JP6856440B2 - Grippers and grippers vs. - Google Patents

Description

The present invention relates to a gripper used for delivery of bottle-shaped containers in a beverage filling system.

As a transport device in a facility for filling a bottle-shaped container such as a PET bottle with a beverage, a plurality of grippers are provided and the grippers are used to grip and transport the body of the container. In such a container transport device, if the size and shape of the container are different, the diameter of the container at the gripping position of the gripper changes, so that there is a problem that the gripper must be replaced or adjusted. Therefore, various grippers have been proposed for gripping the neck portion, which has a smaller difference in size and shape between containers than the body portion (for example, Patent Document 1 and Patent Document 2).

Patent Document 1 describes, as a transport device capable of improving compatibility with various types of containers and improving the stop positioning accuracy of the container, the bottom surface of the container is vacuum-sucked by the vacuum suction portion of the conveyor, and the neck portion is held by a gripper. Suggest to do. Patent Document 1 assists the gripping force of the neck portion by the gripper with the suction force of the vacuum suction portion, reduces the gripping force that the gripper should have according to the diameter of the neck portion, and reduces the gripping force that the gripper should have according to the diameter of the neck portion. Expand the dual-purpose range.

Patent Document 2 describes a pressing body for pressing a brim by an elastic force for the purpose of providing a gripper that can be stably gripped without tilting and rotating even a bottle-shaped container having a thin brim. It is proposed to be provided in the holding groove.

Japanese Unexamined Patent Publication No. 2006-213377 Japanese Unexamined Patent Publication No. 2014-076518

In a beverage filling system, there are cases where an empty container is gripped before the product liquid is filled and cases where a container is gripped after the product liquid is filled. The container before the product liquid is filled is called an empty container, and the container after the product liquid is filled is sometimes called an actual container.
The gripper grips the neck of the empty container before the product liquid is filled, but the gripper generally grips the body of the actual container after the product liquid is filled. There are two main reasons.
The first reason is that before filling the product liquid, the empty container is lightweight, so there is no problem in gripping the neck, but the actual container has a large weight, so the inertia increases, and it is gripped with a gripper. The container may swing around the part.
If the force for gripping the neck is increased by the gripper, the swing of the actual container can be suppressed, but for that purpose, it is necessary to increase the elastic force of, for example, the spring that generates the gripping force of the gripper.

The second reason is that the actual container after filling with the product liquid is covered with a cap, but the part above the brim cannot be used for gripping because it will be deformed or damaged if the cap is gripped with a strong force. Is.
In the case of an empty container, the gripper on the delivery side grips the part below the brim, and the gripper on the receiving side grips the part above the brim to deliver and receive the container. After filling, the top and bottom of the brim cannot be gripped with a pair of grippers.

From the above, it is an object of the present invention to provide a gripper capable of preventing swinging even in an actual container covered with a cap without requiring a large gripping force.

The present invention relates to a gripper comprising a first gripping claw and a second gripping claw, which grips the gripped portion of the container when it is closed and releases the gripped portion when it is open.
The gripper of the present invention includes a first support wall in which the first gripping claw supports the gripped portion from the outside in the radial direction below the brim formed in the gripped portion, and the second gripping claw is below the brim. A second support wall for supporting the gripped portion from the outside in the radial direction and a third support wall for supporting the cap on the container from the outside in the radial direction are provided.

In the gripper of the present invention, the first support wall and the second support wall are provided so as to face each other, and the first support wall has a longer circumferential length for supporting the gripped portion than the second support wall. Is preferable.
In this case, since the first gripping claw has a larger length in the longitudinal direction than the second gripping claw, the length of the first support wall in the circumferential direction can be made longer than that of the second support wall.

In the gripper of the present invention, the first support wall and the third support wall are provided so as to face each other, and the third support wall has a longer circumferential length for supporting the gripped portion than the second support wall. Is preferable.

In the gripper of the present invention, the first support wall is supported over a length of 1/4 or more of the outer peripheral length of the gripped portion, and the third support wall is supported over a length of 1/4 or more of the outer peripheral length of the cap. It is preferable to do.

In the gripper of the present invention, it is preferable that the first support wall and the third support wall support the gripped portion over a central angle of 180 ° or more.

