Transport device

Abstract

To provide a transport device capable of moving an object between three or more points.SOLUTION: A transport device includes: a transport mechanism that transfers an object; and a control unit that controls the transport mechanism to transfer the object between a first point to receive the object, a second point for performing processing on the object, and a third point for releasing the processed object. The first point, the second point, and the third point are different from one another and are not on the same straight line. The control unit controls the transport mechanism to transfer the object between the first point, the second point, the third point, and a fourth point at which the object is released. The fourth point is different from any of the first point, the second point, and the third point.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a transfer device for transferring an object.

Background Art

[0002] Patent Document 1 discloses a gripping system that draws a tray conveyed by a conveyor near a robot, and after putting vegetables on the tray, returns the tray to the conveyor.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above gripping system, the tray cannot be moved between three or more points, and the content of the process that can be handled is limited.

[0005] Therefore, on one aspect, an object of the present disclosure is to provide a transfer device capable of moving an object between three or more points.

Means for Solving the Problems

[0006] According to one aspect of the present disclosure, a transfer mechanism for transferring an object; a control unit that controls the transfer mechanism to transfer the object between a first point that receives the object, a second point where a process related to the object is performed, and a third point that releases the object that has undergone the process; and the first point, the second point, and the third point are different from each other and not on the same straight line, and a transfer device is provided.

Effects of the Invention

[0007] On one side, according to the present disclosure, a transfer device capable of moving an object among three or more points can be provided.

Brief Description of the Drawings

[0008]

Figure 1

Figure 1A

Figure 1B

Figure 2

Figure 3

Figure 4

Figure 4A

Figure 4B

Figure 4C

Figure 5

Figure 5A

Figure 5B

Figure 5C

Modes for Carrying Out the Invention

[0009] Hereinafter, as a transfer device, an apparatus for putting food into a tray as an object will be described as an example. However, the object to which the transfer device of the present disclosure is applied is arbitrary and is not limited to containers or things related to food. Further, the processing related to the object is arbitrary and is not limited to putting things into the object or processing related to food.

[0010] Figs. 1 to 1B are perspective views showing a processing apparatus equipped with the transfer device of the present embodiment.

[0011] The processing apparatus 100 is an apparatus that puts food into a tray 90 and places the tray 90 with the food thereon on an operating conveyor device 200 (for example, a belt conveyor device). As shown in FIGS. 1 and 1A, a plurality of (including three or more) processing apparatuses 100 can be arranged side by side in the conveying direction (the X direction or the -X direction in FIG. 1) of the conveyor device 200 at positions adjacent to the conveyor device 200. In FIGS. 1 and 1A, only a part of the components is shown in the processing apparatus 100 on the right side in FIG. 1 and the back side in FIG. 1A.

[0012] Also, as shown in FIG. 1B, two processing apparatuses 100 can be arranged facing each other with the conveyor device 200 interposed therebetween. A plurality of (including three or more) processing apparatuses 100 can also be arranged side by side in the conveying direction of the conveyor device 200 on each or one side of both sides with the conveyor device 200 interposed therebetween. In FIG. 1B, only a part of the components is shown in the processing apparatus 100 on the left side.

[0013] As shown in FIGS. 1 and 1A, the processing apparatus 100 includes a supply mechanism 10 that supplies a tray 90 for containing food, and a transfer mechanism 20 that transfers the tray 90 supplied via the supply mechanism 10. Further, the processing apparatus 100 includes robot mechanisms 30A and 30B that drop food from above onto the tray 90 transferred by the transfer mechanism 20.

[0014] A shooter 11 capable of supplying the tray 90 to the supply mechanism 10 can be attached to the processing apparatus 100. Further, a supply mechanism 10A (FIG. 4A) that supplies the tray 90 to the transfer mechanism 20 at a position different from the supply mechanism 10 can be attached to the processing apparatus 100. In this case, a shooter 12 can be attached in addition to the shooter 11. This shooter 12 is connected to the supply mechanism 10A and supplies the tray 90 toward the supply mechanism 10A.

