Work system and working member

Abstract

To more efficiently peel off a target object from a working member.SOLUTION: A gripping system 1 includes: a hand unit 31; a gripping member 31A (working member), scrapers 201, 202 (moving members), and a drive mechanism 300 (moving means). A hand unit 31 is used for work. The drive mechanism 300 moves the hand unit 31 (gripping member 31A) for work. The gripping member 31A includes scrapers 201, 202. The scrapers 201, 202 move along a contact surface that comes into contact with a target object (such as an ingredient) during work, following movement of the gripping member 31A caused by the drive mechanism 300.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a work system and a work member. [Background technology]

[0002] In recent years, robots have been increasingly introduced into various fields, including not only the field of industrial product manufacturing, where robots have traditionally been used, but also fields such as food plating. An example of technology relating to a robot that performs such plating is disclosed in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6645774 Summary of the Invention [Problem to be solved by the invention]

[0004] In a system in which a robot performs an operation of gripping an object, the object, such as food, is gripped by a working member such as a gripping member. When using such a working member, problems may occur such as the object sticking to the working member, making it impossible to dispense the correct amount, or unnecessary object remaining on the working member. In contrast, the technology described in Patent Document 1 is provided with a pusher plate that moves along the gripping member (finger link), and the pusher plate is driven linearly along the finger link to release the object attached to the gripping member. However, the technology described in Patent Document 1 requires an actuator and a power source for linearly driving the pusher plate. That is, the technology described in Patent Document 1 requires a special device to be installed for peeling the object, and this device must be driven sequentially when peeling is performed. Therefore, the technology described in Patent Document 1 cannot efficiently peel the object from the work member.

[0005] An object of the present invention is to more efficiently peel an object from a work member. [Means for solving the problem]

[0006] In order to solve the above problem, a work system according to one embodiment of the present invention comprises: Work materials used in the work; a moving means for moving the working member for the work; Equipped with The working member is The moving means is characterized in that it comprises a moving member that moves along a contact surface that comes into contact with an object during the work in response to the movement of the working member. [Effects of the Invention]

[0007] According to the present invention, an object can be more efficiently peeled off from a work member. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view showing a state in which a plurality of gripping systems 1 according to the present invention are arranged side by side. [Figure 2] 1 is an enlarged perspective view of a main part of a gripping system 1 according to the present invention. [Figure 3] 2 is a schematic diagram (perspective view) showing the configuration of a hand unit 31. FIG. [Figure 4] 1 is a schematic diagram (perspective view) showing the configuration of a gripping member 31A. FIG. [Figure 5]10 is a schematic diagram showing the scraping operation of the gripping system 1 (a rear view of the gripping member 31A in a closed state). FIG. [Figure 6] 10 is a schematic diagram showing the scraping operation of the gripping system 1 (a right side view of the gripping member 31A in a closed state (closed state)). FIG. [Figure 7] 10 is a schematic diagram showing the scraping operation of the gripping system 1 (a rear view of the gripping member 31A in the most open state (open state)). FIG. [Figure 8] 10 is a schematic diagram showing the scraping operation of the gripping system 1 (a right side view of the gripping member 31A in the most open state (open state)). FIG. [Figure 9] 10 is a schematic diagram showing the scraping operation of the gripping system 1 (a rear view of the gripping member 31A in a state (intermediate state) between the open state and the closed state). FIG. [Figure 10] 10 is a schematic diagram showing the scraping operation of the gripping system 1 (a right side view of the gripping member 31A in a state (intermediate state) between the open state and the closed state). FIG. [Figure 11] 10 is a schematic diagram showing a state in which scrapers 201 and 202 perform a scraping action upward on a gripping member 31A. FIG. [Figure 12] 10 is a schematic diagram showing a state in which scrapers 201 and 202 perform a scraping operation downward on a gripping member 31A. FIG. [Figure 13] 10 is a schematic diagram showing the scraping action when the cross-sectional shape of the cross members of the scrapers 201 and 202 is circular. FIG. [Figure 14] 10 is a schematic diagram showing the scraping action when the cross-sectional shape of the cross member of the scrapers 201 and 202 is wedge-shaped. FIG. [Figure 15] FIG. 10 is a schematic diagram showing the scraping action when the cross-sectional shape of the cross members of scrapers 201 and 202 is a shape in which two wedges are connected (a shape that is wedge-shaped in both the upward and downward directions). [Figure 16] 13 is a schematic diagram (front view) showing the configuration of a hand unit 31 in Modification 5. FIG. [Figure 17] 13 is a schematic diagram (perspective view) showing the configuration of a hand unit 31 in Modification 5. FIG. [Figure 18] 13 is a schematic diagram showing the scraping operation of the hand unit 31 in Modification 5. FIG. [Figure 19] 13 is a schematic diagram showing the scraping operation of the hand unit 31 in Modification 6. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [Embodiment] [composition] 1 and 2 are schematic diagrams showing the overall configuration of the gripping system 1 according to the present invention, where FIG. 1 is an oblique view showing multiple gripping systems 1 arranged side by side, and FIG. 2 is an enlarged oblique view of the main parts of the gripping system 1. The gripping system 1 in this embodiment represents one embodiment of the working system according to the present invention, and is intended to be applied to a system for plating ingredients. In the following description, an example will be given in which the gripping system 1 grasps ingredients such as prepared food as an object and plates the ingredients into individual prepared food containers. Note that plating individual prepared food into containers is merely an example, and this embodiment can also be applied to other applications, such as plating multiple prepared food items individually into corresponding areas of a lunch box container. In the following description, weight will be used as an example of the amount of ingredients to be plated, but the present invention can also be applied to physical quantities other than weight, such as volume, bulk, mass, etc.

[0010] Furthermore, the gripping system 1 in this embodiment has a function of performing scraping operation using a passive mechanism. The scraping function removes objects attached to the working members of the gripping system 1, preventing the objects attached to the working members from interfering with the gripping action of the object or causing errors in the amount of object gripped. It should be noted that a passive mechanism refers to a mechanism that performs at least a part of the scraping operation without a drive source. In the gripping system 1 of this embodiment, the scraping operation is performed in response to the movement of the working member during work.

[0011] Examples of passive mechanisms include a structure in which the scraping member moves relative to the working member in response to the movement of the working member for work (for example, opening and closing for gripping) or the up and down movement of the working member itself. As an example, a form that utilizes the relative movement between any part of the mechanism formed by the robot arm and hand unit and the scraping member attached to the working member, or a form in which the scraping member attached to the working member is brought into contact with some other member and the working member is moved up and down to move the scraping member relative to the working member, can be adopted.

