JP7349209B1 - Mating system, mating mechanism, and control device - Google Patents

Abstract

An object of the present invention is to fit a container and a lid more appropriately when a lid closing operation is performed by a robot.A fitting system 1 includes an articulated robot 30 equipped with a plurality of pressing members 330 that press the lid. and a control device 40 that controls the operation of the articulated robot 30. On the surface to be pressed of the lid, there are a plurality of second portions at positions spaced apart from each other with the first portion interposed therebetween. The plurality of pressing members 330 are arranged at positions corresponding to each of the plurality of second portions, and at least one of them can expand and contract in the pressing direction when pressed. The control device 40 causes the articulated robot 30 to move the plurality of pressing members 330 in the pressing direction so that each of the plurality of second portions is pressed by each of the plurality of pressing members 330 disposed at corresponding positions. Control behavior. [Selection diagram] Figure 4

Description

The present invention relates to a fitting system, a fitting mechanism, and a control device .

In recent years, mechanization has been promoted in various industries, and various tasks are being performed by robots. For example, a robot performs a lid-closing operation of fitting a lid onto a container in which foods such as prepared dishes are placed to close the container.
A technology related to a robot that performs such a lid-closing operation is disclosed in, for example, Patent Document 1.

Utility model registration No. 3103294

In the above-mentioned Patent Document 1, a plate-shaped pressing member is provided with a spring that can be expanded and contracted in the pressing direction. By expanding and contracting this spring, excessive reaction force in the pressing direction can be absorbed and the lid can be properly fitted.
However, such a configuration is based on the premise that the two planes, the pressing surface of the pressing member and the pressing surface of the lid to be pressed, are parallel to each other (for example, both are horizontal). . In other words, it is only intended for situations where the container or lid is not tilted.

However, for example, when containers are transported by a conveyor such as a belt conveyor, there may be undulations caused by the drive of the conveyor, or obstacles on the conveyance surface of the conveyor (for example, food that has fallen during plating). ), which may cause the container or lid to be tilted. Alternatively, depending on the type of container or lid, there may be a structure in which there is a step on the surface of the lid to be pressed, and it is not possible to appropriately press each of the plurality of positions to be pressed by pressing with a flat surface.
Therefore, simply pressing in the pressing direction with the pressing surface of the pressing member does not necessarily result in proper fitting.

This problem is not limited to the situation where a lid is closed on a container filled with food, but is common to all kinds of situations in which lids are closed by robots in the industrial field and the like.
As described above, in the conventional technology, there is still room for improvement in terms of fitting properly when fitting is performed by a robot.

An object of the present invention is to fit a container and a lid more appropriately when the fitting is performed by a robot.

In order to solve the above problems, a fitting system according to an embodiment of the present invention,
A fitting system comprising a robot equipped with a plurality of pressing members that press a lid, and a control device that controls the operation of the robot, the fitting system comprising:
A plurality of second portions are present on the surface to be pressed of the lid at positions spaced apart from each other with the first portion sandwiched therebetween,
The plurality of pressing members are arranged at positions corresponding to each of the plurality of second portions, and at least one of them is expandable and contractible in the pressing direction when pressed,
The control device causes the robot to move the plurality of pressing members in the pressing direction so that each of the plurality of second portions is pressed by each of the plurality of pressing members arranged at a corresponding position. control the movement,
It is characterized by

According to the present invention, when the robot closes the lid, it is possible to fit the container and the lid more appropriately.

1 is a perspective view schematically showing the overall configuration of a fitting system 1 according to the invention. 4 is a schematic diagram showing the hardware configuration of a control device 40. FIG. 4 is a block diagram showing the functional configuration of a control device 40. FIG. 3 is a perspective view schematically showing the configuration of a fitting mechanism 31a attached to the tip of a hand 31. FIG. FIG. 3 is a schematic diagram for explaining the structure of the pressing member 330 in more detail, and shows the pressing member 330 viewed from the side. 7 is a diagram illustrating support of an intermediate member 340 by support portions 333 of a plurality of pressing members 330. FIG. 7 is a diagram illustrating support of an intermediate member 340 by support portions 333 of a plurality of pressing members 330. FIG. 4 is a schematic diagram showing an example of a series of fitting-related operations performed by the articulated robot 30 under the control of the control device 40. FIG. 4 is a schematic diagram showing an example of a series of fitting-related operations performed by the articulated robot 30 under the control of the control device 40. FIG. FIG. 7 is a schematic diagram showing another example of a series of fitting-related operations performed by the multi-joint robot 30 under the control of the control device 40 (that is, an example in which pressing is performed by the intermediate member 340). FIG. 7 is a schematic diagram showing another example of a series of fitting-related operations performed by the multi-joint robot 30 under the control of the control device 40 (that is, an example in which pressing is performed by the intermediate member 340). It is a flowchart which shows the flow of the lid fitting process which the fitting system 1 performs.

Embodiments of the present invention will be described below with reference to the drawings.
[Embodiment]
[overall structure]
FIG. 1 is a perspective view schematically showing the overall configuration of a fitting system 1 according to the present invention.
The fitting system 1 in this embodiment is intended to apply the present invention to a fitting system that fits a lid to a container in which an object is placed. In the following description, an example will be described in which the fitting system 1 closes the opening of a container in which food is served as an object by fitting a lid onto the container.

In this case, the type of food is not particularly limited, and examples include staple foods such as noodles and sushi, main dishes such as meat and fish dishes, and side dishes (i.e., side dishes) such as potato salad, and these can be separated in the container. It may also be a boxed lunch or the like that is packed into different areas. Further, the shape of the container and the lid is not particularly limited, and when the container and the lid are viewed vertically from above, they may have a polygonal shape such as a quadrangle or a hexagon, or a polygon and a circular arc. It may have a shape that includes , or it may have a circular shape such as a perfect circle or an ellipse.
That is, the fitting system 1 can universally fit containers and lids of various shapes filled with various foods.

As shown in FIG. 1, the fitting system 1 includes a lid supply section 10, a container detection sensor 20, an articulated robot 30, and a control device 40. Further, the control device 40, the lid supply unit 10, the container detection sensor 20, and the articulated robot 30 are connected by wire or wirelessly, and can communicate with each other.

Furthermore, a belt conveyor 2 is installed adjacent to the fitting system 1 to automatically transport containers filled with food from upstream to downstream. A pair of guide members 2A are installed on the belt conveyor 2 in the left and right directions when the container travel direction is the forward direction. The guide member 2A has a tapered shape whose left and right width narrows in the direction of travel, and has a structure that can guide the container to a predetermined position. Containers filled with food are conveyed at various positions on the belt conveyor 2 (for example, at different positions in the left-right direction) upstream of the guide member 2A, and by being guided by the guide member 2A, It is transported to a fitting position P1, which is a position where the lid is fitted.

In addition, in this embodiment, the work of plating food in containers further upstream of the fitting system 1 may be performed manually or may be performed by a food plating robot.

The lid supply unit 10 supplies lids to a lid supply position P2, which is a position where lids are supplied to the articulated robot 30. The lid supply unit 10 stores a plurality of lids of a plurality of types corresponding to a plurality of types of containers. Then, when the fitting system 1 starts operating, the lid supply unit 10 uses a push-out mechanism provided in the lid supply unit 10 to insert lids one by one in a shape corresponding to the container being transported on the belt conveyor 2. It is supplied to the lid supply position P2. Moreover, the lid supply unit 10 supplies a new lid every time the articulated robot 30 acquires a lid for closing the lid.
In order to ensure that the lid is supplied onto the lid supply position P2, for example, the lid supply unit 10 may have a concave shape that opens toward the lid discharge portion when viewed from above. The member may be installed so as to surround the lid supply position P2.
In addition, for example, the lids are not supplied one by one, but are supplied in a stacked state in a plurality at a time, and each time the articulated robot 30 acquires all the lids, a plurality of new lids are supplied. may also be supplied.

