JP5505721B2 - Control pattern selection method and screw capper in cap tightening - Google Patents

Description

  The present invention relates to a control pattern selection method and screw capper for tightening a cap, and more specifically, a cap winding for selecting a motor control pattern for tightening the cap on a container according to the characteristics of the cap. The present invention relates to a control pattern selection method and a screw capper in tightening.

Conventionally, a screw capper equipped with a servo motor has been proposed to wind various resin caps around a container (for example, Patent Document 1 and Patent Document 2). In such a conventional screw capper, by rotating the capping head by a servo motor, it is possible to accurately control the rotation speed and the tightening torque of the cap when the cap is wound around the container, Thereby, capping with an appropriate closing torque can be performed while the container is securely sealed. The servo motor is controlled to rotate according to a predetermined control pattern.
In such conventional technologies, by starting the rotation of the cap at a relatively high rotational speed and command torque, the cap is prevented from being exposed to the bevel cap, and the capping of the cap is prevented. In the final stage, the rotation speed and command torque of the servo motor are reduced to avoid over-tightening the cap due to the influence of the inertia of the capping head that winds the cap. More specifically, in the winding method of Patent Document 1, after tightening with a low command torque while rotating the cap at a high rotational speed, and detecting the end of temporary fastening when the rotational speed falls below a predetermined speed The final final tightening is performed with a high command torque at a low rotational speed. In other words, the tightening of the cap is advanced until the top end of the container comes into contact with the top surface of the cap, and the end of the temporary tightening is detected by a decrease in rotational speed due to an increase in load. In the final tightening, the tightening is performed with a necessary closing torque.
Moreover, in the winding method of patent document 2, it winds by high command torque, rotating a cap at high rotational speed, and after detecting the completion | finish of temporary fastening because an actual torque exceeds predetermined torque, it is low rotation. Final final tightening is performed with a low command torque at a low speed. This method is used when the cap is provided with an inner ring and high torque is required during temporary fastening, such as when the command torque is kept low and the end of temporary fastening cannot be detected as in Patent Document 1, As the actual torque increases and the actual torque increases, the end of the temporary tightening is detected, and the final tightening is performed with the necessary closing torque.

JP 2002-308380 A JP 2005-193937 A

  By the way, in the above-described prior art, the determination of the servo motor control pattern and specific parameters for executing the control pattern selection method in cap tightening as described above is performed by a test machine separate from the screw capper. There are problems in that it is necessary to test repeatedly to find an appropriate one, and time and labor and a lot of materials (caps and containers) are required.

In view of the circumstances described above, the present invention described in claim 1 is provided with a plurality of control patterns for controlling the rotation of a motor that rotates the capping head according to the characteristics of the cap, and any one of the plurality of control patterns. The control pattern selection method in the tightening of the cap by rotating the capping head holding the cap and winding the cap around the container by rotating the motor with
The motor is rotated according to a predetermined test condition to wind the cap around the container, and the operating torque for each predetermined rotation angle acting on the cap at the time of the tightening is detected to detect changes in the rotation angle of the motor and the operating torque. A relationship is obtained, and a feature point in the relationship between the rotation angle and the change in the applied torque is collated with a preset condition, and one control pattern is selected from a plurality of control patterns.
The present invention described in claim 4 comprises a holding means for holding the container, a capping head for holding and rotating the cap, a motor for rotating the capping head, and a control means for controlling the rotation of the motor, In the screw capper that controls the rotation of the motor according to the control pattern according to the characteristics of the cap and winds the cap held on the capping head around the container.
An angle detecting means for detecting the rotation angle of the motor, a torque detecting means for detecting an acting torque acting on the cap, a storage unit storing a plurality of control patterns of the motor, and one control among the plurality of control patterns A setting unit for selecting a pattern, rotating the motor according to a predetermined test condition set in the control means and tightening the cap around the container, and detecting a working torque for each predetermined rotation angle of the motor at that time, The setting unit selects one control pattern from a plurality of control patterns stored in the storage unit based on the relationship between the rotation angle of the motor and the change in the working torque.

