WO2019230900A1

WO2019230900A1 - Lid member mounting device and system

Info

Publication number: WO2019230900A1
Application number: PCT/JP2019/021577
Authority: WO
Inventors: 賢二坂東; 栄二吉桑; 栄二三井; 一平長廣
Original assignee: 川崎重工業株式会社
Priority date: 2018-06-01
Filing date: 2019-05-30
Publication date: 2019-12-05
Also published as: CN112218798A; CN112218798B; TWI710504B; KR102487774B1; TW202003337A; JP2019210008A; JP7158897B2; KR20210019461A

Abstract

A lid member mounting device (10) is provided with: a first arm (20); a first end effector (40) that is mounted to the first arm and that has a first long member (44); a second arm (30); a second end effector (50) that is mounted to the second arm and that has a second long member (54); and a control unit (60). The control unit is configured to operate the first arm and the second arm to: arrange the first long member and the second long member on a lid member (81) placed on a container (80) so as to cover an opening (80b) such that each of the longitudinal directions of the first long member and the second long member is in parallel with a horizontal plane, and the center of the lid member is sandwiched, in a direction intersecting with the longitudinal direction of the first long member, between the first arm and the second arm; and move the first long member and the second long member to the container side.

Description

Lid member attaching device and system

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

As a device for attaching a lid to a container, for example, a container lid device of Patent Document 1 is known. In this container lid device, one end of the holding means is connected to the link, and the other end is connected to the operation means. The lid is accommodated in the receiving portion of the holding means, and the lid is attached to the container by tilting the holding means horizontally from the inclined state by the movement of the link and the operating means.

Japanese Patent Laid-Open No. 2001-072009

In the lid member mounting device disclosed in Patent Document 1, in order to attach the lid to the container, it is necessary to incline and change the attitude of the holding means, which complicates the mechanism and control. Moreover, since the holding means is a size that covers the entire lid body and increases in weight, the cost of an apparatus that can support it increases.

This invention solves the said conventional subject, and aims at providing the cover member attachment apparatus and system which can aim at simple and cost reduction.

In order to solve the above-described conventional problems, a lid member attaching device according to the present invention is a lid member attaching device for attaching a lid member to an opening of a container, and is attached to a first arm and the first arm, And a first end effector having a first elongate member, a second arm, a second end effector attached to the second arm and having a second elongate member, and a controller. The control unit is configured such that each longitudinal direction of the first elongate member and the second elongate member is parallel to a horizontal plane on the lid member placed on the container so as to cover the opening. And the first elongate member and the second elongate member are arranged so that the center of the lid member is sandwiched between each other in a direction intersecting the longitudinal direction of the first elongate member, and the container The first long member and the second long portion to the side It is configured to operate the first arm and the second arm to move the.

According to this configuration, the first elongate member and the second elongate 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 a lid to a container, the mechanism and control which incline a 1st elongate member and a 2nd elongate member are unnecessary, and a lid member attaching device can be simplified. Further, since the entire cover member is not covered with the first elongate member and the second elongate member, the weight is not increased, and an increase in the cost of an apparatus capable of supporting this can be suppressed.

In the lid member mounting device, the first end effector includes an adsorption part that adsorbs the lid member, and a rotation part that rotates the adsorption part around a rotation axis parallel to a longitudinal direction of the first long member. , May further be included.

According to this configuration, it is possible to attach the lid member to the container by adsorbing the stored lid member by the adsorption portion and changing the direction of the adsorption portion so that the lid member is directed downward. Therefore, the direction of the stored lid member can be made different from the direction of the lid member when the lid member is attached to the container, and the degree of freedom of the direction of the stored lid member can be increased.

In this lid member mounting device, the control unit sucks the lid member by the suction unit and places the lid member on the container, and the center of the lid member in a direction intersecting the longitudinal direction of the first long member. In addition, the first arm and the second arm may be operated so that the first elongate member and the second elongate member are disposed so as to sandwich the suction portion therebetween.

According to this configuration, when the lid member is pressed down by the first long member and the second long member, the suction portion holds between the first long member and the second long member that are easily deformed. Thereby, attachment of the lid member to the container can be facilitated while preventing deformation of the lid member.

In this lid member attaching apparatus, the control unit is configured to operate the first arm and the second arm so as to sequentially move the first long member and the second long member to the container side. It may be. According to this configuration, the lid member can be easily attached to the container while venting the air in the container by sequentially pressing the lid member toward the container side by the first long member and the second long member.

