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US 12,497,278 B2Granted
Cap automatic fastening apparatus and cap automatic fastening method
AssigneeSemes Co., Ltd.
InventorsYoon Whoi Kim, Ji Keun Song
Life of this patent
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Abstract
Disclosed is a method of fastening a cap of a container, the method including: specifying a screw thread engagement point of a cap and a neck ring of a container; and aligning the engagement point with a fastening start position of the cap and fastening the cap to the neck ring, in which the specifying of the engagement point includes detecting the engagement point by rotating the cap in a reverse direction in a state where the cap is seated on the neck ring.
Claims12
An apparatus for automatically fastening a cap of a container, the apparatus comprising:
- a container gripper configured to hold the container;
- an articulated robot configured to grip the cap and to seat the cap on a neck ring of the container;
- a cap gripper configured to hold the cap seated on the neck ring;
- a nut runner configured to fasten the cap to the neck ring;
- a tilt inspector configured to inspect a tilt of the neck ring;
- and
- a control unit configured to,
- detect a screw thread engagement point of the cap and the neck ring to control the nut runner to fasten the cap to the neck ring,
- when cap fastening fails, retry detecting the screw thread engagement point, and
- in response to a number of retries exceeding a given number, control the articulated robot to remove the cap from the neck ring, cause the tilt inspector to re-measure the tilt of the neck ring to obtain a re-measured tilt, control the articulated robot to seat the cap on the neck ring according to the re-measured tilt, and control the nut runner to fasten the cap to the neck ring.
7 more elements
Dependencies are inferred from the claim text.