  With such a configuration, it is not necessary to test the motor control pattern in advance by a separate test machine for a new cap having different characteristics. Therefore, it is possible to omit the time required to determine the control pattern, thereby simplifying the work of the operator at the site, and greatly saving materials (caps and containers) compared to the conventional case.

1 is a schematic plan view showing an embodiment of the present invention. The front view of the principal part in the screw capper of FIG. It is sectional drawing which shows the relationship between the cap used as the process target of the screw capper of FIG. 1, and a container, FIG. 3 (a) shows the case of a cap provided with an inner ring, FIG.3 (b) is provided with an inner ring. It shows a case that is not. FIG. 4A is a diagram illustrating a relationship between a rotation speed and a torque time when the motor is rotated in a first control pattern by the screw capper of FIG. 1. FIG. 4A illustrates a change in the rotation speed, and FIG. ) Indicates a change in torque. It is a figure which shows the relationship between the rotational speed at the time of rotating a motor by a 2nd control pattern by the screw capper of FIG. 1, and the time of a torque, FIG. 5 (a) shows the change of rotational speed, FIG. ) Indicates a change in torque. FIG. 6 is a diagram illustrating a relationship between a rotation speed and a torque time when the motor is rotated in a third control pattern by the screw capper of FIG. 1, and FIG. 6A illustrates a change in the rotation speed, and FIG. ) Indicates a change in torque. FIG. 2 is a process diagram showing processing steps from sampling by a screw capper shown in FIG. 1 to final determination of a control pattern. The figure which shows the relationship between the rotation angle of a motor, and the change of an acting torque by the sampling process (S1) of FIG.

  The present invention will be described below with reference to the illustrated embodiments. In FIGS. 1 to 3, reference numeral 1 denotes a rotary screw capper that winds a cap 3 around a mouth 2 </ b> A of a container 2. The screw capper 1 is provided at equidistant positions in the circumferential direction of the rotating body 4 and holds a mounting table 5 on which the container 2 is mounted and a body portion of the container 2 mounted on each mounting table 5. A holding means 6 and a capping head 7 provided above the mounting table 5 for holding and rotating the cap 3 and winding the cap 3 around the mouth 2A of the container 2 held by the holding means 6; When the rotating body 4 is rotated, a motor 8 provided on the rotating body 4 for each capping head 7 to rotate the capping head 7, a control device 11 as a control means for controlling the operation of each motor 8, and the rotating body 4. And a conventionally known elevating cam mechanism 12 for elevating each capping head 7 at a required position.

  A supply star wheel 13 and a discharge star wheel 14 are disposed adjacent to the rotating body 4, and the container 2 is supplied from the supply position A to each mounting table 5 by the supply star wheel 13 as the rotating body 4 rotates. On the other hand, at the discharge position B, the container 2 after the completion of the tightening of the cap 3 is discharged from each mounting table 5 by the discharge star wheel 14. A chute 15 for delivering the cap 3 to each capping head 7 is disposed at the cap supply position C between the star wheels 13 and 14, and each capping is performed when the rotating body 4 is rotated. The head 7 receives and holds the cap 3 from the chute 15.

A conventionally known capping head 7 includes a chuck 16 for holding the cap 3, a spline bearing 18 to which the cam follower 12A of the elevating cam mechanism 12 is attached while being spline-fitted to the spline shaft 17, and the chuck 16 and the spline bearing. 18 and a buffer spring 21 provided between the two. The spline shaft 17 is connected to the drive shaft of the motor 8, and the motor 8 can rotate the capping head 7 at a required torque and rotational speed.
The conventionally known lifting cam mechanism 12 is provided along the circumferential direction of the rotating body 4 and the cam follower 12A connected to the spline bearing 18 of each capping head 7, and is used for lifting and lowering that engages with each cam follower 12A. When the rotating body 4 is rotated, the capping head 7 is moved up and down in a required section by the lifting cam mechanism 12.

