LIDDING SYSTEM AND LIDDING METHOD

Abstract

A lidding system includes a transfer apparatus configured to transfer a container which is put on the transfer apparatus such that a bottom of the container contacts the transfer apparatus, the container having an opening opposite to the bottom and a side wall extending from the bottom to the opening; a holding apparatus configured to hold the side wall of the container at a lidding position; and a lidding apparatus configured to press a lid against the container held by the holding apparatus to close the opening.

Description

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority from Japanese Patent Application No. 2017-193806 filed with the Japan Patent Office on Oct. 3, 2017, the entire content of which is hereby incorporated by reference.

BACKGROUND

1. Technical Field

An embodiment of the disclosure relates to a lidding system and a lidding method.

2. Related Art

Japanese Patent No. 3016429 describes a lidding apparatus for a lidded container. This lidding apparatus for a lidded container separates stacked lids, one by one, and feeds the lids onto containers transferred to an operation position. Furthermore, the apparatus applies pressure to the lids fed on the containers and fits the lids onto the containers.

SUMMARY

A lidding system according to an aspect of the disclosure includes a transfer apparatus configured to transfer a container which is put on the transfer apparatus such that a bottom of the container contacts the transfer apparatus, the container having an opening opposite to the bottom and a side wall extending from the bottom to the opening; a holding apparatus configured to hold the side wall of the container at a lidding position; and a lidding apparatus configured to press a lid against the container held by the holding apparatus to close the opening.

A lidding method according to another aspect of the disclosure includes transferring a container which is put on a transfer apparatus such that a bottom of the container contacts the transfer apparatus, the container having an opening opposite to the bottom and a side wall extending from the bottom to the opening; holding the side wall of the container at a lidding position; and pressing a lid against the container while the side wall of the container is held at the lidding position to close the opening.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is an explanatory view representing an example of the entire configuration of a lidding system according to an embodiment;

FIG. 2 is a plan view representing an example of the configuration of a container clamping apparatus;

FIG. 3 is a side view representing an example of the configuration of the container clamping apparatus;

FIG. 4 is a perspective view representing an example of the configuration of a container centering apparatus;

FIG. 5 is an explanatory view representing an example of a lidding operation in a case of lidding a rectangular container of an external fitting type;

FIG. 6 is an explanatory view representing an example of the lidding operation in the case of lidding the rectangular container of the external fitting type;

FIG. 7 is an explanatory view representing an example of the lidding operation in the case of lidding the rectangular container of the external fitting type;

FIG. 8 is a flowchart representing an example of processing contents of a controller in a lidding step;

FIG. 9A is an explanatory view illustrating an example of the attitude of the centered food container;

FIG. 9B is an explanatory view representing an example of the operation of, for example, clamp arms in a case of adjusting the positions of the clamp arms to positions corresponding to the attitude of the food container;

FIG. 9C is an explanatory view representing an example of the operation of, for example, the clamp arms in a case where the clamp arms hold the food container;

FIG. 9D is an explanatory view representing an example of the operation of, for example, the clamp arms in a case where the clamp arms move the food container to a lidding position while correcting the deviation of the position of the food container;

FIG. 10 is an explanatory view representing an example of the lidding operation in a case of lidding a circular container of an internal fitting type;

FIG. 11 is an explanatory view representing an example of the lidding operation in a case of lidding the circular container of the internal fitting type; and

FIG. 12 is an explanatory view representing an example of the lidding operation in the case of lidding the circular container of the internal fitting type.

DETAILED DESCRIPTION

In the following detailed description, for purpose of explanation, numerous specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. It will be apparent, however, that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and devices are schematically shown in order to simplify the drawing.

An embodiment is described hereinafter with reference to the drawings. The embodiment is described, taking a case of attaching a lid to a food container as an example. However, the type of container is not limited to a food container.

<1. Entire Configuration of Lidding System>

Firstly, an example of the entire configuration of a lidding system 1 according to the embodiment is described with reference to FIG. 1. In the following description, an X-axis direction indicates a travel direction of a container transfer conveyor 2. A Y-axis direction indicates a width direction of the container transfer conveyor 2 orthogonal to the travel direction. A Z-axis direction indicates a vertical direction orthogonal to the X-axis direction and the Y-axis direction. A θ-axis direction indicates a rotation direction about the Z-axis.

As illustrated in FIG. 1, the lidding system 1 includes the container transfer conveyor 2, a container clamping apparatus 3, a lidding robot 4, a container centering apparatus 5, a container illumination apparatus 6, a container position detection camera 7, two lid feeding apparatuses 23, a lid transfer apparatus 22, a lid illumination apparatus 24, a lid position detection camera 25, and a controller (a processor) 12.

The container transfer conveyor 2 (an example of a transfer apparatus) is a transfer conveyor having a conveyor belt 13 (an example of a belt). The container transfer conveyor 2 transfers a food container 60 from an upstream side (the upper side in FIG. 1) to a downstream side (the lower side in FIG. 1). The container transfer conveyor 2 includes a drive roller 14 at a downstream end in the travel direction, and a driven roller 10 on the upstream side in the travel direction. The conveyor belt 13 is looped between the drive roller 14 and the driven roller 10.

A conveyor motor 15 that drives the container transfer conveyor 2 is attached to the drive roller 14. The conveyor motor 15 is connected to the controller 12. The container transfer conveyor 2 is operated or stopped under control of the controller 12. Instead of automatic control of the controller 12, a user may operate or stop the container transfer conveyor 2 by manual operation.

The container transfer conveyor 2 includes a roller conveyor 18 on the upstream side in a drive area of the conveyor belt 13. The roller conveyor 18 includes a plurality of rollers 17 side by side. The plurality of rollers 17 has a larger width (a dimension in the Y-axis direction) than the conveyor belt 13. An unillustrated power transmission belt is looped between the roller 17 and the driven roller 10. Consequently, the roller conveyor 18 is driven with the rotation of the conveyor belt 13 (the rotation of the driven roller 10). In other words, the conveyor belt 13 and the roller conveyor 18 of the container transfer conveyor 2 are driven by the single conveyor motor 15.

The container transfer conveyor 2 having the above configuration successively transfers a plurality of the food containers 60 (examples of a container) mounted thereon at predetermined intervals in the travel direction. At this point in time, the container transfer conveyor 2 is operated not intermittently but continuously. A food such as rice or a side dish is arranged in the food container 60 in an unillustrated food arrangement line placed on the upstream side of the container transfer conveyor 2. The food container 60 includes a flange 61 around an upper end of an opening.

A container detection sensor 29 is placed at an entrance at the upstream end of the container transfer conveyor 2 (an entrance of the roller conveyor 18). The container detection sensor 29 detects whether or not the food container 60 has been carried into the entrance of the container transfer conveyor 2. A detection result of the container detection sensor 29 is transmitted to the controller 12.

The container centering apparatus 5 (an example of an alignment apparatus) is placed above the roller conveyor 18. In FIG. 1, in order to avoid complexity, only two centering arms 51A and 51B of the container centering apparatus 5 are illustrated. The container centering apparatus 5 is connected to the controller 12, and executes a centering operation on the food container 60 under control of the controller 12. In other words, the controller 12 drives the container centering apparatus 5 when the food container 60 is detected at the entrance of the container transfer conveyor 2. The container centering apparatus 5 sandwiches the food container 60 on the roller conveyor 18 from both sides, using the two centering aims 51A and 51B. Consequently, the container centering apparatus 5 moves the food container 60 to, for example, a center position (center line) in the width direction of the container transfer conveyor 2 (the Y-axis direction), and centers the food container 60 (aligns the food container 60). The configuration of the container centering apparatus 5 is described in detail below (refer to FIG. 4 described below).