In the lid member mounting device, the first elongate member and the second elongate member may be formed of a round bar or a flat plate. According to this configuration, if each long member is a round bar, the contact area with the lid member is small, so that the pressing force can be reduced, and the cost of the apparatus can be kept low. Moreover, if each long member is a flat plate, since the contact area to a cover member is large, the pressing pressure to a cover member can be made small, and a deformation | transformation of a cover member can be prevented.

The lid member attaching device may be configured to dispose the first long member and the second long member across the lid members of the plurality of containers arranged side by side. According to this configuration, since the first elongate member and the second elongate member are supported by the plurality of containers in the direction in which the containers are arranged, the lid member can be stably pushed down to the container side.

The lid member mounting device includes any one of the lid member mounting devices described above and a transport unit that transports the container, and the control unit is configured to each of the plurality of containers sequentially transported by the transport unit. The first elongate member and the second elongate member may be arranged across the lid member. According to this configuration, the lid member can be simultaneously attached to the plurality of containers being conveyed by the first elongate member and the second elongate member, and work efficiency is improved.

The lid member mounting device further includes a camera that acquires an image of the container conveyed by the conveyance unit, and the control unit is configured to control the first elongate member on the lid member based on the image. The first direction is such that the center of the lid member is sandwiched between each other in a direction in which the longitudinal direction and the second longitudinal direction are parallel to the lid member and intersect the longitudinal direction of the first long member. The first arm and the second arm may be configured to operate such that the long member and the second long member are disposed. According to this configuration, the lid member can be more securely attached to the container by moving the first elongate member and the second elongate member according to the position of the container based on the image of the camera.

The present invention has the above-described configuration, and has an effect that it is possible to provide a lid member attaching device and system that can be easily and cost-effectively achieved.

FIG. 1 is a schematic diagram showing a schematic configuration of a lid member mounting device according to an embodiment of the present invention. FIG. 2 is a functional block diagram schematically showing the configuration of the control unit in FIG. FIG. 3A is a view showing the first end effector. FIG. 3B shows the second end effector. FIG. 4 is a view of a state in which the lid member is pushed down to the container side by the first long member and the second long member as viewed from one side in the transport direction. FIG. 5 is a view of the state in which the lid member is pushed down to the container side by the first long member and the second long member as viewed from one side in the opposing direction. FIG. 6 is a perspective view showing a lid member attachment system including the lid member attachment device of FIG. 1. FIG. 7 is a view of the lid member mounting system of FIG. 6 as viewed from above.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same or corresponding parts are denoted by the same reference numerals, and redundant description is omitted. Moreover, in all drawings, the component for demonstrating this invention is extracted and illustrated, and illustration may be abbreviate | omitted about another component. Furthermore, the present invention is not limited to the following embodiment.

(Embodiment)
<Configuration of lid member mounting device>
As shown in FIG. 1, the lid member attaching apparatus 10 according to the present embodiment is an apparatus that attaches a lid member to an opening of a container. For example, a robot is used. For example, a horizontal articulated robot is used as the robot. However, the lid member attaching apparatus 10 is not limited to this, and may be a robot such as a vertical articulated robot.

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

Further, a base shaft 14 is fixed on the upper surface of the carriage 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 provided so as to have a vertical difference. Thereby, the lid member mounting apparatus 10 is a coaxial dual-arm type SCARA robot that controls the first arm 20 and the second arm 30 that are coaxially arranged by one control unit 60, for example. In addition, the 1st arm 20 and the 2nd arm 30 are comprised so that it can operate | move independently and can operate | move in relation to each other.

The first arm 20 has a first arm portion 21 and a first wrist portion 22. The second arm 30 has a second arm part 31 and a second wrist part 32. Note that, here, the first arm 20 and the second arm 30 employ substantially the same configuration, but the present invention is not limited to this. For example, a configuration in which the

arm portions

21 and 31 and the

wrist portions

22 and 32 have different configurations in the first arm 20 and the second arm 30 may be adopted.

The first arm portion 21 is composed of a substantially rectangular parallelepiped first link 21a and a first link 21b, and the second arm portion 31 is composed of a substantially rectangular parallelepiped second link 31a and a second b link 31b.

