CN117163362A - Cap closing jig, cap closing device and cap closing method - Google Patents

Abstract

A cap closing jig, a cap closing device, and a cap closing method are provided, which can close a cap while suppressing a load on a cap. The cover closing jig is a jig for closing a cover to a container body, and is characterized in that, when the direction in which the container body and the cover are arranged is a first direction in a state in which the cover has been closed to the container body, the cover has an engagement portion that engages with the container body and a wall portion that extends with a component along the first direction and is arranged along the engagement portion in a plan view from the first direction, and the jig includes a pressing portion that contacts and presses a portion of the wall portion on an opposite side of the container body in the first direction when the cover is closed to the container body.

Description

Cap closing jig, cap closing device and cap closing method

Technical Field

The invention relates to a cover closing jig, a cover closing device and a cover closing method.

Background

In recent years, various production sites have been studied for introduction of robots, and as an example thereof, a lid closing device for closing a lid of a box-like container such as a lunch box has been used. In a container for a lunch box, a lid is generally covered and fitted over an opening of a container body.

For example, patent document 1 discloses a lid closing device for closing an opening of a container body by fitting a lid into the container body. The cover closing device is provided with: a supporting member for supporting the container body from below, a cover conveying part for conveying the cover, a frame body for surrounding the container body, and a plurality of claws which are exposed from the inner wall surface of the frame body. Then, the cap transport unit transports the cap to a position facing the opening of the container body, and then presses the cap into the container body by pressing the groove portion located on the outer periphery of the cap surface with the plurality of claws. Thereby, the lid is fitted to the container body, and the lid is closed.

Patent document 1: japanese patent laid-open No. 2020-100424

In the lid closing device described in patent document 1, there is a risk that the claws scratch the lid and break the weak groove. Therefore, a lid closing jig for closing the lid by suppressing the load on the lid is required.

Disclosure of Invention

The invention relates to a cover closing jig for closing a cover body of a container main body,

when the direction in which the container body and the lid are arranged is a first direction in a state in which the lid is closed with respect to the container body, the lid has an engagement portion that engages with the container body and a wall portion that extends with a component along the first direction and is arranged along the engagement portion in a plan view from the first direction,

The jig includes a pressing portion that contacts and presses a portion of the wall portion opposite to the container body in the first direction when the lid is closed to the container body.

The cover closing device according to an application example of the present invention includes:

a robot having a robotic arm; and

the invention relates to a cover closing jig which is arranged on the mechanical arm and relates to an application example of the invention.

The method for closing a lid according to an application example of the present invention is a method for closing a lid of a container body, and includes:

the cover body is held by the cover closing jig according to the application example of the invention;

covering the container body with the cover body held by the cover closing jig; and

the fitting portion of the lid body is fitted to the container body by pressing the lid body with the lid closing jig.

Drawings

Fig. 1 is a schematic view showing a cover closing device according to an embodiment.

Fig. 2 is a cross-sectional view showing an example of the shape of a container to which the closure device of fig. 1 is applied.

Fig. 3 is a perspective view of the capping jig shown in fig. 1.

Fig. 4 is a flowchart for explaining a capping method according to the embodiment.

Fig. 5 is a sectional view for explaining the closing method shown in fig. 4.

Fig. 6 is a sectional view for explaining the closing method shown in fig. 4.

Fig. 7 is a sectional view for explaining the closing method shown in fig. 4.

Fig. 8 is a sectional view for explaining the closing method shown in fig. 4.

Fig. 9 is a sectional view for explaining the closing method shown in fig. 4.

Fig. 10 is a cross-sectional view showing a closing jig according to a first modification and a container having a shape different from that of fig. 2.

Fig. 11 is a cross-sectional view showing a closing jig according to a second modification and a container having a shape different from that of fig. 2.

Fig. 12 is a cross-sectional view showing a closing jig according to a third modification and a container having a shape different from that of fig. 11.

Fig. 13 is a perspective view showing a cover closing jig according to a fourth modification.

Fig. 14 is a cross-sectional view showing a closing jig according to a fifth modification.

Description of the reference numerals

1 … closure means; 2 … robot; 3 … cover closing jig; 3A … cover closing jig; 3B … cover closing jig; 3C … cover closing jig; 3D … closing jig; 3E … cover closing jig; 8 … container body; 8B … container body; 8C … container body; 9 … cover; 9A … cover; 9B … cover; 9C … cover; 10 … container; 10a … container; 10B … container; 10C … container; 22 … mechanical arm; 32 … base; 34 … limiter; 34D … limiter; 35 … fold; 36 … pressing part; 36D … pressing part; 37 … window; 38 … attraction portion; 41 … closed lid position; 42 … belt conveyor; 43 … cap holding position; 44 … belt conveyor; 82 … bottom; 83 … opening portions; 84 … cylinder part; 86 … flange; 92 … base; 94 … cylinder portion; 96 … flange portions; 220 … end portion; 342 … low elasticity portions; 382 … absorbent pad; 384 … pipes; 386 … adsorbent section; 862 … engaged portions; 864 … flange portion; 960 … groove portions; 961 … steps; 962 … fitting portions; 963 … wall portions; 964 … flange portions; 965 … upper portion; a1 … axis; a2 … axis; s1 … interior space; s102, … cover holding step; s104, … cover body configuration procedure; s106, … embedding step; s2 … inner space;… inner diameter; />… outer diameter.

Detailed Description

The lid closing jig, the lid closing device, and the lid closing method according to the present invention will be described in detail below based on the embodiments shown in the drawings.

1. Cover closing device

First, a cover closing device according to an embodiment will be described.

Fig. 1 is a schematic view showing a cover closing device 1 according to an embodiment.

The cover closing device 1 shown in fig. 1 includes: a robot 2 having a robot arm 22, and a capping jig 3 attached to the robot arm 22. The lid closing device 1 is a device for closing the lid 9 of the container body 8 shown in fig. 1. For example, the container body 8 is a box body which accommodates food or the like and is open above. The lid 9 is a member that covers the opening 83 of the container body 8 and closes the opening 83.

