JP2020186078A - Container carrier - Google Patents

Abstract

To provide a container carrier capable of serving for two types of containers by suppressing increase of weight and diameter of a rotating body.SOLUTION: A container carrier includes a gripper 3 holding a container 4 at an equal pitch in a circumferential direction of a rotating body 5. The gripper 3 comprises a swing plate 12 that is swingable about a swing shaft 23 and a positioning mechanism that positions the stop position of the swing plate 12. The swing plate 12 is formed with a first grip portion 12A for gripping the container 4 having a large diameter and a second grip portion 12B for gripping the container 4 having a small diameter. By changeover means 11 shown in Fig. 5, the first grip portion 12A and the second grip portion 12B of the swing plate 12 can be changed over to a use position alternately. By the first grip portion 12A in the use position, a mouth portion 4A of the container 4 having the large diameter is gripped (Fig. 4(a)). By the second grip portion 12B in the use position, a mouth portion 4A' of the container 4 having the small diameter is gripped (Fig. 4(b)).SELECTED DRAWING: Figure 4

Description

The present invention relates to a container transport device, and more particularly to a container transport device that can be used for a plurality of containers having different outer diameters of mouths.

Conventionally, a container transporting device provided with a gripper that can be used for a plurality of containers having different outer diameters of mouths is known (for example, Patent Document 1 and Patent Document 2).

Japanese Patent No. 4393261 Japanese Patent No. 4301437 Japanese Patent No. 5889138

By the way, in the container transport device of Patent Document 1, it is necessary to provide a mechanism 9 for exchanging the grippers for each set of grippers on the rotary wheel (see FIGS. 6 to 8), and the weight of the rotary wheel increases. There was a problem.
On the other hand, in the container transport device of Patent Document 2, since the left and right grip portions of each gripper are arranged adjacent to each other in the circumferential direction of the rotary wheel (see FIGS. 1 and 2), the diameter of the rotary wheel is increased. There was a problem.
Further, conventionally, a container transport device provided with a gripper for tilting the held container has been proposed (for example, Patent Document 3). In the device of Patent Document 3, the container held by the gripper can be tilted, whereby the filling liquid can be smoothly filled in the container. However, in the container transporting devices of Patent Documents 1 and 2, there is a problem that the grippers having the configurations disclosed in Patent Document 3 cannot be combined.
Therefore, an object of the present invention is to provide a container transport device that can be used for containers of different sizes by suppressing an increase in weight and a large diameter of a rotary wheel.

In view of the above circumstances, the present invention includes a rotating body rotatably provided and grippers provided at a plurality of locations in the circumferential direction of the rotating body to hold the container.
Each of the grippers has a first gripping portion for gripping the first container and a second gripping portion for gripping a second container different from the first container.
Further, a switching means that engages with the gripper to position either one of the first grip portion and the second grip portion at a use position for gripping the container and a retracted position for not gripping the container, the rotating body, and the rotating body. In a container transport device provided with a control device for controlling the operation of the switching means,
The gripper is provided with a swing plate that can swing around a swing shaft parallel to the rotation axis of the rotating body, and the first grip portion and the second grip portion are adjacent to the swing plate. Have been placed and
The switching means is arranged on the side of the rotating body along the transport path of the container by the gripper, and the switching means has an engaging member capable of engaging with the swing plate and a gripper for the container. With a moving mechanism that positions the engaging member in the standby position when transporting by, and positions the engaging member in the engaging position when switching the first grip portion or the second grip portion to the use position. Is equipped with
In the control device, the rotating body and the engaging member are relative to each other in a state where the engaging member of the switching means is positioned at the engaging position and the engaging member can be engaged with the swing plate. By bringing the engaging member into contact with the swing plate, one of the two grips located at the use position is moved from the use position to the retracted position, and both grips are held. It is characterized in that a switching operation of moving one of the portions from the retracted position to the used position is executed.

According to such a configuration, when the control device executes the switching operation, the first grip portion and the second grip portion can be alternately switched to the use position. Since the switching means is provided on the outside of the rotating body separately from the rotating body, it is possible to suppress an increase in weight and an increase in size of the rotating body and provide a container transport device that can be used for containers of different sizes. be able to.

The schematic plan view which shows one Example of this invention. FIG. 2 is a cross-sectional view taken along the line II-II of FIG. Sectional drawing taken along the line III-III of FIG. A plan view of the main part of FIG. 3 is shown, FIG. 4A shows a state in which the second grip portion is located at the use position, and FIG. 4B shows a state in which the first grip portion is located at the use position. ing. FIG. 3 is a cross-sectional view of a main part along the VV line of FIG. Top view of the main part of FIG. The figure which shows the switching operation of the swing plate of the gripper by the switching means of FIG. The figure which shows the switching operation of the swing plate of the gripper by the switching means of FIG. A plan view of the positioning mechanism as a second embodiment is shown, FIG. 9A shows a state in which the second grip portion is located at the use position, and FIG. 9B shows a state in which the first grip portion is located at the use position. Indicates the state. 10 (a) shows a vertical cross-sectional view of a main part of FIG. 9, and FIG. 10 (b) shows a modified embodiment of the mechanism shown in FIG. 10 (a).

