deviation amount is reduced. Controlling at least one rotation drive of the first rotary transfer unit and the second rotary transfer unit.

  According to the eighth aspect of the present invention, the method for producing a filled bottle is between the first gripper provided in the first rotary transport unit and the second gripper provided in the second rotary transport unit while rotating with each other. In the pair of rotary transfer units that deliver the bottles at 1, a captured image is obtained in which a first mark that is a part of the first rotary transfer unit and a second mark that is a part of the second rotary transfer unit are captured. Specifying the amount of deviation between a step, a positional relationship between the first mark and the second mark in the captured image, and a predetermined target positional relationship, and the first amount so as to reduce the amount of deviation. A step of controlling the rotational drive of at least one of the rotation conveyance unit and the second rotation conveyance unit, a step of blow molding the blow molding of the bottle from a preform, and the first rotation conveyance unit Bottle A step of gripping, a step of delivering the bottle to the second rotary transport unit by the first rotary transport unit, and a filling device placing an article to be packaged on the bottle gripped by the second rotary transport unit. Filling.

  According to at least one of the above aspects, the synchronous operation adjusting apparatus is configured so that the amount of deviation between the position relationship between the mark of the first rotation conveyance unit and the mark of the second rotation conveyance unit and the target position relationship that appear in the captured image. The rotation of at least one of the first rotary transport unit and the second rotary transport unit is controlled so as to be small. Thereby, a pair of rotation conveyance part can be rotated synchronously, without performing adjustment by an operator's manual work.

It is the schematic of the shaping | molding filling system which concerns on one Embodiment. It is the schematic which shows the structure of the wheel which concerns on one Embodiment. It is a figure which shows an example of the image which the imaging device which concerns on one Embodiment images. It is a schematic block diagram which shows the software structure of the control apparatus of the filling machine which concerns on one Embodiment. It is a flowchart which shows the synchronous driving | operation adjustment operation | movement which concerns on one Embodiment. It is a figure which shows an example of a contour image and a reference image. It is a schematic block diagram which shows the structure of the computer which concerns on one Embodiment.

Hereinafter, embodiments will be described in detail with reference to the drawings.
FIG. 1 is a schematic view of a molding and filling system according to an embodiment.
The molding and filling system 1 includes a blow molding machine 10 and a filling machine 20.
The blow molding machine 10 forms a bottle by stretching and blowing the supplied bottomed cylindrical preform.
The filling machine 20 fills the bottles formed by the blow molding machine 10 with an article to be packaged. Examples of packages include liquids, gases, powders, and viscous bodies.
The blow molding machine 10 and the filling machine 20 are provided in the same clean room. Thereby, the filling machine 20 can aseptically fill the objects to be packaged in the bottle formed by the blow molding machine 10.

The blow molding machine 10 includes a first wheel 11, a hanging conveyor 12, a heating device 13, a second wheel 14, a rotary blow molding device 15, a third wheel 16, an irradiation device 17, and a control device 18.
The first wheel 11 grips the preform supplied from outside the clean room and delivers the preform to the suspension conveyor 12 while rotating.
The suspension conveyor 12 conveys the preform delivered from the first wheel 11 to the second wheel 14 via a predetermined conveyance path.
The heating device 13 is disposed in the vicinity of the conveyance path of the hanging conveyor 12. The heating device 13 heats the preform suspended on the suspension conveyor 12. The preform softens when heated.
The second wheel 14 grips the preform delivered from the suspension conveyor, and delivers the preform to the rotary blow molding device 15 while rotating.
The rotary blow molding device 15 forms the preform delivered from the second wheel 14 into a bottle shape by stretching and blowing while rotating. The rotary blow molding apparatus 15 delivers the bottle formed from the preform to the third wheel 16 while rotating.
The third wheel 16 delivers the bottle delivered from the rotary blow molding device 15 to the filling machine 20 while rotating.
The irradiation device 17 is disposed in the vicinity of the third wheel 16. The irradiation device 17 irradiates the bottle held by the third wheel 16 with waves. Examples of the wave include microwaves, ultraviolet rays, and ultrasonic waves. Thereby, the bottle conveyed to the 3rd wheel 16 is sterilized.
The control device 18 controls the rotational drive of the rotary conveyance unit (the first wheel 11, the hanging conveyor 12, the second wheel 14, the rotary blow molding device 15, and the third wheel 16) of the blow molding machine 10. That is, the rotation conveyance part of the blow molding machine 10 rotates in synchronization with each other.