The present invention provides not only a gripper as a single unit, but also a pair of grippers for giving and receiving containers.
The gripper pair includes a first gripper that grips the gripped portion of the bottle-shaped container, and a second gripper that receives the container delivered from the first gripper and grips the gripped portion.

The first gripper in the present invention is composed of a first gripping claw and a second gripping claw. When the gripper is closed, the gripped portion is gripped, and when the gripped portion is opened, the gripped portion is released. A first support wall for supporting the gripped portion from the outside in the radial direction is provided below the brim formed in the grip portion, and the second gripping claw has a diameter of the gripped portion below the brim formed in the gripped portion. A second support wall that supports from the outside in the direction and a third support wall that supports the cap over the container from the outside in the radial direction are provided.

The second gripper in the present invention is composed of a third gripping claw and a fourth gripping claw. When the gripper is closed, the gripped portion is gripped, and when the gripped portion is open, the gripped portion is released. The fourth support wall is provided below the brim to support the gripped portion from the outside in the radial direction, and the fourth gripping claw is provided on the container with the fifth support wall that supports the gripped portion from the outside in the radial direction below the brim. A sixth support wall that supports the covered cap from the outside in the radial direction is provided.

In the gripper pair of the present invention, the first gripper and the second gripper are provided at positions where the first support wall and the fourth support wall are point-symmetrical, and the second support wall and the fifth support wall are provided at point-symmetrical positions. Has been done.

In the first gripper in the present invention, the first support wall and the second support wall are provided so as to face each other, and the first support wall has a longer circumferential length for supporting the gripped portion than the second support wall. , Is preferable.
In this case, since the first gripping claw has a larger length in the longitudinal direction than the second gripping claw, the length of the first support wall in the circumferential direction can be made longer than that of the second support wall.

In the first gripper in the present invention, the first support wall and the third support wall are provided so as to face each other, and the third support wall has a longer circumferential length for supporting the gripped portion than the second support wall. , Is preferable.

In the first gripper in the present invention, the first support wall supports the gripped portion over a length of 1/4 or more of the outer peripheral length, and the third support wall has a length of 1/4 or more of the outer peripheral length of the cap. It is preferable to support over.

In the first gripper of the present invention, it is preferable that the first support wall and the third support wall support the gripped portion over a central angle of 180 ° or more.

In the second gripper in the present invention, the fourth support wall and the fifth support wall are provided so as to face each other, and the fourth support wall has a longer circumferential length for supporting the gripped portion than the fifth support wall. , Is preferable.
In this case, since the third grip claw has a larger longitudinal dimension than the fourth grip claw, the length of the fourth support wall in the circumferential direction for supporting the grip portion can be made longer than that of the fifth support wall.

In the second gripper in the present invention, the fourth support wall and the sixth support wall are provided so as to face each other, and the sixth support wall has a longer circumferential length for supporting the gripped portion than the fifth support wall. , Is preferable.

In the second gripper of the present invention, the fourth support wall supports over a length of 1/4 or more of the outer peripheral length of the gripped portion, and the sixth support wall has a length of 1/4 or more of the outer peripheral length of the cap. It is preferable to support over.

In the second gripper of the present invention, it is preferable that the fourth support wall and the sixth support wall support the gripped portion over a central angle of 180 ° or more.

According to the present invention, the first gripped claw includes a first support wall that supports the gripped portion below the brim formed in the gripped portion, and the second gripped claw holds the gripped portion below the brim. In addition to the supporting second support wall, a third support wall that supports the cap is provided. In the present invention, since the first support wall and the third support wall grip the container at different positions in the height direction, even an actual container covered with a cap can swing around without requiring a large gripping force. Can be prevented.

