JP2023177867A - Lid closing jig, lid closing device, and lid closing method - Google Patents

Abstract

To provide a lid closing jig which enables reduction of time needed to close a lid and can close the lid efficiently, and to provide a lid closing device and a lid closing method.SOLUTION: A jig is used to close a lid body, having a fitting part which is fitted in a container body, relative to the container body. The jig includes: a pressing part which is arranged along the fitting part of the lid body and presses the lid body when the lid body is placed on the container body; and suction parts for suctioning the lid body from the exterior and holding the lid body. Further, when a direction in which the container body and the lid body are arranged in a state that the lid body is placed on the container body is referred to as a first direction, it is preferable to include a restriction part which is disposed at an inner side of the pressing part and restricts a position of the lid body in a second direction orthogonal to the first direction.SELECTED DRAWING: Figure 10

Description

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

In recent years, the introduction of robots has been considered at various production sites, and one example is a lid-closing device that closes the lid of a box-shaped container such as a lunch box. In containers used for boxed lunches, a lid is generally placed over the opening of the container body and fitted.

For example, Patent Document 1 discloses a lid closing device that closes an opening of a container body by fitting a lid inside the container body. This lid closing device includes a support member that supports the container body from below, a lid conveyor that conveys the lid, a frame that surrounds the container body, and a plurality of claws that protrude and retract from the inner wall surface of the frame. After the lid is conveyed by the lid conveyance unit to a position facing the opening of the container body, the lid is press-fitted into the container body by pressing grooves on the outer periphery of the lid surface with a plurality of claws. As a result, the lid fits into the container body and the lid is closed.

JP2020-100424A

The lid closing device described in Patent Document 1 requires a step of removing the lid from the lid conveyance section before pressing. Therefore, there is a need for a lid closing jig that can increase the efficiency of the lid closing operation.

The lid closing jig according to the application example of the present invention is
A jig used for closing a lid having a fitting part that fits into the container body with respect to the container body,
a pressing part that is arranged along the fitting part of the lid and presses the lid when closing the lid on the container body;
a suction unit for sucking and holding the lid body from the outside;
Equipped with

The lid closing device according to the application example of the present invention includes:
a robot having a robot arm;
a lid closing jig according to an application example of the present invention, which is attached to the robot arm;
Equipped with

The lid closing method according to the application example of the present invention is as follows:
A method of closing a lid body to a container body,
holding the lid with a lid closing jig according to an application example of the present invention;
a step of covering the container body with the lid held by the lid closing jig;
a step of fitting the fitting portion of the lid into the container body by pressing the lid with the lid closing jig;
including.

It is a schematic diagram showing a lid closing device concerning an embodiment. FIG. 2 is a sectional view showing an example of the shape of a container to which the lid closing device of FIG. 1 is applied. FIG. 2 is a perspective view of the lid closing jig shown in FIG. 1. FIG. 4 is a sectional view of the lid closing jig shown in FIG. 3. FIG. It is a flow chart for explaining a lid closing method concerning an embodiment. 6 is a sectional view for explaining the lid closing method shown in FIG. 5. FIG. 6 is a sectional view for explaining the lid closing method shown in FIG. 5. FIG. 6 is a sectional view for explaining the lid closing method shown in FIG. 5. FIG. 6 is a sectional view for explaining the lid closing method shown in FIG. 5. FIG. 6 is a sectional view for explaining the lid closing method shown in FIG. 5. FIG. FIG. 3 is a sectional view showing a lid closing jig and a container having a shape different from that in FIG. 2 according to a first modification. FIG. 3 is a sectional view showing a lid closing jig and a container having a shape different from that in FIG. 2 according to a second modification. FIG. 13 is a cross-sectional view showing a lid closing jig and a container having a shape different from that in FIG. 12 according to a third modification. It is a perspective view showing the lid closing jig concerning the 4th modification. It is a sectional view showing the lid closing jig concerning the 5th modification. It is a perspective view showing the lid closing jig concerning the 6th modification.

Hereinafter, a lid closing jig, a lid closing device, and a lid closing method of the present invention will be described in detail based on embodiments shown in the accompanying drawings.

1. Lid Closing Device First, a lid closing device according to an embodiment will be described.
FIG. 1 is a schematic diagram showing a lid closing device 1 according to an embodiment.

The lid closing device 1 shown in FIG. 1 includes a robot 2 having a robot arm 22 and a lid closing jig 3 attached to the robot arm 22. The lid closing device 1 is a device that performs an operation for closing a lid 9 on a container body 8 shown in FIG. The container body 8 is a box that stores food, for example, and is open at the top. The lid 9 is a member that is placed over the opening 83 of the container body 8 to close the opening 83.

Further, two belt conveyors 42 and 44 are provided around the lid closing device 1. The belt conveyor 44 conveys the lid 9 along the arrow shown in FIG. 1 so as to pass through the lid holding position 43. The lid closing device 1 holds the lid body 9 with the lid closing jig 3 at the lid holding position 43. The belt conveyor 42 transports the container body 8 containing food or the like from the upstream side along the arrow shown in FIG. 1 so as to pass through the lid closing position 41. Note that the contents of the container body 8 are not particularly limited.

The lid closing device 1 performs a lid closing operation in which the lid body 9 held by the lid closing jig 3 is placed over the container body 8 and closed at the timing when the container body 8 is transported to the lid closing position 41. The container body 8 with the lid 9 closed is conveyed downstream by a belt conveyor 42.

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

1.1. Robot The robot 2 shown in FIG. 1 is a horizontal articulated robot having a robot arm 22. Note that the form of the robot 2 is not limited to this, and may be a vertically articulated robot or a dual-arm robot having a plurality of robot arms.

