KR20210098532A - Lid member mounting device - Google Patents

Abstract

The lid member mounting device 10 is a lid member mounting device for mounting the lid member 81 to the container 80 , and includes a first arm 20 and a first long member attached to the first arm. A first end effector (40) having a 44 (44), a second arm (30), and a second end effector (50) attached to the second arm and provided with a second elongate member (54) and a control unit 60, wherein the control unit swings the first elongate member and the second elongate member on the lid member mounted on the container, and the first elongate member and the second elongate member It is comprised so that the said 1st arm and a 2nd arm may be operated so that at least one elongate member may be moved to the said container side.

Description

Lid member mounting device

The present invention relates to a lid member mounting device.

As an apparatus for attaching a lid to a container, the lid|cover implementation apparatus for containers of patent document 1 is known, for example. In such a container lid implementing apparatus, the lid body is adsorbed by an adsorption member and supplied onto the opening of the container, and then the lid body is pressed by an operating means to be attached to the container.

Japanese Patent Laid-Open No. 2001-072009

In the lid member mounting apparatus of Patent Document 1, when the lid is supplied to the container, if the position of the lid is shifted with respect to the container, there is a fear that the lid cannot be reliably attached to the container.

This invention is for solving the said conventional subject, and an object of this invention is to provide the lid member mounting apparatus which can attach a lid member to a container reliably.

A lid member mounting device according to an embodiment of the present invention is a lid member mounting device for mounting a lid member on a container, and includes a first arm, and a first long member attached to the first arm. A first end effector comprising: a second arm; a second end effector mounted on the second arm and further comprising a second elongated member; and a control unit, wherein the control unit is placed in the container Move at least one elongate member of the first elongate member and the second elongate member to the container side while swinging the first elongate member and the second elongate member on the lid member, and operate the first arm and the second arm.

According to this structure, even if a lid member is displaced with respect to a container and a lid member is mounted, a lid member is arrange|positioned at the appropriate position with respect to a container by shaking a lid member by the rocking|fluctuation of each elongate member. By pressing down the position-adjusted lid member in this way with the elongate member, the lid member can be reliably attached to the container.

In such a cover member mounting apparatus, the said control part first sets the said 1st elongate member and the said 2nd elongate member to one side from a predetermined position in the direction orthogonal to the longitudinal direction of the said 1st elongate member on the said cover member. distance, reciprocating, and reciprocating a second distance longer than the first distance from the predetermined position to the other side, and in a state where the second elongate member is disposed on the lid member, the second elongate member is higher than the second elongate member You may be comprised so that the said 1st arm and a 2nd arm may be operated so that a 1st elongate member may be moved to the said container side on the said lid member from one side.

According to such a structure, by moving each elongate member large to the other side rather than one side, a lid member inclines so that the other side may become lower than one side. The one side is pressed down by the 1st elongate member in the state which pushed this other side with a 2nd elongate member. Thereby, the lid member can be reliably attached to a container.

Moreover, in the lid member mounting apparatus, the said control part is a said 1st elongate member and said 2nd elongate member in the direction orthogonal to the longitudinal direction of the said 1st elongate member after rocking|fluctuation of the said 1st elongate member and a said 2nd elongate member The first arm and the second arm are moved so that the first elongate member and the second elongate member are moved in the longitudinal direction of the first elongate member so as to increase the overlap of the members, and the elongate member is moved to the container side. may be configured to operate.

According to such a structure, the contact area of a 1st long member and a 2nd long member, and a lid member can be taken large by enlarging the overlap of a 1st elongate member and a 2nd elongate member. Therefore, a lid member can be stably pressed by a 1st elongate member and a 2nd elongate member, and a lid member can be attached to a container.

The lid member mounting device may be configured by a robot having the first arm and the second arm as a pair of arms. In such a lid member mounting device, the robot may be a dual-arm robot in which a pair of the arms are installed on a base coaxially with each other.