Hereinafter, the present invention will be described with reference to the illustrated examples. In FIGS. 1 to 5, reference numeral 1 denotes a rotary aseptic filling system arranged in the aseptic chamber 2. In the aseptic filling system 1, the container 4 is held by the gripper 3 in the aseptic chamber 2 maintained in the aseptic state and conveyed as the rotating body 5 rotates, and the container 4 is filled with the filling valve 6. The liquid 7 can be filled.
As will be described in detail later, the gripper 3 as a holding mechanism for holding the container 4 can be used for two types of containers 4 having different outer diameters of the mouth, and the switching means 11 is before the start of the filling operation. By switching the stop position of the swing plate 12 of the gripper 3 according to the difference in the outer diameter of the mouth portion 4A (4A') of the container 4, the first grip portion 12A and the second grip portion 12B can be combined with the container 4. It is designed to be alternately positioned at a grippable use position (see FIGS. 4 (a) and 4 (b)).
The aseptic filling system 1 includes a rotating body 5 that is rotated in conjunction with a servomotor 13, a plurality of grippers 3 that are arranged at equal pitches in the circumferential direction of the outer peripheral portion of the rotating body 5, and each of the rotating bodies 5. Switching between the filling valve 6 arranged above the gripper 3, the inlet wheel 14 and the outlet wheel 15 arranged at the supply position A and the discharge position B, and the filling section on the downstream side in the transport direction of the container 4 from the supply position A. The switching means 11 arranged at the position C and the control device 16 for controlling the operation of these components are provided. The container transport device in this embodiment is composed of a rotating body 5, a plurality of grippers 3 provided therein, a switching means 11, and a control device 16.

During the filling operation of the filling liquid 7 into the container 4 by the filling valve 6, the rotating body 5 is continuously rotated clockwise by the servomotor 13 (FIG. 1), and at that time, the inlet The wheel 14 and the exit wheel 15 are also rotated in synchronization with the direction indicated by the arrow in FIG. Then, at the supply position A, the empty container 4 in which the mouth portion 4A is held by each gripper 14A of the inlet wheel 14 is sequentially delivered to the swing plate 12 of each gripper 3 of the rotating body 5.
The swing plate 12 has a semicircular first grip portion 12A that grips the mouth portion 4A of the large-diameter container 4 and a semi-circular second grip portion 12B that grips the mouth portion 4A'of the small-diameter container 4. And have.
When filling the large-diameter container 4 with the filling liquid 7, the first grip portion 12A is positioned at the use position in advance, and the first grip portion 12A grips the mouth portion 4A of the large-diameter container 4. (See FIG. 4 (b)). On the other hand, when the small-diameter container 4 is filled with the filling liquid 7, the second grip portion 12B is positioned in advance at the use position, and the second grip portion 12B grips the mouth portion 4A'of the small-diameter container. (See FIG. 4 (a)).
As described above, in this embodiment, there are cases where the first grip portion 12A at the use position grips the large-diameter container 4 and cases where the second grip portion 12B at the use position grips the small-diameter container 4. , The stop position of the swing plate 12 is switched alternately, and the switching means 11 is arranged for that purpose.

A pair of left and right clip claws 17 and 17 are arranged on the lower surfaces of the grip portions 12A and 12B of the swing plate 12, respectively (see FIGS. 7 and 8), and the first grip portion 12A or the second grip portion 12B When the container 4 is delivered from the gripper 14A of the inlet wheel 14 at the supply position A, the mouth portion 4A (4A') is gripped from both the left and right sides by the clip claws 17 and 17, and at the same time, the first grip portion 12A ( The flange portion 4B of the container 4 is supported by the upper surface of the first grip portion 12A (second grip portion 12B) while engaging with the second grip portion 12B). As a result, the large and small containers 4 are in a state of being suspended by gripping the mouth portion 4A (mouth portion 4A') by the grip portions 12A and 12B of the swing plate 12, and are conveyed in the filling section in that state. It has become like.
The container 4 which is sequentially delivered to and held by each gripper 3 at the supply position A is then transported in the filling section on the downstream side in the transport direction as the rotating body 5 rotates clockwise. In the transfer process, a filling valve 6 arranged above the gripper 3 fills the container 4 with a predetermined amount of the filling liquid 7. After that, when the container 4 that has been filled with the filling liquid 7 by the filling valve 6 has passed the filling section and is conveyed to the discharge position B, it is delivered from each gripper 3 of the rotating body 5 to each gripper of the outlet wheel 15. The container 4 is to be discharged, and then the container 4 is handed over to a device on the downstream side (see FIG. 1) by a gripper of the outlet wheel 15.
When the gripper 14A of the inlet wheel 14 delivers the container 4 to each gripper 3 of the rotating body 5 at the supply position A, the grippers 12A and 12B of the swing plate 12 push out the clip claws 17 and 17 of the swing plate 12. The container 4 is delivered (see FIG. 3). Further, the gripper of the outlet wheel 15 is also configured in the same manner as the gripper of the inlet wheel 14, and when the container 4 is delivered from each gripper 3 of the rotating body 5 at the discharge position B, the clip claw 17 of the gripper 3 17 is pushed open by the gripper of the exit wheel 15.

