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

Abstract

To provide a container supply method capable of supplying a container at a target timing while reversing the container, and easily shortening a supply cycle time, a container supply device of a simple constitution capable of supplying the container, and a lid closing device of a simple constitution capable of efficiently performing lid closing work for closing a lid body to a storage body by using a robot.SOLUTION: A container supply device that conveys and supplies a container from a start point to an end point, the container supply device comprising: a container placement portion; a first conveyance portion that has a first conveyance surface inclined in a first conveyance direction and that reverses the container; and a second conveyance surface inclined in a second conveyance direction, A container supply device includes a second conveyance unit that conveys a container conveyed by a first conveyance unit in a second conveyance direction, and an opening / closing unit that has a plate-shaped member provided on an end point and switches between a closed state in which the container conveyed by the second conveyance unit is supported by the plate-shaped member in a thickness direction and an open state in which the container in the closed state is released downward by moving the plate-shaped member in the closed state.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] Normally, multiple lids are stocked, and one is cut out and supplied for the capping operation. Therefore, depending on the position of the lid when it is stocked, it may be necessary to change the position of the lid before the capping operation.

[0004] Patent Document 1 discloses a cap chute device for supplying caps for bottle containers such as PET bottles, which aligns the caps with their openings facing up in a cap alignment device, then changes the orientation of the caps from facing up to facing down while transporting them in a transport path, and supplies the caps in that state. This device can reverse the orientation of the caps, allowing them to be supplied in a position suitable for the capping operation. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-168508 Summary of the Invention [Problem to be solved by the invention]

[0006] In the device described in Patent Document 1, the caps fed from the cap alignment device are transported along a transport path by falling under their own weight, making it difficult to precisely control the timing of supplying them to their destinations. As a result, there is a problem in that it is difficult to sufficiently shorten the cycle time of the cap supply operation. [Means for solving the problem]

[0007] A container supply device according to an application example of the present invention includes: A container supplying device that conveys and supplies containers having a front and back in the thickness direction from a starting point to an end point, a container placement unit that places the container at the starting point; a first conveying section provided below the container placement section, having a first conveying surface inclined along a first conveying direction composed of a downward component and a first horizontal component, and conveying the container placed in the container placement section in the first conveying direction and dropping the container from an end of the first conveying surface, thereby turning the container upside down; a second conveying section provided below the terminal end of the first conveying section, having a second conveying surface inclined along a second conveying direction constituted by a second horizontal direction including a downward component and a component opposite to the first horizontal direction, and which conveys the container conveyed by the first conveying section in the second conveying direction; an opening / closing unit that has a plate-like member provided on the end point and switches between a closed state in which the container transported by the second transport unit is supported by the plate-like member in the thickness direction and an open state in which the container in the closed state is released downward by moving the plate-like member in the closed state; Equipped with.

[0008] 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 front and back in the thickness direction from a starting point to an end point, comprising: conveying the container from the starting point along a first conveying surface; The container is dropped from the end of the first conveying surface toward the second conveying surface, thereby turning the container upside down; The container is transported along the second transport surface toward an opening / closing unit having a plate-like member that opens and closes. The plate-like member in the closed state supports the container in the thickness direction; By opening the plate-like member, the container is released downward and supplied to the end point.

[0009] The lid closing device according to the application example of the present invention is a container supplying device that conveys and supplies a container having a front and back in the thickness direction from a starting point to an end point; a robot having a robot arm; a lid closing tool attached to the robot arm for closing the lid body as the container supplied by the container supply device onto the container; Equipped with The container supply device is a container placement unit that places the container at the starting point; a first conveying section provided below the container placement section, having a first conveying surface inclined along a first conveying direction composed of a downward component and a first horizontal component, and conveying the container placed in the container placement section in the first conveying direction and dropping the container from an end of the first conveying surface, thereby turning the container upside down; a second conveying section provided below the terminal end of the first conveying section, having a second conveying surface inclined along a second conveying direction constituted by a second horizontal direction including a downward component and a component opposite to the first horizontal direction, and which conveys the container conveyed by the first conveying section in the second conveying direction; an opening / closing unit that has a plate-like member provided on the end point and switches between a closed state in which the container transported by the second transport unit is supported by the plate-like member in the thickness direction and an open state in which the container in the closed state is released downward by moving the plate-like member in the closed state; It has. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram showing a lid closing device according to an 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 schematic diagram showing the relationship between a first horizontal component and a second horizontal component shown in FIG. 3. FIG. [Figure 6] FIG. 4 is a perspective view showing a part of the container supply device of FIG. 3. [Figure 7] FIG. 4 is a detailed view of the container placement section shown in FIG. 3. [Figure 8] FIG. 4 is a detailed view of the container placement section shown in FIG. 3. [Figure 9] 10A and 10B are cross-sectional views illustrating the transition of the opening / closing unit from a closed state to an open state. [Figure 10] FIG. 4 is a perspective view showing an accommodation space for a plate-shaped member. [Figure 11] 10 is a flowchart showing the configuration of a container supply method according to the embodiment. [Figure 12] FIG. 1 is a perspective view showing a part of a capping device having five container supplying devices. DETAILED DESCRIPTION OF THE INVENTION

[0011] 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.

[0012] 1. Lid closing device and container supply device First, the capping device 1 according to the embodiment and the container supply device 7 according to the embodiment provided in the capping device 1 will be described.

[0013] FIG. 1 is a schematic diagram showing a lid closing device 1 according to an 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."

