JP2545984B2 - Container lid handling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Field of Application> The present invention relates to a fastening in which at least a part of a lid body is fastened and fixed to a container body by a shape memory material such as a shape memory resin or a shape memory alloy. TECHNICAL FIELD The present invention relates to a container lid handling device provided with means, and more particularly to a untightening device for unclamping a lid body and an opening of a container body, or a lid removing device for removing the lid body from the opening of the container body. .

<Prior Art> Conventionally, for example, in a manufacturing process of pharmaceuticals, foods, chemicals, and the like, containers for storing raw materials, intermediate products, final products, and the like have been used.

This container is provided with an opening serving as a filling / extracting port for articles, and is equipped with a lid for opening and closing the opening.
This container is provided with a clamp type or clamp band type tightening means, and the lid is opened and closed manually.

The clamp type is configured as shown in FIGS. 12 to 14. For the clamp band type, the 15th
It is configured as shown in the figure.

In the clamp type shown in FIG. 12 to FIG. 14, the lid 49 is placed on the opening 47 of the container body 46, and the engaging recess 50 formed in the lid 49 and the container body 46 are formed. The engaging projections 48 are engaged with each other via the packing 51, and the engaging recesses 50 and the engaging projections 48 form the packing 51 with the clamps 52 equipped with a plurality of 4 to 5 pieces on the outer peripheral surface of the container body 46. Lid to crimp through
The 49 is fastened and fixed to the container body 46. Incidentally, as the packing 51, there is one which is previously adhered to the inner surface of the engaging recess 50 as shown in FIG. 12 or one which is put on the engaging convex portion 48 as shown in FIG.

Further, as the clamp 52, the hook portion 52a is
As shown in the figure, there is one that engages with the outer surface of the engaging recess 50, or one that engages the ring portion 52b with the hook 53 that is fixedly attached to the outer surface of the engaging recess 50 as shown in FIG.

On the other hand, in the clamp band type shown in FIG. 15, the clamp band 54 is arranged around the engaging recess 50 and the engaging protrusion 48 in the engaged state, and is engaged inside the groove 55. After being inserted so as to sandwich the engaging recess 50 and the engaging protrusion 48, as shown in FIG. 15 (c), the clamp 58 and the hook are inserted.
59, and the engaging concave portion 50 and the engaging convex portion 48 are packed.
The lid 49 is clamped and fixed to the container body 46 so as to be pressure-bonded via the 51.

However, the conventional container tightening structure as described above has the following problems.

That is, in the clamp type, first, the ring portion 52b
And the position (orientation) of the hook 53 must match. Further, the clamp operation becomes impossible unless a plurality of clamps 52 provided on the outer peripheral surface of the container body 46 are operated at the same time when the container is closed.
In other words, if only one clamp 52 is operated, the lid 49
The part on the side of the clamp 52 which is not operated floats up, and when the other clamp 52 is operated next, the ring part 52b cannot be hooked on the hook 53, and the operation of the clamp 52 becomes impossible.

In this case, if the hook portions 52a or the ring portions 52b of all the clamps 52 are hooked in advance in the corresponding engaging recessed portion 50 positions or the hooks 53, the lift of the clamps 52 can be reduced, but the handle portion 52c is maximally jumped up. ,
After all, a great deal of force is required for the clamp operation.

For the clamp band type, the engaging recess 50 is
It is difficult to perform the alignment when inserting the pin and the engaging protrusion 48 so as to sandwich them. This is remarkable as the diameter of the container increases.

It is conceivable to automate the above clamp operation to improve operability, but it is difficult to realize because the structure is complicated and the cost is high. .

As a container for solving the problems of opening and closing the lid of the conventional container as described above, conventionally, JP-A-60-68257,
As disclosed in Japanese Utility Model Laid-Open No. 59-23995 and Japanese Utility Model Laid-Open No. 63-97664, a container main body, a lid for opening and closing the opening of the container main body, and at least a portion formed of a shape memory alloy. There is known one provided with a fastening means for fastening and fixing the lid body to the container body.

Further, in JP-A-61-190453, a lid in which a fastening means (locking member) made of shape memory resin is joined to a lid made of polyethylene or polypropylene, that is, the container body and the opening of the container body are opened and closed. As shown in the container provided with a lid body and a fastening means made of a shape memory resin at least in part, the fastening means is constrained to a convex portion around the upper end opening of the container body in a desired temperature range. Fit it in a fit state,
There is also one in which the lid is fastened and fixed to the container body.

<Problems to be Solved by the Invention> As described above, in the means for tightening the lid using the shape memory material such as the shape memory alloy or the shape memory resin,
It is necessary to heat or cool the shape memory material when the lid is attached or removed.

However, in the above, the shape memory material is heated manually by a lighter, a match, a candle, or the like, and the shape memory material is cooled by transporting the container to a refrigerator and cooling the entire container. This is done by natural cooling or by natural cooling, and the cooling facility is large-scaled and it takes time to cool.

Therefore, there is a problem that the work is troublesome and the workability is poor.

Moreover, for example, in the case of pharmaceuticals and the like, most of the manufacturing steps are performed in a clean room, so it is preferable to reduce the number of workers who are the largest sources of pollution. The same applies to the precision industry.

Therefore, it has long been desired to automate the handling, especially the removal, of the lid.

Therefore, in view of the above conventional problems, the present invention,
In a container provided with a tightening means using a shape memory material such as a shape memory alloy or a shape memory resin, a device that can efficiently release the tightening and fixing of the tightening means in a short time and an automatic device without manpower It is an object of the present invention to provide a device capable of removing a lid body in a targeted manner.

