Method for closing a container lid, method for inspecting the closing of a container lid, and lid closing device.

Abstract

To provide a container lid closing method, a container lid closing inspection method, and a lid closing device capable of determining whether work is good or bad.SOLUTION: A method for closing a lid of a container 10 by mating a lid 30 to a container body 20 includes mating the container body 20 and the lid 30 to close the lid by pressing the lid 30 being stacked on the container body 20 by a pressing portion 230 positioned on a robot, when a direction in which the container body 20 and the lid 30 are lined up in the mated state is the mating direction, detecting a load in the mating direction that the pressure portion 230 receives from the lid 30 as a reaction force when the pressure portion 230 is in a predetermined position, determining whether the mating state of the container body 20 and the lid 30 is acceptable or not on the basis of the load.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to a container capping method, a container capping inspection method, and a capping apparatus. [Background Art]

[0002] Patent Document 1 discloses a configuration of a capping apparatus that automatically performs a so-called container capping operation, in which a cap is press-fitted into a container body conveyed by a belt conveyor by pressing the cap against the container body. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Patent Laid-Open No. 2020-100424 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] However, the technique described in Patent Document 1 has a problem in that it is impossible to determine whether the cap is properly closed on the container and whether the capping operation is acceptable or not. [Means for Solving the Problem]

[0005] A container capping method for fitting a cap body to a container body, wherein when the direction in which the container body and the cap body are aligned in a fitted state is defined as a fitting direction, a pressing portion disposed in an automatic machine presses the cap body superimposed on the container body, thereby fitting the container body and the cap body to perform capping; when the pressing portion is at a predetermined position, the force component in the fitting direction that the pressing portion receives as a reaction force from the cap body is detected, and the acceptability of the fitting state between the container body and the cap body is determined based on the force component.

[0006] The container lid closing inspection method is a method for inspecting the fit between a container body and a lid, wherein the direction in which the container body and the lid are aligned in a fitted state is defined as the fitting direction, and when a pressing part arranged in an automatic machine presses the lid against the container body and is in a predetermined position, the pressing part detects the force component in the fitting direction that it receives as a reaction force from the lid, and determines whether the fit between the container body and the lid is acceptable or not based on the force component.

[0007] The lid closing device comprises an automatic machine, a pressing unit positioned on the automatic machine that presses the lid against the container body to fit the container body and the lid together, a detection unit that detects the force component that the pressing unit receives as a reaction force from the lid when the pressing unit is in a predetermined position, and a determination unit that determines whether the fitting state between the container body and the lid is successful or unsuccessful based on the force component. [Brief explanation of the drawing]

[0008] [Figure 1] A perspective view showing the configuration of the lid closing device. [Figure 2] A cross-sectional view showing the structure of the container. [Figure 3] A perspective view showing the configuration of the lid closing jig. [Figure 4] A flowchart showing the method for closing the container lid and the method for inspecting the lid closure. [Figure 5] A cross-sectional view showing part of the method for closing the container lid. [Figure 6] A cross-sectional view showing part of the method for closing the container lid. [Figure 7] A cross-sectional view showing part of the method for closing the container lid. [Figure 8] A cross-sectional view showing part of the method for closing the container lid. [Figure 9] A cross-sectional view showing part of the method for closing the container lid. [Figure 10] A cross-sectional view showing part of the container lid sealing inspection method. [Figure 11] A graph showing the relationship between the lid closing position and the load at the time of passing the test. [Figure 12]A graph showing the relationship between the lid closing position and the load when a defect occurs. [Modes for carrying out the invention]

[0009] In the following diagrams, the three mutually orthogonal axes are described as the X-axis, Y-axis, and Z-axis. The direction along the X-axis is called the "X-direction," the direction along the Y-axis is called the "Y-direction," and the direction along the Z-axis is called the "Z-direction." The direction of the arrow is the + direction, and the direction opposite to the + direction is called the - direction. The +Z direction is also called "up" or "upward," and the -Z direction is called "down" or "downward." Viewing from the +Z and -Z directions is also called a planar view or planar perspective. Furthermore, the surface on the Z-direction + side is described as the top surface, and the surface on the opposite Z-direction - side is described as the bottom surface. The Z-axis is the direction in which the container body 20 and the lid 30 are aligned when the lid 30 is closed to the container body 20, and is also called the first direction or fitting direction.

