Lid closing jig, lid closing device and lid closing method

Abstract

To provide a lid closing jig, a lid closing device and a lid closing method capable of performing lid closing while suppressing a load on a lid body.SOLUTION: A lid closing jig is used for fitting a lid body having a fitting part to a container body by pressing to close the lid body, and comprises a first pressing part which, when a direction from the lid body toward the container body is defined as a first direction under a state where the container body is closed by the lid body, presses the lid body in the first direction, and a second pressing part which protrudes from the first pressing part in the first direction.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a lid closing tool, a lid closing device, 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 lids on box-shaped containers such as boxed lunches. In the case of containers used for boxed lunches, 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 a number of claws that protrude from and retract into 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 number of claws press a groove on the outer periphery of the lid surface, thereby pressing the lid into the container body. This causes the lid to fit into the container body, and the lid is closed. [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, the load on the lid is large, so there is a risk that the claws may scratch the lid or damage the groove portion, which has a weak strength. For this reason, there is a demand for a lid closing tool that closes the lid while reducing the load on the lid. [Means for solving the problem]

[0006] The lid closing tool according to the application example of the present invention is as follows: A tool used to press a lid having a fitting portion to fit the lid to a container body and close the lid, a first pressing portion that presses the lid in a first direction, the first direction being a direction from the lid toward the container body when the lid is closed on the container body; a second pressing portion protruding from the first pressing portion in the first direction; Equipped with.

[0007] The lid closing device according to the application example of the present invention is A robot having a robot arm; A lid closing tool according to an application example of the present invention attached to the robot arm; Equipped with.

[0008] A lid closing method according to an application example of the present invention includes the steps of: A method for fitting a lid having a fitting portion to a container body and closing the lid, comprising the steps of: a step of pressing the lid with a lid fastening tool having a base and a protrusion protruding from the base in a first direction, the lid being fastened to the container body, so as to engage a portion of the engagement portion; a step of fitting the entire fitting portion into place by moving the protrusion relative to the lid; Includes. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing a lid closing device according to a first embodiment. [Diagram 2] 2 is a cross-sectional view showing an example of the shape of a container to which the lid closing device of FIG. 1 is applied. [Diagram 3] 2 is a perspective half-sectional view of the lid-closing jig shown in FIG. 1. [Figure 4] 4 is a flowchart for explaining a method of using the lid closing jig according to the first embodiment. [Diagram 5]5A to 5C are cross-sectional views for explaining a method of using the lid-closing jig according to the first embodiment. [Figure 6] 5A to 5C are cross-sectional views for explaining a method of using the lid-closing jig according to the first embodiment. [Figure 7] 5A to 5C are cross-sectional views for explaining a method of using the lid-closing jig according to the first embodiment. [Figure 8] 5A to 5C are cross-sectional views for explaining a method of using the lid-closing jig according to the first embodiment. [Figure 9] 5A to 5C are cross-sectional views for explaining a method of using the lid-closing jig according to the first embodiment. [Figure 10] 5A to 5C are cross-sectional views for explaining a method of using the lid-closing jig according to the first embodiment. [Figure 11] FIG. 11 is a plan view showing a lid-closing jig according to a first modified example of the first embodiment. [Figure 12] FIG. 11 is a plan view showing a lid-closing jig according to a second modified example of the first embodiment. [Figure 13] FIG. 13 is a plan view showing a lid-closing jig according to a third modified example of the first embodiment. [Figure 14] FIG. 13 is a plan view showing a lid-closing jig according to a fourth modified example of the first embodiment. [Figure 15] FIG. 11 is a perspective half-sectional view showing a lid-closing jig according to a second embodiment. [Figure 16] 13 is a cross-sectional view for explaining a method of using the lid-closing jig according to the second embodiment. FIG. [Figure 17] 13 is a cross-sectional view for explaining a method of using the lid-closing jig according to the second embodiment. FIG. [Figure 18] 13 is a cross-sectional view for explaining a method of using the lid-closing jig according to the second embodiment. FIG. [Figure 19] 13 is a cross-sectional view for explaining a method of using the lid-closing jig according to the second embodiment. FIG. [Figure 20] 13 is a cross-sectional view for explaining a method of using the lid-closing jig according to the second embodiment. FIG. [Figure 21] 13 is a cross-sectional view for explaining a method of using the lid-closing jig according to the second embodiment. FIG. [Figure 22]13 is a cross-sectional view for explaining a method of using the lid-closing jig according to the second embodiment. FIG. [Diagram 23] 13 is a cross-sectional view for explaining a method of using the lid-closing jig according to the second embodiment. FIG. [Figure 24] FIG. 13 is a plan view showing a lid-closing jig according to a third embodiment. [Diagram 25] FIG. 13 is a plan view showing a lid-closing jig according to a fourth embodiment. [Figure 26] 13 is a flowchart showing the configuration of a lid closing method according to a fourth embodiment. [Figure 27] FIG. 27 is a schematic diagram for explaining the lid closing method shown in FIG. 26, showing only the fitting portion of the lid body. [Figure 28] FIG. 27 is a schematic diagram for explaining the lid closing method shown in FIG. 26, showing only the fitting portion of the lid body. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A lid closing tool, a lid closing device and a lid closing method according to the present invention will be described in detail below with reference to the embodiments shown in the accompanying drawings.

[0011] 1. First embodiment 1.1. Lid Closing Device First, the lid closing device according to the first embodiment will be described.

[0012] FIG. 1 is a schematic diagram showing a lid fastening device 1 according to the first embodiment. The lid fastening device 1 shown in Fig. 1 includes a robot 2 having a robot arm 22, and a lid fastening jig 3 attached to the robot arm 22. The lid fastening device 1 is a device that performs an operation of fastening a lid body 9 to a container body 8 shown in Fig. 1. The container body 8 is a box that contains, for example, food or the like, and is open at the top. The lid body 9 is a member that is placed over an opening 83 of the container body 8 to close the opening 83.

[0013] Two belt conveyors 42, 44 are provided around the lid closing device 1. The belt conveyor 44 transports the lid body 9 along the arrow shown in Fig. 1 so as to pass through the lid holding position 43. The lid closing device 1 holds the lid body 9 with the lid closing jig 3 at the lid holding position 43. The belt conveyor 42 transports the container body 8 containing food or the like from the upstream side so as to pass through the lid closing position 41 along the arrow shown in Fig. 1. The contents of the container body 8 are not particularly limited.