[0015] At the lower part of the processing device 100, an outrigger 60 with a plurality of casters 61 attached is provided, which maintains the stability of the processing device 100 while enabling the processing device 100 to be easily moved. Further, on the side surface of the processing device 100, handles 65L and 65R for facilitating the handling of the processing device 100 during movement or the like are attached. The handles 65L and 65R can also be used as fixtures for fixing adjacent processing devices 100 to each other.

[0016] FIG. 2 is a diagram showing a configuration example of the control system of the processing device.

[0017] In the example shown in FIG. 2, the processing device 100 includes a main control unit 50 (corresponding to the control unit) that controls the operation of the entire processing device 100.

[0018] As shown in FIG. 2, the main control unit 50 controls each actuator (including the linear actuator 25 described later) provided in the supply mechanism 10 and the transfer mechanism 20. Further, the main control unit 50 controls the operation of the robot mechanism 30A via the robot control unit 53A and the operation of the robot mechanism 30B via the robot control unit 53B, respectively. Furthermore, as shown in FIG. 2, various sensors S1, S2,... provided in each part of the processing device 100 are connected to the main control unit 50. Also, an operation unit 55 (FIG. 1A) that receives various operations on the processing device 100 and a display unit 56 (FIG. 1A) that displays the operation state or the like of the processing device 100 are connected to the main control unit 50.

[0019] FIG. 3 is a top view showing the trajectory of the tray transferred by the transfer mechanism.

[0020] As shown in FIG. 3, the transfer mechanism 20 can move the tray 90 on an arc 91 in the horizontal plane. Further, the transfer mechanism 20 can convey the tray 90 to and stop it at each of the points P1, P2A, P2B, P3A, P3B, P4, and P5 on the arc 91.

[0021] Figs. 4 to 4C are perspective views showing the configuration of the transfer mechanism.

[0022] As shown in Figs. 4 to 4C, the transfer mechanism 20 includes a hand portion 21 that opens and closes in the direction indicated by the arrow 21A in Fig. 4A and can grip the tray 90 in the closed state, and a support portion 22 that supports the hand portion 21 so as to be openable and closable. Further, the transfer mechanism 20 includes a drive portion 23 that rotationally drives the support portion 22 together with a linear actuator 25 (described later) in a range of 320° (see Fig. 4) around the axis of the arc 91. The support portion 22 includes an actuator for opening and closing the hand portion 21.

[0023] When the support portion 22 is rotationally driven by the drive portion 23 in a state where the tray 90 is gripped by the closed hand portion 21 by the operation of the transfer mechanism 20, the tray 90 moves along the arc 91.

[0024] In addition, the transfer mechanism 20 is provided with a contact member 24 that can contact the tray 90 and a linear actuator 25 attached to the support portion 22. After the hand portion 21 is opened, by driving the contact member 24 in the direction of the arrow 24b in Fig. 4A by the linear actuator 25, the tray 90 can be pushed out in that direction to release the tray 90 from the hand portion 21. In Fig. 4A, the tray 90 is drawn superimposed on a state where the hand portion 21 is closed and the contact member 24 is driven in the direction of the arrow 24b.

[0025] Fig. 4 shows an example in which a measuring device 27 (corresponding to the sensors included in the sensors S1, S2,... in Fig. 2) is provided. By measuring the weight applied to the hand portion 21 of the transfer mechanism 20 by the measuring device 27, the main control unit 50 can recognize the weight of the object gripped by the hand portion 21. For this reason, for example, the weight of the vegetables (described later) put into the tray 90 can be measured.

[0026] As shown in FIG. 4C, a cable group C routed along the rotation axis of the drive unit 23 is connected to the linear actuator 25 and the actuator provided on the support unit 22. The cables included in the cable group C output signals from the main control unit 50 (FIG. 2) to the linear actuator 25 and the actuator of the support unit 22. Further, other cables included in the cable group C transmit signals from the measuring device 27 to the main control unit 50.

