Cover closing jig, cover closing device, and cover closing method

Abstract

A closing jig, a closing device, and a closing method capable of closing a lid while suppressing a load on the lid. The closing jig is a jig for closing a lid to a container body, characterized in that, in a state where the container body has been closed to the lid, when a direction in which the container body and the lid are arranged is set as a first direction, the lid has a fitting portion that fits with the container body and a wall portion that extends with a component in the first direction and is disposed along the fitting portion in a plan view from the first direction, and the jig is provided with a pressing portion that contacts and presses a portion of the wall portion on an opposite side of the container body in the first direction when the lid is closed to the container body.

Description

Technical Field

[0001] This invention relates to a lid-closing fixture, a lid-closing device, and a lid-closing method. Background Technology

[0002] In recent years, the introduction of robots into various production sites has been included in research and discussion. As one example, a lid-closing device is used to close box-shaped containers such as lunch boxes. In containers used for lunch boxes, a lid is generally used to cover the opening of the container body to make it fit.

[0003] For example, Patent Document 1 discloses a lid-closing device that closes the opening of a container body by fitting the lid inside the container body. This lid-closing device includes: a support member supporting the container body from below, a lid conveying section for conveying the lid, a frame surrounding the container body, and multiple claws protruding from the inner wall of the frame. The lid conveying section conveys the lid to a position opposite the opening of the container body, and then presses the lid into the container body by pressing the grooves located on the outer periphery of the lid surface with the multiple claws. Thus, the lid and the container body are fitted together, achieving lid closure.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2020-100424

[0005] In the lid-closing device described in Patent Document 1, there is a risk that the claws may scratch the lid or damage the weaker groove. Therefore, a lid-closing fixture is needed to suppress the load on the lid and close it. Summary of the Invention

[0006] The lid-closing fixture involved in the application examples of the present invention is a fixture for closing the lid of a container body.

[0007] With the lid closed over the container body, and the container body and the lid aligned in a first direction, the lid has a fitting portion and a wall portion. The fitting portion fits into the container body, and the wall portion extends along the first direction and is positioned along the fitting portion when viewed from above in the first direction.

[0008] The fixture has a pressing part, which contacts and presses the portion of the wall opposite to the container body in the first direction when the cover is closed to the container body.

[0009] The closing device according to the application example of the present invention includes:

[0010] Robots with robotic arms; and

[0011] The closing fixture of the present invention, which is mounted on the robotic arm, is an example of an application of the invention.

[0012] The sealing method described in the application examples of this invention is a method for closing the lid of a container body, comprising the following steps:

[0013] The cover is held in place by the cover-closing fixture according to an application example of the present invention;

[0014] The lid, held by the closing fixture, covers the container body; and

[0015] By pressing the lid with the closing fixture, the fitting portion of the lid is fitted relative to the container body. Attached Figure Description

[0016] Figure 1 This is a schematic diagram illustrating the closing device involved in the embodiment.

[0017] Figure 2 It shows that it has been applied. Figure 1 A cross-sectional view of an example of the shape of a container with a closure device.

[0018] Figure 3 yes Figure 1 A three-dimensional view of the closure fixture shown.

[0019] Figure 4 This is a flowchart illustrating the closure method involved in the implementation.

[0020] Figure 5 It is used for explanation Figure 4 A cross-sectional view of the closure method shown.

[0021] Figure 6 It is used for explanation Figure 4 A cross-sectional view of the closure method shown.

[0022] Figure 7 It is used for explanation Figure 4 A cross-sectional view of the closure method shown.

[0023] Figure 8 It is used for explanation Figure 4 A cross-sectional view of the closure method shown.

[0024] Figure 9 It is used for explanation Figure 4 A cross-sectional view of the closure method shown.

[0025] Figure 10 This illustrates the closing fixture involved in the first modified example and its relation to... Figure 2 Cross-sectional views of containers of different shapes.

[0026] Figure 11 This illustrates the closing fixture involved in the second variation and its connection to... Figure 2 Cross-sectional views of containers of different shapes.

[0027] Figure 12 This illustrates the closing fixture involved in the third variation and its relation to... Figure 11 Cross-sectional views of containers of different shapes.

[0028] Figure 13 This is a perspective view showing the closing fixture involved in the fourth variation.

[0029] Figure 14 This is a cross-sectional view showing the closing fixture involved in the fifth variation.

[0030] Explanation of reference numerals in the attached figures

[0031] 1…Lid closing device; 2…Robot; 3…Lid closing fixture; 3A…Lid closing fixture; 3B…Lid closing fixture; 3C…Lid closing fixture; 3D…Lid closing fixture; 3E…Lid closing fixture; 8…Container body; 8B…Container body; 8C…Container body; 9…Lid; 9A…Lid; 9B…Lid; 9C…Lid; 10…Container; 10A…Container; 10B…Container; 10C…Container; 22…Robotic arm; 32…Base; 34…Restriction part; 34D…Restriction part; 35…Bending part; 36…Pressing part; 36D…Pressing part; 37…Window part; 38…Suction part; 41…Lid closing position; 42…Belt conveyor; 43…Lid holder Location; 44…Belt conveyor; 82…Bottom; 83…Opening; 84…Cylindrical section; 86…Edge; 92…Base; 94…Cylindrical section; 96…Edge; 220…End section; 342…Low elasticity section; 382…Adsorption pad; 384…Pipeline; 386…Adsorption section; 862…Matched section; 864…Flange section; 960…Groove section; 961…Stepped section; 962…Matching section; 963…Wall section; 964…Flange section; 965…Upper section; A1…Shaft; A2…Shaft; S1…Internal space; S102…Cover holding process; S104…Cover configuration process; S106…Matching process; S2…Internal space; ...inner diameter; …outer diameter. Detailed Implementation

[0032] Hereinafter, the lid-closing fixture, lid-closing device, and lid-closing method of the present invention will be described in detail based on the embodiments shown in the accompanying drawings.

[0033] 1. Closing device

[0034] First, the closing device involved in the implementation method will be described.

[0035] Figure 1 This is a schematic diagram showing the closing device 1 according to the embodiment.

