JP5804238B2 - Container cleaning system - Google Patents

Description

  The present invention relates to a container cleaning system for cleaning a container and a container cleaning method using the container cleaning system.

  Conventionally, a foldable container is used as a container used for transportation of various articles. There has been proposed a foldable container that is easy to assemble and that can be folded and collected in a compact manner without separating individual side plates after use (see Patent Document 1). When the contents transported by such a foldable container are, for example, a bottle, a cap used for eating and drinking applications, or a preform which is an intermediate product for blow molding a PET bottle, the container body is also sufficiently clean. Need to be.

  The foldable container as described above is returned in a folded state when the contents are taken out at the transportation destination and the container becomes empty. Containers returned in such a state are conventionally manually assembled and cleaned by wiping alcohol, so the assembly and cleaning work is labor intensive and costs such as labor costs are high. It is out. In view of such circumstances, for example, there has been proposed a cleaning apparatus that can automatically and efficiently clean a collapsible container in which a side plate from which a lid has been removed is folded (PTL 2).

JP 2001-97373 A JP 20019404 A

  By the way, the folding container washing | cleaning apparatus of patent document 2 wash | cleans this folding container by moving the rotating brush rotated along the wall surface of the folding container moved by a conveyor. . However, since the folding container cleaning device described in Patent Document 2 has been proposed on the premise of cleaning an ordinary container having no cover, the cover described in Patent Document 1 and the container body are integrated. The resulting container cannot be cleaned efficiently.

  The present invention has been made in view of such circumstances, and a container cleaning system capable of cleaning a container in which a container main body and a lid are integrated to be more efficiently and sufficiently cleaned, and A container cleaning method is provided.

A container cleaning system according to the present invention includes a container body having a bottom portion and a plurality of side plates standing on the bottom portion, and a detachable lid portion that covers an opening facing the bottom portion of the container body. A container cleaning system for cleaning a container to be discharged, wherein the container main body and the lid of a container carried in the state where the container main body and the lid are integrated are separated, and the separation The lid cleaning mechanism that cleans the lid part separated from the container main body by the mechanism, the main body cleaning mechanism that cleans the container main body separated from the lid part by the separation mechanism, and the cleaning by the cleaned lid part a coalescing unit to combine the lid intends way the container body and the lid portion open mouth of the container body, said container body before being carried into the separation mechanism and the lid portion Container cleaning system having an outer surface cleaning mechanism for cleaning the outer surface of the state of an integrated container.

According to such a configuration, even in a container in which the container main body and the lid portion are carried together, the container main body and the lid portion are separated by the separation mechanism, and each of the container main body and the lid portion is covered with the lid. it is possible to clean in a separate step by parts cleaning mechanism and body cleaning mechanism, more efficiently possible to clean the container and Do Ri, further container body and the lid portion and the separation mechanism containers together Since the outer surface of the container is cleaned by the outer surface cleaning mechanism before being carried into the container, dirt on the outer surface is removed before the process of cleaning the container main body and the lid part, and the degree of cleaning of the container can be further increased. Become.

A container cleaning system according to the present invention includes a container body having a bottom portion and a plurality of side plates standing on the bottom portion, and a detachable lid portion that covers an opening facing the bottom portion of the container body. A container cleaning system for cleaning a container to be discharged, wherein the container main body and the lid of a container carried in the state where the container main body and the lid are integrated are separated, and the separation The lid cleaning mechanism that cleans the lid part separated from the container main body by the mechanism, the main body cleaning mechanism that cleans the container main body separated from the lid part by the separation mechanism, and the cleaning by the cleaned lid part And a uniting mechanism for uniting the container body and the lid so as to cover the opening of the container body, and the container body has the plurality of side plates folded to the bottom side. The separation mechanism is configured to separate a container in which a container main body in which the plurality of loaded side plates are folded to the bottom side and the lid are integrated into the container main body and the lid. And a side plate raising mechanism that raises a plurality of folded side plates of the container main body separated from the lid portion to form an opening facing the bottom portion .

According to such a configuration, even in a container in which the container main body and the lid portion are carried together , the container main body and the lid portion are separated by the separation mechanism, and each of the container main body and the lid portion is covered with the lid. Since the container cleaning mechanism and the main body cleaning mechanism can be cleaned in separate processes, it is possible to clean the container more efficiently, and the container main body is carried in with the side plate folded to the bottom side. However, since the side plate of the container main body separated from the lid portion is raised to form an opening that faces the bottom, the container main body can be more efficiently cleaned.

  In the container cleaning system according to the present invention, the container body may be such that the plurality of side plates are foldable to the bottom side, and the separation mechanism is a container body in which the plurality of loaded side plates are folded to the bottom side. And the lid part are separated into the container body and the lid part, and a plurality of folded side plates of the container body separated from the lid part are raised and the bottom part is raised It can be set as the structure which has a side plate starting mechanism which forms the open port which opposes.

  According to such a configuration, even if the container body is carried in with the side plate folded to the bottom side, the side plate of the container body separated from the lid portion is raised to form an opening that faces the bottom portion. Therefore, the container body can be cleaned more efficiently.

  In the container cleaning system according to the present invention, the lid cleaning mechanism includes a first robot arm that performs a predetermined operation for cleaning the lid, and a support mechanism that supports the first robot arm. A cleaning robot; a mounting table on which the lid can be mounted; a lid moving unit that holds the outer surface of the lid and moves the lid up and down within a predetermined range from the mounting table; At the tip of one robot arm, there is provided a holding part for holding a cleaning member containing a cleaning liquid for cleaning the lid, and the cleaning member held by the holding part of the first robot arm A configuration for cleaning an outer side surface of the lid portion placed on the mounting table and cleaning an inner surface of the lid portion held at a predetermined distance from the mounting table by the lid moving portion; can do.

  According to such a configuration, the lid moving unit moves the lid to a place where it can be easily cleaned by the cleaning member held by the holding unit of the first robot arm constituting the first cleaning robot. It becomes possible to clean the side surface and the inner surface more efficiently.

  In the container cleaning system according to the present invention, the main body cleaning mechanism includes a second robot arm that performs a predetermined operation for cleaning the outside of the container main body, and a support mechanism that supports the second robot arm. 2 A cleaning robot, a third robot arm that performs a predetermined operation for cleaning the inside of the container body, and a third cleaning robot that includes a suspension support mechanism that supports the suspension of the third robot arm. A holding portion for holding a cleaning member containing a cleaning liquid for cleaning the container body is provided at the tip of each of the second robot arm and the third robot arm. The container main body can be cleaned by the cleaning member held by each holding portion of the robot arm.

  According to such a configuration, the container is provided by the cleaning member containing the cleaning liquid held in each of the holding portions of the second robot arm constituting the second cleaning robot and the third robot arm constituting the third cleaning robot. Since the main body is cleaned from both the outer side and the inner side, the outer side and the inner side of the container main body can be more efficiently cleaned.

  In the container cleaning system according to the present invention, the third cleaning robot is suspended and supported by a frame provided at a position higher than the container main body carried into the main body cleaning mechanism, and the main body cleaning mechanism is carried into the main body cleaning mechanism. The container main body can be configured to have an elevating mechanism that raises and lowers the container main body so that the third robot arm is positioned substantially in the center of the container main body.