[0027] Further, as shown in FIG. 4B, the pair of hand members 21a constituting the hand unit 21 can be removed from the support unit 22 simply by lifting them upward. Similarly, the contact member 24 can be removed from the linear actuator 25 simply by lifting it upward. Therefore, the hand unit 21 and the contact member 24 can be easily cleaned and kept clean.

[0028] Next, an operation example of the processing apparatus 100 when performing the process of loading two types of prepared vegetables into the tray 90 will be described. The following operations are executed according to the control of the main control unit 50.

[0029] First, the operation when the conveying direction of the conveyor device 200 is the direction of arrow 201 in FIG. 3 (X direction in FIG. 1) will be described.

[0030] In this case, the open hand unit 21 is driven by the drive unit 23, and after setting the hand unit 21 at a position corresponding to point P1 (corresponding to the first point), an empty tray 90 is dropped from the supply mechanism 10 to point P1. Next, by closing the hand unit 21, the tray 90 is gripped by the hand unit 21.

[0031] Next, the hand unit 21 gripping the tray 90 is driven by the drive unit 23, and the tray 90 is conveyed to point P2A (corresponding to the second point) where processing (loading of prepared vegetables) by the robot mechanism 30A is possible. In this state, using the robot mechanism 30A, the first type of prepared vegetable is loaded into the tray 90 from above.

[0032] Next, the driving unit 23 drives the hand unit 21 to convey the tray 90 into which the first type of prepared food has been loaded to point P3A (corresponding to the third point) on the conveyor device 200. Next, after opening the hand unit 21, the contact member 24 is driven in the direction of arrow 24b in FIG. 4A by the linear actuator 25 to push out the tray 90 in that direction and release the tray 90 from the hand unit 21. At this time, since the direction and the direction of arrow 201 which is the conveying direction of the conveyor device 200 are in directions close to each other, the tray 90 into which the first type of prepared food has been loaded is smoothly released onto the conveyor device 200 and conveyed to a predetermined position.

[0033] When loading the second type of prepared food, the tray 90 that has been conveyed to a predetermined position, that is, the tray 90 into which the first type of prepared food has been loaded, is placed on the shooter 12 by the operator in advance so that the tray 90 can be supplied from the supply mechanism 10A.

[0034] In this case, the processing device 100 installs the open hand unit 21 at a position corresponding to point P4 (corresponding to the fourth point) and receives the tray 90 into which the first type of prepared food has been loaded from the supply mechanism 10A. Next, by closing the hand unit 21, the tray 90 is gripped.

[0035] Next, the driving unit 23 drives the hand unit 21 gripping the tray 90 to convey the tray 90 into which the first type of prepared food has been loaded to point P2B (corresponding to the second point) where the robot mechanism 30B can process (load the prepared food). In this state, using the robot mechanism 30B, the second type of prepared food is loaded into the tray 90 from above.

[0036] Next, the driving unit 23 drives the hand unit 21 to convey the tray 90 into which two types of prepared foods have been loaded to point P3A on the conveyor device 200. Next, after opening the hand unit 21, the contact member 24 is driven in the direction of arrow 24b in FIG. 4A by the linear actuator 25 to push the tray 90 in that direction, and the tray 90 is released from the hand unit 21. At this time, since the direction and the direction of arrow 201 (FIG. 3), which is the conveyance direction of the conveyor device 200, are in directions close to each other, the tray 90 into which two types of prepared foods have been loaded is smoothly released onto the conveyor device 200 and conveyed to a predetermined position.

[0037] Next, the operation when the conveyance direction of the conveyor device 200 is the direction of arrow 202 in FIG. 3 (the -X direction in FIG. 1) will be described.

[0038] In this case, the open hand unit 21 is driven by the driving unit 23. After setting the hand unit 21 at a position corresponding to point P1 (corresponding to the first point), an empty tray 90 is dropped from the supply mechanism 10 to point P1. Next, by closing the hand unit 21, the tray 90 is gripped by the hand unit 21.

