Container feeding device, container feeding method, and lid closing device

Abstract

To provide a container feeding device and a container feeding method capable of reversing and feeding a container, and a lid closing device capable of efficiently carrying out lid closing work for closing a lid body in a storage body by using a robot.SOLUTION: This container feeding device for conveying, from a start point to an end point, and feeding a container having first and second container surfaces in a front and rear relationship comprises: a first conveyance unit that has a first conveyance surface inclined with respect to a horizontal surface and conveys the container in a first direction containing a vertically downward component from the start point with an attitude where the first container surface faces the first conveyance surface; and a second conveyance unit that has a second conveyance surface inclined with respect to the horizontal surface and conveys the container conveyed by the first conveyance unit in a second direction containing a vertically downward component and directed to the end point with an attitude where the second container surface faces the second conveyance surface. When seen from vertically above, a component where the first and second directions are reverse to each other is contained, and the second conveyance surface is disposed at an interval vertically downward from the tail end position of the first conveyance surface.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a container supplying device, a container supplying method, and a lid fastening device. [Background technology]

[0002] In recent years, the introduction of robots has been considered in various production sites, and one example is a lid-closing device that closes lids on box-shaped containers such as boxed lunches. Containers used for boxed lunches generally have a lid that fits over the opening of the container body.

[0003] For example, Patent Document 1 discloses a lid closing device that closes the opening of a container body by fitting a lid into the container body. This lid closing device includes a support member that supports the container body from below, a lid conveying unit that conveys the lid, a frame that surrounds the container body, and multiple claws that protrude from and retract into the inner wall surface of the frame. After the lid conveying unit conveys the lid to a position facing the opening of the container body, the multiple claws press grooves on the outer periphery of the lid surface, thereby press-fitting the lid into the container body. This fits the lid into the container body and closes the lid. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2020-100424 Summary of the Invention [Problem to be solved by the invention]

[0005] In the process of closing a container containing food or the like, a lid may need to be turned over when supplying a stocked lid. However, a complex mechanism such as a link mechanism may be required to turn the lid over. Therefore, there is a need for a device that can turn the lid over with a simple configuration. [Means for solving the problem]

[0006] A container supply device according to an application example of the present invention includes: A container supplying device that conveys and supplies a container having a first container surface and a second container surface that are reversed to each other from a start point to an end point, a first conveying unit having a first conveying surface inclined with respect to a horizontal plane, and conveying the container from the starting point in a first direction including a vertically downward component with the first container surface facing the first conveying surface; a second conveying section having a second conveying surface inclined with respect to a horizontal plane, which conveys the container conveyed by the first conveying section in a second direction including a vertically downward component toward the end point, with the second container surface facing the second conveying surface; Equipped with When viewed vertically from above, the first direction and the second direction include components that are opposite to each other, The second transport surface is disposed vertically below and spaced from the terminal end position of the first transport surface.

[0007] A container supply method according to an application example of the present invention includes: A container supplying method for conveying and supplying a container having a first container surface and a second container surface that are reversed to each other from a start point to an end point, comprising: conveying the container from the starting point by the first conveying surface with the first container surface facing the first conveying surface; changing the orientation of the container to an orientation in which the second container surface faces the second conveying surface while dropping the container from the terminal position of the first conveying surface toward the second conveying surface; conveying the container to the end point by the second conveying surface with the second container surface facing the second conveying surface; It has.

[0008] The lid closing device according to the application example of the present invention is A container supply device according to an application example of the present invention; a robot having a robot arm; a lid fastening jig attached to the robot arm for fitting the lid body as the container supplied by the container supply device onto the container; Equipped with. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic view showing a lid-closing device according to a first embodiment. [Figure 2] 2 is a cross-sectional view showing an example of the shape of a container and a lid used in the lid closing operation by the lid closing device of FIG. 1. FIG. [Figure 3] 2 is a cross-sectional view of the container supplying device shown in FIG. 1, as viewed in the direction of arrow A. FIG. [Figure 4] 2 is a cross-sectional view of the container supplying device shown in FIG. 1, as viewed in the direction of arrow A. FIG. [Figure 5] 4 is a top view of the container supplying device shown in FIG. 3 as seen from vertically above. [Figure 6] FIG. 4 is a detailed view of the container reservoir shown in FIG. 3. [Figure 7] FIG. 4 is a detailed view of the container reservoir shown in FIG. 3. [Figure 8] 10 is a flowchart showing the configuration of a container supply method according to the embodiment. [Figure 9] FIG. 10 is a cross-sectional view showing a lid-closing device according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

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

[0011] 1. First embodiment 1.1. Lid Closing Device and Container Feeding Device First, the capping device 1 according to the first embodiment and the container supply device 7 according to the first embodiment that the capping device 1 is provided with will be described.

[0012] FIG. 1 is a schematic diagram showing a lid closing device 1 according to the first embodiment. In FIG. 1, an X-axis, a Y-axis, and a Z-axis are set as three mutually orthogonal axes. Each axis is represented by an arrow, with the tip of the arrow being "plus" and the base of the arrow being "minus." In the following description, for example, "X-axis direction" includes both the plus and minus directions of the X-axis. The same applies to the Y-axis and Z-axis directions. Furthermore, the Z-axis is parallel to the vertical axis, and the plus side of the Z-axis is also referred to as "upward," and the minus side of the Z-axis is also referred to as "downward."