  According to such a configuration, the container main body is more easily carried into the main body cleaning mechanism, and the container main body carried by the elevating mechanism is moved to a position where it can be easily cleaned, so that the inside of the container main body is more efficiently cleaned. It becomes possible.

  In the container cleaning system according to the present invention, the second robot arm and the third robot arm sandwich a plurality of side plates constituting the container body from the outside and the inside by the cleaning member held by the holding portion. Thus, a predetermined operation can be performed.

  According to such a structure, since the some side plate which comprises a container main body can be cleaned by pinching | interposing from the outer side and an inner side, it becomes possible to clean the outer side and inner side of a container main body more efficiently.

  The container cleaning system according to the present invention includes a cleaning member stock mechanism including a plurality of the cleaning members in the vicinity of at least one of the first cleaning robot, the second cleaning robot, and the third cleaning robot, and the cleaning The cleaning robot in which the member stock mechanism is disposed in the vicinity may be configured to replace the cleaning member held by the holding portion of the robot arm.

  According to such a configuration, since the robot arm constituting any one of the first, second and third cleaning robots provided with the cleaning member stock mechanism in the vicinity can replace the cleaning member, The container cleaning function can be further improved, and the container can be more efficiently cleaned.

  In the container cleaning system according to the present invention, the cleaning member stock mechanism has a plurality of attachment surfaces for stocking the cleaning member in a plurality, and a holding portion of the robot arm in which the cleaning member stock mechanism is disposed in the vicinity is predetermined. It can be set as the structure which has the rotation part which rotates the said attachment surface so that the said cleaning member can be replaced | exchanged in this position.

  According to such a configuration, when the cleaning member is replaced, the cleaning member can be replaced at a predetermined position by rotating the rotating portion of the cleaning member stock mechanism, so that the container can be cleaned more efficiently. It becomes possible to do.

  The container cleaning system which concerns on this invention can be set as the structure which has the suction cleaning mechanism which attracts | sucks the deposit | attachment of the said bottom part which moves relatively along the said container main body.

  According to such a configuration, since the deposit on the bottom that moves relatively along the container body is sucked by the suction mechanism, the cleaning function of the container body is further improved and the container body is more efficiently cleaned. Is possible.

  According to the container cleaning device of the present invention, the container main body and the lid portion are integrally loaded and separated by the separation mechanism, and each is cleaned by the lid portion cleaning mechanism and the main body cleaning mechanism. And the container in which the lid is integrated can be cleaned more efficiently and sufficiently.

It is a perspective view of a container cleaning system concerning an embodiment of the invention. It is a top view of the container cleaning system shown in FIG. It is a perspective view which shows the container cleaned by the container cleaning system shown in FIG. It is a side view which shows the cleaning process by the outer surface washing | cleaning apparatus of the container cleaning system shown in FIG. FIG. 2 is a plan view of a mechanism in which a separation device, a lid cleaning device, and a uniting device of the container cleaning system shown in FIG. 1 are arranged in series. It is a front view which shows the separation process of the container by the separation apparatus of the container cleaning system shown in FIG. The front view which shows the cleaning process of the cover part by the cover part cleaning apparatus of the container cleaning system shown in FIG. It is a side view which shows the cleaning process of the cover part by the cover part cleaning apparatus of the container cleaning system shown in FIG. It is a front view which shows the unification process of the container main body and a cover part by the unification apparatus of the container cleaning system shown in FIG. It is a side view which shows the uniting process of the container main body and a cover part by the uniting apparatus of the container cleaning system shown in FIG. It is a perspective view which shows specifically the process of cleaning the outer surface (upper surface) of the cover part of the cover part cleaning apparatus shown in FIG. It is a perspective view which shows specifically the process of cleaning the inner surface (lower surface) of the cover part of the cover part cleaning apparatus shown in FIG. It is a perspective view which shows the side board starting apparatus of the container cleaning system shown in FIG. It is a side view (the 1) of the side board starting device shown in FIG. It is a side view (the 2) of the side board starting device shown in FIG. It is a top view of the main body cleaning apparatus which cleans the container main body of the container cleaning system shown in FIG. It is a side view (the 1) of the main body cleaning apparatus shown in FIG. It is a side view (the 2) of the main body cleaning apparatus shown in FIG. It is a perspective view which shows simply the process cleaned by the 2nd robot arm and 3rd robot arm of the main body cleaning apparatus shown in FIG. It is a bird's-eye view which shows simply the process of cleaning the bottom part of the container main part by the 3rd robot arm of the main body cleaning apparatus shown in FIG. It is a figure which shows simply the process of cleaning the outer surface of the container main body by the 2nd robot arm of the main body cleaning apparatus shown in FIG. It is a figure which shows the positional relationship which the cleaning member hold | maintained at each of the holding part of the 2nd robot arm of the main body cleaning apparatus shown in FIG. It is FIG. (1) which shows simply the cleaning process of the container main body by the 3rd robot arm of the main body cleaning apparatus shown in FIG. It is FIG. (2) which shows simply the cleaning process of the container main body by the 3rd robot arm of the main body cleaning apparatus shown in FIG. It is FIG. (3) which shows simply the cleaning process of the container main body by the 3rd robot arm of the main body cleaning apparatus shown in FIG. It is FIG. (4) which shows simply the cleaning process of the container main body by the 3rd robot arm of the main body cleaning apparatus shown in FIG. It is FIG. (5) which shows simply the cleaning process of the container main body by the 3rd robot arm of the main body cleaning apparatus shown in FIG. It is FIG. (6) which shows simply the cleaning process of the container main body by the 3rd robot arm of the main body cleaning apparatus shown in FIG. It is FIG. (7) which shows simply the cleaning process of the container main body by the 3rd robot arm of the main body cleaning apparatus shown in FIG. It is FIG. (8) which shows simply the cleaning process of the container main body by the 3rd robot arm of the main body cleaning apparatus shown in FIG. It is FIG. (9) which shows simply the cleaning process of the container main body by the 3rd robot arm of the main body cleaning apparatus shown in FIG. It is FIG. (10) which shows simply the cleaning process of the container main body by the 3rd robot arm of the main body cleaning apparatus shown in FIG. It is a perspective view which shows the cleaning member stock apparatus by which the cleaning member hold | maintained at each holding | maintenance part of each robot arm shown in FIG. 1 was stocked. It is a top view which shows the drive range of the 1st robot arm of the cover part cleaning apparatus shown in FIG. It is a side view which shows the drive range of the 1st robot arm of the cover part cleaning apparatus shown in FIG. It is a top view which shows the drive range of the 2nd robot arm of the main body cleaning apparatus shown in FIG. 13, and the rotation range of the cleaning member stock apparatus. It is a front view which shows the drive range of the 2nd robot arm of the main body cleaning apparatus shown in FIG. It is a side view which shows the drive range of the 3rd robot arm of the main body cleaning apparatus shown in FIG. 13, and the rotation range of the cleaning member stock apparatus. It is a top view which shows the suction device which attracts | sucks the bottom part of the container main body of the container cleaning system shown in FIG. It is a front view of the suction device shown in FIG. FIG. 37 is a side view (No. 1) showing a suction step of sucking the vicinity of the bottom of the container main body of the suction device shown in FIG. 36. FIG. 37 is a side view (No. 2) showing a suction step of sucking the vicinity of the bottom of the container main body of the suction device shown in FIG. 36. It is a front view from another side surface which shows the suction process which attracts | sucks the bottom part vicinity of the container main body of the suction apparatus shown in FIG. It is a side view (the 3) which shows the suction process which attracts | sucks the bottom part vicinity of the container main body of the suction apparatus shown in FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  The container cleaning system according to the embodiment of the present invention is configured as shown in FIGS.