[0010] First, the configuration of the lid closing device 1000 will be explained with reference to Figure 1.

[0011] As shown in Figure 1, the lid closing device 1000 is a device that closes a lid 30 on a container body 20, and comprises a robot 100 as an automated machine having a robot arm 110, and a lid closing jig 200 attached to the robot arm 110.

[0012] The container body 20 is, for example, a box for storing food, and has an opening 24 (see Figure 2) that opens at the top. The lid 30 is a member that is placed over the opening 24 of the container body 20 and closes the opening 24. The combined configuration of the container body 20 and the lid 30 is referred to as the container 10. Furthermore, the contents of the container 10 are not limited to food.

[0013] Further, the capping apparatus 1000 comprises: a belt conveyor 300 that conveys container bodies 20 in the direction of the arrow, that is, from upstream to downstream, so as to pass through a capping position 101; a table 400 on which lid bodies 30 are arranged; a sensor 500 that detects the position of the container body 20 on the belt conveyor 300; and an encoder 600 that detects the conveyance speed of the belt conveyor 300.

[0014] The capping apparatus 1000 performs a capping operation of placing the lid body 30 held by a capping jig 200 onto the container body 20 and closing the same at the timing when the container body 20 is conveyed to the capping position 101. The container body 20 with the lid body 30 closed thereon, that is, the container 10, is conveyed to the downstream side by the belt conveyor 300.

[0015] Note that the method for conveying the container body 20 is not limited to the method using the belt conveyor 300. In addition, the lid body 30 is not limited to being placed on the table 400, and for example, may be conveyed one by one by another belt conveyor.

[0016] Examples of the sensor 500 include an image sensor using a camera, and the like. The sensor 500 detects, for example, the center position of the container body 20 conveyed by the belt conveyor 300.

[0017] As described above, the encoder 600 detects the speed of the belt conveyor 300 and transmits detection information to the robot 100. Specifically, the encoder 600 detects the amount of displacement of a roller disposed on the belt conveyor 300, and a calculation unit (not shown) calculates the time for the container body 20 to reach the capping position 101 from the position and rotation speed of the container body 20. Note that the encoder 600 is not limited to being disposed on the upstream side of conveyance, and may be disposed on the downstream side.

[0018] The robot 100 is a horizontal articulated robot having a robot arm 110. Note that the form of the robot 100 is not limited to this, and the robot 100 may be a vertical articulated robot, or may be a dual-arm robot having a plurality of robot arms.

[0019] Furthermore, the robot 100 of this embodiment does not use force control, but instead uses position control to fit the container body 20 and the lid 30 together. Specifically, the position control involves, for example, driving the shaft 40 in the Z direction based on the lid closing start position information and the lid closing end position information of the lid closing jig 200. Position control allows the robot arm 110 and shaft 40 to move at a faster speed than force control, for example, contributing to rapid work.

[0020] The robot arm 110 has a shaft 40 and a tip 250 to which various end effectors can be attached, which is provided at the tip of the shaft 40. A lid closing jig 200, for example, as shown in Figure 1, is attached to the tip 250. The robot arm 110 moves the lid closing jig 200 to any position within its operating range. The operating range of the robot arm 110 is set to include the lid closing position 101.

[0021] Furthermore, the robot 100 includes a detection unit 260, a storage unit 120, a determination unit 130, and a control unit (not shown).

[0022] The detection unit 260 is provided, for example, between the shaft 40 and the tip portion 250. An example of the detection unit 260 is a force sensor. The force sensor detects the load as a force component that the pressing portion 230 (see Figure 3) receives as a reaction force from the lid 30 when the pressing portion 230 is in a predetermined position.