The motor 8 is configured as a servo motor, and is provided with an encoder 22 as angle detection means. A pulse signal of the motor 8 detected by the encoder 22 is input to a servo amplifier 23. The control device 11 recognizes the rotation angle of the motor 8 via the servo amplifier 23.
The motor 8 is driven by power supplied from the servo amplifier 23, and the servo amplifier 23 whose rotation angle is fed back from the encoder 22 functions as a torque detection unit and a rotation speed detection unit of the motor 8. The control device 11 includes a servo controller 11A, and a required command torque and command rotation speed are transmitted from the servo controller 11A to the servo amplifier 23. Thereby, since each motor 8 is rotated, the capping head 7 holding the cap 3 is rotated to wind the cap 3 around the container 2, and the action acting on the cap 3 during the tightening. The torque and the rotation speed of the cap 3 are detected by the servo amplifier 23 and input to the control device 11. At the same time, the pulse signal of the motor 8 detected by the encoder 22 is also input to the control device 11. It has become.

The operation of the screw capper 1 will be described.
That is, when the container 2 is sequentially supplied to each mounting table 5 at the supply position A by the supply star wheel 13 in a state where the rotating body 4 is rotated, the container 2 on each mounting table 5 is barreled by the holding means 6. Held part.
The capping head 7 above the container 2 supplied to the mounting table 5 receives and holds the cap 3 from the chute 15 in advance, and corresponds to the motor 8 for the capping head 7 above the container 2. Thus, a predetermined command torque and a command rotation speed are transmitted from the servo controller 11A of the control device 11 to the servo amplifier 23. As a result, the capping head 7 is moved up and down by the lifting cam mechanism 12 as the rotating body 4 rotates, and the capping head 7 is rotated in the winding direction by the motor 8 in the effective winding tightening section D shown in FIG. Therefore, the cap 3 held by the capping head 7 is wound around the mouth 2 </ b> A of the container 2. Further, the operating torque and rotational speed acting on the cap 3 during the winding of the cap 3 around the container 2 by the capping head 7 are detected by the servo amplifier 23 and recorded in the control device 11.
The capping head 7 that has finished the tightening of the cap 3 with the rotation of the rotating body 4 is supported above the cap 3 and the container 2 by the elevating cam mechanism 12 at a position immediately before the discharge position B, and Since the holding state of the body portion of the container 2 by the holding means 6 is released, the container 2 after the completion of the tightening of the cap 3 is discharged from the mounting table 5 by the discharge star wheel 14 at the discharge position B. .
The above-described operation of tightening the cap 3 around the container 2 by the screw capper 1 is the same as that conventionally known.

By the way, the cap 3 to be processed by the screw capper 1 has, for example, an inner ring 3A as shown in FIG. 3 (a) or an inner ring as shown in FIG. 3 (b). There are many types, such as those provided with a flat sealing material 3B on the top surface. Therefore, in order to tighten the caps 3 of different types around the container 2 by the capping head 7, according to the characteristics of each type of each cap 3, the control pattern and specific parameters of the command torque to the motor 8 and the command rotational speed. (Rotation speed, torque, time, etc.) must be selected.
Therefore, in the screw capper 1 of the present embodiment, three types of control patterns of the motor 8 are set in advance according to the caps 3 having different characteristics, and these three types of control patterns are stored in advance in the storage unit 11B of the control device 11. Is saved. These three types of control patterns for rotating the motor 8 prevent the occurrence of a beret cap when the various caps 3 are wound around the container 2, and the cap 3 may be tightened too much when the tightening is completed. It is intended that no suitable closing torque is obtained. Therefore, in the three types of control patterns, the command torque and the command rotation speed for the motor 8 are set in the process from the start of the tightening of the cap 3 to the end of the tightening. The setting unit 11C of the control device 11 sets the setting parameters (command torque, command rotation speed, etc.) necessary for operating the motor 8. In the present embodiment, the rotation of the motor 8 is controlled by any one of three types of control patterns, and the cap 3 is wound around the container 2. The control pattern is not limited to three types as in the present embodiment, and a plurality of types may be prepared.