[0036] Figure 1The lid-closing device 1 shown includes: a robot 2 with a robotic arm 22, and a lid-closing fixture 3 mounted on the robotic arm 22. The lid-closing device 1 is for... Figure 1 The device shown is for closing the lid 9 of the container body 8. For example, the container body 8 is a box that holds food and has an opening at the top. The lid 9 is a component that covers the opening 83 of the container body 8 and closes the opening 83.

[0037] In addition, two belt conveyors 42 and 44 are arranged around the cover closing device 1. The belt conveyor 44 passes through the cover holding position 43 and moves along... Figure 1 The arrow indicates that the cover 9 is being conveyed. The closing device 1 holds the cover 9 in the cover holding position 43 using the closing fixture 3. The belt conveyor 42 moves along... Figure 1 The arrow shown passes through the closed position 41, conveying the container body 8, which contains food or the like, from the upstream side. It should be noted that there are no particular limitations on the contents of the container body 8.

[0038] When the container body 8 is conveyed to the closing position 41, the closing device 1 performs a closing operation by covering the container body 8 with the lid 9 held by the closing fixture 3. The container body 8 with the lid 9 closed is then conveyed downstream by the belt conveyor 42.

[0039] It should be noted that the method of conveying the container body 8 and the cover 9 is not limited to using a belt conveyor; any method may be used.

[0040] 1.1. Robot

[0041] Figure 1 The robot 2 shown is a horizontal multi-joint robot with a robotic arm 22. It should be noted that the form of robot 2 is not limited to this; it can be a vertical multi-joint robot or a dual-arm robot with multiple robotic arms.

[0042] The robotic arm 22 has an end effector 220 capable of mounting various end effectors. Furthermore, Figure 1 The end portion 220 shown is equipped with a lid-closing fixture 3. The robotic arm 22 moves the lid-closing fixture 3 to any position within its range of motion. Furthermore, the range of motion of the robotic arm 22 is set to include both the lid-closing position 41 and the lid-holding position 43.

[0043] In addition, robot 2 has sensors, control units, etc. (not shown). For example, image sensors, distance sensors, displacement sensors, etc., can be listed as sensors. The sensors detect the positions of the container body 8 conveyed by belt conveyor 42 and the lid 9 conveyed by belt conveyor 44. The control unit has the following functions: it moves the closing fixture 3 by moving the robotic arm 22 to cooperate with the lid 9 detected by the sensor; and it moves the closing fixture 3 by covering the lid 9 on the container body 8 detected by the sensor to perform a closing operation.

[0044] 1.2. Container

[0045] Figure 2 It shows that it has been applied. Figure 1 A cross-sectional view of an example of the shape of the container 10 of the closing device 1. It should be noted that in the figures of this application, the Z-axis and X-axis are defined as two mutually orthogonal axes. The Z-axis extends along the direction (first direction) in which the container body 8 and the lid 9 are aligned when the lid 9 is closed relative to the container body 8. It should be noted that here, the Z-axis is defined as an axis parallel to the vertical axis, with the end of the arrow representing the Z-axis designated as "up" and the base as "down," but the Z-axis may also be inclined relative to the vertical axis. Furthermore, the X-axis is an axis orthogonal to the Z-axis. It should be noted that in the following description, the direction parallel to the Z-axis will also be referred to as the "first direction," and the direction parallel to the X-axis will be referred to as the "second direction." The second direction corresponds to the radial direction of a circle orthogonal to the Z-axis and centered on it.

[0046] Figure 2 The container 10 shown consists of a container body 8 and a lid 9. The container 10 is of the type in which the lid 9 is fitted inside the container body 8, and is a so-called inlaid type container. Figure 2 The state before the cover 9 is closed is shown.

[0047] The container body 8 has a bottom 82 at its lower end, a cylindrical portion 84 connected to the outer edge of the bottom 82, and a flange 86 connected to the upper end of the cylindrical portion 84. An internal space S1 is defined by the cylindrical portion 84. The internal space S1 is a space for accommodating the contents. An opening 83 located above the internal space S1 is defined by the flange 86.

[0048] When viewed from above, the container body 8 is circular with axis A1 extending along the first direction as its center. It should be noted that "viewed from above" in this specification refers to viewing from the first direction, i.e., from a position along axis A1. Additionally, the bottom 82 is also circular with axis A1 as its center and extending in a plane orthogonal to axis A1.

[0049] The cylindrical portion 84 rises upward from the outer edge of the bottom 82 and is continuous in the circumferential direction around the axis A1.

[0050] The edge portion 86 protrudes outward from the upper end of the cylindrical portion 84 in a second direction and is continuous in the circumferential direction. The edge portion 86 is composed of a fitting portion 862 and a flange portion 864. The fitting portion 862 is the part that fits into the cover body 9. The flange portion 864 protrudes outward from the upper end of the fitting portion 862.

[0051] The material of the container body 8 is not specifically limited; for example, it can be expanded polystyrene or other similar materials.

[0052] The cover 9 has a base 92, a cylindrical portion 94 connected to the outer edge of the base 92, and a blade 96 connected to the lower end of the cylindrical portion 94.

[0053] When viewed from above, the cover 9 is circular with axis A1 as its center. Furthermore, the base 92 is also circular with axis A1 as its center and extending in a plane orthogonal to axis A1.

[0054] The cylindrical portion 94 descends downward from the outer edge of the base 92 and is continuous in the circumferential direction. Furthermore, the outer diameter of the lower end of the cylindrical portion 94 is larger than the outer diameter of the upper end. Further, the outer diameter continuously changes between the lower and upper ends. In this way, the outer surface of the cylindrical portion 94 becomes a conical shape with an outer diameter that continuously changes along a first direction.

[0055] The edge portion 96 protrudes outward from the lower end of the cylindrical portion 94 in a second direction and is continuous in the circumferential direction. The edge portion 96 is composed of a groove portion 960, a fitting portion 962, a wall portion 963, and a flange portion 964.

[0056] The groove 960 is connected to the lower end of the cylindrical part 94. The groove 960 is an annular shape that extends in a plane orthogonal to the axis A1 and is centered on the axis A1.

[0057] The fitting part 962 is connected to the outer end of the groove part 960. The fitting part 962 is fitted into the fitting part 862 of the container body 8.