[0023] Furthermore, the force sensor is of the quartz type, composed of a piezoelectric material such as quartz, and has a pressure-receiving section that transmits the stress applied to the end effector, and electrodes formed on this pressure-receiving section. The charge generated in the pressure-receiving section in response to the applied stress is extracted from the electrodes as a detection signal. As a result, it has a relatively simple configuration, high detection accuracy, and high accuracy in determining success or failure. Note that it is not limited to a force sensor, and other types of force sensors may be used. Also, it is not limited to a force sensor using quartz, and other types of force sensors may be used.

[0024] The memory unit 120 stores various programs that can be executed by the control unit (not shown), and threshold information for determining pass or fail based on the load applied to the force sensor. Examples of the memory unit 120 include volatile memory such as RAM (Random Access Memory), non-volatile memory such as ROM (Read Only Memory), and removable external storage devices.

[0025] The determination unit 130 compares the load applied to the force sensor with the threshold information stored in the memory unit 120 to determine whether the fitting state between the container body 20 and the lid 30 is normal or not.

[0026] The control unit has the function of moving the lid closing jig 200 to match the position of the container body 20 detected by the sensor 500 by operating the robot arm 110, and the function of moving the lid closing jig 200 to place the lid 30 over the container body 20 detected by the sensor 500 and perform the lid closing operation.

[0027] Next, the configuration of container 10 will be explained with reference to Figure 2.

[0028] As shown in Figure 2, the container 10 consists of a container body 20 and a lid 30. The container 10 is a type of container in which the lid 30 is fitted inside the container body 20, a so-called internal fitting type container. Figure 2 shows the state before the lid 30 is closed.

[0029] The container body 20 has a bottom portion 21 located at the lower end, a cylindrical portion 22 connected to the outer edge of the bottom portion 21, and a flange portion 23 connected to the upper end of the cylindrical portion 22. The cylindrical portion 22 defines an internal space S1. The internal space S1 is a space for accommodating contents. The flange portion 23 defines an opening 24 located above the internal space S1.

[0030] The container body 20, in a plan view, is circular in shape with axis A1 extending along the first direction as its center. The bottom portion 21 is also circular in shape with axis A1 as its center, extending in a plane perpendicular to axis A1.

[0031] The cylindrical portion 22 rises upward from the outer edge of the bottom portion 21 and is continuous in the circumferential direction around the axis A1.

[0032] The flange portion 23 protrudes outward from the upper end of the cylindrical portion 22 in a second direction and is continuous in the circumferential direction. The flange portion 23 is composed of a fitting portion 23a and a flange portion 23b. The fitting portion 23a is the part that fits with the lid 30. The flange portion 23b protrudes outward from the upper end of the fitting portion 23a. The constituent material of the container body 20 is not particularly limited, but examples include plastic, paper, expanded polystyrene, etc.

[0033] The lid 30 has a base portion 31, a cylindrical portion 32 connected to the outer edge of the base portion 31, and a flange portion 33 connected to the lower end of the cylindrical portion 32.

[0034] The lid 30, in plan view, is circular with axis A1 at its center. The base 31 is also circular, with axis A1 at its center and extending in a plane perpendicular to axis A1.

[0035] The cylindrical portion 32 slopes downward from the outer edge of the base portion 31 and is continuous in the circumferential direction. Furthermore, the outer diameter of the lower end of the cylindrical portion 32 is larger than the outer diameter of the upper end of the cylindrical portion 32. Moreover, the outer diameter changes continuously between the lower and upper ends. Thus, the outer surface of the cylindrical portion 32 has a tapered shape in which the outer diameter changes continuously along the first direction.

[0036] The flange portion 33 protrudes outward in a second direction from the lower end of the cylindrical portion 32 and is continuous in the circumferential direction. The flange portion 33 is composed of a groove portion 33a, a fitting portion 33b, a wall portion 33c, and a flange portion 33d.

[0037] The groove 33a is connected to the lower end of the cylindrical portion 32. The groove 33a extends in a plane perpendicular to the axis A1 and forms an annular shape centered on the axis A1. The fitting portion 33b is connected to the outer end of the groove 33a. The fitting portion 33b fits with the fitted portion 23a of the container body 20.

