JP2022160273A - Mobile device and work device - Google Patents

Abstract

To provide a mobile device capable of moving a container regardless of an outer diameter thereof, with a simple configuration without changing a configuration of the same mobile device.SOLUTION: There is provided a mobile device for moving a container by gripping the container, the grip part comprises: a first arm part comprising, a first contact part contacting the container, and a second contact part; and a second arm part which can approach and separate from the first arm part and has a third contact part contacting the container. The first contact part and the second contact part have respectively, a first recess part which becomes hollow in a direction separated from the second arm part, the recess part being provided on a vertical intermediate part. The third contact part has a second recess part which becomes hollow in the direction separated from the first arm part in the vertical intermediate part. Positions in the vertical direction of a lower end of the first recess part and a lower end of the second recess part are equal.SELECTED DRAWING: Figure 6

Description

The present invention relates to a moving device for moving a container and a working device using the moving device.

Patent Literature 1 discloses a processing and conveying apparatus for conveying cylindrical containers and applying processing to the containers. In this apparatus, a cylindrical container is conveyed by a rotating conveying shaft having a spiral groove, and the container conveyed during this time is processed.

JP-A-10-120143

In the case of the processing and conveying apparatus having such a configuration, a rotary conveying shaft having a different configuration is required depending on whether a container having a different outer diameter, such as a syringe-type container or a vial-type container, is used. Configuration becomes complicated. In addition, when changing (switching) the rotary transfer axis, it is necessary to stop the apparatus, so there is a problem that the work is stagnated.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a moving device capable of moving containers having different outer diameters without stopping the device and changing its configuration.

Another object of the present invention is to provide a work device capable of processing containers having different outer diameters without stopping the device and changing its configuration.

In order to achieve the above object, the moving device of the present invention grips a container and moves the container. The moving device has a pedestal that can be turned around a vertically extending turning shaft, and a gripper that is attached to the pedestal and grips the container. The gripping portion has a first arm having a first contact portion and a second contact portion that are arranged so as to maintain a constant position with respect to the pivot shaft when viewed in a direction along the pivot shaft and that come into contact with the container. and a second arm portion that can be moved toward and away from the first arm portion and has a third contact portion that contacts the container. Each of the first contact portion and the second contact portion has a first concave portion recessed in a direction away from the second arm portion in an intermediate portion in the vertical direction. The third contact portion has a second concave portion recessed in a direction away from the first arm portion in a vertically intermediate portion. At least the lower end of the first recess and the lower end of the second recess have the same vertical position.

With this configuration, the syringe-type container and the vial-type container can be gripped by the common gripping portion and moved. As a result, there is no need to change the gripper when the container is changed, and there is no need to interrupt the process. In addition, in an apparatus in which a syringe-type container and a vial-type container are mixed, both containers can be used as movable devices, and the simplification and miniaturization of the device are possible.

In the above configuration, the first contact portion and the second contact portion have a V-shaped concave shape in which the central portion is recessed in a direction away from the arm portion when viewed from the turning axis direction.

In the above configuration, the second arm portion is rotatably supported by the pedestal about a rotation axis parallel to the turning axis.

The said structure WHEREIN: The said holding part is movable in an up-down direction.

In order to achieve the above objects, the present invention also provides a working device for performing a predetermined work on a container, comprising any one of the moving devices described above and a housing capable of housing the container. It has a case, a transport device that transports the storage case, and a processing device that processes the container. The conveying device has a receiving section for receiving the container housed in the housing case by the moving device, and a delivery section for delivering the container from the moving device to the housing case. The receiving part, the processing device and the delivery part overlap the container moving on an arc centered on the pivot axis.

In the above configuration, the processing device is arranged at the center of an arc centered on the pivot axis that connects the delivery section and the receiving section, and two gripping sections are attached to the pedestal. is half the central angle around the pivot axis formed by the delivery section and the receiving section.

Further, in order to achieve the above object, the moving device of the present invention grips a container and moves the container. The moving device has a pedestal that can be turned around a vertically extending turning shaft, and a gripper that is attached to the pedestal and grips the container. When viewed from the direction along the pivot shaft, the gripping portion includes a first arm portion that maintains a fixed position with respect to the pivot shaft, and is movable in a direction that approaches or separates from the first arm portion. and a second arm. The first arm portion has a first contact portion that is inclined toward the second arm portion toward the tip and a side surface facing the second arm portion that is inclined toward the second arm portion toward the pivot shaft. and a second contact portion sloping toward. The first contact portion and the second contact portion form a recessed shape when viewed from the direction of the pivot axis. The second arm portion has a third contact portion facing the first contact portion and the second contact portion on the side surface of the first arm portion. The gripping portion grips the container by moving the second arm portion and bringing the first contact portion, the second contact portion, and the third contact portion into contact with the side surface of the container. do.

By configuring in this way, it is possible to grip a cylindrical container having an outer diameter at three points simply by moving the second arm portion. A cylindrical container can be gripped by a simple operation such as movement of only the second arm. Also, the third contact portion can press the container against the V-shaped first and second contact portions. Therefore, cylindrical containers having different outer diameters can be gripped without changing the first arm portion and the second arm portion.

In the above configuration, the second arm portion is rotatably supported by the pedestal about a rotation axis parallel to the turning axis.

The said structure WHEREIN: The said holding part is movable to an up-down direction.

In the above configuration, both the first contact portion and the second contact portion are flat surfaces, and the first contact portion and the second contact portion are recessed in a V shape when viewed from the turning axis direction. Construct the shape. When viewed from the pivot axis direction, the intersection of the first contact portion and the second contact portion is arranged on a circular arc centered on the pivot shaft, and along with the rotation of the pedestal, the intersection points are arranged on the arc. to move. By configuring in this way, containers having different outer diameters can be accurately gripped.