[0013] The lid closing device 1 shown in Fig. 1 includes a robot 2 having a robot arm 22, a lid closing jig 3 attached to the robot arm 22, a container supply device 7, and two belt conveyors 41 and 42. The lid closing device 1 is a device that performs an operation of closing a lid 9 on a container 8 shown in Fig. 1. The container 8 is a box that contains, for example, food or the like and is open at the top. The lid 9 is a member that is placed over the opening of the container 8 to close the opening.

[0014] The robot 2 holds the lid body 9 with the lid closing jig 3 attached to the robot arm 22, and performs the lid closing work of placing the lid body 9 over the container 8 and closing it.

[0015] The lid closing jig 3 holds the lid body 9 by suction, fitting, or the like, and releases the holding of the lid body 9 after the lid closing operation is completed.

[0016] The container supply device 7 is a device that stocks a plurality of lid bodies 9 and cuts out one of them for use in the lid closing operation.

[0017] Belt conveyor 41 transports containers 8 containing food or the like in the direction of arrow 411 shown in FIG. 1. Belt conveyor 41 also transports containers 8 so that they pass lid closing position 24 during transport. Lid closing position 24 is the position where robot 2 performs the lid closing operation. The contents of containers 8 are not particularly limited. Containers 8 with lids 9 placed thereon are transported by belt conveyor 41.

[0018] Belt conveyor 42 transports lid body 9 supplied from container supply device 7 in the direction of arrow 421 shown in Fig. 1. Belt conveyor 42 also transports lid body 9 so that it passes through lid body holding position 23. Lid body holding position 23 is a position where robot 2 holds lid body 9.

[0019] The method of transporting the container 8 and the lid 9 is not limited to the method using the belt conveyors 41 and 42, and any method may be used. Furthermore, the belt conveyors 41 and 42 may be provided as needed, and may be omitted.

[0020] 1.1.1. Robot and Lid Closing Fixture The robot 2 shown in FIG. 1 may be a horizontally articulated robot, a vertically articulated robot, or a robot of another type.

[0021] The robot arm 22 moves the lid closing jig 3 to any position within its operating range. The operating range of the robot arm 22 is set to include the lid closing position 24 and the lid body holding position 23.

[0022] The robot 2 also has sensors, a control unit, and the like (not shown). Examples of sensors include an image sensor, a distance sensor, and a displacement sensor. The sensors detect the positions of the containers 8 transported by the belt conveyor 41 and the lids 9 transported by the belt conveyor 42. The control unit has the function of controlling the operation of the robot arm 22 to move the lid closing jig 3 in accordance with the lids 9 detected by the sensors, and the function of placing the lids 9 on the containers 8 detected by the sensors and closing the lids 9 held by the lid closing jig 3.

[0023] 1.1.2. Container and lid FIG. 2 is a cross-sectional view showing an example of the shape of the container 8 and the lid 9 used in the lid closing operation by the lid closing device 1 of FIG. 1. In each drawing of the present application, two mutually perpendicular axes, the a-axis and the b-axis, are defined. In each drawing, each axis is represented by an arrow, with the tip of the arrow designated as "plus" and the base of the arrow designated as "minus." In the following description, for example, the "a-axis direction" includes both the plus and minus directions of the a-axis. The a-axis is the rotation axis of the tip of the robot arm 22, and the b-axis is the axis representing the radial direction when the a-axis is the center. Therefore, there are multiple b-axes extending radially from the a-axis, but FIG. 2 illustrates only one representative one. Furthermore, the positive side of the a-axis is designated as "up," the negative side of the a-axis is designated as "down," the positive side of the b-axis is designated as "out," and the negative side of the b-axis is designated as "in."

[0024] The container 8 and lid 9 shown in Fig. 2 are closed by fitting the lid 9 onto the outside of the container 8. Fig. 2 shows the container 8 and lid 9 before the lid closing operation is performed. Note that the container 8 and lid 9 may also be of a type in which the lid 9 fits inside the container 8, a so-called internal fitting type.

[0025] The container 8 has a bottom 82 located at the lower end, a cylindrical portion 84 connected to the outer edge of the bottom 82, and a fitted portion 86 connected to the upper end of the cylindrical portion 84. An internal space S1 is defined by the cylindrical portion 84. The internal space S1 is a space for containing an item. An opening 83 located above the internal space S1 is defined by the fitted portion 86.

[0026] When viewed from above in the a-axis direction, the container 8 has a circular shape centered on an axis A1 parallel to the a-axis. The cylindrical portion 84 rises upward from the outer edge of the bottom portion 82 and continues circumferentially around the axis A1. The fitted portion 86 extends from the upper end of the cylindrical portion 84 and continues circumferentially.

[0027] The material of the container 8 is not particularly limited, but may be, for example, a thermoplastic resin such as expanded polystyrene.

[0028] The lid 9 has a base 92 , a cylindrical portion 94 connected to the outer edge of the base 92 , and a fitting portion 96 connected to the lower end of the cylindrical portion 94 .

[0029] When viewed in a plan view from the a-axis direction, the cover 9 has a circular shape centered on the axis A1. The base 92 also has a circular shape centered on the axis A1 and extending in a plane perpendicular to the axis A1. The cylindrical portion 94 extends downward from the outer edge of the base 92 and continues in the circumferential direction. The outer diameter of the lower end of the cylindrical portion 94 is larger than the outer diameter of the upper end of the cylindrical portion 94. Furthermore, the outer diameter continuously increases from the upper end to the lower end, forming a tapered shape. The fitting portion 96 extends from the lower end of the cylindrical portion 94 and continues in the circumferential direction.

