Processing system and processing method

Abstract

To provide a processing system capable of efficiently feeding a container that is a processing object.SOLUTION: A processing system 1 comprises a robot 10, and a container feeding part 500 that feeds the robot 10 with a container 31 after completion of a predetermined operation. The robot 10 performs processing for releasing an object held within the container 31 fed from the container feeding part 500.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a processing system and a processing method.

Background Art

[0002] Patent Document 1 discloses a distribution system. The distribution system includes an ingredient supply unit, an articulated robot, and a control device. The container supply unit supplies a bento container to a predetermined position where ingredients are to be placed. The articulated robot holds the ingredients inside the ingredient supply unit with a hand under the control of the control device, and releases the held ingredients into the container. Thereby, the ingredients are placed in the container.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above conventional distribution system, for example, a container in which operations such as placing other ingredients are not performed is supplied, and the ingredients separated from the ingredient supply unit are placed in the container. However, for example, there may be a case where it is necessary to place a plurality of types of ingredients in one container, and from the viewpoint of efficiently performing such processing, it is desired to supply containers more efficiently.

[0005] The present invention has been made by the inventors of the present application newly focusing on the above problems, and an object thereof is to provide a processing system and a processing method capable of efficiently supplying a container to be processed.

Means for Solving the Problems

[0006] A processing system according to one aspect of the present invention includes a robot and a container supply unit that supplies the robot with a container in which a predetermined operation has been completed. The robot performs a process of releasing an object held inside the container supplied from the container supply unit.

[0007] A processing method according to one aspect of the present invention includes a worker supplying a container containing a first object to a container supply unit, and a robot performing a process of releasing a second object held inside the container supplied from the container supply unit and above or beside the first object.

Advantages of the Invention

[0008] According to the processing system and the like in the present invention, a container to be processed can be efficiently supplied.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Embodiments for Carrying Out the Invention

[0010] A processing system according to an aspect of the present invention includes a robot and a container supply unit that supplies the robot with a container in which a predetermined operation has been completed. The robot performs a process of releasing an object held inside the container supplied from the container supply unit.

[0011] According to this configuration, a container in which a predetermined operation has been completed can be supplied to a robot having a function of releasing an object into a container. Therefore, containers that are the processing targets of the robot can be efficiently supplied.

[0012] The container supply unit may supply the robot with the container in which a predetermined object has been placed by the predetermined operation.

[0013] According to this configuration, a container in which a predetermined object has already been placed is supplied to the robot. Therefore, the robot can add an object, which is the same as or different from the predetermined object, to the container. Also, the robot can stack the object on top of the predetermined object or place the object next to the predetermined object inside the container.

[0014] The container supply unit may include an inclined surface portion having an inclined surface that slopes downward as it approaches the robot, and a discharge portion connected to an end of the inclined surface portion closer to the robot, the discharge portion discharging the container that has reached the discharge portion by sliding along the inclined surface to the outside.

[0015] According to this configuration, by utilizing the gravity acting on the container, the container can be sent toward the robot. That is, the container that has completed a predetermined operation can be efficiently supplied to the robot.

[0016] The inclined surface can arrange a plurality of the containers in a first direction, and the discharge part includes an opening part that penetrates in the vertical direction and forms an opening through which the container can pass, and an opening / closing mechanism that discharges the container that has reached the opening part from the opening. The opening / closing mechanism has a support part and a stopper. The support part releases the support of the container that has reached the opening, and the stopper restricts the movement of the next container to the opening. The stopper releases the restriction on the movement of the next container to the opening, and the support part supports the next container that has reached the opening due to the release of the restriction.

[0017] According to this configuration, when the support part of the opening / closing mechanism releases the support of the container located at the opening, the container can be dropped from the opening while the stopper can prevent the next container from reaching the opening. That is, only one container can be discharged. Therefore, a plurality of containers moving while sliding on the inclined surface can be discharged one by one from the opening of the discharge part.

[0018] The support part may include a first support part and a second support part arranged in a second direction intersecting the first direction, and the stopper may include a first stopper and a second stopper arranged in the second direction.

[0019] According to this configuration, for example, a mechanism for discharging the containers one by one is configured by the first stopper and the second stopper arranged left and right when viewed from the longitudinal direction of the inclined surface, and the first support part and the second support part arranged left and right. Thereby, the container located at the opening can be supported more stably, and the next container can be stopped more reliably.

[0020] The discharge unit further includes a drive unit that drives the operation of the opening / closing mechanism. The drive unit may synchronously perform the movement of the first moving unit that integrally includes the first support unit and the first stopper in the second direction and the movement of the second moving unit that integrally includes the second support unit and the second stopper in the second direction.

[0021] According to this configuration, the first moving unit and the second moving unit move synchronously. Thereby, for example, the discharge of the container from the opening of the discharge unit and the supply of the next container to the opening are executed more efficiently.

[0022] Furthermore, it may include an attachment unit for attaching the container supply unit to the robot. The container supply unit is in a long shape, and the attachment unit can switch the posture of the container supply unit between a first posture in which the longitudinal direction of the container supply unit faces a predetermined direction and a second posture in which the longitudinal direction faces a direction different from the predetermined direction.

[0023] According to this configuration, for example, since the orientation of the container supply unit can be changed, the orientation of the container supply unit can be changed according to the convenience of the arrangement of the person or device that supplies the container that has completed a predetermined operation to the processing system.

[0024] Furthermore, it may include a carry-out unit for carrying out the container that has completed the processing by the robot, and the container supply unit may be installed in a posture crossing above the carry-out unit.

[0025] According to this configuration, for example, when the carry-out unit is arranged in front of the robot, a container that has completed a predetermined operation can be supplied (hereinafter, also referred to as "loaded") to the container supply unit from in front of the carry-out unit, that is, from a position beyond the carry-out unit as viewed from the robot. Thereby, for example, an operator who supplies the container to the container supply unit can supply the container to the container supply unit while confirming the operation of the robot from the front.

[0026] The processing method according to one aspect of the present invention includes: a worker supplying a container containing a first object to a container supply unit; and a robot performing a process of releasing a second object held inside the container supplied from the container supply unit and above or beside the first object.

[0027] According to this processing method, a container in which the accommodation of the first object is completed can be supplied to a robot having a function of releasing the second object into the container. Therefore, the container to be processed by the robot can be efficiently supplied.

[0028] The container supply unit is long-shaped, and the processing method further includes switching the posture of the container supply unit from one of a first posture and a second posture to the other before the supplying. The first posture is a posture in which the longitudinal direction of the container supply unit faces a predetermined direction, and the second posture is a posture in which the longitudinal direction faces a direction different from the predetermined direction.

[0029] According to this processing method, since the orientation of the container supply unit can be changed, for example, the orientation of the container supply unit can be changed according to the convenience of the arrangement of a person or device that supplies a container in which a predetermined operation has been completed to the processing system.

[0030] The container supply unit is installed in a posture crossing above a carry-out unit that carries out the container after the processing by the robot. In the supplying, the worker located on the side opposite to the robot across the carry-out unit supplies the container to the container supply unit.

[0031] According to this processing method, for example, when a carry-out unit is arranged in front of the robot, a container in which a predetermined operation has been completed can be input into the container supply unit from in front of the carry-out unit, that is, from a position beyond the carry-out unit as viewed from the robot. Thereby, for example, a worker who supplies a container to the container supply unit can supply the container to the container supply unit while confirming the operation of the robot from the front.

[0032] The present invention can be realized not only as such a processing system and processing method, but also as a program for causing a computer to execute a control method of a processing system including characteristic processing steps performed by the processing system and the processing method, or as a recording medium such as a computer-readable CD-ROM (Compact Disc-Read Only Memory) on which the program is recorded. Such a program can be distributed via a recording medium such as a CD-ROM and a transmission medium such as the Internet. The present invention can also be realized as an integrated circuit including a processing unit that performs a holding method or a control method.

[0033] Hereinafter, with reference to the drawings, a processing system and a control device according to an embodiment (including its modified examples) of the present invention will be described. All of the embodiments described below show comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, each step in the method, the order of the steps, etc. shown in the following embodiments are examples and are not intended to limit the present invention. In each figure, the dimensions and the like are not strictly illustrated. In each figure, the same or similar components are denoted by the same reference numerals.

[0034] (Embodiment) [1. General description of processing system 1] First, a general description of the processing system 1 in the present embodiment will be given with reference to FIG. 1. FIG. 1 is a perspective view showing the appearance of the processing system 1 according to the present embodiment.

