TWI710504B - Cover member installation device and system - Google Patents

Abstract

The object of the present invention is to provide a cover member attaching device that can achieve simplicity and cost reduction. The cover member attachment device 10 includes: a first arm 20, a first end effector 40 that is attached to the first arm and has a first elongated member 44, a second arm 30, and is attached to the second arm and has a second length. The second end effector 50 of the bar member 54 and the control section 60, the control section is configured to cover the opening 80b on the cover member 81 placed on the container 80, the first long member and the above Each longitudinal direction of the second elongated member is a direction parallel to the horizontal plane, and in a direction intersecting the longitudinal direction of the first elongated member, the center of the cover member is placed between each other. The first long member and the second long member move the first arm and the second arm so that the first long member and the second long member move to the container side.

Description

Cover member installation device and system

The invention relates to a cover member installation device and system.

As a device for attaching a cap to a container, for example, the capping device for a container of Patent Document 1 is known. In the container cap applying device, one end of the holding mechanism is connected with the connecting rod, and the other end is connected with the operating mechanism. The cover body is accommodated in the receiving part of the holding mechanism, and the holding mechanism is tilted from the inclined state to horizontal with the action of the link and the operating mechanism, and the cover body is installed on the container. [Prior Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 2001-072009

[The problem to be solved by the invention]

In the lid member assembly device of Patent Document 1, in order to attach the lid body to the container, the posture of the holding mechanism must be tilted and changed, which complicates the mechanism and control. In addition, since the holding mechanism has a size that covers the entire cover body and is heavy, the cost of the device that can support it increases.

The present invention solves the above-mentioned existing problems, and aims to provide a cover member mounting device and system that can achieve simple and low cost. [Means to Solve the Problem]

In order to solve the above-mentioned existing problems, the cover member mounting device according to the present invention is a cover member mounting device for mounting a cover member to an opening of a container, and includes: a first arm, mounted on the first arm, and having a first elongated member The first end effector, the second arm, the second end effector mounted on the second arm and having a second elongated member, and a control section, the control section is configured to be mounted in a manner that covers the opening On the lid member placed on the container, the longitudinal directions of the first elongate member and the second elongate member are directions parallel to the horizontal plane and in a direction intersecting the longitudinal direction of the first elongate member , The first long member and the second long member are arranged so that the center of the cover member is sandwiched between each other, so that the first long member and the second long member face the container The side movement method moves the first arm and the second arm.

According to this structure, the first elongated member and the second elongated member arranged so as 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 elongated member and the second elongated member are not required, and the lid member attaching device can be simplified. In addition, since the entire cover member is not covered by the first elongate member and the second elongate member, the weight is not heavy, and it is possible to suppress the increase in the cost of the device that can support it.

In the cover member attaching device, the first end effector may further include: a suction part that sucks the cover member, and the suction part rotates around a rotation axis parallel to the longitudinal direction of the first elongated member The rotating part.

According to this configuration, the stored lid member is sucked by the suction part, and the lid member is directed downward by changing the direction of the suction part, so that the lid member can be attached to the container. Therefore, the orientation of the stored cover member can be made different from the orientation of the cover member when it is installed on the container, and the degree of freedom of orientation of the stored cover member can be improved.

In the cover member mounting device, the control unit may be configured to adsorb the cover member by the suction unit and place it on the container, and to place it in a direction intersecting the longitudinal direction of the first elongated member. The first elongate member and the second elongate member are arranged such that the center of the cover member and the suction portion are sandwiched between each other, so that the first arm and the second arm are operated.

According to this structure, when the cover member is pressed down by the first long member and the second long member, the first long member and the second long member, which are easily deformed, are pressed by the suction part. Thereby, not only the deformation of the lid member is prevented, but also the lid member can be easily installed on the container.

In the lid member mounting device, the control unit may be configured to move the first arm and the second arm to the container side in order to move the first elongated member and the second elongated member in sequence. Take action. According to this structure, by sequentially pressing the lid member toward the container by using the first elongate member and the second elongate member, the lid member can be easily attached to the container while extracting air in the container.

In the cover member attachment device, the first elongate member and the second elongate member may be formed of a round rod or a flat plate. According to this structure, if each elongated member is a round bar, the contact area with the cover member is small, so the pressing force can be reduced, and the cost of the device can be kept low. In addition, if each elongated member is a flat plate, the contact area with the cover member is large, so the pressing pressure on the cover member can be reduced, and the deformation of the cover member can be prevented.