The operation of the servomotor 13 is controlled by the control device 16, and during the filling operation into the container 4 described above, the servomotor 13 continuously rotates the rotating body 5 in the clockwise direction by the control device 16. It has become like. On the other hand, in the switching operation of switching the stop position of the swing plate 12 of each gripper 3 at the stage before the start of the filling work described in detail later, the control device 16 intermittently rotates the servomotor 13 in the clockwise direction. Therefore, each gripper 3 is adapted to stop intermittently at the switching position C in sequence. Then, when each gripper 3 is temporarily stopped at the switching position C, the switching means 11 switches the stop position of the swing plate 12 of the gripper 3 according to the size of the container 4.

Therefore, the gripper 3 of the present embodiment is characterized in that the entire container 4 is slightly tilted to fill the filling liquid 7 in the filling section where the outer diameters of the mouth portions 4A (4A') are different. ..
As shown in FIGS. 2 to 4, the gripper 3 as a holding mechanism includes a swing base 21 capable of swinging in the vertical direction with the tangential direction of the rotating body 5 as the center of rotation, and the rotating body 5 in the swing base 21. It includes a guide block 22 connected to an end surface on the center side, and a substantially triangular swing plate 12 mounted over the swing base 21 and the upper surfaces 21A and 22A of the guide block 22.
The upper surface 21A of the rocking base 21 and the upper surface 22A of the guide block 22 are both flat surfaces, and they are flush with each other, on which the rocking plate 12 is placed.
In the swing plate 12, the wide outer portion 12a faces the outward side of the rotating body 5, and the narrow inner portion 12b is located on the center side of the rotating body 5. It is placed on the base 21 and the guide block 22. A semicircular first grip portion 12A and a second grip portion 12B are formed on the end faces of the outer portion 12a while maintaining a predetermined interval. That is, the first grip portion 12A and the second grip portion 12B are formed adjacent to each other along the outer peripheral portion of the rotating body 5. The first grip portion 12A is located on the downstream side in the transport direction, the second grip portion 12B is located on the upstream side in the transport direction, and as described above, the first grip portion 12A in the used position makes a large-diameter container. The mouth portion 4A of No. 4 is gripped (see FIG. 4B), and the mouth portion 4A'of the small-diameter container 4 is gripped by the second grip portion 12B at the use position (see FIG. 4B). See FIG. 4 (a)).
A vertical swing shaft 23 is projected from a predetermined position on the upper surface 21A of the swing base 21, and the swing shaft 23 is fitted into a through hole 12C formed on the center side of the swing plate 12. ing. The swing shaft 23 is parallel to the center of rotation of the rotating body 5, so that the swing plate 12 can swing around the swing shaft 23 on the guide block 22 and the swing base 21. ing. As a result, the grip portions 12A and 12B of the swing plate 12 are stopped at the use positions where the mouth portions 4A (4A') of the container 4 corresponding to them can be gripped.

The guide block 22 is formed with an arc-shaped guide hole 22B that intersects the radial direction of the rotating body 5. A guide pin 24 is attached to the lower surface of the inner portion 12b of the swing plate 12, and the guide pin 24 is engaged with the guide hole 22B of the guide block 22.
The swing plate 12 can swing around the swing shaft 23, but the position where the guide pin 24 comes into contact with the downstream end of the guide hole 22B in the transport direction is one of the moving ends, and the guide pin 24 is the guide hole. The position of contact with the upstream end in the transport direction in 22B is the other moving end.
Then, when the swing plate 12 stops at one of the moving ends, the first grip portion 12A is located at a usable position where the large-diameter container 4 can be gripped (state of FIG. 4B). On the other hand, when the swing plate 12 stops at the other moving end, the second grip portion 12B is located at a usable position where the small-diameter container 4 can be gripped (state of FIG. 4A).
Since the position of use is directly below the filling valve 6, the size of the mouth portion 4A (4A') of the container 4 gripped by the grip portions 12A and 12B of the swing plate 12 is different. However, the filling liquid 7 can be filled in the large and small containers 4 without any trouble.

Further, as shown in FIGS. 4 (a) and 4 (b), the corners (two places) of the guide block 22 on the center side of the rotating body 5 are largely chamfered, and the leaf springs 19 are formed at these two places. Is attached by bolts 20. The leaf spring 19 on the downstream side in the transport direction has its free end positioned on the downstream side in the transport direction, and the leaf spring 19 on the upstream side in the transport direction is located on the upstream side in the free end transport direction. The upper part of the free end of each leaf spring 19 is a convex portion 19A formed in an arc shape, and the convex portion 19A is in a state of protruding above the upper surface 22A of the guide block 22. On the other hand, a recess 12E that can be engaged with the convex portion 19A is formed at the center of the tip of the inner portion 12b of the swing plate 12.
Then, when the swing plate 12 is located at one of the moving ends, the recess 12E of the swing plate 12 engages with the convex portion 19A of the leaf spring 19 on the downstream side. Therefore, the swing plate 12 is maintained in a state where the first grip portion 12A is stopped at the used position (see FIG. 4B).
On the other hand, when the swing plate 12 is located at the other moving end, the recess 12E of the swing plate 12 engages with the convex portion 19A of the leaf spring 19 on the upstream side. Therefore, the swing plate 12 is maintained in a state where the second grip portion 12B is stopped at the used position (FIG. 4A).
In this way, when the swing plate 12 is stopped at one of the moving ends, the first grip portion 12A is located at a usable position where the large-diameter container 4 can be gripped (FIG. 4B), and the swing plate 12 When the 12 is stopped at the other moving end, the second grip portion 12B is positioned at a usable position where the small-diameter container 4 can be gripped (FIG. 4A).
Then, depending on the size of the container 4 to be gripped, the stopping position of the swing plate 12 is set at either one of the moving ends and the other moving end shown in FIGS. 4 (a) and 4 (b) by the switching means 11. Is to be switched. When the swing plate 12 at the time of switching starts swinging, the convex portion 19A of the leaf spring 19 is elastically deformed and disengaged from the concave portion 12E, so that the positioning state of the swing plate 12 is released. It has become so.
In this embodiment, the convex portion 19A of both leaf springs 19 and the concave portion 12E of the swing plate 12 constitute a positioning mechanism for maintaining the swing plate 12 at both moving ends.