In the above configuration, the bisector of the angle formed by the first contact portion and the second contact portion at the intersection when viewed from the turning axis direction is perpendicular to the straight line connecting the turning axis and the intersection. By configuring in this way, when the second arm section pushes, the force is distributed substantially evenly. Thereby, the container can be stably gripped.

In the above configuration, the first arm portion is arranged downstream of the second arm portion in the movement direction in which the container is moved.

Also, in order to achieve the above object, the work device of the present invention performs a predetermined work on a container. A working device includes any one of the moving devices described above, a storage case that can store the container, a transport device that transports the storage case, and a processing unit that performs processing on the container. and an apparatus. The conveying device has a receiving section for receiving the container housed in the housing case by the moving device, and a delivery section for delivering the container from the moving device to the housing case. The receiving section, the processing section, and the delivery section are arranged on an arc around the pivot axis.

In the above configuration, the processing section is arranged at the center of an arc centered on the pivot axis that connects the receiving section and the delivery section, and two gripping sections are attached to the pedestal. is half the central angle around the pivot axis formed by the receiving section and the delivery section.

According to the moving device of the present invention, containers having different outer diameters can be moved without stopping the device and changing the configuration.

Further, according to the working device of the present invention, containers having different outer diameters can be processed without stopping the device and changing the configuration.

1 is a schematic layout diagram of a working device; FIG. 3 is a functional block diagram of the working device; FIG. 3 is an exploded perspective view of a transport tray, first storage case, and first container; FIG. FIG. 4 is an exploded perspective view of a transport tray, a second storage case, and a second container; It is the top view which expanded the holding part. FIG. 10 is a perspective view of the grasping portion in which the second arm portion is separated from the first arm portion; FIG. 10 is a perspective view of a gripping portion that grips the first container; FIG. 11 is a perspective view of a gripping portion gripping a second container; Fig. 3 is a schematic layout of the moving device in a first position; 4 is a schematic layout diagram showing a state in which a receiving-side gripping section and a delivery-side gripping section grip the first container; FIG. Fig. 4 is a schematic layout of the moving device when in the second position; 4 is a schematic layout diagram showing a state in which a receiving-side gripping section and a delivery-side gripping section have delivered the first container; FIG.

Embodiments of the present invention will be described below with reference to the drawings. In the following description, “upstream in the transport direction” and “downstream in the transport direction” are defined along the transport direction Tr1 of the transport device 20 . Predetermined processing is performed on the container while it is being conveyed by the conveying device 20 . In the following description, the first container Cn1 housed in the first housing case 31 is referred to as the container, but the second container Cn2 housed in the second housing case 32 is also the same. Note that the second storage case 32 and the second container Cn2 will be described as necessary.

<Work device 100>
FIG. 1 is a schematic layout diagram of a working device 100. As shown in FIG. FIG. 2 is a functional block diagram of the working device 100. As shown in FIG. The working device 100 includes a moving device 10, a conveying device 20, a processing device 40, and a control section 50 (see FIG. 2). In the work device 100 , the moving device 10 receives the first container Cn<b>1 housed in the first housing case 31 transported by the transport device 20 . The moving device 10 places the first container Cn1 in the processing section 41 of the processing device 40, which will be described later, and after being processed in the processing section 41, takes out the first container Cn1 from the processing section 41, and moves the conveying device 20 to the first container Cn1. 1 Transfer to the storage case 31 . Details of each part of the work device 100 will be described below.

<Control unit 50>
First, the details of the control unit 50 that integrally controls the work device 100 will be described. As shown in FIG. 2 , the control section 50 has an arithmetic circuit 51 and a memory circuit 52 . The arithmetic circuit 51 is a circuit that performs arithmetic and processing of various information, and has arithmetic circuits such as a CPU and an MPU. Further, the arithmetic circuit 51 controls the moving device 10, the transport device 20 and the processing device 40 based on the processing result.

The storage circuit 52 is a circuit including or connected to a semiconductor memory such as ROM and RAM, a portable memory such as flash memory, and a storage medium such as a hard disk. As the control unit 50, various programs such as an arithmetic program, a processing program, and a control program are stored in the storage circuit 52, and the programs are called as necessary and executed by the arithmetic circuit 51 to perform arithmetic processing. good too. Elements connected to the control unit 50 and their control will be explained when explaining each element.

<Conveyor 20>
As shown in FIG. 1 , the transport device 20 has a transport rail 21 and a transport tray 22 . The transport rail extends along the transport direction Tr1. The transport rail 21 has a first straight rail portion 211 , a second straight rail portion 212 and a curved rail portion 213 . In the conveying device 20, the conveying rail 21 has a first straight rail portion 211, a curved rail portion 213, and a second straight rail portion 212 connected in order in the conveying direction Tr1.

In the transport device 20, the transport tray 22 is moved along the transport rails 21 by, for example, a drive mechanism 23 (see FIG. 2) using a linear motor. The drive mechanism 23 is connected to the controller 50 . The drive mechanism 23 is controlled by the controller 50 . Specifically, the drive mechanism 23 moves the transport tray 22 in the transport direction Tr1 based on an instruction from the control unit 50 . In addition, the drive mechanism 23 is not limited to a linear motor. For example, it is possible to widely adopt a configuration in which the transport tray 22 is stably transported along the transport rails 21 and the object to be transported can be transported along a predetermined route.