[0030] Before the lid closing operation is performed, the inner diameter φ9 of the fitting portion 96 of the lid body 9 is set to be slightly smaller than the outer diameter φ8 of the fitted portion 86 of the container 8. When closing the lid body 9, the lid body 9 is pressed downward, so that the fitted portion 86 is press-fitted inside the fitting portion 96. The lid closing jig 3 is configured, for example, to press downward the upper end of the cylindrical portion 94 of the lid body 9. At this time, the inner diameter φ9 of the fitting portion 96 is once deformed so as to reduce in diameter, and then becomes slightly larger after the fitted portion 86 is press-fitted. This completes the fitting of the fitting portion 96 to the fitted portion 86.

[0031] The material of the lid 9 is not particularly limited, but may be, for example, a thermoplastic resin such as polyethylene or polyethylene terephthalate.

[0032] In this embodiment, a lid 9 is used as the container supplied by the container supply device 7. The lid 9 has a first container surface 901 and a second container surface 902 which are opposite surfaces.

[0033] The first container surface 901 is a surface facing the positive side of the a-axis among the surfaces of the lid body 9. The first container surface 901 includes a convex surface 903 that protrudes upward.

[0034] The second container surface 902 is a surface facing the negative a-axis side among the surfaces of the lid 9. The second container surface 902 is the surface opposite to the convex surface 903, and includes a concave surface 904 that is recessed upward.

[0035] The above describes an example of the container and the lid, but the shape of the container and the lid when viewed from above is not particularly limited, and may be, for example, a polygon such as a square, hexagon, or octagon, or may be an ellipse, an oval, or the like.

[0036] 1.1.3. Container feeding device 3 and 4 are cross-sectional views of the container supplying device 7 shown in FIG. 1 as viewed from the direction of arrow A. FIG.

[0037] The container supplying device 7 shown in FIGS. 3 and 4 includes a first conveying section 71, a second conveying section 72, and a container storage section 800.

[0038] The first conveying unit 71 has a first conveying surface 711. The first conveying surface 711 shown in FIG. 3 is a plane parallel to the Y axis, inclined with respect to the horizontal plane, and is a sliding surface on which the lid body 9 is placed and slid. Specifically, the first conveying surface 711 is an inclined surface that extends in a first direction D1 from a starting point S toward the second conveying unit 72. As a result, the first conveying unit 71 conveys the lid body 9 from the starting point S in the first direction D1. Furthermore, with this configuration, the lid body 9 can be conveyed without consuming energy, thereby simplifying the configuration of the first conveying unit 71.

[0039] The second conveying unit 72 is disposed below the first conveying surface 711. The second conveying unit 72 has a second conveying surface 721. The second conveying surface 721 is a plane parallel to the Y axis, inclined with respect to the horizontal plane, and is a sliding surface on which the lid body 9 is placed and slid. Specifically, the second conveying surface 721 is an inclined surface that extends in a second direction D2 toward the end point G from the position where the lid body 9 conveyed by the first conveying unit 71 is placed. As a result, the second conveying unit 72 conveys the lid body 9 conveyed by the first conveying unit 71 in the second direction D2 toward the end point G. Furthermore, with this configuration, the lid body 9 can be conveyed without consuming energy, thereby simplifying the configuration of the second conveying unit 72.

[0040] It should be noted that the first transport surface 711 and the second transport surface 721 are not limited to being flat, and may be, for example, curved surfaces or surfaces including small steps or irregularities.

[0041] The materials constituting the first transport surface 711 and the second transport surface 721 are not particularly limited, but examples thereof include metal materials such as stainless steel and aluminum alloys, ceramic materials, glass materials, and resin materials.

[0042] The first direction D1 and the second direction D2 each include a vertically downward component. In other words, the first conveying surface 711 and the second conveying surface 721 are inclined surfaces that allow the lid body 9 to fall in the first direction D1 and the second direction D2 due to gravity, respectively. Therefore, the lid body 9 placed on the first conveying surface 711 slides down in the first direction D1 due to its own weight. Similarly, the lid body 9 placed on the second conveying surface 721 slides down in the second direction D2 due to its own weight. In the container supplying device 7 shown in FIG. 3, the angle between the Z axis and the first direction D1 and the angle between the Z axis and the second direction D2 are angles that are less than an acute angle. An angle that is less than an acute angle means that the angle between the Z axis and the first direction D1 and the angle between the Z axis and the second direction D2 each include both a state where the angle is less than 90° and a state where the angle is 0°.

[0043] FIG. 5 is a top view of the container supplying device 7 shown in FIG. 3 as seen from vertically above. In the container supply device 7 shown in FIG. 5, when viewed vertically from above, the first direction D1 and the second direction D2 contain components that are directed in opposite directions. Because the components are directed in opposite directions, the lid body 9 transported in the first direction D1 is turned back midway and transported in the second direction D2. At this time, the lid body 9 that comes into contact with the second transport surface 721 is given a propulsive force that moves the contacting portion downward. This allows the lid body 9 to be turned over. Furthermore, the overall length of the container supply device 7 in the X-axis direction can be shortened, allowing for a more compact design.