The present invention exhibits the effect of being able to provide a lid member mounting apparatus capable of reliably attaching the lid member to the container by providing 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] Fig. 2 is a functional block diagram schematically showing the configuration of the control unit of Fig. 1;
[Fig. 3] Fig. 3 (a) is a view showing a first end effector. 3B is a diagram illustrating a second end effector.
4 : is the figure which looked at the state which pushed the lid member down to the container side by the 1st elongate member and the 2nd elongate member from the one side of the conveyance direction.
5 : is the figure which looked at the state which pressed the lid member toward the container side by the 1st elongate member and the 2nd elongate member from the one side of the opposing direction.
Fig. 6 is a perspective view of a lid member mounting system having the lid member mounting device of Fig. 1;
[Fig. 7] Fig. 7 is a view of the lid member mounting system of Fig. 6 as viewed from above.
Fig. 8 (a) is a diagram in which the lid member is adsorbed by each adsorption unit. Fig. 8(b) is a diagram in which a lid member is brought into contact with each elongate member. Fig. 8(c) is a view in which the lid member is mounted on the container.
[ Fig. 9 ] Fig. 9 (a) is a view in which each elongate member is oscillated. Fig. 9(b) is a view in which the inclined lid member is pressed by the second elongate member. Fig. 9(c) is a view in which the lid member is pressed down by the first elongate member.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 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 the drawings, and overlapping descriptions are omitted. In addition, in all the drawings, components for explaining the present invention are extracted and illustrated, and illustration of other components 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>

As shown in Fig. 1, the lid member mounting apparatus 10 according to the present embodiment is an apparatus for mounting the lid member to the opening of the container, 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 a robot such as a vertical articulated robot may be used.

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 bogie 11 .

In addition, the base shaft is fixed to the upper surface of the bogie 11 . The base shaft 14 is provided with the 1st arm 20 and the 2nd arm 30 rotatably around the rotation axis L1 passing through the axial center of the said base shaft 14 . The first arm 20 and the second arm 30 are installed so as to have a height difference up and down. Accordingly, the lid member mounting device 10 is, for example, a coaxial dual-arm scalar in which the first arm 20 and the second arm 30 disposed coaxially are controlled by one control unit 60 . it's a 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 includes a first arm portion 21 and a first wrist portion 22 . The second arm 30 includes a second arm portion 31 and a second wrist portion 32 . Here, although the first arm 20 and the second arm 30 have substantially the same configuration, the present invention is not limited thereto. For example, each of the arm portions 21 and 31 and the respective wrist portions 22 and 32 may be configured differently in the first arm 20 and the second arm 30 .

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

Each link (21a, 31a), its proximal end is connected to the base shaft 14 through the rotary joint (J1), and rotates around the rotational axis (L1) by the rotary joint (J1). Each of the links 21b and 31b has a proximal end connected to the front end of each of the links 21a and 31a through a rotation joint J2, and rotates around an axis of rotation L2 by the rotation joint J2. .

Each of the wrists 22 and 32 is connected to the front end of each of the links 21b and 31b through a linear joint J3, and is movable up and down with respect to each of the links 21b and 31b. The lower end of each wrist portion 22, 32 is provided with a rotary joint (J4), the lower end of the rotary joint (J4) is provided with mounting parts (24, 34), respectively. Accordingly, each of the end effectors 40 and 50 mounted on the respective mounting portions 24 and 34 can rotate around the rotational axis L3 by the rotational joint J4.

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

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

<Configuration of control unit>

As shown in Fig. 2, the control unit 60 includes an arithmetic unit 60a such as a CPU, a storage unit 60b such as ROM and RAM, and a servo control unit 60c, and includes, for example, a microcontroller or the like. It is a robot controller equipped with a computer. Here, the control part 60 may be comprised by the single control part which performs centralized control, and may be comprised by the several control part which mutually cooperates and distribute|distributes control. In addition, although the form in which the memory|storage part 60b is arrange|positioned in the control part 60 is adopted, it is not limited to this, The form in which the memory|storage part 60b is provided separately from the control part 60 may be employ|adopted.