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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 capping operation. The capping device 1 according to this embodiment includes two container supply devices 7, 7.

[0018] Belt conveyor 41 (conveyor for transporting containers) 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 through lid closing position 24 on the way. Lid closing position 24 is the position where robot 2 performs the lid closing operation. The contents of containers 8 may be, for example, food or the like, but are not particularly limited thereto. Containers 8 with lids 9 closed are transported by belt conveyor 41.

[0019] Belt conveyor 42 (lid body transporting conveyor) transports lid bodies 9 supplied from container supply device 7 in the direction of arrow 421 shown in Fig. 1. In addition, belt conveyor 42 transports lid bodies 9 so that they pass through lid body holding position 23 on the way. Lid body holding position 23 is a position where robot 2 holds lid body 9.

[0020] 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 depending on the operating range of the robot 2.

[0021] 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.

[0022] 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 shown in FIG. 1 is set to include a lid closing position 24 and a lid body holding position 23.

[0023] 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.

[0024] The belt conveyors 41 and 42 may be provided with a lighting device such as a backlight to make it easier to detect the container 8 and the lid 9.

[0025] 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 FIG. 2, two mutually perpendicular axes, the a-axis and the b-axis, are defined. In FIG. 2, 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 will be referred to as "up," the negative side of the a-axis as "down," the positive side of the b-axis as "out," and the negative side of the b-axis as "in."

[0026] 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.

[0027] 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.

[0028] 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.

[0029] The material of the container 8 is not particularly limited, but may be, for example, a thermoplastic resin such as expanded polystyrene.

[0030] 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 .

[0031] 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. 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.

[0032] 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.

[0033] The material of the lid 9 is not particularly limited, but may be, for example, a thermoplastic resin such as polyethylene or polyethylene terephthalate.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] Although an example of a container has been described above, the shape of the container in a plan view 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, etc. Furthermore, the lid 9 may be a type that is screwed onto the container 8 or closed by some other locking structure.

[0038] 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.

[0039] 3 and 4 includes a first conveying section 71, a second conveying section 72, a container placement section 75, and an opening / closing section 76. The container supplying device 7 is a device that conveys and supplies the lid body 9 from a start point S to an end point G while turning the lid body 9 upside down. In FIGS. 3 and 4, the end point G is set on the belt conveyor 42 (a conveyor for conveying the lid body).

[0040] 1.3.1. First conveyor section The first conveying unit 71 has a first conveying surface 711. The first conveying surface 711 shown in FIGS. 3 and 4 is a sliding surface that is inclined with respect to a horizontal plane and allows the lid body 9 to slide on it. Specifically, the first conveying surface 711 is an inclined surface that extends in the first conveying direction D1 from the starting point S toward the second conveying unit 72. By using this first conveying surface 711, the first conveying unit 71 conveys the lid body 9 placed at the starting point S in the first conveying direction D1.

[0041] In Figures 3 and 4, the first conveying direction D1 is represented by a directed line segment d1 that is parallel to the first conveying direction D1 and has a predetermined length. The directed line segment d1 can be broken down into a downward component d10 and a first horizontal component d11. Because the directed line segment d1 has a downward component d10, the first conveying surface 711 is an inclined surface that slopes at a predetermined angle from the starting point S toward the second conveying section 72. If the inclination angle is sufficiently large, the lid bodies 9 placed on the first conveying surface 711 are conveyed by sliding in the first conveying direction D1 under their own weight. This allows the lid bodies 9 to be conveyed without consuming energy, thereby simplifying the configuration of the first conveying section 71. As described below, the lid bodies 9 conveyed on the first conveying surface 711 fall off the first conveying surface 711 at the end 715 of the first conveying surface 711 and are turned over, as described above.

[0042] The first transport surface 711 is preferably parallel to the Y axis, which makes it possible to prevent the lid body 9 from shifting to the side of the first transport surface 711 during transport.

[0043] Furthermore, the first transport surface 711 is not limited to a flat surface, but may be, for example, a curved surface, or a surface including small steps or irregularities.

[0044] 3, the inclination angle of the first conveying surface 711 with respect to the horizontal plane is designated as θ1. The inclination angle θ1 is preferably set to be 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.

[0045] The tilt angle θ1 may be fixed, but is preferably variable, which allows the optimum tilt angle θ1 to be easily selected depending on the type of lid 9, the surrounding environment, etc.

[0046] The length of the first conveying surface 711 in the first conveying direction D1 may be fixed, but is preferably variable, which allows the optimum length to be easily selected depending on the type of lid 9, the surrounding environment, etc.

[0047] The material of which the first transport surface 711 is made is not particularly limited, but examples thereof include metal materials such as stainless steel and aluminum alloys, ceramic materials, glass materials, and resin materials.

[0048] 1.3.2. Second conveyor section The second conveying unit 72 is disposed below the terminal end 715 of the first conveying surface 711. The second conveying unit 72 has a second conveying surface 721. The second conveying surface 721 shown in FIGS. 3 and 4 is 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 conveying direction D2 from a position where the lid body 9 conveyed by the first conveying unit 71 falls toward the opening / closing unit 76. By using this second conveying surface 721, the second conveying unit 72 conveys the lid body 9 conveyed by the first conveying unit 71 in the second conveying direction D2.