The base ends of the

links

21a and 31a are connected to the base shaft 14 via the rotary joint J1, and the

link

21a and 31a rotate around the rotation axis L1 by the rotary joint J1. The base ends of the

links

21b and 31b are connected to the distal ends of the

links

21a and 31a via the rotary joint J2, and are rotated about the rotation axis L2 by the rotary joint J2.

Each

list part

22 and 32 is connected to the tip part of each

link

21b and 31b via linear motion joint J3, and can move up and down with respect to each

link

21b and 31b. A rotary joint J4 is provided at the lower end of each

wrist part

22, 32, and each mounting

part

24, 34 is provided at the lower end of the rotary joint J4. Each

end effector

40, 50 can be rotated around the rotation axis L3 by the rotary 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 portion 32 by the second mounting portion 34. Details of the first end effector 40 and the second end effector 50 will be described later.

The joints J1 to J4 of the first arm 20 and the second arm 30 are servo-controlled by the control unit 60 as an example of an actuator that relatively rotates or lifts two members connected to each joint. A drive motor (not shown) such as a servo motor is provided. Each of the joints J1 to J4 includes a rotation sensor (not shown) such as an encoder that detects the rotational position of the drive motor, and a current sensor (not shown) that detects a current for controlling the rotation of the drive motor. ) And are provided.

<Configuration of control unit>
As shown in FIG. 2, the control unit 60 includes a calculation unit 60a such as a CPU, a storage unit 60b such as a ROM and a RAM, and a servo control unit 60c, and is a robot controller including a computer such as a microcontroller. is there. The control unit 60 may be configured by a single control unit that performs centralized control, or may be configured by a plurality of control units that perform distributed control in cooperation with each other. Moreover, although the form which has arrange | positioned the memory | storage part 60b in the control part 60 was employ | adopted, it is not limited to this, The form by which the memory | storage part 60b is provided separately from the control part 60 may be employ | adopted.

The storage unit 60b stores information such as a basic program as a robot controller and various fixed data. The calculation unit 60a controls various operations of the lid member mounting apparatus 10 by reading and executing software such as a basic program stored in the storage unit 60b. That is, the arithmetic unit 60a generates a control command for the lid member mounting device 10 and outputs the control command 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 lid member mounting device 10 based on the control command generated by the calculation unit 60a. Yes.

<Configuration of first end effector and second end effector>
As shown in FIGS. 3A and 4, the first end effector 40 includes a first base portion 41, a first rotating portion 42, a first support portion 43, a first long member 44, and a first suction portion 45. Have. The first base portion 41 has a rectangular parallelepiped shape and 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. ing.

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

The first support portion 43 is attached to the first base portion 41 via the first rotating portion 42 and supports the first long member 44 and the first suction portion 45 in a direction away from the first base portion 41. . As a result, the first elongate member 44 and the first suction portion 45 are mounted on the first base 41 so as to be rotatable about the first rotation shaft 42 a of the first rotation portion 42 via the first support portion 43. Yes.

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

The first suction part 45 is formed of an elastic material such as rubber and has a cap shape having a first suction port 45a at the tip. The first adsorption part 45 has a proximal end connected to the first pipe 45b and is fixed to the support part 43 by the first pipe 45b.

The tip of the first suction portion 45 is disposed on the extension line of the first contact surface 44b of the first elongate member 44 or on the opposite side of the first rotation shaft 42a side from 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 in the direction perpendicular to the first rotating shaft 42a. It opens in the direction away from.

The first suction part 45 is connected to a vacuum generator (not shown) via the first pipe 45b. The vacuum generation device is a device that generates a negative pressure in the first adsorption unit 45, such as a vacuum pump or CONVUM (registered trademark), and is provided in the carriage 11 or the like.

For example, an opening / closing valve (not shown) is provided in the first pipe 45b. By opening and closing the first pipe 45b by the opening / closing valve, the adsorption by the first adsorption unit 45 and the release thereof are performed. The operation of the vacuum generator and the opening / closing of the on-off valve are controlled by the control unit 60. Thereby, the internal space of the 1st adsorption | suction part 45 can be attracted | sucked via the 1st piping 45b, and a cover member can be adsorb | sucked.

The first elongate member 44 and the first adsorbing portion 45 are configured so that each part of the first arm 20 is rotated around each rotation axis L1, L2, L3 (FIG. 1) by the rotating joints J1, J2, J4 (FIG. 1). By doing so, it can move in the left-right and front-back directions. Further, the first elongate member 44 and the first suction portion 45 are vertically moved by the first wrist portion 22 of the first arm 20 being moved up and down with respect to the first b link 21b by the linear motion joint J3 (FIG. 1). Can be moved to. Thus, the first arm 20 can move the first elongate member 44 and the first suction portion 45.

