JP4784884B2 - Container gripping device and container holder insertion system equipped with the device - Google Patents

Description

In the present invention, when each soft container is inserted into a container holder in advance so that predetermined contents can be automatically and sequentially filled and packaged in each of a plurality of rectangular or flat-shaped soft containers, the containers are damaged. The present invention relates to a container gripping device that can be surely inserted. Specifically, from the upstream container aligning device, the container bottom is turned down, and if it is a flat container, the container is automatically used by using a gripping device adapted to the soft container aligned in the flat phase direction. The present invention relates to a system that reliably and continuously inserts each container holder on a container holder alignment conveyor at a predetermined speed.

Conventionally, various containers holder insertion mechanism for inserting the containers into the container holders have been disclosed (Patent Document 1). In addition, a container alignment device has also been proposed that aligns and aligns the flat direction (phase) of the flat container, which is a process before insertion, on the transfer conveyor (Patent Document 2).

However, since it is difficult to accurately align the flat direction, i.e., phase, of the flat containers aligned by the container aligning device, the position of the flat container that is passed to the container holder of the container aligning device is by "variation", can not absorb the "deviation" when trying to insert a flat container whose phases are shifted to the container holder, the deviation was container empty container holder without being inserted into the container holder There are problems that occur in the row or damage the container to deteriorate the process yield. In this example, a soft container is taken as an example, but there are similar problems in a rectangular container having a bottom surface or an elliptic container having a nearly circular shape.

Although it is only necessary to align the phases accurately, in a rotary container holder insertion machine with a high processing speed per container , it is necessary to incorporate a very expensive precision mechanism to improve the accuracy of the phase. For example, in the container holder of Patent Document 1, the container insertion can be reliably processed in accordance with the shape of the container by an opposing claw adjusting mechanism, a movable bottom surface adjusting mechanism, or the like.

Therefore, even when the phases of the soft containers delivered from the upstream part vary, it is possible to reliably insert the containers into a normal container holder that does not have the advanced mechanism as described above. There has been a need for a container gripping device that absorbs and a container holder insertion system comprising the device.

JP 2004-299794 A (2nd, 3rd page, FIG. 1) JP 2000-159335 A (2nd, 3rd page, FIG. 2)

In order to solve the above-mentioned problem, the present invention is designed so that even if there is a deviation in the direction (phase) of the container delivered from the upstream container aligner, the container does not get on the entrance slip-off shape portion at the upper part of the container holder. It is a first problem to provide a container gripping device in which the container can freely rotate so as to match the phase of the inlet shape by using the force received when the vehicle rides.

In addition, using the “container gripping device having a phase shift absorption mechanism” as described above, the container is inserted into the container holder without failure, operation is stable at a high operating rate, adjustment is almost unnecessary, and the mechanism is compact. It is an object to provide a container holder insertion system.

To solve the above problems, a container gripping device of the present invention, there in the container gripping device when inserting each flexible container prismatic or flat shape bottom (hereinafter referred to as containers), the container holder column on the container holder conveyor belts A container holding portion having a chuck opening / closing mechanism that sandwiches the mouth portion of the container from above with a chuck plate, and a vertical slide mechanism that lowers the container at a predetermined timing with the container sandwiched between the container holding portion and lifts the container apart And a connecting portion provided with a chuck holder for connecting between them, and the container holding portion side of the connecting portion is predetermined on a hollow cylindrical wall screwed to the chuck holder. A cam groove portion having a three-dimensional shape groove, and the upper shaft portion side of the connecting portion is connected to the inner peripheral portion of the hollow cylindrical wall through the end of the upper shaft via a slide bearing portion. A roller that is slidably accommodated and is provided at the end of the upper shaft as a cam follower from its cylindrical surface embedded in the axis of the upper shaft perpendicular to the axial direction, and when the container does not ride on the container holder Or provide a cushion spring that presses the cam groove from above so that the roller fits in the stable point that is the apex of the three-dimensional groove so that the container hold part is always held at a fixed position when free from external force When the container rides on the container holder, the length of the spring is shortened so that the roller moves away from the three-dimensional groove so that it can freely rotate to the left and right so that the container fits the shape of the slot at the entrance of the container holder. It is automatically rotated and smoothly inserted into the container holder.

