Hand device and food group formation method using this hand device

Abstract

To make it possible to form a collected food in an approximate U-shape in a plan view and to place it at an appropriate position.SOLUTION: In a hand device including left and right finger sections which open and close and a scooping section which moves back and forth in a space between the left and right finger sections, a first member and a second member having predetermined length in a vertical direction are provided on each of the right and left finger sections, and the left and right first members and the right and left second members are configured to be independently opened and closed. In a state in which the scooping section enters between the left and right fingers and the left and right first member and the left and right second member are operated in a closing direction, a first gap formed between a side end of the scooping section and the first member is set to be smaller than a second gap formed between the side end of the scooping section and the second member. In addition, a space portion is formed in the second member in a front-rear direction, and an inner edge portion of the first member is configured so as to protrude from the space portion.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a hand device that is provided on, for example, a robot arm, and a food group forming method that uses this hand device to form food groups. [Background technology]

[0002] For example, in a food processing factory, a block of food such as raw meat is cut at a predetermined interval from its tip using a cutting device, and multiple food pieces (thin pieces, etc.) formed to a predetermined thickness are then manually scooped up from the conveyor and placed on a food tray. The food items arranged on the trays to form groups are packaged together with the trays, and labels indicating the type of food, measured total weight, price, etc. are attached, and the items are shipped as merchandise. In recent years, attempts have been made to automate the formation of such food groups, and Patent Document 1 discloses a technology in which food items on a conveyor are picked up and moved by a suction head attached to a robot arm, and this process is repeated to form food groups. Also disclosed is a technique for grasping and collecting the food groups with a pair of grasping members provided on a hand device, and then arranging them on a tray. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6626411 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when food containing fats and oils, such as raw meat, or sticky food is picked up by suction or gripping using the technology described in Patent Document 1, the food will adhere to the suction head or gripping member. This makes it difficult for the food to fall off even when the suction or gripping is released, and there is a problem in that it is difficult to place the picked food in a stable position in an appropriate location. Furthermore, the technology disclosed in Patent Document 1 simply collects and moves food, but is unable to form the collected food into a predetermined shape and store it.

[0005] Furthermore, block foods such as raw meat do not have a uniform cross-sectional shape from the front to the rear end, but rather this cross-sectional shape changes irregularly, so even if it is cut to a uniform thickness, the size (surface area, etc.) and weight of the cut food will not be uniform. Therefore, when groups are formed from the same number of cut food items, the weight of each food group will vary. If the weights of each food group vary in this way, it becomes difficult to align the product's displayed weight range and the associated displayed price range, etc., and manual weight adjustment (such as adding food pieces) becomes necessary, which can lead to problems such as reduced production efficiency.

[0006] The present invention aims to solve the above-mentioned problems by providing a hand device that can shape collected food into a predetermined shape and place it in an appropriate position in a stable posture, and a food group formation method that can automatically adjust the weight of food groups formed using this hand device within a set range, thereby improving production efficiency. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems, the present invention provides the following technical solutions. In other words, the invention described in claim 1 is a hand device having left and right finger-like portions that open and close, and a scooping portion that moves forward and backward into the space between the left and right finger-like portions, wherein each of the left and right finger-like portions is provided with a first member and a second member that have a predetermined length in the vertical direction, and the left and right first members and the left and right second members are configured to open and close independently.

[0008] The invention described in claim 2 is the hand device described in claim 1, wherein when the scooping portion enters between the left and right finger-like portions and the left and right first members and the left and right second members are actuated in the closing direction, the first gap formed between the side end of the scooping portion and the first member is set smaller than the second gap formed between the side end of the scooping portion and the second member.

[0009] The invention described in claim 3 is a hand device described in claim 1 or claim 2, in which the first member and the second member are arranged close to each other in each finger-like portion, and the inner edge of the first member is configured to protrude and retract relative to the inner edge of the second member.

[0010] A fourth aspect of the present invention provides the hand device according to the third aspect, wherein a space is formed in the second member, and an inner edge of the first member appears and disappears from the space.

[0011] The invention described in claim 5 is a hand device described in any one of claims 1 to 4, in which the inner edge portions of the left and right first members and the left and right second members are formed in the vertical direction, and the lower end portions of the left and right first members are provided with engagement portions extending toward the opposite side.

[0012] The invention described in claim 6 is a hand device described in any one of claims 1 to 5, in which a drive device that opens and closes the left and right first members, opens and closes the left and right second members, and moves the scooping part forward and backward, individually or in conjunction with each other, is arranged on the top of the hand device.

[0013] The invention described in claim 7 is the hand device described in any one of claims 1 to 6, wherein the scooping section is provided with a belt-shaped transport member inclined at a predetermined angle in the vertical direction.

[0014] The invention described in claim 8 is a hand device described in any one of claims 1 to 7, which is configured so that when the scooping portion enters between the left and right finger portions, the left and right first members operate in the closing direction ahead of the left and right second members.

[0015] The invention described in claim 9 is the hand device described in claim 8, configured so that the left and right first members open before the scooping part retracts from between the left and right finger parts, and the left and right second members open in the process of the scooping part retracting from between the left and right finger parts or when the scooping part retracts from between the left and right finger parts.

[0016] The invention described in claim 10 is a method of forming a food group using a hand device described in any one of claims 1 to 9, which includes a first step of scooping up food located at a collection position diagonally upwards using a scooping unit provided on the hand device and actuating the left and right first members and the left and right second members in a closing direction to collect the scooped food in a state in which the scooped food is deformed into an approximately U-shape in plan view; a second step of moving the hand device that has collected the food to a set area away from the collection position; and a third step of actuating the left and right first members in an opening direction above the set area and lowering the food diagonally downwards using the scooping unit while restricting the opening of the ends of the food with the second members, thereby placing the food within the set area while maintaining its approximately U-shape in plan view, and which automatically repeats steps 1 to 3 to form a food group consisting of a plurality of foods within the set area.

[0017] The invention described in claim 11 is a method of forming food groups using a hand device described in any one of claims 1 to 10, comprising: a first step of scooping food products formed to a predetermined thickness diagonally upward at a collection position using a scooping unit provided on the hand device and actuating the left and right first members and the left and right second members in a closing direction to collect the food products in a state in which they are deformed into a roughly U-shape in plan view; a second step of moving the hand device that has collected the food products to a set area away from the collection position; and a third step of actuating the left and right first members in an opening direction above the set area and lowering the scooping unit diagonally downward while using the second members to restrict the opening of the ends of the food products, thereby placing the food products in individual positions within the set area while maintaining their roughly U-shape in plan view; and steps 1 to 3 are automatically repeated to form food groups consisting of a plurality of food products within the set area, automatically changing the number of food products that make up the food groups depending on the size of each food product and adjusting the weight of the food groups to be within a set range.

[0018] The invention described in claim 12 is a food group formation method described in claim 11, which automatically repeats steps 1 to 3, and when forming a food group consisting of a plurality of foods within the set area, sets a plurality of rows and a plurality of columns in which to arrange the foods within the set area, and automatically changes the number of columns in each row, or the number of columns in each row and the spacing between each column, depending on the size of the food placed at the beginning of each row.

[0019] The invention described in claim 13 is a food group formation method described in claim 11 or claim 12, which includes an imaging means for imaging the food before it is picked, and obtains the size of the food from the imaging results of this imaging means.

[0020] The invention described in claim 14 is the food group forming method described in claim 11, claim 12 or claim 13, in which the set area is set on the bottom surface of a tray for the food. [Effects of the Invention]