[0014] The lid closing device 1 performs a lid closing operation in which the lid body 9 held by the lid closing tool 3 covers and closes the container body 8 when the container body 8 is transported to the lid closing position 41. The container body 8 with the lid body 9 closed is transported downstream by the belt conveyor 42.

[0015] The method of transporting the container body 8 and the lid body 9 is not limited to a method using a belt conveyor, and any method may be used. Also, the lid body 9 may be stored in one place without being transported.

[0016] Robots 1 is a horizontally articulated robot having a robot arm 22. Note that the form of the robot 2 is not limited to this, and it may be a vertically articulated robot or a dual-arm robot having multiple robot arms.

[0017] The robot arm 22 has a tip 220 to which various end effectors can be attached. A lid closing jig 3 is attached to the tip 220 shown in Fig. 1. The robot arm 22 moves the lid closing jig 3 to any position within its operating range. The operating range of the robot arm 22 is set to include a lid closing position 41 and a lid holding position 43.

[0018] The robot 2 also has sensors, a control unit, and the like (not shown). Examples of sensors include an image sensor, a distance sensor, and a displacement sensor. The sensors detect the positions of the container body 8 transported by the belt conveyor 42 and the lid body 9 transported by the belt conveyor 44. The control unit has a function of controlling the operation of the robot arm 22 to move the lid closing jig 3 in accordance with the lid body 9 detected by the sensor, and a function of moving the lid closing jig 3 so as to cover the container body 8 detected by the sensor with the lid body 9 and perform the lid closing operation.

[0019] 1.1.2. Container FIG. 2 is a cross-sectional view showing an example of the shape of a container 10 to which the lid fastening device 1 of FIG. 1 is applied. In each figure of the present application, a Z axis and an X axis are set as two mutually orthogonal axes. In each figure, each axis is represented by an arrow, with the tip end of the arrow being "plus" and the base end of the arrow being "minus". In the following description, for example, "Z axis direction" includes both the plus and minus directions of the Z axis. Furthermore, the Z axis is the rotation axis of the tip 220 of the robot arm 22, and the X axis is an axis representing the radial direction when the Z axis is the center. Therefore, there are multiple X axes extending radially from the Z axis, but each figure shows one representative one. Furthermore, in the following description, the Z axis minus direction is particularly referred to as the "first direction" or "downward", and the Z axis plus direction is particularly referred to as the "upward". Furthermore, the X axis minus direction is particularly referred to as the "inward", and the X axis plus direction is particularly referred to as the "second direction" or "outward".

[0020] The container 10 shown in Fig. 2 is composed of a container body 8 and a lid 9, and is a so-called internal fitting type container in which the lid 9 is fitted to the inside of the container body 8. Fig. 2 shows the container 10 before the lid closing operation is performed. Note that the container 10 may also be a so-called external fitting type container in which the lid 9 is fitted to the outside of the container body 8.

[0021] The container body 8 has a bottom 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 containing an object. An opening 83 located above the internal space S1 is defined by the flange portion 86. The object contained in the container body 8 is not particularly limited.

[0022] When viewed from above in the first direction, the container body 8 has a circular shape centered on an axis A1 parallel to the Z axis. In this specification, "viewed from above" refers to viewing in the first direction. The bottom 82 also has a circular shape centered on the axis A1 and extending in a plane perpendicular to the axis A1.

[0023] 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.

[0024] The flange portion 86 protrudes in the second direction (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.

[0025] The material of the container body 8 is not particularly limited, but is, for example, a thermoplastic resin such as expanded polystyrene.

[0026] 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 .

[0027] 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.

[0028] The cylindrical portion 94 extends downward from the outer edge of the base portion 92 and continues in the circumferential direction. The outer diameter of the lower end of the cylindrical portion 94 is larger than the outer diameter of the upper end of the cylindrical portion 94. Furthermore, the outer diameter increases continuously from the upper end to the lower end, forming a so-called tapered shape.

[0029] The flange portion 96 protrudes in the second direction (outward) from the lower end of the cylindrical portion 94 and is continuous in the circumferential direction.

[0030] 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 has a cylindrical shape surrounding 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 in the second direction from the connection portion with the wall portion 963.

[0031] 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 3 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 deformed so as to be reduced in diameter, 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.

[0032] The material of the lid 9 is not particularly limited, but may be, for example, a thermoplastic resin such as polyethylene or polyethylene terephthalate.

[0033] The container 10 has been described above, but the above-mentioned container 10 is one example of a container to which the lid closing jig 3 is applied, and is not limited to the above-mentioned shape. For example, the shape 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.

[0034] 1.1.3. Lid Closing Jig Next, the lid-closing jig 3 according to the first embodiment will be described.

[0035] FIG. 3 is a perspective half-sectional view of the lid-closing jig 3 shown in FIG. The lid closing jig 3 shown in FIG. 3 has a base portion 30, an annular pressing portion 36 (second pressing portion), and one protruding portion 38 (first pressing portion).

[0036] The base 30 is composed of a top plate portion 32 and a side wall portion 34 . The top plate portion 32 has a circular shape centered on the axis A2 and extending in a plane perpendicular to the axis A2 in a plan view. The top plate portion 32 may have a structure for attaching it to the tip portion 220 of the robot arm 22, such as a bolt hole, a clip, or the like.

[0037] The side wall portion 34 extends downward from the outer edge of the top plate portion 32 and continues in the circumferential direction. The inner diameter of the lower end of the side wall portion 34 is larger than the inner diameter of the upper end of the side wall portion 34. Specifically, the inner surface of the side wall portion 34 has a tapered shape in which the inner diameter continuously increases in the first direction. An internal space S2 is defined by the side wall portion 34. A part of the lid body 9 is accommodated in the internal space S2. When the lid body 9 and the side wall portion 34 come into contact with each other, the position of the lid body 9 is restricted to a predetermined position. The shape of the side wall portion 34 is not limited to the above shape, and may not be tapered, for example.

[0038] The base 30 also has a function of holding the lid 9. This function is realized, for example, by a suction force generating unit, a friction force generating unit, an adhesive force generating unit, and the like, which are not shown. The suction force generating unit has a function of sucking and holding the lid 9 by the suction force caused by the reduced pressure, and is realized, for example, by a suction pad provided on the top plate 32 and a vacuum generating device connected to the suction pad. The friction force generating unit has a function of generating a friction force on the contact surface with the lid 9 to hold it, and is realized, for example, by a member made of a low-elasticity material such as a rubber material or a thermoplastic elastomer. The adhesive force generating unit has a function of generating an adhesive force on the contact surface with the lid 9 to hold it, and is realized, for example, by a member made of an adhesive or the like.