Here, the three control patterns of the motor 8 stored in advance in the control device 11 will be described. First, the cap 3 to be processed has a small number of turns when tightened, and the cap 3 that reaches the closing torque is abrupt. In this case, the rotation of the motor 8 is controlled by the first control pattern CP1. On the other hand, when the cap 3 to be processed is a cap 3 having a large number of windings and does not have the inner ring 3A, the motor 8 is driven by the third control pattern CP3 when the inner ring 3A is provided by the second control pattern CP2. The rotation is controlled.
More specifically, FIG. 4 shows the command torque and command rotational speed to the motor 8 in the first control pattern CP1, and the rotational speed output when the motor 8 is actually operated in the first control pattern CP1. This shows the working torque.
The first control pattern CP1 is intended to wind the cap 3 around the mouth 2A of the container 2 by rotating the motor 8 at a constant rotational speed using the closing torque as a command torque without temporarily tightening the cap 3. ing. In FIG. 4A, the broken line indicates the command rotational speed from the control device 11 for the motor 8, and the solid line indicates the actual rotational speed of the motor 8 (rotational speed of the cap 3) detected by the servo amplifier 23. is there. Similarly, what is indicated by a broken line in FIG. 4B is a command torque from the control device 11 to the motor 8, and what is indicated by a solid line is an action torque output by the actual motor 8 detected by the servo amplifier 23 ( (Acting torque acting on the cap 3).
In the first control pattern CP1, the command rotational speed when the cap 3 is tightened is set to a constant value (see FIG. 4A). On the other hand, the command torque is set to a constant large command torque during a predetermined time in which the screw thread of the cap 3 is engaged with the screw thread of the mouth 2a of the container 2, and then meshes as a final tightening section. A closing torque smaller than the section is set as the command torque (see FIG. 4B).

When the motor 8 is rotated at the command rotational speed and the command torque according to the first control pattern CP1 and the cap 3 held by the capping head 7 is actually wound around the mouth portion 2A of the container 2, FIGS. The rotational speed and working torque of the motor 8 as shown by the solid line in (b) can be obtained.
That is, when the cap 3 is put on the mouth portion 2A of the container 2 and rotated, a rapid increase in torque is observed when the screw thread of the cap 3 and the screw thread of the mouth portion 2A of the container 2 mesh with each other (FIG. 4 (b)), after that, the torque is shifted to a relatively small torque, and after the torque is temporarily increased, the torque is rapidly increased to the same torque as the command torque. The torque showing a steep rising gradient indicates that the tip of the mouth portion 2A of the container 2 is in contact with (sitting on) the top surface of the cap 3, and at this time, the rotational speed decreases rapidly (see FIG. 4 (a)).
Therefore, in the first control pattern CP1, when the rotational speed is rapidly reduced to a predetermined rotational speed (final tightening stop determination rotational speed), the command torque is retained for a predetermined time (final tightening torque holding time) from that point. It is set as follows.
In addition, when the cap 3 provided with the inner ring 3A shown in FIG. 3A is tightened, the rotational speed and the torque temporarily increase when the inner ring 3A comes into contact with the mouth portion 2A.

  Next, the second control pattern CP2 will be described with reference to FIG. The second control pattern CP2 is the same as the capping method disclosed in Patent Document 1. That is, in the second control pattern CP2, a temporary fastening section is provided between the meshing section and the final fastening section, and the fact that the motor 8 is rotated at a high speed with a small command torque is seated throughout the temporary fastening section. It is detected and rotated at a low speed with a large torque in the subsequent final tightening section.