In the transport device 20 , the first storage case 31 is arranged on the transport tray 22 . The first container Cn1 is transported by storing the first container Cn1 in the first storage case 31 and transporting the transport tray 22 .

A receiving unit 24 and a delivery unit 25 are set in the conveying device 20 . In the conveying device 20 , the receiving section 24 is provided on the first linear rail section 211 . Also, the transfer section 25 is provided on the second linear rail section 212 . The moving device 10 receives the first container Cn1 from the first housing case 31 at the receiving portion 24 . Further, the moving device 10 delivers the first container Cn<b>1 to the first housing case 31 in the delivery section 25 . Note that the receiving unit 24 and the delivery unit 25 may be set in the same transport device, or may be set in different transport devices.

<Accommodation case>
The processing apparatus 40 according to this embodiment can process containers of different shapes and sizes. Here, containers that can be processed by the processing device 40 will be described with reference to the drawings. FIG. 3 is an exploded perspective view of the transport tray 22, the first housing case 31, and the first container Cn1. FIG. 4 is an exploded perspective view of the transport tray 22, the second storage case 32, and the second container Cn2.

First, the first container Cn1 will be described. As shown in FIG. 3, the first container Cn1 is a so-called syringe. The first container Cn1 is cylindrical with a bottom and has an opening Cn11 at the top. The first container Cn1 is a cylinder with an outer diameter d1. The first container Cn1 can contain, for example, liquid content to be injected inside from the opening Cn11. In other words, the processing device 40 is a device that executes the process of storing the contents in the first container Cn1.

As shown in FIG. 4, the second container Cn2 is a so-called vial container. The second container Cn2 has a cylindrical shape with a bottom. The second container Cn2 has an opening Cn21, a lower tubular portion Cn22, a narrowed portion Cn23, a flange portion Cn24, and an upper tubular portion Cn25. The lower cylindrical portion Cn22 has a cylindrical shape with an outer diameter d2.

The throttle portion Cn23 is connected to the upper portion of the lower cylindrical portion Cn22. The outer diameter of the constricted portion Cn23 decreases toward the top. An upper tubular portion Cn25 extending in the axial direction is connected to the upper end of the constricted portion Cn23. The upper cylindrical portion Cn25 is cylindrical with an outer diameter d3 (<d2). An opening Cn21 is provided at the upper end of the upper tubular portion Cn25. The flange portion Cn24 has an annular shape expanding outward from the upper end of the upper cylindrical portion Cn25. The second container Cn2 can accommodate, for example, liquid content to be injected inside from the opening Cn21. In other words, the processing device 40 is also a device that executes the process of storing the contents in the second container Cn2.

<Processing device 40>
As shown in FIG. 1 , the processing device 40 is arranged between the first straight rail portion 211 and the second straight rail portion 212 . The processing device 40 has a processing section 41 that holds the first container Cn1 and the second container Cn2 and can inject liquid contents. Although details are omitted, the processing unit 41 has a configuration capable of holding both the first container Cn1 and the second container Cn2. The processing device 40 has a filling section 42 (see FIG. 2) that fills the contents in the first container Cn1 or the second container Cn2 arranged in the processing section 41 . The filling section 42 is connected to the control section 50 . The filling unit 42 fills the contents in the first container Cn1 or the second container Cn2 arranged in the processing unit 41 based on instructions from the control unit 50 .

The processing unit 41 may switch between, for example, a configuration capable of holding the first container Cn1 and a configuration capable of holding the second container Cn2. Moreover, it is also possible to have a movable side wall portion, move the side wall portion according to the size of the container, and grip the container with the side wall portion. Furthermore, in addition to this, a wide range of configurations that can hold containers with different outer diameters can be employed.

Next, the housing case will be described with reference to the drawings. As storage cases, there are a first storage case 31 that stores the first container Cn1 and a second storage case 32 that stores the second container Cn2. First, the first housing case 31 will be described with reference to the drawings.

As shown in FIG. 3, the first storage case 31 has a cylindrical cylindrical portion 311 extending vertically. The upper portion of the cylindrical portion 311 has an inclined surface 312 that tapers upward. A housing recess 313 extending axially downward from the upper end surface of the first housing case 31 is provided.

The cylindrical portion 311 has a slit 314 penetrating from the outer peripheral surface to the housing recess 313 . A lower end of the slit 314 reaches the bottom 310 of the first storage case 31 . By having the slit 314, even if the content spilled from the first container Cn1 flows into the accommodation recess 313, the content can be easily removed. Also, cleaning after removing the contents is facilitated.

As shown in FIG. 4, the second storage case 32 has a cylindrical cylindrical portion 321 extending vertically. The cylindrical portion 321 has a housing recess 322 extending axially downward from the upper end surface. The cylindrical portion 321 has a slit 323 penetrating from the outer peripheral surface to the housing recess 322 .

A lower end of the slit 323 reaches the bottom 320 of the second storage case 32 . By having the slit 323, even if the content spilled from the second container Cn2 flows into the accommodation recess 322, the content can be easily removed. Also, cleaning after removing the contents is facilitated. Although the slit 323 reaches the upper end of the second housing case 32 , the slit 323 is not limited to this, and may have a shape in which the upper portion is formed below the upper end of the second housing case 32 .

The outer diameter d4 of the lower portion of the first containing case 31 and the outer diameter d4 of the second containing case 32 are the same. The transport tray 22 has a shape in which both the first storage case 31 and the second storage case 32 can be arranged. For example, as shown in FIGS. It has a side wall portion 222 extending upward from the peripheral edge of the bottom portion 221 . The inside of the side wall portion 222 has a square shape with a side length of d4. Therefore, both the first storage case 31 and the second storage case 32 can be arranged inside the side wall portion 222 of the transport tray 22 .