[0038] The wall portion 33c is connected to the upper end of the fitting portion 33b. The wall portion 33c is a portion that extends along the first direction and is arranged along the fitting portion 33b so as to surround axis A1 in a plan view.

[0039] Spreading with a component along the first direction means that when the wall portion 33c is cut by a plane containing axis A1, the angle between the wall portion 33c and axis A1 is less than 90°, but this angle is preferably 45° or less, and more preferably 30° or less.

[0040] Furthermore, the statement that the wall portion 33c is arranged along the fitting portion 33b means, for example, that if the fitting portion 33b is annular, then the wall portion 33c is also annular and concentric with the fitting portion 33b.

[0041] The flange portion 33d is connected to the upper end of the wall portion 33c. The flange portion 33d protrudes outward in a second direction from the connection point with the wall portion 33c. The constituent material of the lid 30 is not particularly limited, but examples include plastic, paper, expanded polystyrene, etc.

[0042] Before closing the lid 30 to the container body 20, the outer diameter φW1 of the fitting portion 33b of the lid 30 is set to be slightly larger than the inner diameter φW2 of the fitted portion 23a of the container body 20. When closing the lid 30, the fitting portion 33b is pressed into the inside of the fitted portion 23a by pressing the lid 30.

[0043] At this time, the outer diameter φW1 of the fitting portion 33b deforms to shrink in diameter, and after press-fitting, it becomes slightly larger than the inner diameter φW2 of the fitted portion 23a. This completes the fitting of the fitting portion 33b to the fitted portion 23a. After the fitting is complete, the outer diameter φW1 of the fitting portion 33b may be slightly smaller than before fitting.

[0044] As a result, the mating portion 33b attempts to elastically return outward in the second direction after mating is complete. This generates a mating force, allowing the lid 30 to adhere more tightly to the container body 20.

[0045] The above description concerns the container 10. However, the container 10 described above is merely an example of a container to which the lid closing jig 200 is applied. The container is not limited to the above shape, as long as the lid 30 has a fitting portion 33b and a wall portion 33c, and the container body 20 has a fitted portion 23a.

[0046] Next, the configuration of the lid closing jig 200 will be explained with reference to Figure 3. Note that, for illustrative purposes, a portion of the lid closing jig 200 shown in Figure 3 has been cut away to show its cross-section.

[0047] As shown in Figure 3, the lid closing jig 200 has a base portion 210, a restricting portion 220, and a pressing portion 230.

[0048] In a plan view, the base 210 is a circle centered on axis A2 and extending in a plane perpendicular to axis A2. The base 210 may also have a structure for attaching to the tip 250 of the robot arm 110.

[0049] The regulating portion 220 slopes downward from the outer edge of the base portion 210 and is continuous in the circumferential direction. Furthermore, the inner diameter of the lower end of the regulating portion 220 is larger than the inner diameter of the upper end of the regulating portion 220. In addition, the inner diameter changes continuously between the lower end and the upper end.

[0050] Thus, the inner surface of the restricting portion 220 has a tapered shape in which the inner diameter changes continuously along the first direction. The internal space S2 is defined by the restricting portion 220. A part of the lid 30 is housed in the internal space S2, and the lid 30 is held in place and its position is restricted to a predetermined position by contact between the lid 30 and the restricting portion 220. Note that the shape of the restricting portion 220 is not limited to the shape described above, and for example, it does not have to be tapered.

[0051] The pressing portion 230 protrudes outward in the second direction from the lower end of the restricting portion 220 and is continuous in the circumferential direction. The pressing portion 230 extends in a plane perpendicular to axis A2 and forms an annular shape centered on axis A2. Furthermore, the pressing portion 230 has a curved shape in which the central part in the second direction protrudes downward compared to both ends. This curved shape allows for precise pressing of the target part of the lid 30. Note that the shape of the pressing portion 230 is not limited to the above shape, as long as it is a shape that can press the lid 30.

[0052] Furthermore, the restricting portion 220 has a low-elasticity portion 240. The low-elasticity portion 240 is a part of the restricting portion 220 in the first direction and has a lower elastic modulus than the pressing portion 230. Therefore, when the low-elasticity portion 240 comes into contact with the lid 30, it is compressed and generates a restoring force that tries to return it to its original shape. As will be described later, this restoring force contributes to the restricting portion 220 holding the lid 30 and restricting the position of the lid 30.

[0053] Furthermore, the low-elasticity portion 240 forms an annular shape around axis A2 and protrudes inward from the inner wall surface of the restricting portion 220. Therefore, when the lid closing jig 200 is brought close to the lid 30, the low-elasticity portion 240 can be brought into contact with the lid 30 before other parts. Thus, the low-elasticity portion 240 contributes to further enhancing the functions of the lid closing jig 200, namely the function of the restricting portion 220 holding the lid 30 and the function of the restricting portion 220 regulating the position of the lid 30.

[0054] Examples of materials that make up the low-elasticity portion 240 include rubber materials and thermoplastic elastomers. One example of such a low-elasticity portion 240 is a sealing ring such as an O-ring.

[0055] The lid closing jig 200 may be made of, for example, a resin material, but other materials such as metal, ceramic, or glass may also be used. Furthermore, the lid closing jig 200 may be a single, integrated piece or an assembly of multiple parts.

[0056] Next, the method for closing the lid of container 10 and the method for inspecting the lid of container 10 will be explained with reference to Figures 4 to 12. In this embodiment, the method for closing the lid of container 10 and the method for inspecting the lid of container 10 are performed while the container body 20 is moving on the belt conveyor 300, in other words, while tracking it.

[0057] As shown in Figure 4, in step S11, the lid 30 is held by the lid closing jig 200. Specifically, first, the robot arm 110 is operated to place the lid closing jig 200 over the lid 30 which is positioned on the table 400.

[0058] Specifically, when the lid closing jig 200 is lowered, the base 31 of the lid 30 is housed in the internal space S2 of the lid closing jig 200, as shown in Figure 5. When the lid closing jig 200 is lowered further, the low-elasticity portion 240 of the lid closing jig 200 comes into contact with the cylindrical portion 32 of the lid 30, as shown in Figure 6. Subsequently, when the lid closing jig 200 is lowered even further, the low-elasticity portion 240 pressed against the lid 30 is compressed, as shown in Figure 7.

[0059] A restoring force is generated in the compressed low-elasticity portion 240, causing it to return to its original shape. This restoring force acts on the lid 30, holding it in place without causing it to fall. Furthermore, as mentioned above, the low-elasticity portion 240 forms an annular shape around axis A2. Therefore, the restoring force acting on the lid 30 from the low-elasticity portion 240 acts to adjust the position of the lid 30 relative to the lid closing jig 200.

[0060] Furthermore, by utilizing the tapered shape of the cylindrical portion 32 of the lid 30, the function of regulating the position of the lid 30 is further enhanced. In other words, by the contact between the outer surface of the cylindrical portion 32 and the regulating portion 220, the tapered shape of the cylindrical portion 32 can be utilized, making it easier to align the lid 30.

[0061] Furthermore, it is preferable that the coefficient of friction between the low-elasticity part 240 and the lid 30 is greater than the coefficient of friction between the pressing part 230 of the lid closing jig 200 and the lid 30. By selecting rubber, elastomer, foamed resin, etc. as the constituent material of the low-elasticity part 240, the coefficient of friction between the low-elasticity part 240 and the lid 30 can be increased. By increasing the coefficient of friction, the function of holding the lid 30 can be further enhanced.

[0062] Next, the robot arm 110 is operated to move the lid closing jig 200, which is holding the lid 30, to the lid closing position 101.

[0063] Next, in step S12, when the container body 20 is transported to the designated lid closing position 101, the belt conveyor 300 is in motion, meaning the container body 20 is in motion, and the robot arm 110 is operated to move the lid closing jig 200 so that the lid 30 is placed over the container body 20 from above. In other words, a reciprocating motion is performed in the Z direction.

