WO2014156554A1 - 容器グリッパ - Google Patents
容器グリッパ Download PDFInfo
- Publication number
- WO2014156554A1 WO2014156554A1 PCT/JP2014/055940 JP2014055940W WO2014156554A1 WO 2014156554 A1 WO2014156554 A1 WO 2014156554A1 JP 2014055940 W JP2014055940 W JP 2014055940W WO 2014156554 A1 WO2014156554 A1 WO 2014156554A1
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- WO
- WIPO (PCT)
- Prior art keywords
- gripper
- container
- gripping
- piece
- gripping piece
- Prior art date
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Classifications
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- 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
- B65G47/90—Devices for picking-up and depositing articles or materials
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- 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
Definitions
- the present invention relates to a container gripper used for transporting and delivering a bottle can.
- This application claims priority based on Japanese Patent Application No. 2013-070200 filed in Japan on March 28, 2013, the contents of which are incorporated herein by reference.
- Patent Document 1 a gripper capable of gripping the neck of the bottle can is known.
- the apparatus of Patent Document 1 includes a gripper pair that includes a gripper that grips and grips a lower portion of a constricted portion provided at a lower portion of a male screw portion of a bottle can, and a gripper that grips and grips an upper portion of the constricted portion.
- a pair of grippers are alternately attached to each conveyance rotating body in a bottle can cleaning, a liquid filling into a bottle can, and a liquid filling packaging line covering a cap.
- bottle cans that are transported at a constant pitch on the circumference of a rotating body of a certain size can be transported at the neck by alternately gripping the upper and lower parts of the constricted part provided at the lower part of the male screw part.
- the spherical portion of the can is gripped, so the posture of the can is not vertical, and there is a possibility that a conveyance failure occurs.
- the contact width of the gripping portion is narrow with respect to the large-diameter can, so the posture of the can does not become vertical, and a conveyance failure may occur.
- a positioning member that regulates the vertical displacement of the container, an adjustment mechanism that can change the protrusion amount to adjust the radial position of the container, and a guide guide are required, which complicates the gripping mechanism and reduces the cost. Can be high.
- the present invention provides a container gripper that does not require a positioning member that requires a change in protrusion when gripping the neck of a container (bottle can). Further, a container gripper capable of positioning the container up and down and stabilizing the container gripping posture is provided. Further, a container gripper is provided that is capable of gripping a container without damaging the container gripping portion and preventing the container gripping portion of the gripping piece from being worn. Furthermore, a container gripper that can be used both when the neck has a large diameter and a small diameter is provided.
- the container gripper is composed of a pair of gripping pieces disposed so as to be openable and closable by relative movement, and the neck of the container can be freely inserted and removed when opened, and the container gripper can be opened and closed when closed.
- a gripper having a grip part capable of restraining the neck part is provided, and the container is alternately handed over from the first gripper to the second gripper.
- the gripping portion of the first gripper includes a gripping piece that grips more than half of the circumference of the constricted portion with a gripping shape adapted to the constricted portion provided on the neck.
- the grip portion of the second gripper engages with a groove portion of an external thread portion provided on the neck portion and engages with an upper grip piece that grips more than half of the circumferential length of the groove portion and a lower portion of the constricted portion. And a lower grip piece for gripping more than half of the lower circumference.
- the container gripping portion of the first gripper has a gripping shape that matches the constriction portion provided on the neck portion of the container and the circumference of the constriction portion.
- An upper gripping piece having a gripping piece for gripping more than half of the length, and the container gripping portion of the second gripper engaging with the groove portion of the male screw portion provided on the container neck portion to grip more than half of the circumferential length of the groove portion
- a lower grip piece that engages with the lower portion of the constricted portion and grips more than half of the circumference of the lower portion.
- the gripping piece of the first gripper fits the constricted part in the gripping shape of the container so that the container posture remains vertical and the container is positioned up and down, the container is gripped, and the second gripper is separated from the upper gripping piece. Since the container can be gripped at the two positions of the lower gripping piece without being broken and the container can be positioned up and down by engaging with the groove, stable container transportation can be realized.
- the container gripper according to the first aspect is configured such that the opening and closing mechanisms of the upper grip piece and the lower grip piece can be independently closed.
- the opening and closing mechanisms of the upper gripping piece and the lower gripping piece are configured so that each can be independently closed, so that the closing allowance of the gripping piece during container gripping Can be followed. Further, even when the container diameter of the upper grip piece and the container diameter of the lower grip piece are different from each other, the container can be reliably gripped.
- the upper gripping piece has a protrusion that engages with the groove.
- the gripped container can be positioned in the vertical direction.
- the container is a bottle can.
- the container gripping portion of the grip piece of the first gripper, the container gripping portion of the upper grip piece of the second gripper, and the The material constituting the container gripping portion of the lower gripping piece of the two gripper is engineering plastics.
- the container gripping portion of the grip piece of the first gripper, the container gripping portion of the upper grip piece of the second gripper, and the The material constituting the container gripping portion of the lower gripping piece of the two gripper is Super Engineering Plastics.
- the super engineering plastics of the material is polyetheretherketone (PEEK).
- the gripping piece of the first gripper even when the container is made of metal (aluminum or steel), the gripping piece of the first gripper, or the container gripping of the upper gripping piece or the lower gripping piece of the second gripper
- the material constituting the part is engineering plastics or super engineering plastics, and also polyether ether ketone (PEEK) of super engineering plastics, so that the grip pieces of the first gripper and the grip pieces of the second gripper
- PEEK polyether ether ketone
- the gripping piece of the first gripper is gripping shape adapted to the constricted portion, the container posture remains vertical and the container is positioned up and down to grip the container, and the second gripper is Since the container can be held in two places, ie, the gripping piece and the lower gripping piece without being broken, and the container can be positioned up and down by engaging with the groove, stable container transportation can be realized.
- FIG. 3 is a sectional view taken along line III-III in FIG. 2. It is an enlarged view explaining the detail of the container holding part of a gripper, and is a top view of the holding piece which an upper holding piece has. It is an enlarged view explaining the detail of the container holding part of a gripper, and is a top view of the holding piece which a lower holding piece has. It is an enlarged view explaining the detail of the container holding part of a gripper, and is a front view which shows the combined state of an upper holding piece and a lower holding piece.
- FIG. 1 is a diagram illustrating a container.
- FIG. 2 is a plan view of the container gripper according to the embodiment of the present invention.
- 3 is a cross-sectional view taken along the line III-III of FIG. 4A to 4C are enlarged views illustrating details of the container gripping portion of the gripper.
- the neck Bm of the container B includes a male screw part (hereinafter simply referred to as “screw part”) M1 around which a cap (not shown) is wound, a groove part M2, a constricted part M3, and a constricted part M3.
- screw part a male screw part (hereinafter simply referred to as “screw part”) M1 around which a cap (not shown) is wound, a groove part M2, a constricted part M3, and a constricted part M3.
- the lower part M4 is a male screw part (hereinafter simply referred to as “screw part”) M1 around which a cap (not shown) is wound,
- the container gripper 1 includes grippers (first gripper 8 and second gripper 4).
- the first gripper 8 is composed of a pair of gripping pieces 8a and a gripping piece 8b for gripping a constricted portion M3 (see FIG. 1) of the neck Bm of the container B with a gripping shape suitable for the constricted portion M3 and more than half of the circumference.
- the second gripper 4 is engaged with the groove portion M2 (see FIG. 1) of the screw portion M1 to hold the gripper 5a and the upper gripping piece 5b.
- a pair of gripping pieces 6a and 6b that engage with the lower part M4 (see FIG. 1) of the constricted part M3 and grip more than half of the circumferential length of the lower part M4, like the upper gripping piece 5.
- the lower holding piece 6 is provided.
- the first gripper 8 is configured such that a pair of gripping pieces 8a and gripping pieces 8b can swing in the directions of the arrow 8af and the arrow 8bf shown in the drawing or in the opposite direction with the shaft 31 as a fulcrum.
- the shaft 31 is disposed between the gripper body upper portion 30 and the gripper body lower portion 38 assembled by the support column 34, and the shaft end of the shaft 31 is fitted to the gripper body upper portion 30 and the gripper body lower portion 38.
- the gripping piece 8a and the gripping piece 8b have an arcuate cutout 8ac and an arcuate cutout 8bc.
- the shaft body 36 slides and moves with respect to the bearing 39 in the direction of the arrow 36f by the engagement of the cam follower 42 rotating around the shaft 41 attached to one end of the shaft body 36 and a cam (not shown).
- the pin 37 attached to the other end of the shaft body 36 is pushed in the direction of the arrow 37f while engaging with the arc-shaped notch 8ac and the arc-shaped notch 8bc.
- the gripping piece 8a and the gripping piece 8b swing around the shaft 31 in the directions indicated by the arrows 8af and 8bf (opening direction).
- the neck Bm of the container B can be taken in and out.
- the shaft body 36 is urged by the urging force of the compression spring 40 guided to the outer cylindrical portion 38t of the gripper main body lower 38. It moves in the direction opposite to the arrow 36f.
- the pin 37 is pushed in the direction opposite to the arrow 37f while engaging with the arc-shaped notch 8ac and the arc-shaped notch 8bc.
- the gripping piece 8a and the gripping piece 8b swing around the shaft 31 in a direction opposite to the illustrated arrow 8af and the arrow 8bf (the closing direction).
- the sliding plate 33 is disposed between the gripping pieces 8a and 8b and the gripper main body 30.
- the sliding plate 35 is disposed between the gripping pieces 8a and 8b and the lower gripper main body 38.
- the gripping piece 8a and the gripping piece 8b are configured to swing between the sliding plate 33 and the sliding plate 35.
- the upper gripping piece 5 of the second gripper 4 is configured such that the pair of gripping pieces 5a and 5b can swing in the directions of the arrow 5af and the arrow 5bf shown in FIG. It is configured.
- the shaft 11 is disposed between the upper gripper body 10 and the lower gripper body 18 assembled by the support column 14, and the shaft end of the shaft 11 is fitted to the upper gripper body 10 and the lower gripper body 18.
- the lower gripping piece 6 of the second gripper 4 has a pair of gripping pieces 6a and gripping pieces 6b in the same direction as the illustrated arrows 5af and 5bf with the shaft 11 as a fulcrum. Alternatively, it is configured to be swingable in the reverse direction.
- the lower gripping piece 6 will be described in detail.
- the pair of gripping pieces 6a and the gripping pieces 6b are similar to the description of the pair of gripping pieces 8a and gripping pieces 8b of the first gripper 8, and are arc-shaped notches 6ac. And an arc-shaped notch 6bc. Due to the engagement of the cam follower 22 rotating around the shaft 21 attached to one end of the shaft body 16 and a cam (not shown), the shaft body 16 slides and moves relative to the bearing 19 in the direction of the arrow 16f. At this time, the pin 17 attached to the other end of the shaft body 16 is pushed in the direction of the arrow 17f while engaging with the arc-shaped notch 6ac and the arc-shaped notch 6bc.
- the gripping piece 6a and the gripping piece 6b swing around the shaft 11 in the directions of arrows 5af and 5bf (opening direction).
- the neck Bm of the container B can be taken in and out.
- the shaft body 16 is urged by the compression spring 20 guided to the outer cylindrical portion 18t of the gripper main body lower 18. It moves in the direction opposite to the arrow 16f.
- the pin 17 is pushed in the direction opposite to the arrow 17f while being engaged with the arc-shaped notch 6ac and the arc-shaped notch 6bc.
- the gripping piece 6a and the gripping piece 6b swing around the shaft 11 in a direction opposite to the illustrated arrow 5af and the arrow 5bf (closing direction).
- the lower part M4 of the constricted part M3 of the neck Bm of the container B can be held and restrained by half or more of the circumference.
- the sliding plate 15 is disposed between the gripping pieces 6a and 6b and the gripper main body lower portion 18.
- the pair of gripping pieces 6a and gripping pieces 6b are configured to slide on the sliding plate 15 and swing.
- the upper gripping piece 5 will be described in detail.
- the pair of gripping pieces 5a and the gripping piece 5b have an arcuate cutout 5ac and an arcuate cutout 5bc.
- the pin 17 includes the arcuate cutout 5ac and the arcuate cutout 5ac. It is pushed in the direction of the arrow 17f while engaging with the arc-shaped notch 5bc. At this time, the gripping piece 5a and the gripping piece 5b swing around the shaft 11 in the directions indicated by the arrows 5af and 5bf (opening direction). As a result, the neck Bm of the container B can be taken in and out.
- the gripping piece 5a and the gripping piece 5b swings in the opposite direction (closed direction) to the illustrated arrow 5af and arrow 5bf by the bias of a spring 7 described later.
- the groove portion M2 of the threaded portion M1 of the neck portion Bm of the container B engages with a later-described projection portion 5p of the gripping piece 5a and the gripping piece 5b, and is held and restrained by more than half of the circumference.
- the sliding plate 13 is disposed between the gripping pieces 5a and 5b and the upper gripper body 10.
- the sliding plate 15 a is disposed between the gripping pieces 5 a and 5 b and the lower gripping piece 6.
- the pair of gripping pieces 5a and gripping pieces 5b are configured to swing between the sliding plate 13 and the sliding plate 15a.
- FIG. 3 shows a case where the upper gripping piece 5 also has a cylindrical portion 5t that can grip the outer diameter portion of the screw portion M1 in addition to the protruding portion 5p.
- the material constituting the container gripping portion of the pair of gripping pieces 8a and 8b, the pair of gripping pieces 5a and gripping pieces 5b, and the pair of gripping pieces 6a and gripping pieces 6b is such that the neck portion Bm to be gripped is a metal.
- the gripped part is easily worn. For this reason, it is desirable to select engineering plastics or super engineering plastics as the material constituting the container gripping part, and in particular, to select polyether ether ketone (PEEK) among super engineering plastics.
- PEEK polyether ether ketone
- FIG. 4A is a plan view of the gripping piece 5a.
- a part of the combination of the gripping piece 6a indicated by the three-dot chain line and the compression spring 7 indicated by the two-dot chain line is displayed, and the neck portion Bb having a large diameter is indicated by one point.
- a small-diameter neck portion Bs is indicated by a chain double-dashed line.
- FIG. 4B is a plan view of the gripping piece 6a indicated by a three-dot chain line, in which the large-diameter neck portion Bb is indicated by a one-dot chain line, and the small-diameter neck portion Bs is indicated by a two-dot chain line.
- FIG. 4C is a front view of a combination state of a gripping piece 5a (shown by a solid line) holding the neck Bm and a gripping piece 6a (shown by a three-dot chain line).
- the gripping portion of the neck portion Bm at one end of the gripping piece 5a has a curved shape so that the neck portion Bm can be used for both the large-diameter neck portion Bb and the small-diameter neck portion Bs.
- the gripping portion is configured to come into contact with the large-diameter neck portion Bb at a location indicated by Bs1 and between Bb1 and Bb2 in the drawing.
- the gripping portion is configured to come into contact with the small-diameter neck portion Bs from Bs1 to Bb1 in the drawing.
- the gripping piece 5b shown in FIG. 2 also has a symmetrical position and shape with respect to the gripping piece 5a.
- the neck gripping portion is configured to be used for both the neck portion Bb having a large diameter of the neck portion Bm and the neck portion Bs having a small diameter.
- the gripping piece 6a and the gripping piece 6b are also not shown, but the gripping piece 8a and the gripping piece 8b of the first gripper 8 also have the neck portion as in the gripping piece 5a and the gripping piece 5b.
- the gripping portion is configured so that the neck portion Bm can be used for both the neck portion Bb having a large diameter and the neck portion Bs having a small diameter.
- the curved shape of the neck gripping part is the gripping piece 5a and the gripping piece 5b, the gripping piece 6a and the gripping piece 6b, and the gripping piece 8a and the gripping piece 8b when gripping the neck Bm.
- a shape is formed such that the center of the neck Bm is the same (concentric circle) with respect to the small diameter and the large diameter. In this way, the neck Bm is surrounded by the gripping piece 5a and the gripping piece 5b, the gripping piece 6a and the gripping piece 6b, and the gripping piece 8a and the gripping piece 8b with respect to the small diameter and the large diameter. It is configured so that more than half of the length can be gripped.
- a spring seat 5s is provided at the other end of the gripping piece 5a.
- the grip piece 6a is also provided with a spring seat 6s at a location corresponding to the spring seat 5s.
- the spring seat 5s is pushed through the compression spring 7 against the spring seat 6s.
- the gripping piece 5a is urged by the compression spring 7 so as to swing in the direction opposite to the arrow 5af shown in FIG. 2 (the closing direction) with the shaft 11 (see FIG. 2) in contact with the inner peripheral surface of the hole 5h as a fulcrum. Has been.
- the lower gripping piece 6 swings around the shaft 11 (see FIG. 2) by pushing the pin 17 shown in FIG. 2 in the direction of the arrow 17f. At this time, the gripping pieces 6a and 6b move in the directions of the arrows 5af and 5bf, and the shaft 11 is in contact with the inner peripheral surface of the hole 6h. Further, the lower gripping piece 6 swings about the shaft 11 as a fulcrum by the pin 17 moving in the direction opposite to the direction of the arrow 17f by the bias of the compression spring 20. At this time, the gripping pieces 6a and 6b move in the direction opposite to the directions of the arrows 5af and 5bf.
- the upper gripping piece 5 swings together with the lower gripping piece 6 by pushing the pin 17 shown in FIG. 2 in the direction of the arrow 17f. At this time, the gripping pieces 5a and 5b move in the directions of the arrows 5af and 5bf. Further, the upper gripping piece 5 swings around the shaft 11 by the urging force of the compression spring 7 against the lower gripping piece 6 after the pin 17 moves in the direction opposite to the direction of the arrow 17f. At this time, the gripping pieces 5a and 5b move in the opposite direction (closed direction) to the arrows 5af and 5bf. That is, the upper grip piece 5 and the lower grip piece 6 are configured to be independently closed.
- the container P is alternately transferred from the first gripper 8 to the second gripper 4 and delivered.
- the shaft body 36 moves in the direction of the arrow 36f, and the arc-shaped notch 8ac and the arc-shaped notch 8bc are pushed in the direction of the arrow 37f by the pin 37, so that the pair of gripping pieces 8a And the gripping piece 8b swing around the shaft 31 in the directions of arrows 8af and 8bf (opening direction).
- the constriction part M3 of the neck part Bm of the container B can be taken in and out in the delivery from the previous process or to the subsequent process.
- the shaft body 36 moves in the direction opposite to the arrow 36f by the bias of the compression spring 40. Accordingly, the pin 37 is moved in the direction opposite to the arrow 37f, and the arc-shaped notch 8ac and the arc-shaped notch 8bc are pushed in the direction opposite to the arrow 37f. For this reason, with the shaft 31 as a fulcrum, the pair of gripping pieces 8a and the gripping pieces 8b swing in the opposite direction (closed direction) to the arrows 8af and 8bf. In this way, the first gripper 8 grips and constrains the constricted part M3 with a gripping shape suitable for the constricted part M3 of the neck Bm of the container B delivered from the previous step, and positions the container in the vertical direction.
- the shaft body 16 moves in the direction of the arrow 16 f, and the arc-shaped notch 6 ac and the arc-shaped notch 6 bc are pushed in the direction of the arrow 17 f by the pin 17, whereby the lower gripping piece 6
- the pair of gripping pieces 6a and 6b swing around the shaft 11 in the directions of arrows 5af and 5bf (opening direction). For this reason, in the delivery from the previous process or to the subsequent process, the lower part M4 of the constricted part M3 of the neck Bm of the container B can be taken in and out.
- the shaft body 16 moves in the direction opposite to the arrow 16 f by the biasing force of the compression spring 20.
- the pin 17 is moved in the direction opposite to the arrow 17f, and the arc-shaped notch 6ac and the arc-shaped notch 6bc are pushed in the direction opposite to the arrow 17f.
- the pair of gripping pieces 6a and gripping pieces 6b of the lower gripping piece 6 swings in the opposite direction (closing direction) to the arrows 5af and 5bf with the shaft 11 as a fulcrum.
- the second gripper 4 holds and restrains the lower part M4 of the constricted part M3 of the neck part Bm of the container B delivered from the previous process.
- the shaft body 16 moves in the direction of the arrow 16 f, and the arc-shaped notch 5 ac and the arc-shaped notch 5 bc are pushed in the direction of the arrow 17 f by the pin 17.
- the pair of gripping pieces 5a and 5b swing around the shaft 11 in the directions of arrows 5af and 5bf (opening direction). For this reason, in the delivery from the previous process or to the subsequent process, the threaded portion M1 of the neck Bm of the container B can be taken in and out.
- the shaft body 16 moves in the direction opposite to the arrow 16f, and the pin 17 moves in the direction opposite to the arrow 17f along with this movement, whereby the arc-shaped notch 5ac and the arc-shaped notch 5bc. Is released from the push.
- the pair of gripping pieces 5 a and gripping pieces 5 b of the upper gripping piece 5 oscillates in the opposite direction (closed direction) to the arrows 5 af and 5 bf by the bias of the compression spring 7.
- the second gripper 4 holds and restrains the threaded portion M1 of the neck portion Bm of the container B delivered from the previous step.
- the protrusion 5p engages with the groove M2 of the threaded portion M1.
- the grasped container B can be positioned in the vertical direction.
- the protrusion 5p engages with the groove M2 of the threaded portion M1.
- the cylindrical portion 5t below the protruding portion 5p grips the outer diameter portion of the screw portion M1, whereby the gripped container B can be positioned in the vertical direction.
- the pair of gripping pieces 6a and gripping pieces 6b of the lower gripping piece 6 of the second gripper 4 swings (opens and closes), and the pair of gripping pieces 5a and gripping pieces 5b of the upper gripping piece 5 swings (opens and closes).
- the operation is performed by the pushing mechanism by the same pin 17, but in the case of the closing operation, the operation is performed by the closing mechanism by the urging of the compression spring 20 and the compression spring 7, respectively. That is, since the closing operation of the lower gripping piece 6 and the upper gripping piece 5 is independent, appropriate gripping can be performed even if the gripping portions of the neck portion Bm of the lower gripping piece 6 and the upper gripping piece 5 are different.
- the second gripper 4 grips the lower gripping part 6 and the upper gripping part 5 at the lower part M4 of the constricted part M3 and the groove part M2 of the screw part M1 which is separated upward from the lower part M4.
- the posture of the grasped container B is stabilized, and stable container conveyance can be realized.
- the grip width W4 of the lower part M4 shown in FIG. 4C is narrow, so that the grip of the bottle can is not stable and the grip posture is not vertical.
- the second gripper 4 can grip the neck Bm by the upper gripping piece 5 and the lower gripping piece 6, the posture of the gripped container B is stable even in the case of a bottle can having a large opening diameter. To do.
- a material constituting the gripping portion of the pair of gripping pieces 8a and 8b, the pair of gripping pieces 5a and the gripping pieces 5b, and the neck portion Bm of the pair of gripping pieces 6a and the gripping pieces 6b is made of engineering plastic or super engineering plastic.
- PEEK polyetheretherketone
- the gripping portion has a great influence on wear due to repeated gripping, but polyether ether ketone (PEEK) ), A gripping piece having excellent wear resistance and durability is obtained.
- PEEK polyether ether ketone
- the gripping piece of the first gripper is gripping shape adapted to the constricted portion, the container posture remains vertical, the container is positioned up and down, the container is gripped, and the second gripper is gripped by the upper grip Since the container can be held in two places, ie, the piece and the lower holding piece, without changing the posture of the container, and the container can be positioned up and down by engaging with the groove, stable container transportation can be realized.
- Container gripper 4 Second gripper (gripper) 5 Upper gripping piece 5a, 5b Holding piece 6 Lower gripping piece 6a, 6b Holding piece 7 Compression spring 8 First gripper (gripper) 8a, 8b Grip piece 11, 31 Shaft 16, 36 Shaft body 17, 37 Pin 20, 40 Compression spring B Container Bm (Container) Neck M1 (Male) Screw part M2 Groove part M3 Constriction part M4 (Constriction part) Lower part
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- Mechanical Engineering (AREA)
- Filling Of Jars Or Cans And Processes For Cleaning And Sealing Jars (AREA)
- Specific Conveyance Elements (AREA)
- Details Of Rigid Or Semi-Rigid Containers (AREA)
Abstract
Description
しかしながら、前記特許文献1の技術では、ボトル缶のくびれ部の上部を把持する場合、缶の球面部を把持するため缶の姿勢が垂直にならず、搬送不良が発生する可能性がある。また、ボトル缶のくびれ部の下部を把持する場合、大口径缶に対しては把持部の接触幅が狭いため缶の姿勢が垂直にならず、搬送不良が発生する可能性がある。さらには、容器の上下のずれを規制する位置決め部材及び、容器の径方向の位置を調整するために突出量の変更ができる調整機構と案内ガイドが必要であるため、把持機構が複雑となり、コストが高くなる可能性がある。
(本発明の実施の形態)
図1は、容器を説明する図である。
図2は、本発明の実施の形態に係わる容器グリッパの平面図である。
図3は、図2の断面III-III図である。
図4A~図4Cは、グリッパの容器把持部の詳細を説明する拡大図である。
図1において、容器Bの首部Bmは、図示しないキャップが巻き締めされる雄ねじ部(以下単に「ねじ部」と称する)M1と、ねじ部M1の溝部M2と、くびれ部M3と、くびれ部M3の下部M4で構成されている。
前記把持片8aと把持片8bは、円弧状の切欠き8acと円弧状の切欠き8bcを有する。
軸体36の一端に取付けられた軸41の周りに回転するカムフォロア42と図示しないカムとの係合によって、軸体36は、矢印36fの方向へ軸受39に対し摺動して移動する。この際、軸体36の他端に取付けられたピン37は、前記円弧状の切欠き8ac及び円弧状の切欠き8bcと係合しつつ矢印37fの方向に押される。この時、把持片8aと把持片8bは、軸31を支点として、図示矢印8afおよび矢印8bfの方向(開放方向)に揺動する。この結果、容器Bの首部Bmが出し入れ可能になる。
また、軸体36の前記カムフォロア42と図示しないカムとの係合が解除されると、前記グリッパ本体下38の外筒部38tに案内される圧縮ばね40の付勢により、軸体36は、矢印36fと逆方向へ移動する。この際、前記ピン37は、前記円弧状の切欠き8ac及び円弧状の切欠き8bcと係合しつつ矢印37fと逆方向に押される。この時、把持片8aと把持片8bは、軸31を支点として、図示矢印8afおよび矢印8bfと逆方向(閉鎖方向)に揺動する。この結果、容器Bの首部Bmのくびれ部M3は、周長の半分以上を把持されて拘束される。
なお、摺動板33は、前記把持片8a、8bと、グリッパ本体上30との間に配置されている。摺動板35は、前記把持片8a、8bと、グリッパ本体下38との間に配置されている。前記把持片8aと把持片8bは、摺動板33と摺動板35に挟まれて、前記揺動をするように構成されている。
また、前記第二グリッパ4の下部把持片6は、前記上部把持片5と同様に、一対の把持片6aと把持片6bが、前記軸11を支点として、図示矢印5afおよび矢印5bfと同じ方向に、または、逆方向に揺動可能となるように構成されている。
軸体16の一端に取付けられた軸21の周りに回転するカムフォロア22と図示しないカムとの係合によって、軸体16は、矢印16fの方向へ軸受19に対し摺動して移動する。この際、軸体16の他端に取付けられたピン17は、前記円弧状の切欠き6ac及び円弧状の切欠き6bcと係合しつつ矢印17fの方向に押される。この時、把持片6aと把持片6bは、軸11を支点として、図示矢印5afおよび矢印5bfの方向(開放方向)に揺動する。この結果、容器Bの首部Bmが出し入れ可能となる。
また、軸体16の前記カムフォロア22と図示しないカムとの係合が解除されると、前記グリッパ本体下18の外筒部18tに案内される圧縮ばね20の付勢により、軸体16は、矢印16fと逆方向へ移動する。この際、前記ピン17は、前記円弧状の切欠き6ac及び円弧状の切欠き6bcと係合しつつ矢印17fと逆方向に押される。この時、把持片6aと把持片6bは、軸11を支点として、図示矢印5afおよび矢印5bfと逆方向(閉鎖方向)に揺動する。この結果、容器Bの首部Bmのくびれ部M3の下部M4は、周長の半分以上を把持されて拘束できる。
なお、摺動板15は、前記把持片6a、6bと、グリッパ本体下18との間に配置されている。前記一対の把持片6aと把持片6bは、摺動板15に対し摺動して、前記揺動をするように構成されている。
前記ピン17は、前記円弧状の切欠き5ac及び円弧状の切欠き5bcと係合しつつ矢印17fの方向に押される。この時、把持片5aと把持片5bは、軸11を支点として、図示矢印5afおよび矢印5bfの方向(開放方向)に揺動する。この結果、容器Bの首部Bmが出し入れ可能になる。また、前記ピン17が矢印17fと逆方向に移動して、前記円弧状の切欠き5acと円弧状の切欠き5bcがピン17との係合から解放された場合、前記把持片5aと把持片5bは、後述するばね7の付勢によって、図示矢印5afおよび矢印5bfと逆方向(閉鎖方向)に揺動する。この結果、容器Bの首部Bmのねじ部M1の溝部M2は、前記把持片5aと把持片5bの後述する突起部5pに係合して、周長の半分以上を把持されて拘束される。
なお、摺動板13は、前記把持片5a、5bと、グリッパ本体上10との間に配置されている。摺動板15aは、前記把持片5a、5bと、下部把持片6との間に配置されている。前記一対の把持片5aと把持片5bは、摺動板13と摺動板15aに挟まれて、前記揺動をするように構成されている。
また、前記一対の把持片8aと把持片8b、一対の把持片5aと把持片5b、一対の把持片6aと把持片6bの容器把持部を構成する材料は、把持する対象の首部Bmが金属製である場合、把持箇所が摩耗しやすい。このため、容器把持部を構成する材料は、エンジニアリングプラスチックスまたはスーパーエンジニアリングプラスチックスを選択し、特に、スーパーエンジニアリングプラスチックスの中でもポリエーテルエーテルケトン(PEEK)を選択するのが望ましい。
図4Aは、把持片5aの平面図であり、説明の便宜上、三点鎖線で示す把持片6aおよび二点鎖線で示す圧縮ばね7との組合せを一部表示し、大口径の首部Bbを一点鎖線で、小口径の首部Bsを二点鎖線で示している。
図4Bは、把持片6aを三点鎖線で示した平面図であり、大口径の首部Bbを一点鎖線で、小口径の首部Bsを二点鎖線で示している。
図4Cは、首部Bmを把持している把持片5a(実線で示す)と把持片6a(三点鎖線で示す)の組合せ状態の正面図である。
図4Aでは図示を省略しているが、図2に示す把持片5bについても把持片5aと対称の位置および形状を形成している。把持片5aと同様に、首部把持部が、首部Bmの口径が大口径の首部Bbと小口径の首部Bsに対して兼用できるように構成されている。
また、把持片6aと把持片6bについても、さらに、図示を省略しているが、第一グリッパ8の把持片8aおよび把持片8bについても、前記把持片5aおよび把持片5bと同様に、首部把持部が、首部Bmの口径が大口径の首部Bbと小口径の首部Bsに対して兼用できるように構成されている。
なお、首部把持部の前記曲線形状は、把持片5aおよび把持片5bで、また、把持片6aと把持片6bで、さらに、把持片8aおよび把持片8bで、首部Bmを把持した際に、小口径と大口径に対して首部Bmの中心が同一(同心円)となるような形状を形成している。
このようにして、首部Bmは、小口径と大口径に対して、把持片5aと把持片5bによって、また、把持片6aと把持片6bによって、さらに、把持片8aおよび把持片8bによって、周長の半分以上を把持されるように構成されている。
一方、前記上部把持片5は、図2に示すピン17を矢印17fの方向への押し込むことによって、前記下部把持片6とともに揺動する。この時、把持片5a、5bは、矢印5af、5bfの方向へ移動する。また、上部把持片5は、ピン17が矢印17fの方向と逆方向へ移動した後、下部把持片6に対する圧縮ばね7の付勢によって、軸11を支点に揺動する。この時、把持片5a、5bは、矢印5afおよび5bfと逆方向(閉鎖方向)へ移動する。
つまり、上部把持片5と下部把持片6は、それぞれ独立して閉鎖するように構成されている。
容器Pは、第一グリッパ8から第二グリッパ4へ交互に把持替えされて受け渡される。
第一グリッパ8では、軸体36が矢印36fの方向へ移動し、ピン37によって円弧状の切欠き8acと円弧状の切欠き8bcが矢印37fの方向に押し込まれることによって、一対の把持片8aと把持片8bが、軸31を支点として、矢印8afおよび矢印8bfの方向(開放方向)に揺動する。このため、前工程からの、または、後工程への受渡しにおいて、容器Bの首部Bmのくびれ部M3の出し入れが可能の状態となる。
また、第一グリッパ8では、圧縮ばね40の付勢により、前記軸体36が矢印36fと逆方向へ移動する。これに伴ってピン37が矢印37fと逆方向へ移動され、円弧状の切欠き8acと円弧状切の欠き8bcが矢印37fと逆方向へ押される。このため、軸31を支点に、一対の把持片8aと把持片8bが、矢印8afおよび矢印8bfと逆方向(閉鎖方向)に揺動する。
このようにして、第一グリッパ8は、前工程から受け渡された容器Bの首部Bmのくびれ部M3に適合した把持形状でくびれ部M3を把持拘束し、容器の上下方向の位置決めをする。
また、第二グリッパ4では、圧縮ばね20の付勢により、前記軸体16が矢印16fと逆方向へ移動する。これに伴ってピン17が矢印17fと逆方向へ移動され、円弧状の切欠き6acと円弧状の切欠き6bcが矢印17fと逆方向へ押される。このため、軸11を支点に、下部把持片6の一対の把持片6aと把持片6bが、矢印5afおよび矢印5bfと逆方向(閉鎖方向)に揺動する。
このようにして、第二グリッパ4は、前工程から受け渡された容器Bの首部Bmのくびれ部M3の下部M4を把持拘束する。
また、第二グリッパ4では、前記軸体16が矢印16fと逆方向へ移動し、この移動に伴うピン17の矢印17fと逆方向への移動により、円弧状切欠き5acと円弧状切欠き5bcが前記押し込みから解放される。このため、上部把持片5の一対の把持片5aと把持片5bは、圧縮ばね7の付勢によって、矢印5afおよび矢印5bfと逆方向(閉鎖方向)に揺動する。
このようにして、第二グリッパ4は、前工程から受け渡された容器Bの首部Bmのねじ部M1を把持拘束する。
さらに、首部Bmの口径が大口径のボトル缶の場合、図4Cに示す前記下部M4の把持幅W4が狭い形状となっているため、ボトル缶の把持が安定せず、把持姿勢が垂直にならないことがある。しかしながら、第二グリッパ4は、上部把持片5と下部把持片6により首部Bmを把持することができるので、首部Bmの口径が大口径のボトル缶の場合でも把持された容器Bの姿勢が安定する。
特に、把持する対象の首部Bmが金属製(アルミ製またはスチール製)のボトル缶である場合には、前記把持の繰り返しにより前記把持箇所も摩耗への影響が大きいが、ポリエーテルエーテルケトン(PEEK)を選択することにより、耐摩耗性、耐久性に優れた把持片となる。
4 第二グリッパ(グリッパ)
5 上部把持片
5a、5b 把持片
6 下部把持片
6a、6b 把持片
7 圧縮ばね
8 第一グリッパ(グリッパ)
8a、8b 把持片
11、31 軸
16、36 軸体
17、37 ピン
20、40 圧縮ばね
B 容器
Bm (容器の)首部
M1 (雄)ねじ部
M2 溝部
M3 くびれ部
M4 (くびれ部の)下部
Claims (7)
- 相対的な移動により開閉自在に配設される一対の把持片から構成され、開放時には容器の首部が出し入れ自在になるとともに、閉鎖時には前記首部を拘束可能となる把持部を有するグリッパを備え、容器を第一グリッパから第二グリッパへ交互に把持替えをして受け渡す容器グリッパであって、
前記第一グリッパの前記把持部は、前記首部に設けられたくびれ部に適合した把持形状でくびれ部の周長の半分以上を把持する把持片を具備し、
前記第二グリッパの前記把持部は、前記首部に設けられた雄ねじ部の溝部に係合して溝部の周長の半分以上を把持する上部把持片、及び、前記くびれ部の下部に係合して下部の周長の半分以上を把持する下部把持片を具備する容器グリッパ。 - 請求項1に記載の容器グリッパであって、
前記上部把持片と前記下部把持片の開閉機構が、それぞれ独立して閉鎖作動できるように構成される容器グリッパ。 - 請求項1又は2に記載の容器グリッパであって、
前記上部把持片が、前記溝部に係合する突起部を有する容器グリッパ。 - 請求項1から3のいずれか一項に記載の容器グリッパであって、
前記容器がボトル缶である容器グリッパ。 - 請求項4に記載の容器グリッパであって、
前記第一グリッパの把持片の容器把持部、前記第二グリッパの上部把持片の容器把持部、及び、前記第二グリッパの下部把持片の容器把持部を構成する材料が、エンジニアリングプラスチックスである容器グリッパ。 - 請求項4に記載の容器グリッパであって、
前記第一グリッパの把持片の容器把持部、前記第二グリッパの上部把持片の容器把持部、及び、前記第二グリッパの下部把持片の容器把持部を構成する材料が、スーパーエンジニアリングプラスチックスである容器グリッパ。 - 請求項6に記載の容器グリッパにおいて、前記材料のスーパーエンジニアリングプラスチックスがポリエーテルエーテルケトンである容器グリッパ。
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KR20150106437A (ko) | 2015-09-21 |
EP2980009A1 (en) | 2016-02-03 |
JP2014193727A (ja) | 2014-10-09 |
KR101690900B1 (ko) | 2016-12-28 |
CN105073627B (zh) | 2017-06-13 |
EP2980009B1 (en) | 2020-09-23 |
TWI522305B (zh) | 2016-02-21 |
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