Robot hand

Abstract

To realize a robot hand that can reduce the disordered state of an aggregate by preventing each food piece from breaking apart when it is arranged on a tray, for example.SOLUTION: A first belt device which scoops up a single food piece or an aggregate of food pieces with movement in the positive direction and lowers it with movement in the opposite direction is provided in a robot hand which scoops up food and moves the food. A second belt device is arranged with a gap on the upper side of the first belt device. There is provided an operation member which changes the vertical gap between the top surface of the first belt device and the bottom surface of the second belt device. In addition, there is provided an operation member which folds and pushes up the end of the food or aggregate that is suspended by being scooped up on the top surface of the first belt device on the bottom surface side of the first belt device, or pushes up the end to the bottom surface side of the first belt device while folding it.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a robot hand. [Background technology]

[0002] For example, in a food processing factory, a block of food such as raw meat is cut from its leading end in sequence at predetermined intervals by a cutting device, and the food pieces are cut out onto a conveyor. Furthermore, these multiple food pieces are sequentially placed on the conveyor while being shifted so that some of the food pieces overlap each other, thereby forming an assembly of multiple food pieces. Workers scoop up the mass using a spatula-like tool and place it on a food tray. The food arranged on the tray is then packaged together with the tray, and a label bearing the type of food, measured total weight, price, etc. is affixed to it before being shipped as a product.

[0003] In recent years, attempts have been made to automate the plating of such food pieces or aggregates. For example, Patent Document 1 discloses a technology in which food pieces are scooped up by a belt device attached to a robotic hand and placed in a predetermined position. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2009-72209 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the robot hand disclosed in Patent Document 1 does not include a means for maintaining the state of the picked-up aggregate. In other words, since there is no means for increasing the adhesion between the food pieces forming the cluster, when the scooped cluster is set down, the food pieces may break apart, causing the cluster to become disorganized.

[0006] For example, in the case of a collection of meat pieces cut from a block of frozen or chilled raw meat and placed so that some of the pieces overlap each other, the adhesion between the individual meat pieces may be reduced depending on the temperature and the oil and fat content. For this reason, when the food pieces are arranged on the tray, etc., they tend to come apart, and the arrangement of the food pieces as a whole tends to become disorganized. This required reworking of the assembly, which resulted in a problem of reduced production efficiency.

[0007] The present invention aims to solve the above-mentioned problems and realize a robot hand that is less likely to separate food pieces and reduce disruption of the collection when, for example, plating food on a tray. [Means for solving the problem]

[0008] In order to solve the above problems, the present disclosure provides the following technical solutions. That is, the invention described in claim 1 is a robot hand (27) that scoops up and moves food, characterized in that the robot hand (27) is provided with a first belt device (PS) that scoops up a single food piece (m) or a collection (M) of food pieces (m) by moving in a forward direction and sets it down by moving in a reverse direction, a second belt device (TS) is arranged above the first belt device (PS) at a distance, and actuating members (63L, 63R) are provided that change the vertical distance between the upper surface of the first belt device (PS) and the lower surface of the second belt device (TS).

[0009] The invention described in claim 2 is the robot hand described in claim 1, wherein the upper surface of the first belt device (PS) and the lower surface of the second belt device (TS) move in the same direction.

[0010] The invention described in claim 3 is the robot hand described in claim 2, in which the second belt device (TS) is fixedly supported relative to the main body (27S) of the robot hand (27), and the upper surface of the first belt device (PS) is moved up and down relative to the lower surface of the second belt device (TS) by the operating members (63L, 63R).

[0011] The invention described in claim 4 is the robot hand described in claim 1, 2 or 3, which is configured to scoop up placed food pieces (m) or aggregates (M) while introducing them into a gap (VL) between an upper surface of a first belt device (PS) moving in a forward direction and a lower surface of the second belt device (TS), and to hold the scooped up food pieces (m) or aggregates (M) in a sandwiched state by reducing the vertical gap between the upper surface of the first belt device (PS) and the lower surface of the second belt device (TS) using the operating members (63L, 63R), while expanding the vertical gap between the upper surface of the first belt device (PS) and the lower surface of the second belt device (TS) using the operating members (63L, 63R) to release the hold on the food pieces (m) or aggregates (M), and to move the upper surface of the first belt device (PS) and the lower surface of the second belt device (TS) in the opposite direction to lower the food pieces (m) or aggregates (M).

[0012] A fifth aspect of the present invention provides the robot hand according to the fourth aspect, wherein the second belt device (TS) is configured to be detachable from the main body (27S) of the robot hand (27).

[0013] The invention described in claim 6 is a robot hand (27) that scoops up and moves food, the robot hand (27) being provided with a first belt device (PS) that scoops up a single food piece (m) or a collection (M) of food pieces (m) by moving in a forward direction and sets it down by moving in the reverse direction, and the robot hand is provided with operating members (63L, 63R) that fold the end of the food piece (m) or collection (M) that hangs down after being scooped up on the upper surface of the first belt device (PS) under the first belt device (PS) and then push it up, or that folds the end of the food piece (m) under the first belt device (PS) and pushes it up.

[0014] The invention described in claim 7 is a robot hand described in claim 6, in which the first belt device (PS) is provided with an upper belt (43U) and a lower belt (43D) arranged closely above and below in a substantially parallel posture, and the upper surface of the upper belt (43U) and the lower surface of the lower belt (43D) are configured to move in the same direction.

[0015] The invention described in claim 8 is the robot hand described in claim 7, configured so that the end of the food piece (m) or assembly (M) that has been scooped up onto the upper surface of the upper belt (43U) is folded toward the underside of the lower belt (43D) by the operating members (63L, 63R) and then pushed up, or so that the end of the food piece (m) or assembly (M) is folded toward the underside of the lower belt (43D) and then pushed up.

[0016] The invention described in claim 9 is the robot hand described in claim 8, which is configured to move the upper belt (43U) and the lower belt (43D) in the opposite direction to lower the folded food piece (m) or assembly (M) after or while releasing the actuating members (63L, 63R) from pushing up the ends of the food piece (m) or assembly (M).

[0017] A tenth aspect of the present invention provides the robot hand according to any one of the sixth to ninth aspects, wherein the operating members (63L, 63R) are configured to be detachable from a main body (27S) of the robot hand (27). Effect of the Invention

[0018] According to the robot hand of the present invention, when a collection of food pieces is plated, for example, it is possible to reduce disturbance to the state of the collection. [Brief description of the drawings]