[0044] A container storage unit 800 is disposed above the first conveying surface 711. The container storage unit 800 stores a plurality of lid bodies 9, and extracts and supplies one of them to the starting point S. By using such a container storage unit 800, it is possible to reduce the number of times that lid bodies 9 to be supplied for the lid closing operation are replenished. This makes it possible to realize a container supply device 7 that contributes to further labor-saving in the lid closing operation.

[0045] 6 and 7 are detailed views of the reservoir reservoir 800 shown in FIG. 3, respectively. 6 and 7 stores a plurality of stacked lid bodies 9. In Figures 6 and 7, the lid bodies 9 are stacked in the first direction D1, but the stacking direction is not limited to this.

[0046] The container storage unit 800 has a pair of stoppers 810, 810 and a pair of holders 820, 820. The pair of stoppers 810, 810 are configured to move toward or away from each other as shown by arrows 811 in FIG. 3. When the pair of stoppers 810, 810 are close to each other as shown in FIG. 6, they support the first container surface 901 of the lid body 9a, which is located at the bottom among the multiple lid bodies 9. In this way, the pair of stoppers 810, 810 prevent the lid body 9a from falling.

[0047] The pair of holders 820, 820 hold the lid bodies 9 except for the lid body 9a located at the bottom. When the lid body 9a is cut out, the holders 820, 820 release the bottommost lid body 9 from the lid bodies 9 they are holding and allow it to be supported by the pair of stoppers 810, 810.

[0048] When the lid body 9a is cut out, the pair of stoppers 810, 810 move away from each other as shown in Fig. 7. This causes the lid body 9a supported by the pair of stoppers 810, 810 to fall. As a result, one lid body 9a is cut out from the plurality of stored lid bodies 9 and supplied to the starting point S.

[0049] In FIGS. 6 and 7, the first direction D1 is the stacking direction, and the lid bodies 9 are stacked with the first container surface 901 (convex surface 903) facing downward. Setting the stacking direction and the position of the lid bodies 9 when stacked in this manner allows for smooth removal of the lid body 9a. Specifically, in FIGS. 6 and 7, the stoppers 810, 810 support the first container surface 901. Supporting the first container surface 901, particularly the convex surface 903, allows for support of a relatively rigid portion compared to supporting the second container surface 902, particularly the peripheral portion of the concave surface 904 of the second container surface 902. This suppresses deformation of the lid bodies 9 due to stacking and reduces unintended interlocking of the lid bodies 9, thereby facilitating removal of the lid body 9a.

[0050] Furthermore, with the stacking method described above, the lid 9 is stored with the first container surface 901 exposed. Since the first container surface 901 is the surface that does not face the contents stored in the container 8, even if it is exposed during storage, it does not adversely affect food hygiene. For this reason, the stacking method described above is particularly useful when the contents to be stored are food.

[0051] The configuration of the container storage unit 800 is not limited to the above configuration as long as it is capable of supplying one lid body 9a to the starting point S.

[0052] 1.1.4. Container supply method (operation of the device) Next, a container supplying method according to an embodiment will be described. In the following description, a method using a container supplying device 7 will be described as an example.

[0053] FIG. 8 is a flowchart showing the configuration of a container supply method according to an embodiment. The container supply method shown in FIG. 8 includes a first conveying step S102, a reversing step S104, and a second conveying step S106.

[0054] 1.1.4.1. First transport step In the first transfer step S102, the lid body 9a supplied from the container storage unit 800 to the starting point S is transferred by the first transfer surface 711. In FIG. 4, the lid body 9a is supplied to the starting point S with the first container surface 901 of the lid body 9a facing the first direction D1.

[0055] The lid body 9a supplied to the starting point S falls in the first direction D1 due to its own weight. Furthermore, since the first container surface 901 of the lid body 9a includes the convex surface 903 shown in FIG. 2, the center of gravity is likely to shift toward the first direction D1. Therefore, the lid body 9a changes its posture while falling so that the first container surface 901 faces the first conveyance surface 711. As a result, the posture of the lid body 9a changes to the posture of the lid body 9b shown in FIG. 4.

[0056] The first transport unit 71 shown in FIG. 4 has a locking portion 713. The locking portion 713 locks a part of the lid body 9b (container) cut out from the container storage unit 800. Specifically, as shown in FIG. 4, the locking portion 713 catches on a part of the radial direction of the lid body 9b that is about to fall, thereby applying a rotational force to the lid body 9b. This makes it possible to more reliably change the position of the lid body 9b to the position of the lid body 9c.

[0057] The locking portion 713 is a protrusion that protrudes from the first conveying surface 711. The locking portion 713 preferably has an elongated shape that extends in the Y-axis direction, which increases the probability that the locking portion 713 will lock onto a part of the lid body 9b.

[0058] The cross-sectional shape of the locking portion 713 when cut along a plane perpendicular to the Y-axis direction may be, for example, a polygon such as a triangle or a rectangle, or other shapes.

[0059] 6 is set appropriately according to the outer diameter of the lid 9 and is not particularly limited, but is preferably 0.5 mm to 10 mm, and more preferably 1 mm to 5 mm. This increases the probability that the lid 9b is locked by the lid 9b, and also prevents the lid 9b from falling further because it is held by the lid 9b.

[0060] The locking portion 713 may be provided as needed, and may be omitted if the position of the cover body 9b can be changed to the desired position without applying a rotational force.

[0061] As lid body 9b falls further, the first container surface 901 changes to a position facing the first conveying surface 711. As a result, the position of lid body 9b changes to the position of lid body 9c shown in FIG. 4. In this position, lid body 9c slides down the first conveying surface 711 in the first direction D1. As a result, lid body 9c is conveyed in the first direction D1. Because the position of lid body 9c is stable, the first conveying unit 71 creates this stable position, thereby stabilizing the reversal of the position in the reversing step S104, which will be described later.

[0062] The distance in the first direction D1 from the lid body 9a when supplied to the starting point S to the terminal position 715 of the first conveying surface 711 is defined as distance L1 shown in Fig. 3. Although there are no particular limitations on distance L1, when the outer diameter L of the lid body 9 is defined as 1, distance L1 is preferably 0.50 or more, more preferably 0.55 or more but less than 1.00, and even more preferably 0.60 or more but 0.95 or less. This allows the first conveying section 71 to be made smaller while stabilizing the posture of the lid body 9a when it is conveyed.

[0063] If the distance L1 is less than the lower limit, the distance for the lid 9c to slide down in a stable position cannot be secured sufficiently, which may result in unstable position changes in the reversing step S104. On the other hand, the distance L1 may exceed the upper limit, but in that case, it may be difficult to reduce the size of the first conveying unit 71. The outer diameter L is the maximum length of the lid 9 in a plane parallel to the first container surface 901.

[0064] The angle between the first conveying surface 711 and the horizontal plane is the inclination angle θ shown in Fig. 3. The inclination angle θ is preferably equal to or greater than 30° and less than 90°, more preferably equal to or greater than 40° and less than 80°, and even more preferably equal to or greater than 45° and less than 70°. This allows the lid body 9 to be stably conveyed along the first conveying surface 711.

[0065] If the tilt angle θ is below the lower limit, the lid body 9 may stop due to frictional resistance when being conveyed by sliding under its own weight, or the conveying speed may decrease. On the other hand, if the tilt angle θ is above the upper limit, the lid body 9 may not slide along the first conveying surface 711 and may fall, or the posture of the lid body 9 conveyed on the first conveying surface 711 may become unstable.

[0066] Moreover, it is preferable that the distance L1 and the tilt angle θ are adjustable according to the size of the lid body 9. This allows the container supplying device 7 to be easily adapted to various types of lid bodies 9 (containers).

[0067] 1.1.4.2. Inversion step In the reversing step S104, the lid body 9c is dropped from the terminal position 715 of the first conveying surface 711 toward the second conveying surface 721. Specifically, when the lid body 9c slides down the first conveying surface 711 and the center of gravity of the lid body 9c moves out from the terminal position 715, a rotational force is generated in the lid body 9c, and the position of the lid body 9c begins to change. The lid body 9c then falls while changing its position, and comes into contact with the second conveying surface 721. As a result, the position of the lid body 9c changes to the position of the lid body 9d shown in FIG. 4.

[0068] When lid body 9d comes into contact with second conveying surface 721, it receives a propulsive force that moves the contacted portion downward. This causes lid body 9d to move away from first conveying section 71. As a result, the posture of lid body 9d changes so that second container surface 902 faces second conveying surface 721, and assumes the posture of lid body 9e shown in Fig. 4. In this manner, in reversing step S104, lid body 9 is reversed upside down.

[0069] Of the angles formed by first conveying surface 711 and second conveying surface 721, the angle at which they open vertically upward is defined as the intersection angle ψ shown in Fig. 3. The intersection angle ψ is preferably 30° to 100°, more preferably 50° to 95°, and even more preferably 60° to 90°. This makes it possible to stably change the posture of lid body 9 conveyed on first conveying surface 711, and also to stably convey lid body 9 along second conveying surface 721.

[0070] If the intersection angle ψ is below the lower limit, the inclination angle of the second conveying surface 721 with respect to the horizontal plane may become too large. In this case, the lid body 9 may not slide along the second conveying surface 721 and may fall, or the position of the lid body 9 being conveyed on the second conveying surface 721 may become unstable. On the other hand, if the intersection angle ψ is above the upper limit, the inclination angle of the second conveying surface 721 with respect to the horizontal plane may become too small. In this case, when the lid body 9 is conveyed by sliding under its own weight, frictional resistance may cause it to stop, or the conveying speed may decrease.

[0071] The distance in the first direction D1 from the terminal position 715 of the first conveying surface 711 to the second conveying surface 721 is defined as the separation distance L2 shown in FIG. When the outer diameter L of the lid body 9 is defined as 1, the separation distance L2 is preferably greater than 0.50 and less than 1.00, more preferably 0.51 to 0.80, and even more preferably 0.52 to 0.65. This prevents insufficient or excessive rotation when the lid body 9 protruding from the first conveying surface 711 changes its position due to a rotational force. As a result, the probability that the lid body 9e will be positioned on the second conveying surface 721 in the proper position can be increased.

[0072] If the distance L2 is less than the lower limit, the rotation may be insufficient, and the position of the lid body 9e may not be changed. On the other hand, if the distance L2 is greater than the upper limit, the rotation may be excessive, and the position of the lid body 9e may become unstable.