Further, 2 belt conveyors 42, 44 are provided around the cover closing device 1. The belt conveyor 44 conveys the cover 9 in the arrow shown in fig. 1 in such a manner as to pass through the cover holding position 43. The cover closing device 1 holds the cover body 9 with the cover closing jig 3 at the cover holding position 43. The belt conveyor 42 conveys the container body 8 containing food and the like from the upstream side in such a manner as to pass through the closed lid position 41 along an arrow shown in fig. 1. The content of the container body 8 is not particularly limited.

The capping device 1 performs a capping operation of covering the container body 8 with the cap 9 held by the capping jig 3 and closing the cap when the container body 8 is conveyed to the capping position 41. The container body 8 with the lid 9 closed is conveyed to the downstream side by the belt conveyor 42.

The method of conveying the container body 8 and the lid 9 is not limited to the method using a belt conveyor, and may be any method.

1.1. Robot

The robot 2 shown in fig. 1 is a horizontal multi-joint robot having a robot arm 22. The robot 2 is not limited to this, and may be a vertical multi-joint robot or a two-arm robot having a plurality of arms.

The robot arm 22 has a distal end 220 to which various end effectors can be attached. The closing jig 3 is attached to the distal end 220 shown in fig. 1. The robot arm 22 moves the closing jig 3 to an arbitrary position within the operation range. The operation range of the robot arm 22 is set to include the cover closing position 41 and the cover holding position 43.

The robot 2 includes a sensor, a control unit, and the like, which are not shown. For example, an image sensor, a distance sensor, a displacement sensor, and the like can be cited as the sensor. The sensor detects the positions of the container body 8 conveyed by the belt conveyor 42 and the cover 9 conveyed by the belt conveyor 44. The control unit has the following functions: a function of moving the cover closing jig 3 by operating the mechanical arm 22 in cooperation with the cover 9 detected by the sensor; and a function of covering the container body 8 detected by the sensor with the cover 9 to move the closing jig 3 so as to perform the closing operation.

1.2. Container

Fig. 2 is a cross-sectional view showing an example of the shape of the container 10 to which the closure device 1 of fig. 1 is applied. In each of the drawings of the present application, the Z axis and the X axis are set as 2 axes orthogonal to each other. The Z axis extends in a direction (first direction) in which the container body 8 and the lid 9 are aligned in a state in which the lid 9 is closed with respect to the container body 8. Here, the Z axis is set to be an axis parallel to the vertical axis, the end side of the arrow indicating the Z axis is set to be "up", and the base end side is set to be "down", but the Z axis may be inclined with respect to the vertical axis. The X axis is an axis orthogonal to the Z axis. In the following description, a direction parallel to the Z axis is also referred to as a "first direction", and a direction parallel to the X axis is referred to as a "second direction". The second direction corresponds to a radial direction of a circle centered on the Z axis and orthogonal to the Z axis.

The container 10 shown in fig. 2 is composed of a container body 8 and a lid 9. The container 10 is of a type in which the lid 9 is fitted inside the container body 8, and is of a so-called internally fitted type. Fig. 2 shows a state before the cover 9 is closed.

The container body 8 has a bottom 82 at a lower end, a cylindrical portion 84 connected to an outer edge of the bottom 82, and a flange portion 86 connected to an upper end of the cylindrical portion 84. The cylindrical portion 84 defines an internal space S1. The internal space S1 is a space for accommodating contents. The flange 86 defines an opening 83 located above the internal space S1.

The container body 8 is circular in plan view about an axis A1 extending in the first direction. In the present specification, "planar view" means a view from the first direction, that is, a view from a position on the axis A1. The bottom 82 is also circular and extends in a plane perpendicular to the axis A1 with the axis A1 as the center.

The cylindrical portion 84 stands upward from the outer edge of the bottom portion 82, and continues in the circumferential direction around the axis A1.

The flange 86 protrudes outward in the second direction from the upper end of the cylindrical portion 84, and is continuous in the circumferential direction. Flange 86 is composed of a fitting-receiving portion 862 and a flange 864. The fitting portion 862 is a portion to be fitted to the cover 9. Flange 864 protrudes outward from the upper end of fitted portion 862.

The constituent material of the container body 8 is not particularly limited, and is, for example, a material such as expanded polystyrene.

The cover 9 has a base 92, a cylindrical portion 94 connected to the outer edge of the base 92, and a flange portion 96 connected to the lower end of the cylindrical portion 94.

The cover 9 has a circular shape centered on the axis A1 in a plan view. The base 92 is also circular and extends in a plane perpendicular to the axis A1 with the axis A1 as the center.

The cylindrical portion 94 descends downward from the outer edge of the base 92 and continues in the circumferential direction. The outer diameter of the lower end of the cylindrical portion 94 is larger than the outer diameter of the upper end of the cylindrical portion 94. Further, the outer diameter continuously varies between the lower end and the upper end. In this way, the outer surface of the cylindrical portion 94 has a tapered shape in which the outer diameter continuously changes in the first direction.

The flange 96 protrudes from the lower end of the cylindrical portion 94 toward the outside in the second direction, and is continuous in the circumferential direction. The flange 96 is composed of a groove 960, a fitting 962, a wall 963, and a flange 964.

The groove portion 960 is connected to the lower end of the cylindrical portion 94. The groove 960 is formed in an annular shape extending in a plane orthogonal to the axis A1 and centered on the axis A1.

The fitting portion 962 is connected to an outer end of the groove 960. The fitting portion 962 is fitted to the fitted portion 862 of the container body 8.