The robot arm 22 has a tip 220 to which various end effectors can be attached. A lid closing jig 3 is attached to the tip portion 220 shown in FIG. The robot arm 22 moves the lid closing jig 3 to any position within its operating range. Further, the operating range of the robot arm 22 is set to include a lid closing position 41 and a lid holding position 43.

Further, the robot 2 includes a sensor, a control section, etc., which are not shown. Examples of the sensor include an image sensor, a distance sensor, and a displacement sensor. The sensor detects the position of the container body 8 conveyed by the belt conveyor 42 and the lid body 9 conveyed by the belt conveyor 44. The control unit has a function of moving the lid closing jig 3 in accordance with the lid 9 detected by the sensor by operating the robot arm 22, and placing the lid 9 on the container body 8 detected by the sensor and closing the lid. It has a function of moving the lid closing jig 3 so as to perform a closing operation.

1.2. Container FIG. 2 is a sectional view showing an example of the shape of a container 10 to which the lid closing device 1 of FIG. 1 is applied. Note that in each figure of the present application, a Z axis and an X axis are set as two axes that are orthogonal to each other. The Z-axis extends along the direction (first direction) in which the container body 8 and the lid 9 are lined up in a state where the lid 9 is closed with respect to the container body 8. In addition, here, the Z-axis is assumed to be an axis parallel to the vertical axis, and the tip side of the arrow representing the Z-axis is explained as "up" and the proximal end side as "down", but the Z-axis is tilted with respect to the vertical axis. You can leave it there. Further, the X-axis is an axis orthogonal to the Z-axis. In the following description, the direction parallel to the Z-axis is also referred to as a "first direction" and the direction parallel to the X-axis is also referred to as a "second direction." The second direction corresponds to the radial direction of a circle centered on the Z-axis and perpendicular to the Z-axis.

The container 10 shown in FIG. 2 includes a container body 8 and a lid 9. The container 10 shown in FIG. The container 10 is a so-called internal fitting type container in which a lid 9 is fitted inside a container body 8. FIG. 2 shows the state before the lid 9 is closed.

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

The container body 8 has a circular shape centered on an axis A1 extending along the first direction in plan view. Note that in this specification, "planar view" refers to viewing from the first direction, that is, viewing from a position on axis A1. The bottom portion 82 also has a circular shape centered on the axis A1 and extending in a plane perpendicular to the axis A1.

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

The collar portion 86 protrudes outward in the second direction from the upper end of the cylindrical portion 84 and is continuous in the circumferential direction. The collar portion 86 includes a fitted portion 862 and a flange portion 864. The fitted portion 862 is a portion that fits into the lid 9. The flange portion 864 projects outward from the upper end of the fitted portion 862 .
The constituent material of the container body 8 is not particularly limited, but may be, for example, foamed polystyrene.

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

The lid body 9 has a circular shape centered on the axis A1 in plan view. The base 92 also has a circular shape centered on the axis A1 and extending in a plane perpendicular to the axis A1.

The cylindrical portion 94 extends downward from the outer edge of the base portion 92 and continues in the circumferential direction. Further, 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 . Furthermore, the outer diameter changes continuously 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 changes continuously along the first direction.

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

Groove portion 960 is connected to the lower end of cylindrical portion 94 . The groove portion 960 extends in a plane perpendicular to the axis A1 and has an annular shape centered on the axis A1.

The fitting part 962 is connected to the outer end of the groove part 960. The fitting portion 962 fits into the fitting portion 862 of the container body 8 .

The wall portion 963 is connected to the upper end of the fitting portion 962. The wall portion 963 is a portion that expands with a component along the first direction, and is arranged along the fitting portion 962 so as to surround the axis A1 in a plan view. Spreading with a component along the first direction means that when the wall 963 is cut along a plane including the axis A1, the angle between the wall 963 and the axis A1 is less than 90°. is preferably 45° or less, more preferably 30° or less. Moreover, the wall portion 963 is disposed along the fitting portion 962, for example, when the fitting portion 962 has an annular shape, the wall portion 963 also has an annular shape that is concentric with the fitting portion 962 and has a different radius. It means doing something.

The flange portion 964 is connected to the 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.

Before the lid 9 is closed to the container body 8, the outer diameter φ9 of the fitting portion 962 of the lid 9 is slightly larger than the inner diameter φ8 of the fitted portion 862 of the container body 8. It is set. When closing the lid 9, the fitting portion 962 is press-fitted inside the fitted portion 862 by pressing the lid 9. At this time, the outer diameter φ9 of the fitting portion 962 is temporarily deformed so as to be reduced in diameter, and becomes slightly larger than the inner diameter φ8 of the fitted portion 862 after press-fitting. This completes the fitting of the fitting part 962 to the fitted part 862. Note that after the fitting is completed, the outer diameter φ9 of the fitting portion 962 may be slightly smaller than before the fitting. As a result, the fitting portion 962 tends to elastically return toward the outside in the second direction after the fitting is completed. This generates a fitting force and allows the lid 9 to be brought into better contact with the container body 8.

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

Although the container 10 has been described above, the container 10 described above is an example of a container to which the lid closing jig 3 is applied, and the lid body 9 has a fitting part 962 and the container body 8 has a fitting part. 862, the shape is not limited to the above shape.

2. Lid Closing Jig Next, the lid closing jig 3 according to the embodiment will be described.

FIG. 3 is a perspective view of the lid closing jig 3 shown in FIG. 1. In addition, in FIG. 3, for convenience of illustration, a cross section is shown with a part cut away. FIG. 4 is a sectional view of the lid closing jig 3 shown in FIG. 3.

The lid closing jig 3 shown in FIGS. 3 and 4 includes a base portion 32, a regulating portion 34, a pressing portion 36, and a suction portion 38.

In plan view, the base 32 has a circular shape centered on the axis A2 extending along the first direction and extending in a plane perpendicular to the axis A2. The base 32 also has a mounting structure 31 for mounting on the tip 220 of the robot arm 22. Examples of the attachment structure 31 include a bolt hole as shown in FIG. 3, a clip, and the like. By providing such an attachment structure 31 on the base 32, the lid closing jig 3 can be easily attached to and detached from the robot arm 22. Thereby, it is possible to efficiently replace the lid closing jig 3 due to a change in the type of the lid body 9, and downtime of the lid closing device 1 can be reduced.

The regulating portion 34 extends downward from the outer edge of the base portion 32 and continues in the circumferential direction. Further, the inner diameter of the lower end of the regulating portion 34 is larger than the inner diameter of the upper end of the regulating portion 34 . Further, the inner diameter changes continuously between the lower end and the upper end. In this way, the inner surface of the regulating portion 34 has a tapered shape in which the inner diameter changes continuously along the first direction. An internal space S2 is defined by the regulating portion 34. A part of the lid 9 is housed in the internal space S2, and the lid 9 and the regulating portion 34 come into contact with each other, so that the position of the lid 9 is regulated to a predetermined position.

When the regulating portion 34 is cut along a plane including the axis A2, the angle between the regulating portion 34 and the axis A2 is preferably greater than 0° and less than or equal to 60°, and more preferably greater than or equal to 5° and less than or equal to 45°. . Thereby, the taper shape is optimized and the function of regulating the position of the lid body 9 is further strengthened. Note that the shape of the regulating portion 34 is not limited to the above shape, and may not be tapered, for example.

The pressing portion 36 protrudes outward in the second direction from the lower end of the regulating portion 34 and is continuous in the circumferential direction. The pressing portion 36 extends in a plane perpendicular to the axis A2 and has an annular shape centered on the axis A2. Further, the pressing portion 36 has a curved shape in which the center portion in the second direction protrudes lower than both end portions. This curved shape allows the lid 9 to be pressed accurately on the desired area. Note that the shape of the pressing portion 36 is not limited to the above shape as long as it can press the lid 9.

In the lid closing jig 3 shown in FIG. 3, the regulating part 34 is arranged inside the pressing part 36. This makes the lid closing jig 3 smaller and smaller than, for example, a jig that performs positioning using the outer edge of the lid, that is, a jig in which the regulating portion 34 is provided on the outside of the pressing portion 36. Weight reduction can be achieved easily. As a result, even if the robot arm 22 does not have a large payload, it can exhibit high motion performance, and the takt time for the lid closing operation can be easily shortened.

The suction unit 38 attracts and holds the lid 9 from the outside. The suction section 38 shown in FIG. 4 includes a suction hole 380 penetrating the base 32, a suction pad 382, and piping 384.

The suction hole 380 is a through hole that penetrates the base 32. A pipe 384 is inserted through the suction hole 380 shown in FIG. Therefore, the base 32 has the above-described attachment structure 31 and also has the suction hole 380. That is, the attachment structure 31 and the suction hole 380 can be integrated into the base 32. Thereby, the lid closing jig 3 can be made smaller and lighter.

The suction pad 382 is flexible and includes a suction portion 386 in the shape of a truncated cone. The suction pad 382 is arranged so as to protrude downward from the lower surface of the base 32 of the lid closing jig 3. Piping 384 connects suction pad 382 and a vacuum generator (not shown). The operation of the vacuum generator can reduce the pressure inside the suction pad 382 via the piping 384. Thereby, the suction pad 382 can stably suction and adsorb the lid body 9 located below, and can generate stronger suction force and suction force. Further, the suction pad 382 can stop suctioning the lid 9 by switching the operation of the vacuum generator to stop or relax the internal pressure reduction. Therefore, the suction part 38 realizes the function of the lid closing jig 3 to hold and release the lid 9.

Further, the lid closing jig 3 shown in FIG. 3 includes a plurality of suction parts 38. The plurality of suction parts 38 are arranged, for example, at equal intervals along the circumference of a circle centered on the axis A2. Thereby, the lid closing jig 3 can suck and adsorb the lid body 9 in a stable posture. Note that the arrangement pattern of the suction parts 38 does not have to be at equal intervals. Further, the number of suction parts 38 provided in the lid closing jig 3 is not particularly limited, and may be one, but if there are a plurality of suction parts, that is, two or more, the posture of the lid body 9 can be stabilized. , the effect of increasing the adsorption force can be obtained, and when there are three or more, the effect becomes more pronounced.

Further, the base portion 32, the regulating portion 34, and the pressing portion 36 can be integrally constructed as necessary. In that case, these may be manufactured by any method, and may be, for example, an injection-molded object, a cut-processed object, or a laminate-molded object. Among these, it is preferable that a part of the lid closing jig 3 is a layered product. The layered object is manufactured by a layered manufacturing method using a 3D printer. The additive manufacturing method is a method that allows even complex-shaped objects to be manufactured at low cost and efficiently. Therefore, by making a part of the lid closing jig 3 into a layered product, even if the shape of the lid body 9 changes, for example, a new lid closing jig 3 can be manufactured quickly. As a result, downtime of the lid closing device 1 can be minimized.

The constituent materials of the base portion 32, the regulating portion 34, and the pressing portion 36 include, for example, a resin material, but other materials such as a metal material, a ceramic material, a glass material, etc. may be used.

Further, the base portion 32, the regulating portion 34, and the pressing portion 36 may be an assembly of a plurality of parts.