[0035] The processing system 1 is a system that holds and releases an object and distributes the object. Examples of the object include food ingredients such as mixed vegetables. Examples of the mixed vegetables include mashed salads such as potato salad (salads containing sticky and adhesive ingredients), okara, dried daikon radish, namasu, hijiki, boiled beans, butter corn, and the like.

[0036] For example, the processing system 1 holds the food material as the object and distributes (arranges) the food material to the container 31 by releasing it into the container 31. The container 31 in which the food material is arranged is sent out to the outside. Examples of the container 31 include a container for each vegetable dish or a container for a bento box. For example, a plurality of processing systems 1 may be arranged, and various food materials may be arranged in the container 31 by sequentially releasing the various food materials into the container 31.

[0037] More specifically, the processing system 1 is supplied with the container 31 in which a predetermined operation has been completed, and the food material is arranged in the container 31. In the present embodiment, the predetermined operation is the accommodation (i.e., arrangement) of the first object T1, which is an object different from the food material, into the container 31. For example, the food material A as the first object T1 is arranged in the container 31, and the container 31 is supplied to the processing system 1. In the processing system 1, the food material B as the second object T2 is arranged in the container 31 in which the food material A as the first object T1 is contained. The food material A and the food material B may be of the same type of food material or may be of different types of food materials. Other examples of the predetermined operation performed on the container 31 before being supplied to the processing system 1 include the accommodation of a package containing a seasoning such as soy sauce or a decorative member such as a parsley into the container 31, the assembly of the container 31 by an operator, and the surface treatment of the container 31 (attaching characters or figures to the surface, or attaching a label or the like to the surface), and combinations thereof can be exemplified.

[0038] As shown in FIG. 1, the processing system 1 that performs the above-described processing includes a robot 10 and a container supply unit 500. In the processing system 1, the container 31 is supplied from the container supply unit 500 to the robot 10, and the robot 10 releases the object (the second object T2 in the present embodiment) that it holds into the container 31. More specifically, the processing system 1 according to the present embodiment further includes a housing member 20, a container transport unit 90, a cover unit 40, a control device 50, and a carry-out unit 2. In the present embodiment, the carry-out unit 2 is a conveyor such as a belt conveyor or a roller conveyor.

[0039] The robot 10 is an articulated robot such as a horizontal articulated robot or a vertical articulated robot, and holds and releases the second object T2. The robot 10 includes a hand 11 and a robot arm 12. In the present embodiment, the number of robots 10 included in the processing system 1 is 1, but the number of robots 10 included in the processing system 1 may be 2 or more.

[0040] The hand 11 is a part that holds and releases the second object T2. The hand 11 is provided with a sensor (not shown) for acquiring the amount of the second object T2 held or released, the reaction force from the contacted second object T2, and the like. The sensor is a weight sensor for measuring the weight of the second object T2 held or released, a force sensor for measuring the reaction force from the contacted second object T2 (including the sense of force obtained by contacting the surface), and the like. In the present embodiment, the sensor is provided at the connection portion of the hand 11 with the robot arm 12 (connection portion 400 shown in FIG. 2). The data acquired by the sensor is output to the control device 50. An operation example of the hand 11 will be described later with reference to FIGS. 3 to 5.

[0041] The robot arm 12 is a multi-joint arm, and moves the hand 11 to a desired position within the movable range. The robot arm 12 also includes a shaft for rotating the hand 11 in the twisting direction with respect to the robot arm 12 at the connection portion with the hand 11. Thereby, when the hand 11 holds or releases the second object T2, the direction of the hand 11 can be changed to adjust the opening and closing direction of the hand 11.

[0042] The container supply unit 500 is a device that supplies the robot 10 with the container 31 after a predetermined operation is completed. In the present embodiment, as described above, the container 31 in which a predetermined object (the first target object T1 in the present embodiment) is placed by a predetermined operation is supplied to the robot 10. The container supply unit 500 includes an inclined surface portion 510 and a discharge unit 520 that can arrange a plurality of containers 31 side by side. For example, the container 31 after a predetermined operation is completed is supplied to the inclined surface portion 510 manually by an operator. The plurality of containers 31 arranged on the inclined surface portion 510 are sequentially discharged downward from the discharge unit 520. The container 31 discharged from the discharge unit 520 is received by a container transport unit 90 described later. The container transport unit 90 arranges the received container 31 at a predetermined position. A more specific configuration example and operation example of the container supply unit 500 will be described later with reference to FIGS. 6 to 10.

[0043] The housing member 20 is a member that houses the second target object T2 held by the processing system 1. The housing member 20 is a vat (weight) or a tray or the like. For example, the housing member 20 houses a plurality of servings (tens to hundreds of servings, etc.) of food ingredients (ingredients) as the second target object T2, and the robot 10 holds the food ingredient, which is the second target object T2, from within the housing member 20 and releases it into the container 31, thereby portioning (plating) the food ingredient into the container 31. In the present embodiment, the number of housing members 20 provided in the processing system 1 is 1, but the processing system 1 may include a plurality of housing members 20. In this case, the second target objects T2 housed in the plurality of housing members 20 may be different food ingredients or the like from each other.

[0044] The container transfer unit 90 receives the container 31 for which a predetermined operation has been completed from the container supply unit 500, and arranges the container 31 at the position P where the robot 10 releases the second object T2. The container transfer unit 90 includes a loading unit 91 that loads the container 31 received from the container supply unit 500 into the interior of the container transfer unit 90, and an arrangement mechanism (not shown) that arranges the container 31 loaded into the interior at the position P. The loading unit 91 is realized by a belt conveyor or the like. The arrangement mechanism is realized by an articulated arm that moves the container 31 to the position P, or a linear expansion and contraction arm that pushes out the container 31 to the position P. The container transfer unit 90 may be realized by a single transfer device (such as an articulated arm) that directly moves the container 31 received from the container supply unit 500 to the position P.

[0045] In the present embodiment, the attachment unit 60 is provided on the container transfer unit 90, and by attaching the container supply unit 500 to the attachment unit 60, the container supply unit 500 is attached to the robot 10. The attachment unit 60 has, for example, a through hole (not shown) provided in the container transfer unit 90, and the container supply unit 500 is detachably attached to the attachment unit 60 by a bolt or the like (not shown) arranged to penetrate the through hole. There is no particular limitation on the form of the attachment unit 60. For example, the container supply unit 500 may be detachably attached to the attachment unit 60 by a part of the container supply unit 500 being hooked on a part of the attachment unit 60. More specifically, the attachment unit 60 includes a first attachment unit 60a (see FIG. 1) and a second attachment unit (the second attachment unit 60b shown in FIG. 11). Thereby, the posture of the container supply unit 500 can be changed. An example of changing the posture of the container supply unit 500 will be described later with reference to FIG. 11. Note that the attachment unit 60 may be provided in a cover unit 40 or the like described later.

[0046] As described above, in the present embodiment, the container supply unit 500 supplies the container 31 for which a predetermined operation has been completed to the robot 10 via the container transfer unit 90. The container transfer unit 90 may be provided in the processing system 1 as a part of the container supply unit 500. That is, the container supply unit 500 may be configured to include an inclined surface portion 510, a discharge unit 520, and the container transfer unit 90.

[0047] In this embodiment, a weight sensor (not shown) for measuring the weight of the container 31 is disposed at the position P. When the robot 10 releases the second object T2 to the container 31 at the position P, the weight of the second object T2 (the weight increased before and after the arrangement of the second object T2) is measured by the weight sensor. The data measured by the weight sensor is output to the control device 50. When the measurement by the weight sensor is completed, the container 31 in which the object T1 and the object T2 are arranged is carried out to the carry-out section 2 by a pushing mechanism (not shown) provided in the container transfer section 90.

[0048] The cover portion 40 is a cover including a plate-like member that surrounds the periphery and the upper part of the region where the robot 10, the housing member 20, and the container transfer section 90 are disposed. The plate-like member is formed of a transparent material such as glass or resin, and the operating state of the robot 10 or the like can be visually recognized from the outside of the cover portion 40. An opening for taking in the container 31 supplied from the container supply section 500 into the interior of the container transfer section 90 and an openable and closable door are provided on the side wall of the cover portion 40. Through the door, various operations such as replacement of the housing member 20, maintenance of the container transfer section 90, or maintenance of the robot 10 or the like can be performed.

[0049] The control device 50 is a device that controls the operations of the robot 10, the container supply section 500, and the like. In this embodiment, the control device 50 is a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input section (keyboard, touch panel, mouse, microphone, etc.), an output section (liquid crystal display, speaker, etc.), a communication section that communicates via a network, and a drive or the like, and executes various processes according to a program. The control device 50 may be realized by a general-purpose computer system such as a personal computer executing a program, or may be realized by a dedicated computer system such as a programmable controller.