[0064] Specifically, as shown in Figure 7, the robot arm 110 lowers the lid closing jig 200, placing the lid 30 over the container body 20. Then, the fitting portion 33b of the lid 30 and the receiving portion 23a of the container body 20 are brought into contact (see Figure 8). This operation is called tracking.

[0065] Next, in step S13, when the lid 30 is pressed by the lid closing jig 200, the fitting of the fitting portion 33b and the fitted portion 23a is completed, as shown in Figure 9. Figure 9 shows the state in which the fitting portion 33b of the lid 30 and the fitted portion 23a of the container body 20 are fitted together.

[0066] The wall portion 33c is positioned above the fitting portion 33b along the fitting portion 33b, and the upper part 33e of the wall portion 33c, which is the point of application of the pressing force, is the part of the wall portion 33c opposite to the container body 20. Therefore, when the upper part 33e of the wall portion 33c is pressed downward by the lid closing jig 200, the pressing force can be efficiently transmitted to the fitting portion 33b, and the fitting portion 33b can be press-fitted into the inside of the fitted portion 23a. Furthermore, since the wall portion 33c has a component that extends along the first direction, the pressing force applied to the wall portion 33c is transmitted to the fitting portion 33b with almost no bending or twisting of the wall portion 33c. As a result, the fitting portion 33b can be press-fitted and fitted while suppressing the load on the wall portion 33c. Consequently, plastic deformation and damage to the lid 30 associated with the lid closing operation can be suppressed.

[0067] Furthermore, the upper part 33e of the wall portion 33c is also the connection point between the wall portion 33c and the flange portion 33d. At this connection point, the wall portion 33c and the flange portion 33d are connected at almost a right angle, forming a corner. The upper part 33e, having this shape, is a part with relatively high deformation resistance (rigidity). Therefore, pressing the upper part 33e with the pressing portion 230 is particularly effective in suppressing unintended deformation of the lid 30.

[0068] Next, in step S14, force data is acquired. Specifically, after the lid closing operation is completed, the shaft 22 is operated to slightly raise the lid closing jig 200, as shown in Figure 10. In other words, the distance between the pressing part 230 and the container body 20 in the Z direction is longer at the position to be judged (see Figure 10) than at the position where the lid is closed (see Figure 9).

[0069] The position of the pressing portion 230 at this time is referred to as the predetermined position (see Figure 10). At this time, force data such as the load in the Z direction that the pressing portion 230 receives as a reaction force from the lid 30 is acquired.

[0070] Next, in step S15, the fit between the container body 20 and the lid 30 is compared to determine whether it is acceptable or not. Specifically, the detected force data (i.e., load) is compared with a load threshold value stored in the memory unit 120 and pre-set for pass / fail determination. If the detected load does not exceed the threshold value, it is considered acceptable and the process proceeds to step S16. If the detected load exceeds the threshold value, it is considered unacceptable and the process proceeds to step S17.

[0071] Figure 11 shows the relationship between the detected load and time when the fitting state is acceptable. Figure 12 shows the relationship between the detected load and time when the fitting state is unacceptable. In this embodiment, for example, the pass / fail threshold is set to -30N. As shown in Figure 11, the load Fz at the lid closing position, i.e., the predetermined position, is less than -30N, and the fitting state is determined to be acceptable. As shown in Figure 12, the load Fz at the lid closing position, i.e., the predetermined position, is greater than -60N, and the fitting state is determined to be unacceptable.

[0072] In step S16, the container body 20 and the lid 30 are properly fitted together as a container 10, which is then transported to the next process, for example.

[0073] In step S17, the container body 20 and the lid 30 are not properly fitted together, and the container 10 is removed from the conveyor belt 300 as a defective product.

[0074] As described above, the method for closing the lid of the container 10 in this embodiment is a method for closing the lid of a container in which a lid 30 is fitted onto the container body 20. When the direction in which the container body 20 and the lid 30 are aligned in a fitted state is defined as the Z direction, the pressing unit 230 located on the robot 100 presses the lid 30, which is superimposed on the container body 20, to fit the container body 20 and the lid 30 together and close the lid. When the pressing unit 230 is in a predetermined position, the Z-direction load that the pressing unit 230 receives as a reaction force from the lid 30 is detected, and based on the load, the pass or fail of the fitted state of the container body 20 and the lid 30 is determined.

