JP6322386B2 - Filling and packaging system - Google Patents

Description

  The present invention relates to a filling and packaging system in which a container is filled so as to pass through a plurality of continuous steps, and the container is filled with a filling material, and a lid is applied for packaging.

  Conventionally, in the packing and packaging industry, etc., the process of aligning the container body of various containers made of resin, glass, metal, etc. (alignment process), the process of cleaning the interior of the container body (cleaning) Step), a step of filling the container main body with a fixed amount (filling step), a step of attaching a cap (lid) (capping step), covering the outer lid with a shrink film, or sticking an exterior seal to the container Each process such as a process (packaging process) is connected by a conveying means such as a conveyor according to the order of processes, and desired filling and packaging are performed.

JP 2011-251819 A

  Here, the shape and the like of the container are not uniform, the filling material to be filled is different, and the desired finished state of the product can be used, for example, the presence or absence of the inner lid, the outer lid mounting method (fitting, winding), etc. Since there are various modes, it is not possible to cope with one type of work line. Of course, different transport means and units for executing each process are required for each type of container, as well as the space for disposing these units, and the transport means for containers that connect each process. Space is required, and further, a space for storing a unit for executing a process that is not incorporated in the filling and packaging of this time is also required.

  Further, when rearranging the filling and packaging work line for each type of container when performing multi-product small-quantity production, it takes a lot of time and labor to change the arrangement of units for executing each process. For example, it may be necessary to reset the drive timing and control of each device in each unit every time the filling and packaging work line is rearranged. For this reason, it is difficult to cope particularly with the case of producing a variety of products in small quantities.

  The present invention has been made in view of such problems. The rearrangement arrangement of the filling and packaging work line and the drive control of each unit in the subsequent work line are simple, and the entire system is downsized. Another object of the present invention is to provide a filling and packaging system that can perform filling and packaging that covers desired processes, and can also perform incidental processing such as module replacement and nozzle cleaning.

In order to achieve the above-described object, the filling and packaging system according to the first aspect of the present invention includes a filling step of filling the container with a filling material, which includes a conveyance unit that intermittently conveys the container by a predetermined angle. a transport unit each workspace for a plurality of working steps is from the upstream side of the main conveying path of circular and freely disposed in the working order of steps required to fill packaging to, selected for each of said work processes, distribution設自standing And a central control unit that controls the driving of the transport unit and each process unit in association with each other , and the main transport path is intermittently transported to the transport unit. Corresponding to each stop position of the container, there is provided a signal connector capable of electrically connecting each process unit positioned at each stop position. The central control unit grasps each process unit arranged for each work process by electrical connection to the signal connector of the transport unit, and drives each process unit of the container by the transport unit. Control that is synchronized with intermittent conveyance is executed .

In the filling and packaging system according to the second aspect of the present invention, each of the process units is provided with one member of a positioning connection mechanism including a pair of members that are fitted to each other, and the transport unit includes the main transport The other member of the positioning connection mechanism is provided that allows each process unit to be attached and detached in correspondence with each stop position of the container that is intermittently conveyed along the path .

In the filling and packaging system according to a third aspect of the present invention, the conveying means includes a rotating plate disposed so as to be intermittently rotatable by a driving force of a driving source by a rotating shaft provided in the vertical direction at the center of the stage; A pair of grippers formed so as to be able to hold one container at a time are arranged at equal intervals in the circumferential direction, and are arranged so as to be horizontally rotatable around the axis of the rotating shaft as the rotating plate rotates. The other member of the positioning coupling mechanism provided in the transport unit is formed as a truncated cone-shaped positioning convex portion protruding in the horizontal direction from the stage, and is provided in each process unit. One member of the coupling mechanism is formed as a positioning concave portion having a space for accommodating the positioning convex portion on an opposing surface facing the stage of each process unit. The positioning convex portion is threaded with a screw hole that opens in the center of the front end surface of the truncated cone, and the positioning concave portion has a screw hole that is centered at the bottom when the positioning convex portion is stored in the space portion. The process unit is configured to be fixedly disposed while positioning each process unit with respect to the transport unit using a screw that is screwed into the screw hole .

A filling and packaging system according to a fourth aspect of the present invention includes a work robot having an articulated arm driven and controlled by the central control unit, and the work robot is at least one process unit among the process units. It is possible to mount a module used in the above, or a part exchange module for exchanging the process unit and parts of the module .

In the filling and packaging system according to a fifth aspect of the present invention, the work robot is equipped with a module having a filling nozzle for filling the filling material into a container, and the main transport path is provided in a work area of the filling step. The filling operation is performed as a part of the process unit of the filling process following the intermittent movement of the container being conveyed .

  According to the filling and packaging system of the present invention, in particular, the rearrangement of the filling and packaging work line is simplified, and it is suitable for high-mix low-volume production, and further, it is possible to reduce the size of the entire system. .

Plane schematic block diagram in one Embodiment of the filling packaging system of this invention Explanatory drawing of the principal part of a structure of the container holding | maintenance apparatus in one Embodiment of the filling packaging system of this invention. Sectional drawing of the principal part in one Embodiment of the filling packaging system of this invention Sectional drawing which shows the positioning connection mechanism in one Embodiment of the filling packaging system of this invention. Electrical connection diagram of filling and packaging system in one embodiment of the filling and packaging system of the present invention

  The filling and packaging system according to the present invention will be described below with reference to FIGS.

  The filling and packaging system 1 of the present embodiment is selectively provided from the upstream side in the order of the filling and packaging process in the order of the filling and packaging on the main conveyance path, and the conveyance unit 2 for aligning and conveying the container (bottle container) B on the main conveyance path. Each process unit 3 (which may be plugged in to the transport unit 2), and a central control unit 4 that controls the driving of the transport unit 2 and each process unit 3 in association with each other. Yes.

  As shown in FIGS. 1 and 3, the transport unit 2 includes a stage 10 having a regular dodecagonal shape in plan view, and a rotary shaft 11 provided in the stage 10 and provided in the vertical direction at the center of the stage 10. The rotary plate 12 is rotatably arranged by the driving force of the drive source M, and is connected to the upper side of the rotary plate 12 by a support column 13a. The rotary plate 12 can rotate horizontally around the axis of the rotary shaft 11 as the rotary plate 12 rotates. A plurality of container holding devices 15 each having an annular plate 13 disposed in a pair and a pair of grippers 14 formed so as to be able to hold one container B at a time in the circumferential direction of the annular plate 13 (this embodiment) (24 in the form) is provided with the conveying means 16 arranged. And the drive of the drive source M (motor) is controlled by the central control part 4, and the angle | corner of 1 rotation (1 cycle) corresponding to a pair of gripper 14 of the container holding | maintenance apparatus 15 shall be 15 degrees, and a regular dodecagonal shape. The two container holding devices 15 are adjusted so as to stop directly facing one side of the stage 10, and the rotating plate 12 and the annular plate 13 are intermittently rotated (in this embodiment, the cycle time is 1.5 seconds / cycle). ). That is, two intermittent stop positions of the container B held by the pair of grippers 14 are provided for one side of the stage 10.