[0050] The control device 50 is connected to the robot 10, the container supply unit 500, etc. by wire or wirelessly, and controls the operation of the entire processing system 1 of the robot 10, the container supply unit 500, etc. For example, the control device 50 controls the operation in which the container supply unit 500 sequentially discharges each of the plurality of containers 31, the operation in which the container transport unit 90 arranges the container 31 at the position P, the operation in which the robot 10 holds the second object T2 from the housing member 20 and releases it into the container 31, and the operation in which the container transport unit 90 transports the container 31 to the carry-out unit 2. The control device 50 may be arranged at a location away from the robot 10 or the like, or may be arranged in the vicinity of the robot 10 or the like, such as being attached to the cover unit 40. The processing system 1 includes a plurality of sets of configurations in which the robot 10 and the like are housed in the cover unit 40, and the control device 50 may control the operations of the plurality of sets of robots 10 and the like.

[0051] [Explanation of the configuration of the hand 11] Next, the configuration of the hand 11 provided in the robot 10 of the processing system 1 according to the present embodiment will be described. FIG. 2 is a perspective view showing the configuration of the hand 11 of the robot 10 according to the present embodiment. In FIG. 2, the illustration of the configuration above the upper part of the connection part 400 of the hand 11 with the robot arm 12 is omitted.

[0052] In the following description of FIG. 2 and in FIG. 2, the direction in which the hand 11 (two holding members 100) of the robot 10 faces forward is defined as the X-axis direction, the direction in which the two holding members 100 open and close is defined as the Y-axis direction, and the vertical direction is defined as the Z-axis direction. These X-axis direction, Y-axis direction, and Z-axis direction are directions that intersect (are orthogonal in this embodiment) with each other. As described above, the hand 11 (two holding members 100) is configured to be rotatable about an axis parallel to the Z-axis, but the description of the rotation of the hand 11 is omitted. In the following description, the X-axis plus direction indicates the arrow direction of the X-axis, and the X-axis minus direction indicates the direction opposite to the X-axis plus direction. When simply referring to the X-axis direction, it indicates the two-way or either one of the X-axis plus direction and the X-axis minus direction. The same applies to the Y-axis direction and the Z-axis direction. Expressions indicating relative directions or postures such as parallel and orthogonal include cases where they are not strictly in that direction or posture. For example, two directions being parallel means not only that the two directions are completely parallel but also that they are substantially parallel, that is, including a difference of about several percent.

[0053] As shown in FIG. 2, the hand 11 of the robot 10 includes, in addition to the above-described connection portion 400, two (a pair of) holding members 100, two (a pair of) moving portions 200, and a guide portion 300.

[0054] The two holding members 100 are members for holding an object. Specifically, in this embodiment, the two holding members 100 hold and release the second object T2. That is, the two holding members 100 hold and release a part of the second object T2 accommodated in the accommodating member 20. Each of the two holding members 100 has a cup-like shape so that when they are overlapped (closed) in the Y-axis direction as shown in FIG. 2, they can hold a predetermined amount of the second object T2 inside. In this embodiment, the holding member 100 is a metal member, but it may be a member other than metal such as a resin member. Hereinafter, the holding member 100 located in the Y-axis minus direction among the two holding members 100 is also referred to as the holding member 101, and the holding member 100 located in the Y-axis plus direction is also referred to as the holding member 102.

[0055] The two moving parts 200 are parts configured to be movable (slidable) in the Y-axis direction with respect to the guide part 300. The two moving parts 200 are connected to the Z-axis plus-direction ends of the two holding members 100 and move (slide) the two holding members 100 in the Y-axis direction. Hereinafter, among the two moving parts 200, the moving part 200 located in the minus Y-axis direction is also referred to as the moving part 201, and the moving part 200 located in the plus Y-axis direction is also referred to as the moving part 202. The moving part 201 is connected to the Z-axis plus-direction end of the holding member 101 and moves (slides) the holding member 101 in the Y-axis direction. The moving part 202 is connected to the Z-axis plus-direction end of the holding member 102 and moves (slides) the holding member 102 in the Y-axis direction.

[0056] The moving parts 201 and 202 move away from each other or approach each other in the Y-axis direction, thereby increasing or decreasing the distance between the holding members 101 and 102, and opening or closing the holding members 101 and 102. In the present embodiment, the moving parts 201 and 202 have a configuration that can move stepwise with respect to the guide part 300, and the distance between the holding members 101 and 102 can be adjusted stepwise. Only one of the moving parts 201 and 202, rather than both, may be configured to be movable with respect to the guide part 300.

[0057] The guide part 300 is a guide that guides the two moving parts 200 to be movable (slidable) in the Y-axis direction. In the present embodiment, the guide part 300 has a linear rail extending in the Y-axis direction, and the two moving parts 200 move (slide) in the Y-axis direction along this rail.

[0058] When the holding members 101 and 102 are in a completely closed state, the holding members 101 and 102 have an isosceles triangle-shaped container form when viewed from the X-axis direction. In the present embodiment, slight gaps are formed at both ends of the holding members 101 and 102 in the Z-axis direction, but these gaps do not necessarily have to be formed. The holding members 101 and 102 may be opened and closed by rotating the moving parts 201 and 202 around an axis parallel to the X-axis. However, when the moving parts 201 and 202 move in the Y-axis direction, the holding members 101 and 102 can hold more objects T2 at deeper positions of the accommodating member 20.

[0059] [2-2. Description of the operation example of the hand 11] Next, the operation example of the hand 11 will be described below. FIG. 3 is a schematic diagram for explaining an operation example when the hand 11 according to the embodiment holds the object T2. FIG. 4 is a schematic diagram for explaining an operation example when the hand 11 according to the embodiment releases the object T2. FIG. 5A is a schematic diagram for explaining another operation example when the hand 11 according to the embodiment releases the object T2. FIG. 5B is a schematic diagram for explaining an operation example when the hand 11 according to the embodiment releases the object T2 to the container 31 having the partition wall 33. The operations of the robot 10 (including the hand 11 and the robot arm 12) described below are executed under the control of the control device 50.

[0060] For example, as shown in Fig. 3(a), the hand 11 is moved downward by the robot arm 12 while expanding the distance L between the two holding members 100 to, for example, a distance L1. As a result, the two holding members 100 are inserted into the second object T2. The distance L1 at this time and the depth at which the two holding members 100 are inserted into the second object T2 may be appropriately determined by, for example, the control device 50 based on the amount of the second object T2 to be held by the hand 11 and the like. The "depth of insertion into the object" refers to the depth of penetration into the object, the depth of insertion (penetration distance) from the surface of the object, or the depth after contacting the object, etc. The control device 50 may determine the depth after both of the two holding members 100 come into contact with the object (second object T2), but in the present embodiment, the depth after at least one holding member 100 comes into contact with the second object T2 is determined.

[0061] Next, for example, as shown in Fig. 3(b), the hand 11 closes the distance between the two holding members 100 to a distance L2 (<L1) to hold the second object T2 by the two holding members 100.

[0062] Next, for example, as shown in Fig. 3(c), the hand 11 is pulled upward by the robot arm 12 of the robot 10 while maintaining the distance between the two holding members 100 at the distance L2. As a result, the robot 10 can take out the amount of the second object T2 to be released into the container 31 from the whole of the second object T2 stored in the storage member 20.

[0063] After the robot 10 takes out the second object T2 from the storage member 20, the hand 11 moves above the container 31 arranged at the position P (see Fig. 1) by a predetermined operation of the robot arm 12, for example, as shown in Fig. 4(a). At this time, as described above, the first object T1 is placed in the container 31 by a predetermined operation.

[0064] After the hand 11 moves above the container 31, for example, as shown in FIG. 4(b), by expanding the distance L between the two holding members 100 to L3 (> L2), the hand 11 releases the second object T2 that it has been holding. As a result, the second object T2 is released onto the upper part of the first object T1 in the container 31. That is, in the container 31, the second object T2 is placed on top of the first object T1. For example, the second object T2, which is a sauce for spaghetti (e.g., meat sauce), is placed on top of the first object T1, which is spaghetti.