In the storage unit 60b, information such as a basic program as a robot controller and various fixed data is stored. 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 calculating unit 60a generates a control command for the lid member mounting apparatus 10 and outputs it to the servo control unit 60c. The servo control unit 60c drives the servo motors corresponding to 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 is, as shown in FIGS. 3A and 4 , a first base part 41 , a first rotation part 42 , a first support part 43 , and a first elongate member ( 44), a first adsorption unit 45 and a first expansion/contraction unit 46 are provided. The first base part 41 has, for example, a rectangular parallelepiped shape, and has a mounted part (not shown) mounted on the first mounting part 24 on its upper surface, and the first rotating part 42 from the side orthogonal to the upper surface. ) is connected to

The 1st rotation part 42 is provided with the 1st rotation shaft 42a orthogonal to the side surface of the 1st base part 41, for example in a cylindrical shape. The first rotating unit 42 has one end connected to the first base unit 41 rotatably by a rotating actuator (not shown) about the first rotating shaft 42a, and the other end is connected to the first support unit 43 . It is fixed.

The 1st support part 43 is attached to the 1st base part 41 via the 1st rotation part 42, while the 1st elongate member 44 and 1st adsorption|suction in the direction away from the 1st base part 41. It supports the part 45 . Accordingly, the first elongate member 44 and the first adsorption unit 45 are rotatably rotatable about the first rotating shaft 42a of the first rotating unit 42 via the first supporting unit 43 as the first base. It is attached to the part 41 .

The first elongate member 44 is, for example, elongated in a direction parallel to the first rotational axis 42a of the first rotating part 42, and has a rectangular cross section orthogonal to this first longitudinal direction 44a. It is formed by an angled member. The 1st elongate member 44 is provided with the end surface orthogonal to the 1st longitudinal direction 44a, and the side surface along the 1st longitudinal direction 44a. One of the side surfaces of the first elongate member 44 is fixed to the first support portion 43 , and a side surface (first contact surface 44b) on the opposite side to the surface fixed to the support portion 43 . )) is provided.

The 1st adsorption|suction part 45 is formed from elastic materials, such as rubber|gum, and is cap-shaped with the 1st adsorption|suction opening 45a provided at the front-end|tip. The 1st adsorption|suction part 45 has a base end connected to the 1st piping 45b, and the front-end|tip is opened in the direction orthogonal to the 1st longitudinal direction 44a to the side opposite to the 1st support part 43 side.

The 1st adsorption|suction part 45 is connected to the vacuum generator (not shown) via the 1st piping 45b. The vacuum generator is a device that generates a negative pressure in the first adsorption unit 45 such as a vacuum pump and CONVUM (registered trademark), and is installed in the cart 11 or the like.

The first pipe 45b is provided with an on/off valve (not shown), for example. By opening and closing the first pipe 45b by the on/off valve, the adsorption and release by the first adsorption 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 can be sucked through the first pipe 45b to adsorb the lid member.

The first pipe 45b is connected to the first expansion and contraction portion 46 . For example, the 1st expansion-contraction part 46 is a linear actuator, and the 1st piping 45b expands and contracts. Thereby, the 1st adsorption|suction part 45 provided in the 1st piping 45b can advance and retreat rather than the 1st contact surface 44b of the 1st elongate member 44. As shown in FIG. Here, in the direction orthogonal to this expansion-contraction direction, the 1st adsorption|suction part 45 is arrange|positioned with respect to the 1st elongate member 44 at a predetermined position.

The first elongate member 44 and the first adsorption unit 45 are moved by the rotary joints J1, J2, J4 (FIG. 1) and the linear joint J3 (FIG. 1) of the first arm 20. can As such, the first arm 20 may move the first elongate member 44 and the first adsorption unit 45 .

As shown in FIGS. 3(b) and 4, the second end effector 50 includes a second base part 51, a second rotation part 52, a second support part 53, and a second elongate member ( 54 ), a second adsorption unit 55 , and a second expansion/contraction unit 56 . 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 is provided with the lid member mounting apparatus 10, the conveyance part 71, and the supply part 72, as shown in FIG.6 and FIG.7. The container 80 is supplied to the lid member mounting apparatus 10 by the conveyance part 71, the lid member 81 is supplied to the lid member mounting apparatus 10 by the supply part 72, The lid member mounting apparatus The lid member 81 is attached to the container 80 by (10).