[0019] [Figure 1] FIG. 2 is an explanatory side view of the robot according to the embodiment. [Diagram 2] FIG. 2 is an explanatory plan view showing the arrangement of a slicer and a robot in the embodiment. [Diagram 3] FIG. 2 is a right side view for explaining the robot hand according to the first embodiment. [Figure 4] FIG. 2 is a left side view for explaining the robot hand according to the first embodiment. [Diagram 5] FIG. 2 is a plan view for explaining the robot hand according to the first embodiment. [Figure 6] FIG. 2 is a front view for explaining a main part of the robot hand according to the first embodiment. [Figure 7] FIG. [Figure 8] FIG. 2 is a block diagram of a food plating control device according to an embodiment. [Figure 9] 4 is a main flowchart of food plating control in the embodiment. [Figure 10] 6 is a sub-flowchart of food plating control by the robot hand of the first embodiment. [Figure 11] FIG. 4 is an explanatory side view showing a trajectory of a control point of a robot hand in an embodiment. [Figure 12] FIG. 4 is an explanatory diagram of an assembly holding operation by the robot hand of the first embodiment. [Figure 13] 3A and 3B are explanatory diagrams of the state of plating food by the robot hand of the first embodiment, where FIG. 3A is a plan view of the state at the start of plating, and FIG. 3B is a plan view of the state midway through plating. [Figure 14] FIG. 11 is a right side view for explaining a robot hand according to a second embodiment. [Figure 15] FIG. 11 is a left side view for explaining a robot hand according to a second embodiment. [Figure 16] FIG. 11 is a plan view for explaining a robot hand according to a second embodiment. [Figure 17] FIG. 11 is a front view for explaining a main part of a robot hand according to a second embodiment. [Figure 18] FIG. 13 is a right side view for explaining a robot hand according to a modified example of the second embodiment. [Figure 19] FIG. 13 is an explanatory plan view of a robot hand according to a modified example of the second embodiment. [Figure 20] 10 is a sub-flowchart of food plating control by the robot hand of the second embodiment. [Figure 21] FIG. 11 is an explanatory diagram of an assembly holding operation by the robot hand of the second embodiment. [Figure 22] 11A and 11B are explanatory diagrams of the state of plating food by the robot hand of the second embodiment, where (a) is a plan view of the state at the start of plating, and (b) is a plan view of the state midway through plating. [Figure 23] FIG. 13 is a front view for explaining a main part of a robot hand according to a modified example of the second embodiment. [Figure 24] FIG. 13 is a right side view for explaining the robot hand according to the third embodiment. [Diagram 25] FIG. 11 is a left side view for explaining a robot hand according to a third embodiment. [Figure 26] FIG. 11 is a plan view for explaining a robot hand according to a third embodiment. [Figure 27] FIG. 11 is a front view for explaining a main part of a robot hand according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] In the embodiment described in detail below, the food handled by the robot hand of the present invention will be described as pieces of meat ("food pieces" in the claims) m cut from a block of chilled raw meat to a specified thickness using a slicer 1, and an assembly M in which a specified number of these pieces of meat m are stacked and aligned in a staggered manner. Moreover, the piece of meat m may be folded in half after being cut by the slicer 1. In addition, the food handled by the robot hand of the present invention may be other foods than raw meat, such as processed meat, fish meat, food dough such as bread, etc., and there is no limit to the type.

[0021] (First conveying device and second conveying device) As shown in FIGS. 1 and 2, meat pieces m cut out from a slicer 1 are conveyed by a first conveying device 2 provided on the slicer 1.

[0022] (Direction definition) In addition, in the conveying direction of the above-mentioned first conveying device 2, the slicer 1 side is the upstream side, and the opposite side is the downstream side. In each of the following figures, "-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 the upward direction and "-Z" indicates the downward direction. The directions indicated by X, Y, and Z are mutually perpendicular and are three-dimensional coordinate axes.

[0023] Thus, an assembly M of multiple meat pieces m cut out from the slicer 1 arranged side by side is formed 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. A robot 4 that scoops up and collects this aggregate M from the transport surface 3a is disposed on the left side of the first transport device 2 on the downstream side thereof.

[0024] The first transport device 2 is a belt conveyor having an endless belt 3 wound around a group of driven rollers and a driving roller (both not shown). At the end of the first conveying device 2, a second conveying device 5 is disposed, which is perpendicular to the conveying direction of the first conveying device 2 in a plan view and extends in the left-right direction. This second conveying device 5 is a belt conveyor that conveys food trays 6 to a standby position facing the end of the conveying path of the first conveying device 2, as will be described later.

[0025] The belt 3 of the first conveyor device 2 is driven by a servo motor 7 shown in FIG. The rotation phase of the servo motor 7 is detected by an encoder 8 shown in FIG. The servo motor 7 is controlled by the output from the slicer controller 9 to drive the belt 3, thereby transporting the aggregate M on the transport surface 3a to a collection position T shown in FIG.

[0026] When the aggregate M is transported to the collection position T by the driving of the belt 3, the belt 3 stops temporarily (for a very short time), and in this stopped state, the aggregate M at the collection position T is collected by the robot 4. Further, the second conveying device 5 stops conveying the tray 6 until the arrangement of the set number of assemblies M on the tray 6 is completed. After the arrangement of the assemblies M on the tray 6 is completed, the second conveying device 5 is driven to carry out the tray 6 and send the next empty tray to the above-mentioned standby position.

[0027] (camera) Also, as shown in Figures 1 and 2, a camera 10 is placed at a position upstream and above the collection position T to capture an image of the aggregate M on the transport surface 3a before it is transported to the collection position T (before it is collected).

[0028] (Robot Arm) The robot 4 described above functions as a food plating device. As shown in FIGS. 1 and 2, a robot arm 11 provided in this robot 4 is configured so that the entire robot can freely rotate and each part can freely rotate about axes J1 to J6 of a plurality of active joints. As shown in FIGS. 1 and 8, servo motors 12 to 17 are provided for all of the axes J1 to J6 of the active joints, and these servo motors 12 to 17 are provided with encoders 18 to 23 as rotational position detectors, respectively.

[0029] The robot arm 11 is made up of a base 11A, a rotating base 11B, a lower arm 11C, an upper arm 11D, a wrist 11E, and a hand mounting seat 11F. The base 11A is fixed onto a support table 24 connected to the floor of a processing factory or to the side of the slicer 1, and a swivel base 11B is provided on the base 11A so as to be rotatable about a vertical axis J1. A lower arm 11C is supported on the swivel base 11B so as to be rotatable up and down about a horizontal axis J2, and a base portion 11DB of an upper arm 11D is supported on the upper end of the lower arm 11C so as to be rotatable up and down about a horizontal axis J3.

[0030] The rotor 11DR attached to the tip of the base 11DB is supported so as to be rotatable about an axis J4 that is aligned with the axis of the base 11DB. The axis J4 is perpendicular to the axis J3. A wrist 11E is supported at the tip of the rotor 11DR so as to be rotatable about a horizontal axis J5 that is perpendicular to the axis J4. A hand attachment seat 11F is attached to the tip of the wrist 11E so as to be rotatable about an axis J6 in the vertical direction.

[0031] The servo motors 12 to 17 provided on the respective axes J1 to J6 are configured to be driven by outputs from a robot controller 26 of a food plating control device 25, which will be described later.

[0032] (Setting area R) As shown in FIG. 2, a setting area (serving area) R is set on the inner bottom surface of a tray 6 that has been transported by the second transport device 5 and is kept waiting at a position spaced downstream from the end of the first transport device 2. This set area R is set as a rectangular area, and within this set area R, "rows" are set in the X-axis direction, and "columns" are set in the Y-axis direction.

[0033] The position where the set region R is set can be set at any suitable position, such as a fixed position around the slicer 1, other than on the bottom surface of the tray 6. By placing a plurality of assemblies M within this set region R, a reassembly of the assemblies M is formed.

[0034] (Robot hand of the first embodiment) First, the robot hand 27 is arranged so that its basic posture is aligned along the Y-axis direction, and while moving from the "-Y" side to the "+Y" side, it scoops up and collects the aggregate M on the transport surface 3a. For this reason, the configuration of this robot hand 27 will be described with the "+Y" direction being the "front", the "-Y" direction being the "back", the "+X" direction being the "right", and the "-X" direction being the "left". The pieces of meat m scooped up by the robot hand 27 of the first embodiment are pieces of meat for yakiniku that are sliced ​​to a thickness of, for example, about 5 mm.

[0035] (Scooping section - 1st belt device) As shown in FIGS. 3 to 6, upper and lower sub-support plates 29RU, 29RD are arranged in parallel to each other with a gap therebetween on the right side of main support plate 28 formed in an inverted L shape. The main support plate 28 and the sub-support plates 29RU, 29RD are connected by upper and lower connecting rods 30, 30 facing in the left-right direction. The rotation shafts 32U, 32D of the upper and lower frame-shaped rollers 31U, 31D are rotatably supported between the main support plate 28 and the upper and lower sub-support plates 29RU, 29RD, respectively.