[0065] Note that the robot 10 can also release the second object T2 to the side of the first object T1. For example, assume a case where the first object T1 is housed in the container 31 with a part of the container 31 (the left side in FIG. 5A) being moved closer. In this case, the robot 10 moves the hand 11 above the other part of the container 31 (the right side in FIG. 5A). After the hand 11 moves above the other part of the container 31, for example, as shown in FIG. 5A(b), by expanding the distance L between the two holding members 100 to L3, the hand 11 releases the second object T2 that it has been holding. As a result, the second object T2 is released to the side of the first object T1 in the container 31. That is, in the container 31, the second object T2 is placed on the side of the first object T1. For example, the second object T2, which is a side dish, is placed on the side of the first object T1, which is rice.

[0066] The interior of the container 31 may be partitioned into a plurality of compartments by a partition wall 33. For example, as shown in FIG. 5B, a partition wall 33 is provided at any position in the left-right direction inside the container 31. In this case, as shown in FIG. 5B(a), the container 31 in which the first object T1 is accommodated on the side (for example, the left side) of the partition wall 33 can be supplied to the robot 10. In this case, as shown in FIG. 5B(b), the robot 10 can release the second object T2 on the side of the partition wall 33 of the container 31 opposite to the first object T1 (for example, the right side). Thereby, it is possible to suppress the first object T1 and the second object T2 from being mixed. For example, in the container 31 which is a lunch box container and is partitioned into a plurality of compartments by a partition wall 33, the side dishes which are the second object T2 can be served in a compartment different from the compartment in which the cooked rice which is the first object T1 is accommodated.

[0067] As shown in FIGS. 5A and 5B, when the robot 10 serves the second object T2 beside the first object T1, the detection result by a sensor (not shown) for checking the internal state of the container 31 may be used. For example, the control device 50 checks the state inside the container 31 using the analysis result of the image captured by the image sensor and the detection (measurement) result by a distance sensor using ultrasonic waves or laser light or the like. Specifically, the control device 50 can recognize the arrangement range of the objects (the first object T1, the partition wall 33, etc. in the present embodiment) already arranged inside the container 31. Therefore, the control device 50 can control the robot 10 so that the second object T2 is released at a predetermined position within the range where no object is arranged inside the container 31. As a result, the second object T2 is served beside the first object T1.

[0068] Each of the various operations of the hand 11 (robot 10) shown in FIGS. 5A and 5B above is an example. For example, as shown in FIG. 4(a) in a top view, when the first object T1 is accommodated in substantially the entire area of the container 31, the robot 10 may release the second object T2 so that it overlaps only a part of the first object T1 in the top view. When the processing system 1 includes a plurality of accommodation members 20, the robot 10 may sequentially release the second object T2 taken out from each of the plurality of accommodation members 20 into the container 31. In this case, each of the second objects T2 taken out from each of the plurality of accommodation members 20 may be the same type of object (such as food ingredients), or may be different objects (such as food ingredients) from each other. The second object T2 taken out from each of the plurality of accommodation members 20 may be placed on top of the first object T1, or may be placed on the side of the first object T1. For example, when the container 31 is partitioned into a plurality of compartments by a partition wall 33, the robot 10 may release the second object T2 taken out from different accommodation members 20 into each of the plurality of compartments excluding the compartment in which the first object T1 is accommodated.

[0069] In FIGS. 3 to 5B, the distance L2, which is the distance between the two holding members 100 during the closing operation of the two holding members 100, is a positive value and not zero, but the distance L2 may be zero. That is, the two holding members 100 may be completely closed. Thus, the control device 50 may appropriately change the distance L2 between the two holding members 100 during the closing operation, for example, according to the type or state of the second object T2.

[0070] [3-1. Description of the Configuration of the Container Supply Unit 500] Next, the configuration of the container supply unit 500 will be described. FIG. 6 is a perspective view showing the configuration of the container supply unit 500 according to the embodiment. FIG. 7 is a schematic diagram showing that the discharge portion 520 of the container supply unit 500 according to the embodiment is in a closed state. FIG. 8 is a schematic diagram showing that the discharge portion 520 of the container supply unit 500 according to the embodiment is in the middle of transitioning from the closed state to the open state. FIG. 9 is a schematic diagram showing that the discharge portion 520 of the container supply unit 500 is in an open state. FIG. 10 is a schematic diagram showing a state where the next container 31 (container 31B) has reached the discharge portion 520 of the container supply unit 500 according to the embodiment. In FIGS. 7 to 10, each of the plurality of containers 31 is denoted as container 31A, container 31B, container 31C, and container 31D in order from the head (the end in the +Y-axis direction). That is, the containers 31A, 31B, 31C, and 31D are discharged from the discharge portion 520 in this order.

[0071] In the following description regarding FIGS. 6 to 10 and in FIGS. 6 to 10, the longitudinal direction of the inclined surface 511 in the top view is defined as the Y-axis direction, the left-right direction when viewed from the longitudinal direction of the inclined surface 511 is defined as the X-axis direction, and the up-down direction is defined as the Z-axis direction. These X-axis direction, Y-axis direction, and Z-axis direction are directions that intersect (orthogonal in this embodiment) with each other.

[0072] As shown in FIGS. 6 to 10, the container supply unit 500 according to the present embodiment includes a slider 509. The slider 509 has an inclined surface portion 510 having an inclined surface 511 and an opening portion 521 that forms an opening 529 for discharging the container 31. The opening portion 521 is a part of the discharge portion 520 described later. The inclined surface 511 is a surface that slopes downward as it approaches the robot 10. The inclined surface 511 is long and can accommodate a plurality of containers 31 arranged side by side in the longitudinal direction. The longitudinal direction of the inclined surface 511 is an example of the first direction. Hereinafter, when referring to the "first direction", it means the longitudinal direction of the inclined surface 511. In the present embodiment, the "first direction" also coincides with the longitudinal direction of the inclined surface portion 510.

[0073] The inclined surface portion 510 is made of, for example, metal. Surface treatment (such as coating with fluororesin) may be performed on the inclined surface 511 of the inclined surface portion 510 to make it easier for the container 31 to slide. As described above, the container 31 after the predetermined operation is manually supplied by the operator to the inclined surface portion 510. Each of the plurality of containers 31 arranged on the inclined surface 511 slides down the inclined surface 511 each time one container 31 is discharged from the discharge portion 520, and thereby moves in the direction approaching the discharge portion 520.

[0074] As shown in FIG. 6, the container 31 according to the present embodiment includes a container body 31a that houses the first object T1 and the like, and a flange 31b that protrudes outward from the upper end of the container body 31a. When a plurality of containers 31 are arranged on the inclined surface 511, the flanges 31b of two adjacent containers 31 contact each other. Thereby, the container 31 at the lower position among the two containers 31 restricts the movement of the container 31 at the higher position among the two containers 31. That is, when the container 31 at the lower position stops, the container 31 at the higher position also stops.

[0075] For example, in FIG. 1, in a top view, the container supply unit 500 is installed such that the longitudinal direction of the inclined surface portion 510 is substantially parallel to the longitudinal direction of the carry-out unit 2 which is a conveyor (the moving direction of the container 31 by the carry-out unit 2). Thereby, an operator located on the same side as the robot 10 with respect to the carry-out unit 2 can easily supply (input) the container 31 to the container supply unit 500.

[0076] The discharge unit 520 is connected to the end of the inclined surface portion 510 close to the robot 10. The discharge unit 520 has an opening 521 that penetrates in the vertical direction and forms an opening 529 through which the container 31 can pass. In the present embodiment, the opening 521 is a frame body provided integrally with the inclined surface portion 510. That is, the slider 509 according to the present embodiment includes the inclined surface portion 510 and the opening 521 integrally. In the slider 509, the opening 521 may be a member separate from the inclined surface portion 510. In this case, the opening 521 may be connected to the inclined surface portion 510 by a predetermined connection method (such as fastening with screws, welding, or fitting).

[0077] The discharge unit 520 has an opening / closing mechanism 525 that discharges the container 31 that has reached the opening 521 from the opening 529. The operation of sequentially discharging a plurality of containers 31 by the discharge unit 520 is realized by the movement of a support portion 531 and a stopper 532 provided in the opening / closing mechanism 525.

[0078] More specifically, the support portion 531 includes a first support portion 531A and a second support portion 531B arranged in a second direction intersecting the first direction. The stopper 532 includes a first stopper 532A and a second stopper 532B arranged in the second direction. In FIGS. 1 and 6, the second direction is parallel to the X-axis direction. That is, the container 31A that has moved in the Y-axis direction in a top view and reached the discharge unit 520 is stably supported from below by two portions (the first support portion 531A and the second support portion 531B) arranged left and right (in the X-axis direction) (see FIG. 7). Further, the next container 31 (container 31B) is more reliably restricted from reaching the opening 521 by two portions (the first stopper 532A and the second stopper 532B) arranged left and right (in the X-axis direction).

