KR20210019461A - Lid member mounting device and system - Google Patents

Abstract

The lid member mounting device 10 includes a first arm 20, a first end effector 40 attached to the first arm and provided with a first elongated member 44, and a second arm ( 30), a second end effector 50 mounted on the second arm and having a second elongated member 54, and a control unit 60, wherein the control unit includes an opening 80b. On the lid member 81 placed on the container 80 to cover, the length directions of each of the first elongate member and the second elongate member are parallel to the horizontal plane, and the length of the first elongate member Arranging the first elongated member and the second elongated member so as to sandwich the center of the lid member between each other in a direction crossing the direction, and moving the first elongated member and the second elongated member toward the container It is configured to operate the first arm and the second arm so as to be.

Description

Lid member mounting device and system

The present invention relates to a lid member mounting apparatus and system.

As a device for attaching a lid to a container, for example, the container lid application device of Patent Document 1 is known. In such a container lid implementation device, one end of the holding means is connected to a link, and the other end is connected to an operating means. The lid body is accommodated in the support portion of the holding means, and the holding means is inclined horizontally in an oblique state by the movement of the link and the operation means, and the lid body is attached to the container.

Japanese Unexamined Patent Publication No. 2001-072009

In the lid member mounting apparatus of the patent document, in order to attach the lid body to the container, it is necessary to change the posture of the holding means obliquely, and the mechanism and control become complicated. In addition, since the holding means is a size that covers the entire lid body, the weight increases, and the cost of the device capable of supporting it increases.

An object of the present invention is to provide an apparatus and a system for attaching a lid member that can achieve simple and low cost by solving the above conventional problems.

In order to solve the above conventional problems, the lid member mounting device according to the present invention is a lid member mounting device for attaching the lid member to the opening of the container, and is mounted on the first arm and the first arm, and A first end effector having a first elongated member, a second arm, and a second end effector attached to the second arm and provided with a second elongated member, and a control unit, the The control unit includes, on the lid member mounted on the container so as to cover the opening, each longitudinal direction of the first elongated member and the second elongated member is a direction parallel to a horizontal plane, and the first elongated member The first elongated member and the second elongated member are disposed so as to sandwich the center of the lid member in a direction intersecting the longitudinal direction of, and the first elongated member and the second elongated member are disposed toward the container. It is configured to operate the first arm and the second arm to move.

According to this configuration, the first elongated member and the second elongated member arranged to sandwich the center of the lid member between each other are moved to the container side, and the lid member is attached to the container. Therefore, in order to attach the lid body to the container, a mechanism and control for tilting the first elongate member and the second elongate member are unnecessary, and the lid member mounting apparatus can be simplified. Further, since the entire lid member is covered with the first elongated member and the second elongated member, the weight is not increased, and an increase in the cost of a device capable of supporting the same can be suppressed.

In such a lid member mounting device, the first end effector may further include an adsorption part for adsorbing the lid member and a rotation part for rotating the adsorption part about a rotation axis parallel to the longitudinal direction of the first elongated member. good.

According to this configuration, the lid member stored in the container is adsorbed by the adsorption part, and the lid member is directed downward by changing the direction of the adsorption part, and the lid member can be attached to the container. Accordingly, the direction of the stored lid member can be made different from the direction of the lid member when it is attached to the container, and the degree of freedom in the direction of the stored lid member can be increased.

In such a lid member mounting apparatus, the control unit adsorbs the lid member by the suction unit and places it on the container, and the center of the lid member and the suction in a direction crossing the longitudinal direction of the first elongate member It may be configured to operate the first arm and the second arm to arrange the first elongated member and the second elongated member so as to sandwich portions therebetween.

According to such a configuration, when the lid member is pressed down by the first elongated member and the second elongated member, between the first elongated member and the second elongated member, which are liable to deform, is pressed by the suction portion. Accordingly, it is possible to facilitate attachment of the lid member to the container while preventing deformation of the lid member.

In such a lid member mounting apparatus, the control unit may be configured to operate the first arm and the second arm so as to sequentially move the first elongate member and the second elongate member toward the container side. According to this configuration, the lid member can be easily attached to the container while releasing air in the container by sequentially pressing the lid member down on the container side by the first long member and the second long member.