[0049] In Figures 3 and 4, the second conveying direction D2 is represented by a directed line segment d2 that is parallel to the second conveying direction D2 and has a predetermined length. The directed line segment d2 can be decomposed into a downward component d20 and a second horizontal component d21. Because the directed line segment d2 has a downward component d20, the second conveying surface 721 is an inclined surface that is inclined at a predetermined angle from the position where the lid body 9 falls toward the opening / closing unit 76. If the inclination angle is sufficiently large, the lid body 9 placed on the second conveying surface 721 is conveyed by sliding in the second conveying direction D2 under its own weight. This allows the lid body 9 to be conveyed without consuming energy, thereby simplifying the configuration of the second conveying unit 72. As described below, the lid body 9 conveyed on the second conveying surface 721 leaves the second conveying surface 721 at the end 725 of the second conveying surface 721 and is supplied to the opening / closing unit 76. In addition, when the virtual surface extending along the first conveying direction D1 of the first conveying surface 711 is defined as the first virtual surface, and the virtual surface extending along the second conveying direction D2 of the second conveying surface 721 is defined as the second virtual surface, the first virtual surface and the second virtual surface are in an intersecting relationship.

[0050] The second transport surface 721 is preferably parallel to the Y axis, which makes it possible to prevent the lid body 9 from shifting to the side of the second transport surface 721 during transport.

[0051] Furthermore, the second transport surface 721 is not limited to a flat surface, and may be, for example, a curved surface, or a surface including small steps or irregularities. The second transport surface 721 may be divided into two or more, and there may be a gap between the two or more second transport surfaces 721. If there is a gap, the second transport surfaces 721 may be arranged on both sides, and the gap may be arranged in the center of the two or more second transport surfaces 721.

[0052] 3, the inclination angle of second conveying surface 721 with respect to the horizontal plane is designated as θ2. The inclination angle θ2 is preferably set to be 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 lid body 9 to be stably conveyed along second conveying surface 721.

[0053] The inclination angle θ2 may be fixed, but is preferably variable, which allows the optimum inclination angle θ2 to be easily selected depending on the type of lid 9, the surrounding environment, etc.

[0054] The length of the second conveying surface 721 in the second conveying direction D2 may be fixed, but is preferably variable, which allows the optimum length to be easily selected depending on the type of lid 9, the surrounding environment, etc.

[0055] The material of the second transport surface 721 is not particularly limited, but examples thereof include metal materials such as stainless steel and aluminum alloys, ceramic materials, glass materials, and resin materials.

[0056] Fig. 5 is a schematic diagram showing the relationship between the component of the first horizontal direction d11 and the component of the second horizontal direction d21 shown in Fig. 3. Fig. 5 is a plan view of the XY plane from above the Z axis.

[0057] In FIG. 5, the first horizontal direction d11 and the second horizontal direction d21 are each represented by an arrow. The second horizontal direction d21 may include a component in the opposite direction to the first horizontal direction d11. In other words, the angle α formed between the first horizontal direction d11 and the second horizontal direction d21 shown in FIG. 5 may be an acute angle. The angle α is preferably 45° or less, and more preferably 30° or less. With this configuration, the lid body 9 transported in the first transport direction D1 is turned back midway and transported in the second transport direction D2. This allows the overall length of the container supply device 7 in the Y-axis direction to be shortened, thereby enabling miniaturization.

[0058] 1, the lid body 9 is transported to the positive side of the Y axis by the first transport surface 711, and the lid body 9 is transported to the negative side of the Y axis by the second transport surface 721. Therefore, the configuration shown in FIG. 1 is an example in which the angle α is 0°.

[0059] FIG. 6 is a perspective view showing a part of the container supplying device 7 of FIG. The second transport section 72 shown in FIG.

[0060] Guide rail 722 is a rail that guides the movement of movable part 724. Guide rail 722 extends in the Y-axis direction, which allows movable part 724 to move easily and accurately along the Y-axis.

[0061] The movable portion 724 is a structure that is guided along the guide rail 722. The movable portion 724 supports the second conveying surface 721. This allows the second conveying surface 721 to move easily and accurately in the Y-axis direction. This makes it easy to change the distance between the end 715 of the first conveying surface 711 and the second conveying surface 721 in the up-down direction shown in FIG. 3. As a result, the optimal distance can be selected depending on the size of the lid body 9, and therefore, even when different types of lid body 9 are used in the lid closing operation, the operation of turning the lid over can be performed more reliably.

[0062] The movable portion 724 also has a function of adjusting the position of the terminal end 725 of the second conveying surface 721. This makes it possible to easily change the distance between the end point G and the terminal end 725 of the second conveying surface 721 depending on, for example, the size of the lid body 9.

[0063] 6 may be provided on the belt conveyor 42 as needed. The deviation prevention plate 422 is disposed on an extension of the plate-shaped member 761. This prevents the lid body 9 supplied onto the plate-shaped member 761 by the second transport unit 72 from deviating from the belt conveyor 42 due to inertia.

[0064] 1.3.3. Container placement part As shown in FIG. 3, a container placement unit 75 is disposed above the first conveying surface 711. The container placement unit 75 stores a plurality of lid bodies 9 and supplies one of them to the starting point S. By using such a container placement unit 75, 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.

[0065] 7 and 8 are detailed views of the container placement section 75 shown in FIG. 7 and 8 stores a plurality of stacked lid bodies 9. In Fig. 7 and Fig. 8, the lid bodies 9 are stacked in the first transport direction D1, but the stacking direction is not limited to this.

[0066] The container placement section 75 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 indicated by arrows 811 in FIG. 3. As shown in FIG. 7, when the pair of stoppers 810, 810 are toward each other, 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.