In this cover member attachment device, it may be comprised so that the said 1st elongate member and the said 2nd elongate member are arrange|positioned over the said cover member of each of the said several container arrange|positioned. According to this structure, the first elongated member and the second elongated member are supported by a plurality of containers in the direction in which the containers are arranged, so that the lid member can be stably pressed down on the container side.

In this cover member mounting device, any one of the above-mentioned cover member mounting devices and a conveying section for conveying the container may be provided, and the control section may also be configured to cover each of the plurality of containers sequentially conveyed by the conveying section The said cover member arranges the said 1st elongate member and the said 2nd elongate member. According to this structure, it is possible to simultaneously attach the cover member to a plurality of containers being conveyed by using the first elongate member and the second elongate member, and work efficiency is improved.

The cover member attaching device further includes a camera for acquiring an image of the container conveyed by the conveying unit, and the control unit may be configured to: based on the image, on the cover member, the first strip The longitudinal direction of the member and the second longitudinal direction are parallel to the cover member, and are arranged so as to sandwich the center of the cover member in a direction intersecting the longitudinal direction of the first elongated member The first elongated member and the second elongated member actuate the first arm and the second arm. According to this structure, the first elongated member and the second elongated member are moved in accordance with the position of the container based on the image of the camera, whereby the cover member can be more reliably attached to the container. [Effects of Invention]

The present invention has the effect of providing a cover member attaching device and system that has the above-described configuration and can be simplified and reduced in cost.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, in all the drawings, the same or corresponding parts are marked with the same symbols, and repeated descriptions are omitted. In addition, in all the drawings, constituent elements used to describe the present invention are extracted and illustrated, and other constituent elements may be omitted from illustration. Furthermore, the present invention is not limited to the following embodiments.

(Implementation form) ＜Constitution of cover member installation device＞ As shown in FIG. 1, the lid member attaching device 10 according to this embodiment is a device for attaching a lid member to the opening of a container, for example, a robot is used. Among the robots, for example, a horizontal articulated robot is used. However, the cover member attaching device 10 is not limited to this, and may be a robot such as a vertical articulated robot.

The cover 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 trolley 11. For example, the control unit 60 is housed in the trolley 11.

In addition, a base shaft 14 is fixed to the upper surface of the trolley 11. The base shaft 14 is provided with a first arm 20 and a second arm 30 so as to be rotatable around a rotation axis L1 passing through the axis of the base shaft 14. The first arm 20 and the second arm 30 are arranged in such a way that there is a height difference between the upper and lower sides. Thereby, the cover member mounting device 10 is, for example, a coaxial double-arm type horizontal articulated (SCARA) robot, which uses a control unit 60 to control the first arm 20 and the second arm 30 arranged on the same axis. In addition, the first arm 20 and the second arm 30 are configured to be able to operate independently or to be able to operate in association with each other.

The first arm 20 has a first arm portion 21 and a first arm portion 22. The second arm 30 has a second arm portion 31 and a second arm portion 32. In addition, here, although the 1st arm 20 and the 2nd arm 30 adopt the form which has substantially the same structure, it is not limited to this. For example, each of the arm portions 21, 31 and each of the wrist portions 22, 32 may adopt different configurations on the first arm 20 and the second arm 30.

The first arm portion 21 includes a substantially rectangular parallelepiped first link 21a and a first link 21b, and the second arm portion 31 includes a substantially rectangular parallelepiped second link 31a and a 2b link 31b.

The base end portion of each link 21a, 31a is connected to the base shaft 14 via the rotary joint J1, and is rotated around the rotation axis L1 by the rotary joint J1. The base end part of each link 21b, 31b is connected with the front end part of each link 21a, 31a via the rotation joint J2, and it rotates about the rotation axis L2 by the rotation joint J2.

Each arm 22, 32 is connected to the front end of each link 21b, 31b via a linear motion joint J3, and can move up and down with respect to each link 21b, 31b. A revolving joint J4 is provided at the lower end of each of the wrists 22 and 32, and each assembly portion 24, 34 is provided at the lower end of the revolving joint J4. Each end effector 40, 50 can be rotated 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 connected to the first wrist 22 in a detachable manner by the first assembly portion 24. The second end effector 50 is provided at the front end of the second arm 30 and is detachably connected to the second wrist portion 32 by the second assembly portion 34. In addition, the details of the first end effector 40 and the second end effector 50 will be described later.

In addition, the joints J1 to J4 of the first arm 20 and the second arm 30 are provided with a control unit 60 as an example of an actuator for relatively rotating or raising and lowering the two members connected to each joint. Drive motors such as servo motors for servo control (not shown). In addition, each joint J1 to J4 is provided with a rotation sensor (not shown) such as an encoder for detecting the rotation position of the drive motor, and a current sensor for detecting the current that controls the rotation of the drive motor. Detector (not shown).

