Food arrangement device, food arrangement method, and food product manufacturing method

Abstract

To provide a technology that is advantageous for quickly and accurately arranging food on a desired target.SOLUTION: The food arrangement device according to the present invention includes: a hopper having a lifting and transporting part for transferring food while lifting it, a feeding opening, and a releasing opening positioned below the feeding opening; and an opening opening / closing part for opening / closing the releasing opening, wherein the food transferred by the lifting transporting part is supplied to the hopper through the input opening, and the food is discharged from the hopper through the releasing opening opened by the opening opening / closing part.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a food placement device, a food placement method, and a food product manufacturing method.

Background Art

[0002] Patent Document 1 discloses an apparatus that uses a robot to perform food plating operations for various food properties.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When transferring and plating food while gripping it with a device such as a robot, it is not always easy to neatly place the food at a desired location on the tray.

[0005] For example, when plating food onto a conveyed tray, a device such as a robot is required to perform the gripping and transfer of the food in a well-timed manner according to the conveyance of the tray. In particular, when plating food onto a large number of trays in a short period of time, an increase in the speed of the food gripping operation and transfer is required.

[0006] On the other hand, as the food gripping operation and transfer speed up, the accuracy of the food gripping and transfer tends to decrease, and the food may accidentally scatter or fall during transfer. In such cases, there is a concern that the desired amount of food cannot be placed on the tray, or the hygiene state of the device may be impaired by the scattered or fallen food.

[0007] The present disclosure provides a technique that is advantageous for placing food on a desired target quickly and accurately.

Means for Solving the Problems

[0008] One aspect of the present disclosure relates to a food placement device including a lifting and transfer unit that transfers while lifting food, a charging opening, a hopper having a discharge opening located below the charging opening, and an opening / closing unit that opens and closes the discharge opening, wherein the food transferred by the lifting and transfer unit is supplied to the hopper through the charging opening, and the food is discharged from the hopper through the discharge opening opened by the opening / closing unit.

[0009] Another aspect of the present disclosure relates to a food placement method including the steps of transferring food while lifting it by a lifting and transfer unit and supplying the food to a hopper through an inlet opening of the hopper, closing a discharge opening of the hopper located below the inlet opening by an opening / closing unit, and opening the discharge opening by the opening / closing unit, wherein the food is discharged from the hopper through the discharge opening opened by the opening / closing unit.

[0010] Another aspect of the present disclosure relates to a food product manufacturing method for manufacturing a food product having a container in which food is placed, including the steps of transferring food while lifting it by a lifting and transfer unit and supplying the food to a hopper through an inlet opening of the hopper, closing a discharge opening of the hopper located below the inlet opening by an opening / closing unit, and opening the discharge opening by the opening / closing unit, wherein the food discharged from the hopper through the discharge opening opened by the opening / closing unit is placed in the container.

Advantages of the Invention

[0011] According to the present disclosure, it is advantageous for placing food on a desired target at high speed and with high accuracy.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

[0013] An embodiment of the present disclosure will be described with reference to the drawings.

[0014] In the following description, the terms "upstream" and "downstream" are based on the conveyance of the container unless otherwise specified.

[0015] [First Embodiment] FIG. 1 is a plan view showing an example of the schematic configuration of the food product manufacturing apparatus 10 according to the first embodiment. FIG. 2 is a side view showing an example of the schematic configuration of the hopper 22, the opening / closing portion 23, and the container conveying portion 31.

[0016] The food product manufacturing apparatus 10 of the present embodiment includes a food placement apparatus 11 that places food F in a container C. The food product FP manufactured by the food product manufacturing apparatus 10 includes the container C and the food F placed in the container C by the food placement apparatus 11.

[0017] The food F and the container C are not limited, and the food product manufacturing apparatus 10 (food placement apparatus 11) of the present embodiment can be applied to various foods F and containers C.

[0018] The food product manufacturing apparatus 10 (food placement apparatus 11) of the present embodiment is advantageous for accurately placing the food F at a desired location in the container C while suppressing scattering and dropping of the food F during gripping and transfer, as will be described later. Therefore, the food product manufacturing apparatus 10 (food placement apparatus 11) of the present embodiment can be particularly advantageously applied to foods F that are likely to scatter or drop during gripping and transfer. For example, cooked rice, noodles, and bread provided as staple foods, as well as side dishes and prepared dishes provided as side dishes, can be placed in the container C by the food placement apparatus 11 as the food F.

[0019] The shape and configuration of the container C are not limited either. For example, a tray for a single-serving bento of the one-plate type may be used as the container C. Also, the type of the food product FP manufactured by the food product manufacturing apparatus 10 is not limited. For example, a frozen-type food product FP may be manufactured, or a non-frozen-type food product FP may be manufactured.

[0020] The food placement apparatus 11 shown in FIG. 1 includes a container conveyance unit 31, a lifting and transfer unit 21, a hopper 22, and an opening / closing unit 23.

[0021] The container conveyance unit 31 conveys the container C along the conveyance path. The container conveyance unit 31 of the present embodiment is configured as a conveyor device, and conveys a plurality of containers C from upstream (the right side in FIG. 1) to downstream (the left side in FIG. 1) in a state of being aligned in a single row along a single conveyance path. The specific configuration of the container conveyance unit 31 is not limited. For example, the container conveyance unit 31 may be configured by a belt conveyor, may be configured by a roller conveyor, or may be configured by a conveyance device having a configuration different from that of a conveyor device.

[0022] The conveyance mode of the container C by the container conveyance unit 31 is also not limited. The container conveyance unit 31 may continuously convey the container C without intermittently stopping it, or may convey it intermittently. Also, the shape of the conveyance path is not limited, and part or all of the conveyance path may have a linear shape or may have a curved shape.

[0023] The conveyance path formed by the container conveyance unit 31 in this way includes the supply location Ps. At the supply location Ps, the food F discharged from the hopper 22 is supplied to and arranged on the container C conveyed by the container conveyance unit 31.

[0024] The container C conveyed by the container conveyance unit 31 is detected by the container detection sensor 35, and the detection signal of the container C by the container detection sensor 35 is transmitted to the control unit 50. The detection signal sent from the container detection sensor 35 to the control unit 50 directly or indirectly indicates the timing at which the container C conveyed by the container conveyance unit 31 is positioned at the supply location Ps.

[0025] When the container detection sensor 35 shown in FIG. 1 detects the passage of the container C at a position (detection position) upstream of the supply location Ps in the conveyance path, it transmits a detection signal to the control unit 50. The container detection sensor 35 is typically configured by an optical sensor including an emitter that emits detection light and a receiver that receives the detection light, but it can also be configured by a sensor capable of detecting the container C based on any other detection method.

[0026] The hopper 22 has an input opening 22a and a discharge opening 22b located below the input opening 22a. The hopper 22 is fixedly supported by a hopper support portion (not shown) and is installed at a position corresponding to the supply location Ps of the conveyance path (in the example shown in FIG. 1, directly above the supply location Ps).

[0027] The hopper 22 shown in FIGS. 1 and 2 has a frustum shape (funnel shape) in which the area of the upper bottom surface is larger than the area of the lower bottom surface, and includes a through hole extending in the height direction. This through hole constitutes the storage space of the hopper 22, the upper end portion of the through hole constitutes the input opening 22a, and the lower end portion of the through hole constitutes the discharge opening 22b. The opening area (horizontal cross-sectional area) of the input opening 22a is larger than the opening area of the discharge opening 22b. The diameter of the through hole of the hopper 22 (the inner diameter of the hopper 22) continuously and gradually decreases from the input opening 22a toward the discharge opening 22b (that is, downward), and the hopper 22 has a smooth inner surface (guide surface) without irregularities.

[0028] The lifting and transferring unit 21 transfers while lifting the food F. The lifting and transferring unit 21 of the present embodiment picks up one-portion of the food F to be supplied to each individual container C conveyed by the container conveying unit 31 from the food storage unit 40.

[0029] The lifting and transferring unit 21 shown in FIG. 1 is constituted by a robot device including a robot arm and a robot hand, and the robot hand moved three-dimensionally by the robot arm functions as a gripping portion that grips the food F. The lifting and transferring unit 21 of the present embodiment lifts and transfers the food F stored in the food storage unit 40, and supplies it to the hopper 22 by releasing the food F directly above the input opening 22a.

[0030] The food storage unit 40 shown in FIG. 1 has a tray shape including a storage opening (upper opening) 40a and stores a large amount of food F. The lifting and transferring unit 21 lifts the food F stored in the food storage unit 40, takes it out from the food storage unit 40 through the storage opening 40a, and supplies it to the hopper 22 through the input opening 22a.

[0031] The opening / closing part 23 opens and closes the discharge opening 22b of the hopper 22. While the discharge opening 22b is closed by the opening / closing part 23, the food F in the hopper 22 (especially the accommodation space constituted by the through hole) is blocked by the opening / closing part 23 and is not discharged downward from the discharge opening 22b. On the other hand, when the discharge opening 22b is opened by the opening / closing part 23, the food F in the hopper 22 is discharged downward through the discharge opening 22b.

[0032] The opening / closing part 23 shown in FIG. 2 has an opening / closing main body part 23a and an opening / closing body 23b that is moved forward and backward in the horizontal direction by the opening / closing main body part 23a. The opening / closing main body part 23a is a protruding part whose protruding amount in the horizontal direction can be adjusted under the control of the control part 50, has a protruding part to which the opening / closing body 23b is attached, and can be constituted by any mechanical element such as an air cylinder. The opening / closing body 23b has a plate shape extending in the horizontal direction and moves forward and backward in the horizontal direction according to the protruding amount of the protruding part of the opening / closing main body part 23a. The opening / closing body 23b can be arranged at an open position P1 where it opens without covering the discharge opening 22b of the hopper 22 and a closed position P2 where it closes by covering the discharge opening 22b of the hopper 22 from below according to the protruding amount of the protruding part of the opening / closing main body part 23a.

[0033] The control part 50 shown in FIG. 1 controls various devices of the food placement device 11 (food product manufacturing device 10). The control part 50 can, for example, receive a detection signal from the container detection sensor 35 and appropriately control the operations of the lifting and transfer part 21, the opening / closing part 23, and the container transfer part 31.

[0034] The food placement device 11 (food product manufacturing device 10) of the present embodiment having the above-described configuration can, as an example, implement a food placement method (food product manufacturing method) including the following processing steps. The following food placement method (food product manufacturing method) is performed under the control of the control part 50, and each processing step is accomplished by the control part 50 appropriately controlling various devices as needed.

[0035] That is, the food F is lifted and transferred from the food storage unit 40 by the lifting and transfer unit 21 and is supplied to the hopper 22 through the input opening 22a (hopper food supply step).

[0036] Then, the food F discharged from the hopper 22 through the discharge opening 22b opened by the opening / closing unit 23 is placed at a desired location in the container C (container food placement step).

[0037] While these hopper food supply steps and container food placement steps are being performed, the opening / closing unit 23 performs a step of closing the discharge opening 22b of the hopper 22 (discharge opening closing step) and a step of opening the discharge opening 22b (discharge opening opening step).

[0038] The control unit 50 controls the opening / closing unit 23 based on the detection signal from the container detection sensor 35 and performs the above-described discharge opening closing step and discharge opening opening step (and thus the above-described container food placement step) with good timing.

[0039] That is, while it is determined from the detection signal by the container detection sensor 35 that the container C, which is the next target for supplying the food F, is not located at the supply location Ps, the control unit 50 performs control to arrange the opening / closing body 23b at the closed position P2 to close the discharge opening 22b of the hopper 22. While the discharge opening 22b is closed in this way, the food F is basically not discharged from the hopper 22, and the food F supplied to the hopper 22 is stored in the hopper 22 (particularly the storage space).

[0040] On the other hand, while it is determined from the detection signal by the container detection sensor 35 that the container C, which is the next target for supplying the food F, is located at the supply location Ps, the control unit 50 performs control to arrange the opening / closing body 23b at the open position P1 to open the discharge opening 22b of the hopper 22. While the discharge opening 22b is open in this way, the food F is basically not stored in the hopper 22 and is discharged from the hopper 22 through the discharge opening 22b under the influence of gravity and is placed at a desired location in the container C.

[0041] Further, the control unit 50 controls the lifting and transfer unit 21 based on the operation information of the opening / closing unit 23 that opens and closes the hopper 22 (discharge opening 22b), and performs the above-described hopper food supply process.

[0042] That is, the control unit 50 performs control such that the lifting and transfer unit 21 supplies the food F to the hopper 22 at a timing determined from the operation information of the opening / closing unit 23 that the hopper 22 (discharge opening 22b) is closed after being once opened by the opening / closing unit 23. Note that the operation information of the opening / closing unit 23 here is information held by the control unit 50 that also performs the opening / closing control of the opening / closing unit 23.

[0043] As an example, the control unit 50 may perform control such that the lifting and transfer unit 21 starts operations for gripping and lifting the food F in the food storage unit 40 at a timing determined from the operation information of the opening / closing unit 23 that the opening / closing unit 23 determines to open the hopper 22 (discharge opening 22b). And the control unit 50 may perform control such that the lifting and transfer unit 21 discharges the food F toward the hopper 22 (input opening 22a) after a timing determined from the operation information of the opening / closing unit 23 that the opening / closing unit 23 determines to close the hopper 22 (discharge opening 22b). Thereby, the food F supplied from the food storage unit 40 to the hopper 22 by the lifting and transfer unit 21 is put into the hopper 22 in a state where the discharge opening 22b is closed by the opening / closing unit 23 and is temporarily stored in the hopper 22 (accommodation space).

[0044] Note that the control of the lifting and transfer unit 21 by the control unit 50 is not limited to the above example. For example, the control unit 50 may perform control such that the lifting and transfer unit 21 starts operations for gripping and transferring the food F in the food storage unit 40 before or after a timing determined from the operation information of the opening / closing unit 23 that the opening / closing unit 23 determines to open the hopper 22 (discharge opening 22b).

[0045] As described above, according to the present embodiment, the food F is not directly supplied from the food storage unit 40 to each container C, but is supplied to the container C after passing through the hopper 22 and the opening / closing unit 23 from the food storage unit 40. Thereby, the hopper 22 and the opening / closing unit 23 can be used as a buffer unit for food transfer, and the lifting transfer unit 21 can supply the food F from the food storage unit 40 to the hopper 22 regardless of the conveyance state of the container C to be supplied. On the other hand, the opening / closing unit 23 can supply the food F from the hopper 22 to the container C at an appropriate timing according to the conveyance state of the container C to be supplied regardless of the operating state of the lifting transfer unit 21.

[0046] Therefore, the lifting transfer unit 21 can effectively utilize the time until the container C to be supplied reaches the supply location Ps, and can grip and transfer the food F at a speed effective for preventing scattering and falling. As a result, scattering and falling of the food F during transfer are suppressed, a desired amount of the food F is accurately supplied to the hopper 22, and contamination of the food arrangement device 11 by the scattered and fallen food F can be prevented, leading to a reduction in hood loss and food waste amount.

[0047] Also, the opening / closing unit 23 can supply the food F guided by the hopper 22 and adjusted in arrangement to the container C at an appropriate timing. As a result, a desired amount of the food F can be accurately arranged and served at a desired location in the container C, and the "aesthetic appearance" and "reliability such as food quantity (serving quantity)" in the finally manufactured food product FP can be improved.

[0048] In this way, by the interlocking of each container C conveyed by the container conveyance unit 31, the lifting transfer unit 21, the hopper 22, and the opening / closing unit 23, a desired amount of the food F can be efficiently and accurately arranged (topped) for each container C.

[0049] Therefore, according to the food placement method (food product manufacturing method) of the present embodiment, it is also possible to perform the work usually done by one or more workers by means of a single food placement device 11 instead, enabling high-speed processing and labor savings in food placement and food product manufacturing.

[0050] In addition, when workers manually supply (serve) the food F to each container C, variations occur in the supply accuracy and working speed of the food F depending on the individual working abilities and working durations of the workers. In particular, in order to increase the number of containers C processed per unit time or increase the variety of food items F supplied to each container C, it is generally necessary to increase the number of workers, but the variation in working accuracy tends to increase as the number of workers increases. Also, securing workers, increasing worker costs, and educating workers can also be obstacles to the work of placing the food F in each container C and manufacturing the food product FP.

[0051] On the other hand, according to the above-described food placement device 11 (food product manufacturing device 10), since the supply (serving) of the food F to each container C is basically not directly performed manually by workers, it is possible to stably maintain the supply accuracy and working speed of the food F over a long period of time.

[0052] [First Modification Example of the First Embodiment] FIG. 3 is a side view showing an example of the schematic configuration of a guide portion 27 provided together with the hopper 22, the opening / closing portion 23, and the container conveyance portion 31.

[0053] The food placement device 11 may include a guide portion 27 that guides the food F discharged from the hopper 22 toward the container C through the discharge opening portion 22b.

[0054] The guide portion 27 shown in FIG. 3 is positioned directly below the hopper 22 (particularly the discharge opening 22b) and directly above the container C (particularly the upper opening) positioned at the supply location Ps. The upper opening of the guide portion 27 constitutes a supply opening that faces the discharge opening 22b of the hopper 22 in the height direction. The lower opening of the guide portion 27 constitutes a discharge opening that faces the upper opening of the container C positioned at the supply location Ps in the height direction.