[0067] The pair of holders 820, 820 hold the lid bodies 9 except for the lid body 9a located at the bottom. Then, when the lid body 9a is cut out, the pair of holders 820, 820 release the hold on the bottommost lid body 9 among the lid bodies 9 they are holding, and allow it to be supported by the pair of stoppers 810, 810.

[0068] When cutting out the lid body 9a, the pair of stoppers 810, 810 are moved away from each other as shown in Fig. 8. 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 placed at the starting point S.

[0069] In FIGS. 7 and 8, the lid bodies 9 are stacked with the first container surface 901 (convex surface 903) facing downward in the direction d10. Setting the lid bodies 9 in this position when stacked allows for smooth removal of the lid body 9a. Specifically, in FIGS. 7 and 8, 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 fitting of the lid bodies 9 together, facilitating smooth removal of the lid body 9a.

[0070] Furthermore, with the stacking method described above, the first container surface 901 is supported by the stoppers 810, 810. The first container surface 901 is the surface that does not face the contents contained in the container 8, and the second container surface 902 is the surface that faces the contents contained in the container 8. Therefore, even if the first container surface 901 comes into contact with the stoppers 810, 810, the second container surface 902 does not come into contact with the stoppers 810, 810, and therefore there is little adverse effect on food hygiene. For this reason, the stacking method described above is particularly useful when the contents are food.

[0071] The configuration of the container placement section 75 is not limited to the above configuration, as long as it is a configuration that allows one lid body 9a to be placed at the starting point S.

[0072] 1.3.4.Opening and Closing Sections An opening / closing section 76 is provided between the end 725 of the second conveying surface 721 and the terminal point G. The opening / closing section 76 has a plate-shaped member 761. The plate-shaped member 761 shown in FIGS. 3 and 4 has a plate shape that extends along the XY plane. The plate-shaped member 761 is movable along the XY plane. As the plate-shaped member 761 moves, the opening / closing section 76 can be in two states.

[0073] 3 and 4, the state in which the plate-shaped member 761 is positioned on the end point G is referred to as the "closed state." Also, the state in which the plate-shaped member 761 is separated from the end point G is referred to as the "open state."

[0074] FIG. 9 is a cross-sectional view illustrating the transition of the opening / closing unit 76 from the closed state to the open state. 9 indicates the movement of the plate-shaped member 761. Furthermore, the plate-shaped member 761 in the closed state is indicated by a broken line, and the plate-shaped member 761 in the open state is indicated by a solid line.

[0075] In the closed state, as shown in Fig. 9, the plate-shaped member 761 is disposed on the end point G and at a position intersecting with the extension plane of the second conveying surface 721. As a result, when the lid body 9f is supplied onto the plate-shaped member 761, the plate-shaped member 761 supports the lid body 9f in the thickness direction. Furthermore, when the state transitions from this state to the open state, the lid body 9f falls as shown by the arrow H1. As a result, the lid body 9f can be released toward the end point G shown in Fig. 9.

[0076] 3 and 4 has a drive unit 762 that moves the plate-shaped member 761. The drive unit 762 generates a drive force for opening and closing the plate-shaped member 761. Examples of the drive unit 762 include various linear motion devices such as an air cylinder, a hydraulic cylinder, and an electromagnetic actuator. Note that the plate-shaped member 761 may be opened and closed by receiving energy from a device other than the drive unit 762.

[0077] 9 moves along the XY plane, the change in posture of the lid body 9f when it falls can be minimized, which increases the possibility that the lid body 9g can be supplied in the correct posture to the end point G shown in FIG.

[0078] The method of moving the plate-shaped member 761 is not limited to the above. For example, the plate-shaped member 761 may be divided into multiple sections, and each section may be rotated around the Y axis to open and release the lid 9f. In this case, however, there is a risk that the rotated section may interfere with the belt conveyor 42. For this reason, it is necessary to ensure a long distance between the plate-shaped member 761 and the belt conveyor 42.

[0079] In contrast, when the plate member 761 is moved along the XY plane, interference between the plate member 761 and the belt conveyor 42 can be reduced, and the falling distance of the lid body 9f can be shortened.

[0080] FIG. 10 is a perspective view showing the accommodation space 728 for the plate-like member 761. As shown in FIG. 10 has a storage space 728 provided inside the movable part 724. The storage space 728 stores the plate-like member 761 when the opening / closing part 76 transitions from the closed state to the open state. This makes it possible to prevent the container supply device 7 from becoming large.

[0081] Furthermore, the opening / closing unit 76 may be independent of the movable unit 724, but is preferably fixed to the movable unit 724. In FIG. 10, the drive unit 762 is connected to the movable unit 724 via a connecting unit (not shown). This allows the opening / closing unit 76 to move accordingly when the movable unit 724 is moved along the guide rail 722. As a result, the positional relationship between the second conveying surface 721 and the opening / closing unit 76 can be maintained constant, eliminating the need to adjust the positional relationship between the two.

[0082] The opening / closing unit 76 shown in FIG. 10 has a guide rail 766 and a slider 767 provided below a plate-shaped member 761. The guide rail 766 shown in FIG. 10 is fixed to the lower surface of the plate-shaped member 761. This allows the guide rail 766 to impart rigidity to the plate-shaped member 761. The slider 767 is guided by the guide rail 766 and moves relatively thereto. The slider 767 shown in FIG. 10 is fixed to the movable unit 724. The guide rail 766 and the slider 767 allow the plate-shaped member 761 to move back and forth linearly and smoothly relative to the movable unit 724. The positions of the guide rail 766 and the slider 767 may be interchanged.