[0036] The upper and lower frame-shaped rollers 31U, 31D are formed by welding left and right ends of eight rods 34 aligned along the axial direction of the rotating shafts 32U, 32D to the outer periphery between the left and right disks 33, 33. Furthermore, of the eight rods 34, one upper and one lower rod 34A, 34A has its left end fixed to the base of the left disk 33 and its right end facing a notch formed in the outer periphery of the right disk 33. In this way, each of the rods 34A, 34A is supported in a cantilevered state.

[0037] Then, an upward bent portion 35UK formed at the rear end portion of the upper support plate 35U and a downward bent portion 35DK formed at the rear end portion of the lower support plate 35D are joined between the forward extension portion of the main support plate 28 and the front ends of the upper and lower sub-support plates 29RU, 29RD. In this state, the front extension of the main support plate 28 and the left upward bent portion 35UK of the upper support plate 35U are fastened and fixed by a bolt 36. Additionally, the upper sub-support plate 29RU and the right upward bent portion 35UK of the upper support plate 35U are fastened and fixed by a bolt 36.

[0038] In addition, the forward extension of the main support plate 28 is fastened to the left downward bent portion 35DK of the lower support plate 35D with a bolt 36, and the lower secondary support plate 29RD is fastened to the right downward bent portion 35DK of the lower support plate 35D with a bolt 36. As a result, upper support plate 35U and lower support plate 35D extend forward in a cantilever manner with their bases (rear ends) fixed, and are arranged parallel to each other with a predetermined gap therebetween in the vertical direction.

[0039] Furthermore, since both the upper support plate 35U and the lower support plate 35D are formed from thin steel plates, when an external force is applied in the vertical direction, the portion toward the tip side of the base will bend in the vertical direction while the base remains fixed in position on the main support plate 28. The main body 27S of the robot hand 27 is formed mainly from the main support plate .

[0040] The upper and lower tension arms 38U, 38D, which rotatably support the upper and lower tension rollers 37U, 37D, are disposed in sliding contact with or adjacent to the right side surface (inner surface) of the main support plate 28, respectively. The base portions of the upper and lower tension arms 38U, 38D are supported by the upper and lower rotary shafts 32U, 32D, respectively, so as to be vertically rotatable.

[0041] As shown in FIG. 5 , a support plate 39 is disposed at a distance to the left of the main support plate 28, and this support plate 39 and the left side portion of the main support plate 28 are connected via a connecting pin 40, thereby forming a space between the main support plate 28 and the support plate 39. Additionally, an upper input gear 41U and a lower input gear 41D fixed to each end of the rotation shafts 32U and 32D of the upper and lower frame-shaped rollers 31U and 31D are engaged with each other.

[0042] Further, an output gear 42G driven by an electric motor 42 fixed to the left side surface of the support plate 39 is meshed with the upper input gear 41U in the above-mentioned space. As a result, when the electric motor 42 is driven, the upper and lower frame-shaped rollers 31U and 31D rotate in the opposite directions.

[0043] As shown in Figure 7, two belts 43, 43 are formed from canvas or the like, and a cutout portion 43S and a narrow portion 43T are formed at both ends of each belt 43 in point-symmetric positions adjacent to each other in the width direction of the belt 43. The width B1 of the notch 43S formed on one end of each belt 43 is set to be larger than the width B2 of the narrow portion 43T formed on the other end of the belt 43.

[0044] Similarly, the width A2 of the notch 43S formed on the other end side of each of the belts 43, 43 is set to be larger than the width A1 of the narrow portion 43T formed on one end side of this belt 43. In this manner, the upper belt (the "upper belt" in the claims) 43U and the lower belt (the "lower belt" in the claims) 43D are formed. Then, a loop-shaped engaging portion 43R is formed at the end of the narrow portion 43T on one end side of the upper belt 43U and the lower belt 43D, respectively, and this engaging portion 43R is attached in a penetrating state to the base of each rod body 34A of the upper and lower frame-shaped rollers 31U, 31D described above.

[0045] The other end of the upper belt 43U is then wound from the upper surface side of the upper support plate 35U, folded back at the tip of the upper support plate 35U, and wound around the lower surface side of the upper support plate 35U. Furthermore, after the other end of the upper belt 43U is wound around the upper frame-shaped roller 31U by a predetermined length, the engagement portion 43R formed on the narrow portion 43T on the other end of the upper belt 43U is attached to the tip side of the rod body 34A of the upper frame-shaped roller 31U by penetrating it.

[0046] On the other hand, the other end of the lower belt 43D is folded back from the upper surface side of the lower support plate 35D at the tip of this lower support plate 35D and wound around the lower surface side of the lower support plate 35D. Furthermore, after the other end side of the lower belt 43D is wound around the lower frame-shaped roller 31D by a predetermined length, the engagement portion 43R formed on the narrow portion 43T on the other end side of the lower belt 43D is attached to pass through the tip side portion of the rod body 34A of the lower frame-shaped roller 31D.

[0047] As a result, the narrow portions 43T on one end and the narrow portions 43T on the other end of the upper belt 43U and the lower belt 43D are wrapped around adjacent portions of each frame-shaped roller 31U, 31D in the direction of the rotation axis, with a left-right gap formed between them. That is, when narrow width portion 43T on one end side of upper belt 43U and narrow width portion 43T on the other end side of lower belt 43D are wound up and unwound, interference between them is prevented.

[0048] The winding direction of the narrow width portions 43T on one end sides of the upper belts 43U and lower belts 43D around each of the frame-shaped rollers 31U and 31D is set to be opposite to the winding direction of the narrow width portions 43T on the other end sides. Further, the length of the upper belt 43U and the lower belt 43D that is fed out from one end and the length of the lower belt 43D that is taken up from the other end by the rotation of each of the frame-shaped rollers 31U, 31D are set to be substantially the same length. That is, either one of the ends of the upper belt 43U or the lower belt 43D is wound up by a predetermined length, and the other is unwound by this predetermined length.

[0049] As shown in Figures 3 and 5, tension rollers 37U, 37D are abutted against the outer surfaces of narrow portions 43T at one end of upper belt 43U and lower belt 43D at positions immediately before each frame-shaped roller 31U, 31D, to apply tension to each belt 43U, 43D. By adjusting the vertical positions of the tension rollers 37U, 37D, the tension of the upper belt 43U and the lower belt 43D can be adjusted, and also the stretch of the belts 43U, 43D caused by work can be absorbed.

[0050] The upper support plate 35U, the upper belt 43U, the lower support plate 35D, the lower belt 43D, the electric motor 42, and the like form a scooping section (a "first belt device" in the claims) PS. In the drawings other than FIG. 7, the actual upper belt 43U and lower belt 43D are omitted, and only their positions are indicated by imaginary arrows.

[0051] (Operating member) As shown in FIGS. 3 to 5, the base of the support member 44 extending forward is fastened and fixed by a bolt 46 to the front surface of a spacer 45 fixed to the upper surface of the main support plate 28. An operating portion 48 is supported on the front end portion of the support member 44 so as to be movable up and down.

[0052] That is, a vertical movement air cylinder 49 is fixed to the front end of the support member 44, and a connecting plate 50 is fixed to the upper end of the piston of this vertical movement air cylinder 49 with a bolt 50B. As a result, the connecting plate 50 moves up and down relative to the support member 44 by the expansion and contraction of the vertical movement air cylinder 49 . Further, a screw member 50N is attached to the rear end of the connecting plate 50 to regulate the raised end position of the connecting plate 50 relative to the support member 44. By adjusting the screw member 50N, the position of the raised end of the operating portion 48, which includes left and right rotating arms ("operating members" in the claims) 63L, 63R described later, is adjusted in the vertical direction.