[0058] The wall portion 963 is connected to the upper end of the fitting portion 962. The wall portion 963 is a portion that extends along a first direction and is arranged around the fitting portion 962 in a manner that, when viewed from above, surrounds the axis A1. "Extending along a first direction" means that when the wall portion 963 is cut in a plane including the axis A1, the angle between the wall portion 963 and the axis A1 is less than 90°, preferably 45° or less, and more preferably 30° or less. Furthermore, "arranged along the fitting portion 962" means that, for example, if the fitting portion 962 is annular, the wall portion 963 is also annular and concentric with the fitting portion 962.

[0059] The flange portion 964 is connected to the upper end of the wall portion 963. The flange portion 964 protrudes outward in a second direction from the connection portion with the wall portion 963.

[0060] The outer diameter of the fitting part 962 of the cover 9 The setting is such that, in the state before the lid 9 is closed on the container body 8, the inner diameter of the fitting portion 862 of the container body 8 is greater than that of the fitting portion 862 of the container body 8. Slightly larger outer diameter. When closing the cover 9, pressing the cover 9 presses the fitting part 962 into the inside of the fitted part 862. At this time, the outer diameter of the fitting part 962... First, it is deformed by reducing its diameter, and after being pressed in, it becomes larger than the inner diameter of the mating part 862. Slightly larger. Thus, the fitting of the fitting part 962 to the fitted part 862 is completed. It should be noted that after the fitting is completed, the outer diameter of the fitting part 962... It can also become slightly smaller than before fitting. As a result, after fitting is completed, the fitting part 962 tends to elastically return to its original position in the second direction. This tendency can generate a fitting force, making the cover 9 fit more tightly against the container body 8.

[0061] The material of the cover 9 is not particularly limited; for example, it can be a thermoplastic resin such as polyethylene or polyethylene terephthalate.

[0062] The above description pertains to container 10. Container 10 is an example of a container that uses a closing fixture 3. If the lid 9 has a fitting portion 962 and a wall portion 963, and the container body 8 has a fitting portion 862, then the shape is not limited to the above.

[0063] 2. Closing fixture

[0064] Next, the closing fixture 3 involved in the implementation method will be described.

[0065] Figure 3 yes Figure 1 The diagram shows a perspective view of the closing fixture 3. It should be noted that... Figure 3 For ease of illustration, a portion has been removed to show the cross-section.

[0066] Figure 3 The shown closing fixture 3 has a base 32, a limiting part 34, and a pressing part 36.

[0067] When viewed from above, the base 32 is circular, centered on axis A2, and extends in a plane orthogonal to axis A2. Alternatively, the base 32 may have a structure for mounting to the end portion 220 of the robotic arm 22, such as bolt holes, clamps, etc.

[0068] The limiting portion 34 descends downward from the outer edge of the base 32 and is continuous in the circumferential direction. Furthermore, the inner diameter of the lower end of the limiting portion 34 is larger than the inner diameter of the upper end. Further, the inner diameter continuously changes between the lower and upper ends. Thus, the inner surface of the limiting portion 34 becomes a conical shape with an inner diameter that continuously changes along a first direction. An internal space S2 is defined by the limiting portion 34. The internal space S2 accommodates a portion of the cover 9, and the cover 9 is held in place by contact with the limiting portion 34, thus limiting the position of the cover 9 to a predetermined position.

[0069] When the limiting portion 34 is cut within the plane including axis A2, it is preferable that the angle between the limiting portion 34 and axis A2 is greater than 0° and less than 60°, and more preferably greater than 5° and less than 45°. This optimizes the cone shape and further enhances the function of limiting the position of the cover 9. It should be noted that the shape of the limiting portion 34 is not limited to the shape described above; for example, it may not be cone-shaped.

[0070] The pressing part 36 protrudes outward in the second direction from the lower end of the limiting part 34 and is continuous in the circumferential direction. The pressing part 36 is annular in shape, extending in a plane orthogonal to axis A2 and centered on axis A2. In addition, the pressing part 36 has a curved shape in the second direction, with the central portion protruding downward more than the two ends. This curved shape allows for accurate pressing of the intended portion of the cover 9. It should be noted that the shape of the pressing part 36 is not limited to the shape described above, as long as it can press the cover 9.

[0071] Furthermore, the restricting portion 34 has a low-elasticity portion 342. The low-elasticity portion 342 is a part of the restricting portion 34 in the first direction, and its elastic modulus is lower than that of the pressing portion 36. Therefore, if the low-elasticity portion 342 comes into contact with the cover 9, it will be compressed, generating a restoring force that desires to return to its original state. This restoring force, as described later, contributes to the restricting portion 34 maintaining the position of the cover 9 and limiting its position. Further, the low-elasticity portion 342 is annular about axis A2, protruding inward from the inner wall surface of the restricting portion 34. Therefore, when the closing fixture 3 is brought close to the cover 9, the low-elasticity portion 342 can contact the cover 9 preferentially over other parts. Thus, the low-elasticity portion 342 contributes to further enhancing the functions of the closing fixture 3, namely, the function of the restricting portion 34 in maintaining the cover 9 and limiting the position of the cover 9.

[0072] For example, rubber materials and thermoplastic elastomers can be listed as constituent materials of the low-elasticity part 342. For example, natural rubber, isoprene rubber (IR), butadiene rubber (BR), 1,2-polybutadiene rubber (1,2-BR), styrene-butadiene rubber (SBR), chloroprene rubber (CR), nitrile rubber (NBR), butyl rubber (IIR), ethylene propylene rubber (EPM, EPDM), chlorosulfonated polyethylene (CSM), acrylic rubber (ACM, ANM), chloroprene rubber (CO, ECO), polysulfide rubber (T), silicone rubber, fluororubber (FKM), and polyurethane rubber (U) can be listed as rubber materials. For example, various thermoplastic elastomers such as styrene-based thermoplastic elastomers (TPE), olefin-based TPE, vinyl chloride-based TPE, polyurethane-based TPE, ester-based TPE, amide-based TPE, chlorinated polyethylene-based TPE, Syn-1,2-polybutadiene-based TPE, Trans-1,4-polyisoprene-based TPE, and fluorine-based TPE can be cited as examples of thermoplastic elastomers. In such a low-elasticity portion 342, an O-ring seal can be cited as an example.