[0083] The material of the plate-shaped member 761 is not particularly limited, but examples thereof include metal materials, ceramic materials, resin materials, and carbon materials. Alternatively, a composite material made of two or more of these may be used. Of these, metal materials are preferably used. Metal materials have high rigidity, so the shape of the plate-shaped member 761 can be well maintained. Furthermore, the amount of deformation during movement can be kept small. Therefore, the lid 9 can be supported and released with high precision.

[0084] The thickness of the thickest part of the plate-shaped member 761 is not particularly limited, but is preferably 0.5 mm to 30 mm, and more preferably 1 mm to 20 mm. This ensures the rigidity of the plate-shaped member 761 while sufficiently shortening the distance that the supported lid body 9 travels to reach the end point G. As a result, the lid body 9 can be supported and released with greater precision, and the lid body 9 can be supplied to the end point G at the desired timing.

[0085] Furthermore, a gap larger than the thickness of the lid 9 is provided between the end point G and the plate-shaped member 761 when it is in the closed state. In other words, the belt conveyor 42 is configured to transport the lid 9 on a path that passes under the plate-shaped member 761 when it is in the closed state, and the distance between the plate-shaped member 761 and the belt conveyor 42 in the thickness direction of the lid 9 is set to be larger than the thickness of the lid 9. By providing such a gap, the lid 9 can be kept waiting on the plate-shaped member 761 regardless of whether the lid 9 is present or not at the end point G.

[0086] 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.

[0087] FIG. 11 is a flowchart showing the configuration of a container supply method according to an embodiment. The container supply method shown in FIG. 11 includes a first transport step S102, a top-down turning step S104, a second transport step S106, a lid body supporting step S108, and a lid body releasing step S110.

[0088] 1.4.1. First transport step In the first conveying step S102, the lid body 9a placed at the starting point S from the container placement unit 75 is conveyed by the first conveying surface 711. In FIG. 4, the lid body 9a is placed at the starting point S with the first container surface 901 facing the first conveying direction D1. Note that the first container surface 901 of the lid body 9a includes the convex surface 903 shown in FIG. 2, and therefore the center of gravity is likely to shift toward the first conveying direction D1. Therefore, when the lid body 9a cut out from the container placement unit 75 is dropped and placed at the starting point S, the posture of the lid body 9a during the drop changes so that the first container surface 901 faces the first conveying surface 711. As a result, the posture of the lid body 9a changes from the posture of the lid body 9b shown in FIG. 4 to the posture of the lid body 9c.

[0089] The lid body 9c slides down in the first conveying direction D1 with the first container surface 901 facing the first conveying surface 711. The lid body 9c is in a stable position, so the conveying speed and conveying direction are easily maintained. Note that, in order to ensure a sufficient time for the lid body 9c to be conveyed in this position and to stabilize the position, it is preferable that the length of the first conveying surface 711 be set appropriately according to the size of the lid body 9c.

[0090] 1.4.2. Flip step In the front-to-back reversing step S104, the lid body 9c is dropped from the end 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 end 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.

[0091] When lid body 9d comes into contact with second conveying surface 721, it receives a propulsive force that shifts the contacted portion in second conveying direction D2. This causes lid body 9d to move away from terminal end 715 of first conveying section 71. As a result, the position of lid body 9d changes so that second container surface 902 faces second conveying surface 721, and assumes the position of lid body 9e shown in FIG. 4. This causes lid body 9d to be turned upside down.

[0092] 1.4.3. Second Transfer Step In the second transport step S106, the lid body 9e that has been turned over is transported by the second transport surface 721. Specifically, in the second transport step S106, the lid body 9e slides down in the second transport direction D2 with the second container surface 902 facing the second transport surface 721. Note that, in order to ensure a sufficient time for the lid body 9e to be transported in the attitude it is in and to stabilize its attitude, it is preferable that the length of the second transport surface 721 be set appropriately according to the size of the lid body 9e. Then, in the second transport step S106, the lid body 9e is transported to the opening / closing unit 76.

[0093] 1.4.4. Lid support step In the lid body supporting step S108, when the second conveying unit 72 conveys the lid body 9e to the opening / closing unit 76, the plate-shaped member 761 is set in the closed state beforehand. As a result, the lid body 9e conveyed by the second conveying unit 72 is supplied onto the plate-shaped member 761 in the position of the lid body 9f shown in FIG. 4. Therefore, in the closed state, the lid body 9f is supported in the thickness direction by the plate-shaped member 761. Because the plate-shaped member 761 is positioned above the end point G, in the closed state, the lid body 9f can be made to wait just before the end point G. As a result, when the lid body 9f is shifted to the open state in the lid body releasing step S110 described later, the lid body 9f can be quickly supplied to the end point G.

