WO2008007414A1 - Dispositif de retenue - Google Patents

Dispositif de retenue Download PDF

Info

Publication number
WO2008007414A1
WO2008007414A1 PCT/JP2006/313657 JP2006313657W WO2008007414A1 WO 2008007414 A1 WO2008007414 A1 WO 2008007414A1 JP 2006313657 W JP2006313657 W JP 2006313657W WO 2008007414 A1 WO2008007414 A1 WO 2008007414A1
Authority
WO
WIPO (PCT)
Prior art keywords
clamp arm
clamp
pair
container
gripping device
Prior art date
Application number
PCT/JP2006/313657
Other languages
English (en)
Japanese (ja)
Inventor
Shizuo Kayama
Original Assignee
Shizuo Kayama
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shizuo Kayama filed Critical Shizuo Kayama
Priority to PCT/JP2006/313657 priority Critical patent/WO2008007414A1/fr
Publication of WO2008007414A1 publication Critical patent/WO2008007414A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G29/00—Rotary conveyors, e.g. rotating discs, arms, star-wheels or cones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/84—Star-shaped wheels or devices having endless travelling belts or chains, the wheels or devices being equipped with article-engaging elements
    • B65G47/846—Star-shaped wheels or wheels equipped with article-engaging elements
    • B65G47/847—Star-shaped wheels or wheels equipped with article-engaging elements the article-engaging elements being grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0244—Bottles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
    • B67C7/00—Concurrent cleaning, filling, and closing of bottles; Processes or devices for at least two of these operations
    • B67C7/0006—Conveying; Synchronising