[0073] Alternatively, the low-elasticity portion 342 can also be made of foamed resin. Foamed resin is obtained by foaming a thermoplastic or thermosetting resin during molding, thereby making it porous. A sponge can be cited as an example of such a low-elasticity portion 342.

[0074] The Young's modulus of the material constituting the low-elasticity portion 342 is preferably 10% or less of the Young's modulus of the material constituting the pressing portion 36, and more preferably 1% or less. Furthermore, specifically, it is preferable that the Young's modulus of the material constituting the low-elasticity portion 342 is 100 MPa or less, and more preferably 0.5 MPa or more and 10 MPa or less.

[0075] in addition, Figure 3 In the lid-closing fixture 3 shown, the limiting part 34 is disposed inside the pressing part 36. Therefore, for example, compared to fixtures that use the outer edge of the lid for positioning alignment, i.e., compared to fixtures with the limiting part 34 provided on the outer side of the pressing part 36, the lid-closing fixture 3 can be easily miniaturized and made lighter. As a result, even the relatively lightweight robotic arm 22 can achieve high motion performance, and the cycle time of the lid-closing operation can be easily shortened.

[0076] The closing fixture 3 can be manufactured by any method, such as injection molding, machining, or layering. Preferably, the closing fixture 3 is a layered shape. Layered shapes are manufactured using a 3D printer's layer-by-layer molding method. Layer-by-layer molding is a method that allows for the low-cost and efficient manufacture of even complex shapes. Therefore, by making the closing fixture 3 a layered shape, for example, even if the shape of the cover 9 changes, a new closing fixture 3 can be manufactured quickly. As a result, the downtime of the closing device 1 can be minimized.

[0077] For example, resin material can be used as a constituent material of the closing fixture 3, or other materials such as metal, ceramic, and glass.

[0078] In addition, the closing fixture 3 can be a single unit or an assembly of multiple components.

[0079] 3. Closing method

[0080] Next, the covering method involved in the implementation method will be described.

[0081] Figure 4 This is a flowchart illustrating the closure method involved in the implementation. Figures 5 to 9 These are for explanation Figure 4 A cross-sectional view of the closure method shown.

[0082] Figure 4 The closing method shown includes a cover holding process S102, a cover placement process S104, and a fitting process S106. The following describes each process in sequence.

[0083] 3.1. Cover retention process

[0084] In the cover holding process S102, the cover 9 is held by the cover-closing fixture 3.

[0085] Specifically, firstly, at a timed moment when the cover 9 moves to the cover holding position 43, the robotic arm 22 is activated. Then, the closing fixture 3 is placed over the cover 9 from above the cover holding position 43.

[0086] Figure 5 The diagram shows the case where the closing fixture 3 covers the lid body 9 from above. If the closing fixture 3 is lowered, firstly, the base 92 of the lid body 9 is accommodated in the internal space S2 of the closing fixture 3. Then, if the closing fixture 3 is further lowered, as shown... Figure 6 As shown, the low-elasticity portion 342 of the closing fixture 3 contacts the cylindrical portion 94 of the cover body 9. Figure 6The diagram shows the contact between the low-elasticity portion 342 of the closing fixture 3 and the cylindrical portion 94 of the lid 9. Subsequently, the closing fixture 3 is further lowered, as shown... Figure 7 As shown, the low-elasticity part 342 pressed by the cover 9 will be compressed.

[0087] The compressed low-elasticity portion 342 generates a restoring force that desires to return to its original state. This restoring force acts on the lid 9, preventing it from falling and keeping it in place. Furthermore, as mentioned earlier, the low-elasticity portion 342 is annular about axis A2. Therefore, the restoring force acting on the lid 9 from the low-elasticity portion 342 functions to adjust the position of the lid 9 relative to the closing fixture 3. For example, the restoring force contributes by overlapping the position of the closing fixture 3's axis A2 with the position of the lid 9's axis A1. Thus, the limiting portion 34 with the low-elasticity portion 342 performs the following functions: the function of the closing fixture 3 in holding the lid 9, and the function of limiting the position of the lid 9 (the function of aligning the lid 9). Through these functions, in the process described later, the positional accuracy of the lid 9 can be improved when covering the container body 8 with the lid 9.

[0088] Furthermore, by utilizing the fact that the cylindrical portion 94 of the cover 9 is conical, the function of restricting the position of the cover 9 is further enhanced. That is, by utilizing the conical shape of the cylindrical portion 94 to make contact with the restricting portion 34, the position alignment of the cover 9 becomes easier.

[0089] Furthermore, the coefficient of friction between the low-elasticity part 342 and the cover 9 is preferably greater than the coefficient of friction between the pressing part 36 of the closing fixture 3 and the cover 9. By selecting rubber, elastomer, foaming resin, or the like as the constituent material of the low-elasticity part 342, the coefficient of friction between the low-elasticity part 342 and the cover 9 can be made larger. By making the coefficient of friction larger, the function of retaining the cover 9 can be further improved.

[0090] It should be noted that even if the low elasticity part 342 is omitted, for example, if friction is generated between the limiting part 34 and the cover 9, or if adhesion is generated between the limiting part 34 and the cover 9, the limiting part 34 can still perform these functions.

[0091] 3.2. Cover assembly process

[0092] In the lid configuration process S104, the robotic arm 22 is moved to move the lid-closing fixture 3, which is already in the lid 9 position, to the lid-closing position 41. Next, at the timing when the container body 8 moves to the lid-closing position 41, the robotic arm 22 is moved to move the lid-closing fixture 3 to cover the lid 9 from above the container body 8.

[0093] Figure 7This illustrates the scenario where the lid 9 covers the container body 8 from above. (Example) Figure 7 As shown, the robotic arm 22 lowers the lid-closing fixture 3, covering the container body 8 with the lid 9. This brings the fitting portion 962 of the lid 9 into contact with the fitted portion 862 of the container body 8. Figure 8 The diagram shows the state in which the fitting portion 962 of the lid 9 is in contact with the fitting portion 862 of the container body 8. In this process, the lid 9 is configured in this state.