[0021] According to the hand device of the present invention, the picked food can be formed into a substantially U-shape in a plan view and placed in a stable position in an appropriate location. Furthermore, with this food group formation method using the handheld device, the number of foods that make up a food group can be automatically changed according to the size of each food, and the weight of the food group can be adjusted within a set range, thereby reducing the need for manual weight adjustments and improving production efficiency. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a schematic side view of a food presentation device (a device for implementing a food group formation method) according to an embodiment. [Figure 2] 1 is a schematic plan view of a food plating device according to an embodiment; [Figure 3] 1A is a side view for explaining the hand device according to the embodiment, and FIG. 1B is a perspective view of an air cylinder unit for driving the finger-like portion to open and close. [Figure 4] FIG. 2 is a plan view illustrating the hand device according to the embodiment. [Figure 5] FIG. 4 is a front view for explaining a scooping unit of the embodiment. [Figure 6] FIG. 2 is a front view for illustrating the fingers and scooping portion in an open state of the hand device according to the embodiment. [Figure 7] 1A is a front view for explaining the finger-like portion and the scooping portion in a closed state of the hand device according to the embodiment, and FIG. 1B is an enlarged view of the tip (lower end) of the finger-like portion. [Figure 8] FIG. 4 is a left side view illustrating a finger portion of the hand device according to the embodiment. [Figure 9] 1A is an explanatory side view showing the state in which the scooping portion of the embodiment has retreated in the +Y direction from between the left and right finger-like portions, and FIG. 1B is an explanatory side view showing the state in which the scooping portion has moved in the -Y direction and entered between the left and right finger-like portions. [Figure 10] FIG. 2 is a block diagram of a food plating control device according to an embodiment. [Figure 11] 4 is a main flowchart of food presentation control according to an embodiment. [Figure 12] 10 is a flowchart of food presentation control according to an embodiment. [Figure 13]Flowchart following Figure 12. [Figure 14] FIG. 4 is a side view illustrating the trajectory of the control point according to the embodiment. [Figure 15] FIG. 4 is a plan view illustrating the trajectories of control points according to the embodiment. [Figure 16] 1A and 1B are a plan view, a side view, and a front view showing the initial state of food collection, where (a) is an explanatory diagram of the standby state, (b) is an explanatory diagram of the collection start state, and (c) is an explanatory diagram of the state in the middle of scooping. [Figure 17] Following Figure 16(c), these are plan, side, and front views that schematically show the state up to the completion of food collection, where (d) is an explanatory diagram of the state where scooping is completed, (e) is an explanatory diagram of the state where the food is being held, and (f) is an explanatory diagram of the state where the food has been collected and movement has begun. [Figure 18] Following Figure 17(f), these are plan, side, and front views that schematically show the state from moving the collected food to placing it in the designated position, where (g) is an explanatory diagram of the state after the food has been released from its grip, (h) is an explanatory diagram of the state when the food has begun to be placed in the designated position, and (i) is an explanatory diagram of the state after the food has been placed in the designated position. [Figure 19] Following Figure 18(i), these are a plan view, a side view, and a front view that schematically show the state in which the scooping unit has been retracted from the food after the food has been placed in a designated position, where (j) is an explanatory view of the state after the food has been placed, and (k) is an explanatory view of the state in which the scooping unit has been retracted from the food. [Figure 20] 1A is an explanatory diagram of a serving area (setting area) in an embodiment, and FIG. 1B is an explanatory plan view of the state in which food is twisted and placed. [Figure 21] 10(a) to 10(c) are explanatory diagrams showing how food is arranged in a matrix in the serving area. [Figure 22] 10(a) to 10(f) are explanatory diagrams showing the movement of food in the serving area. [Figure 23] FIG. 10 is an explanatory diagram showing an example of a sheet number control state. [Figure 24] FIG. 10 is an explanatory diagram showing another example of the number control state. [Figure 25] FIG. 10 is an explanatory diagram showing another example of the number control state. [Figure 26]A diagram conceptually showing the relationship between the size of food (thin meat) and the total weight of the food after serving. [Figure 27] 10A and 10B are explanatory views of a transfer device according to another embodiment. [Figure 28] 1A and 1B are three explanatory views showing the waterproof and safety cover of the robot, in which (a) is a side view seen from the +Y side, (b) is a plan view, and (c) is a side view seen from the -X side. [Figure 29] 1A and 1B are three explanatory views showing the structure of the robot support base, where (a) is a cross-sectional side view seen from the +Y side, (b) is a plan view, and (c) is a cross-sectional side view seen from the +X side. [Figure 30] 1A and 1B are explanatory views showing a robot equipped with a waterproof and safety cover and a first conveying device of a slicer, in which (a) is a side view seen from the +Y side, and (b) is a plan view. [Figure 31] 1A and 1B are explanatory views showing a state in which the robot is separated from the first transport device of the slicer in the first mode, where (a) is a side view seen from the +Y side, and (b) is a plan view. [Figure 32] 10A and 10B are explanatory views showing a state in which the robot is separated from the first transport device of the slicer in the second mode, where (a) is a side view seen from the +Y side, and (b) is a plan view. DETAILED DESCRIPTION OF THE INVENTION

[0023] In the embodiment described in detail below, the target food product will be described as raw thin meat E sliced ​​by a slicer 1 from a chilled block of meat. The thin wall E may also be folded in two after being cut by the slicer 1. The food is not limited to the thin-walled food E, but may be other foods, such as food dough having flexibility and adhesiveness.

[0024] (First conveying device and second conveying device) As shown in Figures 1 and 2, the thin piece E cut out from the slicer 1 is placed on the conveying surface 3a of the belt 3 in the first conveying device 2 with its length (width) in the X-axis direction longer than its length in the Y-axis direction. Food plating device 4 (device for realizing the food group forming method of the present invention) is positioned downstream and to the left of first conveying device 2, but is not limited to this position. The first transport device 2 is a belt conveyor in which an endless belt 3 is wound around a group of driven rollers and a driving roller (both not shown).

[0025] At the terminal end of the first conveying device 2, a second conveying device 5 is disposed, which extends in the left-right direction and is perpendicular to the conveying direction of the first conveying device 2 in a plan view. As will be described later, this second conveying device 5 conveys food trays 6 to a waiting position facing the end of the conveying path of the first conveying device 2, and is a chain conveyor with an endless chain 7 wound around a driven sprocket and a driving sprocket (both not shown). The second transport device 5 may be a belt-type conveyor that transports the trays 6 in a placed state.

[0026] The belt 3 of the first conveying device 2 is driven by a servo motor 8 shown in FIG. The rotation phase of the servo motor 8 is detected by an encoder 9 shown in FIG. The servo motor 8 is controlled by the output from the slicer controller 10 to drive the belt 3, thereby transporting the thin wall E on the belt 3 to the collection position T shown in FIG. When the thin wall E is conveyed to the collection position T by the driving of the belt 3, the belt 3 is temporarily stopped, and in this stopped state, the thin wall E at the collection position T is collected. Furthermore, the second conveying device 5 stops conveying the tray 6 until the food plating device 4 has completed plating the set number of thin-walled foods E onto the tray 6 (until the formation of the food groups is complete). After the thin-walled food E has been placed on the tray 6, the second conveying device 5 is driven to carry out the tray 6, and the next empty tray is sent to the standby position.

[0027] (camera) Also, as shown in Figures 1 and 2, a camera (the "imaging means" in the claims) 11 is arranged at a position upstream and above the collection position T to capture an image of the thin wall E on the conveying surface 3a before it is conveyed to the collection position T (before it is collected).

[0028] (Robot arm) As shown in FIGS. 1 and 2, food plating device 4 is a robot equipped with a robot arm 12. This robot arm 12 can freely rotate as a whole and rotate each part around axes J1 to J6 of a plurality of active joints. As shown in FIG. 10, servo motors 13 to 18 are provided for all of the axes J1 to J6 of the active joints, and these servo motors 13 to 18 are provided with encoders 19 to 23S as rotation position detectors, respectively.

[0029] The robot arm 12 is also composed of a base 25, a rotating base 26, a lower arm 27, an upper arm 28, a wrist 29, and a hand mounting seat 30. The base 25 is fixed on a support table 24 connected to the floor of the processing factory or to the side of the slicer 1, and a swivel base 26 is provided on the base 25 so as to be rotatable about a vertical axis J1. A lower arm 27 is supported on the swivel base 26 so as to be rotatable up and down about a horizontal axis J2, and a base 28a of an upper arm 28 is supported on the upper end of the lower arm 27 so as to be rotatable up and down about a horizontal axis J3. Rotating body 28b attached to the tip of base portion 28a is supported so as to be rotatable about axis J4 along the axis of base portion 28a. Note that axis J4 is perpendicular to axis J3. A wrist 29 is supported at the tip of the rotor 28b so as to be rotatable about a horizontal axis J5, which is perpendicular to the axis J4. A hand mounting seat 30 is attached to the tip of the wrist 29 so as to be rotatable about an axis J6 in the vertical direction. Servo motors 13 to 18 provided on each of axes J1 to J6 are driven by output from a robot controller 34 of food plating control device 31, which will be described later.

[0030] (Serving area R) As shown in Figure 2, a serving area (the "setting area" in the claims) R is set on the bottom surface of a tray 6 that has been transported by the second transport device 5 and is waiting at a position downstream from the end of the first transport device 2. As shown in FIG. 20(a), this deposition area R is set as a rectangular area having a length in the Y-axis direction of r1 and a length in the X-axis direction of r2. The position where the serving area R is set can be set at any suitable position other than on the bottom surface of the tray 6, such as a fixed position around the slicer 1. By placing a plurality of thin slices E in this serving area R, a group of thin slices E (a "food group" in the claims) is formed.

[0031] (Direction definition) In the conveying direction of the first conveying device 2, the slicer 1 side is the upstream side, and the opposite side is the downstream side. In the figure, "-Y" indicates the upstream direction and "+Y" indicates the downstream direction. "+X" indicates the right-hand direction when facing downstream from the slicer 1 side, and "-X" indicates the left-hand direction when facing downstream from the slicer 1 side. "-Z" indicates downward direction and "+Z" indicates upward direction. The directions indicated by X, Y, and Z are mutually orthogonal and each serves as a three-dimensional coordinate axis.

[0032] (Definition of rows and columns in the serving area R) In the above-mentioned serving area R, the direction in which the thin parts E are continuously served from one end of the serving area R to the other end is defined as a "row," and the direction perpendicular to this "row" is defined as a "column." As a result, after all the thin walls E have been placed in one row, piling starts at the beginning of the next row, and this is repeated until piling is completed in all rows and all columns within the piling area R. In this embodiment, "rows" are set in the X-axis direction, and "columns" are set in the Y-axis direction, so that multiple "rows" are arranged in parallel at intervals in the Y-axis direction.

[0033] (hand device) As shown in FIG. 1, a hand device 33 having a collection portion 32 is attached to the underside of a hand mounting seat 30 . As shown in FIGS. 3(a) and 4, the hand device 33 is configured with a frame body 36 as a base body. A mounting plate 35 for mounting on the underside of the hand mounting seat 30 is fixed to the upper part of the frame 36 .

[0034] (Scooping section) 3 and 4, a cylinder portion of an electric cylinder (one of the "drive devices" in the claims) 37 that expands and contracts in the Y-axis direction is fixed to the inside of the frame 36, and an interlocking case 39 is attached to the tip of the operating rod of this electric cylinder 37 via a reinforcing member 38. As a result, the electric cylinder 37 is located above the hand device 33, making it less susceptible to the effects of water (such as washing water used when washing the slicer 1) and meat scraps. The lower portion of this interlocking case 39 is formed to protrude in the "-Y" direction, and has an L-shaped bent shape when viewed from the side (viewed in the X-axis direction). The cylinder portion of an air cylinder 40 is fixed to the top of the interlocking case 39 so that it faces up and down, and the top wall portion of an L-shaped bent stay 41 is fixed to the tip of the piston that protrudes downward. An upper pin 42 and a lower pin 43 are fixed to the vertical wall of the stay 41 in a horizontal position with a gap between them in the vertical direction.