[0055] The food F discharged from the hopper 22 through the discharge opening 22b is introduced into the guide portion 27 through the supply opening and supplied from the guide portion 27 to the container C through the discharge opening.

[0056] In particular, the guide portion 27 shown in FIG. 3 has a frustum shape (funnel shape) in which the area of the upper bottom surface is larger than the area of the lower bottom surface and includes a through hole extending in the height direction. The upper end portion of this through hole constitutes the supply opening, and the lower end portion of the through hole constitutes the discharge opening. The opening area (horizontal cross-sectional area) of the supply opening of the guide portion 27 is larger than the opening area of the discharge opening of the guide portion 27. From the viewpoint of more surely introducing the food F from the hopper 22 into the guide portion 27, it is preferable that the opening area of the supply opening of the guide portion 27 is equal to or larger than the opening area of the discharge opening 22b, and the entire discharge opening 22b faces the supply opening of the guide portion 27.

[0057] The diameter of the through hole of the guide portion 27 (inner diameter of the guide portion 27) shown in FIG. 3 continuously and gradually decreases from the supply opening toward the discharge opening (that is, downward), and the guide portion 27 has a smooth inner surface (guide surface) without irregularities.

[0058] With the guide portion 27 having such a shape, the horizontal range of the food F is further restricted, and the food F can be discharged toward the container C from a position closer to the container C. As a result, the food F discharged from the discharge opening of the guide portion 27 can be arranged at a desired location of the container C with higher accuracy.

[0059] The closing body 23b of the opening / closing part 23 is positioned between the hopper 22 and the guide part 27 (i.e., directly below the discharge opening 22b of the hopper 22 and directly above the supply opening of the guide part 27) in the state of being positioned at the closed position P2. When the closing body 23b is positioned from the closed position P2 to the open position P1, the closing body 23b retreats from between the hopper 22 and the guide part 27, and the food F in the hopper 22 drops and is discharged through the discharge opening 22b and enters the guide part 27 through the supply opening.

[0060] Note that the height direction sizes of each of the hopper 22 and the guide part 27 are not limited. By increasing the height direction sizes of each of the hopper 22 and the guide part 27, the momentum of the fall of the food F in each of the hopper 22 and the guide part 27 increases, and it is possible to more effectively avoid the food F from becoming clogged or stagnant midway. Also, since the opening / closing part 23 is provided to open and close the discharge opening 22b of the hopper 22 instead of the lower end opening of the guide part 27, it is possible to avoid the stagnation of the food F at the narrowest tip part close to the container C (i.e., the lower end opening of the guide part 27).

[0061] The above-mentioned guide part 27 may be provided so as to be replaceable. For example, a plurality of types of guide parts 27 having various shapes and / or sizes may be prepared in advance, and the guide part 27 corresponding to the characteristics of the food F and / or the container C may be selected and installed. The plurality of types of guide parts 27 may, for example, have different height direction sizes, supply openings, and / or discharge openings (e.g., opening sizes (opening areas and opening diameters) and opening shapes).

[0062] When the guide part 27 is provided so as to be replaceable in this way, the hopper 22 may be provided so as to be replaceable, but may basically be provided so as not to be replaceable.

[0063] [Second Modified Example of the First Embodiment] FIG. 4 is a side view showing another example of the schematic configuration of the hopper 22, the opening / closing part 23, and the container conveying part 31. FIG. 5 is a side view showing another example of the schematic configuration of the hopper 22, the opening / closing part 23, the container conveying part 31, and the guide part 27.

[0064] Although the opening / closing part 23 shown in FIGS. 2 and 3 described above is provided separately from the hopper 22, the opening / closing part 23 may be provided integrally with the hopper 22.

[0065] In the example shown in FIG. 4, the opening / closing main body part 23a of the opening / closing part 23 is fixedly attached to the hopper 22 and has an opening / closing hole 23c facing the entire discharge opening part 22b. The opening / closing body 23b of the opening / closing part 23 is driven by the opening / closing main body part 23a to move forward and backward in the horizontal direction, open and close the opening / closing hole 23c, and thereby open and close the discharge opening part 22b from below.

[0066] While the opening / closing main body part 23a arranges the opening / closing body 23b at the closed position P2 under the control of the control part 50, the opening / closing body 23b closes the entire opening / closing hole 23c. As a result, the food F in the hopper 22 (especially the storage space) is basically not discharged from the hopper 22 and continues to be stored in the hopper 22.

[0067] On the other hand, while the opening / closing main body part 23a arranges the opening / closing body 23b at the open position (not shown in FIG. 4) under the control of the control part 50, the opening / closing body 23b is arranged at a position retracted from the opening / closing hole 23c, and the entire opening / closing hole 23c is opened. As a result, the food F in the hopper 22 (especially the storage space) is not stored in the hopper 22, is discharged from the hopper 22 through the discharge opening part 22b, and is arranged at a desired position of the container C.

[0068] As shown in FIG. 5, even when the guide part 27 is provided, the opening / closing main body part 23a of the opening / closing part 23 may be fixedly attached to the hopper 22. In this case, the opening / closing hole 23c of the opening / closing part 23 is fixedly positioned so as to always face the supply opening part of the guide part 27, and the opening / closing hole 23c of the opening / closing part 23 (and thus the discharge opening part 22b of the hopper 22) is opened and closed by the opening / closing body 23b.

[0069] [Third Modified Example of the First Embodiment] Figs. 6 and 7 are side views showing other examples of the schematic configurations of the hopper 22, the opening / closing part 23, the container conveying part 31, and the guide part 27. Fig. 6 shows a state where the opening / closing body 23b is disposed at the closed position P2, and Fig. 7 shows a state where the opening / closing body 23b is disposed at the open position P1.

[0070] Although the opening / closing part 23 shown in Figs. 3 and 5 described above is provided separately from the guide part 27, the opening / closing part 23 may be provided integrally with the guide part 27.