In addition, the container holder insertion system provided with the gripping device of the present invention is a system for inserting a rectangular or flat bottom flexible container (hereinafter referred to as a container) into a container holder that moves on a container holder transfer conveyor, the upstream portion of the container alignment device, and the container bottom on the lower side, further align the traveling direction in the container orientation, rotatably circumscribing the first contact position of a predetermined soft container rows aligned on the container transport conveyor A plurality of M sets of first chuck mechanisms sandwiching the container mouth portion with the chuck plate are disposed at the periphery of the circular disk member, and are perpendicular to the container axis by the first chuck mechanism sequentially from the first contact position. a plurality N of sets having an intermediate wheel which forms a container sequence flanked mouth portion in a direction, the chuck plate sandwiching the container neck portion to the peripheral portion of the rotatable disc member circumscribed by a predetermined second contact position Accept a body wheel second chuck mechanism is at least provided, both the upper coaxially, same rotates at an angular velocity descent control wheel as well as the upper disk of said body wheel, the container has dropped by container holder insertion position A container holder transporting conveyor wheel for moving a row of container holders is provided, and the intermediate wheel is provided at the peripheral edge of the disk for controlling opening and closing of each first chuck mechanism disposed, and two pieces meshing with each other The pair of cogwheels, the parallel chuck plates provided on these gears, and the chuck plate provided coaxially with the intermediate wheel and opened at the first contact position, and the second contact position. DOO in which the first chuck mechanism for opening and closing cam having a closing cam curve to open the chuck plate is closed, to trace the cam curve, and connected to the pair gear Comprising a first cam mechanism consisting of the over scan plates, said body wheel, for opening and closing control of each of the second chuck mechanism disposed, provided N sets between the periphery of the drop control wheel , closing a rotatable pair shaft having a chuck plate which is connected to a respective pair gear having an upper end engaging with pairs gear together, plate for the second chuck is open in the contact position of the container e Bei a second chuck mechanism for opening and closing cam having a closing cam curve to open the chuck plate is closed by the holder insertion position, the second cam mechanism to trace the cam curve serves as a trace plate connected to gears The container gripping device disposed on the lowering control wheel has a peripheral part of the lowering control wheel and the upper disk for two-step lowering and one-step lifting control of each mouth chuck / container holder insertion mechanism. Form between N pairs of spindle guides are arranged along the outer periphery of the cylindrical outer wall, and a spindle holder is provided between the linear bearings that move up and down along the spindle guides. The spindle holder is connected to the upper end of the control spindle, the chuck holder is connected to the lower end of the spindle, an air chuck is connected to the chuck holder, and two chucks are attached to the tip of the air chuck. Provided with an air chuck opening / closing mechanism that opens and closes two chuck plates by ON / OFF of air to the air chuck, and in each second chuck mechanism, the container neck portion is sandwiched between the containers. when rotated in the mouth chuck position, the spindle from a position above the mouth portion, the mouth portion is a portion above the neck portion of the container It is lowered by a length, the mouth is sandwiched by air by the mouth chuck / container holder insertion mechanism, and further rotated to open the chuck plate by the second cam mechanism at the container holder insertion position, and then the spindle The spindle is lowered, the container is inserted into the container holder, the chuck plate at the mouth is opened by air, and the spindle is raised.

Further, the N spindle holders of the container gripping device disposed on the lowering control wheel are each connected to a roller follower, and formed between the two disk peripheral parts of the lowering control wheel and the upper disk. The roller follower is traced up and down by a spindle up / down cam provided on the cylindrical outer wall.