The container illumination apparatus 6 (an example of an illumination apparatus) is placed below the conveyor belt 13 at the upstream side of the container clamping apparatus 3. Moreover, the container position detection camera 7 (an example of a position sensor) is placed above the container illumination apparatus 6 with the conveyor belt 13 sandwiched therebetween. The container illumination apparatus 6 is, for example, a panel illumination lamp where a plurality of LEDs is housed. The container illumination apparatus 6 is configured to have, for example, a flat plate shape with a size that can cover the conveyor belt 13 of the container transfer conveyor 2 along the width direction. The container illumination apparatus 6 applies illumination light upward. Consequently, the container illumination apparatus 6 illuminates the food container 60 transferred by the container transfer conveyor 2 from below via the light transmissive conveyor belt 13. The container position detection camera 7 captures, from above, an image of the food container 60 illuminated by the container illumination apparatus 6 via the conveyor belt 13. Consequently, the container position detection camera 7 detects the position of the food container 60, that is, the position on coordinates in the X-Y plane (the position on the X-axis and the position on the Y-axis) and the rotation angle in the X-Y plane (a rotation angle θ about the Z-axis) of the food container 60. The detected position data of the food container 60 is transmitted to the controller 12.

The container clamping apparatus 3 (an example of a holding apparatus) is placed on downstream side of the container illumination apparatus 6. The container clamping apparatus 3 includes two clamp arms 31A and 31B located on both sides of the container transfer conveyor 2 in the width direction. Each of the clamp arms 31A and 31B is provided in such a manner as to be able to be freely and independently driven to open and close in directions of moving away from and closer to each other and be rotatable about the Z-axis. The container clamping apparatus 3 is connected to the controller 12 and executes an operation of holding the food container 60 under control of the controller 12.

The container clamping apparatus 3 supports a side portion (side wall) of the food container 60 transferred by the container transfer conveyor 2, using the two clamp arms 31A and 31B. The “side portion” here is a portion of the food container 60 excluding a bottom that comes into contact with the container transfer conveyor 2. The “side portion” includes, for example, a side surface and the flange of the food container 60. In the embodiment, the two clamp aims 31A and 31B support an underside of the flange 61 (refer to FIG. 5) of the food container 60 as an example of the side portion. In this state, the food container 60 is held in a lidding position 21 where the lidding robot 4 places a lid on, while floating off the conveyor belt 13. Upon holding the food container 60, firstly, the control of the controller 12 based on the position data of the food container 60 allows the clamp aims 31A and 31B to move to positions corresponding to the deviation of the position of the food container 60 from the lidding position and wait there. When the food container 60 has been transferred, the clamp arms 31A and 31B move toward the food container 60 (in a direction where the clamp antis 31A and 31B close), and supports the flange 61 from below. At this point in time, the food container 60 is raised a predetermined distance from the conveyor belt 13 to enter the floating state. The clamp arms 31A and 31B then move the food container 60 to the lidding position 21 while correcting the deviation of the position from the lidding position 21, and holds the food container 60 in this position. The configuration of the container clamping apparatus 3 is described in detail below (refer to FIGS. 2 and 3 described below).

Each of the two lid feeding apparatuses 23 houses a plurality of lids 70 stacked in the up-and-down direction. A lid tray 19 is placed below the plurality of lids 70. The lid feeding apparatus 23 separates the lids 70, one by one, from the bottom of the plurality of stacked lids 70, and mounts the lid 70 on the lid tray 19 placed below. The lid transfer apparatus 22 is placed between each lid feeding apparatus 23 and a lid receiving position 20 being a position where the lidding robot 4 receives a lid. The lid transfer apparatus 22 moves the lid tray 19 to transfer the lid 70 mounted on the lid tray 19 alternately from the two lid feeding apparatuses 23 to the lid receiving position 20. In this manner, a working step of feeding the lid 70 is performed in parallel to enable a reduction in cycle time.

The lid illumination apparatus 24 is placed below the lid receiving position 20. The lid position detection camera 25 is placed above the lid receiving position 20. The lid tray 19 is made of a light transmissive material. The lid illumination apparatus 24 is, for example, a panel illumination lamp where a plurality of LEDs is housed. The lid illumination apparatus 24 is configured to have, for example, a flat plate shape larger than the lid tray 19. The lid illumination apparatus 24 applies illumination light upward. Consequently, the lid illumination apparatus 24 illuminates the lid 70 transferred to the lid receiving position 20 from below via the lid tray 19. Consequently, the necessity of placing a light above the separated lid 70 is eliminated. Hence, a constraint on the motion of the lidding robot 4 is reduced. Accordingly, the lidding robot 4 can hold the lid 70 with small motion. Hence, tact time can be reduced. The lid position detection camera 25 captures, from above, an image of the lid 70 illuminated with the illumination light. Consequently, the lid position detection camera 25 detects the position of the lid 70, that is, the position on coordinates in the X-Y plane (the position on the X-axis and the position on the Y-axis) and the rotation angle in the X-Y plane (the rotation angle θ about the Z-axis) of the lid 70. The detected position data of the lid 70 is transmitted to the controller 12.

The lidding robot 4 (an example of a lidding apparatus) is, for example, a vertical articulated or horizontal articulated robot, and includes a suction pad 4a at a tip. Although an illustration is simplified in FIG. 1, the suction pad 4a has a shape that covers the lid 70 (refer to FIGS. 5 and 6 described below). The lidding robot 4 is connected to the controller 12, and executes a lidding operation under control of the controller 12. In other words, the lidding robot 4 causes the suction pad 4a to suction and hold the lid 70 transferred to the lid receiving position 20. The lidding robot 4 then turns around in the horizontal direction to carry the lid 70 to the lidding position 21. Furthermore, the lidding robot 4 presses the lid 70 against the food container 60 held in the lidding position 21 and attaches the lid 70 to the food container 60. When the lid 70 is carried to the lidding position 21, the controller 12 performs control based on the position data. The control allows the lidding robot 4 to carry the lid 70 to the lidding position 21 while correcting the position of the lid 70 in such a manner as to reduce the deviations of the position and the attitude of the lid 70 from the food container 60 held in the lidding position 21.

The configuration of the above-mentioned lidding system 1 is an example, and is not limited to the above-mentioned contents. For example, in the lidding system 1, the two lid feeding apparatuses 23 are placed. Instead of this, three or more lid feeding apparatuses 23 may be placed to promote a further reduction in cycle time. Alternatively, especially when a reduction in cycle time is not required, the number of the lid feeding apparatuses 23 placed may be one. Moreover, instead of providing the roller conveyor 18 on the upstream side of the container transfer conveyor 2, for example, the width of the conveyor belt 13 may be increased.

<2. Configuration of Container Clamping Apparatus>

Next, an example of the configuration of the container clamping apparatus is described with reference to FIGS. 2 and 3.

As illustrated in FIGS. 2 and 3, the container clamping apparatus 3 includes the two clamp arms, that is, the first clamp arm 31A (an example of a support member) and the second clamp arm 31B (an example of a support member), first and second horizontal actuators 32A and 32B, a rotary actuator 33, and an up-and-down motion actuator 34. The first and second horizontal actuators 32A and 32B move the first and second clamp arms 31A and 31B, respectively, independently in the horizontal direction. The rotary actuator 33 rotates the first and second clamp arms 31A and 31B about the Z-axis. The up-and-down motion actuator 34 moves the first and second clamp arms 31A and 31B in the Z-axis direction.

The first clamp arm 31A is placed on one side of the conveyor belt 13 in the width direction (the left side in FIG. 2 and the front side with respect to the paper surface of FIG. 3). The second clamp arm 31B is placed on the other side of the conveyor belt 13 in the width direction (the right side in FIG. 2 and the back side with respect to the paper surface of FIG. 3).