＜Constitution of control department＞ As shown in FIG. 2, the control unit 60 includes a computing unit 60a such as a CPU, a storage unit 60b such as ROM and RAM, and a servo control unit 60c, for example, a robot controller equipped with a computer such as a microcontroller. In addition, the control unit 60 may also be constituted by a single control section for centralized control, or may be constituted by a plurality of control sections that cooperate with each other to perform distributed control. In addition, although the storage unit 60b is disposed in the control unit 60, it is not limited to this, and the storage unit 60b and the control unit 60 may be separately provided.

In the storage unit 60b, information such as a basic program as a robot controller and various fixed data are stored. The arithmetic unit 60a controls various operations of the cover member mounting device 10 by reading and executing software such as basic programs stored in the storage unit 60b. That is, the computing unit 60a generates a control command for the cover member mounting device 10 and outputs it to the servo control unit 60c. The servo control unit 60c is configured to control the driving of the servo motors corresponding to the joints J1 to J4 of the arms 20 and 30 of the cover member mounting device 10 based on the control commands generated by the computing unit 60a.

<Configuration of the first end effector and the second end effector> As shown in FIG. 3(a) and FIG. 4, the first end effector 40 has: a first base 41, a first rotating part 42, a first supporting part 43, a first elongated member 44, and a first suction part 45 . The first base 41 has a rectangular parallelepiped shape, has a mounted portion (not shown) mounted on the first mounting portion 24 on the upper surface, and is connected to the first rotating portion 42 on a side surface orthogonal to the upper surface.

The first rotating part 42 has a cylindrical shape, for example, and has a first rotating shaft 42 a orthogonal to the side surface of the first base 41. One end of the first rotating portion 42 is centered on the first rotating shaft 42a and is connected to the first base 41 so as to be rotatable by a rotary actuator (not shown), and the other end is fixed to the first supporting portion 43 on.

The first support portion 43 is attached to the first base portion 41 via the first rotation portion 42 and supports the first elongated member 44 and the first suction portion 45 in a direction away from the first base portion 41. Thereby, the first elongated member 44 and the first suction portion 45 are attached to the first base portion 41 via the first support portion 43 so as to be rotatable about the first rotation shaft 42a of the first rotation portion 42.

The first elongated member 44 extends, for example, long in a direction parallel to the first rotating shaft 42a of the first rotating part 42, and a cross section orthogonal to the first longitudinal direction 44a is formed of a rectangular square material . The first elongated member 44 has an end surface orthogonal to the first longitudinal direction 44a and a side surface along the first longitudinal direction 44a. One of the side surfaces of the first elongated member 44 is fixed to the first support portion 43 and has a side surface (first contact surface 44b) opposite to the surface fixed to the support portion 43.

The first suction portion 45 is formed of an elastic material such as rubber, and has a top cover shape having a first suction port 45a at the tip. The base end of the first suction portion 45 is 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 portion 45 is arranged 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. The first suction port 45a is closer to the first rotating portion 42 than the first elongated member 44, is parallel to the first contact surface 44b, and is farther away from the first rotating shaft in the direction orthogonal to the first rotating shaft 42a. Opening in the direction of 42a.

The first suction unit 45 is connected to a vacuum generator (not shown) via a first pipe 45b. The vacuum generating device is, for example, a vacuum pump, CONVUM (registered trademark), or the like, which generates a negative pressure in the first suction portion 45, and is installed on the trolley 11 or the like.

On the first pipe 45b, for example, an on-off valve (not shown) is provided. By using the on-off valve, the first pipe 45b is opened and blocked, and suction by the first suction part 45 and its release are performed. The operation of the vacuum generator and the opening relationship of the on-off valve are controlled by the control unit 60. Thereby, the inner space of the first suction portion 45 can be sucked through the first pipe 45b, and the cover member can be sucked.

The first elongated member 44 and the first suction portion 45 can be formed by rotating the joints J1, J2, J4 (FIG. 1), each portion of the first arm 20 around the rotation axis L1, L2, L3 (FIG. 1) Rotate to move in the left-right and front-rear directions. In addition, the first elongated member 44 and the first suction portion 45 can move up and down with the first arm portion 22 of the first arm 20 relative to the 1b link 21b following the linear motion joint J3 (FIG. 1). Move up and down. In this way, the first arm 20 can move the first elongated member 44 and the first suction portion 45.