[0012] That is, by utilizing the movement of the working member to transmit force to the scraping mechanism, a passive mechanism can be realized. This makes it possible to scrape the work member without installing an actuator for scraping or driving this actuator. Therefore, it is possible to more efficiently peel the object from the work member. Furthermore, with such a configuration, an increase in the weight of the hand unit can be suppressed, and therefore the hand unit can be controlled more appropriately.

[0013] As another example of a passive mechanism, it is also possible to realize some of the scraping operations without using actuators as described above, and to use actuators for the remaining scraping operations. Even in such a case, the power consumption used to drive the actuator can be reduced, and the object can be more efficiently peeled off from the work member.

[0014] 1 and 2, the gripping system 1 includes an ingredient storage unit 10, a container supply unit 20, an articulated robot 30, a control device 40, and a shielding unit 50. Adjacent to the gripping system 1 is installed a belt conveyor 2 that automatically transports containers of prepared foods.

[0015] The ingredient storage unit 10 has a storage space for storing ingredients such as prepared dishes to be served by the gripping system 1. This storage space may be formed, for example, by the ingredient storage unit 10 itself, or may be formed by a general-purpose container such as a large tray or tub that can be placed in the ingredient storage unit 10. This storage space stores prepared dishes such as paste salads (salads containing viscous or sticky ingredients) such as potato salad, udon noodles (soybean curd refuse), dried strips of daikon radish, pickled vegetables, hijiki seaweed, boiled beans, and buttered corn. In this embodiment, the ingredient storage unit 10 stores multiple servings (e.g., tens to hundreds of servings) of one type of ingredient. The multiple gripping systems 1 then serve the ingredients of any of the prepared dishes in the corresponding containers, thereby completing the task of serving the prepared dishes. The accommodation space of the ingredient accommodation unit 10 can be replaced manually by an operator or automatically by the articulated robot 30.

[0016] The container supply unit 20 supplies containers of prepared food to a predetermined position in the gripping system 1 where ingredients are to be plated (plating position P1 in FIG. 2). The container supply unit 20 stores a plurality of containers of prepared food, and when the gripping system 1 starts operating, it supplies the containers one by one to the plating position P1. A weight sensor that measures the weight of the prepared food container is also installed at the plating position P1, and when ingredients are plated at the plating position P1, the weight of the plated ingredients (i.e., the weight increase due to plating) is measured. The weight data measured at this time is output to the control device 40. Then, when the weight measurement is completed, the container of prepared food is carried out to the belt conveyor 2 by a push-out mechanism provided in the container supply unit 20.

[0017] The articulated robot 30 is, for example, composed of a horizontal articulated robot or a vertical articulated robot, and is equipped with a hand unit 31 that can grasp the ingredients to be plated, and a robot arm 32 that moves the hand unit 31 to any position within its movable range. Furthermore, a weight sensor that measures the weight of a grasped ingredient is installed at the joint that holds the hand unit 31 of the articulated robot 30, as an example of a means for acquiring the physical quantity of the ingredient grasped by the hand unit 31 with the grasping member 31A (working member). Furthermore, a force sensor that measures the reaction force from the contacted ingredient (including the force sense obtained by contacting the surface) is installed at the joint that holds the hand unit 31 of the articulated robot 30, as an example of a means for detecting that the hand unit 31 has come into contact with the ingredient. Data on the weight of the ingredient measured by the weight sensor (i.e., the weight of the grasped ingredient) and data on the reaction force from the ingredient measured by the force sensor (i.e., the detection result of contact with the ingredient) are output to the control device 40.

[0018] Furthermore, the joint that holds the hand unit 31 has an axis that rotates the hand unit 31 in a torsional direction relative to the robot arm 32. Therefore, when the hand unit 31 grasps an ingredient, the direction in which the hand unit 31 opens and closes can be adjusted by changing the orientation of the hand unit 31. This makes it possible to change the orientation of the hand unit 31 so that when the hand unit 31 reaches the vicinity of the inner wall surface of the container, the hand unit 31 opens and closes in a direction parallel to the inner wall surface of the storage space, making it easier to grasp ingredients near the inner wall surface of the container.

[0019] FIG. 3 is a schematic diagram (perspective view) showing the configuration of the hand unit 31. The front, back, right side and left side of the hand unit 31 are defined as indicated by arrows in FIG. FIG. 4 is a schematic diagram (perspective view) showing the configuration of the gripping member 31A. As shown in FIGS. 3 and 4, the hand unit 31 includes a gripping member 31A, a support portion 100, a scraping mechanism 200, and a driving mechanism 300.

[0020] The gripping member 31A has a main plate 310 made of a flat-tipped plate-like member (i.e., a flat plate with a straight edge at the tip), and side plates 320L, 320R provided on the left and right sides of the main plate 310. In this embodiment, the gripping member 31A has inclined portions connecting the left and right sides of the main plate 310 to the side plates 320L, 320R, and the main plate 310 and the side plates 320L, 320R are connected at a connecting angle that is gentler than a right angle. This results in a shape that makes it difficult for ingredients to remain in corners on the inner surface of the gripping member 31A.

[0021] As shown in Fig. 3, two gripping members 31A are installed facing each other on the hand unit 31. These two gripping members 31A are connected to sliders 302a in the drive mechanism 300 by the support part 100, and are moved (i.e., opened and closed) in a direction toward each other (closing direction) and a direction away from each other (opening direction) by the drive mechanism 300. The two gripping members 31A begin to grip ingredients or release the ingredients they are holding when they are separated from each other (open state). Furthermore, the two gripping members 31A hold ingredients when they are in close contact with each other (closed state). Further, the gripping member 31A is provided with a scraping mechanism 200 for removing ingredients adhering to the gripping member 31A.

[0022] The scraping mechanism 200 operates to remove ingredients adhering to the surface of the gripping member 31A in response to the opening and closing of the gripping member 31A. In this embodiment, the scraping mechanism 200 is equipped with scrapers 201, 202 that slide along the inner and outer surfaces of the gripping member 31A. Specifically, the scrapers 201, 202 have portions that slide along the inner and outer surfaces of the main plate 310 of the gripping member 31A and the inner and outer surfaces of the side plates 320L, 320R. That is, the scrapers 201 and 202 are arranged along the entire circumference of the gripping member 31A in a cross section obtained by cutting the gripping member 31A in the horizontal direction. The scrapers 201 and 202 are connected via a sliding guide through hole 310a formed in the main plate 310 of the gripping member 31A, and the scrapers 201 and 202 perform similar sliding movements on the inner and outer surfaces of the gripping member 31A.

[0023] In this embodiment, the scrapers 201 and 202 have a ladder-like shape in which a plurality of horizontal members are stretched across vertical members serving as supports. Therefore, the scrapers 201, 202 slide along the inner and outer surfaces of the gripping member 31A, and the ingredients peeled off fall easily from the space between the horizontal members.

[0024] Furthermore, because the scrapers 201, 202 are formed in a ladder shape, if they slide a distance greater than or equal to the pitch (arrangement interval) between the horizontal members, the ingredients can be peeled off without leaving any gaps between the areas where adjacent horizontal members slide on the inner and outer surfaces of the gripping member 31A. In other words, scraping action by the scrapers 201, 202 can be performed with a smaller stroke. Furthermore, if the scrapers 201, 202 slide a distance greater than the distance corresponding to the pitch between the horizontal members, the areas where multiple horizontal members slide on the inner and outer surfaces of the gripping member 31A can overlap, allowing for more reliable scraping action.

[0025] When the scrapers 201, 202 are ladder-shaped, the pitch between the horizontal members and the number of horizontal members can be selected appropriately depending on the weight or stroke of the scrapers 201, 202, etc. Moreover, the scrapers 201 and 202 may not be ladder-shaped, but may be formed of a single rod or the like.

[0026] The scraping mechanism 200 also includes a scraper support member 203 for supporting the scraper 201, and the scraper support member 203 is fixed to the drive mechanism 300 (the rear side of the housing 301). A part of the scraper 201 (here, the upper end portion) is connected to the tip of the scraper support member 203, which serves as a base point that does not move during the opening and closing operation of the gripping member 31A (i.e., a fixed point independent of the opening and closing operation of the gripping member 31A), via a connecting member 204. The part of the scraper 201 (the upper end portion) to which the connecting member 204 is connected is referred to as a connecting portion J1, and the base point that does not move during the opening and closing operation of the gripping member 31A (the tip of the scraper support member 203) is referred to as a connecting portion J2.

[0027] The connecting member 204 is formed by a rod having a predetermined length and is rotatably supported at the connecting portions J1 and J2 relative to the scraper 201 and the scraper support member 203. Therefore, the connecting member 204 rotates about the connecting portion J2 while maintaining a constant distance between the connecting portion J1 and the connecting portion J2 during the opening and closing operation of the gripping member 31A. In this embodiment, since the gripping member 31A opens and closes horizontally, when the connecting portion J1 is located directly below the connecting portion J2, the scraper 201 and the scraper 202 connected to the scraper 201 are located at the lowest position relative to the gripping member 31A. As the gripping member 31A moves from this position in the opening or closing direction, the scrapers 201 and 202 move upward relative to the gripping member 31A. Therefore, when the gripping member 31A performs opening and closing operations, the scrapers 201, 202 slide vertically along the inner and outer surfaces of the gripping member 31A, and can peel off ingredients adhering to the gripping member 31A.

[0028] In this way, in this embodiment, it is possible to peel off ingredients adhering to the gripping member 31A without providing an actuator or the like for directly sliding the scrapers 201, 202 (i.e., by using one example of a passive mechanism). The sliding stroke of the scrapers 201, 202 varies depending on the length of the connecting member 204 and the position of the connecting part J2, which serves as the base point. Therefore, the sliding distance of the scrapers 201, 202 can be adjusted by appropriately selecting the length of the connecting member 204 and the position of the connecting part J2, which serves as the base point.

[0029] In this embodiment, the scraper support member 203 is installed on the rear side of the housing 301 of the drive mechanism 300. That is, the scraper 201 is connected to the scraper support member 203 by the connecting member 204 on the rear side of the hand unit 31 (cantilevered state). On the other hand, in the present embodiment, the hand unit 31 performs a gripping operation in a position close to the side wall of the ingredient accommodating section 10 with the front side facing the side wall of the ingredient accommodating section 10 . Therefore, by connecting the scraper 201 to the scraper support member 203 on the back side of the hand unit 31, the front side of the hand unit 31 can be brought closer to the side wall surface of the ingredient storage section 10 to perform the ingredient gripping operation.

[0030] The driving mechanism 300 linearly reciprocates the slider 302a to which the support portion 100 of the gripping member 31A is connected. Specifically, the drive mechanism 300 includes a housing 301 , a slide rail 302 , an actuator 303 , and a cover member 304 . Housing 301 incorporates slide rail 302 having slidable slider 302a, and an opening 301a is formed across almost the entire longitudinal length in an area near the front of the top surface of housing 301. Therefore, slider 302a and support part 100, which are connected through this opening 301a, are movable in the longitudinal direction of housing 301.

[0031] The slide rail 302 is a guide member installed inside the housing 301 along the longitudinal direction of the housing 301. Two sliders 302a are slidably engaged with the slide rail 302, and these sliders 302a are guided by the slide rail 302 and move in the longitudinal direction (horizontal direction) of the housing 301. When the gripping member 31A performs an opening or closing operation, the two sliders 302a are moved in opposite directions by the actuator 303.

[0032] The actuator 303 moves the two sliders 302a in opposite directions along the slide rail 302. When the actuator 303 moves the two sliders 302a toward each other, the pair of gripping members 31A connected to each slider 302a via the support unit 100 closes, and an action of gripping the ingredient is performed. When the actuator 303 moves the two sliders 302a away from each other, the pair of gripping members 31A connected to each slider 302a via the support unit 100 opens, and an action of releasing the target object is performed. Also, as described above, the scrapers 201, 202 slide along the inner and outer surfaces of the gripping member 31A in response to the opening and closing action of the gripping member 31A, and peel off the ingredient adhering to the gripping member 31A.

[0033] The cover member 304 is a member that covers the top surface, left and right side surfaces, and front surface (the wall surface on the front side) of the housing 301, and covers an opening 301a formed in the top surface of the housing 301. The space between the cover member 304 and the housing 301 is a space for the support unit 100 to move along the slide rail 302. Therefore, the bottom surface of the space between the cover member 304 and the housing 301 is open, and is configured not to hinder the movement of the support unit 100.