<Means for Solving the Problems> Therefore, the container lid handling device of the first invention of the present invention is
A container provided with a container main body, a lid for opening and closing an opening of the container main body, and a fastening means for fastening and fixing the lid to the container main body, at least a part of which is formed of a shape memory material, A container lid handling device as a tightening release device for releasing tightening and fixing between a body and a container body, wherein the lid body and the opening of the container body are tightened and fixed by a memory effect of the shape memory material. On the side for releasing the shape memory, discharge means for discharging the fluid in at least one specific temperature range for deforming the shape memory material toward the shape memory material from a fluid discharge hole provided in a substantially annular discharge ring is included. Configured.

Further, the container lid handling device of the second invention comprises a container body,
A lid body for opening and closing the opening of the container body, and a fastening means for fastening the lid body to the container body by a memory effect of the shape memory material, at least a part of which is formed. In the container, there is provided a container lid handling device as a device for removing a lid body which is fastened and fixed at an opening of the container body from the container body, wherein the shape memory material stores the original shape. Discharging means for discharging a fluid in a specific temperature range to be deformed by an external force toward the shape memory material from a fluid discharge hole provided in a substantially annular discharge ring, and a lid holding means for holding the lid body. Moving means for moving the lid holding means to separate the lid body held by the lid holding means from the opening of the container body,
It was composed including.

Further, a container lid handling device according to a third aspect of the present invention includes a container body,
A container provided with a lid for opening and closing an opening of the container main body, and a fastening means for fastening and fixing the lid to the container main body, at least a part of which is formed of a shape memory material. Is a lid removing device for a container as a lid removing device that is removed from the opening of the lid holding means for holding the lid, and the opening of the lid and the container body by the memory effect of the shape memory material. On the side where the fastening and fixing of the shape memory material is released, discharge means for discharging a fluid in at least one specific temperature range for deforming the shape memory material toward the shape memory material, and the discharge means and the lid holding means are integrated. And a moving means for moving to.

Furthermore, the container lid handling device of the fourth invention is a container body, a lid body that opens and closes an opening of the container body, and at least a part of the shape memory material is formed of the shape memory material. In a container provided with a fastening means for fastening and fixing a body to a container body, a container lid handling device as a device for removing a lid from an opening part of the container body, wherein the shape memory material is in the original form. Discharging means for discharging a fluid in a specific temperature range toward the shape memory material so that it can be deformed by an external force while storing, a lid holding means for holding the lid body, the discharging means and the lid holding means. And a moving means for moving the lid body held by the lid holding means from the opening of the container main body,
It was composed including.

Here, a container provided with the container body, a lid for opening and closing the opening of the container body, and a fastening means for fastening and fixing the lid to the container body, at least a part of which is formed of a shape memory material. Means that the fastening means may be provided on the lid, or the fastening means may be provided on the container body. That is, the lid as a whole is made of a shape memory material such as a shape memory resin or a shape memory alloy, or a container having a lid in which a lid body and a fastening means are joined, or a container as shown in FIGS. 12 to 14. A container of the type in which the attaching means is provided in the container body is the container to which the lid handling device of the present invention is applied. Further, as shown in FIG. 15, a container of a type in which the fastening means is not provided on the lid body or the container body but is a separate member corresponds to the container to which the present invention is applied.

The fluid discharge hole provided in the substantially annular discharge link for discharging the fluid in the specific temperature range may be formed by providing a nozzle in the discharge ring, or may be simply formed in the discharge ring. Well, the point is that there should be a hole through which the fluid can flow toward the shape memory material.

The fluid may be a liquid such as hot water or cold water as long as it does not affect the contents stored in the container, but a gas is preferable. Particularly, heated air or cooled air can be preferably used.

The lid handling device means a untightening device that allows the fastening means to unclamp the lid body to the opening of the container body, or a lid removing device that removes the lid body from the container body. . Therefore, it may be a lid handling device having only one of the above functions, or may be a lid handling device having all of the above functions. A lid fixing function for fastening and fixing the lid and a lid attaching function for attaching the lid to the opening of the container body may be added, and various types of lid handling devices exist.

The holding method of the lid holding means for holding the lid body is a method of sucking air in the suction cup to hold the lid body, a method of holding the lid body by the magnetic force of an electromagnet when the lid body is attracted by magnetic force, a hook Various methods such as a method of holding with a mechanical hoisting tool can be adopted.

For each of the moving means, various methods such as a method using a moving body guided by a rail member, a robot arm method, a rack and pinion method, and a cylinder method such as air / hydraulic can be used.

Examples of the shape memory material include shape memory resin and shape memory alloy. As a shape memory resin,
Poly-isoprene-based, poly-norbornene-based, styrene-butadiene-based, etc.

For example, the styrene-butadiene hybrid shape memory resin that can be preferably used in the present invention uses the temperature difference between the softening point of polystyrene and the melting point of crystalline polybutadiene to memorize the shape. The shape can be memorized by cooling to room temperature while maintaining its shape.

Then, at about 60-80 ° C, only the polybutadiene part melts and the polystyrene part does not soften, so it can be freely deformed by external force while memorizing the original shape, and when cooled to room temperature, the polybutadiene part also crystallizes and forms. Is fixed. When this is heated again to 60 to 80 ° C., only the polybutadiene crystal part melts and the memorized original shape is restored.

The shape memory resin used in the container is not particularly limited as long as it can be formed into an arbitrary shape and has a function of recovering a predetermined shape, but the temperature of the fluid to be heated or cooled is selected according to the deformation temperature. There is a need to.

Further, as the shape memory alloy, Ni-Ti system, Cu-Zu-Al
Examples include shape memory alloys such as those of the system, but in particular, they expand (or contract) when they are heated to a first predetermined temperature or higher, and contract when they are cooled to a second predetermined temperature or lower that is lower than the first predetermined temperature. Most preferred are so-called bidirectional shape memory alloy members that deform (or expand).

Of course, it is possible to use a unidirectional shape memory alloy member, but this shape memory alloy member only expands (or contracts) when the temperature rises above a predetermined temperature or drops below a predetermined temperature. .

<Operation> In the lid handling device according to the first aspect of the present invention as a fastening release device for causing the fastening means to release the fastening fixation of the lid body, the lid handling device of the first aspect of the present invention is provided with A substantially annular discharge ring is positioned outside and a fluid such as air in a specific temperature range is jetted from the fluid discharge hole toward the shape memory material. As a result, the shape memory material is deformed to the side where the fastening of the opening of the container body is released due to the memory effect, and the release of the fastening of the lid is completed.

In the lid handling device according to the second aspect of the present invention as a lid removing device for removing the lid body, which is fastened and fixed at the opening of the container body from the container body by the memory effect of the shape memory material in the fastening means, Before and after holding the lid by the holding means, or while performing the holding operation, a substantially annular discharge ring is positioned outside the lid clamped and fixed to the opening of the container body and directed from the fluid discharge hole toward the shape memory material. To eject a fluid such as air in a specific temperature range. As a result, the shape memory material can be deformed by an external force while memorizing the original shape. Next, the lid body held by the lid holding means is separated from the opening of the container body by the moving means. This completes the removal of the lid.

As a means for heating or cooling the shape memory material, a fluid such as heating air or cooling air is discharged from the hole provided in the substantially annular discharge ring. Therefore, for example, the tightening means using the shape memory material is the lid body. Or, in the case of a container provided with a fastening means on a part of the outer periphery, not on the entire outer periphery of the container main body,
Even if the direction of the shape memory material is slightly different for each container, the heating and cooling fluid is ejected to a wide range regardless of the position, so the shape memory material can be heated or cooled reliably. , Can be easily automated. Further, in the case of a container having a shape memory material on the entire circumference, since a fluid for heating or cooling is discharged toward the shape memory material on the entire circumference,
It is possible to efficiently perform the fastening fixation of the lid or the release of the fastening fixation in a short time.

In addition, by adopting a jet fluid system such as heating air or cooling air, there is no need for equipment for heating or cooling the entire container, and the device shape is simpler than that of heating or cooling by directly contacting the heater etc. with the shape memory material. Moreover, even if the size and shape of the container are slightly different, it is possible to process the shape memory material more easily and accurately than the heating of the shape memory material with a fire such as a lighter, a match, or a candle. Further, if the fluid discharge holes are formed by nozzles, it is possible to locally heat or cool them by adjusting the direction of the nozzles, and it is possible to match various tightening means shapes using shape memory materials. A lid handling device corresponding to each can be manufactured with a simple device configuration.

On the other hand, in the lid handling device according to the third aspect of the invention as a lid removing device for removing the lid from the opening of the container body by the memory effect of the shape memory material in the fastening means, the discharging means is moved to the container body by the moving means. Move to the attached lid side. While performing the holding operation before and after holding the lid by the lid holding means, the ejection means ejects a fluid such as air in a specific temperature range toward the shape memory material.
Therefore, the shape memory material is deformed to the side from which the fastening fixation is released due to the memory effect. Next, the lid body held by the lid holding means is moved by the moving means and placed at a predetermined position. This completes the removal of the lid.

Further, in the lid handling device according to the fourth aspect of the invention as a lid removing device for removing the lid body which is fastened and fixed to the opening of the container body from the container body by the memory effect of the shape memory material in the fastening means. The moving means moves the discharging means to the side of the lid attached to the container body. While performing the holding operation before and after holding the lid by the lid holding means, the ejection means ejects a fluid such as air in a specific temperature range toward the shape memory material. Therefore, the shape memory material is in a state in which it can be deformed by an external force while memorizing the original shape. Next, the lid body held by the lid holding means is separated from the opening of the container body by the moving means, moved, and placed at a predetermined position. This completes the removal of the lid.

Since the discharging means and the lid holding means are moved integrally, the three-dimensional positional relationship between the lid body, the discharging means and the lid holding means is uniquely determined, and the automation becomes easier and the lid body becomes easier. At the time of removing, the work of carrying out the lid from the container body to the other and the work of ejecting the fluid in the specific temperature range to the shape memory material provided in the lid can be automatically performed. Therefore, the working time can be shortened, the workability can be improved, and the work can be unmanned.

Further, when the lid body held by the lid holding means is moved by the moving means and placed at a predetermined position, the discharge means and the lid holding means are integrated, so that the fastening means is provided on the lid body. For example, if necessary, a fluid such as air in a specific temperature range can be ejected toward the shape memory material when the lid is transported or the lid is placed at a predetermined position, thereby speeding up the removal of the lid. You can Further, even when the lids are stacked at a predetermined position, the shape of the shape memory material is jetted out by ejecting a fluid such as air in a specific temperature range toward the shape memory material from the time of transportation to the time of stacking if necessary. Can be held in a predetermined shape, and the lids can be easily stacked.

<Example> Hereinafter, an example of the present invention is described based on a drawing.

First, the configuration of an example of the container to which the present invention is applied will be described with reference to FIGS.

That is, the container 1 includes a container body 3 having an opening 2 for filling and taking out articles, and a lid 4 for opening and closing the opening 2.

The upper surface of the cylindrical container body 3 is open, and the opening 2
Has become. Around the opening 2 of the container body 3, a pipe-shaped fitting convex portion 5 is formed in which the opening end edge portion is curved outwardly in an annular shape and continues in an annular shape.

The lid 4 is composed of a lid 6 made of metal such as stainless steel and a fitting piece 8 made of shape memory resin.

The lid 6 is formed in a circular shape, and an annular curved portion 6a, which is curved and formed in a substantially arc shape so that the outer surface is convex and the inner surface is concave, is formed on the peripheral edge portion thereof. Therefore, a concave portion 6b having the curved portion 6a on its periphery is formed in the central portion of the lid body 6.

The lid body 6 is provided with an annular fitting piece 8 which is attached so as to cover the peripheral end portion thereof and which extends from the peripheral end edge of the lid body 6 in a plate shape for a predetermined length and is continuous.

The fitting piece 8 is formed of a shape memory resin as a shape memory material having a shape recovery property such that the fitting piece 8 fits into the fitting convex portion 5 of the container body 3 in a predetermined temperature range in a tight fit condition. It

At least a part of the fitting piece 8 is formed of a shape memory material, and the lid body 6 is provided with the opening 2 of the container body 3.
The fastening means of the present invention for fastening and fixing to the.

That is, the peripheral end portion of the lid body 6, that is, the curved portion 6a.
A plurality of through holes for locking (fixing) the shape memory resin of the fitting piece 8 so as to cover the tip portion of the fitting piece 8 are provided at the tip portion of the.
In this embodiment, the through holes are shown in FIGS.
As shown in the figure, a plurality of slits 7 having a predetermined length and width extending along the circumferential direction of the tip of the curved portion 6a are adopted, and each slit 7 is formed at the tip of the curved portion 6a at predetermined intervals.
The shape memory resin covering the upper surface of the peripheral end portion of the lid 6 and the shape memory resin covering the lower surface of the peripheral end portion are integrated through the slit 7, and the fitting piece 8 is It does not easily come off from the lid 6. The fitting piece 8 is provided with a notch at the lower end portion of the fitting piece 8 as necessary so that the fitting piece 8 can be easily deformed and fitted into the fitting convex portion 5 of the container body 3 in a fit state.

The recess 6b of the lid 4 configured as described above can mount and support the container body 3 of another container 1.

Next, a configuration of an embodiment of a device for handling the lid 4 (lid 6) in the container 1 described above will be described with reference to FIGS.

In this embodiment, a container lid handling device having the functions of the lid tightening fixing device and the lid attaching device in addition to the functions of the fastening release device and the lid removing device according to the present invention is provided. explain.

That is, in the figure, a plurality of belt conveyors 11, 12, and 13 are linearly arranged on the installation surface 10. The lid handling device 9 is arranged above the belt conveyor 12.

This lid handling device 9 is for deforming the tightening means, that is, the shape memory resin of the fitting piece 8 to the air in a specific temperature range for deforming to the tightening fixing side due to the memory effect or to the tightening fixing releasing side. The air in the specific temperature range or the discharging means for discharging the air in the specific temperature range toward the shape memory resin portion so that the shape memory material can be deformed by an external force while memorizing the original shape; It is composed of a lid holding means for holding the body 6) and a moving means for integrally moving the discharging means and the lid holding means.

The structures of the discharging means and the lid holding means are as follows.

In FIG. 2, a large number of fluid discharge holes 16 (see FIGS. 4 and 5) are formed in the inner peripheral portion of the discharge ring 14 which constitutes a part of the discharge means.

One end of each of four fluid supply pipes 17 is communicatively connected to each of the four locations on the upper peripheral surface of the discharge ring 14 that are separated by 90 degrees. The other end of each of the four fluid supply pipes 17 extends upward and then inward while curving,
The fluid introducing passages 18a formed in the columnar connecting member 18 extending upward along the central axis of the discharge ring 14 are connected and communicated with each other. On the outer peripheral surface of the connecting member 18, the fluid introducing passage 18a is formed.
A pipe body 20 connected to and connected to an introduction pipe 19 for introducing air heated to a predetermined temperature by an ordinary method from an air supply source (not shown).

The cage 15, which constitutes a part of the lid holding means, has a suction cup structure, and is formed of rubber or the like into a substantially bowl shape whose lower surface is opened. The cages 15 are arranged inside the discharge ring 14 at four locations spaced by 90 degrees. in this case,
The open surface of the retainer 15 faces a surface which is parallel to the plane formed by the lower peripheral surface of the discharge ring 14 and slightly above the plane. At the center of the upper surface of each cage 15, a tubular body 21
One end of the is connected for communication. The other end of the pipe body 21 is connected to the lower peripheral surface of the gas suction ring 22 so as to communicate therewith. One end of a gas suction pipe 23 is communicatively connected to four locations on the inner peripheral surface of the gas suction ring 22 that are separated by 90 degrees, and the other end of the gas suction pipe 23 is connected to the connecting member 18 Are connected to the gas suction passages 18b formed in each. A pipe 25 is connected to the outer peripheral surface of the connecting member 18 so as to communicate with the gas suction passage 18b and to which a suction pipe 24 from a gas suction device (not shown) is connected.

 On the other hand, the moving means is configured as follows.

In FIG. 1, a pair of struts 26 are erected on both sides of the belt conveyor 12 at a predetermined distance in a direction parallel to the traveling direction of the belt conveyor 12. The upper end portions of the pair of columns 26 are connected to each other by the horizontal rail member 27.

A pair of rail members 28, each having a U-shaped cross section, are bridged between the intermediate portions of the horizontal rail members 27 in the longitudinal direction with their open surfaces facing each other.
Both ends of are connected to the lower surface of the horizontal rail member 27. Further, a moving body 29 that moves while being guided and supported by the rail member 28 is provided. Four drive wheels 29a, each of which is rotationally driven, are rotatably supported at both ends of the moving body 29. The drive wheels 29a are placed and supported on a horizontal plate inside the rail member 28. To be done. And this moving body
29 and the connecting member 18 are connected via two robot arms 30 and 31.

The two robot arms 30 and 31 have arms 30a and 31a whose one ends are rotatably connected to ends of connecting parts 32 and 33 formed on the outer peripheral surface of the connecting member 18, respectively, and the arms 30.
One end is rotatably connected to each of the other ends of the a and 31a, and the other end is rotatably connected to the ends of two connecting portions projectingly formed on the side surface of the movable body 29. Arm 30b, 31b, respectively.

An end portion of the main body of the cylinder device 34 is rotatably connected to the lower surface of the moving body 29. The tip end of the piston rod 34a of the cylinder device 34 is the arm 30a of one robot arm 30.
Is rotatably connected to.

In the moving means having such a configuration, the rail member 28 of the moving body 29 is used.
The connection member 18 is moved by the movement along the
The holder 14 and the holder 15 can be slid in a direction traversing the belt conveyor 12. In addition, the cylinder device 34
By expanding and contracting the two robot arms 30 and 31, respectively, the connecting member 18 can be moved up and down, and the discharge ring 14 and the cage 15 can be moved up and down.

A pair of fixing devices 35 for fixing the container body 3 placed and supported on the belt conveyor 12 are provided at both sides of the belt conveyor 12. The fixing device 35 has a pair of arms 37, 3 whose lower ends are rotatably supported at two positions separated from the support base 36 and extend upward.
8, a rod 39 that is horizontally rotatably connected to the upper ends of the arms 37 and 38, extends horizontally, a pressing member 40 that can contact the outer surface of the container body 3 at the tip of the rod 39, and the support base 36.
The body is rotatably connected to the upper surface of the piston rod 41
a Cylinder device 41 whose front end is rotatably connected to one arm 37. A pad 42 made of an elastic material is fixedly attached to the pressing surface of the pressing member 40.

According to this fixing device, the arms 37 and 38 are tilted by the expansion and contraction of the cylinder device 41, the rod 39 is moved back and forth, the pressing member 40 is moved back and forth, and the container body 3 can be clamped from both sides and fixed. It has become.

A mounting support table 43 for the lid 4 is arranged at a position lateral to the belt conveyor 12 in the moving path of the discharge ring 14 and the holder 15, that is, at a lateral position of one fixing device 35.

As shown in FIG. 3, the mounting support table 43 has a circular recess 43a on the upper surface and an annular projection 43b protruding upward from the peripheral portion of the upper surface. The outer surface is
The frusto-conical surface is formed so that the diameter gradually increases from the upper side to the lower side.

The mounting support table 43 is for fixing the fitting piece 8 of the lid 4 attached to the container body 3 in a predetermined shape to facilitate setting of the lid 4 on the container body 3.

Next, a method of attaching and detaching the lid 4 (lid body 6) to and from the container body 3 by the lid handling device 9 described above will be described.

First, a method of attaching the lid 4 (lid body 6) will be described.

The attachment of the lid 4 is started from a state where the lid 4 is placed and supported on the placement support table 43.

That is, as shown in FIG. 3, the bottom surface of the recess 6b of the lid 4 is in contact with and supported by the inner bottom surface of the recess 43a of the mounting support base 43, and the peripheral portion of the lid 4 is an annular shape of the mounting support base 43. The convex piece 43b is passed over to the outside, and the fitting piece 8 comes into contact with the outer peripheral surface of the annular convex portion 43b. As a result, the fitting piece 8 is fixed to a shape matching the outer peripheral surface of the annular convex portion 43b, that is, a truncated cone peripheral surface shape at room temperature.

It should be noted that another lid 4 can be placed on top of the lid 4 supported by the placement support table 43 as described above, and a plurality of lids 4 can be placed in an overlapping manner.

In this case, as shown in FIG. 3, the fitting piece 8 of the upper lid 4 is in contact with the outer peripheral surface of the fitting piece 8 of the lower lid 4, and the fitting piece 8 of the upper lid 4 is It is fixed in a shape that matches the outer peripheral surface of the fitting piece 8 of the lower lid 4 at room temperature.

Next, place the container body 3 on the belt conveyor 13,
The belt conveyors 13 and 12 are driven, and when the container body 3 reaches a predetermined position on the belt conveyor 12, the driving of the belt conveyors 13 and 12 is stopped.

Then, the cylinder device 41 of the fixing device 35 arranged at each of both side positions of the belt conveyor 12 is driven to the extended state,
Move the rod 39 forward by tilting the arms 37, 38,
The pressing member 40 is slid forward to clamp and fix the container body 3 from both sides.

After the above, the movable body 29 is driven to stop the cage 15 at a position above the lid 4 placed and supported on the placement support table 43, and then the cylinder device 34 is driven to the extended state. , Cage 15
Is moved downward and brought into contact with the upper surface of the recess 6b of the lid 4. In this state, a gas suction device (not shown) is operated to supply air to the pipe body 21, the gas suction ring 22, the gas suction pipe 23, and the connecting member.
The gas is sucked from the holder 15 via the gas suction passage 18b of 18, the pipe body 25 and the suction pipe 24.

Then, a pressure is reduced between the inside of the retainer 15 and the upper surface of the recess 6b of the lid 4, and the lid 4 is adsorbed.

Next, the cylinder device 34 is driven to the contracted state, and the holder 15
After moving upward, the moving body 29 is driven to hold the holder 15 on the belt conveyor 12 and the container body 3 is supported.
, The cylinder device 34 is driven to the extended state, and the lid 4 sucked and held by the holder 15 is moved downward and placed on the upper end of the container body 3. In this state, the bottom portion of the recess 6b of the lid 4 is inserted into the inside of the opening 2 of the container body 3 as shown in FIG.
The curved portion of the peripheral portion of the above is overlapped with the upper outer peripheral surface of the fitting convex portion 5 of the container body 3. Further, the fitting piece 8 is in a state of protruding obliquely downward from the upper outer peripheral surface position of the fitting convex portion 5.

When the placement of the lid 4 on the upper end of the container body 3 is completed,
The suction of gas from the gas suction device is stopped and the suction pipe 24 is opened to the atmosphere by a switching device (not shown) to allow air to flow into the suction pipe 24 to reduce the pressure between the inside of the cage 15 and the upper surface of the recess 6b of the lid 4. The state is released, the suction holding of the lid 4 is released, and hot air from an air supply source (not shown) is introduced into the introduction pipe 1
9, the pipe body 20, the fluid introduction path 18a of the connection member 18 and the fluid supply pipe 17 to guide the discharge ring 14, the warm air to the discharge ring
Discharge from a large number of fluid discharge holes 16 in the inner peripheral portion of 14. The discharged warm air is blown onto the fitting piece 8 to heat the fitting piece 8. The warm air temperature is, for example, about 60 to 80 ° C.

Therefore, the shape memory resin forming the fitting piece 8 is deformed as shown in FIG. 4 (b) and finally in FIG. 4 (c).
As shown in FIG. 5, the stored original shape is restored, and the fitting piece 8 is fitted into the fitting convex portion 5 of the container body 3 in a tight fit state.

Next, cold air from an air supply source (not shown) is discharged from the fluid discharge hole 16 of the discharge ring 14 via the same path. The discharged cool air is blown onto the fitting piece 8 to cool the fitting piece 8.

Therefore, the shape-memory resin forming the fitting piece 8 is fixed to the stored original shape.

The suction holding of the lid 4 may be released after the fitting piece 8 is fitted to the fitting convex portion 5 of the container body 3 with warm air and cold air.

 With the above, the attachment of the lid 4 is completed.

When the attachment of the lid 4 is completed, the cylinder device 34 is driven to the contracted state, the holder 15 is moved upward, and then the moving body 29 is driven to move the holder 15 to the mounting base 43 described above. It stops at the upper position and waits for the next holding of the lid 4.

Further, the cylinder device 41 of the fixing device 35 is driven to the contracted state, the rod 39 is slid backward by the tilting of the arms 37 and 38, and the pressing member 40 is moved backward to release the fixing of the container body 3. After this, the container body 3 with the lid 4 attached is conveyed to the end position of the belt conveyor 11 by driving the belt conveyors 12 and 11, and transferred from here to the automatic conveyance vehicle 44 of FIG. It is transported to the destination by the automatic transport vehicle 44.

 Next, a method for removing the lid 4 will be described.

A container with a lid attached is placed on the belt conveyor 11, the belt conveyors 11 and 12 are driven, and the container body 3 with the lid 4 attached is conveyed to a predetermined position on the belt conveyor 12.

Then, the container body 3 is clamped and fixed from both sides by the fixing device 35 as described above.

After the above, the moving body 29 is driven to stop the holder 15 at the upper position of the container 1, and then the cylinder device 34 is driven to the extended state to move the holder 15 downward to move the lid 4 of the lid 4. The recess 6b is brought into contact with the upper surface. In this state, retain the air as described above.
Suction from 15, and hold the lid 4 by suction. Next, the hot air is guided to the discharge ring 14, and the hot air is discharged from the large number of fluid discharge holes 16 and blown onto the fitting piece 8 (FIG. 5 (a)).
reference).

The fitting piece 8 is heated so that it can be freely deformed by an external force while memorizing the original shape.
Next, the cylinder device 34 is driven to the contracted state, and the holder 15
When the operation of moving upward is performed, the fitting piece 8 is deformed from the curved state to the linearly extended state from the state shown in FIG. 5 (b) to the state shown in FIG. 5 (c). The lid 4 moves upward. As a result, the fitting state between the fitting piece 8 and the fitting convex portion 5 is released. When this state is reached, the holder 15 is moved further upward, the moving body 29 is driven, and the holder 15 is stopped at a position above the mounting support table 43.

Then, the holder 15 is moved downward, and the lid 4 is placed on the supporting table.
After placing it on 43, release the suction holding of the lid 4,
The holder 15 is moved upward again to stand by for the next removal of the lid 4.

The lid 4 is mounted on the mounting support 43, so that the fitting piece 8 is fixed in a shape that matches the outer peripheral surface of the annular convex portion 43b of the mounting support 43 at room temperature. It should be noted that when placing the lid 4, warm air is allowed to flow into the fluid discharge holes so that the lid 4 easily has a shape that matches the outer peripheral surface of the annular convex portion 43b of the placing support base 43, if necessary.
The operation of discharging from 16 and spraying to the fitting piece 8 is performed.

The container body 3 with the lid 4 removed as described above
Is released to the end position of the belt conveyor 13 by driving the belt conveyors 12 and 13 after releasing the fixation by the fixing device 35, and is transferred from here to the automatic conveyance vehicle 44 as shown in FIG. 1 (a). Then, the automatic transport vehicle 44 transports the vehicle to a destination.

According to the lid handling device 9 having the above configuration, when the lid 4 is attached, the operation of setting the lid 4 on the container body 3 and the lid 4
The tightening means, that is, the discharge work of discharging the air in the specific temperature range for deforming the shape memory resin forming the fitting piece 8 to the tightening fixed side according to the memory effect can be automatically performed. .

In addition, at the time of removing the lid 4, a specific temperature range for making the lid tightening means, that is, the shape memory resin forming the fitting piece 8 deformable by an external force while memorizing the original shape. It is possible to automatically perform the discharge work of discharging the air and the work of separating the lid 4 from the opening of the container body 3 and carrying it out to another.

As a result, unlike the conventional case, it is not necessary to manually heat or cool the shape memory material, and the lid 4 is attached to the container body 3.
It is not necessary to manually set the container or carry it out from the container body 3.

Therefore, the working time can be shortened, the workability can be improved, and the work can be unmanned.

For example, it is effective in pharmaceutical manufacturing or precision industry where it is desirable to reduce workers, which is the largest source of pollution.

In this embodiment, since the lid handling device is fixedly installed on the transport line of the container 1, the lid 4 is attached to the containers 1 sequentially transported to the transport line by a flow operation. -It can be removed, and automation can be achieved more effectively.

Of course, the lid handling device may be of the type shown in FIG. This structure has a structure in which a discharging means 46, a lid holding means 47, a moving means 48 and the like as shown in the embodiment of FIG. 2 are held on a base 45, and by operating the moving means 48, any place Even in this case, the lid 4 can be automatically attached and detached.

In the handling apparatus of the above-described embodiment, the target lid 4
The fastening means 8 is attached by covering the entire surface of the metallic lid body 6, and extends from the peripheral edge of the lid body 6 in a plate shape for a predetermined length and is annularly connected by a fitting piece 8 made of a shape memory resin. However, as shown in FIG. 10, the lid 6 is mounted so as to cover the entire surface, that is, the bottom surface, the side surface, and the top surface of the lid body 6, and extends from the peripheral edge of the lid body 6 in a plate shape for a predetermined length and is continuous in an annular shape. Alternatively, the shape memory resin molded body 7 having the fitting piece portion 8A may be used.

Of course, as shown in FIG. 11 (a), the entire lid 4 may be made of shape memory resin. Also, the eleventh (b)
As shown in the figure, the lid 6 may be formed of synthetic resin, and the fitting piece 8 made of shape memory resin may be welded thereto.

Further, a shape memory alloy may be used as the fastening means of the lid 4.

For this, a metal plate member of the lid body to which a fitting piece made of a shape memory alloy is welded, or a whole lid made of a shape memory alloy is considered. In this case, the shape memory alloy used in the container is not particularly limited and may be selected according to the target temperature, but the bidirectional shape memory alloy is most preferable. Of course, it is possible to use a unidirectional shape memory alloy, but in this shape memory alloy, the fitting piece expands (or contracts) when the temperature rises above a predetermined temperature or drops below a predetermined temperature. It will be composed of only. Therefore, in the case of only the above-mentioned structure for expanding and deforming, the means for mechanically contracting and deforming the fitting piece is for the above-mentioned structure for only contracting and deforming, the means for mechanically expanding and deforming the fitting piece. But,
Each needs a new one.

Further, the container targeted by the present invention is not limited to the form as shown in the present embodiment, and the container main body, the lid for opening and closing the opening of the container main body, and at least a part of the shape memory material. Other forms may be used as long as the structure includes a tightening means that is formed and tightens and fixes the lid body to the opening of the container body.

Even with the lid having the above configuration, the lid handling device described above can be used for attachment / detachment, and similar effects can be obtained.

When the lid handling device is operated as a lid removing device for removing the lid body from the opening of the container body by the memory effect of the shape memory material in the tightening means, the original form of this embodiment described above is stored. Instead of an operation of heating the shape memory material to a state where it can be deformed by an external force and then pulling the lid body held by the lid holding means away from the opening of the container body by the moving means, the lid holding means holds the lid body. The air in the specific temperature range is ejected toward the shape memory material by the discharge means while performing the front-back or holding operation, and after being deformed to the tightening / fixing release side due to the memory effect of the shape memory material, it is simply the lid holding means. The lid body held by is moved by the moving means and placed at a predetermined position.

In addition, in the present embodiment, as the container lid handling device of the present invention, a lid handling device that has the functions of a lid tightening fixing device and a lid attaching device in addition to the functions of the tightening release device and the lid removing device. Although the configuration of the device has been described, a device may be provided to perform only one of releasing the fastening and fixing of the lid or removing the lid.

With this device, it is possible to effectively utilize for releasing or removing the fastening fixation of the lid body using the one-way shape memory material.

Further, in the present embodiment, the holder 15 has a suction cup type structure for sucking and holding the lid 4 by the vacuum force, but a structure for sucking and holding the lid 4 by the magnetic force of the electromagnet or a mechanical suspending tool such as a hook. It may be configured to be held by. Further, although the belt conveyors 11, 12 and 13 are used to convey the containers, other chain conveyors, slat conveyors, roller conveyors or the like may be used as a matter of course. Furthermore, even in other components,
The configuration is not limited to that of this embodiment.

<Effects of the Invention> As described above, the lid handling device according to the first aspect of the present invention as a fastening release device for causing the fastening means to release the fastening fixation of the lid body, and the shape memory material in the fastening means. In the lid handling device according to the second aspect of the present invention as a lid removing device for removing the lid body that is clamped and fixed to the opening of the container body from the container body by the memory effect of the above, the shape memory material is heated or cooled. Since the fluid such as heating air or cooling air is discharged from the hole provided in the substantially annular discharge ring as the means, for example, the tightening means using the shape memory material is a part of the outer circumference of the lid or the container body. In the case of a container provided with a fastening means, even if the direction of the shape memory material is slightly different for each container, since the fluid for heating and cooling is ejected to a wide range regardless of the position, certainly The shape memory material can be heated or cooled, and automation can be easily performed. Also, in the case of a container having shape memory material all around, the fluid for heating and cooling is discharged toward the shape memory material all around, so that the fastening and fixing of the lid can be released efficiently in a short time. You can do it.