As shown in FIG. 3( b) and FIG. 4, the second end effector 50 has a second base 51, a second rotating part 52, a second support part 53, a second elongated member 54 and a second suction part 55. The parts in the second end effector 50 are the same as the parts in the first end effector 40, so the description thereof is omitted.

＜Constitution of cover member installation system＞ As shown in FIGS. 5 and 6, the cover member mounting system 70 includes a cover member mounting device 10, a conveying unit 71, and a supply unit 72. The container 80 is supplied to the lid member mounting device 10 by the conveying portion 71, the lid member 81 is supplied to the lid member mounting device 10 by the supply portion 72, and the lid member 81 is mounted on the container by the lid member mounting device 10 80 on.

The container 80 is formed of resin such as polystyrene and polypropylene, and is, for example, a container for storing food such as a lunch box. The container 80 has a substantially hemispherical shape, for example, and has a circular bottom 80a and an opening 80b. The diameter of the bottom 80a is smaller than the diameter of the opening 80b and is recessed from the opening 80b toward the bottom 80a. However, the shape of the container 80 is not limited to this, and may be a rectangular parallelepiped shape in which the bottom 80a and the opening 80b are rectangular.

The cover member 81 is formed of resin such as polystyrene and polypropylene, and is a member that covers the opening 80 b of the container 80. The cover member 81 has, for example, a shape having a circular top portion 81a and an outer peripheral edge 81b. The diameter of the top portion 81a is smaller than the diameter of the outer peripheral edge 81b and protrudes from the outer peripheral edge 81b to the top portion 81a. However, the shape of the cover member 81 is not limited to this, and it may be a flat plate shape etc.

In the cover member mounting system 70, for example, the cover member mounting apparatus 10 and the supply part 72 are arrange|positioned so that the conveyance part 71 may be sandwiched between each other. In addition, the direction in which the container 80 is conveyed by the conveyance part 71 is called a conveyance direction. The direction orthogonal to the conveying direction and the direction in which the cover member attaching device 10 and the supply section 72 oppose each other with the conveying section 71 interposed therebetween are referred to as the facing direction. In addition, the direction orthogonal to the conveying direction and the facing direction is the vertical direction.

The conveyance part 71 is, for example, a belt conveyor, and it extends long in the conveyance direction. For example, in a manner that the first end effector 40 is arranged on the upstream side in the conveying direction of the conveying section 71 and the second end effector 50 is arranged on the downstream side of the conveying direction, the cover member mounting device 10 is installed in front of the conveying section 71 .

A position adjustment part 73 is provided in the conveying part 71 on the upstream side of the cover member mounting device 10. The position adjustment part 73 has a first guide part 73a and a second guide part 73b to adjust the position of the container 80 in the conveying part 71.

The 1st guide part 73a and the 2nd guide part 73b are flat plate shape, mutually spaced apart in the opposing direction, and are provided in parallel with respect to the conveyance direction. In the conveyance part 71, the 1st guide part 73a is arrange|positioned at the cover member attachment device 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 to be slightly larger than the maximum diameter of the container 80.

Therefore, by passing the container 80 conveyed by the conveying part 71 between the 1st guide part 73a and the 2nd guide part 73b, the position of the container 80 in the opposing direction is adjusted. Thereby, the container 80 is arranged at a predetermined position with respect to the lid member mounting device 10 in the facing direction. In addition, at least any one of the first guide portion 73a and the second guide portion 73b may also move in the opposing direction.

The supply part 72 is a mounting table for supplying the cover member 81. According to the number of end effectors of the cover member mounting apparatus 10, in this embodiment, two supply units 72 are included in the cover 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. The supply part 72 has a supply port 72a which is orthogonal to the facing direction and opposes each of the end effectors 40 and 50, and supplies the cover member 81 from the supply port 72a.

In the supply part 72, so that the top part 81a may become the supply port 72a side rather than the opening part 80b, the cover member 81 is standingly arrange|positioned so that the top part 81a may be orthogonal to the opposing direction. Thereby, the cover member 81 can be replenished to the supply part 72 from the opening on the side opposite to the supply port 72a side, and the workability is excellent. In addition, in the supply part 72, it is difficult for dust or the like to adhere to the cover member 81, and the supply part 72 can keep the cover member 81 hygienic.

＜Operation method of cover member installation device＞ The operation method of the cover member mounting device 10 in the cover member mounting system 70 will be described with reference to FIGS. 3( a) to 7. This operation method is implemented by the control unit 60.