When the first housing case 31 and the second housing case 32 are arranged inside the carrier tray 22 , the outer surfaces thereof come into contact with the side wall portion 222 of the carrier tray 22 . Accordingly, when the transport tray 22 moves along the transport rails 21, the first storage case 31 and the second storage case 32 are less likely to shift. In addition, it is preferable that the side wall portion 222 has a certain height so that the first storage case 31 and the second storage case 32 do not fall down when the transport tray 22 is moved. Further, slits may also be formed in the side wall portion 222 in order to facilitate disposal after contents spilled on the carrier tray 22 .

<Moving device 10>
Next, details of the mobile device 10 will be described with reference to the drawings. The moving device 10 has a pedestal 11, a receiving-side gripping section 12A, a delivery-side gripping section 12B, a turning driving section 101 (see FIG. 2), and a gripping section driving section 102 (see FIG. 2). As shown in FIG. 1 , the moving device 10 is arranged between the first straight rail portion 211 and the second straight rail portion 212 .

The pedestal 11 has a cylindrical shape centered on a vertically extending turning axis Rx. A top surface 111 of the base 11 is a surface orthogonal to the pivot axis Rx. The pedestal 11 is turned around the turning axis Rx by the turning drive section 101 . The pedestal 11 can move both clockwise and counterclockwise when viewed from the direction of the pivot axis Rx. The turning drive section 101 is connected to the control section 50 . The turning drive unit 101 has a configuration including, for example, a motor, a speed reducer, etc., and rotates the pedestal 11 around the turning axis Rx based on instructions from the control unit 50 .

In FIG. 1, the moving device 10 moves the first container Cn1 when rotating counterclockwise. That is, in FIG. 1, the counterclockwise direction around the turning axis Rx is the moving direction Mv1. Also, in FIG. 1, the clockwise direction is the return direction Mv2. The receiving-side gripping portion 12A and the delivery-side gripping portion 12B are arranged on the upper surface 111 of the base 11 .

In the moving device 10, the receiving gripper 12A grips the first container Cn1 accommodated in the first storage case 31 transported by the transport tray 22 in the receiving unit 24 and receives the first container Cn1. Then, the pedestal 11 is rotated in the movement direction Mv1 by the turning drive section 101 . As a result, the first container Cn1 is moved to the processing section 41 of the processing device 40 and transferred to the processing section 41 .

The pedestal 11 rotates around the pivot axis Rx. At this time, the receiving-side gripping section 12A grips the first container Cn1 of the receiving section 24 and then moves to deliver the first container Cn1 to the processing section 41 . Similarly, the delivery-side gripping section 12B grips the first container Cn1 of the processing section 41 and then moves to deliver the first container Cn1 to the first housing case 31 of the delivery section 25 .

When moved by the moving device 10, the first container Cn1 moves on a trajectory Tj formed on an arc centered on the pivot axis Rx. Then, as shown in FIG. 1, the receiving unit 24, the processing unit 41, and the delivery unit 25 are all arranged on a single trajectory Tj.

More specifically, when viewed from the direction along the turning axis Rx, the receiving part 24 and the delivery part 25 are arranged on a single trajectory Tj with a center angle θ around the turning axis Rx. The processing unit 41 is arranged midway between the receiving unit 24 and the delivery unit 25 on the trajectory Tj. In other words, the processing unit 41 is arranged at the intersection of the trajectory Tj and the bisector of the central angle between the receiving unit 24 and the delivery unit 25 arranged along the trajectory Tj (Fig. 1).

<Grip part 12>
In the moving device 10, the receiving-side gripping section 12A and the delivery-side gripping section 12B have the same configuration, except for their mounting positions. Hereinafter, the same reference numerals are given to the same portions of the receiving-side gripping portion 12A and the delivery-side gripping portion 12B. Also, in the detailed description, the grasping portion 12 will be described as a representative.

FIG. 5 is an enlarged plan view of the grip portion 12. FIG. FIG. 6 is a perspective view of the grasping portion 12 with the second arm portion 14 separated from the first arm portion 13. As shown in FIG. FIG. 7 is a perspective view of the gripper 12 gripping the first container Cn1.

The grasping portion 12 has a first arm portion 13 , a second arm portion 14 and a fastening portion 15 . The first arm portion 13 and the second arm portion 14 are elongated members. The ends of the first arm portion 13 and the second arm portion 14 are connected via the fastening portion 15 .

The first arm portion 13 is arranged downstream of the second arm portion 14 in the movement direction Mv1. An end portion of the first arm portion 13 is fixed to the fastening portion 15 . As a result, the first arm portion 13 is fixed to the retaining portion 15 while the angle of the first arm portion 13 with respect to the turning axis Rx is fixed when viewed from the direction along the turning axis Rx. In addition, the fixing of the first arm portion 13 can be, for example, screws, adhesion, welding, or the like. It is preferable to use a detachable fixing method such as a screw because it is detachable for maintenance or the like.

As shown in FIG. 1 , the tip of the first arm portion 13 is arranged outside the outer edge of the pedestal 11 when viewed in the direction along the pivot axis Rx. The first arm portion 13 has a first contact portion 131 and a second contact portion 132 . The first contact portion 131 and the second contact portion 132 are arranged on a surface of the first arm portion 13 facing the second arm portion 14 outside the outer edge of the base 11 .