The gripper 3 is arranged on the outer peripheral portion of the rotating body 5, and by swinging the entire gripper 3 in a state where the container 4 is gripped, the container 4 held by the gripper 3 is tilted in the filling section. ing.
A pair of left and right upper bases 5A extending outward in the radial direction are projected from the outer peripheral portion of the rotating body 5, and a pair of left and right lower bases 5B are projected below them.
An arm 21B extending downward is integrally formed on the lower surface of the swing base 21, and a support shaft 26 is integrally attached to the arm 21B so as to be orthogonal to the arm 21B. The outer peripheral portions of both ends of the support shaft 26 are rotatably supported by bearing portions 5Aa formed on the left and right upper bases 5A.
As a result, the swing plate 12, the swing base 21, and the guide block 22 are supported by the upper base 5A, and they can swing in the vertical direction with the horizontal support shaft 26 as the center of rotation.
A support shaft 27 is integrally connected to the lower end of the arm 21B of the swing base 21 in the same manner as the support shaft 26. A pair of left and right link mechanisms 28 are attached to both ends of the support shaft 27 and the lower base 5B. The link mechanism 28 includes a front arm 28A, a rear arm 28B, and a swing shaft 28C that swingably supports them, and an outer peripheral portion of the support shaft 27 is provided in a through hole at the tip of the front arm 28A. It has been inserted. Further, a through hole is formed in the base of the rear arm 28B, and a support shaft 29 inserted through the through hole of the lower base 5B is inserted therein.

Since the tension spring 31 is attached to the rear arm 28B and the upper base 5A on the upper side thereof, the rear arm 28B is always urged upward with the support shaft 29 as the center of rotation, and the front arm 28A and the front arm 28A The swing shaft 28C is also always urged upward with the support shaft 27 as the center of rotation.
A stopper 5Ab is projected downward from the lower surface of the upper base 5A, and the stopper 5Ab comes into contact with the swing shaft 28C of the link mechanism 28 pulled upward by the tension spring 31 so that the link mechanism 28 comes into contact with the swing shaft 28C. The moving ends of the front arm 28A and the rear arm 28B are regulated (see FIG. 2).
A cam follower 32 is attached to the central portion of the support shaft 29 via a bracket, and the cam follower 32 includes arc-shaped cams 33A and 33B and switching means 11 arranged at the supply position A and the discharge position B. It can be engaged with the cam 33C (see FIGS. 1, 3, and 6).
As described above, when the rotating body 5 and both wheels 14 and 15 are continuously rotated to perform the filling operation, when the gripper 3 is positioned at the supply position A, the cam follower 32 on the gripper 3 side becomes the cam 33A at the supply position A. Engage. Therefore, the front arm 28A and the rear arm 28B of the link mechanism 28 are pushed downward against the tension spring 31 to separate the rear arm 28B from the stopper 5Ab (see FIG. 3). In this state, since the swing plate 12 is supported horizontally, the gripper 14A of the inlet wheel 14 does not hinder the first grip portion 12A or the second grip portion 12B of the swing plate 12 maintained horizontally. The container 4 is delivered so that the mouth portion 4A (4A') of the container 4 is gripped. The container 4 gripped by the swing plate 12 of the gripper 3 at the supply position A in this way is in an upright state with its axis in the vertical direction.
After that, as the rotating body 5 rotates clockwise, the container 4 gripped by the gripper 3 passes through the supply position A and is moved to the filling section, and the cam follower 32 of the gripper 3 moves to the cam 33A of the supply position A. Separate from. During this filling operation, the cam 33C of the switching means 11 is located at a standby position that does not engage with the cam follower 32 (see the broken line in FIG. 6). Therefore, the link mechanism 28 is pulled upward by the tension spring 31, and the rear arm 28B comes into contact with the stopper 5Ab. As a result, the lower end of the arm 21B of the swing base 21 is slightly advanced to the outer side of the rotating body 5 as compared with the case where it is in the supply position A. Therefore, the swing plate 12 mounted on the swing base 21 is slightly swung around the support shaft 26, and both the grip portions 12A and 12B are slightly lifted with respect to the inner portion 12b. Therefore, the container 4 gripped by the swing plate 12 is maintained in a slightly inclined state (see FIG. 2).
As described above, in the filling section, the container 4 gripped by the gripper 3 is conveyed while being maintained in an inclined state, and the container 4 in the inclined state is filled with the filling liquid 7 from the filling valve 6. Will be done. At that time, the filling liquid 7 filled in the container 4 from the filling valve 6 is subjected to centrifugal force due to the rotation of the rotating body 5, so that the lower flow portion is on the outer side of the rotating body 5. It is in a state of being pushed to (see Fig. 2).
Here, since the container 4 held by the gripper 3 is maintained in a slightly inclined state, the filling liquid 7 directly flows down to the raised portion 4C at the center of the bottom portion in the container 4. Therefore, foaming of the filling liquid 7 filled in the container 4 is suppressed, and the filling liquid 7 is smoothly filled in the container 4.
In this way, during the filling operation, the filling liquid 7 is filled in the inclined container 4 which is conveyed in the filling section as the rotating body 5 rotates. During this filling operation, the cam 33C of the switching means 11 Is located in a standby position that does not engage with the cam follower 32 on the gripper 3 side (see the broken line in FIG. 6). Therefore, even if the gripper 3 moves in the filling section, the cam follower 32 on the gripper 3 side does not engage with the cam 33C.
When the filled container 4 passes the filling section and moves to the discharge position B, the cam follower 32 of the gripper 3 engages with the cam 33B of the discharge position B. Therefore, as in the case of the supply position A shown in FIG. The link mechanism 28 is pushed down against the tension spring 31, and the rear arm 28B is separated from the stopper 5Ab. As a result, the swing plate 12 is maintained in a horizontal state, and in that state, the container 4 is smoothly delivered from the gripper 3 to the gripper of the outlet wheel 15 before being discharged.
In this embodiment, a swing mechanism for tilting the container 4 held on the swing plate 12 by cams 33A to 33C, cam followers 32, a link mechanism 28, an arm 21B, support shafts 26, 27, and the like is configured.