[0034] [Operation] Figures 5 to 10 are schematic diagrams showing the scraping operation of the gripping system 1, with Figure 5 being a rear view of the gripping member 31A in a closed state (closed state), Figure 6 being a right side view of the gripping member 31A in a closed state (closed state), Figure 7 being a rear view of the gripping member 31A in its most open state (open state), Figure 8 being a right side view of the gripping member 31A in its most open state (open state), Figure 9 being a rear view of the gripping member 31A in a state between the open state and the closed state (intermediate state), and Figure 10 being a right side view of the gripping member 31A in a state between the open state and the closed state (intermediate state).

[0035] FIG. 11 is a schematic diagram showing a state in which the scrapers 201 and 202 perform a scraping action upward on the gripping member 31A, and FIG. 12 is a schematic diagram showing a state in which the scrapers 201 and 202 perform a scraping action downward on the gripping member 31A. Below, we will explain the operation (gripping operation) in which the gripping member 31A moves from a closed state to an intermediate state and then to an open state, starts gripping the ingredient in the open state, moves through the intermediate state to the closed state, and the operation (releasing operation) in which the gripping member 31A moves from a closed state to an intermediate state and moves to the open state while releasing the ingredient.

[0036] [Gripping action] As shown in Figures 5 and 6, when the gripping members 31A are in a closed state, the two gripping members 31A are in close contact and closed, and the scrapers 201, 202 are positioned at the top of the gripping members 31A. Next, when the gripping members 31A are opened to grip the ingredient, as shown in FIGS. 9 and 10, the two gripping members 31A move apart and the scrapers 201 and 202 slide downward on the gripping members 31A.

[0037] Furthermore, when the gripping members 31A are in the open state, as shown in Figures 7 and 8, the two gripping members 31A are in the most open state, and the scrapers 201, 202 are again positioned at the upper part of the gripping members 31A. That is, during the transition from the closed state to the open state, the scrapers 201, 201 slide from the top to the bottom of the gripping member 31A (see FIG. 12), and then slide upward again (see FIG. 11). Therefore, if ingredients are attached to the inner and outer surfaces of the gripping member 31A before the gripping operation is performed, the attached ingredients can be peeled off.

[0038] Then, when the gripping member 31A is lowered and inserted into the ingredient to a predetermined depth, the gripping member 31A starts to close. That is, the two gripping members 31A, while inserted into the ingredients, move closer to each other as shown in FIGS. 9 and 10, and the scrapers 201 and 202 slide downward on the gripping members 31A.

[0039] Furthermore, when the gripping members 31A are closed, as shown in FIGS. 5 and 6, the two gripping members 31A are closed and the scrapers 201 and 202 are again positioned at the upper part of the gripping members 31A. That is, during the transition from the open state to the closed state, the scrapers 201, 201 slide from the top to the bottom of the gripping member 31A (see FIG. 12), and then slide upward again (see FIG. 11).

[0040] Therefore, in the process of gripping the ingredients, the scrapers 201, 202 peel off the ingredients adhering to the outer surface of the gripping member 31A, and also peel off the gripped ingredients from the inner surface inside the gripping member 31A. Therefore, unnecessary ingredients are prevented from adhering to the outer surface of the gripping member 31A, and when the gripping member 31A releases the ingredients, the ingredients are less likely to adhere to the inner surface of the gripping member 31A.

[0041] [Release action] After gripping the ingredient, the gripping members 31A are raised while remaining in the closed state, as shown in FIGS. 5 and 6, and are transported to the target release position. Next, when the gripping members 31A are opened to release the ingredients, the two gripping members 31A move apart, and the scrapers 201 and 202 slide downward on the gripping members 31A, as shown in FIGS. Furthermore, when the gripping members 31A are in the open state, as shown in Figures 7 and 8, the two gripping members 31A are in the most open state, and the scrapers 201, 202 are again positioned at the upper part of the gripping members 31A. That is, during the transition from the closed state to the open state, the scrapers 201, 201 slide from the top to the bottom of the gripping member 31A (see FIG. 12), and then slide upward again (see FIG. 11).

[0042] Therefore, if ingredients are attached to the inner and outer surfaces of the gripping member 31A when the ingredients are released, the attached ingredients can be peeled off. In this way, according to the gripping system 1 according to this embodiment, when an ingredient is gripped by the gripping members 31A, it is possible to grip and transfer an ingredient with a more accurate weight.

[0043] As described above, the gripping system 1 according to this embodiment includes the scraping mechanism 200 in the hand unit 31, and the scrapers 201, 202 of the scraping mechanism 200 slide along the inner and outer surfaces of the gripping member 31A in response to the opening and closing movement of the gripping member 31A. At this time, the scrapers 201, 202 perform a sliding movement in response to the opening and closing movement of the gripping member 31A. Therefore, ingredients adhering to the gripping member 31A can be scraped off without the need for a special drive source. Therefore, it is possible to scrape the gripping member 31A while suppressing an increase in the weight of the hand unit 31. It is also possible to suppress situations in which ingredients adhering to the gripping member 31A interfere with the action of gripping the ingredients or errors occur in the amount of ingredients gripped. That is, the gripping system 1 allows the ingredients to be more efficiently peeled off from the gripping members 31A.

[0044] [Variation 1] In the above-described embodiment, the scraper 201 is moved by a force input via the connecting member 204. However, the scraper 201 (or the scraper 202) may be provided with a spring, and the scrapers 201, 202 may be moved by utilizing the elastic force of the spring (elastic member). For example, by installing a spring so that an elastic force always acts upward on the scrapers 201, 202, when the gripping member 31A performs an opening / closing operation, in the process in which the scrapers 201, 202 move upward relative to the gripping member 31A, the elastic force of the spring can be used to pull the scrapers 201, 202 upward and stop them at a predetermined position above the gripping member 31A. In this case, in the process of the scrapers 201, 202 moving downward during the opening and closing operation of the gripping member 31A, the scrapers 201, 202 are pushed down by the link against the elastic force of the spring, and after passing the lowest point, they are released from the link and pulled up to a predetermined upper position by the elastic force of the spring. With this configuration, the scrapers 201, 202 can be slid at higher speeds by the elastic force of the springs, and the effect of peeling off ingredients adhering to the inner or outer surface of the gripping member 31A can be further improved.

