Tabbed lid opening hand, tabbed lid opening system, and method of opening tabbed lid
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- SEIKO EPSON CORP
- Filing Date
- 2023-07-20
- Publication Date
- 2026-06-23
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
[Technical field]
[0001] The present invention relates to a tabbed lid opening hand, a tabbed lid opening system, and a tabbed lid opening method. [Background technology]
[0002] Among wide-mouth containers for packaging beverages, there are containers whose mouth is sealed with a lid plate having a pull tab.
[0003] For example, Patent Document 1 discloses a cover plate made of aluminum or the like that seals the mouth of a wide-mouthed container, and a pull tab provided on the cover plate. The cover plate is crimped to the mouth of the bottle and is slightly recessed inside the mouth of the bottle, thereby ensuring a sealed state. Such a cover plate can be removed from the mouth of the bottle by pulling up the pull tab. This allows the mouth of the bottle to be opened.
[0004] In recent years, the introduction of robots to replace human work and automate tasks has been considered. One example of this is the automation of the task of opening container lids. The lid plate described in Patent Document 1 is opened by pulling up the pull tab, so automation requires an opening hand that has the function of gripping the pull tab. [Prior art documents] [Patent documents]
[0005] [Patent Document 1] JP 2003-170953 A Summary of the Invention [Problem to be solved by the invention]
[0006] The tab is usually arranged so as to be attached along the outer surface of the bottle mouth, which means that the tab cannot be grasped by a bottle opening hand, making it difficult to automate the opening of a tabbed lid. [Means for solving the problem]
[0007] The tab-equipped lid opening hand according to the application example of the present invention is: A tab-equipped lid unplugging hand used in an unplugging operation for removing a tab-equipped lid from an annular opening of a container, the tab-equipped lid including a lid body that closes the opening and a tab that is connected to the lid body and is provided along an outer surface of the container, A base portion that is attached to the robot arm; Two claws supported by the base portion and moving toward and away from each other; a hook that is disposed with a tip portion facing in a direction intersecting the approaching and separating direction and is engageable with the tab; Equipped with.
[0008] The tab-equipped lid opening system according to the application example of the present invention includes: A robot having a robotic arm; a tab-equipped lid opening hand according to an application example of the present invention attached to the robot arm; Equipped with.
[0009] A method for opening a tab-equipped lid according to an application example of the present invention includes the steps of: A method for removing a tabbed lid, which includes a lid body that closes a circular opening of a container, and a tab that is connected to the lid body and is provided along an outer surface of the container, from the opening by an automated machine, comprising: the automated machine includes a claw portion, a tab holder, and a robot arm that moves the tab holder relative to the container; a step of inserting the tab between the container and the tab along a tangential direction, the tangential direction being a direction parallel to a tangent to an outer edge of the opening, thereby widening the distance between the container and the tab; a tab holder holding the tab; The robot arm moves the tab holder holding the tab relative to the container, thereby removing the tabbed lid from the container; Includes. [Brief description of the drawings]
[0010] [Figure 1] FIG. 1 is a schematic diagram showing a tab-equipped lid opening system according to a first embodiment. [Diagram 2] FIG. 2 is a partial cross-sectional view showing the container with lid of FIG. [Diagram 3] FIG. 2 is an enlarged view of the tab-equipped lid opening hand shown in FIG. [Figure 4] 4 is a front view of the tab-equipped lid opening hand shown in FIG. 3 as viewed from the Y-axis positive side. [Diagram 5] FIG. 4 is an enlarged perspective view of the tab-equipped lid opening hand shown in FIG. 3. [Figure 6] FIG. 6 is a partial enlarged view of a claw portion shown in FIG. 5. [Figure 7] FIG. 2 is a functional block diagram of the tab-lid opening system shown in FIG. 1. [Figure 8] 8 is a diagram illustrating an example of a hardware configuration of the control device in FIG. 7. [Figure 9] 3 is a flowchart showing the configuration of a tab-equipped lid opening method according to the first embodiment. [Figure 10] 13 is a schematic diagram showing the positional relationship between the claw portion, the hook, and the tab in the claw portion insertion step. FIG. [Figure 11] 13 is a schematic diagram showing the positional relationship between the claw portion, the hook, and the tab in the claw portion insertion step. FIG. [Figure 12] 13 is a schematic diagram showing the positional relationship between the claw portion, the hook, and the tab in the claw portion insertion step. FIG. [Figure 13] 13 is a schematic diagram showing the positional relationship between a hook and a tab in a tab holding step. FIG. [Figure 14] 13 is a schematic diagram showing the positional relationship between a hook and a tab in a tab holding step. FIG. [Figure 15] 13 is a schematic diagram showing the positional relationship between the hook and the tab in a removal step. FIG. [Figure 16] 13 is a schematic diagram showing the positional relationship between the hook and the tab in a removal step. FIG. [Figure 17]13 is a schematic diagram showing the positional relationship between the hook and the tab in a removal step. FIG. [Figure 18] 13 is a schematic diagram showing the positional relationship between the hook and the tab in a removal step. FIG. [Figure 19] FIG. 11 is a schematic diagram showing a tab-attached lid opening hand according to a first modified example of the first embodiment. [Figure 20] FIG. 11 is a schematic diagram for explaining a method for opening the tab-equipped lid according to the second embodiment. [Figure 21] FIG. 11 is a schematic diagram for explaining a method for opening the tab-equipped lid according to the second embodiment. [Figure 22] FIG. 11 is a schematic diagram for explaining a method for opening the tab-equipped lid according to the second embodiment. [Diagram 23] FIG. 13 is a schematic diagram for explaining a method for opening the tab-equipped lid according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a tab-lid opening hand, a tab-lid opening system, and a tab-lid opening method of the present invention will be described in detail based on the embodiments shown in the accompanying drawings.
[0012] 1. First embodiment First, a tab-lid opening hand and a tab-lid opening system according to a first embodiment will be described. FIG. 1 is a schematic diagram showing a tab-equipped lid opening system 1 according to the first embodiment.