Next, the switching means 11 for switching the first grip portion 12A and the second grip portion 12B to the use position according to the size of the container 4 by swinging the swing plate 12 of the gripper 3 around the swing shaft 23. The configuration will be described.
As shown in FIGS. 5 to 6, the switching means 11 has a swing shaft 36 vertically supported in the sterile chamber 2 maintained in a sterile state, and a swing shaft 36 arranged in the sterile chamber 2 and swings to the lower surface. It includes a sealing box 37 to which the upper ends of the moving shaft 36 are connected, and first pin 38A and second pin 38B provided on the upper surface of the sealing box 37 so as to be able to move up and down, respectively.
The swing shaft 36 is rotated by a servomotor 39, and the operation of the servomotor 39 is controlled by the control device 16.
By rotating the servomotor 39 by a required amount, the control device 16 moves the sealing box 37 to the engaging position shown by the solid line and the standby position shown by the broken line via the swing shaft 36. When performing a switching operation for positioning either of the gripping portions 12A and 12B of the gripper 3 at the use position, the sealing box 37 is first positioned at the engaging position indicated by the solid line, and then the sealing box 37 is placed. The servomotor 39 rotates the swing shaft 36 clockwise or counterclockwise by a required angle with the swing shaft 36 as the center of rotation.
The cam 33C is fixed to the front surface of the closed box 37 facing the gripper 3, and when the gripper 3 is moved to the closed box 37 at the engaging position shown by the solid line, the cam follower of the gripper 3 32 engages with cam 33C. By engaging the cam follower 32 with the cam 33C at the engaging position, the swing plate 12 of the gripper 3 is maintained horizontally. In this way, when the switching operation is performed, the swing plate 12 of the gripper 3 is horizontally supported at the switching position C, and in that state, the first grip portion 12A and the second grip portion 12B of the swing plate 12 are used. The operation of switching to the position is performed (see FIG. 5).
The cam 33C does not engage with the cam follower 32 when the closed box 37 is in the standby position shown by the broken line in FIG. 6, that is, when the filling liquid 7 is filled into the I4 by the filling valve 6. At that time, since the swing plate 12 is slightly tilted by the tension spring 31 as described above, as described above, the first grip portion 12A or the second grip portion 12B of the swing plate 12 of the gripper 3 The container 4 gripped by the container 4 is maintained in a slightly inclined state, and the filling liquid 7 is filled in that state (see FIG. 2).

The first pin 38A is fixed to the upper end of the stepped elevating shaft 41 in the vertical direction, and the elevating shaft 41 is slidably inserted through the cylindrical guide 42 of the sealing box 37. A bellows-shaped member 43 is attached between the cylindrical guide 42 and the large diameter portion on the upper side of the elevating shaft 41, whereby the airtightness between the cylindrical guide 42 and the elevating shaft 41 is maintained.
The lower end of the elevating shaft 41 is connected to an air cylinder 44, and the air cylinder 44 communicates with a supply source of compressed air (not shown) outside the sterile chamber 2 via an air pipe 45. The operation of the compressed air supply source is controlled by the control device 16. When the control device 16 switches the operation of the compressed air supply source, the first pin 38A is moved up and down via the air cylinder 44 to the lowering position shown by the solid line and the rising position shown by the broken line. There is. An air purge 45A branched from the air purge 45A is provided in the middle of the air pipe 45, from which compressed air having a positive pressure is supplied into the closed box 37 from the inside of the sterile chamber 2. Therefore, the inside of the closed box 37 is always maintained at a higher pressure than the sterile chamber 2.
The configuration of the second pin 38B side is the same as that of the first pin 38A side, and the second pin 38B is also ascended by the elevating shaft 41, the air cylinder 44, the air pipe 45, etc. It can be moved up and down to the position.
When the first pin 38A and the second pin 38B are raised to the ascending position while the sealing box 37 is located at the engaging position shown by the solid line in FIG. 6, they are raised from the upper surface of the swing plate 12 of the gripper 3. Is also located on the upper side and is located in both grip portions 12A and 12B which are semicircular. In that state, the sealed box 37 is rotated around the swing shaft 36 as the center of rotation, and the sealed box 37 is rotated by a servomotor 39 in a predetermined angle, clockwise or counterclockwise direction, so that the first pin 38A and the second pin 38B By bringing one of them into contact with either of the grip portions 12A and 12B and swinging the swing plate 12, both grip portions 12A and 12B are switched to the use position.