The first contact portion 131 and the second contact portion 132 are linear and intersect at the intersection 130 when viewed from the direction along the pivot axis Rx. As shown in FIG. 5, the intersection point 130 overlaps the trajectory Tj of the first container Cn1 of the moving device 10. As shown in FIG. The first contact portion 131 extends radially outward from the trajectory Tj and is inclined so that the radially outer side approaches the upstream side in the movement direction Mv1. Further, the second contact portion 132 extends radially inward from the locus Tj and is inclined so that the radially inner side approaches the upstream side in the moving direction Mv1.

In other words, the first contact portion 131 is inclined toward the second arm portion 14 toward the tip of the first arm portion 13 . Further, the second contact portion 132 inclines so as to approach the second arm portion 14 toward the turning axis Rx of the first arm portion 13 .

As shown in FIG. 1 , the tip of the second arm portion 14 is arranged outside the outer edge of the pedestal 11 when viewed in the direction along the pivot axis Rx. As shown in FIG. 1 , the second arm portion 14 is arranged upstream of the first arm portion 13 in the movement direction Mv1.

The second arm portion 14 has a third contact portion 141 . The third contact portion 141 is arranged on a side surface facing the first arm portion 13 outside the outer edge of the pedestal 11 at the tip of the second arm portion 14 . The third contact portion 141 is linear when viewed from the direction along the pivot axis Rx.

An end portion of the second arm portion 14 opposite to the tip is supported by the retaining portion 15 so as to be rotatable about a rotation axis Cx parallel to the turning axis Rx. As shown in FIGS. 1 and 5, in the moving device 10, the first arm portion 13 and the second arm portion 14 are attached to a common fastening portion 15, and only the second arm portion 14 is rotatable around the rotation axis Cx. supported by However, the present invention is not limited to this, and the first arm portion 13 and the second arm portion 14 may be attached at different positions.

The second arm portion 14 is rotated around the rotation axis Cx by the gripping portion driving portion 102 that receives an instruction from the control portion 50 . The gripping portion driving portion 102 has a configuration including, for example, a motor, a reduction gear, etc., and rotates the second arm portion 14 around the rotation axis Cx based on instructions from the control portion 50 . The rotation of the second arm portion 14 around the rotation axis Cx causes the second arm portion 14 to approach or separate from the first arm portion 13 .

The gripping portion driving portion 102 moves the fastening portion 15 in the vertical direction based on an instruction from the control portion 50 . In addition, in this embodiment, although the fastening part 15 is made vertically movable, it is not limited to this. For example, the pedestal 11 may be configured to move up and down. By enabling the fastening portion 15 of the receiving side gripping portion 12A and the fastening portion 15 of the delivery side gripping portion 12B to be vertically movable independently, the height of the receiving portion 24 and the delivery portion 25 and the height of the processing portion 41 are different. Even if there is, it is possible to deal with it.

As shown in FIG. 6, in a state in which the second arm portion 14 is separated from the first arm portion 13, the gripping portion driving portion 102 moves the retaining portion 15 downward, so that the first contact portion 131 and the second contact portion A first container Cn1 can be placed between the portion 132 and the third contact portion 141 .

In this state, the gripping portion driving portion 102 turns the second arm portion 14 toward the first arm portion 13 . As a result, the outer peripheral surface of the first container Cn1 is pressed against the third contact portion 141. As shown in FIG. Then, the first container Cn1 is gripped by the first contact portion 131, the second contact portion 132 and the third contact portion 141 (see FIGS. 5 and 7). The gripper 12 grips the side surface of the first container Cn1 at three points when viewed from the direction along the rotation axis Rx.

When viewed from the direction along the turning axis Rx, the bisector 135 of the angle sandwiching the intersection 130 between the first contact portion 131 and the second contact portion 132 coincides with the tangent line Tj1 at the intersection of the trajectory Tj (FIG. 5). reference). The intersection point 130 moves on the trajectory Tj when the pedestal 11 turns. With this configuration, when the base 11 is moved in the return direction Mv2 when gripping the first container Cn1, the first contact portion 131 and the second contact portion 132 are evenly distributed over the first container Cn1. give power. As a result, an excessive force is less likely to be applied to the first container Cn1.

As described above, even when the outer diameter of the first container Cn1 changes, the bisector 135 at the intersection 130 of the first contact portion 131 and the second contact portion 132 and the tangent line Tj1 at the intersection 130 do not coincide. ing. Accordingly, by rotating the second arm portion 14 in the direction of the rotation axis Rx, even when the outer diameter of the first container Cn1 changes, the first contact portion 131 and the second contact portion 132 and the third contact portion 141 can be accurately brought into contact with the outer surface of the first container Cn1. Accordingly, even if the outer diameter of the first container Cn1 changes, it is possible to suppress the application of excessive force to the first container Cn1 when the gripping portion 12 grips the first container Cn1. As a result, deformation or breakage of the first container Cn1 can be suppressed. The same applies when the outer diameter of the upper tubular portion Cn25 of the second container Cn2 changes.

The first contact portion 131 and the second contact portion 132 of the receiving-side gripping portion 12A and the first contacting portion 131 and the second contacting portion 132 of the delivery-side gripping portion 12B both have the configurations described above.

As shown in FIGS. 6 and 7 , the first arm portion 13 has a first concave portion 133 on the side facing the second arm portion 14 . That is, the cross section of the first arm portion 13 taken along a plane orthogonal to the longitudinal direction is C-shaped with the first concave portion 133 concaved toward the downstream side in the movement direction Mv1.