[0039] The base 30 has a circular shape in plan view centered on the axis A2, and the annular pressing portion 36 and the protruding portion 38 described below are arranged on the circumference of the axis A2. The fitting portion 962 of the lid 9 often has a circular shape in plan view. For this reason, by arranging the annular pressing portion 36 and the protruding portion 38 on the circumference of the axis A2, the fitting portion 962 and the fitted portion 862 can be fitted together more smoothly.

[0040] The annular pressing portion 36 protrudes from the lower end of the side wall portion 34 in the second direction and is continuous in the circumferential direction. The annular pressing portion 36 spreads in a plane perpendicular to the axis A2 and forms a circular ring shape centered on the axis A2. The annular pressing portion 36 also has a curved shape in which the central portion in the second direction protrudes downward compared to both ends. This curved shape allows the intended portion of the lid body 9 to be pressed accurately. Therefore, the annular pressing portion 36 shown in FIG. 3 is suitable for pressing the lid body 9 whose fitting portion 962 forms a circular ring shape. The shape of the annular pressing portion 36 may be any shape capable of pressing the lid body 9, and is not limited to the above shape (annular). For example, the annular pressing portion 36 may be an arc shape or a discontinuous ring shape.

[0041] In this embodiment, the base portion 30 and the annular pressing portion 36 are integral with each other, but they may be separate bodies.

[0042] The base portion 30 and the annular pressing portion 36 are preferably made of a resin material from the viewpoint of weight reduction, but may be made of other materials such as metal, ceramic, or glass.

[0043] The protrusion 38 protrudes downward from the annular pressing portion 36 so that its lower end is located below the annular pressing portion 36. Like the annular pressing portion 36, the protrusion 38 is provided at a position where it can press the lid body 9, and can press a part of the lid body 9 further downward than the annular pressing portion 36. This allows the fitting portion 962 corresponding to the protrusion 38 to be partially fitted into the fitted portion 862. By preferentially fitting a part of the fitting portion 962 in this way, the force required to press the lid body 9 is smaller than when the entire body is fitted at the same time, and therefore the load applied by the lid closing jig 3 to the lid body 9 can be suppressed.

[0044] The position of the protrusion 38 in the second direction is set to a position where the lid body 9 can be pressed. This position is set appropriately depending on the shape of the lid body 9, etc., but is preferably set to a position where the fitting portion 962 can be pressed. This allows the pressing force to be efficiently transmitted to the fitting portion 962, and the lid closing operation can be performed while minimizing the load on the lid body 9.

[0045] The amount of protrusion of the convex portion 38 is appropriately set according to the shape and material of the lid 9, the shape and fitting method of the fitting portion 962, and the like, but is, for example, about 1 mm to 30 mm, and preferably about 3 mm to 10 mm. This allows a part of the fitting portion 962 to be fitted more reliably, and when the part is fitted, it is possible to prevent the distance between the annular pressing portion 36 and the lid 9 from being too large. If the amount of protrusion falls below the lower limit, the success rate of fitting may decrease. On the other hand, if the amount of protrusion exceeds the upper limit, when a portion other than the convex portion 38, i.e., the annular pressing portion 36, presses the lid 9, the pressing force of the convex portion 38 may become excessive. The amount of protrusion of the convex portion 38 refers to the distance in the first direction between the lower end of the convex portion 38 and the lower end of the annular pressing portion 36 closest to the convex portion 38.

[0046] As a constituent material of the protrusions 38, for example, a resin material is preferably used from the viewpoint of weight reduction, but other materials, for example, metal materials, ceramic materials, glass materials, etc., may be used. In addition, the constituent material of the protrusions 38 may be a material with high rigidity, but may also be a material with flexibility. In the latter case, the protrusions 38 deform in response to the pressing force, and the contact area with the lid body 9 can be increased, so that the load on the lid body 9 can be easily reduced.

[0047] The planar shape of the protrusion 38 is not particularly limited, and examples thereof include circles such as a perfect circle, an ellipse, and an oval, polygons such as a rectangle, a hexagon, and an octagon, and other shapes. Among these, a circle is preferable because it is less likely to cause damage even if it comes into contact with the lid 9.

[0048] The overall shape of the protrusion 38 may be, for example, a columnar shape, a cone shape, or a dome shape (semispherical shape).

[0049] 1.2.How to use the lid closing tool Next, a method of using the lid-closing jig 3 according to the first embodiment will be described.

[0050] Fig. 4 is a flow chart for explaining a method of using the lid closing jig 3 according to the first embodiment. Fig. 5 to Fig. 10 are cross-sectional views for explaining a method of using the lid closing jig 3 according to the first embodiment.

[0051] 4 includes a step S102 of using the protruding portion and a step S104 of using the annular pressing portion. Each step will be described below in order.

[0052] 1.2.1.Convex part use process In the convex portion using step S102, the lid body 9 is held by the lid closing jig 3. Specifically, first, the robot arm 22 is operated at the timing when the lid body 9 moves to the lid holding position 43. Then, the lid closing jig 3 is placed over the lid body 9 from above the lid holding position 43.

[0053] 5 and 6 show how the lid closing jig 3 is placed over the lid body 9 from above. When the lid closing jig 3 is lowered toward the lid body 9 as shown in FIG. 5, the base 92 of the lid body 9 is accommodated in the internal space S2 of the lid closing jig 3 as shown in FIG. 6. Then, as shown in FIG. 6, the base 30 of the lid closing jig 3 and the cylindrical portion 94 of the lid body 9 come into contact with each other. Thereafter, the lid body 9 is held by the lid closing jig 3 by a suction force generating unit (not shown) or the like provided on the base 30. At this time, since the cylindrical portion 94 of the lid body 9 has a tapered shape, it is easy to align the lid body 9 in the second direction with the lid closing jig 3.

[0054] The lid closing jig 3 according to the first embodiment has a protrusion 38. This protrusion 38 is a portion protruding from the annular pressing portion 36. Therefore, the lid body 9 is held in an inclined state with respect to the top plate portion 32 of the lid closing jig 3 according to the amount of protrusion of the protrusion 38.