[0079] In the present embodiment, the opening and closing mechanism 525 is provided with two moving parts 530 arranged to face each other in the second direction (X-axis direction). Each of the two moving parts 530 integrally includes a support part 531 and a stopper 532. In the moving part 530, the support part 531 and the stopper 532 are connected by a connecting part 533. Specifically, in the moving part 530, one end of the support part 531 is connected to one of the two ends of the connecting part 533 in the Y-axis direction, and the stopper 532 is connected to the other end of the two ends. Further, the support part 531 and the stopper 532 extend in the same direction from the connecting part 533. Thereby, the moving part 530 is formed in a substantially U shape in a top view.

[0080] More specifically, the two moving parts 530 are composed of a first moving part 530A integrally including a first support part 531A and a first stopper 532A, and a second moving part 530B integrally including a second support part 531B and a second stopper 532B. The discharge part 520 is provided with a driving part 540 for synchronously moving these two moving parts 530. The driving part 540 has an actuator (such as an electric motor, not shown) and gears or the like (not shown) for moving the two moving parts 530 in the X-axis direction by the driving force of the actuator.

[0081] In the present embodiment, the first support part 531A and the second support part 531B are arranged below the opening 529. That is, the first support part 531A and the second support part 531B move in the X-axis direction at a position in the negative Z-axis direction with respect to the opening 521. The slider 509 is provided with a stopper hole 512 (see FIG. 6) into which the first stopper 532A and the second stopper 532B can be inserted and removed. Each of the first stopper 532A and the second stopper 532B is inserted into and removed from the corresponding stopper hole 512 by moving in the X-axis direction.

[0082] The drive unit 540 includes, for example, a rack and pinion mechanism including a gear that rotates by the driving force of an actuator, and two racks that are arranged to face each other with the gear interposed therebetween and mesh with the gear. In this rack and pinion mechanism, the two racks are arranged parallel to each other in the X-axis direction, and one rack is connected to the first moving part 530A, and the other rack is connected to the second moving part 530B. In this configuration, when the gear rotates, the two racks move parallel to each other in the X-axis direction and in opposite directions. As a result, as shown in FIGS. 7 to 10, the first moving part 530A and the second moving part 530B move parallel to each other in the X-axis direction and in opposite directions. That is, with one actuator, the first moving part 530A and the second moving part 530B can be moved synchronously in opposite directions. Note that the type of mechanism (the drive mechanism of the moving part 530) for moving the first moving part 530A and the second moving part 530B in opposite directions is not particularly limited. For example, a ball screw mechanism using a screw shaft and a nut, or a link mechanism including links connected by joints may be adopted as the drive mechanism of the moving part 530. It is not essential that the number of actuators included in the drive unit 540 is 1. The drive unit 540 may include a first actuator that drives the movement of the first moving part 530A and a second actuator that drives the movement of the second moving part 530B. In this case, for example, the control device 50 may control the first actuator and the second actuator so that the first moving part 530A and the second moving part 530B move synchronously.

[0083] In the present embodiment, the drive unit 540 is fixed to a bracket 545 (see FIG. 6). By attaching the bracket 545 to an attachment part 60 provided on the container conveyance part 90 or the cover part 40 or the like, the container supply part 500 is attached to the robot 10.

[0084] More specifically, as shown in FIG. 6, the bracket 545 has a first engaging portion 549 for detachably attaching the slider 509 including the inclined surface portion 510 and the opening portion 521. The slider 509 has a second engaging portion 539 that engages with the first engaging portion 549 on the side wall portion of the opening portion 521 in the +Y-axis direction. In the present embodiment, the bracket 545 has two first engaging portions 549 arranged in the X-axis direction, and the slider 509 has two second engaging portions 539 arranged in the X-axis direction. The first engaging portion 549 is realized, for example, by a bolt having a shaft portion and a head portion with an outer diameter larger than that of the shaft portion. In this case, the second engaging portion 539 is realized, for example, by a socket hole that catches the head portion of the bolt. In this way, since the slider 509 including the inclined surface portion 510 and the opening portion 521 is detachable from the bracket 545 attached to the mounting portion 60, maintenance such as cleaning or replacement of the slider 509 is easy.

[0085] [3-2. Description of the operation of the container supply unit 500] The operation of the opening / closing mechanism 525 in the container supply unit 500 configured as described above will be described. The operation of the opening / closing mechanism 525 described below is executed under the control of the control device 50.

[0086] As shown in FIGS. 7 to 9, the first moving portion 530A is movable between a first closed position on one side in the X-axis direction (X-axis minus direction) and a first open position on the other side in the X-axis direction (X-axis plus direction). The second moving portion 530B is movable between a first closed position on the other side in the X-axis direction and a first open position on one side in the X-axis direction. When the first moving portion 530A is in the first closed position and the second moving portion 530B is in the second closed position, the discharge portion 520 is in a closed state (see FIGS. 7 and 10). When the first moving portion 530A is in the first open position and the second moving portion 530B is in the second open position, the discharge portion 520 is in an open state (see FIG. 9).

[0087] That is, in FIG. 7, the discharge part 520 is in a closed state, and the container 31A has reached the opening 521. Specifically, when the discharge part 520 is in a closed state, the first support part 531A and the second support part 531B are located below the opening 529 and support the container 31A from below. That is, the opening / closing mechanism 525 supports the container 31A from below. In this state, the first stopper 532A and the second stopper 532B are located outside the slider 509. In this way, when the container 31A is supported by the opening / closing mechanism 525, as shown in FIGS. 6 and 7, the next container 31 (container 31B) is in contact with the container 31A. More specifically, the flanges 31b (see FIG. 6) of the container 31A and the container 31B are in contact with each other. Therefore, the container 31B stops on the inclined surface 511 of the inclined surface part 510. As a result, one or more containers (including the container 31C in FIG. 7) located in the negative Y-axis direction relative to the container 31B also stop on the inclined surface 511.

[0088] Next, in the opening / closing mechanism 525, due to the driving force of the driving part 540, the first moving part 530A and the second moving part 530B move synchronously, and through the state shown in FIG. 8, they transition to the state shown in FIG. 9 and temporarily stop. More specifically, the first moving part 530A moves in the positive X-axis direction, and the second moving part 530B moves in the negative X-axis direction. When the first moving part 530A and the second moving part 530B are in the positions shown in FIG. 8, the first support part 531A and the second support part 531B are in a state of supporting the container 31A, and the first stopper 532A and the second stopper 532B are in a state of being inserted between the container 31A and the container 31B.

[0089] More specifically, when the containers 31A and 31B are in the positions shown in FIG. 7, since the flanges 31b of the containers 31A and 31B are in contact with each other as described above, there is a gap between the container body 31a (see FIG. 6) of the container 31A and the container body 31a of the container 31B. Therefore, when the first moving part 530A and the second moving part 530B move to the positions shown in FIG. 8, the stoppers 532 are inserted into the gap from both sides in the X-axis direction. That is, the first stopper 532A is inserted into the gap from the minus X-axis direction, and the second stopper 532B is inserted into the gap from the plus X-axis direction. In this way, the container 31A and the container 31B are separated from each other, and the movement of the container 31B toward the opening 529 is restricted.

[0090] Next, the opening / closing mechanism 525 causes the first moving part 530A and the second moving part 530B to move synchronously to the positions shown in FIG. 9 by the driving force of the driving part 540. Specifically, the first moving part 530A moves to the first open position, and the second moving part 530B moves to the second open position. That is, the discharge part 520 is in an open state. In this case, the first support part 531A and the second support part 531B move outward from below the opening 529. Specifically, the first support part 531A moves in the plus X-axis direction from a position inside the opening 529 in a top view, and thus shifts from a state of supporting the container 31A from below to a state of not supporting the container 31A. Also, the second support part 531B moves in the minus X-axis direction from a position inside the opening 529 in a top view, and thus shifts from a state of supporting the container 31A from below to a state of not supporting the container 31A. The movements of the first support part 531A and the second support part 531B are performed synchronously. As a result, the container 31A loses the support from below and is discharged downward from the opening 529. At this time, the first support part 531A and the second support part 531B are disengaged from the outer bottom surface (the surface in the minus Z-axis direction) of the container 31A almost simultaneously. Therefore, the container 31A is discharged downward while maintaining almost the same posture as when it was supported by the first support part 531A and the second support part 531B. The container 31 discharged from the opening 529 is supplied to the robot 10 via the container conveying part 90 as described above.