More specifically, in the second control pattern CP2, a high command rotational speed is commanded to the motor 8 in the meshing section and the temporary tightening section, and a low command rotational speed is commanded in the final tightening section. On the other hand, a large command torque is commanded to the motor 8 in the meshing section, and a small command torque less than half of that in the temporary tightening section is commanded. In the final final tightening section, the closing torque is commanded as a command torque.
When the motor 8 is rotated at the command rotational speed and the command torque according to the second control pattern CP2 and the cap 3 held by the capping head 7 is actually wound around the mouth portion 2A of the container 2, FIGS. The rotational speed and working torque of the motor 8 as shown by the solid line in (b) can be obtained.
That is, first, when the screw thread of the cap 3 and the screw thread of the mouth portion 2A of the container 2 are engaged with each other, a rapid increase in torque is observed, and then a transition is made with a relatively small torque, and then the torque increases rapidly. (See FIG. 5 (b)). When the torque rapidly increases in this way, the rotational speed is decelerated to a rapid decrease, and the time point when the predetermined rotational speed (temporary fastening end determination rotational speed) is reached is defined as the temporary fastening end time point. Shifting to the final tightening section, the command torque is increased to the closing torque, and the rotation speed is switched to a low speed. Thereafter, the torque continues to increase and the rotation speed starts to increase. However, when the torque is reduced again and reaches a predetermined final tightening stop determination rotational speed, the closing torque is maintained for a predetermined final tightening torque holding time. .
Thus, the second control pattern CP2 rotates the motor 8 with a large torque and a high rotational speed in the meshing section, reduces the torque in the temporary tightening section, and sets the motor 8 again with a large torque and a low rotational speed in the final tightening section. It is designed to rotate.

Next, the third control pattern CP3 will be described with reference to FIG. The third control pattern CP3 has the same contents as the method disclosed in Patent Document 2, and commands the motor 8 to have a constant high rotational speed over the meshing section and the temporary tightening section, and also commands the motor 8 to provide a large torque. I am doing so. On the other hand, in the final tightening section, the motor 8 is instructed to have a lower rotational speed and a smaller torque than the meshing section.
When the actual cap 2 is tightened by the third control pattern CP3, as shown by a solid line, the mouth portion 2A of the container 2 to the top surface of the cap 3 at the time of meshing and after the torque increase by the inner ring 3A is performed. The torque increases rapidly due to the seating of the tip. In the third control pattern CP3, when the rapidly increasing torque reaches a predetermined provisional tightening end determination torque, the command torque is reduced to the closing torque, and the rotational speed is decelerated to shift to the final tightening section. In the final tightening section, the rotational speed decreases to the command rotational speed that has been decelerated while the operating torque increases to the closing torque, and further decreases to the predetermined final tightening stop rotational speed. During the time, a predetermined closing torque is maintained.

As described above, the control device 11 includes a plurality of control patterns (CP1 to CP3) for rotating the motor 8 in accordance with the characteristics of the cap 3, and in this embodiment, the screw capper 1 described above is provided. Assuming the configuration, when the type of cap 3 to be processed is changed to a new cap 3 with different characteristics, the motor 8 is rotated by any of the above three control patterns CP1 to CP3. The control device 11 determines whether the container 2 is to be tightened.
That is, when the cap 3 to be processed is changed to a new one and it is unclear which of the control patterns CP1 to CP3 is applied to the cap 3, a new process is performed by the following sampling process. A control pattern suitable for winding the cap 3 around the container 2 is selected.
First, the time that can be spent for winding as a mechanical condition of the screw capper 1 prior to the sampling step (winding effective time), and the number of turns of the cap 3 (cap effective number of turns) as the material condition of the container 2 and the cap 3 A required closing torque value is input to the control device 11. Then, a plurality of new caps 3 and a container 2 for mounting the caps 3 are prepared, and the control device 11 rotates the motor 8 in accordance with test conditions including a predetermined rotational speed and a command torque, and a new plurality of caps 7 are generated by the capping head 7. The cap 3 is wrapped around the mouth 2A of the container 2 (sampling step: see S1 in FIG. 7). Also in the sampling step S1, setting parameters for actually rotating the motor 8 are set in advance by the setting unit 11C, and the motor 8 is set in a predetermined condition under test conditions including the setting parameters obtained in advance. The cap 3 is wound around the container 2 by rotating at the command rotational speed and the command torque.