[0055] 7 shows how the lid body 9 held by the lid closing jig 3 is placed on the container body 8 from above. When the lid body 9 held by the lid closing jig 3 is lowered toward the container body 8 as shown in FIG. 7, a portion of the fitting portion 962 of the lid body 9 that corresponds to the protrusion 38 comes into contact with the fitted portion 862 of the container body 8 as shown in FIG. 8. FIG. 8 shows a state in which the fitting portion 962 of the lid body 9 and the fitted portion 862 of the container body 8 are in contact. This state is a state in which the fitting portion 962 and the fitted portion 862 are simply in contact with each other, and is a state before the fitting is completed.

[0056] Next, when the lid closing jig 3 is further lowered from the state shown in FIG. 8, the portion of the fitting portion 962 pressed by the convex portion 38 fits into the fitted portion 862 as shown in FIG. 9. In this way, the convex portion 38 can be used to partially fit a part of the fitting portion 962 into the fitted portion 862. The pressing force required to fit a part of the fitting portion 962 is smaller than the pressing force required to simultaneously fit the entire fitting portion 962. Therefore, it is possible to avoid excessive load on the lid body 9 in this process, and to suppress the occurrence of damage to the lid body 9. On the other hand, the fitting portion 962 other than the portion corresponding to the convex portion 38, that is, the portion corresponding to the annular pressing portion 36, is not yet fitted.

[0057] 1.2.2. Annular pressing part use process In the annular pressing portion use step S104, the lid closing jig 3 is further lowered from the state shown in FIG. 9. Then, as shown in FIG. 10, the portion of the fitting portion 962 pressed by the annular pressing portion 36 is also fitted into the fitted portion 862. In this manner, the entire fitting portion 962 can be fitted into the fitted portion 862 by using the annular pressing portion 36. In this step, since the fitting is propagated from the portion where the fitting is already completed to the other portion, the fitting can be smoothly performed even with a small pressing force. Therefore, in this step, it is possible to avoid excessive load on the lid body 9, and the occurrence of damage to the lid body 9 can be suppressed. As a result, the success rate of the lid closing operation can be increased. In this manner, the fitting is completed in the entire fitting portion 962 as shown in FIG. 10.

[0058] 9, the protrusion 38 will further press the already fitted portion. However, for example, when the protrusion amount of the protrusion 38 is adjusted to be within the above range, the applied pressing force can be absorbed by the deformation of the lid 9 or the container body 8. If this deformation is within the range of elastic deformation, the original shape can be restored after the pressing force of the lid closing jig 3 is removed. Therefore, even if there is pressing force due to the presence of the protrusion 38, adverse effects due to this can be avoided.

[0059] 1.3. First modified example Next, a lid-closing jig 3 according to a first modified example of the first embodiment will be described.

[0060] FIG. 11 is a plan view showing a lid-closing jig 3 according to a first modified example of the first embodiment. 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. 11, the same reference numerals are used for the same configurations as the first embodiment.

[0061] The lid-closing jig 3 shown in FIG. 11 is similar to the lid-closing jig 3 shown in FIG.

[0062] The lid closing jig 3 shown in Fig. 3 has one protrusion 38, whereas the lid closing jig 3 shown in Fig. 11 has three protrusions 38. By providing multiple protrusions 38, multiple locations of the fitting portion 962 can be fitted preferentially. This allows the lid closing operation to be performed smoothly even if, for example, the overall length of the fitting portion 962 is long.

[0063] The lid closing jig 3 shown in FIG. 11 is a plan view image obtained by viewing the lid closing jig 3 in a first direction. In FIG. 11, a virtual straight line L is drawn so as to pass through the center of gravity C of the plan view image. The virtual straight line L divides the plan view image into two regions. All three convex portions 38 are arranged in one region (one side) of the virtual straight line L. On the other hand, no convex portions 38 are arranged in the other region of the virtual straight line L. By distributing the convex portions 38 unevenly in this way, even if a plurality of convex portions 38 are provided, a part of the fitting portion 962 can be preferentially fitted. As a result, by precisely arranging the plurality of convex portions 38 according to the shape of the lid body 9, it is possible to increase the success rate of the lid closing operation while avoiding excessive load on the lid body 9.

[0064] The number of the protrusions 38 of the lid closing jig 3 may be two or four or more. Although there is no particular upper limit to the number of the protrusions 38, it is preferable that the number be 10 or less in consideration of the effect of preferentially fitting a part of the fitting portion 962.

[0065] Further, although the arrangement of the multiple protrusions 38 is not particularly limited, it is preferable that they are arranged along the fitting portion 962. This allows a pressing force to be applied accurately to the fitting portion 962, enabling a smoother lid closing operation.

[0066] Furthermore, when the range in which the multiple protrusions 38 are arranged is expressed as an angle range centered on the center of gravity C shown in Fig. 11 (angle range including the multiple protrusions 38), the angle range is preferably less than 180°, more preferably 1° to 90°, and even more preferably 3° to 45°, as shown in the range to the right of the virtual straight line L in Fig. 11. This allows a part of the fitting portion 962 to be fitted efficiently, and also allows the fitting to progress smoothly to other parts. In the first modified example as described above, the same effects as those of the first embodiment can be obtained.

[0067] 1.4. Second variant Next, a lid-closing jig 3 according to a second modified example of the first embodiment will be described.

[0068] FIG. 12 is a plan view showing a lid-closing jig 3 according to a second modified example of the first embodiment. The second 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. 12, the same reference numerals are used for the same configurations as the first embodiment.

[0069] The lid-closing jig 3 shown in FIG. 12 is similar to the lid-closing jig 3 shown in FIG. 3 except that the shape of the protrusion 38 in plan view is different.

[0070] In the lid closing jig 3 shown in Fig. 3, the shape of the protrusion 38 in a plan view is circular, whereas in the lid closing jig 3 shown in Fig. 12, the shape of the protrusion 38 in a plan view is arc-shaped. The arc-shaped shape refers to an elongated shape extending along the fitting portion 962. By making the shape of the protrusion 38 in a plan view arc-shaped, the pressing force applied to the lid body 9 per unit area can be reduced more than in the first embodiment. This makes it possible to further suppress the load on the lid body 9.

[0071] The angular range in which the arc-shaped protrusion 38 is disposed is preferably less than 180°, more preferably 1° to 90°, and even more preferably 3° to 45°, as shown in the range to the right of the virtual straight line L in Fig. 11. This allows a part of the fitting portion 962 to be fitted efficiently, and allows the fitting to progress smoothly to other parts. In the second modified example as described above, the same effects as in the first embodiment can be obtained.

[0072] 1.5.Third variant Next, a lid-closing jig 3 according to a third modified example of the first embodiment will be described.