[0045] [Variation 2] In the above-described embodiment, the cross-sectional shape of the cross members in the scrapers 201, 202 (cross-sectional shape in a plane perpendicular to the inner and outer surfaces of the main plate 310) can be various shapes (e.g., square, semicircular, etc.) depending on the purpose. For example, by making the cross-sectional shape of the horizontal member such that the portion that contacts the surface of the gripping member 31A is arc-shaped, it is possible to make it difficult for the scrapers 201, 202 to scrape the surface of the gripping member 31A. Examples of the cross-sectional shape of the horizontal member in which the portion that contacts the surface of the gripping member 31A is arc-shaped include semicircular, sectorial, and circular shapes. FIG. 13 is a schematic diagram showing the scraping action when the cross-sectional shape of the cross members of the scrapers 201 and 202 is circular. 13, when the cross-sectional shape of the horizontal member is circular, it is possible to reduce the likelihood of the scrapers 201, 202 scraping the surface of the gripping member 31A both in the process of sliding downward and in the process of sliding upward. Furthermore, by making the cross-sectional shape of the horizontal member circular, it is possible to maintain the ingredient peeling effect while reducing the cross-sectional diameter, and therefore the scrapers 201, 202 can be configured compactly.

[0046] FIG. 14 is a schematic diagram showing the scraping action when the cross-sectional shape of the cross members of the scrapers 201 and 202 is wedge-shaped. As shown in Figure 14, if the cross-sectional shape of the cross member of scrapers 201, 202 is wedge-shaped, the tip of the wedge can easily slide between the inner or outer surface of gripping member 31A and the ingredients attached to gripping member 31A, thereby improving the effectiveness of peeling off the ingredients.

[0047] FIG. 15 is a schematic diagram showing the scraping action when the cross-sectional shape of the cross members of the scrapers 201 and 202 is a shape in which two wedges are connected (a shape that is wedge-shaped in both the upward and downward directions). As shown in Figure 15, if the cross-sectional shape of the cross members of scrapers 201, 202 is a shape of connected wedges (a shape that is wedge-shaped in both upward and downward directions), the sliding action makes it easier for the tip of the wedge to enter between the inner or outer surface of gripping member 31A and the ingredients attached to gripping member 31A, both in the process of scrapers 201, 202 sliding downward and in the process of scrapers 201, 202 sliding upward, thereby improving the effect of peeling off the ingredients.

[0048] [Variation 3] In the above-described embodiment, an example was described in which the scraper 201 and the scraper support member 203 are connected by the connecting member 204, and the scrapers 201, 202 perform scraping operations in response to the opening and closing operations of the gripping member 31A, but the configuration in which the scrapers 201, 202 scrape using a passive mechanism is not limited to this. For example, the scraper 201 can be configured to slide freely along the inner and outer surfaces of the gripping member 31A without being connected to the scraper support member 203 by the connecting member 204, and by moving and stopping the gripping member 31A in the vertical direction, an inertial force can be applied to the scrapers 201, 202 installed on the gripping member 31A to perform the scraping operation.

[0049] Due to the inertial force caused by the vertical movement of the gripping member 31A, the scrapers 201 and 202 move relative to the gripping member 31A, and slide along the inner and outer surfaces of the gripping member 31A. This allows the scrapers 201 and 202 to scrape the inner and outer surfaces of the gripping member 31A. In this case, for example, a spring (elastic member) can be installed to apply an elastic force to the scrapers 201, 202 in the sliding direction, and the scrapers 201, 202 can be moved by inertia against the elastic force of the spring, and then returned to a predetermined position by the elastic force of the spring.

[0050] [Variation 4] In the above-described embodiments and modifications, the pair of gripping members 31A have the same shape. Specifically, two gripping members 31A are provided, each consisting of one main plate 310 and two side plates 320L, 320R. When the two gripping members 31A are closed, the side plates 320L, 320R come into contact with each other to form a container shape, thereby gripping ingredients. The gripping member 31A is not limited to this and may have other shapes. For example, the gripping member 31A may have a shape made up of one main plate 310 and one side plate 320L (or side plate 320R). Alternatively, the gripping member 31A may have a shape made up of one main plate 310 (i.e., a shape made up of a simple plate member). Alternatively, the gripping member 31A may be a rod-shaped (finger-shaped) member instead of a plate-shaped member.

[0051] In either shape, it is desirable that the scrapers 201, 202 are arranged along the entire circumference of the horizontal cross section of the gripping member 31A, and slide on the inner and outer surfaces of the gripping member 31A during the peeling operation to peel off the adhesive material. However, this is not limited to this, and the scrapers may cover a portion of the entire circumference of the horizontal cross section of the gripping member 31A, and slide on a portion of the entire circumference during the peeling operation to peel off the adhesive material. This increases the degree of freedom in the configuration of the gripping member 31A and the scrapers 201, 202. In either case, the number of gripping members 31A is not limited, and for example, an object may be gripped by three or more gripping members 31A. Furthermore, as described above, the present invention is not limited to systems in which a robot performs grasping, but is an invention that can be applied to any system in which a work is performed by an end effector of a robot.

[0052] [Variation 5] In addition to the configurations described in the above-described embodiment and modified examples, various configurations can be used to perform scraping action using a passive mechanism. As an example, scraping members provided on opposing gripping members 31A can be connected to each other by an elastic member to form scraping mechanism 200 that utilizes elastic deformation of the elastic member.

[0053] [Configuration of hand unit 31] Fig. 16 is a schematic diagram (front view) showing the configuration of the hand unit 31. Fig. 17 is a schematic diagram (perspective view) showing the configuration of the hand unit 31. The front, back, right side, and left side of the hand unit 31 are defined as indicated by the arrows in Fig. 17. 16 and 17, the hand unit 31 includes a gripping member 31A, a support portion 100, a scraping mechanism 200, and a driving mechanism 300. Components that differ from the above-described embodiment will be described below.

[0054] The scraping mechanism 200 includes scrapers 201 and 202, a rod member 205, a support portion 206, and a scraping rod 207. The scrapers 201, 202 slide along the inner and outer surfaces of the gripping member 31A to remove ingredients adhering to the gripping member 31A. That is, the scrapers 201, 202 have portions that slide along the inner and outer surfaces of the main plate 310 of the gripping member 31A and the inner and outer surfaces of the side plates 320L, 320R. Therefore, the scrapers 201, 202 are arranged along the entire periphery of a cross section of the gripping member 31A taken horizontally.