  In the tightening of the cap 3 in the sampling step S1, for example, the rotation speed of the capping head 7 is a constant speed that is lower than the actual tightening speed, and the command torque is a constant torque that is larger than the required closing torque. . When the cap 3 is tightened in the sampling step S 1, the acting torque acting on the cap 3 is detected via the servo amplifier 23. This detection of the operating torque is performed at every predetermined rotation angle when the cap 3 is tightened via the encoder 22, and the detected operating torque at each rotation angle is input to the control device 11, The relationship between the rotation angle of the motor 8 and the change in the working torque (see FIG. 8) is obtained. The sampling step S <b> 1 is performed by attaching, for example, ten caps 3 to the container 2 for the plurality of caps 3 by the capping head 7 of the screw capper 1.

After the sampling step S1, the setting unit 11C of the control device 11 stores in the storage unit 11B as follows based on the relationship between the rotation angle of the motor 8 and the change in the working torque obtained in the sampling step S1. One control pattern is selected from the plurality of control patterns.
That is, when the applied torque is detected at the rotation angle of 1 degree in the sampling step S1, the setting unit 11C of the control device 11 obtains a difference from the torque value of a predetermined angle every 1 degree as the unit angle, and the container 2 The rotation angle (sitting position) at the time when the tip of the mouth portion 2A contacts (sits) the top surface of the cap 3 is obtained. That is, since the torque rapidly increases when seated, the angle position immediately before the angle at which the difference in torque value finally increases to a predetermined value or more is obtained. The method for obtaining the seating position is known in Japanese Patent Laid-Open No. 2001-72186, which is a prior art.

Next, after obtaining the seating position as described above, the setting unit 11C obtains the intermediate resistance torque in the intermediate section including the predetermined angle range before the angular position (see S3 in FIG. 7). The intermediate resistance torque is the maximum value of the acting torque in the intermediate section until the seating position where the final tightening of the cap 3 is started, excluding the place where the torque is suddenly increased immediately after starting the tightening. It is. In addition, since the rapid torque increase immediately after the start of winding tightening occurs during one rotation of the cap 3, the acting torque detected at least during a predetermined angle (time) at which the cap 3 rotates once from the start of winding tightening. This torque increase can be eliminated by ignoring. Further, a predetermined time from the start of tightening to the start of meshing becomes the meshing section in each of the control patterns CP1 to CP3.
After obtaining the intermediate resistance torque in this way, the setting unit 11C then subtracts the obtained intermediate resistance torque from the required closing torque stored in advance (see S4 in FIG. 7).
Next, the setting unit 11 </ b> C calculates a maximum final tightening rotation angle that is a rotation angle required for final tightening of the cap 3. More specifically, the rotation angle from the angular position where the same value as the intermediate resistance torque is generated during the torque increase after sitting at the seating position to the angular position where the closing torque is reached is obtained as the maximum final tightening rotation angle. (See S5 in FIG. 7).

Next, the setting unit 11 </ b> C of the control device 11 collates the maximum final tightening rotation angle obtained as described above with a preset condition, and selects any of the control patterns CP <b> 1 to CP <b> 3 for the cap 3. The application is determined as follows.
First, the maximum final tightening rotation angle is compared with a set value as a preset condition. If the maximum final tightening rotation angle is equal to or smaller than the set value, it is immediately classified as the first control pattern CP1 (S6 in FIG. 7). reference).
That is, the control pattern CP2 needs to detect the temporary fastening end determination rotational speed, and the control pattern CP3 needs to detect the temporary fastening end determination torque, and the rotational angle (time) at which these can be reliably detected is required between the maximum final fastening rotational angles. This is the first characteristic point in the relationship between the rotation angle and the change in the acting torque.
On the other hand, as a result of the comparison, if the maximum final tightening rotation angle is equal to or larger than the set value, the intermediate resistance torque value is then compared with a set value as a preset condition. Here, if the intermediate resistance torque is equal to or less than the set value, it is classified as the control pattern CP2, and if it exceeds the set value, it is classified as the control pattern CP3.
That is, when the intermediate resistance torque is equal to or greater than the set value, it is determined that the inner ring 3A is provided, and the control pattern CP2 cannot be used. And a second feature point in the relationship between the change in the applied torque.