The filling machine 20 includes a first wheel 21, a rotary filling device 22, a second wheel 23, an imaging device 24, and a control device 25.
The first wheel 21 holds the bottle delivered from the blow molding machine 10 and delivers the bottle to the rotary filling device 22 while rotating.
The rotary filling device 22 fills a bottle delivered from the first wheel 21 with an article to be packaged. The rotary filling device 22 delivers a bottle (filling bottle) filled with an article to be wrapped to the second wheel 14 while rotating.
The second wheel 23 holds the filled bottle delivered from the rotary filling device 22 and supplies the filled bottle to the outside of the clean room while rotating.
The imaging device 24 captures a captured image in which the third wheel 16 of the blow molding machine 10 and the first wheel 21 of the filling machine 20 are captured as a moving image. It is installed above the third wheel 16 of the blow molding machine 10 and the first wheel 21 of the filling machine 20. The imaging device 24 transmits the captured image to the control device 25 by wire or wireless.
The control device 25 controls the rotational drive of the rotary conveyance unit (the first wheel 21, the rotary filling device 22, and the second wheel 23) of the filling machine 20 based on the captured image captured by the imaging device 24. That is, the rotation conveyance part of the filling machine 20 rotates in synchronization with each other.

  In addition, the shaping | molding filling system 1 shown in FIG. 1 is an example, and in the shaping | molding filling system 1 which concerns on other embodiment, a preform and a bottle may be conveyed via more rotational conveyance parts.

FIG. 2 is a schematic diagram illustrating a structure of a wheel according to an embodiment. FIG. 2 is a diagram illustrating the configuration of the first wheel 11, but the second wheel 14, the third wheel 16, the first wheel 21, and the second wheel 23 also have the same configuration as the first wheel 11.
The wheels (the first wheel 11, the second wheel 14, the third wheel 16, the first wheel 21 and the second wheel 23) provided in the blow molding machine 10 and the filling machine 20 are arranged at the center of the rotating disk 111 and the rotating disk 111. The rotary shaft body 112 is fixed, and the grippers 113 are provided on the outer periphery of the rotating disk 111 at equal intervals.
The turntable 111 rotates when an electric motor (not shown) drives the rotary shaft body 112 to rotate. The gripper 113 grips the constricted part of the work (preform or bottle). The gripper 113 includes a pair of gripping pieces having notches on an arc, and opens the gripping piece at the first rotation position R1 of the turntable 111 and closes the gripping piece at the second rotation position R2. As a result, the gripper 113 delivers the workpiece to the other rotary conveyance unit at the first rotation position R1. In addition, the gripper 113 receives the workpiece from another rotary conveyance unit at the second rotational position R2.

FIG. 3 is a diagram illustrating an example of an image captured by the imaging apparatus according to the embodiment.
The imaging device 24 images the transfer portion between the third wheel 16 and the first wheel 21 from above. At this time, the imaging device 24 captures both the gripper 113 of the third wheel 16 (hereinafter referred to as the gripper 163) and the gripper 113 of the first wheel 21 corresponding to the gripper 113 (hereinafter referred to as the gripper 213). Take an image.

FIG. 4 is a schematic block diagram illustrating a software configuration of the control device for the filling machine according to the embodiment.
The control device 25 includes an image acquisition unit 251, a contour extraction unit 252, a reference image storage unit 253, a deviation amount specifying unit 254, a deviation amount determination unit 255, and a rotation control unit 256.
The image acquisition unit 251 acquires a captured image captured by the imaging device 24.
The contour extraction unit 252 extracts the contour images of the gripper 163 and the gripper 213 from the captured image acquired by the image acquisition unit 251. The contour extraction unit 252 can extract a contour image by applying a Sobel filter to the captured image, for example. The contour extracting unit 252 may extract a convex hull or a polyline as a contour image.
The reference image storage unit 253 stores a reference image indicating the contours of the gripper 163 and the gripper 213 when the gripper 163 and the gripper 213 are in an appropriate positional relationship.
The deviation amount specifying unit 254 compares the contour image extracted by the contour extracting unit 252 with the reference image stored in the reference image storage unit 253, and specifies the amount of deviation from appropriate positions of the gripper 163 and the gripper 213. Examples of the deviation amount include a distance between the gripper 163 and the gripper 213, and an angle formed by a straight line passing through the center of the third wheel 16 and the gripper 163 and a straight line passing through the center of the first wheel 21 and the gripper 213. can give. The amount of deviation is a positive number when the direction of deviation between the gripper 163 and the gripper 213 coincides with the rotational direction of the first wheel 21. On the other hand, the amount of deviation is a negative number when the direction of deviation between the gripper 163 and the gripper 213 is opposite to the rotation direction of the first wheel 21.