  1 and 2, the container cleaning system 100 has a function of cleaning the container 110 as shown in FIG. The container 110 includes a bottom body 116 and a container body 120 having a plurality of side plates 112, 113, 114, 115 standing on the bottom section 116, and a detachable lid section 111 that covers the opening of the container body 120. It is composed of Each of these side plates 112, 113, 114, 115 can be folded to the bottom 116 side (details will be described later). In order to clean such a container 110, the container cleaning system 100 is transported from a transport device 10 that transports a plurality of (for example, five boxes) stacked containers with a belt conveyor or the like, and the transport device 10. An outer surface cleaning device 20 is provided for cleaning a plurality of stacked containers one by one.

  In addition, the container cleaning system 100 includes a separation device 30 that separates the container 110 that is carried in a state in which the container main body 120 and the lid portion 111 are integrated, and a lid portion 111 that is separated from the container main body 120 by the separation device 30. A lid cleaning device 40, and a coalescing device 50 that unites the lid 111 washed by the lid washing device 40 and a container main body 120 washed by a main body cleaning device 70 described later. Further, the container cleaning system 100 includes a side plate raising device 60 that raises the side plates 112, 113, 114, and 115 folded to the bottom 116 side of the container main body 120 separated from the lid portion 111 by the separation device 30, A main body cleaning device 70 that cleans the outside and inside of the container main body 120 that has become a container shape by the lifting device 60, and the bottom deposit that moves relatively along the container main body 120 cleaned by the main body cleaning device 70. A suction cleaning device 80 for sucking and a unloading device 90 for unloading the container 110 in which the container main body 120 and the lid 111 are integrated by the uniting device 50 are provided.

  As described above, the container cleaning system 100 includes a plurality of apparatuses for cleaning the plurality of containers 110, and the container 110 can be cleaned by repeating the cleaning process. Here, the container 110 cleaned by the container cleaning system 100 will be described in detail.

  In FIG. 3, the container 110 includes a detachable rectangular lid 111 that covers the opening of the container main body 120 and the container main body 120. The container body 120 includes a bottom portion 116, a plurality of side surfaces 112, 113, 114, 115 extending from the end portion of the bottom portion 116, a metal frame 117 into which the bottom portion 116 is fitted, a resin pallet 118, and a resin pallet 118. A pallet stopper 119 that connects the metal frame 117 is formed. On the bottom part 116, the side plate 112 and the side plate 113, and the side plate 114 and the side plate 115 are provided so as to face each other. Side plate stoppers 114a and 114b are provided at both ends of the side plate 114 on the lid portion 111 side, and the side plate 112 and the side plate 113 adjacent to both ends of the side plate 114 are stopped by the side plate stoppers 114a and 114b, respectively. It is possible. Although not shown, the side plate 115 is also provided with a side plate stopper, and similarly, the side plate 112 and the side plate 113 adjacent to both ends thereof can be stopped. With such a configuration, the plurality of side plates 112, 113, 114, and 115 are maintained in a state where they are raised in the vertical direction with respect to the bottom portion 116, thereby forming an opening that faces the bottom portion 116.

  In addition, the plurality of side plates 112, 113, 114, 115 constituting the container main body 120 can be folded toward the bottom 116 side. More specifically, the side plate 114 and the side surface 115 provided with the side plate stoppers are folded so as to overlap each other, and the side plate 112 and the side plate 113 are folded so as to cover each other so as to cover them. . The side plates 112, 113, 114, and 115 are folded at a height that is, for example, within the height of the metal frame 117 from the bottom 116. For example, the container 110 in the folded state is as shown in FIG. The resin pallet 118 is provided with holes 118a, 118b, 118c, and 118d. As a result, a claw portion such as a forklift can be inserted, and the container 110 can be easily transported. Further, rubber misalignment prevention tools 111 a are provided at four corners on the upper surface of the lid 111. As a result, even if a plurality of containers 110 are stacked, there is no deviation, so that a plurality of containers 110 can be safely carried into the container cleaning system 100.

  The configuration of each device in the container cleaning system 100 and the process of cleaning the container 110 by each device will be described in detail.

  First, the container cleaning is performed in a state in which the side plates 112, 113, 114, 115 of the container main body 120 are folded toward the bottom portion 116, and a plurality of containers 110 combined with the lid portion 111 are stacked (for example, five stages). It is carried into the transfer device 10 of the system 100. For example, as shown in FIG. 4, the transport device 10 includes rotating rollers 11 a and 11 b, a conveyor belt 12 driven by the rotating rollers 11 a and 11 b, and a mount 13. The rotating rollers 11a and 11b are rotated by a motor (not shown) or the like, so that the conveyor belt 12 is driven in a direction corresponding to the rotating direction. As a result, the one placed on the transport device 10 in the direction of the outer surface cleaning device 20 can be transported. In addition, the conveying apparatus 10 has a not-shown step separation mechanism (for example, a mechanism that divides a plurality of stacked containers 110 into one step (one at a time)). For example, as an example of such a step separation mechanism, a gripping mechanism capable of moving up and down to grip the container 110 from the side is provided, and the second step from the bottom of the plurality of stacked containers 110 is gripped and lifted, After the lowermost container 110 is transported to the next process, the lifted container 110 can be lowered onto the conveyor belt 12. Moreover, the structure which transfers to the conveyor belt 12 sequentially from the uppermost container 110 may be sufficient. As a result, the containers 110 stacked in a plurality of stages are conveyed one by one to the outer surface cleaning device 20.

  The outer surface cleaning device 20 includes rotating brushes 20 a and 20 b that clean the container 110 and a transport mechanism 21. As a result, the containers 110 transported from the transport apparatus 10 can be cleaned one by one with the rotating brushes 20a and 20b. The outer surface cleaning device 20 is configured to clean the upper and lower surfaces of the container 110 with the rotating brushes 20a and 20b. However, for example, a rotating brush for cleaning both side surfaces of the container 110 may be provided. . Further, any one of the rotating brushes 20a and 20b may be moved back and forth in the conveyance path of the container 110, and the front surface of the container 110 may be cleaned immediately before passing, and the back surface of the container 110 may be cleaned immediately after passing. The container 110 whose outer surface is cleaned by the rotating brushes 20a and 20b in this way is transported to the separation device 30 by the transport mechanism 21.