Definitions

  • the present invention relates to a gripping device that grips a cylindrical article such as a bottle with a pair of clamp arms that open and close as the rotating shaft rotates.
  • a gripping device shown in Patent Document 1 is a pair of rotating shafts that are coaxial and rotate in opposite directions, and a pair of clamping arms (rotating) that are attached to the rotating shafts and have symmetrical shapes. Arm).
  • this gripping device when a pair of clamp arms are closed and a cylindrical container is gripped, two points on the opposing surface of each clamp arm (four points in total) are brought into contact with the container (see FIG. 6 of the same document). .
  • Patent Document 1 Japanese Patent Laid-Open No. 5-330516
  • the container cannot be accurately positioned, which may cause the following problems.
  • the gripping device when used for positioning the container at the filling station, the filling nozzle cannot be inserted into the mouth when filling the contents of the container, and normal filling cannot be performed.
  • this gripping device when this gripping device is used for positioning at a caving station, the lid and the container mouth cannot be tightened when the lid of the container is tightened.
  • An object of the present invention is to hold a container having a simple mechanism and an arbitrary outer diameter. It is another object of the present invention to provide a gripping device in which the container center is not relatively displaced.
  • the present invention also includes a pair of rotating shafts that are separated in the radial direction, a first clamp arm attached to one rotating shaft, and a second clamp arm force attached to the other rotating shaft.
  • a gripping device that grips a cylindrical article on the opposing surface of each clamp arm by closing the pair of clamp arms, the pair of clamp arms has an arbitrary outer diameter arranged at a fixed position.
  • the cylindrical article has a facing surface shape that always ensures a contact point at two points on the first clamp arm and one point on the second clamp arm.
  • the pair of rotating shafts are separated from each other in the radial direction, so that each rotating shaft can be rotated in the reverse direction by a simple mechanism to open and close the clamp arm.
  • the opposing surface shape of the clamp arm is formed so as to hold the cylindrical article having an arbitrary outer diameter in a fixed position. be able to.
  • a concave portion is formed on the first clamp arm, and a convex portion is formed on the second clamp arm, for a total of three points: two points on the concave portion and one point on the convex portion.
  • a clamp type conveying device that arranges the gripping devices at equal intervals in the circumferential direction on the rotating disk and grips and transfers the cylindrical article with the rotation of the rotating disk has an arbitrary outer diameter. Since the cylindrical article can be held at a fixed position, it can be suitably used for a process that requires holding at an accurate position.
  • the center of the container when the container having an arbitrary outer diameter is gripped can be made coincide with each other with a simple mechanism.
  • FIG. 1 is a plan view showing an outline of a process for transferring a container P.
  • FIG. 2 is an enlarged view of the vicinity of the clamp-type transfer device 101 on the carry-in side in FIG.
  • FIG. 3 is an enlarged view of portion E in FIG.
  • FIG. 4 is a cross-sectional view of a clamp type conveying apparatus 101.
  • FIG. 5 is a plan view showing a state in which the clamp arms 20 and 30 are opened and closed by the cam 42.
  • FIG. 6 is a plan view showing a state where the container P is gripped by the clamp arms 20 and 30.
  • FIG. 7 is a plan view showing a state in which containers having different outer diameters are gripped by the clamp arm of the example (a diagram) and the clamp arm of the comparative example (b diagram).
  • FIG. 1 is a schematic diagram showing a process of transferring a cylindrical container P using the clamp-type transport apparatuses 101 and 102 in which the gripping apparatus 1 of the present invention is incorporated.
  • the container P transferred from the direction of the arrow A is transferred to the process W by the clamp-type transfer device 101 on the carry-in side.
  • the process W for example, the contents of the container P are filled and the opening of the container P is closed while the container P is transferred in the direction of the arrow B on the circumference.
  • the container P that has completed the process W is transferred in the direction of arrow C by the clamp-type transfer device 102 on the carry-out side.
  • FIG. 2 is an enlarged view of the vicinity of the clamp-type transfer device 101 on the carry-in side in FIG.
  • This clamp type conveying device 101 includes gripping devices 1 at eight circumferentially equidistant locations on a rotating disk (not shown).
  • the gripping device 1 includes a pair of clamp arms including a first clamp arm 20 formed in a substantially “ ⁇ ” shape and a second clamp arm 30 formed in a substantially linear shape. These gripping devices 1 rotate in the direction of arrow D around the rotating disk center O together with the rotating disk.
  • the first clamp arm 20 is disposed on the leading side in the rotational direction D with respect to the second clamp arm 30.
  • FIG. 3 shows the relationship between the first clamp arm 20 and the container P in the E part of FIG.
  • containers P to be transferred in the direction of arrow B are indicated in order by P-l, P-2, P-3, and the first clamp arm 20 in each state is indicated as 20-1, 1, 20-2, 20-3. It shows with.
  • the clamp-type transfer apparatuses 101 and 102 according to the present embodiment are designed so that the container P and the first clamp arm 20 do not interfere with each other.
  • the container P and the first clamp arm 20 interfere with each other, increase the circumferential pitch interval of the container P in the process W and the circumferential pitch interval of the gripping device 1 in the clamp-type transport devices 101 and 102. Interference can be avoided. Alternatively, increase the maximum opening angle of the first clamp arms 20 and 30. Therefore, interference can be avoided.
  • FIG. 4 shows a longitudinal sectional view of the clamp-type transfer device 101 on the carry-in side.