[0013] In each figure of the present application, the X-axis, Y-axis, and Z-axis are set as three mutually orthogonal axes. Each axis is represented by an arrow, with the tip of the arrow being "plus" and the base of the arrow being "minus." In the following description, for example, the "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] 1.1. Overview of the Tab Lid Opening System The tab-lid opening system 1 shown in FIG. 1 includes a robot 2, a force sensor 3, a tab-lid opening hand 4 (the tab-lid opening hand according to the first embodiment), a camera 5, a rotation mechanism 6 and a control device 7.
[0015] The robot 2 has a base 21 and a robot arm 22. A force sensor 3 and a tabbed lid opening hand 4 are attached to the robot arm 22. The tabbed lid opening hand 4 is used for removing the tabbed lid 92 from a lidded container 9, which is composed of a container 91 and a tabbed lid 92 shown in FIG. 1. Specifically, as shown in FIG. 1, the tabbed lid 92 includes a lid main body 921 and a tab 922. The tabbed lid opening hand 4 approaches the lidded container 9 by changing the posture of the robot arm 22, and raises and holds the tab 922. Then, by changing the posture of the robot arm 22 in this state, the tabbed lid 92 is removed from the container 91.
[0016] FIG. 2 is a partial cross-sectional view showing the container 9 with lid of FIG. The container 91 shown in FIG. 2 includes a bottom 911, a wall 912, and an opening 913. The central axis of the container 91 is AX2. The bottom 911 is in the shape of a disk extending along a plane perpendicular to the central axis AX2. The wall 912 is erected along the central axis AX2 from the outer edge of the bottom 911 and is in the shape of a cylinder. The opening 913 is connected to the upper end of the wall 912 and is in the shape of a ring. The shape of the container 91 is not limited to this. For example, the shape of the bottom 911 may be an ellipse or an oval, a polygon such as a hexagon or an octagon, or another shape. The shape of the wall 912 may be a tubular shape other than a cylindrical shape, for example, a tubular shape having a polygonal cross section.
[0017] The tabbed lid 92 shown in FIG. 2 includes a lid body 921 and a tab 922. The lid body 921 is, for example, crimped to the opening 913 to close the opening 913. The tab 922 is connected to the lid body 921 and is provided along the outer surface of the wall 912 (container 91). Specifically, the tab 922 is connected to the outer circumferential surface of the lid body 921. The tab 922 is a tongue-shaped portion that extends downward from the connection portion of the lid body 921 and along the outer surface of the wall 912. Furthermore, the tab 922 shown in FIG. 2 has a through hole 923 that penetrates in the thickness direction. When the tab 922 of such a tabbed lid 92 is pulled upward (to the positive side of the Z axis), the connection portion between the tab 922 and the lid body 921 breaks, and the lid body 921 loosens. Next, when the tab 922 is moved in a direction intersecting the Z-axis and passing above the container 91, the lid body 921 is separated from the opening 913. Note that the shape of the tabbed lid 92 is not limited to this. For example, the tab 922 may not have a through-hole 923.
[0018] The force sensor 3 is attached to the robot arm 22. The force sensor 3 detects forces such as translational force and rotational force (moment) received by the tab-lid opening hand 4, and outputs force detection information. The control device 7 reflects this force detection information in the posture of the robot arm 22. Note that the force sensor 3 may be provided as necessary, and may be omitted, for example, when there is no need to reflect the force detection information. Also, instead of or in addition to the force sensor 3, a compliance mechanism may be provided.
[0019] The tabbed lid opening hand 4 is attached to the robot arm 22 via the force sensor 3. The tabbed lid opening hand 4 is used for the opening operation of removing the tabbed lid 92 from the container 91 of the lidded container 9. The lidded container 9 is placed on the positive side of the Y-axis of the tabbed lid opening hand 4.
[0020] The camera 5 captures an image of the lidded container 9 and outputs the image. The control device 7 detects the tab 922 based on this image. The camera 5 may be provided as necessary, and may be omitted when the position of the tab 922 is constant and detection is not necessary, or when it can be detected by other sensors. Examples of other sensors include a displacement sensor such as a laser displacement meter, and a contact detection sensor such as a contact detection probe. The camera 5 shown in FIG. 1 is fixed to the floor surface on which the robot 2 is placed, but may be fixed to the wall or ceiling surface of the room in which the robot 2 is placed, or may be attached to the robot arm 22.
[0021] The rotation mechanism 6 supports the container with lid 9 and rotates the container with lid 9 around a rotation axis AX1. The rotation axis AX1 is set so as to overlap with a central axis AX2 of the container 91. By rotating the container with lid 9, the position of the tab 922 can be changed in the circumferential direction around the rotation axis AX1, and the tab 922 can be positioned within the working range of the tabbed lid opening hand 4. Note that if the tab 922 can be positioned within the working range of the tabbed lid opening hand 4 by other means, for example, if the attitude of the robot arm 22 is changed to move the tabbed lid opening hand 4 and the tab 922 can be positioned within the working range, the rotation mechanism 6 may be omitted.
[0022] The control device 7 acquires the force detection information output from the force sensor 3 and the image output from the camera 5. The control device 7 also controls the operation of the robot 2, the tab-lid opening hand 4, and the rotation mechanism 6. Furthermore, the force detection information and the image are reflected in these controls.
[0023] 1.2.Robots 1 is a horizontal articulated robot having a base 21 and a robot arm 22. The form of the robot 2 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 22.
[0024] The base 21 supports a robot arm 22. The robot arm 22 has a tip 23 to which various end effectors can be attached. A tab-lid opening hand 4 is attached to the tip 23 shown in Fig. 1 via a force sensor 3. The robot arm 22 moves the tab-lid opening hand 4 to any position within space.
[0025] The robot arm 22 has a first arm 221, a second arm 222, and a third arm 223. The first arm 221 rotates around a rotation axis parallel to the Z axis with respect to the base 21. The second arm 222 is provided at the tip of the first arm 221, and rotates around a rotation axis parallel to the Z axis. The third arm 223 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.
[0026] 1.3.Tabbed Lid Opener Fig. 3 is an enlarged view of the tab-equipped lid opening hand 4 shown in Fig. 1. Fig. 4 is a front view of the tab-equipped lid opening hand 4 shown in Fig. 3, as viewed from the Y-axis plus side. Fig. 5 is an enlarged perspective view of the tab-equipped lid opening hand 4 shown in Fig. 3.