  As illustrated in FIGS. 5A and 5B, the separation device 30 includes a slide unit 31 and a transport mechanism 32 that can transport the container 110. The slide unit 31 includes an adsorption member 33 provided with a plurality of adsorption parts 33a for adsorbing the lid part 111 constituting the container 110, a frame part 34, an elevating cylinder 35 provided in the center of the frame part 34, and an elevating cylinder. 35, guide slides 36a and 36b provided on both sides. The tips of the elevating cylinder 35 and the guide slides 36a and 36b are integrated with the suction member 33. The suction member 33 is moved up and down in accordance with the operation of the elevating cylinder 35 that is lifted and lowered by the guide slides 36a and 36b, for example. It comes to move. The separation device 30 having such a configuration can be separated from the container main body 120 by sucking and holding the lid portion 111 by a plurality of suction portions 33a of the suction member 33 and lifting it upward.

  The separation device 30 was cleaned by a lid cleaning device 40 for cleaning the lid 111, a lid 111 cleaned by the lid cleaning device 40, a main body cleaning device 70 and a suction cleaning device 80 described later. It is integrated with the uniting device 50 that unites the container main body 120. Specifically, the separating device 30, the lid cleaning device 40, and the coalescing device 50 are arranged on a straight line, and a large frame portion 25 is provided so as to surround them. The large frame 25 is provided with a slide rail 26 extending in the direction in which the devices 30, 40, 50 are arranged, and a runner 27 is slidably supported on the slide rail 26. Since the runner 27 is fixed to the frame portion 34 of the slide unit 31, the slide unit 31 slides in accordance with the slide operation of the runner 27. As a result, the lid portion 111 held by suction by the slide unit 31 is conveyed to the lid portion cleaning device 40.

  As shown in FIGS. 5A, 5B, 6A, and 6B, the lid cleaning device 40 supports the first robot arm 41 and the first robot arm 41 that perform a predetermined operation for cleaning the lid 111. A first cleaning robot 400 configured by the supporting mechanism 42, a mounting table 43 on which the lid 111 can be mounted, and positioning cylinders 44a, 44b, 44c for positioning the lid 111 mounted on the mounting table 43. , 44d and the slide unit 31 (lid moving unit) that holds the upper surface of the lid 111 and moves the lid 111 up and down within a predetermined range from the mounting table 43. The first robot arm 41 includes a holding portion 417 at the tip, and the holding portion 417 holds a cleaning member S containing a cleaning liquid (for example, alcohol) that should clean the lid portion 111. The driving range of the first robot arm 41 is a range indicated by a broken line A and a broken line B so that the outer surface (upper surface) and inner surface (lower surface) of the lid 111 can be cleaned within the range. It has become.

  More specifically, as the elevating cylinder 35 of the slide unit 31 is lowered, the lid portion 111 held by the suction member 33 joined to the elevating cylinder 35 is also lowered, and the lid portion 111 is placed on the placement table 43. The lid portion 111 placed on the placement table 43 is positioned and held by positioning cylinders 44a, 44b, 44c, and 44d. The upper surface of the lid 111 positioned and held on the mounting table 43 in this way is cleaned, for example, as shown in FIG. In FIG. 8, the first robot arm 41 constituting the first cleaning robot 400 includes a rotatable trunk 411 supported by a support base 42, and a rotatable first joint integrated with the trunk 411. An upper arm portion 413 having a first joint portion 412 and a rotatable second joint portion 414 at both ends thereof, a lower arm portion 415 extending from the second joint portion 414, and a tip of the lower arm portion 415. The pivotable third joint portion 416 and the holding portion 417 integrated with the third joint portion 416 are configured. Since the cleaning member S is held by the holding portion 417 as described above, the first robot arm 41 can freely clean the upper surface of the lid portion 111 by the cleaning member, for example, according to a program (not shown). Can be done.

  Then, the lid 111 cleaned by the first cleaning robot 400 is held again by the suction member 33 of the slide unit 31, and the lift cylinder 35 is located at a predetermined distance from the mounting table 43 (the first robot arm 41 is the lid). The lower surface of 111 is held at a height that allows easy cleaning. Then, while the lower surface of the lid portion 111 is held at that position, for example, as shown in FIG. 9, the lower surface of the lid portion 111 is cleaned so as to wipe off dirt by the cleaning member S held by the holding portion 417 of the first robot arm 41. . The order of cleaning the lid portion 111 may be an order in which the lower surface of the lid portion 111 is first cleaned and then the upper surface is cleaned. In this way, the lid portion 111 cleaned by the lid portion cleaning device 40 and held by the slide unit 31 is conveyed to the uniting device 50 along the slide rail 26 provided on the large frame portion 25.

  As shown in FIG. 7, the uniting device 50 includes a slide unit 31 and a transport table 51 that can transport the container 110. The lid portion 111 held by the suction member 33 of the slide unit 31 is combined with the container main body 120 cleaned by the main body cleaning device 70 and the suction device 80. In the coalescing device 50, the lid 111 and the container main body 120 are united so as to cover the opening of the cleaned container main body 120, so that a more cleaned state can be maintained. ing.

  In addition, you may make it provide the storage part which stores the several cover part 111 in which cleaning was completed in the united apparatus 50 vicinity. At that time, the separately provided reservoir is integrated together with the separation device 30, the lid cleaning device 40, and the uniting device 50 by the large frame portion 25 described above. By doing in this way, it is possible to easily store the lid 111, which has been cleaned by the lid cleaning device 40, in the storage unit, or to move the storage unit from the storage unit to the uniting device 50. Therefore, by combining the lid part 111 stored in the storage part with the container main body 120, for example, when the cleaning of the container main body 120 takes more time than the cleaning of the lid part, the cleaning time of the container 110 is further shortened. Can do. Alternatively, the positioning cylinders 44a, 44b, 44c, and 44d are configured to be able to grip the lid 111 instead of the mounting table 43 of the lid cleaning device 40, and the gripping height (height for cleaning the upper surface of the lid 111) is used. ) The lower space can also be used as a reservoir.

  On the other hand, the container main body 120 separated from the lid portion 111 in the separating device 30 is conveyed to the side plate raising device 60 that raises the side plates 112, 113, 114, 115 folded to the bottom 116 side of the container main body 120. As shown in FIGS. 10 to 12, the side plate raising device 60 has outer columns 611, 612, 613, and 614 that form a frame of the side plate raising device 60. An upper frame portion 615 that extends linearly from the outer column 611 to the outer column 612 is provided at the upper ends of the outer columns 611 and 612. Similarly, an upper frame portion 616 extending linearly from the outer column 613 to the outer column 614 is provided at the upper ends of the outer columns 613 and 614. In addition, upper frame portions 615 and 616 arranged so as to face each other are provided with upper frame portions 615 and 618 extending linearly for connecting the upper frame portion 615 and the upper frame portion 616, respectively. . With such a configuration, the frame of the side plate raising device 60 has a shape that approximates a cube.

