JP7157309B2 - capping device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a capping device, and more particularly to a capping device capable of reliably capping even a soft container without causing buckling.

Conventionally, as a technology for capping a container without causing an abnormality such as a so-called "beret cap", there is known one that detects the meshing start position between the screw part of the cap and the screw part of the mouth of the container (for example, Patent Document 1, Patent Document 2).
In these conventional techniques, by reversing the capping head, the capping head falls off due to the disengagement of the engagement between the tips of the threaded portions of the cap and the container. By monitoring the variation of the meshing start position is detected.

Japanese Patent Publication No. 7-86034 JP 2004-131132 A Japanese Patent No. 6279329

However, since the container receives a load from the capping head while the capping head is being reversed, in the case of a soft container, the container itself may buckle, making it impossible to normally detect the meshing start position.
Therefore, a capping device has been proposed that performs capping while preventing buckling of a soft container (for example, Patent Document 3). In this capping device, the gripper 41 grips the outer peripheral surface of the mouth and neck portion of the container from both sides and releases the gripper 41 at a suitable timing while preventing buckling of the container. to prevent interference.
This patent document 3 suggests detecting the meshing start position by reversing the capping head. A problem arises. That is, depending on the shape of the cap or container and manufacturing errors, when the capping head is reversed and dropped, the lower end of the cap and the gripper 41 interfere with each other. The cap will slide and damage the cap. Also, when the capping head is reversed and dropped, even if the lower end of the cap and the gripper 41 do not interfere with each other, the lower end of the cap and the gripper 41 are closer to each other than in the case of the container before the mold change. In this case, if the opening timing of the gripper 41 remains the same as before the mold change, the gripper 41 will be opened with interference between the lower end of the cap and the gripper 41, and the cap will also be damaged. become.
Therefore, even if the shape of the gripper 41 is made to correspond to a specific container, if the shape of the container is changed due to a model change, the shape and opening/closing timing of the gripper 41 must be adjusted according to the shape of the other container. However, there is a problem of lack of versatility.

In view of the circumstances described above, the present invention provides a capping head that holds and rotates a cap, a motor that rotates the capping head, an elevating mechanism that elevates the capping head, and a capping device that engages with the lower portion of the mouth of a container. a support member for supporting the container by means of force, a drive mechanism for moving the support member between an engagement position where the container is engaged and supported and a retracted position where the container is not engaged, and a threaded portion of the cap and the container. a meshing start position detection mechanism for detecting a meshing start position with the threaded portion;
The control device lowers the capping head holding the cap to fit the cap onto the mouth of the container supported by the support member, rotates the cap in a direction opposite to the tightening direction, and starts the engagement. A capping device that performs an engagement start position detection operation for detecting a position and, after the engagement start position detection operation, a tightening operation for rotating the cap in the tightening direction and screwing it onto the container,
The control device engages the support member with the container until the engagement start position detection operation is completed, and when the engagement start position is detected, the lower end portion of the cap and the support member interfere with each other. or when the tightening operation is started after the engagement start position detection operation is completed, and interference between the lower end portion of the cap and the support member is detected during the tightening operation, the capping head is tightened. It is characterized by executing a support member retracting operation of moving the support member to the retracted position after rotating it by a predetermined amount in the opposite direction.

According to such a configuration, interference between the support member and the cap can be avoided, and the cap can be attached to the container without buckling even if the container is soft.

1 is a schematic plan view showing an embodiment of the present invention; FIG. Sectional drawing which follows the II-II line of FIG. The top view of the principal part of FIG. It is a top view of the principal part of FIG. 2, Fig.4 (a) is a top view of a trunk|drum part gripper, FIG.4(b) shows a top view of a shoulder part gripper. FIG. 3 illustrates the steps involved in attaching a cap to a container in interferometric mode with the capping head of FIG. 2; FIG. 3 illustrates the steps involved in attaching a cap to a container in another interferometric mode with the capping head of FIG. 2; The front view which shows 2nd Example of this invention. The top view of the principal part of FIG.