Next, the switching operation of the swing plate 12 of the gripper 3 by the switching means 11 will be described with reference to FIGS. 7 to 8.
That is, first, according to FIG. 7, a case where the first grip portion 12A for the large diameter container 4 is moved from the state where the second grip portion 12B for the small diameter container 4 is located at the use position shown by the solid line to the use position. explain. In this case, the control device 16 rotates the rotating body 5 by the servomotor 13 by a predetermined angle, and stops the gripper 3 at the switching position C facing the switching means 11. Specifically, the swing shaft 23 of the gripper 3 is viewed from the virtual line L1 connecting the axis of the swing shaft 36, which is the center when both pins 38A and 38B are swing, and the rotation center of the rotating body 5. Stops the gripper 3 at a position slightly upstream of the transport direction.
At that time, the sealing box 37 and the like of the switching means 11 are stopped at the standby position shown by the broken line in FIG. 6, and both pins 38A and 38B are in the descending position. After that, with both pins 38A and 38B in the lowered position, the servomotor 39 swings the sealing box 37 from the standby position to the engaging position shown by the solid line.
As a result, the cam 33C of the sealing box 37 engages with the cam follower 32 of the gripper 3, so that the swing plate 12 is maintained in a horizontal state (see FIGS. 5 and 6). At this time, the first pin 38A is located on the lower side of the first grip portion 12A of the swing plate 12, and then the first pin 38A is raised to the raised position by the air cylinder 44.
At this point, the first pin 38A projects inwardly above the first grip portion 12A, but is not in contact with the first grip portion 12A.
From here, the servomotor 39 swings the sealed box 37 clockwise around the swing shaft 36 by a predetermined angle, so that the first pin 38A swings clockwise by a predetermined angle. In the process, the first pin 38A comes into contact with the first grip portion 12A, and then the swing plate 12 is swung counterclockwise by a predetermined angle θ1 about the swing shaft 23. As a result, the second grip portion 12B is moved from the used position to the retracted position where the container 4 is not gripped, while the first grip portion 12A is moved from the retracted position where the container 4 is not gripped to the used position where the container 4 is gripped. (The state shown by the broken line in FIG. 7).
At this time, as shown in FIG. 4B, the guide pin 24 is located at the downstream end of the guide hole 22B, and the concave portion 12E of the swing plate 12 is the convex portion 19A of the leaf spring 19 on the downstream side. Engage with, the swing plate 12 is kept stationary there.
As described above, the completion of the swinging operation of the swinging plate 12 by the first pin 38A is shielded by the photoelectric sensor 47 provided at a predetermined position of the rotating body 5 by one side end of the outer portion 12a of the swinging plate 12. It is detected by the above, and this can be recognized by the control device 16.
After that, since the first pin 38A is lowered from the ascending position to the descending position, the first pin 38A is separated from the first grip portion 12A of the swing plate 12 and is located below the first grip portion 12A. During this period, the second pin 38B is located at the lowered position and does not engage with the swing plate 12.
After that, the servomotor 39 rotates the sealing box 37 counterclockwise by a predetermined angle slightly larger than the above θ1 and stops there.
After that, when the rotating body 5 is rotated clockwise by a predetermined angle by the servomotor 13, the next gripper 3 is stopped at the switching position C shown by the solid line in FIG. Then, after that, the first grip portion 12A of the swing plate 12 of the new gripper 3 is switched from the retracted position to the used position in the same manner as the switching operation described above, and at the same time, the second grip portion 12B is moved from the used position to the retracted position. Can be switched to.
In this way, the swing plate 12 of each gripper 3 temporarily stopped at the switching position C is switched by the switching means 11 so that the first grip portion 12A is located at the used position.