[0073] As shown in FIG. 4, the container supply device 7 may include a gas blowing unit 73 that blows gas 731 in the second direction D2 along the second conveying surface 721. The gas blowing unit 73 shown in FIG. 4 is configured to blow gas 731 downward from the top of the second conveying surface 721. The blown gas 731 hits the lid body 9d, thereby increasing the rotational force around the terminal position 715 as the center of rotation. This allows for a more reliable change from the position of lid body 9d to the position of lid body 9e. Furthermore, the conveying speed of the lid body 9e along the second conveying surface 721 can be increased. The type of gas 731 is not particularly limited, but compressed air is preferable from the viewpoint of introduction costs, etc. The gas blowing unit 73 may be provided as needed and may be omitted.

[0074] Furthermore, it is preferable that the intersection angle ψ and the separation distance L2 are adjustable according to the size of the lid body 9. This allows the container supplying device 7 to be easily adapted to various types of lid body 9 (containers).

[0075] 1.1.4.3. Second Transfer Step In the second conveying step S106, the second container surface 902 is oriented so as to face the second conveying surface 721, and the lid body 9e is conveyed by the second conveying surface 721 to the end point G. This allows the lid body 9f to be supplied onto the belt conveyor 42 shown in FIG.

[0076] 3, the distance in the second direction D2 from the intersection of the plane obtained by extrapolating the first conveying surface 711 and the second conveying surface 721 to the terminal position 725 of the second conveying surface 721 is defined as distance L3. While not particularly limited, distance L3 is preferably set to 0.50 or more, more preferably 0.55 or more but less than 1.00, and even more preferably 0.60 or more but 0.95, where L3 is the outer diameter of the lid body 9, and is taken as 1. This allows the second conveying section 72 to be made smaller while stabilizing the posture of the lid body 9e when it is conveyed.

[0077] If the distance L3 is below the lower limit, a sufficient distance cannot be ensured for the lid body 9f to slide down in a stable position, which may cause the lid body 9f to be supplied to the end point G to assume an unstable position. On the other hand, the distance L3 may exceed the upper limit, but in that case, it may become difficult to reduce the size of the second conveying section 72.

[0078] As shown in FIG. 4, the container supply device 7 may include a gas blowing unit 74 provided at the terminal position 725 of the second conveying surface 721. The gas blowing unit 74 shown in FIG. 4 blows out gas 741 in a direction from the second conveying unit 72 toward the belt conveyor 42. When the lid body 9e conveyed by the second conveying surface 721 slides down from the terminal position 725 onto the belt conveyor 42, the lid body 9e receives a propulsive force from the gas 741. This allows the lid body 9e to be efficiently transferred from the second conveying surface 721 toward the belt conveyor 42. The type of gas 741 is not particularly limited, but compressed air is preferable from the viewpoint of introduction costs, etc. The gas blowing unit 74 may be provided as needed and may be omitted.

[0079] Furthermore, it is preferable that the distance L3 is adjustable according to the size of the lid body 9. This allows the container supplying device 7 to be easily adapted to various types of lid bodies 9 (containers).

[0080] Furthermore, the second transport unit 72 may be configured to move toward or away from the belt conveyor 42. This makes it possible, for example, to easily align the position of the end point G with the center of the width of the belt conveyor 42. Furthermore, the second transport unit 72 may move toward and away from the belt conveyor 42 repeatedly each time the lid body 9e is transported to the end point G.

[0081] 2. Second embodiment Next, a lid closing device according to a second embodiment will be described. FIG. 9 is a cross-sectional view showing the lid-closing device 1 according to the second embodiment.

[0082] The second embodiment will be described below, focusing on the differences from the first embodiment and omitting a description of similarities. Note that in Fig. 9, the same reference numerals are used to designate the same components as those in the first embodiment.

[0083] The capping device 1 according to the second embodiment is the same as the capping device 1 according to the first embodiment, except that the configuration of the second conveying section 72 included in the container supply device 7 is different.

[0084] The second transport section 72 shown in FIG. 9 is a conveyor-type transport device. Examples of conveyor-type transport devices include a belt conveyor and a side-arm conveyor. In this case, the second transport surface 721 is the surface of the conveyor-type transport device. By using the conveyor-type transport device, the lid body 9 can be transported along the second transport surface 721 at a desired speed without relying on the lid body 9 dropping due to its own weight. Furthermore, when changing the position of the lid body 9d shown in FIG. 4 to the position of the lid body 9e, the conveyor-type transport device can apply a driving force to the lower end of the lid body 9d. This applies a rotational force to the lid body 9d, stabilizing the change in position. As a result, the takt time for supplying the lid body 9f can be controlled more accurately, and the lid body 9f can be supplied in a consistent position relative to the end point G.

[0085] In the second embodiment as described above, the same effects as in the first embodiment can be obtained. Similarly, the first transport unit 71 may be a conveyor-type transport device, which makes it possible to stabilize the transport of the lid bodies 9 by the first transport unit 71 and more accurately control the takt time for supplying the lid bodies 9.

[0086] 3. Effects of the above embodiments As described above, the container supplying device 7 according to the embodiment is a container supplying device that transports and supplies lid bodies 9 (containers) having first container surfaces 901 and second container surfaces 902 that are reverse to each other from a start point S to an end point G. The container supplying device 7 includes a first conveying unit 71 and a second conveying unit 72. The first conveying unit 71 has a first conveying surface 711 that is inclined with respect to the horizontal plane, and transports the lid bodies 9 in a first direction D1 that includes a vertically downward component from the start point S, with the first container surface 901 facing the first conveying surface 711. The second conveying unit 72 has a second conveying surface 721 that is inclined with respect to the horizontal plane, and transports the lid bodies 9 transported by the first conveying unit 71 in a second direction D2 that includes a vertically downward component and that is directed toward the end point G, with the second container surface 902 facing the second conveying surface 721. When viewed from vertically above, the first direction D1 and the second direction D2 include components that are directed in opposite directions. Furthermore, the second transport surface 721 is disposed vertically below and spaced apart from the terminal end position 715 of the first transport surface 711.

[0087] With this configuration, the posture of the lid body 9 transported by the first transport unit 71 can be changed while it is being dropped. This makes it possible to realize a container supply device 7 with a simple configuration that supplies the lid body 9 (container) while turning it upside down.

[0088] In the container supply device 7 according to the embodiment, the inclination angle θ of the first transport surface 711 with respect to the horizontal plane is equal to or greater than 30° and less than 90°.

[0089] With this configuration, the lid body 9 can be transported along the first transport surface 711 in a stable manner.

[0090] In the container supply device 7 according to the embodiment, the angle formed by the first transport surface 711 and the second transport surface 721 that opens vertically upward (intersection angle ψ) is 30° or more and 100° or less.

[0091] With this configuration, the posture of the lid body 9 transported on the first transport surface 711 can be changed stably, and the lid body 9 can be transported along the second transport surface 721 stably.

[0092] In the container supply device 7 of the above embodiment, when the outer diameter L of the lid body 9 (container) is 1, the distance L2 in the first direction D1 from the terminal position 715 of the first conveying surface 711 to the second conveying surface 721 is greater than 0.50 and less than 1.00.

[0093] This configuration can prevent insufficient or excessive rotation when the lid body 9 projecting from the first conveying surface 711 receives a rotational force and changes its position, thereby increasing the probability that the lid body 9e will be placed on the second conveying surface 721 in the position it is in.

[0094] In the container supplying device 7 according to the embodiment, the first conveying surface 711 and the second conveying surface 721 are sliding surfaces that allow the lid body 9 (container) to slide and be conveyed.

[0095] According to this configuration, the lid body 9 can be transported without consuming energy, and therefore the configurations of the first transport section 71 and the second transport section 72 can be simplified.

[0096] The container supplying device 7 according to the embodiment includes a gas blowing section 73 that blows out a gas 731 along the second transport surface 721 in the second direction D2.

[0097] This configuration can increase the rotational force around terminal position 715. This allows for a more reliable change from the posture of lid body 9d to the posture of lid body 9e. Also, the transport speed of lid body 9e by second transport surface 721 can be increased.

[0098] In the container supplying device 7 according to the embodiment, the second transfer section 72 is a conveyor-type transfer device that transfers the lid bodies 9 (containers) placed on the second transfer surface 721.

[0099] This configuration allows lid body 9 to be transported at a desired speed along second transport surface 721 without relying on lid body 9 dropping due to its own weight. Furthermore, when changing the position of lid body 9d from lid body 9d to lid body 9e, the conveyor-type transport device applies a driving force to the lower end of lid body 9d. This applies a rotational force to lid body 9d, stabilizing the change in position. As a result, the takt time for supplying lid body 9f can be controlled more accurately, and lid body 9f can be supplied to end point G in a consistent position.

[0100] The container supply device 7 according to the embodiment includes a container storage unit 800. The container storage unit 800 is disposed vertically above the starting point S, stores a plurality of lid bodies 9 (containers) stacked on top of each other, and cuts out one of the stored plurality of lid bodies 9 to the starting point S.

[0101] According to this configuration, it is possible to realize a container supplying device 7 that contributes to further labor saving in the lid closing operation of closing the lid body 9 supplied by the container supplying device 7 onto the container body 8.

[0102] In the container supply device 7 according to the embodiment, the first container surface 901 includes a convex surface 903, and the second container surface 902 includes a concave surface 904 that is the opposite surface to the convex surface 903. The container storage unit 800 stores the lid body 9 (container) in an orientation in which the convex surface 903 faces the first direction D1.

[0103] According to this configuration, the lowest lid body 9a can be smoothly cut out from the plurality of lid bodies 9 stored.

[0104] In the container supply device 7 according to the embodiment, the first conveying unit 71 has a locking unit 713 that locks a part of the lid body 9 (container) cut out from the container storage unit 800. The locking unit 713 locks a part of the lid body 9 that is cut out from the container storage unit 800 and falls, thereby changing the position of the lid body 9 to a position where the first container surface 901 faces the first conveying surface 711.

[0105] With this configuration, the locking portion 713 catches on a radial portion of the lid body 9a that is about to fall, thereby applying a rotational force to the lid body 9a, thereby more reliably changing the position of the lid body 9a to the position of the lid body 9b.

[0106] The container supply method according to the embodiment is a method for transporting and supplying lid bodies 9 (containers) having a first container surface 901 and a second container surface 902 that are reversed relative to each other from a start point S to an end point G, and includes a first transport step S102, an inversion step S104, and a second transport step S106. In the first transport step S102, the lid bodies 9 are transported from the start point S by the first transport surface 711 with the first container surface 901 facing the first transport surface 711. In the inversion step S104, the lid bodies 9 are dropped from a terminal position 715 of the first transport surface 711 toward the second transport surface 721, while the orientation of the lid bodies 9 is changed to an orientation where the second container surface 902 faces the second transport surface 721. In the second transport step S106, the lid body 9 is transported to the end point G by the second transport surface 721 with the second container surface 902 facing the second transport surface 721.