[0055] In this modified example, scrapers 201 and 202 are integrally configured, and the portion that slides along the inner surface of gripping member 31A is referred to as scraper 201, and the portion that slides along the outer surface of gripping member 31A is referred to as scraper 202. Scrapers 201 and 202 are disposed corresponding to each gripping member 31A. Therefore, in the configuration shown in FIGS. 16 and 17, scrapers 201 and 202 are individually disposed corresponding to each of the two gripping members 31A.

[0056] As shown in FIGS. 16 and 17, the scraper 201 has a first protrusion 201a, and the scraper 202 has a second protrusion 202a. The first protruding portion 201a is a member that protrudes toward the front, and the first protruding portion 201a can engage with the support portion 206, which will be described later, by hooking onto the support portion 206. The second protrusion 202a prevents the scrapers 201 and 202 from falling off the tip of the gripping member 31A during the scraping operation.

[0057] The rod member 205 is a rod-shaped member made of metal, and the scrapers 201 and 202 are connected to the tip of the rod member 205. The rod member 205 is not a drive mechanism, but supports the scrapers 201 and 202 and guides the scrapers 201 and 202 so that they move along the direction in which the gripping member 31A extends (here, a diagonal direction facing vertically downward). The support part 206 is made of a leaf spring and is elastically deformable. The support part 206 is connected to the lower end of the scraping rod 207 at approximately the center of the longitudinal direction of the leaf spring that constitutes the support part 206. The tip of the support part 206 is configured to maintain a shape folded back in an arc. This arc-shaped tip is hooked and fixed on the first protrusion 201a, engaging the scrapers 201, 202 and the support part 206.

[0058] In this modification, the gripping member 31A is positioned offset toward the front from directly below the drive mechanism 300, and is provided with an insertion portion 330 at the center of the front, vertically above the range in which the gripping member 31A performs its opening and closing operation. The insertion portion 330 is composed of a cylindrical main body and a base that secures the main body. A scraping rod 207 (described below) can be inserted into the cylindrical main body, and the scraping rod 207 can move back and forth in the vertical direction (i.e., move up and down) while inserted into the cylindrical main body.

[0059] In this modified example, an elastic member is installed between the upper end of the scraping rod 207 and the upper surface of the base of the insertion portion 330, and an elastic force is applied to urge the scraping rod 207 upward from the insertion portion 330.

[0060] FIG. 18 is a schematic diagram showing the scraping operation of the hand unit 31 in this modified example. 18, the scraping rod 207 is normally pulled up by the elastic force of the elastic member. When the articulated robot 30 moves the entire hand unit 31, the upper end of the scraping rod 207 is pressed against a surrounding fixed portion (a pressing member installed on a wall surface or a support), and the scraping rod 207 moves downward.

[0061] That is, in this modification, when the gripping member 31A performs a gripping operation or a releasing operation, the scraping rod 207 and the scrapers 201, 202 are pulled upward, and the scrapers 201, 202 are retracted to positions where they do not interfere with the gripping operation or the releasing operation. When the hand unit 31 moves the gripping member 31A for the scraping operation and presses the upper end of the scraping rod 207 against a surrounding fixed portion, thereby pushing down the scraping rod 207 and the scrapers 201, 202, the scrapers 201, 202 scrape the gripping member 31A in response to the movement (conveying operation) of the hand unit 31 (the gripping member 31A). At this time, the support portion 206 elastically deforms to follow the diagonal movement of the scrapers 201, 202, allowing the scrapers 201, 202 to move smoothly. With this configuration, it is possible to realize a structure that is a passive mechanism, yet is capable of executing a scraping operation at any timing independent of the gripping operation (opening / closing operation) of the gripping member 31A.

[0062] In this modification, the scrapers 201 and 202 are supported by the support portion 206, which is a leaf spring, but there is a risk that the scrapers 201 and 202 may move beyond an expected distance relative to the gripping member 31A and fall off the tip of the gripping member 31A. Therefore, the second protrusion 202a protrudes obliquely upward from the lower end of the scraper 202 along the outer surface of the gripping member 31A, thereby preventing the scrapers 201 and 202 from falling off the tip of the gripping member 31A. The configuration of this modified example explained above also makes it possible to achieve scraping action by a passive mechanism, similar to the above-described embodiment and modified example.

[0063] In addition, in this modified example, an elastic member is installed between the upper end of the scraping rod 207 and the upper surface of the base portion of the insertion portion 330, to apply an elastic force that urges the scraping rod 207 upward from the insertion portion 330. In contrast to this, for example, an external force can be used to move the scraping rod 207 upward.

[0064] Here, external force refers to a force applied from a source other than the drive source that drives the scrapers 201, 202, and is a force that has the effect of moving the scraping rod 207 (or the support part 206 or the scrapers 201, 202) input from any object. As a configuration for moving the scraping rod 207 upward using an external force, for example, the scraping rod 207 can be moved upward by pressing the center of the support part 206 (the lower end of the scraping rod 207) against a surrounding fixed part (a pressing member installed on a wall surface or a support, or an installed object such as a corner of a side wall in the ingredient accommodating part 10). Also, the scrapers 201, 202 may be moved relatively upward by lowering the gripping member 31A with the support part 206 hooked on a surrounding member on which the support part 206 can be hooked.

[0065] In this case, for example, the scraping rod 207 may be connected to the rod of an air cylinder, and the air cylinder may push the scraping rod 207 downward when moving the scrapers 201, 202 downward. Also, the force for moving the scrapers 201, 202 downward may be applied by an elastic member instead of an air cylinder. Even in such a configuration, part of the scraping action can be achieved by a passive mechanism. Therefore, it is possible to reduce the power consumption used to drive the air cylinder, and to more efficiently peel the ingredients from the gripping member 31A.

[0066] [Variation 6] In addition to the configurations described in the above-described embodiment and modified examples, various configurations can be used to perform scraping action using a passive mechanism. As an example, scraping mechanism 200 can be provided in which scraping members provided on opposing gripping members 31A are connected to each other and movement of the connected portion is restricted in the vertical direction.

[0067] FIG. 19 is a schematic diagram showing the scraping operation of the hand unit 31 in this modified example. 19, the hand unit 31 in this modification includes a gripping member 31A, a support portion 100, a scraping mechanism 200, and a driving mechanism 300. Components that differ from the above-described embodiment will be described below.