First, as shown in Fig. 3(a) and Fig. 3(b), the control section 60 has the first suction port 45a of the first suction section 45 and the second suction port 55a of the second suction section 55 opposite to each other The directions are orthogonal, so that 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. However, if the cover member 81 of the supply part 72 can be sucked by the first suction port 45a and the second suction port 55a, the first suction port 45a and the second suction port 55a are not limited to this orientation.

In addition, in this posture, the elongated members 44 and 54 are opposed to each other, and are arranged so that the longitudinal directions 44a and 54a become parallel to the conveying direction. In addition, the first elongated member 44 is arranged on the upper side than the first suction portion 45, and the second elongated member 54 is arranged on the lower side than the second suction portion 55. The first suction part 45 and the second suction part 55 are arranged along the conveying direction. Therefore, the first elongated member 44 and the second elongated member do not interfere, and they can be rotated compactly.

Then, the control unit 60 is controlled to open the on-off valves of the first pipe 45b and the second pipe 55b. The first suction port 45a is sucked in the center of the cover member 81 of one of the supply units 72, and the other The center of the cover member 81 of the supply portion 72 sucks the second suction port 55a. The first suction port 45a and the second suction port 55a may be adsorbed simultaneously or sequentially. As long as the first contact surface 44b of the first long member 44 and the second contact surface 54b of the second long member 54 face the cover member 81, each suction position is not limited to this.

Here, each suction port 45a and the second suction port 55a protrude toward the cover member 81 side than each of the elongated members 44 and 54. Therefore, each of the suction parts 45 and 55 can suction the cover member 81 without obstructing the respective elongated members 44 and 54.

Furthermore, the control unit 60 uses the first arm 20 and the second arm 30 to move the first end effector 40 and the second end effector 50 in a direction away from the supply unit 72, respectively. In addition, the control unit 60 rotates the first rotating unit 42 and the second rotating unit 52 so that the first suction unit 45 and the second suction unit 55 face the conveying unit 71 downward.

By this conveyance part 71, a plurality of containers 80 are conveyed while leaving an interval in the conveyance direction. At this time, the position of the container 80 in the opposing direction is arranged at a predetermined position from the lid member mounting device 10 by the position adjusting portion 73. In addition, before the container 80 reaches the lid member attaching device 10, the transport operation is stopped. In addition, the conveying unit 71 can perform an intermittent operation that repeats the conveying operation and its stop, and can also stop the conveying operation based on a signal from a sensor that detects the container 80 or the like.

Here, the control unit 60 moves the first suction unit 45 and the second suction unit 55 downward. Thereby, the lid member 81 sucked by the first suction port 45a of the first suction portion 45 is superimposed on one of the two containers 80 arranged in front of the lid member mounting device 10, and the lid member 81 is superimposed on the other container The cover member 81 sucked by the second suction opening 55a of the second suction portion 55 is superimposed on 80. The outer peripheral edge 81b is set lower than the top part 81a, and the cover member 81 which opens below covers the opening part 80b of the container 80 opened above.

In addition, the control unit 60 controls to close the on-off valve to stop the adsorption of the first adsorption unit 45 and the second adsorption unit 55. Thereby, the lid member 81 is arranged on the container 80. In addition, the first suction portion 45 and the second suction portion 55 are arranged so as to be arranged in the arrangement direction and abut on the cover member 81.

Then, the control part 60 moves the 1st elongate member 44 and the 2nd elongate member 54 to the container 80 side below. At this time, the first suction portion 45 and the second suction portion 55 are deformed, and the first contact surface 44b of the first elongated member 44 and the second contact surface 54b of the second elongated member 54 reach the cover member 81 and abut . In addition, each of the elongated members 44 and 54 presses down the lid member 81 toward the container 80 side.

Here, in the opposing direction, the first elongated member 44 is arranged on the side of the supply portion 72 rather than the suction portions 45 and 55, and the second elongated member 54 is arranged on the cover member rather than the suction portions 45 and 55. Install the device 10 side. Therefore, the first long member 44 and the second long member 54 are parallel to each other, and are arranged on the cover member 81 so that the center of the cover member 81 is sandwiched between each other in the opposing direction. 81 press down. Thereby, the lid member 81 is attached to the container 80.

＜Function and effect＞ In the cover 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 directions parallel to the horizontal plane, and overlap the top 81a of the cover member 81 in parallel . Therefore, the area of the first elongated member 44 and the second elongated member 54 which are in contact with the cover member 81 is large, and therefore the first elongated member 44 and the second elongated member 54 that are pressed down act on the cover member 81 The pressure is reduced. Therefore, not only the deformation of the lid member 81 is prevented, but the lid member 81 can be mounted on the container 80.