The first contact portion 131 and the second contact portion 132 are divided into upper and lower two stages by the first concave portion 133 . As required, the upper and lower sides of the first contact portion 131 are referred to as a first upper contact portion 131u and a first lower contact portion 131d, respectively. Further, the upper and lower portions of the second contact portion 132 are referred to as a second upper contact portion 132u and a second lower contact portion 132d, respectively.

As shown in FIGS. 6 and 7 , the second arm portion 14 has a second concave portion 142 on the side facing the first arm portion 13 . That is, the cross section of the second arm portion 14 taken along a plane orthogonal to the longitudinal direction is C-shaped with the second recess 142 recessed toward the upstream side in the movement direction Mv1. That is, the third contact portion 141 is divided into two upper and lower stages. The upper and lower portions of the third contact portion 141 are referred to as a third upper contact portion 141u and a third lower contact portion 141d, as required.

When the first container Cn1 is gripped by the first contact portion 131, the second contact portion 132 and the third contact portion 141, the first upper contact portion 131u and the first lower contact portion 131d of the first contact portion 131 are It contacts the side surface of the first container Cn1. That is, the first contact portion 131 contacts the first container Cn1 at two points separated in the vertical direction at one point in the circumferential direction.

Also, the second upper contact portion 132u and the second lower contact portion 132d of the second contact portion 132 come into contact with the side surface of the first container Cn1. That is, the second contact portion 132 contacts the first container Cn1 at two points separated in the vertical direction at one point in the circumferential direction.

Furthermore, the third upper contact portion 141u and the third lower contact portion 141d of the third contact portion 141 come into contact with the side surface of the first container Cn1. That is, the third contact portion 141 contacts the first container Cn1 at two points separated in the vertical direction at one point in the circumferential direction.

When the first container Cn1 is gripped by the first contact portion 131, the second contact portion 132 and the third contact portion 141, the first contact portion 131, the second contact portion 132 and the third contact portion 141 are Make contact at two places, top and bottom. Therefore, vertical movement and horizontal movement of the first container Cn1 gripped by the first contact portion 131, the second contact portion 132, and the third contact portion 141 are suppressed. Therefore, the gripping part 12 can stably grip the first container Cn1. Therefore, the moving device 10 can increase the moving speed of the first container Cn1 gripped by the gripping section 12 .

The gripping portion driving portion 102 continues to urge the second arm portion 14 to rotate toward the first arm portion 13 . As a result, the gripping portion 12 can continue to grip the first container Cn1 with the first contact portion 131, the second contact portion 132, and the third contact portion 141. FIG. In this state, the first container Cn1 is moved in the movement direction Mv1 by rotating the pedestal 11 in the movement direction Mv1.

The first container Cn1 is gripped by the frictional force between the outer surface of the first container Cn1 and the first contact portion 131, the second contact portion 132, and the third contact portion 141. As shown in FIG. Therefore, the weight of the first container Cn1 is such that frictional force>gravity.

The surfaces of the first contact portion 131, the second contact portion 132, and the third contact portion 141 that contact the first container Cn1 may be made of a material having a high frictional force, such as rubber or resin. By doing so, the first container Cn1 can be held more firmly. As a result, even if the moving speed of the first container Cn1 by the moving device 10 increases, the first container Cn1 is less likely to shift or shake. In other words, the moving device 10 can increase the moving speed of the first container Cn1 gripped by the gripping portion 12 .

Next, the case where the gripping portion 12 grips the second container Cn2 will be described with reference to the drawings. FIG. 8 is a perspective view of the gripper 12 gripping the second container Cn2. As shown in FIGS. 4 and 8, the length in the vertical direction of the upper tubular portion Cn25 of the second container Cn2 is short. Therefore, the upper tubular portion Cn25 cannot be gripped by the first upper contact portion 131u and the first lower contact portion 131d.

Therefore, when the gripping portion 12 grips the second container Cn2, the flange portion Cn24 is accommodated in the first recessed portion 133 of the first arm portion 13 and the second recessed portion 142 of the second arm portion 14 . By doing so, the lower surface of the flange portion Cn24 is supported by the lower end portion of the inner surface of the first concave portion 133 of the first arm portion 13 and the lower end portion of the inner surface of the second concave portion 142 of the second arm portion 14 . Here, the lower end of the inner surface of the first recess 133 and the lower end of the inner surface of the second recess 142 are at the same position in the vertical direction. Therefore, when the lower surface of the flange portion Cn24 is supported by the lower end portion of the first concave portion 133 and the lower end portion of the second concave portion 142, the axis of the second container Cn2 does not move. By bringing the second arm portion 14 closer to the first arm portion 13, the first lower contact portion 131d, the second lower contact portion 132d, and the third lower contact portion 141d are brought into contact with the side surface of the upper cylindrical portion Cn25. come into contact with

As described above, the lower surface of the flange portion Cn24 of the second container Cn2 is supported from below by the first concave portion 133 and the second concave portion 142, and the upper cylindrical portion Cn25 of the second container Cn2 is supported by the first concave portion Cn25. It is horizontally supported by the lower contact portion 131d, the second lower contact portion 132d, and the third lower contact portion 141d. By supporting the second container Cn2 in this way, the gripping portion 12 can suppress vertical movement and horizontal movement of the second container Cn2 and stably grip the second container Cn2. Further, even when the second container Cn2 is empty, force acts downward due to its own weight. Therefore, even when the gripping portion 12 moves in the moving direction Mv1, the second container Cn2 is less likely to shift or shake.

That is, in the moving device 10 according to the present embodiment, even if the cylindrical container has a short outer diameter portion, if the flange portion Cn24 is provided, the flange portion Cn24 can be accommodated in the first concave portion 133 and the second concave portion 142. and can be stably maintained.

As described above, the grip part 12 can be used to hold the syringe-type first container Cn1 and the vial-type second container Cn2 without changing the shapes of the first contact part 131, the second contact part 132, and the third contact part 141. can be grasped.

Next, movement of the first container Cn1 by the moving device 10 will be described with reference to the drawings. FIG. 9 is a schematic layout diagram of the mobile device 10 at the first position P1. FIG. 10 is a schematic layout diagram showing a state in which the receiving-side gripping part 12A and the delivery-side gripping part 12B grip the first container Cn1. FIG. 11 is a schematic layout diagram of the mobile device 10 at the second position P2. FIG. 12 is a schematic layout diagram showing a state in which the receiving-side gripping part 12A and the delivery-side gripping part 12B have delivered the first container Cn1. Here, the position of the pedestal 11 when the receiving part 24 is in a position where the receiving part 24 can grip the first container Cn1 is defined as a first position P1. The position of the pedestal 11 when Cn1 can be placed is defined as a second position P2.

First, the positions of the moving device 10 and the processing device 40 will be described. As shown in FIG. 1, the intersection 130 of the receiving-side grip portion 12A and the intersection 130 of the delivery-side gripping portion 12B are arranged at positions separated by a center angle δ about the pivot axis Rx. The central angle δ is half the central angle θ, ie θ/2.

As described above, the fastening portion 15 on which the receiving-side gripping portion 12A and the delivery-side gripping portion 12B are arranged is placed upward and positioned at the first position P1 (see FIG. 9). At this time, the receiving gripper 12A is arranged above the first container Cn1 housed in the first housing case 31 arranged on the transport tray 22 moved to the receiving section 24 . Also, the delivery-side gripping part 12B is arranged above the first container Cn1 of the processing part 41 .

Then, while the second arm portion 14 is separated from the first arm portion 13 by the gripping portion driving portion 102, both of the fastening portions 15 are moved downward. As a result, between the first contact portion 131, the second contact portion 132, and the third contact portion 141 of the receiving side gripping portion 12A, the first receiving case 31 placed on the transport tray 22 moved to the receiving portion 24 accommodates. A first container Cn1 is arranged. Similarly, between the first contact portion 131, the second contact portion 132, and the third contact portion 141 of the delivery-side gripping portion 12B, the first storage case 31 placed on the transport tray 22 moved to the processing portion accommodates the A first container Cn1 is arranged.

After that, the gripping portion driving portion 102 moves the second arm portion 14 of the receiving side gripping portion 12A and the delivery side gripping portion 12B so as to approach the first arm portion 13 . As a result, the receiving side gripping portion 12A grips the first container Cn1 with the receiving portion 24 . At the same time, the delivery-side gripping section 12B grips the first container Cn1 with the processing section 41 (see FIG. 10).

After that, the gripping portion driving portion 102 raises both the retaining portions 15 . As a result, the first container Cn1 is extracted from the first storage case 31 arranged on the transport tray 22 of the receiving section 24 . Similarly, the first container Cn1 is extracted from the processing section 41. As shown in FIG. The transport tray 22 on which the first storage case 31 from which the first container Cn1 has been extracted by the receiving portion 24 is placed is transported along the transport rails 21 in the transport direction Tr1. After that, the transport tray 22 moves to the transfer section 25 .

In this embodiment, by using a linear motor mechanism as the drive mechanism 23, the transport trays 22 can be individually controlled to move and stopped at an arbitrary position. In other words, by using the linear motor mechanism in the work device 100, it becomes easier to stop the transport tray 22 and transfer the first container Cn1.

After that, the turning drive unit 101 moves the pedestal 11 in the movement direction Mv1 to move the pedestal 11 to the second position P2. As a result, the first container Cn1 gripped by the receiving-side gripping part 12A moves above the processing part 41, and the first container Cn1 gripped by the delivery-side gripping part 12B moves to the delivery part 25. 22 is moved above the first storage case 31 (see FIG. 11).

After that, the gripping portion driving portion 102 moves the fastening portion 15 downward, and moves the second arm portion 14 of the receiving side gripping portion 12A and the delivery side gripping portion 12B away from the first arm portion 13 . As a result, the first container Cn1 can be accommodated in the first accommodation case 31 arranged on the transport tray 22 moved to the processing section 41 and the transfer section 25 (see FIG. 12).

After that, the gripping portion driving portion 102 moves both the fastening portions 15 upward, and the turning driving portion 101 moves the pedestal 11 in the return direction Mv2 to move the pedestal 11 to the first position P1.

Here, the movement of the first container Cn1 is described as an example, but the movement of the second container Cn2 can also be executed by the same operation.

In the above configuration, the case where one processing unit 41 is provided between the receiving unit 24 and the delivery unit 25 has been described as an example. In this case, it suffices to configure so that δ=θ/(n+1).

Although the embodiment of the present invention has been described above, the present invention is not limited to this content. Various modifications can be made to the embodiments of the present invention without departing from the spirit of the invention.