[0039] Next, the driving unit 23 drives the hand unit 21 that is gripping the tray 90, and conveys the tray 90 to point P2A (corresponding to the second point). In this state, using the robot mechanism 30A, the first type of prepared food is loaded into the tray 90 from above.

[0040] Next, the driving unit 23 drives the hand unit 21 to convey the tray 90 into which the first type of prepared food has been loaded to point P3B (corresponding to the third point) on the conveyor device 200. Next, after opening the hand unit 21, the contact member 24 is driven in the direction of arrow 24b in FIG. 4A by the linear actuator 25 to push out the tray 90 in that direction, and the tray 90 is released from the hand unit 21. At this time, since the direction and the direction of arrow 202, which is the conveyance direction of the conveyor device 200, are in directions close to each other, the tray 90 into which the first type of prepared food has been loaded is smoothly released onto the conveyor device 200 and conveyed to a predetermined position.

[0041] When loading two types of prepared foods, the tray 90 conveyed to a predetermined position, that is, the tray 90 into which the first type of prepared food has been loaded, is placed on the shooter 12 by the operator in advance, and the tray 90 is made ready to be supplied from the supply mechanism 10A.

[0042] In this case, the processing device 100 installs the open hand part 21 at a position corresponding to the point P4 (corresponding to the fourth point), and receives the tray 90 into which the first type of prepared food has been loaded from the supply mechanism 10A. Next, by closing the hand part 21, the tray 90 is gripped.

[0043] Next, the drive unit 23 drives the hand part 21 that is gripping the tray 90, and conveys the tray 90 into which the first type of prepared food has been loaded to the point P2B (corresponding to the second point). In this state, using the robot mechanism 30B, the second type of prepared food is loaded onto the tray 90 from above.

[0044] Next, the drive unit 23 drives the hand part 21, and conveys the tray 90 into which the two types of prepared foods have been loaded to the point P3B (corresponding to the third point) on the conveyor device 200. Next, after opening the hand part 21, the contact member 24 is driven in the direction of the arrow 24b in FIG. 4A by the linear actuator 25 to push the tray 90 in that direction, and the tray 90 is released from the hand part 21. At this time, since the direction and the direction of the arrow 202 (FIG. 3), which is the conveyance direction of the conveyor device 200, are in directions close to each other, the tray 90 into which the two types of prepared foods have been loaded is smoothly released onto the conveyor device 200 and conveyed to a predetermined position.

[0045] Thus, in this embodiment, the tray 90 can be received at point P1 or point P4, the prepared food can be loaded into the tray 90 at point P2A or point P2B, and further, the tray 90 into which the prepared food has been loaded can be released at point P3A or point P3B. Therefore, a series of processes of receiving the tray 90, loading the prepared food, and releasing the tray 90 into which the prepared food has been loaded can be executed by the processing device 100. For example, after continuously loading the prepared food at points P3A and P3B into the tray 90 received by the hand part 21 at point P1, the tray 90 may be placed on the conveyor device 200 from point P3A or point P3B.

[0046] Also, in this embodiment, since a plurality of points P2A and P2B corresponding to the types of prepared food are provided, different types of prepared food can be loaded into the tray 90 at each point.

[0047] Further, in this embodiment, according to the conveying direction of the conveyor device 200, the position where the tray 90 into which the prepared food has been loaded is released on the conveyor device 200 can be selected between point P3A and point P3B. Thereby, regardless of the conveying direction of the conveyor device 200, the tray 90 can be released by being pushed out in the flowing direction of the conveyor device 200. Therefore, regardless of the conveying direction of the conveyor device 200, the tray 90 can be stably and smoothly placed on the conveyor device 200.

[0048] Also, as shown in FIG. 1B, when a plurality of processing devices 100 are arranged facing each other with the conveyor device 200 interposed therebetween, different points (point P3A or point P3B) can be selected as the positions where the tray 90 is released on the conveyor device 200 on both sides sandwiching the conveyor device 200. Thereby, regardless of the orientation of the processing device 100, the tray 90 can be released by being pushed out in the flowing direction of the conveyor device 200, and therefore, regardless of the orientation of the processing device 100, the tray 90 can be stably and smoothly placed on the conveyor device 200.