  Here, the pair of grippers 14 of the container holding device 15 are arranged so that the barrel portion of the container B can be gripped between the pair of grippers 14, and the center of the stage 10 (rotating shaft 11) with its tip end portion 14 a facing outward. Are arranged and arranged in parallel with the rotating plate 12 and the annular plate 13 in the circumferential direction with reference to the above. As shown in FIG. 2, the pair of grippers 14 according to the present embodiment is perpendicular to the annular plate 13 with the shaft holes formed in the base end portions 14 b of the grippers 14 being vertically stacked. The provided support shaft 17 is inserted and disposed, and is held so as to be rotatable about the vertical axis of the support shaft 17. Each base end portion 14b is connected to one end of two different arms 18a that constitute the pantograph 18 and are located on the gripper side (tip side). One end of two arms 18b located on the rear end side is coaxially and rotatably connected to the other end of the arm 18a located on the front end side. The other ends of the two arms 18b located on the rear end side extend in parallel to the rotary plate 12 and the annular plate 13, and are formed so as to be able to advance and retract in the radial direction from the center of the stage 10. The shaft is coaxially and rotatably supported. The slide shaft 20 includes an engaging member (not shown) that engages with a cam groove of a cam (not shown) that is fixedly arranged around the rotating shaft 11. When the engagement element moves in the cam groove, it moves forward and backward in the horizontal direction (radial direction) by following the shape of the cam groove. The base end portions 14a of the grippers 14 rotate forward and backward in different directions around the axis of the support shaft 17 via the pantograph 18 that expands and contracts as the slide shaft 20 advances and retreats so that both grippers 14 open and close. It has become. Note that the mechanism for opening and closing both grippers 14 is not limited to the configuration of the present embodiment, and other configurations may be used.

  When the pair of grippers 14 are in the open state, the container B is supplied between the pair of grippers 14 and is closed, thereby gripping the container B. And the container B can be conveyed by rotating the rotating plate 12 to a predetermined direction, hold | maintaining this state.

  Here, the rotation trajectory of the gripper 14 that grips the container B on the transport unit 2, more correctly, the movement trajectory in plan view of the container B that is held by the pair of grippers 14 and moves around the axis of the rotation shaft 11 is the main. It becomes a transport route.

  As shown in FIG. 3, a contact plate 21 that supports the container B held by the pair of grippers 14 from below is associated with each pair of grippers 14 and can be moved up and down from the rotary plate 12. In addition, the rotary plate 12 is rotatably arranged around the rotary shaft 11. In the present embodiment, a cam follower 22a is provided at the lower end of the shaft 22 disposed on the lower surface of the contact plate 21, and the shaft 22 is supported on the rotary plate 12 so that the contact plate 21 can move in the vertical direction. Further, in a desired section of the main transport path, the cam follower 22a is provided with an elevation adjustment inclined surface formed along the main transport path so that the contact plate 21 is disposed at a position where the container B is supported from below. A bottom plate lifting mechanism (not shown) corresponding to the cam is provided. As the rotary plate 12 rotates, the cam follower 22a is brought into sliding contact with the upper surface to slide the shaft 22 in the vertical direction. As a result, each process unit 3 to be described later can support the container B from below by raising the contact plate 21 at an important point when a predetermined process operation is performed. This configuration is an example, and of course, a configuration in which the shaft 22 disposed on the contact plate 21 is expanded and contracted by driving system control such as a motor may be employed.

  And the filling packaging system 1 of this embodiment is provided with the process unit 3 for every work process selectively provided from an upstream side in order of the filling packaging process order along the main conveyance path | route.

  Here, the filling unit packaging process for the container B and the arranged process unit 3 are, for example, a container material such as glass or resin, a kind of filling material such as food or medicine, and the filling is heated. The state of the filling, such as whether or not it is in a closed state, the sealing method of whether the cap is crimped or wound, the presence or absence of the inner lid, the presence and frequency of the inspection process, the presence or absence of the finishing process, etc. Can be rearranged according to various factors and requirements. In the following, an example of the work process arranged in the main transport path and the process unit 3 used in each work process will be described. The process unit 3 used in the work process of each filling and packaging is a known configuration. The unit is used. Detailed description of each component unit is omitted.

  In the filling and packaging system 1 of the present embodiment, the 7 o'clock direction in FIG. 1 (based on the center of the stage 10; hereinafter the same) is the upstream, and the main conveyance path is the clockwise direction to the 6 o'clock direction. And each work area is secured in the order of the work process of filling and packaging for the container B of this embodiment (shown in FIG. 2 shows a bottle container B with a resin handle) along the main transport path. A corresponding process unit 3 is disposed around the stage 10.

  Specifically, in the 7 o'clock direction that is the most upstream of the main transport path, a work area for the container feeding process for supplying the container B to the filling and packaging system 1 is provided, and the stage 10 is positioned in the 7 o'clock direction. A feeding unit 3A is disposed on one side. In the present embodiment, the feeding unit 3 </ b> A includes a conveyor 30 including an endless belt, a roller, and the like, so that empty containers B are transported one by one on a sub-transport path including the conveyor 30. It has become. Then, by intermittent rotation of the rotating plate 12 by 15 °, an empty container B can be supplied between the pair of grippers 14 that are stopped in the work area in an open state, and the conveyor 30 serving as the downstream end of the sub-transport path is One end is disposed on the main transport path.

  Next, in the 8 o'clock direction to 10 o'clock direction in FIG. 1, a work area of the filling process for filling the first liquid in the intermittently transported container B is provided, and the stage 10 is in the 8 o'clock direction to 10 o'clock direction. A filling unit 3B is disposed on the side of each side where it is located. In the present embodiment, in the filling step, four nozzles 32 are used and the corresponding four empty containers B are simultaneously filled with the first liquid. That is, each nozzle 32 has four empty positions at positions (this position is referred to as an initial filling position) facing each side located in the 8 o'clock direction and 9 o'clock direction of the stage 10 by four intermittent rotations of the rotating plate 12. At the timing when the containers B are aligned, the four empty containers B are inserted into the four empty containers B at the same time, moving in an arc shape so as to follow the intermittent conveyance of the containers B, and the supply tubes from the supply tank 33. The first liquid is metered and filled through (not shown), and the positions where these four containers B face the sides of the stage 10 located at the 9 o'clock direction and the 10 o'clock direction (this position is the filling end position) The first liquid filling is completed during the period until the movement of (i.e., 2). The drive operation is controlled so that the containers B are simultaneously removed from the containers B and returned to the initial filling position during the next two cycles. The nozzle 32 of the filling unit 3B may complete the filling at a fixed position without following the container B that is intermittently conveyed (refer to a supplementary filling step described later).

  Further, in the direction of 12 o'clock in FIG. 1, a work area of a supplemental filling process for filling the second liquid is provided for the container B in which the fixed filling of the first liquid has been completed. A supplementary filling unit 3C is disposed on one side located at the position. In the supplementary filling step, supplementary filling is simultaneously performed on the two already-filled containers B using the two nozzles 35. The nozzles 35 are intermittently transported and are loosely inserted into the containers B at the same time when two containers B filled with the first liquid facing the one side of the stage 10 located in the 12 o'clock direction are aligned. After filling the liquid tank 33 while measuring the second liquid through a liquid supply tube (not shown), the liquid is discharged from the container B at the same time.

  Next, in the direction of 1 o'clock in FIG. 1, an operation area of an inner plug process for applying an inner cap to the container B that has been filled is provided, and is supplied to one side of the stage 10 that is positioned in the 1 o'clock direction. A pushing unit 3D for pushing the pushing lid into the container opening is disposed.

  Further, in the direction of 2 o'clock in FIG. 1, a work area for a first inspection process for inspecting the state up to the inner plug is provided, and the inner plug is located on one side of the stage 10 located in the 2 o'clock direction. An inner plug inspection unit 3E having a sensor 37 for confirming the state of the liquid and a liquid level inspection unit 3F having a sensor 38 for inspecting the liquid level of the filled material are provided.

  1 is provided with a work area for an outer cap process for applying an outer lid to the container B, and one side of the stage 10 located in the 3 o'clock direction can be rotated and raised and lowered. A winding tightening unit 3G for winding the outer lid held by the capping head 38 and fitted to the mouth of the container B around the mouth of the container B is provided.