The deviation amount determination unit 255 determines whether or not the absolute value of the deviation amount specified by the deviation amount specification unit 254 exceeds a predetermined range (for example, a range from −3 mm to 3 mm). The said range is the range of the deviation | shift amount which does not damage a bottle at the time of delivery of a bottle.
The rotation control unit 256 adjusts the rotation speeds of the first wheel 21 and the second wheel 23 so as to reduce the deviation amount by PID control using the deviation amount specified by the deviation amount specifying unit 254 as an input.

Next, operation | movement of the shaping | molding filling system 1 which concerns on this embodiment is demonstrated.
When the operator activates the blow molding machine 10 and the filling machine 20, the control device 18 of the blow molding machine 10 and the control device 18 of the filling machine 20 respectively start rotation control of the rotary conveyance unit. At this time, the operator does not supply the preform to the blow molding machine 10. The operator sets the rotation speeds of the blow molding machine 10 and the filling machine 20 so that the preform can be delivered between the blow molding machine 10 and the filling machine 20. At this time, the blow molding machine 10 and the filling machine 20 may not be completely synchronized.

Next, the operator inputs an execution instruction for the synchronous operation adjustment operation to the control device 25 of the filling machine 20. Thereby, the control apparatus 25 starts synchronous driving | operation adjustment operation | movement.
FIG. 5 is a flowchart illustrating a synchronous operation adjustment operation according to an embodiment.
First, the image acquisition unit 251 of the control device 25 acquires a captured image from the imaging device 24 (step S1). The captured image is a moving image, and the image acquisition unit 251 acquires a frame image captured by the imaging device 24 between the previous execution of step S1 and the current time every time execution of step S1. Next, the contour extraction unit 252 extracts a contour image from each frame image acquired by the image acquisition unit 251 (step S2).

Next, the deviation amount specifying unit 254 compares each contour image extracted by the contour extracting unit 252 with the reference image stored in the reference image storage unit 253, and specifies the amount of deviation between the gripper 163 and the gripper 213 (step). S3).
FIG. 6 is a diagram illustrating an example of a contour image and a reference image.
For example, the deviation amount specifying unit 254 can specify the deviation amount by the following method. First, the deviation amount specifying unit 254 extracts the coordinates C1 and C2 that are the coordinates of the base end side vertex of the gripper 163 and the coordinates of the base end side vertex of the gripper 213 from the contour image Go extracted by the contour extracting unit 252. The coordinates C3 and C4 are specified. Next, as shown in FIG. 6, the deviation amount specifying unit 254 superimposes the contour image Go and the reference image Gr so that the coordinates C3 and coordinates C3 of the apex on the proximal end side of the gripper 213 coincide. Next, the deviation amount specifying unit 254 has coordinates C5 and C6 that are coordinates of the base end side vertex C1 and the coordinate C2 of the gripper 163 of the contour image Go and the base end side vertex of the gripper 163 of the reference image Gr. The distance between is calculated. Next, the deviation amount specifying unit 254 determines whether or not the coordinates C1 and the coordinates C3 are present on the rotation direction R side of the first wheel 21 from the coordinates C5 and the coordinates C6. When the coordinates C1 and the coordinates C3 are present on the rotation direction R side of the first wheel 21 from the coordinates C5 and C6, the deviation amount specifying unit 254 specifies the calculated distance as the deviation amount. On the other hand, when the coordinates C1 and C3 exist on the opposite side of the rotation direction R of the first wheel 21 from the coordinates C5 and C6, the deviation amount specifying unit 254 multiplies the calculated distance by -1. Specify the amount of deviation.
The method for specifying the amount of deviation is merely an example.

  When the shift amount specifying unit 254 specifies the shift amount for each frame image, the shift amount determination unit 255 refers to the shift amount, and the gripper 163 and the gripper 213 are closest to the captured image acquired by the image acquisition unit 251. It is determined whether or not the closest frame image that captures the state is included (step S4). The deviation amount determination unit 255, for example, in the sequence in which the deviation amounts specified by the deviation amount specification unit 254 are arranged in the order of the frame number of the captured image, when the term with the smallest deviation amount is neither the first term nor the last term of the sequence, It is determined that the closest frame image is included.

