Dietrich, K.K.DietrichSterz, H.H.Sterz2022-03-082022-03-081999https://publica.fraunhofer.de/handle/publica/304402The jig grips the container screw thread hole (3) of the container (2), e.g. a barrel, by a sensing grip (15) on a robot assembly to align it with the axis of the hole. A robot support arm (5) with vertical and horizontal servo drives moves the screw closure (6) or cap into the fitting position to enable a servo drive on the robot assembly to secure the closure. The whole system self-aligns with the hole axis using the sensor grip position. Displacement sensors, on the robot assembly, monitor the position of the closure and the hole and ensure an accurate and rapid fitting of the closure. ADVANTAGE - Self-aligning closure fitting.de608670patent1997-19704104