It is a perspective view which shows the gripper pair which concerns on embodiment of this invention, (a) shows the 1st gripper 10 alone, (b) shows the 1st gripper 10 and 2nd gripper 20 together, (c) is The second gripper 20 is shown alone. The gripper pair according to the embodiment is shown, (a) is a plan view, and (b) is a side view showing excluding the first gripping claw 11 and the fourth gripping claw 25. It is a top view which shows the process of re-grabbing a container with the gripper pair which concerns on embodiment in the order of (a), (b), (c). The distribution of the support when the container is gripped by only one gripper is schematically shown, (a) is the distribution of the circumferential support in the neck, (b) is the distribution of the circumferential support in the cap, (c). ) Is the distribution in the height direction at the neck and cap. The state of support when gripping the container with a pair of grippers is shown, (a) is the distribution of the circumferential support in the neck, (b) is the distribution of the circumferential support in the cap, and (c) is the distribution of the circumferential support in the neck and the cap. It is the distribution in the height direction in.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
In the present embodiment, as shown in FIGS. 1 and 2, the first gripper 10 on the delivery side of the bottle-shaped container 100 and the second gripper 10 that receives and grips the container 100 held by the first gripper 10. It relates to a gripper to one with a gripper 20.
The gripper pair 1 is a place where the container 100 can be handed over from the first gripper 10 to the second gripper 20 by grasping the portion below the brim 102 of the container 100 whose spout is covered with the cap 103 and the cap 103. It has the characteristics of. Whether or not it is below the brim 102 is specified with reference to the container 100 in which the spout faces upward and stands upright. That is, the lower part of the container 100 to be formed below the brim 102 is the lower part referred to here.
Hereinafter, the structure of gripper pair 1 will be described, and then the effect of gripper pair 1 will be described.

[First gripper 10]
As shown in FIG. 1, the first gripper 10 includes a first gripping claw 11 and a second gripping claw 15, and grips the container 100 when the first gripping claw 11 and the second gripping claw 15 are closed. The first gripping claw 11 and the second gripping claw 15 are preferably made of a metal material such as stainless steel by a method such as casting or shaving. The same applies to the second gripper 20.
As shown in FIG. 1A, the first gripping claw 11 is provided at one end in the longitudinal direction, and has an arc-shaped first support wall 12 that follows the outer circumference of the neck portion 101 that is the gripped portion of the container 100. A swing shaft 13 provided at the other end in the longitudinal direction and serving as the center of swing of the first gripping claw 11 is provided.
As shown in FIG. 1 (a), the second gripping claw 15 is provided at one end in the longitudinal direction and has an arc-shaped second support wall 16 (FIG. 3 (a)) that follows the outer circumference of the neck 101 of the container 100. And a swinging shaft 17 provided at the other end in the longitudinal direction and serving as a swinging center of the second gripping claw 15. Further, the second gripping claw 15 includes a first cap support 18 that supports the cap 103 of the container 100 from the side surface.

As shown in FIGS. 1 (a) and 2 (a), the first grip claw 11 and the second grip claw 15 are arranged so that the first support wall 12 and the second support wall 16 face each other. In the first gripper 10, the side where the first support wall 12 and the second support wall 16 face each other is referred to as the inside, and the opposite side is referred to as the outside.
The first grip claw 11 and the second grip claw 15 have substantially line-symmetrical shapes with respect to the inside, but the first support wall 12 of the first grip claw 11 is the second support of the second grip claw 15. It is formed longer than the wall 16 (see FIG. 3C). This is because the first gripping claw 11 is formed to have a larger longitudinal dimension than the second gripping claw 15.
The reason why the second support wall 16 is short is that the fourth support wall 22 of the third gripping claw 21 of the second gripper 20 is long.

As shown in FIGS. 1 (a) and 2 (a), the second gripping claw 15 includes a first cap support 18 having an arc-shaped third support wall 19.
The first cap support 18 is fixed to the tip end side of the second gripping claw 15 so that the third support wall 19 abuts on the outer peripheral surface of the cap 103 when the first gripper 10 grips the container 100.
As shown in FIG. 2B, the first cap support 18 rises from the front surface (upper surface in the drawing) of the second gripping claw 15 and is fixed to the second gripping claw 15 by, for example, a fastening means. 18A and a support portion 18B protruding parallel to the front surface from the tip of the fixing portion 18A are provided. The third support wall 19 is provided on a surface facing the inside of the support portion 18B.
The third support wall 19 of the first cap support 18 is longer than the second support wall 16 of the second grip claw 15 and has the same length as the first support wall 12 of the first grip claw 11.
Although an example is shown in which the first cap support 18 is manufactured as a separate body and fixed to the second gripping claw 15, for example, the second gripping claw 15 and the first cap support 18 may be integrally manufactured by casting. Good.