1 and 2, reference numeral 1 denotes a rotary capping device for attaching a cap 3 to a soft container 2; This capping device 1 includes a capper body 5 for attaching caps 3 to containers 2 by capping heads 4 while rotating in a predetermined direction, a cap disk 6 for supplying caps 3 to the capping heads 4 at a cap supply position A, and a container supply unit. A supply star wheel 8 for sequentially supplying the containers 2 to the holding mechanisms 7 of the capper body 5 at the position B, and a discharge star wheel 9 for discharging the containers 2 after capping from the capper body 5 at the container discharge position C. there is
The container 2 to be capped is made of a soft and transparent resin such as polyethylene, and has a threaded portion 2B formed on the outer periphery of the mouth portion 2A and a narrower diameter threaded portion 2B on the adjacent lower side thereof. A portion 2C (neck portion) is formed. Furthermore, a shoulder portion 2D having a diameter larger than that of the threaded portion 2B is formed adjacent to and below the small diameter portion 2C, and a body portion 2E having a diameter larger than that of the shoulder portion 2D is formed below the shoulder portion 2D. It has become. The mouth portion 2A extending from the upper end portion to the small diameter portion 2C has a circular horizontal cross section, while the shoulder portion 2D and the body portion 2E have elliptical horizontal cross sections (see FIG. 4). After the inside of the container 2 is filled with mayonnaise, the upper end of the mouth portion 2A is sealed with a sealing member S.
The supply starwheel 8 has grippers 8A that hold the containers 2 at equally spaced positions on its outer periphery. The held containers 2 are sequentially delivered to the holding mechanism 7 of the capper main body 5 at the container supply position B. As shown in FIG.

The capper body 5 includes a rotating body 12 that rotates integrally with a rotating shaft 11 in the direction of the arrow, and a shoulder portion 2D of the container 2 that is provided at equal intervals on the outer peripheral portion of the rotating body 12 and supplied to the supply position B. and a holding mechanism 7 that holds the body 2E, and a neck support that is arranged above and adjacent to the holding mechanism 7 and engages with the small diameter portion 2C of the container 2 supplied to the supply position B to support the container 2. 13, a driving mechanism 14 for moving the neck support 13 to a forward end position (engagement position) where it engages with the small diameter portion 2C of the container 2 and a backward end position (retracted position) where it does not engage; A capping head 4 disposed above the neck support 13 for screwing the cap 3 onto the container 2; a lifting mechanism 16 for lifting and lowering the capping head 4 via a lifting member 15; and a control device 18 for controlling the operation of the servomotor 17 and the like serving as the source.

The holding mechanism 7 that holds the container 2 is composed of a shoulder gripper 7A that grips the shoulder 2D of the container 2 from both sides and a body gripper 7B that grips the body 2E of the container 2 from both sides. Both grippers 7A and 7B are made up of a pair of left and right gripping members, and the gripping portions 7a and 7b that are positioned opposite to each other are arcuate following the shape of the horizontal cross section of the body portion 2E and shoulder portion 2D of the container 2. (See Figure 4).
The shoulder gripper 7A and the body gripper 7B are supported by a common rotating shaft 21 provided at the bottom of the rotating body 12, and are controlled by a conventionally known cam mechanism 22 when the rotating body 12 rotates in the direction of the arrow. It is designed to be opened and closed in a predetermined movement area. Specifically, both grippers 7A and 7B are opened in the movement area of the rotating body 12 from the container discharge position C to just before the container supply position B, and the rotation from the container supply position B to just before the container discharge position C is performed. In the area of movement of body 12 both grippers 7A, 7B are closed so that shoulder 2D and body 2E of container 2 are gripped.
Since the holding mechanism 7 of the present embodiment includes not only the body gripper 7B but also the shoulder gripper 7A, the neck support 13 is retracted from the forward end position to the retracted end position and removed from the narrow diameter portion 2C of the container 2. By holding the container 2 with the shoulder gripper 7A even in the separated state, it is possible to reliably prevent the soft container 2 from buckling when the cap 3 is attached by the capping head 4. .
The capper main body 5 is not provided with a mounting table for mounting the container 2 thereon. It has become so. Immediately after that, when the container 2 moves to the downstream side adjacent to the container supply position B due to the rotation of the rotating body 12, the driving mechanism 14 moves the neck support 13 from the retracted end (retracted position) to the forward end (engagement position). , so that the neck support 13 is engaged with the small diameter portion 2C of the container 2. As shown in FIG.
Immediately after being supplied to the container supply position B, the container 2 is held by the grippers 7A and 7B and supported by the neck support 13. 3, the cap 3 held by the capping head 4 is fitted to the mouth portion 2A of the container 2 and then screwed.