Examples of the constituent material of the suction pad 382 include rubber materials, thermoplastic elastomers, and the like. Examples of rubber materials include natural rubber, isoprene rubber (IR), butadiene rubber (BR), 1,2-polybutadiene (1,2-BR), styrene-butadiene (SBR), chloroprene rubber (CR), and 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), urethane rubber (U), and the like. Examples of the thermoplastic elastomer include styrene thermoplastic elastomer (TPE), olefin TPE, vinyl chloride TPE, urethane TPE, ester TPE, amide TPE, chlorinated polyethylene TPE, and Syn-1,2- Examples include various thermoplastic elastomers such as polybutadiene TPE, Trans-1,4-polyisoprene TPE, and fluorine TPE.

3. Lid Closing Method Next, a lid closing method according to the embodiment will be described.

FIG. 5 is a flowchart for explaining the lid closing method according to the embodiment. 6 to 10 are cross-sectional views for explaining the lid closing method shown in FIG. 5, respectively.

The lid closing method shown in FIG. 5 includes a lid holding step S102, a lid placement step S104, and a fitting step S106. Each step will be explained in sequence below.

3.1. Lid Holding Step In the lid holding step S102, the lid closing jig 3 holds the lid 9.

Specifically, first, the robot arm 22 is operated at the timing when the lid body 9 moves to the lid holding position 43. Then, the lid closing jig 3 is placed over the lid body 9 from above the lid holding position 43.

FIG. 6 shows how the lid closing jig 3 is placed over the lid 9 from above. When the lid closing jig 3 is lowered, the base 92 of the lid body 9 is first accommodated in the internal space S2 of the lid closing jig 3. Then, when the lid closing jig 3 is further lowered, the regulating portion 34 of the lid closing jig 3 and the cylindrical portion 94 of the lid body 9 come into contact with each other, as shown in FIG. Since the cylindrical portion 94 of the lid 9 has a tapered shape, when the outer surface of the cylindrical portion 94 and the regulating portion 34 come into contact, the position of the axis A2 of the lid closing jig 3 and the axis A1 of the lid 9 are changed. The position of the lid body 9 with respect to the lid closing jig 3 is regulated so that the positions thereof overlap with each other. Therefore, the regulating part 34 realizes the function of regulating the position of the lid body 9, which the lid closing jig 3 has. This function allows the positioning accuracy of the lid 9 to be improved when the lid 9 is placed over the container body 8 in the process described later.

Further, when the lid closing jig 3 is lowered, the suction portion 38 of the lid closing jig 3 and the base 32 of the lid body 9 come into contact with each other, as shown in FIG. When a vacuum generator (not shown) connected to the suction section 38 is operated at this timing, the pressure inside the suction pad 382 included in the suction section 38 is reduced. Thereby, the lid body 9 is attracted and adsorbed by the suction part 38. Therefore, the suction part 38 realizes the function of the lid closing jig 3 to hold the lid body 9.

3.2. Lid Arrangement Step In the lid arrangement step S104, the robot arm 22 is operated to move the lid closing jig 3 holding the lid 9 to the lid closing position 41. Next, at the timing when the container body 8 has moved to the lid closing position 41, the robot arm 22 is operated to move the lid closing jig 3 so as to cover the lid body 9 from above the container body 8.

FIG. 8 shows how the lid 9 is placed on the container body 8 from above. As shown in FIG. 8, the robot arm 22 moves to lower the lid closing jig 3 and cover the container body 8 with the lid 9. Then, the fitting portion 962 of the lid 9 and the fitting portion 862 of the container body 8 are brought into contact. FIG. 9 shows a state in which the fitting portion 962 of the lid 9 and the fitting portion 862 of the container body 8 are in contact. In this step, the lid 9 is arranged so as to be in this state.

3.3. Fitting process In the fitting process S106, when the lid body 9 is pressed by the lid closing jig 3 from the state shown in FIG. 9, the fitting part 962 and the fitted part 862 are fitted, as shown in FIG. is completed. FIG. 10 shows a state in which the fitting portion 962 of the lid 9 and the fitting portion 862 of the container body 8 are fitted.

The wall portion 963 is arranged above the fitting portion 962 along the fitting portion 962, and the upper portion 965 of the wall portion 963, which is the point of application of pressure, is opposite to the container body 8 of the wall portion 963. It's the side part. Therefore, when the upper part 965 of the wall part 963 is pressed downward by the lid closing jig 3, the pressing force can be efficiently transmitted to the fitting part 962, and the fitting part 962 is moved inside the fitted part 862. It can be press-fitted into. Note that since the wall portion 963 expands with a component along the first direction, the pressing force applied to the wall portion 963 is applied to the fitting portion 962 without causing almost any bending or twisting of the wall portion 963. transmitted to. Thereby, the fitting portion 962 can be press-fitted and fitted while suppressing the load on the wall portion 963. As a result, it is possible to suppress the occurrence of plastic deformation and damage to the lid body 9 due to the lid closing operation.

Further, 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 connecting portion, the wall portion 963 and the flange portion 964 are connected at a substantially right angle, forming a corner. The upper portion 965 having such a shape is a portion having relatively high deformation resistance (rigidity). Therefore, pressing the upper part 965 with the pressing part 36 is particularly effective in suppressing unintended deformation of the lid 9. Note that the angle between the wall portion 963 and the flange portion 964 is not limited to 90° (right angle), and may be approximately 30° or more and 150° or less.

Further, the pressing portion 36 has an annular shape centered on the axis A2 and continuous in the circumferential direction. Thereby, the pressing part 36 can press the lid body 9 more stably. As a result, the probability that the lid closing operation will fail can be reduced.

Note that the shape of the pressing portion 36 is set according to the shape of the lid body 9. For this reason, the shape of the pressing portion 36 in plan view may be annular other than annular, for example, an annular shape having a polygonal, elliptical, oval, etc. outer edge. Further, the portion pressed by the pressing portion 36 is not limited to the upper portion 965 of the wall portion 963, and may be any portion of the lid 9, but is preferably a flat surface. This prevents the lid 9 from tilting under pressure or causing the lid 9 to be misaligned.

After the lid closing operation is completed, suction of the lid body 9 by the suction unit 38 is stopped. As a result, the lid body 9 is detached from the lid closing jig 3. Thereafter, the robot arm 22 is operated to raise the lid closing jig 3. This completes the lid closing operation.

In the lid closing operation as described above, the operation of the robot arm 22 and the holding of the lid body 9 by the suction unit 38 can be performed independently of each other. Therefore, it is not possible to complete the lid closing operation during the simple movement of the robot arm 22, in which the lid closing jig 3 is lowered, the lid body 9 is press-fitted, and the lid closing jig 3 is raised. can. As a result, the time required for the lid closing operation can be shortened, and the efficiency of the lid closing operation can be increased.

4. First Modification Next, a lid closing jig according to a first modification will be described.

FIG. 11 is a sectional view showing a lid closing jig 3A and a container 10A having a shape different from that in FIG. 2 according to a first modification. Note that in FIG. 11, illustration of the suction section 38 is omitted.

The first modified example will be described below, but in the following description, the differences from the embodiment will be mainly explained, and the description of similar matters will be omitted. Note that in FIG. 11, the same components as in the embodiment described above are denoted by the same reference numerals.

The lid closing jig 3A shown in FIG. 11 is the same as the lid closing jig 3 shown in FIG. 6 except for a different shape. Further, a container 10A shown in FIG. 11 is also similar to the container 10 shown in FIG. 2 except that the shape of the lid 9A is different.

In the lid body 9A shown in FIG. 11, the length of the cylindrical portion 94 in the first direction is shorter than that in FIG. 2. As a result, in the lid 9A, the distance from the groove 960 to the base 92 in the first direction is equal to the distance from the groove 960 to the flange 964. That is, in the lid 9A, the upward protrusion of the base 92 is suppressed compared to the lid 9 shown in FIG. 2.

In order to accommodate the lid body 9A having such a shape, the lid closing jig 3A shown in FIG. 11 has a bent portion 35 located between the regulating portion 34 and the pressing portion 36. The bent portion 35 connects the lower end of the regulating 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 upward from the lower end of the regulating portion 34.

Also in the lid closing jig 3A shown in FIG. 11, similarly to the lid closing jig 3 shown in FIG. Press the upper part 965 of the part 963. Further, a suction section 38 (not shown) holds the lid 9A. Thereby, the lid closing jig 3A also realizes the function of holding the lid body 9A, the function of regulating the position, and the function of pressing the lid body 9A.
Even in the first modified example as described above, the same effects as in the embodiment described above can be obtained.

5. Second Modification Next, a lid closing jig according to a second modification will be described.

FIG. 12 is a sectional view showing a lid closing jig 3B and a container 10B having a shape different from that in FIG. 2 according to a second modification. Note that in FIG. 12, illustration of the suction section 38 is omitted.

The second modification will be described below, but the following description will focus on the differences from the embodiment described above, and will omit the description of similar matters. Note that in FIG. 12, the same components as in the embodiment described above are designated by the same reference numerals.

The lid closing jig 3B shown in FIG. 12 is the same as the lid closing jig 3 shown in FIG. 6 except for a different shape. Further, a container 10B shown in FIG. 12 is also similar to the container 10 shown in FIG. 2 except for a different shape.

A container 10B shown in FIG. 12 is a so-called external fitting type container in which a lid 9B is fitted to the outside of a container body 8B.

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

A step portion 961 shown in FIG. 12 is connected to the lower end of the cylindrical portion 94. As shown in FIG. The stepped portion 961 extends in a plane perpendicular to the axis A1 and has an annular shape centered on the axis A1.

The wall portion 963 shown in FIG. 12 is connected to the outer end of the stepped portion 961. The wall portion 963 is a portion that expands with a component along the first direction, and is arranged along the fitting portion 962 so as to surround the axis A1 in a plan view.

The fitting part 962 shown in FIG. 12 is connected to the lower end of the wall part 963. The fitting portion 962 fits into the fitted portion 862 of the container body 8B.

A flange portion 964 shown in FIG. 12 is connected to an outer end of the fitting portion 962. The flange portion 964 projects downward from the connection portion with the fitting portion 962.

Also in the lid closing jig 3B shown in FIG. 12, the regulating part 34 regulates the position of the cylindrical part 94 of the lid 9B, and the pressing part 36 presses the upper part 965 of the wall part 963 of the lid 9B. Further, a suction section 38 (not shown) holds the lid 9B. Thereby, the lid closing jig 3B also has the function of holding the lid 9B by the regulating part 34 and the function of regulating its position, and the function of pressing the lid 9B by the pressing part 36.

Before the lid 9B is closed to the container body 8B, 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. ing. When closing the lid 9B, the fitted portion 862 is press-fitted inside the fitting portion 962 by pressing the lid 9B. At this time, the inner diameter of the fitting part 962 is once deformed to expand, and becomes slightly smaller than the outer diameter of the fitted part 862 after being press-fitted. This completes the fitting of the fitting part 962 to the fitted part 862.
Even in the second modified example as described above, the same effects as in the embodiment described above can be obtained.

6. Third Modification Next, a lid closing jig according to a third modification will be described.

FIG. 13 is a sectional view showing a lid closing jig 3C and a container 10C having a shape different from that in FIG. 12 according to a third modification. Note that in FIG. 13, illustration of the suction section 38 is omitted.

Hereinafter, the third modification will be explained. In the following explanation, the differences from the second modification will be mainly explained, and the explanation of the same matters will be omitted. In addition, in FIG. 13, the same reference numerals are given to the same configurations as those of the embodiment and the second modification.

The lid closing jig 3C shown in FIG. 13 is the same as the lid closing jig 3B shown in FIG. 12 except for a different shape. Further, a container 10C shown in FIG. 13 is also similar to the container 10B shown in FIG. 12 except for a different shape.

The container 10C shown in FIG. 13 is also an external fitting type container like the container 10B shown in FIG. 12. 8 C of container main bodies shown in FIG. 13 have the bottom part 82, the cylindrical part 84, and the collar part 86. The flange portion 86 has a shape that is wound outward around the circumference of a circle centered on the axis A1. Furthermore, the collar portion 86 has a fitted portion 862 .

The lid body 9C shown in FIG. 13 includes a base portion 92, a cylindrical portion 94, and a flange portion 96. The cylindrical portion 94 shown in FIG. 13 has a substantially constant outer diameter along the first direction. The flange portion 96 shown in FIG. 13 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. 13 is connected to the outer end of the stepped portion 961. The wall portion 963 is a portion that extends substantially parallel to the first direction, and is arranged along the fitting portion 962 so as to surround the axis A1 in a plan view.

The fitting part 962 shown in FIG. 13 is connected to the lower end of the wall part 963. The fitting portion 962 fits into the fitted portion 862 of the container body 8C.

Also in the lid closing jig 3C shown in FIG. 13, the regulating part 34 regulates the position of the cylindrical part 94 of the lid 9C, and the pressing part 36 presses the upper part 965 of the wall part 963 of the lid 9C. Further, a suction section 38 (not shown) holds the lid body 9C. Thereby, also in the lid closing jig 3C, the function of holding the lid body 9C and the function of regulating its position by the regulating part 34, and the function of pressing the lid body 9C by the pressing part 36 are obtained.
Even in the third modified example as described above, the same effects as in the embodiment described above can be obtained.

7. Fourth Modification Next, a lid closing jig according to a fourth modification will be described.
FIG. 14 is a perspective view showing a lid closing jig 3D according to a fourth modification.

The fourth modification will be described below, but the following description will focus on the differences from the embodiment described above, and the description of similar matters will be omitted. In addition, in FIG. 14, the same reference numerals are given to the same components as in the embodiment described above.

The lid closing jig 3D shown in FIG. 14 is the same as the lid closing jig 3 shown in FIG. 3 except for a different shape.

As described above, the lid closing jig 3 shown in FIG. 3 includes a cylindrical regulating part 34 continuous in the circumferential direction around the axis A2, a continuous annular pressing part 36, and a suction part 38. has. On the other hand, the lid closing jig 3D shown in FIG. 14 includes a cylindrical regulating part 34D discontinuous in the circumferential direction around the axis A2, a discontinuous annular pressing part 36D, and a suction part 38. have Specifically, the restriction portion 34D shown in FIG. 14 has a cylindrical shape divided into four parts. Further, the pressing portion 36D shown in FIG. 14 has an annular shape divided into four parts.

The lid closing jig 3D having such a shape has four windows 37 between the divided parts of the regulating part 34D and between the divided parts of the pressing part 36D. Since the window portion 37 passes through the lid closing jig 3D in the second direction, the internal space S2 defined by the restricting portion 34D is exposed to the external space. Therefore, when a portion of the lid body 9 is housed in the internal space S2, the user of the lid closing device 1 can visually recognize the housed lid body 9 through the window portion 37. Thereby, the user can directly visually check the posture of the lid body 9 held by the lid closing jig 3D, and it becomes easy to grasp the disturbance in the posture of the lid body 9. Therefore, the lid closing jig 3D according to the fourth modification contributes to realizing a more efficient lid closing operation. Note that the number of window portions 37 that the window closing jig 3D has is not limited to four, and may be more or less than that. Furthermore, the shape of the window portion 37 is not limited to the illustrated shape. For example, only the shape of the regulating portion 34D may be intermittent, or only the shape of the pressing portion 36D may be intermittent.
Even in the fourth modification as described above, the same effects as in the embodiment described above can be obtained.

8. Fifth Modification Next, a lid closing jig according to a fifth modification will be described.
FIG. 15 is a sectional view showing a lid closing jig 3E according to a fifth modification.

Hereinafter, the fifth modification will be described. In the following description, the differences from the embodiment described above will be mainly explained, and the description of similar matters will be omitted. Note that in FIG. 15, the same components as in the embodiment described above are designated by the same reference numerals.

The lid closing jig 3E shown in FIG. 15 has a suction part 38E that sucks the lid 9. The suction portion 38E includes a suction hole 380, an enlarged diameter portion 381, a pipe 384, and a seal member 388.

The enlarged diameter portion 381 is continuous from the suction hole 380 and forms part of a through hole that penetrates the base 32 . The enlarged diameter portion 381 opens on the lower surface of the base portion 32, that is, the surface on the internal space S2 side. Further, the enlarged diameter portion 381 has a circular shape concentric with the suction hole 380 in plan view.

The sealing member 388 is, for example, a sealing ring such as an O-ring, packing, or gasket. The sealing member 388 is housed within the enlarged diameter portion 381 and is disposed at a position surrounding the opening of the suction hole 380. Further, a portion of the seal member 388 protrudes downward from the enlarged diameter portion 381. Thereby, when the lid closing jig 3 is lowered to hold the lid 9 in the lid holding step S102 and the lid 9 and the seal member 388 are brought into contact, the seal member 388 can be compressed. As a result, the airtightness of the space surrounded by the seal member 388, the suction hole 380, and the lid 9 can be improved, and the holding force of the lid 9 when the pressure inside the suction hole 380 is reduced can be increased.

Examples of the constituent materials of the seal member 388 include the various rubber materials and various thermoplastic elastomers described above.
Even in the fifth modification example as described above, the same effects as in the embodiment described above can be obtained.

9. Sixth Modification Next, a lid closing jig according to a sixth modification will be described.
FIG. 16 is a perspective view showing a lid closing jig 3F according to a sixth modification.

The sixth modification will be described below, but the following description will focus on the differences from the embodiment described above, and will omit the description of similar matters. Note that in FIG. 16, the same components as in the embodiment described above are designated by the same reference numerals.

The lid closing jig 3F shown in FIG. 16 is the same as the lid closing jig 3 described above except that the arrangement and number of suction parts 38 are different. Moreover, the lid body 9F shown in FIG. 16 is the same as the lid body 9 shown in FIG. 2 except for a different shape.

The lid body 9F shown in FIG. 16 is formed to have an uneven surface. Specifically, the surface of the lid body 9F has a flat surface 90 and a concave surface 91 that is more recessed than the flat surface 90.

The arrangement and number of the suction parts 38 of the lid closing jig 3F are set so that the suction parts 38 attract the flat surface 90 when the lid body 9F is held by the lid closing jig 3F. That is, the arrangement and number of the suction parts 38 are set so as not to overlap the concave surface 91. By setting the lid closing jig 3F in this manner, even if the lid body 9F has an uneven surface, it can be stably held and the lid closing operation can be performed.
Even in the sixth modification example as described above, the same effects as in the embodiment described above can be obtained.

10. Effects of each form As described above, the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F according to the embodiments or modifications thereof have a lid closing jig for the container body 8, 8B, 8C. 9, 9A, 9B, 9C, and 9F, and includes pressing parts 36, 36D and suction parts 38, 38E. The lids 9, 9A, 9B, 9C, and 9F have fitting portions 962 that fit with the container bodies 8, 8B, and 8C. The pressing parts 36, 36D are arranged along the fitting parts 962 of the lids 9, 9A, 9B, 9C, 9F, and press the lids 9, 9A, 9B, 9C, 9F to the container bodies 8, 8B, 8C. When closing, press the lids 9, 9A, 9B, 9C, and 9F. The suction parts 38 and 38E attract and hold the lids 9, 9A, 9B, 9C, and 9F from the outside.

Such a lid closing operation is performed with the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F suctioning and holding the lids 9, 9A, 9B, 9C, and 9F from the outside. , 9A, 9B, 9C, and 9F, the time required for the lid closing operation can be shortened. Thereby, the efficiency of the lid closing operation can be increased.

Note that the shape of the lid body is not limited to the shape shown in each figure as long as it has a fitting part. The shape of the lid closing jig is not limited to the shape shown in each figure as long as it includes a pressing part and a suction part.

Further, the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F according to the embodiment or its modification are provided with regulating portions 34, 34D. The regulating parts 34, 34D are arranged inside the pressing parts 36, 36D, and regulate the positions of the lids 9, 9A, 9B, 9C, 9F in a second direction orthogonal to the first direction. The first direction is a state in which the container bodies 8, 8B, 8C and the lids 9, 9A, 9B, 9C, 9F are closed. This is the direction in which the 9th floor is lined up.

According to such a configuration, the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F are smaller and lighter than, for example, jigs that perform positioning using the outer edge of the lid body. can be easily achieved. As a result, even if the robot arm 22 does not have a large payload, it can exhibit high motion performance, and the takt time for the lid closing operation can be easily shortened.

Further, the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F according to the embodiment or its modified example include a base 32. The base portion 32 is arranged inside the restriction portion 34. The suction section 38 has a suction hole 380 that penetrates the base 32.

According to such a configuration, the suction hole 380, the attachment structure 31 to the robot arm 22, and the like can be integrated in the base 32, so that the lid closing jig can be made smaller and lighter.

Further, the lid closing jigs 3, 3D, 3E, and 3F according to the embodiment or its modified example include a plurality of suction parts 38, 38E.

According to such a configuration, the lids 9, 9A, 9B, 9C, and 9F can be sucked and attracted in a stable posture.

Further, the lid closing jig 3E according to the embodiment or its modification includes a sealing member 388 that surrounds the opening of the suction hole 380.

According to such a configuration, the airtightness of the space surrounded by the seal member 388, the suction hole 380, and the lids 9, 9A, 9B, 9C, and 9F can be improved. Thereby, the holding force of the lids 9, 9A, 9B, 9C, and 9F when the pressure inside the suction hole 380 is reduced can be increased.

Furthermore, the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F according to the embodiments or modifications thereof include a base 32 disposed inside the regulating portion 34, and the suction portion 38 is provided at the base. It has a suction pad 382 protruding from 32 .

According to such a configuration, a lid closing jig that can more stably suction and adsorb the lids 9, 9A, 9B, 9C, and 9F and generate stronger suction and suction forces can be obtained.

The base 32 also has a mounting structure 31 that is attached to the robot arm 22.
According to such a configuration, the lid closing jig 3 can be easily attached to and detached from the robot arm 22. This makes it possible to efficiently replace the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F when changing the type of the lid bodies 9, 9A, 9B, 9C, and 9F. 1 downtime can be reduced.

Further, it is preferable that the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F according to the embodiment or a modification thereof are laminated bodies. This makes it possible to quickly manufacture new lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F even if the shape of the lids 9, 9A, 9B, 9C, and 9F changes, for example. . As a result, downtime of the lid closing device 1 can be minimized.

Moreover, the lid closing device 1 according to the embodiment includes a robot 2 and lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F. The robot 2 has a robot arm 22. The lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F are attached to the robot arm 22.

In such a lid closing device 1, for example, the robot arm 22 moves the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F, and the suction unit 38 moves the lids 9, 9A, 9B, 9C, and 9F. Retention can be performed independently of each other. Therefore, with the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F suctioning and holding the lids 9, 9A, 9B, 9C, and 9F, the lids 9, 9A, 9B, 9C, The lid closing operation of pressing the 9F can be easily achieved using the robot arm 22. Thereby, the time required for the lid closing operation can be shortened, and the efficiency of the lid closing operation can be increased.

Further, the lid closing method according to the embodiment is a method of closing the lids 9, 9A, 9B, 9C, and 9F with respect to the container bodies 8, 8B, and 8C, and includes the lid holding step S102 and the lid placement step S102. It includes a step S104 and a fitting step S106. In the lid holding step S102, the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F hold the lids 9, 9A, 9B, 9C, and 9F. In the lid placement step S104, the lids 9, 9A, 9B, 9C, and 9F held by the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F are placed on the container bodies 8, 8B, and 8C. Cover. In the fitting step S106, the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, 3F press the lids 9, 9A, 9B, 9C, 9F against the container bodies 8, 8B, 8C. , the fitting portions 962 of the lids 9, 9A, 9B, 9C, and 9F are fitted.

This method of closing the lid is performed by sucking and holding the lids 9, 9A, 9B, 9C, and 9F with the lid closing jigs 3, 3A, 3B, 3C, 3D, 3E, and 3F. , 9B, 9C, and 9F. Such a lid-closing operation takes only a short time, so it is easy to increase efficiency.

Further, the surface of the lid body 9F has a flat surface 90 and a concave surface 91. The suction section 38 is arranged at a position corresponding to the flat surface 90.

According to such a configuration, it is possible to realize a lid closing jig 3F that can stably hold and perform a lid closing operation even if the lid body 9F has an uneven surface.

Although the lid closing jig, lid closing device, and lid closing method according to the present invention have been described above based on the illustrated embodiments and modified examples, the present invention is not limited thereto.

For example, in the lid closing jig and lid closing device according to the present invention, each part of the embodiment and the modification may be replaced with an arbitrary structure having a similar function, or Any configuration may be added to the example. Further, the lid closing method according to the present invention may be one in which an arbitrary desired process is added to the above-described embodiments and modified examples. Furthermore, the present invention may be a combination of two or more of the embodiments and modifications.

1...Lid closing device, 2...Robot, 3...Lid closing jig, 3A...Lid closing jig, 3B...Lid closing jig, 3C...Lid closing jig, 3D...Lid closing jig, 3E...Lid closing jig Tool, 3F... Lid closing jig, 8... Container body, 8B... Container body, 8C... Container body, 9... Lid body, 9A... Lid body, 9B... Lid body, 9C... Lid body, 9F... Lid body, 10 ...Container, 10A...Container, 10B...Container, 10C...Container, 22...Robot arm, 31...Mounting structure, 32...Base, 34...Restriction part, 34D...Restriction part, 35...Bending part, 36...Press part, 36D ... Pressing part, 37... Window part, 38... Suction part, 38E... Suction part, 41... Lid closing position, 42... Belt conveyor, 43... Lid holding position, 44... Belt conveyor, 82... Bottom part, 83... Opening part, 84... Cylindrical part, 86... Flange part, 90... Flat surface, 91... Concave surface, 92... Base, 94... Cylindrical part, 96... Flange part, 220... Tip part, 380... Suction hole, 381... Expanded diameter part, 382 ...Suction pad, 384...Piping, 386...Adsorption part, 388...Seal member, 862...Fitting part, 864...Flange part, 960...Groove part, 961...Step part, 962...Fitting part, 963...Wall part, 964...flange part, 965...upper part, A1...shaft, A2...shaft, S102...lid body holding process, S104...lid body arrangement process, S106...fitting process, S1...internal space, S2...internal space, φ8...inner diameter , φ9...outer diameter

Claims (11)

A jig used for closing a lid having a fitting part that fits into the container body with respect to the container body,
a pressing part that is arranged along the fitting part of the lid and presses the lid when closing the lid on the container body;
a suction unit for sucking and holding the lid body from the outside;
A lid closing jig characterized by comprising: When the lid is closed on the container body and the direction in which the container body and the lid are lined up is defined as a first direction, a first direction that is disposed inside the pressing part and perpendicular to the first direction is defined as a first direction. The lid closing jig according to claim 1, further comprising a regulating portion that regulates the position of the lid in two directions. The lid closing jig according to claim 1 or 2, comprising a plurality of the suction parts. comprising a base portion disposed inside the regulating portion;
The lid closing jig according to claim 2, wherein the suction part has a suction hole passing through the base. 5. The lid closing jig according to claim 4, wherein the suction section includes a sealing member surrounding the opening of the suction hole. comprising a base portion disposed inside the regulating portion;
The lid closing jig according to claim 2, wherein the suction section includes a suction pad protruding from the base. The lid closing jig according to claim 4 or 6, wherein the base has a mounting structure that is attached to a robot arm. The lid closing jig according to claim 1 or 2, which is a layered product. a robot having a robot arm;
The lid closing jig according to claim 1, which is attached to the robot arm;
A lid closing device characterized by comprising: A method of closing the lid body with respect to the container body, the method comprising:
holding the lid with the lid closing jig according to claim 1;
a step of covering the container body with the lid held by the lid closing jig;
a step of fitting the fitting portion of the lid into the container body by pressing the lid with the lid closing jig;
A lid closing method characterized by comprising: The surface of the lid has a flat surface and a concave surface,
The lid closing method according to claim 10, wherein the suction part is arranged at a position corresponding to the flat surface.

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