In addition, in a direction (for example, the facing direction) intersecting the first longitudinal direction 44a, the first elongated member 44 and the second elongated member 54 are arranged so as to sandwich the center of the cover member 81 between each other. Therefore, by the first elongate member 44 and the second elongate member 54, the force acts on the cover member 81 more evenly. Therefore, not only the deformation of the lid member 81 is prevented, but the lid member 81 can be mounted on the container 80.

Furthermore, the first long member 44 and the second long member 54 are moved linearly to the container 80 side, and the lid member 81 is attached to the container 80. In this way, in order to attach the lid member 81 to the container 80, it is not necessary to incline the first elongate member 44 and the second elongate member 54, and the mechanism and control can be simplified.

In addition, since the first long member 44 and the second long member 54 abut against a part of the cover member 81, it is possible to reduce the weight compared to the one that covers the entire cover member 81. Therefore, it is possible to suppress an increase in the cost of the cover member mounting device 10 that can support it.

Furthermore, in a direction (for example, an opposing direction) intersecting the first longitudinal direction 44a, the first elongated member 44 and the second elongated member 44 and the second elongated member 44 are arranged so as to sandwich the first suction portion 45 and the second suction portion 55 between each other. Long member 54. Therefore, when the first elongated member 44 and the second elongated member 54 are used for pressing down, the first elongated member 44 and the second elongated member 54 are used between the cover member 81 and the easily deformed first elongated member 44 and the second elongated member 54. The suction part 45 and the second suction part 55 are pressed. Therefore, not only the deformation of the lid member 81 is prevented, but the lid member 81 can be mounted on the container 80.

The first suction part 45 rotates around the first rotating shaft 42a parallel to the first longitudinal direction 44a to change its orientation, and the second suction part 55 rotates around the second rotating shaft 52a parallel to the second longitudinal direction. Rotate to change orientation. Thereby, the postures of the suction parts 45 and 55 when the cover member 81 is sucked in the supply part 72 and the postures of the suction parts 45 and 55 when the cover member 81 is mounted on the container 80 can be changed. Therefore, the degree of freedom of the direction of the cover member 81 in the supply portion 72 can be increased.

The first elongated member 44 and the second elongated member 54 are arranged across the cover member 81 on each container 80 of the plurality of (for example, two) containers 80 arranged in the first longitudinal direction 44 a (for example, the conveying direction). Thereby, even if it is an unstable container 80 whose bottom part 80a is smaller than the opening part 80b, each elongate member 44, 54 is supported by the bottom part 80a of a plurality of containers 80 arranged in the first longitudinal direction 44a. Therefore, the tilting of the elongated members 44 and 54 and the container 80 pressed by the elongated members can be reduced, and 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 across the cover member 81 on each of the plurality of containers 80 sequentially conveyed by the conveying unit 71. Thereby, the lid member 81 can be attached to a plurality of containers 80 at the same time, and therefore, the work efficiency can be improved.

The first long member 44 and the second long member 54 can be moved separately. Therefore, the spacing and direction of the elongated members 44 and 54 can be adjusted according to the size and shape of the lid member 81 and the position and number of the container 80, and the elongated members 44, 54 can be arranged on the lid member 81. Therefore, workability can be improved.

<Modification 1> In the above configuration, the control unit 60 simultaneously moves the first elongate member 44 and the second elongate member 54 to the container 80 side on the lid member 81, and attaches the lid member 81 to the container 80. However, the control unit 60 may place the first elongated member 44 and the second elongated member 54 on the lid member 81 to the container 80 side in this order, and mount the lid member 81 on the container 80.

In this case, for example, if the lid member 81 is pressed down by the first elongated member 44, the lid member 81 is inclined, and is on the side of the second elongated member 54 compared to the first elongated member 44, between the lid member 81 and the container. Open the gap between 80. Since the air in the container 80 escapes from the gap, the lid member 81 is pressed down against the container 80 by the second elongated member 54 and the lid member 81 can be easily attached to the container 80.

In addition, the first long member 44 and the second long member 54 can be moved separately. Therefore, after the cover member 81 is pressed down by the first long member 44, and the cover member 81 is pressed down by the second long member 54, the second long member 54 may be continuously pressed down twice. Thereby, the lid member 81 can be attached to the container 80 more reliably without increasing the pressing force.

<Modification 2> The cross section of the first elongated member 44 orthogonal to the first longitudinal direction 44a may be formed by a round rod in a circular shape. In addition, the cross section orthogonal to the second longitudinal direction of the second elongated member 54 may be formed by a round bar. In addition, at least any one of the first long member 44 and the second long member 54 may be a round rod.