The first clamp arm 31A includes a plate-like head portion 36 having a container support portion 37, and a leg portion 38 provided integrally with a lower part of the head portion 36. An attachment portion 38a of the leg portion 38 is attached to the first horizontal actuator 32A.

The head portion 36 is placed on the one side of the conveyor belt 13 in the width direction above an upper track of the conveyor belt 13. A recess 36a is formed on the conveyor belt 13 side of the head portion 36. The container support portion 37 is provided along an edge of the recess 36a on a top surface of the head portion 36. The container support portion 37 is a projection protruding upward from the head portion 36. The recess 36a and the container support portion 37 match the shape of the food container 60 supported. In this example, the recess 36a and the container support portion 37 are formed into, for example, a rectangular shape, matching the rectangular food container 60. The leg portion 38 includes, at a lower end, an attachment portion 38a placed below a lower track of the conveyor belt 13. The first clamp arm 31A is attached to the first horizontal actuator 32A via the attachment portion 38a.

The first horizontal actuator 32A includes a guide rail 40, a slider 41, and a servo motor 42. The guide rail 40 is attached to a top surface of an actuator-specific base 39. The slider 41 is mounted on the guide rail 40 in such a manner as to be movable along the guide rail 40. The servo motor 42 moves the slider 41 in a substantially horizontal direction. The attachment portion 38a of the first clamp arm 31A is fixed to the slider 41.

The second clamp arm 31B has a placement configuration where the first clamp arm 31A is rotated 180° about a rotation axis AX described below. In other words, the second clamp aim 31B includes the plate-like head portion 36 having the container support portion 37, and the leg portion 38 provided integrally with the lower part of the head portion 36. The attachment portion 38a of the leg portion 38 is attached to the second horizontal actuator 32B.

The head portion 36 is placed on the other side of the conveyor belt 13 in the width direction above the upper track of the conveyor belt 13. The recess 36a is formed on the conveyor belt 13 side of the head portion 36. The container support portion 37 is provided along the edge of the recess 36a on the top surface of the head portion 36. The container support portion 37 is a projection protruding upward from the head portion 36. The recess 36a and the container support portion 37 match the shape of the food container 60 to be supported. In this example, the recess 36a and the container support portion 37 are formed into, for example, a rectangular shape, matching the rectangular food container 60. The leg portion 38 includes, at the lower end, the attachment portion 38a placed below the lower track of the conveyor belt 13. The second clamp arm 31B is attached to the second horizontal actuator 32B via the attachment portion 38a.

The second horizontal actuator 32B has a placement configuration where the first horizontal actuator 32A is rotated 180° about the rotation axis AX. In other words, the second horizontal actuator 32B includes the guide rail 40, the slider 41, and the servo motor 42. The guide rail 40 is attached to the top surface of the actuator-specific base 39. The slider 41 is mounted on the guide rail 40 in such a manner as to be movable along the guide rail 40. The servo motor 42 moves the slider 41 in the substantially horizontal direction. The attachment portion 38a of the second clamp arm 31B is fixed to the slider 41.

The rotary actuator 33 and the up-and-down motion actuator 34 are placed below the actuator-specific base 39.

The up-and-down motion actuator 34 includes a guide rail 44, a slider 45, a linear-motion mechanism 46, and a servo motor 47. The guide rail 44 is attached to an unillustrated frame of the container clamping apparatus 3. The slider 45 is mounted on the guide rail 44 in such a manner as to be movable along the guide rail 44. The linear-motion mechanism 46 is attached to a lower end of the guide rail 44. The servo motor 47 moves the slider 45 in a substantially up-and-down direction (the Z-axis direction) via the linear-motion mechanism 46.

The rotary actuator 33 includes a support body 48, a reduction gear 49 attached to a lower end of the support body 48, a servo motor 50 attached to a lower end of the reduction gear 49, and a base attachment portion 49a. The support body 48 is attached to the slider 45 of the up-and-down motion actuator 34. The base attachment portion 49a is placed above the support body 48 and coupled to an output shaft of the reduction gear 49. The actuator-specific base 39 is attached to the base attachment portion 49a.

The servo motor 42 moves the slider 41 along the guide rail 40 and accordingly the first horizontal actuator 32A moves the first clamp arm 31A attached to the slider 41, in a substantially horizontal direction independently of the second clamp arm 31B. Similarly, the servo motor 42 moves the slider 41 along the guide rail 40 and accordingly the second horizontal actuator 32B moves the second clamp arm 31B attached to the slider 41, in a substantially horizontal direction independently of the first clamp arm 31A. Consequently, the first clamp arm 31A and the second clamp arm 31B can perform an opening/closing operation independently of each other.

Moreover, the servo motor 47 moves the slider 45 in the up-and-down direction along the guide rail 44 via the linear-motion mechanism 46 and accordingly the up-and-down motion actuator 34 lifts the rotary actuator 33 up and down. Consequently, the actuator-specific base 39, the first horizontal actuator 32A, the second horizontal actuator 32B, the first clamp arm 31A, the second clamp arm 31B, and the like, which are attached to the rotary actuator 33, move together in the up-and-down direction.

Moreover, the servo motor 50 rotates the base attachment portion 49a via the reduction gear 49 and accordingly the rotary actuator 33 rotates the actuator-specific base 39 about the rotation axis AX (an example of a vertical axis) along the Z-axis direction. Consequently, the first horizontal actuator 32A, the second horizontal actuator 32B, the first clamp arm 31A, and the second clamp arm 31B, which are attached to the actuator-specific base 39, rotate together about the rotation axis AX.

The above configuration allows the container clamping apparatus 3 to operate the first and second clamp arms 31A and 31B independently of each other in the horizontal direction (a X-Y plane direction) and also in the up-and-down direction (the Z-axis direction) and the rotation direction (the θ-axis direction). Consequently, even if the position of the food container 60 to be transferred deviates, it is possible to hold the food container 60 in the deviated position, move the held food container 60 to the lidding position 21, and adjust the position of the food container 60.

A plurality of types of the first clamp anus 31A and the second clamp arms 31B are prepared according to the shapes and sizes of the food container 60. In other words, the first clamp arm 31A and the second clamp arm 31B are configured to be replaceable. Each of the clamp arms 31A and 31B may have a structure including a plurality of coupled members. In this case, the first clamp arm 31A and the second clamp arm 31B may be, for example, configured in such a manner that only the head portion 36 is replaceable according to the shape and size of the food container 60.

<3. Configuration of Container Centering Apparatus>

Next, an example of the configuration of the container centering apparatus is described with reference to FIG. 4.

As illustrated in FIG. 4, the container centering apparatus 5 includes the first and second centering arms 51A and 51B, first and second opening/closing actuators 52A and 52B, feed belts 53, and feed belt-specific servo motors 54. The first and second opening/closing actuators 52A and 52B move the first and second centering arms 51A and 51B, respectively, in the horizontal direction.

The first opening/closing actuator 52A and the second opening/closing actuator 52B are placed on a support plate 55 in a substantially horizontal direction attached to an unillustrated frame of the container centering apparatus 5.