[0107] With this configuration, the posture of the lid body 9 transported by the first transport section 71 can be changed while it is being dropped. This allows the lid body 9 (container) to be supplied while being turned upside down.

[0108] The lid fastening device 1 according to the embodiment includes a container supply device 7, a robot 2 having a robot arm 22, and a lid fastening jig 3. The lid fastening jig 3 is attached to the robot arm 22, and places a lid 9 serving as a container supplied by the container supply device 7 over the container 8, thereby fitting the lid 9 to the container 8.

[0109] According to this configuration, it is possible to realize a lid fastening device 1 with a simple configuration that can efficiently perform the lid fastening operation of fastening the lid body 9 on the container 8 using the robot 2.

[0110] Although the container supplying device, container supplying method, and lid fastening device according to the present invention have been described above based on the illustrated embodiments, the present invention is not limited to these.

[0111] For example, the container supply device and lid closing device according to the present invention may be configured such that each part of the above-described embodiment is replaced with any component having the same function, or any component is added to the above-described embodiment.Furthermore, the container supply method according to the present invention may be configured such that any purposeful process is added to the above-described embodiment. [Explanation of symbols]

[0112] 1...lid closing device, 2...robot, 3...jig, 7...container supply device, 8...container, 9...lid, 9a...lid, 9b...lid, 9c...lid, 9d...lid, 9e...lid, 9f...lid, 22...robot arm, 23...lid holding position, 41...belt conveyor, 42...belt conveyor, 71...first conveying section, 72...second conveying section, 73...gas blowing section, 74...gas blowing section, 82...bottom, 83...opening, 84...cylindrical section, 86...engaging section, 92...base, 94...cylindrical section, 96...engaging section, 411...arrow, 421...arrow, 711...first conveying surface, 713...locking section, 715...terminal position , 721...second conveying surface, 725...terminal position, 731...gas, 741...gas, 800...container storage section, 810...stopper, 811...arrow, 820...holder, 901...first container surface, 902...second container surface, 903...convex surface, 904...concave surface, A...arrow, A1...axis, D1...first direction, D2...second direction, G...end point, L...outer diameter, L1...distance, L2...separation distance, L3...distance, S...starting point, S1...internal space, S102...first conveying step, S104...inversion step, S106...second conveying step, h...projection height, θ...inclination angle, φ8...outer diameter, φ9...inner diameter, ψ...intersection angle

Claims

1. A container supplying device that conveys and supplies a container having a first container surface and a second container surface that are reversed to each other from a start point to an end point, a first conveying unit having a first conveying surface inclined with respect to a horizontal plane, and conveying the container from the starting point in a first direction including a vertically downward component with the first container surface facing the first conveying surface; a second conveying section having a second conveying surface inclined with respect to a horizontal plane, which conveys the container conveyed by the first conveying section in a second direction including a vertically downward component toward the end point, with the second container surface facing the second conveying surface; Equipped with When viewed vertically from above, the first direction and the second direction include components that are opposite to each other, The container supply device is characterized in that the second conveying surface is disposed vertically below and spaced apart from the terminal position of the first conveying surface.

2. The container supply device according to claim 1 , wherein the inclination angle of the first conveying surface relative to the horizontal plane is equal to or greater than 30° and less than 90°.

3. 3. The container supply device according to claim 1, wherein the angle formed between the first transport surface and the second transport surface that opens vertically upward is equal to or greater than 30 degrees and equal to or less than 100 degrees.

4. A container supply device as described in claim 1 or 2, wherein when the outer diameter of the container is 1, the distance L2 in the first direction from the terminal position of the first conveying surface to the second conveying surface is greater than 0.50 and less than 1.

00.

5. 3. The container supplying device according to claim 1, wherein the first conveying surface and the second conveying surface are sliding surfaces that slide the containers to convey them.

6. The container supply device according to claim 5 , further comprising a gas blowout unit that blows gas in the second direction along the second transport surface.

7. 3. The container supply device according to claim 1, wherein the second transport section is a conveyor-type transport device that transports the containers by placing them on the second transport surface.

8. The container supply device according to claim 1, further comprising a container storage section arranged vertically above the starting point, storing a plurality of the stacked containers, and dispensing one of the stored plurality of containers to the starting point.

9. the first container surface includes a convex surface; the second container surface includes a concave surface opposite the convex surface, The container supply device according to claim 8 , wherein the container storage section stores the container in an orientation in which the convex surface faces the first direction.

10. the first transport unit has a locking unit that locks a part of the container cut out from the container storage unit, A container supply device as described in claim 8 or 9, wherein the locking portion locks a portion of the container that is cut out and falls from the container storage portion, thereby changing the orientation of the container to an orientation in which the first container surface faces the first conveying surface.

11. A container supplying method for conveying and supplying a container having a first container surface and a second container surface that are reversed to each other from a start point to an end point, comprising: conveying the container from the starting point by the first conveying surface with the first container surface facing the first conveying surface; changing the orientation of the container to an orientation in which the second container surface faces the second conveying surface while dropping the container from the terminal position of the first conveying surface toward the second conveying surface; conveying the container to the end point by the second conveying surface with the second container surface facing the second conveying surface; A container supply method comprising the steps of:

12. The container supply device according to claim 1 or 2; a robot having a robot arm; a lid fastening jig attached to the robot arm for fitting the lid body as the container supplied by the container supply device onto the container; A lid closing device comprising:

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