[0035] Additionally, within the interlocking case 39, a first roller 44 is supported at an upper portion of the upper pin 42 so as to be freely rotatable about a horizontal axis, and a second roller 45 is supported at a portion spaced downward from the lower pin 43 so as to be freely rotatable about a horizontal axis. Additionally, within the interlocking case 39, a third roller 46 is supported at a position obliquely above the second roller 45 so as to be rotatable about a horizontal axis. An opening 47 is formed in the protruding end portion in the -Y direction at the bottom of the interlocking case 39, and an upper fourth roller 48 and a lower fifth roller 49, which are spaced apart in the vertical direction and biased in the front-to-back direction, are supported in the area inside this protruding end near the opening 47 so as to be freely rotatable around a horizontal axis.

[0036] The base of a support stay 50 is fixed to a portion near the opening 47 at the inner lower part of the protruding end of the interlocking case 39, and the tip of this support stay 50 protrudes outward (in the -Y direction) from the opening 47. The tip of this support stay 50 is bent toward the -X side, and a surface that slopes downward toward the -Y side is formed at this bent end, and the base of a guide plate 51 formed into a narrow rectangle is fixed along this surface. As a result, the guide plate 51 is supported on the interlocking case 39 side in a position inclined downward at a predetermined angle to the -Y side.

[0037] The tip end (extending end) of this guide plate 51 is folded back towards the upper surface side, and this folded back end (which essentially becomes the tip of the guide body 51) forms a curved surface. Plate-like guides 52, 52 are fixed in an upright position to both the left and right sides of the base of the guide plate 51. The guides 52, 52 may be molded integrally with the guide plate 51. Then, loop-shaped engaging portions are formed at both ends of a resin belt (the "belt-shaped conveying member" in the claims) 53 formed to a width equal to the left-right width of the guide plate 51, and the engaging portion on one end is engaged with the upper pin 42. This belt 53 passes over the upper peripheral surface of the first roller 44, the lower peripheral surface of the third roller 46, and the upper peripheral surface of the fourth roller 48, and is supported along the upper surface of the guide plate 51, and then folded back to the lower surface side at the tip of the guide plate 51. The other end of the folded belt 53 is aligned roughly along the underside of the guide plate 51, passes over the upper peripheral surface of the fifth roller 49 and the lower peripheral surface of the second roller 45, and the engaging portion on the other end is engaged with the lower pin 43. The upper pin 42, the lower pin 43, the first roller 44, the second roller 45, the fourth roller 48, the fifth roller 49, and the guide plate 51 are positioned so that the wrapping circumference of the belt 53 does not change even if the upper pin 42 and the lower pin 43 move up and down by the air cylinder 40.

[0038] With the above configuration, when the electric cylinder 37 expands and contracts, the interlocking case 39 supported on the tip of the operating rod moves back and forth in the Y-axis direction. When the air cylinder 40 expands and contracts, the upper pin 42 and the lower pin 43 move up and down, and the belt 53 moves back and forth. That is, when the upper pin 42 is lowered by the extension of the air cylinder 40, the engaging portion on one end of the belt 53 engaged with the upper pin 42 is pulled downward. As a result, the portion of the belt 53 supported on the upper surface of the guide plate 51 moves obliquely upward along the upper surface of the guide plate 51 . At this time, the lower pin 43 also descends, so that the winding circumferential length of the belt 53 remains substantially unchanged, and the tension of the belt 53 is also maintained within a predetermined range.

[0039] On the other hand, when the lower pin 43 rises due to the contraction of the air cylinder 40, the engaging portion on the other end of the belt 53 engaged with the lower pin 43 is pulled upward. As a result, the portion of the belt 53 supported on the upper surface of the guide plate 51 moves obliquely downward along the upper surface of the guide plate 51 . At this time, the upper pin 42 also rises, so that the winding circumferential length of the belt 53 remains substantially unchanged, and the tension of the belt 53 is also maintained within a predetermined range. The track of the belt 53 that moves in sliding contact with the upper surface of the guide plate 51 is maintained in an appropriate position by left and right guides 52, 52. In this manner, the scooping portion 54 is formed mainly by the portion of the belt 53 supported on the upper surface of the guide plate 51.

[0040] (digital part) 3(a), a first air cylinder (one of the "drive devices" in the claims) 56 and a second air cylinder (one of the "drive devices" in the claims) 57 that drive the left and right finger-like portions 55L, 55R to open and close are fixed at a distance in the Y-axis direction to the underside of the frame 36. As a result, the first air cylinder 56 and the second air cylinder 57 are located above the hand device 33 and are less susceptible to the effects of water (such as washing water when washing the slicer 1) and meat scraps. As shown in FIGS. 3(b) and 8, the first air cylinder 56 arranged on the +Y side forms a guide rail 56B in the left-right direction (X-axis direction) on the +Y side surface of the cylinder block 56A. A pair of left and right sliders 56L and 56R are slidably fitted onto the guide rail 56B. Upper and lower cylinder holes are drilled in parallel inside the cylinder block 56A, and individual pistons (not shown) are housed in each cylinder hole so as to be reciprocatingly slidable, with left and right sliders 56L, 56R connected to each piston. The pistons are configured to slide in opposite directions when air is supplied, and as a result, the left and right sliders 56L, 56R connected to the pistons slide in opposite directions.

[0041] On the other hand, second air cylinder 57 disposed on the -Y side forms guide rails 57B in the left-right direction (X-axis direction) on the -Y side surface of cylinder block 57A. A pair of left and right sliders 57L and 57R are slidably fitted onto the guide rail 57B. Inside the cylinder block 57A, upper and lower cylinder holes are drilled in parallel, and individual pistons (not shown) are housed in each cylinder hole so as to be able to slide back and forth, and left and right sliders 57L, 57R are connected to each piston, respectively. The pistons are configured to slide in opposite directions when air is supplied, and as a result, the left and right sliders 57L and 57R connected to the pistons slide in opposite directions. The left and right fingers 55L, 55R include left and right first members 58L, 58R and left and right second members 59L, 59R.

[0042] (First member) As shown in FIGS. 6 to 8, the left and right first members 58L, 58R are supported by left and right sliders 56L, 56R on the first air cylinder 56 side, respectively. That is, the inner ends of the left and right plate-shaped first support members 60L, 60R extending in the left-right direction are fixed to the +Y side surfaces of the left and right sliders 56L, 56R. The outer ends of the left and right first support members 60L, 60R are bent downward and extend downward (in the -Z direction), and then bent and extend in the -Y direction. The outer ends of the first sub-support members 61L, 61R extending in the left-right direction are fixed to the lower surfaces of the left and right extending ends formed in this way via square bar-shaped first reinforcing members RI, RI, respectively.

[0043] The inner ends of the left and right first sub-support members 61L, 61R are bent downward and extended downward (in the -Z direction) to form left and right inner fingers 58IFL, 58IFR. Furthermore, the inner fingers 58IFL, 58IFR are formed with a wide portion extending from the lower end thereof to a predetermined height. These wide portions are referred to as first members 58L, 58R. The inner edges of the left and right first members 58L, 58R extend in a substantially vertical direction (the "up-down direction" in the claims) up to the vicinity of their lower ends. The inner edges of the lower ends of the left and right first members 58L, 58R extend inward (toward the opposing sides) in an arc shape to form left and right engagement portions 58LS, 58RS.

[0044] (Second member) As shown in FIGS. 6 to 8, the left and right second members 59L and 59R are supported by left and right sliders 57L and 57R on the second air cylinder 57 side, respectively. That is, the inner ends of the left and right plate-shaped second support members 62L, 62R extending in the left-right direction are fixed to the −Y side surfaces of the left and right sliders 57L, 57R. The outer ends of the left and right second support members 62L, 62R are bent downward and extend downward (in the −Z direction), and then bent and extend in the +Y direction. The outer ends of second sub-support members 63L, 63R extending in the left-right direction are fixed to the lower surfaces of the left and right extending ends formed in this way via second reinforcing members RJ, RJ, respectively.

[0045] The inner ends of the left and right second auxiliary support members 63L, 63R are bent downward and extended downward (in the -Z direction) to form left and right outer fingers 59IFL, 59IFR. Furthermore, the portions of the outer fingers 59IFL, 59IFR extending from the lower end thereof to a predetermined height are formed to be wide in both directions. These wide portions are referred to as second members 59L, 59R. The inner edge portions of the left and right second members 59L, 59R extend in a substantially vertical direction (the "up-down direction" in the claims) up to their lower ends.

[0046] As shown in Figure 8, two left-side second auxiliary support members 63L and left-side outer fingers 59IFL are provided, and are fixed to the front and rear surfaces (-Y side surface and +Y side surface) of the above-mentioned left-side second reinforcing member RJ, respectively. As a result, a gap (a "space portion" in claims) SP in the Y-axis direction is formed between the front and rear second members 59L, 59L on the left side. In addition, two right-side second auxiliary support members 63R and right-side outer fingers 59IFR are provided, and are fixed to the front and rear surfaces (-Y side surface and +Y side surface) of the above-mentioned right-side second reinforcing member RJ, respectively. As a result, a gap (a "space portion" in claims) SP in the Y-axis direction is also formed between the front and rear second members 59R, 59R on the right side. The left and right first members 58L, 58R are arranged so as to be able to retract and protrude ("appear and disappear" in claims) relative to these left and right gaps SP, SP.