The wall portion 963 is connected to an upper end of the fitting portion 962. The wall portion 963 is a portion extending with a component in the first direction, and is disposed along the fitting portion 962 so as to surround the axis A1 in a plan view. The term "extending with a component in the first direction" means that when the wall portion 963 is cut on a plane including the axis A1, the angle between the wall portion 963 and the axis A1 is less than 90 °, preferably 45 ° or less, and more preferably 30 ° or less. The wall portion 963 is disposed along the fitting portion 962, for example, and when the fitting portion 962 is annular, the wall portion 963 is also annular concentric with the fitting portion 962.

The flange portion 964 is connected to an upper end of the wall portion 963. The flange portion 964 protrudes outward in the second direction from the connection portion with the wall portion 963.

The outer diameter of the fitting portion 962 of the cover 9Is set to be less than the inner diameter of the engaged part 862 of the container body 8 in the state before the cover 9 is closed to the container body 8>Slightly larger outer diameter. When the lid 9 is closed, the lid 9 is pressed to press the fitting portion 962 into the fitted portion 862. At this time, the outer diameter of the fitting portion 962 is +.>First, the shape is changed to a reduced diameter, and after press-fitting, the shape becomes larger than the inner diameter +.>Slightly larger. Thus, the fitting of the fitting portion 962 to the fitted portion 862 is completed. After completion of fitting, the outer diameter of the fitting portion 962 is +.>May be slightly smaller than before the fitting. Thus, the fitting portion 962 tends to elastically return to the outside in the second direction after the fitting is completed. This tendency can generate an engaging force, and the lid 9 is more closely attached to the container body 8.

The constituent material of the lid 9 is not particularly limited, and is, for example, a thermoplastic resin such as polyethylene or polyethylene terephthalate.

As described above, the container 10 is an example of a container to which the closing jig 3 is applied, and the container 10 is not limited to the above-described shape if the lid 9 has the fitting portion 962 and the wall portion 963 and the container body 8 has the fitted portion 862.

2. Cover closing jig

Next, the closing jig 3 according to the embodiment will be described.

Fig. 3 is a perspective view of the capping jig 3 shown in fig. 1. In fig. 3, a part is cut away to show a cross section for convenience of illustration.

The closing jig 3 shown in fig. 3 includes a base 32, a restricting portion 34, and a pressing portion 36.

The base 32 has a circular shape centered on the axis A2 and extending in a plane orthogonal to the axis A2 in plan view. The base 32 may have a structure for attachment to the distal end portion 220 of the robot arm 22, such as a bolt hole or a jig.

The restriction portion 34 descends downward from the outer edge of the base portion 32 and continues in the circumferential direction. The inner diameter of the lower end of the restriction portion 34 is larger than the inner diameter of the upper end of the restriction portion 34. Further, the inner diameter continuously varies between the lower end and the upper end. In this way, the inner surface of the restriction portion 34 has a tapered shape in which the inner diameter continuously changes in the first direction. The restriction portion 34 defines an internal space S2. The internal space S2 accommodates a part of the cover 9, and by the cover 9 coming into contact with the restricting portion 34, the cover 9 is held, and the position of the cover 9 is restricted to a predetermined position.

When the restricting portion 34 is cut in a plane including the axis A2, the angle between the restricting portion 34 and the axis A2 is preferably more than 0 ° and 60 ° or less, more preferably 5 ° or more and 45 ° or less. This optimizes the taper shape, and further enhances the function of restricting the position of the cover 9. The shape of the restricting portion 34 is not limited to the above-described shape, and may not be a taper shape, for example.

The pressing portion 36 protrudes from the lower end of the restriction portion 34 toward the outside in the second direction, and is continuous in the circumferential direction. The pressing portion 36 has an annular shape centered on the axis A2 and extending in a plane orthogonal to the axis A2. The pressing portion 36 has a curved shape in which a central portion in the second direction protrudes downward from both end portions. By this curved shape, the intended portion of the lid 9 can be accurately pressed. The shape of the pressing portion 36 is not limited to the above-described shape, as long as it can press the lid 9.

In addition, the restricting portion 34 has a low elastic portion 342. The low elastic portion 342 is a part of the restriction portion 34 in the first direction, and the elastic modulus is lower than the pressing portion 36. Therefore, the low elastic portion 342 is compressed when it contacts the cover 9, and generates a restoring force to return to the original state. As will be described later, this restoring force contributes to the holding of the lid 9 by the restricting portion 34 and the restriction of the position of the lid 9. Further, the low elastic portion 342 is annular around the axis A2, and protrudes inward from the inner wall surface of the restriction portion 34. Therefore, when the closing jig 3 is brought close to the lid 9, the low elastic portion 342 can be brought into contact with the lid 9 in preference to other portions. Thus, the low elastic portion 342 contributes to further strengthening of the function of the closing jig 3, that is, the function of the regulating portion 34 to hold the lid 9 and the function of the regulating portion 34 to regulate the position of the lid 9.

For example, a rubber material, a thermoplastic elastomer, or the like can be cited as a constituent material of the low elastic portion 342. Examples of the rubber material include natural rubber, isoprene Rubber (IR), butadiene Rubber (BR), 1, 2-polybutadiene rubber (1, 2-BR), styrene-butadiene rubber (SBR), chloroprene Rubber (CR), nitrile rubber (NBR), butyl rubber (IIR), ethylene propylene rubber (EPM, EPDM), chlorosulfonated polyethylene (CSM), acrylic rubber (ACM, ANM), epichlorohydrin rubber (CO, ECO), polysulfide rubber (T), silicone rubber, fluororubber (FKM), and urethane rubber (U). Examples of the thermoplastic elastomer include various thermoplastic elastomers such as styrene-based thermoplastic elastomer (TPE), olefin-based TPE, vinyl chloride-based TPE, urethane-based TPE, ester-based TPE, amide-based TPE, chlorinated polyethylene-based TPE, syn-1, 2-polybutadiene-based TPE, trans-1, 4-polyisoprene-based TPE, and fluorine-based TPE. Such a low elastic portion 342 is exemplified by a seal ring such as an O-ring.

The low elastic portion 342 may be formed of a foaming resin. The foaming resin is obtained by foaming a thermoplastic resin or a thermosetting resin at the time of molding and making it porous. As an example of such a low elastic portion 342, a sponge is given.

The young's modulus of the constituent material of the low elastic portion 342 is preferably 10% or less, more preferably 1% or less of the young's modulus of the constituent material of the pressing portion 36. Specifically, the Young's modulus of the constituent material of the low elastic portion 342 is preferably 100MPa or less, more preferably 0.5MPa or more and 10MPa or less.

In the closing jig 3 shown in fig. 3, the restricting portion 34 is disposed inside the pressing portion 36. Thus, for example, compared with a jig in which the outer edge of the lid body is used for alignment, that is, a jig in which the restricting portion 34 is provided outside the pressing portion 36, the lid-closing jig 3 can be easily miniaturized and reduced in weight. As a result, even the robot arm 22 having a small weight can be transported, the robot arm can exhibit high movement performance, and the tact time of the closing operation can be easily shortened.

The cover closing jig 3 may be manufactured by any method, and may be, for example, an injection molded body, a cut-processed body, or a laminated molded body. The cover closing jig 3 is preferably a laminated molded body. The laminated body is manufactured by a lamination molding method using a 3D printer. The lamination molding method is a method that can be manufactured at low cost and with high efficiency even for objects of complex shape. Accordingly, by using the cover closing jig 3 as a laminated molded body, for example, even when the shape of the cover 9 is changed, a new cover closing jig 3 can be quickly manufactured. As a result, the downtime of the closure device 1 can be minimized.

For example, a resin material may be used as a constituent material of the closing jig 3, and other materials may be used, for example, a metal material, a ceramic material, a glass material, and the like.

The cover closing jig 3 may be integrally formed, or may be an assembly of a plurality of members.

3. Cover closing method

Next, a method of closing the lid according to the embodiment will be described.

Fig. 4 is a flowchart for explaining a capping method according to the embodiment. Fig. 5 to 9 are sectional views for explaining the closing method shown in fig. 4, respectively.

The method for closing the lid shown in fig. 4 includes a lid holding step S102, a lid disposing step S104, and a fitting step S106. The following describes the steps in order.

3.1. Cover holding step

In the lid holding step S102, the lid 9 is held by the lid closing jig 3.

Specifically, first, the robot arm 22 is operated at the timing when the cover 9 is moved to the cover holding position 43. Then, the cover jig 3 is covered from above the cover holding position 43 toward the cover body 9.

Fig. 5 shows a case where the closing jig 3 is covered from above the cover 9. When the closing jig 3 is lowered, first, the base 92 of the lid 9 is accommodated in the internal space S2 of the closing jig 3. Then, when the closing jig 3 is further lowered, as shown in fig. 6, the low elastic portion 342 of the closing jig 3 contacts the cylindrical portion 94 of the lid 9. Fig. 6 shows a state in which the low elastic portion 342 of the cap fixture 3 is in contact with the cylindrical portion 94 of the cap 9. Thereafter, when the closing jig 3 is further lowered, the low elastic portion 342 pressed by the cover 9 is compressed as shown in fig. 7.

The compressed low elastic portion 342 generates a restoring force to return to the original state. This restoring force acts on the cover 9, and the cover 9 can be held without dropping the cover 9. In addition, as described above, the low elastic portion 342 has a circular ring shape around the axis A2. Therefore, the restoring force acting on the lid 9 from the low elastic portion 342 acts to adjust the position of the lid 9 with respect to the closing jig 3. For example, the restoring force contributes to the overlapping of the position of the axis A2 of the closing jig 3 and the position of the axis A1 of the cover 9. Thus, the restriction portion 34 having the low elasticity portion 342 performs the following functions: the cover closing jig 3 has a function of holding the cover 9 and a function of restricting the position of the cover 9 (a function of aligning the position of the cover 9). By these functions, in the step described later, the positional accuracy of the lid 9 can be improved when the lid 9 is covered on the container body 8.

Further, by utilizing the fact that the cylindrical portion 94 of the cover 9 has a tapered shape, the function of restricting the position of the cover 9 is further enhanced. That is, by the outer surface of the cylindrical portion 94 coming into contact with the regulating portion 34, the tapered shape of the cylindrical portion 94 can be utilized, and the positioning of the lid 9 becomes easy.

Further, the coefficient of friction between the low elastic portion 342 and the lid 9 is preferably larger than the coefficient of friction between the pressing portion 36 and the like of the closing jig 3 and the lid 9. By selecting rubber, an elastomer, a foaming resin, or the like as a constituent material of the low elastic portion 342, the coefficient of friction between the low elastic portion 342 and the lid 9 can be made large. By making the friction coefficient larger, the function of holding the lid 9 can be further improved.

Even when the low elastic portion 342 is omitted, for example, when friction force is generated between the restricting portion 34 and the lid 9 and adhesion force is generated between the restricting portion 34 and the lid 9, these functions can be generated by the restricting portion 34.

3.2. Cover arrangement step

In the lid placement step S104, the robot arm 22 is operated to move the lid closing jig 3 in the state where the lid 9 is held to the lid closing position 41. Next, at the timing of moving the container body 8 to the closing position 41, the robot arm 22 is operated, and the closing jig 3 is moved so as to cover the lid 9 from above the container body 8.

Fig. 7 shows a case where the cover 9 is covered from above the container main body 8. As shown in fig. 7, the cover closing jig 3 is lowered by the operation of the robot arm 22, and the lid 9 is covered on the container body 8. Then, the fitting portion 962 of the lid 9 is brought into contact with the fitted portion 862 of the container body 8. Fig. 8 shows a state in which the fitting portion 962 of the lid 9 is in contact with the fitted portion 862 of the container body 8. In this step, the lid 9 is disposed so as to be in this state.

3.3. Fitting step

In the fitting step S106, when the lid body 9 is pressed by the lid closing jig 3 from the state shown in fig. 8, the fitting of the fitting portion 962 and the fitting portion 862 is completed as shown in fig. 9. Fig. 9 shows a state in which the fitting portion 962 of the lid 9 is fitted to the fitted portion 862 of the container body 8.

The wall portion 963 is disposed above the fitting portion 962 along the fitting portion 962, and an upper portion 965 of the wall portion 963, which is a point of application of the pressing, is a portion of the wall portion 963 opposite to the container body 8. Therefore, when the upper portion 965 of the wall portion 963 is pressed downward by the closing jig 3, the pressing force can be efficiently transmitted to the fitting portion 962, and the fitting portion 962 can be pressed into the inside of the fitted portion 862. Since the wall portion 963 extends with a component in the first direction, the pressing force applied to the wall portion 963 can be transmitted to the fitting portion 962 with little bending, twisting, or the like of the wall portion 963. This makes it possible to press fit the fitting portion 962 while suppressing the load on the wall portion 963. As a result, plastic deformation and breakage of the lid 9 associated with the closing operation can be suppressed.

The upper portion 965 of the wall portion 963 is also a connection portion between the wall portion 963 and the flange portion 964. In this connection portion, the wall portion 963 and the flange portion 964 are connected at almost right angles, forming an angle. The upper portion 965 having such a shape is a portion having high deformation resistance (rigidity). Thus, it is particularly effective to press the upper portion 965 with the pressing portion 36 from the viewpoint of suppressing unexpected deformation of the lid 9. The angle between the wall portion 963 and the flange portion 964 is not limited to 90 ° (right angle), but may be 30 ° or more and 150 ° or less.

The pressing portion 36 is annular and continuous in the circumferential direction around the axis A2. Thus, the pressing portion 36 can press the pressing body 9 more stably. As a result, the probability of failure of the closing operation can be reduced.

The shape of the pressing portion 36 is set in accordance with the shape of the lid 9. Therefore, the pressing portion 36 may have a ring shape other than a circular ring shape in plan view, for example, a ring shape having an outer edge of a polygon, an ellipse, an oblong shape, or the like.

After the closing operation is completed, the robot arm 22 is operated to raise the closing jig 3. The lid 9 is fitted to the container body 8, so that the lid 9 is separated from the lid closing jig 3 when the lid 9 is pulled up with the lid closing jig 3 being lifted up. Thereby, the closing operation is completed.

4. First modification example

Next, a cover closing jig according to a first modification will be described.

Fig. 10 is a cross-sectional view showing a closing jig 3A according to a first modification and a container 10A having a shape different from that of fig. 2.

The following description will be given of a first modification example, and the following description will mainly focus on differences from the above-described embodiment, and the description thereof will be omitted for the same matters. In fig. 10, the same components as those in the above embodiment are denoted by the same reference numerals.

The capping jig 3A shown in fig. 10 is the same as the capping jig 3 shown in fig. 5 except for the shape. The container 10A shown in fig. 10 is similar to the container 10 shown in fig. 2, except that the shape of the lid 9A is different.

The length of the cylindrical portion 94 of the cover 9A shown in fig. 10 in the first direction is shorter than that of fig. 2. As a result, the distance from the groove 960 to the base 92 of the cover 9A in the first direction is equal to the distance from the groove 960 to the flange 964. That is, the upward protrusion of the base 92 of the lid 9A is suppressed as compared with the lid 9 shown in fig. 2.

In order to correspond to the lid 9A having such a shape, the lid closing jig 3A shown in fig. 10 has a bent portion 35 located between the restricting portion 34 and the pressing portion 36. The bent portion 35 connects the lower end of the restricting portion 34 and the inner edge of the pressing portion 36, and is continuous in the circumferential direction. By providing such a bent portion 35, the position of the pressing portion 36 in the first direction is shifted to a position above the lower end of the restricting portion 34.

In the closing jig 3A shown in fig. 10, like the closing jig 3 shown in fig. 5, the restricting portion 34 holds the cylindrical portion 94 of the lid body 9A and restricts the position, and the pressing portion 36 presses the upper portion 965 of the wall portion 963 of the lid body 9A. Thus, in the closing jig 3A, the function of holding the lid 9A and the function of restricting the position by the restricting portion 34, and the function of pressing the lid 9A by the pressing portion 36 can be obtained.

In the first modification described above, the same effects as those of the above-described embodiment can be obtained.

5. Second modification example

Next, a cover closing jig according to a second modification will be described.

Fig. 11 is a cross-sectional view showing a closing jig 3B according to a second modification and a container 10B having a shape different from that of fig. 2.

Hereinafter, a second modification will be described, and in the following description, differences from the above-described embodiment will be mainly described, and for the same matters, the description thereof will be omitted. In fig. 11, the same reference numerals are given to the same components as those in the above embodiment.

The capping jig 3B shown in fig. 11 is the same as the capping jig 3 shown in fig. 5 except for the shape. The container 10B shown in fig. 11 is similar to the container 10 shown in fig. 2, except that the shape is different.

The container 10B shown in fig. 11 is of a type in which the lid 9B is fitted to the outside of the container body 8B, and is of a so-called external fitting type.

The container body 8B has a bottom 82, a cylindrical portion 84, and a flange portion 86. The cover 9B has a base 92, a cylindrical portion 94, and a flange 96. The flange 96 includes a stepped portion 961, a fitting portion 962, a wall portion 963, and a flange portion 964.

The stepped portion 961 shown in fig. 11 is connected to the lower end of the cylindrical portion 94. The step portion 961 has an annular shape extending in a plane orthogonal to the axis A1 and centered on the axis A1.

The wall portion 963 shown in fig. 11 is connected to an outer end portion of the stepped portion 961. The wall portion 963 is a portion extending with a component in the first direction, and is disposed along the fitting portion 962 so as to surround the axis A1 in a plan view.

The fitting portion 962 shown in fig. 11 is connected to the lower end of the wall portion 963. The fitting portion 962 is fitted to the fitted portion 862 of the container body 8B.

The flange portion 964 shown in fig. 11 is connected to an outer end of the fitting portion 962. The flange portion 964 protrudes downward from the connection portion with the fitting portion 962.

In the closing jig 3B shown in fig. 11, the restricting portion 34 holds the cylindrical portion 94 of the lid body 9B and restricts the position, and the pressing portion 36 presses the upper portion 965 of the wall portion 963 of the lid body 9B. Thus, in the closing jig 3B, the function of holding the lid 9B and the function of restricting the position by the restricting portion 34, and the function of pressing the lid 9B by the pressing portion 36 can be obtained.

The inner diameter of the fitting portion 962 of the lid 9B is set to be slightly smaller than the outer diameter of the fitted portion 862 of the container body 8B in a state before the lid 9B is closed with respect to the container body 8B. When the lid 9B is closed, the press lid 9B presses the fitting portion 862 into the fitting portion 962. At this time, the inner diameter of the fitting portion 962 is deformed to expand the diameter, and becomes slightly smaller than the outer diameter of the fitted portion 862 after press-fitting. Thus, the fitting of the fitting portion 962 to the fitted portion 862 is completed.

In the above-described modification, the same effects as those of the above-described embodiment can be obtained.

6. Third modification example

Next, a cover closing jig according to a third modification will be described.

Fig. 12 is a cross-sectional view showing a closing jig 3C according to a third modification and a container 10C having a shape different from that of fig. 11.

A third modification will be described below, and in the following description, the point of difference from the second modification will be mainly described, and the description thereof will be omitted for the same matters. In fig. 12, the same components as those of the embodiment and the second modification are denoted by the same reference numerals.

The capping jig 3C shown in fig. 12 is the same as the capping jig 3B shown in fig. 11 except for the shape thereof. The container 10C shown in fig. 12 is similar to the container 10B shown in fig. 11, except that the shape is different.

The container 10C shown in fig. 12 is of an externally fitting type, as is the case with the container 10B shown in fig. 11. The container body 8C shown in fig. 12 has a bottom 82, a cylindrical portion 84, and a flange portion 86. The flange 86 has the following shape: the roll is turned outwards by taking the circumference of a circle with the axis A1 as the center as the axis. The flange 86 has a fitted portion 862.

The lid 9C shown in fig. 12 includes a base 92, a cylindrical portion 94, and a flange 96. The outer diameter of the cylindrical portion 94 shown in fig. 12 is a slightly constant outer diameter in the first direction. The flange 96 shown in fig. 12 includes a stepped portion 961, a fitting portion 962, a wall portion 963, and a flange portion 964.

The wall portion 963 shown in fig. 12 is connected to an outer end portion of the stepped portion 961. The wall portion 963 is a portion extending substantially parallel to the first direction, and is disposed along the fitting portion 962 so as to surround the axis A1 in a plan view.

The fitting portion 962 shown in fig. 12 is connected to the lower end of the wall portion 963. The fitting portion 962 is fitted to the fitted portion 862 of the container body 8C.

In the closing jig 3C shown in fig. 12, the restricting portion 34 holds the cylindrical portion 94 of the lid body 9C and restricts the position, and the pressing portion 36 presses the upper portion 965 of the wall portion 963 of the lid body 9C. Thus, in the closing jig 3C, the function of holding the lid 9C and the function of restricting the position by the restricting portion 34 and the function of pressing the lid 9C by the pressing portion 36 can be obtained.

In the third modification described above, the same effects as those of the above-described embodiment can be obtained.

7. Fourth modification example

Next, a cover closing jig according to a fourth modification will be described.

Fig. 13 is a perspective view showing a cover closing jig 3D according to a fourth modification.

A fourth modification will be described below, and in the following description, differences from the above-described embodiments will be mainly described, and the description thereof will be omitted for the same matters. In fig. 13, the same reference numerals are given to the same components as those in the above embodiment.

The capping jig 3D shown in fig. 13 is the same as the capping jig 3 shown in fig. 3 except for the shape.

As described above, the cover closing jig 3 shown in fig. 3 includes the cylindrical restricting portion 34 continuous in the circumferential direction around the axis A2, and the continuous annular pressing portion 36. In contrast, the capping jig 3D shown in fig. 13 includes a cylindrical restricting portion 34D intermittently extending in the circumferential direction around the axis A2, and an intermittent annular pressing portion 36D. Specifically, the restricting portion 34D shown in fig. 13 has a cylindrical shape divided into 4 pieces. The pressing portion 36D shown in fig. 13 has a circular shape divided into 4 pieces.

In the closing jig 3D having such a shape, 4 windows 37 are provided between the divided portions of the restricting portion 34D and between the divided portions of the pressing portion 36D. The window 37 penetrates the closing jig 3D in the second direction, so that the internal space S2 defined by the restricting portion 34D is exposed to the external space. Therefore, when a part of the lid 9 is accommodated in the internal space S2, the user of the lid closing device 1 can visually confirm the accommodated lid 9 from the window 37. Thus, the user can directly visually confirm the posture of the cover 9 held by the cover closing jig 3D, and the like, and can easily grasp the disturbance of the posture of the cover 9, and the like. Accordingly, the capping jig 3D according to the fourth modification contributes to the realization of more efficient capping operation. The number of window portions 37 included in the window closing jig 3D is not limited to 4, and may be more or less. The shape of the window 37 is not limited to the shape shown in the drawing. For example, the shape of the restricting portion 34D may be intermittent, or the shape of the pressing portion 36D may be intermittent.

In the fourth modification described above, the same effects as those of the above-described embodiment can be obtained.

The window 37 may be covered with a transparent or translucent member, if necessary. In this case, not only visual confirmation by the user is possible, but also the rigidity of the closing jig 3D can be improved.

8. Fifth modification example

Next, a cover closing jig according to a fifth modification will be described.

Fig. 14 is a cross-sectional view showing a closing jig 3E according to a fifth modification.

A fifth modification will be described below, and in the following description, differences from the above-described embodiments will be mainly described, and the description thereof will be omitted for the same matters. In fig. 14, the same components as those in the above embodiment are denoted by the same reference numerals.

The closing jig 3E shown in fig. 14 has a suction portion 38 that sucks the lid 9. The suction unit 38 has a suction pad 382 and a pipe 384. The absorbent pad 382 has flexibility including a frustoconical absorbent portion 386. The suction pad 382 is disposed so as to protrude downward from the lower surface of the base 32 of the closing jig 3E. The pipe 384 connects the suction pad 382 with a vacuum generator not shown. By the operation of the vacuum generator, the inside of the adsorption pad 382 can be depressurized via the pipe 384. Thereby, the suction pad 382 can suck and suck the cover 9 located below. Further, by switching the operation of the vacuum generating device, the internal pressure reduction is stopped or relaxed, and the adsorption pad 382 can stop the adsorption of the lid 9. Thus, the cap closing jig 3E having the suction portion 38 has a function of holding the cap 9.

In the closing jig 3E, the low elastic portion 342 shown in fig. 5 is omitted. However, even in such a closing jig 3E, the position of the lid 9 can be regulated by the contact of the regulating portion 34 with the cylindrical portion 94 of the lid 9. Thus, the closing jig 3E also has a function of restricting the position of the lid 9.

For example, as the constituent material of the absorbent pad 382, various rubber materials, various thermoplastic elastomers, and the like described above can be cited.

The closing jig 3E shown in fig. 14 has a plurality of suction portions 38. By providing a plurality of suction portions 38, the lid 9 can be held in a stable posture. Thereby, the closing operation can be stabilized. The number of suction portions 38 of the closing jig 3E may be 1.

The suction unit 38 shown in fig. 14 is not limited to the one having the suction pad 382, and may be, for example, a structure using a sealing member such as an O-ring, or another structure.

In the fifth modification described above, the same effects as those of the above-described embodiment can be obtained.

9. Effects achieved by the modes

As described above, the cap closing jigs 3, 3A, 3B, 3C, 3D, and 3E according to the above-described embodiment or the modification thereof are jigs for closing the cap bodies 9, 9A, 9B, and 9C with respect to the container bodies 8, 8B, and 8C, and include the pressing portions 36 and 36D. The covers 9, 9A, 9B, 9C have fitting portions 962 and wall portions 963. The fitting portion 962 is fitted to the container bodies 8, 8B, 8C. The wall portion 963 is extended with a component in the first direction, and is disposed along the fitting portion 962 in a plan view from the first direction. The first direction is a direction in which the container bodies 8, 8B, 8C are aligned with the caps 9, 9A, 9B, 9C in a state in which the caps 9, 9A, 9B, 9C are closed with respect to the container bodies 8, 8B, 8C. Then, when the lid 9, 9A, 9B, 9C is closed to the container body 8, 8B, 8C, the pressing portions 36, 36D are pressed in contact with the portion (upper portion 965) of the wall portion 963 on the opposite side to the container body 8, 8B, 8C in the first direction.

Since the wall portion 963 is stretched with a component in the first direction, the pressing force applied to the wall portion 963 can be transmitted to the fitting portion 962 with little bending, twisting, or the like of the wall portion 963. This can suppress the load on the wall 963 and fit the wall 963. As a result, the following closing jig can be obtained: the load on the covers 9, 9A, 9B, 9C, specifically, the plastic deformation and breakage of the covers 9, 9A, 9B, 9C can be suppressed, and the cover can be closed.

The upper portion 965 of the wall portion 963 is also a connection portion between the wall portion 963 and the flange portion 964. In this connection portion, the wall portion 963 and the flange portion 964 are connected at almost right angles, forming an angle. For example, the upper portion 965 having such a shape is a portion having high deformation resistance because it is formed by press molding a resin plate. Accordingly, by pressing the angled upper portion 965 with the pressing portions 36, 36D, accidental deformation of the upper portion 965 can be suppressed, and the probability of failure of the closing operation can be sufficiently reduced.

The shape of the cover is not limited to the shape shown in the drawings if the cover has the fitting portion 962 and the wall portion 963. The shape of the closing jig is not limited to the shape shown in the drawings if it has a pressing portion capable of pressing the upper portion 965 of the wall portion 963. The shape of the container body is not limited to the shape shown in the drawings if it has the fitting part 862 to be fitted with the fitting part 962.

In the above embodiment or a modification thereof, the pressing portion 36 is annular and continuous in the circumferential direction around the axis A2 extending in the first direction.

According to this configuration, the closing jig capable of pressing the lid bodies 9, 9A, 9B, 9C more stably can be obtained.

In the above embodiment or a modification thereof, the pressing portion 36D is formed in a ring shape intermittently in the circumferential direction around the axis A2 extending in the first direction.

According to this configuration, not only the covers 9, 9A, 9B, and 9C can be stably pressed, but also the held covers 9, 9A, 9B, and 9C can be visually checked through the window 37 formed in the intermittent pressing portion 36D. As a result, the following closing jig can be obtained: the user can easily grasp the disturbance of the held postures of the covers 9, 9A, 9B, 9C, and the like, and contributes to the realization of the cover closing operation with higher efficiency.

In the above embodiment or a modification thereof, the pressing portions 36 and 36D have a circular shape or a polygonal shape in a plan view from the first direction.

According to such a configuration, the following closing jig can be obtained: even when the cover 9, 9A, 9B, 9C is circular or polygonal in shape, the closing operation can be stably performed.

The cover closing jigs 3, 3A, 3B, 3C, 3D, and 3E according to the embodiment or the modification thereof include the restricting portions 34 and 34D. The restricting portions 34 and 34D are disposed inside the pressing portions 36 and 36D in a plan view in the first direction, and restrict positions of the covers 9, 9A, 9B, and 9C in the second direction orthogonal to the first direction.

According to such a configuration, for example, compared with a jig in which the outer edge of the lid body is aligned, miniaturization and weight saving of the lid closing jig 3, 3A, 3B, 3C, 3D, 3E are easily achieved. As a result, even the robot arm 22 having a small weight can be transported, the robot arm can exhibit high movement performance, and the tact time of the closing operation can be easily shortened.

In the above embodiment or a modification thereof, the restricting portion 34D has the window 37 penetrating in the second direction orthogonal to the first direction.

With this configuration, visual confirmation of the held lid 9 is possible through the window 37 formed in the intermittent restricting portion 34D. As a result, the following closing jig can be obtained: it becomes easy for the user to grasp confusion of the posture of the held lid 9, etc., contributing to realization of a more efficient closing operation.

In the above embodiment or a modification thereof, the restricting portions 34 and 34D have the low elastic portions 342 having a lower elastic modulus than the pressing portions 36 and 36D.

The low elastic portion 342 is compressed by contact with the cover 9, 9A, 9B, 9C due to its low elastic modulus, and generates a restoring force to return to its original state. This restoring force contributes to the following function: the restricting portions 34, 34D hold the functions of the covers 9, 9A, 9B, 9C, and the function of restricting the positions of the covers 9.

The cover closing jigs 3, 3A, 3B, 3C, 3D, and 3E according to the embodiment or the modification thereof are preferably laminated molded bodies. Thus, for example, even when the shape of the lid 9, 9A, 9B, 9C is changed, new closing jigs 3, 3A, 3B, 3C, 3D, 3E can be manufactured quickly. As a result, the downtime of the closure device 1 can be minimized.

The cover closing device 1 according to the embodiment includes the robot 2 and the cover closing jigs 3, 3A, 3B, 3C, 3D, and 3E. The robot 2 has a robot arm 22. The cover closing jigs 3, 3A, 3B, 3C, 3D, 3E are mounted on the robot arm 22.

According to this configuration, the following closing device 1 can be obtained: the cover 9, 9A, 9B, 9C can be closed while suppressing the load on the cover.

The method of closing the lid according to the above embodiment is a method of closing the lid 9, 9A, 9B, 9C with respect to the container main bodies 8, 8B, 8C, and includes a lid holding step S102, a lid disposing step S104, and a fitting step S106. In the lid holding step S102, the lid 9, 9A, 9B, 9C is held by the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E. In the lid placement step S104, the container bodies 8, 8B, 8C are covered with the lids 9, 9A, 9B, 9C held by the closing jigs 3, 3A, 3B, 3C, 3D, 3E. In the fitting step S106, the lid bodies 9, 9A, 9B, 9C are pressed by the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, whereby the fitting portions 962 of the lid bodies 9, 9A, 9B, 9C are fitted to the container bodies 8, 8B, 8C.

According to such a closing method, the load on the lid bodies 9, 9A, 9B, 9C, specifically, the plastic deformation and breakage of the lid bodies 9, 9A, 9B, 9C can be suppressed, and the closing can be performed. Further, unexpected deformation of the lid bodies 9, 9A, 9B, 9C can be suppressed, and the probability of failure in the closing operation can be sufficiently reduced.

The lid closing jig, the lid closing device, and the lid closing method according to the present invention have been described above based on the illustrated embodiments and modifications, but the present invention is not limited to these.

For example, the capping jig and the capping device according to the present invention may be obtained by replacing each part of the embodiment and the modification with an arbitrary structure having the same function, or may be obtained by adding an arbitrary structure to the embodiment and the modification. The method for closing the lid according to the present invention may be obtained by adding any process to the above-described embodiment and modification. Further, the present invention may be obtained by combining 2 or more of the above-described embodiments and modifications.

Claims (10)

1. A cap closing jig for closing a cap body with respect to a container body, wherein the cap body has an engagement portion engaged with the container body and a wall portion extending with a component along the first direction when the direction in which the container body and the cap body are arranged is set to be a first direction in a state in which the cap body has been closed with respect to the container body, and the wall portion is arranged along the engagement portion in a plan view from the first direction,

the jig includes a pressing portion that contacts and presses a portion of the wall portion opposite to the container body in the first direction when the lid is closed to the container body.

2. The capping jig of claim 1, wherein,

the pressing portion is annular and continuous in the circumferential direction around an axis extending in the first direction.

3. The capping jig of claim 1, wherein,

the pressing portion is annular and intermittent in the circumferential direction about an axis extending in the first direction.

4. The capping jig as claimed in claim 2 or 3, wherein,

the pressing portion is circular or polygonal in plan view from the first direction.

5. The capping jig as claimed in claim 2 or 3, wherein,

the cover closing jig includes a restricting portion that is disposed inside the pressing portion in a plan view from the first direction and restricts a position of the cover body in a second direction orthogonal to the first direction.

6. The capping jig of claim 5, wherein,

the restricting portion has a window portion penetrating in a second direction orthogonal to the first direction.

7. The capping jig of claim 5, wherein,

the restriction portion has a low elastic portion having a lower elastic modulus than the pressing portion.

8. The capping jig of claim 1, wherein,

the cover closing jig is a laminated molded body.

9. A cover closing device, comprising:

a robot having a robotic arm; and

the capping jig according to claim 1 attached to the robot arm.

10. A method for closing a lid is characterized by comprising closing the lid body to the container body,

the cover closing method comprises the following steps:

holding the cover with the cover closing jig according to claim 1;

covering the container body with the cover body held by the cover closing jig; and

the fitting portion of the lid body is fitted to the container body by pressing the lid body with the lid closing jig.