Lidding system and lidding method

Abstract

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

What is claimed is: 
     
         1 . A lidding system comprising:
 a transfer apparatus configured to transfer a container which is put on the transfer apparatus such that a bottom of the container contacts the transfer apparatus, the container having an opening opposite to the bottom and a side wall extending from the bottom to the opening;   a holding apparatus configured to hold the side wall of the container at a lidding position; and   a lidding apparatus configured to press a lid against the container held by the holding apparatus to close the opening.   
     
     
         2 . The lidding system according to  claim 1 , wherein
 the container includes a flange on the side wall, and   the holding apparatus is configured to support an underside of the flange.   
     
     
         3 . The lidding system according to  claim 1 , wherein
 the holding apparatus is configured to hold the container to lift the container from the transfer apparatus, and   the transfer apparatus is configured to continue operating even while the holding apparatus holds the container.   
     
     
         4 . The lidding system according to  claim 2 , wherein
 the holding apparatus is configured to hold the container to lift the container from the transfer apparatus, and   the transfer apparatus is configured to continue operating even while the holding apparatus holds the container.   
     
     
         5 . The lidding system according to  claim 1 , further comprising:
 a position sensor configured to detect a position of the container; and   a processor configured to control the holding apparatus based on position data output from the position sensor so as to move the container to the lidding position.   
     
     
         6 . The lidding system according to  claim 2 , further comprising:
 a position sensor configured to detect a position of the container; and   a processor configured to control the holding apparatus based on position data output from the position sensor so as to move the container to the lidding position.   
     
     
         7 . The lidding system according to  claim 3 , further comprising:
 a position sensor configured to detect a position of the container; and   a processor configured to control the holding apparatus based on position data output from the position sensor so as to move the container to the lidding position.   
     
     
         8 . The lidding system according to  claim 5 , wherein
 the holding apparatus comprises
 a plurality of support members configured to support the side wall of the container, and 
 a plurality of horizontal actuators configured to move the plurality of support members, respectively, independently in a substantially horizontal direction, and 
   the processor is configured to control the plurality of horizontal actuators based on the position data so as to move the container to the lidding position.   
     
     
         9 . The lidding system according to  claim 6 , wherein
 the holding apparatus comprises
 a plurality of support members configured to support the side wall of the container, and 
 a plurality of horizontal actuators configured to move the plurality of support members, respectively, independently in a substantially horizontal direction, and 
   the processor is configured to control the plurality of horizontal actuators based on the position data so as to move the container to the lidding position.   
     
     
         10 . The lidding system according to  claim 7 , wherein
 the holding apparatus comprises
 a plurality of support members configured to support the side wall of the container, and 
 a plurality of horizontal actuators configured to move the plurality of support members, respectively, independently in a substantially horizontal direction, and 
   the processor is configured to control the plurality of horizontal actuators based on the position data so as to move the container to the lidding position.   
     
     
         11 . The lidding system according to  claim 5 , wherein
 the holding apparatus comprises
 a plurality of support members configured to support the side wall of the container, and 
 a rotary actuator configured to rotate the plurality of support members about a vertical axis, and 
   the processor is configured to control the rotary actuator based on the position data so as to move the container to the lidding position.   
     
     
         12 . The lidding system according to  claim 6 , wherein
 the holding apparatus comprises
 a plurality of support members configured to support the side wall of the container, and 
 a rotary actuator configured to rotate the plurality of support members about a vertical axis, and 
   the processor is configured to control the rotary actuator based on the position data so as to move the container to the lidding position.   
     
     
         13 . The lidding system according to  claim 7 , wherein
 the holding apparatus comprises
 a plurality of support members configured to support the side wall of the container, and 
 a rotary actuator configured to rotate the plurality of support members about a vertical axis, and 
   the processor is configured to control the rotary actuator based on the position data so as to move the container to the lidding position.   
     
     
         14 . The lidding system according to  claim 8 , wherein
 the holding apparatus comprises
 a plurality of support members configured to support the side wall of the container, and 
 a rotary actuator configured to rotate the plurality of support members about a vertical axis, and 
   the processor is configured to control the rotary actuator based on the position data so as to move the container to the lidding position.   
     
     
         15 . The lidding system according to  claim 5 , further comprising:
 an illumination apparatus configured to illuminate the container, wherein   the transfer apparatus comprises a conveyor belt that transmits light from the illumination apparatus provided below the conveyor belt, and   the position sensor comprises a camera configured to capture, from above, an image of the container illuminated by the illumination apparatus.   
     
     
         16 . The lidding system according to  claim 1 , further comprising:
 an alignment apparatus placed upstream of the holding apparatus in a travel direction of the transfer apparatus, the alignment apparatus being configured to move the container to be transferred by the transfer apparatus toward a position corresponding to the lidding position in a width direction perpendicular to the travel direction.   
     
     
         17 . The lidding system according to  claim 16 , wherein
 the alignment apparatus comprises
 a pair of aim members placed facing each other in the width direction, the pair of arm members being configured to sandwich the container, 
 opening/closing actuators configured to open and close the pair of arm members in the width direction, and 
 feed belts placed in contact portions of the pair of arm members with the container, respectively, the feed belts being configured to be circulated and driven at a travel speed which is substantially same as a transfer speed of the transfer apparatus. 
   
     
     
         18 . The lidding system according to  claim 1 , wherein
 the holding apparatus includes a plurality of support members configured to support the side of the container, and   the support members are configured to be replaceable according to a shape of the container.   
     
     
         19 . The lidding system according to  claim 1 , wherein
 the lidding apparatus comprises an articulated robot including, at a tip, a suction pad that suctions the lid, the articulated robot being configured to carry the lid fed to a lid receiving position to the lidding position and place the lid on, and   the suction pad is configured to be replaceable according to a shape of the lid.   
     
     
         20 . A lidding method comprising:
 transferring a container which is put on a transfer apparatus such that a bottom of the container contacts the transfer apparatus, the container having an opening opposite to the bottom and a side wall extending from the bottom to the opening;   holding the side wall of the container at a lidding position; and   pressing a lid against the container while the side wall of the container is held at the lidding position to close the opening.