Here, the lengths of the first support wall 12, the second support wall 16, and the third support wall 19 are such that the first grip claw 11, the second grip claw 15, and the first cap support 18 are the neck 101 of the container 100 and the cap. Corresponds to the length that supports 103 from the outside in the radial direction. As shown in FIG. 3A, the first support wall 12 has a length exceeding 1/4 of the outer peripheral length of the neck 101, but the second support wall 16 has a length less than 1/4 of the outer peripheral length of the neck 101. It only has a length. Therefore, the container 100 cannot be stably gripped through the neck portion 101 only by the first support wall 12 of the first grip claw 11 and the second support wall 16 of the second grip claw 15. However, the second gripping claw 15 is provided with the first cap support 18, and the third support wall 19 of the first cap support 18 faces the first support wall 12 and exceeds 1/4 of the outer peripheral length of the cap. Has a length. Therefore, at different positions in the height direction of the container 100, the first gripper 10 can stably grip the neck portion 101 and the cap 103 of the container 100 from the outside in the radial direction. The arc of 1/4 of the outer peripheral length is 45 ° when the central angle is taken.
Although the second support wall 16 has a short length, it supports the neck portion 101 to stabilize the grip of the container 100 on the neck portion 101 together with the first support wall 12.

The first gripping claw 11 and the second gripping claw 15 swing around the swing shafts 13 and 17, respectively, as shown by arrows SW in FIGS. 1 (a) and 1 (c). Note that FIGS. 1A and 1B show a state in which the first gripping claw 11 and the second gripping claw 15 are closed to grip the container 100. When releasing the grip of the container 100, the first grip claw 11 may be rotated clockwise in the drawing, and the second grip claw 15 may be rotated counterclockwise by a predetermined angle. It is said that the operations of the first gripping claw 11 and the second gripping claw 15 when releasing the grip of the container 100 are opened.

Since the means for opening and closing the first grip claw 11 and the second grip claw 15 is widely known, the illustration and detailed description thereof are omitted here, but the first grip claw 11 and the second grip claw 11 and the second grip claw 11 and the second grip claw 11 and the second grip claw 11 and the second grip claw 11 and the second grip claw 11 and the second grip claw 11 and the second grip claw 11 and the second grip claw 11 and the second grip claw 11 and the second grip claw 11 and the 2nd The gripping claw 15 can be opened and closed. For example, the elastic force of the coil spring is applied in the direction in which the first gripping claw 11 and the second gripping claw 15 are closed, and the cam follower included in the first gripping claw 11 interferes with the rail-shaped cam, so that the first gripping claw 11 And the second gripping claw 15 can be opened.
The opening / closing operation of the first gripping claw 11 and the second gripping claw 15 is not limited to the mechanical mechanism, and can be performed by using an electric power source such as an electromagnetic solenoid or an electric motor.

[Second gripper 20]
Next, the configuration of the second gripper 20 will be described. However, although the second gripper 20 is different from the first gripper 10 in that it has a symmetrical relationship, it can be regarded as having the same structure. Therefore, the configuration of the second gripper 20 will be described below with reference to the first gripper 10.

As shown in FIGS. 1 (c) and 2 (a), the second gripper 20 includes a third grip claw 21 and a fourth grip claw 25, and the third grip claw 21 and the fourth grip claw 25 are closed. Sometimes the container 100 is gripped.
As shown in FIG. 1 (c), the third gripping claw 21 has an arcuate fourth support wall 22 that follows the outer circumference of the neck portion 101 of the container 100 and a swing that is the center of swing of the third gripping claw 21. A shaft 23 is provided.
As shown in FIG. 1 (c), the fourth gripping claw 25 has an arcuate fifth support wall 26 that follows the outer circumference of the neck portion 101 of the container 100 and a swing that is the center of swing of the fourth gripping claw 25. A shaft 27 is provided. Further, the fourth gripping claw 25 includes a second cap support 28 that supports the cap 103 of the container 100 from the side surface.