[0073] FIG. 13 is a plan view showing a lid-closing jig 3 according to a third modified example of the first embodiment. The third 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. 13, the same reference numerals are used for the same configurations as the first embodiment.

[0074] The lid-closing jig 3 shown in FIG. 13 is similar to the lid-closing jig 3 shown in FIG. 3 except that the shape of the annular pressing portion 36 is different.

[0075] In the lid closing jig 3 shown in Fig. 3, the annular pressing portion 36 has a circular ring shape, whereas in the lid closing jig 3 shown in Fig. 13, the annular pressing portion 36 has a rectangular ring shape along the outer edge of the base 30. With such an annular pressing portion 36, it is possible to accurately apply a pressing force to the lid body 9 having, for example, a fitting portion 962 having a rectangular ring shape. Note that the shape of the annular pressing portion 36 is not limited to a circular ring shape or a rectangular ring shape, and may be a ring shape having another shape. In the third modified example as described above, the same effects as in the first embodiment can be obtained.

[0076] 1.6. Fourth Variation Next, a lid-closing jig 3 according to a fourth modified example of the first embodiment will be described.

[0077] FIG. 14 is a plan view showing a lid-closing jig 3 according to a fourth modified example of the first embodiment. The fourth modified example will be described below, but in the following description, the differences from the first embodiment and its third modified example will be mainly described, and the description of the similar points will be omitted. Note that in FIG. 14, the same reference numerals are used for the same configurations as the first embodiment.

[0078] The lid closing jig 3 shown in FIG. 14 is similar to the lid closing jig 3 shown in FIG. 13 except that the number of protrusions 38 is different.

[0079] The lid closing jig 3 shown in Fig. 13 has one protrusion 38, whereas the lid closing jig 3 shown in Fig. 14 has two protrusions 38. By providing multiple protrusions 38, multiple locations of the fitting portion 962 can be fitted preferentially. This allows the lid closing operation to be performed smoothly even if, for example, the overall length of the fitting portion 962 is long.

[0080] 14, the aforementioned imaginary straight line L is drawn. The two protrusions 38 are all disposed in one region (one side) of the imaginary straight line L. This increases the success rate of the lid closing operation while preventing excessive load from being applied to the lid body 9.

[0081] 14 are disposed to correspond to the vertices of a rectangle. When the fitting portion 962 has a polygonal ring shape, the parts corresponding to the vertices are preferentially fitted together, so that the entire portion can be fitted together smoothly. In the fourth modified example as described above, the same effects as those of the third modified example can be obtained.

[0082] 2. Second embodiment Next, a lid-closing jig according to a second embodiment will be described. FIG. 15 is a perspective half-sectional view showing the lid-closing jig 3 according to the second embodiment.

[0083] 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 each drawing, the same reference numerals are used to designate the same components as those in the first embodiment.

[0084] 2.1. Lid Closing Jig The lid closing jig 3 in the second embodiment is similar to the lid closing jig 3 in the first embodiment, except that the convex portion 38 is displaceable relative to the annular pressing portion 36 and is provided with a drive portion 39 that drives the convex portion 38.

[0085] 15 is displaceable in a first direction and can be in a protruding state in which it protrudes beyond the annular pressing portion 36 in the first direction, and in a non-protruding state in which this protruding state is released. In this embodiment, the protruding portion 38 is formed of a rod-shaped member extending in the first direction.

[0086] In the protruding state, the lower end of the convex portion 38 is set to be located lower than the annular pressing portion 36. In this case, the convex portion 38 can press the lid body 9 further downward than the annular pressing portion 36. This allows the fitting portion 962 corresponding to the convex portion 38 to be partially fitted into the fitted portion 862. By preferentially fitting a portion of the fitting portion 962 in this manner, the force required to press the lid body 9 is smaller than when the entire portion is fitted at the same time, and therefore the load applied to the lid body 9 by the lid closing jig 3 can be suppressed.

[0087] On the other hand, in the non-protruding state, the amount of protrusion of the convex portion 38 may be smaller than in the protruding state, but preferably the lower end of the convex portion 38 is set so as not to be located below the annular pressing portion 36. In other words, in the non-protruding state, the position of the lower end of the convex portion 38 in the first direction is preferably the same as or higher than the annular pressing portion 36. This allows the position of the lower end of the convex portion 38 to be aligned with the annular pressing portion 36 or the difference between the positions of the two to be reduced, thereby improving the in-plane uniformity of the pressing force applied by the lid closing jig 3 to the lid body 9. As a result, the application of a large pressing force locally is suppressed, and the application of an excessive load to the lid body 9 can be avoided. Then, the entire fitting portion 962 can be fitted to the fitted portion 862.

[0088] The driving unit 39 drives the convex portion 38 in the first direction to displace it relative to the annular pressing unit 36. This allows the protruding amount of the convex portion 38 to be changed. As a result, the above-mentioned protruding state and non-protruding state can be freely switched. The driving unit 39 is composed of, for example, an air cylinder, an electric actuator, etc., and is preferably composed of an air cylinder. Since the air cylinder is relatively light, it contributes to reducing the weight of the lid closing jig 3. The driving unit 39 may have a function of adjusting the protruding amount of the convex portion 38 in a stepwise or stepless manner. This allows the protruding amount to be optimized according to conditions such as the shape of the container 10 and individual differences, and the lid closing operation can be performed more smoothly.

[0089] The operation of the drive unit 39 is controlled by a control unit (not shown). This control unit controls the operation of the drive unit 39 in accordance with the operating state of the robot arm 22. This makes it possible to switch between a protruding state and a non-protruding state at a desired timing in accordance with the positional relationship between the lid closing jig 3 attached to the robot arm 22 and the lid body 9, etc.

[0090] 2.1.How to use the lid closing tool Next, a method of using the lid-closing jig 3 according to the second embodiment will be described.

[0091] 16 to 23 are cross-sectional views for explaining a method of using the lid-closing jig 3 according to the second embodiment.

[0092] The method of using the lid-closing jig 3 according to the second embodiment also includes a convex portion using step S102 and an annular pressing portion using step S104, similar to the first embodiment. Each step will be described below in order.

[0093] 2.1.1.Convex part use process In the convex portion using step S102, the lid body 9 is held by the lid closing jig 3. Specifically, the lid closing jig 3 is placed over the lid body 9. At this point, the position of the convex portion 38 of the lid closing jig 3 is kept in a non-protruding state.