A drive mechanism 14 is arranged on the rotating body 12 adjacent to the holding mechanism 7 , and the base of the neck support 13 is connected to the drive mechanism 14 . As a result, the neck support 13 is horizontally supported in the radial direction of the rotating body 12 at a position above and adjacent to the shoulder gripper 7A, and the neck support 13 is advanced and retracted in the radial direction of the rotating body 12 by the driving mechanism 14. It is designed to be moved.
As shown in FIG. 3, the tip portion 13A of the neck support 13 is U-shaped and has a semicircular engaging recess 13a formed therein. The engaging recess 13a can be engaged with the small-diameter portion 2C of the container 2 from the lateral direction.
An air cylinder, for example, is used as the drive mechanism 14 , and the operation of the drive mechanism 14 is controlled by a control device 18 . When the control device 18 operates the drive mechanism 14 to retract the rod, the neck support 13 is positioned at a retracted position (retracted end) where it does not engage with the container 2 . On the other hand, when the drive mechanism 14 is operated by the control device 18 and the rod is advanced, the neck support 13 is advanced to the engagement position (advance end) and engaged with the small diameter portion 2C of the container 2. It has become.
As the rotating body 12 rotates, the grippers 7A and 7B are synchronously closed from the open state at the container supply position B by the cam mechanism 22. 2E is gripped (see FIGS. 3 and 4). Immediately after this, when the container 2 and the grippers 7A and 7B holding it move to the adjacent downstream side of the container supply position B, the drive mechanism 14 is operated by the controller 18, so that the neck support 13 is moved to the retracted position. When the neck support 13 is advanced from the (backward end) to the engaging position (advanced end), the engaging recess 13A of the neck support 13 engages the small diameter portion 2C of the container 2 to support the container 2.
In the movement region Z1 of the rotating body 12 from the position adjacent to the downstream side of the container supply position B to the position immediately after the capping head 4 is rotated (normally rotated) for seaming the cap 3, the control device 9 controls the drive mechanism. 14 is operated to position the neck support 13 at the engagement position (advance end), so that the engagement recess 13a of the neck support 13 engages with the small diameter portion 2C of the container 2 held by both grippers 7A and 7B. to support the container 2.
In other moving regions of the rotating body 12 , the drive mechanism 14 is operated by the control device 18 to position the neck support 13 at the retracted position (retreat end), and the engaging recess 13 a of the neck support 13 engages the narrow portion of the container 2 . It is separated from the diameter portion 2C without engaging with it.
As will be described in detail later, in this embodiment, when the cap 3 is attached to the container 2, the cap 3 is first fitted to the mouth portion 2A of the container 2 in the movement area Z1, and then the capping head 4 is moved. is reversed in the direction opposite to the tightening direction to detect the engagement start position between the tip 3Aa of the threaded portion 3A of the cap 3 and the tip 2Ba of the threaded portion 2B of the container 2, and then the capping head 4 is tightened. The cap 3 is screwed to the container 2 by rotating in the direction (rotating forward). At this time, by retracting the neck support 13 to the retracted position at a predetermined timing, interference between the lower end portion 3B of the cap 3 and the neck support 13 can be avoided.