  • the left half of this vertical cross-sectional view shows a cross-sectional view of one rotary shaft 21, and the right half shows a cross-sectional view of the other rotary shaft 31.
  • the left side of FIG. 4 shows a state where a container P having a relatively large outer diameter is gripped
  • the right side shows a state where a container P having a relatively small outer diameter is gripped.
  • the rotating shaft 21 shown in the left side view and the rotating shaft 31 shown in the right side make a pair, and these are connected by the spring S (see FIG. 5).
  • the clamp-type transport device 101 mainly includes a rotation side 10 and a fixed side 40.
  • the rotating side 10 includes a main shaft 11, a rotating plate 12 fixed to the main shaft 11 with bolts, and a plurality of (eight in this embodiment) gripping devices provided at equal intervals in the circumferential direction on the rotating plate 12. With.
  • the gripping device 1 includes a pair of rotating shafts 21 and 31, and the first clamp arm 20 is fixed to one rotating shaft 21 and the second clamp arm 30 is fixed to the other rotating shaft 31.
  • the rotary shafts 21 and 31 are provided with gears 22 and 32, respectively. When these gears are brought together, the rotary shafts 21 and 31 are interlocked to rotate in opposite directions.
  • One rotating shaft 21 is provided with a roller 24 via a connecting body 23.
  • the rotary shafts 21 and 31 are rotatably inserted through bearings on the same circumference on the rotary plate 12.
  • a pair of rotating shafts 21 and 31 are connected by a spring S. Due to the elastic force of the spring S, a force in the direction in which the clamp arms 20 and 30 are closed is always applied to the pair of rotating shafts 21 and 31 ( (See Figure 5).
  • the fixed side 40 includes a support portion 41 that supports the main shaft 11 and an annular cam 42 provided on the outer periphery of the support portion 41.
  • FIG. 5 schematically shows how the pair of clamp arms 20 and 30 are opened and closed by the cam 42.
  • the cam 42 has a large diameter portion 42a and a small diameter portion 42b on the outer peripheral portion.
  • the roller 24 and the cam 42 are always in contact with each other, and the minimum opening angle of the clamp arms 20 and 30 (the angle when the clamp arms 20 and 30 are most closed) is controlled by the small diameter portion 42b. is doing.
  • a stopper may be provided between the clamp arms 20 and 30, and the minimum opening angle of the clamp arms 20 and 30 may be controlled by this stopper.
  • the roller 24 is attached to the other rotating shaft 21 side, and the roller 24 is attached to the other rotating shaft 31 side to give a rotational driving force to the rotating shaft 31.
  • the shape of the cam 42 is not limited to that shown in FIG. 5, and may be formed in an appropriate shape according to the time for opening and closing the clamp arms 20 and 30 and the opening and closing angle.
  • FIG. 6 shows a state in which the container P is gripped by the pair of clamp arms 20 and 30 of the gripping device 1.
  • the first clamp arm 20 is formed relatively long, and has a substantially “ ⁇ ”-shaped concave surface portion 20a.
  • the second clamp arm 30 is formed relatively short and has a spherical convex surface portion 30a at the tip.
  • the concave surface portion 20a is formed in a shape that always ensures a contact point at two points with respect to a cylindrical container having an arbitrary outer diameter at a fixed position in relation to the rotation shafts 21 and 31.
  • the concave portion 20a abuts on the container P at two points 20al and 20a2, and when holding the container P ′ having a smaller outer diameter than the container P, the two points 20al ′ and 20a2 ′ are applied. Touch. Further, when gripping the container P ′ ′ having a smaller outer diameter, the concave surface portion 20a comes into contact with the container P at 20al ′ ′, 20a2 ′ ′. On the other hand, the convex surface portion 30a of the second clamp arm 30 contacts the containers P, P, and P, at one point 30al, 30al, and 30al, respectively. As a result, the pair of clamp arms 20 and 30 always come into contact with the containers P, P ′, and P ′ at three points.
  • an example of setting values such as dimensions is as follows: Shown in If the dimensions of each part of the grasping device 1 shown in FIG. 6 are set as follows, a cylindrical container having a diameter of 50 mm (container P ′ ′ in FIG. 6) or more and 106 mm (container P in FIG. 6) or less is The center of the container can be matched and gripped. Although the center of the container P can theoretically be matched by the present invention, it may not be completely matched practically due to other mechanical design factors such as backlash of gears 22 and 32. There is also. However, this gap is only a slight difference and there is almost no problem in the work process.
  • FIG. 7 shows a comparative diagram for explaining the effect of the present invention.
  • FIG. 7 (a) shows a state where cylindrical containers Pa, Pb, Pc, and Pd having different outer diameters are gripped by the clamp arms 20 and 30 of the gripping device according to the embodiment of the present invention.
  • FIG. 7 (b) shows a state in which each container Pa to Pd is gripped by a pair of clamp arms 120 and 130 that are attached to a pair of radially separated rotating shafts 121 and 131 and open and close symmetrically. Shown (comparative example). In this comparative example, each container is in contact with the clamp arms 120 and 130, and two points on each clamp arm (4 points in total). [0028] As shown in FIG.
  • each part of the gripping device 1 are not limited to the above, and may be set as appropriate according to the outer diameter of the container to be gripped and the intended use of the gripping device 1. For example, when holding a cylindrical container with a diameter of 50 mm or more and 106 mm or less, the dimensions can be set as follows.
  • the gripping device 1 of the present invention separates the pair of rotating shafts 21 and 31 in the radial direction, the mechanism can be simplified compared to the case where they are provided concentrically. it can. Therefore, the holding device 1 can be reduced in size, and can be suitably used when it is incorporated in a moving system (the rotating disk 12) like the above-described clamp type conveying device 101.
  • the gripping device 1 may be used in a stationary system.

Abstract

La présente invention concerne un dispositif de retenue qui possède une paire d'arbres rotatifs (21, 31). Du fait que les arbres rotatifs sont séparés l'un de l'autre dans la direction radiale, des bras de serrage (20, 30) peuvent être ouverts et fermés par un mécanisme simple. En outre, le premier bras de serrage (20) et le second bras de serrage (30) sont en contact avec un récipient cylindrique circulaire au niveau de trois points, deux points sur le premier bras de serrage (20) et un point sur le second bras de serrage (30). En conséquence, lorsque des récipients (P, P', P'') avec des diamètres différents sont retenus, les centres des récipients peuvent être assortis les uns aux autres. En conséquence, chaque récipient peut être retenu dans une position précise.
PCT/JP2006/313657 2006-07-10 2006-07-10 Dispositif de retenue WO2008007414A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2006/313657 WO2008007414A1 (fr) 2006-07-10 2006-07-10 Dispositif de retenue

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2006/313657 WO2008007414A1 (fr) 2006-07-10 2006-07-10 Dispositif de retenue

Publications (1)

Publication Number Publication Date
WO2008007414A1 true WO2008007414A1 (fr) 2008-01-17

Family

ID=38922985

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2006/313657 WO2008007414A1 (fr) 2006-07-10 2006-07-10 Dispositif de retenue

Country Status (1)

Country Link
WO (1) WO2008007414A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1826158A2 (fr) * 2006-02-24 2007-08-29 Rowel Holding B.V. Stabilisateur pour bouteilles
WO2011015371A1 (fr) * 2009-08-07 2011-02-10 Serac Group Dispositif de transfert de recipients et son procede de realisation
ITUA20161750A1 (it) * 2016-03-17 2017-09-17 I M A Industria Macch Automatiche S P A In Sigla Ima S P A Gruppo di fornitura/prelievo di contenitori per macchine di lavaggio e macchina di lavaggio
WO2019020771A1 (fr) 2017-07-26 2019-01-31 Krones Ag Dispositif de retenue d'un récipient et dispositif de traitement
EP3909910A1 (fr) * 2020-05-11 2021-11-17 Shibuya Corporation Machine à capsuler
DE102020122313A1 (de) 2020-08-26 2022-03-03 Khs Gmbh Greifervorrichtung zum Transport von Behältern
CN114318653A (zh) * 2021-12-27 2022-04-12 浙江真爱毯业科技有限公司 一种双针床经编机成卷坯布夹取装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0005402A1 (fr) * 1978-05-03 1979-11-14 Jean Bedin Dispositif de transfert de bouteilles ou flacons, sur les machines de conditionnement
JPS61164106U (fr) * 1985-03-29 1986-10-11
JPH10338342A (ja) * 1997-06-05 1998-12-22 Shibuya Mach Kk 回転式物品移送装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0005402A1 (fr) * 1978-05-03 1979-11-14 Jean Bedin Dispositif de transfert de bouteilles ou flacons, sur les machines de conditionnement
JPS61164106U (fr) * 1985-03-29 1986-10-11
JPH10338342A (ja) * 1997-06-05 1998-12-22 Shibuya Mach Kk 回転式物品移送装置

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1826158A2 (fr) * 2006-02-24 2007-08-29 Rowel Holding B.V. Stabilisateur pour bouteilles
EP1826158A3 (fr) * 2006-02-24 2009-01-21 Rowel Holding B.V. Stabilisateur pour bouteilles
WO2011015371A1 (fr) * 2009-08-07 2011-02-10 Serac Group Dispositif de transfert de recipients et son procede de realisation
ITUA20161750A1 (it) * 2016-03-17 2017-09-17 I M A Industria Macch Automatiche S P A In Sigla Ima S P A Gruppo di fornitura/prelievo di contenitori per macchine di lavaggio e macchina di lavaggio
WO2017158553A1 (fr) * 2016-03-17 2017-09-21 I.M.A. Industria Macchine Automatiche S.P.A In Sigla Ima S.P.A. Ensemble d'alimentation/prélèvement de récipients pour machines à laver et machine à laver
US11198162B2 (en) 2016-03-17 2021-12-14 I.M.A. Industria Macchine Automatiche S.P.A In Sigla Ima S.P.A. Assembly for feeding/picking up containers for washing machines and washing machine
DE102017116921A1 (de) 2017-07-26 2019-01-31 Krones Ag Vorrichtung zum Halten eines Behälters und Behandlungsvorrichtung
WO2019020771A1 (fr) 2017-07-26 2019-01-31 Krones Ag Dispositif de retenue d'un récipient et dispositif de traitement
US11453560B2 (en) 2017-07-26 2022-09-27 Krones Ag Device for holding a container and treatment device
EP3909910A1 (fr) * 2020-05-11 2021-11-17 Shibuya Corporation Machine à capsuler
US11738980B2 (en) 2020-05-11 2023-08-29 Shibuya Corporation Capping machine
DE102020122313A1 (de) 2020-08-26 2022-03-03 Khs Gmbh Greifervorrichtung zum Transport von Behältern
CN114318653A (zh) * 2021-12-27 2022-04-12 浙江真爱毯业科技有限公司 一种双针床经编机成卷坯布夹取装置

Similar Documents

Publication Publication Date Title
WO2008007414A1 (fr) Dispositif de retenue
RU2428321C2 (ru) Устройство для монтажа бескамерной шины на ободе колеса транспортного средства
EP3488071B1 (fr) Dispositif de préhension permettant la préhension d'un tuyau
JP2012525272A5 (fr)
KR20140100535A (ko) 회전 가공기 및 회전 가공 방법
WO2003092050A3 (fr) Appareil de transfert de substrat
WO2007087942A8 (fr) Unité permettant d'appliquer des dispositifs d'ouverture à des conditionnements de produits alimentaires liquides
JP6026229B2 (ja) 容器保持搬送装置
JPH03501233A (ja) 伸縮自在な操作アーム
JP5512277B2 (ja) 非円形容器を配向するための装置および方法
JP2017100226A (ja) ロボットハンド
CN110190292B (zh) 套膜装置和套膜系统
JP3702066B2 (ja) 異円径物品の捕捉搬送方法および装置
JPH11322067A (ja) グリップ式容器搬送装置
CN212049214U (zh) 一种矩形容器整理装置
EP2981370B1 (fr) Procédé de filage et appareil de filage
CN110331375A (zh) 一种镀膜室用基板装载装置
JP6320479B2 (ja) 容器保持搬送方法
CN110000509A (zh) 异形罐体环缝焊接变位机
JP4952909B2 (ja) 容器保持装置及びこれを備えたスターホイール式搬送装置
JP2005088923A (ja) 異径ボトル対応ボトルグリップ装置及びそれを用いたボトル搬送装置
JP5792566B2 (ja) グリップ式物品搬送装置
JP3209252B2 (ja) クランプ式容器搬送装置のクランプアーム
AU2013301804B2 (en) Method and device for feeding pouring elements arranged and oriented at a distance from one another and comprising a flange
JPH06183551A (ja) クランプ式容器搬送装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 06768019

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

NENP Non-entry into the national phase

Ref country code: RU

122 Ep: pct application non-entry in european phase

Ref document number: 06768019

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP