WO2020122103A1

WO2020122103A1 - Cover member attachment device

Info

Publication number: WO2020122103A1
Application number: PCT/JP2019/048417
Authority: WO
Inventors: 栄二三井; 一平長廣
Original assignee: 川崎重工業株式会社
Priority date: 2018-12-11
Filing date: 2019-12-11
Publication date: 2020-06-18
Also published as: JP7126437B2; KR102463781B1; KR20210098532A; CN113226659A; JP2020093331A

Abstract

A cover member attachment device (10) to mount a cover member (81) to a container (80) comprises a first arm (20), a first end effector (40) that is mounted to the first arm and that has a first elongated member (44), a second arm (30), a second end effector (50) that is mounted to the second arm and that has a second elongated member (54), and a control unit (60). The control unit is configured so as to operate the first arm and the second arm above the cover member placed on the container so that at least one elongated member of the first elongated member and the second elongated member moves to the container side after oscillating the first elongated member and the second elongated member.

Description

Lid member mounting device

The present invention relates to a lid member attaching device.

As a device for attaching a lid to a container, for example, a container lid-applying device of Patent Document 1 is known. In this container lid-applying device, the lid member is sucked by the suction member and supplied onto the opening of the container, and then the lid member is pressed and attached to the container by the operating means.

Japanese Patent Laid-Open No. 2001-072009

In the lid member mounting device of Patent Document 1 described above, when the lid body is supplied to the container and the lid body is displaced from the container, the lid body may not be reliably attached to the container.

The present invention solves the above-mentioned conventional problems, and an object of the present invention is to provide a lid member attaching device that can attach the lid member to the container reliably.

A lid member attaching device according to an aspect of the present invention is a lid member attaching device for attaching a lid member to a container, comprising: a first arm; and a first elongate member attached to the first arm. A first end effector, a second arm, a second end effector attached to the second arm and having a second elongate member, and a controller, the controller being mounted on the container. After swinging the first elongated member and the second elongated member on the placed lid member, at least one elongated member of the first elongated member and the second elongated member is attached. It is configured to operate the first arm and the second arm so as to move to the container side.

According to this configuration, even if the lid member is placed with being displaced with respect to the container, the lid member is placed at an appropriate position with respect to the container by swinging the lid member by swinging each long member. The lid member can be reliably attached to the container by pressing the lid member whose position has been adjusted in this manner with the elongated member.

In this lid member attaching device, the control unit causes the first elongated member and the second elongated member to be positioned on the lid member at predetermined positions in a direction orthogonal to a longitudinal direction of the first elongated member. From the predetermined position to the other side for the first distance, and to the other side from the predetermined position to the other side for the second distance longer than the first distance to reciprocate and swing to swing the second elongated member from the lid member. The first arm and the second arm are arranged so as to move the first elongate member to the container side on the lid member on the one side of the second elongate member in a state of being arranged above. It may be configured to operate.

According to this configuration, the lid member is tilted so that the other side is lower than the one side by moving the long members to the other side more largely than the one side. While pressing the other side by the second elongated member, one side is depressed by the first elongated member. Thereby, the lid member can be reliably attached to the container.

Further, in the lid member attaching device, the control unit may cause the first elongated member and the second elongated member to swing, and then the first elongated member in a direction orthogonal to a longitudinal direction of the first elongated member. After moving the first long member and the second long member in the longitudinal direction of the first long member so that the overlap between the member and the second long member becomes large, the long member is removed. The first arm and the second arm may be configured to move so as to move to the container side.

According to this configuration, the contact area between the first long member and the second long member and the lid member can be increased by increasing the overlap between the first long member and the second long member. .. Therefore, the lid member can be stably pressed by the first elongated member and the second elongated member, and the lid member can be attached to the container.

The lid member attaching device may be configured by a robot including the first arm and the second arm as a pair of arms. In this lid member attaching device, the robot may be a double-arm robot in which a pair of the arms are coaxially provided on a base.

The present invention has an effect that it is possible to provide a lid member attaching device that has the configuration described above and can attach the lid member to the container with certainty.

FIG. 1 is a schematic diagram showing a schematic configuration of a lid member attaching device according to an embodiment of the present invention. FIG. 2 is a functional block diagram schematically showing the configuration of the control unit shown in FIG. FIG. 3A is a diagram showing the first end effector. FIG.3(b) is a figure which shows a 2nd end effector. FIG. 4 is a view of the state in which the lid member is pressed down toward the container by the first elongated member and the second elongated member, as viewed from one side in the transport direction. FIG. 5: is the figure which looked at the state which presses the lid member to the container side by the 1st elongate member and the 2nd elongate member, from one side of an opposing direction. FIG. 6 is a perspective view showing a lid member attaching system including the lid member attaching device of FIG. 1. FIG. 7 is a view of the lid member mounting system of FIG. 6 viewed from above. FIG. 8A is a diagram in which the lid member is sucked by each suction portion. FIG.8(b) is a figure which contacted the cover member with each long member. FIG.8(c) is the figure which mounted the lid member on the container. FIG. 9A is a diagram in which each long member is swung. FIG. 9B is a view in which the tilted lid member is pressed by the second elongated member. FIG.9(c) is a figure which pressed down the cover member by the 1st elongate member.

Embodiments of the present invention will be described below with reference to the drawings. In all the drawings, the same or corresponding parts will be denoted by the same reference symbols, without redundant description. In addition, in all the drawings, constituent elements for explaining the present invention are extracted and shown, and other constituent elements may be omitted. Furthermore, the present invention is not limited to the embodiments below.

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

The lid member attaching 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 housed in the carriage 11.

Also, the base shaft 14 is fixed to 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 in height. Thereby, the lid member attaching device 10 is, for example, a coaxial double-arm type SCARA robot that controls the first arm 20 and the second arm 30 coaxially arranged by one control unit 60. The first arm 20 and the second arm 30 are configured to be able to operate independently or in association with 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 portion 31 and a second wrist portion 32. Note that, here, the first arm 20 and the second arm 30 have a configuration that has substantially the same configuration, but the present invention is not limited to this. For example, a configuration may be adopted in which the

arm portions

21 and 31 and the

wrist portions

22 and 32 have different configurations for the first arm 20 and the second arm 30.

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 rotate about 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 rotary joints J2, and the rotary joints J2 rotate about the rotation axis L2.

Each of the

wrist parts

22 and 32 is connected to the tip of each of the

links

21b and 31b via a linear joint J3, and can be moved up and down with respect to each of the

links

21b and 31b. The wrist joints J4 are provided at the lower ends of the

wrist portions

22 and 32, and the mounting

portions

24 and 34 are provided at the lower ends of the rotary joint J4. As a result, the

end effectors

40, 50 mounted on the mounting

portions

24, 34 can rotate about 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. The 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 moves up and down two members connected to each joint. A drive motor (not shown) such as a servo motor is provided. Further, each of the joints J1 to J4 has a rotation sensor (not shown) such as an encoder that detects the rotational position of the drive motor, and a current sensor (not shown) that detects a current that controls the rotation of the drive motor. ), and are provided.

<Configuration of control unit>
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, 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. Further, although the form in which the storage unit 60b is arranged in the control unit 60 is adopted, the present invention is not limited to this, and the form in which the storage unit 60b is provided separately from the control unit 60 may be adopted.

The storage unit 60b stores information such as a basic program as a robot controller and various fixed data. The computing unit 60a controls various operations of the lid member attaching device 10 by reading and executing software such as the basic program stored in the storage unit 60b. That is, the calculation unit 60a generates a control command for the lid member attaching device 10 and outputs this to the servo control unit 60c. The servo control unit 60c is configured to control the drive of the servo motors corresponding to the joints J1 to J4 of the

arms

20, 30 of the lid member attaching device 10 based on the control command generated by the calculation unit 60a. There is.

<Structures of the first end effector and the second end effector>
As shown in FIGS. 3A and 4, the first end effector 40 includes a first base portion 41, a first rotation portion 42, a first support portion 43, a first elongated member 44, a first suction portion 45, and It has a first stretchable portion 46. The first base 41 is, for example, in the shape of a rectangular parallelepiped, has a mounted portion (not shown) mounted on the first mounting portion 24 on the upper surface, and has a side surface orthogonal to the upper surface to the first rotating portion 42. It is connected.