[0068] The scraping mechanism 200 includes scrapers 201 and 202, a support portion 208, and a connecting portion 209. The scrapers 201 and 202 slide along the inner and outer surfaces of the gripping member 31A to remove ingredients adhering to the gripping member 31A. That is, the scrapers 201 and 202 have portions that slide along the inner and outer surfaces of the main plate 310 of the gripping member 31A and the inner and outer surfaces of the side plates 320L and 320R. Therefore, the scrapers 201 and 202 are arranged along the entire circumference of a cross section of the gripping member 31A cut horizontally. In this modified example, the scrapers 201 and 202 are integrally formed, and the portion that slides along the inner surface of the gripping member 31A is referred to as scraper 201, and the portion that slides along the outer surface of the gripping member 31A is referred to as scraper 202. The scrapers 201 and 202 are arranged corresponding to each gripping member 31A. Therefore, in the configuration shown in FIG. 19, scrapers 201 and 202 are individually provided corresponding to the two gripping members 31A, respectively.

[0069] The support portion 208 is disposed in the center of the two gripping members 31A and constitutes a rail that guides the movement of the scrapers 201, 202 installed on each gripping member 31A. That is, the support portion 208 is composed of two extending portions that extend vertically downward. Furthermore, the tips of the two extending portions are curved and connected to prevent the scrapers 201, 202 installed on each gripping member 31A from falling vertically downward. In this modified example, the support portion 208 is fixed and does not move. A connecting portion 209 is slidably engaged in a central gap in the support portion 208, and while the connecting portion 209 is allowed to move in the vertical direction, its movement in the horizontal direction is restricted.

[0070] The connecting portion 209 has a bolt that supports the scrapers 201, 202 installed on each gripping member 31A, and the shaft portion of the bolt is inserted into a gap in the support portion 208 and engaged with the support portion 208 by a nut to prevent it from falling off. In other words, the scrapers 201, 202 installed on each gripping member 31A can move freely in the vertical direction as the connecting portion 209 moves through the gap in the support portion 208, but are supported in a state where they cannot move in the left-right direction.

[0071] As in the other embodiments and modifications, each gripping member 31A is connected to a driving mechanism 300 via a support portion 100, and is capable of being opened and closed. In this modified example, the distance between the connecting portion 209 and the scrapers 201, 202 is fixed, and when the gripping member 31A opens or closes, the scrapers 201, 202 slide vertically relative to the gripping member 31A and move to a position where the distance from the connecting portion 209 is maintained (retained). With the configuration of this modified example, the ingredient peeling operation (scraping operation) is performed by a passive mechanism.

[0072] Specifically, as shown in Figure 19(a), when the two gripping members 31A close, a force acts on the scraper 201, pushing it up along the slope from the inner surface of the gripping member 31A. As described above, the scrapers 201 and 202 installed on each gripping member 31A are supported in a state where they can move freely in the vertical direction but cannot move left and right. Therefore, the scrapers 201 and 202, which receive a force pushing them up along the slope from the inner surface of the gripping member 31A, move vertically upward.

[0073] 19(b), when the two gripping members 31A open, a force acts on the scrapers 201 and 202, pushing them down along the slope from the outer surface of the gripping member 31A. As described above, the scrapers 201 and 202 installed on each gripping member 31A are supported in a state where they can move freely in the vertical direction but cannot move left and right. Therefore, when the scrapers 201 and 202 receive a force pushing them down along the slope from the outer surface of the gripping member 31A, they move vertically downward. When the two gripping members 31A are not moving in the opening / closing direction, the scrapers 201, 202 are stopped at a vertical position determined by the distance between the two gripping members 31A and the shapes of the scrapers 201, 202.

[0074] As the scrapers 201 and 202 move back and forth, they slide along the entire circumference of the inner and outer surfaces of the gripping member 31A, thereby simultaneously peeling off ingredients adhering to the entire circumference of the gripping member 31A. The configuration of this modified example explained above also makes it possible to achieve scraping action by a passive mechanism, similar to the above-described embodiment and modified example.

[0075] In the configuration shown in Figure 19, when the gripping member 31A grips an ingredient, the scrapers 201, 202 move below the gripping member 31A and begin gripping the ingredient, and as the gripping member 31A closes, the scrapers 201, 202 move above the gripping member 31A. Therefore, in the process of gripping the ingredients, the scrapers 201, 202 peel off the ingredients adhering to the outer surface of the gripping member 31A, and also peel off the gripped ingredients from the inner surface inside the gripping member 31A. Therefore, unnecessary ingredients are prevented from adhering to the outer surface of the gripping member 31A, and when the gripping member 31A releases the ingredients, the ingredients are less likely to adhere to the inner surface of the gripping member 31A.

[0076] [Configuration example] As described above, the gripping system 1 in this embodiment includes the hand unit 31, the gripping member 31A (working member), the scrapers 201 and 202 (moving members), and the drive mechanism 300 (moving means). The hand unit 31 is used for work. The drive mechanism 300 moves the hand unit 31 (the gripping member 31A) for work. The gripping member 31A includes scrapers 201 and 202. The scrapers 201 and 202 are driven by the drive mechanism 300 moving the gripping member 31A, and move along the contact surface that comes into contact with the object (ingredients, etc.) during work. This makes it possible to scrape off ingredients adhering to the gripping member 31A without installing a special drive source. Therefore, the object can be more efficiently peeled off from the work member.

[0077] A connecting member 204 connects the scraper 201 to a fixed point (connecting part J2) that is independent of the movement (gripping operation) of the gripping member 31A for work. As the connecting member 204 rotates relative to the fixed point, the scraper 201 moves along the contact surface of the gripping member 31A. This allows the ingredients adhering to the gripping member 31A to be peeled off by a passive mechanism.

[0078] An elastic member (spring) is provided to apply elastic force in the direction of movement of the scrapers 201 and 202. The elastic force of the elastic member causes the scrapers 201 and 202 to move along the contact surface of the gripping member 31A. This allows the scrapers 201, 202 to slide at higher speeds due to the elastic force of the springs, thereby further enhancing the effect of peeling off ingredients adhering to the inner or outer surface of the gripping member 31A.

[0079] The scrapers 201, 202 have cross members spaced apart in the direction of movement relative to the gripping member 31A. As the drive mechanism 300 moves the gripping member 31A, the scrapers 201 and 202 move to a distance equal to or greater than the distance between the horizontal members. This allows scraping action to be performed with a smaller stroke by the scrapers 201, 202. Also, by overlapping the sliding ranges of the multiple horizontal members on the inner and outer surfaces of the gripping member 31A, it becomes easier to perform scraping action more reliably.

[0080] At least a part of the portion of the scrapers 201, 202 that comes into contact with the gripping member 31A has a circular cross section in a plane perpendicular to the contact surface. This makes it difficult for the surface of the gripping member 31A to be scraped by the scrapers 201, 202, and also makes it possible to maintain the effect of peeling off the ingredients while reducing the diameter of the cross section.

[0081] At least a part of the portion of the scrapers 201, 202 that comes into contact with the gripping member 31A has a wedge-shaped portion in cross section in a plane perpendicular to the contact surface. This allows the tip of the wedge to easily enter between the inner or outer surface of the gripping member 31A and the ingredients attached to the gripping member 31A by sliding, thereby improving the effect of peeling off the ingredients.

[0082] The scrapers 201, 202 move downward and upward during the process in which the gripping member 31A moves for work. This allows the ingredients adhering to the gripping member 31A to be more reliably peeled off.

[0083] The scrapers 201 and 202 are supported in a cantilevered state on the side opposite to the front side that faces the work area when the gripping member 31A performs work. This allows the front side of the hand unit 31 to grip the ingredient at a position close to the wall surface of the working area (ingredient containing section 10).

[0084] The scrapers 201 and 202 are supported by a support 206 that is movable in the vertical direction. The support portion 206 is biased upward by an elastic member, or is moved upward by an external force. When the support portion 206 is pressed down by the operation of moving the gripping member 31A in the vertical direction, the scrapers 201 and 202 move along the contact surface of the gripping member 31A. This makes it possible to realize a structure that is a passive mechanism, yet is capable of executing a scraping action at any timing, independent of the gripping action (opening / closing action) of the gripping member 31A.

[0085] The scrapers 201 and 202 are connected to a connecting part 209 that is movable in the vertical direction, and have a structure that maintains a horizontal distance from the connecting part 209. As the gripping member 31A moves in the horizontal direction, the connecting portion 209 moves in the vertical direction, and the scrapers 201 and 202 move along the contact surface of the gripping member 31A. This allows the ingredients adhering to the gripping member 31A to be peeled off by a passive mechanism.

[0086] The above-described embodiment and modifications are merely examples of embodiments of the present invention, and various embodiments that realize the functions of the present invention are included in the scope of the present invention. For example, in the above-described embodiment and modified examples, the present invention has been described as being applied to a gripping system for serving prepared foods, but the present invention can be applied to systems for gripping various objects. For example, the present invention can be applied to systems for gripping highly viscous or adhesive materials such as kneaded mortar, concrete, plaster, and clay. The present invention is suitable for gripping objects with a viscosity of at least medium (5000 mPa s) at working temperature or room temperature.

[0087] Furthermore, in the above-described embodiment and modified examples, the present invention has been described as being applied to a gripping system that grips objects such as prepared foods, but the present invention can be applied to systems that perform various tasks other than gripping. For example, the present invention can be applied to a stirring member in a system that stirs an object (e.g., chopped ingredients), a cutting member in a system that cuts an object (e.g., ingredients such as meat), a measuring member (e.g., a temperature probe) in a system that measures the internal temperature of an object (e.g., heated ingredients), and the like.

[0088] Furthermore, the present invention can be implemented by appropriately combining the embodiments and modifications described above.

[0089] The above-described embodiment shows an example of application of the present invention and does not limit the technical scope of the present invention. In other words, the present invention can be modified in various ways, such as by omission or substitution, without departing from the spirit of the present invention, and various embodiments other than the above-described embodiment can be adopted. The various embodiments and modifications that the present invention can adopt are included in the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0090] 1 gripping system, 2 belt conveyor, 10 ingredient storage section, 20 container supply section, 30 articulated robot, 31 hand unit, 31A gripping member, 32 robot arm, 40 control device, 50 shielding section, 100, 206, 208 support section, 207 scraping rod, 200 scraping mechanism, 201, 202 scraper, 201a first protrusion, 202a second protrusion, 203 scraper support member, 204 connecting member, 205 rod member, 207 scraping rod, J1, J2, 209 connecting section, 300 drive mechanism, 301 housing, 301a opening, 302 slide rail, 302a slider, 303 actuator, 304 cover member, 310 main plate, 310a through hole, 320L, 320R Side plate, 330 insertion part

Claims

1. Work materials used in the work; a moving means for moving the working member for the work; Equipped with The working member is A work system comprising a moving member that moves along a contact surface that comes into contact with an object during the work in response to the movement of the working member by the moving means.

2. a fixed point independent of the movement of the working member for the work and the moving member are connected by a connecting member; The work system according to claim 1 , wherein the movable member moves along the contact surface of the work member in response to rotation of the connecting member relative to the fixed point.

3. an elastic member that applies an elastic force in the movement direction of the moving member; 3. The working system according to claim 1, wherein the moving member is moved along the contact surface of the working member by the elastic force of the elastic member.

4. the moving member has contact portions spaced apart in a moving direction relative to the working member, 3. The working system according to claim 1, wherein the moving member moves by a distance equal to or greater than the interval between the contact portions in response to the movement of the working member by the moving means.

5. 3. The work system according to claim 1, wherein at least a part of the portion of the moving member that comes into contact with the work member has a circular cross section in a plane perpendicular to the contact surface.

6. 3. The working system according to claim 1, wherein at least a part of the portion of the moving member that comes into contact with the working member has a wedge-shaped cross section in a plane perpendicular to the contact surface.

7. 3. The work system according to claim 1, wherein the moving member moves downward and upward in a process in which the working member moves for the work.

8. 3. The work system according to claim 1, wherein the moving member is supported in a cantilevered state on the side opposite to the front side that faces the work area when the work member performs work.

9. the moving member is supported by a support member that is movable along a vertical direction, The support member is biased upward by an elastic member or moved upward by an external force, 3. The work system according to claim 1, wherein when the support member is pressed down by an operation of moving the work member in a vertical direction, the moving member moves along the contact surface of the work member.

10. the moving member is connected to a connecting part that is movable along a vertical direction, and has a structure that maintains a horizontal distance from the connecting part; The work system according to claim 1 or 2, characterized in that the connecting portion moves vertically in response to the horizontal movement of the work member, thereby causing the movable member to move along the contact surface of the work member.

11. A working member used for work and moved by a moving means for the work, A working member comprising a moving member that moves along a contact surface that comes into contact with an object during the work in response to the working member being moved by the moving means.

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