[0094] 1.4.5. Lid release step In the lid body release step S110, the plate-shaped member 761 is opened. Specifically, the plate-shaped member 761 is moved toward the positive Y-axis and drawn into the storage space 728 provided below the second conveying surface 721 shown in FIG. 10. This causes the lid body 9f to fall as indicated by the arrow H1 in FIG. 9. As a result, the lid body 9f can be released toward the end point G. Here, the time required for the plate-shaped member 761 to transition to the open state and the time required for the lid body 9f to fall to the end point G are sufficiently shorter than the time required for the lid body 9f to be transported from the start point S to the end point G while dropping and inverting. This is because the lid body 9f is waiting above the end point G. Therefore, the opening / closing unit 76 functions as a buffer that adjusts the timing of supplying the lid body 9f. In this way, by utilizing the opening and closing of the plate-shaped member 761, the lid body 9 can be supplied to the end point G at the desired timing according to the progress of the lid closing operation by the robot 2. As a result, there is no need to consider variations in time required for the lid body 9 to fall or turn over, and the cycle time for supplying the lid body 9 to the robot 2 can be easily shortened.

[0095] When the plate-shaped member 761 is moved from the closed state to the open state, the lid body 9f disposed on the plate-shaped member 761 also moves toward the second conveying surface 721 (toward the positive side of the Y axis) together with the plate-shaped member 761. Therefore, the opening / closing unit 76 shown in FIG. 6 has a container contact portion 764 that comes into contact with the lid body 9f moving together with the plate-shaped member 761. This container contact portion 764 is provided above the opening of the storage space 728. Therefore, when the plate-shaped member 761 is drawn into the storage space 728, the lid body 9f comes into contact with the container contact portion 764, allowing the lid body 9f to slide off the plate-shaped member 761. This allows the lid body 9f to fall efficiently. Furthermore, by bringing the container contact portion 764 into contact with the lid body 9f, the falling position of the lid body 9f in the Y axis direction can be controlled. Therefore, the positions of the lid bodies 9g supplied to the belt conveyor 42 can be aligned with high precision.

[0096] Furthermore, in the capping device 1 according to this embodiment, as shown in FIG. 1, two container supply devices 7, 7 are arranged along the longitudinal direction (X-axis direction) of one belt conveyor 42. The two container supply devices 7, 7 normally supply the cap bodies 9 simultaneously, taking into consideration the uniform spacing of the cap bodies 9 on the belt conveyor 42. For this reason, in a conventional container supply device not equipped with an opening / closing unit 76, it was necessary to detect that the end point G was free, place the cap body 9 at the start point S, and transport it to the end point G. For this reason, even when two conventional container supply devices were used, there was a problem in that the cycle time could not be sufficiently shortened.

[0097] In contrast, the container supply device 7 according to this embodiment is equipped with the opening / closing unit 76, so that the lid body 9 can be supplied immediately when the end point G is free. In other words, since the lid body 9 is waiting on the plate-like member 761, it is only necessary to drop it. Therefore, by using two container supply devices 7, 7, it is possible to shorten the cycle time.

[0098] For example, if it takes 3.0 seconds to transport from start point S to end point G, even if two conventional container supply devices are used, it takes 3.0 seconds from when end point G becomes available until two lid bodies 9 are completely supplied.

[0099] In contrast, when two container supply devices 7, 7 are used, the opening / closing section 76 can function as a buffer, allowing the transport of the lid bodies 9 to begin before the end point G is open. As a result, the time from when the end point G is open to when the supply of two lid bodies 9 is completed can be reduced to half (approximately 1.5 seconds) per lid body compared to the conventional method. Therefore, according to the capping device 1 of this embodiment, by providing multiple container supply devices 7, the cycle time for supplying the lid bodies 9 can be more reliably reduced. Furthermore, by increasing the number of container supply devices 7 provided in the capping device 1 to three or more, the cycle time can be further reduced. Furthermore, by using the opening / closing section 76, variations in the supply speed of the lid bodies 9 between the container supply devices 7 can be absorbed. Therefore, there is no need to provide a margin in the cycle time to account for variations in the supply speed, and this also contributes to reducing the cycle time.

[0100] FIG. 12 is a perspective view showing a part of the capping device 1 having five container supplying devices 7. As shown in FIG. In this case, the time from when the end point G becomes available to when the supply of the lid body 9 is completed can be reduced to 1 / 5 (approximately 0.6 seconds) of the conventional time per lid body 9. When using a plurality of container supply devices 7, the plate-like members 761 may be provided individually, or two or more plate-like members 761 may be connected together. In this case, two or more lid bodies 9 can be supplied simultaneously while reducing the number of drive units 762 shown in FIG. 10.

[0101] 2. Effects of the above embodiment As described above, the container supply device 7 according to the embodiment is a container supply device that transports and supplies containers that have a front and back in the thickness direction from a starting point to an end point, and is equipped with a container placement section 75, a first conveying section 71, a second conveying section 72, and an opening / closing section 76.

[0102] The container placement unit 75 places the lid body 9 (container) at the starting point S. The first conveying unit 71 is provided below the container placement unit 75 and has a first conveying surface 711 that is inclined along a first conveying direction D1 that is composed of a downward component d10 and a first horizontal component d11. The first conveying unit 71 conveys the lid body 9 placed by the container placement unit 75 in the first conveying direction D1 and drops it from the end of the first conveying surface 711, thereby turning the lid body 9 upside down. The second conveying unit 72 is provided below the end 715 of the first conveying unit 71 and has a second conveying surface 721 that is inclined along a second conveying direction D2 that is composed of a downward component d20 and a second horizontal component d21 that is opposite to the first horizontal component d11. The second conveying unit 72 conveys the lid body 9 conveyed by the first conveying unit 71 in the second conveying direction D2. The opening / closing section 76 has a plate-shaped member 761 provided on the end point G, and switches between a closed state in which the plate-shaped member 761 supports the lid body 9 transported by the second transport section 72 in the thickness direction, and an open state in which the plate-shaped member 761 in the closed state is moved to release the lid body 9 in the closed state downward.