The capping heads 4 are arranged at equal intervals on the outer circumference of the rotating body 12 so as to face vertically downward. The control device 18 rotates the capping head 4 forward and backward at required timing via the servomotor 17 during capping.
The capping head 4 includes a spline shaft 28 that rotates in conjunction with the servo motor 17, a spindle 29 spline-fitted to the spline shaft 28 from below, and a lower end of the spindle 29 that is attached to the cap by air pressure. 3, a lifting member 15 fitted to the outer periphery of the spindle 29 so as to be able to move up and down, and a chuck 31 that is elastically mounted between the lifting member 15 and the chuck 31 so that the chuck 31 is always attached downward. and a biasing spring 33 .
A flange portion 29A is formed on the upper end portion of the spindle 29, and in a normal state, the lifting member 15 is pressed against the flange portion 29A by being biased by the spring 33, and the vertical movement of the lifting member 15 is fixed. When an upward pressing force acts on the chuck 31 in the closed state, the spring 33 is compressed to absorb the upward movement of the chuck 31 and the spindle 29 .
The chuck 31 can be rotated via the spline shaft 28 and the spindle 29 by the control device 18 rotating the servomotor 17 at a required timing. After the cap 3 is fitted to the mouth portion 2A of the container 2, when the chuck 31 holding the cap 3 is rotated in the tightening direction by a required amount, the cap 3 is screwed onto the screw portion 2B of the container 2. It has become.
In this embodiment, in order to detect the engagement start position of the threaded portion 3A of the cap 3 and the threaded portion 2B of the container 2, a screw drop detection sensor 36 is provided at a predetermined position of the rotating body 12 adjacent to the spline shaft 28. ing. The drop-off detection sensor 36 monitors the vertical position of the spindle 29, and when the cap 3 is fitted to the mouth 2C of the container 2 and then reversed via the chuck 31, the threaded portion 3A of the cap 3 is detected. tip 3Aa drops from tip 2Ba of threaded portion 2B of container 2, the change in height h is detected, and that position is detected as the meshing start position (see FIG. 5(a)). . When the thread drop detection sensor 36 detects the meshing start position of the screw portions 3A and 2B, the detection signal is input to the control device 18. As shown in FIG.
The servomotor 17, which is the driving source of the capping head 4, is provided with an encoder 37 for detecting the rotation angle of the servomotor 17, that is, the rotation angle of the chuck 31 that holds the cap 3. , the rotation angle detection signal from the encoder 37 is input to the control device 18 .
The control device 18 can recognize the rotation angle of the cap 3 when the servomotor 17 is rotated based on the detection signal of the encoder 37, and based on the detection signal of the screw drop detection sensor 36, The engagement start position of the tips 3Aa and 2Ba of the threaded portions 3A and 2A can be recognized.
Further, the control device 18 can recognize changes in rotation speed or torque when the servomotor 17 rotates via a rotation angle detection signal input from the encoder 37 . Thereby, the control device 18 can detect when the lower end portion 3B of the cap 3 held by the chuck 31 of the capping head 4 comes into contact with the neck support 13 from above (when the two interfere with each other). It has become. As will be described later, when the lower end portion 3B of the cap 3 and the neck support 13 interfere with each other in this manner, the control device 18 controls the rotation of the capping head 4 via the servomotor 17, and the driving mechanism 14 rotates. By controlling the timing of retracting the neck support 13 via the , interference between the neck support 13 and the lower end portion 3B of the cap 3 can be avoided.

A cam follower 34 is attached to the side of the lifting member 15 , and this cam follower 34 engages with a cam groove 35 A of an annular cam 35 provided along the circumference of the rotating body 12 .
When the rotating body 12 is rotated in the direction of the arrow in FIG. 1, the chuck 31 of each capping head 4 moves up and down in a predetermined movement area when the rotating body 12 rotates due to the engagement between the cam follower 34 and the cam groove 35A. It is designed to be The elevation mechanism 16 is composed of the cam 35 , the cam follower 34 and the elevation member 15 . Since a spring 33 is elastically mounted between the chuck 31 and the lifting member 15, the chuck 31 is always urged downward, and the cap 3 is held by the chuck 31 in this state. It has become so.

In this embodiment, in the movement area of the rotating body 12 from the position immediately after passing the container supply position B to the position immediately before the container discharge position C, the chuck 31 of the capping head 4 is positioned at the lower end by the lifting mechanism 16, and the container is moved. In the movement area of the rotating body 12 from the discharge position C to just before the cap supply position A, the chuck 31 is positioned at the upper end position by the lifting mechanism 16 . After that, at the cap supply position A, the chuck 31 is lowered by a predetermined amount from the upper end position, and is maintained at the same height until the container supply position B is passed.
Air pressure is introduced to the chuck 31 in the moving region of the rotating body 12 from the cap supply position A to the container supply position B and immediately before the container discharge position C. As shown in FIG.
Therefore, when the rotating body 12 is rotated in the direction of the arrow, the chuck 31 of the capping head 4 is slightly lowered from the upper end position and moved to the cap supply position A to take out the cap 3 from the cap disk 6. After that, in the container supply position B, the cap 3 held by the chuck 31 is positioned above the container 2 held by both grippers 7A, 8A of the holding mechanism 7. As shown in FIG. At the starting position of the moving region Z1 of the rotating body 12 immediately after passing the container supply position B, the driving mechanism 14 is operated to move the neck support 13 forward to the engagement position and hold it by the grippers 7A and 8A. Immediately after that, the chuck 31 is lowered to the lower end position by the lifting mechanism 16 . As a result, the cap 3 held by the chuck 31 is fitted (covered) on the opening 2A of the container 2 from above in the movement area Z1. At this time, the cap 3 held by the chuck 31 is urged downward by the spring 33 .
In this embodiment, after this state is reached, the screw portion 3A of the cap 3 and the container are tightened by reversing the capping head 4 in the direction opposite to the tightening direction as the rotating body 12 rotates. 2 is detected by the screw drop detection sensor 36, and the cap 3 is rotated in the tightening direction (rotated forward) from that point, so that the cap 3 is supported by the neck support 13. 2 is screwed to the opening 2A.
Here, in this embodiment, after detecting the engagement start position, it is detected whether or not the lower end portion 3B of the cap 3 held by the chuck 31 interferes with the neck support 13 engaged with the container 2 . The subsequent capping process is switched according to the detection result, and the cap 3 is screwed onto the mouth portion 2A of the container 2. As shown in FIG.