The first centering arm 51A (an example of an arm member) includes an attachment portion 90, a support portion 91, and a lower end portion 93. The attachment portion 90 is attached to a top surface of a slider 57 of the first opening/closing actuator 52A, and protrudes toward the upstream side of the support plate 55 in the travel direction. The support portion 91 is attached to an underside of the attachment portion 90, and extends in the Z-axis direction. The lower end portion 93 is attached to a lower part of the support portion 91. The lower end portion 93 includes a pulley support portion 92. The pulley support portion 92 is formed in such a manner as to be bent inward (toward the second centering arm 51B side). The pulley support portion 92 is a substantially rectangular plate-like member extending in the X-axis direction. Two pulleys 94 are attached at both ends in the travel direction, respectively, on an underside of the pulley support portion 92 (only the downstream pulley is illustrated in FIG. 4). The feed belt 53 that comes into contact with the food container 60 looped between the two pulleys 94. The feed belt-specific servo motor 54 is placed on the support plate 95 attached to an outer surface of the support portion 91. The feed belt 53 is driven by the feed belt-specific servo motor 54. The feed belt 53 rotates in such a manner that a track on the inner side (the second centering arm 51B side) of the feed belt 53 moves at a speed equal to that of the container transfer conveyor 2 in the same direction as the travel direction of the container transfer conveyor 2. The feed belt 53 may be made of a material with a large frictional force such as a rubber material. Alternatively, the feed belt 53 may be made of a material with a small frictional force such as resin or metal.

The first opening/closing actuator 52A includes a guide rail 56, a slider 57 mounted on the guide rail 56, and a servo motor 58 that drives the slider 57 via a reduction gear 59. The guide rail 56 is placed along the Y-axis direction on a top surface of the support plate 55 in a position closer to one side in the width direction (the left side in FIG. 4). The servo motor 58 moves the slider 57 along the guide rail 56 and accordingly the first opening/closing actuator 52A moves the first centering arm 51A in the Y-axis direction.

The second centering arm 51B (an example of an aim member) includes the attachment portion 90, the support portion 91, and the lower end portion 93. The attachment portion 90 is attached to the top surface of the slider 57 of the second opening/closing actuator 52B, and protrudes toward the downstream side of the support plate 55 in the travel direction. The support portion 91 is attached to the underside of the attachment portion 90, and extends in the Z-axis direction. The lower end portion 93 is attached to the lower part of the support portion 91. The lower end portion 93 includes the pulley support portion 92. The pulley support portion 92 is formed in such a manner as to be bent inward (toward the first centering arm 51A side). The pulley support portion 92 is a substantially rectangular plate-like member extending in the X-axis direction. The two pulleys 94 are attached at both ends in the travel direction, respectively, on the underside of the pulley support portion 92 (only the downstream pulley is illustrated in FIG. 4). The feed belt 53 that comes into contact with the food container 60 looped between the two pulleys 94. The feed belt-specific servo motor 54 is placed on the support plate 95 attached to the outer surface of the support portion 91. The feed belt 53 is driven by the feed belt-specific servo motor 54. The feed belt 53 rotates in such a manner that the track on the inner side (the first centering arm 51A side) of the feed belt 53 moves at a speed equal to the container transfer conveyor 2 in the same direction as the travel direction of the container transfer conveyor 2.

The second opening/closing actuator 52B has a placement configuration where the first opening/closing actuator 52A is rotated approximately 180° about the Z-axis. The second opening/closing actuator 52B includes the guide rail 56, the slider 57 mounted on the guide rail 56, and the servo motor 58 that drives the slider 57 via the reduction gear 59. The guide rail 56 is placed along the Y-axis direction on the top surface of the support plate 55 in a position closer to the one side in the width direction (the right side in FIG. 4). The servo motor 58 moves the slider 57 along the guide rail 56 and accordingly the second opening/closing actuator 52B moves the second centering arm 51B in the Y-axis direction.

The above configuration allows the container centering apparatus 5 to operate the first centering arm 51A and the second centering arm 51B independently of each other in the Y-axis direction. Consequently, the first centering arm 51A and the second centering arm 51B can sandwich the food container 60 carried from the upstream side to the entrance of the container transfer conveyor 2, from both sides. Furthermore, the first centering arm 51A and the second centering arm 51B can align the food container 60 in such a manner as to cause the position of the food container 60 in the width direction to substantially agree with a desired position in the width direction (for example, the center line) on the container transfer conveyor 2. Moreover, at this point in time, the feed belt-specific servo motor 54 drives the feed belt 53 that comes into contact with the food container 60 at a speed substantially equal to the travel speed of the container transfer conveyor 2 (the roller conveyor 18). Hence, a reduction in the travel speed of the food container 60 can be suppressed.

The configuration of the above-mentioned container centering apparatus 5 is an example, and is not limited to the above-mentioned contents. For example, in the above configuration, the first centering arm 51A and the second centering arm 51B can be driven independently of each other. In terms of this point, the first centering arm 51A and the second centering arm 51B may be configured to be driven by a single servo motor to open and close, using, for example, a rack and a pinion mechanism. However, the alignment position can be changed and adjusted afterward by configuring both arms to be capable of being driven independently using two servo motors 58 as in the embodiment.

<4. Lidding Operation in Case of Lidding Rectangular Container of External Fitting Type>

Next, an example of the lidding operation in a case of lidding the rectangular container of an external fitting type is described with reference to FIGS. 5 to 7.

As illustrated in FIG. 5, the food container 60 is, for example, a rectangular container. The food container 60 includes a substantially cuboid container body 62. The flange 61 is provided around an upper end of an opening of the container body 62. A side portion 69 of the food container 60 includes a side surface and the flange 61 of the container body 62. As illustrated in an enlarged view in FIG. 5, the flange 61 includes a flat portion 63 and a projection 64. The flat portion 63 protrudes substantially horizontally and outward from the container body 62. The projection 64 is bent downward at a substantially right angle from a tip of the flat portion 63. A recess 65 is formed in the underside of the flange 61. On the other hand, the lid 70 includes a lid body 72 of a substantially square frustum shape matching the rectangular shape of the food container 60. A flange 71 is provided around a lower end of an opening of the lid body 72. As illustrated in an enlarged view in FIG. 5, the flange 71 includes a flat portion 73 and a projection 74. The flat portion 73 protrudes substantially horizontally and outward from the lid body 72. The projection 74 is bent downward at a substantially right angle from a tip of the flat portion 73.

The suction pad 4a includes a pad body 80 and a suction pipe 82. The pad body 80 has a substantially cuboid shape matching a rectangular shape of the flange 71 of the lid 70. The suction pipe 82 is attached to a top surface of the pad body 80 via an attachment plate 81. The pad body 80 includes a substantially square tube frame-like pressing portion 83, and an internal space 84. The pressing portion 83 comes into contact with a top surface of the flat portion 73 of the flange 71 of the lid 70. A negative pressure is formed in the internal space 84 under suction via the suction pipe 82. The suction pipe 82 in an upper part of the pad body 80 communicates with the internal space 84. The lidding robot 4 places the suction pad 4a on the lid 70 to bring a lower end of the pressing portion 83 into contact with the top surface of the flat portion 73 of the flange 71. The lidding robot 4 further forms a negative pressure in the internal space 84 via the suction pipe 82. Consequently, as illustrated in FIG. 6, the lid 70 is suctioned and held by the suction pad 4a while the lid body 72 is housed in the pad body 80.

A plurality of types of the suction pads 4a is prepared according to the shapes and sizes of the lids 70. In other words, the suction pad 4a is configured to be replaceable for the lidding robot 4 according to the shape and size of the lid 70.

As described above, the recesses 36a and the container support portions 37 of the head portions 36 of the first and second clamp arms 31A and 31B of the container clamping apparatus 3 are formed into a rectangular shape matching the rectangular shape of the food container 60. Upon holding the food container 60, the head portions 36 of the clamp arms 31A and 31B sandwich the container body 62 from both sides and ascend as illustrated in FIG. 5. Consequently, as illustrated in an enlarged view in FIG. 6, the container support portion 37 is fitted into the recess 65 of the flange 61 of the food container 60 to support the flat portion 63 of the flange 61 and hold the food container 60 while the food container 60 is floating off the conveyor belt 13.