As shown in FIGS. 3B and 4, the second end effector 50 includes a second base portion 51, a second rotating portion 52, a second support portion 53, a second long member 54, and a second suction portion 55. Have. Since each part in the 2nd end effector 50 is the same as each part of the 1st end effector 40, the description is abbreviate | omitted.

<Configuration of lid member mounting system>
As shown in FIGS. 5 and 6, the lid member attachment system 70 includes a lid member attachment device 10, a transport unit 71, and a supply unit 72. The container 80 is supplied to the lid member attachment device 10 by the transport unit 71, the lid member 81 is supplied to the lid member attachment device 10 by the supply unit 72, and the lid member 81 is attached to the container 80 by the lid member attachment device 10.

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

The lid member 81 is a member formed of a resin such as polystyrene and polypropylene and covering the opening 80b of the container 80. The lid member 81 has, for example, a circular top part 81a and an outer peripheral edge 81b, the top part 81a is smaller in diameter than the outer peripheral edge 81b, and protrudes from the outer peripheral edge 81b toward the top part 81a. is there. However, the shape of the lid member 81 is not limited to this, and may be a flat plate shape or the like.

In the lid member attachment system 70, for example, the lid member attachment device 10 and the supply unit 72 are arranged so as to sandwich the transport unit 71 therebetween. A direction in which the container 80 is transported by the transport unit 71 is referred to as a transport direction. A direction perpendicular to the transport direction and in which the lid member mounting device 10 and the supply unit 72 face each other with the transport unit 71 interposed therebetween is referred to as a facing direction. The direction perpendicular to the transport direction and the facing direction is the vertical direction.

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

A position adjusting unit 73 is provided in the transport unit 71 on the upstream side of the lid member attaching device 10. The position adjustment unit 73 includes a first guide unit 73 a and a second guide unit 73 b and adjusts the position of the container 80 in the transport unit 71.

The first guide portion 73a and the second guide portion 73b have a flat plate shape, and are provided in parallel to the transport direction at a distance from each other in the facing direction. In the transport section 71, the first guide section 73a is disposed on the lid member mounting device 10 side, and the second guide section 73b is disposed on the supply section 72 side. The distance between the first guide portion 73 a and the second guide portion 73 b is set to be slightly larger than the maximum diameter of the container 80.

Therefore, the position of the container 80 in the facing direction is adjusted by the container 80 being transported by the transport unit 71 passing between the first guide part 73a and the second guide part 73b. Accordingly, the container 80 is disposed at a predetermined position with respect to the lid member attaching device 10 in the facing direction. Note that at least one of the first guide portion 73a and the second guide portion 73b may move in the facing direction.

The supply unit 72 is a mounting table that supplies the lid member 81. In this embodiment, two supply units 72 are provided in the lid member mounting system 70 according to the number of end effectors of the lid member mounting apparatus 10. The two supply units 72 are arranged side by side in the transport 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 unit 72 has a supply port 72a that is orthogonal to the facing direction and faces 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 arranged upright so that the top part 81a is orthogonal to the facing direction so that the top part 81a is closer to the supply port 72a than the opening part 80b. Thereby, the cover 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. Further, dust or the like hardly adheres to the lid member 81 in the supply unit 72, and the supply unit 72 can hold the lid member 81 in a sanitary manner.

<Operation Method of Lid Member Mounting Device>
An operation method of the lid member mounting apparatus 10 in the lid member mounting system 70 will be described with reference to FIGS. This operation method is executed by the control unit 60.

First, as shown in FIG. 3A and FIG. 3B, the control unit 60 sets the first suction port 45a of the first suction unit 45 and the second suction port 55a of the second suction unit 55 in the opposite direction. The first rotating unit 42 and the second rotating unit 52 are rotated about the first rotating shaft 42a and the second rotating shaft 52a, respectively, so as to be orthogonal to each other. However, the first suction port 45a and the second suction port 55a are not limited to this direction as long as the lid member 81 of the supply unit 72 can be sucked by the first suction port 45a and the second suction port 55a.

In this posture, the

long members

44 and 54 are arranged so as to face each other and the

longitudinal directions

44a and 54a are parallel to the transport direction. Further, the first long member 44 is disposed above the first suction portion 45, and the second long member 54 is disposed below the second suction portion 55. The first suction unit 45 and the second suction unit 55 are arranged along the transport direction. Therefore, the first long member 44 and the second chapter member can be rotated compactly without interfering with each other.

Subsequently, the control unit 60 controls to open the on-off valves of the first pipe 45b and the second pipe 55b, and adsorbs the first suction port 45a to the center of the lid member 81 of one supply unit 72, The second suction port 55 a is sucked to the center of the lid member 81 of the other supply unit 72. The first suction port 45a and the second suction port 55a may be suctioned simultaneously or sequentially. Each suction position is not limited to this 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 lid member 81.

Here, each suction port 45a and the second suction port 55a protrude from the

long members

44 and 54 toward the lid member 81. For this reason, each adsorption |

suction part

45 and 55 can adsorb | suck the cover member 81, without being obstructed by each

elongate member

44 and 54. FIG.

Then, the control unit 60 moves the first end effector 40 and the second end effector 50 by the first arm 20 and the second arm 30 in the direction away from the supply unit 72, respectively. Then, the control unit 60 rotates the first rotation unit 42 and the second rotation unit 52 so that the first suction unit 45 and the second suction unit 55 face the lower conveyance unit 71.

The plurality of containers 80 are transported by the transport unit 71 with an interval in the transport direction. At this time, the position of the container 80 in the facing direction is arranged at a predetermined position from the lid member attaching device 10 by the position adjusting unit 73. Then, the container 80 reaches the front of the lid member attaching device 10, and the conveying operation is stopped. In addition, the conveyance part 71 may perform the intermittent operation which repeats conveyance operation | movement and its stop, and may stop conveyance operation | movement by the signal of the sensor which detects the container 80, etc.

Here, the control unit 60 moves the first suction unit 45 and the second suction unit 55 downward. Thereby, the lid member 81 adsorbed by the first adsorption port 45a of the first adsorption unit 45 is overlapped on one container 80 of the two containers 80 arranged in front of the lid member attaching apparatus 10, and the other container The lid member 81 adsorbed by the second adsorbing port 55 a of the second adsorbing portion 55 is stacked on the 80. The lid member 81 that opens downward with the outer peripheral edge 81b below the top 81a covers the opening 80b of the container 80 that opens upward.

And the control part 60 controls so that an on-off valve may be obstruct | occluded, and stops adsorption | suction of the 1st adsorption | suction part 45 and the 2nd adsorption | suction part 55. FIG. Thereby, the lid member 81 is placed on the container 80. The first suction part 45 and the second suction part 55 are arranged in the arrangement direction and in contact with the lid member 81.

Subsequently, the control unit 60 moves the first long member 44 and the second long member 54 to the lower container 80 side. At this time, the first suction portion 45 and the second suction portion 55 are deformed, and the first contact surface 44 b of the first elongate member 44 and the second contact surface 54 b of the second elongate member 54 become the lid member 81. It comes into contact. And each

elongate member

44 and 54 presses the cover member 81 to the container 80 side.

Here, in the facing direction, the first long member 44 is disposed closer to the supply unit 72 than the

suction units

45 and 55, and the second long member 54 is closer to the lid member mounting device 10 than the

suction units

45 and 55. Arranged on the side. Therefore, the first elongate member 44 and the second elongate member 54 are arranged on the lid member 81 so as to be parallel to each other and sandwich the center of the lid member 81 between each other in the opposing direction. Press 81 downward. Thereby, the lid member 81 is attached to the container 80.

<Action, effect>
In the lid member attaching apparatus 10, the first longitudinal direction 44 a 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 the top portion 81 a of the lid member 81. Is superimposed parallel to For this reason, since the area of the 1st elongate member 44 and the 2nd elongate member 54 which contact the cover member 81 is large, it acts on the cover member 81 by the 1st elongate member 44 and the 2nd elongate member 54 to press. Pressure is reduced. Therefore, the lid member 81 can be attached to the container 80 while preventing the lid member 81 from being deformed.

Further, the first elongate member 44 and the second elongate member 54 are arranged so that the center of the lid member 81 is sandwiched between each other in the direction intersecting the first longitudinal direction 44a (for example, the facing direction). . For this reason, the force is applied to the lid member 81 more evenly by the first elongate member 44 and the second elongate member 54. Therefore, the lid member 81 can be attached to the container 80 while preventing the lid member 81 from being deformed.