Next, a case where the second grip portion 12B of the swing plate 12 of the gripper 3 is moved from the state where the first grip portion 12A is located at the use position to the use position will be described with reference to FIG.
In this case, the control device 16 rotates the rotating body 5 by the servomotor 13 by a predetermined angle, and stops the gripper 3 at the switching position C. Specifically, as shown by a solid line in FIG. 8, the swing shaft 23 of the gripper 3 is slightly downstream in the transport direction when viewed from the virtual line L1 connecting the axis of the swing shaft 36 and the rotation center of the rotating body 5. The gripper 3 is stopped at a position on the side.
At that time, the sealing box 37 and the like of the switching means 11 are located at the standby position shown by the broken line in FIG. 6, and both pins 38A and 38B are in the lowered position. After that, the sealing box 37 is swung from the standby position to the engaging position shown by the solid line by the servomotor 39 with both pins 38A and 38B in the lowered position (see FIGS. 5 and 6).
As a result, the cam 33C of the sealing box 37 engages with the cam follower 32 of the gripper 3, so that the swing plate 12 is maintained in a horizontal state.
At this time, the second pin 38B is located on the lower side of the second grip portion 12A of the swing plate 12, and then the second pin 38B is raised to the raised position by the air cylinder 44. At this point, the second pin 38B projects inwardly above the second grip portion 12B, but is not in contact with the second grip portion 12B.
From here, the servomotor 39 swings the sealing box 37 counterclockwise by a predetermined angle about the swing shaft 36, so that the second pin 38B swings counterclockwise by a predetermined angle. In the process, after the second pin 38B comes into contact with the second grip portion 12B, the swing plate 12 is swung clockwise about the swing shaft 23 by a predetermined angle θ2. As a result, the first grip portion 12A is moved from the used position shown by the solid line to the retracted position shown by the broken line, while the second grip portion 12B is moved from the retracted position to the used position (the state shown by the broken line in FIG. 8). ..
At this time, as shown in FIG. 4A, the guide pin 24 is located at the upstream end of the guide hole 22B, and the concave portion 12E of the swing plate 12 is the convex portion 19A of the leaf spring 19 on the upstream side. Engages with and remains stationary there.
Further, when the swing of the swing plate 12 by the second pin 38B is completed in this way, the other photoelectric sensor 47'provided at a predetermined position of the rotating body 5 is the other side of the outer portion 12a of the swing plate 12. It is detected by being shielded by the control device 16, and this can be recognized by the control device 16.
After that, since the second pin 38B is lowered from the ascending position to the descending position, the second pin 38B is separated from the second grip portion 12B of the swing plate 12 and is located below the second grip portion 12B. During this time, the first pin 38A remains in the lowered position.
After that, the servomotor 39 rotates the sealing box 37 clockwise by an angle slightly larger than the predetermined angle θ2 and stops there.
As a result, at the switching position C, the second grip portion 12B of the swing plate 12 of the first gripper 3 is switched to the used position, and at the same time, the first grip portion 12A is switched from the used position to the retracted position.
After that, when the rotating body 5 is rotated by a predetermined angle, the next gripper 3 is stopped at the switching position C. Therefore, in the same manner as the switching operation described above, the second gripping of the swing plate 12 of the new gripper 3 is performed. The portion 12B can be switched from the retracted position to the used position for gripping the container 4.
In this way, the swing plate 12 of each gripper 3 temporarily stopped at the switching position C is switched by the switching means 11 so that the second grip portion 12B is located at the used position.
As described above, in the present embodiment, when the gripper 3 is intermittently suspended at the switching position C, the gripping portions 12A and 12B of the swing plate 12 of each gripper 3 are used to grip the container 4. The switching operation is performed to the retracted position where the container 4 is not gripped.

As described above, in the present embodiment, the swing plate 12 of the gripper 3 includes a first grip portion 12A and a second grip portion 12B for gripping the containers 4 having different sizes, and grips the containers 4. When the size of the container 4 is changed, the stopping position of the swing plate 12 of each gripper 3 can be automatically switched by the switching means 11.
Then, in this embodiment, the switching means 11 is provided outside the rotating body 5 separately from the rotating body 5. Therefore, according to the present embodiment, it is possible to provide a container transport device that can be used for both containers 4 having different sizes by suppressing an increase in weight and an increase in size of the rotating body 5.
Further, the entire gripper 3 can be swung around the support shaft 26 by a swing mechanism, and in the filling section where the filling operation is performed by the filling valve 6, the outer portion 12a of the swing plate 12 of the gripper 3 is performed. Is maintained slightly higher than the inner portion 12b. As a result, the container 4 gripped by both grips 12A and 12B of the swing plate 12 is maintained in a slightly inclined state, and the filling liquid 7 is filled in that state (see FIG. 2). As a result, the filling liquid 7 flows directly down to the raised portion 4C in the container 4, whereby foaming of the filling liquid 7 in the container 4 is suppressed so that the filling liquid 7 is smoothly filled in the container 4. It has become.

Next, FIGS. 9 to 10 show a second embodiment regarding a positioning mechanism for maintaining the swing plate 12 in the used position, and in this second embodiment, the swing plate 12 is provided on the guide block 22. The positioning mechanism is composed of the ball plunger 25 and the bottomed hole 12D (12D') formed in the swing plate 12.
That is, as shown in FIGS. 9 (a), 9 (b) and 10 (a), the guide block 22 has bottomed holes 22C and 22C at positions close to the moving ends of one and the other of the guide holes 22B. A ball plunger 25 composed of a coil spring 25A and a ball 25B attached to the upper end thereof is housed in the coil spring 25A. In the natural state, the ball 25B partially protrudes above the upper surface 22A of the guide block 22. On the other hand, bottomed holes 12D and 12D'are formed at two locations near the guide pin 24 on the lower surface of the inner portion 12b of the swing plate 12.
When the swing plate 12 is located at one of the moving ends, the ball 25B of the ball plunger 25 on the downstream side is fitted into the bottomed hole 12D of the swing plate 12. Therefore, the swing plate 12 is maintained in a state where the first grip portion 12A is stopped at the used position (see FIG. 9B).
On the other hand, when the swing plate 12 is located at the other moving end, the ball 25B of the ball plunger 25 on the upstream side is fitted into the other bottomed hole 12D'of the swing plate 12, so that the swing plate 12 swings. The plate 12 is designed so that the second grip portion 12B is maintained in a stopped state at the used position (see FIG. 9A).
In this way, when the swing plate 12 is stopped at one of the moving ends, the first grip portion 12A is positioned at a position where the large-diameter container 4 can be gripped (FIG. 9B). On the other hand, when the swing plate 12 is stopped at the other moving end, the second grip portion 12B is positioned at a position where the small-diameter container 4 can be gripped (FIG. 9 (a)). ) State).
Then, the stop position of the swing plate 12 is switched to either one of the moving ends and the other moving end shown in FIG. 9 by the switching means 11 according to the size of the container 4 to be gripped.
As described above, in the second embodiment, the ball plunger 25 and the bottomed hole 12D (12D') constitute a positioning mechanism for stopping and positioning the swing plate 12 at both moving ends.
As shown in FIG. 10B, instead of the ball 25B of the ball plunger 25 of FIG. 10A, a conical engaging member 25B having a small diameter on the upper side is adopted, and a swing plate is used accordingly. The bottomed holes 12D (12D') of 12 may also be formed in a conical shape.