As illustrated in FIG. 6, the lid 70 suctioned by the lidding robot 4 onto the suction pad 4a is then pressed against the food container 60 held by the clamp antis 31A and 31B. At this point in time, the pressing portion 83 of the suction pad 4a and the container support portions 37 of the clamp arms 31A and 31B sandwich the flanges 61 and 71. Consequently, as illustrated in an enlarged view in FIG. 7, the flat portion 73 of the flange 71 of the lid 70 is placed on a top surface of the flat portion 63 of the flange 61 of the food container 60. Furthermore, the projection 74 of the flange 71 of the lid 70 is placed on an external surface of the projection 64 of the flange 61 of the food container 60. As a result, the lid 70 is attached to the food container 60 in what is called an external fitting state.

<5. Processing Contents of Controller in Lidding Step>

Next, an example of processing contents to be executed by the controller 12 in a lidding step is described with reference to FIG. 8.

In step S10, the controller 12 drives the conveyor motor 15 and drives the container transfer conveyor 2. The container transfer conveyor 2 is then continuously operated, and in steps S60 to S80 described below, also continues operating while the container clamping apparatus 3 is holding the food container 60.

In step S20, the controller 12 determines whether or not the container detection sensor 29 has detected the food container 60 at the entrance of the container transfer conveyor 2. If the food container 60 has not been detected (step S20: No), step S20 is repeated until the food container 60 is detected. If the food container 60 has been detected (step S20: Yes), execution shifts to step S30.

In step S30, the controller 12 controls the container centering apparatus 5, and causes the first and second centering arms 51A and 51B to align the food container 60 in such a manner as to substantially agree with, for example, the center line of the container transfer conveyor 2. At the same time, the controller 12 drives the feed belts 53 at a speed substantially equal to the travel speed of the container transfer conveyor 2. Consequently, the controller 12 suppresses a reduction in the travel speed of the food container 60 due to centering.

In step S40, the controller 12 causes the container position detection camera 7 to capture an image of the food container 60 from above, and detect the position (the position on the X-axis, the position on the Y-axis, and the rotation angle θ about the Z-axis) of the food container 60.

In step S50, the controller 12 controls the container clamping apparatus 3 on the basis of the detected position of the food container 60, and adjusts the positions of the first and second clamp arms 31A and 31B of the container clamping apparatus 3 to positions corresponding to the position and the attitude of the food container 60. In other words, the controller 12 forms a clamping attitude, adjusting to the deviation of the position and the inclined attitude of the food container 60.

FIGS. 9A and 9B illustrate an example of operations at this point in time. As illustrated in FIG. 9A, the food container 60 is transferred in an attitude inclining to the θ-axis direction, deviating from the center line of the conveyor belt 13. In order to facilitate description, in FIGS. 9A to 9C, the deviation of the position is enhanced and illustrated. As illustrated in FIG. 9B, the positions of the first and second clamp arms 31A and 31B are adjusted to positions corresponding to the deviated position and attitude of the food container 60.

In step S60, the controller 12 controls the container clamping apparatus 3 and moves the first and second clamp arms 31A and 31B toward the food container 60. The controller 12 then causes the first and second clamp arms 31A and 31B to support the flange 61 of the food container 60, lift the food container 60, which stays in the deviated attitude, off the container transfer conveyor 2, and hold the food container 60 in the floating state. FIG. 9C illustrates an example of the operation of the clamp arms 31A and 31B and the like at this point in time. Furthermore, the controller 12 controls the container clamping apparatus 3 and causes the clamp at arms 31A and 31B to move the held food container 60 to the lidding position 21. Consequently, the deviation of the position of the food container 60 is corrected. FIG. 9D illustrates an example of the operation of the clamp arms 31A and 31B and the like at this point in time.

In step S70, the controller 12 causes the lid position detection camera 25 to capture an image of the lid 70 from above, and detect the position (the position on the X-axis, the position of the Y-axis, and the rotation angle θ about the Z-axis) of the lid 70.

In step S80, the controller 12 controls the lidding robot 4 on the basis of the detected position of the lid 70, and causes the suction pad 4a to suction the lid 70 in the lid receiving position 20. Furthermore, the controller 12 controls the lidding robot 4, carries the suctioned lid 70 from the lid receiving position 20 to the lidding position 21, presses the lid 70 against the food container 60 held by the clamp arms 31A and 31B in the lidding position 21, and places the lid 70 on the food container 60. In the lid receiving position 20, the position (the position on the X-axis, the position on the Y-axis, and the rotation angle θ about the Z-axis) of the lid 70 may deviate. In this case, the lidding robot 4 corrects the deviation of the position of the lid 70 while carrying the lid 70 from the lid receiving position 20 to the lidding position 21. Consequently, the lidding robot 4 adjusts the position and attitude of the lid 70 to a position and attitude corresponding to the food container 60 held in the lidding position 21.

In step S90, the controller 12 controls the container clamping apparatus 3, opens the clamp arms 31A and 31B, releases hold of the food container 60, and returns the food container 60 to which the lid 70 has been attached onto the conveyor belt 13 of the container transfer conveyor 2. Consequently, the food container 60 to which the lid 70 has been attached is carried out of a container exit of the container transfer conveyor 2. The above step ends this flow.

The above-mentioned processing steps are examples. At least part of the above steps may be deleted or changed. A step other than the above steps may be added. For example, when a user operates the container transfer conveyor 2 manually, step S10 described above may be omitted.

<6. Effects of Embodiment>

As described above, the lidding system 1 of the embodiment includes the container transfer conveyor 2 that transfers the food container 60, the container clamping apparatus 3 that holds, in the lidding position 21, the food container 60 transferred by the container transfer conveyor 2 while supporting the side portion 69 of the food container 60, and the lidding robot 4 that presses the lid 70 against the food container 60 held by the container clamping apparatus 3 to place the lid 70 on. Consequently, the following effects are exerted.

In other words, according to the embodiment, upon placing a lid on, the lid 70 is pressed against the food container 60 while the side portion 69 of the food container 60 is being supported. The side portion 69 of the food container 60 is supported and accordingly compressive force can be suppressed from acting on the container body 62 upon pressing the lid 70. Consequently, even if the strength of the food container 60 is low, it is possible to suppress the container from being deformed. Accordingly, the reliability of placing a lid on can be improved.

Moreover, especially in the embodiment, the food container 60 includes the flange 61, and the container clamping apparatus 3 supports the underside of the flange 61. The flange 61 is generally provided at the upper end of the container body 62. Therefore, the flange 61 is supported to enable an increase in the effect of suppressing the compressive force from acting on the container body 62 upon pressing the lid 70.

Moreover, especially in the embodiment, the container clamping apparatus 3 holds the food container 60 while the food container 60 is floating off the container transfer conveyor 2. The container transfer conveyor 2 continues operating also while the container clamping apparatus 3 is holding the food container 60.

Consequently, the necessity of intermittently operating the container transfer conveyor 2 is eliminated, and the container transfer conveyor 2 can be continuously operated at a constant speed. As a result, the cycle time of the lidding step can be reduced, and also the apparatus configuration (can be driven by a single motor) and control of the container transfer conveyor 2 can be simplified.

Moreover, especially in the embodiment, the lidding system 1 further includes the container position detection camera 7 that detects the position of the food container 60 transferred by the container transfer conveyor 2, and the controller 12 that controls the container clamping apparatus 3 in such a manner as to move the food container 60 by the amount of the deviation of the position from the lidding position 21 on the basis of position data output from the container position detection camera 7, and hold the food container 60 in the lidding position 21. Consequently, the following effects are exerted.