As shown in Fig. 3(a) to Fig. 4 , the container 80 is made of a resin such as polystyrene and polypropylene, and is a container for accommodating 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 being smaller than the diameter of the opening 80b, and from the opening 80b to the bottom ( 80a) and is approximately hemispherical in shape. However, the shape of the container 80 is not limited thereto, and the bottom 80a and the opening 80b may have a rectangular parallelepiped shape or the like.

Further, the container 80 is provided with an annular step portion 80c extending in the circumferential direction on the inner surface. The stepped portion 80c is formed so as to expand its diameter from the opening 80b toward the bottom 80a.

The lid member 81 is made of a resin such as polystyrene and polypropylene and covers 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, wherein 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 portion 81a. However, the shape of the lid member 81 is not limited thereto, and a flat plate shape or the like may be used.

Here, the lid member 81 is an inner fitting lid whose outer periphery 81b is fitted into the step portion 80c inside the container 80 . However, as long as the lid member 81 can cover the opening 80b of the container 80 , an outer fitting lid in which the container 80 is fitted inside the lid member 81 may be used.

6 and 7 , in the lid member mounting system 70 , for example, the lid member mounting device 10 and the supply unit 72 are arranged to sandwich the conveying unit 71 between each other. there is. Here, the direction in which the container 80 is conveyed by the conveyance part 71 is called a conveyance direction. It is a direction orthogonal to such a conveyance direction, and the direction in which the lid member mounting apparatus 10 and the supply part 72 mutually oppose via the conveyance part 71 is called an opposing direction. In addition, the conveyance direction and the opposing direction are included in a horizontal direction, and are orthogonal to an up-down direction. Furthermore, in the opposing direction, the side of the supply part 72 rather than the lid member mounting apparatus 10 is called a 1st side (one side), and the side opposite to a 1st side is called a 2nd side (the other side).

The conveyance part 71 is, for example, a belt conveyor, and is extended long in a conveyance direction. For example, the lid member mounting apparatus ( 10) is provided in front of the carrying unit 71 .

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

The 1st guide part 73a and the 2nd guide part 73b are flat plate shape, and are mutually spaced apart in the opposing direction, and are provided in parallel with respect to the conveyance direction. In the conveyance part 71 , the first guide part 73a is disposed on the lid member mounting apparatus 10 side, and the second guide part 73b is disposed on the supply part 72 side. The interval between the first guide portion 73a and the second guide portion 73b is set to be slightly larger than the maximum diameter of the container 80 .

Therefore, the position of the container 80 in the opposite direction is adjusted by the container 80 conveyed by the conveyance part 71 passing between the 1st guide part 73a and the 2nd guide part 73b. Accordingly, the container 80 in the opposite direction is disposed at a predetermined position with respect to the lid member mounting device 10 . 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 the present embodiment, two supply units 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 part 72 is provided with the supply port 72a which is orthogonal to the opposing direction and opposes each of the end effectors 40 and 50, and supplies the lid member 81 from the supply port 72a.

In the supply part 72, the lid member 81 is uprightly arrange|positioned so that the ceiling part 81a becomes the supply port 72a side rather than the opening part 80b, and the ceiling part 81a may be orthogonal to the opposing direction. Thereby, the lid member 81 can be replenished to the supply part 72 from the opening on the opposite side to the supply port 72a side, and it is excellent in workability|operativity. In addition, since it is difficult for dust or the like to adhere to the lid member 81 in the supply part 72 , the supply part 72 can maintain the lid member 81 hygienically.

<How to operate the lid member mounting device>

An operation method of the lid member mounting device 10 in the lid member mounting system 70 will be described with reference to Figs. 3A to 9C . This operation method is executed by the control unit 60 .

First, as shown in FIGS. 3A and 3B , the control unit 60 controls the first adsorption port 45a of the first adsorption unit 45 and the second adsorption port 45a of the second adsorption unit 55 . The first rotating part 42 and the second rotating part 52 are respectively rotated around the first rotating shaft 42a and the second rotating 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 1st adsorption port 45a and the 2nd adsorption port 55a, the 1st adsorption port 45a and the 2nd adsorption port 55a is not limited to this direction.