Specifically, when it is confirmed by a preliminary test run that capping can be completed without interference between the neck support 13 engaged with the container 2 and the lower end portion 3B of the cap 3, the capping device 1 is turned off. It is decided to operate in the normal mode, and all the containers 2 are actually capped only in the normal mode. Note that actual capping can be performed in this normal mode not only by a preliminary test operation, but also when it is known from the design dimensions of the cap 3, the container 2, etc. that interference between the two will not occur.
That is, in normal mode, actual capping is performed as follows. First, when the cap 3 held by the chuck 31 is fitted to the mouth portion 2A of the container 2, the cap 3 is reversed via the chuck 31 by the servomotor 17 in the direction opposite to the tightening direction. The tip 3Aa of the threaded portion 3A drops from the tip 2Ba of the threaded portion 2B of the container 2 (see FIG. 5(a)). The change in height h at this time is detected by the screw drop detection sensor 36, and the detection signal (engagement start position detection signal) detected by the screw drop detection sensor 36 is input to the control device 18. stops the servomotor 17 here (engagement start position detection operation).
Thereafter, the control device 18 starts rotating the chuck 31 in the tightening direction via the servomotor 17 to rotate the cap 3 forward (start of tightening operation). When the cap 3 is rotated forward by a predetermined angle, the control device 18 operates the drive mechanism 14 so that the neck support 13 retreats from the engaging position to the retracted position (support member retracting operation). This predetermined angle is set so that there is a gap between the lower end portion 3B of the cap 3 and the neck support 13 based on a test operation or the like. There is no sliding and the cap 3 is not damaged.
After that, when the cap 3 rotates forward and is rotated by a predetermined amount (angle, number of revolutions, etc.), the threaded portion 3A of the cap 3 is screwed into the threaded portion 2B of the container 2, and capping is completed (Fig. Same state as 5(d), completion of tightening operation).
That is, capping in the normal mode is performed by starting the tightening operation after the engagement start position detection operation is executed, performing the support member retraction operation during the operation, and then completing the tightening operation. It is.