  Further, in the direction of 4 o'clock in FIG. 1, a work area for a second inspection process for inspecting the state of the outer plug is provided, and on one side of the stage 10 located in the 4 o'clock direction, An outer plug inspection unit 3H having a sensor 39 for confirming the state is provided.

  In the direction of 5 o'clock in FIG. 1, there is provided a work area for a container feeding process for feeding the filled container B from the filling and packaging system 1 to the next process, on one side of the stage 10 located in the 5 o'clock direction. Is provided with a feeding unit 3I. In the present embodiment, the feeding unit 3I includes a conveyor 41 such as an endless belt or a roller, and the filled containers B are transported one by one on the sub-transport path including the conveyor 41, One end of the conveyor 41, which is the upstream end of the sub-conveying path, is disposed with the main conveying path facing it. Then, by intermittent rotation of the rotating plate 12 by 15 °, the pair of grippers 14 stopped in the work area of the container feeding process are opened in the closed state, and the filled state that has been determined to be non-defective in the second inspection process is opened. The container B can be placed on one end of the conveyor 41 facing the main conveyance path.

  In FIG. 1, at 6 o'clock, which is the most downstream of the main transport path, a work area for the container recovery process for recovering the container B determined to be defective in the first and second inspection processes is provided. A discharge unit 3J is disposed on one side of the stage 10 located in the 6 o'clock direction. In the present embodiment, the discharge unit 3J includes a conveyor 43 made of an endless belt, a roller, or the like, and the filled containers B are conveyed one by one on the auxiliary conveyance path made of the conveyor 43. One end of the conveyor 43, which is the upstream end of the transport path, is disposed so as to face the main transport path. Then, by intermittent rotation of the rotating plate 12 by 15 °, the pair of grippers 14 that are stopped in the working area of the container B recovery process are opened and the pair of grippers 14 are opened, and defective products are obtained in the first and second inspection processes. The container B determined to be can be placed on one end of the conveyor 43 facing the main conveyance path.

  Further, in the present embodiment, a sealing unit that seals a sealing member serving as an inner plug to the mouth of the container B as an inner plug process unit 3 or an outer plug process is provided around the stage 10. A fitting unit or the like for fitting an outer lid serving as an outer stopper to the mouth of the container B as the unit 3 is disposed so as to be selectively disposed in a predetermined work area. An exchange module unit 3K for temporarily placing and storing various modules for changing the type of each unit in the work process at a predetermined position is disposed. In FIG. 1, the replacement module unit 3 </ b> K is provided in the 11 o'clock direction of the stage 10.

  As described above, in the filling and packaging system 1 of the present embodiment, the container is transported along the circular main transport path from the work area of the container feeding process to the work area of the container feeding process. It is possible to secure a work area in the work process for filling and packaging the container B, and to selectively arrange units for performing the work in each work area.

  That is, the work areas of the respective work processes including the work area of the container feeding process and the work area of the container feeding process are arranged on the circumference as the movement locus of the pair of grippers 14 that move as the rotating plate 12 rotates. Secure according to the shape and material of B, the state of the filling material to be filled, and the like. Thus, the filling and packaging system 1 of the present embodiment can be established very compactly by forming the main transport path of the container B into a circular shape, and a necessary work area is provided in the main transport path. be able to. Further, the process unit 3 used for each work process is arranged along the main conveyance path so as to be able to work in each work area. Therefore, a wide arrangement space is not easily secured, and the entire system has a compact configuration. For example, when there is only one kind of liquid filling material to be filled, the supplementary filling region in the 12 o'clock direction and the supplementary filling unit 3B in the filling and packaging system 1 of FIG. 1 are removed from the transport unit 2 of the filling and packaging system. Good. Of course, it is good also as control which does not drive supplementary filling unit 3B.

  In addition, a plurality of different process units 3 can be adopted even in the same work process, and the process unit 3 is appropriately selected according to the type of the container B or the filling material to be filled, and a predetermined work area. By arranging in, the width of the variation as the filling and packaging system 1 can be expanded. For example, the filling / packaging system shown in FIG. 1 is provided with a pushing unit 3D for pushing the pushing lid into the opening of the container B as the process unit 3 for the inner plug process, but it may be a mayonnaise or ketchup. When a sealing member as an inner lid is sealed in the opening of the resin container B, the sealing unit that is waiting around the stage 10 may be disposed in place of the pushing unit. In this way, the reworking of the filling and packaging work line can be performed very simply because the arrangement of the units for executing the respective steps is simply changed. In addition, the entire system can be reduced in size.

  In the present embodiment, a central control unit 4 that controls the driving of the transport unit 2 and each unit of each work process in association with each other and an operation panel 5 that is a setting input unit thereof are disposed. .

  By rotating the rotating plate 12 in a predetermined direction via the rotating shaft 11 of the transport unit 2 while controlling the driving source M by the central control unit 4, the container B is moved by the pair of grippers 14 at 7 o'clock. Until it is gripped in the work area of the container feeding process in the direction and released in the work area of the container feeding process in the 5 o'clock direction or in the work area of the container feeding process in the 6 o'clock direction. Be transported. At that time, in each work area, the process work of each unit is executed in synchronization with the conveyance of each container B.

  Table 1 below summarizes the relationship between the positions of the work areas for carrying out the work steps and the units arranged in the work areas in the present embodiment. In the filling and packaging system of the present embodiment, for example, the outer lid can be disposed in a work area where the packaging operation is performed after the outer lid is tightened by the winding device, and the outer lid is covered with a shrink film, The packaging process of attaching an exterior seal to a container is omitted, but a film coating unit for covering a shrink film so as to cover the surface of the outer lid, a heating unit for heating and shrinking the shrink film, and a product seal on the exterior of the container The sticker sticking unit and the like for sticking are also made to stand by in the vicinity so that they can be arranged on the main transport path of the present embodiment so as to be operable with respect to the container transported.

  Further, as shown in FIG. 4, the transport unit 2 and each process unit 3 are formed with a positioning connection mechanism that positions each process unit 3 with respect to the transport unit 2 so as to be detachable.

  Specifically, in the present embodiment, each of the side walls 10a connected to each side of the stage 10 that has a polygonal shape in plan view of the transport unit 2 has a truncated cone shape that protrudes horizontally from the side wall 10a. A positioning convex portion 50 is provided. The positioning convex portions 50 are numbered from 1 to 24 in order from each intermittent stop position (for convenience, the intermittent stop position located at the uppermost stream for the first intermittent stop position to the 24th intermittent stop position. , The same) is provided at two locations in the vertical direction of the side wall 10a. The positioning concave portions 51 corresponding to the positioning convex portions 50 are arranged so that the upper and lower positions of the positioning concave portions 51 are aligned with the opposing surface of the exterior of each process unit 3 provided in the filling and packaging system 1 facing the side wall 10a of the stage 10. It is formed as a space for accommodating the frusto-conical positioning convex portion 50.

  In the present embodiment, the positioning convex portion 50 is screwed with a screw hole 52 that opens at the center of the tip surface of the truncated cone. The positioning recess 51 is formed so that the screw hole 52 faces the center of the bottom when the positioning protrusion 50 is accommodated in the space. A screw 53 that is screwed into the screw hole 52 is disposed at the center of the bottom. The screw 53 has a proximal end projecting toward the opposite opening of the positioning recess 51 and is screwed to the bottom, and a handle 54 for rotating the screw 53 forward and backward is provided at the proximal end. Is provided.