[0027] The tab-equipped lid opening hand 4 shown in Figures 3 to 5 comprises a base portion 41, two claw portions 42, 42, a hook 43, an anti-detachment portion 44, a pressing portion 45, a claw opening / closing portion 46, a support portion 47, a slide portion 48, and an anti-detachment drive portion 49.
[0028] The base portion 41 is attached to the robot arm 22 via the force sensor 3. Furthermore, each portion other than the base portion 41 is attached to the base portion 41 directly or indirectly.
[0029] As shown in FIG. 5, the two claws 42, 42 are arranged side by side in the X-axis direction with a gap therebetween. The shapes of the two claws 42, 42 may be different from each other, but in FIG. 5, they are the same, and each has a claw tip portion 422, a base end portion 423, and an inclined surface 424. The claws 42 face each other with the above-mentioned gap in between. The inclined surface 424 forms a substantially triangular shape with the claw tip portion 422 as one of its vertices. The inclined surface 424 shown in FIG. 5 is a substantially flat surface inclined with respect to both the X-axis and the Y-axis. Specifically, when a normal line is drawn to the inclined surface 424, this normal line intersects at least the X-axis and the Y-axis obliquely. The angle between the inclined surface 424 and the XZ plane is represented by an angle θ in FIG. 6 and FIG. 11 described later, and this angle θ is an acute angle. Such a claw portion 42 has a function of separating a tab 922 extending along the outer surface of the wall portion 912 from the wall portion 912 during the plug opening operation. The two claw portions 42, 42 are driven by a claw opening / closing unit 46 described later, and move toward and away from each other (opening and closing) along an opening / closing axis parallel to the X-axis. The plug opening operation will be described later. Note that the shape of the claw portions 42, 42 is not limited to this. For example, the inclined surface 424 shown in FIG. 5 is substantially parallel to the Z-axis, but may also be inclined with respect to the Z-axis.
[0030] FIG. 6 is a partial enlarged view of the claw portion 42 shown in FIG. The claw portion 42 shown in FIG. 6 has an upper surface 425a and a curved surface 425b in addition to the inclined surface 424 described above. The upper surface 425a is a substantially flat surface inclined with respect to both the X-axis and the Z-axis. The angle between the upper surface 425a and the XY plane is represented by an angle α in FIG. 6, and this angle α is an acute angle. The inclined surface 424 described above has a function of moving the tab 922 away from the wall portion 912, while the upper surface 425a has a function of pushing up the tab 922 away from the wall portion 912 from below. This makes it possible to secure a larger space for the hook 43 described later to enter. In addition, the curved surface 425b is provided between the inclined surface 424 and the upper surface 425a, and is a curved surface that smoothly connects them. As will be described in detail later, in the opening operation, the inclined surface 424 first comes into contact with the tab 922, and then the upper surface 425a comes into contact with the tab 922. During this transition, curved surface 425b comes into contact with tab 922, and serves to smooth the transition. Providing curved surface 425b can prevent the occurrence of snagging during the transition, making the opening operation smoother.
[0031] Although each surface of the claw portion 42 has been described above, the shape of the claw portion 42 is not limited to the above. For example, the upper surface 425a and the curved surface 425b may be omitted, or other surfaces may be provided.
[0032] As shown in FIG. 3, the hook 43 extends along the Y axis and has a hook shape with the upper surface gradually displaced upward toward the Y axis positive side (tip). The hook 43 engages with the lower surface of the tab 922 from below the tab 922 and has a function of raising the tab 922 with a change in the posture of the robot arm 22. That is, the hook 43 contacts at least the lower surface of the tab 922 and serves as a point of action for raising (pulling up) the tab 922. In addition, when the tab 922 has a through hole 923, the tip of the hook 43 may be inserted into the through hole 923. The hook 43 has a tip portion 432 that protrudes obliquely upward. The tip portion 432 has a shape that is easily inserted into the through hole 923, for example, a shape in which the length in the Y axis direction gradually decreases or the thickness in the Z axis direction gradually decreases toward the tip. Therefore, by inserting the hook 43 into the through hole 923, the hook 43 can be more stably engaged with the tab 922. Note that the shape of the hook 43 is not limited to this. For example, instead of the hook shape described above, the hook 43 may have a shape having a groove into which a part of the tab 922 fits, a shape having a protrusion on which the tab 922 is caught, or the like.
[0033] Moreover, the hook 43 is configured so that the tip 432 faces along the cross axis that crosses the opening / closing axis described above. In this embodiment, the opening / closing axis is a part of the X axis, that is, a part of the X axis between the claws 42, and the cross axis crosses the opening / closing axis. Specifically, the hook 43 is disposed below the midpoint between the claws 42, and the tip 432 faces obliquely upward so as to approach the lidded container 9. As a result, when the claw 42 is inserted so as to move the tab 922 away from the wall 912, the hook 43 is disposed immediately below (in the vicinity of) it, and the tip 432 points toward the tab 922. As a result, the hook 43 can be smoothly engaged with the lower surface of the tab 922 as the posture of the robot arm 22 changes. Moreover, with such an arrangement, the claws 42 can be opened to avoid interference between the tab 922 and the claw 42 caused by the hook 43.
[0034] The hook 43 may be disposed obliquely below or above the midpoint between the claws 42, instead of directly below the midpoint between the claws 42. However, considering that the hook 43 needs to be engaged with the lower surface of the tab 922 and pulled up, it is preferable that the hook 43 is disposed below.
[0035] 4 and 5, the anti-detachment portion 44 is provided above the hook 43 and has a pin shape extending along the Z-axis. The anti-detachment portion 44 is driven by an anti-detachment drive portion 49 (described later) and displaces up and down to move toward and away from the hook 43.