[0094] 3.3. Fitting Process

[0095] In the fitting process S106, if from Figure 8 As shown, when the lid is pressed down by the closing fixture 3, it will be as follows: Figure 9 As shown, the fitting part 962 and the fitted part 862 are fitted together. Figure 9 The diagram shows the state in which the fitting portion 962 of the cover 9 is fitted with the fitting portion 862 of the container body 8.

[0096] The wall portion 963 is positioned above the fitting portion 962 along the fitting portion 962. Furthermore, the point of application of pressure, the upper portion 965 of the wall portion 963, is the part of the wall portion 963 opposite to the container body 8. Therefore, when the closing fixture 3 presses the upper portion 965 of the wall portion 963 downwards, the pressing force can be efficiently transmitted to the fitting portion 962, pressing the fitting portion 962 into the inside of the fitting portion 862. It should be noted that the wall portion 963 extends along the first direction, so the pressing force applied to the wall portion 963 causes almost no bending or twisting, and can be transmitted to the fitting portion 962. Thus, the load on the wall portion 963 can be suppressed while pressing it into the fitting portion 962, achieving a proper fit. As a result, plastic deformation and breakage of the lid 9 during the closing operation can be suppressed.

[0097] Furthermore, the upper part 965 of the wall portion 963 is also the connection part between the wall portion 963 and the flange portion 964. In this connection part, the wall portion 963 and the flange portion 964 are connected at almost a right angle, forming an angle. The upper part 965 with this shape is a part with high resistance to deformation (rigidity). Therefore, from the viewpoint of suppressing accidental deformation of the cover 9, pressing the upper part 965 with the pressing part 36 is particularly effective. It should be noted that the angle between the wall portion 963 and the flange portion 964 is not limited to 90° (right angle), and can also be between 30° and 150°.

[0098] Furthermore, the pressing part 36 is in the shape of a continuous ring centered on axis A2. This allows the pressing part 36 to press the cover 9 more stably. As a result, the probability of cover closure failure is reduced.

[0099] It should be noted that the shape of the pressing part 36 is set to match the shape of the cover 9. Therefore, the top view shape of the pressing part 36 can be a ring shape other than a circular ring, for example, a ring shape with an outer edge of polygon, ellipse, oblong, etc.

[0100] After the lid-closing operation is completed, the robotic arm 22 moves, causing the lid-closing fixture 3 to rise. The lid 9 engages with the container body 8, so as the lid 9 is pulled up as the lid-closing fixture 3 rises, it disengages from the fixture. Thus, the lid-closing operation is completed.

[0101] 4. First variation

[0102] Next, the closing fixture involved in the first modified example will be explained.

[0103] Figure 10 This illustrates the closing fixture 3A involved in the first modified example and its relation to... Figure 2 Cross-sectional views of containers 10A of different shapes.

[0104] The first modified example will be described below, focusing on its differences from the described embodiment. Similar points will be omitted from the description. It should be noted that... Figure 10 The same reference numerals are used for the same structures as those in the described embodiments.

[0105] Figure 10 The closure fixture 3A shown is different in shape from the others. Figure 5 The closing fixture 3 shown is the same. Additionally, Figure 10 The container 10A shown is different from the lid 9A in shape, except that it is also similar to... Figure 2 The container 10 shown is the same.

[0106] Figure 10 The length of the cylindrical portion 94 of the cover 9A shown in the first direction is greater than that of the cylindrical portion 94. Figure 2 Shorter. As a result, the distance from the groove 960 to the base 92 in the first direction of the cover 9A is equal to the distance from the groove 960 to the flange 964. That is to say, the upward protrusion of the base 92 of the cover 9A is shorter than... Figure 2 The cover 9 shown is suppressed compared to the previous one.

[0107] In order to correspond to the shape of the cover 9A, Figure 10 The shown closing fixture 3A has a bent portion 35 located between the limiting portion 34 and the pressing portion 36. The bent portion 35 connects the lower end of the limiting portion 34 and the inner edge of the pressing portion 36 and is continuous in the circumferential direction. By providing such a bent portion 35, the position of the pressing portion 36 in the first direction is shifted to a position higher than the lower end of the limiting portion 34.

[0108] Figure 10 In the closing fixture 3A shown, and Figure 5 Similarly, in the lid-closing fixture 3 shown, the limiting part 34 holds the cylindrical part 94 of the lid 9A and limits its position, while the pressing part 36 presses the upper part 965 of the wall part 963 of the lid 9A. Thus, in the lid-closing fixture 3A, it is possible to obtain the functions of holding the lid 9A and limiting its position based on the limiting part 34, as well as the function of pressing the lid 9A based on the pressing part 36.

[0109] In this first variation, the same effect as the described embodiment can also be obtained.

[0110] 5. Second variation

[0111] Next, the closing fixture involved in the second variation will be described.

[0112] Figure 11 This illustrates the closing fixture 3B involved in the second variation example and its connection to... Figure 2 Cross-sectional views of containers 10B with different shapes.

[0113] The second variation will now be described, focusing on its differences from the previously described embodiment. Similar points will be omitted from the description. It should be noted that... Figure 11 The same reference numerals are used for the same structures as those in the described embodiments.

[0114] Figure 11 The closure fixture 3B shown is different in shape from the others. Figure 5 The closing fixture 3 shown is the same. Additionally, Figure 11 The container 10B shown is similar to the one shown, except for its shape. Figure 2 The container 10 shown is the same.

[0115] Figure 11 The container 10B shown is of the type in which the lid 9B fits onto the outside of the container body 8B, and is a so-called external fitting type container.

[0116] The container body 8B has a bottom 82, a cylindrical portion 84, and a flange 86. The lid 9B has a base 92, a cylindrical portion 94, and a flange 96. The flange 96 has a stepped portion 961, a fitting portion 962, a wall portion 963, and a flange portion 964.

[0117] Figure 11 The stepped portion 961 shown is connected to the lower end of the cylindrical portion 94. The stepped portion 961 is an annular shape that extends in a plane orthogonal to axis A1 and is centered on axis A1.

[0118] Figure 11The wall portion 963 shown is connected to the outer end of the stepped portion 961. The wall portion 963 is a part that extends along the first direction and is arranged along the fitting portion 962 around the axis A1 when viewed from above.

[0119] Figure 11 The fitting portion 962 shown is connected to the lower end of the wall portion 963. The fitting portion 962 fits into the fitting portion 862 of the container body 8B.