Further, the first elongate member 44 and the second elongate member 54 are linearly moved to the container 80 side, and the lid member 81 is attached to the container 80. Thus, 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.

Further, since the first elongate member 44 and the second elongate member 54 are in contact with a part of the lid member 81, the weight can be reduced as compared with the one covering the entire lid member 81. Therefore, it is possible to suppress an increase in cost of the lid member mounting apparatus 10 that can support this.

Further, the first elongate member 44 and the second elongate member 54 so as to sandwich the first adsorbing portion 45 and the second adsorbing portion 55 between each other in a direction intersecting the first longitudinal direction 44a (for example, a facing direction). Is arranged. Therefore, when the first long member 44 and the second long member 54 are pressed down, the first adsorbing portion is between the first long member 44 and the second long member 54 that are easily deformed in the lid member 81. 45 and the second suction part 55. For this reason, the lid member 81 can be attached to the container 80 while preventing the lid member 81 from being deformed.

The first suction part 45 rotates around the first rotation axis 42a parallel to the first longitudinal direction 44a and changes its direction, and the second suction part 55 centers on the second rotation axis 52a parallel to the second longitudinal direction. Rotate to change direction. Thereby, the posture of each

suction part

45, 55 at the time of suction of the lid member 81 in the supply part 72 and the posture of each

suction part

45, 55 when the lid member 81 is attached to the container 80 can be changed. Therefore, the freedom degree of the direction of the cover member 81 in the supply part 72 can be increased.

The first elongate member 44 and the second elongate member 54 are arranged over the lid member 81 on each container 80 of a plurality of (for example, two) containers 80 arranged in the first longitudinal direction 44a (for example, the transport direction). It is arranged. Thus, even if the bottom 80a is smaller and unstable than the opening 80b, the

long members

44 and 54 are supported by the bottoms 80a of the plurality of containers 80 arranged in the first longitudinal direction 44a. For this reason, it is possible to reduce the inclination of the

long members

44 and 54 and the container 80 pressed thereby, and the lid member 81 can be attached to the container 80 more stably.

The first elongate member 44 and the second elongate member 54 are disposed across the lid member 81 on each container 80 of the plurality of containers 80 that are sequentially conveyed by the conveyance unit 71. Thereby, since the lid member 81 can be attached to the plurality of containers 80 at the same time, work efficiency can be improved.

The first elongate member 44 and the second elongate member 54 can be moved separately. Therefore, by adjusting the interval and direction of the

long members

44 and 54 according to the size and shape of the lid member 81 and the position and number of the containers 80, the

long members

44 and 54 are arranged on the lid member 81. can do. Therefore, workability can be improved.

<Modification 1>
In the above configuration, the controller 60 moves the first elongate member 44 and the second elongate member 54 to the container 80 side simultaneously on the lid member 81, and attaches the lid member 81 to the container 80. However, the controller 60 may attach the lid member 81 to the container 80 by sequentially moving the first long member 44 and the second long member 54 to the container 80 side on the lid member 81.

In this case, for example, when the lid member 81 is pressed by the first long member 44, the lid member 81 is inclined, and the gap between the lid member 81 and the container 80 is closer to the second long member 54 than the first long member 44. A gap is opened. Since the air in the container 80 is released from the gap, the lid member 81 can be easily attached to the container 80 by pressing the lid member 81 against the container 80 by the second elongate member 54.

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

<Modification 2>
The first elongate member 44 may be formed of a round bar having a circular cross section perpendicular to the first longitudinal direction 44a. The second elongate member 54 may be formed of a round bar having a circular cross section perpendicular to the second longitudinal direction. Note that at least one of the first long member 44 and the second long member 54 may be a round bar.

Thereby, since the first elongate member 44 and the second elongate member 54 are in line contact with the lid member 81, the pressure acting on the lid member 81 is increased by each elongated member. Therefore, the force pressed down by the

long members

44 and 54 can be reduced, and the cost of the lid member attachment device 10 can be suppressed.

<Modification 3>
At least 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

elongate member

44 and 54 with respect to the cover member 81 is large, and the pressure which acts on the cover member 81 by each

elongate member

44 and 54 falls. Therefore, the deformation of the lid member 81 pressed by the

long members

44 and 54 can be suppressed.