When the deviation amount determination unit 255 determines that the closest image is not included in the captured image (step S4: NO), the control device 25 returns the process to step S1 and acquires the captured image again. On the other hand, if the deviation amount determination unit 255 determines that the captured image includes the closest frame image (step S4: YES), whether or not the deviation amount specified by the deviation amount specification unit 254 is within a predetermined range. Determine (step S5). When the amount of deviation exceeds the predetermined range (step S5: NO), the rotation control unit 256 causes the first wheel 21 to reduce the amount of deviation by PID control using the amount of deviation specified by the amount of deviation specifying unit 254 as an input. And the rotational speed of the 2nd wheel 23 is adjusted. Specifically, the rotation control unit 256 adjusts the rotation speed by adding an adjustment value proportional to the deviation amount specified by the deviation amount specifying unit 254 to the rotation speed of the electric motor. And the control apparatus 25 returns a process to step S1, and acquires a captured image again.
On the other hand, in step S5, when the amount of deviation does not exceed the predetermined range (step S5: YES), the control device 25 ends the synchronous operation adjustment operation.

When the synchronous operation adjustment operation is completed, the worker starts supplying the preform to the molding filling system 1. The preform supplied to the molding and filling system 1 is transferred to the suspension conveyor 12 by the first wheel 11 and conveyed along a predetermined path. Since the heating device 13 is provided in the vicinity of the path of the suspension conveyor 12, the temperature of the preform is heated to the molding suitability temperature while being conveyed. The preform conveyed by the suspending conveyor 12 is delivered to the rotary blow molding device 15 via the second wheel 14. The rotary blow molding apparatus 15 blows a bottle from a preform. The third wheel 16 grips the bottle delivered from the rotary blow molding device 15 and delivers the bottle to the first wheel 21 of the filling machine 20 while rotating. At this time, since the third wheel 16 and the first wheel 21 are adjusted by the synchronous operation adjustment operation, they rotate in synchronization. Next, when the bottle is delivered from the first wheel 21, the rotary filling device 22 fills the bottle with an article to be packaged. And the 2nd wheel 23 delivers the filling bottle with which the to-be-packaged goods were filled with the rotary filling apparatus 22 to the exterior.
The molding and filling system 1 manufactures a filling bottle by the above-described procedure. Even during the generation of the filling bottle, the control device 25 may execute the synchronous operation adjustment operation periodically or based on the operator's instruction.

  As described above, the control device 25 according to the present embodiment specifies the amount of deviation between the gripper 163 and the gripper 213 that appear in the captured image and the predetermined target positional relationship, and the first wheel so that the amount of deviation is reduced. The rotational drive of 21 is controlled. Thereby, in the blow molding machine 10 and the filling machine 20 having different control devices, the third wheel 16 and the first wheel 21 can be rotated in synchronization.

  Further, according to the present embodiment, the control device 25 controls the rotational drive so that the amount of deviation is small when the amount of deviation exceeds a predetermined range, and performs PID control when the amount of deviation is within the predetermined range. Do not do. That is, the control device 25 adjusts the rotational speed by PID control while the deviation amount is large, and fixes the rotational speed when the deviation amount becomes small. Thereby, it is possible to prevent the bottle from being damaged due to a malfunction of PID control during delivery of the bottle.

As described above, the embodiment has been described in detail with reference to the drawings. However, the specific configuration is not limited to that described above, and various design changes and the like can be made.
In the present embodiment, the imaging device 24 captures an image of the gripper 163 and the gripper 213 as marks of the third wheel 16 and the first wheel 21, but is not limited thereto. For example, in another embodiment, a mark may be attached to the vicinity of the outer periphery of the rotary disk 111 of the third wheel 16 and the first wheel 21, and the imaging device 24 may capture an image in which the mark is reflected. In this case, the deviation amount specifying unit 254 specifies the deviation amount between the positional relationship between the two marks and the predetermined target positional relationship.