[0091] Also, as shown in FIG. 9, when the first moving part 530A moves to the first open position, the first stopper 532A is inserted deeper into the gap between the container body 31a of the container 31B. When the second moving part 530B moves to the second open position, the second stopper 532B is inserted deeper into the gap. Thereby, the movement of the container 31B toward the opening 529 is more reliably restricted.

[0092] Thereafter, the discharge part 520 transitions from the open state shown in FIG. 9 to the closed state shown in FIG. 10. Specifically, the first moving part 530A moves in the minus X-axis direction and moves from the first open position shown in FIG. 9 to the first closed position shown in FIG. 10. The second moving part 530B moves in the plus X-axis direction and moves from the second open position shown in FIG. 9 to the second closed position shown in FIG. 10. Thereby, the first support part 531A and the second support part 531B are disposed inside the opening 529 in a top view. Further, the first stopper 532A and the second stopper 532B move outward from the position in front (plus Y-axis direction) in the traveling direction of the container 31B, whereby the restriction on the movement of the container 31B toward the opening 529 is released. As a result, the container 31B slides down the inclined surface 511 and reaches the opening 529. More specifically, immediately before the restriction on the movement of the container 31B is released, for example, as shown in FIG. 8, at least a part of each of the first support part 531A and the second support part 531B is already located inside the opening 529 in a top view. That is, immediately before the first stopper 532A and the second stopper 532B are completely withdrawn outward from the front (plus Y-axis direction) of the container 31B, the first support part 531A and the second support part 531B have reached positions where they can support the container 31B from below. Therefore, even if the container 31B reaches the opening 529 in a short time after the release of the movement, the container 31B is always supported from below by the first support part 531A and the second support part 531B. That is, even if the previous container 31 (container 31A) is discharged from the opening 529 and the container 31B slides down the inclined surface 511 at high speed, the container 31B is prevented from falling from the opening 529.

[0093] Furthermore, the next container of container 31B (container 31C) stops on the inclined surface 511 of the inclined surface portion 510 by being in contact with container 31B. As a result, one or more containers located in the negative Y-axis direction relative to container 31C (including container 31D in FIG. 10) also stop on the inclined surface 511.

[0094] In the discharge unit 520, by repeating the above operation of the opening / closing mechanism 525, each of the plurality of containers 31 (see FIGS. 1 and 6) is discharged one by one from the opening 529. In this way, the container supply unit 500 can hold, for example, a plurality of containers 31 for which a predetermined operation of the operator inputting into the inclined surface portion 510 has been completed. Furthermore, each of the plurality of containers 31 can be discharged to the outside from the discharge unit 520, for example, at a timing instructed by the control device 50.

[0095] [4. Description of Example of Changing Posture of Container Supply Unit 500] Next, an example of changing the posture of the container supply unit 500 will be described. FIG. 11 is a perspective view showing an example of changing the posture of the container supply unit 500. In FIG. 11, in the processing system 1 according to the embodiment shown in FIG. 1, a state after the posture of the container supply unit 500 has been changed is shown. Specifically, as described above, the processing system 1 includes an attachment portion 60 for attaching the container supply unit 500 to the robot 10. In the present embodiment, the container supply unit 500 is in a long shape, and the attachment portion 60 can switch the posture of the container supply unit 500 between a first posture in which the longitudinal direction of the container supply unit 500 faces a predetermined direction and a second posture in which the longitudinal direction faces a direction different from the predetermined direction. More specifically, the attachment portion 60 includes a first attachment portion 60a (see FIG. 1) and a second attachment portion 60b (see FIG. 11).

[0096] When the container supply unit 500 is attached to the first attachment unit 60a, it assumes the first posture shown in Fig. 1. Specifically, when the first direction, which is the longitudinal direction of the inclined surface 511, is defined as the longitudinal direction of the container supply unit 500, in the first posture, the longitudinal direction of the container supply unit 500 is substantially parallel to the longitudinal direction of the carry-out unit 2, which is a conveyor (the moving direction of the container 31 by the carry-out unit 2) in a top view. Also, in the first posture, the longitudinal direction of the container supply unit 500 is inclined upward (in the positive Z-axis direction) so as to move away from the robot 10 in a front view (when viewed from the positive X-axis direction).

[0097] When the container supply unit 500 is attached to the second attachment unit 60b, it assumes the second posture shown in Fig. 11. Specifically, when the first direction, which is the longitudinal direction of the inclined surface 511, is defined as the longitudinal direction of the container supply unit 500, in the second posture, the longitudinal direction of the container supply unit 500 is substantially orthogonal to the longitudinal direction of the carry-out unit 2, which is a conveyor (the moving direction of the container 31 by the carry-out unit 2) in a top view. That is, in the present embodiment, the second posture is a posture in which the container supply unit 500 crosses above the carry-out unit 2. More specifically, the container supply unit 500 has a length that extends to the side opposite to the robot 10 across the carry-out unit 2. Therefore, for example, an operator can supply (load) the container 31 for which a predetermined operation has been completed to the container supply unit 500 while confirming the operation of the robot 10 from the front. Also, when arranging a plurality of processing systems 1 (other than the carry-out unit 2) in the Y-axis direction, when there is no space on the side in the Y-axis direction of the processing system 1, the operator can easily supply the container 31 for which a predetermined operation has been completed to the container supply unit 500 from in front of the carry-out unit 2 (in the positive X-axis direction). Also, it is easy for one operator to supply the container 31 to each container supply unit 500 of the plurality of processing systems 1.

[0098] Note that it is not essential that the posture of the container supply unit 500 be switchable between the first posture and the second posture. The posture of the container supply unit 500 may be fixed to, for example, either one of the first posture and the second posture. That is, the attachment unit 60 may have only one of the first attachment unit 60a and the second attachment unit 60b.

[0099] The container supply unit 500 may be substantially non-removable in the processing system 1. For example, a bracket 545 (see FIG. 6) may be fixed to the container transport unit 90 or the cover unit 40 by welding or the like.

[0100] The container supply unit 500 may change its posture so as to change the vertical inclination of the inclined surface portion 510. For example, the inclination angle (0° or more and 90° or less) formed between the inclined surface 511 and the horizontal plane (XY plane in FIGS. 1 and 11) may be changeable. In this case, by increasing the inclination angle, for example, the container 31 disposed on the inclined surface 511 of the inclined surface portion 510 can be made to slide easily. By decreasing the inclination angle, for example, when the weight of the first object T1 accommodated in the container 31 is large, the pressing force between two adjacent containers 31 can be prevented from becoming excessive. The change in the vertical inclination of the inclined surface portion 510 may be performed by replacing the slider 509 provided in the container supply unit 500 with another slider having an inclined surface portion with a different inclination angle.

[0101] That is, the posture of the container supply unit 500 may be changed by changing the position or posture of only a part of the container supply unit 500. For example, by disposing a plurality of engagement portions (a plurality of sets of first engagement portions 549) on the bracket 545 (see FIG. 6), a plurality of attachment portions capable of changing the arrangement position or posture of the slider 509 may be provided on the bracket 545 (see FIG. 6). Further, for example, by attaching a slider having a curved portion in a top view to the bracket 545 shown in FIG. 1, the slider may be arranged so as to cross above the carry-out unit 2. That is, with the container supply unit 500 attached to the first attachment portion 60a (see FIG. 1), the posture of the container supply unit 500 as a whole may be switched to a second posture (see FIG. 11).

[0102] [Summary of Embodiment] As described above, the processing system 1 according to the present embodiment includes a robot 10 and a container supply unit 500 that supplies the robot 10 with a container 31 in which a predetermined operation has been completed. The robot 10 performs a process of releasing an object held inside the container 31 supplied from the container supply unit 500.

[0103] According to this configuration, the container 31 in which a predetermined operation has been completed can be supplied to the robot 10 having the function of releasing the object into the container 31. Therefore, the container 31 that is the processing target of the robot 10 can be efficiently supplied.

[0104] In the present embodiment, the container supply unit 500 supplies the robot 10 with a container 31 in which a predetermined object has been placed by a predetermined operation.

[0105] According to this configuration, the robot 10 is supplied with the container 31 in a state where a predetermined object has already been placed therein. Therefore, the robot 10 can add an object that is the same as or different from the predetermined object to the container 31. Further, the robot 10 can stack the object on top of the predetermined object or place the object next to the predetermined object inside the container 31. In the present embodiment, as the predetermined object, for example, a first object T1 that is food is exemplified, and as an object that is the same as or different from the predetermined object, a second object T2 that is food of the same or different type as the first object T1 is exemplified. In this case, in the processing system 1, the robot 10 can receive, for example, the supply of the container 31 in which at least one type of food is arranged, and can arrange food of the same or different type as the food in the container 31.