[0120] Figure 11 The flange portion 964 shown is connected to the outer end of the fitting portion 962. The flange portion 964 protrudes downward from the connection portion with the fitting portion 962.

[0121] Figure 11 In the lid-closing fixture 3B shown, the limiting part 34 holds the cylindrical part 94 of the lid 9B and limits its position, while the pressing part 36 presses the upper part 965 of the wall part 963 of the lid 9B. Thus, in the lid-closing fixture 3B, the functions of holding the lid 9B and limiting its position based on the limiting part 34, as well as the function of pressing the lid 9B based on the pressing part 36, can be obtained.

[0122] The inner diameter of the fitting portion 962 of the lid 9B is set to be slightly smaller than the outer diameter of the fitting portion 862 of the container body 8B before the lid 9B is closed to the container body 8B. When the lid 9B is closed, the fitting portion 862 is pressed into the inner side of the fitting portion 962 by pressing the lid 9B. At this time, the inner diameter of the fitting portion 962 first deforms by expanding its diameter, and after being pressed in, it becomes slightly smaller than the outer diameter of the fitting portion 862. Thus, the fitting portion 962 completes the fitting of the fitting portion 862 to the fitting portion 862.

[0123] In the above variations, the same effect as the described implementation can also be obtained.

[0124] 6. Third variation

[0125] Next, the closing fixture involved in the third variation will be described.

[0126] Figure 12 This illustrates the closing fixture 3C involved in the third variation example and its relation to... Figure 11 Cross-sectional views of containers 10C with different shapes.

[0127] The third variation will now be described, focusing on its differences from the second variation. Explanations of the same points will be omitted. It should be noted that... Figure 12 The same reference numerals are used for the same structures as in the described embodiment and the second variation.

[0128] Figure 12The closure fixture 3C shown is different in shape from the others. Figure 11 The closing fixture 3B shown is the same. Additionally, Figure 12 The container 10C shown is different in shape and also... Figure 11 The container 10B shown is the same.

[0129] Figure 12 The container 10C shown is also... Figure 11 The container 10B shown is also a nested type container. Figure 12 The container body 8C shown has a bottom 82, a cylindrical portion 84, and a flange 86. The flange 86 is shaped such that it is rolled outward about the circumference of a circle centered on axis A1. In addition, the flange 86 has a fitting portion 862.

[0130] Figure 12 The cover 9C shown has a base 92, a cylindrical portion 94, and a blade portion 96. Figure 12 The outer diameter of the cylindrical portion 94 shown is a slightly fixed outer diameter along the first direction. Figure 12 The blade 96 shown has a stepped portion 961, a fitting portion 962, a wall portion 963, and a flange portion 964.

[0131] Figure 12 The wall portion 963 shown is connected to the outer end of the stepped portion 961. The wall portion 963 is a portion that extends slightly parallel to the first direction and is arranged along the fitting portion 962 around the axis A1 when viewed from above.

[0132] Figure 12 The fitting portion 962 shown is connected to the lower end of the wall portion 963. The fitting portion 962 fits into the fitting portion 862 of the container body 8C.

[0133] Figure 12 In the lid-closing fixture 3C shown, the limiting part 34 holds the cylindrical part 94 of the lid 9C and limits its position, while the pressing part 36 presses the upper part 965 of the wall part 963 of the lid 9C. Thus, in the lid-closing fixture 3C, the functions of holding the lid 9C and limiting its position based on the limiting part 34, as well as the function of pressing the lid 9C based on the pressing part 36, can be obtained.

[0134] In this third variation, the same effect as the described embodiment can also be obtained.

[0135] 7. Fourth variation

[0136] Next, the closing fixture involved in the fourth variation will be explained.

[0137] Figure 13 This is a perspective view showing the 3D of the closing fixture involved in the fourth variation.

[0138] The fourth variation will now be described, focusing on its differences from the previously described embodiment. Similar points will be omitted from the description. It should be noted that... Figure 13 The same reference numerals are used for the same structures as those in the described embodiments.

[0139] Figure 13 The 3D closing fixture shown is similar to the one shown, except for its shape. Figure 3 The closing fixture 3 shown is the same.

[0140] As mentioned above, Figure 3 The shown closing fixture 3 has a cylindrical limiting portion 34 that is continuous in the circumferential direction around axis A2, and a continuous annular pressing portion 36. Regarding this, Figure 13 The shown closing fixture 3D has a cylindrical limiting portion 34D that is discontinuous in the circumferential direction around axis A2, and a discontinuous annular pressing portion 36D. Specifically, Figure 13 The limiting part 34D shown is a cylindrical shape divided into four sections. Additionally, Figure 13 The pressing part 36D shown is in the shape of a ring divided into 4 parts.

[0141] In the closing fixture 3D with this shape, there are four windows 37 between the divided portions of the restricting portion 34D and between the divided portions of the pressing portion 36D. The windows 37 penetrate the closing fixture 3D in the second direction, so that the internal space S2 defined by the restricting portion 34D is exposed in the external space. Therefore, when a part of the cover 9 is accommodated in the internal space S2, the user of the closing device 1 can visually confirm the accommodated cover 9 through the windows 37. As a result, the user can directly visually confirm the posture of the cover 9 held in the closing fixture 3D, and it becomes easier to grasp the confusion of the posture of the cover 9. Thus, the closing fixture 3D according to the fourth modification contributes to the realization of more efficient closing operation. It should be noted that the number of windows 37 in the closing fixture 3D is not limited to four, and can be more or less. In addition, the shape of the windows 37 is not limited to the shape shown in the figure. For example, the shape of only the limiting part 34D may be discontinuous, or the shape of only the pressing part 36D may be discontinuous.

[0142] In this fourth variation, the same effect as the described embodiment can also be obtained.

[0143] It should be noted that the window 37 can also be covered with transparent or semi-transparent components as needed. In this case, not only is visual confirmation based on the user possible, but the rigidity of the 3D closing fixture can also be improved.

[0144] 8. Fifth variation

[0145] Next, the closing fixture involved in the fifth variation will be explained.

[0146] Figure 14 This is a cross-sectional view showing the closing fixture 3E involved in the fifth variation.

[0147] The fifth variation will now be described, focusing on its differences from the previously described embodiment. Similar points will be omitted from the description. It should be noted that... Figure 14 The same reference numerals are used for the same structures as those in the described embodiments.

[0148] Figure 14 The lid-closing fixture 3E shown has a suction section 38 for attracting the lid 9. The suction section 38 includes an adsorption pad 382 and a conduit 384. The adsorption pad 382 is flexible and includes an adsorption portion 386 in the shape of a truncated cone. The adsorption pad 382 is arranged to protrude downwards from the lower surface of the base 32 of the lid-closing fixture 3E. The conduit 384 connects the adsorption pad 382 to a vacuum generating device (not shown). By operating the vacuum generating device, the internal pressure of the adsorption pad 382 can be reduced via the conduit 384. Therefore, the adsorption pad 382 can attract and adsorb the lid 9 located below. Furthermore, by switching the operation of the vacuum generating device, stopping or easing the internal pressure reduction, the adsorption pad 382 can stop the adsorption of the lid 9. Thus, the lid-closing fixture 3E with the suction section 38 has the function of holding the lid 9.

[0149] In addition, the closure fixture 3E omits [the following]. Figure 5 The low-elasticity portion 342 is shown. However, even with such a closing fixture 3E, the position of the cover 9 can be restricted by the contact between the restricting portion 34 and the cylindrical portion 94 of the cover 9. Thus, the closing fixture 3E also has the function of restricting the position of the cover 9.

[0150] For example, various rubber materials and thermoplastic elastomers mentioned above can be listed as constituent materials of the absorbent pad 382.

[0151] in addition, Figure 14 The lid-closing fixture 3E shown has multiple suction parts 38. By providing multiple suction parts 38, the lid 9 can be held in a stable position. This stabilizes the lid-closing operation. It should be noted that the lid-closing fixture 3E can also have only one suction part 38.

[0152] in addition, Figure 14 The structure of the suction part 38 shown is not limited to a structure with an adsorption pad 382. For example, it may be a structure that uses a sealing component such as an O-ring, or other structures.

[0153] In this fifth variation, the same effect as the described embodiment can also be obtained.

[0154] 9. The effects achieved by each method

[0155] As described above, the closing fixtures 3, 3A, 3B, 3C, 3D, and 3E involved in the embodiments or their variations are fixtures for closing the lids 9, 9A, 9B, and 9C onto the container bodies 8, 8B, and 8C, and include pressing portions 36 and 36D. The lids 9, 9A, 9B, and 9C have a fitting portion 962 and a wall portion 963. The fitting portion 962 fits into the container bodies 8, 8B, and 8C. The wall portion 963 extends along a first direction and is arranged along the fitting portion 962 when viewed from above in the first direction. The first direction refers to the direction in which the container bodies 8, 8B, and 8C are aligned with the lids 9, 9A, 9B, and 9C when the lids 9, 9A, 9B, and 9C are closed onto the container bodies 8, 8B, and 8C. Then, when the covers 9, 9A, 9B, and 9C are closed to the container bodies 8, 8B, and 8C, the pressing parts 36 and 36D contact and press the upper part 965 of the wall 963 in the first direction, which is opposite to the container bodies 8, 8B, and 8C.

[0156] Since the wall portion 963 extends along the first direction, the pressing pressure applied to the wall portion 963 hardly causes it to bend or twist, and can be transmitted to the fitting portion 962. Therefore, the load on the wall portion 963 can be suppressed to achieve fitting. As a result, a closing fixture as described below can be obtained, which can suppress the load on the cover bodies 9, 9A, 9B, and 9C; specifically, it can suppress plastic deformation and breakage of the cover bodies 9, 9A, 9B, and 9C to achieve closing.

[0157] Furthermore, the upper portion 965 of the wall portion 963 also serves as the connection between the wall portion 963 and the flange portion 964. In this connection, the wall portion 963 and the flange portion 964 are connected at almost a right angle, forming an angle. For example, the upper portion 965, which has this shape, is formed by stamping a resin sheet, and therefore has high resistance to deformation. Thus, by pressing the angled upper portion 965 with the pressing portions 36 and 36D, accidental deformation of the upper portion 965 can be suppressed, significantly reducing the probability of failure in the closing operation.

[0158] It should be noted that the shape of the lid, if it has a fitting portion 962 and a wall portion 963, is not limited to the shape shown in each figure. Furthermore, the shape of the closing fixture, if it has a pressing portion capable of pressing the upper portion 965 of the wall portion 963, is not limited to the shape shown in each figure. Additionally, the shape of the container body, if it has a fitting portion 862 that fits into the fitting portion 962, is not limited to the shape shown in each figure.

[0159] In addition, in the above embodiment or its variations, the pressing part 36 is in the form of a ring centered on the axis A2 extending along the first direction and continuous in the circumferential direction.

[0160] Based on this structure, a closing fixture that can more stably press the caps 9, 9A, 9B, and 9C can be obtained.

[0161] In addition, in the embodiment or its variations, the pressing part 36D is in the shape of a ring centered on the axis A2 extending in the first direction and discontinuous in the circumferential direction.

[0162] With this structure, not only can the covers 9, 9A, 9B, and 9C be pressed stably, but the held covers 9, 9A, 9B, and 9C can also be visually confirmed through the window 37 formed in the intermittent pressing part 36D. As a result, a lid-closing fixture as described below can be obtained, making it easier for the user to grasp the confused posture of the held covers 9, 9A, 9B, and 9C, thus contributing to more efficient lid-closing operations.

[0163] In addition, in the embodiments described above or their variations, the pressing portions 36 and 36D are circular or polygonal when viewed from a top view in the first direction.

[0164] Based on this structure, a lid-closing fixture as described below can be obtained: even when the lids 9, 9A, 9B, and 9C are circular or polygonal in shape, the lid-closing operation can be performed stably.

[0165] Furthermore, the closing fixtures 3, 3A, 3B, 3C, 3D, and 3E involved in the aforementioned embodiments or their variations include limiting portions 34 and 34D. The limiting portions 34 and 34D, when viewed from above in the first direction, are positioned inside the pressing portions 36 and 36D, limiting the position of the covers 9, 9A, 9B, and 9C in the second direction orthogonal to the first direction.

[0166] Based on this structure, for example, compared to fixtures that use the outer edge of the cover for positioning alignment, it is easier to miniaturize and lighten the cover-closing fixtures 3, 3A, 3B, 3C, 3D, and 3E. As a result, even the relatively lightweight robotic arm 22 can achieve high motion performance, and the cycle time of the cover-closing operation can be easily shortened.

[0167] Furthermore, in the aforementioned embodiment or its variations, the limiting portion 34D has a window portion 37 that extends through in a second direction orthogonal to the first direction.

[0168] With this structure, visual confirmation of the held cover 9 is possible via the window 37 formed in the discontinuous limiting portion 34D. As a result, a closing fixture as described below can be obtained, making it easier for the user to grasp the confusion of the held cover 9's posture, thus contributing to the realization of more efficient closing operations.

[0169] In addition, in the above embodiment or its variations, the limiting parts 34 and 34D have a low elasticity part 342 with a lower elastic modulus than the pressing parts 36 and 36D.

[0170] Because of its low elastic modulus, the low-elasticity part 342 will be compressed when it comes into contact with the covers 9, 9A, 9B, and 9C, generating a restoring force that wants to return to its original state. This restoring force contributes to the following functions: the function of the limiting parts 34 and 34D in maintaining the covers 9, 9A, 9B, and 9C, and the function of limiting the position of the covers 9.

[0171] Furthermore, the closing fixtures 3, 3A, 3B, 3C, 3D, and 3E involved in the preferred embodiments or variations thereof are layered shapes. Therefore, for example, even if the shapes of the lids 9, 9A, 9B, and 9C change, new closing fixtures 3, 3A, 3B, 3C, 3D, and 3E can be manufactured quickly. As a result, the downtime of the closing device 1 can be minimized.

[0172] Furthermore, the lid-closing device 1 according to the above embodiment includes a robot 2 and lid-closing fixtures 3, 3A, 3B, 3C, 3D, and 3E. The robot 2 has a robotic arm 22. The lid-closing fixtures 3, 3A, 3B, 3C, 3D, and 3E are mounted on the robotic arm 22.

[0173] Based on this structure, a closing device 1 as described below can be obtained, which can close the cover by suppressing the load on the cover bodies 9, 9A, 9B, and 9C.

[0174] Furthermore, the sealing method described in the embodiment is a method for closing the lids 9, 9A, 9B, and 9C onto the container bodies 8, 8B, and 8C, including a lid holding step S102, a lid placement step S104, and an fitting step S106. In the lid holding step S102, the lids 9, 9A, 9B, and 9C are held in place using lid-closing fixtures 3, 3A, 3B, 3C, 3D, and 3E. In the lid placement step S104, the lids 9, 9A, 9B, and 9C, held in place by the lid-closing fixtures 3, 3A, 3B, 3C, 3D, and 3E, are placed over the container bodies 8, 8B, and 8C. In the fitting process S106, the lids 9, 9A, 9B, and 9C are pressed by the lid fixtures 3, 3A, 3B, 3C, 3D, and 3E, so that the fitting parts 962 of the lids 9, 9A, 9B, and 9C fit against the container bodies 8, 8B, and 8C.

[0175] This sealing method can suppress the load on the covers 9, 9A, 9B, and 9C. Specifically, it can suppress plastic deformation and breakage of the covers 9, 9A, 9B, and 9C, thus ensuring proper sealing. Furthermore, it can suppress accidental deformation of the covers 9, 9A, 9B, and 9C, significantly reducing the probability of sealing operation failure.

[0176] The above description, based on the illustrated embodiments and variations, describes the lid-closing fixture, lid-closing device, and lid-closing method of the present invention, but the present invention is not limited thereto.

[0177] For example, the lid-closing fixture and lid-closing device according to the present invention can be obtained by replacing each part of the embodiments and modifications with any structure having the same function, or by adding any structure to the embodiments and modifications. Furthermore, the lid-closing method according to the present invention can also be obtained by adding any step to the embodiments and modifications. Further, the present invention can also be obtained by combining two or more of the embodiments and modifications.

Claims

1. A lid-closing fixture, characterized in that it is A fixture for closing the lid of the container body. With the lid closed over the container body, and the container body and lid aligned in a first direction, the lid has a base, a cylindrical portion connected to the outer edge of the base, a groove, a fitting portion, and a wall portion. The fitting portion is connected to the outer end of the groove and fits into the container body. The wall portion extends along the first direction, and when viewed from above in the first direction, the outer surface of the cylindrical portion forms a conical shape with an outer diameter that continuously varies along the first direction. The fixture includes a pressing part, which, when the cover is closed onto the container body, contacts and presses against the portion of the wall opposite to the container body in the first direction. The closing fixture includes a limiting portion, which, when viewed from above in the first direction, is disposed inside the pressing portion. The limiting portion holds the cylindrical portion and restricts the position of the cover in a second direction orthogonal to the first direction. Furthermore, the inner surface of the limiting portion forms a conical shape with an inner diameter that continuously varies along the first direction. The limiting part has a low elasticity part with a lower elastic modulus than the pressing part. The low elasticity part is annular and protrudes inward from the inner wall of the limiting part.

2. The closing fixture according to claim 1, characterized in that, The pressing part is in the shape of a ring that is continuous in the circumferential direction with an axis extending along the first direction as its center.

3. The closing fixture according to claim 1, characterized in that, The pressing part is in the shape of a discontinuous ring centered on an axis extending along the first direction.

4. The closing fixture according to claim 2 or 3, characterized in that, The pressing part appears circular or polygonal when viewed from above in the first direction.

5. The closing fixture according to claim 1, characterized in that, The limiting portion has a window that extends through a second direction orthogonal to the first direction.

6. The closing fixture according to claim 1, characterized in that, The closing fixture is a layered, stacked structure.

7. A closing device, characterized in that, have: Robots with robotic arms; and The closing fixture as described in claim 1 is mounted on the robotic arm.

8. A method for closing a lid, characterized in that, This is a method for closing the lid of the container body. The closing method includes the following steps: The lid is held in place by the closing fixture as described in claim 1; The lid, held by the closing fixture, covers the container body; as well as By pressing the lid with the closing fixture, the fitting portion of the lid is fitted relative to the container body.

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