[0047] (Collection Department) As shown in FIG. 3, the collection portion 32 is formed by the scooping portion 54 and the left and right finger portions 55L, 55R. In the initial state shown in Figure 9(a), the interlocking case 39 moves away in the +Y direction, and the tip of the belt 53 supported on the upper surface of the guide plate 51 of the scooping section 54 retreats in the +Y direction from between the left and right finger-like sections 55L, 55R. As shown in FIG. 9(b), when the electric cylinder 37 is contracted and the interlocking case 39 moves a set distance in the -Y direction, the scooping portion 54 enters between the left and right finger portions 55L, 55R. In this state, the tip of the scooping portion 54 (the end on the -Y side of the portion of the belt 53 supported by the upper surface of the guide plate 51) protrudes further toward the -Y side than the left and right finger portions 55L, 55R. 6 shows the scooping unit 54 inserted between the left and right first members 58L, 58R and the left and right second members 59L, 59R in the open state (corresponding to FIG. 9(b)).

[0048] Also, Figure 7(a) shows a state in which the scooping portion 54 has entered between the left and right first members 58L, 58R and the left and right second members 59L, 59R, and these left and right first members 58L, 58R and left and right second members 59L, 59R have moved in the closing direction to their respective stroke ends. As shown in a partially enlarged view in Figure 7(b), in this state, the positional relationship between the respective stroke ends is set so that the first gap T1 formed between the left end of the scooping portion 54 (side end of the belt 53) and the inner edge of the left-side first member 58L is smaller than the second gap T2 formed between the side end of the scooping portion 54 and the inner edge of the second member 59L. Although not shown in the drawings, the positional relationships between the right end of the scooping portion 54 and the first and second right members 58R and 59R are set in the same manner. The first gap T1 and the second gap T2 are set by adjusting the left-right extension lengths of the components constituting the left and right finger portions 55L, 55R, and by setting the positions of the sliding stroke ends of the first air cylinder 56 and the second air cylinder 57.

[0049] (Food Plating Control Device) As shown in FIG. 10, the above-mentioned encoders 19 to 23S and camera 11 are connected to the input side of a robot controller 34 equipped with a calculation unit, a storage unit, etc. On the other hand, the output side of the robot controller 34 is connected to the servo motors 13 to 18, the first air cylinder 56, the second air cylinder 57, the electric cylinder 37, and the air cylinder 40. Although not shown, the output side of the robot controller 34 is provided with individual relay circuits for operating the servo motors 13 to 18 and the electric cylinder 37, and individual valve solenoids for operating the air cylinders 40, 56, and 57. The air supply source for each air cylinder is a compressed air supply facility in the factory or an air pump provided in the slicer 1.

[0050] On the other hand, the slicer controller 10 on the slicer 1 side has the encoder 9 connected to its input side and the servo motor 8 connected to its output side. It should be noted that other sensors and actuators related to the operation control of the slicer 1 are omitted from the illustration. The robot controller 34 and the slicer controller 10 are connected via a communication line SL. Food plating control device 31 is configured as described above.

[0051] (Placement control) The plating control (food group formation control) according to the present invention will now be described. As shown in Fig. 2, a chunk of meat is cut into a predetermined thickness by a slicer 1, and the cut thin meat pieces E are sequentially placed on the conveying surface 3a of the belt 3 in the first conveying device 2. The thin meat pieces E may be folded in two. When this thin wall E reaches the collection position T, the slicer controller 10 outputs a collection start signal to the robot controller 34. As a result, the movement state of the thin-walled material E placed on the conveying surface 3a and the timing of picking up the thin-walled material E on the conveying surface 3a are synchronized. When the set number of thin slices E have been collected and all of them have been arranged, a serving completion signal is output from the robot controller 34 to the slicer controller 10.

[0052] The "control point" described below is the center position between the tip (inner end) of the engagement portion 58LS of the left first member 58L and the tip (inner end) of the engagement portion 58RS of the right first member 58R. As shown in FIGS. 14 and 15, the robot arm 12 is controlled to move the control point to the center position of each circle (or sphere) of points P0 to P2 to P9 and P9 to P14 to P0. 11 to 13 show a flowchart of the placement control, and FIGS. 16 to 18 show the process from the state where the thin wall E is picked up by the hand device 33 to the state where the thin wall E deformed into an approximately U-shape is placed.

[0053] (S10A) As shown in FIG. 16(a), when the placement control is started, in S10A, the robot arm 12 is driven and controlled by output from the robot controller 34, and the left and right fingers 55L, 55R and the scooping unit 54 are positioned at their respective initial positions. Point P0, which is the initial position of the left and right finger-like portions 55L, 55R, is set at a position offset by an offset amount f (see Figure 16(a)) toward the -Y side from the collection position T of the thin wall E, and at a position spaced a predetermined distance directly above the conveying surface 3a. At this time, the scooping unit 54 is disposed at a position offset in the +Y direction by a predetermined distance from point P0. The offset amount f is set to an amount that allows the belt 53 of the scooping part 54, which moves diagonally upward, to scoop up the thin-walled part E located at the collection position T while the tip of the scooping part 54 moves from the collection position T to a position directly below point P0. At this point P0, the left and right fingers 55L, 55R of the hand device 33 are spaced apart from each other in an open state.

[0054] That is, the left and right inner fingers 58IFL, 58IFR and the left and right outer fingers 59IFL, 59IFR are in an open state in which they are spaced apart to their maximum distances. In this state, the first members 58L, 58R provided on the left and right inner fingers 58IFL, 58IFR are retracted into the gaps SP, SP between the second members 59L, 59R provided on the left and right outer fingers 59IFL, 59IFR. As a result, the inner edges of the left and right first members 58L, 58R are retracted outward (into the gap SP) relative to the inner edges of the left and right second members 59L, 59R.

[0055] (S12) In S12, the slicer controller 10 acquires the attributes of the thin-walled piece E being transported to the collection position T. That is, the slicer controller 10 receives detection results from a thickness (height) sensor (not shown) that is provided on the slicer 1 side and detects the thickness (height) of the tip of the block of meat before slicing. Since the slicer 1 cuts the chunk of meat supplied in a horizontal position in the vertical direction from its tip, the thickness (height) of the tip of the chunk of meat is a dimension that is approximately the length in the Y-axis direction of the thin meat E placed on the conveying surface 3a. In addition, in the case of the thin wall E folded at the center in the Y-axis direction, the length of this thin wall E in the Y-axis direction is about half the thickness (height).

[0056] The slicer controller 10 sends the thickness (height) of the tip of the block of meat before slicing to the robot controller 34. Furthermore, the robot controller 34 processes the image of the thin wall E captured by the camera 11, and based on the results, obtains the size of the thin wall E (the length (width) and area of ​​the thin wall E in the X-axis direction). Then, based on the size of the obtained thin wall E, the thin wall E is classified into four classes: large, medium (standard), small, and unsuitable for collection.

[0057] (Collection and serving of thin-walled E suitable for collection) In the following, a basic process will be described in which the thin wall E photographed by the camera 11 is classified into one of the above-mentioned large, medium, and small classes.

[0058] (S14) In S14, the robot controller 34 selects the predetermined number of rows M corresponding to the size of the tray 6 to be used from a plurality of predetermined number of rows M stored as fixed values. Furthermore, the predetermined number of rows N is automatically calculated based on the thickness (height) of the chunk of meat and the size of the thin wall E based on image processing. As a result, a predetermined number M of rows and a predetermined number N of columns are set in the serving area R on the inner bottom surface of the tray 6, as shown in FIG. 20(a). The rows and columns are set at equal intervals. Hereinafter, first, a process will be described in which the initially calculated predetermined number of columns N is applied to all rows (in which N columns (N sheets) of thin walls E are placed in all rows). The process of calculating this predetermined number of columns N for each row will be described later.

[0059] (S16) In S16, the robot controller 34 sets the count value m of the row counter and the count value n of the column counter to 1, and then the process proceeds to "thin-wall placement process" in S18A.

[0060] (S18A: Thin-walled plating process) S200 to S234 shown in FIGS. 12 and 13 are a flowchart of the thin-walled food placement process in S18A. 20(a), the inner bottom surface of the tray 6 is divided into a plurality of thin-walled arrangement sections in a matrix. In this embodiment, thin-walled arrangement processing is performed in column order from the first row, such that (m, n) = (1, 1), (1, 2), (1, 3), (1, 4), (2, 1), (2, 2), ..., (M, N). When one row is completed, the same arrangement processing is performed in the next adjacent row. "m=1" meaning the first row is placed at the position on the inner bottom surface of the tray 6 closest to the -Y side. The first row, "n=1," is located on the inner bottom surface of the tray 6 at the position furthest to the +X side.

[0061] (S200) First, in S200, the robot controller 34 performs a "collection target position setting process" and a "trajectory generation process."

[0062] (Collection target position setting process) Based on the size of the thin wall E obtained from the imaging results by the camera 11, the central part of the thin wall E in the X-axis direction or a position near the central part is set as the supported part B (see Figure 2), and the target collection position of this supported part B is calculated.

[0063] (Trajectory generation processing) The trajectory generation process is a process for generating a trajectory from collection to the end of plating from points P0 to P2 to P9 to P14 shown in Figures 14 and 15, and a trajectory from point P14 back to point P0, and the position and posture of the hand device 33 at each time are controlled by the robot controller 34.

[0064] (Move control point) The movement of the control point between each point will be described with reference to FIGS. Point P0 is the initial position of the control point, and is fixedly disposed directly above the center line t of the belt 3 of the first conveying device 2. Point P1 is an intermediate point on the route between points P0 and P2. Point P2 is set at a height where there is a slight gap between the lower ends of the left and right finger portions 55L, 55R and the lower end (tip) of the belt 53 of the scooping portion 54 and the conveying surface 3a so that they do not come into contact with each other. The Y-axis coordinate value of point P9 is set to the value before the hand device 33 moving from point P2 reaches the deposition area R, and the X-axis coordinate value of point P9 is set to the same value as the X-axis coordinate value of point P2. In this embodiment, the Z-axis coordinate value of point P9 is set to a value higher than the Z-axis coordinate value of point P0, so that when the thin wall E supported by the hand device 33 passes over the peripheral wall 6a of the tray 6, both ends (hanging ends) of the thin wall E do not interfere with the peripheral wall 6a.

[0065] For convenience of explanation, points P10 to P14 will be explained starting from point P12. The point P12 is placed directly above the meat drop point Rmn set on the inner bottom surface of the tray 6, which is the serving area R, for each of the above-mentioned thin meat placement sections (m, n). That is, the X-axis coordinate value and the Y-axis coordinate value of point P12 coincide with the X-axis coordinate value and the Y-axis coordinate value of meat drop point Rmn. The meat drop point Rmn is the center point of the thin-walled section (m, n). Each time column n and / or row m is updated by S20A, S24A, and S28A, which will be described later, the X- and Y-axis coordinate values ​​of point P12 become the X- and Y-axis coordinate values ​​of the updated meat drop point Rmn. The Z-axis coordinate value of point P12 is set smaller than the Z-axis coordinate value of point P9, and is set at a height such that the lower end (tip) of the belt 53 of the scooping section 54 and the lower ends of the left and right finger-like sections 55L, 55R are spaced upward from the inner bottom surface of the tray 6 in the serving area R. This height is set so that the thin wall E supported by the collection portion 32 does not come into contact with the inner bottom surface of the tray 6.

[0066] When the control point reaches point P12, the support for the thin wall E is released and the thin wall E is lowered onto the inner bottom surface of the tray 6. As shown in FIG. 15, the X-axis coordinate value of point P10 is set to a value that is a predetermined distance d2 away from the X-axis coordinate value of point P12 so as to be biased toward the -X side. The Y-axis coordinate value of point P10 is set to a value that is offset by a predetermined distance d3 toward the +Y side from the Y-axis coordinate value of point P12. The Z-axis coordinate value of point P10 is set to the same value as point P12. Point P11 is an intermediate point on the straight line connecting point P10 and point P12. The three-dimensional coordinate values ​​of this point P11 are the coordinate values ​​on the straight line connecting points P10 and P12.

[0067] When the control point moves from point P9 to point P10, the robot arm 12 is subjected to posture control, and the hand device 33 assumes a posture at point P10 having a torsion angle θ3 with respect to the Y-axis direction as shown in FIG. 20(b). As a result, the alignment direction of the left and right finger portions 55L, 55R is changed from a direction along the X-axis to a direction perpendicular to the intersection line that intersects with the Y-axis direction at a torsion angle θ3. Due to this twisting, the scooping part 54 is moved to the -Y side by the contraction operation of the electric cylinder 37 in a state in which it is tilted by a twisting angle θ3 with respect to the Y-axis direction.

[0068] 21(a) to 21(f) show in plan view the state in which the thin meat E is placed from the collection position T to the meat drop point Rmn on the inner bottom surface of the tray 6. The shape of the thin wall E that has reached the collection position T is indicated by the symbol Ea, and the imaginary shape of this thin wall E at the wall drop point Rmn is indicated by the symbol Eb. Furthermore, points P13 and P14 are located on a straight line continuing from point P12. As shown in FIG. 15, the X-axis coordinate values ​​of the points P13 and P14 are set to the same value as the X-axis coordinate value of the point P12. The Y-axis coordinate values ​​of points P13 and P14 are set to values ​​that are offset toward the +Y side from the Y-axis coordinate value of point P12 at intervals. As shown in FIG. 14, the Z-axis coordinate value of point P13 is set to be larger than the Z-axis coordinate value of point P12, and the Z-axis coordinate value of point P14 is set to be even larger.

[0069] (Hand device position) In this embodiment, when the control point moves from point P9 to point P10, posture control for the torsion angle θ3 is executed, and when the control point moves to point P12, posture control for canceling the torsion angle θ3 is executed. In the trajectory between the remaining points, excluding the section between points P9 and P10, the attitude control is performed so that the direction in which the left and right finger-like portions 55L and 55R are aligned is along the X-axis direction.

[0070] (S202~S206) The robot arm 12 is controlled by the output from the robot controller 34 to move the control point from point P0 to point P1.

[0071] (S202) As shown in the plan view at the top left in FIG. 16(a), in the initial state of the hand device 33, the left and right finger portions 55L, 55R are spread to a position that forms the maximum distance in the X-axis direction. That is, the left and right first members 58L, 58R and the left and right second members 59L, 59R are each opened to their maximum positions, and the inner edge of each first member 58L, 58R is retracted to a position biased outward relative to the inner edge of each second member 59L, 59R. In this S202, as shown in the same figure and Figure 21(a), when the thin wall E transported by the first transport device 2 reaches the collection position T, the robot controller 34 receives (acquires) a collection start signal from the slicer controller 10. This will cause the process to proceed to S204.

[0072] (S204) In S204, the robot controller 34 changes the X-axis coordinate value of the three-dimensional coordinates of the point P2 to the X-axis coordinate value of the collection target position obtained in S200. The Y-axis coordinate value and Z-axis coordinate value of the collection target position are not changed. Next, move on to S206.

[0073] (S206) In S206, the robot arm 12 is controlled by the output from the robot controller 34 to move the control point from the start position (point P0) to point P1, and the process proceeds to S208.

[0074] (S208) In S208, the robot arm 12 is controlled by the output from the robot controller 34, and the control point is lowered slowly from point P1 to point P2. As a result, as shown in the side view at the bottom left in Figure 16(a), the lower ends of the finger-like portions 55L, 55R (the lower ends of the first members 58L, 58R and the lower ends of the second members 59L, 59R) and the lower end (tip) of the belt 53 of the scooping portion 54 are brought as close as possible to each other, leaving a small gap so that they do not come into contact with the conveying surface 3a. The lower end of the belt 53 may be in light contact with the conveying surface 3a. Next, we move on to S210.

[0075] (S210) In S210, after the control point reaches point P2 as described above, the electric cylinder 37 is contracted by output from the robot controller 34, and the scooping part 54 is moved from the initial position to the scooping position (in the -Y direction). That is, the scooping unit 54 is moved from the downstream side (+Y side) of the first conveying device 2 to the upstream side (-Y side) toward the middle part (supported part B) in the X-axis direction of the thin-walled part E, and the process proceeds to S212.

[0076] (S212) In S212, after a set time has elapsed since the scooping unit 54 started to move, the air cylinder 40 is extended by an output from the robot controller 34, and the belt 53 on the guide plate 51 is moved in an upwardly inclined direction (forward movement). The above-mentioned set time is set to be the same as or slightly shorter than the time it takes for the scooping part 54 to reach the thin wall E located at the collection position T from the initial position. As a result, as shown in Figures 16(b) to 16(c), the belt 53 moving in an upward inclined direction scoops up the central part of the width direction (X-axis direction) of the thin-walled part E located at the collection position T diagonally upward. At this time, both ends of the thin wall E that are not supported on the belt 53 begin to sag and deform due to their own weight. It is preferable that the speed at which the belt 53 in the scooping section 54 moves obliquely upward be set to be the same as or slightly faster than the speed at which the scooping section 54 moves in the -Y direction. By setting it in this way, the thin wall E is smoothly transferred from the conveying surface 3a to the belt 53, and wrinkles are less likely to form in the thin wall E.

[0077] 17(d), when scooping unit 54 moves further toward the -Y side, both ends of thin wall E, the central portion of which has been scooped up by belt 53, come into contact with the inner edges of second members 59L, 59R arranged on the left and right on the +Y side, and this contact resistance corrects the posture of thin wall E to a posture along the upper surface of belt 53. In addition, both left and right second members 59L, 59R and left and right first members 58L, 58R maintain an open state. In this state, the scooping portion 54 enters between the left and right finger portions 55L, 55R while scooping up the thin wall E. As a result, the tip of the scooping portion 54 (the tip of the belt 53) protrudes toward the -Y side from between the left and right finger portions 55L, 55R. Next, the process proceeds to S214.

[0078] (S214) In S214, the movement of the belt 53 of the scooping section 54 is stopped, and then the operation of the first air cylinder 56 is started by output from the robot controller 34, and the left and right inner fingers 58IFL, 58IFR of the left and right finger-like sections 55L, 55R begin to move inward (towards each other). As shown in FIG. 17(e), when the left and right inner fingers 58IFL, 58IFR start to move inward, the inner edges of the left and right first members 58L, 58R come into contact with both ends of the thin wall E and start to push these contacting portions inward. At this time, the left and right engaging portions 58LS, 58RS enter the underside of the thin wall E and begin to embrace the thin wall E. Then move on to S216.

[0079] (S216) In S216, after a set time has elapsed since the left and right inner fingers 58IFL, 58IFR started to move inward, the left and right outer fingers 59IFL, 59IFR are moved inward (toward each other). As shown in Figure 17(f), both ends of the thin wall E are pressed toward both ends of the belt 53 by the inner edges of the left and right first members 58L, 58R, and are deformed into an approximately U-shape (a shape similar to a horseshoe) in a plan view. In this state, the thin wall E is supported by being held by the left and right engaging portions 58LS and 58RS that are close to each other and below the scooping portion 54 (below the belt 53).

[0080] The step of supporting and picking the thin wall E by the hand device 33 at point P2 corresponds to the first step in the claims. At this time, first gaps T1, T1 remain between the inner edges of the left and right first members 58L, 58R and the left and right side ends of the scooping portion 54 (belt 53), so the thin wall E is not pinched too tightly and damaged. In addition, the inner edges of the left and right second members 59L, 59R also approach the left and right side ends of the scooping portion 54, but second gaps T2, T2 larger than the first gaps T1, T1 remain between the inner edges of the left and right second members 59L, 59R and the left and right side ends of the scooping portion 54. The existence of the second gaps T2 prevents the inner edge portions of the left and right second members 59L and 59R from coming into contact with the thin wall E. After supporting the thin wall E in this manner, the process proceeds to S218.

[0081] (S218) As shown in FIGS. 14 and 15, the robot arm 12 is controlled by the output from the robot controller 34 to move the control point from point P2 to point P9. When the control point moves to this point P9, both ends of the thin wall E float above the conveying surface 3a and maintain a position higher than the height of the peripheral wall 6a of the tray 6. This prevents interference between the thin wall E and the peripheral wall 6a when the control point moves onto the deposition region R. Next, the process proceeds to S220 shown in FIG.

[0082] (S220) In S220, the robot arm 12 is controlled by the output from the robot controller 34, and the control point is moved from point P9 to point P10 above the serving area R, passing above the peripheral wall 6a of the tray 6. As a result, the lower ends of the left and right finger portions 55L, 55R and the lower end (tip) of the belt 53 of the scooping portion 54 approach the inner bottom surface of the tray 6 on which the serving area R is set. This point P10 is set downstream (+Y side) of the m-th row to which the wall drop point Rmn where the thin wall E is dropped belongs. During this movement from point P9 to point P10, the robot arm 12 is controlled by the robot controller 34, and at point P10 the hand device 33 assumes a posture having a torsion angle θ3 with respect to the Y-axis direction. The movement of the hand device 33 from point P2 to point P10 corresponds to the second step in the claims. Next, proceed to S222.

[0083] (S222) In S222, as shown in FIGS. 14 and 15, the robot arm 12 is controlled by the output from the robot controller 34 to move the control point from point P10 to point P11. During this movement from point P10 to point P11, both ends of thin wall E are dragged on the inner bottom surface of tray 6. Next, proceed to S224.

[0084] (S224) In S224, after a preset time has elapsed since the control point started to move to point P11, the first air cylinder 56 is actuated in the reverse direction by an output from the robot controller 34. As a result, as shown in FIG. 18(g), the left and right inner fingers 58IFL, 58IFR of the left and right finger portions 55L, 55R move outward (in directions moving away from each other). Additionally, the pressure exerted by the inner edges of the left and right first members 58L, 58R against the thin wall E toward both side ends of the belt 53, and the holding by the left and right engaging portions 58LS, 58RS are released.

[0085] However, at this point, no output is sent from the robot controller 34 to the second air cylinder 57, and the left and right outer fingers 59IFL, 59IFR are maintained in positions close to each other. As a result, the members that come into contact with the thin wall E change from the inner edge portions of the left and right first members 58L, 58R to the inner edge portions of the left and right second members 59L, 59R. That is, the thin wall E that was attached (by being pressed) to the inner edge portion of the first members 58L, 58R is transferred to the inner edge portion of the second members 59L, 59R and detached from the first members 58L, 58R and the second members 59L, 59R. Next, proceed to S226.

[0086] (S226) In S226, as shown in FIGS. 14 and 15, the robot arm 12 is controlled by the output from the robot controller 34 to move the control point from point P11 to point P12. During this movement, the air cylinder 40 is retracted by an output from the robot controller 34. As a result, the belt 53 of the scooping unit 54 moves diagonally downward (in the opposite direction), and the thin-walled portion E starts to be lowered diagonally downward toward the inner bottom surface of the tray 6, as shown in FIG. 18(h).

[0087] At this time, the left and right outer fingers 59IFL, 59IFR are maintained in positions close to each other, and second gaps T2, T2 are formed between the side ends of the scooping portion 54 and the inner edge portions of the left and right second members 59L, 59R. Furthermore, the lower ends of the second members 59L and 59R do not have the engaging portions that are present in the first members 58L and 58R. Therefore, as shown in the state change from Figure 18(i) to Figure 18(j), the left and right sides of the thin-walled part E being lowered diagonally downward are smoothly lowered through this second gap T2, T2 while being restricted from returning from the approximately U-shape to its original shape by the inner edges of the left and right second members 59L, 59R ("restricting the opening of the ends of the food" in the claims).

[0088] The lowered thin-walled portion E is placed on the inner bottom surface of the tray 6 while maintaining its approximate U-shape. Furthermore, the robot arm 12 is controlled by the output from the robot controller 34, the twist angle θ3 of the hand device 33 is set to 0, and the direction in which the left and right finger-like portions 55L and 55R are aligned is returned to the X-axis direction. The above step of moving the control point from point P10 to point P12 corresponds to the third step in the claims. After this, proceed to S228.

[0089] (S228) In S228, as shown in FIGS. 14 and 15, the movement of the belt 53 is stopped by output from the robot controller 34, and then the robot arm 12 is controlled to move the control point from point P12 to point P13. As a result, the hand device 40 moves above the point P12 and in the +Y direction (downstream), and moves away from the thin-walled part E that has been lowered. Next, move on to S230.

[0090] (S230) In S230, as shown in FIG. 19(k), when the control point starts moving from point P12, the electric cylinder 37 is extended by output from the robot controller 34, and the scooping part 54 is moved to the initial position. At the same time, the second air cylinder 57 is operated in the opposite direction by output from the robot controller 34, causing the left and right outer fingers 59IFL, 59IFR to move outward (away from each other), and the distance between the inner edges of the left and right second members 59L, 59R increases. Next, proceed to S232.

[0091] (S232) In S232, as shown in Figures 14 and 15, the robot arm 12 is controlled by output from the robot controller 34, and the control point is moved from point P13 to point P14, which is further downstream (+Y side) and higher than point P13. After this, the process proceeds to S234.

[0092] (S234) As shown in FIGS. 14 and 15, the robot arm 12 is controlled by the output from the robot controller 34, and the control point is moved from point P14 to the initial position, point P0. This completes the process of placing one thin meat piece E onto the meat drop point Rmn, and the process proceeds to S20A in the flow of FIG.

[0093] (S20A) After the process of placing one thin meat piece E onto the meat drop point Rmn is completed as described above, the count value n of the row counter is incremented in S20A, and the process proceeds to S22A.

[0094] (S22A) In S22A, the robot controller 34 determines whether the count value n of the row counter exceeds the predetermined number of rows N. If the count value n does not exceed the predetermined number of columns N, the process returns to S18A, and the thin meat E is placed at the meat drop point Rmn in the next column order in the current row m. Therefore, this thin-wall E filling process is executed N times per row. If the count value n exceeds the predetermined number of columns N, the process proceeds to S24A.

[0095] (S24A) In S24A, the count value m of the row counter is incremented, and the process proceeds to S26A.

[0096] (S26A) In S26A, if the count value m of the row counter does not exceed the predetermined number of rows M, the process proceeds to S28A, and if the count value m of the row counter exceeds the predetermined number of rows M, the process of this flowchart is temporarily terminated.

[0097] (S28A) In S28A, the count value n of the column counter is set to 1, and the process returns to S18A. When the process returns to S18A, the process of piling the thin meat E onto the meat drop point Rmn in the first column of the next row is started. The above process is repeated until the thin meat E is completely piled onto all meat drop points Rmn in the predetermined number of rows M and the predetermined number of columns N.

[0098] (Example of arrangement in 3 rows and 4 columns) Here, an example in which the predetermined number of rows M is set to "3" and the predetermined number of columns N is set to "4" and the above flowchart is executed is shown in FIG. 20(a) and FIGS. 21(a) to 21(c). FIG. 21(a) is an explanatory plan view of the tray 6 in a state where the thin meat E has been placed at the meat drop point Rmn (=R11) in the first row and first column. FIG. 21(b) is an explanatory diagram showing a plan view of the tray 6 after the thin meat E has been placed at all meat drop points Rmn in the first row and at the meat drop point Rmn (=R21) in the second row and first column. Figure 21(c) is an explanatory diagram showing a plan view of the tray 6 after the thin meat E has been placed at all meat drop points Rmn in the first and second rows and at the meat drop point Rmn (=R31) in the third row, first column.

[0099] (Calculating the number of columns N for each row) The above has described the processing when the initially calculated predetermined number of columns N is applied to all rows (when N columns (N sheets) of thin walls E are placed in all rows). On the other hand, as shown in FIGS. 23 to 25, the predetermined number of columns N in the above-mentioned S14 may be calculated for each row according to the size of the thin wall E placed at the beginning of each row. 23 to 25, the positions of the thin plates E placed in the serving area R are indicated by circles, and numbers are assigned within the circles in the order in which they are placed.

[0100] (When medium (standard) class thin-walled E is available) In the thin-walled arrangement process of S18A, arrangement is performed as shown in FIG. That is, in the first row located on the furthest -Y side within the presentation area R, if the first thin-sheet E placed at the beginning of this first row (the position furthest +X side) is classified as "medium (standard)", it is determined that four columns (four pieces) of thin-sheet E will be placed in this first row. Accordingly, in the first row, four columns (four sheets) of thin walls E are placed at equal intervals in the order from the first thin wall E to the fourth thin wall E (from the +X side to the -X side).

[0101] Next, the process of filling the second row adjacent to the +Y side of the first row begins. If the fifth thin wall E placed at the beginning of this second row is also classified as "medium", it is decided that four columns (four pieces) of thin wall E will be placed in this second row as well, and the four columns (four pieces) of thin wall E will be placed at equal intervals in the order from the fifth thin wall E to the eighth thin wall E.

[0102] Next, the process of filling the third row adjacent to the second row on the +Y side begins. If the ninth thin wall E placed at the beginning of this third row is also classified as "medium", it is decided that four columns (four pieces) of thin wall E will be placed in this third row as well, and the four columns (four pieces) of thin wall E will be placed at equal intervals in the order from the ninth thin wall E to the twelfth thin wall E.

[0103] As a result of the above, a total of 12 thin-walled foods E are placed in the serving area R, and the serving process on one tray 6 is completed. Furthermore, based on the position at which the thin-walled part E is cut out from the slicer 1 onto the conveying surface 3a, in the X-axis direction, the supported part B of the thin-walled part E classified as the "medium (standard)" class approximately coincides with the center position Xc of the width of the conveying surface 3a in the X-axis direction. Therefore, there is no need to correct the reference position of the control point at the sampling position T in the X-axis direction.

[0104] (When small and medium-sized thin-walled E are mixed) In the thin-walled arrangement process of S18A, arrangement is performed as shown in FIG. That is, in the first row described above, if the first thin wall E placed at the beginning of this row is classified as the "medium" class, then four columns (four thin walls E) will be placed in this first row in the order of the first thin wall E to the fourth thin wall E, in the same manner as described above.

[0105] Next, the process of placing the second row begins, and if the fifth thin piece E placed at the beginning of this second row is classified as "small," it is determined that five columns (five pieces) of thin pieces E will be placed in this second row. Accordingly, in the second row, five columns (five sheets) of thin plates E are placed at equal intervals in the order from the fifth thin plate E to the ninth thin plate E.

[0106] Next, the arrangement process for the third row begins, and if the tenth thin E placed at the beginning of this third row is also classified as "small", it is decided that five columns (five pieces) of thin E will be placed in this third row as well, and five columns (five pieces) of thin E will be placed at equal intervals in the order from the tenth thin E to the fourteenth thin E.

[0107] As a result of the above, a total of 14 thin-walled foods E are placed in the serving area R, and the serving process on one tray 6 is completed. In addition, in the X-axis direction, the supported portion B of thin-walled E classified as "small" class is biased by a distance Xa toward the -X side relative to the center position Xc of the conveying surface 3a, so the reference position of the control point at the collection position T is corrected by a distance Xa toward the -X side.

[0108] (When medium and large thin-walled E are mixed) In the thin-walled arrangement process of S18A, arrangement is performed as shown in FIG. That is, in the first row described above, if the first thin wall E placed at the beginning of this row is classified as the "medium" class, then four columns (four thin walls E) will be placed in this first row in the order of the first thin wall E to the fourth thin wall E, in the same manner as described above.

[0109] Next, the process of placing the second row begins, and if the fifth thin-cut E placed at the beginning of this second row is classified as "large," it is determined that three columns (three pieces) of thin-cut E will be placed in this second row. Accordingly, in the second row, three rows (three pieces) of thin plates E are placed at equal intervals, starting from the fifth thin plate E to the seventh thin plate E.

[0110] Next, the arrangement process for the third row begins, and if the eighth thin E placed at the beginning of this third row is also classified as "large," it is decided that three columns (three pieces) of thin E will be placed in this third row as well, and the three columns (three pieces) of thin E will be placed at equal intervals in the order from the eighth thin E to the tenth thin E.

[0111] As a result of the above, a total of 10 thin-walled foods E are placed in the serving area R, and the serving process on one tray 6 is completed. By automatically changing the number of columns in each row, the spacing between columns is also automatically changed. In addition, in the X-axis direction, the supported portion B of thin-walled E classified as "large" class is biased by a distance Xb toward the +X side from the center position Xc of the conveying surface 3a, so the reference position of the control point at the collection position T is corrected by a distance Xb toward the +X side.

[0112] (Total weight convergence) Therefore, by automatically adjusting the number of pieces to be served in the above-described serving process, the total weight of the thin-walled food E served in the serving area R in the tray 6 (the "weight of the food group" in the claims) falls within the set range α, as shown in FIG. 26. In FIG. 26, the vertical drop portion (step portion) in the solid line showing the case where the number of pieces is controlled appears when the number of thin-walled pieces E placed on the tray 6 decreases. That is, as the size of the thin-walled E increases while the number of sheets remains the same, the total weight of the thin-walled E after serving gradually increases, but when the number of sheets decreases by one, the total weight temporarily decreases. In the examples shown in Figures 23 to 25, the number of thin-walled E pieces served varies from 12, 14, and 10, but by increasing or decreasing the number of thin-walled E pieces served according to the size of the thin-walled E, the total weight falls within the set range. Furthermore, by controlling the number of thin pieces E, the intervals between adjacent thin pieces E are automatically adjusted, and they are arranged in an orderly manner within the arrangement area R.

[0113] (Another example of the setting position of the serving area) As shown in (a) and (b) of FIG. 27, a transfer device 300 may be disposed above the second transport device 5, and the depositing areas R1 and R2 may be set on the transfer device 300 side. The transfer device 300 includes a pair of transfer belts 304, 304, a pair of receiving plates 308, 308, and a pair of pulling plates 306, 306 arranged directly below each of the receiving plates 308, 308. Both receiving plates 308, 308 are included in an imaginary plane above the second transfer device 5 and are arranged to face each other, and are driven by a drive source (not shown) to reciprocate in the X-axis direction (left and right direction) so as to be able to open and close freely. As a result, the position of each receiving plate 308, 308 switches between a closed position S0, S0 in which the opposing edges are closest to each other, closing the top of the second conveying device 5, and an open position E0, E0 in which the opposing edges are separated, opening the top of the second conveying device 5.

[0114] In FIG. 27(a), the closed position S0, S0 and the open position E0, E0 indicate the positions of the opposing edges, respectively. The open positions E0, E0 are positions where the upper sides of the pair of trays 6, 6 placed on the second conveying device 5 are open. A pair of frames 302, 302 extending in the Y-axis direction are arranged at fixed positions outside the positions in the X-axis direction when the receiving plates 308, 308 are in the open positions E0, E0. Each transfer belt 304 has one end connected to the corresponding frame 302 and the other end connected to a corresponding traction plate 306, with its middle portion passing through the gap between the opposing edges of the support plates 308 and wrapped around the opposing edges of the support plates 308. Each of the traction plates 306, 306 is driven by a drive source (not shown) so as to move back and forth in the X-axis direction (left and right direction).

[0115] The placement areas R1, R2 are set on the upper surface of the transfer belts 304, 304 on which the thin-walled food E is placed when both receiving plates 308, 308 are positioned in the closed positions S0, S0 and trays 6, 6 are placed below each of the receiving plates 308, 308. The thin-walled food E is placed in the placement areas R1 and R2 in the placement manner of the first embodiment or the placement manner of the second embodiment, based on the output from the robot controller 34. In the transfer device 300, when a group of thin-walled pieces E is piled on the pile areas R1, R2 via the upper parts of the transfer belts 304, 304, the receiving plates 308, 308 and the pulling plates 306, 306 are driven in the X-axis direction. As a result, as shown in Figure 27(b), the transfer belts 304, 304 move back and forth at the opposing edges of the receiving plates 308, 308, causing the group of thin-walled E piled up on the transfer belts 304, 304 to peel off from the surface of the transfer belts 304, 304 and fall into the trays 6, 6 to be stored. The trays 6, 6 containing the group of thin-walled E are carried out to the −X side by the second conveying device 5.

[0116] (Waterproof and safety cover for food serving equipment) A waterproof and safety cover may be provided to enclose the food presentation device 4 described above. Conventionally, food plating devices equipped with robots operate autonomously during plating operations, so safety must be ensured by preventing workers from entering the moving areas of each part. Alternatively, if an operator enters a predetermined area set around the food plating device, the robot's operation must be automatically stopped to ensure safety. Such a technique is disclosed, for example, in Japanese Patent Application Laid-Open No. 5-96480. In other words, it is equipped with a sensor that detects objects that enter the robot's moving area, and a safety circuit that stops the robot based on the sensor signal. However, since it is necessary to memorize the movable area of ​​the robot and to use a sensor to detect the worker's body, it cannot be provided at low cost.

[0117] On the other hand, since meat scraps and grease adhere to various parts of the slicer during operation, it needs to be cleaned after use to keep it hygienic. This cleaning work is carried out by workers in food processing factories by spraying cleaning water (a mixed liquid of chemicals) onto each part. When using a robot in such an environment, it is necessary to protect the robot from water splashing when washing the slicer, as popular robots have poor waterproofing, and to prevent abnormalities in the electrical system. As a means of protection, it is necessary to wear a jacket on the robot, but putting on and taking off this jacket is time-consuming, which reduces work efficiency. Although highly waterproof robots exist, they are expensive.

[0118] In order to solve the above problems, the following waterproof and safety cover is constructed. 28 to 32 show the robot arm 12 with the hand device 33 removed.

[0119] As shown in FIG. 28, the base 25 is supported on a support table 24 installed on the floor of a processing factory so as to be movable in the X-axis direction. Specifically, as shown in FIG. 29, first, two rails 307, 307 in the X-axis direction are fixed to a portion of the upper part of support base 24 that is biased to the -Y side and a portion that is biased to the +Y side. On the other hand, a mounting surface is formed on the upper part of support plate 308S, and two sliding support parts 309, 309 equipped with bearings are attached to the lower surface of support plate 308S, which has its -Y side end and +Y side end bent downward. The two sliding support portions 309, 309 are fitted onto the two rails 307, 307, respectively, to support the support plate 308S so that it can slide freely in the X-axis direction relative to the support base 24. In addition, an electric motor 310 is fixed to a portion of the upper part of the support base 24 biased toward the -X side, and a male screw shaft 311 driven by this electric motor 310 is extended in the +X direction, and this male screw shaft 311 is screwed into a female screw member 312 attached to the lower part of the support plate 308S. Then, the base 25 of the robot 4 (food plating device) is fixed to the upper surface of this support plate 308S. As a result, when the electric motor 310 is driven in the forward direction, the robot 4 moves in the +X direction relative to the support base 24, and when the electric motor 310 is driven in the reverse direction, the robot 4 moves in the -X direction relative to the support base 24.

[0120] As shown in FIG. 28, the base 25 and swivel base 26 of the robot 4 are surrounded on all four sides by a lower wall 313 consisting of a +Y side wall 313A, a -Y side wall 313B, a +X side wall 313C, and a -X side wall 313D. Then, this lower wall body 313 is fixed to the above-mentioned support plate 308S. In addition, a see-through plate is provided on the upper edge of the lower wall 313, and the lower edge of the upper wall 314 is fixed to the upper wall 314, which has a height that exceeds the top of the rotating base 26 of the robot 4 and the upper end of the robot arm 12, and which surrounds the movable area of ​​the robot arm 12 from three sides. This upper wall 314 is composed of wall 314A located above wall 313A on the +Y side, wall 314B located above wall 313B on the -Y side, and wall 314D located above wall 313D on the -X side. The above-mentioned see-through plate may be formed from organic glass such as acrylic resin or thermoplastic plastic (polycarbonate, etc.). As a result, the upper side of the +X side wall 313C is not covered by the upper wall 314, and an open surface 315 is formed.

[0121] In addition, two doors 316A and 316B are attached to the +X side end of the +Y side wall 314A and the +X side end of the -Y side wall 314B, respectively, via upper and lower hinges 317 having vertical axes so that they can be opened and closed freely. A start switch for starting only the robot 4 and a stop switch for stopping only the robot 4, as well as an emergency stop switch for emergency stopping both the slicer 1 and the robot 4 in the event of an abnormality, are located on the +Y side wall 314A (neither switch is shown in the figure). A touch panel (not shown) is also provided above these switches, and a "cleaning position" is displayed on part of this touch panel. The lower wall 313, the upper wall 314, and the doors 316A and 316B form a waterproof and safety cover.

[0122] With the above configuration, as shown in Figure 30, when the two doors 316A, 316B are opened and the electric motor 310 is driven in the forward direction by operating a switch (not shown), the robot 4 moves in the +X direction together with the lower wall 313, the upper wall 314, and the doors 316A, 316B, and approaches the -X side of the first conveying device 2. In this state, the slicer 1 is started, the start switch is pressed to start the robot 4, and the tip of the robot arm 12 is extended from the open surface 315 onto the conveying surface 3a of the first conveying device 2 to perform the above-mentioned plating operation. At this time, the movable area of ​​the robot arm 12 is surrounded on three sides by the upper wall body 314, so the worker who monitors the plating state by the robot 4 through the plate body does not come into contact with the robot arm 12, improving safety. Furthermore, by opening the two door bodies 316A, 316B to an inverted position and positioning the inner surfaces of each door body 316A, 316B along the side edge on the -X side of the first conveying device 2, it becomes difficult for workers to come into contact with the robot arm 12 or its tip end (hand device) while it is in operation, further increasing safety.

[0123] After the plating work is completed, by pressing the "cleaning position" displayed on the touch panel mentioned above, an output is sent from the robot controller 34, and as shown in Figure 31, the robot arm 12 is folded and retracted from above the first conveying device 2 to a storage position within the upper wall 314, and then stops. Then, the electric motor 310 is driven in reverse by operating a switch, and the robot 4 is moved in the −X direction together with the lower wall 313, upper wall 314, and door bodies 316A, 316B, and moved away from the first transfer device 2 in the −X direction. In this state, the two doors 316A and 316B are manually closed, and the slicer 1 is then washed. At this time, since the robot 4 is surrounded by the lower wall 313, the upper wall 314, and the doors 316A and 316B, even if the cleaning water splashes, it will not come into contact with the robot 4, and even in the case of a popular robot, abnormalities in the electrical system are less likely to occur.

[0124] As shown in FIG. 32, in addition to the above-mentioned configuration, a shielding plate 318 that can be adjusted up and down may be provided on the inside of a wall 313C on the +X side of the lower wall 313. That is, a rectangular shielding plate 318 having the same width and height as the wall body 313C is supported so as to be freely slidable in the vertical direction on two rails (not shown) erected on the +Y side and -Y side portions on the inside of the wall body 313C. The shielding plate 318 has an up-and-down sliding stroke set so that in the lowered position, its upper edge reaches the same height as the upper edge of the wall 313C, and in the raised position, its upper edge reaches the same height as the upper end of the robot 4 in the stored state. The shielding plate 318 is configured to be raised and lowered manually.

[0125] This allows the two door bodies 316A, 316B to be opened to the inverted position as described above and positioned along the side edge of the first conveying device 2 on the -X side, and the shielding plate 318 to be raised to provide a shield between the first conveying device 2 and the robot 4. As a result, when washing the slicer 1, there is no need to close the two doors 316A and 316B, and washing can be carried out efficiently. In addition, the opening and closing of the two door bodies 316A, 316B and the raising and lowering of the shielding plate 318 can be performed by a driving device such as an electric motor, and can be linked to the forward and reverse driving of the electric motor 310. [Explanation of symbols]

[0126] 4. Food serving device (robot) 6 trays 11 Camera (imaging means) 33 Hand Device 37 Electric cylinder (drive unit) 53 Belt (belt-shaped conveying member) 54 Scooping section 55L Left finger 55R Right finger 56 No. 1 air cylinder (drive unit) 57 No. 2 air cylinder (drive unit) 58L First left part 58R Right first part 58LS Left engagement part 58RS Right engagement part 58IFL Left inner finger 58IFR Right inner finger 59L Second left part 59R Right second member 59IFL Left outer finger 59IFR Right outer finger E Thin-walled (food) R Serving area (setting area) SP Gap (space) T1 1st gap T2 2nd gap

Claims

1. A hand device having left and right finger-like portions that open and close, and a scooping portion having a belt that moves back and forth in a space between the left and right finger-like portions, The belt moves in a direction intersecting the opening and closing directions of the left and right fingers to scoop up food in an upwardly inclined direction, A hand device characterized in that each of the left and right finger-like portions is provided with a first member and a second member having a predetermined length in the vertical direction, and these left and right first members and left and right second members are configured to be opened and closed independently.

2. 2. The hand device according to claim 1, wherein when the scooping portion enters between the left and right finger-like portions and the left and right first members and the left and right second members are actuated in a closing direction, a first gap formed between the side end of the scooping portion and the first member is set smaller than a second gap formed between the side end of the scooping portion and the second member.

3. 3. The hand device according to claim 1, wherein a first member and a second member are disposed adjacent to each other in each of the finger-shaped portions, and an inner edge of the first member is configured to retract relative to an inner edge of the second member.

4. 4. The hand device according to claim 3, wherein a space is formed in the second member, and an inner edge of the first member appears and disappears from the space.

5. 5. The hand device according to claim 1, wherein inner edge portions of the left and right first members and the left and right second members are formed in the up-down direction, and the left and right first members are provided at lower end portions thereof with engagement portions extending toward the opposite side.

6. 6. The hand device according to claim 1, wherein a drive device that individually or in conjunction with each other opens and closes the left and right first members, opens and closes the left and right second members, and moves the scooping unit forward and backward is disposed on an upper portion of the hand device.

7. 7. The hand device according to claim 1, wherein the belt is a strip-like member inclined at a predetermined angle in the vertical direction, and the lower side of the belt enters the space between the left and right finger portions.

8. 8. The hand device according to claim 1, wherein when the scooping portion enters between the left and right finger-like portions, the left and right first members operate in a closing direction prior to the left and right second members.

9. 9. The hand device according to claim 8, wherein the left and right first members open before the scooping portion retracts from between the left and right finger-like portions, and the left and right second members open during the process of the scooping portion retracting from between the left and right finger-like portions or when the scooping portion retracts from between the left and right finger-like portions.

10. 10. A method for forming a food group using a hand device as claimed in any one of claims 1 to 9, comprising: a first step of scooping up food located at a collection position diagonally upward using a scooping unit provided on the hand device and actuating the left and right first members and the left and right second members in a closing direction to collect the scooped food in a state in which the scooped food is deformed into a roughly U-shape in plan view; a second step of moving the hand device that has collected the food to a set area away from the collection position; and a third step of operating the left and right first members in an opening direction above the set area and lowering the food diagonally downward using the scooping unit while restricting the opening of the ends of the food with the second members, thereby placing the food within the set area while maintaining the roughly U-shape in plan view; wherein steps 1 to 3 are automatically repeated to form a food group consisting of a plurality of food items within the set area.

11. 10. A method of forming food groups using a hand device as claimed in any one of claims 1 to 9, comprising: a first step of using a scooping unit provided on the hand device to scoop up food products formed to a predetermined thickness at a collection position diagonally upward and actuating the left and right first members and the left and right second members in a closing direction to collect the food products in a state in which the food products are deformed into a generally U-shape in plan view; a second step of moving the hand device that has collected the food products to a set area away from the collection position; and a third step of operating the left and right first members in an opening direction above the set area and using the scooping unit to lower the food products diagonally downward while using the second members to restrict the opening of the ends of the food products, thereby placing the food products in individual positions within the set area while maintaining their generally U-shape in plan view; wherein steps 1 to 3 are automatically repeated, and when forming food groups consisting of a plurality of food products within the set area, the number of food products that make up the food group is automatically changed depending on the size of each food product, and the weight of the food group is adjusted to be within a set range.

12. 12. The food group forming method of claim 11, wherein steps 1 to 3 are automatically and repeatedly executed, and when forming a food group consisting of a plurality of foods within the set area, a plurality of rows and a plurality of columns for arranging the foods within the set area are set, and the number of columns in each row, or the number of columns in each row and the spacing between each column, are automatically changed depending on the size of the food placed at the beginning of each row.

13. 13. The method for forming food groups according to claim 11 or 12, further comprising imaging means for imaging the food before it is picked, and the size of the food is obtained from the imaging results of the imaging means.

Images