[0071] In the examples shown in Figs. 6 and 7, the opening / closing body 23b of the opening / closing part 23 is fixedly attached to the guide part 27. The guide part 27 moves forward and backward in the horizontal direction together with the opening / closing body 23b driven by the opening / closing main body part 23a.

[0072] The opening / closing body 23b has an opening / closing hole 23c facing the supply opening (upper opening) of the guide part 27. The opening / closing hole 23c always faces the supply opening (upper opening) of the guide part 27 regardless of the horizontal movement of the opening / closing body 23b and the guide part 27.

[0073] While the opening / closing body 23b is driven by the opening / closing main body part 23a and disposed at the closed position P2 (Fig. 6), the opening / closing hole 23c and the guide part 27 (particularly the supply opening) are positioned so as not to face the discharge opening 22b. Thereby, the entire discharge opening 22b is covered by the opening / closing body 23b from below, the discharge opening 22b is closed by the opening / closing body 23b, and the food F is not discharged from the hopper 22 (particularly the accommodation space).

[0074] While the opening / closing body 23b is driven by the opening / closing main body portion 23a and is disposed at the open position P1 (FIG. 7), the opening / closing hole 23c and the guide portion 27 (particularly the supply opening) are positioned so as to face the discharge opening 22b. As a result, the discharge opening 22b is opened by the opening / closing body 23b, and the food F in the hopper 22 (particularly the accommodation space) is discharged from the hopper 22 through the discharge opening 22b, falls through the opening / closing hole 23c and the guide portion 27, and is finally disposed at a desired location of the container C.

[0075] In the examples shown in FIGS. 6 and 7 described above, the discharge opening 22b of the hopper 22 is opened and closed by the opening / closing body 23b that moves together with the guide portion 27. However, the discharge opening 22b may be opened and closed by the opening / closing body 23b without moving the guide portion 27. For example, instead of fixing the opening / closing portion 23 (particularly the opening / closing main body portion 23a) shown in FIGS. 4 and 5 to the hopper 22, it may be fixed to the guide portion 27. In this case, the opening / closing hole 23c of the opening / closing portion 23 is fixedly positioned so as to always face the supply opening of the guide portion 27, and the opening / closing hole 23c of the opening / closing portion 23 (and thus the discharge opening 22b of the hopper 22) is opened and closed by the opening / closing body 23b.

[0076] [Second Embodiment] FIG. 8 is a plan view showing an example of the schematic configuration of the food product manufacturing apparatus 10 according to the second embodiment.

[0077] In the present embodiment, elements that are the same as or corresponding to those in the above-described first embodiment are denoted by the same reference numerals, and detailed descriptions thereof are omitted.

[0078] The container conveyance unit 31 may have a plurality of conveyance paths for conveying the container C, and separate hoppers 22 may be provided for each conveyance path. Also, a plurality of hoppers 22 may be provided for each conveyance path. Further, a plurality of food storage units 40 may be provided.

[0079] The food arrangement device 11 (food product manufacturing device 10) shown in FIG. 8 includes two container conveyance units (first container conveyance unit 31A and second container conveyance unit 31B), and each of the two adjacent conveyance paths is formed by the first container conveyance unit 31A and the second container conveyance unit 31B.

[0080] In the conveyance path of the container C formed by the first container conveyance unit 31A, a first hopper 22A supported by the first hopper support unit 29A and positioned upstream and a second hopper 22B supported by the second hopper support unit 29B and positioned downstream are provided. Similarly, in the conveyance path formed by the second container conveyance unit 31B, a third hopper 22C supported by the third hopper support unit 29C and positioned upstream and a fourth hopper 22D supported by the fourth hopper support unit 29D and positioned downstream are provided.

[0081] In the example shown in FIG. 8, the first hopper 22A and the second hopper 22B are installed so that the distances from the lifting transfer unit 21 (particularly the home position of the robot hand) are equal to each other. Similarly, the third hopper 22C and the fourth hopper 22D are installed so that the distances from the lifting transfer unit 21 (particularly the home position of the robot hand) are equal to each other. However, the installation positions of the first hopper 22A to the fourth hopper 22D are not limited to the example shown in FIG. 8.

[0082] Each of the above four hoppers (first hopper 22A to fourth hopper 22D) is provided with a unique opening / closing part (first opening / closing part 23A to fourth opening / closing part 23D), and a unique container detection sensor (first container detection sensor 35A to fourth container detection sensor 35D) is also provided.

[0083] Also, in the example shown in FIG. 8, two food storage units 40 are provided, and the two food storage units 40 are arranged at positions where the distances from the lifting transfer unit 21 (particularly the home position of the robot hand) are equal to each other.

[0084] The control unit 50 controls various devices of the food placement device 11, receives detection signals from the container detection sensors 35A to 35D, and can appropriately control the operations of the lifting and transfer unit 21, the opening and closing units 23A to 23D, and the container transfer units 31A and 31B.

[0085] For example, the control unit 50 controls the opening and closing units 23A to 23D based on the detection signals from the container detection sensors 35A to 35D, and opens and closes the hoppers 22A to 22D (especially the discharge openings 22b) (see the above-described discharge opening closing process, discharge opening opening process, and container food placement process). Further, the control unit 50 controls the lifting and transfer unit 21 based on the operation information of the opening and closing units 23A to 23D that open and close the hoppers 22A to 22D (discharge openings 22b), and supplies the food F from the food storage unit 40 to the hoppers 22A to 22D (see the above-described hopper food supply process).

[0086] The opening and closing of such hoppers 22A to 22D (especially the discharge openings 22b) and the supply of the food F from the food storage unit 40 to the hoppers 22A to 22D are basically performed in the same manner as in the first embodiment described above. For example, the opening and closing of the discharge opening 22b of the first hopper 22A by the first opening and closing unit 23A is performed based on the detection signal of the first container detection sensor 35A. Then, the supply of the food F from the food storage unit 40 to the first hopper 22A by the lifting and transfer unit 21 is performed based on the operation information of the first opening and closing unit 23A.