The first rotating portion 42 has, for example, a columnar shape, and has a first rotating shaft 42 a that is orthogonal to the side surface of the first base 41. One end of the first rotating portion 42 is rotatably connected to the first base portion 41 by a rotary actuator (not shown) about the first rotating shaft 42a, and the other end is fixed to the first supporting 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 elongated member 44 and the first suction portion 45 in the direction away from the first base portion 41. .. As a result, the first elongated member 44 and the first suction portion 45 are mounted on the first base portion 41 so as to be rotatable about the first rotation shaft 42a of the first rotation portion 42 via the first support portion 43. There is.

The first elongate member 44 extends, for example, in a direction parallel to the first rotation shaft 42a of the first rotating portion 42, and has a rectangular cross section having a cross section orthogonal to the first longitudinal direction 44a. The 1st elongate member 44 has the end surface orthogonal to the 1st longitudinal direction 44a, and the side surface which follows the 1st longitudinal direction 44a. Of the side surfaces, one side surface 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. ing.

The first suction portion 45 is made of an elastic material such as rubber and has a cap 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 the tip end is open to the side opposite to the first support portion 43 side in the direction orthogonal to the first longitudinal direction 44a.

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

An opening/closing valve (not shown) is provided in the first pipe 45b, for example. By opening and closing the first pipe 45b by the opening/closing valve, the adsorption by the first adsorption unit 45 and its release are performed. The controller 60 controls the operation of the vacuum generator and the opening/closing of the on-off valve. As a result, the internal space of the first suction unit 45 can be sucked through the first pipe 45b and the lid member can be sucked.

The first pipe 45b is connected to the first expansion/contraction part 46. For example, the 1st expansion-contraction part 46 is a linear actuator, and expands/contracts the 1st piping 45b. As a result, the first suction portion 45 provided on the first pipe 45b can move forward and backward with respect to the first contact surface 44b of the first elongated member 44. In the direction orthogonal to the expansion/contraction direction, the first suction portion 45 is arranged at a predetermined position with respect to the first elongated member 44.

The first elongated member 44 and the first suction portion 45 can be moved by the rotary joints J1, J2, J4 (FIG. 1) and the linear joint J3 (FIG. 1) of the first arm 20. Thus, the first arm 20 can move the first elongated 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 rotation portion 52, a second support portion 53, a second elongated member 54, a second suction portion 55, and a second suction portion 55. It has a second stretchable portion 56. Since each part of the second end effector 50 is the same as each part of the first end effector 40, the description thereof will be omitted.

<Structure of lid member mounting system>
As shown in FIGS. 6 and 7, the lid member attachment system 70 includes the lid member attachment device 10, a transport unit 71, and a supply unit 72. The container 80 is supplied to the lid member attaching device 10 by the transport unit 71, the lid member 81 is supplied to the lid member attaching device 10 by the supplying unit 72, and the lid member 81 is attached to the container 80 by the lid member attaching device 10.

As shown in FIGS. 3(a) to 4, the container 80 is made 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 is a substantially hemispherical shape 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.

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

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 portion 81a and an outer peripheral edge 81b, the diameter of the top portion 81a is smaller than that of the outer peripheral edge 81b, and the lid member 81 projects from the outer peripheral edge 81b toward the top portion 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.

The lid member 81 is an inner fitting lid whose outer peripheral edge 81b fits into the step portion 80c inside the container 80. However, the lid member 81 may be an outer fitting lid in which the container 80 fits inside the lid member 81 as long as it can cover the opening 80b of the container 80.

As shown in FIGS. 6 and 7, 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 between them. The direction in which the container 80 is transported by the transport unit 71 is referred to as the transport direction. A direction that is orthogonal to the transport direction and in which the lid member mounting device 10 and the supply unit 72 face each other across the transport unit 71 is referred to as a facing direction. The transport direction and the facing direction are included in the horizontal direction and are orthogonal to the vertical direction. Further, in the facing direction, the supply unit 72 side of the lid member attaching device 10 is referred to as a first side (one side), and the side opposite to the first side is referred to as a second side (the other side).

The transport unit 71 is, for example, a belt conveyor and extends long in the transport direction. For example, the lid member attaching device 10 is provided in front of the transport unit 71 such 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. It is provided in.

A position adjusting unit 73 is provided in the conveying unit 71 on the upstream side of the lid member attaching device 10. The position adjustment unit 73 has a first guide unit 73a and a second guide unit 73b, 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, are spaced from each other in the facing direction, and are provided in parallel with the transport direction. In the transport section 71, the first guide section 73a is arranged on the lid member attaching device 10 side, and the second guide section 73b is arranged on the supply section 72 side. The distance between the first guide portion 73a and the second guide portion 73b is set to be slightly larger than the maximum diameter of the container 80.

Therefore, the position of the container 80 in the facing direction is adjusted by the container 80 being conveyed by the conveying unit 71 passing between the first guide portion 73a and the second guide portion 73b. As a result, the container 80 is arranged 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. According to the number of end effectors of the lid member attaching device 10, in this embodiment, two supply parts 72 are provided in the lid member attaching system 70. 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 the

respective end effectors

40 and 50, and supplies the lid member 81 from the supply port 72a.

In the supply part 72, the top part 81a is located closer to the supply port 72a than the opening part 80b, and the lid member 81 is arranged upright so that the top part 81a is orthogonal to the facing direction. As a result, the lid member 81 can be replenished to the supply unit 72 from the opening on the side opposite to the supply port 72a side, which is excellent in workability. Further, dust and the like are less likely to adhere to the lid member 81 in the supply unit 72, and the supply unit 72 can hygienically retain the lid member 81.

<How to operate the lid member attaching device>
A method of operating the lid member attaching device 10 in the lid member attaching system 70 will be described with reference to FIGS. 3(a) to 9(c). This operation method is executed by the control unit 60.

First, as shown in FIGS. 3A and 3B, the control unit 60 causes the first suction port 45a of the first suction unit 45 and the second suction port 55a of the second suction unit 55 to face each other. The first rotating portion 42 and the second rotating portion 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 orientation as long as the lid member 81 of the supply unit 72 can be suctioned by the first suction port 45a and the second suction port 55a.

Note that, in this posture, the

long members

44 and 54 are arranged so as to be spaced from each other in the vertical direction and parallel to the transport direction. The first elongated member 44 is arranged above the first suction portion 45, and the second elongated member 54 is arranged below the second suction portion 55. The first suction section 45 and the second suction section 55 are arranged side by side in the transport direction. Therefore, the first elongate member 44 and the second elongate member 54 can be rotated compactly without interfering with each other.

Subsequently, the control unit 60 extends the first pipe 45b by the first expansion/contraction unit 46 and causes the first suction unit 45 to project toward the supply unit 72 side from the first contact surface 44b of the first elongated member 44. In addition, the control unit 60 extends the second pipe 55b by the second expansion/contraction unit 56 and causes the second suction unit 55 to project toward the supply unit 72 side from the second contact surface 54b of the second elongated member 54.

In addition, the control unit 60 controls the opening and closing valves of the first pipe 45b and the second pipe 55b to be opened, sucks the first suction port 45a in the center of the lid member 81 of the one supply unit 72, and controls the other. The second suction port 55a is sucked onto the center of the lid member 81 of the supply section 72 of FIG. The first adsorption port 45a and the second adsorption port 55a may adsorb simultaneously or sequentially. Each suction position is not limited to this as long as the first contact surface 44b of the first elongated member 44 and the second contact surface 54b of the second elongated member 54 face the lid member 81.

Then, the control unit 60 is moved by the first arm 20 and the second arm 30 in the direction in which the first end effector 40 and the second end effector 50 are separated from the supply unit 72. Then, as shown in FIG. 4, 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, respectively. To do. As a result, the contact surfaces 44b and 54b face downward and are arranged on a predetermined surface such as a horizontal surface.

At this time, as shown in FIG. 8A, the

suction portions

45 and 55 are projected more than the

long members

44 and 54. Therefore, as shown in FIG. 8B, the control unit 60 contracts the

pipes

45b and 55b by the expansion and

contraction units

46 and 56. As a result, the lid member 81 attracted by the

attraction portions

45 and 55 is pulled toward the

elongated members

44 and 54, and the lid member 81 abuts the abutment surfaces 44b and 54b.

