Lid closing aptitude determination program, lid closing aptitude determination device, lid closing aptitude determination method, and lid closing method

Abstract

To provide a lid-closing aptitude determination program that can accurately determine aptitude of lid-closing operation using a lid-closing jig, a lid-closing aptitude determination device and a lid-closing aptitude determination method that can accurately determine the aptitude of lid-closing operation using a lid-closing jig, and a lid-closing method with high success rate of lid-closing operation.SOLUTION: In a lid-closing aptitude determination program using a computer to determine the success or failure of a lid-closing operation, in which a lid body is fitted to a container body to obtain a fitted body, when it is performed by an automatic machine equipped with a lid-closing jig, the computer is caused to perform a parameter acquisition process for acquiring, as determination parameters, mechanical properties of the lid body, the container body and the fitted body, and the relationship between the actual value u of the displacement of the lid-closing jig measured in a preliminary test and the actual value F of the load applied to the lid-closing jig, and a success-or-failure determination process to determine the success or failure of the lid-closing operation based on the determination parameters.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a lid closing aptitude determination program, a lid closing aptitude determination device, a lid closing aptitude determination method, and a lid closing method. [Background technology]

[0002] In recent years, the introduction of robots has been considered in various production sites, and one example is a lid-closing device that closes the lid of a box-shaped container such as a lunch box. In containers that store food, etc., a lid is generally placed on the opening of the container body and fitted into it.

[0003] For example, Patent Document 1 discloses a lid closing device that closes the opening of a container body by fitting a lid inside the container body. This lid closing device includes a support member that supports the container body from below, a lid conveying unit that conveys the lid, a frame that surrounds the container body, and multiple claws that protrude from the inner wall surface of the frame. Then, after the lid is conveyed by the lid conveying unit to a position facing the opening of the container body, the multiple claws press a groove on the outer periphery of the lid surface to press the lid into the container body. This fits the lid into the container body and closes the lid. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-100424 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the lid closing device described in Patent Document 1, if the shape or size of the lid is changed, the lid conveying part and the frame must be changed accordingly. However, since fitting involves deformation of the lid and the container body, if there is a deviation in the position where the lid is pressed, the fitting may not be possible and the lid closing may fail. For this reason, it is an issue to accurately determine the suitability of the lid or container body and the jig that presses the lid (lid closing jig) and to increase the success rate of the lid closing work. [Means for solving the problem]

[0006] A program for determining whether a lid is properly closed according to an embodiment of the present invention includes: A lid-closing suitability determination program for causing a computer to determine whether a lid-closing operation is successful or not when an automatic machine having a lid-closing tool performs a lid-closing operation in which the lid is pressed in a pressing direction from the lid to a container body and the lid is fitted to the container body to obtain a fitted body, the program comprising: On the computer, a parameter acquisition process for acquiring, as parameters for judgment, the mechanical properties of the lid body, the container body, and the fitting body, and a relationship between an actual measurement value u of the displacement of the lid fastening jig measured in a pre-test of the lid fastening operation and an actual measurement value F of the load applied to the lid fastening jig; A success / failure determination process for determining whether the lid closing operation has been successful or not based on the determination parameters; Have them carry out the procedure.

[0007] The lid closing suitability determination device according to the application example of the present invention comprises: A capping suitability judgment device that judges whether a capping operation is successful or not when an automatic machine having a capping jig performs a capping operation in which the cap is pressed in a pressing direction from the cap toward a container body and the cap is fitted to the container body to obtain a fitted body, the apparatus comprising: A judgment control unit including the computer that executes the lid closing suitability judgment program according to the application example of the present invention and outputs a judgment result of the success / failure judgment process; an input unit that receives an input of the judgment parameters and transmits the input result to the judgment control unit; a display unit that displays the determination result output from the determination control unit; and Equipped with.

[0008] A method for determining whether a lid is properly closed according to an application example of the present invention includes the steps of: A method for judging whether a capping operation is successful or not when an automatic machine having a capping jig performs a capping operation in which the cap is pressed in a pressing direction from the cap toward a container body and the cap is fitted to the container body to obtain a fitted body, the method comprising: a parameter acquisition step of acquiring, as parameters for judgment, the mechanical properties of the lid body, the container body, and the fitting body, and a relationship between an actual measured value u of the displacement of the lid fastening jig measured in a pre-test of the lid fastening operation and an actual measured value F of the load applied to the lid fastening jig; a success / failure determination step of determining whether the lid closing operation has been successful or not based on the determination parameters; has.

[0009] A lid closing method according to an application example of the present invention includes the steps of: A lid-closing method for pressing a lid in a pressing direction from the lid to a container body and fitting the lid to the container body to obtain a fitted body, the method comprising the steps of: A lid closing suitability determination step of causing the computer to execute a lid closing suitability determination program according to an application example of the present invention; a lid closing operation step of performing the lid closing operation using the automated machine when the determination result of the success / failure determination process is successful; has. [Brief description of the drawings]

[0010] [Figure 1] 1 is a functional block diagram showing a lid closing device equipped with a lid closing suitability determination device according to an embodiment. [Diagram 2] 2 is a schematic diagram of an example of a container body and a lid to which the lid fastening device shown in FIG. 1 is applied, and of the robot shown in FIG. 1. [Diagram 3] 3 is a cross-sectional view showing the lid, the container body, and the fitting body shown in FIG. 2. [Figure 4] 13A and 13B are plan views of examples of the positional relationship between the pressing parts and the lids for a lid-closing jig having eight pressing parts and a lid-closing jig having four pressing parts, as viewed from the Z-axis. [Diagram 5] 2 is a diagram illustrating an example of a hardware configuration for implementing the functions of each functional unit included in the lid-closing aptitude determination device of FIG. 1. [Figure 6] 4 is a flowchart showing the configuration of a lid closing suitability determination method according to an embodiment. [Figure 7] FIG. 13 is a diagram showing an example of an initial setting value input screen displayed on a display unit. [Figure 8] FIG. 13 is a diagram showing an example of a judgment parameter input screen displayed on a display unit. [Figure 9] 10 is a cross-sectional view showing an example of a method for measuring mechanical properties of the container body alone. [Figure 10] 10 is a cross-sectional view showing an example of a method for measuring the mechanical properties of the lid body alone. FIG. [Figure 11] 11A to 11C are cross-sectional views showing an example of a method for measuring mechanical characteristics of a fitting body. [Figure 12] 11 is a cross-sectional view for explaining the lid closing operation. FIG. [Figure 13] 11 is a cross-sectional view for explaining the lid closing operation. FIG. [Figure 14] 11 is a cross-sectional view for explaining the lid closing operation. FIG. [Figure 15] 1 is a graph showing the change in the measured value F of the load applied to the lid-closing jig relative to the measured value u of the displacement of the lid-closing jig obtained in a preliminary test. [Figure 16] FIG. 1 is a conceptual diagram showing a calculation model in which a state in which a container body and a lid body are overlapped with each other is simulated using two spring elements connected in series. [Figure 17] 13A and 13B are diagrams illustrating an example of an aptitude assessment execution screen and a assessment result display screen displayed on a display unit. [Figure 18] 4 is a flowchart showing the configuration of a lid closing method according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the lid closing suitability determination program, the lid closing suitability determination device, the lid closing suitability determination method, and the lid closing method of the present invention will be described in detail based on the embodiments shown in the attached drawings.

[0012] 1. Lid closing device First, a lid closing device including a lid closing suitability determination device according to an embodiment will be described.