  A vertical slide rail 619 a is formed on the upper surface of the upper frame portion 615. Similarly, a vertical slide rail 619 b is formed on the upper surface of the upper frame portion 616. These vertical slide rails 619a and 619b respectively support rectangular plate-like runners 620a and 620b so as to be slidable. The runners 620a and 620b are provided with horizontal columns 621 and 622 that connect the runners 620a and 620b. The horizontal columns 621 and 622 are provided with horizontal slide rails 623a and 623b that extend in a straight line, like the upper frame portions 615 and 616 described above. Further, a runner 624 provided with an elevating cylinder 625 at the center of the horizontal slide rails 623a and 623b is slidably supported. In addition, a rotatable holding portion 626 is provided at the lower end portion of the elevating cylinder 625. The holding portion 626 is provided with a suction portion 626 a that sucks and holds the side plates 112, 113, 114, and 115 constituting the container main body 120.

  Further, the side plate raising device 60 has a lower frame portion 627 parallel to the upper frame portion 615 in the vicinity of the lower ends of the outer column 611 and the outer column 612. Similarly, a lower frame portion 628 parallel to the upper frame portion 616 is provided in the vicinity of the lower end portions of the outer column 613 and the outer column 614. In addition, lower frame portions 629 and 630 extending linearly for connecting the lower frame portion 627 and the lower frame portion 618 are provided in the vicinity of both end portions of the lower frame portions 627 and 628 arranged to face each other. ing. Positioning cylinders 631a, 631b, 631c, and 631d for positioning the container main body 120 to be loaded are respectively provided at four corners of the rectangular lower frame formed by these lower frame portions 627, 628, 629, and 639. Is provided. Further, a side plate holding column 632 extending in the direction of the upper frame portion 618 is provided in the middle portion of the lower frame portion 629. The side plate holding column 632 has a shape that branches in two directions on the upper frame portion 618 side, and side plate holding portions 634a and 634b that hold one of the raised side plates 112 and 113 are provided at both ends thereof. Yes. Further, a side plate holding column 633 extending in the direction of the upper frame portion 617 is provided in the middle part of the lower frame portion 630. The side plate holding column 633 has a shape that branches in two directions on the upper frame portion 617 side, and side plate holding portions 635a and 635b that hold one of the raised side plates 112 and 113 are provided at both ends thereof. Yes.

  The side plate raising device 60 configured as described above can raise the side plate 112 as shown in FIG. 11, for example. This will be described in detail below. First, the container main body 120 conveyed into the side plate raising device 60 by a carry-in mechanism (not shown) is provided at four corners of a rectangular lower frame formed by the lower frame portions 627, 628, 629, and 630. The positioning cylinders 631a, 631b, 631c, 631d are driven to position the transported container body 120. Then, how the container of the positioned container main body 120 is folded (whether the side plate 112 or the side plate 113 is positioned on the upper side) is detected by a sensor (not shown). Thus, for example, when it is detected that the side plate 112 of the container main body 120 is positioned above, the processing unit (not shown) in the side plate starting device 60 performs a predetermined operation based on the detected result. Do. For example, the runner 620a, 620b, 624 corresponding to each of the slide rails 619a, 619b, 623a, 623b is slid to a desired position (for example, a position suitable for adsorbing and holding the side plate 112 by suction). The elevating cylinder 625 is positioned at a position close to or the like. Then, the elevating cylinder 625 is lowered, and the side plate 112 is adsorbed by the adsorbing portion 626a of the holding portion 626 that is rotatably provided at the lower end of the elevating cylinder 625.

  Then, the side plate 112 is raised while maintaining the suction state by the suction portion 626a. Specifically, as shown in FIG. 12, the side plate 112 is moved by moving the runners 620a and 620b in the direction of arrow B, raising the elevating cylinder 625, and further rotating the holding portion 626 in the direction of arrow C. It is designed to stand up without overloading. The side plate 112 thus raised is held by, for example, the side plate holding portions 634a and 634b. Further, each of the side plates 113, 114, 115 is raised in order to form an opening that faces the bottom 116 of the container body 120. At this time, the side plate of the container main body 120 is raised and the opening is formed by retaining the adjacent side plates by the side plate stoppers 114a, 114b, 115a, 115b provided on the side plates 114, 115 described above. (Assembled state) can be maintained. When the side plate stoppers 114a, 114b, 114c, and 114d require operations such as turning a latch or inserting a retaining pin, an operation mechanism is provided accordingly.

  The container body 120 maintained in the assembled state in this way is conveyed to the direction changing mechanism. The container main body 120 whose transport direction has been changed by the direction changing mechanism is transported to the main body cleaning device 70.

  As shown in FIGS. 13 to 15, the main body cleaning device 70 includes a second robot arm 71 that performs a predetermined operation for cleaning the outer surface of the container main body 120 and a support mechanism 72 that supports the robot arm 71. A third cleaning robot 701, a third robot arm 73 that performs a predetermined operation for cleaning the inner surface of the container body 120, and a suspension support mechanism 74 on which the third robot arm 73 is installed. And a cleaning robot 702. The main body cleaning device 70 also includes an elevating mechanism 76 that raises the loaded container main body 120 to a height that can be cleaned by the second and third cleaning robots 701 and 702, and a container main body that has been cleaned in a process that will be described later. And a transport mechanism 77 for unloading 120. The elevating mechanism 76 includes an upper plate 761 on which the container main body 120 is placed, a lower plate 762 disposed below so as to face the upper plate 761, and an upper plate 761 provided between the upper plate 761 and the lower plate 762. And a jack 763 that is raised upward.

  Further, the main body cleaning device 70 is fixed to the outer pillars 771, 772, 773, 774 constituting the frame, and the upper ends of the outer pillars 771, 772, 773, 774, and has a rectangular shape in which the suspension support mechanism 74 is installed. The upper frame portion 775 is fixed to the middle part of the outer pillars 771, 772, 773, 774, and the middle frame portion 776 where the support mechanism 72 is installed, and the lower end portions of the outer pillars 771, 772, 773, 774. And a rectangular lower frame portion 777 to be fixed. With these configurations, the frame of the main body cleaning device 70 has a shape that approximates a cube. Positioning cylinders 778a, 778b, 778c, and 778d are provided at the four corners of the lower frame portion 777, respectively, for positioning the container body 120 to be loaded.

  The main body cleaning device 70 configured as described above can raise the container main body 120 to a predetermined height as shown in FIG. 15, for example. This will be described in detail below. First, as shown in FIG. 15, the container main body 120 is carried into the main body cleaning device 70. Then, positioning cylinders 778a, 778b, 778c, and 778d provided at the four corners of the lower frame portion 777 are driven, and the container body 120 is positioned on the upper plate 761 of the lifting mechanism 76. Then, the jack 763 of the elevating mechanism 76 is driven, and the container main body 120 is lifted up to a cleanable height by the second and third cleaning robots 701 and 702 as shown in FIG. Therefore, the second and third robot arms 71 and 73 constituting the second and third cleaning robots 701 and 702 perform a predetermined operation to clean the outer surface and the inner surface of the container main body 120. When the cleaning is completed, the jack 763 of the lifting mechanism 76 is driven again and returned to the position when the upper plate 761 is carried. Then, the container body 120 is transported to the suction device 80 by the transport mechanism 77.