Here, in this attitude|position, each elongate member 44, 54 is mutually spaced apart in an up-down direction, and is arrange|positioned so that it may become parallel to a conveyance direction. Moreover, the 1st elongate member 44 is arrange|positioned above the 1st adsorption|suction part 45, and the 2nd elongate member 54 is arrange|positioned below the 2nd adsorption|suction part 55. As shown in FIG. These 1st adsorption|suction part 45 and the 2nd adsorption|suction part 55 are lined up along the conveyance direction. Therefore, the 1st elongate member 44 and the 2nd elongate member 54 do not interfere, and can rotate them compactly.

Next, the control unit 60 extends the first pipe 45b by the first expansion and contraction portion 46 , so that the first adsorption portion 45 is larger than the first contact surface 44b of the first elongate member 44 . It protrudes toward the supply part 72 side. Further, the control unit 60 expands and contracts the second pipe 55b by means of the second expansion/contraction unit 56 so that the second suction unit 55 is larger than the second contact surface 54b of the second elongate member 54 . It protrudes toward the supply part 72 side.

In addition, the control unit 60 controls to open each on-off valve of the first pipe (45b) and the second pipe (55b). The 1st adsorption port 45a is adsorb|sucked to the center of the lid member 81 of the one supply part 72, The 2nd adsorption port 55a is adsorbed to the center of the lid member 81 of the other supply part 72. do. The 1st adsorption port 45a and the 2nd adsorption port 55a may adsorb|suck simultaneously, and may adsorb|suck sequentially. Each adsorption 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

Then, 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. And, as shown in FIG. 4 , the control unit 60 includes the first rotating unit 42 and the second rotating unit so that the first adsorption unit 45 and the second adsorption unit 55 face the lower conveying unit 71 . Each of the two rotating parts 52 is rotated. Accordingly, the contact surfaces 44b and 54b face downward and are disposed on a predetermined surface such as a horizontal surface.

At this time, as shown in FIG. 8(a), each of the adsorption|suction parts 45 and 55 protrudes rather than each of the elongate members 44 and 54. As shown in FIG. Accordingly, as shown in Fig. 8(b), the control unit 60 contracts the respective pipes 45b and 55b by the respective expansion and contraction parts 46 and 56. As shown in Figs. Accordingly, the lid member 81 adsorbed by the respective adsorption portions 45 and 55 is drawn toward the respective elongated members 44 and 54 side, and the lid member 81 is brought into contact with the respective contact surfaces 44b and 54b. ) is in contact with

Here, as shown in FIG. 7 , the plurality of containers 80 are conveyed by the conveying unit 71 at intervals in the conveying direction. At this time, by the position adjustment part 73, the position of the container 80 in the opposing direction is arrange|positioned at a predetermined position from the lid member mounting apparatus 10. As shown in FIG. Here, the conveying part 71 may convey the container 80 continuously. Alternatively, when the container 80 reaches the front of the lid member mounting apparatus 10 , the conveying operation may be stopped. In this case, the conveying unit 71 may perform an intermittent operation that repeats the conveying operation and its stop, or the conveying operation may be stopped by a signal or the like from a sensor detecting the container 80 .

Then, as shown in FIGS. 5 and 7 , the control unit 60 moves each of the elongated members 44 and 54 and each of the adsorption units 45 and 55 downward. Thereby, the lid adsorbed by the 1st adsorption port 45a of the 1st adsorption part 45 on the container 80 of one of the two containers 80 arrange|positioned in front of the lid member mounting apparatus 10. The member 81 overlaps, and the lid member 81 adsorb|sucked by the 2nd adsorption port 55a of the 2nd adsorption|suction part 55 on the other container 80 overlaps.

At this time, each of the elongate members 44 and 54 extends in the conveying direction over the adjacent containers 80 , and is disposed on these two containers 80 . On the lid member 81 , the first adsorption unit 45 and the second adsorption unit 55 are arranged in the conveying direction. Further, in the opposite direction, the first elongate member 44 is disposed on the first side rather than each of the adsorption portions 45 and 55 , and the second elongate member 54 is larger than each of the adsorption portions 45 and 55 . placed on the 2nd side. Accordingly, each of the elongated members 44 and 54 sandwiches the respective suction portions 45 and 55 between each other, and the longitudinal directions 44a and 54a thereof are parallel to the conveying direction. Then, each of the contact surfaces 44b and 54b is arranged in the horizontal direction and disposed on the lid member 81 .

And, as shown in FIG. 8( c ), the control unit 60 controls the opening/closing 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, each pipe 45b, 55b may contract by each expansion-contraction part 46, 56, and each adsorption|suction part 45, 55 may be arrange|positioned above the lid member 81. As shown in FIG.

Then, as shown in FIG. 9( a ), the control unit 60 operates each of the arms 20 , 30 so that each of the elongate members 44 , 54 swings on the lid member 81 . For example, the control part 60 reciprocates each elongate member 44 and 54 in the direction orthogonal to the 1st longitudinal direction 44a on the lid member 81, 1st distance to one side from a predetermined position, It is moved, the second distance longer than the first distance from the predetermined position to the other side, the reciprocating movement is made, and it is made to rock|fluctuate.

Here, such a predetermined position is, for example, when each of the adsorption|suction parts 45 and 55 is arrange|positioned in the center of the lid member 81, each elongate which exists at a predetermined distance from each of the adsorption|suction parts 45 and 55, respectively. the position of the members 44 and 54 . Here, the first adsorption section 45 and the first elongate member 44 have a predetermined positional relationship with each other in directions other than the expansion and contraction directions of the respective adsorption sections 45 and 55 (for example, the opposing direction and the conveying direction). , and the second adsorption unit 55 and the second elongate member 54 are in a predetermined positional relationship with each other.

Specifically, the control unit 60 includes a first distance (for example, 5 mm), a first elongate member 44 and a second After moving the 2 long member 54, a 1st distance is made to move it to the other side (for example, downstream) of a conveyance direction. Thereby, each of the elongate members 44 and 54 reciprocates from a predetermined position to one side of a conveyance direction on the lid member 81. As shown in FIG.

Moreover, the control part 60 moves a 1st distance and each elongate member 44 and 54 from a predetermined position to the other side of a conveyance direction, and makes it a 1st distance and moves to one side of a conveyance direction. Thereby, each of the elongate members 44 and 54 reciprocates from a predetermined position to the other side of a conveyance direction on the lid member 81. As shown in FIG.

Furthermore, the control part 60 moves each elongate member 44 and 54 from a predetermined position to the 1st side of an opposing direction, 1st distance, and moves it to the 2nd side of an opposing direction. Thereby, each of the elongate members 44 and 54 reciprocates from a predetermined position on the lid member 81 to the 1st side of a conveyance direction.

Finally, the control unit 60 moves each of the elongated members 44 and 54 a second distance (for example, 10 mm) from the predetermined position to the second side in the opposite direction, and then moves the second side in the opposite direction. Move the second distance, to the 1 side. Accordingly, each of the elongated members 44 , 54 reciprocates from a predetermined position to the second side in the opposite direction on the lid member 81 .

Thus, the lid member 81 is shaken on the container 80 by rocking|fluctuating in a horizontal direction, making each elongate member 44, 54 contact the lid member 81. Therefore, even if the position of the lid member 81 with respect to the container 80 in the horizontal direction is shifted, the lid member 81 is fitted inside the container 80, Position adjustment is made. Accordingly, the lid member 81 is positioned relative to the container 80 to cover the opening 80b.

Further, the reciprocating distance (second distance) of each of the elongated members 44 and 54 to the second side is longer than the moving distance in the other direction (the first distance). Therefore, as shown in FIG. 9(b) , the lid member 81 is inclined such that the second side is lower than the first side, for example, by 5 degrees or more and 10 degrees or less. For example, the lid member 81 is inclined so that the first side of the outer periphery 81b does not fit into the stepped portion 80c of the container 80 and the second side fits.

Next, the control part 60 once moves each elongate member 44 and 54 upward, and removes it from the lid member 81. As shown in FIG. Then, as shown in Fig. 9(c) , for example, the control unit 60 moves the first elongate member 44 extending from the upstream side to the downstream side in the conveying direction to the downstream side, and from the downstream side to the upstream side The second elongate member 54 extending to the side is moved to the upstream side.