Also, by adopting a jet fluid system such as heating air or cooling air, there is no need for equipment for heating or cooling the container body, the device shape is simple, and it is possible to process even if the size and shape of the container are slightly different. Easy to control,
And can be accurate. A lid handling device corresponding to each shape of various tightening means using a shape memory material can be manufactured with a simple device configuration.

On the other hand, the lid handling device according to the third aspect of the invention as a lid removing device for removing the lid from the opening of the container body by the memory effect of the shape memory material in the tightening means, and the memory effect of the shape memory material in the tightening means. In the lid handling device according to the fourth aspect of the present invention as a lid removing device that removes the lid body that is clamped and fixed to the opening of the container body from the container body, the discharge means and the lid holding means are integrated. Since it is moved, the three-dimensional positional relationship among the lid body, the discharging means, and the lid holding means is uniquely determined, which simplifies further automation, and when the lid body is removed, the lid body is removed. It is possible to automatically carry out the work of carrying out from the container body to the other, and the discharge work of discharging the fluid in the specific temperature range to the shape memory resin provided on the lid, and the work time can be shortened. It is possible to improve the It is possible to reduce the unmanned work.

[Brief description of drawings]

FIG. 1 shows an embodiment of a container lid handling device according to the present invention, which is a configuration of a lid handling device which has the functions of a lid tightening fixing device and a lid attaching device in addition to the functions of a fastening release device and a lid removing device. FIGS. 3A and 3B are views for explaining, FIG. 6A is a front view, FIG.
FIG. 2 is a side view, FIG. 2 is a view showing the structure of the discharging means and the lid holding means of the lid handling device, in which (a) is a front view, (b) is a plan view, and (c) is a perspective view. The figure is a cross-sectional view showing a configuration of a mounting support base in the lid handling apparatus of the above, FIG.
(C) is a partially enlarged cross-sectional view showing the method of attaching the lid, FIGS. 5 (a) to (c) are partially enlarged cross-sectional views showing the method of removing the lid, and FIG. FIG. 7 is a cross-sectional view showing an example of a container applied to the present invention, FIG. 8 is a partially enlarged perspective view showing the structure of a lid in the same container, and FIG. 9 is the same container. A partially enlarged cross-sectional view showing in detail the relationship between the container body and the lid in
10 and 11 (a) and (b) are cross-sectional views showing examples of other containers, and FIGS. 12 to 15 are views showing a conventional clamp type lid fastening device, respectively. 12 and 13 are sectional views, FIG. 14 is a perspective view, FIG. 15 is a view showing a conventional clamp band type lid tightening device, and FIG. 15 (a) is a sectional view and FIG. b) and (c) are perspective views, respectively. 1 ... container, 2 ... opening, 3 ... container main body, 4 ... lid, 5 ... fitting convex part, 6 ... metal plate member, 8 ... fitting piece, 8A ... fitting One part, 9 ... Lid handling device, 14 ... Discharge ring, 15 ... Retainer, 17 ... Fluid supply pipe, 18 ... Connection member, 18a ... Fluid introduction passage, 18b ... Fluid suction passage, 19 …… Introduction pipe, 22 …… Gas suction ring, 23 …… Gas suction pipe, 24…
… Inhalation pipe, 26 …… Posts, 27 …… Layers, 28 …… Rail members, 29 …… Moveable body, 29a …… Drive wheels, 30,31 …… Robot arm, 30a, 30b, 31a, 31b… … Arm, 34… Cylinder device

Claims (4)

(57) [Claims] 1. A container main body, a lid for opening and closing an opening of the container main body, and a fastening means for fastening and fixing the lid to the container main body, at least a portion of which is formed of a shape memory material. A lid handling device in a container, wherein at least one specification for deforming the shape memory material to the side for releasing the fastening fixation between the lid body and the opening of the container body by the memory effect of the shape memory material. A container lid handling device comprising a discharge means for discharging a fluid in a temperature range from a fluid discharge hole provided in a substantially annular discharge ring toward the shape memory material. 2. A container body, a lid body for opening and closing an opening of the container body, at least a part of which is formed of a shape memory material, and the lid body is fastened and fixed to the container body by a memory effect of the shape memory material. A lid handling device in a container having a tightening means, wherein the shape memory material has a substantially annular discharge ring for allowing a fluid in a specific temperature range to be deformed by an external force while memorizing an original shape. Discharge means for discharging toward the shape memory material from a fluid discharge hole provided in
A lid holding means for holding the lid body, and a moving means for moving the lid holding means to separate the lid body held by the lid holding means from the opening of the container body. Lid handling device for containers. 3. A container main body, a lid for opening and closing the opening of the container main body, and a fastening means for fastening and fixing the lid to the container main body, at least a portion of which is formed of a shape memory material. A lid handling device for a container, comprising: a lid holding means for holding the lid, and a side for releasing the fastening fixation between the lid and the opening of the container body by a memory effect of the shape memory material. A configuration including discharge means for discharging a fluid in at least one specific temperature range for deforming the shape memory material toward the shape memory material, and moving means for integrally moving the discharge means and the lid holding means. An apparatus for handling a lid of a container, which is characterized in that 4. A container body, a lid body for opening and closing an opening of the container body, at least a part of which is formed of a shape memory material, and the lid body is fastened and fixed to the container body by a memory effect of the shape memory material. A device for handling a lid in a container provided with a tightening means, wherein a fluid in a specific temperature range is applied to the shape memory material so that the shape memory material can be deformed by an external force while memorizing the original shape. A discharge means for discharging toward the lid, a lid holding means for holding the lid body, and a lid body held by the lid holding means by integrally moving the discharge means and the lid holding means, and an opening portion of the container body. And a moving means for moving the container.