  Then, a positioning concave portion 50 provided in a desired process unit 3 selected from one or a plurality of process units 3 for executing the work process, with respect to the positioning convex part 50 corresponding to the intermittent stop position in the predetermined work area. 51, and in this state, the handle 54 is rotated, the screw 53 is rotated in the forward direction, and is screwed into the screw hole 52, thereby positioning each process unit 3 with respect to the transport unit 2. It is configured to be fixedly arranged while performing. In this way, each process unit for the stage 10 is fixedly disposed while positioning the positioning unit 50 with respect to the transport unit 2 by fitting the positioning projection 50 and the positioning recess 51. The height position, the distance dimension, etc. of each member of the apparatus constituting the apparatus 3 can always be made constant. For example, in the case of the liquid level inspection unit 3F, the fitting height position between the positioning convex portion 50 and the positioning concave portion 51 is constant regardless of which side of the stage 10 is provided. Therefore, the sensor can be used as a sensor 38 for immediately inspecting the liquid level without changing minute settings.

  Furthermore, in the filling and packaging system 1 of the present embodiment, the first intermittent stop position to the 24th intermittent stop position are respectively provided on the side walls 10a connected to the respective sides of the stage 10 that is polygonal in plan view of the transport unit 2. The stage side signal connector SC is provided in correspondence with the first intermittent stop position stage side signal connector SC1 to the 24th intermittent stop position stage side signal connector SC24 for convenience. The same shall apply hereinafter. Further, a unit-side signal connector UC connected to the stage-side signal connector SC is provided on the facing surface of the exterior of each process unit 3 provided in the filling and packaging system 1 that faces the side wall 10a of the stage 10. ing.

  Then, each process unit 3 is fixedly disposed while being positioned with respect to each side of the stage of the transport unit 2 by a positioning connection mechanism, and the stage side signal connector SC and the unit side signal connector UC are electrically connected. The central control unit 4 of the filling and packaging system 1 grasps the position of the arrangement and allows the driving of each process unit 3 to be synchronized with the conveyance of the container B by the conveyance unit 2. It becomes possible. In the present embodiment, in order to synchronize the conveyance of the container B and the operation of each work unit, the central control unit 4 converts the detection result of the rotary encoder 6 disposed in the conveyance unit 2 into a signal, and Control is performed so that each process unit 3 is driven together with the work robot 7 described later in accordance with the rotation timing of each gripper 14 by 15 °. Of course, each process unit 3 may be provided with a sensor for detecting the conveyance of the container B to the corresponding intermittent stop position, and the process unit 3 may be controlled to be driven when the sensor detects the container B. . The driving of each process unit 3 may be controlled directly by the central control unit 4 or may be controlled by the control unit for each process unit 3. However, in order to enable control to stop driving of the entire filling and packaging system 1 when trouble occurs in the transport unit 2 or any one of the process units 3, the driving of each process unit 3 is performed by the filling and packaging system. It is desirable that the central control unit 4 can control the entire system. FIG. 5 shows an electrical connection diagram of the filling and packaging system 1 in the present embodiment. In addition, the driving source of each process unit 3 may secure a power source and use the supplied power. If possible, the power source required when the signal connector is arranged is supplied from the transport unit 2. It may be supplied.

  Furthermore, the function of the stage-side signal connector SC is given to the positioning convex portion 50 as the positioning connection mechanism provided on the stage 10 side, and the positioning as the positioning connection mechanism provided on each process unit 3 side. It is good also as a structure which provided the function of the said stage side signal connector SC to the recessed part 51 for an operation. As a result, each process unit 3 is fixedly disposed while being positioned with respect to each side of the stage of the transport unit 2 by the positioning coupling mechanism, and at the same time, the stage side signal connector SC and the unit side signal connector UC are connected. Then, the central control unit 4 of the filling and packaging system 1 grasps the arrangement position, and can control to synchronize the driving of each process unit 3 with the conveyance of the container B by the conveyance unit 2.

  Returning to FIG. 1, in the present embodiment, the central hole portion of the annular plate 13 is used to replace each module used in each process unit 3 or the process unit 3 and the component parts of the module. A work robot 7 having an articulated arm 8 that can be mounted with a parts replacement module and is driven and controlled by the central control unit 4 is disposed.

  The articulated arm 8 of the work robot 7 in this embodiment corresponds to an axis that moves a portion corresponding to the wrist up and down, an axis that rotates a portion corresponding to the wrist, an axis that moves a portion corresponding to the elbow up and down, and an elbow. There are six axes (joints) that rotate the part, the axis that moves the part corresponding to the entire arm back and forth, and the axis that rotates the part corresponding to the entire arm around the vertical axis. The work robot 7 is arranged as a part of at least one unit of the transfer unit 2 or each of the process units 3, and is arranged and managed at a predetermined position within a movable range of the articulated arm 8. Among the plurality of modules constituting each process unit 3, it is a process unit 3 of a work process necessary for filling and packaging the supplied container B, and is driven as a part of the process unit 3 allocated to itself. The module to be mounted is selected and automatically mounted. Further, the already mounted module is automatically removed, and the drive control is performed so that the module is recovered to a predetermined position within the operating range of the articulated arm 8. .

  Specifically, in this embodiment, the work robot 7 includes four filling nozzles 32 that drive the filling as a part of the filling unit 3B in the filling step of filling each container B with the first liquid. At the initial filling position in the work area of the filling process, the module is lowered and each of the nozzles 32 is inserted into the container opening of the corresponding container B, and the insertion depth of the nozzle 32 is adjusted according to the filling amount. While the module is raised so as to adjust the height, the filling operation is performed while moving the module in a circular arc shape to the filling completion position by following the intermittent movement of the container B being conveyed along the conveyance path. The module is lifted so that the nozzle 32 is removed from the opening of the container B, and the drive is controlled so as to return to the initial filling position again.

  Here, control by the central control part 4 of the filling packaging system 1 of this embodiment is demonstrated anew.

  The central control unit 4 is electrically connected to the driving source M that rotates the rotating plate 12 that constitutes the transport unit 2 and the encoder 6, and is driven while feeding back a rotation detection signal of the rotating plate 12 by the encoder 6. Control the drive of the source M. As described above, the pair of grippers 14 open and close as the driving source M is driven.

  Further, the central control unit 4 is for stage-side signals provided on the 24 side walls connected to the respective sides of the stage 10 of the transport unit 2 so as to correspond to the first intermittent stop position to the 24th intermittent stop position, respectively. Each intermittent stop position is obtained by transmitting / receiving signals to / from each process unit 3 via the connector SC and the unit-side signal connector UC connected (plug-in) to each stage-side signal connector SC. The type of the process unit 3 connected to is detected, and the driving of the process unit 3 is controlled.

  In this embodiment, the stage-side signal connector SC1 at the first intermittent stop position located in the 7 o'clock direction in FIG. 1 has a feeding unit having a conveyor 30 and the like for feeding the container B into the transporting unit 2. A 3A unit side signal connector UC is connected. The central control unit 4 connects the stage-side signal connector SC1 and the unit-side signal connector UC of the feeding unit 3A connected (plugged in) to the stage-side signal connector SC at the initial connection of both connectors. Thus, it is detected that the feeding unit 3A is disposed at the first intermittent stop position, and the feeding unit 3A such as the conveyor 30 or a device for placing the containers B on the conveyor 30 one by one is configured. Control the drive of each device.

  In FIG. 1, the stage-side signal connector SC3 at the third intermittent stop position located in the 8 o'clock direction includes a liquid supply tank 33 in which the filling material is stored in the container B, a nozzle 32 for filling the first liquid, A unit-side signal connector UC of a filling unit 3B that has a liquid supply tube or the like that connects the tank 33 and the nozzle 32 and measures the filling amount is connected. The central control unit 4 performs the third intermittent operation via the stage-side signal connector SC3 and the unit-side signal connector UC connected (plugged in) to the stage-side signal connector SC3 at the initial connection of both connectors. It is detected that the filling unit 3B is disposed at the stop position.