[0087] The control for the other hoppers (the second hopper 22B, the third hopper 22C, and the fourth hopper 22D) is performed in the same manner. That is, the discharge openings 22b of the respective hoppers 22B to 22D are opened and closed by the respective opening and closing units 23B to 23D based on the detection signals of the respective container detection sensors 35B to 35D. Further, based on the operation information of the respective opening and closing units 23B to 23D, the supply of the food F from the food storage unit 40 to the respective hoppers 22B to 22D by the lifting and transfer unit 21 is performed.

[0088] Note that in a plurality of food storage units 40 (two in the example shown in FIG. 8), the same type of food F may be stored in each, or different types of food F may be stored in each.

[0089] When the same type of food F is stored in a plurality of food storage units 40, the lifting and transfer unit 21 may continuously supply the food F to each of the hoppers 22A to 22D only from a certain one of the food storage units 40. Then, when the certain one of the food storage units 40 becomes empty, the lifting and transfer unit 21 may continuously supply the food F to each of the hoppers 22A to 22D only from another one of the food storage units 40. In this case, while the food F is being supplied from the other one of the food storage units 40 to each of the hoppers 22A to 22D, the emptied food storage unit 40 may be replenished with new food F, or may be replaced with a new food storage unit 40 in which the food F is stored. Thereby, even if a certain food storage unit 40 becomes empty, the lifting and transfer unit 21 can continue to supply the food F to each of the hoppers 22A to 22D without temporarily stopping.

[0090] On the other hand, when different types of food F are stored in a plurality of food storage units 40, the lifting and transfer unit 21 may supply the food F from each of the food storage units 40 to the corresponding hoppers 22A to 22D. The "corresponding hoppers 22A to 22D" mentioned here is not limited. For example, a certain type of food F may be supplied to one hopper (for example, the first hopper 22A) provided in a certain one of the transport paths (for example, the transport path formed by the first container transport unit 31A). In this case, another type of food F may be supplied to another hopper (for example, the second hopper 22B) provided in the certain one of the transport paths.

[0091] Alternatively, a certain type of food F may be supplied to the hoppers (for example, the first hopper 22A and the second hopper 22B) provided in a certain one of the transport paths (for example, the transport path formed by the first container transport unit 31A). In this case, another type of food F may be supplied to the hoppers (for example, the third hopper 22C and the fourth hopper 22D) provided in another transport path (for example, the transport path formed by the second container transport unit 31B).

[0092] Note that the opening / closing part 23 of this embodiment can have various configurations, similar to the above-described first embodiment (including the first to third modification examples).

[0093] As described above, according to this embodiment, a plurality of conveying paths, a plurality of hoppers 22, and a plurality of food storage parts 40 can be provided for a single lifting and conveying part 21, and the capacity of the food placement device 11 (food product manufacturing device 10) can be significantly increased.

[0094] For example, the supply process of the food F to the containers C successively conveyed from the upstream may be performed by alternately using the upstream hoppers 22A and 22C and the downstream hoppers 22B and 22D. In this case, for a certain container C conveyed by the first container conveying part 31A, the food F may be supplied via the first hopper 22A, and for another container C conveyed next to the certain container C, the food F may be supplied via the second hopper 22B. In this case, the lifting and conveying part 21 may supply the food F from the food storage part 40 located closer to each of the hoppers 22A to 22D. For example, in the example shown in FIG. 8, the food F may be alternately taken out from two food storage parts 40 by the lifting and conveying part 21 and alternately supplied to the upstream hoppers 22A and 22C and the downstream hoppers 22B and 22D.

[0095] [Third Embodiment] FIG. 9 is a plan view showing an example of the schematic configuration of the food product manufacturing device 10 according to the third embodiment. FIG. 10 is a side view showing an example of the schematic configuration of the hoppers 22A and 22B and the food storage part 40 shown in FIG. 9.

[0096] In this embodiment, the same or corresponding elements as those in the above-described first and second embodiments are denoted by the same reference numerals, and the detailed description thereof is omitted.

[0097] The food placement device 11 of this embodiment also includes a plurality of hoppers 22A to 22D, similar to the food placement device 11 (see FIG. 8) of the above-described second embodiment. However, the plurality of hoppers 22A to 22D in this embodiment are adjacent to each other without gaps. Also, the food storage unit 40 is provided adjacent to the hoppers (in the example shown in FIG. 9, particularly the first hopper 22A and the third hopper 22C) without gaps.

[0098] Also, as shown in FIG. 10, the storage opening 40a of the food storage unit 40 and the input openings 22a of the hoppers 22A to 22D are positioned at substantially the same height. The food storage unit 40 shown in FIG. 10 is supported at a desired position by a storage support unit 45. In the example shown in FIG. 10, similar to the examples shown in FIGS. 6 and 7 above, the opening / closing units 23A to 23D (particularly the opening / closing bodies (see reference numeral "23b" in FIGS. 6 and 7)) provided for each of the hoppers 22A to 22D and the guide units 27A to 27D are integrally provided. And when the opening / closing bodies of the opening / closing units 23A to 23D are arranged in the closed position, the opening / closing holes of the opening / closing bodies (see reference numeral "23c" in FIGS. 6 and 7) are positioned so as not to face the discharge opening 22b, and the food F is not discharged from the hopper (see FIG. 6). On the other hand, when the opening / closing bodies of the opening / closing units 23A to 23D are arranged in the open position, the opening / closing holes of the opening / closing bodies are positioned so as to face the discharge opening 22b, and the food F in the hopper falls through the discharge opening 22b, the opening / closing holes, and the guide unit 27 and is placed in the container C (see FIG. 7).

[0099] In the examples shown in FIGS. 9 and 10, for each of the hoppers 22A to 22D, a unique guide unit 27 (including the first guide unit 27A and the second guide unit 27B) and a unique opening / closing unit 23 (including the first opening / closing unit 23A and the second opening / closing unit 23B) are provided. However, the installation modes of the guide unit 27 and the opening / closing unit 23 for the hoppers 22A to 22D are not limited, and the opening / closing unit 23 can take any form (for example, see FIGS. 2 to 7). For example, when a plurality of hoppers 22 are provided, one common opening / closing unit 23 may be assigned to two or more hoppers 22, or two or more hoppers 22 (particularly the discharge opening 22b) may be opened and closed by one opening / closing unit 23.

[0100] In the example shown in FIG. 9, a common first container detection sensor 35A is assigned to a plurality of hoppers (first hopper 22A and second hopper 22B) provided for the first container transport unit 31A. Similarly, a common second container detection sensor 35B is assigned to a plurality of hoppers (third hopper 22C and fourth hopper 22D) provided for the second container transport unit 31B. The control unit 50 controls the opening and closing timings of the first opening / closing unit 23A assigned to the first hopper 22A and the second opening / closing unit 23B assigned to the second hopper 22B based on the detection signal from the first container detection sensor 35A. Similarly, the control unit 50 controls the opening and closing timings of the opening / closing units 23 assigned to the third hopper 22C and the fourth hopper 22D respectively based on the detection signal from the second container detection sensor 35B.

[0101] According to the food placement device 11 having the above-described configuration, no gap is provided between the food storage unit 40 and the hoppers 22A and 22C, and no gap is provided between the hoppers 22A to 22D. Therefore, even if the food F scatters or falls while the food F is being transferred from the food storage unit 40 to a desired hopper by the lifting transfer unit 21, the scattered or fallen food F is received by the food storage unit 40 and / or the hoppers. Similarly, even if the food F scatters or falls while the food F is being transferred above the hoppers 22A to 22D by the lifting transfer unit 21, the scattered or fallen food F is received by one or more of the hoppers 22A to 22D. Thus, according to the food placement device 11 of the present embodiment, contamination of the food placement device 11 by the scattered or fallen food F can be effectively prevented, leading to a reduction in hood loss and food waste volume.

[0102] In addition, since the food storage unit 40 and the hoppers 22A to 22D are provided adjacent to each other without a gap, the transfer distance of the robot hand and the food F when gripping and transferring the food F from the food storage unit 40 to a desired hopper can be shortened.

[0103] In particular, by making the height positions of the charging openings 22a of the hoppers 22A to 22D and the storage opening 40a of the food storage section 40 substantially the same as each other, it is possible to simplify the shape of the transfer route while suppressing the transfer distance of the food F by the lifting transfer section 21.

[0104] In the example shown in FIG. 10, the robot hand (gripping section) of the lifting transfer section 21 descends toward the inside of the food storage section 40, grips the food F inside the food storage section 40, and then rises together with the gripped food F. Then, the robot hand (gripping section) is disposed outside (upper position) of the food storage section 40 through the storage opening 40a together with the gripped food F, and then moves horizontally to move above the hopper (particularly the charging opening 22a) to be supplied, and releases the grip on the food F. In this way, the gripping section (robot hand) of the lifting transfer section 21 moves along an L-shaped transfer track when viewed from the side, and can supply the food F to a desired hopper.

[0105] Thereby, while effectively shortening the transfer distance of the food F by the lifting transfer section 21, the food F can be supplied directly above the hopper to be supplied. Therefore, it is also possible to suppress the transfer speed of the food F by the gripping section (robot hand) of the lifting transfer section 21 within a range that does not impair the placing speed (loading speed) of the food F on the container C by the food placing device 11. As a result, unintended scattering or dropping of the food F during transfer can be reduced, an appropriate amount of the food F can be placed in the container C, and the "aesthetic appearance" and "reliability such as the amount of food (loading amount)" in the finally manufactured food product FP can be improved.

[0106] In the example shown in FIG. 9, the four hoppers 22A to 22D are arranged in a square array (2×2) in plan view, but the plurality of hoppers 22A to 22D may have any other arrangement, and the number of hoppers 22 provided in the food product manufacturing apparatus 10 is not limited to "four". For example, a plurality of hoppers 22 may be arranged without gaps so as to have an L-shaped, T-shaped, I-shaped, or any other arbitrary shape arrangement in plan view.

[0107] Also, in the example shown in FIG. 9, all the hoppers 22A to 22D provided in the food product manufacturing apparatus 10 are integrally provided without any gaps. However, it is not always necessary for all the hoppers 22A to 22D to be integrally provided, and a certain hopper 22 may be provided separately from other hoppers 22. Thus, the plurality of hoppers 22 provided in the food product manufacturing apparatus 10 may include two or more hoppers 22 adjacent to each other without any gaps.

[0108] It should be noted that all the embodiments and modifications disclosed in this specification are merely illustrative in all respects and should not be construed in a limiting sense. The above-described embodiments and modifications can be omitted, substituted, and changed in various forms without departing from the scope and spirit of the appended claims. For example, the above-described embodiments and modifications may be combined wholly or partially, or embodiments other than the above may be combined with the above-described embodiments or modifications. Also, the effects of the present disclosure described in this specification are merely illustrative, and other effects may be brought about.

[0109] For example, in the above-described embodiments and modifications, the food F is arranged with respect to the container C. However, the food arranging apparatus 11 and the food arranging method may supply the food F to any object other than the container C and arrange the food F at a desired location of the object. As an example, the food arranging apparatus 11 and the food arranging method may arrange the food F with respect to the container conveying unit 31 (for example, a conveyor that conveys the food F), or may arrange the food F with respect to food other than the food F (for example, dough).

[0110] The technical category for embodying the above-described technical idea is not limited. For example, the above-described technical idea may be embodied by a computer program for causing a computer to execute one or more procedures (steps) included in a method for manufacturing or using the above-described apparatus. Also, the above-described technical idea may be embodied by a computer-readable non-transitory recording medium on which such a computer program is recorded.

[0111] [Appendix] As is clear from the above, the present disclosure includes the following aspects.

[0112] [Aspect 1] A lifting and transferring unit that transfers while lifting food, A hopper having an input opening and a discharge opening located below the input opening, An opening / closing unit that opens and closes the discharge opening, The food transferred by the lifting and transferring unit is supplied to the hopper through the input opening, The food is discharged from the hopper through the discharge opening opened by the opening / closing unit. Food placement device.

[0113] [Aspect 2] A guide unit for guiding the food discharged from the hopper through the discharge opening is provided. The food placement device according to Aspect 1.

[0114] [Aspect 3] A container conveying unit that conveys a container along a conveying path is provided. The conveying path includes a supply location where the food discharged from the hopper is supplied to the container. The food placement device according to Aspect 1 or 2.

[0115] [Aspect 4] A food storage unit for storing the food, the food storage unit being provided adjacent to the hopper without a gap. The lifting and transferring unit lifts and transfers the food stored in the food storage unit and supplies it to the hopper. The food placement device according to any one of Aspects 1 to 3.

[0116] [Aspect 5] A food storage unit having a storage opening for storing the food is provided. The input opening and the storage opening are positioned at substantially the same height position. The lifting and transferring unit lifts the food stored in the food storage unit, takes it out from the food storage unit through the storage opening, and supplies it to the hopper through the input opening. The food placement device according to any one of Aspects 1 to 4.

[0117] [Aspect 6] A plurality of hoppers are provided. The plurality of hoppers include two or more hoppers that are adjacent to each other without a gap. The food placement device according to any one of Aspects 1 to 5.

[0118] [Aspect 7] A step of transferring the food while lifting it by the lifting and transferring unit and supplying the food to the hopper through the input opening of the hopper; A step of closing the discharge opening of the hopper located below the input opening by the opening / closing unit; A step of opening the discharge opening by the opening / closing unit, and including: The food is discharged from the hopper through the discharge opening opened by the opening / closing unit. Food placement method.

[0119] [Aspect 8] A food product manufacturing method for manufacturing a food product having a container in which food is placed, A step of transferring the food while lifting it by the lifting and transferring unit and supplying the food to the hopper through the input opening of the hopper; A step of closing the discharge opening of the hopper located below the input opening by the opening / closing unit; A step of opening the discharge opening by the opening / closing unit, and including: The food discharged from the hopper through the discharge opening opened by the opening / closing unit is placed in the container. Food product manufacturing method.

Explanation of Signs

[0120] 10 Food product manufacturing apparatus, 11 Food arranging apparatus, 21 Lifting and transferring unit, 22 Hopper, 22A First hopper, 22B Second hopper, 22C Third hopper, 22D Fourth hopper, 22a Input opening, 22b Discharge opening, 23 Opening / closing unit, 23A First opening / closing unit, 23B Second opening / closing unit, 23D Fourth opening / closing unit, 23a Opening / closing main body unit, 23b Opening / closing body, 23c Opening / closing hole, 27 Guide unit, 27A First guide unit, 27B Second guide unit, 29A First hopper support unit, 29B Second hopper support unit, 29C Third hopper support unit, 29D Fourth hopper support unit, 31 Container conveying unit, 31A First container conveying unit, 31B Second container conveying unit, 35 Container detection sensor, 35A First container detection sensor, 35B Second container detection sensor, 35C Third container detection sensor, 35D Fourth container detection sensor, 40 Food storage unit, 40a Storage opening, 45 Storage support unit, 50 Control unit, C Container, F Food, FP Food product, P1 Open position, P2 Closed position, Ps Supply location

Claims

1. A lifting and transfer unit that transfers while lifting food, A hopper having an input opening and a discharge opening located below the input opening, An opening / closing unit that opens and closes the discharge opening, and The food transferred by the lifting and transfer unit is supplied to the hopper through the input opening, The food is discharged from the hopper through the discharge opening opened by the opening / closing unit, A food placement device.

2. A food placement device according to claim 1, further comprising a guide unit that guides the food discharged from the hopper through the discharge opening. A food placement device according to claim 1.

3. A container transfer unit that transfers a container along a transfer path, The transfer path includes a supply location where the food discharged from the hopper is supplied to the container, A food placement device according to claim 1 or 2.

4. A food storage unit for storing the food, the food storage unit being provided adjacent to the hopper without a gap, The lifting and transfer unit lifts and transfers the food stored in the food storage unit and supplies it to the hopper. A food placement device according to claim 1 or 2.

5. A food storage unit having a storage opening and storing the food, The input opening and the storage opening are positioned at substantially the same height, The lifting and transfer unit lifts the food stored in the food storage unit, takes it out from the food storage unit through the storage opening, and supplies it to the hopper through the input opening. A food placement device according to claim 1 or 2.

6. A plurality of hoppers are provided, The plurality of hoppers include two or more hoppers adjacent to each other without a gap, A food placement device according to claim 1 or 2.

7. A step of transferring food while lifting it by a lifting and transfer unit and supplying the food to the hopper through the input opening of the hopper, A step of closing the discharge opening of the hopper located below the input opening by an opening / closing unit, A step of opening the discharge opening by the opening / closing unit, and The food is discharged from the hopper through the discharge opening opened by the opening / closing unit, A food placement method.

8. A food product manufacturing method for manufacturing a food product having a container in which food is placed, A step of lifting and transferring the food while lifting the food by a lifting and transferring unit, and supplying the food to the hopper through an inlet opening of the hopper; A step of closing a discharge opening of the hopper located below the inlet opening by an opening / closing unit; A step of opening the discharge opening by the opening / closing unit, and The food discharged from the hopper through the discharge opening opened by the opening / closing unit is disposed in the container. Food product manufacturing method.

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