Here, as shown in FIG. 7, a plurality of containers 80 are transported by the transport unit 71 at intervals 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 section 73. The transport unit 71 may continuously transport the container 80. Alternatively, the transport operation may be stopped when the container 80 reaches the front of the lid member attaching device 10. In this case, the transport unit 71 may perform an intermittent operation in which the transport operation and the stop thereof are repeated, or the transport operation may be stopped by a signal of a sensor that detects the container 80 or the like.

Subsequently, as shown in FIGS. 5 and 7, the control unit 60 moves the

long members

44 and 54 and the

suction units

45 and 55 downward. As a result, the lid member 81 sucked by the first suction port 45a of the first suction portion 45 is superposed on one container 80 of the two containers 80 arranged in front of the lid member attaching device 10, and the other container 80 is stacked. The lid member 81 sucked by the second suction port 55a of the second suction portion 55 is stacked on the surface 80.

At this time, the

long members

44 and 54 extend in the transport direction across the adjacent containers 80 and are arranged on the two containers 80. On the lid member 81, the first suction section 45 and the second suction section 55 are arranged in the transport direction. Further, in the facing direction, the first elongate member 44 is arranged on the first side of the

respective suction portions

45, 55, and the second long member 54 is arranged on the second side of the

respective suction portions

45, 55. .. Therefore, the

long members

44 and 54 sandwich the

suction units

45 and 55 therebetween, and the

longitudinal directions

44a and 54a thereof are parallel to the transport direction. The contact surfaces 44b and 54b are arranged side by side in the horizontal direction and arranged on the lid member 81.

Then, as shown in FIG. 8C, the control unit 60 controls the on-off valve so as to be closed, and stops the adsorption of the first adsorption unit 45 and the second adsorption unit 55. As a result, the lid member 81 is placed on the container 80. The

pipes

45b and 55b may be contracted by the expansion and

contraction units

46 and 56, and the

adsorption units

45 and 55 may be arranged above the lid member 81.

Subsequently, as shown in FIG. 9A, the control unit 60 operates the

arms

20 and 30 so that the

elongated members

44 and 54 swing on the lid member 81. For example, the control unit 60 reciprocates the

long members

44 and 54 from the predetermined position to the one side on the lid member 81 in the direction orthogonal to the first longitudinal direction 44a by the first distance, and then from the predetermined position. It oscillates by reciprocating a second distance longer than the first distance to the other side.

Note that this predetermined position is, for example, the position of each

long member

44, 54 at a predetermined distance from each

suction portion

45, 55 when the

suction portion

45, 55 is arranged at the center of the lid member 81. Here, the first suction portion 45 and the first elongate member 44 have a predetermined positional relationship with each other in a direction other than the expansion/contraction direction of the suction portions 45 and 55 (for example, the facing direction and the transport direction), and the second suction portion The portion 55 and the second elongated member 54 are in a predetermined positional relationship with each other.

Specifically, the control unit 60 sets the first distance (for example, 5 mm), the first elongated member 44, and the second elongated member 54 from the predetermined position to one side (for example, the upstream side) in the transport direction. After the movement, the first distance is moved to the other side (for example, the downstream side) in the transport direction. As a result, the

long members

44 and 54 reciprocate from the predetermined position on the lid member 81 to the one side in the transport direction.

The control unit 60 also moves the

elongated members

44 and 54 from the predetermined position to the other side in the transport direction by the first distance, and then moves the

elongated members

44 and 54 to the one side in the transport direction by the first distance. Thereby, the

long members

44 and 54 reciprocate from the predetermined position on the lid member 81 to the other side in the transport direction.

Further, the control unit 60 moves the

elongated members

44, 54 from the predetermined position to the first side in the facing direction by the first distance, and then moves the

elongated members

44, 54 to the second side in the facing direction by the first distance. As a result, the

elongated members

44 and 54 reciprocate from the predetermined position on the lid member 81 to the first side in the facing direction.

Finally, the control unit 60 moves the

elongated members

44 and 54 from the predetermined position to the second side in the facing direction by the second distance (for example, 10 mm), and then moves the first member to the first side in the facing direction. Move two distances. As a result, the

long members

44 and 54 reciprocate from the predetermined position on the lid member 81 to the second side in the facing direction.

In this way, the lid member 81 is shaken on the container 80 by horizontally swinging the

long members

44 and 54 while contacting the lid member 81. Therefore, even if the position of the lid member 81 is displaced with respect to the container 80 in the horizontal direction, the lid member 81 fits inside the container 80, and the position of the lid member 81 with respect to the container 80 is adjusted. Therefore, the lid member 81 is positioned with respect to the container 80 so as to cover the opening 80b.

Also, the reciprocal movement distance (second distance) of each

long member

44, 54 to the second side is longer than the movement distance (first distance) in the other direction. Therefore, as shown in FIG. 9B, the lid member 81 is inclined, for example, 5 degrees or more and 10 degrees or less so that the second side is lower than the first side. For example, the lid member 81 is inclined such that the first side of the outer peripheral edge 81b thereof does not fit in the step portion 80c of the container 80, but the second side thereof fits.

Subsequently, the control unit 60 once moves the

long members

44 and 54 upward and separates them from the lid member 81. Then, as shown in FIG. 9C, the control unit 60 moves, for example, the first elongate member 44 extending from the upstream side to the downstream side in the transport direction to the downstream side and extends from the downstream side to the upstream side. 2 The long member 54 is moved to the upstream side.

As a result, the first long member 44 and the second long member 54 move in the transport direction on the lid member 81 so that the total length of the first long member 44 and the second long member 54 becomes shorter and the mutual overlap becomes larger in the facing direction. .. In this way, the areas of the first elongated member 44 and the second elongated member 54 that overlap the lid member 81 in the vertical direction increase. The area in which the contact surfaces 44b and 54b contact the lid member 81 increases. The first long member 44 or the second long member 54 may be moved in the transport direction to increase the overlap between the first long member 44 and the second long member 54 in the facing direction.

Then, the control unit 60 moves the second elongate member 54 to the side of the container 80 below the second elongate member 54 to bring the second contact surface 54b into contact with the lid member 81. Here, the second elongated member 54 is arranged on the second side from the center of the lid member 81 such that the second longitudinal direction 54a thereof is parallel to the transport direction and the second contact surface 54b is horizontal. To be done.

Thereafter, the control unit 60 moves the first elongated member 44 to the container 80 side below the first elongated member 44 while the second longitudinal direction 54a is parallel to the transport direction and the first contact surface 44b is horizontal. As a result, the first elongated member 44 presses the lid member 81 toward the container 80 on the first side with respect to the center of the lid member 81.

At this time, with the second elongated member 54 holding the lower side of the lid member 81 inclined with respect to the opening 80b of the container 80, the first elongated member 44 holds the higher side of the lid member 81 in the container 80. Push in. Thereby, the lid member 81 is pushed down on the second side with the first side of the outer peripheral edge 81b fitted to the step portion 80c of the container 80 as a fulcrum, and as shown in FIG. 4, the second side also fits on the step portion 80c. As a result, the lid member 81 is more surely attached to the container 80 while air escapes from the gap between the lid member 81 and the container 80. Further, the pressure when pushing the lid member 81 can be reduced, and the deformation of the lid member 81 can be prevented.

Further, when the pressing operation of FIG. 9C is performed, the overlapping of the first elongated member 44 and the second elongated member 54 in the facing direction becomes larger than that of the swinging operation of FIG. 9A. The first long member 44 and the second long member 54 are moved in the transport direction. This makes it possible to increase the contact area of the

elongated members

44 and 54 with respect to the lid member 81. Therefore, the

long members

44 and 54 can stably press the lid member 81 onto the container 80. Further, the pressure when pushing the lid member 81 can be reduced, and the deformation of the lid member 81 can be prevented.

In the above-described configuration, the

suction portions

45 and 55 are arranged above the contact surfaces 44b and 54b in the swinging operation and the pressing operation. However, the

suction portions

45 and 55 are arranged in the contact surfaces 44b and 54b. You may arrange so that it may become the same height as. As a result, the cover member 81 is swung and pressed by the

suction portions

45, 55 and the contact surfaces 44b, 54b.

Also, in the above configuration, the

long members

44 and 54 are swung so as to move to the second side longer than the first side. However, the distance by which the

long members

44 and 54 are swung may be the same on the first side and the second side.

Further, in the above configuration, the

long members

44 and 54 swing in the facing direction and the conveying direction. However, the swinging direction of each

elongated member

44, 54 may be either the facing direction or the conveying direction.

Further, in the above-described configuration, the lid member 81 is attached to the container 80 by pressing the lid member 81 with the first elongated member 44 while holding the second side of the lid member 81 with the second elongated member 54. .. However, the lid member 81 may be attached to the container 80 by pressing the lid member 81 with the second elongated member 54 while holding the first side of the lid member 81 with the first elongated member 44. Alternatively, the lid member 81 may be attached to the container 80 by pressing the lid member 81 with the first elongated member 44 and the second elongated member 54.

Further, each

long member

44, 54 may be formed by a round bar having a circular cross section orthogonal to each

longitudinal direction

44a, 54a. As a result, the pressure applied to the lid member 81 by the

elongated members

44 and 54 increases, the pressing force by the

elongated members

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

Further, each

elongated member

44, 54 may be formed by a flat plate. As a result, the pressure applied to the lid member 81 by the

long members

44 and 54 is reduced, and the deformation of the lid member 81 pressed by the

long members

44 and 54 can be suppressed.

The lid member mounting system 70 may further include a camera 74 that acquires an image of the container 80 transported by the transport unit 71, as shown in FIGS. 6 and 7. In this case, the position adjusting unit 73 may not be provided in the transport unit 71.

The camera 74 is arranged on the upstream side of the lid member attaching device 10 and above the transport unit 71, and acquires an image of the container 80 and outputs it to the control unit 60. The control unit 60 acquires the position information of the container 80 based on the image, and the first elongated member 44 and the second elongated member 54 sandwich the center of the lid member 81 between them and the first arm 20 and The second arm 30 is operated. In this case, the first longitudinal direction 44a of the first elongate member 44 and/or the second longitudinal direction of the second elongate member 54 need not be parallel to the transport direction.

All of the lid member attaching devices 10 described above have the

arms

20, 30 and the

end effectors

40, 50 that are displaced by the two arms 20, but may have three or more arms and end effectors.

All of the lid member attaching devices 10 described above were provided with the first suction portion 45 and the second suction portion 55. However, the lid member attaching device 10 may not include the first suction portion 45 and the second suction portion 55, or may include the first suction portion 45 or the second suction portion 55.

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

The lid member attaching device of the present invention is useful as a lid member attaching device that can attach the lid member to the container reliably.

10: Lid member attaching device 11: Cart (base)
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: Second end effector 54: Second elongated member 54a: Second 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 attaching device for attaching a lid member to a container,
The first arm,
A first end effector attached to the first arm and having a first elongated member;
A second arm,
A second end effector attached to the second arm and having a second elongated member;
And a control unit,
The control unit is
On the lid member placed on the container, after swinging the first elongated member and the second elongated member,
In order to move at least one of the first long member and the second long member to the container side,
A lid member attaching device configured to operate the first arm and the second arm.
The control unit is
Reciprocating the first elongated member and the second elongated member on the lid member from the predetermined position to the one side in the direction orthogonal to the longitudinal direction of the first elongated member by a first distance; After reciprocating and swinging from the predetermined position to the other side for a second distance longer than the first distance,
In a state where the second elongate member is arranged on the lid member, the first elongate member is moved to the container side on the lid member on the one side of the second elongate member,
The lid member attaching device according to claim 1, wherein the lid member attaching device is configured to operate the first arm and the second arm.
The control unit, after swinging the first elongated member and the second elongated member, in the direction orthogonal to the longitudinal direction of the first elongated member, the first elongated member and the second elongated member. So that the first elongated member and the second elongated member are moved in the longitudinal direction of the first elongated member so that the overlapping with the large elongated member becomes large, and then the elongated member is moved to the container side. The lid member attaching device according to claim 1 or 2, which is configured to operate the first arm and the second arm.
The lid member attaching device according to any one of claims 1 to 3, which is configured by a robot provided with the first arm and the second arm as a pair of arms.
The lid member attaching device according to claim 4, wherein the robot is a dual-arm robot in which a pair of the arms are coaxially provided on a base.