[0013] FIG. 1 is a functional block diagram showing a lid fastening device 100 including a lid fastening suitability determination device 1 according to an embodiment. FIG. 2 is a schematic diagram of an example of a container body 8 and a lid body 9 to which the lid fastening device 100 shown in FIG. 1 is applied, and a robot 3 shown in FIG. 1. FIG. 3 is a cross-sectional view showing the lid body 9, the container body 8, and the fitting body 10 shown in FIG. 2. In FIG. 2, the X-axis, the Y-axis, and the Z-axis are set as three mutually orthogonal axes. In FIG. 3, the Z-axis is also set. Each axis is represented by an arrow, and the tip side of the arrow is "plus" and the base side of the arrow is "minus". In the following description, for example, "X-axis direction" includes both the plus and minus directions of the X-axis. The same applies to the Y-axis and Z-axis directions. In the following description, the plus side of the Z-axis is also referred to as "upper" and the minus side of the Z-axis is also referred to as "lower".

[0014] The lid closing device 100 shown in Fig. 1 includes a lid closing suitability judgment device 1 and a robot 3 (automatic machine). The lid closing suitability judgment device 1 judges whether the lid closing work is successful or not when the robot 3 is made to perform the lid closing work of pressing a lid body 9 against a container body 8 and fitting them to obtain a fitted body 10. In the lid closing device 100, if the judgment result is successful, the robot 3 performs the lid closing work. Note that in this specification, the "fitted body 10" includes not only the container body 8 and the lid body 9 after fitting, but also the container body 8 and the lid body 9 before fitting.

[0015] 1.1.Robots 2 is a horizontal articulated robot having a base 31 and a robot arm 32. The form of the robot 3 is not limited to this, and may be a vertical articulated robot, a Cartesian robot using a slider mechanism, or a dual-arm robot having multiple robot arms 32.

[0016] The base 31 supports a robot arm 32. The robot arm 32 has a tip 33 to which various end effectors can be attached. A lid closing jig 36 is attached to the tip 33 shown in FIG. 2. The robot arm 32 moves the lid closing jig 36 to an arbitrary position within the space. The lid closing jig 36 grips the lid body 9 and presses the lid body 9 toward the container body 8.

[0017] The robot arm 32 has a first arm 321, a second arm 322, and a third arm 323. The first arm 321 rotates around a rotation axis parallel to the Z axis with respect to the base 31. The second arm 322 is provided at the tip of the first arm 321, and rotates around a rotation axis parallel to the Z axis. The third arm 323 has a rod shape extending parallel to the Z axis, and translates along the Z axis and rotates around a rotation axis parallel to the Z axis.

[0018] A force sensor 34 is provided between the tip 33 of the robot arm 32 and the lid closing jig 36. The force sensor 34 detects the magnitude and direction of a force applied to the lid closing jig 36. Examples of the force sensor 34 include a six-axis force sensor and a three-axis force sensor.

[0019] Further, inside the robot arm 32, there are provided motors (not shown) for each rotation axis, and an encoder 35 for detecting the rotation angle of each motor. Based on the detection result by the encoder 35, for example, the position of the lid closing jig 36 along the Z axis can be detected.

[0020] The operation of each motor is controlled by a robot controller (not shown) based on the detection results of the encoder 35.

[0021] The robot 3 may also have a sensor (not shown). Examples of the sensor include an image sensor, a distance sensor, and a displacement sensor. Among these, the image sensor can be used to detect the positions of the container body 8 and the lid 9, for example.

[0022] 1.2. Container The fitting body 10 shown in Fig. 3 is a container that is composed of a container body 8 and a lid body 9, and can be closed by fitting. The fitting body 10 is a so-called internal fitting type container in which the lid body 9 is fitted inside the container body 8. Fig. 3 shows the state before the lid body 9 is closed. Note that the fitting body 10 may also be a so-called external fitting type container in which the lid body 9 is fitted outside the container body 8.

[0023] The container body 8 has a bottom portion 82 located at the lower end, a cylindrical portion 84 connected to the outer edge of the bottom portion 82, and a flange portion 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 an object to be contained. The object to be contained in the container body 8 is not particularly limited.

[0024] The outer edge of the container body 8 is circular in plan view, centered on axis A1 parallel to the Z axis. In this specification, "plan view" refers to viewing from a position on axis A1. The bottom 82 is also circular, centered on axis A1, and extending in a plane perpendicular to axis A1.

[0025] The cylindrical portion 84 rises upward from the outer edge of the bottom portion 82 and continues in the circumferential direction around the axis A1.

[0026] The flange portion 86 protrudes outward from the upper end of the cylindrical portion 84 and is continuous in the circumferential direction. The flange portion 86 is composed of a fitted portion 862 and a flange portion 864. The fitted portion 862 is a portion that fits with the lid body 9. The flange portion 864 protrudes outward from the upper end of the fitted portion 862.

[0027] The material of the container body 8 is not particularly limited, but is, for example, a thermoplastic resin such as expanded polystyrene.

[0028] The lid 9 has a base 92 , a cylindrical portion 94 connected to the outer edge of the base 92 , and a flange portion 96 connected to the lower end of the cylindrical portion 94 .

[0029] The outer edge of the cover 9 has a circular shape centered on the axis A1 in a plan view. The base 92 also has a circular shape centered on the axis A1 and extending in a plane perpendicular to the axis A1.

[0030] The cylindrical portion 94 extends downward from the outer edge of the base portion 92 and continues in the circumferential direction.

[0031] The flange portion 96 protrudes outward from the lower end of the cylindrical portion 94 and is continuous in the circumferential direction. The flange portion 96 is composed of a groove portion 960, a fitting portion 962, a wall portion 963, and a flange portion 964.

[0032] The groove portion 960 is connected to the lower end of the cylindrical portion 94. The groove portion 960 spreads in a plane perpendicular to the axis A1, and forms a circular ring shape centered on the axis A1. The fitting portion 962 is connected to the outer end of the groove portion 960. The fitting portion 962 fits into the fitted portion 862 of the container body 8. The wall portion 963 is connected to the upper end of the fitting portion 962. The wall portion 963 is cylindrical so as to surround the axis A1 in a plan view. The flange portion 964 is connected to the upper end of the wall portion 963. The flange portion 964 protrudes outward from the connection portion with the wall portion 963.

[0033] Before the lid body 9 is closed on the container body 8, the outer diameter φ9 of the fitting portion 962 of the lid body 9 is set to be slightly larger than the inner diameter φ8 of the fitted portion 862 of the container body 8. When closing the lid body 9, the lid body 9 is pressed downward, so that the fitting portion 962 is pressed into the inside of the fitted portion 862. The lid closing jig 36 presses, for example, the groove portion 960 and the flange portion 964 of the lid body 9 downward. At this time, the outer diameter φ9 of the fitting portion 962 is once reduced along the fitted portion 862, and becomes slightly larger than the inner diameter φ8 of the fitted portion 862 after the press-fitting. This completes the fitting of the fitting portion 962 to the fitted portion 862.

[0034] The material of the lid 9 is not particularly limited, but may be, for example, a thermoplastic resin such as polyethylene or polyethylene terephthalate.

[0035] The fitting body 10 has been described above, but the above-mentioned fitting body 10 is one example of a container to which the lid closing jig 36 is applied, and is not limited to the above-mentioned shape. For example, the shape of each outer edge of the container body 8 and the lid body 9 may be a polygon such as a rectangle, hexagon, or octagon, or may be an ellipse, an oval, or the like.

[0036] 1.3. Lid Closing Jig The lid closing jig 36 shown in FIG.

[0037] The jig body 361 has a disk shape centered on the axis A1 in a plan view. Note that the jig body 361 may be, for example, a plate shape having a shape in a plan view other than a disk shape.

[0038] The pressing portion 362 is provided on the outer periphery of the jig body 361, and has a rod shape extending downward from the outer periphery. Examples of the shape of the pressing portion 362 include a cylindrical shape, a prismatic shape, a conical shape, a pyramid shape, etc. The number of pressing portions 362 provided in the lid closing jig 36 is preferably more than one, more preferably 3 to 30, and even more preferably 4 to 20.