Further, the chuck holder has at least a cam groove portion for holding a cam follower screwed from a direction perpendicular to the spindle axis on a stopper plate screwed on the lower end side of the spindle on a lower side in a normal position. On the other hand, on the upper side, the spindle connecting portion provided with a slide portion that accommodates and slides the lower end side of the spindle inside, and the groove cam portion provided outside the spindle connecting portion so that the cam follower is accommodated. A cushion spring that is pressed from above, and when the container is inserted into the container holder, even if there is a variation in the orientation of the bottom surface of the container and the bottom surface of the container collides with the top of the container holder, the pressure of the cushion spring The cam follower moves away from the cam groove and gains freedom of rotation. Characterized in that it is inserted to rotate to match the top of the holder.

The container gripping device of the present invention has the following effects. That is, if the container gripping device of the present invention is used, even when the container is inserted into the container holder , even if there is a deviation in the phase in the arrangement direction of each container in the container row output from the upstream container alignment device, Since the phase shift is automatically absorbed, there is an effect that it is not necessary to require high accuracy in the arrangement mechanism of the containers output from the container alignment device, and the adjustment can be simplified.

In addition, it is not necessary to provide the container holder with various advanced mechanisms for absorbing the displacement of the container, so that the apparatus becomes compact and can be operated stably. Furthermore, the container holder insertion system using the container gripping device including this phase shift absorption mechanism can reduce the overall mechanism, and has the effect that the trouble is extremely small and the operating rate can be increased. .

  Furthermore, this system is easy to adjust and can shorten the period until installation and operation.

The container gripping device of the present invention and a container holder insertion system using the device will be described in detail with reference to the drawings. FIG. 1 shows the shape of a soft container handled by the apparatus of the present invention, where (a) is a front view and (b) is a bottom view or a container cross-sectional view parallel to the bottom.

  In this figure, 1 shows a square-shaped soft container. A square is a shape that is relatively close to a square, and includes an elliptical shape that is relatively close to a circle. 2 shows a flat soft container. The bottom section has an elliptical shape close to a flat shape with a large ratio of the major axis to the minor axis.

  In these soft containers, 1a and 2a indicate mouth portions, 1b and 2b indicate neck portions, and 1c and 2c indicate bottom portions.

  FIG. 2 is a front view showing the structure of the container gripping device of the present invention, and FIG. 3 is a side view of FIG.

  In the figure, reference numeral 44 denotes a container holding unit, 44b denotes a chuck plate, and 44a denotes an air chuck opening / closing mechanism for two chuck plates 44b. In this embodiment, the chuck opening / closing mechanism 44a is an air chuck.

  Reference numeral 42 denotes a spindle which is an upper shaft provided with a vertical slide mechanism that lowers the containers 1 and 2 at predetermined timing with the containers 1 and 2 sandwiched by the container holding unit 44 and lifts the containers apart.

  A spindle holder 41c is provided at the upper end of the spindle 42 which is the upper shaft as follows.

  The spindle holder 41c includes two pairs of spindle guides 41a that can be slidably moved along the outer periphery of the cylindrical outer wall 41 formed between the disk peripheral portions 20c and 40a (see FIG. 5). A linear bearing 41b is provided to be connected.

  As shown in FIG. 3, the spindle holder 41c is connected to a roller follower 41d on the cylindrical outer wall 41, and constitutes a vertical slide mechanism for moving the spindle 42 up and down by a spindle vertical cam 41e. Details of the spindle up / down cam 41e will be described later.

  Next, a connection part between the container holding part 44 and the spindle 42 will be described. On the container holding portion 44 side of the connecting portion, a cam groove portion 43d having a predetermined three-dimensional shape groove is provided in a hollow cylindrical wall screwed to the chuck holder 43.

  On the other hand, on the spindle 42 side of the upper shaft portion of the connecting portion, the end of the spindle 42 is slidably accommodated in the inner peripheral portion of the hollow cylindrical wall via a slide bearing portion 43a. A roller that becomes the cam follower 43c is embedded in the direction perpendicular to the spindle shaft and fixed (for example, screwed).

Further, when the containers 1 and 2 are not riding on the container holder 3 and are free without receiving external force, in any case, the container holding portion 44 has a three-dimensional shape so that it is always held at the same fixed position. A cushion spring 43b that presses the groove cam portion 43d from above is provided so that the cam follower 43c fits in a stable point that is the apex of the groove.

The optimum pressing pressure at this time is set as follows. That is, when the containers 1 and 2 are not riding on the container holder 3 (when they are free), the container holding portion 44 must always be held at a fixed position, so that the roller is placed at the apex of the three-dimensional cam groove 43d. A spring 43b is provided to push the cam groove 43d from above so that the cam follower 43c comes. However, if the pressing force of the spring 43b is too strong, the container will not rotate freely when the containers 1 and 2 ride on the container holder . On the other hand, if the pressure is too weak, the roller cannot be pressed against the cam groove 43d, and the cam groove 43d is not stable.

Container above the container 1 and 2 when riding on container holder 3, shortens the spring 43b length roller 43c away from the groove of the three-dimensional shape, so to obtain a degree of freedom that can be rotated to the left and right freely, to be inserted The holder 3 is rotated so that its phase automatically matches the shape of the entrance slot of the holder 3 and is inserted smoothly.

  Here, the cam groove portion 43d of the three-dimensionally shaped groove can increase the reliability of the above-described rotation operation as long as it is a member that uses special steel (S43C) as a material and has been subjected to induction hardening.

  Further, a tetrafluoroethylene resin layer is used for the slide bearing portion 43a of the slide portion so that the container hold portion 44 can move smoothly in the horizontal direction in addition to the vertical slide with respect to the spindle 42.

4A and 4B are diagrams for explaining the operation of the container gripping device, where FIG. 4A is a front view and FIG. As shown in FIG. 4B, when the containers 1 and 2 ride on the container holder 3 (not shown), the spring 43b is compressed by d, and the roller 41d can be moved downward by d and rotated left and right. The state which becomes like this is shown.

Next, the configuration of the container holder insertion system including the container gripping device of the present invention will be described in detail with reference to FIGS. FIG. 5 is a front view of the container holder insertion system, FIG. 6 is a plan view, and FIG. 7 is a side view.

In the drawings of these container holder insertion systems, reference numeral 10 denotes an intermediate wheel, and the flexible containers 1 and 2 are placed on the lower side by the container alignment device 100 in the upstream portion, and the rectangular or The flat phase direction is matched and aligned on the container transfer conveyor 100a (see the right side of FIG. 6) and circumscribes the soft container row at a predetermined first contact position X point.

  The intermediate wheel 10 is a rotatable disk member, and a plurality of M sets of first chuck mechanisms 11 are disposed at the periphery thereof. The first chuck mechanism sequentially sandwiches the mouths 1a and 2a of the containers 1 and 2 on the container transfer conveyor 100a from the first contact position point X, forms a container row along the circumference, and the direction of the arrow Rotate to.

  The first chuck mechanism 11 is provided in the middle wheel 10 with M sets, and for opening and closing control, M sets are provided on the peripheral edge of the disk of the intermediate wheel 10 and two counter gears 12a meshing with each other. The parallel chuck plate 11a provided on each gear 12a, the first chuck mechanism opening / closing cam 12c provided coaxially with the intermediate wheel 10, and the cam curved surface are traced and connected to the gear 12a. The trace plate 12d.

  The chuck curved plate 11a opened at the first contact position X point is closed by the cam curved surface, and the chuck plate 11a closed at the second contact position Y point is opened.

  In the figure, reference numeral 20 denotes a system main body wheel, which circumscribes a container row along the circumference of the intermediate wheel 10 at a predetermined second contact position Y point. The circumscribing main body wheel 20 is a rotatable disk member, and a plurality of N sets of second chuck mechanisms 21 are disposed on the peripheral edge thereof, and each of the second chuck mechanisms 21 includes container neck portions 1b, 2b. Has a chuck plate 21a.