Further, in the second embodiment of FIGS. 9 to 10, the ball plunger 25 is arranged on the guide block 22, but may be provided on the swing plate 12. It is also possible to attach a ball plunger to both of these members.
Further, as the positioning mechanism of the swing plate 12 of the gripper 3, not only the ball plunger 25 using the coil spring 25A but also a strong magnet may be used. In this case, the north pole of the magnet is provided on one member and the south pole of the magnet is provided on the other member.
Further, in the above embodiment, the sealing box 37 is provided with the first pin 38A and the second pin 38B, but a method is adopted in which only one pin is provided in the sealing box 37 and the pin is moved in the XY direction on the horizontal plane. You may.
Further, in the above embodiment, the first pin 38A and the second pin 38B of the switching means 11 engage with the first grip portion 12A and the second grip portion 12B, respectively, to switch the position of the swing plate 12. However, the position of the swing plate 12 is switched by engaging the first pin 38A and the second pin 38B with the side surface of the swing plate 12 at a position separated from the grip portions 12A and 12B. You may do so.

1 Aseptic filling system 3 Gripper 4 Container 5 Rotating body 11 Switching means 12 Swing plate 12A 1st grip 12B 2nd grip 16 Control device 23 Swing shaft 36 Swing shaft (Movement mechanism)
37 ‥ Sealed box (moving mechanism)
38A ‥ 1st pin (engagement member)
38B ... 2nd pin (engagement member)
39 ‥ Servo motor

Claims (5)

It is provided with a rotating body rotatably provided and grippers provided at a plurality of locations in the circumferential direction of the rotating body to hold a container.
Each of the grippers has a first gripping portion for gripping the first container and a second gripping portion for gripping a second container different from the first container.
Further, a switching means that engages with the gripper to position either one of the first grip portion and the second grip portion at a use position for gripping the container and a retracted position for not gripping the container, the rotating body, and the rotating body. In a container transport device provided with a control device for controlling the operation of the switching means,
The gripper is provided with a swing plate that can swing around a swing shaft parallel to the rotation axis of the rotating body, and the first grip portion and the second grip portion are adjacent to the swing plate. Have been placed and
The switching means is arranged on the side of the rotating body along the transport path of the container by the gripper, and the switching means has an engaging member capable of engaging with the swing plate and a gripper for the container. With a moving mechanism that positions the engaging member in the standby position when transporting by, and positions the engaging member in the engaging position when switching the first grip portion or the second grip portion to the use position. Is equipped with
In the control device, the rotating body and the engaging member are relative to each other in a state where the engaging member of the switching means is positioned at the engaging position and the engaging member can be engaged with the swing plate. By bringing the engaging member into contact with the swing plate, one of the two grips located at the use position is moved from the use position to the retracted position, and both grips are held. A container transport device characterized in that a switching operation of moving one or the other of the portions from a retracted position to a used position is executed. The moving mechanism of the switching means includes an elevating mechanism that raises and lowers the engaging member between the lowering position and the ascending position, and a swing mechanism that swings the engaging member between the standby position and the engaging position. I have
In the switching operation, with the engaging member positioned in the lowering position, the engaging member is swung and moved from the standby position to the engaging position, and the engaging member is raised to the rising position at the engaging position. The rocking plate is shaken by swinging the engaging member so as to be able to engage with any of the gripping portions located at the usage position. The first aspect of the present invention is characterized in that one of the two grips located at the used position is moved from the used position to the retracted position and the other is moved from the retracted position to the used position by moving the grip portion. The container transport device described. The rotating body, the gripper, and the switching means are arranged in a sterile chamber whose inside is kept sterile.
The container transport device according to claim 1 or 2, wherein the control device executes the switching operation while maintaining the aseptic state in the chamber. A positioning mechanism is provided for positioning the swing plate of the gripper with respect to the rotating body and maintaining the first grip portion or the second grip portion of the swing plate at the use position. The container transport device according to any one of claims 1 to 3. The positioning mechanism is provided on at least one of the swing plate of the gripper and the member on which the gripper is placed, and is urged toward the other, the swing plate and the swing plate thereof. The container transporting device according to claim 4, wherein the container transporting device is provided on at least one of the members on which the is mounted, and is provided with a recess into which the protruding piece is fitted.

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