<Modification 4>
The lid member attachment system 70 may further include a camera 74 that acquires an image of the container 80 conveyed by the conveyance unit 71 as illustrated in FIGS. 6 and 7. In this case, the position adjustment unit 73 may not be provided in the transport unit 71.

The camera 74 is disposed above the transport unit 71 on the upstream side of the lid member mounting device 10. The camera 74 acquires an image of the container 80 in the transport unit 71 and outputs it to the control unit 60. The control unit 60 acquires 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 so that the first long member 44 and the second long member 54 sandwich the center of the lid member 81 between each other according to 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 transport direction.

Thus, the first long member 44 and the second long member 54 are displaced according to the position of the container 80 being conveyed. For this reason, the lid member 81 can be attached to the container 80 more reliably.

<Other variations>
All the lid member mounting devices 10 have the two

arms

20 and 30 and the

end effectors

40 and 50 displaced thereby, but may have three or more arms and end effectors.

In all the lid member mounting devices 10 described above, the first suction part 45 and the second suction part 55 were provided. However, the lid member mounting apparatus 10 may not include the first suction part 45 and the second suction part 55, or may include the first suction part 45 or the second suction part 55.

From the above description, many modifications and other embodiments of the present invention are apparent to persons skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.

The lid member mounting device and system of the present invention are useful as a lid member mounting device and system that can be easily and cost-effective.

DESCRIPTION OF SYMBOLS 10: Lid member attaching apparatus 20: 1st arm 30: 2nd arm 40: 1st end effector 44: 1st elongate member 44a: 1st longitudinal direction (longitudinal direction)
45: 1st adsorption part (adsorption part)
50: 2nd end effector 54: 2nd elongate member 54a: 2nd longitudinal direction (longitudinal direction)
60: Control unit 70: Lid member mounting system 71: Transport unit 74: Camera 80: Container 80b: Opening 81: Lid member

Claims

A lid member attachment device for attaching a lid member to an opening of a container,
A first arm;
A first end effector attached to the first arm and having a first elongate member;
A second arm;
A second end effector attached to the second arm and having a second elongated member;
A control unit,
The control unit is configured such that each longitudinal direction of the first elongate member and the second elongate member is parallel to a horizontal plane on the lid member placed on the container so as to cover the opening. And the first elongate member and the second elongate member are arranged so that the center of the lid member is sandwiched between each other in a direction intersecting the longitudinal direction of the first elongate member, and the container A lid member mounting device configured to operate the first arm and the second arm so as to move the first elongate member and the second elongate member to the side.
The first end effector is
An adsorbing portion for adsorbing the lid member;
The lid member mounting device according to claim 1, further comprising: a rotating portion that rotates the suction portion around a rotation axis parallel to a longitudinal direction of the first long member.
The control unit adsorbs the lid member by the adsorption unit and places the lid member on the container, and sets the center of the lid member and the adsorption unit to each other in a direction intersecting the longitudinal direction of the first long member. The lid member attachment according to claim 2, wherein the first arm and the second arm are configured to operate such that the first elongate member and the second elongate member are disposed so as to be sandwiched therebetween. apparatus.
The control unit is configured to operate the first arm and the second arm so as to sequentially move the first elongate member and the second elongate member to the container side. The lid member attaching device according to any one of claims 3 to 4.
The lid member mounting device according to any one of claims 1 to 4, wherein the first elongate member and the second elongate member are formed of a round bar or a flat plate.
The lid according to any one of claims 1 to 5, wherein the lid is configured to dispose the first elongate member and the second elongate member over each of the lid members of the plurality of containers arranged side by side. Member mounting device.
A lid member attaching device according to any one of claims 1 to 6;
A transport unit for transporting the container,
The controller is configured to arrange the first elongate member and the second elongate member across the lid members of the plurality of containers sequentially conveyed by the conveyance unit. Lid member mounting system.
A camera for acquiring an image of the container conveyed by the conveyance unit;
Based on the image, the control unit is configured such that, on the lid member, each longitudinal direction of the first long member and the second long member is a direction parallel to a horizontal plane, and the first long member The first arm and the second arm are operated so that the first elongate member and the second elongate member are arranged so that the center of the lid member is sandwiched between each other in a direction intersecting the longitudinal direction The lid member mounting system according to claim 7, wherein the lid member mounting system is configured to cause the lid member to be fixed.