  In order to move the container to the main body wheel 20 side reliably at the second contact position Y point, the holding position of the container is changed from the mouth portions 1a and 2a to the neck portions 1b and 2b.

Reference numeral 40 denotes a lowering control wheel, and reference numeral 40a denotes an upper disk thereof. A container row along the circumference formed by sandwiching the neck portions 1b, 2b in a direction perpendicular to the axes of the containers 1, 2 by the second chuck mechanism 21 sequentially from the second contact position Y point by the main body wheel 20. On the other hand, a plurality of N sets for chucking the mouth at a predetermined container mouth chuck position W, further rotating and lowering at a predetermined container holder insertion position Z, and inserting the containers 1 and 2 into the container holder 3 the mouth portion chuck container holder insertion mechanism, the outer periphery of the cylindrical outer wall 41 formed between the periphery of the two descent control wheel 40 and the upper disk 40a to rotate on the upper side of the body wheel 20 coaxially, at the same angular velocity N sets of container gripping devices 4 are arranged along the line.

  Here, the N sets of container gripping devices 4 are the examples shown in FIGS.

5 denotes a container holder transfer conveyor wheel. The container holder transfer conveyor wheel 50 is coaxial with the main body wheel 20 and rotates at the same angular speed. The on the periphery of the container holder transfer conveyor wheel 50 to form the container holder transfer conveyor 50a for placing a row of container holder 3. As shown in FIGS. 5 and 6, the container is inserted into the container holder 3 by the mouth chuck / container holder insertion mechanism from the container gripping device 4 that has just reached the container holder insertion position Z. The container holder row that has received it rotates on the container holder transfer conveyor 50a, and moves from a predetermined position to the next downstream belt conveyor. The container holder 3 that has been emptied by filling is again put on the belt conveyor and moved to a container holder transfer conveyor 50a at a predetermined position, and this is repeated.

  The cylindrical outer wall portion 41 is fixed to the base plate portion 90 as shown in the center fixed cylindrical portion 91 standing from its base, and naturally does not rotate.

As will be described later, the container holder transfer conveyor wheel 50, the system main body wheel 20, the lowering control wheel 40, its upper disk 40 a, and the main body side drive gear 29 that supports the gravity of these wheels are freely rotatable. Is driven through the main body wheel power transmission unit 23, and the wheels 50, 20, 40, and 40a are rotated by the rotational drive.

  On the other hand, the intermediate drive gear 19 engaged with the drive gear 29 rotates in the opposite direction, and the intermediate wheel 10 is rotated by the rotational drive. On the other hand, since the first cam mechanism 12 on the upper side is supported by the support member 12b, it naturally does not rotate. (Refer to the structural diagram of the support member 12b in FIG. 7)

  The operation of each wheel will be described in more detail below.

  The M sets of first chuck mechanisms 11 disposed on the intermediate wheel 10 are provided with two counter gears 12a which are provided on the peripheral edge portion 10a of the disk member and mesh with each other, and the gears 12a for controlling the opening and closing thereof. The parallel chuck plate 11a provided on each side, the first chuck mechanism opening / closing cam 12c provided coaxially with the intermediate wheel 10, and the curved surface of the chuck mechanism opening / closing cam 12c are traced and connected to the counter gear 12a. It is comprised from the board 12d. This configuration is illustrated on the right side of FIGS.

  The N sets of second chuck mechanisms 21 disposed on the system main body wheel 20 are provided with two counter gears 22a meshing with each other for opening / closing control thereof, and chuck plates 21a connected to the counter gears, respectively. N pairs of rotatable pair shafts 22b are provided between the main body wheel 20 and the lowering control wheel 40 provided at a predetermined height above the main body wheel 20. (It may be provided as the upper auxiliary disk 20b separately from the wheel 40)

  The second cam mechanism 22 includes a second chuck mechanism 21 provided coaxially with the main body wheel 20, an open / close cam 22c, and a trace plate 22d that traces the cam curved surface or curve and is connected to a gear. It consists of.