[0039] FIG. 4 is a plan view of an example of the positional relationship between the pressing portions 362 and the lid body 9 for a lid closing jig 36A having eight pressing portions 362, and a lid closing jig 36B having four pressing portions 362, as viewed from the Z axis.

[0040] The lid closing jig 36A shown in Fig. 4 is configured to press the connection portion between the wall portion 963 and the flange portion 964 of the lid body 9 with eight pressing portions 362. The lid closing jig 36B shown in Fig. 4 is configured to press the above-mentioned connection portion with four pressing portions 362.

[0041] 1.4. Lid Closure Properness Assessment Device The lid-closing aptitude determination device 1 shown in FIG. 1 includes, as functional units, a determination control unit 2, an input unit 26, a display unit 27, and a storage unit 28.

[0042] When the judgment control unit 2 causes the robot 3 to perform the above-mentioned lid-closing operation, it judges whether the lid-closing operation is successful or not. This judgment result can provide objective information that allows the user to understand whether the container body 8 and the lid body 9 are suitable for the lid-closing operation using the robot 3, in other words, whether the robot 3 is suitable for the lid-closing operation of the container body 8 and the lid body 9. As a result, it becomes easier to avoid in advance the robot 3 being used in a lid-closing operation that has a low success rate. In this specification, the above suitability is referred to as "lid-closing suitability", and if the above judgment result is success, it is said that there is lid-closing suitability, and if the above judgment result is failure, it is said that there is no lid-closing suitability.

[0043] 1 includes an initial setting unit 202, a parameter acquisition unit 204, a success / failure determination processing unit 206, a display processing unit 208, and a control signal output unit 210. The determination control unit 2 performs a pre-test of the lid-closing operation using the robot 3, and determines whether the lid-closing operation has been successful or not based on the results of the pre-test. The pre-test refers to a test in which, in determining whether or not the lid can be closed, the container body 8 and the lid 9 are closed in advance using the lid-closing jig 36 to be judged, thereby actually measuring data required for the judgment.

[0044] The initial setting unit 202 acquires initial setting values ​​required for a pre-test of the lid closing operation. Examples of the initial setting values ​​include the type of lid closing tool 36 used in the pre-test, the amount of pressing when the lid closing tool 36 presses the lid body 9 beyond a predetermined position in the pre-test, and the like. The initial setting values ​​may be values ​​input via the input unit 26, or may be values ​​input by any method.

[0045] The parameter acquisition unit 204 acquires parameters for judgment required for judging the suitability of the lid closing. The parameters for judgment are, for example, the mechanical properties of the lid 9, the container body 8, and the fitting body 10, and the actual measured values ​​acquired in a preliminary test.

[0046] Examples of the mechanical properties of the lid body 9, the container body 8, and the fitting body 10 include a spring constant and a yield point. The spring constant is calculated from the relationship between the displacement of the lid fastening jig 36 in the Z-axis direction and the force (reaction force) received by the lid fastening jig 36 when a compressive load is applied to each of the container body 8 and the lid body 9 alone, and to the fitting body 10, using the robot 3. The yield point refers to the yield displacement or yield load of each of the container body 8 and the lid body 9 alone, and to the fitting body 10. The yield point is determined as the displacement or load at the time when each of the container body 8 and the lid body 9 alone, and to the fitting body 10, yields when a compressive load is applied to each of the container body 8 and the lid body 9 alone, and to the fitting body 10, using the robot 3. Yield refers to the change in deformation of an object to which force is applied from elastic deformation to plastic deformation.

[0047] An example of each measured value obtained in the preliminary test is the relationship between the measured value u of the displacement of the lid-closing jig 36 measured in the preliminary test and the measured value F of the load applied to the lid-closing jig 36. This relationship includes the change in the measured value F of the load relative to the measured value u of the displacement. In other words, the relationship includes a data set obtained by acquiring the measured value F while changing the measured value u.

[0048] The success / failure determination processing unit 206 performs a success / failure determination process to determine whether the lid closing operation has been successful or not based on the determination parameters. Specifically, an arithmetic expression for inputting the determination parameters is used, and the success / failure of the lid closing operation is determined based on the result of a comparison process between the solution of this arithmetic expression and the determination parameters.

[0049] The display processing unit 208 causes the determination result of the success / failure determination process to be displayed on the display unit 27. This makes it possible to notify the user of the lid-closing adequacy determination device 1 of the determination result.

[0050] The control signal output unit 210 performs a control signal output process that outputs a control signal to operate the robot 3 when the result of the success / failure determination process is success, that is, when there is suitability for closing the lid. This causes the lid closing work to be started using the robot 3. In this way, by using the success of the determination result of the success / failure determination process as a start condition for the lid closing work, it is possible to avoid the lid closing work being performed despite a low success rate.

[0051] The input unit 26 receives input of, for example, initial setting values, parameters for judgment, etc. Then, the input result is transmitted to the judgment control unit 2.

[0052] The display unit 27 displays, for example, a screen for displaying the determination result of the success / failure determination process, as well as a screen for supporting the input of initial setting values, parameters for determination, and the like. The storage unit 28 stores, for example, initial setting values, parameters for judgment, judgment results, and the like.

[0053] FIG. 5 is a diagram showing an example of a hardware configuration for realizing the functions of each functional unit included in the lid-closing aptitude determination device 1 of FIG.

[0054] The functions of the functional parts of the lid-closing aptitude determination device 1 are realized by hardware including, for example, a CPU 41, a memory 42, a hard disk 43, a mouse 44, a keyboard 45, a monitor 46, an external interface 47, and an external bus 48, as shown in Fig. 5. Of these, the CPU 41, the memory 42, the hard disk 43, the external interface 47, and the external bus 48 are, for example, a computer.

[0055] The CPU 41 is a central processing unit. Examples of the memory 42 include any non-volatile memory element (ROM), any volatile memory element (RAM), and a removable external memory element. Examples of the external interface 47 include a digital input / output port such as a Universal Serial Bus (USB), and an Ethernet (registered trademark) port. The hard disk 43 stores a program 432, data 434, and an OS 436. The program 432 includes a lid closing suitability determination program. The data 434 is, for example, the above-mentioned initial setting values, determination parameters, and determination results. The OS 436 is an operating system. The hard disk 43 may be, for example, a storage medium such as a flash memory or a solid state drive (SSD). In addition, all or a part of the hardware may be composed of a field-programmable gate array (FPGA), an application specific integrated circuit (ASIC), or the like. In addition, instead of or in addition to at least one of the mouse 44 and the keyboard 45, a touch panel, a touch pad, a microphone, or the like may be provided.

[0056] The program 432 is loaded into the memory 42 and executed by the CPU 41. When the CPU 41 executes the program 432, the functions of the above-mentioned functional units are realized.

[0057] The lid closing suitability determination program may be stored in a non-volatile storage medium (a computer-readable storage medium). Also, the program 432 and data 434 may be provided from an external source via a network.

[0058] 2. How to determine whether the lid can be closed Next, a method for determining lid closing suitability according to an embodiment will be described.

[0059] Fig. 6 is a flowchart showing the configuration of a lid closing suitability determination method according to an embodiment. The lid closing suitability determination method shown in Fig. 6 is performed, for example, by CPU 41 executing a lid closing suitability determination program and OS 436 included in program 432. Note that the method may be performed by CPU 41 executing only the lid closing suitability determination program.

[0060] The lid-closing suitability determination method shown in FIG. 6 includes a jig type receiving step S102, a push-in amount receiving step S104, a parameter acquisition step S106, a success / failure determination step S110, and a determination result display step S120.

[0061] 2.1. Tool type reception step In the jig type reception step S102, the computer is caused to perform a jig type reception process. The jig type reception process is a process in which the initial setting unit 202 in Fig. 1 receives the type of the lid closing jig 36 used in the preliminary test. In this process, for example, input is made via the input unit 26. At this time, an input screen may be displayed on the display unit 27 to assist in receiving the input. Alternatively, the input may be made via a removable external memory element or a network.