In such a lid member mounting apparatus, the first elongate member and the second elongate member may be formed of a round bar or a flat plate. According to this configuration, if each elongated member is a round bar, since the contact area to the lid member is small, the pressing force can be reduced, and the cost of the device can be reduced. Further, if each of the elongated members is a flat plate, since the contact area to the lid member is large, the pressing pressure on the lid member can be reduced, and deformation of the lid member can be prevented.

In such a lid member mounting apparatus, the first elongate member and the second elongate member may be disposed over each of the lid members of a plurality of containers arranged in a row. According to this configuration, since the first elongated member and the second elongated member are supported by the plurality of containers in the direction in which the containers are lined up, the lid member can be stably pressed down toward the container side.

In such a lid member mounting device, one of the lid member mounting devices and a transport unit for transporting the container are provided, and the control unit includes each of the lids of the plurality of containers sequentially transported by the transport unit. It may be comprised so that the said 1st elongate member and the said 2nd elongate member may be arrange|positioned over a member. According to this configuration, the lid member can be simultaneously attached to the plurality of containers to be conveyed by the first elongated member and the second elongated member, thereby improving work efficiency.

In such a lid member mounting device, further comprising a camera for acquiring an image of the container conveyed by the conveying unit, the control unit, based on the image, on the lid member, the first elongated member and the The first elongated member and the first elongated member so that each longitudinal direction of the second elongated member is a direction parallel to the horizontal plane, and the center of the lid member is sandwiched between each other in a direction intersecting the longitudinal direction of the first elongated member, and It may be configured to operate the first arm and the second arm so as to arrange the second elongate member. According to this configuration, by moving the first elongated member and the second elongated member according to the position of the container based on the image of the camera, the lid member can be more reliably attached to the container.

The present invention has the effect that it is possible to provide a cover member mounting apparatus and system that can achieve simple and low cost by having the configuration described above.

1 is a schematic diagram showing a schematic configuration of a lid member mounting apparatus according to an embodiment of the present invention.
FIG. 2 is a functional block diagram schematically showing the configuration of the control unit of FIG. 1.
3(a) is a diagram showing a first end effector. 3(b) is a diagram showing a second end effector.
Fig. 4 is a view of a state in which the lid member is pressed down to the container side by the first elongated member and the second elongated member as viewed from one side in the conveyance direction.
Fig. 5 is a view of a state in which the lid member is pressed down to the container side by the first elongated member and the second elongated member, as viewed from one side in the opposite direction.
6 is a perspective view showing a lid member mounting system including the lid member mounting device of FIG. 1;
7 is a view of the lid member mounting system of FIG. 6 viewed from above.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Here, the same reference numerals are assigned to the same or corresponding parts in all drawings, and duplicate descriptions are omitted. In addition, in all the drawings, constituent elements for describing the present invention are excerpted and shown, and other constituent elements may be omitted in some cases. In addition, the present invention is not limited to the following examples.

(Example)

<Configuration of lid member mounting device>

The lid member mounting apparatus 10 according to the present embodiment, as shown in Fig. 1, is a device for attaching the lid member to the opening of the container, and, for example, a robot is used. As the robot, for example, a horizontal articulated robot is used. However, the lid member mounting device 10 is not limited to this, and may be a robot such as a vertical articulated robot.

The lid member mounting device 10 includes a first arm 20, a second arm 30, a first end effector 40, a second end effector 50, a control unit 60, and a bogie 11. . For example, the control unit 60 is housed in the cart 11.

In addition, a base shaft is fixed to the upper surface of the bogie 11. A first arm 20 and a second arm 30 are provided on the base shaft 14 so as to be rotatable around a rotational axis L1 passing through the axial center of the base shaft 14. The first arm 20 and the second arm 30 are installed to have a difference in height up and down. Accordingly, the lid member mounting device 10 is, for example, a coaxial dual unit controlling the first arm 20 and the second arm 30 disposed on the coaxial side by one control unit 60. It is a female scalar robot. Here, the first arm 20 and the second arm 30 are configured to operate independently or in relation to each other.

The first arm 20 has a first arm 21 and a first wrist 22. The second arm 30 includes a second arm portion 31 and a second wrist portion 32. Here, the first arm 20 and the second arm 30 have substantially the same configuration, but are not limited thereto. For example, the arm portions 21 and 31 and the wrist portions 22 and 32 may be configured differently in the first arm 20 and the second arm 30.

The first arm 21 is composed of a first link 21a and a first link 21b having a substantially rectangular parallelepiped shape, and the second arm 31 is a second link 31a and a second link 2b having a substantially rectangular parallelepiped shape ( 31b).

Each of the links 21a and 31a has its base end connected to the base shaft 14 through a rotation joint J1, and rotates around the rotation axis L1 by the rotation joint J1. Each of the links 21b and 31b has its proximal end connected to the distal end of each of the links 21a and 31a through a rotation joint J2, and rotates around the axis of rotation L2 by the rotation joint J2. .

Each of the wrists 22 and 32 is connected to the distal end of each of the links 21b and 31b through a direct joint J3, and can be moved up and down for each of the links 21b and 31b. Rotating joints J4 are installed at the lower ends of each of the wrists 22 and 32, and mounting portions 24 and 34 are installed at lower ends of the rotating joints J4, respectively. Each of the end effectors 40 and 50 may rotate around the rotation axis L3 by the rotation joint J4.

The first end effector 40 is provided at the front end of the first arm 20 and is detachably connected to the first wrist 22 by the first mounting portion 24. The second end effector 50 is installed at the tip end of the second arm 30 and is detachably connected to the second wrist portion 32 by the second mounting portion 34. Here, the first end effector 40 and the second end effector 50 will be described later.

Here, as an example of an actuator that relatively rotates or elevates two members connected to each of the joints J1 to J4 of the first arm 20 and the second arm 30, the control unit ( 60) is provided with a drive motor (not shown) such as a servo motor that is servo-controlled. In addition, each of the joints J1 to J4 has a rotation sensor (not shown) such as an encoder that detects the rotational position of the drive motor, and a current sensor (not shown) that detects a current that controls the rotation of the drive motor. City) is installed.

<Configuration of control unit>

As shown in Fig. 2, the control unit 60 includes an operation unit 60a such as a CPU, a storage unit 60b such as ROM and RAM, and a servo control unit 60c. For example, a microcontroller, etc. It is a robot controller equipped with a computer. Here, the control unit 60 may be constituted by a single control unit for centralized control, or may be constituted by a plurality of control units for distributed control in cooperation with each other. In addition, a form in which the memory unit 60b is disposed in the control unit 60 is adopted, but the embodiment is not limited thereto, and a form in which the memory unit 60b is provided separately from the control unit 60 may be adopted.

Information such as a basic program as a robot controller and various fixed data is stored in the storage unit 60b. The calculation unit 60a controls various operations of the lid member mounting device 10 by reading and executing software such as a basic program stored in the storage unit 60b. That is, the calculation unit 60a generates a control command of the lid member mounting device 10 and outputs the control command to the servo control unit 60c. The servo control unit 60c drives a servo motor corresponding to each of the arms 20 and 30 and the joints J1 to J4 of the lid member mounting device 10 based on the control command generated by the operation unit 60a. Is configured to control.

<Configuration of the first end effector and the second end effector>

The first end effector 40, as shown in FIGS. 3(a) and 4, includes a first base part 41, a first rotation part 42, a first support part 43, and a first elongated member ( 44) and a first adsorption unit 45. The first base portion 41 has a rectangular parallelepiped shape, has a mounting portion (not shown) mounted on the first mounting portion 24 on an upper surface, and is connected to the first rotating portion 42 from a side orthogonal to the upper surface. .

The first rotating part 42 is, for example, cylindrical and has a first rotating shaft 42a orthogonal to the side surface of the first base part 41. The first rotating part 42 has one end connected to the first base part 41 so as to be rotatable by a rotation actuator (not shown) around the first rotating shaft 42a, and the other end thereof is connected to the first support part 43. It is fixed.

The first support portion 43 is mounted to the first base portion 41 through the first rotating portion 42, while the first elongated member 44 and the first suction in a direction away from the first base portion 41 Support the part (45). Accordingly, the first elongated member 44 and the first adsorption unit 45 are rotatable about the first rotation axis 42a of the first rotation unit 42 through the first support unit 43. It is attached to the part 41.

The first elongated member 44 is, for example, elongated in a direction parallel to the first rotation axis 42a of the first rotation unit 42, and has a rectangular cross section orthogonal to the first longitudinal direction 44a. It is formed by an angled member. The first elongate member 44 has an end surface orthogonal to the first longitudinal direction 44a and a side surface along the first longitudinal direction 44a. In the first elongated member 44, one of the side surfaces is fixed to the first support portion 43, and a side surface opposite to the surface fixed to the support portion 43 (the first contact surface 44b )).