The chuck plate 21a opened at the second contact position Y point is closed, and the open / close cam curve is opened to open the chuck plate 21a closed at the container holder insertion position Z. FIG. 8 shows an embodiment thereof.

Next, the container gripping device 4 disposed on the lowering control wheel 40 will be described. In order to control the two-step lowering / raising of each mouth chuck / container holder insertion mechanism of each container gripping device 4, the following structure is adopted.

  N pairs of two spindle guides 41a are arranged along the outer periphery of the cylindrical outer wall 41 formed between the two peripheral edges of the disk, that is, between the lowering control wheel 40 and the upper disk 40a. Has been.

  A spindle holder 41c is provided between linear bearings 41b and 41b that move up and down along the spindle guide 41a.

  Each of the N spindle holders 41c is connected to the upper end side of the spindle 42 used for the two-step lowering / raising control.

  A chuck holder 43 is connected to the lower end side of the spindle 42, and the chuck holder 43 further includes an air chuck 44a and two chuck plates 44b.

  An air chuck opening / closing mechanism is provided that opens and closes the two chuck plates 44b by turning ON / OFF air to the air chuck 44a.

Next, the operation timing of the second chuck mechanism 21 and the mouth chuck / container holder insertion mechanism 40b of the lowering control wheel 40 will be described below.

  Each of the second chuck mechanisms 21 on the periphery of the main body wheel 20 is in a closed state in which the neck portions 1b and 2b of the containers 1 and 2 are sandwiched from the intermediate wheel 10 at the second contact position Y point in FIG. When rotating to the container mouth chuck position W shown in FIG. 9 showing the timing state, the spindle 42 is lowered by the length d of the container mouths 1a and 2a, and the air is used (the chuck plate is closed by the air chuck). The mouth portions 1a and 2a are sandwiched from above by the chuck plate 4ab.

Further, in this state (a state in which the container is sandwiched between the mouth portion and the neck portion), the container rotates at a predetermined rotation speed and enters the container insertion section (see FIG. 9) centering on the container holder insertion position Z. Immediately before, the container chuck mechanism 21 is shifted from (closed to open).

  In the transition from (closed to open) of the second chuck mechanism 21, the chuck plate 21a is opened by the second cam mechanism described above.

Next, when the container 42 is rotated into the container insertion section, the spindle 42 is lowered by a spindle up / down cam 41e, which will be described later, and is lowered by the length D just to the container holder insertion position Z, so that the container bottom portion is lowered. It is inserted into the container holder 3. Just after the air is controlled so that the air chuck 44a becomes an open section at the position Z at the same time, the air chuck 44a rises by the length of D + d and ends the container insertion section. The container remains in the container holder 3 because the mouth and neck are released simultaneously.

  Next, the spindle up / down cam 41e will be described. Each of the N spindle holders 41c of the container gripping device 4 disposed on the lowering control wheel 40 is connected to a roller follower 41d, and between the two disk peripheral parts of the lowering control wheel 40 and the upper disk 40a. The roller follower 41d is traced up and down by a spindle up / down cam 41e provided on the formed cylindrical outer wall 41.

  The upper and lower two-stage lowering (first stage d-length lowering, second stage D-long lowering) / upward (d + D length rising) timing of each container gripping device 4 of the lowering control wheel 40, the mouth part, the air chuck opening / closing section, The relationship of the switching timing of the container neck portion chuck opening / closing section is shown in FIG.

The structure of a soft container is shown, (a) is a front view, (b) is a bottom view. It is a front view which shows the structure of the container holding | grip apparatus of this invention. It is a side view which shows the structure of the container holding | grip apparatus of this invention. It is operation | movement explanatory drawing of the container holding | gripping apparatus of this invention, (a) is a normal time, (b) is a figure which shows the time of boarding of a container. It is a front view of the container holder insertion system of the present invention. It is a top view of the container holder insertion system of the present invention. It is a side view of the container holder insertion system of the present invention. It is a figure which shows the structure of a 2nd chuck mechanism and a 2nd cam mechanism. It is a figure which shows the timing relationship of container insertion in the container holder insertion system of this invention, 2nd chuck mechanism opening / closing, and air chuck opening / closing.