[0062] Fig. 7 is a diagram showing an example of an initial setting value input screen 51 displayed on the display unit 27. The initial setting value input screen 51 shown in Fig. 7 has a selection field 512 for selecting the type of lid-closing jig 36, which is the initial setting value. The selection field 512 is a pull-down menu, and allows a selection from, for example, a four-point pressing type or an eight-point pressing type. Note that the configuration of the initial setting value input screen 51 is not limited to this.

[0063] Each step described below may be performed for each type of lid-closing jig 36. This makes it possible to determine the lid-closing suitability for each type of lid-closing jig 36. As a result, it is possible to select the most suitable lid-closing jig 36 from among multiple types of lid-closing jig 36.

[0064] When there is only one type of lid-closing jig 36, the jig type receiving step S102 may be omitted.

[0065] 2.2. Push-in amount reception step In the push-in amount receiving step S104, the computer is caused to perform a push-in amount receiving process. The push-in amount receiving process is a process in which the initial setting unit 202 in FIG. 1 receives the amount of push-in when the lid closing jig 36 presses the lid body 9 beyond a predetermined position in a preliminary test. In this process, for example, input via the input unit 26 is used. At this time, an input screen may be displayed on the display unit 27 to assist in receiving the input. Alternatively, the input may be made via a removable external memory element or a network.

[0066] 7 has an input field 514 for receiving input of the amount of depression. In the input field 514, for example, the amount of depression is input as a numerical value.

[0067] The pushing amount refers to the amount of displacement of the lid closing jig 36 downward from a reference position, which is based on the position of the lid closing jig 36 when the lid closing jig 36 lightly contacts the fitting body 10. The position of the lid closing jig 36 when it lightly contacts is the position where the minimum load detectable by the force sensor 34 is generated when the lid closing jig 36 is displaced in the Z-axis direction.

[0068] If the amount of depression may be a fixed value, the step S104 of receiving the amount of depression may be omitted.

[0069] 2.3. Parameter acquisition step In parameter acquisition step S106, the computer is caused to perform parameter acquisition processing, which is processing in which the parameter acquisition unit 204 in FIG.

[0070] The judgment parameters are acquired, for example, by inputting the parameters via the input unit 26. At this time, an input screen may be displayed on the display unit 27 to assist in receiving the input. The parameters may also be input via a removable external storage device or a network.

[0071] Fig. 8 is a diagram showing an example of a judgment parameter input screen 52 displayed on the display unit 27. The judgment parameter input screen 52 shown in Fig. 8 has an input field 522 for receiving input of each mechanical property, and an input field 524 for receiving input of each actual measurement value.

[0072] Among these, the input field 522 is used to input the spring constants k a , k b , k r and each yield displacement U yka , U ykb , U yk0These mechanical properties may be values ​​measured by performing compression tests on the lid body 9 alone, the container body 8 alone, and the fitting body 10, or may be design values ​​or actual measured values ​​obtained from the manufacturer. However, the mechanical properties shall be values ​​when using the lid closing jig 36 of the type accepted in the jig type acceptance step S102.

[0073] FIG. 9 is a cross-sectional view showing an example of a method for measuring the mechanical properties of the container body 8 alone. In the measurement method shown in FIG. 9, the container body 8 is placed on a flat surface 95 with a sufficiently high rigidity. Then, the lid fastening jig 36 is lowered from above to apply a compressive load to the container body 8. Then, the spring constant of the container body 8 is calculated from the relationship between the displacement of the lid fastening jig 36 and the load (reaction force) received by the lid fastening jig 36. Specifically, the measured values ​​are plotted in an orthogonal coordinate system with the displacement in the Z-axis direction on the horizontal axis and the load in the Z-axis direction on the vertical axis. When the compressive load applied to the container body 8 is increased, the container body 8 undergoes elastic deformation below the yield point, but changes to plastic deformation above the yield point. In the range of elastic deformation, the curve connecting the plot marks can be linearly approximated. In this case, the slope of the straight line obtained by linear approximation is the spring constant. At the yield point, the curve connecting the plot marks takes a maximum value. The displacement corresponding to this maximum value is the yield displacement, and the load corresponding to the maximum value is the yield load.

[0074] FIG. 10 is a cross-sectional view showing an example of a method for measuring the mechanical properties of the lid 9 alone. 10, the lid body 9 is placed on a flat surface 95 with sufficiently high rigidity. Then, the lid closing jig 36 is lowered from above to apply a compressive load to the lid body 9. Then, the spring constant, yield displacement, and yield load of the lid body 9 are calculated from the relationship between the displacement of the lid closing jig 36 and the load (reaction force) received by the lid closing jig 36. The calculation method is the same as for the container body 8.

[0075] FIG. 11 is a cross-sectional view showing an example of a method for measuring the mechanical characteristics of the fitting body 10. As shown in FIG. 11, the fitting body 10 is placed on a flat surface 95 with sufficiently high rigidity. Then, the lid closing jig 36 is lowered from above to apply a compressive load to the fitting body 10. Then, the spring constant, yield displacement, and yield load of the fitting body 10 are calculated from the relationship between the displacement of the lid closing jig 36 and the load (reaction force) received by the lid closing jig 36. The calculation method is the same as for the container body 8.

[0076] On the other hand, in the input field 524, the actual measurement value u f , measured value F f , and the actual measured value E of the compression energy are input. These actual measured values ​​are obtained in a pre-test, which will be described later. Note that the configuration of the judgment parameter input screen 52 is not limited to this.

[0077] To obtain the actual measured values, a pre-test is performed in which the lid 9 is pressed against the container body 8 to perform the lid closing operation. In the pre-test, the type of lid closing jig 36 accepted in jig type acceptance step S102 is used, and the pressing amount accepted in pressing amount acceptance step S104 is reflected in the lid closing operation. This makes it possible to determine the lid closing suitability while changing the type and pressing amount of the lid closing jig 36, thereby realizing a program that is useful for searching for more optimal lid closing operation conditions.

[0078] 12 to 14 are cross-sectional views for explaining the lid closing operation. First, as shown in FIG. 12, the lid body 9 is gripped by the lid closing jig 36. For gripping, suction or the like may be used. Next, the lid body 9 is gradually lowered from above the container body 8. Then, as shown in FIG. 13, the state in which the fitting portion 962 of the lid body 9 and the fitted portion 862 of the container body 8 come into contact is defined as the fitting start state. Note that the minimum load required for successful fitting (successful lid closing work) in this fitting start state, that is, the threshold load for successful fitting, is defined as the "compressive load F0". When the lid body 9 is further lowered from the fitting start state, fitting starts, and the fitting portion 962, the fitted portion 862, or the periphery thereof is deformed. Then, the fitting completion state shown in FIG. 14 is reached. However, if the compressive load F0 is removed at the time when the fitting completion state is reached, the fitting may be released in the process of eliminating the deformation. Therefore, in the lid closing work, it is desirable to further lower the lid body 9 even when the fitting completion state is reached. The amount of descent at this time is the "push amount" described above. Therefore, the descent of the lid body 9 continues by the push amount accepted in the push amount acceptance step S104. Then, when the lid body 9 is pushed by a predetermined push amount and reaches the push end state, the descent of the lid body 9 ends.

[0079] The above-described lid closing work is carried out in advance, and the change in the actual value F of the load received by the lid closing jig 36 relative to the actual value u of the displacement of the lid closing jig 36 is obtained.

[0080] FIG. 15 is a graph showing the change in the actual value F of the load received by the lid closing jig 36 relative to the actual value u of the displacement of the lid closing jig 36 obtained in a preliminary test. The horizontal axis of FIG. 15 is the actual value u of the displacement of the lid closing jig 36 from the fitting start state to the pushing end state, and the vertical axis is the actual value F of the load received by the lid closing jig 36. In the example shown in FIG. 15, the actual value F of the load gradually increases from the fitting start state through the fitting completion state to the pushing end state. The left end of the curve shown in FIG. 15 is the fitting start state, and the right end is the pushing end state. The actual value u of the displacement at the pushing end state is referred to as the "actual value u f " and the actual measured value of the load F is "Actual measured value F fThe area of ​​the figure defined by the curve formed by the plot marks and the horizontal axis shown in FIG. 15 corresponds to the work performed by the lid-closing jig 36 during the fitting process. This work is defined as the "actual value E of compression energy."

[0081] In this way, the relationship between the actual measurement value u and the actual measurement value F is obtained by performing a preliminary test. f , measured value F f , and the actual measured value E of the compression energy can be obtained. The actual measured values ​​obtained in this manner may be input into the above-mentioned input field 524, or the relationship between the actual measured values ​​u and F may be automatically obtained from the detection results of the encoder 35 and the detection results of the force sensor 34. In the latter case, this saves the trouble of inputting data and eliminates the possibility of inputting errors, thereby supporting a more accurate determination of the lid closing suitability.

[0082] It should be noted that the parameters for judgment are not limited to those mentioned above, and some of the parameters may be omitted or changed, or other parameters may be added.

[0083] 2.4. Success / failure determination step In the success / failure determination step S110, the computer is caused to perform a success / failure determination process. The success / failure determination process is a process in which the success / failure determination processing unit 206 in Fig. 1 performs, for example, an arithmetic expression calculation step S112, a comparison step S116, and a determination result output step S118, which will be described later, to determine the success or failure of the lid closing operation.

[0084] 2.4.1. Formula Calculation Steps In the arithmetic expression calculation step S112, a calculation model is created in which the lid body 9, the container body 8 and the fitting body 10 are regarded as elastic bodies.

[0085] 16 is a conceptual diagram showing a calculation model in which the state in which the container body 8 and the lid body 9 are overlapped is simulated by two spring elements s1 and s2 connected in series. In the calculation model shown in FIG. 16, the container body 8 is connected to a node c3 and a node c2 by a spring constant k bThe spring element s2 is regarded as having a spring constant k a The spring element s1 is assumed to be the displacement of nodes c1, c2, and c3, respectively. When the compressive load F0 described above is applied, the load acting on node c2 is assumed to be f2, and the load acting on node c3 is assumed to be f3.

[0086] In this case, the load acting on node c2 is balanced, so the load f2 is 0. Also, node c3 is a fixed point, so the displacement u3 is 0. Furthermore, since the load f3 can be considered to be approximately equal to the compressive load F0, we will assume that f3 = F0 here. Then, at the moment that the compressive load F0 is applied to the calculation model, the load acting on each node c1, c2, and c3 is the spring constant k a , k b When expressed in a matrix using the displacements u1, u2, and u3, it is expressed by the following equation (A).

[0087]

number

[0088] When a compressive load F0 is applied to the calculation model before mating using the lid closing jig 36, elastic energy is accumulated in each spring element s1, s2 in the mating state. On the other hand, the mating energy consumed at the mating portion between the container body 8 and the lid 9 cannot be expressed as elastic energy accumulated in the spring elements, so it is expressed as the product of the load and displacement. The load during the mating process can be considered to decrease linearly from the initial compressive load F0, and to become zero when mating is complete. For this reason, the amount of displacement during the mating process is referred to as the "amount of displacement during mating u c " Then, the fitting energy is calculated by the compression load F0 and the fitting displacement u c It can be considered as half the product of and. cis the displacement of the lid closing jig 36 from the mating start state to the mating completion state. Therefore, when a compressive load F0 is applied to the calculation model before mating and the lid closing operation is performed, elastic energy is accumulated during the mating process and mating energy is consumed. Then, the law of conservation of mechanical energy is established, in which the work performed by the compressive load F0, i.e., the compression energy, is equal to the sum of the elastic energy and the mating energy. Therefore, an equation can be derived based on this law of conservation of mechanical energy. An example of the equation is shown as the following formula (B).

[0089]

number

[0090] The first term on the right side of the above equation (B) represents the maximum elastic energy stored in the spring element s1. The spring constant k a The spring constant of the lid body 9 acquired in the parameter acquisition step S106 is substituted for u1-u2. Furthermore, since u1-u2 corresponds to the deformation amount of the spring element s1, it satisfies the relationship expressed by the following formula (C-1).

[0091]

number

[0092] On the other hand, the second term on the right side of the above equation (B) represents the maximum elastic energy stored in the spring element s2. The spring constant k b The spring constant of the container body 8 acquired in the parameter acquisition step S106 is substituted for u2. Furthermore, since u2 corresponds to the deformation amount of the spring element s2, it satisfies the relationship expressed by the following formula (C-2).

[0093]

number

[0094] The third term on the right side of the above formula (B) represents the mating energy consumed in the mating portion. The coefficient X in the third term on the right side is an error correction coefficient for correcting the error with the real object, and is, for example, a real number between 0.5 and 2.0. Here, as an example, the coefficient X is set to 1.0.

[0095] Here, by substituting the above formulas (C-1) and (C-2) into the above formula (B) and transforming it, the following formula (B-1) is obtained.

[0096]

number

[0097] The above formula (B-1) is a quadratic equation for the compressive load F0. By solving this quadratic equation, the solution for the compressive load F0 can be obtained.

[0098] In addition, the displacement amount at fitting in the third term on the left side of the above formula (B-1), u c Since it cannot be calculated directly, it is calculated using the relationships expressed by the following formulas (D-1) and (D-2).

[0099]

number

[0100] The right side of the above formula (D-1) is the actual measured value u obtained in the preliminary test. f In addition, the spring constant k on the right side of the above formula (D-2) r The spring constant of the fitting body 10 acquired in the parameter acquisition step S106 is substituted into . Furthermore, the actual measured value F acquired in the preliminary test is substituted into the left side of the above formula (D-2). f is assigned.

[0101] On the other hand, E in the fourth term on the left side of the above formula (B-1) is compression energy. The actual measured value E of the compression energy acquired in the preliminary test in the parameter acquisition step S106 is substituted for this compression energy E.

[0102] Here, we will show a calculation example using each of the above arithmetic expressions. In this calculation example, the spring constant k a :17963.0[N / m], spring constant k b :20080.0[N / m], spring constant k r :31077.0[N / m], measured value u f :0.0083[m], measured value F f The measured value of the compression load F0 is 57.09 and -110.73. The compression load F0 is calculated as follows: F = 81.81 [N], and the measured value of the compression energy E is 0.3334 [J]. By substituting these parameters for judgment into the above formula (B-1) and solving the quadratic equation, the solutions for the compression load F0 are 57.09 and -110.73. Here, the compression direction is considered to be positive, so the former solution is used as the compression load F0.

[0103] The obtained compression load F0 is substituted into the above formulas (C-1) and (C-2). As a result, the displacements u1, u2, and the deformation amount u1-u2 are calculated. In the above calculation example, the displacement u1: 0.00602 [m], the displacement u2: 0.00280 [m], and the deformation amount u1-u2: 0.00322 [m] are obtained. These displacements u1, u2, and the deformation amount u1-u2 represent the deformation state of the lid body 9 and the container body 8 when the above-mentioned compression energy E is applied, and the displacement u1 corresponds to the maximum displacement amount of the upper surface of the lid body 9, the displacement u2 corresponds to the maximum displacement amount of the upper surface of the container body 8, and the deformation amount u1-u2 corresponds to the maximum deformation amount of the lid body 9.

[0104] In this manner, the compressive load F0, the displacements u1 and u2, and the deformation amount u1-u2 are obtained as solutions to the calculation formulas. Note that the calculation formulas are not limited to the above formulas (A), (B), (B-1), (C-1), (C-2), (D-1), and (D-2).

[0105] 2.4.2. Comparison Step In the comparison step S116, a comparison process is performed between the solution of the arithmetic expression and the judgment parameters. This comparison process includes a first comparison and a second comparison, which will be described later.

[0106] 2.4.2.1. First Comparison In the first comparison, the calculated value of the compressive load F0 obtained as a solution to the equation is compared with the actual measured value F of the load at the displacement u1 obtained in the preliminary test. The actual measured value F of the load is the load when the displacement of the top surface of the lid body 9 in the preliminary test is the value of the displacement u1 calculated in the equation calculation step S112. The success condition in the first comparison is that when the calculated value of the compressive load F0 is 1, the actual measured value F of the load at the displacement u1 is 1 or more. If this success condition is satisfied, the value of the load in the mating completion state actually measured in the preliminary test (the actual measured value F of the load at the displacement u1) is equal to or greater than the threshold load (the calculated value of the compressive load F0) at which it can be estimated that the mating is successful, and the first comparison result can be judged as "successful". Moreover, the greater the actual measured value F of the load is 1, the higher the margin for the first comparison result to be successful. This makes it possible to avoid a decrease in the success rate, for example, even if the environment of the lid closing work changes slightly. The relative value of the measured load value F at the displacement u1 is preferably greater than 1, and more preferably 1.01 or greater.

[0107] Here, an example of the first comparison is shown. The calculated value of the compressive load F0 is 57.09 [N] as described above. On the other hand, the measured value F of the load at the displacement u1 obtained in the preliminary test is obtained as the value when the measured value u of the displacement is u1:0.00602 [m] (6.02 [mm]) in FIG. 15. In the example shown in FIG. 15, the measured value F of the load when the measured value u of the displacement is 6.02 [mm] is 58.19 [N]. If the former (57.09 [N]) is 1, the latter (58.19 [N]), which is the judged value, is 1.019. Since the latter is 1 or more, the first comparison result in this example is success. In this case, 1.019 can be regarded as the margin of the judged value with respect to the success condition.

[0108] 2.4.2.2. Second Comparison In the second comparison, first, the deformation amount u1-u2 obtained as the solution of the calculation formula and the yield displacement U yka The deformation amount u1-u2 corresponds to the maximum deformation amount of the lid body 9 during the fitting process.

[0109] In addition, the displacement u2 obtained as the solution of the calculation formula and the yield displacement U ykb The displacement u2 corresponds to the maximum deformation amount of the container body 8 in the fitting process.

[0110] The success condition in the second comparison is that the yield displacement U yka is 1 or more, and the displacement u2 is 1, the yield displacement U ykb is greater than or equal to 1. If this success condition is met, the yield displacement U of the lid 9 is smaller than the maximum deformation amount (deformation amount u1-u2) of the lid 9. yka is equal to or greater than the maximum deformation amount (displacement u2) of the container body 8, and the yield displacement U ykb Since the yield displacement U yka and the yield displacement U ykb The greater the difference between the deformation amount u1 and the deformation amount u2, the greater the margin for the second comparison result to be successful. This makes it possible to avoid a decrease in the success rate even if the environment of the lid closing operation changes slightly. Note that the deformation amount u1-u2 and the relative value of the deformation amount u1-u2 are preferably greater than 1, and more preferably 1.1 or greater.

[0111] Here, we present a second comparative example. The deformation u1-u2 is 0.00322 [m] and the yield displacement U yka is 0.0042 [m], if the former (0.00322 [m]) is taken as 1, the latter (0.0042 [m]) which is the judged value becomes 1.32. Also, the displacement u2 is 0.0028 [m], and the yield displacement U ykb is 0.0050 [m], the latter, which is the judged value, is 1.76 when the former is 1. Therefore, the second comparison result in this example is success. Note that 1.32 and 1.76 can be regarded as the margin of the judged value relative to the success condition, respectively.

[0112] The success conditions in the first comparison and the success conditions in the second comparison are not limited to the above. For example, in the second comparison, the deformation or displacement is compared with the yield displacement, but instead, the load may be compared with the yield load.

[0113] 2.4.3. Judgment result output step In the judgment result output step S118, the success or failure of the lid closing operation is judged based on the first comparison result and the second comparison result. If both the first comparison result and the second comparison result are successful, it is judged that the lid closing operation is successful. The judgment that the lid closing operation is successful means that the lid closing jig 36, the lid body 9, and the container body 8 are suitable for lid closing. On the other hand, if at least one of the first comparison result and the second comparison result is unsuccessful, it is judged that the lid closing operation is unsuccessful. The judgment that the lid closing operation is unsuccessful means that the lid closing jig 36, the lid body 9, and the container body 8 are not suitable for lid closing.

[0114] 2.5. Displaying the Judgment Result In the judgment result display step S120, the computer is caused to perform a judgment result display process. The judgment result display process is a process in which the display processing unit 208 in FIG. 1 displays the above-mentioned judgment result on the display unit 27. The display method is not particularly limited, and may be a method of projecting characters, images, patterns, etc., a method of sounding a voice or a buzzer sound, or a method of blinking an indicator, light, etc. This makes it possible to notify the user of the lid closing aptitude judgment device 1 of the judgment result. As a result, it is possible to support improvement of the lid closing aptitude.

[0115] Moreover, the displayed judgment result may include not only the success or failure of the lid closing work but also the margin (the margin of the judged value with respect to the success condition), and may include the contents of the first comparison result and the second comparison result. Furthermore, when the reason for each comparison result and measures for success are derived, the display content may include a comment indicating them. For example, if the first comparison result is a failure, it is highly likely that the amount of pressing is insufficient, so a comment to that effect may be displayed. Also, if the second comparison result is a failure, it is possible to improve by increasing the yield point of the lid body 9 or the container body 8 or changing the type of the lid closing jig 36, so a comment to that effect may be displayed. This can support the improvement of the lid closing suitability. The judgment result display step S120 may be performed as necessary and may be omitted.

[0116] Fig. 17 is a diagram showing an example of an aptitude assessment execution screen and a judgment result display screen 53 displayed on the display unit 27. The aptitude assessment execution screen and the judgment result display screen 53 shown in Fig. 17 have an aptitude assessment start button 532 and a judgment result display field 534.

[0117] The suitability determination start button 532 accepts an input operation by the mouse 44. When the suitability determination start button 532 is pressed, the above-mentioned success / failure determination step S110 is started.

[0118] The judgment result display field 534 may include the judgment result (success or failure of the lid closing work), comments, etc., as shown in Fig. 17. In addition, as shown in Fig. 17, a graph showing the relationship between the actual measured value u of the displacement of the lid closing jig 36 measured in the preliminary test and the actual measured value F of the load received by the lid closing jig 36, etc., may be included.

[0119] 3. How to close the lid Next, a lid closing method according to the embodiment will be described.

[0120] Fig. 18 is a flowchart showing the configuration of a lid closing method according to an embodiment. The lid closing method shown in Fig. 18 includes a lid closing suitability determination step S100 and a lid closing operation step S200. Among these, the lid closing operation step S200 includes a control signal output step S204, an operation execution step S206, and a control signal interruption step S208.

[0121] 3.1. Lid Closing Suitability Assessment Steps In the lid closing suitability determination step S100, a lid closing suitability determination program is executed by a computer, and the lid closing suitability determination method according to the embodiment described above is performed to determine whether or not the lid closing suitability is present. If the lid closing suitability is present, the process proceeds to a control signal output step S204. On the other hand, if the lid closing suitability is not present, the process proceeds to a control signal interruption step S208.

[0122] 3.2. Lid Closing Steps As described above, the lid closing operation step S200 includes a control signal output step S204, an operation execution step S206, and a control signal cut-off step S208.

[0123] 3.2.1. Control signal output step In the control signal output step S204, the computer is caused to perform a control signal output process. The control signal output process is a process for outputting a control signal for operating the robot 3 to a robot controller or the like.

[0124] 3.2.2. Work execution steps In the operation execution step S206, the robot 3 is operated to perform the lid closing operation. Since the lid closing tool 36, the lid body 9, and the container body 8 used in the lid closing operation have been determined to be suitable in advance, the lid closing operation can be performed successfully with a high probability in this step.

[0125] 3.2.3. Control Signal Cutoff Step In the control signal blocking step S208, the computer is not caused to perform the control signal output process. Therefore, the control signal output process is not performed and the robot 3 does not operate. This makes it possible to avoid the execution of the lid closing task, which has a low success rate.

[0126] 4. Advantages of the above embodiment As described above, the lid-closing suitability determination program according to the embodiment is a lid-closing suitability determination program that causes a computer to determine the success or failure of a lid-closing operation when a robot 3 (automatic machine) equipped with a lid-closing jig 36 performs a lid-closing operation in which the lid body 9 is pressed in a pressing direction from the lid body 9 toward the container body 8 and the lid body 9 is fitted to the container body 8 to obtain a fitted body 10. This lid-closing suitability determination program causes the computer to perform a parameter acquisition process and a success or failure determination process. The parameter acquisition process acquires, as parameters for determination, the mechanical properties of the lid body 9, the container body 8, and the fitted body 10, as well as the relationship between the actual measured value u of the displacement of the lid-closing jig 36 measured in a pre-lid-closing test and the actual measured value F of the load received by the lid-closing jig 36. The success or failure determination process determines the success or failure of the lid-closing operation based on the parameters for determination.

[0127] According to this configuration, when the robot 3 equipped with the lid fastening jig 36 is made to perform the lid fastening operation of fitting the lid body 9 to the container body 8 to obtain the fitted body 10, a program can be obtained that can accurately determine the suitability of the robot 3. This makes it possible to easily increase the success rate of the lid fastening operation.

[0128] The parameter acquisition process may also include a process of acquiring the actual measured value u, the actual measured value F, and the actual measured value E of the energy applied during the lid closing operation when the lid closing operation is completed.

[0129] According to this configuration, the actual measured values ​​obtained in the preliminary test can be reflected in the suitability judgment, thereby obtaining a program that can more accurately judge the lid closing suitability.

[0130] In addition, the success / failure determination process may include a process of inputting judgment parameters into an arithmetic equation derived based on a calculation model in which the lid body 9, the container body 8, and the fitting body 10 are each regarded as elastic bodies, and the law of conservation of mechanical energy in which the energy (compression energy) given to the calculation model before fitting is equal to the energy (elastic energy and fitting energy) accumulated and consumed in the calculation model after fitting, and calculating a solution to the equation, and determining the success or failure of the lid closing operation based on the result of a comparison process between the solution of the equation and the judgment parameters.

[0131] According to this configuration, the lid-closing operation is simulated based on the calculation model and the law of conservation of mechanical energy, so that the lid-closing operation can be simulated with high accuracy. This makes it possible to obtain a program that can more accurately determine the lid-closing suitability.

[0132] The lid closing suitability determination program according to the embodiment causes the computer to perform a push-in amount reception process. The push-in amount reception process receives the amount of push-in when the lid closing jig 36 presses the lid body 9 beyond a predetermined position in a pre-test, prior to the parameter acquisition process.

[0133] With this configuration, a program can be obtained that can determine the lid-closing suitability while changing the amount of pressure applied, which is useful for searching for more optimal conditions for the lid-closing operation.

[0134] The lid-closing suitability determination program according to the embodiment causes the computer to perform a jig type reception process, which receives the type of the lid-closing jig 36 used in the pre-test.

[0135] According to this configuration, it is possible to obtain a program that can determine the lid-closing suitability while changing the type of lid-closing jig 36. This makes it possible to realize a program that is useful for searching for more optimal lid-closing work conditions.

[0136] The lid-closing aptitude determination program according to the embodiment causes the computer to perform a display process, which displays the result of the success / failure determination process on the display unit 27.

[0137] According to this configuration, the user can be notified of the result of the determination, thereby realizing a program for supporting improvement of the lid closing aptitude.

[0138] The display process may include a process of displaying the margin of the judged value with respect to the success condition when the judgement result is success. With this configuration, a program can be realized that assists in improving lid closing ability.

[0139] The lid-closing aptitude determination program according to the embodiment causes the computer to perform a control signal output process, which outputs a control signal for operating the robot 3 (automatic machine) when the result of the success / failure determination process is success.

[0140] With this configuration, if the result of the success / failure determination process is failure, no control signal is output, thereby obtaining a program that can avoid performing a lid closing task, which has a low success rate.

[0141] The robot 3 (automatic machine) may also be equipped with an encoder 35 and a force sensor 34. The encoder 35 detects the position of the lid closing jig 36. The force sensor 34 detects the force applied to the lid closing jig 36. The parameter acquisition process may include a process of acquiring the detection results of the encoder 35 and the force sensor 34 as the relationship between the actual measurement value u and the actual measurement value F.

[0142] Such a configuration saves the trouble of input operations and eliminates the possibility of input errors, resulting in a program that can assist in more accurate determination of lid-closing suitability.

[0143] The storage medium is a computer-readable storage medium, and stores the above-mentioned lid closing suitability determination program.

[0144] According to this configuration, when a robot 3 equipped with a lid closing tool 36 is made to perform the lid closing work of fitting the lid body 9 to the container body 8 to obtain a fitted body 10, a storage medium is obtained which stores a program capable of accurately determining the suitability of the robot 3.

[0145] The lid-closing suitability judgment device 1 according to the embodiment is a lid-closing suitability judgment device that judges whether or not a lid-closing operation has been successful when a lid-closing operation is performed by a robot 3 (automatic machine) equipped with a lid-closing jig 36, in which the lid body 9 is pressed in a pressing direction from the lid body 9 toward the container body 8 and the lid body 9 is fitted to the container body 8 to obtain a fitted body 10, and includes a judgment control unit 2, an input unit 26, and a display unit 27. The judgment control unit 2 includes a computer that executes the lid-closing suitability judgment program according to the embodiment, and outputs a judgment result of the success / failure judgment process. The input unit 26 accepts input of judgment parameters and transmits the input result to the judgment control unit 2. The display unit 27 displays the judgment result output from the judgment control unit 2.

[0146] According to this configuration, when the robot 3 equipped with the lid-closing jig 36 performs the lid-closing work of fitting the lid body 9 to the container body 8 to obtain the fitted body 10, the lid-closing suitability judgment device 1 can be obtained that can accurately judge the suitability. This makes it possible to easily increase the success rate of the lid-closing work.

[0147] The lid-closing suitability determination method according to the embodiment is a lid-closing suitability determination method for determining whether or not the lid-closing work is successful when a lid-closing work is performed by a robot 3 (automatic machine) equipped with a lid-closing jig 36, in which the lid body 9 is pressed in a pressing direction from the lid body 9 toward the container body 8 and the lid body 9 is fitted to the container body 8 to obtain a fitted body 10, and includes a parameter acquisition step S106 and a success / failure determination step S110. In the parameter acquisition step S106, the mechanical properties of the lid body 9, the container body 8, and the fitted body 10, as well as the relationship between the actual measured value u of the displacement of the lid-closing jig 36 measured in a pre-lid-closing test and the actual measured value F of the load received by the lid-closing jig 36, are acquired as the determination parameters. In the success / failure determination step S110, the success / failure of the lid-closing work is determined based on the determination parameters.

[0148] According to this configuration, when the robot 3 equipped with the lid fastening jig 36 is made to perform the lid fastening operation of fitting the lid body 9 to the container body 8 to obtain the fitted body 10, the suitability of the robot 3 can be accurately determined. This makes it possible to easily increase the success rate of the lid fastening operation.

[0149] The lid closing method according to the embodiment is a lid closing method using a robot 3 (automatic machine) equipped with a lid closing tool 36 to press the lid body 9 in a pressing direction from the lid body 9 toward the container body 8 and fit the lid body 9 to the container body 8 to obtain a fitted body 10, and includes a lid closing suitability determination step S100 and a lid closing work step S200. In the lid closing suitability determination step S100, a computer is caused to execute a lid closing suitability determination program according to the embodiment. In the lid closing work step S200, if the determination result of the success / failure determination process is success, the lid closing work is performed using the robot 3.

[0150] With this configuration, it is possible to avoid performing a lid closing operation that has a low success rate, thereby enabling the lid closing operation to be performed with a high probability.

[0151] The above describes the lid closing aptitude determination program, the lid closing aptitude determination device, the lid closing aptitude determination method and the lid closing method according to the present invention based on the illustrated embodiment, but the present invention is not limited to this.

[0152] For example, the lid closing aptitude determination program according to the present invention may be compressed or encrypted. Also, the lid closing aptitude determination device according to the present invention may be one in which each part of the embodiment is replaced with any component having a similar function, or any component is added to the embodiment. Furthermore, the lid closing aptitude determination method and the lid closing method according to the present invention may each be one in which any purposed process is added to the embodiment. [Explanation of symbols]

[0153] 1...lid-closing suitability judgment device, 2...judgment control unit, 3...robot, 8...container body, 9...lid body, 10...fitting body, 26...input unit, 27...display unit, 28...storage unit, 31...base, 32...robot arm, 33...tip, 34...force sensor, 35...encoder, 36...lid-closing jig, 36A...lid-closing jig, 36B...lid-closing jig, 41...CPU, 42...memory, 43...hard disk, 44...mouse, 45...keyboard, 46...monitor, 47...external interface, 48...external bus, 51...initial setting value input screen, 52...judgment parameter input screen, 53...judgment result display screen, 82...bottom, 84...cylindrical portion, 86...flange portion, 92...base, 94...cylindrical portion portion, 95...flat surface, 96...flange portion, 100...lid closing device, 202...initial setting portion, 204...parameter acquisition portion, 206...success / failure judgment processing portion, 208...display processing portion, 210...control signal output portion, 321...first arm, 322...second arm, 323...third arm, 361...jig body, 362...pressing portion, 432...program, 434...data, 436...OS, 512...selection field, 514...input field, 522...input field, 524...input field, 532...suitability judgment start button, 534...judgment result display field, 862...fitted portion, 864...flange portion, 960...groove portion, 962...fitting portion, 963...wall portion, 964...flange portion, A1...axis, E...actual measurement value, F...actual measurement value, F f...actual measurement value, F0...compressive load, f2...load, f3...load, S1...internal space, S100...suitability determination step, S102...tool type reception step, S104...push amount reception step, S106...parameter acquisition step, S110...success / failure determination step, S112...arithmetic formula calculation step, S116...comparison step, S118...determination result output step, S120...determination result display step, S200...work step, S204...control signal output step, S206...work execution step, S208...control signal interruption step, c1...node, c2...node, c3...node, k a …spring constant, k b …spring constant, k r ...Spring constant, s1...Spring element, s2...Spring element, u...Measured value, u1...Displacement, u2...Displacement, u3...Displacement, u f …Actual value, U yka … Yield displacement, U ykb … Yield displacement, U yk0 ... Yield displacement, φ8... Inner diameter, φ9... Outer diameter

Claims

1. A lid-closing suitability determination program for causing a computer to determine whether a lid-closing operation is successful or not when an automatic machine having a lid-closing tool performs a lid-closing operation in which the lid is pressed in a pressing direction from the lid to a container body and the lid is fitted to the container body to obtain a fitted body, the program comprising: On the computer, a parameter acquisition process for acquiring, as parameters for judgment, the mechanical properties of the lid body, the container body, and the fitting body, and a relationship between an actual measurement value u of the displacement of the lid fastening jig measured in a pre-test of the lid fastening operation and an actual measurement value F of the load applied to the lid fastening jig; A success / failure determination process for determining whether the lid closing operation has been successful or not based on the determination parameters; A lid closing aptitude determination program characterized by causing a user to perform the following.

2. The lid closing suitability judgment program of claim 1, wherein the parameter acquisition process includes a process for acquiring the actual measured value u, the actual measured value F, and the actual measured value E of the energy applied during the lid closing process when the lid closing operation is completed.

3. The success / failure determination process includes a process of inputting the judgment parameters into an arithmetic equation derived based on a computational model in which the lid body, the container body and the fitting body are each regarded as elastic bodies, and the law of conservation of mechanical energy, in which the energy applied to the computational model before fitting is equal to the energy accumulated and consumed in the computational model after fitting, calculating a solution to the arithmetic equation, and determining the success / failure of the lid closing operation based on the result of a comparison process between the solution of the arithmetic equation and the judgment parameters.The lid closing suitability determination program of claim 2.

4. The computer includes: A lid closing suitability judgment program as described in any one of claims 1 to 3, which performs a push-in amount reception process prior to the parameter acquisition process, to receive the amount of push-in when the lid closing jig pushes the lid body beyond a predetermined position in the preliminary test.

5. The computer includes:

4. The lid-closing suitability judgment program according to claim 1, further comprising a jig type reception process for receiving a type of the lid-closing jig used in the preliminary test.

6. The computer includes:

4. The lid-closing aptitude determination program according to claim 1, further comprising a display process for displaying a result of the success / failure determination process on a display unit.

7. The lid-closing suitability judgment program according to claim 6 , wherein the display process includes a process for displaying a margin of the judged value relative to a success condition when the judgment result is success.

8. The computer includes:

4. The lid-closing aptitude determination program according to claim 1, further comprising a control signal output process for outputting a control signal for operating the automatic machine when the determination result of the success / failure determination process is success.

9. The automated machine includes an encoder that detects a position of the lid closing tool, and a force sensor that detects a force applied to the lid closing tool, A lid closing suitability judgment program as described in any one of claims 1 to 3, wherein the parameter acquisition process includes a process for acquiring the detection results of the encoder and the detection results of the force sensor as a relationship between the actual measurement value u and the actual measurement value F.

10. A capping suitability judgment device that judges whether a capping operation is successful or not when an automatic machine having a capping jig performs a capping operation in which the cap is pressed in a pressing direction from the cap toward a container body and the cap is fitted to the container body to obtain a fitted body, the apparatus comprising: a determination control unit including the computer that executes the lid closing aptitude determination program according to any one of claims 1 to 3 and that outputs a determination result of the success / failure determination process; an input unit that receives an input of the judgment parameters and transmits the input result to the judgment control unit; a display unit that displays the determination result output from the determination control unit; and A lid closing suitability determination device comprising:

11. A method for judging whether a capping operation is successful or not when an automatic machine having a capping jig performs a capping operation in which the cap is pressed in a pressing direction from the cap toward a container body and the cap is fitted to the container body to obtain a fitted body, the method comprising: a parameter acquisition step of acquiring, as parameters for judgment, the mechanical properties of the lid body, the container body, and the fitting body, and a relationship between an actual measurement value u of the displacement of the lid fastening jig measured in a pre-test of the lid fastening operation and an actual measurement value F of the load applied to the lid fastening jig; a success / failure determination step of determining whether the lid closing operation has been successful or not based on the determination parameters; A method for determining whether a lid can be closed properly, comprising the steps of:

12. A lid-closing method for pressing a lid in a pressing direction from the lid to a container body and fitting the lid to the container body to obtain a fitted body, the method comprising the steps of: a lid-closing aptitude determination step of causing the computer to execute the lid-closing aptitude determination program according to any one of claims 1 to 3; a lid closing operation step of performing the lid closing operation using the automated machine when the determination result of the success / failure determination process is successful; A lid closing method comprising the steps of:

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