Thereby, the 1st elongate member 44 and the 2nd elongate member 54 move in the conveyance direction on the lid member 81 so that the total length of each other becomes short, and overlapping with each other in an opposing direction may become large. Thus, the area of the 1st elongate member 44 and the 2nd elongate member 54 which overlap on the lid member 81 in an up-down direction increases. The area in which each of the contact surfaces 44b and 54b abuts against the lid member 81 is increased. Here, the 1st elongate member 44 or the 2nd elongate member 54 may be moved in a conveyance direction, and the overlap of the 1st elongate member 44 and the 2nd elongate member 54 may be enlarged in the opposing direction.

And the control part 60 moves the 2nd elongate member 54 to the container 80 side below it, and makes the 2nd contact surface 54b contact the lid member 81. Here, the second elongate member 54 has its second longitudinal direction 54a parallel to the transport direction and the second contact surface 54b horizontal, and is on the second side from the center of the lid member 81 . is placed on

Thereafter, the control unit 60 controls the first elongate member 44 to have the second longitudinal direction 54a parallel to the transport direction and the first contact surface 44b to be horizontal, and the container 80 below it. move to the side Thereby, the 1st elongate member 44 presses the lid member 81 toward the container 80 side from the 1st side rather than the center of the lid member 81.

At this time, with the second elongate member 54 pressing the lower side of the lid member 81 inclined with respect to the opening 80b of the container 80 , the first elongate member 44 is moved to the lid member 81 . Press the upper side of the container (80). Accordingly, the lid member 81 is pressed down on the second side using the first side of the outer periphery 81b fitted in the step portion 80c of the container 80 as a supporting point, and as shown in FIG. The two sides are also fitted into the stepped portion 80c. Accordingly, the lid member 81 is more reliably attached to the container 80 while the air escapes from the gap between the lid member 81 and the container 80 . Moreover, the pressure at the time of pressing the lid member 81 can be made small, and the deformation|transformation of the lid member 81 can be prevented.

Further, the first elongate member 44 and the second elongate member 54 overlap each other in the opposite direction during the pushing operation in FIG. 9C rather than in the swinging operation in FIG. 9A . The elongate member 44 and the second elongate member 54 are moved in the conveyance direction. Thereby, the contact area of each elongate member 44, 54 with respect to the lid member 81 can be enlarged. Accordingly, each of the elongate members 44 , 54 is stable and can press the lid member 81 against the container 80 . Moreover, the pressure at the time of pressing the lid member 81 can be made small, and the deformation|transformation of the lid member 81 can be prevented.

Here, in the above configuration, in the swinging operation and the pressing down operation, each of the suction parts 45 and 55 is disposed above the respective contact surfaces 44b and 54b, but the respective suction parts 45 and 55 are respectively It may be arranged so as to be flush with the contact surfaces 44b and 54b. Accordingly, the lid member 81 is rocked and depressed by the respective suction portions 45 and 55 and the respective contact surfaces 44b and 54b.

In addition, in the said structure, each elongate member 44, 54 rock|fluctuated so that it might move to the 2nd side longer than the 1st side. However, the distance at which each of the elongate members 44 and 54 is rocked may be the same on the 1st side and the 2nd side.

Furthermore, in the said structure, each elongate member 44, 54 rock|fluctuated in the opposing direction and a conveyance direction. However, any one of an opposing direction and a conveyance direction may be sufficient as the rocking|fluctuation direction of each elongate member 44,54.

Furthermore, in the said structure, in the state which pressed the 2nd side of the lid member 81 by the 2nd elongate member 54, the 1st elongate member 44 pushes down the lid member 81, and the lid member ( 81) was mounted in vessel 80. However, in the state in which the 1st side of the lid member 81 is pressed with the 1st elongate member 44, the lid member 81 is pressed down with the 2nd elongate member 54, and the lid member 81 is placed into a container. (80) may be attached. Alternatively, the lid member 81 may be pressed down by the first elongate member 44 and the second elongate member 54 to attach the lid member 81 to the container 80 .

In addition, each of the mounting members 44 and 54 may be formed by a circular bar having a cross section orthogonal to each of the longitudinal directions 44a and 54a. Thereby, the pressure acting on the lid member 81 by each of the elongate members 44 and 54 increases, the pressing force by each of the elongate members 44 and 54 can be reduced, and the lid member is attached. The cost of the device 10 can be reduced.