X 1st contact position Y 2nd contact position Z container holder insertion position W container mouth part chuck position 1, 2, soft container 1a, 2a mouth part 1b, 2b neck part 1c, 2c bottom part 3 container holder 4 container gripping device 10 Intermediate wheel 10a Disc member peripheral portion 11 First chuck mechanism 11a Chuck plate 12 First cam mechanism 12a Counter gear 12b Cam support member 12c Open / close cam 12d Trace plate 19 Intermediate drive gear 20 System main body wheel 20a Disc member periphery Part 20c Disc peripheral part 21 Second chuck mechanism 21a Chuck plate 22 Second cam mechanism 22a Pair of gears 22b Pair of shafts 22c Opening / closing cam 22d Trace plate 23 Main body wheel power transmission section 29 Main body side drive gear 40 Lowering control wheel 40a upper disk 40b mouth chuck container holder inserter 41 cylindrical outer wall (formed between the circular plate 40,40a periphery)
41a Spindle guide 41b Linear bearing 41c Spindle holder 41d Roller follower 41e Spindle up / down cam 42 Spindle 43 Chuck holder 43a Slide bearing 43b Cushion spring 43c Cam follower 43d Cam groove 44 Container hold, Air chuck opening / closing mechanism 44a Air chuck 44b Chuck plate 50 container holder transfer conveyor wheel 50a container holder transfer conveyor 90 substrate part 91 center fixed cylindrical part 100 container aligning apparatus 100a container transfer conveyor

Claims (4)