[0106] In the present embodiment, the container supply unit 500 has an inclined surface portion 510 and a discharge unit 520. The inclined surface portion 510 has an inclined surface 511 that slopes downward as it approaches the robot 10. The discharge unit 520 is connected to the end of the inclined surface portion 510 close to the robot 10, and discharges to the outside the container 31 that has reached the discharge unit 520 by sliding along the inclined surface 511.

[0107] According to this configuration, by utilizing the gravity acting on the container 31, the container 31 can be sent toward the robot 10. That is, the container 31 that has completed a predetermined operation can be efficiently supplied to the robot 10. In particular, since the container 31 into which the first object T1 is placed by a predetermined operation is heavier than the empty container 31, it can be efficiently moved to the discharge portion 520 by the gravity based on its weight.

[0108] In the present embodiment, when the longitudinal direction of the inclined surface 511 is defined as the first direction, a plurality of containers 31 can be arranged side by side in the first direction on the inclined surface 511. The discharge portion 520 includes an opening 521 that penetrates in the vertical direction and forms an opening 529 through which the container 31 can pass, and an opening / closing mechanism 525 that discharges the container 31 that has reached the opening 521 from the opening 529. The opening / closing mechanism 525 has a support portion 531 and a stopper 532. The support portion 531 releases the support of the container 31 that has reached the opening 529, and the stopper 532 restricts the movement of the next container 31 to the opening 529. Further, when the stopper 532 releases the restriction on the movement of the next container 31 to the opening 529, the support portion 531 supports the next container 31 that has reached the opening 529 due to the release of the restriction.

[0109] According to this configuration, for example, as shown in FIGS. 7 to 10, when the support portion 531 of the opening / closing mechanism 525 releases the support of the container 31 located at the opening 529, the container 31 is dropped from the opening 529, and the stopper 532 can prevent the next container 31 from reaching the opening 529. That is, only one container 31 can be discharged. Therefore, a plurality of containers 31 that slide on the inclined surface 511 can be discharged one by one from the opening 529 of the discharge portion 520.

[0110] More specifically, the support portion 531 includes a first support portion 531A and a second support portion 531B arranged in a second direction intersecting the first direction. The stopper 532 includes a first stopper 532A and a second stopper 532B arranged in the second direction. For example, in FIGS. 1 and 6, the second direction is parallel to the X-axis direction, and in FIG. 11, the second direction is parallel to the Y-axis direction. The same applies hereinafter.

[0111] According to this configuration, for example, the first stopper 532A and the second stopper 532B arranged side by side left and right when viewed in the longitudinal direction of the inclined surface 511, and the first support portion 531A and the second support portion 531B arranged side by side left and right constitute a mechanism for discharging the containers 31 one by one. Thereby, the container 31 located at the opening 529 can be supported more stably, and the next container 31 can be stopped more reliably.

[0112] In the present embodiment, the discharge unit 520 further includes a drive unit 540 that drives the operation of the opening and closing mechanism 525. The drive unit 540 synchronously performs the movement of the first moving unit 530A integrally including the first support portion 531A and the first stopper 532A in the second direction, and the movement of the second moving unit 530B integrally including the second support portion 531B and the second stopper 532B in the second direction.

[0113] According to this configuration, the first moving unit 530A and the second moving unit 530B move synchronously. Thereby, for example, the discharge of the container 31 from the opening 529 of the discharge unit 520 and the supply of the next container 31 to the opening 529 are executed more efficiently.

[0114] In the present embodiment, the processing system 1 includes a mounting portion 60 that mounts the container supply unit 500 to the robot 10. The container supply unit 500 is long, and the mounting portion 60 can switch the posture of the container supply unit 500 between a first posture in which the longitudinal direction of the container supply unit 500 faces a predetermined direction and a second posture in which the longitudinal direction faces a direction different from the predetermined direction.

[0115] According to this configuration, for example, since the orientation (orientation in the horizontal direction and / or the vertical direction) of the container supply unit 500 can be changed, for example, the orientation of the container supply unit 500 can be changed according to the convenience of the arrangement of the person or device that supplies the container 31 for which a predetermined operation has been completed to the processing system 1.

[0116] In the present embodiment, the processing system 1 includes a carry-out unit 2 that carries out the container 31 on which the processing by the robot 10 has been completed. The container supply unit 500 can be installed in a posture crossing above the carry-out unit 2, for example, as shown in FIG. 11.

[0117] According to this configuration, for example, as shown in FIG. 11, when the carry-out unit 2 is arranged in front of the robot 10, the container 31 on which a predetermined operation has been completed can be supplied from the front of the carry-out unit 2, that is, from a position beyond the carry-out unit 2 as viewed from the robot 10, to the container supply unit 500. Thereby, for example, an operator who supplies the container 31 to the container supply unit 500 can supply the container 31 to the container supply unit 500 while confirming the operation of the robot 10 from the front.

[0118] The processing method executed by the processing system 1 according to the present embodiment is represented as follows, for example. The processing method according to one aspect of the present invention includes an operator supplying the container 31 containing the first object T1 to the container supply unit 500 (see FIG. 6), and the robot 10 performing a process of releasing the second object T2 held inside the container 31 supplied from the container supply unit 500 and above or on the side of the first object T1 (see FIGS. 4, 5A, and 5B).

[0119] According to this processing method, the container 31 in which the accommodation of the first object T1 in the container 31 has been completed can be supplied to the robot 10 having a function of releasing the second object T2 into the container 31. Therefore, the container 31 to be processed by the robot 10 can be efficiently supplied.

[0120] In the present embodiment, the container supply unit 500 is long and the processing method further includes switching the posture of the container supply unit 500 from one of a first posture and a second posture to the other before an operator supplies the container 31 containing the first object T1 to the container supply unit 500 (see FIGS. 1 and 11). The first posture is a posture in which the longitudinal direction of the container supply unit 500 faces a predetermined direction, and the second posture is a posture in which the longitudinal direction of the container supply unit 500 faces a direction different from the predetermined direction.

[0121] According to this processing method, since the orientation of the container supply unit 500 can be changed, for example, the orientation of the container supply unit 500 can be changed according to the convenience of the arrangement of the person or device that supplies the container 31 for which a predetermined operation has been completed to the processing system 1.

[0122] In the present embodiment, the container supply unit 500 is installed in a posture that crosses above the carry-out unit 2 that carries out the container 31 for which the processing by the robot 10 has been completed (see FIG. 11). When an operator supplies the container 31 containing the first object T1 to the container supply unit 500, the operator located on the side opposite to the robot 10 across the carry-out unit 2 supplies the container 31 to the container supply unit 500.

[0123] According to this processing method, for example, when the carry-out unit 2 is arranged in front of the robot 10, the container 31 for which a predetermined operation has been completed can be supplied to the container supply unit 500 from in front of the carry-out unit 2, that is, from a position beyond the carry-out unit 2 as viewed from the robot 10. Thereby, for example, the operator who supplies the container 31 to the container supply unit 500 can supply the container 31 to the container supply unit 500 while confirming the operation of the robot 10 from the front.

[0124] [Explanation of Modification Example] As described above, the processing system 1 according to the present embodiment has been described, but the present invention is not limited to the above embodiment. The embodiments disclosed this time are illustrative in all respects and not restrictive, and the scope of the present invention includes all modifications within the meaning and scope equivalent to the claims.

[0125] In the above embodiment, the first object T1 and the second object T2 are assumed to be the same type or different types of food ingredients, but they may be other than food ingredients. That is, the first object T1 put into the container 31 by a predetermined operation and the second object T2 held and released by the robot 10 can be any object (solid, liquid, semi-solid, etc.) that can be put into the container 31.

[0126] There is no particular limitation on the method by which the robot 10 holds and releases the second object T2. For example, the robot 10 may hold and release the second object T2 by opening and closing three or more holding members. The robot 10 may lift the second object T2 with a holding member having a rod shape, a plate shape, a fork shape, a spoon shape, or the like, or may hold the second object T2 by rubbing or piercing the tip of the holding member against the second object T2. In this case, the robot 10 may release the second object T2 into the container 31 by vibrating the holding member, moving the holding member and then suddenly stopping it, or rubbing the second object T2 against the container 31 or the first object T1 inside the container 31.