[0103] With this configuration, the lid body 9 (container) can be supplied to the end point G at the desired timing while being turned over. This eliminates the need to consider variations in time due to the lid body 9 dropping or turning over, and makes it possible to easily shorten the cycle time for supplying the lid body 9 to the robot 2, for example. Furthermore, by using multiple container supply devices 7, the cycle time for supplying the lid body 9 can be more reliably shortened.

[0104] In the container supplying device 7 according to the embodiment, the opening / closing unit 76 has a driving unit 762. The driving unit 762 moves the plate-shaped member 761 along the surface on which the plate-shaped member 761 extends.

[0105] This configuration reduces interference between the plate-like member 761 and the belt conveyor 42, shortening the distance the lid body 9f falls. It also minimizes the change in the posture of the lid body 9f as it falls. This increases the likelihood that the lid body 9f will be supplied to the end point G in the correct posture.

[0106] In the container supply device 7 according to the embodiment, the second transport section 72 has a movable section 724 that adjusts the position of the end 725 of the second transport surface 721.

[0107] With this configuration, the distance between the end point G and the terminal end 725 of the second transport surface 721 can be easily changed depending on the size of the lid body 9, for example.

[0108] In the container supply device 7 according to the embodiment, the movable portion 724 changes the distance between the first transport surface 711 and the second transport surface 721 in the vertical direction.

[0109] With this configuration, the optimum distance can be selected depending on the size of the lid body 9, so that even when different types of lid body 9 are used in the lid closing operation, the operation of turning the lid body upside down can be performed more reliably.

[0110] In the container supply device 7 according to the embodiment, the open state is a state in which the plate-shaped member 761 in the closed state is pulled below the second conveying surface 721. The opening / closing unit 76 has a container contact portion that comes into contact with the lid body 9 (container) that moves toward the second conveying surface 721 together with the plate-shaped member 761 during the transition from the closed state to the open state.

[0111] According to this configuration, in the process of pulling the plate-shaped member 761 below the second conveying surface 721 (accommodation space 728), the lid body 9 can be brought into contact with the container contact portion 764. This allows the lid body 9 to slide off the plate-shaped member 761, making it possible to control the position to which the lid body 9 falls.

[0112] 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.

[0113] 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.

[0114] In the container supplying device 7 according to the embodiment, the container placement unit 75 is disposed above the starting point S, and cuts out one of the plurality of lid bodies 9 (containers) stacked on top of each other and places it at the starting point S.

[0115] 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 container 8 with the lid body 9 supplied by the container supplying device 7.

[0116] The container supply method according to the embodiment is a method for conveying and supplying lid bodies 9 (containers) that have a front and back in the thickness direction from a starting point S to an end point G. In this container supply method, the lid bodies 9 are conveyed from a starting point S along a first conveying surface 711, and are dropped from an end point 715 of the first conveying surface 711 toward a second conveying surface 721, thereby turning the lid bodies 9 upside down. Furthermore, the lid bodies 9 that have been turned upside down are conveyed along the second conveying surface 721 toward an opening / closing unit 76 that has a plate-like member 761 that opens and closes. Furthermore, the plate-like member 761 in the closed state supports the lid bodies 9 in the thickness direction. Thereafter, the plate-like member 761 is opened, thereby releasing the lid bodies 9 toward the end point G.

[0117] With this configuration, the lid body 9 (container) can be supplied to the end point G at the desired timing while being turned over. This eliminates the need to consider variations in time due to the lid body 9 dropping or turning over, and makes it possible to easily shorten the cycle time for supplying the lid body 9 to the robot 2, for example. Furthermore, by using multiple container supply devices 7, the cycle time for supplying the lid body 9 can be more reliably shortened.

[0118] 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 container supply device 7 transports and supplies containers having a front and back sides in the thickness direction from a start point to an end point, and includes a container placement unit 75, a first conveying unit 71, a second conveying unit 72, and an opening / closing unit 76. The container placement unit 75 places a lid body 9 (container) at a start point S. The first conveying unit 71 is provided below the container placement unit 75 and has a first conveying surface 711 that is inclined along a first conveying direction D1 composed of a downward direction d10 component and a first horizontal direction d11 component. The first conveying surface 711 conveys the lid body 9 placed by the container placement unit 75 in the first conveying direction D1 and drops it from the end of the first conveying surface 711, thereby turning the lid body 9 over. The second conveying unit 72 is provided below the terminal end 715 of the first conveying unit 71 and has a second conveying surface 721 inclined along a second conveying direction D2 formed by a second horizontal direction d21 including a downward component d20 and a component opposite to the first horizontal direction d11. The second conveying unit 72 conveys the lid body 9 conveyed by the first conveying unit 71 in the second conveying direction D2. The opening / closing unit 76 has a plate-like member 761 provided on the terminal point G and switches between a closed state in which the plate-like member 761 supports the lid body 9 conveyed by the second conveying unit 72 in the thickness direction, and an open state in which the plate-like member 761 in the closed state is moved to release the lid body 9 downward from the closed state. The lid closing jig 3 is attached to the robot arm 22 and closes the lid body 9 as a container supplied by the container supplying device 7 over the container 8.

[0119] 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.