The flexible container of rectangular or flat shape bottom (hereinafter referred to as containers), a container gripping device when inserted respectively into the container holder column on the container holder conveyor belts,
A container holding part having a chuck opening and closing mechanism for sandwiching the mouth part of the container from above with a chuck plate;
An upper shaft portion provided with a vertical slide mechanism that descends at a predetermined timing with the container sandwiched between the container holding portions and lifts the container apart.
A connecting portion provided with a chuck holder for connecting between them, and
The container holding part side of the connecting part is provided with a cam groove part having a predetermined three-dimensional shape groove on a hollow cylindrical wall screwed to the chuck holder,
The upper shaft portion side of the connecting portion is slidably accommodated at the end of the upper shaft via a slide bearing portion to the inner peripheral portion of the hollow cylindrical wall, and a roller that becomes a cam follower from the cylindrical surface at the end of the upper shaft Embedded in the axis of the upper shaft perpendicular to the axial direction,
When the container is not riding on the container holder or free of being subjected to external force, the roller is placed in a stable point that is the apex of the three-dimensional groove so that the container holding part is always held at a fixed position. Cushion spring is provided to press the cam groove from above.
When the container rides on the container holder, the length of the spring is shortened so that the roller moves away from the three-dimensional groove so that it can freely rotate to the left and right, and the container automatically fits the shape of the slot at the entrance of the container holder. Container holding device, wherein the container gripping device is smoothly rotated and smoothly inserted into the container holder.
A system for inserting a soft container (hereinafter referred to as a container) having a rectangular or flat bottom surface into a container holder that moves on a container holder transfer conveyor,
The upstream portion of the container alignment device, and the container bottom on the lower side, further align the traveling direction in the container orientation, rotatably circumscribing the first contact position of a predetermined soft container rows aligned on the container transport conveyor A plurality of M sets of first chuck mechanisms sandwiching the container mouth portion with the chuck plate are disposed at the periphery of the circular disk member, and are perpendicular to the container axis by the first chuck mechanism sequentially from the first contact position. An intermediate wheel that forms a row of containers with the mouth sandwiched in the direction;
A main body wheel in which a plurality of N sets of second chuck mechanisms each having a chuck plate sandwiching the container neck portion at the periphery of a rotatable disk member circumscribing at a predetermined second contact position are disposed;
Both of the lowering control wheel and the upper disk rotating coaxially and at the same angular speed on the upper side of the main body wheel,
A container holder transfer conveyor wheel for moving a row of container holders for receiving containers lowered at the container holder insertion position ;
The intermediate wheel is provided at the peripheral edge of the disk for opening / closing control of each first chuck mechanism disposed, and two counter gears meshing with each other;
Parallel chuck plates respectively provided on the gears;
For the first chuck mechanism which is provided coaxially with the intermediate wheel and has an open / close cam curved surface which closes the chuck plate opened at the first contact position and opens the chuck plate closed at the second contact position . An opening and closing cam;
The cam curved surface is traced, and a first cam mechanism comprising a trace plate connected to a counter gear is provided,
The main body wheel is provided with N sets between the lower wheel and the peripheral edge of the lowering control wheel for opening / closing control of the respective second chuck mechanisms, and has a pair of gears meshing with each other at the upper end. a rotatable pair shaft having a chuck plate which is connected to the pair gear,
A second open / close cam for the chuck mechanism having an open / close cam curve for closing the open chuck plate at the second contact position and opening the closed chuck plate at the container holder insertion position;
E Bei the second cam mechanism including a trace plate connected to the gear to trace the cam curve,
The container gripping device disposed on the lowering control wheel is provided between the lowering control wheel and the peripheral portion of the upper disk for two-step lowering and one-step lifting control of each mouth chuck / container holder insertion mechanism. N sets of two pairs of spindle guides are arranged along the outer periphery of the cylindrical outer wall formed in the cylinder, and a spindle holder is provided between the linear bearings that move vertically along the pair of spindle guides. Alternatively, the spindle holder is connected to the upper end side of the spindle for lifting control, the chuck holder is connected to the lower end side of the spindle, the air chuck is connected to the chuck holder, and two pieces are attached to the tip of the air chuck. An air chuck opening and closing mechanism that opens and closes two chuck plates by turning air on and off to the air chuck. For example,
In each of the second chuck mechanisms, when the container neck portion is sandwiched and rotated to the container mouth portion chuck position , the spindle is a portion above the neck portion of the container from the position above the mouth portion. Is lowered by the length of the portion, the mouth portion is sandwiched by air by the mouth chuck / container holder insertion mechanism, and further rotated to open the chuck plate by the second cam mechanism at the container holder insertion position. A container holder insertion system comprising a gripping device, wherein the spindle is lowered, the container is inserted into the container holder, the chuck plate at the mouth is opened by air, and the spindle is raised.
The N spindle holders of the container gripping device disposed on the lowering control wheel are respectively connected to a roller follower, and are formed between the two disk peripheral portions of the lowering control wheel and the upper disk. 3. The container holder insertion system with a gripping device according to claim 2, wherein the roller follower is traced up and down by a spindle up and down cam provided on an outer wall.
The chuck holder includes at least a cam groove portion for holding a cam follower screwed from a direction perpendicular to the spindle axis on a stopper plate screwed on the lower end side of the spindle at a predetermined position on the lower side. ,
On the other hand, the upper side and the spindle connecting portion having a sliding portion for sliding accommodating the lower end of the spindle on the inside, are found provided on the outside of the spindle connecting portion, wherein as the cam follower falls grooved cam And at least a cushion spring for pressing from above ,
When the container is inserted into the container holder, even if there is a variation in the orientation of the bottom surface of the container and the bottom surface of the container collides with the top of the container holder, the pressure resists the cushion spring, and the cam follower moves from the cam groove. 4. A container holder insertion system comprising a gripping device according to claim 2, wherein the container holder insertion system is provided so as to be separated and rotated so that the orientation of the bottom surface is aligned with the upper part of the container holder. .

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