As a result, since the first long member 44 and the second long member 54 make line contact with the cover member 81, the pressure applied to the cover member 81 by each long member increases. Therefore, the pressing force of each of the elongated members 44 and 54 can be reduced, and the cost of the cover member mounting device 10 can be suppressed.

<Modification 3> At least any one of the first long member 44 and the second long member 54 may be formed of a flat plate. Thereby, the contact area of each of the elongated members 44, 54 to the cover member 81 is large, and the pressure applied to the cover member 81 by each of the elongated members 44, 54 is reduced. Therefore, the deformation of the cover member 81 which is pressed down by the respective elongated members 44 and 54 can be suppressed.

<Modification 4> As shown in FIGS. 6 and 7, the lid member mounting system 70 may further include a camera 74 that obtains an image of the container 80 conveyed by the conveying unit 71. In this case, the position adjustment part 73 may not be provided on the conveying part 71.

The camera 74 is located on the upstream side of the cover member mounting device 10 and is arranged above the conveying unit 71. The camera 74 obtains an image of the container 80 in the conveying unit 71 and outputs it to the control unit 60. The control unit 60 obtains the position information of the container 80 based on the image.

The control unit 60 operates the first arm 20 and the second arm 30 in such a manner that the first elongate member 44 and the second elongate member 54 sandwich the center of the cover member 81 between each other based on the position information. In this case, the first longitudinal direction 44a of the first elongated member 44 and/or the second longitudinal direction of the second elongated member 54 may not be parallel to the conveying direction.

In this way, 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 attached to the container 80 more reliably.

＜Other modifications＞ All the above-mentioned cover member mounting devices 10 have two arms 20 and 30 and end effectors 40 and 50 that are displaced by them, but they may also have more than three arms and end effectors.

All the cover member attachment devices 10 described above include a first suction part 45 and a second suction part 55. However, the cover member mounting device 10 may not include the first suction part 45 and the second suction part 55, or may be provided with the first suction part 45 or the second suction part 55.

Based on the above description, various improvements or other embodiments of the present invention will be clear to those skilled in the art. Therefore, the above description should be interpreted only as an example, and is provided for the purpose of teaching the best mode for carrying out the present invention to those skilled in the art. The details of the structure and/or function can be changed substantially without departing from the spirit of the present invention. [Industrial availability]

The cover member mounting device and system of the present invention can be used as a cover member mounting device and system capable of achieving simplicity and cost reduction.

10‧‧‧Cover member installation device 20‧‧‧1st arm 30‧‧‧Second Arm 40‧‧‧The first end effector 41‧‧‧The first base 42‧‧‧The first rotating part 42a‧‧‧The first rotation axis 43‧‧‧The first supporting part 44‧‧‧The first long member 44a‧‧‧The first length direction (length direction) 44b‧‧‧First abutment surface 45‧‧‧The first adsorption part (adsorption part) 45a‧‧‧The first suction port 45b‧‧‧The first piping 50‧‧‧2nd end effector 51‧‧‧Second base 52‧‧‧The second rotating part 52a‧‧‧The second rotation axis 53‧‧‧Second supporting part 54‧‧‧The second long member 54a‧‧‧The second length direction (length direction) 54b‧‧‧Second abutment surface 55‧‧‧Second adsorption part 55a‧‧‧Second suction port 55b‧‧‧Second piping 60‧‧‧Control Department 70‧‧‧Cover member installation system 71‧‧‧Transportation Department 72‧‧‧Supply Department 74‧‧‧Camera 80‧‧‧Container 80b‧‧‧Opening 81‧‧‧Cover member 81a‧‧‧Top 81b‧‧‧Outer periphery

Fig. 1 is a schematic diagram showing a schematic configuration of a cover member attaching device according to an embodiment of the present invention. Fig. 2 is a functional block diagram schematically showing the structure of the control unit in Fig. 1. Fig. 3(a) is a diagram showing the first end effector. Fig. 3(b) is a diagram showing the 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 elongate member and the second elongate member viewed from one side of the conveyance direction. Fig. 5 is a view of a state in which the lid member is pressed down toward the container by the first elongate member and the second elongate member viewed from one side of the opposing direction. Fig. 6 is a perspective view showing a cover member mounting system provided with the cover member mounting device of Fig. 1. Fig. 7 is a view of the cover member mounting system of Fig. 6 viewed from above.