Furthermore, each of the elongate members 44 and 54 may be formed of a flat plate. Accordingly, the pressure acting on the lid member 81 by each of the elongated members 44 and 54 is reduced, and the deformation of the lid member 81 pressed down by the respective elongated members 44 and 54 is suppressed. can

The lid member mounting system 70 may further comprise the camera 74 which acquires the image of the container 80 conveyed by the conveyance part 71, as shown in FIG.6 and FIG.7. In this case, the position adjustment unit 73 may not be provided in the conveyance unit 71 .

The camera 74 is arrange|positioned above the conveyance part 71 on the upstream side from the lid member mounting apparatus 10, acquires the image of the container 80, and outputs it to the control part 60. As shown in FIG. The control part 60 acquires the positional information of the container 80 based on an image, and the 1st elongate member 44 and the 2nd elongate member 54 sandwich the center of the lid member 81 between each other. The first arm 20 and the second arm 30 are operated to In this case, the 1st longitudinal direction 44a of the 1st elongate member 44 and/or the 2nd longitudinal direction of the 2nd elongate member 54 may not be parallel to a conveyance direction.

All of the lid member mounting apparatuses 10 are provided with two arms 20 and 30 and end effectors 40 and 50 displaced thereby, however, three or more arms and end effectors may be provided.

In all the lid member mounting apparatuses 10 , the first adsorption unit 45 and the second adsorption unit 55 were provided. However, the lid member mounting apparatus 10 does not need to be provided with the 1st adsorption|suction part 45 and the 2nd adsorption|suction part 55, or the 1st adsorption|suction part 45 or the 2nd adsorption|suction part 55 is provided. it may be good

Many improvements and other embodiments of the present invention will be apparent to those skilled in the art from the above description. Accordingly, the above description should be construed as illustrative only, and is provided for the purpose of teaching those skilled in the art the best mode for carrying out the present invention. Substantial changes may be made in the details of the structure and/or function thereof without departing from the spirit of the present invention.

The lid member mounting device of the present invention is useful as a lid member mounting device or the like capable of securely attaching the lid member to a container.

10: Lid member mounting device
11: Balance (expectation)
20: first arm
30: second arm
40: first end effector
44: first elongate member
44a: first longitudinal direction (longitudinal direction)
45: first adsorption unit (adsorption unit)
50: second end effector
54: second long member
54a: second longitudinal direction (longitudinal direction)
60: control unit
70: lid member mounting system
71: conveyance unit
74: camera
80: courage
80b: opening
81: lid member

Claims (5)

A lid member mounting device for mounting a lid member on a container, comprising:
first cancer,
a first end effector mounted on the first arm and provided with a first elongated member;
a second cancer department,
a second end effector mounted on the second arm and provided with a second elongated member;
having a control unit,
The control unit is
While swinging the first elongate member and the second elongate member on the lid member placed on the container,
to move at least one elongate member of the first elongate member and the second elongate member toward the container;
and configured to operate the first arm and the second arm. According to claim 1,
The control unit is
The first elongate member and the second elongate member are reciprocated by a first distance from a predetermined position to one side in a direction orthogonal to the longitudinal direction of the first elongate member on the lid member, and the other side from the predetermined position A second distance longer than the first distance to the side, reciprocating and oscillating,
In a state in which the second elongate member is disposed on the lid member, the first elongate member is moved to the container side on the lid member from the one side rather than the second elongate member;
and configured to operate the first arm and the second arm. 3. The method of claim 1 or 2,
The control unit is configured such that, after the first elongate member and the second elongate member are oscillated, the overlap of the first elongate member and the second elongate member increases in a direction orthogonal to the longitudinal direction of the first elongate member. and moving the first and second arms in the longitudinal direction of the first elongated member and configured to operate the first and second arms to move the elongated member toward the container. Lid member mounting device. 4. The method according to any one of claims 1 to 3,
and a robot having the first arm and the second arm as a pair of arms. 5. The method of claim 4,
The robot is a lid member mounting device, characterized in that the pair of arms is a dual-arm robot installed on a base coaxially with each other.

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