[0127] It is not essential for a person to supply (input) the container 31 for which a predetermined operation has been completed to the container supply unit 500. The supply (input) of the container 31 to the container supply unit 500 may be performed by a machine that operates under the control of the control device 50, for example. In this case, the processing system 1 may be provided with the machine.

[0128] In addition to the container supply unit 500, the processing system 1 may include other container supply units. The other container supply unit may supply the robot 10 with the container 31 for which a predetermined operation has been completed, or may supply the robot 10 with an empty container 31 or a container having a shape or size different from that of the container 31. The robot 10 may perform the same processing on the container 31 supplied from the container supply unit 500 and the container supplied from the other container supply unit, or may perform different processing on them. For example, the amount and / or position of the second object T2 to be released into the container 31 supplied from the container supply unit 500 may be different from the amount and / or position of the second object T2 to be released into the container supplied from the other container supply unit. When the processing system 1 includes two or more robots 10, the robot 10 that releases the second object T2 into the container 31 supplied from the container supply unit 500 may be different from the robot 10 that releases the second object T2 into the container supplied from the other container supply unit.

[0129] In the discharge section 520 of the container supply section 500, the support sections 531 (the first support section 531A and the second support section 531B) may be arranged below the opening 529, or may be arranged above the opening 529 (that is, above the lower end of the opening section 521). For example, a slit may be provided at a position above the lower end of the opening section 521, and the first support section 531A and the second support section 531B inserted into the slit may be moved as shown in FIGS. 7 to 10.

[0130] When the processing system 1 includes the container supply section 500 and another container supply section, when operating the processing system 1, according to the processing content and the like to be performed by the processing system 1, one of the container supply section 500 and the other container supply section may be removed from the processing system 1.

[0131] There is no particular limitation on the number of containers 31 that can be arranged on the inclined surface portion 510 of the container supply section 500. At least one container 31 may be arranged on the inclined surface portion 510.

[0132] The configuration of the opening / closing mechanism 525 of the discharge section 520 of the container supply section 500 is not limited to the configuration shown in FIGS. 6 to 10. For example, the opening / closing mechanism 525 may discharge the plurality of containers 31 one by one from the opening 529 of the discharge section 520 by the movement of one support section 531 and one stopper 532 in the second direction (the X-axis direction in FIGS. 7 to 10). The insertion and withdrawal of the support section 531 into and from the inside of the opening 529 may be realized by the rotation of the support section 531 instead of the linear movement of the support section 531. The restriction and release of the movement of the stopper 532 for the container 31 (for example, the container 31B in FIG. 7) may also be realized by the rotation of the stopper 532 instead of the linear movement of the stopper 532.

[0133] It is not essential for the container supply section 500 to include a drive section 540 having an actuator or the like. For example, the container supply section 500 may drive the movement of a movable section such as the moving section 530 by using an external force received from a handle or a lever or the like that is operated by an operator's hand or leg or the like.

[0134] The processing system 1 is not necessarily limited to having all the components described above, such as not having to include the cover part 40.

[0135] The configuration of the processing system 1 may also be applied to a system that receives the supply of an object other than the container 31 and performs some kind of processing on the object (for example, referred to as a "processing system"). That is, in the processing system 1 according to the embodiment, a processing system may be configured by replacing the container 31 with an object to be processed and replacing the hand 11 with a processing machine. For example, the processing system may include a robot and a supply unit that supplies an object on which a predetermined operation has been completed to the robot, and the robot performs a process of processing the object supplied from the supply unit. The container supply unit may include an inclined surface portion having an inclined surface capable of arranging a plurality of objects to be processed side by side in a first direction. The container supply unit may include a discharge unit capable of discharging the plurality of objects to be processed one by one. Specifically, similar to the discharge unit 520 according to the embodiment, the discharge unit may include a support unit that supports and releases the support of the object to reach the opening, and a stopper that restricts and releases the movement of the next object to be processed. Similar to the container supply unit 500 according to the embodiment, the container supply unit may be capable of changing (switching) its posture. There is no particular limitation on the material of the object to be processed, and it may be metal, resin, wood, or the like. There is also no particular limitation on the use and type of the object to be processed after processing, and it may be a daily necessity or an industrial material, etc. There is also no particular limitation on the type of processing performed by the processing machine, and it may be cutting, pressing, heating, painting, or the like.

[0136] Forms constructed by arbitrarily combining the components included in the above embodiment and its modifications are also included within the scope of the present invention. Also, combinations of two or more claims within a technically non - conflicting range arbitrarily selected from the plurality of claims described in the claims at the time of filing of the present application are also included in the present invention.

Explanation of Reference Numerals

[0137] 1 Processing system 2 Carry - out unit 10 Robot 11 Hand 12 Robot Arm 20 Containment Member 31, 31A, 31B, 31C, 31D Container 31a Container Body 31b Flange 33 Partition Wall 40 Cover Portion 50 Control Device 60 Mounting Portion 60a First Mounting Portion 60b Second Mounting Portion 90 Container Conveyor 91 Loading Portion 100, 101, 102 Holding Member 200, 201, 202 Moving Portion 300 Guide Portion 400 Connection Portion 500 Container Supply Portion 509 Slider 510 Inclined Surface Portion 511 Inclined Surface 520 Discharge Portion 521 Opening 525 Opening / Closing Mechanism 529 Opening 530 Moving Portion 530A First Moving Portion 530B Second Moving Portion 531 Support Portion 531A First Support Portion 531B Second Support Portion 532 Stopper 532A First Stopper 532B Second Stopper 533 Connection Portion 539 Second Engaging Portion 540 Driving Portion 545 Bracket 549 First Engaging Portion T1 First Object T2 Second Object

Claims

1. A robot, and a container supply unit that supplies the robot with a container in which a predetermined operation has been completed, wherein the robot performs a process of releasing an object held inside the container supplied from the container supply unit. A processing system.

2. The container supply unit supplies the robot with the container in which a predetermined object has been placed by the predetermined operation. The processing system according to claim 1.

3. The container supply unit includes an inclined surface portion having an inclined surface that slopes downward as it approaches the robot, and a discharge unit connected to an end of the inclined surface portion close to the robot, the discharge unit having a discharge unit that discharges the container that has reached the discharge unit to the outside by sliding along the inclined surface. The processing system according to claim 1 or 2.

4. The inclined surface can arrange a plurality of the containers side by side in a first direction, and the discharge unit includes an opening portion that penetrates in the vertical direction and has an opening of a size through which the container can pass, and an opening / closing mechanism that discharges the container that has reached the opening portion from the opening, wherein the opening / closing mechanism has a support portion and a stopper, the support portion releases the support of the container that has reached the opening, and the stopper restricts the movement of the next container to the opening, the stopper releases the restriction on the movement of the next container to the opening, and the support portion supports the next container that has reached the opening due to the release of the restriction. The processing system according to claim 3.

5. The support portion includes a first support portion and a second support portion arranged side by side in a second direction intersecting the first direction, and the stopper includes a first stopper and a second stopper arranged side by side in the second direction. The processing system according to claim 4.

6. The discharge unit further includes a drive unit that drives the operation of the opening / closing mechanism, wherein the drive unit synchronously performs the movement in the second direction of a first moving unit that integrally includes the first support portion and the first stopper and the movement in the second direction of a second moving unit that integrally includes the second support portion and the second stopper. The processing system according to claim 5.

7. Furthermore, it includes a mounting portion that mounts the container supply unit to the robot, the container supply unit is elongated, and the mounting portion can switch the posture of the container supply unit between a first posture in which the longitudinal direction of the container supply unit faces a predetermined direction and a second posture in which the longitudinal direction faces a direction different from the predetermined direction. The processing system according to claim 1 or 2.

8. Furthermore, it includes a carry-out unit for carrying out the container after the processing by the robot is completed, and the container supply unit can be installed in a posture crossing above the carry-out unit. The processing system according to claim 1 or 2.

9. An operator supplies a container containing a first object to a container supply unit, A robot performs a process of releasing a second object held inside the container supplied from the container supply unit and above or on the side of the first object. A processing method including.

10. The container supply unit is long, The processing method further includes switching the posture of the container supply unit from one of a first posture and a second posture to the other before the supplying. The first posture is a posture in which the longitudinal direction of the container supply unit faces a predetermined direction. The second posture is a posture in which the longitudinal direction faces a direction different from the predetermined direction. The processing method according to claim 9.

11. The container supply unit is installed in a posture crossing above the carry-out unit for carrying out the container after the processing by the robot is completed. In the supplying, the operator located on the side opposite to the robot across the carry-out unit supplies the container to the container supply unit. The processing method according to claim 9.

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