In the present embodiment, the control device 25 identifies the amount of deviation by comparing the reference image representing the target positional relationship with the contour image extracted from the captured image, but is not limited thereto. For example, in another embodiment, the control device 25 may directly compare the reference image and the captured image without extracting the contour image. In this case, as the reference image, a captured image captured by the imaging device 24 when the gripper 163 and the gripper 213 are in an appropriate positional relationship is used. Then, the control device 25 may specify the amount of deviation by calculating the similarity between the reference image and the captured image.
In another embodiment, the control device 25 identifies, from the captured image, a straight line passing through the center of the third wheel 16 and the gripper 163 and a straight line passing through the center of the first wheel 21 and the gripper 213, and the two A predetermined angle indicating the target position relationship with the angle formed by the straight line may be specified as the amount of deviation. In this case, the control device 25 can specify the amount of deviation regardless of the reference image.

  In the present embodiment, the control device 25 specifies the amount of deviation based on the contours of the outer shapes of the gripper 163 and the gripper 213, but is not limited thereto. For example, the control device 25 according to another embodiment may specify the amount of deviation based on the distortion of the shape of the hole formed by the notches in the gripping pieces of the gripper 163 and the gripper 213.

  Moreover, although this embodiment demonstrated the case where the control apparatus 25 adjusts the rotational drive of the 1st wheel 21 based on the positional relationship of the 3rd wheel 16 and the 1st wheel 21, it is not restricted to this. For example, in another embodiment, the control device 18 may adjust the rotational drive of the third wheel 16 based on the positional relationship between the third wheel 16 and the first wheel 21. In another embodiment, an external synchronous operation adjustment device provided separately from the control device 18 and the control device 25 calculates the adjustment amount based on the positional relationship between the third wheel 16 and the first wheel 21. A control signal may be output to at least one of the control device 18 and the control device 25.

  Moreover, in this embodiment, although the control apparatus 25 acquires the moving image which the imaging device 24 imaged in real time, it is not restricted to this. For example, in another embodiment, the imaging device 24 captures a still image based on an encoder attached to the third wheel 16 or the first wheel 21 and captures a still image at a time when the gripper 113 exists at a predetermined delivery point. The device 25 may control rotation driving based on the captured image.

  In the present embodiment, the imaging device 24 is provided above the third wheel 16 and the first wheel 21, but is not limited thereto. For example, in another embodiment, the imaging device 24 may be provided below the third wheel 16 and the first wheel 21.

  In the present embodiment, the control device 25 specifies the amount of deviation based on the closest frame image that is the frame image in which the third wheel 16 and the first wheel 21 are closest to each other. However, the present invention is not limited to this. For example, the control device 25 according to another embodiment has a predetermined position before the third wheel 16 and the first wheel 21 are closest, or a predetermined position after the third wheel 16 and the first wheel 21 are closest. The amount of deviation may be specified based on the image at the position.

  Moreover, in this embodiment, although a synchronous operation control method is used for control between the blow molding machine 10 with which the shaping | molding filling system 1 is provided, and the filling machine 20, it is not restricted to this. For example, in other embodiments, the synchronous operation control method may be applied to other devices that are rotationally driven by different control devices.

FIG. 7 is a schematic block diagram illustrating a configuration of a computer according to an embodiment.
The computer 90 includes a CPU 91, a main storage device 92, an auxiliary storage device 93, and an interface 94.
The control device 25 described above is mounted on the computer 90. The operation of each processing unit described above is stored in the auxiliary storage device 93 in the form of a program. The CPU 91 reads out the program from the auxiliary storage device 93 and develops it in the main storage device 92, and executes the above processing according to the program. Further, the CPU secures a storage area corresponding to the reference image storage unit 253 in the main storage device according to the program.

  In at least one embodiment, the auxiliary storage device 93 is an example of a tangible medium that is not temporary. Other examples of the non-temporary tangible medium include a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, and a semiconductor memory connected via an interface 94. When this program is distributed to the computer 90 via a communication line, the computer 90 that has received the distribution may develop the program in the main storage device 92 and execute the above processing.

  The program may be for realizing a part of the functions described above. Further, the program may be a so-called difference file (difference program) that realizes the above-described function in combination with another program already stored in the auxiliary storage device 93.

  Moreover, the control apparatus 25 may be comprised by the circuit (for example, ASIC (Application Specific Integrated Circuit) and PLD (Programmable Logic Device)) which has the function mentioned above.