The first adsorption portion 45 is formed of an elastic material such as rubber, and has a cap shape provided with a first adsorption port 45a at its tip. The first adsorption portion 45 has a base end connected to the first pipe 45b, and is fixed to the support portion 43 by the first pipe 45b.

The front end of the first suction unit 45 is on the extension line of the first contact surface 44b of the first elongated member 44, or on the side opposite to the first rotation shaft 42a side than the first contact surface 44b. Is placed in. The first suction port 45a is closer to the first rotation part 42 than the first elongated member 44, parallel to the first contact surface 44b, and a first rotation axis in a direction orthogonal to the first rotation axis 42a. It opens in a direction away from (42a).

The first adsorption unit 45 is connected to a vacuum generator (not shown) through a first pipe 45b. The vacuum generator is a device that generates negative pressure in the first adsorption unit 45, such as a vacuum pump and a CONVUM (registered trademark), and is installed on the cart 11 or the like.

In the first pipe 45b, an on-off valve (not shown) is provided, for example. By opening and closing the first pipe 45b by the on-off valve, suction and release by the first suction unit 45 are performed. The operation of the vacuum generator and the opening and closing of the on/off valve are controlled by the control unit 60. Accordingly, the inner space of the first adsorption unit 45 is sucked through the first pipe 45b, and the lid member may be adsorbed.

In the first elongated member 44 and the first adsorption unit 45, each portion of the first arm 20 is formed by a rotation joint J1, J2, J4 (FIG. 1). , L2, L3) (FIG. 1) By rotating the circumference, it can move in the left and right directions and the front and rear directions. In addition, in the first elongated member 44 and the first adsorption part 45, the first wrist part 22 of the first arm 20 is connected to the 1b link 21b by the linear joint J3 (FIG. 1). ), it can move in the vertical direction. In this way, the first arm 20 may move the first elongated member 44 and the first adsorption part 45.

The second end effector 50, as shown in FIGS. 3(b) and 4, includes a second base part 51, a second rotation part 52, a second support part 53, and a second elongated member ( 54) and a second adsorption unit 55. Since each part of the second end effector 50 is the same as each part of the first end effector 40, a description thereof will be omitted.

<Configuration of lid member mounting system>

The lid member mounting system 70 includes a lid member mounting device 10, a conveyance portion 71 and a supply portion 72 as shown in FIGS. 5 and 6. The container 80 is supplied to the lid member mounting device 10 by the conveying unit 71, and the lid member 81 is supplied to the lid member mounting device 10 by the supply unit 72, and the lid member mounting device The lid member 81 is attached to the container 80 by (10).

The container 80 is formed of a resin such as polystyrene and polypropylene, and is a container for storing food, such as a lunch box. The container 80 has, for example, a circular bottom 80a and an opening 80b, the diameter of the bottom 80a is smaller than the diameter of the opening 80b, and from the opening 80b to the bottom ( It is approximately hemispherical shape recessed toward 80a). However, the shape of the container 80 is not limited thereto, and the bottom portion 80a and the opening 80b may have a rectangular parallelepiped shape.

The lid member 81 is formed of a resin such as polystyrene or polypropylene, and is a member covering the opening portion 80b of the container 80. The lid member 81 includes, for example, a circular ceiling portion 81a and an outer periphery 81b, and the diameter of the ceiling portion 81a is smaller than the diameter of the outer periphery 81b, It has a shape protruding from the outer periphery 81b toward the ceiling part 81a. However, the shape of the lid member 81 is not limited thereto, and may be a flat plate shape.

In the lid member mounting system 70, for example, the lid member mounting device 10 and the supply portion 72 are arranged so as to sandwich the conveyance portion 71 between each other. Here, the direction in which the container 80 is conveyed by the conveying unit 71 is referred to as a conveying direction. A direction orthogonal to such a conveyance direction, and a direction in which the lid member mounting device 10 and the supply portion 72 face each other with the conveyance portion 71 interposed therebetween is referred to as an opposing direction. In addition, the direction orthogonal to the conveyance direction and the opposite direction is an up-down direction.

The conveyance part 71 is, for example, a belt conveyor, and extends long in the conveyance direction. For example, so that the first end effector 40 is disposed on the upstream side of the conveying direction by the conveying unit 71, and the second end effector 50 is disposed on the downstream side of the conveying direction, the lid member mounting device ( 10) is provided in front of the conveyance part 71.