[0094] 16 and 17 show how the lid closing jig 3 is placed over the lid body 9 from above. As shown in FIG. 16, when the lid closing jig 3 is lowered toward the lid body 9, the base 92 of the lid body 9 is accommodated in the internal space S2 of the lid closing jig 3. Then, as shown in FIG. 17, the base 30 of the lid closing jig 3 and the cylindrical portion 94 of the lid body 9 come into contact with each other. Thereafter, the lid body 9 is held by the lid closing jig 3 by a suction force generating unit (not shown) or the like provided on the base 30. At this time, since the convex portion 38 is in a non-protruding state as shown in FIG. 17, contact between the convex portion 38 and the lid body 9 can be avoided or reduced, so that alignment can be performed more accurately.

[0095] Fig. 18 shows how the lid body 9 held by the lid closing jig 3 is placed on the container body 8 from above. When the lid body 9 held by the lid closing jig 3 is lowered toward the container body 8 as shown in Fig. 18, the fitting portion 962 of the lid body 9 comes into contact with the fitted portion 862 of the container body 8 as shown in Fig. 19. Fig. 19 shows a state in which the fitting portion 962 of the lid body 9 comes into contact with the fitted portion 862 of the container body 8. This state is a state in which the fitting portion 962 and the fitted portion 862 are simply in contact with each other, and is a state before fitting is completed.

[0096] Next, the position of the convex portion 38 is switched to the protruding state. In the protruding state, as shown in Fig. 20, the convex portion 38 protrudes from the annular pressing portion 36, and accordingly, a part of the fitting portion 962 of the lid body 9 is pressed toward the fitted portion 862. This allows the part of the fitting portion 962 corresponding to the convex portion 38 to be partially fitted with the fitted portion 862. Meanwhile, the part of the fitting portion 962 other than the part corresponding to the convex portion 38, i.e., the part corresponding to the annular pressing portion 36, is not yet in a fitted state.

[0097] 2.1.2. Annular pressing part use process In the annular pressing part use step S104, the convex part 38 is switched to a non-protruding state as shown in FIG. 21. This makes it difficult for the convex part 38 to come into contact with the lid body 9, so that the lid body 9 can be pressed by only the annular pressing part 36. Specifically, the fitting part 962 corresponding to the convex part 38 has already been fitted, so that the annular pressing part 36 can be lowered to a position where it comes into contact with the lid body 9 as shown in FIG. 22. On the other hand, the fitting part 962 corresponding to the annular pressing part 36 has not yet been fitted, so that the fitting part 962 can be pressed by the annular pressing part 36 as shown in FIG. 22. At this time, the fitting is propagated from the part where the fitting is already completed to the other part, so that the fitting can be smoothly carried out even with a small pressing force. In particular, since the convex part 38 is in a non-protruding state, the in-plane uniformity of the pressing force exerted by the lid closing jig 3 on the lid body 9 can be improved. Therefore, in this step as well, it is possible to avoid excessive load being applied to the lid 9, and to suppress the occurrence of damage to the lid 9. In this manner, the fitting of the entire fitting portion 962 is completed as shown in FIG.

[0098] In the second embodiment as described above, the same effects as in the first embodiment can be obtained. In addition, in the second embodiment, since the protrusion 38 is displaceable, the position of the protrusion 38 can be optimized in each process. This allows partial fitting and full fitting to be performed more smoothly.

[0099] Furthermore, modified examples similar to the first to fourth modified examples described above may also be applied to the second embodiment.

[0100] 3. Third embodiment Next, a lid-closing jig according to a third embodiment will be described.

[0101] FIG. 24 is a plan view showing the lid-closing jig 3 according to the third embodiment. The third embodiment will be described below, focusing on the differences from the second embodiment and omitting the description of the similarities. Note that in each drawing, the same reference numerals are used to designate the same components as those in the second embodiment.

[0102] The lid closing jig 3 according to the second embodiment includes an annular pressing portion 36 which is the first pressing portion and a convex portion 38 which is the second pressing portion, whereas the lid closing jig 3 according to the third embodiment includes eight first rod-shaped bodies 381 which are the first pressing portion and two second rod-shaped bodies 382 which are the second pressing portion. In other words, the eight first rod-shaped bodies 381 have the function of the annular pressing portion 36 in the second embodiment, and the two second rod-shaped bodies 382 have the function of the convex portion 38 in the second embodiment.

[0103] Specifically, the lid closing jig 3 shown in FIG. 24 includes a base 30, eight first rod-shaped bodies 381, two second rod-shaped bodies 382, ​​and a suction portion .

[0104] The base 30 has a plate shape extending along a plane perpendicular to the Z axis. The shape of the base 30 in a plan view shown in Fig. 24 is an octagon. However, this shape is not particularly limited, and may be another polygon, a circle, or the like.

[0105] The first rod-shaped body 381 and the second rod-shaped body 382 are each a cylindrical member extending in a first direction. The first rod-shaped body 381 and the second rod-shaped body 382 are both aligned along the outer edge of the base 30. Therefore, the lid closing jig 3 shown in FIG. 24 is suitable for pressing the lid body 9 whose fitting portion 962 is in the shape of a circular ring or a polygonal ring. The shapes of the first rod-shaped body 381 and the second rod-shaped body 382 are not limited to a cylindrical shape, and may be, for example, a rectangular column, a cone, a dome, or the like.

[0106] The relationship between the first rod-shaped body 381 and the second rod-shaped body 382 is the same as the relationship between the annular pressing portion 36 and the convex portion 38 described above. That is, the second rod-shaped body 382 protrudes downward from the first rod-shaped body 381 so that its lower end is located lower than the first rod-shaped body 381. This allows the second rod-shaped body 382 to be used in the same manner as the convex portion 38 in the convex portion using step S102 described above, and allows the fitting portion 962 corresponding to the second rod-shaped body 382 to be partially fitted with the fitted portion 862. On the other hand, the first rod-shaped body 381 is greater in number than the second rod-shaped body 382 and is arranged in a wider range than the second rod-shaped body 382. Therefore, the first rod-shaped body 381 can be used in the same manner as the annular pressing portion 36 in the annular pressing portion using step S104 described above, and allows the entire fitting portion 962 to be fitted into the fitted portion 862.

[0107] Further, the second rod-shaped body 382 is displaceable in the first direction and can be in a protruding state or a non-protruding state.

[0108] 24 has a drive unit (not shown) that drives the second rod-shaped body 382 in a first direction and displaces it relative to the first rod-shaped body 381. This makes it possible to change the amount of protrusion of the second rod-shaped body 382.