  As described above, in the present embodiment in which four nozzles 32 constituting the filling unit 3B are simultaneously used, the central control unit is detected by detecting that the filling unit 3B is disposed at the third intermittent stop position. 4 is based on the number of nozzles 32 set in advance, the filling initial position in the present embodiment from the third intermittent stop position to the sixth intermittent stop position, the filling completion position from the fifth intermittent stop position to the eighth intermittent stop Control up to the position.

  Here, in this embodiment, the four nozzles 32 constituting the filling unit 3B move the container B serving as a main transfer path with respect to the base 47 of the module attached to the articulated arm 8 of the work robot 7. On the arc of the same curvature as the locus, they are arranged at intervals of 15 ° around the axis of the central axis of the movement locus.

  Then, the articulated arm 8 to which the module is connected is driven and controlled as a part of the filling unit 3B, the leading empty container B is transported to the sixth intermittent stop position, and four empty containers are filled at the initial filling position. At the timing when B is transported, each of the four nozzles 32 is inserted into the corresponding container B, and moved on the movement trajectory of the container B so as to follow the intermittent transport of the container B. Each container B moves by two cycles, the top container B reaches the eighth intermittent stop position, and when the four containers B to be filled this time are positioned at the filling completion position, each nozzle 32 is moved to each container. The operation of the work robot 7 is controlled so as to be simultaneously removed from B and to return the nozzles 32 to the initial filling position again.

  At the same time, the central control unit 4 measures the first liquid from the liquid supply tank 33 and supplies the liquid into the container B while the container B and the nozzle 32 are moved in the two cycles. To control.

  Subsequently, in FIG. 1, the stage-side signal connector SC9 at the ninth intermittent stop position located in the 11 o'clock direction is connected to the articulated arm 8 of the work robot 7 via the module or the articulated arm 8. A unit-side signal connector UC of an exchange module unit 3K that houses a module attached to each process unit 3 in a predetermined position is connected.

  The replacement module unit 3K is a unit for storing each module, which is appropriately replaced as required for filling and packaging, in a replaceable state by the control of the articulated arm 8, and thus constitutes the replacement module unit 3K. The device or the like is not driven and controlled in response to a signal from the central control unit 4. However, by connecting the stage-side signal connector SC and the unit-side signal connector UC of the replacement module unit 3K in this way, the central control unit 4 arranges the replacement module unit 3K around the main transport unit 2. The installation position can be detected.

  The detection method of the position where each module is accommodated in the replacement module unit 3K and the delivery method of each module with the multi-joint arm 8 can follow the configuration and method of the module unit in a known machining center.

  Further, in FIG. 1, the stage-side signal connector SC11 at the eleventh intermittent stop position located in the 12 o'clock direction has a container B filled with the first liquid in the filling process from the 8 o'clock direction to the 10 o'clock direction. In order to further fill a predetermined amount of the second liquid, a liquid supply tank 36 storing the second liquid, two nozzles 32 for filling the second liquid, a tube connecting the tank 36 and the nozzle 35, and the like are provided. The unit-side signal connector UC of the auxiliary filling unit 3B that performs filling while measuring the filling amount is connected.

  The central control unit 4 replenishes at the eleventh intermittent stop position via the stage side signal connector SC11 at the eleventh intermittent stop position and the unit side signal connector UC of the supplementary filling unit 3B at the initial connection of both connectors. It is detected that the filling unit 3B is disposed.

  As described above, in this embodiment in which two nozzles 35 constituting the supplementary filling unit 3B are used at the same time, by detecting that the supplementary filling unit 3B is disposed at the eleventh intermittent stop position, The control unit 4 is configured to perform filling (complementary filling) of the second liquid simultaneously on two containers B filled with the first liquid that stop at the eleventh intermittent stop position and the twelfth intermittent stop position. Control and fill.

  Here, in the present embodiment, the two nozzles 35 constituting the filling device of the supplementary filling unit 3B are provided with an interval of 15 ° around the central axis of the movement locus, and serve as the main transport path. It is supported in a state where it is positioned directly above the eleventh intermittent stop position and the twelfth intermittent stop position on an arc having the same curvature as the movement trajectory of the container B, and is arranged so that it can be raised and lowered simultaneously.

  The central control unit 4 controls the driving of the auxiliary filling device when the container B filled with the first liquid is transported to the twelfth intermittent stop position, and during the intermittent transport time of the container B, The nozzle 35 is lowered in the direction of the corresponding container B so that the liquid can be injected into each container B, and after filling a predetermined amount of the second liquid, the auxiliary filling device is moved up again. Control.

  In FIG. 1, the stage side signal connector SC14 at the 14th intermittent stop position located in the 1 o'clock direction is filled with an inner plug one by one into the mouth of the container B that is intermittently transported on the main transport path. Accordingly, a unit-side signal connector UC of the push-in unit 3D having an inner plug push-in device and an inner plug supply device that supplies the inner plug to the push-in device one by one is connected.

  The central control unit 4 pushes the pushing unit at the 14th intermittent stop position via the stage side signal connector SC14 at the 14th intermittent stop position and the unit side signal connector UC of the pushing unit 3D at the initial connection of both connectors. It is detected that 3D is arranged.

  As described above, in the present embodiment in which the container B is intermittently conveyed, the central control unit 4 detects that the filling unit 3B is disposed at the 14th intermittent stop position, so that the central control unit 4 performs the 14th intermittent stop. Control is performed so that the inner stopper held in the inner stopper holder of the pushing device is pushed into the mouth of the container B at the timing when the container B filled with up to the second liquid is conveyed and stopped.

  Further, in FIG. 1, the stage-side signal connector SC15 at the fifteenth intermittent stop position located at 2 o'clock is provided with a sensor 37 for detecting and confirming the state of the inner plug pushed into the mouth of the container B. The unit side signal connector UC of the inner plug inspection unit 3E is connected.

  At the beginning of the connection of both connectors, the central control unit 4 has an inner plug at the 15th intermittent stop position via the stage-side signal connector SC15 at the 15th intermittent stop position and the unit-side signal connector UC of the push-in unit 3D. It is detected that the inspection unit 3E is disposed.

  And the inner stopper inspection unit 3E inspects the pushing state of the inner stopper at the timing when the container B in a state where the inner stopper is applied at the fifteenth intermittent stop position is conveyed and stopped, and determines the presence or absence of a defect. The determination result is transmitted to the central control unit 4 via the stage-side signal connector SC15 at the fifteenth intermittent stop position and the unit-side signal connector UC of the push-in unit 3D. A control that sets a flag as a defective container for the container B that is determined to be defective in the pushing state of the stopper, and removes the container B from the conveyance path of the container B that has been normally filled and packaged in a later process. do.

  Next, in the stage-side signal connector SC16 at the 16th intermittent stop position located in the 2 o'clock direction in FIG. 1, the liquid level height of the first liquid and the second liquid filled in the container B is a predetermined position. The unit-side signal connector UC of the liquid level detection unit 3F provided with a photoelectric sensor 38 for detecting and confirming whether or not there is is connected.

  At the beginning of the connection of both connectors, the central control unit 4 performs the sixteenth intermittent stop via the stage-side signal connector SC16 at the sixteenth intermittent stop position and the unit-side signal connector UC of the liquid level height detection unit 3F. It is detected that the liquid level detection unit is disposed at the position.