The position adjustment part 73 is provided in the conveyance part 71 from the upstream side of the lid member mounting device 10. The position adjustment part 73 is provided with the 1st guide part 73a and the 2nd guide part 73b, and adjusts the position of the container 80 by the conveyance part 71.

The 1st guide part 73a and the 2nd guide part 73b are plate-shaped, and are provided in parallel with the conveyance direction at intervals from each other in the opposite direction. In the conveyance part 71, the 1st guide part 73a is arrange|positioned on the lid member mounting apparatus 10 side, and the 2nd guide part 73b is arrange|positioned at the supply part 72 side. The interval between the first guide portion 73a and the second guide portion 73b is set slightly larger than the maximum diameter of the container 80.

Therefore, the container 80 conveyed by the conveyance part 71 passes between the 1st guide part 73a and the 2nd guide part 73b, and the position of the container 80 is adjusted in the opposite direction. Accordingly, the container 80 is disposed at a predetermined position with respect to the lid member mounting device 10 in the opposite direction. Here, at least one of the first guide portion 73a and the second guide portion 73b may move in the opposite direction.

The supply unit 72 is a mounting table for supplying the lid member 81. Depending on the number of end effectors of the lid member mounting device 10, according to this embodiment, two supply portions 72 are provided in the lid member mounting system 70. The two supply units 72 are arranged side by side in the conveying direction, one supply unit 72 faces the first end effector 40, and the other supply unit 72 faces the second end effector 50 Has been. The supply section 72 is provided with a supply port 72a orthogonal to the opposite direction and facing each end effector 40, 50, and supplies the lid member 81 from the supply port 72a.

In the supply portion 72, the lid member 81 is erected and disposed so that the cupboard portion 81a is perpendicular to the opposite direction so that the ceiling portion 81a is closer to the supply port 72a than the opening 80b. Accordingly, the lid member 81 can be supplied to the supply portion 72 from the opening on the side opposite to the supply port 72a side, and workability is excellent. In addition, since dust or the like is difficult to adhere to the lid member 81 in the supply unit 72, the supply unit 72 can hygienically hold the lid member 81.

<How to operate the lid member mounting device>

A method of operating the lid member mounting device 10 in the lid member mounting system 70 will be described with reference to FIGS. 3A to 7. This operation method is executed by the control unit 60.

First, as shown in Figs. 3(a) and 3(b), the control unit 60 includes the first suction port 45a of the first suction unit 45 and the second suction unit 55 The first rotation part 42 and the second rotation part 52 are respectively rotated about the first rotation shaft 42a and the second rotation shaft 52a so that the suction port 55a is orthogonal to the opposite direction. However, if the lid member 81 of the supply part 72 can be adsorbed by the first adsorption port 45a and the second adsorption port 55a, the first adsorption port 45a and the second adsorption port 55a Is not limited to this direction.

Here, in this posture, each of the elongated members 44 and 54 face each other, and the respective longitudinal directions 44a and 54a are arranged parallel to the conveying direction. Further, the first elongate member 44 is disposed above the first adsorption unit 45, and the second elongate member 54 is disposed below the second adsorption unit 55. The first adsorption unit 45 and the second adsorption unit 55 are arranged along the conveyance direction. Accordingly, the first elongated member 44 and the second elongated member do not interfere, and they can be rotated compactly.

Subsequently, the control unit 60 controls to open the respective opening and closing valves of the first pipe 45b and the second pipe 55b. The first adsorption port 45a is adsorbed at the center of the lid member 81 of one supply part 72, and the second adsorption port 55a is adsorbed at the center of the lid member 81 of the other supply part 72 do. The first adsorption port 45a and the second adsorption port 55a may be adsorbed simultaneously or may be adsorbed sequentially. Each suction position is not limited thereto, provided that the first contact surface 44b of the first elongate member 44 and the second contact surface 54b of the second elongate member 54 face the lid member 81. Does not.

Here, each of the adsorption ports 45a and the second adsorption ports 55a protrude toward the lid member 81 from the respective elongated members 44 and 54. Accordingly, each of the adsorption portions 45 and 55 can adsorb the lid member 81 without being disturbed by the respective elongated members 44 and 54.

Further, the control unit 60 moves the first end effector 40 and the second end effector 50 in a direction away from the supply unit 72 by the first arm 20 and the second arm 30, respectively. In addition, the control unit 60 rotates the first rotation unit 42 and the second rotation unit 52, respectively, so that the first adsorption unit 45 and the second adsorption unit 55 face the lower conveying unit 71 Let it.