[0049] In addition, in the above operation example, the types of side dishes assigned to the robot mechanisms 30A and 30B, that is, the points P2A and P2B, or the order of loading the side dishes may be swapped. For example, the first side dish may be loaded into the tray 90 by the robot mechanism 30B at the point P2B, and the next side dish may be loaded into the tray 90 by the robot mechanism 30A at the point P2A.

[0050] As described above, by providing the measuring device 27 (Fig. 4) in the transfer mechanism 20, the main control unit 50 can recognize the weight of the side dishes loaded on the tray 90 via the measuring device 27. Further, when it is determined in the main control unit 50 that the weight is not within the appropriate range, the main control unit 50 can control each part of the processing device 100 to perform an operation different from the normal case. For example, the operation of transporting the tray 90 to the point P2A (corresponding to the fifth point) or the point P2B (corresponding to the fifth point) may be shifted to add the side dishes that are not within the target weight range and are insufficient on the tray 90.

[0051] Further, when the weight of the side dishes (including the first and second types of side dishes) on the tray 90 is not within the appropriate range, instead of transporting the tray 90 to the point P3, it may be transported to the point P5 (corresponding to the fifth point). In this case, the hand part 21 that grips the tray 90 by the drive part 23 can be driven to transport it to the point P5, and after opening the hand part 21, the tray 90 can be pushed out by the contact member 24. Also in this case, a lane 70 for discharging the tray 90 may be provided.

[0052] Further, the types of prepared vegetables assigned to the robot mechanisms 30A and 30B, i.e., the points P2A and P2B, may be the same. In this case, based on the control of the main control unit 50, operations of gripping the prepared vegetables with the hands of the robot mechanism 30A and the robot mechanism 30B are respectively executed, and the tray 90 may be conveyed to the points P2A and P2B corresponding to the robot mechanism 30A and the robot mechanism 30B that first grip the prepared vegetables with a weight within the appropriate range. The weights of the prepared vegetables gripped by the robot mechanism 30A and the robot mechanism 30B are detected by the weight sensors included in the sensors S1, S2 ··· (Fig. 2), and whether the weight is within the appropriate range can be determined by the main control unit 50. In this way, by selecting the points P2A and P2B corresponding to the robot mechanism 30A or the robot mechanism 30B with the weight of the prepared vegetables within the appropriate range and conveying the tray 90 to perform the plating of the prepared vegetables, the processing speed can be improved. In particular, it is effective in the case of prepared vegetables for which it is difficult to grip an appropriate weight.

[0053] Note that when such an operation is adopted, until appropriate weights of prepared vegetables can be gripped in each of the robot mechanism 30A and the robot mechanism 30B, the main control unit 50 can repeat the operation of gripping the prepared vegetables by the robot mechanism 30A and the robot mechanism 30B.

[0054] Fig. 5 is a top view showing a lane for discharging a tray, Fig. 5A is a perspective view showing the lane, Fig. 5B is a view of the lane seen from the left side of Fig. 5 (viewed in the -X direction), and Fig. 5C is a view of the lane seen from below Fig. 5 (viewed in the -Y direction).

[0055] As shown in FIGS. 5 to 5B, a lane 70 for discharging the tray 90 may be extended along the flow direction of the conveyor device 200 (the left-right direction in FIG. 5). The lane 70 is connected in the vicinity of the point P5 and receives the tray 90 pushed out from the point P5 by the abutting member 24. When a new tray 90 is pushed out from the point P5 by the abutting member 24, the tray 90 already received on the lane 70 is sequentially pushed in while being guided by the lane 70 to the left in FIG. 5 and is made movable on the lane 70.