The setting unit 11C of the control device 11 selects one control pattern from the plurality of control patterns CP1 to CP3 through the above-described processing steps (S2 to S6 in FIG. 7), and then performs a test run (FIG. 7). S7).
In performing this test operation, temporary parameters are set for each of the selected first control pattern CP1 to third control pattern CP3. The provisional parameter is set by the setting unit 11C of the control device 11 according to the machine condition and material condition input in advance and the detection value obtained by sampling.

  First, in the first control pattern CP1, the setting time of the meshing section, the final tightening torque holding time, the command rotational speed, the final tightening stop determination rotational speed, the command torque in the meshing section, and the command torque (capping torque) in the main tightening section. It is necessary to set a value, and the setting time of the meshing section, the final tightening torque holding time, and the command rotation speed are based on the effective tightening time as the machine condition and the effective cap number as the material condition input prior to the sampling process. The setting time of the meshing section is the time required for one rotation of the cap 3, the final tightening torque holding time is a sufficient time for finally obtaining the closing torque, and the command rotational speed is the capping head 7 Each speed is selected within the range not affected by the inertia. Further, the final tightening stop rotational speed can be selected and registered in advance so that it can be determined that the capping head 7 is stopped. The command torque in the meshing section is obtained by the sampling process. It can be obtained from the sudden increase in torque at the start of engagement. Further, the command torque (capping torque) in the final tightening section can be set from the capping torque input prior to the sampling process.

Next, in the second control pattern CP2, the mesh section setting time, the final tightening torque holding time, the mesh section, the command rotational speed in the temporary tightening section, the command rotational speed in the final tightening section, the temporary tightening end determination rotational speed, It is necessary to set the tightening stop determination rotational speed, the command torque in the meshing section, the command torque in the temporary tightening section, and the command torque (capping torque) in the final tightening section. It can be set in the same manner as the first control pattern CP1, and the command rotation speed in the meshing section, the temporary tightening section, and the command rotation speed in the final tightening section are the effective tightening time as a mechanical strip input prior to the sampling process. The effective rotation number of the cap as a material condition is selected, and the command rotation intensity in the final tightening section is affected by the inertia of the capping head 7. It has so selecting the speed of the free range.
In addition, the temporary tightening end determination rotational speed and the final tightening stop determination rotational speed can be selected and registered in advance so as to determine that the capping head 7 is stopped. Can be set similarly to the first control pattern CP1. Further, the command torque in the temporary fastening section can be obtained from the torque value in the intermediate section obtained by the sampling process, and the command torque (capping torque) in the final fastening section is set from the closing torque input prior to the sampling process. be able to.