The plurality of containers 80 are conveyed by the conveying unit 71 at intervals in the conveying direction. At this time, the position of the container 80 in the opposite direction is arranged at a predetermined position from the lid member mounting device 10 by the position adjustment unit 73. Then, the container 80 reaches the front of the lid member mounting device 10, and the conveyance operation is stopped. Here, the conveying unit 71 may repeatedly perform intermittent operation of the conveying operation and the stop thereof, or may stop the conveying operation by a signal or the like from a sensor detecting the container 80.

Here, the control unit 60 moves the first adsorption unit 45 and the second adsorption unit 55 downward. Accordingly, the lid adsorbed by the first adsorption port 45a of the first adsorption unit 45 on one container 80 of the two containers 80 disposed in front of the lid member mounting device 10 The member 81 overlaps, and the lid member 81 adsorbed by the second suction port 55a of the second suction portion 55 overlaps the other container 80. The lid member 81 opened downward with the outer periphery 81b lower than the ceiling portion 81a covers the opening 80b of the container 80 opened upward.

Then, the control unit 60 controls the on-off valve to close, and stops the adsorption of the first adsorption unit 45 and the second adsorption unit 55. Accordingly, the lid member 81 is placed on the container 80. Here, the 1st adsorption|suction part 45 and the 2nd adsorption|suction part 55 are arrange|positioned so that it may be lined up in the array direction and may abut on the lid member 81.

Subsequently, the control unit 60 moves the first elongate member 44 and the second elongate member 54 to the lower container 80 side. At this time, the first adsorption unit 45 and the second adsorption unit 55 are deformed, and the first contact surface 44b of the first elongate member 44 and the second contact surface of the second elongate member 54 54b reaches and abuts the lid member 81. And, each of the elongated members 44 and 54 pushes down the lid member 81 toward the container 80 side.

Here, in the opposite direction, the first elongated member 44 is disposed on the supply portion 72 side rather than each of the suction portions 45 and 55, and the second elongated member 54 is each of the suction portions 45, 55 It is more arranged on the lid member mounting device 10 side. Accordingly, the first elongate member 44 and the second elongate member 54 are parallel to each other and are disposed on the lid member 81 so as to sandwich the center of the lid member 81 in an opposite direction therebetween, and the lid The member 81 is pressed downward. Accordingly, the lid member 81 is mounted on the container 80.

<action, effect>

In the lid member mounting device 10, the first longitudinal direction 44a of the first elongated member 44 and the second longitudinal direction of the second elongated member 54 are parallel to the horizontal plane, and the lid member ( It overlaps parallel to the ceiling part 81a of 81). Therefore, since the area of the first elongated member 44 and the second elongated member 54 in contact with the lid member 81 is large, the first elongated member 44 and the second elongated member 54 pressed down The pressure acting on the lid member 81 is reduced. Thus, while preventing the deformation of the lid member 81, the lid member 81 can be mounted on the container 80.

In addition, the first elongated member 44 and the second elongated member so that the center of the lid member 81 is sandwiched between each other in a direction intersecting the first longitudinal direction 44a (for example, an opposite direction). It is placing 54. Accordingly, force is applied to the lid member 81 evenly by the first elongated member 44 and the second elongated member 54. Thus, while preventing the deformation of the lid member 81, the lid member 81 can be mounted on the container 80.

Moreover, the 1st elongate member 44 and the 2nd elongate member 54 are moved linearly toward the container 80 side, and the lid member 81 is attached to the container 80. Accordingly, in order to attach the lid member 81 to the container 80, it is not necessary to tilt the first elongated member 44 and the second elongated member 54, and the mechanism and control are simplified.

Further, since the first elongated member 44 and the second elongated member 54 abut a part of the lid member 81, the weight can be reduced compared to covering the entire lid member 81. Therefore, it is possible to suppress an increase in cost of the lid member mounting device 10 capable of supporting this.

In addition, the first elongated member 44 so that the first adsorption part 45 and the second adsorption part 55 are sandwiched between each other in a direction crossing the first longitudinal direction 44a (for example, in an opposite direction). ) And the second elongated member 54 are disposed. Therefore, when pressed down by the first elongated member 44 and the second elongated member 54, the gap between the first elongated member 44 and the second elongated member 54, which is liable to deform in the lid member 81, is It is pressed by the first adsorption part 45 and the second adsorption part 55. Thus, while preventing the deformation of the lid member 81, the lid member 81 can be mounted on the container 80.

