JP2856541B2 - Servo type capper - Google Patents

Description

Description: FIELD OF THE INVENTION The present invention relates to a capper for capping a container such as a bottle, and more particularly, to a cap having a directional outer peripheral shape by a chuck portion of a cap gripping head. The present invention relates to a servo-type capper that is automatically controlled so that the direction of a chuck portion matches the direction of the cap when gripping.

(Prior Art) In a capper for capping a cap such as a screw cap on a container such as a bottle, a spindle in which a cap gripping head is conventionally connected is connected to a driving-side rotating unit via a clutch mechanism. When the rotational force applied to the cap by the action is adjusted to be constant, or when the cap having the extraction nozzle is capped, the orientation of the extraction nozzle is devised so as to be constant (see, See JP-B-47-21920 and JP-A-61-190487.

Further, a servo type capper using a servo motor as a rotation driving means itself of a cap gripping head in the capper is known (see Japanese Patent Application Laid-Open No. 62-28884).

(Problems to be Solved by the Invention) By the way, regarding the shape of the cap recently, there is a tendency that not only a circular shape but also a special shape is adopted more frequently due to a design or the like. However, measures against the conventional method of gripping the cap by the cap gripping head have not been sufficient, and various problems may occur with caps other than circular.

That is, the chuck portion 101 in the conventional cap gripping head is formed of hard rubber or the like, and as shown in FIGS. 9 and 10, a vertical cross-sectional shape having a substantially square ring shape is used. Not only the cap,
It was also used to hold caps of special shapes, such as the elliptical cap 102. However, aside from a circular cap, a specially shaped cap
When gripping the cap with the chuck portion, not only is there a risk of misalignment between the cap and the chuck portion,
A part of the cap which has recently been increased is provided with a positioning projection 103 as shown in FIG. 11, and the direction of the cap when the cap is completely tightened by this and the other projection provided on the container side. In the case where the cap is easily deformed in a case where the cap is easily regulated, as shown in the figure, the pressing force F at the time of gripping is locally deformed due to being locally biased. In some cases, it is impossible to accurately control the directionality of the cap by the protrusion 103. In addition, as shown in FIG. 12, when the longitudinal cross section of the longer diameter side of the elliptical cap is formed in an arc shape at both ends, etc., it often becomes difficult to grip the chuck itself. Was.

In view of this point, the present invention realizes a cap gripping head capable of accurately and evenly gripping the outer peripheral surface of a cap of any shape with a simple configuration, and Eliminate the disadvantages of technology,
In particular, even when the cap has an asymmetrical direction, the purpose is to provide a servo-type capper that is automatically controlled so that the direction of the chuck portion matches the direction of the cap, and has excellent workability. is there.

(Means for Solving the Problems) In order to solve the above problems, the present invention drives a cap gripping head having a chuck portion formed substantially in the same shape as a cap by a servomotor, and also adjusts the orientation of the cap gripping head. A technical means of automatically controlling the servomotor so that the orientation of the chuck portion matches the orientation of the cap based on a detection signal from the detector. .

(Operation) Accordingly, the present invention provides a method for controlling the cap holding head by controlling the shape of the chuck portion of the cap holding head to be substantially the same as the outer peripheral shape of the cap and controlling the direction of the cap holding head by the control device. This ensures that the shape of the cap and the chuck part are aligned with each other. And even if the cap has an asymmetrical directionality, the workability can be improved because the direction of the chuck portion is automatically controlled so as to match the direction of the cap. It has a beneficial effect.

Next, an embodiment of the present invention will be described with reference to FIGS.

FIG. 1 shows a main part of a servo type capper embodying the present invention. In the figure, reference numeral 1 denotes a machine frame, 2 denotes a rotating body rotatably supported by the machine frame 1, and 3 denotes a rotating body. A driving motor is shown, and an appropriate number of container gripping mechanisms 4 are disposed below the rotating body 2 and a cap gripping head 5 is disposed above the rotating body 2 in correspondence with the container gripping mechanism 4. Is established. Thus, as shown in FIG.
The container (not shown) conveyed by the above is carried into the rotating body 2 via the supply-side star wheel 7, where it is capped by the cap gripping head 5, and thereafter, is discharged via the discharge-side star wheel 8. It will be carried out onto the conveyor 6.

Next, the driving means of the cap gripping head 5 and its control system will be described more specifically.
Is a driving servomotor provided for each cap gripping head 5 and is connected to each cap gripping head 5 via a speed reduction mechanism 10. In the figure, reference numeral 11 denotes a control device, which is a detection signal from a detector 12 for detecting a rotation angle of the rotating body 2 and a detector such as a rotary encoder for detecting a rotation state of the servomotor 9 as a control input signal. 13 and a detection signal from a detector 14 including a proximity switch for detecting the rotational position of the cap gripping head 5 are input, and based on the detection signal from the detector 12, the container gripping is performed. Each revolution angle at which the mechanism 4 and the corresponding cap gripping head 5 are located is calculated, and based on detection signals from the detectors 13 and 14, the detection position of the proximity switch or the like is determined. The rotation angle of each cap gripping head 5 itself is calculated based on the reference, and based on the calculation results, the revolving angle at which each cap gripping head 5 is located. Depending on the rotation angle of the fine cap gripping head 5 itself, the work instruction adapted respectively is output as a control signal to the servo motor 9 and the solenoid valve 17 via the controllers 15 and slip rings 16. In the drawings, reference numeral 18 denotes a rotary joint connected to the compressed air source 19, and reference numeral 20 denotes a rotary joint for the cap gripping head 5 connected to the solenoid valve 17.

FIG. 3 is a sectional view of the cap gripping head 5. Inside the head case 21, the back surface is opened to a compressed air flow passage 22 communicating with the rotary joint 20, and a tapered surface is formed at a lower portion. Left and right chucks having a piston 24 formed with 23 and a chuck rubber 25 constituting the chuck portion fixed inside, and having a tapered surface 26 slidably joined to the tapered surface 23 of the piston 24 at the upper portion. Rubber supports 27, 27 are provided. Chuck rubber 2
5 is divided into two right and left parts as shown in FIG. 4, and the inner peripheral surface of each is formed in substantially the same shape as the outer peripheral surface of the cap. FIG. 5 illustrates a cap having an asymmetrical directionality. The capper of the present invention prepares a required number of chuck rubbers 25 having inner peripheral surfaces of a shape of a type corresponding to the type of the cap. It will be used after being replaced as appropriate. Of course, it is needless to say that caps of various shapes other than the above can be accommodated. Thus, when compressed air is supplied to the back surface of the piston 24 through the flow path 22, the piston 24 descends and the tapered surfaces 23, 2
The right and left chuck rubber supports 27, 27 move inward with the sliding between the 6 and the cap is gripped by the chuck rubber 25. In the drawing, reference numeral 28 denotes a means for preventing rotation of the piston 24, and reference numerals 29 and 30 denote return springs.

FIG. 6 shows a cap supply device, in which 31 is a chute, 32 is a rotating disk that rotates in synchronization with the cap gripping head 5, 33 is a cap, and 34 is the cap 33.
The cap supply direction detector 34 detects the supply direction of the cap, and the cap supply direction detector 34 is configured using electrical, optical means and the like, and is based on a difference in shape before and after the supply direction of the cap. To detect the supply direction.

Next, the capping work cycle of this embodiment will be described with reference to FIG.

As described above, in the control device 11, the detector
12 based on the detection signal from
Is calculated around the axis of the rotating body 2 of
Each command signal corresponding to the revolving angle is output via the controller 15 and the slip ring 16, and the following operations are performed.

That is, the revolving angle of the cap gripping head 5
As described later in detail, the direction of the chuck rubber 25 constituting the chuck portion of the cap gripping head 5 is supplied by the rotating disk 32 of the cap supply device, as described later in detail. Direction regulation control for matching the direction of the coming cap 33 is performed.

Thus, when the above-described direction regulating work is completed and the revolving angle of the cap gripping head 5 reaches the cap gripping work area, the controller 11 sends the electromagnetic valve 17 via the controller 15 and the slip 16 to the solenoid valve 17. The operation command signal is output. As a result, the rotary joint is
18, the compressed air is supplied to the back surface of the piston 24 via the electromagnetic valve 17, the rotary joint 20, and the compressed air flow path 22, so that the piston 24 descends and the tapered surfaces 23 and 26 Chuck rubber support 2
7 and 27 move inward, and the cap is gripped by the chuck rubber 25. In this case, the direction of the chuck rubber 25 of the cap gripping head 5 and the direction of the cap 33 are matched by the above-described direction regulating operation, and the inner circumference of the chuck rubber 25 is the same as the outer shape of the cap. Since they are formed in substantially the same shape, it is possible to perform extremely accurate gripping, and it is also possible to prevent biased pressing force from being applied to the cap 33.

When the revolving angle of the cap gripping head 5 reaches the next capping work area after the cap gripping operation is completed, the controller 15 and the controller 15 and the slipper 16 are moved from the control operation 11.
An operation command signal for a capping operation is issued to the servo motor 9 via. Then, since the servo motor 9 starts rotating, the cap gripping head 5 also starts rotating via the speed reduction mechanism 10. Accordingly, the cap gripping head 5 performs a capping operation in conjunction with an elevating operation by a cam mechanism or the like (not shown). The capping operation is performed based on a detection signal from the detector 13. By controlling the servo motor 9 while monitoring it via the controller 15 and the slip ring 16, a desired operation is performed. In this case, when the capping operation is completed, the two projections formed at the corresponding positions of the cap and the container are in contact with each other to regulate the directionality of the cap when tightened to the end. The rotation of the cap gripping head 5 is stopped. This rotation stop state is immediately detected by the detector 13, and a rotation stop command is issued to the servomotor 9 via the controller 15 and the slip ring 16. A signal is output, and a stop command signal is also output to the electromagnetic valve 17, so that the capping operation ends.

When the revolving angle of the cap gripping head 5 reaches the direction regulating work area after the capping operation is completed, the orientation of the chuck rubber 25 of the cap gripping head 5 is changed to the cap 33 in preparation for the next cap gripping operation. A direction regulation operation for matching the direction of the vehicle is started.

This direction regulation operation is performed by the cap supply direction detector 34.
A detection signal relating to the supply direction of the cap 33 from the detector and the cap gripping head 5 from the detector 13 and the detector 14.
The rotation angle of, that is, the detection signal relating to the direction of the chuck rubber 25 constituting the chuck portion is compared with the control device 11 while taking a timing, and when the directions match, the state of the servomotor 9, that is, the cap The state of the gripping head 5 is maintained in a stopped state, and when the revolving angle of the cap gripping head 5 reaches the cap gripping work area, only the solenoid valve 17 is controlled via the controller 15 and the slip ring 16. By opening the electromagnetic valve 17 by outputting an operation command signal to start the cap gripping operation described above, on the other hand, as a result of comparison in the control device 11, when the directionality does not match, The supply direction of the cap 33 and the rotation angle of the cap gripping head 5, that is, the chuck rubber 25 forming the chuck portion thereof
And a correction angle required to eliminate the difference and make the direction coincide with each other, and output this to the servo motor 9 via the controller 15 and the slip ring 16, whereby After the direction of the cap 33 and the direction of the chuck portion of the cap gripping head 5 are matched, in that state, the process is taken over to the cap gripping operation.
As described above, the operation command signal is output to the electromagnetic valve 17 via the controller 15 and the slip ring 16, and the capping operation is performed.

Thereafter, the above work cycle is repeated, and the capping work is continued.

FIG. 8 shows another embodiment of the present invention.
The difference from the above-described embodiment is that the cap gripping head 5 is directly connected to and driven by the servomotor 9 without using the speed reduction mechanism 10. The rotation angle of the servomotor 9 itself detected by the detector 13 is used as a detection signal relating to the rotation angle of the cap gripping head 5, and based on this signal, The feature is that each control in the work is performed.

(Effect of the Invention) As a result of employing the above configuration, the present invention can obtain the following results.

(1) The shape of the chuck portion of the cap gripping head is substantially the same as the outer shape of the cap, and the directionality between the cap and the chuck portion is automatically controlled by automatically controlling the rotation angle of the servo motor for driving the cap gripping head. In addition, the accurate and even gripping of the cap without bias is realized, so that capping work of caps of various shapes can be easily and accurately performed without being limited to the outer shape of the cap. Become like

(2) As described above, since even and uniform gripping is realized, not only troubles caused by deformation due to local pressing are prevented, but also capping of easily deformable cap is easy and accurate. Will be able to do it.

(3) As described above, the direction of the chuck portion of the cap gripping head is automatically controlled so as to match the direction of the cap. Therefore, even when the cap has an asymmetrical direction, the cap is not affected. In this supply operation, accurate gripping can be realized even if the supply direction is not strictly adjusted, and the direction control of the chuck portion is automatically performed, so that the structure of the cap supply device can be simplified and the direction regulation can be performed. Workability in work can also be improved.

(4) Since a servomotor is used as the driving means of the cap gripping head, and the direction control of the chuck portion is performed through the control of the rotation angle of the servomotor, the configuration can be simplified.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram showing a main part of an embodiment of the present invention, FIG. 2 is a conceptual diagram showing a flow of the apparatus, FIG. 3 is a longitudinal sectional view of a cap gripping head portion, and FIG. 5 (a) to 5 (c) are plan views of examples of caps of various shapes, FIG. 6 is a schematic plan view of a cap supply device, and FIG. 7 is a time chart relating to a work cycle. FIG. 8 is a conceptual view showing a main part of another embodiment of the present invention, FIG. 9 is a schematic sectional view of a conventional cap gripping head, FIG. 10 is a schematic bottom view thereof, and FIG. FIG. 12 is an explanatory view relating to deformation of a cap generated at the time of capping in the apparatus, and FIG. 12 is a longitudinal sectional view of the cap. DESCRIPTION OF SYMBOLS 1 ... Machine frame 2 ... Rotating body 3 ... Rotating body driving motor 4 ... Container holding mechanism 5 ... Cap holding head 6 ... Conveyor 7 ... Supply side starwheel 8 ... Discharge side starwheel 9: Servo motor 10: Reduction mechanism, 11: Control device 12-14: Detector 15: Controller, 16: Slip ring 17: Solenoid valve 18: Rotary joint 19: Compressed air source 20 ... Rotary joint 22 ... Compressed air flow path 24 ... Piston, 25 ... Chuck rubber 31 ... Chute, 32 ... Rotating disk 33 ... Cap 34 ... Cap supply direction detector

Claims (1)

(57) [Claims] 1. A cap gripping head having a chuck portion formed in substantially the same shape as a cap is driven by a servomotor, and a detector for detecting the direction of the cap gripping head is provided. Based on the signal
A servo-type capper, comprising: a control device that automatically controls the servomotor so that the direction of the chuck portion matches the direction of the cap.