Next, it is detected whether or not interference occurs between the lower end portion 3B of each cap 3 and the neck support 13 when capping is actually performed without performing a test run in advance. A case where capping is performed by switching from the normal mode will be described. In this case, the controller 18 detects whether or not there is interference between the lower end 3B of the cap 3 and the neck support 13 by using changes in the rotation speed or torque of the servomotor 17 according to the detection signal from the encoder 37. It is designed to detect whether
That is, first, when the cap 3 held by the chuck 31 is fitted to the mouth portion 2A of the container 2, the cap 3 is reversed in the direction opposite to the tightening direction via the chuck 31 by the servomotor 17, whereby the cap is tightened. The tip 3Aa of the threaded portion 3A of 3 drops from the tip 2Ba of the threaded portion 2B of the container 2 (see FIG. 5(a)). The change in height h at this time is detected by the screw drop detection sensor 36, and the detection signal detected by the screw drop detection sensor 36 (the detection signal of the engagement start position) is input to the control device 18, so that the control device 18 , the servomotor 17 is stopped here (engagement start position detection operation). It is assumed that, at the time of detection of this meshing start position, there is no interference between the lower end portion 3B of the cap 3 and the neck support 13, and the gap g is maintained between them.
Thereafter, the control device 18 starts rotating the chuck 31 in the tightening direction via the servomotor 17 to rotate the cap 3 forward (start of tightening operation). However, if interference occurs between the lower end portion 3B of the cap 3 and the neck support 13 during the process of forward rotation, the lower end portion 3B of the cap 3 may contact the neck support 13 as the cap 3 rotates. Press contact (FIG. 5(b)). As a result, the rotational speed of the servomotor 17 decreases or the torque increases via the encoder 37, and based on this, the control device 18 determines that interference between the lower end portion 3B of the cap 3 and the neck support 13 will occur. The occurrence is detected, and the servo motor 17 is stopped to stop the rotation of the cap 3 (FIG. 5(b)).
That is, after that, the tightening operation is interrupted, the servomotor 17 is reversed in the direction opposite to the tightening direction by a predetermined rotation angle obtained by experiments in advance, and then the servomotor 17 is stopped (gap forming operation). As a result, the threaded portion 3A of the cap 3 slides against the threaded portion 2B of the container 2, and the cap 3 is slightly lifted against the spring 33. A gap g' is formed therebetween (FIG. 5(c)). The gap g' generated at this time is smaller than the gap g shown in FIG. 5(a).
It should be noted that the angle of rotation of the servomotor 17 to reverse the cap 3 in the direction opposite to the tightening direction is such that the tip 3Aa of the screw portion 3A of the cap 3 is the screw of the container 2, as shown in FIG. 5(c). It is preferable to set the rotation angle to such an extent that the state of meshing with the tip 2Ba of the portion 2B is maintained. However, depending on the shape of the screw portion, etc., the rotation angle may be limited to such a case, for example, the state shown in FIG. 5(a).
Thereafter, the controller 18 operates the drive mechanism 14 to retract the neck support 13 from the engagement position to the retracted position (see FIG. 5(c), support member retraction operation). At that time, since the neck support 13 and the lower end portion 3B of the cap 3 do not slide due to the clearance g', the lower end 3B of the cap 3 is not damaged.
Thereafter, the control device 18 rotates the servomotor 17 forward again in the tightening direction (resumes the tightening operation), and the threaded portion 3A of the cap 3 is screwed into the threaded portion 2B of the container 2 to complete capping. Finish (Fig. 5(d), completion of tightening operation).
In the interference mode, as described above, after the engagement start position detection operation is executed, the tightening operation is started. 4 is rotated by a predetermined amount in a direction opposite to the tightening direction to form a gap g' between the lower end portion 3B of the cap 3 and the neck support 13, and then the support member retracting operation is executed. and then resume the tightening operation to complete capping. In other words, in the interference mode, the control device 18 is configured to be able to execute the support member retracting operation after executing the gap forming operation until the tightening operation is completed.
However, when the cap 3 is reversed to detect the engagement start position and then the chuck 31 is rotated in the tightening direction via the servomotor 17 to rotate the cap 3 forward, the lower end portion 3B of the cap 3 and the If there is no interference with the neck support 13, then capping is performed in the same process as in the normal mode described above.
That is, the servomotor 17 continues to rotate forward in the tightening direction, and in the process, the driving mechanism 14 is operated to retract the neck supporter 13 from the engagement position to the retraction position (support member retraction operation). At that time, since there is a gap between the neck supporter 13 and the lower end portion 3B of the cap 3, the two do not slide. After that, the capping is finished when the cap 3 is forwardly rotated by the required angle or the required number of rotations.

Next, in the above-described embodiment, the control device 18 detects interference between the lower end portion 3B of the cap 3 and the neck support 13 based on changes in the rotational speed of the servomotor 17 from the detection signal of the encoder 37. However, as shown by imaginary lines in FIG. 1, an interference detection sensor 25 is provided on the neck support 13, and the interference detection sensor 25 detects the presence or absence of interference. You may make it screw together with the part 2A.
The interference detection sensor 25 detects interference between the cap 3 and the neck support 13 based on the strain generated in the neck support 13 when the lower end portion 3B of the cap 3 contacts the neck support 13 from above, that is, when interference occurs. It is designed to detect When the interference detection sensor 25 inputs that interference is occurring, the control device 18 performs capping in the same process as the above-described interference mode displayed in FIGS. 5(a) to 5(d).
That is, first, the cap 3 is reversed to detect the engagement start position, and when the engagement start position is detected, the rotation of the cap 3 is stopped (FIG. 5(a), engagement start position detection operation). At this time, a gap g is formed between the neck support 13 and the lower end portion 3B of the cap 3. As shown in FIG. After that, the cap 3 is rotated forward, and the lower end portion 3B of the cap 3 interferes with the neck support 13 in the process of such forward rotation. After stopping the rotation, the cap 3 is reversed by a predetermined rotation angle (Fig. 5(b), Fig. 5(c), gap forming operation). Thereby, a gap g' is formed between the lower end portion 3B of the cap 3 and the neck support 13. As shown in FIG. The gap g' generated at this time is smaller than the gap g shown in FIG. 5(a). Thereafter, the neck support 13 is retracted from the engagement position to the retracted position (support member retraction operation), and then the cap 3 is rotated forward to complete capping (restart and completion of the tightening operation).
On the other hand, when there is no detection signal from the interference detection sensor 25, the control device 18 performs capping in the same process as in the normal mode described above. That is, first, the cap 3 is reversed and then stopped to detect the engagement start position (Fig. 5(a)), then the cap 3 is rotated forward in the tightening direction, and the neck is The supporter 13 is retracted from the engaging position to the retracted position. At this time, the neck supporter 13 and the lower end portion 3B of the cap 3 do not slide because there is a gap between them. After that, the capping is finished by rotating the cap 3 forward by a required angle.