[0036] As shown in Figures 3 to 5, the pressing portion 45 is formed of a surface intersecting the Y-axis. The pressing portion 45 has a function of keeping the distance between the claw portions 42, 42 and the container 91 constant by being pressed against the outer peripheral surface of the lid body 921 of the tabbed lid 92. In other words, by pressing the pressing portion 45 against the lid body 921, it becomes easier to control the distance between the claw portions 42, 42 and the container 91 to a desired distance without causing the claw portions 42, 42 to come into contact with the container 91. This can further increase the success rate of the opening operation described below.
[0037] The claw opening / closing unit 46 extends in the X-axis direction and drives the two claws 42, 42 in translation so as to move closer to and away from each other. This allows the claws 42 to be driven to open and close at a desired timing. The two claws 42, 42 open and close in a tangential direction along the outer surface of the wall 912. The tangential direction refers to a direction parallel to a tangent to the outer edge of the annular opening 913. Examples of the claw opening / closing unit 46 include driving units used in air chucks, electric chucks, and the like.
[0038] The support portion 47 supports the hook 43, the claw opening / closing portion 46, the fall-prevention drive portion 49, etc. The support portion 47 is attached to the base portion 41 via a slide portion 48.
[0039] As shown in FIG. 3, the slide portion 48 has a fixed portion 482, a rod 483, and a movable portion 484. The fixed portion 482 is fixed to the base portion 41, and the movable portion 484 is connected to the support portion 47. The rod 483 extends in the Y-axis direction, and the fixed portion 482 is connected to the end portion on the negative side of the Y-axis, and the movable portion 484 is connected to the end portion on the positive side of the Y-axis. The fixed portion 482 also has a built-in coil spring (not shown). For example, when the pressing portion 45 is pressed against the lid main body 921, a reaction force generated in response to the pressing force is transmitted to the movable portion 484 via the support portion 47. The reaction force transmitted to the movable portion 484 contracts the coil spring via the rod 483. This allows the distance between the fixed portion 482 and the movable portion 484 to be reduced. As a result, the pressing force can be reduced, and the pressing force can be prevented from becoming excessive.
[0040] The anti-detachment drive unit 49 extends in the Z-axis direction and drives the anti-detachment portion 44 in a translational manner so as to move toward and away from the hook 43. This allows the anti-detachment portion 44 to be driven at a desired timing. Examples of the anti-detachment drive unit 49 include an air cylinder, a ball screw actuator, and an electric actuator. The anti-detachment drive unit 49 may also use a spring or the like and may not use air pressure or electricity. Examples of a structure that realizes such an anti-detachment drive unit 49 include a structure in which, when the anti-detachment portion 44 comes into contact with the tab 922, the force is utilized to displace the anti-detachment portion 44.
[0041] 1.4.Control device FIG. 7 is a functional block diagram of the tab-lid opening system 1 shown in FIG.
[0042] As shown in FIG. 7, the control device 7 has, as functional units, a robot control unit 71, a force detection information acquisition unit 72, an image acquisition unit 73, a hand control unit 74, and a rotation mechanism control unit 75.
[0043] The robot control unit 71 has a function of controlling the operation of the robot arm 22 and moving the tab-lid opening hand 4 in accordance with the lidded container 9, etc.
[0044] The force detection information acquisition unit 72 acquires the force detection information output from the force sensor 3. Then, as necessary, the force detection information is reflected in the control of the operation of the robot arm 22 by the robot control unit 71 and the control of the operation of the tab-lid opening hand 4 by the hand control unit 74.
[0045] The image acquisition unit 73 acquires the image output from the camera 5. Then, as necessary, the image is reflected in the control of the operation of the robot arm 22 by the robot control unit 71, the control of the operation of the tab-lid opening hand 4 by the hand control unit 74, and the control of the operation of the rotation mechanism control unit 75.
[0046] The hand control section 74 controls the operation of the tabbed-lid opening hand 4. Specifically, it controls the operation of the claw opening / closing section 46 and the stopper driving section 49.
[0047] The rotation mechanism control unit 75 controls the operation of the rotation mechanism 6. Specifically, for example, the position of the tab 922 in the circumferential direction around the rotation axis AX1 is detected based on the image acquired by the image acquisition unit 73. Then, the operating conditions of the rotation mechanism 6 are determined according to the position of the tab 922, and the lidded container 9 is rotated around the rotation axis AX1.
[0048] FIG. 8 is a diagram illustrating an example of a hardware configuration of the control device 7 in FIG. The functions of each functional unit of the control device 7 are realized by hardware including a CPU 701, a ROM 702, a RAM 703, an external interface 704, and an external bus 705, as shown in Fig. 8. The CPU 701, the ROM 702, the RAM 703, and the external interface 704 are capable of communicating with each other via the external bus 705.
[0049] The CPU 701 is a central processing unit. Various programs stored in the ROM 702 are loaded into the RAM 703 and executed by the CPU 701, thereby implementing the functions of each functional unit. The CPU 701 may be, for example, a DSP (Digital Signal Processor). Furthermore, all or part of the hardware may be configured with an FPGA (Field-Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or the like.
[0050] ROM 702 is a read-only memory and is composed of any non-volatile storage element. RAM 703 is a random access memory and is composed of any volatile storage element. ROM 702 stores programs, data, setting values, etc. These may be provided from the outside via a removable storage medium or a network. ROM 702 and RAM 703 may be removable external storage devices, or may be storage devices installed in a different location via a network.
[0051] Examples of the external interface 704 include a digital input / output port such as a Universal Serial Bus (USB), an Ethernet (registered trademark) port, etc. The external interface 704 is used for transmitting and receiving signals between the robot 2 and each of the other parts.
[0052] 1.5.How to open the tab-type lid Next, a description will be given of a tab-lid opening method according to the first embodiment. Note that, here, a method using the tab-lid opening system 1 (automatic machine) according to the first embodiment described above will be described as an example.
[0053] FIG. 9 is a flowchart showing the configuration of the tab-equipped lid opening method according to the first embodiment. The tab-equipped lid opening method shown in FIG. 9 includes a tab portion inserting step S102, a tab holding step S104, and a removal step S106.
[0054] 1.5.1. Claw Insertion Step In the claw portion insertion step S102, the claw portion 42 is inserted between the tab 922 and the wall portion 912 along the tangential direction described above.