[0056] In addition, the main control unit 50 may detect that two or more trays 90 (see FIGS. 5A to 5C) overlapping each other due to malfunction or the like are being conveyed by the hand unit 21. Whether the trays 90 are overlapping can be detected based on the measurement value by the measuring device 27 or by other sensors (sensors included in the sensors S1, S2,...). In this case, the overlapping trays 90 may be conveyed to the point P5 and discharged to the lane 70. Further, the vertical width of the tip 24a (FIG. 5C) of the abutting member 24 extending downward may be set to be longer so as to reliably push out the overlapping trays 90.

[0057] As described above, in this embodiment, the tray 90 can be transferred to the point P5. Therefore, in a predetermined case, such as when an appropriate amount of prepared vegetables is not put into the tray 90, the tray 90 can be conveyed to another place such as the lane 70 instead of being conveyed toward the conveyor device 200, and a predetermined treatment can be performed.

[0058] As described above, according to this embodiment, it is possible to provide a transfer device capable of moving the tray 90, which is an object, among three or more points. Thereby, a series of processes of receiving the tray 90, putting prepared vegetables into it, and further flowing it into the conveyor device 200 can be executed in the processing device 100. In addition, it becomes possible to put a plurality of types of prepared vegetables into the tray 90, and it becomes possible to select the opening position and the pushing direction of the tray 90 according to the conveying direction of the conveyor device 200.

[0059] Although the above embodiments have been described in detail, they are not limited to specific embodiments, and various modifications and changes are possible within the scope described in the claims. Also, it is possible to combine all or a plurality of the components of the above-described embodiments. For example, the object is arbitrary and is not limited to a container or an object related to food. Also, the processing related to the object is arbitrary and is not limited to the input of an object to the object or the processing related to food. Also, any mechanism can be adopted as the transfer mechanism. For example, a mechanism such as a so-called curved belt conveyor or a cam mechanism may be used. Also, the trajectory of the object moved by the transfer mechanism is not limited to an arc shape, and it can be moved along an arbitrary trajectory connecting a plurality of points that are not on a straight line. The trajectory of the object is not limited to a trajectory in a horizontal plane, and may be a trajectory accompanied by vertical fluctuations.

Explanation of Signs

[0060] 10 Supply mechanism 20 Transfer mechanism 27 Measuring device 50 Main control unit 90 Tray 91 Arc P1 Point P2A Point P2B Point P3A Point P3B Point P4 Point P5 Point

Claims

1. A transfer mechanism for transferring an object, a control unit for controlling the transfer mechanism to transfer the object among a first point for receiving the object, a second point where processing related to the object is performed, and a third point for releasing the processed object, wherein the first point, the second point, and the third point are different from each other and not on the same straight line, a transfer device.

2. A transfer mechanism for transferring an object, a control unit for controlling the transfer mechanism to transfer the object among a first point for receiving the object, a second point where processing related to the object is performed, and a fourth point for receiving the object, wherein the first point, the second point, and the fourth point are different from each other and not on the same straight line, a transfer device.

3. The control unit controls the transfer mechanism to transfer the object among the first point, the second point, the third point, and a fourth point for releasing the object, wherein the fourth point is different from any of the first point, the second point, and the third point, the transfer device according to Claim 1.

4. As the third point, two different points corresponding to the conveying direction of the conveyor device are provided, and one of the two points is selected according to the conveying direction of the conveyor device, the transfer device according to Claim 1.

5. One of a plurality of different points as the second point can be selected, and the object is transferred to the selected second point and the processing is performed under the control of the control unit, the transfer device according to Claim 1 or 2.

6. A measuring device for measuring the weight of the object is provided, the transfer device according to Claim 1.

7. The control unit controls the transfer mechanism to transfer the object, for which it is determined by the measuring device that the weight of the object after the processing is outside the target weight range, to a fifth point different from the third point, the transfer device according to Claim 6.

8. The transfer mechanism transfers the object along an arc-shaped trajectory, the transfer device according to Claim 1 or 2.

9. The transfer device according to Claim 1 or 2 includes a supply mechanism for supplying the object to the first point from above.

Images