[0109] In the convex portion using step S102, the second rod-shaped body 382 is driven so that the protruding amount thereof exceeds the protruding amount of the first rod-shaped body 381. As a result, the second rod-shaped body 382 is in a protruding state.

[0110] In the annular pressing portion using step S104, the second rod-shaped body 382 is driven so that the protruding amount is equal to or less than the protruding amount of the first rod-shaped body 381, and preferably is driven so that the protruding amount is the same as the protruding amount of the first rod-shaped body 381. This causes the second rod-shaped body 382 to be in a non-protruding state.

[0111] The driving unit may be provided as necessary, and may be omitted. In that case, the second rod-shaped body 382 only needs to be fixed so as to protrude further than the first rod-shaped body 381.

[0112] Moreover, the lid closing jig 3 shown in FIG. 24 may have another drive unit that drives the first rod-shaped body 381 in the first direction.

[0113] On the other hand, in this embodiment, since a plurality of first rod-shaped bodies 381 are provided, it is possible to change the protruding amount of each of the first rod-shaped bodies 381 individually. Therefore, for example, even if the fitting portion 962 undulates in the first direction, it is possible to adjust the protruding amount of the first rod-shaped bodies 381 accordingly.

[0114] The suction unit 35 has a suction pad and a vacuum generator (not shown). When the inside of the suction pad is depressurized by operating the vacuum generator, the lid 9 located below the suction pad is sucked and adsorbed.

[0115] In the third embodiment as described above, the same effects as in the second embodiment can be obtained. Furthermore, the first rod-shaped body 381 and the second rod-shaped body 382 may each be movable in the second direction. This allows the arrangement of the first rod-shaped body 381 and the second rod-shaped body 382 to be changed depending on the planar shape of the fitting portion 962 of the lid body 9. As a result, the lid closing jig 3 according to the third embodiment can be easily changed over and is applicable to lid closing operations for lid bodies 9 of various shapes.

[0116] 4. Fourth embodiment Next, a lid closing jig and a lid closing method according to a fourth embodiment will be described.

[0117] The fourth embodiment will be described below, focusing on the differences from the first embodiment and omitting the description of the similarities. Note that in each drawing, the same reference numerals are used to designate the same components as those in the first embodiment.

[0118] 4.1. Lid Closing Jig Fig. 25 is a plan view showing the lid closing jig 3 according to the fourth embodiment. The lid closing jig 3 shown in Fig. 25 is a plan view image obtained by viewing the lid closing jig 3 from above in the first direction. Fig. 25 illustrates the center of gravity C of the plan view image.

[0119] The lid closing jig 3 shown in FIG. 25 includes a base 30 and four protrusions 38 protruding downward from the base 30. The four protrusions 38 are arranged at equal intervals on a circumference centered on the center of gravity C. Therefore, the four protrusions 38 are not unevenly distributed but are evenly distributed. The number of protrusions 38 may be 1 to 3, or may be 5 or more. The arrangement of the protrusions 38 does not have to be at equal intervals. In other words, the arrangement of the protrusions 38 may be unevenly distributed.

[0120] 4.2.How to close the lid Fig. 26 is a flow chart showing the configuration of the lid closing method according to the fourth embodiment. Fig. 27 and Fig. 28 are schematic diagrams for explaining the lid closing method shown in Fig. 26, showing only the fitting portion 962 of the lid body 9.

[0121] The lid closing method shown in Fig. 26 includes a partial fitting step S202 and a full fitting step S204. Each step will be described below in order.

[0122] 4.2.1. Partial fitting process In the partial fitting step S202, a portion 962a of the fitting portion 962 of the lid 9 that corresponds to the protrusion 38 comes into contact with and fits into the fitted portion 862 of the container body 8. In the partial fitting step S202, by using the protrusion 38 in this manner, as shown in Fig. 27, the portion 962a that is a part of the fitting portion 962 can be fitted into the fitted portion 862 not shown in Fig. 27. On the other hand, in the fitting portion 962 shown in FIG. 27, a portion 962b other than the portion 962a is not yet in a fitted state.

[0123] 4.2.2. Overall mating process In the entire fitting process S204, first, the lid 9 is released from the lid closing jig 3. Next, as shown in Fig. 28, the lid closing jig 3 is rotated around the axis A1. This causes the protrusion 38 to move along the fitting portion 962 of the lid 9, and the fitting progresses from the portion 962a to the portion 962b. As a result, the fitting can be completed over the entire fitting portion 962 while suppressing the load on the lid 9.

[0124] According to the above-described lid closing method, a portion of the fitting portion 962 is preferentially fitted, and then the fitting state is advanced to the fitting portion 962, thereby making it possible to increase the success rate of the lid closing operation while suppressing the occurrence of damage, etc., to the lid body 9.

[0125] 5. Advantages of the above embodiment As described above, the lid closing jig 3 according to the embodiment or the modified example thereof is a jig used for pressing the lid body 9 having the fitting portion 962 to fit it into the container body 8 and closing the lid body 9, and includes a first pressing portion (annular pressing portion 36 or first rod-shaped body 381) and a second pressing portion (protrusion portion 38 or second rod-shaped body 382). When the direction from the lid body 9 toward the container body 8 is defined as the first direction in a state in which the lid body 9 is closed on the container body 8, the first pressing portion presses the lid body 9 in the first direction. The second pressing portion protrudes from the first pressing portion in the first direction.

[0126] This configuration provides a lid closing jig 3 that can partially fit the fitting portion 962 and the fitted portion 862. By preferentially fitting a portion of the fitting portion 962 in this way, the force required to press the lid body 9 is smaller than when the entire portion is fitted at the same time, and the load applied to the lid body 9 by the lid closing jig 3 can be reduced. As a result, the success rate of the lid closing operation can be increased.

[0127] In the lid closing jig 3 according to the modified example of the embodiment, the second pressing portion extends along the fitting portion 962.

[0128] According to such a configuration, the pressing force applied to the unit area of ​​the lid 9 can be reduced, so that the load on the lid 9 can be further suppressed.

[0129] Moreover, the lid closing jig 3 according to the embodiment or the modified example thereof includes a plurality of second pressing portions aligned along the fitting portion 962.

[0130] According to such a configuration, a pressing force can be applied accurately to the fitting portion 962, and the cover closing operation can be performed more smoothly.

[0131] Furthermore, in the lid closing jig 3 relating to the above embodiment or its modified example, when a virtual straight line L passing through the center of gravity C of the planar image viewed from above in the first direction is drawn, all of the second pressing portions in the planar image are positioned on one side of the area divided by the virtual straight line L.

[0132] According to this configuration, by appropriately arranging the multiple second pressing portions according to the shape of the lid body 9, it is possible to increase the success rate of the lid closing operation while avoiding excessive load on the lid body 9.

[0133] In the lid closing jig 3 according to the embodiment or the modified example thereof, the second pressing portion has a variable protruding amount.

[0134] According to this configuration, it is possible to switch between a protruding state and a non-protruding state. As a result, in the protruding state, the fitting portion 962 corresponding to the second pressing portion and the fitted portion 862 can be partially fitted together. Also, in the non-protruding state, it is possible to increase the in-plane uniformity of the pressing force applied by the lid closing jig 3 to the lid body 9. As a result, it is possible to prevent a large pressing force from being applied locally, and to prevent an excessive load from being applied to the lid body 9.

[0135] Moreover, the lid closing jig 3 according to the embodiment or the modified example thereof includes a drive unit 39 that changes the amount of protrusion by displacing the second pressing portion relative to the first pressing portion.

[0136] According to this configuration, the second pressing portion can be freely switched between a protruding state and a non-protruding state, which allows the amount of protrusion to be optimized according to conditions such as the shape of the container 10 and individual differences, and allows the lid closing operation to be performed more smoothly.

[0137] Moreover, the lid closing jig 3 according to the embodiment or the modified example thereof includes a base 30. The base 30 supports a first pressing portion and a second pressing portion, and the shape of the base 30 in a plan view is a circle or a polygon centered on an axis A2 (an axis parallel to the first direction). The first pressing portion and the second pressing portion are arranged on a circumference around the axis A2.

[0138] According to this configuration, the fitting portion 962 and the fitted portion 862 can be fitted together more smoothly.

[0139] Moreover, the lid fastening device 1 according to the embodiment includes a robot 2 and a lid fastening jig 3. The robot 2 has a robot arm 22. The lid fastening jig 3 is attached to the robot arm 22.

[0140] According to such a configuration, a lid closing device 1 that can perform the lid closing operation while reducing the load on the lid body 9 can be obtained.

[0141] The lid closing method according to the embodiment is a method of fitting the lid body 9 having the fitting portion 962 to the container body 8 and closing the lid body 9. This lid closing method includes a partial fitting step S202 and a full fitting step S204. In the partial fitting step S202, when the direction from the lid body 9 toward the container body 8 is defined as a first direction in a state in which the lid body 9 is closed on the container body 8, a part of the fitting portion 962 is fitted by pressing the lid body 9 with the lid closing jig 3 including the base 30 and the protrusion 38 protruding from the base 30 in the first direction. In the full fitting step S204, the protrusion 38 is moved along the fitting portion 962 of the lid body 9 to fit the entire fitting portion 962.

[0142] According to this configuration, the fitting portion 962 and the fitted portion 862 can be partially fitted together, and then the fitting can be advanced. By preferentially fitting a portion of the fitting portion 962 in this way, the force required to press the lid body 9 can be smaller than when the entire portion is fitted at the same time, and the load applied to the lid body 9 by the lid closing jig 3 can be reduced. As a result, the success rate of the lid closing operation can be increased.

[0143] While the lid closing tool, the lid closing device and the lid closing method according to the present invention have been described above based on the illustrated embodiment and modified examples, the present invention is not limited to this.

[0144] For example, the lid closing tool and the lid closing device according to the present invention may be obtained by replacing each part of the embodiment and its modified examples with any component having a similar function, or by adding any component to the embodiment and its modified examples. Also, the lid closing method according to the present invention may be obtained by adding any purposed process to the embodiment and its modified examples. Furthermore, the present invention may be obtained by combining two or more of the embodiment and its modified examples. [Explanation of symbols]

[0145] 1...lid closing device, 2...robot, 3...lid closing tool, 8...container body, 9...lid body, 10...container, 22...robot arm, 30...base, 32...top plate portion, 34...side wall portion, 35...suction portion, 36...annular pressing portion, 38...protruding portion, 39...driving portion, 41...lid closing position, 42...belt conveyor, 43...lid holding position, 44...belt conveyor, 82...bottom, 83...opening, 84...cylindrical portion, 86...flange portion, 92...base, 94...cylindrical portion, 96...flange portion, 220 ...tip portion, 381...first rod-shaped body, 382...second rod-shaped body, 862...fitted portion, 864...flange portion, 960...groove portion, 962...fitting portion, 962a...portion, 962b...portion, 963...wall portion, 964...flange portion, A1...axis, A2...axis, C...center of gravity, L...virtual line, S1...internal space, S102...projection portion use step, S104...annular pressing portion use step, S2...internal space, S202...partial fitting step, S204...full fitting step, φ8...inner diameter, φ9...outer diameter

Claims

1. A tool used to press a lid having a fitting portion to fit the lid to a container body and close the lid, a first pressing portion that presses the lid in a first direction when a direction from the lid toward the container body is defined as a first direction in a state in which the lid is closed on the container body; a second pressing portion protruding from the first pressing portion in the first direction; A lid closing tool comprising:

2. The lid closing jig according to claim 1 , wherein the second pressing portion extends along the fitting portion.

3. The lid closing jig according to claim 1 , further comprising a plurality of the second pressing portions arranged along the fitting portion.

4. A lid closing jig as described in claim 3, wherein when a virtual straight line is drawn passing through the center of gravity of a planar image viewed in a plane in the first direction, all of the second pressing portions in the planar image are positioned on one side of an area divided by the virtual straight line.

5. The lid closing jig according to claim 1 , wherein the second pressing portion has a variable protruding amount.

6. The lid closing jig according to claim 5 , further comprising a drive unit that changes the amount of protrusion by displacing the second pressing portion relative to the first pressing portion.

7. a base portion supporting the first pressing portion and the second pressing portion; The base has a planar shape that is circular or polygonal and has an axis that is parallel to the first direction as a center, The lid closing jig according to claim 1 , wherein the first pressing portion and the second pressing portion are arranged on a circumference around the axis.

8. A robot having a robot arm; The lid closing jig according to any one of claims 1 to 7, which is attached to the robot arm; A lid closing device comprising:

9. A method for fitting a lid having a fitting portion to a container body and closing the lid, comprising the steps of: a step of pressing the lid with a lid fastening tool having a base and a protrusion protruding from the base in a first direction, the lid being fastened to the container body, so as to engage a portion of the engagement portion; a step of fitting the entire fitting portion into place by moving the protrusion relative to the lid; A lid closing method comprising the steps of:

Images