[0055] 10 to 12 are schematic diagrams showing the positional relationship between the claw 42 and the hook 43 and the tab 922 in the claw insertion step S102. For convenience of illustration, only some of the elements constituting the tab-equipped lid opening hand 4 are shown in each of Figs. 10 to 12.
[0056] In the claw insertion step S102, first, the image acquisition unit 73 operates the camera 5 to capture an image of the lidded container 9. The image acquisition unit 73 acquires an image of the lidded container 9 and detects the position of the tab 922. If the position of the tab 922 is not within the working range of the tab-lid unplugging hand 4, the position of the tab 922 is output. The rotation mechanism control unit 75 calculates the rotation angle of the lidded container 9 based on the position of the tab 922, and operates the rotation mechanism 6 based on that calculation. This allows the lidded container 9 to rotate and bring the tab 922 into the working range.
[0057] Next, the robot control unit 71 changes the posture of the robot arm 22 based on the position of the tab 922 to bring the tabbed lid opening hand 4 closer to the lidded container 9. Then, as shown in FIG. 10, the pressing unit 45 is pressed against the outer edge of the lid main body 921. This allows the distance between the tabbed lid opening hand 4 and the lidded container 9 to be the desired distance. Furthermore, by pressing the pressing unit 45 against the lid main body 921, contact with the container 91 can be avoided, thereby preventing damage to the container 91. Note that if excessive pressing force is generated when pressing the pressing unit 45, this can be alleviated by the slide unit 48.
[0058] 11, the center of the lid main body 921 as viewed from the Z axis is designated as O, and the radial direction of the lid main body 921 is designated as r. The distance between the pressing portion 45 and the claw portion 42 in the radial direction r (Y axis direction in FIG. 11) is set in advance in accordance with the specifications of the lidded container 9. For this reason, when the pressing portion 45 is pressed against the lid main body 921, the claw portion 42 is disposed in the vicinity of the gap between the wall portion 912 and the tab 922 of the container 91. For example, as shown in FIG. 11, "in the vicinity" refers to a position away from the gap between the wall portion 912 and the tab 922 in the tangential direction (X axis direction in FIG. 11).
[0059] Next, the hand control unit 74 operates the claw opening / closing unit 46 to bring the two claws 42, 42 closer to each other. As a result, the two claws 42, 42 shown in FIG. 11 approach the tab 922, and as shown in FIG. 10, the claw tip 422 of the claw 42 enters the gap between the wall 912 and the tab 922. Note that since the wall 912 has a cylindrical shape, the outer surface is curved. Therefore, the gap between the wall 912 and the tab 922 becomes wider as it moves away from the center of the tab 922 in the tangential direction to both sides in the tangential direction. Therefore, in this embodiment, the claws 42 are inserted into this gap from both sides in the tangential direction. This allows smooth preparation for holding the tab 922 in the next process.
[0060] The claw portion 42 also has the inclined surface 424 described above. As described above, the inclined surface 424 includes the claw tip portion 422 as one of its vertices, and is a surface that forms a substantially triangle inclined with respect to both the X-axis and the Y-axis. More specifically, when viewed from the Z-axis, as shown in FIG. 11, the angle θ between the tangent direction and the inclined surface 424 is an acute angle (more than 0° and less than 90°), preferably 10° or more and 60° or less, and more preferably 20° or more and 45° or less. In other words, the width W of the claw portion 42 in the radial direction r gradually increases from the claw tip portion 422 toward the base end portion 423. Therefore, when the claw tip portion 422 continues to be inserted into the gap between the wall portion 912 and the tab 922, the inclined surface 424 comes into contact with the tab 922, and the tab 922 slides along the inclined surface 424. This allows the distance between the wall portion 912 and the tab 922 to be smoothly increased. 12, a wider gap is secured between the wall portion 912 and the tab 922. Even if the tab 922 is arranged along the wall portion 912, preparation for holding the tab 922 in the next step can be performed in a short time in this step, so that the opening operation can be performed at a high speed.
[0061] After the inclined surface 424 and the tab 922 come into contact as described above, in some cases, the upper surface 425a shown in FIG. 6 may come into contact with the tab 922, pushing up the tab 922, thereby further increasing the distance between the wall portion 912 and the tab 922.
[0062] 1.5.2. Tab retention step In the tab holding step S104, the hook 43 (tab holding portion) holds the tab 922. Specifically, the tab 922 is held in the following manner.
[0063] 13 and 14 are schematic diagrams showing the positional relationship between the hook 43 and the tab 922 in the tab holding step S104. For convenience of illustration, only some of the elements constituting the tab-equipped lid opening hand 4 are shown in each of Figs. 13 and 14.
[0064] In the tab-equipped lid opening hand 4 shown in Fig. 5, the hook 43 is disposed below the midpoint between the claws 42. That is, the hook 43 is positioned below the gap widened by the claws 42. When the tab 922 has a through hole 923, the hook 43 is positioned below the through hole 923 as shown in Fig. 13.
[0065] Therefore, the hand control unit 74 operates the anti-detachment drive unit 49 to displace the anti-detachment portion 44 downward. As a result, the anti-detachment portion 44 comes into contact with and close to the upper surface of the hook 43, as shown in FIG. 13. As a result, the anti-detachment portion 44 is inserted into the through-hole 923, as shown in FIG. 13. This also makes it possible to prevent the hook 43 from unintentionally coming out of the through-hole 923 (the tab 922 from falling off the hook 43) because the tip portion 432 of the hook 43 and the anti-detachment portion 44 are continuously or intermittently connected. This allows the hook 43 to reliably hold the tab 922.
[0066] In addition, if the fall-off prevention portion 44 is omitted, when the tab-lid opening hand 4 is moved upward by controlling the posture of the robot arm 22, the upper surface of the hook 43 comes into contact with the tab 922. As a result, the upper surface of the hook 43 engages with the tab 922. Then, if the tab 922 has a through-hole 923, when the hook 43 is moved further upward from the state shown in FIG. 13, the tip portion 432 of the hook 43 is inserted into the through-hole 923 as shown in FIG. 14. As a result, the hook 43 can hold the tab 922.
[0067] For example, if the tab 922 does not have the through hole 923, the hook 43 only needs to have a function of clamping the tab 922. Thereafter, the claw opening / closing portion 46 is operated to move the two claw portions 42, 42 away from each other.
[0068] 1.5.3.Removal Steps 15 to 18 are schematic diagrams showing the positional relationship between the hook 43 and the tab 922 in the removal step S106. For convenience of illustration, only some of the elements constituting the tab-equipped lid opening hand 4 are shown in each of Figs. 15 to 18.
[0069] In the removal step S106, the robot control unit 71 changes the posture of the robot arm 22 to move the hook 43 (tab holding portion) holding the tab 922 relative to the container 91. As a result, the tabbed lid 92 is removed from the container 91.
[0070] Specifically, first, as shown in Fig. 15, the hook 43 holding the tab 922 is pulled up above the lid main body 921. This causes the top plate and the outer edge of the lid main body 921 to start breaking, as shown in Fig. 15.
[0071] Next, as shown in Fig. 16, the hook 43 holding the tab 922 is moved to the positive side of the Y axis. This causes the top plate and the outer edge to break over the entire surface, loosening the outer edge, and the tabbed lid 92 is separated from the container 91 as shown in Fig. 17.
[0072] Next, as shown in FIG. 18, the hand control unit 74 operates the detachment prevention drive unit 49 to displace the detachment prevention unit 44 upward. This causes the detachment prevention unit 44 to move away from the upper surface of the hook 43. As a result, as shown in FIG. 18, the tab 922 can be removed from the hook 43. At this time, if necessary, the attitude of the robot arm 22 may be changed to swing the tabbed lid 92 to make it easier to remove the tab 922 from the hook 43. In this manner, the opening operation is completed. According to such a tabbed lid opening method, the opening operation of the tabbed lid 92 can be automated, thereby reducing the labor and manpower required for the opening operation.
[0073] Furthermore, by using the tab-lid opening hand 4 described above, the opening work can be performed with a robot arm 22 that can perform translational motions at least in the Z-axis and Y-axis directions. In other words, by using the tab-lid opening hand 4, even a robot arm that cannot perform rotational motions around the X-axis, Y-axis, and Z-axis can be applied to the opening work. As a result, even a robot arm 22 with a small number of joints can be used in the tab-lid opening system 1, so that the tab-lid opening system 1 can be easily simplified and reduced in cost.
[0074] 2. First Modification of the First Embodiment Next, a tab-equipped lid opening hand 4 according to a first modified example of the first embodiment will be described.
[0075] Fig. 19 is a schematic diagram showing a tab-equipped lid opening hand 4 according to a first modified example of the first embodiment. For convenience of illustration, Fig. 19 shows only some of the elements constituting the tab-equipped lid opening hand 4.
[0076] The first modified example will be described below, but in the following description, the differences from the first embodiment will be mainly described, and the description of the similarities will be omitted. Note that in FIG. 19, the same reference numerals are used for the same configurations as the first embodiment.
[0077] The tab-equipped lid opening hand 4 according to the first modified example is similar to the tab-equipped lid opening hand 4 according to the first embodiment, except that the configuration of the claw portion 42 is different.
[0078] 19 has a cam follower 426 (rotating body) provided on the surface facing the lidded container 9. The cam follower 426 is a bearing with a shaft having a rotation axis parallel to the central axis AX2 of the container 91. Since it has an outer ring that rotates smoothly, it is possible to reduce the load on the container 91 even if the outer ring comes into contact with the container 91 when the claw portion 42 is opened or closed. This makes it possible to prevent damage to the container 91.
[0079] Note that the claw portion 42 may have a member for reducing frictional resistance between the claw portion 42 and the container 91, instead of the cam follower 426 or in addition to the cam follower 426. Examples of such a member include felt and fluororesin.
[0080] 3. Second Modification of the First Embodiment Next, a method for opening a tab-equipped lid according to a second modified example of the first embodiment will be described.
[0081] In the tab-lid opening method according to the first embodiment described above, as shown in Figures 10 to 18, a container with lid 9 is fixed and the tab-lid opening hand 4 is moved by a robot arm 22 to perform the opening operation.
[0082] In contrast, in the tab lid opening method according to the second modified example, a gripping portion (not shown) that grips the lidded container 9 is attached to the robot arm 22. Meanwhile, the tab lid opening hand 4 is fixed. Then, the lidded container 9 is moved by the robot arm 22, rather than the tab lid opening hand 4, so as to follow the relative movement line of the tab lid opening hand 4 relative to the lidded container 9. With this method, the robot arm 22 moves the hook 43 (tab holding portion) relative to the container 91, so that the same opening operation as in the above embodiment can be performed. In each of the above-described modified examples, the same effects as those of the first embodiment can be obtained.
[0083] 4. Second embodiment Next, a method for opening a tab-equipped lid according to a second embodiment will be described.
[0084] 20 to 22 are schematic diagrams for explaining a method for opening a tab-equipped lid according to the second embodiment.
[0085] The second embodiment will be described below, focusing on the differences from the first embodiment and omitting the description of the similarities. Note that in Figures 20 to 22, the same reference numerals are used for the same configurations as the first embodiment.
[0086] The tab-equipped lid opening method according to the second embodiment is similar to the tab-equipped lid opening method according to the first embodiment, except that the configuration of the automated machine used is different.
[0087] In the claw insertion step S102 of the second embodiment, a tab-equipped lid opening hand 4 having one claw 42 is used as shown in Fig. 20. Then, the claw opening / closing part 46 is operated, and the claw tip part 422 of the claw 42 is inserted into the gap between the wall part 912 and the tab 922 as shown in Fig. 21. Also, the tab 922 slides along the inclined surface 424, so that the distance between the wall part 912 and the tab 922 can be increased.
[0088] In the tab holding step S104 of the second embodiment, the claw portion 42 shown in FIG. 22 also functions as a "tab holding portion." The claw portion 42 shown in FIG. 21 is adapted to rotate about the Y axis. Therefore, when the claw portion 42 is rotated 90° about the Y axis from the state shown in FIG. 21, the claw tip portion 422 can be directed upward (toward the positive side of the Z axis). This allows the claw tip portion 422 of the claw portion 42 to be inserted into the through hole 923 of the tab 922. As a result, the tab 922 can be held by the claw portion 42 (tab holding portion).