In other words, in the upstream steps of the lidding step to be executed by the lidding system 1, for example, a step of placing a food being the content in the food container 60 is executed. In the upstream steps, the position of the food container 60 may deviate from a predetermined position (a position in the width direction corresponding to the lidding position 21). According to the embodiment, the container clamping apparatus 3 can correct the deviation of the position, move the food container 60 to the preset lidding position 21, and then hold the food container 60. Consequently, the accuracy of positioning the food container 60 can be improved. Accordingly, the reliability of placing a lid on can be improved. Moreover, the lidding robot 4 can place a lid on in the fixed lidding position 21. Hence, the cycle time of the lidding step can be reduced.

Moreover, especially in the embodiment, the container clamping apparatus 3 includes the two clamp arms 31A and 31B that support the flange 61 of the food container 60, and the two horizontal actuators 32A and 32B that move the clamp arms 31A and 31B, respectively, independently in the horizontal direction. The controller 12 controls the two horizontal actuators 32A and 32B on the basis of position data in such a manner as to move the food container 60 by the amount of the deviation of the position in the horizontal direction from the lidding position 21. Consequently, the following effects are exerted.

In other words, according to the embodiment, even if the position of the food container 60 deviates in the horizontal direction (the X- and Y-axis directions) in the upstream steps, the food container 60 can be held in the lidding position 21 after the horizontal actuators 32A and 32B correct the deviation of the position. Consequently, the accuracy of positioning the food container 60 can be improved. Accordingly, the reliability of placing a lid on can be improved. Moreover, the lidding robot 4 can place a lid on in the fixed lidding position. Hence, the cycle time of the lidding step can be reduced.

Moreover, especially in the embodiment, the container clamping apparatus 3 includes the rotary actuator 33 that rotates the two clamp arms 31A and 31B about the rotation axis AX. The controller 12 controls the rotary actuator 33 on the basis of position data in such a manner as to move the food container 60 by the amount of the deviation of the position in the rotation direction from the lidding position 21. Consequently, the following effects are exerted.

In other words, according to the embodiment, even if the position of the food container 60 deviates in the rotation direction (the θ-axis direction) in the upstream steps, the food container 60 can be held in the lidding position 21 after the rotary actuator 33 corrects the deviation of the position. Consequently, the accuracy of positioning the food container 60 can be improved. Accordingly, the reliability of placing a lid on can be improved. Moreover, the lidding robot 4 can place a lid on in the fixed lidding position and attitude. Hence, the cycle time of the lidding step can be reduced.

Moreover, especially in the embodiment, the lidding system 1 includes the container illumination apparatus 6 that illuminates, from below, the food container 60 to be transferred by the container transfer conveyor 2. The container transfer conveyor 2 is a transfer conveyor including the light transmissive conveyor belt 13 that transmits light from the container illumination apparatus 6. The container position detection camera 7 is a camera that captures, from above, an image of the food container 60 illuminated by the container illumination apparatus 6 via the conveyor belt 13. Consequently, the following effects are exerted.

In other words, according to the embodiment, light is applied from behind the food container 60, and an image of the food container 60 is captured by the camera 7. Consequently, the contour of the food container 60 can be made clear (what is called transmitted light photography) naturally if the food container 60 is opaque but also if the food container 60 is transparent. Consequently, the accuracy of detecting the position of the food container 60 can be improved. Moreover, there is no need to place a light above the container transfer conveyor 2. Hence, a constraint on the motion of the lidding robot 4 is reduced. Accordingly, the lidding robot 4 can perform the carriage and placement of the lid 70 with small motion. Hence, tact time can be reduced.

Moreover, especially in the embodiment, the lidding system 1 includes the container centering apparatus 5. The container centering apparatus 5 is placed upstream of the container clamping apparatus 3 in the travel direction of the container transfer conveyor 2. The container centering apparatus 5 moves the food container 60 transferred by the container transfer conveyor 2 toward a position corresponding to the lidding position 21 in the width direction perpendicular to the travel direction. Consequently, the following effects are exerted.

In other words, according to the embodiment, the upstream container centering apparatus 5 can adjust in advance the position of the food container 60 in the width direction in such a manner that the deviation of the position of the food container 60 in the width direction falls within a range that can be corrected by the container clamping apparatus 3. In other words, it becomes possible to roughly adjust the position of the food container 60 using the container centering apparatus 5, and finely adjust the position of the food container 60 using the container clamping apparatus 3. Consequently, positioning time upon fine adjustment of the food container 60 is reduced. Hence, tact time can be reduced.

Moreover, especially in the embodiment, the container centering apparatus 5 includes the pair of centering aims 51A and 51B that are placed facing each other in the width direction to sandwich the food container 60, the opening/closing actuators 52A and 52B that open and close the pair of centering arms 51A and 51B in the width direction, and the feed belts 53 that are placed in the contact portions of the pair of centering aims 51A and 51B with the food container 60, respectively, to be circulated and driven at the same travel speed as the container transfer conveyor 2. Consequently, the following effects are exerted.

In other words, in the container centering apparatus 5, the pair of centering arms 51A and 51B comes into contact with the food container 60 in such a manner as to sandwich the food container 60 that is being transferred and accordingly moves the food container 60 to a predetermined position. At this point in time, the stop of the transfer of the food container 60, or a reduction in the travel speed of the food container 60, due to friction against the centering arms 51A and 51B may lead to an increase in cycle time in the lidding step and also to a trouble such as a bump from behind on the upstream food container 60.

According to the embodiment, the contact portions of the centering arms 51A and 51B with the food container 60 are provided with the feed belts 53 that are circulated and driven at the same travel speed as the container transfer conveyor 2, respectively. Hence, it is possible to move the food container 60 in a predetermined position in the width direction while suppressing an influence given to the travel speed of the food container 60. Therefore, it is possible to suppress an increase in the cycle time of the lidding step and occurrence of a trouble such as a bump from behind on the upstream food container 60.

Moreover, especially in the embodiment, the container clamping apparatus 3 includes the two clamp arms 31A and 31B that support the flange 61 of the food container 60. The clamp arms 31A and 31B are configured to be replaceable according to the shape of the food container 60.

According to the embodiment, the clamp arms 31A and 31B of the container clamping apparatus 3 can be replaced according to the shape of the food container 60. Consequently, the container clamping apparatus 3 can handle containers of various shapes flexibly.

Moreover, especially in the embodiment, the lidding robot 4 is an articulated robot that includes, at the tip, the suction pad 4a that suctions the lid 70, carries the lid 70 fed to the lid receiving position 20 to the lidding position 21, and places a lid on. The suction pad 4a is configured to be replaceable according to the shape of the lid 70.

According to the embodiment, the articulated lidding robot 4 is used as the lidding apparatus. Hence, the number of axes of the lidding robot 4 can be increased if necessary. Consequently, the degree of freedom in the travel path and positioning of the lid 70 can be increased. Moreover, the suction pad 4a suctions the lid 70 and presses the lid 70 against the food container 60. Hence, the lidding robot 4 can place a lid on in both cases where the food container 60 is a container of the external fitting type and where the food container 60 is a container of the internal fitting type (refer to FIGS. 10 and 11 described below). Furthermore, the suction pad 4a of the lidding robot 4 is replaced according to the shape of the lid 70, and accordingly the lidding robot 4 can handle lids of various shapes flexibly.

<7. Modifications>

Embodiments of the disclosure are not limited to the above. The embodiment of the disclosure can be modified in various manners within the scope that does not depart from a gist and a technical idea thereof. Such modifications are described below.