By the way, depending on the shape of the cap 3 and the container 2, the lower end portion 3B of the cap 3 and the support member 13 may interfere with each other when the engagement start position is detected. An interference mode can be applied.
That is, as shown in FIG. 6(a), if the lower end 3B of the cap 3 interferes with the neck support 13 at the time when the engagement start position is detected by reversing the cap 3, the neck support 13 is affected. The strain can be detected by interference detection sensor 25 . Therefore, in this case as well, the interference between the two members is detected earlier than in the case shown in FIG. 5(a).
After that, the cap 3 is reversed by a predetermined rotation angle in a direction opposite to the tightening direction, and then stopped. As a result, the threaded portion 3A of the cap 3 slides against the threaded portion 2B of the container 2, and the cap 3 is slightly lifted against the spring 33. A gap g″ is formed therebetween (FIG. 6(b)).
Thereafter, the neck support 13 is retracted from the engaging position to the retracted position (see FIG. 6(b)). At this time, the clearance g'' prevents the receded neck support 13 from sliding against the lower end 3B of the cap 3, so that the lower end 3B of the cap 3 is not damaged.
Thereafter, the cap 3 is again rotated forward in the tightening direction, so that the threaded portion 3A of the cap 3 is screwed into the threaded portion 2B of the container 2, and capping is completed (FIG. 6(c)).
Next, the processing based on the detection result by the interference detection sensor 25 instead of the detection signal by the encoder 37 is as follows.
That is, as shown in FIG. 6(a), when the cap 3 is reversed and the engagement start position is detected, the interference detection sensor 25 detects interference between the lower end portion 3B of the cap 3 and the support member 13. , the rotation of the cap 3 is stopped. In this case as well, the interference between the two members is detected earlier than in the case shown in FIG. 5(a).
After that, the cap 3 is reversed by a predetermined rotation angle and then stopped. As a result, the threaded portion 3A of the cap 3 slides against the threaded portion 2B of the container 2, and the cap 3 is slightly lifted against the spring 33. A gap g″ is formed therebetween (FIG. 6(b)).
After that, the neck support 13 is retracted from the engaging position to the retracted position (see FIGS. 6(b) and 6(c)). At this time, the clearance g'' prevents the receded neck support 13 from sliding against the lower end 3B of the cap 3, so that the lower end 3B of the cap 3 is not damaged.
Thereafter, the cap 3 is again rotated forward in the tightening direction, so that the threaded portion 3A of the cap 3 is screwed into the threaded portion 2B of the container 2, and capping is completed (FIG. 6(c)).
The above description is for the case where the interference between the cap 3 and the neck support 13 is detected by the servo motor 37 and the interference detection sensor 25 at the time and after the engagement start position is detected, but the interference between the two is detected. Alternatively, the neck support 13 may be retracted to the retracted position after the cap 3 is reversed.
That is, the rotation of the cap 3 is stopped when the cap 3 is reversed and the meshing start position is detected (FIG. 6(a)). At this point, it is expected that the cap 3 and the neck support 13 will interfere with each other due to test operation and design dimensions in advance, so the cap 3 is then reversed by a predetermined rotation angle. As a result, the threaded portion 3A of the cap 3 and the threaded portion 2B of the container 2 slide to raise the cap 3, forming a gap g'' between the lower end portion 3B of the cap 3 and the neck support 13 ( FIG. 6(b)).
After that, the neck support 13 is retracted from the engaging position to the retracted position (FIGS. 6(b) and 6(c)). At this time, since the gap g'' is maintained between the lower end 3B of the cap 3 and the neck support 13, the receding neck support 13 does not slide against the lower end 3B of the cap 3, and the cap 3 is damaged. never do.
Thereafter, the cap 3 is rotated forward in the tightening direction, so that the threaded portion 3A of the cap 3 is screwed into the threaded portion 2B of the container 2, and capping is completed (FIG. 6(c)).
That is, in the interference mode described above, after the engagement start position detection operation is performed, the clearance forming operation and the support member retraction operation are performed before starting the tightening operation, and then the tightening operation is started. to complete capping.