[0075] This method detects the load received as a reaction force, so by comparing the detected load with, for example, the threshold for the fit between the container body 20 and the lid 30, it becomes possible to determine whether the fit between them is successful or unsuccessful, and thus determine whether the work was performed correctly.

[0076] Furthermore, in the method for closing the lid of the container 10 of this embodiment, it is preferable to use position control rather than force control for closing the lid. With this method, since position control is used when fitting the lid 30 onto the container body 20, the fitting operation can be performed faster compared to, for example, the case where force control is used, and the working time can be shortened.

[0077] Furthermore, in the method for closing the lid of the container 10 of this embodiment, it is preferable that the distance between the pressing part 230 and the container body 20 in the Z direction is longer when the length L2 required to make a determination is greater than the length L1 required to close the lid. With this method, the length L2 required to make a determination is longer, that is, after the lid 30 is fitted onto the container body 20, the pressing part 230 returns in a direction away from the lid 30, so that the load received as a reaction force from the lid 30 can be detected.

[0078] Furthermore, in the method for closing the lid of the container 10 in this embodiment, it is preferable to use a quartz-type force sensor for detection. With this method, since a quartz-type force sensor is used, it is possible to detect the load with high precision, and the accuracy of the pass / fail judgment can be increased.

[0079] Furthermore, in the method for closing the lid of the container 10 of this embodiment, the robot 100 is a horizontal articulated robot, and it is preferable that the detection is performed when the container body 20 is moving on the belt conveyor 300. With this method, the lid 30 is fitted onto the container body 20 moving on the belt conveyor 300 using a horizontal articulated robot, so the lid closing work can be performed efficiently.

[0080] Furthermore, in this embodiment, the container lid closing inspection method for inspecting the fitted state of the container body 20 and the lid 30 involves defining the Z-direction as the first direction in which the container body 20 and the lid 30 are aligned in a fitted state. When the pressing unit 230 positioned on the robot 100 presses the lid 30 against the container body 20 to a predetermined position, the pressing unit 230 detects the load in the Z-direction that it receives as a reaction force from the lid 30, and determines whether the fitted state of the container body 20 and the lid 30 is acceptable or not based on the load.

[0081] This method detects the load received as a reaction force, and by comparing the detected load with, for example, a threshold for the success or failure of the fitting state, it is possible to determine whether the fitting state between the container body 20 and the lid 30 is successful or not, thereby determining whether the work was performed correctly.

[0082] Furthermore, the lid closing device 1000 of this embodiment includes a robot 100, a pressing unit 230 positioned on the robot 100 that presses the lid 30 onto the container body 20 to fit the container body 20 and the lid 30 together, a detection unit 260 that detects the load that the pressing unit 230 receives as a reaction force from the lid 30 when the pressing unit 230 is in a predetermined position, and a determination unit 130 that determines whether the fitting state between the container body 20 and the lid 30 is successful or not based on the load.

[0083] With this configuration, the detection unit 260 detects the load, so for example, by comparing the threshold value for the fit with the detected load, it becomes possible to determine whether the fit between the container body 20 and the lid 30 is successful or not, and thus determine whether the work was done correctly.

[0084] The following describes some variations of the embodiments described above.

[0085] As described above, the robot 100 is not limited to fitting the container body 20 and the lid 30 together using only position control, but may also use force control to fit the container body 20 and the lid 30 together. When using force control, after the lid 30 comes into contact with the container body 20, the robot presses the lid 30 against the container body 20 while ensuring that the force (Fx, Fy) in the specified direction (see Figures 11 and 12) becomes zero.

[0086] Thus, in the modified lid closing method, it is preferable to use force control. With this method, since force control is used when fitting the lid 30 onto the container body 20, it is possible to suppress excessive force being applied to the container body 20 and the lid 30, thereby suppressing damage to the container body 20 and the lid 30. It should be noted that the method is not limited to position control only or force control only, but both position control and force control may be used.

[0087] As described above, the automated machine is not limited to a robot 100, but can be any machine that can fit the lid 30 onto the container body 20, such as a linear slider that performs a sliding motion in the Z direction.

[0088] As described above, the method for fitting the container body 20 and the lid 30 is not limited to a tracking operation; although efficiency will be reduced, the container body 20 may be stopped and fitted together. [Explanation of Symbols]

[0089] 10...Container, 20...Container body, 21...Bottom, 22...Cylindrical part, 23...Flange, 23a...Fitting part, 23b...Flange part, 24...Opening, 30...Lid, 31...Base, 32...Cylindrical part, 33...Flange, 33a...Groove, 33b...Fitting part, 33c...Wall, 33d...Flange part, 33e...Top, 40...Shaft, 100...Robot, 101...Lid closing position, 110...Robot arm, 120...Memory unit, 130...Determination unit, 200...Lid closing jig, 210...Base, 220...Regulating unit, 230...Pressing unit, 240...Low elasticity unit, 250...Tip, 260...Detection unit, 300...Belt conveyor, 400...Table, 500...Sensor, 600...Encoder, 1000...Lid closing device.

Claims

1. A method for closing a container lid, which involves fitting a lid onto the container body, When the direction in which the container body and the lid are aligned in a fitted state is defined as the fitting direction, The lid, which is placed on top of the container body, is pressed by a pressing unit located in the automatic machine, thereby fitting the container body and the lid together and closing the lid. When the position of the pressing portion in the fitting direction with the lid closed is defined as the first position, the pressing portion moves to a second position, which is a position further away from the container body than the first position along the fitting direction and in contact with the lid. When the pressing portion is in the second position, the force component in the fitting direction that the pressing portion receives as a reaction force from the lid is detected. A method for closing a container lid, which determines whether the fitting state between the container body and the lid is correct or incorrect based on the aforementioned force components.

2. A method for closing the lid of a container according to claim 1, The aforementioned method for closing a container lid uses position control rather than force control.

3. A method for closing the lid of a container according to Claim 1, In the above determination, the detected force component is compared with a predetermined threshold value, If the detected force component does not exceed the predetermined threshold, it is determined to be a pass. A method for closing a container lid, wherein if the detected force component exceeds the predetermined threshold, it is determined to be unsatisfactory.

4. A method for closing the lid of a container according to claim 1, The aforementioned method of closing the lid of a container uses force control.

5. A method for closing the lid of a container according to claim 1, The aforementioned detection method involves using a crystal-type force sensor to close the lid of a container.

6. A method for closing the lid of a container according to claim 1, The aforementioned automated machine is a horizontal articulated robot, The detection is performed while the container body is moving on a conveyor belt, and this is a method for closing the lid of a container.

7. A method for inspecting the fit between the container body and the lid of a container, When the direction in which the container body and the lid are aligned in a fitted state is defined as the fitting direction, A pressing unit positioned in the automatic machine presses the lid against the container body. When the position of the pressing portion in the fitting direction in the pressed state is defined as the first position, the pressing portion moves to a second position, which is a position further away from the container body than the first position along the fitting direction and in contact with the lid. When the pressing portion is in the second position, the force component in the fitting direction that the pressing portion receives as a reaction force from the lid is detected. A method for inspecting the closing of a container lid, which determines whether the fitting state between the container body and the lid is acceptable or not based on the aforementioned force components.

8. Automatic machines and The automatic machine includes a pressing section which presses the lid against the container body to fit the container body and the lid together, A detection unit that detects the force component that the pressing part receives as a reaction force from the lid, The system includes a determination unit that determines whether the fitting state between the container body and the lid is correct or incorrect based on the force component, The pressing portion is movable between a first position in the fitting direction, where the lid is pressed against the container body, and a second position, which is further from the container body than the first position along the fitting direction and in contact with the lid, when the fitting direction is defined as the direction in which the container body and the lid are aligned when fitted together. The detection unit is a lid closing device that detects the force component when the pressing unit is in the second position.

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