In the third control pattern CP3, the mesh section setting time, the final tightening torque holding time, the mesh section, the command rotational speed in the temporary tightening section, the command rotational speed in the final tightening section, the final tightening stop determination rotational speed, the mesh section, temporary It is necessary to set values of the command torque in the tightening section, the command torque (clamping torque) in the final tightening section, and the provisional tightening end determination torque, and the setting time in the meshing section and the main tightening torque holding time are the same as in the first control pattern CP1. The command rotation speed in the meshing section, the temporary tightening section, and the command rotation speed in the main tightening section are the effective tightening time as the mechanical condition and the effective cap number as the material condition input prior to the sampling process. The command rotational speed in the final tightening section is selected within a range not affected by the inertia of the capping head 7. It has become the jar.
Further, the final tightening stop determination rotational speed can be selected and registered in advance at a speed low enough to determine that the capping head 7 is stopped, and the first control pattern CP1 for the command torque in the meshing section. It can be set in the same way. Further, the command torque in the temporary fastening section can be obtained from the maximum value of the working torque in the intermediate section in the relationship between the rotation angle obtained by the sampling process and the change in the working torque, and the command torque (capping torque) in the final fastening section. Can be set from the closing torque input prior to sampling. The provisional tightening end determination torque is set based on the intermediate resistance torque obtained by sampling and the input closing torque.
When there is a problem in the trial operation with the temporary parameter, the control device 11 performs fine adjustment of the parameter (see S7 ′ in FIG. 7).
After the adjustment of this parameter, a trial operation for re-tightening the cap 3 around the container 2 is performed, and if there is no malfunction, the setting unit 11C of the control device 11 finally determines the control pattern, and at the time of the last trial operation. It is determined to rotate the motor 8 with the setting parameters.

  As described above, in the method of tightening the screw capper 1 and the cap 3 according to this embodiment, when a new cap 3 having different characteristics is to be tightened around the container 2, it should be applied to the cap 3. In determining one control pattern, it is not necessary to perform a test in advance by a separate test machine. Therefore, according to the control pattern selection method and screw capper in the tightening of the cap of the present invention, it is possible to easily select a suitable control pattern of the motor 8 from among a plurality of control patterns and determine specific setting parameters. be able to. Therefore, when the cap 3 to be processed is changed to one with a different characteristic, the work burden on the operator at the site can be greatly reduced, and materials and test time are greatly reduced compared to the conventional one. can do.

DESCRIPTION OF SYMBOLS 1 ... Screw capper 2 ... Container 3 ... Cap 6 ... Holding means 7 ... Capping head 8 ... Motor 11 ... Control device 11B ... Memory | storage part 11C ... Setting part 22 ... Encoder 23 ... Servo amplifier CP1 ... 1st control pattern CP2 ... 1st 2 control pattern CP3 3rd control pattern

Claims (4)

A plurality of control patterns that control the rotation of the motor that rotates the capping head are provided according to the characteristics of the cap, and the capping head that holds the cap is rotated by rotating the motor according to any of the plurality of control patterns. A control pattern selection method in the tightening of the cap, which is configured to wind the cap around the container,
The motor is rotated according to a predetermined test condition to wind the cap around the container, and the operating torque for each predetermined rotation angle acting on the cap at the time of the tightening is detected to detect changes in the rotation angle of the motor and the operating torque. Cap tightening characterized in that a relationship is obtained, and a feature point in the relationship between the rotation angle and the change in applied torque is compared with a preset condition, and one control pattern is selected from a plurality of control patterns. Control pattern selection method.   2. The method of selecting a control pattern in tightening a cap according to claim 1, wherein the characteristic point is a rotation angle required for final tightening of the cap.   2. The method for selecting a control pattern in tightening a cap according to claim 1, wherein the characteristic point is a maximum value of an acting torque in a predetermined angle range before the final tightening of the cap. A holding means for holding the container, a capping head for holding and rotating the cap, a motor for rotating the capping head, and a control means for controlling the rotation of the motor, and the rotation of the motor according to the control pattern according to the characteristics of the cap In the screw capper that controls and winds the cap held on the capping head around the container,
An angle detecting means for detecting the rotation angle of the motor, a torque detecting means for detecting an acting torque acting on the cap, a storage unit storing a plurality of control patterns of the motor, and one control among the plurality of control patterns It has a setting part to select a pattern,
Rotate the motor according to the predetermined test conditions set in the control means to wind the cap around the container, and detect the operating torque for each predetermined rotation angle of the motor at that time,
The screw capper according to claim 1, wherein the setting unit selects one control pattern from a plurality of control patterns stored in the storage unit, based on a relationship between a rotation angle of the motor and a change in acting torque.

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