The first adsorption unit 45 rotates about a first rotational shaft 42a parallel to the first longitudinal direction 44a to change its direction, and the second adsorption unit 55 is a second adsorption unit 55 parallel to the second longitudinal direction. It rotates around the rotation shaft 52a to change the direction. Accordingly, the posture of each of the adsorption units 45 and 55 when the lid member 81 is adsorbed by the supply unit 72, and the respective adsorption units 45 when the lid member 81 is attached to the container 80. , 55)'s posture can be changed. Accordingly, the degree of freedom in the direction of the lid member 81 of the supply unit 72 can be increased.

A first elongated member over the lid member 81 on each container 80 of a plurality (eg, two) of containers 80 arranged in the first longitudinal direction 44a (eg, in the conveyance direction) 44 and the 2nd elongate member 54 are arrange|positioned. Accordingly, even if the bottom portion 80a is smaller than the opening portion 80b and the unstable container 80, each elongated member 44, by the bottom portion 80a of the plurality of containers 80 lined up in the first longitudinal direction 44a. 54). Accordingly, the inclination of each of the mounting members 44 and 54 and the container 80 pressed therefrom is reduced, so that the lid member 81 can be more stably mounted on the container 80.

The first elongated member 44 and the second elongated member 54 are arranged over the lid member 81 on each of the containers 80 of the plurality of containers 80 that are sequentially conveyed by the conveying unit 71 Are doing. Accordingly, since the lid member 81 can be attached to the plurality of containers 80 at the same time, work efficiency can be improved.

The first elongated member 44 and the second elongated member 54 may be moved separately. Therefore, by adjusting the distance and direction of each of the elongated members 44 and 54 according to the size and shape of the lid member 81, and the position and number of the container 80, each elongated member ( 44, 54) can be placed. Therefore, workability can be improved.

<Modified Example 1>

In the above configuration, the control unit 60 simultaneously moves the first elongated member 44 and the second elongated member 54 to the container 80 side on the lid member 81, so that the lid member 81 is moved to the container 80. Mounted on. However, the control unit 60 sequentially moves the first elongated member 44 and the second elongated member 54 toward the container 80 on the lid member 81 to move the lid member 81 to the container 80. You may install it.

In this case, for example, when the lid member 81 is pressed down by the first elongated member 44, the lid member 81 is tilted, and the second elongated member 54 side is more than the first elongated member 44. In the gap between the lid member 81 and the container 80 is widened. Since air in the container 80 flows out from this gap, the lid member 81 is pressed down to the container 80 by the second elongated member 54, so that the lid member 81 can be easily mounted on the container 80. I can.

In addition, the first elongated member 44 and the second elongated member 54 may be moved separately. Therefore, after the lid member 81 is pressed down by the first elongated member 44, when the lid member 81 is pressed down by the second elongated member 54, the second elongated member 54 is second It is also good to have them press down continuously. Accordingly, the lid member 81 can be more reliably mounted on the container 80 without increasing the pressing force.

<Modified Example 2>

The first elongate member 44 may have a cross section orthogonal to the first longitudinal direction 44a formed by a circular bar. In addition, the second elongated member 54 may have a cross section orthogonal to the second longitudinal direction formed by a circular bar. Here, at least one of the first elongated member 44 and the second elongated member 54 may be a round bar.

Accordingly, since the first elongated member 44 and the second elongated member 54 are in line contact with the lid member 81, the pressure acting on the lid member 81 by the respective elongated members increases. Therefore, the pressing force can be reduced by the respective elongated members 44 and 54, and the cost of the lid member mounting device 10 can be reduced.

<Modified Example 3>

At least one member of the first elongate member 44 and the second elongate member 54 may be formed of a flat plate. Accordingly, the contact area of the respective elongated members 44 and 54 to the lid member 81 is increased, and the pressure acting on the lid member 81 by the respective elongated members 44 and 54 is reduced. Therefore, deformation of the lid member 81 pressed down by the respective elongated members 44 and 54 can be suppressed.

<Modified Example 4>

The lid member mounting system 70 may further include a camera 74 that acquires an image of the container 80 conveyed by the conveying unit 71 as shown in FIGS. 6 and 7. In this case, the position adjustment part 73 does not need to be provided in the conveyance part 71.