40‧‧‧The first end effector

41‧‧‧The first base

42‧‧‧The first rotating part

42a‧‧‧The first rotation axis

43‧‧‧The first supporting part

44‧‧‧The first long member

44a‧‧‧The first length direction (length direction)

44b‧‧‧First abutment surface

45‧‧‧The first adsorption part (adsorption part)

45a‧‧‧The first suction port

45b‧‧‧The first piping

50‧‧‧2nd end effector

51‧‧‧Second base

52‧‧‧The second rotating part

52a‧‧‧The second rotation axis

53‧‧‧Second supporting part

54‧‧‧The second long member

54a‧‧‧2nd length direction (length direction)

54b‧‧‧Second abutment surface

55‧‧‧Second adsorption part

55a‧‧‧Second suction port

55b‧‧‧Second piping

72‧‧‧Supply Department

81‧‧‧Cover member

81a‧‧‧Top

81b‧‧‧Outer periphery

Claims (8)

A cover member attaching device for attaching a cover member to an opening of a container, comprising: a first arm; a first end effector having a first elongated member mounted on the first arm; a second arm; A second end effector with a second arm and a second elongated member; and a control part; the first end effector further has: a suction part which suctions the cover member; and a rotation part which causes the suction part to interact with The first elongated member rotates centered on a rotating shaft parallel to the longitudinal direction of the first elongated member; the control portion is configured to be placed on the lid member placed on the container so as to cover the opening, and the first elongated member And each of the longitudinal directions of the second elongated member is a direction parallel to the horizontal plane, and in a direction intersecting the longitudinal direction of the first elongated member, the center of the cover member is sandwiched between each other Arranging the first long member and the second long member so that the first long member and the second long member are moved to the container side, and the first arm and the second arm are operated ; With the use of the suction portion to adsorb the lid member and placed on the container, in the direction intersecting the longitudinal direction of the first elongated member, the first elongated member and the second elongated member are arranged The first arm and the second arm are operated in such a manner that the center of the cover member and the suction portion are sandwiched between each other; and the cover is moved by the first elongated member and the second elongated member When the member is pressed down, the first long member and the second long member are pressed by the suction part. The cover member mounting device according to claim 1, wherein: The control unit is configured to operate the first arm and the second arm so that the first elongated member and the second elongated member are sequentially moved to the container side. The cover member mounting device according to claim 1, wherein the first elongate member and the second elongate member are formed of round bars or flat plates. The lid member mounting device according to claim 1, wherein the lid member mounting device is configured to arrange the first elongated member and the second elongated member over the respective lid members of the plurality of containers arranged member. A cover member mounting system, comprising: a cover member mounting device according to any one of claims 1 to 4, and a conveying unit for conveying the container; the control unit is configured to be sequentially conveyed by the conveying unit The first elongated member and the second elongated member are arranged for each of the lid members of the container. The cover member mounting system according to claim 5, wherein the cover member mounting system further includes a camera that obtains an image of the container conveyed by the conveying unit; and the control unit is configured to: based on the image, On the cover member, each longitudinal direction of the first elongate member and the second elongate member is a direction parallel to the horizontal plane, and in a direction intersecting the longitudinal direction of the first elongate member, so that the The first elongated member and the second elongated member are arranged such that the center of the cover member is sandwiched between each other, so that the first arm and the second arm are operated. A cover member mounting device for mounting a cover member on an opening of a container, comprising: a first arm; a first end effector mounted on the first arm and having a first elongated member; a second arm; A second end effector having a second elongated member mounted on the second arm; and a control section; the control section is configured to be placed on the cover member placed 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 the horizontal plane, and in a direction intersecting the longitudinal direction of the first elongated member, the center of the cover member is sandwiched between The first elongated member and the second elongated member are arranged between each other so that the first elongated member and the second elongated member are moved to the container side, so that the first arm and The second arm moves; and the first arm and the second arm are moved so that the first elongated member and the second elongated member sequentially move to the container side. A cover member attaching device for attaching a cover member to an opening of a container, comprising: a first arm; a first end effector having a first elongated member mounted on the first arm; a second arm; A second end effector with a second arm and a second elongated member; and a control section; the control section is configured to be placed on the lid member placed on the container so as to cover the opening, and the first Each longitudinal direction of the elongated member and the second elongated member is a direction parallel to the horizontal plane, and in a direction intersecting the longitudinal direction of the first elongated member, so that the center of the cover member is sandwiched between each other The first elongated member and the second elongated member are arranged so that the first elongated member and the second elongated member are moved to the container side, so that the first arm and the second The arm moves; the cover member attachment device is configured to arrange the first elongate member and the second elongate member over the respective cover members of the plurality of containers arranged.

Images