  The liquid level inspection unit 3F then fills the liquid level of the first liquid and the second liquid at the timing when the container B with the inner stopper placed at the 16th intermittent stop position is transported and stopped. It is inspected whether or not the height is at a predetermined height position of the container B, and the presence or absence of a defect is determined.

  The determination result is transmitted to the central control unit 4 via the stage-side signal connector SC16 at the sixteenth intermittent stop position and the unit-side signal connector UC of the push-in unit 3D. A flag is set for the container B that is determined to have a problem of excess or deficiency, and in a later step, the container B is controlled to be removed from the transport path of the container B that has been normally filled and packaged.

  Further, in FIG. 1, the stage-side signal connector SC18 at the 18th intermittent stop position located in the 3 o'clock direction has an outer plug one by one with respect to the mouth of the container B that is intermittently transported on the main transport path. Is connected to a unit-side signal connector UC of a tightening unit 3G having an outer plug tightening device and an outer plug supply device for supplying the outer plug to the tightening device one by one.

  The central control unit 4 winds at the 18th intermittent stop position via the stage side signal connector SC18 at the 18th intermittent stop position and the unit side signal connector UC of the winding fastening unit 3G at the initial connection of both connectors. It is detected that the fastening unit 3G is disposed.

  As described above, in the present embodiment in which the containers B are intermittently conveyed one by one, the central control unit 4 detects the fact that the filling unit 3B is disposed at the eighteenth intermittent stop position. At the timing when the container B is transported to the 18 intermittent stop position and stopped, control is performed so that the outer stopper held in the outer stopper holder of the winding device is wound around the mouth of the container B.

  1, the stage-side signal connector SC20 at the twentieth intermittent stop position located in the 4 o'clock direction in FIG. 1 includes a sensor 39 that detects and confirms the state of the outer cap wound around the mouth of the container B. The unit-side signal connector UC of the outer plug inspection unit 3H is connected.

  At the beginning of the connection of both connectors, the central control unit 4 at the 20th intermittent stop position via the stage side signal connector SC at the 20th intermittent stop position and the unit side signal connector UC of the outer plug inspection unit 3H. It is detected that the outer plug inspection unit 3H is disposed.

  Then, the outer plug inspection unit 3H inspects the state of the wound outer plug at the timing when the container B with the inner plug applied to the 20th intermittent stop position is transported and stopped, and checks for defects. judge.

  The determination result is transmitted to the central control unit 4 via the stage-side signal connector SC at the twentieth intermittent stop position and the unit-side signal connector UC of the outer plug inspection unit 3H. The central control unit 4 A flag is set for the container B that is determined to have a defect in the tightened state of the outer cap, and control is performed in a later step to remove the container B from the transport path of the container B that has been normally filled and packaged. To do.

  Further, in FIG. 1, the stage side signal connector SC22 at the 22nd intermittent stop position located in the 5 o'clock direction is for the unit side signal of the feeding unit 3I having a conveyor or the like for feeding the container B out of the transport unit 2. A connector UC22 is connected. The central control unit 4 stops the 22nd intermittent stop through the stage side signal connector SC22 and the unit side signal connector UC connected to the stage side signal connector SC of the feeding unit 3I at the initial connection of both connectors. As a result of detecting that the feeding unit 3I is disposed at the position and judging the malfunction in the inner plug inspection unit 3E, the liquid level inspection unit 3F, and the outer plug inspection unit 3H, normal filling is performed. In order to feed out the container B without the flag from the transport unit 2 and send it to the subsequent process, the driving of each device constituting the feed unit 3I such as the conveyor is controlled.

  At this time, by opening the pair of grippers 14 holding the container B on which the flag is not set at the 22nd intermittent stop position, the container B is placed on the conveyor 41 of the feeding unit 3I and is fed in that state. By controlling the driving of each device constituting the unit 3I, the container B can be transported to the next process.

  Similarly, in FIG. 1, the stage side signal connector SC23 at the 23rd intermittent stop position located in the 6 o'clock direction is provided with a conveyor 43 and the like for discharging the container B from the transport unit 2 to the filling and packaging system 1. A unit-side signal connector UC of the discharge unit 3J is connected. The central control unit 4 discharges at the 23rd intermittent stop position via the stage-side signal connector SC and the unit-side signal connector UC connected to each stage-side signal connector SC at the initial connection of both connectors. As a result of detecting that the unit 3J is disposed and judging the malfunction in the inner plug inspection unit 3E, the liquid level inspection unit 3F, and the outer plug inspection unit 3H, a defect has occurred and a flag is set. In order to discharge the container B from the transport unit 2 to the filling and packaging system 1, the driving of each device constituting the discharge unit 3J such as the conveyor 43 is controlled.

  In the present embodiment, the second intermittent stop position, the tenth intermittent stop position, the twelfth intermittent stop position, the thirteenth intermittent stop position, the seventeenth intermittent stop position, the nineteenth intermittent stop position, the twenty-first intermittent stop position, and None of the unit side signal connectors UC is connected to the stage side signal connectors SC2, SC10... At the 24th intermittent stop position.

  Further, in the present embodiment, a seal as an inner plug, which can be disposed in place of the pushing unit 3D at the 14th intermittent stop position, is attached to the mouth of the container B around the main conveyance path. A fitting unit for fitting an outer plug, which can be arranged in place of the sealing unit and the winding unit 3G at the eighteenth intermittent stop position, is arranged. The seal unit and the fitting unit are arranged in a predetermined work area in accordance with the type of the container B and the filling material to be filled.

  Next, operation | movement of the filling packaging system 1 of this embodiment is demonstrated.

  In the present embodiment, in the main transport path, the container B is intermittently transported by 15 ° by intermittent rotation of the rotating plate 12 of the transport unit 2.

  In the work area of the container B feeding process secured in the 7 o'clock direction in FIG. 1, the container B is transported one by one on the sub-conveying path composed of the conveyor 30 of the feeding unit 3 </ b> A, and on the circular main conveying path. The empty container B sent between the pair of grippers 14 in the open state at the first intermittent stop position grips the body portion by the pair of grippers 14 of the transport unit 2 at the first intermittent stop position. Is done. And by the intermittent rotation of the rotating plate 12 of the conveyance unit 2, it is conveyed in order to the work area of the filling process secured in the 8 o'clock direction to the 10 o'clock direction.

  In the filling process, the central control unit 4 aligns four empty containers B at the initial filling position constituted by the third to sixth intermittent stop positions by four intermittent rotations of the rotating plate 12 (timing). ) Is determined by the signal of the encoder 6 and the work robot 7 is controlled to drive the articulated arm 8.

  The work robot 7 causes the four nozzles 32 arranged to be loosely inserted into the four empty containers B aligned at the initial filling position. Then, the articulated arm 8 is moved in an arc shape by about 30 ° to the filling end position consisting of the fifth to eighth intermittent stop positions so as to follow the intermittent conveyance of the container B, and according to the filling amount. The nozzle 32 is raised and removed after completion of filling.

  Meanwhile, the filling device measures the first liquid from the liquid supply tank 33 based on the signal transmitted from the central control unit 4, and the predetermined amount of time until these four containers B are located at the filling end position. The filling is controlled so as to finish the filling of the first liquid.

  When the filling of the four containers B is completed, the next empty container B at the top is still in the fourth intermittent stop position. The work robot 7 includes four robots until the empty container B located at the fourth intermittent stop position is transported to the sixth intermittent stop position, that is, during the 30 ° intermittent rotation of the rotating plate 12. The nozzle 32 is returned to the initial filling position again.

  The container B filled with the first liquid is sequentially moved to the work area of the supplemental filling step in which the second liquid filling is provided in the 12 o'clock direction by the intermittent rotation of the rotating plate 12 of the transport unit 2. Be transported.

  In the supplementary filling step, the central control unit 4 determines that the container 6 filled with two first liquids at the eleventh and twelfth intermittent stop positions by the intermittent rotation of the rotating plate 12 is aligned (timing) with the encoder 6. And the supplementary filling unit 3B is controlled to insert the two nozzles 32 into the respective containers B at the same time, perform a predetermined amount of replenishment points, and then simultaneously remove the second nozzles 32 from the respective containers B. Perform supplementary filling with liquid.

  The container B filled with the first liquid and the second liquid is sequentially transported to the work area of the inner plug process provided in the 1 o'clock direction by the intermittent rotation of the rotating plate 12 of the transport unit 2.

  In the inner plug process, the central control unit 4 determines the state (timing) of the container B where the filling is completed at the 14th intermittent stop position based on the signal of the encoder, and controls the pushing unit 3D as an inner plug. Is pushed into the container B opening of the container B held by the pair of grippers 14, and the inner cap is applied. In addition, in pushing unit 3D, based on the signal from central control part 4, control which supplies an inner cap to the lid holding part of a pushing device is performed suitably.

  The container B provided with the inner stopper is sequentially transported to the work area of the first inspection process provided in the 2 o'clock direction by intermittent rotation of the rotating plate 12 of the transport unit 2.

  In the first inspection process, the central control unit 4 determines the state (timing) of the container B with the inner stopper at the fifteenth intermittent stop position based on the signal of the encoder 6, and the sensor of the inner stopper inspection unit 3E. To detect abnormalities in the condition of the inner plug. When an abnormality of the inner plug is detected, an abnormality detection signal is returned from the inner plug inspection unit 3E to the central control unit 4, and the central control unit 4 sets an abnormality occurrence flag for the container B and The conveyance of the container B is managed.

  Similarly, the central control unit 4 determines the state (timing) in which the container B with the inner stopper is located at the sixteenth intermittent stop position based on the signal of the encoder 6, and controls the liquid level inspection unit 3F. Then, an overfill or underfill of the filling liquid is detected. When an abnormality in the filling amount is detected, an abnormality detection signal is returned from the liquid level detection unit 3F to the central control unit 4, and the central control unit 4 sets an abnormality occurrence flag for the container B. To manage the conveyance of the container B.

  The container B in which the state of the inner plug and the filling amount of the filling liquid is confirmed is sequentially transferred to the work area of the outer plug process provided in the 3 o'clock direction by the intermittent rotation of the rotating plate 12 of the transfer unit 2. .

  In the outer plug process, the central control unit 4 determines the state (timing) of the container B with the inner plug at the eighteenth intermittent stop position based on the signal of the encoder 6, and controls the winding unit 3G3D. The outer lid held by the capping head 38 and fitted to the mouth of the container B is wound around the mouth of the container B. In the winding unit 3G, control for holding the outer lid on the capping head 38 is appropriately executed based on a signal from the central control unit 4.

  The container B to which the outer cap is applied is sequentially conveyed to the work area of the second inspection process provided in the 4 o'clock direction by the intermittent rotation of the rotating plate 12 of the conveyance unit 2.

  In the second inspection step, the central control unit 4 determines the state (timing) of the container B with the inner stopper at the twentieth intermittent stop position based on the signal of the encoder 6 and controls the outer stopper inspection unit 3H. Then, an abnormality in the tightening state of the outer plug is detected. When a winding abnormality is detected, an abnormality detection signal is returned from the outer plug inspection unit 3H to the central control unit 4.

  The container B to which the outer cap is applied is sequentially conveyed to the work area of the container feeding process provided in the 5 o'clock direction by the intermittent rotation of the rotating plate 12 of the conveyance unit 2.

  In the container feeding process, the central control unit 4 determines the state (timing) of the container B with the outer stopper wound around the 22nd intermittent stop position based on the signal of the encoder 6, and the occurrence of an abnormality in the container B is detected. Determine if a flag is set.

  At the 22nd intermittent stop position, the upstream end of the conveyor 41 of the feeding unit 3I constituting the sub-conveyance path is arranged facing the main conveyance path, so that the central control unit 4 is not flagged. When the container B is conveyed to the 22nd intermittent stop position, the container B is upstream of the conveyor 41 of the feeding unit 3I from the pair of grippers 14 that are opened by intermittent rotation of the rotating plate 12 by 15 °. The conveyor 41 is driven at the timing of being placed on the end, and the container B that has been filled is transported on the sub-transport path and sent out to the next process.

  Further, when the container B on which the flag is raised is transported to the 22nd intermittent stop position, the conveyor 3I is not driven even if the container B is placed on the upstream end of the conveyor 41 of the feeding unit 3I.

  Then, the container B on which the flag is raised is gripped by the pair of grippers 14 that are closed again by the intermittent rotation of the rotating plate 12 every 15 °, and is provided in the 6 o'clock direction. It is conveyed to the work area.

  In the container feeding process, the central control unit 4 determines the state (timing) in which the container B with the outer cap wound is positioned at the 23rd intermittent stop position based on the signal of the encoder, and the rotating plate 12 in 15 ° increments. From the pair of grippers 14 that have been opened due to the intermittent rotation of the conveyor, the conveyor 43 is driven at a timing at which the flagged container B is placed on the upstream end of the conveyor 43 of the discharge unit 3J. The container B is transported on the sub-transport path and collected.

  Thereafter, the pair of grippers 14 that have opened the container B are moved again in the 7 o'clock direction in which the container B is fed by the intermittent rotation of the rotating plate 12 by 15 °.

  As in this embodiment, the pair of grippers 14 of the container holding device 15 are opened at the 22nd intermittent stop position and then once closed, and then the 23rd intermittent stop position of the adjacent position. The cam grooves of the cams with which the slide shafts 20 provided in each pair of grippers 14 are engaged are arranged so as to be opened again at that time (after that, the open state is maintained until the first intermittent stop position). That is essential.

  As described above, according to the filling and packaging system 1 of the present embodiment, the process system 3 that requires the working line for filling and packaging is disposed around the main conveyance path formed on the circumference, thereby making the entire system extremely Can fit in a compact. In addition, it does not deny that the container discharged | emitted from the main conveyance path | route of the said filling packaging system 1 performs the process in another process further.

  As the control of the work robot 7, for example, the module of the work robot 7 is a gripper module that holds the container B, and the main transfer path is set as a part of the transfer unit 2 or the process unit 3. The container B to be transported is gripped at a predetermined position and transferred to the work table of the process unit 3 disposed around the stage 10 or to the upstream end of the sub-transport path provided in the process unit 3. After the operation in the unit 3, it is also possible to perform drive control of the transfer so as to return to the predetermined position on the main transport path from the work table or from the downstream end of the sub transport path. In this case, the sub-transport path can be formed in various shapes such as a straight line, an ellipse, and a circle.

  Further, the work robot 7 attaches a module exchange module to the multi-joint arm 8 and removes the module already attached to the transfer unit 2 or the process unit 3 as in a known machining center. The transport unit 2 and each process unit 3 that have been collected at a predetermined position within the operating range of the joint arm 8 and / or arranged and managed at a predetermined position within the movable range of the multi-joint arm 8 are arranged. A module to be driven is selected as a part of the process unit 3 of the work process required for filling and packaging the supplied container B from the plurality of modules to be configured, and the corresponding transport unit 2 or the process unit 3 is selected. The drive control may be performed so as to be mounted on.

  For example, when the module of the filling nozzle 32 in the filling unit 3B of the filling and packaging system 1 having the above-described configuration is a module including two filling nozzles 32 and the type of the tightening chuck in the outer plug unit is changed, The work robot 7 first returns the module that supports the four filling nozzles 32 at the tip of the articulated arm 8 to a predetermined position. Next, a chuck replacement module for replacing the chuck disposed in the outer cap unit winding device is mounted, and the chuck is removed from the outer plug unit winding device using the module. The removed chuck is returned to the chuck storage position, a new chuck to be replaced is held, and the chuck is mounted on the winding device. Subsequently, it returns to a predetermined position, the chuck replacement module is returned, and then a module including two filling nozzles 32 is mounted. Thereafter, the work robot 7 uses the module including the two filling nozzles 32 and performs filling by being controlled as part of the filling apparatus.

  In this way, by controlling the drive of the articulated arm 8, it is possible to automatically and precisely execute a simple mold change of the module of the filling unit 3B, and it is simpler than performing the module positioning device manually. You can do it. In addition, it is not necessary to replace or rearrange the entire transport unit 2 or the process unit 3 accompanying the mold change, and the work line for filling and packaging can be easily changed. Therefore, in particular, even when multi-product small-quantity production is performed, the work line for filling and packaging can be reconfigured in a short time for each type of container B, and the time during which filling and packaging work cannot be performed is reduced. Therefore, it is possible to increase the efficiency of filling and packaging.

  In addition, this invention is not limited to embodiment mentioned above, A various change can be made in the limit which does not impair the characteristic of this invention.

  The types of process units that can be used for each work process and work process and work area required for filling and packaging are not limited to those described above. For example, in the previous embodiment, the case where only the filling unit is provided as the process unit in the filling process has been described. However, as the process unit of the filling process, a filling liquid recovery unit or a CIP (Cleaning in Place = stationary) is further provided. A cleaning unit or the like may be arranged. The filling liquid recovery unit is a unit that wastes a filling liquid or the like that has been supplied to the nozzle but is in an unsuitable state for filling. For example, when filling a container with a filling liquid that has reached a desired temperature, the temperature of the filling liquid that has reached the nozzle may not reach the desired temperature at the initial stage of filling operation. Therefore, a means for detecting the temperature of the filling liquid reaching the nozzle is provided on the working arm side or the filling liquid recovery unit side, and the temperature of the filling liquid reaching the nozzle is detected while filling the recovery port of the filling liquid recovery unit. While discharging the liquid, it is possible to wait until the filling liquid reaches a desired temperature, and when the temperature of the filling liquid is detected, the nozzle can be moved to perform a predetermined filling. . Similarly, a known CIP unit may be arranged and control may be performed so that the filling nozzle is automatically washed at a predetermined frequency set in advance. Even in such a case, the stage-side signal connector SC provided at the position where these process units are arranged is connected to the unit-side signal connector UC of each process unit, and the work of the work robot to which the nozzle module is connected is performed. There is no change in that the driving of the arm is controlled by the central control unit. As described above, in the filling and packaging unit of the present invention, it is possible to execute additional processing such as module replacement and nozzle cleaning.

  Further, the number of the articulated arms 8 of the work robot 7 is not limited to one. When a plurality of multi-joint arms 8 are provided, for example, one of them is used to support the filling nozzle 32 of the filling device as described above, while following the container B being conveyed. In the other one, instead of the discharge unit 3J disposed at the 23rd intermittent stop position, the containers B with flags that are transported on the conveyor under the control of the feeding unit are picked up one by one. Thus, it is possible to control the drive so as to collect in a separate collection box or the like.

  In addition, the arrangement of each process unit 3 with respect to the transport unit 2 is not necessarily fixed physically and mechanically.

  In the present embodiment, the container that has been determined to be defective in the first inspection process and the second inspection process is also transported through the main transport path without omitting the work on the non-defective product after the determination. The determined container may be controlled so that the work for the non-defective product after the determination is omitted and finally discharged from the discharge unit in the container recovery process.

DESCRIPTION OF SYMBOLS 1 Filling packaging system 2 Transport unit 3 Process unit 3A Feeding unit 3B Filling unit 3C Supplementary filling unit 3D Pushing unit 3E Inner plug inspection unit 3F Liquid level inspection unit 3G Winding unit 3H Outer plug inspection unit 3I Feeding unit 3J Discharge Unit 3K Replacement module unit 4 Central control unit 5 Operation panel 6 Encoder 7 Work robot 8 Articulated arm 10 Stage 10a Side wall 11 Rotating shaft 12 Rotating plate 13 Ring plate 14 Gripper 14a Tip portion 14b Base end portion 15 Container holding device 16 Transport Means 17 Support shaft 18 Pantograph 20 Slide shaft 21 Contact plate 22 Shaft 30 Conveyor 32 Nozzle 33 Liquid supply tank 35 Nozzle 36 Liquid supply tank 37 Sensor (inner plug)
38 Sensor (liquid level)
39 Sensor (external plug)
41 conveyor 43 conveyor 47 base (filling nozzle module)
50 Positioning Convex 51 Positioning Concave 52 Screw Hole 53 Screw 54 Handle M Drive Source B Container UC Unit Side Signal Connector SC Stage Side Signal Connector

Claims (5)

A conveying means for intermittently conveying the containers by a predetermined angle, the packing comprising a filling step of filling the container, the main transport path of each work area of the plurality of working steps required for filling and packaging to the container circular A transport unit that can be arranged in the order of the work steps from the upstream side ,
A process unit that is selected and arranged freely for each work process;
In a filling and packaging system having a central control unit that controls each drive in association with the transport unit and each process unit ,
A signal connector that can be electrically connected to each process unit positioned at each stop position, corresponding to each stop position of the container that is intermittently transported along the main transport path, to the transport unit. Is provided,
The central control unit grasps each process unit arranged for each work process by an electrical connection to the signal connector of the transport unit, and drives each process unit intermittently by the transport unit. A filling and packaging system that performs control synchronized with conveyance . Each process unit is provided with one member of a positioning and coupling mechanism comprising a pair of members that fit together,
  The transport unit is provided with the other member of the positioning connection mechanism that allows each process unit to be attached and detached in correspondence with each stop position of the container that is intermittently transported along the main transport path. The filling and packaging system according to claim 1. The conveying means includes a pair of rotating plates arranged to be intermittently rotatable by a driving force of a driving source by a rotating shaft provided in the vertical direction at the center of the stage, and a pair of containers formed so as to hold one container at a time. A plurality of grippers arranged at equal intervals in the circumferential direction, and provided with an annular plate disposed so as to be horizontally rotatable around the axis of the rotary shaft as the rotary plate rotates.
  The other member of the positioning coupling mechanism provided in the transport unit is formed as a frustoconical positioning convex portion protruding in a horizontal direction from the stage,
  One member of the positioning coupling mechanism provided in each process unit is formed as a positioning recess having a space for accommodating the positioning protrusion on the opposing surface of the process unit facing the stage. And
  The positioning convex portion is threaded with a screw hole that opens in the center of the tip surface of the truncated cone.
The positioning recess is formed so that a screw hole faces the center of the bottom when the positioning protrusion is stored in the space, and each process unit is attached to the transport unit using a screw that is screwed into the screw hole. The filling and packaging system according to claim 2, wherein the filling and packaging system is configured so as to be fixedly disposed while being positioned. A work robot having an articulated arm driven and controlled by the central control unit, the work robot being a module used for at least one process unit of the process units, or the process unit and the module; The filling and packaging system according to any one of claims 1 to 3, wherein a part exchange module for exchanging part parts is mountable. The work robot is equipped with a module having a filling nozzle for filling the filling material into the container, and follows the intermittent movement of the container that is transported through the main transport path in the work area of the filling process. The packaging and filling system according to claim 4, wherein a filling operation is performed as a part of the process unit of the process.