The camera 74 is arranged above the conveyance part 71 on the upstream side of the lid member attaching device 10. The camera 74 acquires the image of the container 80 of the conveyance part 71, and outputs it to the control part 60. The control unit 60 acquires the positional information of the container 80 based on the image.

The control unit 60, according to the position information, the first arm 20 and the second arm 20 so that the first elongated member 44 and the second elongated member 54 sandwich the center of the lid member 81 between each other. The arm 30 is operated. In this case, the first longitudinal direction 44a of the first elongate member 44 and/or the second longitudinal direction of the second elongate member 54 may not be parallel to the conveyance direction.

Accordingly, the first elongated member 44 and the second elongated member 54 are displaced according to the position of the container 80 being conveyed. Therefore, the lid member 81 can be mounted on the container 80 more reliably.

<Other variations>

All of the lid member mounting apparatuses 10 have two arms 20 and 30 and end effectors 40 and 50 displaced by them, but may be provided with three or more arms and end effectors.

In all of the lid member mounting apparatuses 10, a first adsorption unit 45 and a second adsorption unit 55 are provided. However, the lid member mounting device 10 may not have the first adsorption part 45 and the second adsorption part 55, or the first adsorption part 45 or the second adsorption part 55 is provided. It may be done.

From the above description, many improvements and other embodiments of the present invention will be apparent to those skilled in the art. Accordingly, the above description is to be construed only as an example, and is provided for the purpose of teaching those skilled in the art the best mode for carrying out the present invention. Details of the structure and/or function can be changed substantially without departing from the spirit of the present invention.

The lid member mounting device and system of the present invention is useful as a lid member mounting device and system, etc. that can achieve simple and low cost.

10: lid member mounting device 20: first arm
30: second arm 40: first end effector
44: first elongated member 44a: first longitudinal direction (length direction)
45: first adsorption unit (adsorption unit) 50: second end effector
54: second elongated member 54a: second longitudinal direction (length direction)
60: control unit 70: lid member mounting system
71: carrier 74: camera
80: container 80b: opening
81: lid member

Claims (8)

A lid member mounting device for attaching the lid member to the opening of the container,
First cancer department,
A first end effector mounted on the first arm and having a first elongated member,
Second cancer department,
A second end effector mounted on the second arm and having a second elongated member,
Having a control unit,
The control unit, on the lid member mounted on the container so as to cover the opening, each longitudinal direction of the first elongated member and the second elongated member is a direction parallel to a horizontal plane, and of the first elongated member Arranging the first elongated member and the second elongated member so as to sandwich the center of the lid member between each other in a direction crossing the longitudinal direction, and moving the first elongated member and the second elongated member toward the container The lid member mounting apparatus, characterized in that it is configured to operate the first arm and the second arm so as to allow it.
The method of claim 1,
The first end effector,
An adsorption part for adsorbing the lid member,
A lid member mounting apparatus, further comprising: a rotation unit configured to rotate the suction unit about a rotation axis parallel to the longitudinal direction of the first elongated member.
The method of claim 2,
The control unit is configured to adsorb the lid member by the suction unit and place it on the container, so that the center of the lid member and the suction unit are sandwiched between each other in a direction crossing the longitudinal direction of the first elongated member. And the lid member mounting apparatus configured to operate the first and second arms to place the first elongated member and the second elongated member.
The method according to any one of claims 1 to 3,
Wherein the control unit is configured to operate the first arm and the second arm to sequentially move the first elongate member and the second elongate member toward the container.
The method according to any one of claims 1 to 4,
The first elongate member and the second elongate member are formed by a round bar or a flat plate.
The method according to any one of claims 1 to 5,
And the lid member mounting apparatus configured to arrange the first elongate member and the second elongate member over each of the lid members of a plurality of containers arranged in a row.
The lid member mounting device according to any one of claims 1 to 6, and
It has a conveyance part for conveying the container,
The control unit is configured to arrange the first elongated member and the second elongated member over each of the lid members of the plurality of containers sequentially conveyed by the conveying unit. .
The method of claim 7,
Further comprising a camera for acquiring an image of the container conveyed by the conveying unit,
The control unit, based on the image, on the lid member, the longitudinal direction of each of the first elongated member and the second elongated member is a direction parallel to a horizontal plane, and intersecting the longitudinal direction of the first elongated member A lid member mounting system configured to operate the first arm and the second arm to position the first elongated member and the second elongated member to sandwich the center of the lid member in a direction therebetween. .

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