REFERENCE SIGNS LIST 100 work device 101 turning drive unit 102 gripping unit driving unit 10 moving device 11 pedestal 12 gripping unit 12A receiving side gripping unit 12B delivery side gripping unit 13 first arm unit 14 second arm unit 15 unit 20 transport device 21 transport rail 22 transport Tray 23 Drive mechanism 24 Receiving part 25 Delivery part 31 First housing case 32 Second housing case 40 Processing unit 41 Processing unit 42 Filling unit 50 Control unit 51 Arithmetic circuit 52 Storage circuit 111 Upper surface 130 Intersection 131 First contact unit 131d First first Lower contact portion 131u First upper contact portion 132 Second contact portion 132d Second lower contact portion 132u Second upper contact portion 133 First concave portion 135 Bisector 141 Third contact portion 141d Third lower contact portion 141u Third upper contact portion 142 Second concave portion 211 First straight rail portion 212 Second straight rail portion 213 Curved rail portion 221 Bottom portion 222 Side wall portion 310 Bottom portion 311 Cylinder portion 312 Inclined surface 313 Accommodating recessed portion 314 Slit 320 Bottom portion 321 Cylinder portion 322 Accommodating Recessed portion 323 Slit Cn1 First container Cn11 Opening Cn2 Second container Cn21 Opening Cn22 Lower cylindrical portion Cn23 Constricted portion Cn24 Flange portion Cn25 Upper cylindrical portion

Claims (14)

A moving device for gripping a container and moving the container,
a pedestal that can turn around a vertically extending turning shaft;
a gripping part that is attached to the base and grips the container,
The gripping part is
a first arm portion having a first contact portion and a second contact portion that are arranged to maintain a constant position with respect to the pivot shaft when viewed in a direction along the pivot shaft and contact the container;
a second arm portion that can approach and separate from the first arm portion and has a third contact portion that contacts the container;
each of the first contact portion and the second contact portion has a first concave portion recessed in a direction away from the second arm portion in an intermediate portion in the vertical direction;
The third contact portion has a second concave portion that is concave in a direction away from the first arm portion in an intermediate portion in the vertical direction,
The moving device, wherein at least the lower end of the first recess and the lower end of the second recess are at the same position in the vertical direction. 2. The first contact portion and the second contact portion according to claim 1, wherein a center portion of the first contact portion and the second contact portion has a V-shaped recess in a direction away from the second arm portion when viewed from the direction along the pivot shaft. mobile device. 3. The moving device according to claim 1, wherein the second arm part is rotatably supported by the base on a rotation axis parallel to the turning axis. 4. The moving device according to any one of claims 1 to 3, wherein the gripping portion is vertically movable. A work device for performing a predetermined work on a container,
a mobile device according to any one of claims 1 to 4;
a storage case that can store the container;
a conveying device that conveys the storage case;
a processing device that performs processing on the container;
The conveying device is
a receiving unit for receiving the container housed in the housing case by the moving device;
a transfer unit that transfers the container from the moving device to the storage case,
The receiving section, the processing device, and the delivery section overlap with the container moving on an arc around the pivot axis. The processing device is arranged at the center of an arc centered on the pivot axis that connects the delivery section and the receiving section,
Two grips are attached to the pedestal,
6. The set forth in claim 5, wherein a central angle between said first arm portions of said gripping portions about said pivot axis is half of a central angle between said transfer portion and said receiving portion about said pivot axis. working equipment. A moving device for gripping a container and moving the container,
a pedestal that can turn around a vertically extending turning shaft;
a gripping part that is attached to the base and grips the container,
The gripping part is
a first arm portion that maintains a constant position with respect to the pivot shaft when viewed in a direction along the pivot shaft;
a second arm portion movable in a direction to approach or separate from the first arm portion;
The first arm portion has, on a side surface facing the second arm portion,
a first contact portion that inclines toward the second arm portion toward the distal end;
a second contact portion that inclines toward the second arm portion toward the pivot axis;
The first contact portion and the second contact portion form a recessed shape when viewed from the direction along the pivot axis,
The second arm portion has a third contact portion facing the first contact portion and the second contact portion on the side surface of the first arm portion,
The gripping portion grips the container by moving the second arm portion and bringing the first contact portion, the second contact portion, and the third contact portion into contact with the side surface of the container. to, a mobile device. 8. The movement device according to claim 7, wherein said second arm portion is rotatably supported by said pedestal about a rotation axis parallel to said turning axis. 9. The moving device according to claim 7, wherein the gripping portion is vertically movable. Both the first contact portion and the second contact portion are flat surfaces, and the first contact portion and the second contact portion have a V-shaped concave shape when viewed from the direction along the turning axis. compose and
When viewed from the direction along the pivot axis, the intersection of the first contact portion and the second contact portion is arranged on an arc centered on the pivot axis, and is rotated along with the rotation of the pedestal. 10. The moving device according to any one of claims 7 to 9, which moves on an arc. 10. A line that bisects the angle formed by the first contact portion and the second contact portion at the intersection when viewed along the pivot axis is perpendicular to a straight line that connects the pivot axis and the intersection. The mobile device according to . 12. The moving device according to any one of claims 7 to 11, wherein the first arm portion is arranged downstream of the second arm portion in a moving direction in which the container is moved. A work device for performing a predetermined work on a container,
a mobile device according to any one of claims 7 to 12;
a storage case that can store the container;
a conveying device for conveying the storage case;
a processing device including a processing unit that performs processing on the container;
The conveying device is
a receiving unit for receiving the container housed in the housing case by the moving device;
a transfer unit that transfers the container from the moving device to the storage case,
The work device in which the receiving section, the processing section, and the delivery section are arranged on an arc around the pivot axis. The processing section is arranged at the center of an arc centered on the pivot axis that connects the receiving section and the delivery section,
Two grips are attached to the pedestal,
The central angle formed by the intersection of the first contact portion and the second contact portion of the first arm portion of each gripping portion around the pivot axis is the pivot axis formed by the receiving portion and the delivery portion. 14. The working device of claim 13, wherein the angle is half the central angle about .

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