The third grip claw 21 corresponds to the first grip claw 11, and the fourth support wall 22 of the third grip claw 21 has the same length as the first support wall 12 of the first grip claw 11, and the container 100 The fourth support wall 22 and the first support wall 12 are arranged at positions symmetrical with each other at the time of giving and receiving. That is, when the container 100 is transferred, the third gripping claw 21 and the first gripping claw 11 grip the neck portion 101 of the container 100 from a position shifted by 180 °.

Next, the fourth gripping claw 25 corresponds to the second gripping claw 15, and the fifth support wall 26 of the fourth gripping claw 25 has the same length as the second support wall 16 of the second gripping claw 15. When the container 100 is given and received, the fifth support wall 26 and the second support wall 16 are arranged at positions symmetrical with each other.
Therefore, the fourth support wall 22 is longer in the circumferential direction than the fifth support wall 26. This is because the third gripping claw 21 is formed to have a larger longitudinal dimension than the fourth gripping claw 25.

The second cap support 28 corresponds to the first cap support 18 and has a point-symmetrical relationship with the first cap support 18. The sixth support wall 29 of the second cap support 28 has the same length as the third support wall 19 of the first cap support 18, and the sixth support wall 29 and the third support are used when the container 100 is transferred. The walls 19 are arranged at positions symmetrical with each other.

As described above, when the container 100 is delivered and received, the fourth gripping claw 25 and the third gripping claw 21 grip the neck portion 101 of the container 100 from opposite positions shifted by 180 ° in phase, and the third gripping claw 21 The two cap supports 28 and the first cap support 18 grip the cap 103 of the container 100 from opposite positions shifted by 180 ° in phase.

[Transfer of container 100]
Before the container 100 is exchanged between the first gripper 10 and the second gripper 20, as shown in FIG. 3A, the first gripper 10, that is, the first gripping claw 11 and the second gripping claw 15 It is closed and the second gripper 20, that is, the third grip claw 21 and the fourth grip claw 25 are open.
At this time, the neck portion 101 of the container 100 is supported by the first support wall 12 of the first grip claw 11 and the second support wall 16 of the second grip claw 15, and the cap 103 of the container 100 is the first of the first cap support 18. It is supported by the three support walls 19. In this way, the container 100 is gripped by the first gripper 10.

Next, when the container 100 is exchanged, as shown in FIG. 3 (b), in addition to the first gripper 10 being closed, the second gripper 20 is also closed.
At this time, the neck portion 101 of the container 100 is the first support wall 12 of the first grip claw 11, the second support wall 16 of the second grip claw 15, the fourth support wall 22 of the third grip claw 21, and the fourth grip claw. The fifth support wall 26 of 25 grips the entire outer circumference except for a small part.
Further, the third support wall 19 of the first cap support 18 and the sixth support wall 29 of the second cap support 28 each grip a peripheral length of 1/4 or more of the outer peripheral length of the cap 103.

When the delivery to the container 100 to the second gripper 20 is completed, as shown in FIG. 3C, the second gripper 20 remains closed, but the first gripper 10 opens.
At this time, the neck portion 101 of the container 100 is supported by the fourth support wall 22 of the third gripping claw 21 and the fifth support wall 26 of the fourth gripping claw 25, and the cap 103 of the container 100 is the second cap support 28 of the second cap support 28. (6) It is supported by the support wall 29.

[Effect of this embodiment]
Hereinafter, the effect of the first gripper 10 will be described. The second gripper 20 also has the same effect, but the description thereof will be omitted.
In addition to gripping the neck portion 101 below by the brim 102 with the first support wall 12 of the first grip claw 11 and the second support wall 16 of the second grip claw 15, the first gripper 10 is above the brim 102. The cap 103 is supported by the third support wall 19 of the first cap support 18. That is, as shown in FIG. 4B, the first gripper 10 grips the container 100 by the first support wall 12 and the third support wall 19 at different positions in the height direction of the container 100. In FIG. 4C, the white arrows indicate the support of the first support wall 12, the second support wall 16, and the third support wall 19, respectively.