According to this embodiment, the neck support 13 engaging and supporting the container 2 and the lower end portion 3B of the cap 3 held by the head 4 of the capping 4 can be prevented from sliding due to interference between them. Damage to the cap 3 and buckling of the container 2 during capping can be prevented, and the cap 3 can be reliably attached to the mouth portion 2A of the container 2 without generating a beret cap.
Further, according to the present embodiment, even if the shape and dimensions of the container 2 are changed due to a model change, the neck support 13 basically can engage the small-diameter portion 2C of the container 2. For example, since it is not necessary to replace the neck support 13, the capping device 1 with high versatility can be provided.

Next, FIGS. 7 and 8 show a capper body 5 of a capping device 1 according to a second embodiment of the invention. In the first embodiment, the tip portion 13A of the single neck support 13 is engaged with the small diameter portion 2C of the container 2 to support the container 2. However, in the second embodiment, the support member A neck support 13 comprising a pair of left and right gripping members 13A and 13B that can be opened and closed is adopted as the neck support.
The left and right gripping members 13A and 13B of the neck support 13 are opened and closed in conjunction with each other by a driving mechanism 114, and the operation of the driving mechanism 114 is controlled by the control device 18.
When the control device 18 operates the drive mechanism 114 to close the gripping members 13A and 13B, the engaging recesses 13a engage with the small diameter portion 2C of the container 2 from both sides to support the container 2. can. Further, when the driving mechanism 114 is stopped at a required timing, both gripping members 13A and 13B are released and separated from the small diameter portion 2C of the container 2. As shown in FIG. That is, the state in which the gripping members 13A and 13B are closed is the engagement position where the gripping members 13A and 13B are engaged with the container 2, and the state in which the gripping members 13A and 13B are opened is the retracted position where the gripping members 13A and 13B are separated from the container 2.
In the second embodiment, the shoulder gripper 7A in the first embodiment is omitted, and therefore the holding mechanism 7 is composed of only the trunk gripper 7B in the second embodiment.
The rest of the configuration and capping process are the same as in the first embodiment, and the members in the second embodiment corresponding to those in the first embodiment are given the same member numbers. Even with such a second embodiment, it is possible to obtain the same functions and effects as those of the above-described first embodiment.

Reference Signs List 1 Capping device 2 Container 2B Threaded portion 2Ba Tip of threaded portion 3 Cap 3A Threaded portion 3Aa Tip of threaded portion 3B Lower end 4 Capping head 13 Neck support (supporting member)
14 drive mechanism 17 servo motor 18 controller
36...screw drop detection sensor (engagement start position detection mechanism)

Claims (3)

a capping head that holds and rotates a cap, a motor that rotates the capping head, an elevating mechanism that elevates the capping head, a support member that engages with the lower portion of the mouth of a container to support the container, A drive mechanism for moving the support member between an engagement position where it engages with the container to support the container and a retracted position where it does not engage with the container, and a meshing start position between the threaded portion of the cap and the threaded portion of the container is detected. an engagement start position detection mechanism; and a control device that controls the operation of the motor and the drive mechanism based on the detection result of the engagement start position detection mechanism,
The control device lowers the capping head holding the cap to fit the cap onto the mouth of the container supported by the support member, rotates the cap in a direction opposite to the tightening direction, and starts the engagement. A capping device that performs an engagement start position detection operation for detecting a position and, after the engagement start position detection operation, a tightening operation for rotating the cap in the tightening direction and screwing it onto the container,
The control device engages the support member with the container until the engagement start position detection operation is completed, and when the engagement start position is detected, the lower end portion of the cap and the support member interfere with each other. or when the tightening operation is started after the engagement start position detection operation is completed, and interference between the lower end portion of the cap and the support member is detected during the tightening operation, the capping head is tightened. A capping device characterized by executing a support member retracting operation of moving the support member to the retracted position after rotating it by a predetermined amount in the opposite direction. A contact detection sensor is provided for detecting contact of the cap with the support member,
2. The capping device according to claim 1, wherein the control device starts execution of the support member retraction operation based on the detection result of the contact detection sensor. 3. The container is a soft container filled with contents and sealed at the mouth, and the soft container is held by a body gripper at the body. The capping device according to .

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