The container detection sensor 20 is a sensor that detects the position of a container being transported on the belt conveyor 2. The container detection sensor 20 is composed of, for example, an optical sensor. The container detection sensor 20 detects, for example, that the container guided by the guide member 2A has been transported to the fitting position P1 or is about to be transported to the fitting position P1. Data on the position of the container detected by the container detection sensor 20 is output to the control device 40 .

The articulated robot 30 is composed of, for example, a horizontal articulated robot or a vertical articulated robot, and includes a hand 31 for fitting a lid onto a container, and a hand 31 attached to the tip of the hand 31 for fitting the lid to the container. The robot arm 32 includes a fitting mechanism 31a that performs the operation, and a robot arm 32 that moves the hand 31 to an arbitrary position within the movable range.
In addition, the joint that holds the hand 31 of the articulated robot 30 is equipped with a reaction force from an object to be contacted (an example of a means for detecting that the hand 31 has contacted a container or a lid). A force sensor 30A is installed to measure the sense of force (including the sense of force caused by the force). Data on the reaction force measured by the force sensor 30A is output to the control device 40.

Further, the joint that holds the hand 31 includes an axis that rotates the hand 31 in a twisting direction with respect to the robot arm 32. Therefore, by changing the orientation of the hand 31 when the hand 31 fits the lid to the container, the direction in which the hand 31 faces the lid or the container can be adjusted. Thereby, fitting can be performed appropriately through movement with a high degree of freedom.

The control device 40 is constituted by an information processing device such as a PC (Personal Computer) or a programmable controller, and controls the entire fitting system 1 by executing various programs. For example, the control device 40 causes the lid supply unit 10 to supply a lid, or the articulated robot 30 to acquire a lid from the lid supply position P2 and fit the lid to the container at the fitting position P1. Control operations, etc. More specifically, for example, the control device 40 controls the drive of the robot arm 32 to move the hand 31 to a preset predetermined position along a predetermined route and at a predetermined speed, Each mechanism included in the fitting mechanism 31a cooperates to press the lid to control the fitting operation of the lid to the container.

[Hardware configuration of control device 40]
FIG. 2 is a schematic diagram showing the hardware configuration of the control device 40.
As shown in FIG. 2, the control device 40 includes a CPU (Central Processing Unit) 711, a ROM (Read Only Memory) 712, a RAM (Random Access Memory) 713, a bus 714, an input section 715, and an output section. 716, a storage section 717, a communication section 718, and a drive 719.

The CPU 711 executes various processes according to a program recorded in the ROM 712 or a program loaded into the RAM 713 from the storage unit 717.
The RAM 713 also appropriately stores data necessary for the CPU 711 to execute various processes.

The CPU 711, ROM 712, and RAM 713 are interconnected via a bus 714. An input section 715, an output section 716, a storage section 717, a communication section 718, and a drive 719 are connected to the bus 714.

The input unit 715 includes an input device such as a mouse and a keyboard, and receives input of various information to the control device 40. Note that a microphone may be provided as the input unit 715, and input of various information may be accepted through voice input from the worker.
The output unit 716 is configured with a display, a speaker, etc., and outputs images and audio.
The storage unit 717 is configured with a hard disk, a DRAM (Dynamic Random Access Memory), or the like, and stores various data managed by each server.
The communication unit 718 controls communication with other devices via the network.

A removable medium 731 made of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately installed in the drive 719. The program read from the removable medium 731 by the drive 719 is installed in the storage unit 717 as necessary.
Note that the above hardware configuration is the basic configuration of the control device 40, and the configuration may not include some hardware, include additional hardware, or change the implementation form of the hardware. I can do it.

[Functional configuration]
Next, the functional configuration of the control device 40 will be explained.
FIG. 3 is a block diagram showing the functional configuration of the control device 40.
As shown in FIG. 3, by executing a program for controlling the operation of the fitting system 1, the CPU 711 of the control device 40 controls the object information acquisition section 151, the sensor information acquisition section 152, and the lid supply control. The unit 153, the articulated robot control unit 154, and the recording control unit 155 function. Further, the storage unit 717 includes a parameter storage unit 171 and a history database (history DB) 172.

The parameter storage unit 171 stores various parameters used when the fitting system 1 operates. For example, the parameter storage unit 171 stores the positions of the fitting position P1 and the lid supply position P2, the movement path of the hand 31 when performing fitting, and the drive control procedure of the fitting mechanism 31a when performing fitting. Parameters that define the motion pattern of the articulated robot 30 are stored. Note that, as described above, the fitting system 1 is capable of fitting various types of containers and lids, so this parameter is set in multiple numbers corresponding to each of various types of containers and lids. Assume that

The history DB 172 includes parameters related to control acquired when the mating system 1 operates, or values indicating the time required for mating when mating is performed by the mating system 1 (for example, a value indicating the time required for mating when mating is performed multiple times). The value obtained by dividing the time required for mating by the number of times the mating was performed) is stored as a history. In this case, the recorded control-related parameters are utilized, for example, when setting a new operation pattern. In addition, the value indicating the time required for mating can be used as an index when considering whether or not the takt time (TT) required by the user of the mating system 1 can be met, for example. be done.

The target information acquisition unit 151 acquires target information that is information regarding the container and lid to be fitted. For example, the target information acquisition unit 151 may obtain information such as the type of container currently being transported on the belt conveyor 2, the type of lid with a corresponding shape, and information on how many more containers will be transported on the belt conveyor 2. Obtain information such as whether the container being used is scheduled to be changed to a different type of container. These pieces of information are acquired by the target information acquisition unit 151 when the user inputs them via the input unit 715 of the control device 40 . In this case, instead of the input unit 715, for example, an input device such as a touch panel may be installed near the articulated robot 30, and the user may input this information via this input device.

The sensor information acquisition unit 152 acquires sensor information that is information detected by various sensors installed in the fitting system 1. For example, the sensor information acquisition unit 152 collects data on reaction force measured by the force sensor 30A installed at the joint of the articulated robot 30, or data on reaction force detected by the container detection sensor 20 installed near the articulated robot 30. Get container position data.

The lid supply control unit 153 controls the lid supply unit 10 and controls the timing of supplying the lid to the lid supply position P2. For example, the lid supply control unit 153 causes the lid supply unit 10 to start supplying lids when the fitting system 1 starts operating. Further, the lid supply control unit 153 causes the lid supply unit 10 to supply a new lid each time the articulated robot 30 acquires a lid for closing the lid. In this case, the lid supply control unit 153 identifies the type of container currently being transported on the belt conveyor 2 based on the target information acquired by the target information acquisition unit 151, and creates a shape corresponding to the identified container. The lid is supplied to the lid supply section 10.

The articulated robot control unit 154 controls the motion of the articulated robot 30 and causes the articulated robot 30 to perform a series of motions for fitting the lid to the container according to the motion pattern defined in the fitting system 1. have it executed. For example, the articulated robot control unit 154 performs an operation of moving the hand 31 toward the fitting position P1 or the lid supply position P2 (transfer operation), an operation of acquiring the lid from the lid supply position P2 by the hand 31 (lid acquisition operation), ), an operation of fitting the lid to the container at the fitting position P1 using the hand 31 (fitting execution operation), and the like. In this case, the articulated robot control unit 154 identifies the type of container currently being transported on the belt conveyor 2 based on the target information acquired by the target information acquisition unit 151, and performs an operation corresponding to the identified container. Try to use patterns.

The recording control unit 155 stores parameters related to control acquired when the mating system 1 operates, values indicating the time required for mating when mating is performed by the mating system 1, etc., in the history DB 172. Remember. The method of utilizing this information is as described above when explaining the history DB 172.

[Configuration of fitting mechanism 31a]
FIG. 4 is a perspective view schematically showing the configuration of the fitting mechanism 31a attached to the tip of the hand 31. As shown in FIG. As shown in FIG. 4, the fitting mechanism 31a includes a connecting portion 310, a coupling member 320, a pressing member 330, an intermediate member 340, and a holding mechanism 350.

In this case, the longitudinal direction of the intermediate member 340 is defined as the left-right direction. Further, in a horizontal plane, a direction perpendicular to the left-right direction is defined as a front-back direction. Further, a direction perpendicular to each of the left-right direction and the front-back direction is defined as a vertical direction. Further, in the vertical direction, the direction on the side where the connecting portion 310 is arranged is vertically upward, and the direction on the side where the intermediate member 340 is arranged is vertically downward.

The connecting portion 310 connects the fitting mechanism 31a and the hand 31 by being fixed to the hand 31. By connecting the fitting mechanism 31a and the hand 31 in this way, the fitting mechanism 31a can move in various directions as the hand 31 moves. For example, the fitting mechanism 31a can move in the pressing direction (vertically downward in this embodiment) for pressing the lid as the hand 31 moves. Thereby, the fitting mechanism 31a can perform the operation of fitting the container and the lid.
Further, the connecting portion 310 includes a plurality of joints 311. Compressed air is supplied to this joint 311 from a compressor (not shown) in order to drive an air cylinder, which will be described later.

The coupling member 320 is a support member that couples and supports the coupling portion 310, the pressing member 330, the intermediate member 340, and the holding mechanism 350. Note that the intermediate member 340 is not directly connected and supported by the coupling member 320, but supported indirectly via the pressing member 330. As a result, each part of the fitting mechanism 31a functions as one fitting mechanism 31a as a whole.

Furthermore, the coupling member 320 includes a buffer mechanism 321 as a part of the member that supports the holding mechanism 350. The buffer mechanism 321 is a mechanism that adjusts the height of the holding mechanism 350 that it supports by expanding and contracting in the pressing direction by a built-in elastic body such as a spring. When the pressing member 330 presses, the buffer mechanism 321 adjusts the height of the holding mechanism 350, so that the holding mechanism 350 is pressed against the lid with an excessively strong force, and the holding mechanism 350 and the lid are damaged. You can prevent such things from happening.

The pressing member 330 is a columnar member whose longitudinal direction is the pressing direction, and in this embodiment, four pressing members 330 are arranged. These placement positions correspond to portions of the lid that are to be pressed (hereinafter referred to as "press target portions").
For example, if there are multiple pressure target parts at positions spaced apart from each other across the center of the pressure target surface on the pressure target surface of the lid (i.e., the surface where the pressure target parts exist), each of these pressure target parts A plurality of pressing members 330 are arranged at corresponding positions (that is, positions where each pressing target portion can be pressed).
In such a positional relationship, the "center of the surface to be pressed of the lid" corresponds to the "first portion" of the present invention. Moreover, the "press target part" corresponds to the "second part" of the present invention. In addition, in the case of a lid with a typical shape, the top surface of the lid is provided at the center of the surface to be pressed (the first part), and the fitting part of the lid is provided at the part to be pressed (the second part). It is being

Further, when pressing, it is preferable that the center of the surface of the fitting mechanism 31a of the lid facing the surface to be pressed is vertically above the center (first portion) of the surface to be pressed of the lid. In this case, a plurality of pressing members 330 are located at a position away from the center of the surface of the lid of the fitting mechanism 31a that faces the pressing target surface (that is, a position vertically above the position corresponding to (the first portion)). is placed. By arranging the fitting mechanism 31a at positions separated from each other across the center of the fitting mechanism 31a, when the fitting mechanism 31a descends for pressing, the pressing force is applied to each of the plurality of pressing members 330. This provides a well-balanced arrangement that allows for even transmission. This makes it possible to press each of the pressing target positions (second portions) uniformly. However, this is just an example, and when pressing, the surface of the fitting mechanism 31a facing the surface to be pressed is placed at a position different from the vertically above the center (first portion) of the surface to be pressed of the lid. It may be configured such that the center is located. That is, the centers of both may be shifted in the horizontal direction.
Alternatively, the center of the surface of the fitting mechanism 31a facing the surface to be pressed may be treated as corresponding to the "first portion" of the present invention. In this case, the position of the surface to be pressed of the lid pressed by the plurality of pressing members 330 arranged at a position spaced apart from the center (first portion) of the surface opposite to the surface to be pressed of the lid of this fitting mechanism 31a is As a result, it corresponds to the "second part". That is, even if the fitting mechanism 31a is not facing the lid, the "first portion" and the "position corresponding to the second portion" can be specified.
Further, these four pressing members 330 each include a first member 331, a second member 332, a support portion 333, a pressing portion 334, and a joint 335.

The first member 331 and the second member 332 function as a pair of air cylinders. Thereby, when the pressing member 330 presses, the first member 331 and the second member 332 (and the supporting part 333 and the pressing part 334 connected thereto) expand and contract in the pressing direction. Note that compressed air for driving this air cylinder is supplied to the joint 335 via the joint 311.

The support portion 333 is a member that supports the intermediate member 340, and includes two circular members spaced apart in the vertical direction and a cylindrical member that supports them. Support of the intermediate member 340 by the support portion 333 will be described later with reference to FIGS. 6 and 7.

The pressing portion 334 is a portion that actually contacts and presses the lid. The tip of the pressing portion 334 that contacts the lid is formed into a shape suitable for pressing the lid. For example, if the lid to be pressed is rectangular, it is formed into an L-shape corresponding to the fitting portions provided at each corner of the rectangle of the lid.
It should be noted that the second member 332 is provided with a thumbscrew, and thereby has a structure in which the support portion 333 and the pressing portion 334 are fixed to the second member 332. Therefore, the user can easily remove the supporting part 333 and the pressing part 334 by simply loosening the thumbscrew, and it is possible to easily perform maintenance such as cleaning the supporting part 333 and the pressing part 334 periodically.

The intermediate member 340 is a thin planar member made of a material that does not easily deform, such as stainless steel. The intermediate member 340 is spanned between the plurality of pressing members 330 in a horizontal direction intersecting the pressing direction. In this case, as described above, the intermediate member 340 is supported by the plurality of pressing members 330. Furthermore, an insertion hole through which the holding mechanism 350 is inserted is provided at the center of the planar shape of the intermediate member 340.

The holding mechanism 350 is a suction pad that uses a connected vacuum generator (not shown) to vacuum the space between the object and the object, thereby attracting the object. The holding mechanism 350 is inserted through the insertion hole, and holds the lid by adhering the distal end portion inserted through the insertion hole in close contact with the lid.
Moreover, the holding mechanism 350 is supported via the buffer mechanism 321 described above, so that the height in the pressing direction is adjusted when the pressing member 330 presses. In this case, the holding mechanism 350 may further have a structure in which the tip that is in close contact with the lid can expand and contract. For example, the tip may be made of an elastic material such as silicone that expands and contracts. Thereby, even if the lid is tilted, for example, the lid can be appropriately held by deforming to follow this tilt.

Note that tubes for supplying compressed air and the like are connected to the joint 311, the joint 335, and the holding mechanism 350, but the shape and routing of these tubes are not the gist of this embodiment, so we will not discuss the tubes here. Illustrations are omitted.

FIG. 5 is a schematic diagram for explaining the structure of the pressing member 330 in more detail, and shows the pressing member 330 viewed from the side.
As shown in FIG. 5(a), when the pressing member 330 is not in contact with the lid, the first member 331 and the second member 332, which function as air cylinders, are in a normal state (that is, an extended state). .

Next, as shown in FIG. 5(b), when the pressing member 330 moves in the pressing direction to press the lid by driving the hand 31, the pressing part 334 at the tip of the pressing member 330 contacts the lid and presses the lid. is started. In this case, the first member 331 and the second member 332, which are air cylinders, are controlled so that the strength of the pressing force applied to the portion of the lid to be pressed remains constant regardless of the degree of expansion and contraction. That is, when pressing by the pressing member 330, a constant force (so to speak, constant load) is always applied.
This can prevent the pressing force from becoming excessively strong depending on the positional relationship between the pressing member 330 and the lid. Therefore, for example, situations such as damage to the container or lid can be prevented. Moreover, this can prevent the pressing force from becoming excessively weak depending on the positional relationship between the pressing member 330 and the lid. Therefore, for example, it is possible to prevent a situation where some of the objects to be pressed become insufficiently fitted.
The strength of this constant pressing force can be determined by the user by selecting an air cylinder and adjusting the compressed air supplied to the air cylinder, so that the strength of this constant pressing force can be adjusted to the appropriate strength depending on the container and lid to be mated. It can be set to For example, even if the reaction force from the lid is subtracted, the strength can be set to such a degree that the lid is pushed in the pressing direction and fitted.

Next, as shown in FIG. 5(c), the first member 331 and the second member 332, which are air cylinders, contract depending on their position with the lid (position where the lid is pressed and receives reaction force). . For example, when pressing both ends of the lid with the two pressing members 330, if the container and the lid are tilted, one end of the lid will be in a floating state, while the other end of the lid will be close to the container. It may be in a state where In this case, the pressing member 330 that presses the lid in a floating state contracts as shown in FIG. 5(c). On the other hand, the pressing member 330 that presses the lid that is close to the container maintains an extended state as shown in FIG. 5(b). In this way, the plurality of pressing members 330 expand and contract depending on the relationship with the lid (the position where the lid is pressed and receives reaction force), absorbing the tilt, and when the container or lid is tilted. Even in this case, each part of the lid to be pressed can be pressed accurately with a uniform force.

6 and 7 are diagrams showing how the intermediate member 340 is supported by the support portions 333 of the plurality of pressing members 330. FIG. 6 shows a plan view of only the support portion 333 and the intermediate member 340 from vertically above. Moreover, FIG. 7 shows a side view of the main part of the fitting mechanism 31a and a partially enlarged state.

As shown in FIG. 6(a), each corner of the rectangular shape of the intermediate member 340 has an arc-shaped notch. Further, the pressing member 330 including the support portion 333 is removable from the coupling member 320, and is not fixed to the coupling member 320 before the intermediate member 340 is bridged. Further, as shown in FIG. 5, the support part 333 has two circular members spaced apart in the vertical direction of the support part 333, and the spaced apart part of the two circular members is a cylindrical part. It is supported by a member.

As shown in FIG. 6(b), by inserting this cylindrical member into the arc-shaped notch of the intermediate member 340, the intermediate member 340 is formed by the two circular members of the support portion 333. Each corner is supported. Then, by fixing the pressing member 330 including the support portion 333 to the coupling member 320 with screws or the like in this state, the intermediate member 340 is suspended between the plurality of pressing members 330 in the horizontal direction intersecting the pressing direction. passed on.

As shown in FIG. 7(a), the intermediate member 340 is not completely fixed, and the part of the two circular members of the support part 333 that are spaced apart in the vertical direction (so to speak, the play part) Supported in a movable manner. That is, the intermediate member 340 is supported so as to be movable to relatively different positions in the pressing direction in relation to the support portion 333. However, under normal conditions, all of the plurality of pressing members 330 are extended and maintained in a horizontal state. Note that this state is also shown as an enlarged view in the figure.

Next, as shown in FIG. 7(b), assume that the fitting mechanism 31a descends for pressing. Then, as the pressing portion 334 comes into contact with the lid, some of the pressing members 330 try to contract independently depending on the inclination of the container and the lid. In this case, the intermediate member 340 can be tilted by moving the separated portions (so-called idle portions) of the two circular members of the support portion 333. Therefore, the intermediate member 340 does not hinder the movement of the pressing member 330 to contract independently. Further, the operation of the pressing member 330 to extend independently thereafter is not hindered. Note that this state is also shown as an enlarged view in the figure.

Note that the intermediate member 340 is not only supported by the plurality of pressing members 330, but may also support the plurality of pressing members 330 depending on the situation. That is, the intermediate member 340 and the plurality of pressing members 330 support each other. For example, when the plurality of pressing members 330 press, the intermediate member 340 may be supported to prevent the pressing members 330 from tilting from the pressing direction based on the pressing force and the corresponding reaction force. I can do it.

In this embodiment, the configuration and function of the fitting mechanism 31a as described above are utilized to fit the container and the lid more appropriately when fitting is performed in the lid closing operation.
This operation at the time of fitting will be further explained below.

[Series of operations related to mating]
8 and 9 are schematic diagrams showing an example of a series of fitting-related operations performed by the articulated robot 30 under the control of the control device 40.

FIG. 8(a) shows a plan view of the container and the lid from vertically above. Food is served in the central serving area of the container and lid. In addition, a fitting part is provided around the serving area, and by pressing the fitting part of the container against the fitting part of the lid and fitting the plurality of fitting parts, the container can be opened. The section is closed by a lid. There are various fitting methods for fitting the container and the lid, such as an outer fitting method, an inner fitting method, and an inner and outer fitting method. , the surface of the lid shown in FIG. 8(a)), any fitting method can be treated as long as it is possible to achieve fitting by pressing the surface of the lid shown in FIG. 8(a).

FIGS. 8(b) to 9 described below are sectional views taken along the line AA in FIG. 8(a).
First, as shown in FIG. 8(b), when the articulated robot 30 moves the hand 31 to the lid supply position P2, it moves the fitting mechanism 31a vertically until it contacts the lid being supplied to the lid supply position P2. Lower it from above. Then, the articulated robot 30 starts holding the lid by suctioning the lid with the tip of the holding mechanism 350 inserted through the insertion hole of the pressing member 330. Then, the articulated robot 30 moves the hand 31 to the fitting position P1 while holding the lid.

Next, as shown in FIG. 8(c), the articulated robot 30 moves the fitting mechanism 31a in the pressing direction, which is the direction in which it should be moved for fitting. Here, in this embodiment, since the pressing direction is vertically downward, the articulated robot 30 pushes the fitting mechanism 31a vertically from above onto the container that has been transported to the fitting position P1 by the belt conveyor 2. descend downwards.
However, in this embodiment, containers and lids may be tilted due to undulations that occur as the belt conveyor 2 is driven or obstacles on the conveyance surface of the belt conveyor 2 (for example, food that has fallen during plating). Assume that the state is In this example, it is assumed that the container is tilted to the right in the paper as shown.

Next, as shown in FIG. 9(d), the articulated robot 30 starts pressing the container by further lowering the fitting mechanism 31a from vertically above.
In this case, the lid tilts to the right in the plane of the paper in accordance with the tilt of the container, similar to the container. Then, as described above with reference to FIG. 5, some of the pressing members 330 contract depending on the relationship with the lid (the position where the lid is pressed and the reaction force is received). In this example, since the lid is floating on the left side in the drawing, the pressing member 330 that presses this area as a pressing target area contracts. On the other hand, since the lid is close to the container on the right side in the drawing, the pressing member 330 that presses this area as a pressing target does not contract and maintains an extended state. In this case, due to the function of the air cylinder provided in the pressing member 330, a constant force (a constant load, so to speak) is always applied to each pressing member 330 to press the lid. That is, regardless of the inclination of the lid, it is possible to press the lid accurately with a uniform force.
If the pressing continues, the container and the lid will fit together, but during this pressing process, the container may remain tilted, or the container may no longer be tilted.

As shown in FIG. 9(e-1), when the container remains tilted, the lid also continues to tilt. Therefore, the pressing member 330 that has once shrunk in FIG. 9(d) continues to press while maintaining this shrunken state. On the other hand, the pressing member 330 that has maintained the extended state in FIG. 9(d) continues to press while maintaining the extended state. By such expansion and contraction of the pressing member 330, each part to be pressed is pressed with a uniform force while the inclination of the container and lid is absorbed. As a result, any part to be pressed can be pressed with just enough force, and the entire lid can be properly fitted into the container.

On the other hand, as shown in FIG. 9(e-2), there may be a case where the container is no longer tilted. For example, the pressing force may suppress the influence of undulations that occur as the belt conveyor 2 is driven, or the pressing force may suppress an obstruction on the conveying surface of the belt conveyor 2 that separates from the bottom of the container. For example, when moving to a certain position. In this case, as shown in the figure, the container and the lid are in a non-tilted state (here, in a horizontal state). Therefore, the pressing member 330 that has maintained the extended state in FIG. 9(d) becomes extended depending on its position with the lid (the position where the lid is pressed and receives the reaction force), and the pressure is not applied. continue. On the other hand, the pressing member 330 that has maintained the extended state in FIG. 9(d) continues to press while maintaining the extended state. By such expansion and contraction of the pressing member 330, each pressing target portion is pressed with a uniform force. As a result, as in the case shown in FIG. 9(e-1), any part to be pressed can be pressed with just enough force, and the entire lid can be properly fitted into the container.
As described above, it is clear that according to the fitting system 1, when the articulated robot 30 performs fitting, the container and the lid can be fitted more appropriately.

Then, when the fitting is completed, the articulated robot 30 stops suction by the holding mechanism 350, and ends holding the lid by the holding mechanism 350. The articulated robot 30 then rises to release the mated containers. This completes the series of fitting operations performed by the fitting system 1.

In this example, the case where the container or lid is tilted to the right has been explained, but the same result will be obtained if the container or lid is tilted to the left. Further, the same result will occur when the vehicle is tilted in the front-rear direction, or when these tilts are combined to tilt in both the front-rear, left-right, and left-right directions (that is, in the diagonal direction). Furthermore, although the container or lid does not tilt every time, the same result occurs even if the container or lid is not tilted from the beginning. These similar results mean that any part to be pressed can be pressed with just enough force, and the entire lid can be properly fitted into the container.

The series of operations when fitting is performed by pressing by the plurality of pressing members 330 has been described above. However, the operations that can be performed by this embodiment are not limited to this, and, for example, fitting may be performed by pressing the intermediate member 340. A series of operations in this case will be described below as another example.
10 and 11 are schematic diagrams showing another example of a series of fitting-related operations performed by the articulated robot 30 under the control of the control device 40 (that is, an example of pressing by the intermediate member 340). . In addition, below, the content common to the content described above with reference to FIGS. 8 and 9 will be omitted as appropriate.

FIG. 10(a) shows a plan view of the container and the lid from vertically above. Note that even when pressing is performed using the intermediate member 340, any method can be used as long as fitting can be achieved by pressing the surface to be pressed on the lid (for example, the surface of the lid shown in FIG. 10(a)). The fitting method can also be treated. However, in this case, the lid needs to have a width narrower than the distance between the plurality of pressing members 330 to be pressed.

FIGS. 10(b) to 11, which will be described below, are sectional views taken along the line BB in FIG. 10(a).
First, as shown in FIG. 10(b), the articulated robot 30 starts holding the lid by suctioning the lid at the lid supply position P2. Then, the articulated robot 30 moves the hand 31 to the fitting position P1 while holding the lid.

Next, as shown in FIG. 10(c), the articulated robot 30 moves the fitting mechanism 31a in the pressing direction, which is the direction in which it should be moved for fitting.
In this case, similarly to the above example, it is assumed that the container is tilted to the right in the plane of the paper.

Next, as shown in FIG. 11(d), the articulated robot 30 starts pressing the container by further lowering the fitting mechanism 31a from vertically above.
In this case, the lid tilts to the right in the plane of the paper in accordance with the tilt of the container, similar to the container. Further, a reaction force is applied to the intermediate member 340 from this lid. Then, as described above, the vertically movable intermediate member 340 tilts in accordance with the tilt of the lid. Further, the reaction force from the lid is transmitted to the pressing member 330 via a circular member included in the support portion 333 of the pressing member 330.

As a result, some of the pressing members 330 are contracted depending on the relationship with the lid (the position where the lid is pressed and the reaction force is received). In this example, since the lid is floating on the left side in the plane of the paper, the pressing member 330 receives a reaction force from the intermediate member 340 pressing this area as a pressing target part, and contracts. On the other hand, since the lid is close to the container on the right side in the paper, the pressing member 330, which receives the reaction force from the intermediate member 340 pressing this area as a pressing target part, does not contract and maintains an extended state. do. In this case, due to the function of the air cylinder provided in the pressing member 330, a constant force (a constant load, so to speak) is always applied to each pressing member 330 to press the lid. That is, regardless of the inclination of the lid, it is possible to press the lid accurately with a uniform force.
If the pressing continues, the container and the lid will fit together, but during this pressing process, the container may remain tilted, or the container may no longer be tilted.

As shown in FIG. 11(e-1), when the container remains tilted, the lid and the intermediate member 340 that presses it also continue to tilt. Therefore, the pressing member 330 that has once shrunk in FIG. 11(d) continues to press while maintaining this shrunken state. On the other hand, the pressing member 330 that has maintained the extended state in FIG. 11(d) continues to press while maintaining the extended state. By such expansion and contraction of the pressing member 330, the tilting of the container, the lid, and the intermediate member 340 is absorbed, and the entire pressing surface of the intermediate member 340 is pressed with a uniform force. As a result, the entire pressing surface of the intermediate member 340 can be pressed with just enough force, and the entire lid can be properly fitted into the container.

On the other hand, as shown in FIG. 11(e-2), there may be a case where the container is no longer tilted. In this case, as shown in the figure, the container, the lid, and the intermediate member 340 are in a non-tilted state (here, in a horizontal state). Therefore, the pressing member 330 that has maintained the extended state in FIG. 11(d) becomes extended depending on its position with the lid (the position where the lid is pressed and receives reaction force), and the pressing member 330 is extended in accordance with the relationship with the lid (the position where the lid is pressed and receives the reaction force). continue. On the other hand, the pressing member 330 that has maintained the extended state in FIG. 11(d) continues to press while maintaining the extended state. Due to such expansion and contraction of the pressing member 330, the entire pressing surface of the intermediate member 340 is pressed with a uniform force. As a result, as in the case shown in FIG. 11(e-1), the entire pressing surface of the intermediate member 340 can be pressed with just enough force, and the entire lid can be properly fitted into the container. .

As described above, it is clear that in other examples as well, according to the fitting system 1, when fitting is performed by the articulated robot 30, the container and the lid can be fitted more appropriately. Also, in other examples, even when the intermediate member 340 is tilted in the front-back direction, diagonally, or not tilted, the entire pressing surface of the intermediate member 340 is not over or under force. It can be pressed down to properly fit the entire lid onto the container.

The series of operations performed by the fitting system 1 during fitting has been described above, and this series of operations produces, for example, the following effects.
First, as described above, in the fitting system 1, the plurality of pressing members 330 arranged at positions corresponding to the pressing target parts can accurately press each of the plurality of pressing target parts spaced apart from each other. Therefore, for example, in a situation where it is desirable to press the entire surface of the lid to be pressed at "a plurality of points" rather than a "plane", it is possible to fit the lid more appropriately. For example, even in the case of a structure in which there is a step on the surface to be pressed of the lid and a plurality of positions to be pressed cannot be appropriately pressed by pressing with a flat surface, it is possible to fit the lid more appropriately.

Furthermore, during this pressing, at least one pressing member 330 can be expanded and contracted. Therefore, for example, if a container or a lid is tilted and the heights of the parts to be pressed are different, or even in the case of a container or a lid, the pressing member 330 is adjusted so as to absorb this difference in height. expands and contracts to apply pressure. Therefore, even if the container or lid is tilted, it is possible to fit them together more appropriately.

In this way, the mating system 1 is based on the assumption that "simply pressing in the pressing direction with the pressing surface of the pressing member does not necessarily result in proper fitting." This was done in consideration of an issue that had not yet been addressed, and is intended to further resolve this issue.
That is, according to the fitting system 1, when fitting is performed by the articulated robot 30, the container and the lid can be fitted more appropriately.

In this case, for example, the plurality of pressing members 330 are arranged at a plurality of positions spaced apart from the center of the surface of the lid of the fitting mechanism 31a that faces the surface to be pressed. Thereby, the pressing target portion can be pressed with uniform force from a plurality of positions spaced apart from the center of the fitting mechanism 31a, and the parts can be fitted together.

Alternatively, in this case, for example, the positions of the pressed portions are a plurality of positions spaced apart from the center of the pressed surface of the lid. Thereby, without pressing the center of the surface of the lid to be pressed, it is possible to press a plurality of portions to be pressed that are spaced apart from the center. In particular, if the container or lid is tilted, if you press the center, it may be difficult to press each of the multiple areas to be pressed, or it may be difficult to correct the tilt of the container or lid. It is assumed that this will happen. However, with this configuration, occurrence of such a problem can be avoided.

In this case, for example, the surface to be pressed of the lid includes a top surface portion that covers the container to which the lid is pressed, and a fitting portion that fits into the container outside the edge of the top surface portion, The position of the target portion is a plurality of positions in the fitting part. As a result, even if the lid has a structure in which the top part is located closer to the pressing member 330 (e.g., higher) than the fitting part, only the fitting part can be pressed while avoiding the top part. and then fit together.

Further, in this case, the pressing member 330 that is expandable and contractible in the pressing direction includes an air cylinder that controls the strength of the pressing force applied to the pressing target portion to be constant regardless of the degree of expansion and contraction. As a result, the pressing force applied to the pressing target portion that is relatively close to the pressing member 330 (for example, floating) due to the tilted container or lid is excessively strong. You can prevent this from happening. Therefore, for example, situations such as damage to the container or lid can be prevented. Similarly, because the container or lid is tilted, the pressing force applied to the pressing target part that is relatively far from the pressing member 330 (for example, close to the container) is This can prevent excessive weakening. Therefore, for example, it is possible to prevent a situation in which some parts to be pressed are insufficiently fitted.

Moreover, in this case, each of the plurality of pressing members 330 is a columnar member whose longitudinal direction is the pressing direction. In this regard, if it is a wall-shaped pressing member 330 along one side of the lid or an annular pressing member 330 along the entire circumference of the edge of the lid, one side of the lid or the edge of the lid If the entire circumference of the lid is tilted, it becomes difficult to press the entire circumference of one side or the entire circumference of the lid with a uniform force. Further, even when there is a step on the surface of the lid to be pressed, with such a pressing member 330, it is difficult to accurately press only the portion to be pressed. However, with this configuration, the columnar pressing member 330 can accurately (that is, pinpoint) press only the pressed portion with a uniform force to fit the parts.

[Overall operation]
Next, the overall operation of the fitting system 1 will be explained.
FIG. 12 is a flowchart showing the flow of the lid fitting process executed by the fitting system 1. The lid fitting process is started, for example, when the user performs an operation to start the lid fitting process.

As shown in FIG. 12, when the lid fitting process is started, in S11, the articulated robot control unit 154 generates operation data (motion pattern data) for executing a series of operations in the lid fitting process. etc.) from the parameter storage unit 171 to prepare for fitting the lid to the container. At this time, the articulated robot control unit 154 reads an operation pattern corresponding to the container currently being transported on the belt conveyor 2 and the type of lid fitted thereto.

In step S12, the lid supply control unit 153 controls the lid supply unit 10 to supply the lid corresponding to the container currently being transported on the belt conveyor 2 to the lid supply position P2.
In step S13, the articulated robot control unit 154 moves the hand 31 to the lid supply position P2 according to the motion pattern data.

In step S14, the articulated robot control unit 154 controls the holding mechanism 350 to attract and hold the lid.
In step S15, the articulated robot control unit 154 determines whether the container detection sensor 20 has detected that the container has been transported to the fitting position P1 or is about to be transported to the fitting position P1. judge. If detected, the determination in step S15 is Yes, and the process proceeds to step S16. On the other hand, if it is not detected, the determination in step S15 is No, and the determination in step S15 is continued.

In step S16, the articulated robot control unit 154 moves the hand 31 to the fitting position P1 according to the motion pattern data.
In step S17, the articulated robot control unit 154 controls the fitting mechanism 31a to press the portion of the lid to be pressed. In this case, the articulated robot control unit 154 selects whether to press with the pressing member 330 or the intermediate member 340 based on the motion pattern read in step S11.

In step S18, the articulated robot control unit 154 controls the fitting mechanism 31a to continue pressing the portion of the lid to be pressed. Thereby, the articulated robot control unit 154 fits the container and the lid.
In step S19, the articulated robot control unit 154 controls the holding mechanism 350 to finish holding the lid and raises the hand 31. This achieves fitting between the container and the lid.

In step S20, the recording control unit 155 records parameters related to control acquired when the mating system 1 operates, values indicating the time required for mating when the mating system 1 performs mating, etc. , is stored in the history DB 172.

In step S21, the articulated robot control unit 154 determines whether the conditions for terminating the lid fitting process are met. In this case, the conditions for terminating the lid fitting process may be defined as the fitting of lids to the scheduled number of containers, or the user performing an operation to end the lid fitting process. I can do it.
If the conditions for terminating the lid fitting process are not met, a negative determination is made in step S21, and the process proceeds to step S22. On the other hand, if the conditions for terminating the lid fitting process are met, the determination in step S21 is Yes, and the lid fitting process ends.

In step S22, the articulated robot control unit 154 determines whether there is a change in the container and lid to be fitted, based on the target information acquired by the target information acquisition unit 151. If there is a change, the determination in step S22 is Yes, and the process returns to step S11. Then, the articulated robot control unit 154 newly reads the movement pattern corresponding to the changed container and lid, and then performs the processes from step S12 onwards again in accordance with the newly read movement pattern. On the other hand, if there is no change, the determination in step S22 is No, and the process returns to step S12. Then, the articulated robot control unit 154 performs the processing from step S12 onwards again according to the read motion pattern.

As described above, according to the fitting system 1 according to the present embodiment, when the articulated robot 30 performs the lid closing operation, the container and the lid can be fitted more appropriately. In addition to this, the fitting system 1 according to the present embodiment also has various effects as described above in the explanation with reference to each figure.

[Modification 1]
In the above-described embodiment, the plurality of pressing members 330 all have the same configuration, and have the function of expanding and contracting by the air cylinder realized by the first member 331 and the second member 332, but the present invention is not limited to this. . For example, some of the pressing members 330 may not have the function of being expanded and contracted by an air cylinder. That is, it is sufficient that at least one pressing member 330 has the function of being expanded and contracted by an air cylinder.

Even with such a configuration, it is possible to absorb the inclination of the container or lid in a predetermined direction. For example, if it is known in advance which direction the belt conveyor 2 is likely to tilt based on the driving characteristics of the belt conveyor 2, the positional relationship between the belt conveyor 2 and the articulated robot 30, etc. Only the pressing member 330 that needs to expand and contract needs to have the function of expanding and contracting using an air cylinder. For example, as shown in FIG. 9, if it is known that the container tends to tilt to the right in the paper and the lid tends to float on the left side in the paper, the pressing member 330 presses the part that is known to easily float. It is only necessary that the air cylinder has the function of expanding and contracting using an air cylinder. Alternatively, if the lid is rectangular, for example, only one of the opposing corners of the pressing member 330 may have the function of being expanded and contracted by an air cylinder. By doing so, the device configuration can be simplified.
Further, the function of expanding and contracting does not necessarily need to be realized by an air cylinder, and may be realized by other elastic bodies such as a coil spring, for example.

[Modification 2]
In the embodiment described above, the coupling member 320 is configured as a rectangular frame when viewed from above vertically, and four pressing members 330 are arranged corresponding to each corner. , but not limited to this. For example, it may be deformed to correspond to the shape of the container or lid to which it is fitted.
For example, if the container and lid have a polygonal shape such as a hexagon or an octagon when viewed vertically from above, the shape of the coupling member 320 and the number and arrangement position of the pressing members 330 will also correspond to this. The shape, number, and arrangement may be different. Similarly, if the container or lid has a shape that further includes an arc, the shape, number, and arrangement of the coupling member 320 and the number and arrangement of the pressing members 330 may be changed accordingly. Furthermore, similarly, if the container or lid has a circular shape such as a perfect circle or an ellipse, the shape of the coupling member 320 and the number and arrangement position of the pressing members 330 may be set in a corresponding shape, number, and arrangement.

Further, in this case, the shape of the portion of the pressing portion 334 that contacts the lid is not limited to the L-shape, but may also have an angular shape that matches the corner of the lid, or a shape that includes a circular arc.
That is, the configuration of the above-described embodiment is only an example of the embodiment of the present invention, and the configuration can be changed as appropriate depending on the mounting environment such as the type of container or lid to be fitted. .

[Modification 3]
In the embodiment described above, the intermediate member 340 is bridged between the plurality of pressing members 330, but the present invention is not limited to this. If pressing by the intermediate member 340 is not performed, the configuration may be such that the intermediate member 340 is omitted.
Even in this case, each of the plurality of pressing members 330 expands and contracts to absorb the tilt, and even if the container or lid is tilted, each part of the lid to be pressed can be accurately applied with uniform force. Can be pressed.

[Modification 4]
In the above-described embodiment, the articulated robot control unit 154 performs fitting based on, for example, data on reaction force from the container or lid measured by the force sensor 30A (i.e., detection result of contact with the container or lid). The multi-joint robot 30 can be controlled to start or end a series of motions related to coupling (for example, pressing motions). The control is not limited to this, and the control may be performed using other methods.

For example, if the width and height of a container or lid are accurately known as data, and the articulated robot 30 can be driven with higher precision, the width and height of the container or lid can be accurately determined. , the articulated robot 30 may be controlled. Alternatively, if the installation cost of the camera is not a problem, the lid or container at the fitting position P1 is photographed using a camera (that is, an imaging device). Then, the image captured by this imaging device may be analyzed in real time, and the articulated robot 30 may be controlled based on the analysis result.
Note that the above-mentioned Modifications 1 to 4 may be combined as appropriate to form separate modifications.

[Configuration example]
As described above, the fitting system 1 in this embodiment includes the articulated robot 30 that includes a plurality of pressing members 330 that press the lid, and the control device 40 that controls the operation of the articulated robot 30.
On the surface to be pressed of the lid, there are a plurality of second portions at positions spaced apart from each other with the first portion interposed therebetween.
The plurality of pressing members 330 are arranged at positions corresponding to each of the plurality of second portions, and at least one of them can expand and contract in the pressing direction when pressed.
The control device 40 causes the articulated robot 30 to move the plurality of pressing members 330 in the pressing direction so that each of the plurality of second portions is pressed by each of the plurality of pressing members 330 disposed at corresponding positions. Control behavior.
Thereby, each of the plurality of second portions spaced apart from each other can be accurately pressed by the plurality of pressing members 330 arranged at positions corresponding to the second portions. Therefore, for example, in a situation where it is desirable to press the entire surface of the lid to be pressed at "a plurality of points" rather than a "plane", it is possible to fit the lid more appropriately. For example, even in the case of a structure in which there is a step on the surface to be pressed of the lid and a plurality of positions to be pressed cannot be appropriately pressed by pressing with a flat surface, it is possible to fit the lid more appropriately.
Furthermore, during this pressing, at least one pressing member 330 can be expanded and contracted. Therefore, for example, if the container or lid is tilted and the height of the second portion is different, or even in the case of the container or lid, the pressing member 330 is adjusted so as to absorb this difference in height. expands and contracts to apply pressure. Therefore, even if the container or lid is tilted, it is possible to fit them together more appropriately.
As described above, the fitting system 1 is based on the assumption in the prior art that ``simply pressing in the pressing direction with the pressing surface of the pressing member 330 does not necessarily mean that proper fitting can be achieved.'' This was done in consideration of a problem that had not even been addressed yet, and furthermore, it is intended to solve this problem.
That is, according to the fitting system 1, when fitting is performed by the articulated robot 30, the container and the lid can be fitted more appropriately.

The articulated robot 30 further includes a fitting mechanism 31a in which a plurality of pressing members 330 are arranged and which moves the plurality of pressing members 330 in a pressing direction,
The plurality of pressing members 330 are arranged at a plurality of positions spaced apart from the center of the surface of the lid of the fitting mechanism 31a that faces the surface to be pressed.
Thereby, the second portion can be pressed and fitted with uniform force from a plurality of positions spaced apart from the center of the fitting mechanism 31a.

The positions of the second portion are a plurality of positions spaced apart from the center of the surface to be pressed of the lid.
Thereby, the plurality of second portions spaced apart from the center can be pressed without pressing the center of the surface to be pressed of the lid. In particular, if the container or lid is tilted, if you press the center, it may be difficult to press each of the second parts, or it may be difficult to correct the tilt of the container or lid. It is assumed that this will happen. However, with this configuration, occurrence of such a problem can be avoided.

The surface to be pressed of the lid includes a top surface portion that covers the container on which the lid is pressed, and a fitting portion that fits into the container outside the edge of the top surface portion,
The positions of the plurality of second portions are a plurality of positions in the fitting portion.
As a result, even if the lid has a structure in which the top part is located closer to the pressing member 330 (e.g., higher) than the fitting part, only the fitting part can be pressed while avoiding the top part. and then fit together.

The pressing member 330, which can be expanded and contracted in the pressing direction, has a mechanism that controls the strength of the pressing force applied to the second portion to be constant regardless of the degree of expansion and contraction.
As a result, the pressing force applied to the second portion, which is relatively close to the pressing member 330 (for example, floating) due to the tilted container or lid, is excessively strong. You can prevent this from happening. Therefore, for example, situations such as damage to the container or lid can be prevented.
Similarly, because the container or lid is tilted, the pressing force applied to the second portion that is relatively far from the pressing member 330 (for example, close to the container) is This can prevent excessive weakening. Therefore, for example, it is possible to prevent a situation where some of the second portions are insufficiently fitted.

Each of the plurality of pressing members 330 is a columnar member whose longitudinal direction is the pressing direction.
In this regard, if it is a wall-shaped pressing member 330 along one side of the lid or an annular pressing member 330 along the entire circumference of the edge of the lid, one side of the lid or the edge of the lid If the entire circumference of the lid is tilted, it becomes difficult to press the entire circumference of one side or the entire circumference of the lid with a uniform force. Further, even when there is a step on the surface to be pressed of the lid, with such a pressing member 330, it becomes difficult to accurately press only the second portion.
However, with this configuration, the columnar pressing member 330 can press only the second portion accurately (that is, in a pinpoint manner) and with a uniform force to fit the second portion.

A planar intermediate member 340 is spanned between the plurality of pressing members 330 in a direction intersecting the pressing direction.
The intermediate member 340 and the plurality of pressing members 330 support each other, and the intermediate member 340 is supported movably to relatively different positions in the pressing direction by the plurality of supported pressing members 330.
Thereby, when the plurality of pressing members 330 press, it is possible to support the pressing members 330 to prevent them from tilting from the pressing direction based on the pressing force and the corresponding reaction force. Moreover, since the plurality of pressing members 330 can move in the pressing direction when pressing, there is no problem in preventing each of the plurality of pressing members 330 from expanding and contracting independently.

The control device 40 moves the intermediate member 340 together with the plurality of pressing members 330 in the pressing direction, so that the intermediate member 340 presses the surface to be pressed of the lid regardless of whether it is the first part or the second part. The motion of the articulated robot 30 is controlled so as to perform the following actions.
Thereby, the intermediate member mutually supported by each of the plurality of pressing members 330 is in an inclined state as the pressing members 330 expand and contract, and can press the surface to be pressed of the lid. Therefore, for example, when a container or a lid is tilted, instead of simply pressing it in the pressing direction, it is possible to press it and fit it after it is in a state corresponding to this tilt. Further, even if the lid has a surface to be pressed that is narrower than the distance between the plurality of pressing members 330, it can be pressed and fitted.

Note that the above-described embodiments and modified examples are examples of embodiments of the present invention, and various embodiments that realize the functions of the present invention are included within the scope of the present invention.
For example, in the above-described embodiments and modifications, the present invention is applied to a fitting system that covers a container in which food is served. However, the present invention can be applied to various objects. It can be applied to systems that fit objects together. For example, the present invention can be applied to various systems in which fitting is performed by robots in the industrial field.
Moreover, it is possible to implement the present invention by appropriately combining the examples described in the above-mentioned embodiments.
The series of processes described above can be executed by hardware or software.
In other words, the functional configuration in FIG. 3 is merely an example and is not particularly limited. That is, it is sufficient that the mating system 1 is equipped with a function that can execute the series of processes described above as a whole, and the type of functional block used to realize this function is not particularly limited to the example shown in FIG. 3. .
Further, one functional block may be configured by a single piece of hardware, a single piece of software, or a combination thereof.

When a series of processes is executed by software, a program constituting the software is installed on a computer or the like from a network or a recording medium.
The computer may be a computer built into dedicated hardware. Further, the computer may be a computer that can execute various functions by installing various programs, such as a general-purpose personal computer.

The storage medium that stores the program may be a removable medium that is distributed separately from the device itself, or a storage medium that is pre-installed in the device itself. The removable media includes, for example, a magnetic disk, an optical disk, a magneto-optical disk, or a flash memory. Optical disks include, for example, CD-ROMs (Compact Disk-Read Only Memory), DVDs (Digital Versatile Disks), Blu-ray Discs (registered trademark), and the like. The magneto-optical disk is composed of an MD (Mini-Disk) or the like. The flash memory is configured by, for example, a USB (Universal Serial Bus) memory or an SD card. Further, the storage medium pre-installed in the device main body is, for example, a ROM or hard disk in which programs are stored.

Note that in this specification, the step of writing a program to be recorded on a recording medium is not only a process that is performed chronologically in accordance with the order, but also a process that is not necessarily performed chronologically but in parallel or individually. It also includes the processing to be executed.
Furthermore, in this specification, the term system refers to an overall device composed of a plurality of devices, a plurality of means, and the like.

The above embodiment shows an example of applying the present invention, and does not limit the technical scope of the present invention. That is, the present invention can be modified in various ways, such as omissions and substitutions, without departing from the gist of the present invention, and various embodiments other than the above-described embodiments can be adopted. Various embodiments and modifications thereof that the present invention can take are included within the scope of the invention described in the claims and its equivalents.

1 Fitting system, 2 Belt conveyor, 2A Guide member, 10 Lid supply unit, 20 Container detection sensor, 30 Articulated robot, 30A Force sensor, 31 Hand, 31a Fitting mechanism, 32 Robot arm, 40 Control device, 151 Target Information acquisition section, 152 Sensor information acquisition section, 153 Lid supply control section, 154 Articulated robot control section, 155 Recording control section, 171 Parameter storage section, 172 History database (History DB), 310 Connection section, 311, 335 Joint, 320 coupling member, 321 buffer mechanism, 330 pressing member, 331 first member, 332 second member, 333 supporting section, 334 pressing section, 340 intermediate member, 350 holding mechanism, 711 CPU, 712 ROM, 713 RAM, 714 bus, 715 input section, 716 output section, 717 storage section, 718 communication section, 719 drive, 731 removable media

Claims (11)

A fitting system comprising a robot equipped with a plurality of pressing members that press a lid, and a control device that controls the operation of the robot, the fitting system comprising:
A plurality of second portions are present on the surface to be pressed of the lid at positions spaced apart from each other with the first portion sandwiched therebetween,
The plurality of pressing members are arranged at positions corresponding to each of the plurality of second portions, and at least one of them is expandable and contractible in the pressing direction according to a reaction force from the object to be pressed during pressing. can be,
The control device causes the robot to move the plurality of pressing members in the pressing direction so that each of the plurality of second portions is pressed by each of the plurality of pressing members arranged at a corresponding position. control the movement,
A mating system characterized by: At least one of the plurality of pressing members expands and contracts, thereby simultaneously pressing each of the plurality of second portions at different heights.
The fitting system according to claim 1, characterized in that : The robot further includes a fitting mechanism in which the pressing member is arranged and that moves the plurality of pressing members in the pressing direction,
The plurality of pressing members are arranged at a plurality of positions spaced apart from the center of a surface of the fitting mechanism that faces a surface to be pressed of the lid.
The fitting system according to claim 1 or 2, characterized in that: The positions of the second portion are a plurality of positions spaced apart from the center of the surface to be pressed of the lid,
The fitting system according to claim 1 or 2, characterized in that: The surface to be pressed of the lid includes a top surface portion that covers the container on which the lid is pressed, and a fitting portion that fits into the container outside the edge of the top surface portion,
The positions of the plurality of second portions are a plurality of positions in the fitting part,
The fitting system according to claim 1 or 2 , characterized in that: The pressing member that is expandable and contractible in the pressing direction has a mechanism that controls the strength of the pressing force applied to the second portion to be constant regardless of the degree of expansion and contraction.
The fitting system according to claim 1 or 2 , characterized in that: Each of the plurality of pressing members is a columnar member whose longitudinal direction is the pressing direction.
The fitting system according to claim 1 or 2 , characterized in that: A planar intermediate member is spanned between the plurality of pressing members in a direction intersecting the pressing direction,
The intermediate member and the plurality of pressing members mutually support each other, and the intermediate member is supported movably to relatively different positions in the pressing direction by the plurality of supported pressing members.
The fitting system according to claim 1 or 2 , characterized in that: The control device moves the intermediate member together with the plurality of pressing members in the pressing direction, so that the lid is pressed by the intermediate member regardless of whether it is the first portion or the second portion. controlling the operation of the robot so as to press the target surface;
9. A fitting system according to claim 8 . A fitting mechanism comprising a plurality of pressing members that press a lid and a mechanism that moves the plurality of pressing members,
A plurality of second portions are present on the surface to be pressed of the lid at positions spaced apart from each other with the first portion sandwiched therebetween,
The plurality of pressing members are arranged at positions corresponding to each of the plurality of second portions, and at least one of them is expandable and contractible in the pressing direction according to a reaction force from the object to be pressed during pressing. can be,
The mechanism for moving the pressing member moves the plurality of pressing members in the pressing direction to press each of the plurality of second portions with each of the plurality of pressing members arranged at a corresponding position.
A fitting mechanism characterized by: A control device comprising a control means for controlling the operation of a robot equipped with a plurality of pressing members that press a lid, the control device comprising:
A plurality of second portions are present on the surface to be pressed of the lid at positions spaced apart from each other with the first portion sandwiched therebetween,
The plurality of pressing members are arranged at positions corresponding to each of the plurality of second portions, and at least one of them is expandable and contractible in the pressing direction according to a reaction force from the object to be pressed during pressing. can be,
The control device controls the robot to move the plurality of pressing members in the pressing direction so that each of the plurality of second portions is pressed by each of the plurality of pressing members arranged at a corresponding position. control the movement,
A control device characterized by:

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