DESCRIPTION OF SYMBOLS 1 Mold filling system 10 Blow molding machine 11 1st wheel 12 Hanging conveyor 13 Heating apparatus 14 2nd wheel 15 Rotary blow molding apparatus 16 3rd wheel 17 Irradiation apparatus 18 Control apparatus 20 Filling machine 21 1st wheel 22 Rotary filling Device 23 Second wheel 25 Control device 251 Image acquisition unit 252 Contour extraction unit 253 Reference image storage unit 254 Deviation amount identification unit 255 Deviation amount determination unit 256 Rotation control unit

Claims (8)

The first rotary conveyance in a pair of rotary conveyance units that deliver a workpiece between a first gripper provided in the first rotary conveyance unit and a second gripper provided in the second rotary conveyance unit while rotating with each other. An image acquisition unit that acquires a captured image of a first mark that is a part of the second mark and a second mark that is a part of the second rotary transport unit;
A deviation amount specifying unit that specifies a deviation amount between a positional relationship between the first mark and the second mark and a predetermined target positional relationship that are reflected in the captured image;
A rotation control unit that controls the rotational drive of at least one of the first rotation conveyance unit and the second rotation conveyance unit so that the deviation amount is small;
An apparatus for adjusting the synchronous operation of the rotary conveyance unit. A displacement amount determination unit for determining whether or not the displacement amount exceeds a predetermined range;
When the amount of deviation exceeds the range, the rotation control unit rotates at least one of the first rotation conveyance unit and the second rotation conveyance unit so that the deviation amount becomes small. The synchronous operation adjusting device of the rotary conveyance unit according to claim 1 to be controlled. The first mark is the first gripper;
The synchronous operation adjusting device for a rotary conveyance unit according to claim 1, wherein the second mark is the second gripper. The rotational conveyance unit according to any one of claims 1 to 3, wherein the deviation amount specifying unit specifies the deviation amount by comparing a reference image representing the target positional relationship with the captured image. Synchronous operation adjustment device. A turntable having a gripper capable of transferring a workpiece to and from another rotary conveyance unit;
An electric motor for rotating the rotating disk;
A synchronous operation adjusting device that controls rotational driving by the electric motor,
The synchronous operation adjusting device is
An image acquisition unit that acquires a captured image in which a first mark that is a part of the turntable and a second mark that is a part of the other rotary transport unit;
A deviation amount specifying unit that specifies a deviation amount between a positional relationship between the first mark and the second mark and a predetermined target positional relationship that are reflected in the captured image;
A rotation control unit that controls rotation of the electric motor so that the amount of deviation is small;
A rotary transport unit comprising: A first rotary transfer unit and a second rotary transfer unit that deliver a workpiece while rotating with respect to each other;
A synchronous operation adjusting device that controls rotational driving of the first rotary transport unit or the second rotary transport unit;
The synchronous operation adjusting device is
An image acquisition unit that acquires a captured image of a first mark that is a part of the first rotary transport unit and a second mark that is a part of the second rotary transport unit;
A deviation amount specifying unit that specifies a deviation amount between a positional relationship between the first mark and the second mark and a predetermined target positional relationship that are reflected in the captured image;
A rotation control unit that controls the rotational drive of at least one of the first rotation conveyance unit and the second rotation conveyance unit so that the deviation amount is small;
A transportation system comprising: The first rotary transport in a pair of rotary transport units that pass the bottle between the first gripper provided in the first rotary transport unit and the second gripper provided in the second rotary transport unit while rotating with each other. Obtaining a captured image in which a first mark that is a part of a part and a second mark that is a part of the second rotary transport part are shown;
Identifying the amount of deviation between the positional relationship between the first mark and the second mark and the predetermined target positional relationship that appear in the captured image;
Controlling the rotational drive of at least one of the first rotary transport unit and the second rotary transport unit so that the shift amount is small;
A method for adjusting the synchronous operation of the rotary conveyance unit. The first rotary transport in a pair of rotary transport units that pass the bottle between the first gripper provided in the first rotary transport unit and the second gripper provided in the second rotary transport unit while rotating with each other. Obtaining a captured image in which a first mark that is a part of a part and a second mark that is a part of the second rotary transport part are shown;
Identifying the amount of deviation between the positional relationship between the first mark and the second mark and the predetermined target positional relationship that appear in the captured image;
Controlling the rotational drive of at least one of the first rotary transport unit and the second rotary transport unit so that the shift amount is small;
A blow molding device blow molding the bottle from the preform;
The first rotating transport unit gripping the bottle;
The first rotating and conveying unit delivering the bottle to the second rotating and conveying unit;
A step of filling an object to be packaged in the bottle held by the second rotary conveyance unit;
The manufacturing method of the filling bottle which has this.

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