[0089] In the removal step S106 of the second embodiment, the posture of the robot arm 22 is changed from the state shown in Fig. 22 to move the claw portion 42 holding the tab 922 relative to the container 91. As a result, the tabbed lid 92 is removed from the container 91. In the second embodiment as described above, the same effects as in the first embodiment can be obtained.
[0090] 5. Third embodiment Next, a method for opening a tab-equipped lid according to a third embodiment will be described. FIG. 23 is a schematic diagram for explaining a method for opening the tab-equipped lid according to the third embodiment.
[0091] The third embodiment will be described below, focusing on the differences from the first embodiment and omitting the description of the similarities. Note that in FIG. 23, the same reference numerals are used for the same configurations as the first embodiment.
[0092] The tab-equipped lid opening method according to the third embodiment is similar to the tab-equipped lid opening method according to the first embodiment, except that the configuration of the automated machine used is different.
[0093] In the claw portion inserting step S102 of the third embodiment, the distance between the wall portion 912 and the tab 922 can be increased, for example, in the same manner as in the claw portion inserting step S102 of the first and second embodiments.
[0094] In the tab holding step S104 of the third embodiment, a tab-attached lid unplugging hand 4 having a clamping portion 428 shown in FIG. 23 is used. The clamping portion 428 shown in FIG. 23 has two portions 428a and 428b arranged along the Z axis. The portion 428a and the portion 428b clamp the tab 922. The portions 428a and 428b are driven by an actuator (not shown) so as to contact or separate from each other. Therefore, the clamping portion 428 functions as a "tab holding portion." According to such a clamping portion 428, the tab 922 can be held even if the tab 922 does not have a through hole 923. The shape of the clamping portion 428 is not particularly limited.
[0095] In the removal step S106 of the third embodiment, the posture of the robot arm 22 is changed from the state shown in Fig. 23 to move the clamping part 428 holding the tab 922 relative to the container 91. As a result, the tabbed lid 92 is removed from the container 91. In the third embodiment as described above, the same effects as in the first embodiment can be obtained.
[0096] 6. Advantages of the above embodiment As described above, the tabbed lid unscrewing hand 4 according to the embodiment is used for unscrewing the tabbed lid 92, which includes the lid body 921 that closes the annular opening 913 of the container 91 and the tab 922 that is connected to the lid body 921 and is provided along the outer side surface of the container 91, from the opening 913. Such a tabbed lid unscrewing hand 4 includes a base 41, two claws 42, 42, and a hook 43. The base 41 is attached to the robot arm 22. The two claws 42, 42 are supported by the base 41 and move toward and away from each other. The hook 43 is disposed with its tip facing in a direction (crossing axis direction) that intersects the direction of approach and separation (opening / closing axis direction) and is engageable with the tab 922.
[0097] With this configuration, it is possible to realize the tabbed lid unplugging hand 4 that enables the automation of the operation of unplugging the tabbed lid 92, even when the tab 922 is arranged along the outer surface of the wall 912 of the container 91. This makes it possible to reduce the labor and manpower required for the unplugging operation.
[0098] In the tab-equipped lid opening hand 4 according to the embodiment, the claw portion 42 has a claw tip portion 422 and a base end portion 423. The width W of the claw portion 42 in the radial direction r of the opening 913 gradually increases from the claw tip portion 422 toward the base end portion 423.
[0099] According to this configuration, when hook tip portion 422 continues to be inserted into the gap between wall portion 912 and tab 922, the above-mentioned shape of hook portion 42 can smoothly widen the distance between wall portion 912 and tab 922. As a result, even if tab 922 is arranged along wall portion 912, preparation for holding tab 922 can be completed in a short time, thereby speeding up the opening operation.
[0100] Moreover, the tab-equipped lid unscrewing hand 4 according to the embodiment includes a pressing part 45. The pressing part 45 is supported by the base part 41 and pressed against the lid main body 921.
[0101] With this configuration, the distance between the tab-equipped lid opening hand 4 and the lidded container 9 can be set to the desired distance. In addition, by pressing the pressing part 45 against the lid main body 921, contact with the container 91 can be avoided, so that damage to the container 91 can be prevented.
[0102] Moreover, the tab-equipped lid opening hand 4 according to the embodiment includes a slide portion 48. The slide portion 48 enables the claw portion 42 to move relative to the base portion 41.
[0103] With this configuration, it is possible to prevent the pressing force of the tab-lid unplugging hand 4 from being excessive on the lidded container 9. As a result, it is possible to prevent damage to the container 91.
[0104] Moreover, the tab-equipped lid opening hand 4 according to the embodiment includes a loss prevention portion 44. The loss prevention portion 44 is supported by the base portion 41, and moves toward and away from the hook 43.
[0105] According to such a configuration, since the hook 43 and the fall-prevention portion 44 are continuously or intermittently connected, for example, when the tab 922 has a through-hole 923, it is possible to prevent the hook 43 inserted into the through-hole 923 from unintentionally coming out (the tab 922 from falling off the hook 43). This allows the hook 43 to hold the tab 922 securely.
[0106] Moreover, the tab-equipped lid opening hand 4 according to the embodiment includes a removal prevention drive part 49. The removal prevention drive part 49 drives the removal prevention part 44 so as to move toward and away from the hook 43. With this configuration, the stopper portion 44 can be driven at a desired timing.
[0107] In addition, in the tab-equipped lid unscrewing hand 4 according to the embodiment, the claw portion 42 has a cam follower 426 (rotating body) having a rotation axis parallel to the central axis AX2 of the container 91.
[0108] According to this configuration, the cam follower 426 rotates smoothly, so that even if the cam follower 426 comes into contact with the container 91 when the claw portion 42 is opened or closed, the load on the container 91 can be reduced. This makes it possible to prevent damage to the container 91.