  Here, a method for cleaning the container main body 120 of the robot arms 71 and 73 constituting the second and third cleaning robots 701 and 702 will be described in detail below. Further, in order to explain the operations of the second and third robot arms 71 and 73 in an easy-to-understand manner, the container main body 120 to be cleaned is schematically shown, and thus the side surfaces 112 and 114 are not shown.

  16, 18, and 19, the second robot arm 71 includes a rotatable trunk 711 supported by the support mechanism 72 and a rotatable first joint unit integrated with the trunk 711. 712, an upper arm part 713 having a first joint part 712 and a rotatable second joint part 714 at both ends thereof, a lower arm part 715 extending from the second joint part 714, and a tip of the lower arm part 715. The pivotable third joint portion 716 and the holding portion 717 integrated with the third joint portion 716 are configured. Similarly, the third robot arm 73 includes a rotatable trunk portion 731 installed on the suspension support mechanism 74, a rotatable first joint portion 732 integrated with the trunk portion 731 and first ends thereof. An upper arm portion 733 having one joint portion 732 and a rotatable second joint portion 734, a lower arm portion 735 extending from the second joint portion 734, and a rotatable third joint provided at the tip of the lower arm portion 735 A part 736 and a holding part 737 integrated with the third joint part 736 are included. Each of the holding portions 717 and 737 of the second and third robot arms 71 and 73 holds a cleaning member S containing a cleaning liquid for cleaning the container main body 120.

  FIG. 16 shows a process in which the inner and outer surfaces of the container main body 120 are cleaned by the second robot arm 71 and the third robot arm 73. The second robot arm 71 and the third robot arm 73 clean the container body 120 while the side plate 113 of the container body 120 is sandwiched from the outside and the inside by the cleaning members S held by the holding portions 717 and 737, respectively. doing. Furthermore, as shown in FIG. 17, when the cleaning of the outside of the side plate 113 of the container main body 120 is completed by the second robot arm 71, the holding portion 717 is returned to a predetermined position to enter a standby state. On the other hand, after cleaning the inner surface of the side plate 113 of the container main body 120, the third robot arm 73 cleans a part of the bottom 116 along a locus indicated by a dotted line. In this way, when the cleaning of the side plate 113 constituting the container main body 120 is completed, a rotating portion (not shown) provided on the upper plate 761 of the lifting mechanism 76 described above is driven. Accordingly, the container main body 120 rotates (for example, 90 °), and a new side plate (for example, the side plate 115) is used as a side plate to be cleaned. And the predetermined operation | movement by the 2nd robot arm 71 and the 3rd robot arm 73 mentioned above is performed, and the new side plate of the container main body 120 is cleaned. Such a process is repeated for all the side plates, and the cleaning of the container body 120 is completed.

  Here, the cleaning process of the side plate 113 and the bottom 116 constituting the container main body 120 by the second robot arm 71 and the third robot arm 73 will be described in detail. For that purpose, FIGS. 20 to 29 are diagrams (No. 1 to No. 10) that simply show the cleaning process of the container main body 120. Each of the second and third robot arms 71 and 73 is provided with a processing unit (not shown), and performs a predetermined operation based on the command.

  First, the predetermined operation of the third robot arm 73 will be described in detail. A processing unit (not shown) provided on the third robot arm 73 drives the third robot arm 73 according to a predetermined program. For example, as shown in FIG. 20, in order to clean the inner surface of the side plate 113 of the container body 120, the cleaning member S held by the holding portion 737 is disposed on the side plate 113 near the boundary portion between the side plate 113 and the side plate 115. Position in parallel position. A processing unit (not shown) causes the third robot arm 73 to start a predetermined operation. The third robot arm 73 performs cleaning while pressing the cleaning member S held by the holding portion 737 against the inner surface of the side plate 113 so as to follow the locus indicated by the dotted line shown in FIG. At this time, the cleaning member S held by the holding portion 737 of the third robot arm 73 is maintained at the angle at which the cleaning member S is first pressed against the side plate 113. Then, in the processing unit (not shown), when the third robot arm 73 completes cleaning up to the middle part near the boundary between the side plate 113 and the side plate 114 (not shown) (state shown in FIG. 22), as shown in FIG. The holding portion 737 is rotated while pressing the cleaning member S against the side plate 113. Then, as shown in FIG. 24, the cleaning member S is moved to the vicinity of the boundary portion between the side plate 113 and the side plate 114 (not shown) while being rotated 90 ° in the vertical direction. Then, the processing unit (not shown) drives the third robot arm 73 along the locus indicated by the dotted line shown in FIG. 25 to complete the cleaning of the inner surface of the side surface 113.

  On the other hand, a processing unit (not shown) provided in the second robot arm 71 causes the second robot arm 71 to perform the same operation as the predetermined operation by the third robot arm 73 (the predetermined operation shown in FIGS. 20 to 25). By doing so, the outer surface of the side surface 113 is cleaned. Then, as shown in FIG. 20, the holding portion 717 of the second robot arm 71 is returned to stand by.

  Returning, the processing unit (not shown) provided in the third robot arm 73 rotates the holding part 737 and presses the cleaning member S against the bottom part 116 as shown in FIG. Then, as shown in FIG. 26, the third robot arm 73 is driven. Then, the third robot arm 73 is driven so as to be folded back in the vicinity of the boundary portion between the bottom portion 116 and the side surface 114 (not shown) and along the locus shown by the dotted line shown in FIG. In the series of predetermined operations shown in FIGS. 25 to 27, the predetermined range of the bottom portion 116 is cleaned while the angle of the cleaning member S held by the holding portion 737 is maintained. When the cleaning of the bottom portion 116 is completed in this way, the processing unit (not shown) drives the third robot arm 73 so as not to contact the side surface 113 as shown in FIG. 28 and then FIG. 29, and before the cleaning shown in FIG. The holding portion 737 is returned to the position and is made to stand by.

  By causing the second robot arm 71 and the third robot arm 73 to perform such a predetermined operation, it is possible to clean all the side surfaces 112, 113, 114, 115 and the bottom portion 116 constituting the container main body 120. Become. As described above, the container main body 120 cleaned in this manner is driven again by the jack 763 of the elevating mechanism 76 so that the upper plate 761 is lowered and returned to the position when the container main body 120 is loaded. It is. Then, the container body 120 is transported to the suction device 80 by the transport mechanism 77.

  Further, as shown in FIG. 30, the cleaning member S held by the holding portions 417, 717, 737 of the first robot arm 41, the second robot arm 71, and the third robot arm 73 described above is arranged at the center. It has acquisition part S1 formed of a convex part and four concave parts formed so that this convex part may be enclosed. When the acquisition unit S1 of the cleaning member S is engaged with the tips of the holding units 417, 717, and 737 of the first robot arm 41, the second robot arm 71, and the third robot arm 73 described above, the cleaning member S is held. The cleaning member S can be replaced by the first, second, and third robot arms 41, 71, 73 at a predetermined timing (for example, a timing at which a predetermined number of cleaning processes are completed).

  For example, the cleaning member stock device 75 includes a plurality of replaceable cleaning members S as shown in FIG. The cleaning member stock device 75 has a rectangular plate-like 751 with a rectangular hole 751a formed at the center, and a hole 752a that engages with the upper end of a rotating part 756 (details will be described later) at the center. It has a formed rectangular middle plate 752 and a lower plate 753 formed with a hole 753a through which the rotation portion 756 passes in the center. The lower surface of the upper plate 751 and the upper surface of the middle plate 752 are fixed by a plurality of connecting rods 754. Further, the lower surface of the middle plate 752 and the upper surface of the lower plate 753 are fixed by a plurality of connecting rods 755. The rotating portion 756 described above can rotate the intermediate plate 752 to be rotatable. Therefore, the upper plate 751 and the lower plate 752 fixed by the intermediate plate 752 and the connecting rods 754 and 755 are also rotated in accordance with the rotation of the intermediate plate 752.

  A plurality of holding plates 757 extending linearly are fixed to four corners of the rectangular upper plate 751, middle plate 752, and lower plate 753. Each of the plurality of holding plates 757 is provided with an L-shaped receiving member for leaning the cleaning member S extending in the horizontal direction at a predetermined angle in the vertical direction at a predetermined angle. As a result, the plurality of cleaning members S are held by the stock mechanism 75 so as to maintain a predetermined angle in the vertical direction between the holding plates 757 in the opposing positional relationship, for example, as shown in FIG. .

  31 and 32 show the positional relationship between the first cleaning robot 400 and the cleaning member stock device 75a. In FIG. 31, the lateral drive range of the first robot arm 41 constituting the first cleaning robot 400 is the range indicated by the broken line D. That is, the horizontal driving range indicated by the broken line D is a range where the holding unit 417 of the first robot arm 41 can reach. In addition, in FIG. 32, the vertical driving range in the first robot arm 41 constituting the first cleaning robot 400 is the range indicated by the broken line E. Thus, the first robot arm 41 can replace the cleaning member S stocked on the side surface closest to the first robot arm 41 among the plurality of cleaning members S held in the four directions of the cleaning member stock device 75a. It can be done. Therefore, when the replacement of the cleaning member S stocked on the side surface closest to the first robot arm 41 is made, the mounting surface for stocking a plurality of different cleaning members S becomes a predetermined position (the position of the closest side surface). Thus, the rotation unit 756 rotates (for example, 90 °). Thereby, the cleaning member S held by the holding portion 417 of the first robot arm 41 can be accurately replaced.

  33 and 34 show the positional relationship between the second cleaning robot 701 and the cleaning member stock device 75b. In FIG. 33, the lateral drive range of the second robot arm 71 constituting the second cleaning robot 701 is the range indicated by the broken line F. That is, the horizontal driving range indicated by the broken line F is a range where the holding portion 717 of the second robot arm 71 can reach. In addition, in FIG. 34, the vertical driving range in the second robot arm 71 is the range indicated by the broken line G. The cleaning member stock device 75b corresponding to the second robot arm 71 is installed at a position where it is difficult to replace the cleaning member S if the cleaning member stock device 75b does not rotate at all. For this reason, every time the cleaning member S is replaced, the second robot arm 71 rotates the rotation unit 756 (for example, at an angle indicated by a broken line F in FIG. 33). Thus, when the cleaning member S is to be replaced, the cleaning member stock device 75b rotates, so that the cleaning member S held by the holding portion 717 of the second robot arm 71 can be accurately replaced. Yes.

  FIG. 35 shows the positional relationship between the third cleaning robot 702 and the cleaning member stock device 75c. In FIG. 35, the vertical driving range of the third robot arm 73 constituting the third cleaning robot 702 is the range indicated by the broken line H. Note that the cleaning member stock device 75c corresponding to the third robot arm 73 is installed at a position where it is difficult to replace the cleaning member S if it does not rotate at all. For this reason, every time the cleaning member S is replaced, the third robot arm 73 rotates the rotation unit 756 (for example, the position shown by the broken line H in FIG. 35). When the cleaning member S is to be replaced in this way, the cleaning member stock device 75c rotates, so that the cleaning member S held by the holding portion 737 of the third robot arm 73 can be accurately replaced. Yes.

  Here, returning to the description of the container cleaning process of the container cleaning system 100, as described above, the container main body 120 cleaned by the main body cleaning device 70 is carried into the suction cleaning device 80 shown in FIG. 36, 37, and 38, the suction cleaning device 80 includes a transport mechanism 82 that transports the container main body 120, and a dust collector 811 that sucks dust remaining in the container main body 120 cleaned by the main body cleaning device 70. And a vacuum hose 812 connected to the dust collector 811 and an outer frame 813 on which the vacuum hose 812 is retained. Further, the suction device 80 includes a lifting / lowering suction cylinder 814 provided at the center of the outer frame 813, and guide slides 815 a and 815 b provided on both sides of the lifting / lowering suction cylinder 814. The lower end portions of the lifting / lowering suction cylinder 814 and the guide slides 815a and 815b are respectively integrated with a rectangular parallelepiped suction portion 816. Accordingly, the suction unit 816 moves up and down in accordance with the lifting and lowering operation of the lifting and lowering suction cylinder 814. Further, the above-described vacuum hose 812 is connected to the upper end of the lifting / lowering suction cylinder 814. Accordingly, when the dust collector 811 is driven, dust or the like in the vicinity of the suction portion 816 integrated with the lower end portion of the lifting / lowering suction cylinder 814 is sucked and sucked into the dust collector 811 via the vacuum hose 812. Yes.

  The suction device 80 having such a configuration cleans the container main body 120 cleaned by the main body cleaning device 70 while moving it in a predetermined direction by the transport mechanism 82. First, the suction device 80 moves the container main body 120 to the position shown in FIG. Then, the lifting / lowering suction cylinder 814 is lowered while being guided by the guide slides 815a and 815b. At this time, the suction portion 816 connected to the lower end portion of the lifting / lowering suction cylinder 814 is positioned near the bottom portion 116 of the container main body 120. Then, when the dust collector 811 is driven and suction is started, the bottom portion 116 is sucked along the bottom portion 116 of the container main body 120 while being moved in a predetermined direction by driving the transport mechanism 82 as shown in FIGS. 39 and 40. Then, when all the suction (cleaning) of the bottom portion 116 of the container main body 120 is completed, the suction cleaning device 80 moves the lifting / lowering suction cylinder 814 to the base position (for example, the height position shown in FIG. 38) as shown in FIG. Returning, the container cleaning process by the suction cleaning device 80 is completed. After the cleaning by the main body cleaning device 70, by further performing suction cleaning of the bottom, it is possible to surely clean a corner portion where dust or the like is likely to remain. And it conveys to the unification apparatus 50 mentioned above by the conveyance mechanism 82. FIG.

  As described above, the bottom portion 116 is cleaned by the suction device 80, and the container main body 120 carried into the uniting device 50 and the lid unit 111 held by the suction member 33 of the slide unit 31 described above are united. The container 110 in which the lid portion 111 and the container main body 120 are combined in this way is conveyed to the carry-out device 90, and the cleaning process of the container 110 is completed. A plurality of (for example, three) containers 110 can be stored in the discharge device 90. In addition, the container 110 carried out from the carrying-out apparatus 90 is conveyed to the next process (for example, the filling process of the contents in the container 110, etc.) while the cleaning state is maintained.

  Because of the above configuration, the container cleaning system 100 cleans and separates the outer surface of the container 110 into which the container main body 120 and the lid 111 are integrally loaded by the loading device 10 by the outer surface cleaning device 20. The container 110 is separated into the lid part 111 and the container main body 120 by the device 30. And the lid part 111 cleans the upper and lower surfaces by the lid part cleaning apparatus 40. On the other hand, the container main body 120 raises the folded side plate by the side plate raising device 60, cleans the outer side surface and the inner side surface of the container main body 120 by the main body cleaning device 70, and further, the suction device 80 makes a predetermined direction The vicinity of the bottom portion 116 of the container main body 120 that moves is sucked. The container 110 can be cleaned by combining the lid portion 111 and the container main body 120 thus cleaned by the combining device 50 and unloading by the unloading device 90.

  As described above, the container cleaning system according to the present invention separates the container into which the container main body and the lid portion are carried together by the separation mechanism, and cleans each by the lid cleaning mechanism and the main body cleaning mechanism. Therefore, it is possible to clean the container in which the container main body and the lid are integrated so as to be more efficiently and sufficiently cleaned, and the container cleaning system for cleaning the container and the container cleaning system are used. It is useful as a container cleaning method.

DESCRIPTION OF SYMBOLS 10 Carry-in apparatus 11a, 11b Rotating roller 12 Conveyor belt 13 Base 20 Outer surface washing apparatus 20a, 20b Rotating brush 21 77 82 Conveying mechanism 25 Large frame part 30 Separating device 31 Slide unit 32 Conveying base 33 Adsorption member 33a Adsorbing part 34 Frame part 35 Lifting Cylinder 36a 36b Guide slide 40 Lid cleaning device 41 First robot arm 42 72 Support base 43 Mounting base 50 Combined device 60 Side plate raising device 70 Main body cleaning device 71 Second robot arm 73 Third robot arm 74 Suspension support mechanism 75 75a 75b 75c Cleaning member stock device 76 Lifting mechanism 80 Suction device 90 Discharging device 100 Container cleaning system 110 Container 111 Lid 112, 113, 114, 115 Side plate 116 Bottom 117 Gold frame 118 Tsu DOO 118a, 118b, 118c, 118d hole 119 pallet stop member 120 Container body 400 first cleaning robot 701 second cleaning robot 702 third cleaning robot

Claims (10)

A container cleaning system for cleaning a container comprising a container main body having a bottom and a plurality of side plates erected on the bottom, and a detachable lid that covers an open port facing the bottom of the container main body Because
A separation mechanism that separates the container body and the lid of a container that is carried in a state in which the container body and the lid are integrated;
A lid cleaning mechanism that cleans the lid separated from the container body by the separation mechanism;
A main body cleaning mechanism for cleaning the container main body separated from the lid by the separation mechanism;
A uniting mechanism for uniting the container body and the lid part so as to cover the opening of the cleaned container body by the cleaned lid part ;
A container cleaning system having an outer surface cleaning mechanism for cleaning an outer surface of a container in a state where the container main body and the lid before being carried into the separation mechanism are integrated . A container cleaning system for cleaning a container comprising a container main body having a bottom and a plurality of side plates erected on the bottom, and a detachable lid that covers an open port facing the bottom of the container main body Because
A separation mechanism that separates the container body and the lid of a container that is carried in a state in which the container body and the lid are integrated;
A lid cleaning mechanism that cleans the lid separated from the container body by the separation mechanism;
A main body cleaning mechanism for cleaning the container main body separated from the lid by the separation mechanism;
A uniting mechanism for combining the container body and the lid part so as to cover the opening of the cleaned container body by the cleaned lid part;
The container body, the plurality of side plates can be folded to the bottom side,
The separation mechanism separates a container in which the container body in which the plurality of loaded side plates are folded to the bottom side and the lid portion are integrated into the container body and the lid portion,
A container cleaning system comprising a side plate raising mechanism that raises a plurality of folded side plates of the container main body separated from the lid portion to form an opening facing the bottom portion . The container body, the plurality of side plates can be folded to the bottom side,
The separation mechanism separates a container in which the container body in which the plurality of loaded side plates are folded to the bottom side and the lid portion are integrated into the container body and the lid portion,
The container cleaning system according to claim 1 , further comprising a side plate raising mechanism that raises a plurality of folded side plates of the container main body separated from the lid portion to form an opening that faces the bottom portion. The lid cleaning mechanism mounts the first cleaning robot including a first robot arm that performs a predetermined operation for cleaning the lid, and a support mechanism that supports the first robot arm, and the lid. A mounting table and a lid moving unit that holds the outer surface of the lid and moves the lid up and down within a predetermined range from the mounting table;
At the tip of the first robot arm, there is provided a holding portion for holding a cleaning member containing a cleaning liquid for cleaning the lid portion,
The cleaning member held by the holding part of the first robot arm cleans the outer surface of the lid part placed on the mounting table, and the lid moving part has a predetermined distance from the mounting table. The container cleaning system according to any one of claims 1 to 3, wherein an inner surface of the lid portion held at a distant position is cleaned. The main body cleaning mechanism includes: a second cleaning robot including a second robot arm that performs a predetermined operation for cleaning the outside of the container main body; and a support mechanism that supports the second robot arm; A third cleaning robot having a third robot arm that performs a predetermined operation for cleaning the inside and a suspension support mechanism that supports the third robot arm in a suspended manner;
At the tip of each of the second robot arm and the third robot arm, there is provided a holding portion for holding a cleaning member containing a cleaning liquid for cleaning the container body,
The container cleaning system according to claim 4 , wherein the container main body is cleaned by the cleaning member held by each of the holding portions of the second robot arm and the third robot arm. The third cleaning robot is suspended and supported by a frame provided at a position higher than the container main body carried into the main body cleaning mechanism,
The container cleaning system according to claim 5, wherein the main body cleaning mechanism includes an elevating mechanism that moves the container main body up and down so that the third robot arm is positioned at substantially the center of the container main body to be loaded.   The said 2nd robot arm and a 3rd robot arm perform predetermined | prescribed operation | movement by pinching | interposing the some side plate which comprises the said container main body from the outer side and the inner side with the said cleaning member hold | maintained at the said holding | maintenance part. Or the container cleaning system in any one of 6. In the vicinity of at least one of the first cleaning robot, the second cleaning robot, and the third cleaning robot, a cleaning member stock mechanism including a plurality of the cleaning members is provided.
The container cleaning system according to any one of claims 4 to 7, wherein the cleaning robot in which the cleaning member stock mechanism is disposed in the vicinity replaces the cleaning member held by a holding portion of the robot arm. The cleaning member stock mechanism has a plurality of mounting surfaces for stocking a plurality of the cleaning members,
The container according to claim 8, further comprising: a rotating portion that rotates the attachment surface so that the holding portion of the robot arm in which the cleaning member stock mechanism is disposed in the vicinity can replace the cleaning member at a predetermined position. Cleaning system.   The container cleaning system according to any one of claims 1 to 9, further comprising a suction cleaning mechanism that sucks deposits on the bottom portion relatively moving along the container main body.

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