(7-1. In Case of Lidding Circular Container of Internal Fitting Type)

In the embodiment, the case where the lid 70 is placed on the rectangular food container 60 of the external fitting type has been described as an example. According to one embodiment of the present disclosure, the lidding system 1 can handle food containers of various shapes flexibly by replacing the clamp arms 31A and 31B of the container clamping apparatus 3 and the suction pad 4a of the lidding robot 4 according to the shape of the food container 60. In this modification, an example of a lidding operation in a case of lidding a circular container of the internal fitting type is described with reference to FIGS. 10 to 12.

As illustrated in FIG. 10, a food container 160 being, for example, a circular container includes a substantially cylindrical container body 162. A flange 161 is provided around an upper end of an opening of the container body 162. A side portion 169 of the food container 160 includes a side surface and the flange 161 of the container body 162. As illustrated in an enlarged view in FIG. 10, the flange 161 includes a first flat portion 163, a perpendicular portion 164, a second flat portion 165, and a projection 166. The first flat portion 163 protrudes substantially horizontally and outward from the container body 162. The perpendicular portion 164 is bent upward at a substantially right angle from a tip of the first flat portion 163. The second flat portion 165 protrudes substantially horizontally and outward from a tip of the perpendicular portion 164. The projection 166 is bent downward at a substantially right angle from a tip of the second flat portion 165. A recess 167 is formed in an underside of the flange 161. On the other hand, a lid 170 includes a lid body 172 of a substantially truncated cone shape matching the circular shape of the food container 160. A flange 171 is provided around a lower end of an opening of the lid body 172. As illustrated in an enlarged view in FIG. 10, the flange 171 includes a flat portion 173, a perpendicular portion 174, and a projection 175. The flat portion 173 protrudes substantially horizontally and outward from the lid body 172. The perpendicular portion 174 is bent upward at a substantially right angle from a tip of the flat portion 173. The projection 175 protrudes substantially horizontally and outward from a tip of the perpendicular portion 174.

A suction pad 104a includes a pad body 180 and a suction pipe 182. The pad body 180 has a substantially cylindrical shape matching the circular shape of the flange 171 of the lid 170. The suction pipe 182 is attached to a top surface of the pad body 180 via an attachment plate 181. The pad body 180 includes a substantially cylindrical frame-like pressing portion 183, and an internal space 184. The pressing portion 183 comes into contact with a top surface of the flat portion 173 of the flange 171 of the lid 170. A negative pressure is formed in the internal space 184 under suction via the suction pipe 182. The suction pipe 182 in an upper part of the pad body 180 communicates with the internal space 184. The lidding robot 4 places the suction pad 104a on the lid 170 to bring a lower end of the pressing portion 183 into contact with the top surface of the flat portion 173 of the flange 171. The lidding robot 4 further forms a negative pressure in the internal space 184 via the suction pipe 182. Consequently, as illustrated in FIG. 11, the lid 170 is suctioned and held by the suction pad 104a while the lid body 172 is housed in the pad body 180.

Recesses 136a and container support portions 137 of head portions 136 of first and second clamp arms 131A and 131B of the container clamping apparatus 3 are formed in an arc shape matching the circular shape of the food container 160. As illustrated in FIG. 10, upon holding the food container 160, the head portions 136 of the clamp arms 131A and 131B sandwich the container body 162 from both sides and ascend. Consequently, as illustrated in an enlarged view in FIG. 11, the container support portion 137 is fitted into the recess 167 of the flange 161 of the food container 160, supports the first flat portion 163 of the flange 161, and holds the food container 160 while the food container 160 is floating off the conveyor belt 13.

As illustrated in FIG. 11, the lid 170 suctioned by the lidding robot 4 onto the suction pad 104a is pressed against the food container 160 held by the clamp arms 131A and 131B. At this point in time, the flanges 161 and 171 are sandwiched by the pressing portion 183 of the suction pad 104a and the container support portions 137 of the clamp arms 131A and 131B. Consequently, as illustrated in an enlarged view in FIG. 12, the flat portion 173 of the flange 171 of the lid 170 is placed on a top surface of the first flat portion 163 of the flange 161 of the food container 160. Furthermore, the perpendicular portion 174 of the flange 171 of the lid 170 is placed on the perpendicular portion 164 of the flange 161 of the food container 160. Consequently, the projection 175 of the flange 171 of the lid 170 is placed on a top surface of the second flat portion 165 of the flange 161 of the food container 160. As a result, the lid 170 is attached to the food container 160 in what is called an internal fitting state.

As described above, the lidding system 1 according to one embodiment of the present disclosure can also be applied to the case of placing the lid 170 on the container 160 of the internal fitting type. In terms of a container of the internal fitting type, water droplets generated, for example, when a food being the content is heated in a microwave oven hardly leak out from the container. Hence, the container of the internal fitting type is used as a microwavable container. According to this modification, also if such a container is used, the reliability of placing a lid on can be improved.

(7-2. Others)

In the above example, the articulated robot is used as the lidding apparatus. A special purpose machine other than a robot may be used as the lidding apparatus. Moreover, in the above example, the container clamping apparatus 3 corrects the deviation of the position of the food container 60. Instead of correcting the deviation of the position of the food container 60 with the container clamping apparatus 3, the lidding robot 4 may correct a transfer destination position of the lid 70. In this case, the necessity of the rotary actuator 33 is eliminated, and the horizontal actuators 32A and 32B can be configured as a single axis. Hence, the container clamping apparatus 3 can be simplified.

When the above description contains expressions such as “perpendicular”, “parallel”, and “plane”, these expressions do not strictly indicate “perpendicular”, “parallel”, and “plane”. In other words, design and manufacturing tolerances and errors are permitted in these expressions “perpendicular”, “parallel”, and “plane”. These expressions indicate “substantially perpendicular”, “substantially parallel,” and “substantially plane”, respectively.

Moreover, when the above description contains expressions such as “identical”, “same”, “equal”, and “different” in dimension, size, shape, position, and the like in terms of the external appearance of a member, these expressions do not strictly indicate “identical”, “same”, “equal”, “different”, and the like. In other words, design and manufacturing tolerances and errors are permitted in these expressions “identical”, “same”, “equal”, and “different”. These expressions indicate “substantially identical,” “substantially same,” “substantially equal”, and “substantially different”, respectively.

Moreover, in addition to those already described above, the methods by the embodiment may be used in combination as appropriate. In addition, although illustrations are not presented one by one, the embodiment may be modified in various manners and carried out within the scope that does not depart from the gist of the technology of the present disclosure.

Embodiments of the present disclosure may be the following first to eleventh lidding systems and first lidding method.

The first lidding system is characterized by including: a transfer apparatus configured to transfer a container; a holding apparatus configured to support a side portion of the container to be transferred by the transfer apparatus and hold the container in a lidding position; and a lidding apparatus configured to press a lid against the container held by the holding apparatus and place the lid on.

The second lidding system is the first lidding system characterized in that the container has a flange, and the holding apparatus supports an underside of the flange.

The third lidding system is the first or second lidding system characterized in that the holding apparatus holds the container in a state where the container is floating off the transfer apparatus, and the transfer apparatus continues operating also while the holding apparatus is holding the container.

The fourth lidding system is any of the first to third lidding systems characterized by further including: a position sensor to be configured to detect a position of the container transferred by the transfer apparatus; and a controller configured to control the holding apparatus on the basis of position data output from the position sensor in such a manner as to move the container by the amount of the deviation of the position from the lidding position and hold the container in the lidding position.

The fifth lidding system is the fourth lidding system characterized in that the holding apparatus has a plurality of support members configured to support the side portion of the container, and a plurality of horizontal actuators configured to move the plurality of support members, respectively, independently in a horizontal direction, and the controller controls the plurality of horizontal actuators on the basis of the position data in such a manner as to move the container by the amount of the deviation of the position in the horizontal direction from the lidding position.