The container 100 is conveyed while being gripped by the first gripper 10, but since the container 100 is accelerated by this transfer, the container 100 generates the vibration Os shown in FIG. 4 (c). For example, if only the brim 102 is gripped by the first support wall 12 and the second support wall 16, there is no resistance to vibration Os in the portion other than the brim 102, so the gripping force must be increased. The container 100 swings around. On the other hand, if the first support wall 12 and the third support wall 19 are gripped at different positions in the height direction, for example, even if vibration Os is about to occur around the brim 102, the third support wall 19 becomes its resistance. Therefore, according to the first gripper 10 of the present embodiment, even in the actual container covered with the cap 103, the swinging can be prevented without requiring a large gripping force.

Next, in the first gripper 10, as shown in FIG. 4A, the first support wall 12 of the first grip claw 11 is long, but the second support wall 16 of the second grip claw 15 is short. It is difficult to stably grip the neck portion 101 of the container 100 with only the one support wall 12 and the second support wall 16. The first support wall 12 supports the neck portion 101 over a length exceeding 1/4 L1 when the outer peripheral length of the neck portion 101 is L1. Further, as shown in FIG. 4B, the third support wall 19 supports the cap 103 over a length exceeding 1/4 L2, where L2 is the outer peripheral length of the cap 103. In addition, in FIGS. 4A and 4B, the thick solid line drawn around the container 100 supports the neck portion 101 by the first support wall 12 and the second support wall 16, and is supported by the third support wall 19. The distribution supporting the cap 103 is shown.

Therefore, the first gripper 10 can support the neck portion 101 and the cap 103 by the first support wall 12 and the third support wall 19 over a circumferential range exceeding 180 ° at a central angle. This can be realized because the third support wall 19 is provided at a position different from that of the first support wall 12 in the height direction. That is, the first cap support 18 exerts two functions of ensuring a length to support in the circumferential direction, in addition to the above-mentioned reduction of vibration Os.

Next, when the container 100 is transferred from the first gripper 10 to the second gripper 20, as shown in FIGS. 5 (a) and 5 (b), the first support wall 12 and the first support wall 12 of the first gripping claw 11 are used. (2) The sixth support wall 29 of the cap support 28 overlaps in the circumferential direction, and the second support wall 16 of the second gripping claw 15 and the third support wall 19 of the first cap support 18 overlap in the circumferential direction. Therefore, according to the gripper pair 1, the container 100 can be exchanged through the reliable gripping of the container 100 by the first gripper 10 and the second gripper 20.
Further, as shown in FIG. 5C, the positions of the support by the first support wall 12 and the third support wall 19 in the height direction are different, and the support by the fourth support wall 22 and the sixth support wall 29 is supported. Since the positions in the height direction are different, vibration Os can be further suppressed in the process of giving and receiving the container 100.

In addition to the above, the configurations listed in the above embodiments can be selected or appropriately changed to other configurations as long as the gist of the present invention is not deviated.
The gripper of the present invention is applied, for example, to grip and transport a container in a beverage filling system. The transport device includes a transport path having an arc shape and a transport path having a linear shape, and the gripper of the present invention can be applied to any of the transport devices.
The transfer of the container 100 shown in FIG. 3 is based on the premise that the first gripper 10 and the second gripper 20 move in a straight line, and therefore the first gripper 10 and the second gripper 20 are wide open. However, the gripper in the present invention can also be applied to a transport device having a rotating body called a star wheel.
Further, the container to be gripped is not limited to beverages, and the gripper of the present invention can be widely applied to bottle-shaped and other forms of containers.

1 Gripper vs. 10 1st gripper 11 1st grip claw 12 1st support wall 13 Swing shaft 15 2nd grip claw 16 2nd support wall 17 Swing shaft 18 1st cap support 18A Fixed part 18B Support part 19 3rd support Wall 20 Second gripper 21 Third grip claw 22 Fourth support wall 23 Swing shaft 25 Fourth grip claw 26 Fifth support wall 27 Swing shaft 28 Second cap support 29 Sixth support wall 100 Container 101 Neck 103 Cap SW Rocking

Claims (17)

A gripper having a first gripping claw and a second gripping claw, gripping a gripped portion of a container when closed, and releasing gripping of the gripped portion when open.
The first gripping claw
A first support wall for supporting the gripped portion from the outside in the radial direction is provided below the brim formed in the gripped portion.
The second gripping claw
A second support wall that supports the gripped portion from the outside in the radial direction below the brim,
A third support wall that supports the cap over the container from the outside in the radial direction,
Equipped with a,
It said first supporting wall, said second support wall and the third support wall does not support the collar from the outer side in the radial direction, the gripper, wherein the this. The first support wall and the second support wall are provided so as to face each other.
The first support wall has a longer circumferential length to support the gripped portion than the second support wall.
The gripper according to claim 1. Since the first gripping claw has a larger longitudinal dimension than the second gripping claw, the first support wall is longer in the circumferential direction than the second support wall.
The gripper according to claim 2. The first support wall and the third support wall are provided so as to face each other.
The third support wall has a longer circumferential length to support the gripped portion than the second support wall.
The gripper according to claim 2 or 3. The first support wall is supported over a length of 1/4 or more of the outer peripheral length of the gripped portion.
The third support wall supports over a length of 1/4 or more of the outer peripheral length of the cap.
The gripper according to claim 3 or 4. The first support wall and the third support wall support the gripped portion over a central angle of 180 ° or more.
The gripper according to claim 5. The first gripper that grips the gripped part of the container,
A pair of grippers comprising a second gripper that receives the container delivered from the first gripper and grips the gripped portion.
The first gripper is
It consists of a first grip claw and a second grip claw, and when it is closed, it grips the gripped portion, and when it is open, it releases the grip of the gripped portion.
The first gripping claw
A first support wall for supporting the gripped portion from the outside in the radial direction is provided below the brim formed in the gripped portion.
The second gripping claw
A second support wall that supports the gripped portion from the outside in the radial direction below the brim formed on the gripped portion.
A third support wall that supports the cap over the container from the outside in the radial direction is provided.
The second gripper is
It consists of a third grip claw and a fourth grip claw, and when it is closed, it grips the gripped portion, and when it is open, it releases the grip of the gripped portion.
The third gripping claw
A fourth support wall that supports the gripped portion from the outside in the radial direction is provided below the brim.
The fourth gripping claw
A fifth support wall that supports the gripped portion from the outside in the radial direction below the brim, and
A sixth support wall that supports the cap over the container from the outside in the radial direction is provided.
The first gripper and the second gripper are
The first support wall and the fourth support wall are provided at point-symmetrical positions.
Said second support wall and the fifth supporting wall is found formed at a position of point symmetry,
Said first supporting wall, said second support wall and the third support wall does not support the collar from the outer side in the radial direction, the gripper is characterized and this pair. The first support wall and the second support wall are provided so as to face each other.
The first support wall has a longer circumferential length to support the gripped portion than the second support wall.
The gripper pair according to claim 7. Since the first gripping claw has a larger longitudinal dimension than the second gripping claw, the first support wall is longer in the circumferential direction than the second support wall.
The gripper pair according to claim 8. The first support wall and the third support wall are provided so as to face each other.
The third support wall has a longer circumferential length to support the gripped portion than the second support wall.
The gripper pair according to claim 8 or 9. The first support wall is supported over a length of 1/4 or more of the outer peripheral length of the gripped portion.
The third support wall supports over a length of 1/4 or more of the outer peripheral length of the cap.
The gripper pair according to claim 10. The first support wall and the third support wall support the gripped portion over a central angle of 180 ° or more.
The gripper pair according to claim 11. The fourth support wall and the fifth support wall are provided so as to face each other.
The fourth support wall has a longer circumferential length to support the gripped portion than the fifth support wall.
The gripper pair according to claim 12. Since the third grip claw has a larger longitudinal dimension than the fourth grip claw, the fourth support wall has a circumferential length that supports the gripped portion more than the fifth support wall. Is long,
The gripper pair according to claim 13. The fourth support wall and the sixth support wall are provided so as to face each other.
The sixth support wall has a longer circumferential length to support the gripped portion than the fifth support wall.
The gripper pair according to claim 13 or 14. The fourth support wall is supported over a length of 1/4 or more of the outer peripheral length of the gripped portion.
The sixth support wall supports the cap over a length of 1/4 or more of the outer peripheral length of the cap.
The gripper pair according to claim 14 or 15. The fourth support wall and the sixth support wall support the gripped portion over a central angle of 180 ° or more.
The gripper pair according to claim 16.

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