[0120] The lid closing device 1 according to the embodiment includes a belt conveyor 42 (a conveyor for conveying the lid body). The belt conveyor 42 conveys the lid body 9 so that it passes under the plate-like member 761 when the lid body 9 is in the closed state. At this time, the distance between the plate-like member 761 and the belt conveyor 42 in the thickness direction of the lid body 9 is greater than the thickness of the lid body 9.

[0121] According to this configuration, regardless of whether or not the lid body 9 is present at the end point G, the lid body 9 can be made to wait on the plate-like member 761.

[0122] 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.

[0123] 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]

[0124] 1...lid closing device, 2...robot, 3...lid closing jig, 7...container supply device, 8...container, 9...lid body, 9a...lid body, 9b...lid body, 9c...lid body, 9d...lid body, 9e...lid body, 9f...lid body, 9g...lid body, 22...robot arm, 23...lid body holding position, 41...belt conveyor, 42...belt conveyor, 71...first conveying section, 72...second conveying section, 75...container arrangement portion, 76...opening / closing portion, 82...bottom portion, 83...opening portion, 84...cylindrical portion, 86...engaging portion, 92...base portion, 94...cylindrical portion, 96...engaging portion, 411...arrow, 421...arrow, 422...deviation prevention plate, 711...first conveying surface, 715...terminal end, 721...second conveying surface, 722...guide rail, 724...movable portion, 725...terminal end, 728...accommodating space, 761...plate-shaped member, 762... Drive unit, 764...container contact portion, 766...guide rail, 767...slider, 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 conveying direction, D2...second conveying direction, G...end point, H1...arrow, S...starting point, S1...internal space, S102...second First conveying step, S104...front / back inversion step, S106...second conveying step, S108...lid support step, S110...lid release step, S2...arrow, d1...directed line segment, d10...downward direction, d11...first horizontal direction, d2...directed line segment, d20...downward direction, d21...second horizontal direction, α...angle, θ1...tilt angle, θ2...tilt angle, φ8...outer diameter, φ9...inner diameter

Claims

1. A container supplying device that conveys and supplies containers having a front and back in the thickness direction from a starting point to an end point, a container placement unit that places the container at the starting point; a first conveying section provided below the container placement section, having a first conveying surface inclined along a first conveying direction composed of a downward component and a first horizontal component, and conveying the container placed in the container placement section in the first conveying direction and dropping the container from an end of the first conveying surface, thereby turning the container upside down; a second conveying section provided below the terminal end of the first conveying section, having a second conveying surface inclined along a second conveying direction constituted by a second horizontal direction including a downward component and a component opposite to the first horizontal direction, and conveying the container conveyed by the first conveying section in the second conveying direction; an opening / closing unit that has a plate-like member provided on the end point and switches between a closed state in which the container transported by the second transport unit is supported by the plate-like member in the thickness direction and an open state in which the container in the closed state is released downward by moving the plate-like member in the closed state; A container supply device comprising:

2. The container supply device according to claim 1 , wherein the opening and closing unit has a drive unit that moves the plate-like member along a surface on which the plate-like member extends.

3. The container supply device according to claim 1 or 2, wherein the second transport unit has a movable part that adjusts the position of the end of the second transport surface.

4. The container supply device according to claim 3 , wherein the movable portion changes the distance between the first transport surface and the second transport surface in the up-down direction.

5. the open state is a state in which the plate-like member in the closed state is retracted below the second conveying surface, The container supply device according to claim 1 or 2, wherein the opening / closing section has a container contact section that comes into contact with the container moving toward the second conveying surface together with the plate-like member during the transition from the closed state to the open state.

6. 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.

7. The container supply device according to claim 1 or 2, wherein the container placement unit is disposed above the starting point, and cuts out one of the plurality of stacked containers and places it at the starting point.

8. A container supplying method for conveying and supplying a container having a front and back in the thickness direction from a starting point to an end point, comprising: conveying the container from the starting point along a first conveying surface; The container is dropped from the end of the first conveying surface toward the second conveying surface, thereby turning the container upside down; The container is transported along the second transport surface toward an opening / closing unit having a plate-like member that opens and closes. The plate-like member in the closed state supports the container in the thickness direction; A container supply method, characterized in that the plate-like member is opened to release the container downward and supply it to the end point.

9. a container supplying device that conveys and supplies a container having a front and back in the thickness direction from a starting point to an end point; a robot having a robot arm; a lid closing tool attached to the robot arm for closing the lid body as the container supplied by the container supply device onto the container; Equipped with The container supply device is a container placement unit that places the container at the starting point; a first conveying section provided below the container placement section, having a first conveying surface inclined along a first conveying direction composed of a downward component and a first horizontal component, and conveying the container placed in the container placement section in the first conveying direction and dropping the container from an end of the first conveying surface, thereby turning the container upside down; a second conveying section provided below the terminal end of the first conveying section, having a second conveying surface inclined along a second conveying direction constituted by a second horizontal direction including a downward component and a component opposite to the first horizontal direction, and conveying the container conveyed by the first conveying section in the second conveying direction; an opening / closing unit that has a plate-like member provided on the end point and switches between a closed state in which the container transported by the second transport unit is supported by the plate-like member in the thickness direction and an open state in which the container in the closed state is released downward by moving the plate-like member in the closed state; A lid closing device comprising:

10. a lid transport conveyor that transports the lid along a path that passes under the plate-like member when the lid is in the closed state; The lid fastening device according to claim 9, wherein the distance between the plate-like member and the lid transport conveyor in the thickness direction is greater than the thickness of the lid.

Images