The sixth lidding system is the fourth or fifth lidding system characterized in that the holding apparatus has a plurality of support members configured to support the side portion of the container, and a rotary actuator configured to rotate the plurality of support members about a vertical axis, and the controller controls the rotary actuator on the basis of the position data in such a manner as to move the container by the amount of the deviation of the position in the rotation direction from the lidding position.

The seventh lidding system is any of the fourth to sixth lidding systems characterized by further including an illumination apparatus configured to illuminate, from below, the container to be transferred by the transfer apparatus, wherein the transfer apparatus is a transfer conveyor having a light transmissive belt that transmits light from the illumination apparatus, and the position sensor is a camera that captures, from above, an image of the container illuminated by the illumination apparatus via the belt.

The eighth lidding system is any of the first to seventh lidding systems characterized by further including an alignment apparatus placed upstream of the holding apparatus in a travel direction of the transfer apparatus to move the container to be transferred by the transfer apparatus toward a position corresponding to the lidding position in a width direction perpendicular to the travel direction.

The ninth lidding system is the eighth lidding system characterized in that the alignment apparatus has a pair of arm members placed facing each other in the width direction to sandwich the container, opening/closing actuators configured to open and close the pair of arm members in the width direction, and feed belts placed in contact portions of the pair of arm members with the container to be circulated and driven at the same travel speed as the transfer apparatus.

The tenth lidding system is any of the first to ninth lidding systems characterized in that the holding apparatus has a plurality of support members configured to support the side portion of the container, and the support members are configured to be replaceable according to the shape of the container.

The eleventh lidding system is any of the first to tenth lidding systems characterized in that the lidding apparatus is an articulated robot having, at a tip, a suction pad that suctions the lid, the articulated robot being configured to carry the lid fed to a lid receiving position to the lidding position and place the lid on, and the suction pad is configured to be replaceable according to the shape of the lid.

The first lidding method is a lidding method that is executed by a lidding system, characterized by including: transferring a container; supporting a side portion of the container to be transferred and holding the container in a lidding position; and pressing a lid against the held container and placing the lid on.

The foregoing detailed description has been presented for the purposes of illustration and description. Many modifications and variations are possible in light of the above teaching. It is not intended to be exhaustive or to limit the subject matter described herein to the precise form disclosed. Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims appended hereto.

Claims

1. A lidding system comprising:

a transfer apparatus configured to transfer a container which is put on the transfer apparatus such that a bottom of the container contacts the transfer apparatus, the container having an opening opposite to the bottom and a side wall extending from the bottom to the opening;

a holding apparatus configured to hold the side wall of the container at a lidding position; and

a lidding apparatus configured to press a lid against the container held by the holding apparatus to close the opening.

2. The lidding system according to claim 1, wherein

the container includes a flange on the side wall, and

the holding apparatus is configured to support an underside of the flange.

3. The lidding system according to claim 1, wherein

the holding apparatus is configured to hold the container to lift the container from the transfer apparatus, and

the transfer apparatus is configured to continue operating even while the holding apparatus holds the container.

4. The lidding system according to claim 2, wherein

the holding apparatus is configured to hold the container to lift the container from the transfer apparatus, and

the transfer apparatus is configured to continue operating even while the holding apparatus holds the container.

5. The lidding system according to claim 1, further comprising:

a position sensor configured to detect a position of the container; and

a processor configured to control the holding apparatus based on position data output from the position sensor so as to move the container to the lidding position.

6. The lidding system according to claim 2, further comprising:

a position sensor configured to detect a position of the container; and

a processor configured to control the holding apparatus based on position data output from the position sensor so as to move the container to the lidding position.

7. The lidding system according to claim 3, further comprising:

a position sensor configured to detect a position of the container; and

a processor configured to control the holding apparatus based on position data output from the position sensor so as to move the container to the lidding position.

8. The lidding system according to claim 5, wherein

the holding apparatus comprises a plurality of support members configured to support the side wall of the container, and a plurality of horizontal actuators configured to move the plurality of support members, respectively, independently in a substantially horizontal direction, and

the processor is configured to control the plurality of horizontal actuators based on the position data so as to move the container to the lidding position.

9. The lidding system according to claim 6, wherein

the holding apparatus comprises a plurality of support members configured to support the side wall of the container, and a plurality of horizontal actuators configured to move the plurality of support members, respectively, independently in a substantially horizontal direction, and

the processor is configured to control the plurality of horizontal actuators based on the position data so as to move the container to the lidding position.

10. The lidding system according to claim 7, wherein

the holding apparatus comprises a plurality of support members configured to support the side wall of the container, and a plurality of horizontal actuators configured to move the plurality of support members, respectively, independently in a substantially horizontal direction, and

the processor is configured to control the plurality of horizontal actuators based on the position data so as to move the container to the lidding position.

11. The lidding system according to claim 5, wherein

the holding apparatus comprises a plurality of support members configured to support the side wall of the container, and a rotary actuator configured to rotate the plurality of support members about a vertical axis, and

the processor is configured to control the rotary actuator based on the position data so as to move the container to the lidding position.

12. The lidding system according to claim 6, wherein

the holding apparatus comprises a plurality of support members configured to support the side wall of the container, and a rotary actuator configured to rotate the plurality of support members about a vertical axis, and

the processor is configured to control the rotary actuator based on the position data so as to move the container to the lidding position.

13. The lidding system according to claim 7, wherein

the holding apparatus comprises a plurality of support members configured to support the side wall of the container, and a rotary actuator configured to rotate the plurality of support members about a vertical axis, and

the processor is configured to control the rotary actuator based on the position data so as to move the container to the lidding position.

14. The lidding system according to claim 8, wherein

the holding apparatus comprises a plurality of support members configured to support the side wall of the container, and a rotary actuator configured to rotate the plurality of support members about a vertical axis, and

the processor is configured to control the rotary actuator based on the position data so as to move the container to the lidding position.

15. The lidding system according to claim 5, further comprising:

an illumination apparatus configured to illuminate the container, wherein

the transfer apparatus comprises a conveyor belt that transmits light from the illumination apparatus provided below the conveyor belt, and

the position sensor comprises a camera configured to capture, from above, an image of the container illuminated by the illumination apparatus.

16. The lidding system according to claim 1, further comprising:

an alignment apparatus placed upstream of the holding apparatus in a travel direction of the transfer apparatus, the alignment apparatus being configured to move the container to be transferred by the transfer apparatus toward a position corresponding to the lidding position in a width direction perpendicular to the travel direction.

17. The lidding system according to claim 16, wherein

the alignment apparatus comprises a pair of aim members placed facing each other in the width direction, the pair of arm members being configured to sandwich the container, opening/closing actuators configured to open and close the pair of arm members in the width direction, and feed belts placed in contact portions of the pair of arm members with the container, respectively, the feed belts being configured to be circulated and driven at a travel speed which is substantially same as a transfer speed of the transfer apparatus.

18. The lidding system according to claim 1, wherein

the holding apparatus includes a plurality of support members configured to support the side of the container, and

the support members are configured to be replaceable according to a shape of the container.

19. The lidding system according to claim 1, wherein

the lidding apparatus comprises an articulated robot including, at a tip, a suction pad that suctions the lid, the articulated robot being configured to carry the lid fed to a lid receiving position to the lidding position and place the lid on, and

the suction pad is configured to be replaceable according to a shape of the lid.

20. A lidding method comprising:

transferring a container which is put on a transfer apparatus such that a bottom of the container contacts the transfer apparatus, the container having an opening opposite to the bottom and a side wall extending from the bottom to the opening;

holding the side wall of the container at a lidding position; and

pressing a lid against the container while the side wall of the container is held at the lidding position to close the opening.