[0053] The front end of this connecting plate 50 is fastened and fixed by a bolt 52 to the upper center of a support frame 51 arranged in the left-right direction. A first attachment plate 53 having a top-bottom surface is integrally formed at the front end of the support frame 51 so as to extend in the left-right direction. Incidentally, surrounding portions 51K that are open to the rear are formed on both the left and right sides of the support frame 51, and the front portions of the left and right pneumatic rotary actuators 54L, 54R fixed to the support frame 51 are surrounded by these surrounding portions 51K.

[0054] The output shafts 55L, 55R of the left and right rotary actuators 54L, 54R are inserted into left and right holes formed through the first mounting plate 53 and extended to the front side of the first mounting plate 53, and the left and right output gears 56L, 56R are fixed to each extended end. Further, base portions of left and right intermediate shafts 57L, 57R are fixed to the lower portions of the left and right output shafts 55L, 55R of the first mounting plate 53, and left and right intermediate gears 58L, 58R are supported on the intermediate shafts 57L, 57R.

[0055] A second mounting plate 59 is disposed in front of the first mounting plate 53 at a predetermined distance, and the first mounting plate 53 and the second mounting plate 59 are connected at their upper and lower and left and right positions by connecting rods 60 . Further, left and right rotating shafts 61L, 61R extending along the front-rear direction are supported in a penetrating manner at both left and right ends of the lower portion of the first mounting plate 53 and the second mounting plate 59. Then, left and right input gears 62L, 62R are fixed to the left and right rotary shafts 61L, 61R at positions between the first mounting plate 53 and the second mounting plate 59, respectively.

[0056] Thus, the above-mentioned left output gear 56L and left intermediate gear 58L mesh with each other, and this left intermediate gear 58L meshes with the left input gear 62L. Similarly, the right output gear 56R meshes with the right intermediate gear 58R, and the right intermediate gear 58R meshes with the right input gear 62R. Then, boss portions 64L, 64R formed at the base of the left and right rotating arms ("operating members" in the claims) 63L, 63R are fitted into the respective tip portions of the left and right rotating shafts 61L, 61R that protrude forward further than the second mounting plate 59, and these boss portions 64L, 64R are fastened and fixed to the respective rotating shafts 61L, 61R with butterfly screws 65.

[0057] Thereby, by loosening the butterfly screw 65, the left and right rotating arms 63L, 63R can be easily removed from the left and right rotating shafts 61L, 61R. Furthermore, the left and right rotating arms 63L, 63R can be attached to the left and right rotating shafts 61L, 61R and fixed by tightening the butterfly screws 65. That is, the left and right rotating arms 63L, 63R are configured to be detachable from the main body 27S of the robot hand 27.

[0058] As shown in FIG. 6, the left and right rotating arms 63L, 63R are each bent into an L shape, and bases of support members 66L, 66R extending inward in the left-right direction are fastened and fixed to the free ends of the arms by bolts 67. The left and right support members 66L, 66R are fixed at right angles to the left and right rotating arms 63L, 63R when viewed from the front (when viewed in the axial direction of the left and right rotating shafts 61L, 61R).

[0059] As shown in Figs. 3 and 4, long holes 68 are formed in the free ends of the left and right rotating arms 63L, 63R, and bolts 67 are inserted into the long holes 68 to fasten and fix the support members 66L, 66R. This allows the bolts 67 to be loosened, and the fixed positions of the support members 66L, 66R relative to the rotating arms 63L, 63R to be adjusted in the longitudinal direction of each of the rotating arms 63L, 63R.

[0060] Further, a plurality of (four or three in this embodiment) support rods 69 are fixed at their front-rear intermediate portions at predetermined intervals in the left-right direction to each of the left and right support members 66L, 66R. The rear end of this support rod 69 is bent in a rearwardly downwardly inclined position. As a result of the above, the operating unit 48 equipped with the left and right rotating arms 63L, 63R is configured as an assembly. As a result, when the air cylinder 49 for vertical movement is extended, the entire operating unit 48, including the left and right pivot arms 63L, 63R, moves upward, and when the air cylinder 49 for vertical movement is contracted, the entire operating unit 48, including the left and right pivot arms 63L, 63R, moves downward.

[0061] (Regulation section - second belt device) As shown in FIGS. 3 to 6, screw holes 71 are formed in the left and right outer surfaces of the support member 44, and bolts 72 are used to fasten and fix the bases of left and right support arms 70L, 70R which are inverted V-shaped when viewed from the side. The base of a regulating portion ("second belt device" in claims) TS is supported on the front ends of the left and right support arms 70L, 70R. The restricting portion TS is disposed above the upper belt 43U with a gap portion VL therebetween, in a position substantially parallel to the upper surface of the upper belt 43U. The front end of the restricting portion TS is extended to the vicinity of the front end of the scooping portion PS.

[0062] That is, as shown in FIG. 4, a base portion of a left support side plate 73L is fastened to a front end portion of a left support arm 70L by a bolt 74. As shown in FIG. 3, a mounting plate 75 is fixed to the base of the right support side plate 73R, and this mounting plate 75 is fastened to the front end of the right support arm 70R with a knob bolt 76.

[0063] The left and right support side plates 73L, 73R are connected by a plurality of connecting rods 77 to form a framework. An input shaft 78 is rotatably supported between the rear ends of the left and right support side plates 73L, 73R, and a wide drive roller 79 is fixed to the input shaft 78. Meanwhile, left and right adjustment plates 81 each having a tension adjustment mechanism 80 are fixed to the outer front end portions of the left and right support side plates 73L, 73R. This tension adjustment mechanism 80 makes it possible to adjust the front-to-rear position of a rotation shaft 83 of a driven roller 82 axially supported between the front ends of left and right adjustment plates 81 .

[0064] An endless belt 84 is wound around the driving roller 79 and the driven roller 82 . In addition, a guide member (not shown) that comes into sliding contact with the inner circumferential surface of the lower winding region of the belt 84 is provided between the driving roller 79 and the driven roller 82.

[0065] As shown in FIG. 4, a timing belt 87 is wound around an output pulley 85 fixed to the left end of the rotating shaft 32D of the lower frame-shaped roller 31D and an input pulley 86 fixed to the left end of the input shaft 78. As a result, the upper frame-shaped roller 31U, the lower frame-shaped roller 31D, and the drive roller 79 are driven in synchronization (at the same timing and the same speed). Further, the speed change ratio is set so that the lower surface of the lower winding region of the belt 84 in the regulating portion TS and the upper surface of the upper belt 43U in the scooping portion PS are driven in the same direction at the same speed. The lower surface of the lower winding region of the belt 84 is held in a fixed position relative to the main body 27S of the robot hand 27 by the support structure of the regulating part TS described above.

[0066] (Change vertical spacing) Thus, when the electric motor 42 is driven in the forward direction, the upper surface of the upper belt 43U of the scooping part PS moves rearward (the "forward direction" in the claims), and the lower surface of the lower winding area of ​​the belt 84 of the regulating part TS also moves rearward. As a result, by moving the robot hand 27 horizontally (in the +Y direction), a single piece of meat m or a group M of meat pieces m on the conveying surface 3a of the first conveying device 2 is scooped up onto the upper surface of the upper belt 43U and introduced into the gap VL. Then, for example, when one assembly M has been scooped up, when the left and right rotary actuators 54L, 54R are driven, the left and right rotating arms 63L, 63R rotate inward (closing direction), and the left and right support members 66L, 66R enter below the scooping portion PS.

[0067] In this state, when the vertical movement air cylinder 49 is operated to move the operating portion 48 upward, the left and right support members 66L, 66R and the support rods 69, 69 push up the lower surface of the scooping portion PS (the lower surface of the lower belt 43D). As a result, lower support plate 35D and upper support plate 35U in scooping portion PS move upward while flexing, and the upper surface of upper belt 43U moves in a direction approaching the lower surface of the lower winding region of belt 84 of regulation portion TS. That is, the vertical distance between the upper surface of the upper belt 43U and the lower surface of the lower winding region of the belt 84 (the vertical distance between the upper surface of the first belt device and the lower surface of the second belt device in the claims) is reduced. Due to this reduction in the vertical gap, the assembly M introduced into the gap VL is sandwiched (or compressed) between the upper surface of the upper belt 43U and the lower surface of the lower winding region of the belt 84. As a result, the meat pieces m that form the aggregate M are pressed against each other, increasing their adhesive force and stabilizing the parallel arrangement. In addition, by adjusting the screw member 50N, the elevated end positions of the left and right rotating arms 63L, 63R together with the operating portion 48 can be changed, and the amount of reduction in the vertical distance between the upper surface of the upper belt 43U and the lower surface of the lower winding area of ​​the belt 84 can be adjusted. The mechanism for pushing up the lower surface of the scooping part PS is not limited to the above-mentioned left and right rotating arms 63L, 63R. That is, instead of the left and right rotating arms 63L, 63R, a mechanism using a dedicated air cylinder, electric motor, solenoid actuator, or the like for pushing up the lower surface of the scooping portion PS may be provided.

[0068] (Detachable device) As shown in FIG. 3, an attachment / detachment device 88 is provided between the inclined surface (oblique side) of the spacer 45 of the robot hand 27 and a hand attachment seat 11F provided on the wrist 11E of the robot arm 11. This attachment / detachment device 88 and the handle 89 fixed to the main body 27S make it possible to easily attach and detach the robot hand 27 to and from the wrist 11E, facilitating tasks such as cleaning the robot hand 27 and replacing it with a robot hand 27 of a different shape.

[0069] (Food plating control device) As shown in FIG. 8, the above-mentioned encoders 18 to 23 and camera 10 are connected to the input side of a robot controller 26 equipped with a calculation unit, a storage unit, and the like. On the other hand, the output side of the robot controller 26 is connected to the above-mentioned servo motors 12 to 17, a valve solenoid 90 for the vertical movement air cylinder 49, a valve solenoid 91 for the left rotary actuator 54L, a valve solenoid 92 for the right rotary actuator 54R, and the electric motor 42.

[0070] Although not shown, individual relay circuits for operating the servo motors 12 to 17 and the electric motor 42 are provided on the output side of the robot controller 26. The air pressure for the air cylinder and the rotary actuator is supplied from a compressed air supply facility in the factory or an air pump provided in the slicer 1.

[0071] On the other hand, the slicer controller 9 on the slicer 1 side has the above-mentioned encoder 8 connected to its input side, and the above-mentioned servo motor 7 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 26 and the slicer controller 9 are connected via a communication line SL. Food plating control device 25 is configured as described above.

[0072] (Placement control) The plating control according to the present invention will now be described. As shown in FIG. 2, a block of raw meat is cut to a predetermined thickness by a slicer 1, and the cut pieces of meat (or pieces of meat folded in two) m are sequentially placed on the conveying surface 3a of a belt 3 in a first conveying device 2.

[0073] A set number of meat pieces m placed on the conveying surface 3a are arranged in parallel so that some of them overlap each other to form an aggregate M, and are conveyed with a predetermined gap formed between the aggregates M. When the encoder 8 detects that the aggregate has reached the collection position T, the slicer controller 9 outputs a collection start signal to the robot controller 26.

[0074] As a result, the moving state of the aggregate M placed on the transport surface 3a and the timing of collecting the aggregate M on the transport surface 3a are synchronized. When the set number of assemblies M have been collected and all of the plating has been completed, a plating completion signal is output from the robot controller 26 to the slicer controller 9. 9 and 10 show a flowchart of the plating control, FIG. 11 shows the movement trajectory of the control point of the robot hand 27 (the widthwise center position at the tip of the upper belt 43U), FIG. 12 shows the operating state of the robot hand 27, and FIG. 13 shows the plating state of the assembly M. In addition, in FIG. 13, the assembly M is formed of three meat pieces m, but the number of meat pieces m forming the assembly M is not limited to this.

[0075] (S10A) As shown in FIG. 9, when plating control is started, in S10A, the robot arm 11 is driven and controlled by output from the robot controller 26, the robot hand 27 is moved from the stored position, and the control point is positioned at point P0, which is the initial position. This point P0 is set at a position at the collection position T of the aggregate M, directly above the transport surface 3a and spaced a predetermined distance.

[0076] At this point P0, the left and right rotating arms 63L, 63R of the robot hand 27 are on standby in an upward rotated position. That is, as shown in FIG. 12(a), the left and right support members 66L, 66R are in an open state in which they are retracted upward and outward from below the lower belt 43D. In this state, the electric motor 42 is stopped, and the driving of the upper belt 43U and the lower belt 43D is stopped.

[0077] (S12) In S12, the slicer controller 9 acquires the attributes of the aggregate M being transported to the collection position T. That is, the robot controller 26 processes the image of the outside group M captured by the camera 10, and obtains the size of the group M (the length (width) and area of ​​the group M in the X-axis direction) based on the result.

[0078] (S14) In S14, the robot controller 26 selects a predetermined number of rows N that corresponds to the size of the tray 6 to be used from a plurality of predetermined number of rows N stored as fixed values. In addition, the predetermined number of rows M is automatically calculated based on the thickness (height) of the tip of the chunk of meat and the size of the aggregate M based on image processing.

[0079] As a result, a predetermined number M of rows and a predetermined number N of columns are set within a set area R on the inner bottom surface of the tray 6. It should be noted that each row and each column in each row are set at equal intervals.

[0080] (S16) In S16, the robot controller 26 sets the count value n of the column counter and the count value m of the row counter to 1, and the process proceeds to "plating process" in S18A.

[0081] (S18A: Plating process) FIG. 10 is a flowchart of the plating process in S18A. As shown in FIG. 13, in the column closest to the +X side, a process of arranging the set M is performed from the row closest to the +Y side to the row closest to the -Y side. When one column is completed, a similar process of arranging is performed in the next column adjacent to this column on the -X side.

[0082] (Plate processing) (S100) The robot controller 26 executes the "collection target position setting process" and the "trajectory generation process." In the collection target position setting process, based on the size of the aggregate M obtained by the camera 10, a position at or near the center in the longitudinal direction of the aggregate M is set as the target point BP for collection (see Figures 2 and 13).

[0083] In the trajectory generation process, a trajectory for movement from point P0 to P7 and from point P7 back to P0 shown in FIG. 11 is generated. Point P0 is the initial position of the robot hand 27 and is set as a fixed value. That is, this point P0 is set at a position directly above the center line t of the width of the belt 3 provided on the first conveying device 2 of the slicer 1.

[0084] Point P1 is a collection target position, and is located below point P0. Point P1 is set as the position of the robot hand 27 when approaching the target point BP of the aggregate M located at the collection position T. This point P1 is set at a height that allows the leading end of the upper belt 43U to come into sliding contact with the conveying surface 3a.

[0085] Point P2 is set at a position that is the same as the X-axis coordinates and Z-axis coordinates of point P1, and is located downstream (on the +Y side) of the Y-axis coordinate of point P1. When the control point of the robot hand 27 moves from point P1 to point P2, the electric motor 42 is driven in the normal direction to scoop up the aggregate M at the collection position T onto the upper surface of the upper belt 43U.

[0086] Furthermore, the X-axis and Y-axis coordinates of point P3 are set to be the same as those of point P2, and the Z-axis coordinate of point P3 is set to be larger (higher) than the Z-axis coordinate of point P2. The height of this point P3 from the conveying surface 3a is set so that even if an end of the assembly M hangs down when the robot hand 27 scoops up the assembly M, this end will not come into contact with the conveying surface 3a.

[0087] Point P5 is located at a position a predetermined distance above a set area R set on the inner bottom surface of the tray 6, and is set as a position from which the assembly M held by the robot hand 27 starts to be placed. Point P4 is set at a position directly above point P5.

[0088] Point P6 is located at the same position as point P5 on the Z axis coordinate, but on the -Y side of point P5 on the Y axis coordinate, and is set as the placement end position of aggregate M. Point P7 is set at a position directly above point P6.

[0089] (S101) The robot controller 26 waits to receive a collection start signal output from the slicer controller 9 when the aggregate M is located at the collection position T. When the collection signal is received, the process proceeds to S102.

[0090] (S102) The robot controller 26 changes the X-axis coordinate value of the point P1 to the X-axis coordinate of the collection target position obtained in S100.

[0091] (S103) The robot arm 11 is operated and controlled by the output from the robot controller 26 to the servo motors 12 to 17, and the control point, which is the center point in the width direction of the upper belt 43U provided on the robot hand 27, is lowered from point P0 to point P1, and the tip of the upper belt 43U is brought into contact with or close to the conveying surface 3a.

[0092] (S104) Then, the robot arm 11 is controlled by outputs from the robot controller 26 to the servo motors 12 to 17, and the control point is moved from point P1 to point P2. In other words, the robot hand 27 is moved from the -Y side to the +Y side along the Y-axis so that the center point (control point) in the width direction of the tip of the upper belt 43U provided on the robot hand 27 coincides with the target point BP (the center position in the width direction (X-axis direction) of the aggregate M), and the tip of the upper belt 43U is advanced toward the aggregate M. At this time, the robot hand 27 (or the scooping part PS) maintains a posture in which it is tilted downward toward the front.

[0093] At this time, output is given from the robot controller 26 to the electric motor 42, and the upper surface of the upper belt 43U at the scooping section PS and the lower surface of the belt 84 at the regulating section TS move in the forward direction (from the +Y side to the -Y side) to start scooping up the assembly M. (At this time, the lower belt 43D moves in the opposite direction to the upper belt 43U.) However, this scooping up of the aggregate M is performed by placing the aggregate M on the upper surface of the upper belt 43U, and the lower surface of the belt 84 does not need to contact the upper surface of the aggregate M. As a result, as shown in FIG. 12(a), the aggregate M is introduced into the gap VL between the upper surface of the upper belt 43U and the lower surface of the belt 84 and is scooped up.

[0094] Incidentally, the left and right ends of the aggregate M thus scooped up may protrude outward from the left and right ends of the upper belt 43U. Also, when scooping up of the aggregate M is completed or immediately before completion, the robot hand 27 (or the scooping part PS) may be pitched from a front-down inclined posture to a horizontal posture. This allows the picked up aggregate M to be held stably.

[0095] (S105) Then, after a set time has elapsed until scooping up of the aggregate M is completed, output to the electric motor 42 is terminated to stop the movement of the upper belt 43U, and then the robot controller 26 controls the robot arm 11 via output to the servo motors 12 to 17 to move the control point to point P3. It is also possible to control the upper belt 43U and the belt 84 to continue moving to scoop up the aggregate M while starting to move the control point to the point P3.

[0096] (S106) At point P3, first, an output is sent from the robot controller 26 to the valve solenoids 91 and 92. As a result, the left and right rotary actuators 54L, 54R are rotationally driven, and the left and right rotating arms 63L, 63R, which were in a substantially horizontal position, rotate (close operation) in a direction approaching the upright position. As a result, as shown by the change from (a) to (b) of FIG. 12, the left and right support members 66L, 66R enter below the scooping portion PS.

[0097] Then, an output is sent from the robot controller 26 to the valve solenoid 90, the vertical movement air cylinder 49 is actuated, and the left and right support members 66L, 66R together with the actuating portion 48 are moved upward by the set stroke PP. As a result, as shown in the change from (b) to (c) in Figure 12, the underside of the scooping portion PS (the underside of the lower belt 43D) is pushed up by the left and right support members 66L, 66R and the support rods 69, 69, and the lower support plate 35D and upper support plate 35U in the scooping portion PS move upward while bending. As a result, the upper surface of the upper belt 43U moves in a direction approaching the lower surface of the lower winding area of ​​the belt 84, and the vertical gap between the upper surface of the upper belt 43U and the lower surface of the lower winding area of ​​the belt 84 (the vertical length of the gap portion VL) is reduced to a predetermined gap.

[0098] As a result, the assembly M that had been scooped up onto the upper belt 43U is sandwiched between the upper surface of the upper belt 43U and the lower surface of the lower winding area of ​​the belt 84, and the parallel state is stabilized by the pressure contact (or compression or crimping) of each meat piece m that forms the assembly M. In other words, even if the meat pieces m that form the aggregate M overlap each other partially, when the meat pieces m are in a frozen state or a low temperature state close to that, the adhesive force due to the contained oils and fats is small, and the parallel arrangement is likely to collapse. In contrast, by sandwiching the assembly M between the upper and lower belts as described above, the adhesive force between each meat piece m is increased, and the parallel arrangement is maintained in a state in which it is less likely to collapse.

[0099] (S107) While holding the scooped up aggregate M in this manner, the robot arm 11 is controlled by outputs from the robot controller 26 to the servo motors 12 to 17 to move the control point to point P4. (S108) Then, the robot arm 11 is controlled by the output from the robot controller 26 to the servo motors 12 to 17, and the control point is moved (lowered) to point P5. This brings the control point to the placement start position of the aggregate M.

[0100] (S109) At point P5, as shown by the change from (c) to (d) in Figure 12, a reverse output is sent from the robot controller 26 to the valve solenoid 90, the up-and-down movement air cylinder 49 operates in the reverse direction, and the left and right support members 66L, 66R together with the operating portion 48 move downward by the set stroke PP. This causes the scooping part PS to move down to the initial position. That is, the upper surface of the upper belt 43U moves in a direction away from the lower surface of the lower winding region of the belt 84, and the vertical gap between the upper surface of the upper belt 43U and the lower surface of the lower winding region of the belt 84 (the vertical length of the gap portion VL) expands to its original gap. As a result, the aggregate M scooped up on the upper belt 43U separates from the lower surface of the lower winding region of the belt 84, and the pressure contact is released.

[0101] (S110) In this state, the robot arm 11 is controlled by the outputs from the robot controller 26 to the servo motors 12 to 17 to move the control point to point P6. Furthermore, while this control point is moving from point P5 to P6, a reverse output is sent from the robot controller 26 to the electric motor 42, and the upper surface of the upper belt 43U in the scooping section PS (together with the lower surface of belt 84) moves in the reverse direction (from the -Y side to the +Y side), and the assembly M is lowered into the set area R set on the inner bottom surface of the tray 6. This results in a single assembly M being served.

[0102] (S111) Then, the robot arm 11 is controlled by outputs from the robot controller 26 to the servo motors 12 to 17 to move the control point to point P7 and raise it to a position that avoids interference with surrounding structures such as the end of the first conveyance device 2. (S112) Next, the robot arm 11 is controlled by the output from the robot controller 26 to the servo motors 12 to 17, and the control point is moved to point P0, and then returned to the initial position.

[0103] At this time, the robot controller 26 outputs a signal in the reverse direction to the valve solenoids 91 and 92 . As a result, the left and right rotary actuators 54L, 54R are rotationally driven in opposite directions, and the left and right rotating arms 63L, 63R, which were in an upright position, rotate (open operation) to a substantially horizontal position. As a result, as shown by the change from (d) to (a) in FIG. 12, the left and right support members 66L, 66R retreat from below the scooping part PS to the outside and above, and return to their initial state. With the above, the arrangement process for one assembly M in S18A is completed, and the process proceeds to S20A in the flow of FIG.

[0104] (S20A) After the plating process for one collection M is completed as described above, the count value m of the row counter is incremented in S20A, and the process proceeds to S22A. (S22A) In S22A, the robot controller 26 determines whether the count value m of the row counter exceeds a predetermined number M of columns. If the count value m does not exceed the predetermined number of rows M, the process returns to S18A, and the plating process of the aggregate M is performed on the meat drop point in the next row order in the current column n. If the count value m exceeds the predetermined number of rows M, the process proceeds to S24A.

[0105] (S24A) In S24A, the count value n of the column counter is incremented, and the process proceeds to S26A. (S26A) In S26A, if the count value n of the column counter does not exceed the predetermined number of columns N, the process proceeds to S28A, and if the count value n of the column counter exceeds the predetermined number of columns N, the process of this flowchart is temporarily terminated.

[0106] (S28A) In S28A, the count value m of the row counter is set to 1, and the process returns to S18A. When the process returns to S18A, the process of plating the aggregate M at the meat drop point in the first row of the next column is started.

[0107] As a result of the above, after the arrangement of the first row of assemblies M is completed, the second row of assemblies M are arranged so as to overlap one end of the first row of assemblies M, as shown in (a) and (b) of Figures 13. When the arrangement of the final row of the second column is completed, the arrangement of the aggregates M in the set region R is completed, and a group of the aggregates M is formed on the set region R. The second conveying device 5 stops conveying the tray 6 until the arrangement of the assemblies M on the tray 6 is completed. After the placement of the assemblies M on the tray 6 is completed, the second conveying device 5 is driven to remove the tray 6 and send the next empty tray to the above-mentioned standby position.

[0108] (Robot hand of the second embodiment) 14 to 21 show a robot hand 27 according to a second embodiment. The piece of meat m scooped up by this robot hand 27 is, for example, a thinly sliced ​​piece of meat having a thickness of about 1 to 3 mm, or a piece of meat obtained by folding this in half. Moreover, the robot hand 27 of the second embodiment is obtained by removing the restricting unit TS from the robot hand 27 of the above-mentioned first embodiment. That is, for the robot hand 27 of the first embodiment, the timing belt 87 is removed from the output pulley 85 and the input pulley 86, the four bolts 74 are removed, and the regulating part TS is detached from the main body 27S as an assembly. Except for the removal of the restricting portion TS, this has the same configuration as the robot hand 27 of the first embodiment. That is, since the configurations of the parts denoted by the same reference numerals in Figs. 14 to 21 are the same as those in the first embodiment, a description of the configuration of the robot hand 27 in the second embodiment will be omitted. Additionally, the configuration of the block diagram of FIG. 8 is also used for food plating control device 25.

[0109] (Placement control) The plating control by the robot hand 27 of the second embodiment will be described. First, when the encoder 8 detects that the aggregate M on the transport surface 3a has reached the collection position T, the slicer controller 9 outputs a collection start signal to the robot controller . As a result, the moving state of the aggregate M placed on the transport surface 3a and the timing of collecting the aggregate M on the transport surface 3a are synchronized. FIG. 20 shows a flow chart of the arrangement control, and FIG. 21 shows the state in which the assembly M is folded by the robot hand 27.

[0110] Incidentally, the plating control is the same as steps S10A to S16 and S20A to S28A (steps other than S18A) in the main flow chart of the first embodiment shown in FIG. 9, so a description of these steps will be omitted. Moreover, the trajectory of the control points is the same as that in the first embodiment shown in FIG. 11, and therefore a description thereof will be omitted.

[0111] (S18A: Plating process) S200 to S211 shown in FIG. 20 are a flowchart of the plating process in S18A. As shown in FIG. 22, in the column closest to the +X side, the arrangement process of the set M is performed from the row closest to the +Y side to the row closest to the -Y side, and when one column is completed, a similar arrangement process is performed in the next column adjacent to this column on the -X side.

[0112] (Plate processing) (S200) The robot controller 26 executes the collection target position setting process and the trajectory generation process. This collection target position setting process and trajectory generation process are the same as those in the first embodiment described above, and therefore a description thereof will be omitted.

[0113] (S201) The robot controller 26 waits for reception of a collection start signal output from the slicer controller 9 when the aggregate M is located at the collection position T. When the collection signal is received, the process proceeds to S202. (S202) The robot controller 26 changes the X-axis coordinate value of the point P1 to the X-axis coordinate of the collection target position obtained in S200.

[0114] (S203) The robot arm 11 is controlled by output from the robot controller 26 to the servo motors 12 to 17, and the control point, which is the center point in the width direction of the upper belt 43U provided on the robot hand 27, is moved (lowered) from point P0 to point P1, so that the tip of the upper belt 43U contacts or approaches the conveying surface 3a.

[0115] (S204) The robot arm 11 is controlled by outputs from the robot controller 26 to the servo motors 12 to 17, and the control point is moved from point P1 to point P2. In other words, the robot hand 27 is moved from the -Y side to the +Y side along the Y-axis so that the center point (control point) in the width direction of the tip of the upper belt 43U provided on the robot hand 27 coincides with the target point BP (the center position in the width direction (X-axis direction) of the aggregate M), and the tip of the upper belt 43U is advanced toward the aggregate M.

[0116] At this time, an output is given from the robot controller 26 to the electric motor 42, and the upper surface of the upper belt 43U moves in the forward direction (at this time, the lower surface of the lower belt 43D also moves in the forward direction), and scooping up of the aggregate M begins. When scooping up of the aggregate M is completed or immediately before completion, the robot hand 27, which has been tilted downward at the front, may be pitched to a horizontal position. The left and right ends of the aggregate M scooped up on the upper surface of the upper belt 43U hang down downward or obliquely downward from the left and right ends of the upper belt 43U.

[0117] (S205) Then, after a set time has elapsed until scooping up of the aggregate M is completed, output to the electric motor 42 is terminated and driving of the upper belt 43U is stopped, and then the robot arm 11 is controlled by output from the robot controller 26 to the servo motors 12 to 17 to move the control point to point P3. It is also possible to control the upper belt 43U to start moving the control point to the point P3 while continuing to move and scoop up the aggregate M. During this movement to point P3, the left and right rotating arms ("operating members" in the claims) 63L, 63R are closed and moved upward.

[0118] (Closing operation of the operating member) That is, the robot controller 26 outputs to the valve solenoids 91, 92, the left and right rotary actuators 54L, 54R rotate, and the left and right rotating arms 63L, 63R, which were in a substantially horizontal position, rotate (close operation) in a direction approaching the upright position. As a result, as shown in the change from (a) to (b) in Figure 21, both left and right ends of the hanging-down aggregate M are lifted up so that they rest on the support rods 69 of the support members 66L, 66R provided on the left and right pivot arms 63L, 63R, and are folded up to a position close to the underside of the scooping section PS (the underside of the lower belt 43D).

[0119] (Upward movement of the actuating member) After both left and right ends of the aggregate M have been folded in this manner, or during this folding process, an output is sent from the robot controller 26 to the valve solenoid 90, and the left and right pivot arms 63L, 63R together with the operating part 48 are moved upward by the set stroke SS via the operation of the up-down movement air cylinder 49. Accordingly, as shown in the change from (b) to (c) in Figure 21, while the scooping portion PS (upper belt 43U and lower belt 43D) is held in an approximately fixed position, the left and right support members 66L, 66R supported by the left and right pivot arms 63L, 63R move upward by the set stroke SS.

[0120] As a result, the left and right ends of the folded assembly M, or the left and right ends of the assembly M in the process of being folded, are pushed up by the support rods 69 provided on the left and right support members 66L, 66R, and pressed against the underside of the scooping section PS (the underside of the lower belt 43D). That is, by pushing up both the left and right ends of the aggregate M with the support rods 69, both the left and right ends of the aggregate M are folded and held in an appropriate state.

[0121] (S206) Then, the robot arm 11 is controlled by the output from the robot controller 26 to the servo motors 12 to 17, and the control point is moved from point P3 to point P4 while holding the folded assembly M.

[0122] (S207) At point P4, the robot controller 26 outputs a reverse signal to the valve solenoid 90, and the vertical movement air cylinder 49 operates in the reverse direction, causing the left and right rotating arms 63L, 63R together with the operating portion 48 to move downward by the set stroke SS. As a result, as shown by the change from (c) to (d) in FIG. 21, the left and right rotating arms 63L, 63R return to their initial positions, and the lifting of both left and right ends of the assembly M by the support rod 69 is released. However, both left and right ends of this assembly M are supported by support rods 69, so that it does not droop and is maintained in the folded state.

[0123] (S208) Thereafter, the robot arm 11 is controlled by the output from the robot controller 26 to the servo motors 12 to 17, and the control point is moved (lowered) from point P4 to point P5 while holding the folded assembly M.

[0124] (S209) Then, the robot arm 11 is controlled by outputs from the robot controller 26 to the servo motors 12 to 17, and the control point is moved from point P5 to point P6. During this movement, the upper belt 43U and the lower belt 43D are also moved in the opposite directions.

[0125] (Upper and lower belts move in opposite directions) That is, the robot controller 26 outputs to the servo motors 12 to 17 and outputs to the electric motor 42 in the opposite direction. As a result, the upper belt 43U is driven in the reverse direction while the robot hand 27 is moved in the -Y direction, and the assembly M that it has been holding is lowered (placed) within the set area R. ((e) of FIG. 21 shows the state after the assembly M has been lowered.) At this time, a conveying force can be applied to the folded portion of the assembly M by the lower surface of the lower belt 43D, so that the assembly M is smoothly lowered.

[0126] (S210) Thereafter, the robot controller 26 outputs to the servo motors 12 to 17, causing the control point to move (rise) from point P6 to point P7.

[0127] (S211) Furthermore, the robot controller 26 outputs to the servo motors 12 to 17, which move the control point from point P7 to point P0. During the movement from point P7 to point P0, the robot controller 26 outputs inversely to the valve solenoids 91 and 92. As a result, the left and right rotary actuators 54L, 54R rotate in opposite directions, and the left and right rotating arms 63L, 63R, which were in an upright position, rotate (open operation) in a direction approaching a substantially horizontal position and return to their initial positions. With the above, the plating process for one assembly M is completed, and the process proceeds to S20A in the main flow of FIG.

[0128] (S20A) After the plating process for one collection M is completed as described above, the count value m of the row counter is incremented in S20A, and the process proceeds to S22A.

[0129] (S22A) In S22A, the robot controller 26 determines whether the count value m of the row counter exceeds a predetermined number M of columns. If the count value m does not exceed the predetermined number of rows M, the process returns to S18A, and the plating process of the aggregate M is performed on the meat drop point in the next row order in the current column n. If the count value m exceeds the predetermined number of rows M, the process proceeds to S24A.

[0130] (S24A) In S24A, the count value n of the column counter is incremented, and the process proceeds to S26A. (S26A) In S26A, if the count value n of the column counter does not exceed the predetermined number of columns N, the process proceeds to S28A, and if the count value n of the column counter exceeds the predetermined number of columns N, the process of this flowchart is temporarily terminated.

[0131] (S28A) In S28A, the count value m of the row counter is set to 1, and the process returns to S18A. When the process returns to S18A, the process of plating the aggregate M at the meat drop point in the first row of the next column is started.

[0132] As a result, for example, as shown in FIG. 22(b), the second row of assemblies M are arranged with both ends folded downward so as to overlap part of the first row of assemblies M. When the arrangement of the final row of the second column is completed, the arrangement of the aggregate M in the set region R is completed.

[0133] The second conveying device 5 stops conveying the tray 6 until the arrangement of the assemblies M on the tray 6 is completed. After the placement of the assemblies M on the tray 6 is completed, the second conveying device 5 is driven to remove the tray 6 and send the next empty tray to the above-mentioned standby position.

[0134] In the robot hand 27 of the second embodiment described above, if the left-right width of the assembly M is small and there is no need to fold the ends, the assembly M will be scooped up with the left and right rotating arms 63L, 63R in the open state. However, when the assembly M is placed on the tray 6, the rotating arms 63L, 63R and the support rod 69 in this open state may come into contact with the edge of the tray 6, which may cause the tray 6 to shift out of position, resulting in an impediment to the placement. For this purpose, the left and right rotating arms 63L, 63R may be configured to be detachable from the left and right rotating shafts 61L, 61R.

[0135] That is, by releasing the fastening by the butterfly screw 65, the left and right rotating arms 63L, 63R can be easily removed from the left and right rotating shafts 61L, 61R. This allows the robot hand 27 to be reassembled into a robot hand that scoops up the aggregate M with the left and right rotating arms 63L, 63R removed. Furthermore, the cleaning properties of the robot hand 27, the rotating arms 63L, 63R, etc. are improved. As shown in FIG. 23, to avoid mixing up the left and right rotating arms 63L, 63R when attaching or detaching them, it is advisable to mark each rotating arm 63L, 63R and the first mounting plate 53 with corresponding numbers or the like by laser marking or the like.

[0136] (Robot hand of the third embodiment) 24 to 27 show a robot hand 27 from which the left and right rotating arms 63L, 63R have been removed from the robot hand of the second embodiment. The robot hand 27 of the third embodiment has the same configuration as the robot hand 27 of the second embodiment, except that the left and right rotating arms 63L, 63R are removed. That is, since the configurations of the parts denoted by the same reference numerals in Figs. 24 to 27 are the same as those in the first and second embodiments described above, a description of the configuration of the robot hand 27 of this third embodiment will be omitted. 8. Furthermore, the food plating control device 25 also shares the configuration shown in the block diagram of FIG. 8, and the trajectory of the control points and the method of plating in the set area R are also the same. As described above, main body 27S of robot hand 27 and food plating control device 25 can be used in common by rearranging them into three different robot hands. [Explanation of symbols]

[0137] m Meat piece (food piece) M aggregate PS scooping section (first belt device) TS Regulating section (second belt device) VL spacing 27 Robot Hand 27S main body 43U Upper belt (upper belt) 43D Lower Belt (Lower Belt) 63L Left side pivot arm (operating member) 63R Right side pivot arm (operating member)

Claims

1. A robot hand (27) for scooping up and moving food, characterized in that the robot hand (27) is provided with a first belt device (PS) that scoops up a single food piece (m) or a group (M) of food pieces (m) by moving in a forward direction and sets it down by moving in a reverse direction, a second belt device (TS) is arranged above the first belt device (PS) at a distance, and actuating members (63L, 63R) are provided that change the vertical distance between the upper surface of the first belt device (PS) and the lower surface of the second belt device (TS).

2. 2. The robot hand according to claim 1, wherein the upper surface of the first belt device (PS) and the lower surface of the second belt device (TS) are configured to move in the same direction.

3. 3. The robot hand according to claim 1 or 2, wherein the robot hand is configured to scoop up placed food pieces (m) or aggregates (M) while introducing them into a gap (VL) between an upper surface of a first belt device (PS) moving in a forward direction and a lower surface of the second belt device (TS), and to hold the scooped-up food pieces (m) or aggregates (M) in a sandwiched state by reducing the vertical gap between the upper surface of the first belt device (PS) and the lower surface of the second belt device (TS) using the operating members (63L, 63R), while increasing the vertical gap between the upper surface of the first belt device (PS) and the lower surface of the second belt device (TS) by the operating members (63L, 63R) to release the hold on the food pieces (m) or aggregates (M), and to lower the food pieces (m) or aggregates (M) by moving the upper surface of the first belt device (PS) and the lower surface of the second belt device (TS) in the opposite direction.

4. 4. The robot hand according to claim 3, wherein the second belt device (TS) is configured to be detachable from the main body (27S) of the robot hand (27).

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