[0109] Moreover, the tab-equipped lid opening hand 4 according to the embodiment includes a claw opening / closing unit 46. The claw opening / closing unit 46 drives the claw unit 42 to open and close. With this configuration, the claw portion 42 can be driven at a desired timing.
[0110] The tab-lid opening system 1 according to the embodiment includes a robot 2 and the tab-lid opening hand 4 according to the embodiment. The robot 2 includes a robot arm 22. The tab-lid opening hand 4 is attached to the robot arm 22.
[0111] With this configuration, a tabbed lid opening system 1 can be realized that makes it possible to automate the opening operation of the tabbed lid 92, even when the tab 922 is arranged along the outer surface of the wall portion 912 of the container 91.
[0112] The tab-equipped lid opening method according to the above embodiment is a method for removing a tab-equipped lid 92, which has a lid body 921 that covers the annular opening 913 of a container 91, and a tab 922 that is connected to the lid body 921 and is provided along the outer surface of the container 91, from the opening 913 using an automatic machine.
[0113] The automated machine includes a claw portion 42, a hook 43 (tab holding portion), and a robot arm 22. The robot arm 22 moves the hook 43 relative to the container 91.
[0114] The tab-equipped lid opening method according to the embodiment includes a claw portion inserting step S102, a tab holding step S104, and a removal step S106. In the claw portion inserting step S102, when a direction parallel to a tangent to the outer edge of the opening 913 is taken as the tangent direction, the claw portion 42 is inserted between the container 91 and the tab 922 along the tangent direction, thereby widening the distance between the container 91 and the tab 922. In the tab holding step S104, the hook 43 (tab holding portion) holds the tab 922. In the removal step S106, the robot arm 22 moves the hook 43 holding the tab 922 relative to the container 91, thereby removing the tab-equipped lid 92 from the container 91.
[0115] With this configuration, even when the tab 922 is disposed along the outer surface of the wall 912 of the container 91, the tabbed lid 92 can be opened using an automated machine. This allows for reduced labor and manpower required for the opening operation.
[0116] The tab-lid opening hand, tab-lid opening system and tab-lid opening method according to the present invention have been described above based on the illustrated embodiments, but the present invention is not limited to this.
[0117] For example, the tabbed lid opening hand and tabbed lid opening system of the present invention may be configured in such a way that each part of the above-described embodiments is replaced with any component having a similar function, any component may be added to the above-described embodiments, or the above-described embodiments may be combined.
[0118] Furthermore, the tab-equipped lid opening method according to the present invention may include any step added for any purpose to the above-described embodiment. [Explanation of symbols]
[0119] 1...tabbed lid opening system, 2...robot, 3...force sensor, 4...tabbed lid opening hand, 5...camera, 6...rotation mechanism, 7...control device, 9...lidded container, 21...base, 22...robot arm, 23...tip, 41...base, 42...claw, 43...hook, 44...detachment prevention portion, 45...pressing portion, 46...claw opening / closing portion, 47...support portion, 48...sliding portion, 49...detachment prevention drive portion, 71...robot control portion, 72...force detection information acquisition portion, 73...image acquisition portion, 74...hand control portion, 75...rotation mechanism control portion, 91...container, 92...tabbed lid, 221...first arm, 222...second arm, 223...third arm, 422...claw tip portion, 423...base end portion, 424...inclined surface, 425a...upper surface, 425b...curved surface, 426...cam follower, 428...clamping portion, 428a...portion, 428b...portion, 432...tip portion, 482...fixed portion, 483...rod, 484...movable portion, 701...CPU, 702...ROM, 703...RAM, 704...external interface, 705...external bus, 911...bottom portion, 912...wall portion, 913...opening portion, 921...lid body, 922...tab, 923...through hole, AX1...rotating axis, AX2...center axis, S102...claw portion insertion step, S104...tab holding step, S106...removal step, O...center, W...width, r...radial direction, α...angle, θ...angle
Claims
1. A tabbed lid opener is used for opening a tabbed lid, which comprises a lid body that closes an annular opening of a container, and a tab connected to the lid body and provided along the outer surface of the container, by removing the tabbed lid from the opening. A base part that can be attached to a robot arm, Supported by the base portion, the two claw portions move closer to and further apart from each other, A hook is positioned with its tip facing in a direction intersecting the aforementioned approaching and separating directions, and is capable of engaging with the tab, A lid opener with tabs, characterized by having the following features.
2. The claw portion has a claw tip and a base portion, The tabbed lid opener according to claim 1, wherein the width of the claw portion in the radial direction of the opening gradually increases from the tip of the claw portion toward the base end.
3. A lid opener with a tab according to claim 1 or 2, comprising a pressing portion supported by the base portion and pressed against the lid body.
4. The tabbed lid opener according to claim 3, further comprising a sliding portion that makes the claw portion movable relative to the base portion.
5. A lid opener with a tab according to claim 1 or 2, comprising a retaining portion supported by the base portion and moving closer to and further away from the hook.
6. The tabbed lid opener according to claim 5, further comprising a retaining drive unit that drives the retaining unit to move closer to and further away from the hook.
7. The tabbed lid opener according to claim 1 or 2, wherein the claw portion comprises a rotating body having a rotation axis parallel to the central axis of the container.
8. A lid opener with a tab according to claim 1 or 2, further comprising a claw opening / closing mechanism for driving the claw portion to open and close.
9. A robot equipped with the robot arm, A tabbed lid opening hand according to claim 1 or 2, which is attached to the robot arm, A lid opening system with tabs, characterized by having the following features.
10. A method for opening a container comprising a lid body that closes an annular opening of the container, and a tab connected to the lid body and provided along the outer surface of the container, wherein the tabped lid is removed from the opening by an automated machine, The automated machine comprises a claw portion, a tab holding portion, and a robotic arm that moves the tab holding portion relative to the container. When the direction parallel to the tangent to the outer edge of the opening is defined as the tangential direction, the step of widening the distance between the container and the tab by inserting the claw portion between the container and the tab along the tangential direction, The steps include: holding the tab in the tab holder, The steps include: removing the tabbed lid from the container by moving the tab-holding portion that holds the tab relative to the container using the robot arm; A method for opening a lid with a tab, characterized by including the following: