Food arrangement method, hand device, food arrangement device, and food arrangement control device

Abstract

To provide a food arrangement method, a hand device, a food arrangement device, and a food arrangement control device which can suitably arrange food.SOLUTION: A hand device provided so as to be mountable on a tip of a robot arm has a collecting part 35, wherein the collecting part 35 has: a plurality of finger parts 44A and 44B which are provided so as to be movable between a close position where they approach each other and an open position where they are separated from each other; and an air cylinder which reciprocates the finger parts 44A and 44B to the open position and the close position. The collecting part 35 has claw parts 60 which are provided on each of the finger parts 44B, and are provided so as to be movable between an advance position where they approach each other and an exit position where they are separated from each other. The collecting part 35 includes an air cylinder 57 which moves each of the claw parts 60 to the advance position when each of the finger parts 44A and 44B are positioned at the close position, and operates each of the claw parts 60 to the exit position when each of the finger parts 44A and 44B are positioned at the open position.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present invention relates to a food plating method, a hand device, a food plating device, and a food plating control device. [Background technology]

[0002] An apparatus for plating food using a robot is known, for example, from Patent Document 1. Patent Document 2 discloses that a pouch on a transport conveyor is picked up by a vacuum suction device provided on an end effector of the robot and then moved and placed on another transport conveyor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6650119 [Patent Document 2] Japanese Patent Application Publication No. 2019-10719 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 does not disclose a specific manner in which food is served in food containers on a conveyor. In Patent Document 2, as described above, pouches are picked using a vacuum suction device, placed one by one on another conveyor at a distance from each other, and then transported by the other conveyor. Conventionally, sliced ​​meat sliced ​​by a slicer is placed on a conveyor and transported, and during this transport, workers manually arrange the sliced ​​meat on trays. This is because sliced ​​meat is thin and flexible, and when held in the middle, both ends droop. Conventionally, automating the arrangement of such foods has been difficult, so it has been done manually.

[0005] However, the methods, hand devices, food plating devices, and plating control devices disclosed in Patent Documents 1 and 2 leave room for technical improvement. Therefore, there is a demand for methods, hand devices, food plating devices, and food plating control devices that can plate such foods in an optimal manner.

[0006] SUMMARY OF THE INVENTION An object of the present invention is to solve the above problems and to provide a food plating method, a hand device, a food plating device, and a food plating control device that can suitably plate soft foods. [Means for solving the problem]

[0007] To solve the above problems, a first aspect of the present invention provides a food presentation method that includes a first step of using a picking unit of a hand device to support a middle portion of food positioned at a picking position and suspend both ends, a second step of moving the hand device to a presentation area spaced from the picking position, and a third step of moving the hand device downward and in a direction perpendicular to the downward direction relative to the presentation area to contact the suspending end of the food and lay it down in a folded state, thereby releasing support from the picking unit.

[0008] A second aspect of the present invention provides a food plating method, in which the direction perpendicular to the downward direction is set at a predetermined angle with respect to the direction in which the hand device moves from the picking position in the first step to above the plating area in the second step.

[0009] A third aspect of the present invention provides a food plating method in which target placement points where the food is to be placed in at least one of a predetermined number of rows M and a predetermined number of columns N are set in the plating area, and the first, second, and third steps are respectively performed for each of the target placement points arranged in column or row order, so that the food is plated in a weight within a set range.

[0010] In a fourth aspect of the present invention, the collection unit has a plurality of finger portions that can be opened and closed relative to each other, and claw portions that can move forward and backward from each finger portion and support the food, and in the first step, the finger portions are transitioned to a closed state and the claw portions are advanced to support the food located at the collection position with the claw portions and then move the food upward so that both ends hang down, and in the third step, the finger portions are transitioned to an open state and the claw portions are withdrawn to release the support of the food.

[0011] A fifth aspect of the present invention provides a food plating method, in which the picking position is set on a conveying surface of a conveyor that conveys the food, the plating area is set at a predetermined position excluding the conveying surface of the conveyor, and food conveyed by the conveyor is picked up at the picking position and plated in the plating area.

[0012] A sixth aspect of the present invention provides a food plating method, which synchronizes the movement of the conveying surface caused by intermittent or continuous driving of the conveyor that transports the food with the timing of picking up the food on the conveying surface.

[0013] A seventh aspect of the present invention provides a food presentation method that uses imaging means to capture an image of the food to be picked as it is transported by the conveyor, and based on the image capture results, sets a support target point on the food at or near the center of the length of the food in a direction that intersects the conveyor's transport direction in a plan view.

[0014] An eighth aspect of the present invention provides a food plating method, which enables the support target point for the food to be changed and set to a position offset from the center of the length of the food in a direction that intersects the conveying direction of the conveyor in a plan view.

[0015] A ninth aspect of the present invention provides a hand device that is mountable to the tip of a robot arm and has a sampling unit, the sampling unit comprising a plurality of fingers that are movable between a closed position where the fingers are close to each other and an open position where the fingers are spaced apart, a finger drive source that drives the fingers to reciprocate between the open position and the closed position, and claws that are provided on each finger and are movable between an advanced position where the fingers are close to each other and a retracted position where the fingers are spaced apart. and a claw drive source that moves each claw to the advanced position when each finger is in the closed position, and moves each claw to the retracted position when each finger is in the open position.

[0016] In a tenth aspect of the present invention, there is provided a food plating device. This food presentation device is a food presentation device that includes a robot having a hand device at the tip of a robot arm with multiple degrees of freedom, wherein the hand device has a collection section that has a plurality of fingers that can be opened and closed relative to one another, and a finger drive source that drives the fingers back and forth between open and closed positions, the robot arm is configured to move the hand device from a standby position away from the collection position where the food is located to the collection position, and the finger drive source is configured to move the fingers toward the closed position when the hand device moves to the collection position, and to support the food via the fingers, the robot arm is configured to move the hand device onto a presentation area away from the collection position with the end of the food supported by the hand device hanging down, and then move the hand device downward and in a direction perpendicular to the downward direction relative to the presentation area, so as to contact the hanging end of the food and lay it down in a folded state, and the finger drive source is configured to release the support via the fingers from the laid food.

[0017] An eleventh aspect of the present invention provides a food plating apparatus that includes a robot having the hand device of the tenth aspect at the tip of a robot arm having multiple degrees of freedom, wherein the robot arm is configured to move the hand device from a standby position spaced from a picking position where food is located to the picking position, and when the hand device moves to the picking position, the finger drive source operates the fingers to a closed position, and the claw drive source moves the claws from the retracted position to the advanced position, so that at least the actuation of the fingers to the closed position and the movement of the claws to the advanced position are synchronized. The food is supported by either one of the hand device and the robot arm moves the hand device to a serving area spaced from the collection position with the food supported by the hand device and its end hanging down, and then moves the hand device downward and in a direction perpendicular to the downward direction relative to the serving area to contact the food from its hanging end and lay it down in a folded state, and the finger drive source and the claw drive source move the finger and claw to an open position and a retracted position to release the support of the food in a laid down state.

[0018] A twelfth aspect of the present invention provides a food plating control device comprising a control unit that controls the food plating device of the tenth aspect, wherein the control unit has a first control function that controls an active joint of the robot arm and a second control function that controls the hand device, the first control function driving and controlling the active joint of the robot arm to move the hand device from a standby position distal to the food to a picking position proximal to the food, and the second control function driving and controlling the finger drive source to move the fingers from an open position to a closed position when the hand device has moved to the picking position, The food is supported via the finger portion, and the first control function drives and controls the active joint of the robot arm to move the hand device to a serving area spaced from the collection position while supporting and hanging down the food by the hand device, and then moves the hand device downward and in a direction perpendicular to the downward direction relative to the serving area to contact the food from its hanging end and lay it down in a folded state, and the second control function drives and controls the finger portion drive source to move the food from the advanced position to the retracted position and release the support via the finger portion from the laid down food.

[0019] A thirteenth aspect of the present invention provides a food plating control device comprising a control unit that controls the food plating device of the eleventh aspect, wherein the control unit has a first control function that controls an active joint of the robot arm and a second control function that controls the hand device, the first control function driving and controlling the active joint of the robot arm to move the hand device from a standby position distal to the food to a picking position proximal to the food, and the second control function driving and controlling the finger drive source and the claw drive source to move the fingers to a closed position when the hand device has moved to the picking position. At the same time, the claw portion is moved from the retracted position to the advanced position to support the food, and the first control function drives and controls the active joint of the robot arm to move the hand device to a serving area spaced from the collection position with the food supported and hanging down by the hand device, and then moves the hand device downward and in a direction perpendicular to the downward direction relative to the serving area to contact the food from its hanging end and lay it down in a folded state, and the second control function drives and controls the finger drive source and the claw drive source to release the support of the food in the laid down state.

[0020] A fourteenth aspect of the present invention provides a food plating method using a hand device equipped with a collection unit including a plurality of fingers that can be moved between open and closed positions and a scooping unit that can be inserted and removed between the plurality of fingers, the method comprising the steps of: a first step of scooping food located at a collection position obliquely upward with the scooping unit that moves between the open fingers and supporting the scooped food by moving the plurality of fingers to a closed position, a second step of moving the hand device to a plating area spaced from the collection position, and a third step of releasing the support of the food and lowering the food obliquely downward with the scooping unit in the plating area, thereby placing the food in a substantially U-shaped state in plan view.

[0021] A fifteenth aspect of the present invention provides a food plating method, wherein the fingers have a plurality of claws movable between an advanced position where they are close to each other and a retracted position where they are spaced apart, the open states of the fingers include a state where the plurality of claws are in the advanced position and a state where the plurality of claws are in the retracted position, and when the fingers are in the closed state, the lower part of the food scooped diagonally upward by the scooping part in the first step is placed on and supported by the claws.

[0022] A sixteenth aspect of the present invention provides a food plating method, in which target placement points for placing the food in at least one of a predetermined number of rows M and a predetermined number of columns N are set in the plating area, and the first, second, and third steps are respectively performed for each of the target placement points arranged in column or row order, so that the food is plated in a weight within a set range.

[0023] A seventeenth aspect of the present invention provides a food plating method, wherein in the second step, the hand device is twisted in a direction perpendicular to the downward direction, and in the subsequent third step, the meat is lowered diagonally downward by the scooping part, and the food is placed so that it remains roughly U-shaped in plan view.

[0024] An eighteenth aspect of the present invention provides a food plating method, wherein the picking position is set on a conveying surface of a conveyor that conveys the food, the plating area is set at a predetermined position excluding the conveying surface of the conveyor, and food conveyed by the conveyor is picked up at the picking position and plated in the plating area. A nineteenth aspect of the present invention provides a food plating method, which synchronizes the movement of a conveying surface caused by intermittent or continuous driving of the conveyor that transports the food with the timing of picking up food from the conveying surface.

[0025] A twentieth aspect of the present invention provides a food plating method in which an imaging means captures an image of the food to be picked as it is transported by the conveyor, and based on the image capture results, a support target point for the scooping unit relative to the food is set to a position at or near the center of the length of the food in a direction that intersects the conveyor's transport direction in a plan view.

[0026] A 21st aspect of the present invention provides a food plating method, which enables the support target point for the food to be changed and set to a position offset from the center of the length of the food in a direction that intersects the conveying direction of the conveyor in a plan view.

[0027] A 22nd aspect of the present invention provides a hand device that is attachable to the tip of a robot arm and has a collection unit, the collection unit comprising a plurality of fingers that are movable between an open state and a closed state, a finger drive source that drives the fingers to move between the open state and the closed state, a scooping unit that is positioned to be able to move between the plurality of fingers and operates to scoop up food diagonally upward and lower the scooped food in the direction opposite to the diagonally upward direction, a first drive source that drives the scooping unit, and a second drive source that drives the scooping unit to move between the plurality of fingers and to move away from the scooping unit.

[0028] A 23rd aspect of the present invention provides a hand device that is mountable to the tip of a robot arm and has a collection unit, the collection unit including a plurality of fingers that are movable between an open state and a closed state, a finger drive source that drives the fingers to move between the open state and the closed state, claws that are provided on each finger and are movable between an advanced position where they are close to each other and a retracted position where they are spaced apart, a claw drive source that drives the claws to reciprocate between the advanced position and the retracted position, and a claw drive source that is disposed in a position that is capable of entering gaps formed between the claws that are positioned at the advanced positions when the fingers are open, and that scoops up food obliquely upward and scoops up food. a scooping unit that lowers the scooped food diagonally downward; a first drive source that operates the scooping unit diagonally upward and diagonally downward; and a second drive source that operates the scooping unit to enter and retract into the gap; when the fingers are in an open state and the claws are in the advanced position, the scooping unit scoops up the food diagonally upward, and then the fingers are moved to a closed state to place and support the lower part of the food on the claws; and after the food is moved to a position above the serving area by moving the hand device, the claws are moved to a retracted position to release the support of the food by the claws. It is structured as follows.

[0029] A 24th aspect of the present invention provides a food plating apparatus including a robot having a hand device of the 22nd aspect at the tip of a robot arm having multiple degrees of freedom, the robot arm moving the hand device from a standby position away from a picking position where food is located to the picking position, the scooping unit being configured to enter between the fingers in an open state by the second drive source when the hand device moves to the picking position, and to scoop up the food located at the picking position diagonally upward by the first drive source, the fingers being configured to allow the scooping unit to enter between the fingers in the open state and to scoop up the food, The finger drive source is configured to transition to the closed state, thereby deforming the scooped up food into an approximately U-shape in plan view, and the robot arm is configured to move the hand device to a serving area spaced from the collection position after the food has been deformed, and after the robot arm has moved the hand device to the serving area, the fingers are configured to transition to an open state by the finger drive source, thereby releasing the support of the food by the claws, and the scooping section is configured to lower the released food diagonally downward by the first drive source, and place it on the serving area in the approximately U-shape in plan view.

[0030] A 25th aspect of the present invention provides a food plating apparatus that includes a robot having a hand device according to the 23rd aspect at the tip of a robot arm having multiple degrees of freedom, the robot arm moving the hand device from a standby position away from a picking position where food is located to the picking position, the scooping unit being configured to enter the gap when the fingers are in an open or closed position and the claws are in an advanced position by the second drive source as the hand device moves to the picking position, and to scoop up the food located at the picking position diagonally upward by the first drive source, and the fingers being moved to the closed position by the finger drive source The scooped food is deformed into an approximately U-shape in a plan view, and the scooped food is supported by the claw portion positioned in the advanced position. After the food is supported by the claw portion, the robot arm moves the hand device to a serving area spaced from the collection position. As the hand device moves to the serving area, the claw portion is moved to the retracted position by the claw portion drive source, thereby releasing its support for the food. The scooping unit lowers the food, whose support by the claw portion has been released, diagonally downward by the first drive source, and places it on the serving area while still in the approximately U-shape in a plan view.

[0031] A 26th aspect of the present invention provides a food plating control device comprising a control unit for controlling the food plating device of the 25th aspect, wherein the control unit has a first control function for controlling an active joint of the robot arm and a second control function for controlling the hand device, the first control function driving and controlling the active joint of the robot arm to move the hand device from the standby position to the picking position, the second control function controlling the second drive source when the hand device moves to the picking position to cause the scooping unit to enter the gap when the fingers are in an open or open state and the claws are in the advanced position, and controlling the first drive source to scoop up the food located at the picking position diagonally upward, and the second control function controlling the finger drive source to move the fingers in a closing direction to scoop up the food. The scooped food is deformed into an approximately U-shape in plan view, and the scooped food is supported by the claws positioned in the advanced position. After the food is supported by the claws using the first control function, the active joint is controlled to move the hand device to a serving area away from the collection position. After the hand device has moved to the serving area using the second control function, the finger drive source is controlled to transition the fingers to an open state, and the claw drive source is controlled to move the claws to a retracted position, at least controlling the claw drive source to move the claws to the retracted position to release the support of the food. The first control source is then controlled to lower the released food diagonally downward using the scooping unit, so that the food is placed on the serving area while maintaining its approximately U-shape in plan view.

[0032] A 27th aspect of the present invention provides a food plating control device. This food plating control device is the food plating control device of the 26th aspect, wherein the first control function controls the active joint to move the hand device via the tip of the robot arm to a plating area spaced from the picking position, and the hand device is once twisted in a direction perpendicular to a downward direction on or near the plating area, and then, while the twist is returned, the second control function controls the first drive source to lower the food diagonally downward using the scooping unit, so that the food remains placed in a generally U-shaped configuration in plan view. [Effects of the Invention]

[0033] The food plating method, hand device, food plating device, and food plating control device of the present invention have the effect of being able to deform food and plate it in a suitable manner. [Brief explanation of the drawings]

[0034] [Figure 1] 1 is a schematic side view of a food plating device according to a first embodiment. [Figure 2] 1 is a schematic plan view of a food plating device according to a first embodiment. [Figure 3] FIG. 2A is a side view of the hand device of the first embodiment, and FIG. 2B is a perspective view of an air cylinder 42. [Figure 4] FIG. 1A is a front view of the claw portion of the hand device of the first embodiment in a retracted position with a portion of the finger portion cut away, and FIG. 1B is a front view of the claw portion of the hand device of the first embodiment in an advanced position with a portion of the finger portion cut away. [Figure 5] FIG. 1 is a block diagram of a food plating control device according to a first embodiment. [Figure 6] 3 is a flowchart executed by the food plating control device of the first embodiment. [Figure 7] 3 is a flowchart executed by the food plating control device of the first embodiment. [Figure 8] 3 is a flowchart executed by the food plating control device of the first embodiment. [Figure 9]FIG. 3A is an explanatory side view of the trajectory of the hand device of the first embodiment, and FIG. 3B is an explanatory plan view of the trajectory of the hand device of the first embodiment. [Figure 10] FIG. 3 is an explanatory diagram of a sliced ​​meat placement section of a tray placed in a serving area in the first embodiment. [Figure 11] 10(a) to 10(d) are explanatory diagrams showing the movement of sliced ​​meat in the serving area. [Figure 12] 5(a) to 5(c) are explanatory views showing a state in which sliced ​​meat is arranged in a matrix in the serving area in the first embodiment. [Figure 13] 1A is a front view of the state immediately before the sliced ​​meat is grasped by the finger portion, and FIG. 1B is a rear view of the state immediately after the sliced ​​meat is grasped by the finger portion. [Figure 14] (a) is an explanatory side view of the state in which sliced ​​meat grasped by the finger portion is moved upward and transferred to the serving area, and (b) is an explanatory rear view of the state in which sliced ​​meat grasped by the finger portion is moved upward and transferred to the serving area. [Figure 15] FIG. 10 is a schematic plan view of a flexible article dispensing device according to a second embodiment. [Figure 16] FIG. 10 is a side view of a hand device according to a second embodiment. [Figure 17] FIG. 10 is a side cross-sectional view of a mechanism case of a scooping unit according to a second embodiment. [Figure 18] FIG. 10 is a front view of a scooping unit according to a second embodiment. [Figure 19] FIG. [Figure 20] FIG. [Figure 21] FIG. 10 is a block diagram of a food plating control device according to a second embodiment. [Figure 22] 10 is a flowchart executed by a food plating control device according to a second embodiment. [Figure 23] 10 is a flowchart executed by a food plating control device according to a second embodiment. [Figure 24] 10 is a flowchart executed by a food plating control device according to a second embodiment. [Figure 25] FIG. 10 is a side view illustrating the trajectory of the hand device according to the second embodiment. [Figure 26] FIG. 10 is a plan view illustrating the trajectory of the hand device according to the second embodiment. [Figure 27] 10(a) is an explanatory diagram of a serving area in the second embodiment, and FIG. 10(b) is an explanatory diagram of a twisted state of sliced ​​meat in the second embodiment. [Figure 28] 10(a) to 10(c) are explanatory views showing a state in which sliced ​​meat is arranged in a row in a serving area in a second embodiment. [Figure 29] 10(a) to 10(f) are explanatory views showing the movement of sliced ​​meat in the serving area in the second embodiment. [Figure 30] 1A is an explanatory side view of the second embodiment, showing the state just before the sliced ​​meat is grasped by the scooping portion and the finger portion, and FIG. 1B is an explanatory rear view of the state just before the sliced ​​meat is grasped by the scooping portion and the finger portion. [Figure 31] (a) is an explanatory side view of the state in which sliced ​​meat gripped by the scooping portion and finger portion is moved upward in the second embodiment, and (b) is an explanatory rear view of the state in which sliced ​​meat gripped by the scooping portion and finger portion is moved upward. [Figure 32] (a) is an explanatory diagram showing a rear view of the state in which the sliced ​​meat grasped by the scooping portion and finger portion has been moved upward from the state in Figure 31(b), and (b) is an explanatory diagram showing a rear view of the state in which the sliced ​​meat grasped by the scooping portion and finger portion has been transferred to the presentation area by the hand device being raised and moved to the presentation area. [Figure 33] 10 is a side view illustrating the state in which the sliced ​​meat grasped by the scooping portion and the finger portion is transferred to the serving area by the hand device being raised and moved to the serving area; FIG. [Figure 34] 10(a) to 10(c) are explanatory diagrams showing the state in which sliced ​​meat is lowered into the serving area. [Figure 35] 10A and 10B are explanatory views of a transfer device according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0035] (First embodiment) A first embodiment of the food plating method, hand device, food plating device, and food plating control device of the present invention will be described below. In this embodiment, the food is sliced ​​meat. However, the food is not limited to sliced ​​meat and may be other foods. In this embodiment, in the conveying direction of the first conveying device 14 that conveys the sliced ​​meat E cut by the slicer 12, the slicer 12 side is upstream and the opposite side is downstream. In FIG. 2, "-Y" and "+Y" indicate the upstream and downstream directions. "-X" and "+X" indicate the right and left directions when viewed from the slicer 12 side. "-Z" and "+Z" indicate the downward and upward directions. The directions indicated by X, Y, and Z are mutually orthogonal.

[0036] <First Conveying Device 14 and Second Conveying Device 18> As shown in FIG. 2 , the food presentation device 10 is provided downstream and to the left of a first conveying device 14 that conveys sliced ​​meat E cut from a slicer 12 that continuously cuts a chunk of meat and folded in two. The placement of the food presentation device 10 is not limited to the downstream left of the first conveying device 14, but may be on the right, or may be suspended directly above the downstream portion of the first conveying device 14 via a ceiling suspension device (not shown). A second conveying device 18 is disposed at the end of the first conveying device 14, extending in a left-right direction perpendicular to the conveying direction of the first conveying device 14. In this embodiment, the conveying surfaces 15a, 19a of the belts 15, 19 of the first conveying device 14 and the second conveying device 18 are positioned at the same height, but are not limited to being at the same height. In the following description, the sliced ​​meat E is not limited to being folded in two, and may be a single piece of unfolded meat.

[0037] The first and second conveying devices 14 and 18 each have conveyors 16 and 20 formed by endless belts 15 and 19 wound around a group of driven rollers and a drive roller (neither of which are shown). The conveyor 16 is equipped with a servo motor 91 (see FIG. 5) connected via a reducer. As shown in FIG. 2, the sliced ​​meat E folded into strips by the slicer 12 is placed on the belt 15 of the first conveying device 14 so that its longitudinal direction is aligned in a direction (X-axis direction) perpendicular to the conveying direction of the conveying device 14. The rotational position of the servo motor 91 is detected by an encoder 92 shown in FIG. 5, and the detected value is input to a slicer controller 90 and used for feedback control of the servo motor 91, etc.

[0038] A slicer controller 90 shown in FIG. 5 controls a servo motor 91 to drive the belt 15 intermittently or continuously, thereby transporting sliced ​​meat E, which is placed with its longitudinal direction parallel to the X-axis direction, to the collection position T shown in FIG. 2. In the intermittent drive mode, the belt 15 is stopped once the sliced ​​meat E has been transported to the collection position T. The continuous drive mode is used when the time from when sliced ​​meat E is collected until the next sliced ​​meat arrives at the collection position T is longer than the movement time of the hand device 40 shown in FIG. 9 from points P0 to P8 to P0.

[0039] 1 and 2, a camera 87 serving as an imaging means is disposed above the belt 15 of the first conveying device 14 on the upstream side of the picking position T. In FIG. 2, the position of the camera 87 above the conveying surface 15a is indicated by a two-dot chain line because the food presentation device 10 and the like are viewed from above. The camera 87 captures an image of the sliced ​​meat E being conveyed to the picking position T.

[0040] As shown in FIG. 2, in the second conveying device 18, a portion of the belt 19 facing the belt 15 of the first conveying device 14 is a serving area R having a length r1 in the Y-axis direction and a length r2 in the X-axis direction, as shown in FIG. 10. A tray 88 having a rectangular inner bottom and a peripheral wall 88a is placed on the serving area R as a container for serving sliced ​​meat E. The second conveying device 18 stops conveying the sliced ​​meat E until the food serving device 10 has finished plating the sliced ​​meat E on the tray 88, and then moves the tray 88 after the plating of the sliced ​​meat E on the tray 88 is completed. Note that the serving area R may be set on the inner bottom of the tray 88 itself when the tray 88 is positioned at this conveying stop position.

[0041] <Food serving device 10> As shown in Figure 1, food plating device 10 is a robot with an articulated robot arm 22 with six degrees of freedom. Robot arm 22 has six active joints J1, J2, J3, J4, J5, and J6, each of which rotates or twists, causing each part or the entire robot arm 22 to rotate, pivot, swing, or tilt. J1, J2, J3, J4, J5, and J6 shown in Figure 1 represent the axes of the active joints.

[0042] The axes J1, J2, J3, J4, J5, and J6 of the active joints are each equipped with a servo motor 71 to 76, as shown in Fig. 5. The robot arm 22 is equipped with encoders 81 to 86 as position detectors, as shown in Fig. 5, for each of the servo motors 71 to 76. Specifically, the robot arm 22 includes a base 25, a rotating base 26, a lower arm 27, an upper arm 28, a wrist support arm 29, and a hand mounting base 30.

[0043] The base 25 is fixed on a support base 24 fixed to the floor. A swivel base 26 is provided on the base 25 so as to be rotatable around an active joint axis J1. A lower arm 27 is pivotally supported on the swivel base 26 so as to be swingable around an active joint axis J2, which is a horizontal axis. Axis J1 extends vertically. Axis J2 is perpendicular to axis J1. A base 28a of an upper arm 28 is pivotally supported on the upper end of the lower arm 27 so as to be swingable up and down around a horizontal axis J3. The upper arm 28 has the base 28a and a rotor 28b connected to the tip of the base 28a. The rotor 28b is rotatable around an active joint axis J4, which is a horizontal axis arranged parallel to the axis of the base 28a. Axis J4 is perpendicular to axis J3.

[0044] A wrist support arm 29 is supported at the tip of the rotor 28b of the upper arm 14 by an active joint axis J5 so as to be tiltable or swingable. The axis J5 is perpendicular to the axis J4. The active joint axis J5 functions as a mechanism for tilting or swinging the wrist support arm 29 at the tip of the upper arm 28, thereby elevating the hand mount 30. The hand mount 30 is rotatably attached to the tip of the wrist support arm 29 by an active joint axis J6. Each of the active joint axes J1, J2, J3, J4, J5, and J6 is equipped with servo motors 71-76 via a reducer (not shown), and is driven by commands from a food plating control device 70 (described later). As shown in FIG. 1, a hand device 40 having a collection unit 35 is attached to the underside of the hand mount 30.

[0045] <Hand device 40> 3(a), the collection unit 35 of the hand device 40 includes a mounting plate 41 attached to the underside of the hand mounting base 30, an air cylinder 42 fixed to the underside of the mounting plate 41, and a pair of fingers 44A, 44B and a claw 60 that are driven to open and close freely by the air cylinder 42. The number of fingers and claws is not limited to one pair, and there may be three or more.

[0046] As shown in FIGS. 3(a) and 3(b), the air cylinder 42 includes a substantially rectangular parallelepiped body 43 and a pair of sliders 45 and 46 slidably fitted to a guide rail 43a formed on the underside of the body 43. The air cylinder 42 corresponds to a finger drive source. Note that the finger drive source is not limited to an air cylinder and may be a solenoid or hydraulic cylinder. The body 43 and the guide rail 43a are arranged such that their longitudinal directions are aligned with the +Y and -Y directions. A pair of cylinder holes 47 are bored parallel to each other within the body 43. A piston (not shown) is disposed within each cylinder hole 47 so as to be reciprocable along the +Y and -Y directions. Each piston is integrally connected to the sliders 45 and 46, respectively. The pistons are configured to move in opposite directions when actuated. Therefore, the sliders 45 and 46 connected to the pistons act in opposite directions.

[0047] As shown in Fig. 3(a), a pair of brackets 48 extending downward are integrally connected to sliders 45, 46. Note that in Fig. 3(a), bracket 48 located on the +Y side is shown, and bracket 48 located on the -Y side is hidden and not shown. As shown in Figs. 3(a), 4(a), and 4(b), finger portions 44A and 44B are provided on the lower end of bracket 48 via mounting member 49.

[0048] In this embodiment, a robot controller 70 (described later) controls the attitude of the robot arm 22, so that the fingers 44A and 44B are always aligned in the Y-axis direction, as shown in Fig. 13(a). The fingers 44A and 44B are formed symmetrically with respect to a virtual plane G located midway between them. That is, in this embodiment, the fingers 44A and 44B are arranged at an inclination angle θ2 (=0) with respect to the Y-axis, as shown in Fig. 11(a).

[0049] That is, in this embodiment, as shown in FIG. 2, the sliced ​​meat E placed at the collection position T is arranged with its longitudinal direction parallel to the X-axis. In contrast, the fingers 44A, 44B are arranged at an inclination angle θ2 (=0) with respect to the Y-axis as shown in FIG. 11(a). This allows the collection part 35 (claw part 60) to collect a collection site B (described later) in a state perpendicular to the longitudinal direction. This allows the collection part 35 to stably collect and support the sliced ​​meat E.

[0050] It should be noted that the inclination angle θ2 of the fingers 44A, 44B is not limited to 0. It is preferable to adjust the inclination of the fingers 44A, 44B so that the collection and support of the collection part 35 at the collection target site B is perpendicular to the longitudinal direction of the sliced ​​meat E, depending on the inclination of the center line of the longitudinal direction of the sliced ​​meat E placed at the collection position T with respect to the X-axis. In this way, it becomes possible to stably collect and support the sliced ​​meat E by the collection part 35. It should be noted that the perpendicular angle may be approximately perpendicular.

[0051] The following describes finger 44A. As described above, the components of finger 44B, which is plane-symmetrical, are designated by the same reference numerals as those of finger 44A, and their description will be omitted. It should be understood that the components of finger 44B that operate in the Y-axis direction operate in the opposite direction to the corresponding components of finger 44A.

[0052] As shown in FIGS. 4(a) and 4(b), the mounting member 49 is bolted to the bracket 48 and includes a mounting plate 49a that supports the finger 44A and a claw drive source mounting plate 49b formed on the upper end of the mounting plate 49a. The claw drive source mounting plate 49b is disposed substantially horizontally. The finger 44A has a pair of finger plates 50, 51 and a pair of fingertips 53, 54. The finger plates 50, 51 are supported by being bolted to the mounting plate 49a with the mounting plate 49a inserted between the finger plates 50, 51.

[0053] A plurality of spacing holding members 52 fixed so as to be interposed between the finger plate portions 50 and 51 and the mounting plate portion 49a form a gap between the two finger plate portions 50 and 51. As shown in FIGS. 4(a) and 4(b), a pair of fingertip portions 53 and 54, which extend downward from the finger plate portions 50 and 51 and are plate-shaped with the same shape at the lower part, are arranged. The fingertip portions 53 and 54 are bolted to the finger plate portions 50 and 51 in a state where a spacing holding member 55 is interposed on the +Y side and an upper part of a guide member 56 is interposed on the -Y side between the upper parts of the fingertip portions 53 and 54, and thus are supported by the finger plate portions 50 and 51. The lower part of the guide member 56 is fixed by a bolt or the like at a substantially central part of the fingertip portions 53 and 54. The upper surface 56a of the guide member 56 is an inclined surface that inclines toward the +Y side as it goes downward. The fingertip portions 53 and 54 of the finger portions 44A and 44B have side surfaces facing each other. As shown in FIGS. 4(a) and 4(b), the side surfaces are preferably vertical surfaces and are parallel to the side surfaces of the fingertip portions 53 and 54 of the other finger portions 44A and 44B facing each other, but are not limited thereto.

[0054] In a state where the air cylinder 42 is not driven, the finger portions 44A and 44B are in an open state as shown in FIG. 13(a), in which the fingertip portions 53 and 54 are arranged at an open position so as to be separated by a predetermined distance L1. In a state where the air cylinder 42 is driven, the finger portions 44A and 44B are in a closed state as shown in FIG. 13(b), in which the fingertip portions 53 and 54 are arranged at a closed position so as to be separated by a predetermined distance L2 (<L1), and the separation interval is narrower than that in the open state. As shown in FIGS. 4(a) and 4(b), an air cylinder 57 as a claw portion drive source is mounted on the upper surface of the claw portion drive source mounting plate 49b. In this embodiment, the claw portion drive source is the air cylinder 57, but the claw portion drive source may be a solenoid or a hydraulic cylinder. The rod 58 of the air cylinder 57 is arranged in the gap between the two finger plate portions 50 and 51 below the claw portion drive source mounting plate 49b. The rod 58 is located at the upper limit position shown in FIG. 4(a) when the air cylinder 57 is in a non-operating state, and is located at the lower limit position shown in FIG. 4(b) when the air cylinder 57 operates.

[0055] A swinging member 59 is connected to the tip of the rod 58 so as to be swingable along the Y-axis direction. As shown in FIGS. 4(a) and 4(b), the lower end of the swinging member 59 slides between the upper and lower portions of the upper surface 56a of the guide member 56 when the rod 58 reciprocates between its upper and lower limit positions. A claw portion 60 is provided at the lower end of the swinging member 59. The claw portion 60 is composed of a ribbon-shaped (narrow plate-shaped) claw member 61. In this embodiment, the claw member 61 is made of a rigid material so as not to bend under the weight when it catches and lifts (harvestes) the sliced ​​meat E, and its lower end surface is curved relative to the lower end surface of the claw member 61 of the finger portion 44B. Examples of the rigid material include metals such as stainless steel, synthetic resins, etc. 4(a), the claw member 61 is inserted between a plurality of restriction pins 62, 63, and 64 arranged in a row from the center to the lower part between the fingertip portions 53 and 54. The tip of the claw member 61 is arranged to face the claw members 61 provided on the other opposing finger portions 44A and 44B.

[0056] When the rod 58 is at its upper limit position, the claw members 61 are at a retracted position in the gap between the fingertips 53, 54, as shown in FIG. 4(a). When the rod 58 is at its lower limit position, the claw members 61 are at an advanced position protruding from the fingertips 53, 54, as shown in FIG. 4(b). This advanced position is set at a position where the claw members 61 are close to each other and nearly touch each other when the fingers 44A, 44B are in a closed state. Setting the advanced position in this manner makes it possible to collect sliced ​​meat E. Note that the advanced position is not limited to a position where the claw members are close to each other and nearly touch each other, and may be any position within which sliced ​​meat can be collected.

[0057] <Food plating control device 70> As shown in FIG. 5, food plating control device 70 comprises a robot controller. Hereinafter, the robot controller will be designated by the reference numeral "70." Robot controller 70 includes a control unit 77, a memory unit 78, an image processing unit 79, etc. Memory unit 78 stores a robot control program. Based on the robot control program, control unit 77 controls robot arm 22 using a first control function and controls hand device 40 using a second control function. Specifically, control unit 77 outputs instructions to each of servo motors 71-76 using the first control function. Each of servo motors 71-76 drives axes J1-J6 according to instructions from robot controller 70. Each of encoders 81-86 detects the position of each of servo motors 71-76 and transmits position data indicating the detected position to robot controller 70.

[0058] The control unit 77 outputs instructions to the air cylinders 42 and 57 using a second control function. Upon receiving the instructions, the air cylinder 42 opens or closes the fingers 44A and 44B. Upon receiving the instructions, the air cylinder 57 positions the claw members 61 of each finger 44A and 44B in the advanced or retracted position. The image processing unit 79 processes images of each sliced ​​meat E moving to the collection position T from the camera 87. The image processing unit 79 calculates the size (longitudinal length) of the sliced ​​meat E based on the results of this image processing (image capture). The control unit 77 calculates the coordinates of the portion B to be collected by the hand device 40 in the sliced ​​meat E placed at the collection position T. The portion B to be collected is preferably located at or near the center halfway along the longitudinal length of the sliced ​​meat E, as shown in FIG. 2 . The portion B to be collected corresponds to the support target point. The coordinates are in a world coordinate system established based on the installation position of the base 25 of the robot arm 22.

[0059] The robot controller 70 is capable of changing the harvested portion B using the keyboard 80. A numerical value input using the keyboard 80 on the plane of the conveying surface 15a is set as an offset amount in the X-axis direction and stored in the memory unit 78. For example, if the offset amount is a positive value, the sliced ​​meat E is offset in the +X direction from the center portion. If the offset amount is a negative value, the sliced ​​meat E is offset in the -X direction from the center portion. In this embodiment, the offset amount is set to "0". It is preferable to set this offset amount before the robot controller 70 is started up. Alternatively, the numerical values ​​may be input using a touch panel provided on the slicer 12 instead of the keyboard 80.

[0060] The robot controller 70 may be configured as a computer having a calculation function and a memory unit, or may be configured as a programmable logic controller (PLC). As shown in Fig. 5, the robot controller 70 communicates with a slicer controller 90 that controls the slicer 12. When a serving completion signal is input from the robot controller 70, the slicer controller 90 controls the servo motor 91 to intermittently drive or continuously drive the conveyor 16, thereby transporting the sliced ​​meat E to the collection position T.

[0061] Specifically, when the sliced ​​meat E moves to the collection position T, the slicer controller 90 outputs a collection start signal to the robot controller 70. When the sliced ​​meat E located at the collection position T has been collected and arranged, the robot controller 70 outputs a serving completion signal to the slicer controller 90. The slicer controller 90 controls the slicer 12 to process the sliced ​​meat E so that the thickness (height) and size (length in the longitudinal direction of the sliced ​​meat E) are approximately the same. At the same time, the slicer controller 90 controls the servo motor 91 to transport the sliced ​​meat E downstream on the belt 15. In this way, the robot controller 70 receives the "collection start signal" from the slicer controller 90 and communicates the serving completion signal. This allows the robot controller 70 to synchronize the movement of the sliced ​​meat E on the conveying surface 15a with the timing of collecting the sliced ​​meat E, which is food on the conveying surface 15a.

[0062] (Operation of the first embodiment) Next, the operation of the food plating method, hand device 40, food plating device 10, and plating control device 70 configured as described above will be described. Figures 6 to 8 are flowcharts of the robot control program executed by the control unit 77 of the robot controller 70. The control point that is the object of control for the robot arm 22 is the midpoint between the lower ends of the fingers 44A and 44B of the hand device 40. The robot control program moves the control point to points P0 to P8, which will be described later, as shown in Figures 9(a) and 9(b). The control point is the center of the circle of points P0 to P8.

[0063] (S10) When the robot control program is started, in S10, the control unit 77 sets the robot arm 22 and the fingers 44A, 44B and claw members 61 of the hand device 4 to their respective start positions (initial positions). The start position (initial position) of the robot arm 22 is point P0, which is approximately directly above the picking position T of the sliced ​​meat E and at which the hand device 40 is spaced a predetermined distance from the conveying surface 15a. The start position (point P0) corresponds to a standby position. The start position (initial position) of the fingers 44A, 44B of the hand device 40 is a position where they are in an open state. The start position (initial position) of the claw members 61 is the retracted position.

[0064] In S12, the control unit 77 acquires attributes of the sliced ​​meat E that is placed on the belt 15 of the first conveyor device 14 and being transported to the collection position T. Specifically, the slicer controller 90 receives a detection result of the thickness (height) of the tip of the block of meat before slicing from a thickness (height) sensor (not shown) provided in the slicer 12. The thickness (height) corresponds to the length of the sliced ​​meat E in the Y-axis direction on the transport surface 15a when it is laid on the transport surface 15a. The length of the sliced ​​meat E folded at the center in the Y-axis direction is approximately half of this thickness (height). The slicer controller 90 outputs the thickness (height) of the tip of the block of meat before slicing to the robot controller 70. The image processing unit 79 processes the image of the sliced ​​meat E captured by the camera 87 and acquires the size (length of the sliced ​​meat E in the longitudinal direction (X-axis direction)) and area of ​​the sliced ​​meat E based on the results of this image processing. Here, the sliced ​​meat E is classified into large, medium, and small based on both the size and area of ​​the sliced ​​meat E. If the sliced ​​meat does not reach a predetermined size standard, the sliced ​​meat is rejected by a device (not shown). Note that the rejection method is not the object of this disclosure, so a description thereof will be omitted.

[0065] In the following, a case will be described where the sliced ​​meat E satisfies the standard value. (S14) In S14, the control unit 77 calculates the predetermined number of rows M and the predetermined number of columns N based on the thickness (height) of the chunk of meat, the size and area of ​​the sliced ​​meat E based on image processing, and the size (length x width) of the tray 88 placed in the serving area R on which the sliced ​​meat is served. Alternatively, the control unit 77 sets the predetermined number of rows M and the predetermined number of columns N by referring to a reference table stored in advance in the storage unit 78. This setting determines the total number of sliced ​​meat E to be served on the tray 88 (serving area R).

[0066] (1) Example of calculation For example, the predetermined number of rows M is an integer value obtained by dividing the vertical length of the bottom surface of the tray 88 (the length in the conveying direction (Y-axis direction) of the first conveying device 14) by the length of the folded sliced ​​meat E in the conveying direction (Y-axis direction) of the first conveying device 14. The length of the sliced ​​meat E in the conveying direction of the first conveying device 14 is obtained by the image processing unit 79.

[0067] The predetermined number of rows N is an integer value obtained by dividing the horizontal length of the tray 88 (the length in the direction (X-axis direction) perpendicular to the conveying direction of the first conveying device 14) by 1 / 2 of the length of the sliced ​​meat E perpendicular to the conveying direction of the first conveying device 14, or by a length shorter than 1 / 2 of that length. The reason for dividing by 1 / 2 is that in this embodiment, one sliced ​​meat E is laid on the tray 88 while being supported at the middle part in the length direction (harvested part B), and at this time, it is placed folded in half. In addition, the reason for dividing by a length shorter than 1 / 2 is that it is assumed that the sliced ​​meat E will be placed overlapping other sliced ​​meat E adjacent in the row direction (direction perpendicular to the conveying direction of the first conveying device 14). The shorter length is the length of the overlapping part.

[0068] (2) Example of a reference table In the reference table, a predetermined number of rows M and a predetermined number of columns N are set according to the thickness (height) of the chunk of meat and the size of the sliced ​​meat E based on image processing for each size of tray 88 placed in the serving area R. Specifically, when the size of the sliced ​​meat E is classified into multiple stages, the predetermined number of rows M and the predetermined number of columns N are set to be smaller as the size classification of the sliced ​​meat E becomes larger.

[0069] (S16) In S16, the control unit 77 sets the count value m of the row counter and the count value n of the column counter to 1, and then proceeds to the "sliced ​​meat plating process" in S18.

[0070] (S18: Sliced ​​meat serving process) 7 and 8 show a flowchart of the sliced ​​meat presentation process in S18. In this embodiment, as described above, sliced ​​meat E is presented on the tray 88 placed in the presentation area R or on the presentation area R set on the inner bottom surface of the tray 88 in a stationary state. Fig. 10 is an explanatory diagram of the sliced ​​meat presentation section of the tray 88 placed in the presentation area in the first embodiment.

[0071] As shown in Figure 10, the tray 88 is divided into a matrix of multiple sliced ​​meat placement sections. Each section is labeled (m, n). The m in (m, n) is the row number that matches the count value m of the row counter mentioned above. The n in (m, n) is the column number that matches the count value n of the column counter mentioned above.

[0072] In this embodiment, the sliced ​​meat E is arranged in row order starting from the first column, such that (m,n) = (1,1), (2,1) ..., (1,2), (2,2) ..., (M,N), and when one column is finished, the next column is similarly processed.

[0073] In this embodiment, "m=1" meaning the first row is the most downstream side of the tray 88 in the conveying direction (Y-axis direction) of the first conveying device 14. "n=1" meaning the first column is the most right side of the tray 88 when viewed from the slicer 12 side. The row numbers indicating the row order and the column numbers indicating the column order are as described above in this embodiment, but are not limited to this. They may be reversed depending on the type of food. The "sliced ​​meat plating process" will be described in detail below.

[0074] (S100) In S100, the control unit 77 performs a "collection target position setting process" and a "trajectory generation process." <Collection target position setting process> The harvesting target position setting process will now be described. Based on the size of the sliced ​​meat E obtained by the image processing unit 79, a central portion or a position near the central portion that is half (1 / 2) of the length of the sliced ​​meat E in the longitudinal direction (X-axis direction) is set as the harvesting target portion B, and the harvesting target position (three-dimensional coordinates in the world coordinate system) of this harvesting target portion B is calculated. Figure 9(b) shows the harvesting target portion B of the sliced ​​meat E. Note that the sliced ​​meat E and points P0 to P3 overlap in a planar view, but for ease of explanation, Figure 9(b) illustrates the sliced ​​meat E at a position shifted in the -Y direction from points P0 to P3. The harvesting target position is the position (central portion) that is half (1 / 2) of the length of the sliced ​​meat E in the longitudinal direction shown in Figure 2. This is point P2, which will be described later.

[0075] In addition, if the memory unit 78 stores an offset amount in the X-axis direction of the collection target area B, the control unit 77 reads out the offset amount from the memory unit 78 and changes the coordinates of the collection target position of the collection target area B by adding or subtracting the offset amount.

[0076] <Trajectory generation process> The trajectory generation process is a process of generating a trajectory from points P0 to P8 shown in Figures 9(a) and 9(b) and returning from point P8 to point P0, and the control unit 77 calculates the position, posture, speed, and acceleration of the hand device 40 over time.

[0077] <Regarding the position of the hand device 40> Points P0 to P8 will be explained with reference to Figures 9(a) and 9(b). As mentioned above, the control point of the robot arm 22 is the midpoint between the lower ends of the fingers 44A and 44B of the hand device 40. Hereinafter, the control point may also be referred to as the position of the hand device 40. Point P0 is the initial position of the robot arm 22 mentioned above and is a fixed value. Point P0 is located directly above the center line O of the belt 15 of the first conveying device 14.

[0078] Point P2 is located below point P0 and is the position of the hand device 40 when picking up the sliced ​​meat E located at picking position T, and is the picking target position. Point P2 is changed (corrected) later in S104, but is treated as a fixed value in S100. Note that FIG. 9(b) shows the position after the X coordinate has been changed in S104. The X coordinate of point P2 before being changed in S104 is the same value as point P0. Point P1 is a point included in the path between point P0 and point P2. Point P1 may be calculated by interpolation when points P0 and P1 are determined.

[0079] Point P3 has the same X and Y coordinate values ​​as point P0, but is larger (higher) than the Z coordinate value of point P0. The height of point P3 from the conveying surface 15a is set so that when the claw members 61 of the hand device 40, having picked up the sliced ​​meat E, rise to point P3, neither end of the picked sliced ​​meat E will touch the conveying surface 15a. The three-dimensional coordinate values ​​of point P3 are fixed values. However, the Z coordinate value of point P3 and the Z coordinate value of point P4, which will be described later, may be corrected according to the size of the sliced ​​meat E.

[0080] The Y coordinate value of point P4 is the value of the position of the hand device 40 moving from point P3 just before it reaches the presentation area R. The X coordinate value of point P4 is the same as the X coordinate value of point P3. In this embodiment, the Z coordinate value of point P4 is set higher than the Z coordinate value of point P3 so that the height of point P4 is such that both ends (hanging ends) of the sliced ​​meat E do not interfere with each other when the claw members 61 of the hand device 40 pass through the peripheral wall 88a of the tray 88 after picking up the sliced ​​meat E. The three-dimensional coordinate values ​​of point P4 are fixed values. Note that if the tray 88 is not used and the sliced ​​meat E is arranged in a matrix on the conveying surface 19a, which is at the same height as the conveying surface 15a, for example, the Z coordinate value of point P4 may be set to the same value as the Z coordinate value of point P3.

[0081] At the following points P5 to P8, the meat drop points Rmn where the sliced ​​meat E is dropped differ for each row and column. Details of the coordinate values ​​of the meat drop points Rmn will be described later. The meat drop points Rmn correspond to target placement points.

[0082] For ease of explanation, we will begin with point P7. Point P7 is located directly above a meat drop point Rmn set on the inner bottom surface of the tray 88, which is the serving area R, or on the conveying surface 19a of the belt 19, for each sliced ​​meat placement section (m, n) in the tray 88. The meat drop point Rmn is the center of the sliced ​​meat placement section (m, n). The X and Y coordinate values ​​of point P7 are the same as the X and Y coordinate values ​​of the meat drop point Rmn. Every time column n and / or row m are updated in S20, S24, and S28, which will be described later, the X and Y coordinate values ​​of point P7 become the X and Y coordinate values ​​of the updated meat drop point Rmn. The Z coordinate value of point P7 is a fixed value set to a predetermined value that is spaced upward from the conveying surface 19a (or the inner bottom surface of the tray 88) in the serving area R. When the hand device 40 reaches the point P7, the support of the picked sliced ​​meat E is released and the sliced ​​meat E is lowered onto the inner bottom surface of the tray 88.

[0083] The X coordinate value of point P5 is a value that is a predetermined distance d1 (>0) away from the X coordinate value of point P7 so that it is located on the -X side as shown in Figure 9(b). The Y coordinate value of point P5 is the same as the Y coordinate value of point P7. The predetermined distance d1 is a distance that allows the sliced ​​meat E to be placed while moving downward from point P5 to point P7 with both ends of the sliced ​​meat E hanging down to approximately half its length and with the hanging ends of the sliced ​​meat E in contact with the inner bottom surface of the tray 88.

[0084] The size of the sliced ​​meat processed by the slicer 12 (the longitudinal length of the sliced ​​meat E) is not constant, but varies within a certain range. Therefore, when the sliced ​​meat E, which is approximately half the maximum length within that range, moves downward the predetermined distance d1 from point P5 to point P7, the predetermined distance d1 need only be large enough to allow the sliced ​​meat to lie down. The Z coordinate value of point P5 is set to a value at which both ends of the sliced ​​meat E supported by the claw members 61 of the hand device 40 do not come into contact with the inner bottom surface of the tray 88. The Z coordinate value of point P5 is a fixed value.

[0085] In this embodiment, the harvested portion B of the sliced ​​meat E is located at or near the center of the sliced ​​meat E, halfway along its longitudinal length. Therefore, the Z coordinate value of point P5 is slightly larger than half of the length and larger than the Z coordinate value of point P7. Point P6 is an intermediate point included in the straight line connecting point P5 and point P7. Point P6 may be calculated by interpolation when point P5 and point P7 are determined. The three-dimensional coordinates of point P6 are the coordinate values ​​included in the straight line between point P5 and point P7.

[0086] While the hand device 40 moves from point P5 to point P7 via point P6, the sliced ​​meat E supported by the claw members 61 of the hand device 40 is laid down, with the points where both ends (or one end) of the sliced ​​meat E contact the tray 88 as fixed points. Both ends of the sliced ​​meat E become hanging ends that contact the inner bottom surface of the tray 88. Note that it is not necessary for the sliced ​​meat E to have the points where both ends (or one end) contact the tray 88 as fixed points. After dragging the sliced ​​meat E while moving from point P5 to point P7 via point P6, the support of the sliced ​​meat E by the claw members 61 may be released.

[0087] The X coordinate value of point P8 is set to be located on the +X side of the X coordinate value of point P5, as shown in FIG. 9(b). The Y coordinate value of point P8 is set to be the same as the Y coordinate value of point P5. The Z coordinate value of point P8 is set to be the same as the Z coordinate value of point P5. Note that the Z coordinate value of point P8 does not have to be the same as the Z coordinate value of point P5 and may be different. However, in order to efficiently return to point P0, it is preferable that the Z coordinate value of point P8 be the same as or close to the Z coordinate value of point P0. By setting the Y coordinate value of point P8 to be the same as the Y coordinate value of point P5 and the same as or close to the Z coordinate value of point P0, return to point P0 will be speedy.

[0088] <About the meat drop point Rmn of the sliced ​​meat placement section> The meat drop point Rmn provided for each sliced ​​meat placement section will now be described. Each meat drop point Rmn has an X-axis ratio (Xkmn) and a Y-axis ratio (Ykmn) as attribute data. The attribute data is written in the robot control program. The difference between the X-coordinate value of the meat drop point Rmn and the X-coordinate value of the reference point Ra is defined as ΔXmn. The X-axis ratio (Xkmn) is obtained by the following formula:

[0089] Xkmn=ΔXmn / r2 (r2: length of the filling area R in the X-axis direction) Therefore, the X coordinate value of the meat drop point Rmn is calculated by the following formula. X coordinate value of meat drop point Rmn = X coordinate value of Ra + r2×Xkmn The difference between the Y coordinate value of the meat drop point Rmn and the Y coordinate value of the reference point Ra is defined as ΔYmn. The Y-axis ratio (Ykmn) is obtained by the following formula:

[0090] Ykmn=ΔYmn / r1 (r1: length of the deposition area R in the Y-axis direction) Therefore, the Y coordinate value of the meat drop point Rmn is calculated by the following formula. Y coordinate value of meat drop point Rmn = Y coordinate value of Ra - r1×Ykmn …(2) The Z coordinate value of each meat drop point Rmn is the same as that of the reference point Ra, assuming that the point is on the same horizontal plane. The meat drop points Rmn in each row and column are given as three-dimensional coordinates based on the three-dimensional coordinates of the reference point Ra set in the serving area R shown in Figure 10. In this embodiment, the reference point Ra is a point at one corner of the serving area R, but this is not limited to this and may be another point.

[0091] In the above description, the attribute data of each meat drop point Rmn includes an X-axis ratio and a Y-axis ratio. Alternatively, the attribute data of each meat drop point Rmn may be represented by a vector. This vector is the distance from a known reference point and the angle between a reference line passing through the reference point and a line passing through each meat drop point Rmn. The X- and Y-coordinate values ​​of each meat drop point Rmn may be calculated based on this vector. Furthermore, the three-dimensional coordinates of each meat drop point Rmn may be entered for each size of tray 88 in the lookup table described in S14, and when the size of the tray 88 is determined in S14, the three-dimensional coordinates of each meat drop point Rmn associated with that tray 88 may be referenced.

[0092] As shown in FIG. 12(c), it is preferable that the meat drop point Rmn of the final row be such that the sliced ​​meat E to be dropped onto the final row can be laid in an overlapping state with the sliced ​​meat E of the adjacent rows that have been piled up earlier. It is also preferable that the meat drop point Rmn of the final row be positioned so as not to come into contact with the peripheral wall 88a located on the -X side of the tray 88. In addition, although in FIG. 12 each sliced ​​meat E is laid in a position parallel to the four sides of the tray 88, the aesthetic appearance can be further improved if each sliced ​​meat E is laid in a position diagonal to the four sides of the tray 88. It is preferable that the sliced ​​meat E be laid in the tray 88 within a set weight range. Can be attached.

[0093] <Regarding the Posture of the Hand Device 40> In this embodiment, posture control is performed to maintain the orientation of the hand device 40 such that the lower ends of the fingers 44A and 44B of the hand device 40 are pointing in the -Z direction and the alignment direction of the fingers 44A and 44B is in the ±Y direction throughout the entire trajectory (see Figures 13(a) and 14(a)).

[0094] <About the speed and acceleration between each point> The control unit 77 calculates the speed and acceleration between each point of the hand device 40 (control point) so that, for example, constant speed control or trapezoidal speed control is possible. The movement of the hand device 40 to each point in each step described below is realized by controlling the robot arm 22 based on the coordinate values, speed, acceleration, and posture (the joint angles) calculated or set in S100. The following explanation will mainly focus on the movement of the hand device 40 between points and the operations related to the claw member 61 and both finger portions 44A and 44B of the hand device 40. The posture of the hand device 40 and the speed, acceleration, etc. of the hand device 40 (control point) are calculated based on the above-mentioned calculation results. It should be understood that the control is based on the above.

[0095] (S102) In S102, the control unit 77 waits for reception of a collection start signal output from the slicer controller 90 when the sliced ​​meat E is transferred to the collection position T. When the collection start signal is received, the control unit 77 proceeds to S104.

[0096] (S104) In S104, the control unit 77 changes the X coordinate value of the three-dimensional coordinates of the point P2 to the X coordinate value of the collection target position obtained in S100. Note that the Y coordinate value and Z coordinate value of the collection target position are not changed.

[0097] (S106) The control unit 77 controls the robot arm 22 to move the hand device 40 from the start position (point P0) to point P1 at a high speed.

[0098] (S108) As shown in FIG. 13(a), the control unit 77 controls the robot arm 22 to lower the hand device 40 at a slow (gentle) speed from point P1 to point P2, which is the collection target position.

[0099] (S110) After the hand device 40 reaches point P2, which is the target collection position, the control unit 77 controls the air cylinder 57 of the claw portion 60 to position and extend both claw members 61 from the retracted position to the advanced position (see Figures 4(a) and 4(b)).

[0100] (S112) The control unit 77 controls the air cylinder 42 to transition the fingers 44A, 44B from the open state to the closed state, so that both claw members 61 are positioned at the picking position T and sink into the underside of the picking target portion B of the transported sliced ​​meat E with their longitudinal directions aligned perpendicular to the conveying direction of the conveying device 14 (see FIG. 13(b)).

[0101] (S114) As shown in Figures 14(a) and 14(b), the control unit 77 controls the robot arm 22 to move the hand device 40 from point P2 to point P3 at a slow (gentle) speed. That is, the hand device 40 supports the sliced ​​meat E at the harvest site B with both claw members 61, lifts it up from the conveying surface 15a as shown in Figures 14(a) and 14(b), and moves both ends of the sliced ​​meat E away from the conveying surface 15a so that it hangs down. The support and upward movement of the sliced ​​meat E by the hand device 40 from point P2 to point P3 corresponds to the first step of claim 1.

[0102] (S116) The control unit 77 controls the robot arm 22 to move the hand device 40 from point P3 to point P4. At this time, the control unit 77 performs trapezoidal speed control so that the movement speed of the upper side of the trapezoid is high. By moving the hand device 40 to point P4, both ends (hanging ends) of the sliced ​​meat E are made to be higher than the height of the peripheral wall 88a of the tray 88, and when the hand device 40 subsequently moves above the serving area R, interference with the peripheral wall 88a is avoided.

[0103] (S118) The control unit 77 controls the robot arm 22 to move the hand device 40 from point P4, passing above the peripheral wall 88a of the tray 88, to point P5 above the inner bottom surface of the tray 88 in the serving area R at a high speed. This point P5 is located on the nth row to which the meat drop point Rmn, at which the sliced ​​meat E is currently dropped, belongs. When the hand device 40 moves to point P5, the hanging end of the sliced ​​meat E supported by both claw members 61 is separated from the inner bottom surface of the tray 88 and is in a non-contact state. FIG. 11(a) is a plan view of the sliced ​​meat E supported by the hand device 40 when the hand device 40 is positioned at point P5. Note that FIG. 11(a) shows the sliced ​​meat E positioned at the collection position T by imaginary lines. As shown in the same figure, the sliced ​​meat E is supported and hanging down by the hand device 40 at the central part or a position to be harvested B, which is a position nearby, so that when viewed in a plane, the length in the longitudinal direction is shorter than the length when it was located at the harvesting position T.

[0104] Note that, for convenience of explanation, point P5 is illustrated in FIG. 9(b) as being located on an extension line connecting points P2 and P4. However, point P5 is not necessarily located on the extension line connecting points P2 and P4. This is because the position of point P5 in the ±X and Y axes is changed as the meat drop point Rmn is changed. From the above, if the angle formed by the line connecting points P4 and P5 and the line connecting point P5 and point P6 (described later) in a plan view as shown in FIG. 9(b) is a predetermined angle θ1, then the predetermined angle θ1 has been set. In other words, in the trajectory generation process described above, the trajectory generation of points P4, P5, and P4 corresponds to setting the trajectory at a predetermined angle θ1 with respect to the direction in which the hand device 40 moves from the picking position T in the first step to the serving area R in the second step. The movement of the hand device 40 from point P3 to point P5 corresponds to the second step of claim 1.

[0105] (S120) The control unit 77 controls the robot arm 22 to move the hand device 40 from point P5 to point P6 at a high speed as shown in Figures 9(a) and 9(b). The movement from point P5 via point P6 to point P7 (described later) is downward and in a direction perpendicular to downward.

[0106] As a result, the harvested portion B is moved downward and in the +X direction, and when the hanging end of the sliced ​​meat E comes into contact with the inner bottom surface of the tray 88, the sliced ​​meat E is laid down with the contact point with the inner bottom surface as a fixed point. Figure 11(b) is a plan view of the sliced ​​meat E supported by the hand device 40 when the hand device 40 is positioned at point P6, and the sliced ​​meat E is extended further in the ±X direction than in the state of Figure 11(a).

[0107] (S122) The control unit 77 controls the robot arm 22 to move the hand device 40 at high speed from point P6 to point P7, as shown in Figures 9(a) and 9(b). That is, the control unit 77 moves the hand device 40 downward in the +X direction so that the hand device 40 is positioned directly above the current meat drop point Rmn where the sliced ​​meat E is to be lowered. Furthermore, the sliced ​​meat E is laid down with the point of contact with the inner bottom surface as a fixed point. Figure 11(c) is a plan view of the sliced ​​meat E supported by the hand device 40 when the hand device 40 is positioned at point P7, with the sliced ​​meat E extending further in the X-axis direction than in the state shown in Figure 11(b).

[0108] (S124) With the hand device 40 positioned directly above the current meat drop point Rmn, the control unit 77 controls the air cylinder 42 and the air cylinder 57 of the claw unit 60 to transition the fingers 44A, 44B from the closed state to the open state and move both claw members 61 from the advanced position to the retracted position. This releases support for the target portion B of the sliced ​​meat E, allowing the target portion B of the sliced ​​meat E (at or near the center of its longitudinal length) to be lowered to the current meat drop point Rmn and placed on the inner bottom surface of the tray 88 in a folded state. Figure 11(d) shows a plan view of the sliced ​​meat E when the hand device 40 is positioned at point P7 and lowered to the meat drop point Rmn. The sliced ​​meat E extends further in the ±X direction than in the state shown in Figure 11(b). The process of moving the hand device 40 from point P5 to point P7 corresponds to the third step of claim 1.

[0109] (S126) The control unit 77 controls the robot arm 22 to move the hand device 40 from point P7 to point P8 at a high speed as shown in Figures 9(a) and 9(b). As a result, the hand device 40 moves upward from point P7 in the +X direction, thereby moving away from the sliced ​​meat E that has just been lowered.

[0110] (S128) The control unit 77 controls the robot arm 22 to move the hand device 40 from point P8 to the starting position, point P0, at a high speed, as shown in Figures 9(a) and 9(b). This completes the sliced ​​meat placement process for this meat drop point Rmn.

[0111] (S20) After the sliced ​​meat placement process for the current meat drop point Rmn is completed as described above, in S20 as shown in FIG. 6, the control unit 77 increments the count value m of the row counter.

[0112] (S22) In S22, the control unit 77 determines whether the count value m of the row counter exceeds the predetermined number of rows M. If the count value m does not exceed the predetermined number of rows M, the control unit 77 outputs a serving completion signal to the slicer controller 90, and then returns to S18 to perform the sliced ​​meat serving process for the meat drop point Rmn in the next row in the current column n. Therefore, this sliced ​​meat serving process is performed M times per column. If the count value m exceeds the predetermined number of rows M, the process proceeds to S24.

[0113] (S24) In S24, the control unit 77 increments the count value n of the column counter. (S26) In S26, if the count value n of the column counter does not exceed the predetermined number of columns N, the control unit 77 proceeds to S28, and if the count value n of the column counter exceeds the predetermined number of columns N, the control unit 77 temporarily ends the processing of this flowchart. That is, the placement of sliced ​​meat E at all meat drop points Rmn in the predetermined number of columns N and the predetermined number of rows M is completed. The predetermined number of rows M and the predetermined number of columns N may each be at least 1.

[0114] (S28) In S28, the control unit 77 sets the count value m of the row counter to 1, outputs a serving completion signal to the slicer controller 90, and returns to S18. Therefore, when returning from S28 to S18, the sliced ​​meat serving process is executed for the meat drop point Rmn in the first row of the next column.

[0115] 12(a) to 12(c) show an example of the above flowchart when the predetermined number of rows M is set to "5" and the predetermined number of columns N is set to "3." FIG. 12(a) is a plan view of the tray 88 after sliced ​​meat E has been arranged at the meat drop point Rmn=R11 in the first row and first column. FIG. 12(b) is a plan view of the tray 88 after sliced ​​meat E has been arranged at the total meat drop point Rmn in the first column and the meat drop point Rmn=R12 in the first row and second column. FIG. 12(c) is a plan view of the tray 88 after sliced ​​meat E has been arranged at the total meat drop points Rmn in the first and second columns and the meat drop point Rmn=R13 in the first row and third column.

[0116] (First Modification of the First Embodiment) As a first variation of the first embodiment, the hand device 40 included in food plating device 10 may be configured as follows. The claws 60 of fingers 44A, 44B and air cylinder 57 (claw drive source) are omitted. Instead, pickup protrusions (not shown) are formed integrally with the lower ends of fingers 44A, 44B so as to face each other. In this case, when fingers 44A, 44B are in the closed position, they are positioned in the same position as claw member 61 in the advanced position of the first embodiment. In this variation, plating control device 70 omits the control of air cylinder 57 from the control of the first embodiment, but maintains the same other controls.

[0117] (Second Modification of the First Embodiment) As a second modification of the first embodiment, the following modification may be made. In the first embodiment, the plating control device 70 is configured to support food by actuating the fingers 44A, 44B to the closed position and moving the claw 60 to the advanced position. Alternatively, during the sliced ​​meat plating process, the claw 60 may not be actuated, and the fingers 44A, 44B may support and release the food by moving back and forth between the open and closed positions. In this case, the robot control program is configured to keep the claw 61 in the advanced position while the robot arm 22 is plating the sliced ​​meat. Therefore, in this modification, the control is substantially the same as in the first modification.

[0118] (Third Modification of the First Embodiment) Contrary to the second modified example, during the sliced ​​meat plating process, the fingers 44A, 44B may not be operated, and the food may be supported and released only by the reciprocating movement of the claws 60 between the open and closed positions. In this case, the robot control program will cause the robot arm 22 to maintain the fingers 44A, 44B in the closed position during the sliced ​​meat plating process.

[0119] The present embodiment and the modified example have the following features. (1) In the first step of the food presentation method of this embodiment, while the middle portion (target portion B) of the sliced ​​meat E located at the presentation position T is supported by the collection unit 35 of the hand device 40, the hand device 40 is moved to point P3, causing both ends of the sliced ​​meat E to hang down. In the second step, the hand device 40 is moved from point P3 to point P5 in the presentation area R. In the third step, the hand device 40 is moved downward and in a direction perpendicular to the downward direction relative to the presentation area R, causing the sliced ​​meat E to come into contact with the hanging end side of the sliced ​​meat E and lay it down in a folded state, thereby releasing support from the collection unit 35. As a result, the presentation of the food can be deformed and performed appropriately. Furthermore, by mounting the hand device on the robot arm of a robot and controlling the steps of this method by a computer, food presentation can be easily automated.

[0120] (2) In the food presentation method of this embodiment, the angle formed by the line connecting points P4 and P5 and the line connecting points P5 and P6 shown in Figure 9(b) in a plan view is defined as a predetermined angle θ1. This corresponds to the generation of the trajectories of points P4, P5, and P4 being set at the predetermined angle θ1 relative to the direction in which hand device 40 moves from picking position T in the first step to presentation area R in the second step. As a result, by setting the predetermined angle θ1, it becomes possible to present food on the line connecting points P5 and P6 by laying the food flat in a folded state with its hanging end in contact with the line.

[0121] (3) In the food presentation method of this embodiment, meat drop points Rmn having a predetermined number of rows M and a predetermined number of columns N are set in the presentation area R. Then, sliced ​​meat E (food) is presented by executing the first, second, and third steps for each meat drop point Rmn arranged in row order in each column. As a result, the food is arranged in each column and in row order, and finally, the food can be presented in a matrix.

[0122] (4) In the food plating method of this embodiment, the collection unit 35 has a pair of fingers 44A, 44B that are openable and closable relative to each other, and a claw 60 that moves forward and backward from each finger to support the food. In a first step, the fingers 44A, 44B are transitioned to a closed state, and the claw 60 is advanced. The food located at collection position T is supported by the claw 60, and then moved upward so that both ends hang down. In a third step, the fingers 44A, 44B are transitioned to an open state, and the claw 60 is retracted, thereby releasing the support of the food. As a result, the food can be conveniently plated by opening, closing, and advancing / retracting the fingers and claws of the collection unit.

[0123] (5) In the food plating method of this embodiment, a pick-up position T is set on conveying surface 15a of conveyor 16 that conveys the food, and a plating area R is set at a predetermined position excluding conveying surface 15a of conveyor 16. Food conveyed by conveyor 16 is then picked up at pick-up position T and plated in plating area R. As a result, food located at pick-up position T on the conveying surface of the belt can be plated in plating area R, which is set at a predetermined position excluding the belt.

[0124] (6) In the food presentation method of this embodiment, the movement of the conveyor 16, which transports food, is driven intermittently or continuously, and the timing of picking up food from the conveyor 15a is synchronized. As a result, food can be efficiently plated from the pick-up position T to the presentation area R.

[0125] (7) In the food presentation method of this embodiment, a camera 87 (imaging means) captures an image of the food to be picked as it is conveyed by conveyor 16. Based on the image, a portion B of the food to be picked (support target point) is set at or near the center of the length of the food in a direction that intersects the conveying direction of conveyor 16 in a plan view. As a result, the picking unit can stably pick the support target point.

[0126] (8) In the food presentation method of this embodiment, the target portion B (support target point) can be changed to a position offset (displaced position) from the center of the length of the food in a direction intersecting the conveying direction of the conveyor 16 in a plan view. Specifically, the target portion B can be changed using the keyboard 80, and the offset amount is stored in the memory unit. For example, depending on the food, the center of gravity may not necessarily be located in the center in the longitudinal direction, and it may be more stable to have the target portion B (support target point) offset from the center position. In such cases, the target portion B (support target point) can be changed depending on the size of the food or the position of the center of gravity.

[0127] (9) In this embodiment, the hand device 40, which is attachable to the tip of the robot arm 22, includes a sampling unit 35. The sampling unit 35 includes multiple fingers 44A, 44B that are movable between a closed position where the fingers are close to each other and an open position where the fingers are spaced apart, and an air cylinder 42 (finger drive source) that drives the fingers 44A, 44B to reciprocate between the open and closed positions. The sampling unit 35 includes claws 60 that are provided on each of the fingers 44A, 44B and are movable between an advanced position where the fingers are close to each other and a retracted position where the fingers are spaced apart. The sampling unit 35 includes an air cylinder 57 (claw drive source) that moves each claw 60 to the advanced position when the fingers 44A, 44B are in the closed position, and moves each claw 60 to the retracted position when the fingers 44A, 44B are in the open position. This configuration makes it easy to implement the food plating method described in (1) above.

[0128] (10) A food plating device 10 according to a first variation of this embodiment includes a hand device 40 at the tip of a robot arm 22 with six degrees of freedom. The hand device 40 includes the collection unit 35, which includes a pair of fingers 44A, 44B that can be opened and closed relative to one another, and an air cylinder 42 (finger drive source) that reciprocates the fingers 44A, 44B between open and closed positions. The robot arm 22 is configured to move the hand device 40 from a start position (standby position) spaced apart from the collection position T where the food is located, to the collection position T. When the hand device 40 moves to the collection position T, the air cylinder 42 (finger drive source) moves the fingers 44A, 44B toward the closed position, supporting the food via the fingers 44A, 44B. The robot arm 22 moves the hand device 40, with the end of the food supported by the hand device 40 hanging down, to a plating area R spaced apart from the collection position T. The robot arm 22 then moves the hand device 40 downward and in a direction perpendicular to the downward direction relative to the plating area R, contacting the food from its hanging end and laying it down in a folded state. The air cylinder 42 (finger drive source) is configured to release the support provided by the fingers 44A, 44B from the laid food. This configuration makes it easy to achieve the food plating method (1) above without using the claws and other components of the food plating device 10 of the first embodiment.

[0129] (11) In food plating device 10 of this embodiment, second modification, and third modification, when hand device 40 moves to picking position T, air cylinder 42 (finger drive source) operates fingers 44A, 44B to the closed position. At the same time, air cylinder 57 (claw drive source) moves claw 60 from the retracted position to the advanced position, and food is supported by at least one of operating fingers 44A, 44B to the closed position and moving claw 60 to the advanced position. Robot arm 22 moves hand device 40, supporting the food with its end hanging down, to a plating area R separated from picking position T. Robot arm 22 then moves hand device 40 downward and in a direction perpendicular to the downward direction relative to plating area R, contacting the food from its hanging end and laying it down in a folded state. Air cylinder 42 (finger drive source) and air cylinder 57 (claw drive source) are configured to move fingers 44A, 44B and claws 60 to the open position and retracted position, respectively, to release the support of the food in a laid-down state. In food plating device 10 of the first embodiment, the food plating method (1) above can be easily achieved by operating the claws and fingers, or by operating either the claws or the fingers.

[0130] (12) In the plating control device 70 of the first modified example of this embodiment, the control unit 77 drives and controls the active joints J1 to J6 of the robot arm 22 to move the hand device 40 from a standby position distal to the food to a picking position proximal to the food. When the hand device 40 moves to picking position T, the control unit 77 drives and controls the air cylinder 42 (finger drive source) to move the fingers 44A and 44B from the open position to the closed position, thereby supporting the food via the fingers 44A and 44B. The control unit 77 drives and controls the active joints J1 to J6 of the robot arm 22 to move the hand device 40 to a plating area R away from picking position T, with the food supported and hanging down by the hand device 40. The control unit 77 then moves the hand device 40 downward and in a direction perpendicular to the downward direction relative to the plating area R, contacting the food from its hanging end and laying it down in a folded state. The control unit 77 then controls the air cylinder 42 (finger drive source) to move the food from the advanced position to the retracted position, releasing support from the laid-down food via the fingers 44A, 44B. As a result, control conforming to the food plating method (1) above can be easily achieved with a configuration that omits the claws and other components of the food plating device 10 of the first embodiment.

[0131] (13) In the plating control device 70 of this embodiment, the control unit 77, using its first control function, drives and controls the active joints J1 to J6 of the robot arm 22 to move the hand device 40 from the standby position to the picking position T. The control unit 77, using its second control function, drives and controls the air cylinder 42 (finger drive source) and the air cylinder 57 (claw drive source) when the hand device 40 moves to the picking position T. This causes the fingers 44A and 44B to move to the closed position, and the claws 60 to move from the retracted position to the advanced position to support the food. The control unit 77, using its first control function, drives and controls the active joints J1 to J6 of the robot arm 22 to move the hand device 40 to a plating area R away from the picking position T, with the food supported and hanging down by the hand device 40. Using its first control function, the control unit 77 then moves the hand device 40 downward and in a direction perpendicular to the downward direction relative to the plating area R, contacting the food from its hanging end and laying it down in a folded state. Using its second control function, the control unit 77 drives and controls the air cylinder 42 (finger drive source) and the air cylinder 57 (claw drive source) to release the support for the laid-down food. As a result, by operating the claws and fingers in the configuration of the food plating device 10 of the first embodiment, the food plating method (1) above can be easily achieved.

[0132] (Second embodiment) The second embodiment will be described with reference to Figures 15 to 34. In the food plating method, hand device, food plating device, and food plating control device of the second embodiment, the same components as those in the first embodiment will be given the same reference numerals and their explanation will be omitted, and only different components will be described.

[0133] (Food plating device 10 and hand device 40) Food plating device 10 of this embodiment differs from that of the first embodiment in that a scooping unit 100 is attached to hand device 40. In this embodiment, when robot controller 70 (described later) positions hand device 40 of robot arm 22 at its initial position, it controls the attitude of robot arm 22 so that fingers 44A, 44B are aligned in the X-axis direction, which is perpendicular to the Y-axis direction, as shown in Figure 16. The configuration of hand device 40 will be described here based on the state in which it is positioned at the initial position.

[0134] Scooping unit 100 includes scooping unit main body 102 and an air cylinder 104 as a first drive source that reciprocates scooping unit main body 102 in the Y-axis direction, as shown in Fig. 16. As shown in Fig. 16, air cylinder 104 is attached to hanging member 41a extending downward on the -Y side of mounting plate 41. The first drive source is not limited to air cylinder 104, and may be a solenoid or a hydraulic cylinder.

[0135] Rod 105 of air cylinder 104 passes through the center of the gap formed between brackets 48 and extends toward the +Y side, and is integrally connected to connecting end 102a of scooping unit main body 102 via connecting member 106. A slider 107, which is arranged parallel to rod 105, is supported below air cylinder 104 and passes through hanging member 41a so as to be slidable in the Y-axis direction. One end of slider 107 is integrally connected to connecting end 102a of scooping unit main body 102 via connecting member 108. As shown in FIG. 17, scooping unit main body 102 has a belt mechanism 110 and a mechanism case 112 to which belt mechanism 110 is attached.

[0136] The mechanism case 112 includes a pair of side plates 113 shown in FIG. 18, an end plate 114 connecting the side ends of the finger portions 44A and 44B on both side plates 113, and an end plate 115 connecting the side ends of the finger portions 44A and 44B. The pair of side plates 113 are arranged parallel to each other in the X-axis direction. As shown in FIGS. 17 and 18, the end of each side plate 113 on the -Y side of the end plate 114 serves as a connecting end 102a. Note that, for the sake of convenience, connecting members 106 and 108 are omitted from FIGS. 17 and 18.

[0137] As shown in FIG. 17 , the belt mechanism 110 includes a belt support member 116, a scooping belt 117 supported by the belt support member 116, and an air cylinder 120 that drives the scooping belt 117. As shown in FIGS. 16 and 17 , the belt support member 116 includes a guide plate 116a formed in a flat plate shape from its base end to its tip (lower end), and side plates 116b extending from both side edges of the guide plate 116a from the center to the base end. The belt support member 116 is formed into a channel shape that is open upward by the guide plate 116a and the side plates 116b, and is fixed to the mechanism case 112 with its base end passing through a through-hole 114a in the end plate 114. When the hand device 40 is positioned at point P2, the lower end of the guide plate 116a extends to a position close to the conveying surface 15a of the belt 15, as shown in FIG. 17 . The lower end (tip) of the guide plate portion 116a is bent in an R shape as shown in FIG. 17, thereby forming a curved surface.

[0138] 17, a wide roller 118 is rotatably supported at a position facing the through-hole 114a between the side plates 113 inside the mechanism case 112. The scooping belt 117 is an endless belt wound around the roller 118 and a portion extending from the lower surface of the guide plate portion 116a to the upper surface of the lower end (tip portion).

[0139] An air cylinder 120 serving as a second drive source is fixed inside the mechanism case 112 below the roller 118. The second drive source is not limited to the air cylinder 120, and may be a solenoid or a hydraulic cylinder. A rod 120a of the air cylinder 120 is connected via a connecting member 119 to a portion of the scooping belt 117 that reciprocates along the underside of the guide plate portion 116a.

[0140] By driving air cylinder 104, scooping unit main body 102 can move back and forth between an original position, shown by the solid line in Fig. 16, where it is spaced away from fingers 44A and 44B on the +Y side, and a scooping position, shown by the two-dot chain line in Fig. 16. The two-dot chain line in Fig. 16 indicates the position of guide plate 116a. In the scooping position, scooping belt 117 enters between fingers 44A and 44B, and the portion of scooping belt 117 closest to conveying surface 15a is located on the -Y side of fingers 44A and 44B.

[0141] The scooping belt 117 is driven by the rod 120a of the air cylinder 120 to move linearly back and forth between the position shown by the solid line and the position shown by the two-dot chain line in FIG. 17. As a result, the scooping belt 117 moves in a circular motion in forward and reverse directions between the roller 118 and the lower end surface (tip surface) of the guide plate portion 116a. By extending the rod 120a from the position shown by the solid line to the position shown by the two-dot chain line, the scooping belt 117 can scoop up the sliced ​​meat E located at the collection position T. Conversely, by retracting the rod 120a from the position shown by the two-dot chain line to the position shown by the solid line in FIG. 17, the scooping belt 117 can remove the scooped sliced ​​meat E from the scooping unit 100.

[0142] 19 and 20, an air nozzle 122 is attached to the claw drive source mounting plate 49b of the fingers 44A and 44B via a bracket 121. As shown in the figures, the tip of the air nozzle 122 is arranged so as to point toward the tip side of the claw member 61 positioned in the advanced position. For ease of explanation, the bracket 121 and air nozzle 122 are omitted in Figures 16 and 30 to 33, and the finger 44A and the like are illustrated.

[0143] (Robot Controller 70) The robot controller 70 of this embodiment further includes the same configuration as the robot controller 70 of the first embodiment, and is capable of controlling the air cylinders 104 and 120 of the scooping unit 100 and the air valve 123 that sprays air from the air nozzle 122. That is, the control unit 77 outputs instructions to the air cylinders 104 and 120 and the air valve 123 using a second control function. Upon receiving the instruction, the air cylinder 104 positions the scooping unit main body 102 to the original position or the scooping position. Upon receiving the instruction, the air cylinder 120 scoops up the sliced ​​meat E using the scooping belt 117 or sets down the scooped sliced ​​meat E. The air valve 123 is an electromagnetic valve, and can spray or stop air from an air supply source (not shown) via the air nozzle 122 according to the instruction (control).

[0144] (Operation of the second embodiment) Next, the operation of the food plating method, hand device 40, food plating device 10, and plating control device 70 configured as described above will be described. Figures 22 to 24 are flowcharts of the robot control program executed by control unit 77 of robot controller 70. The robot control program causes the control point to move to points P0-P2-P9 and P9-P14-P0, which will be described later, as shown in Figures 25 and 26. The positions to which the control point moves are the centers of the circles of points P0-P2 and P9-P14. The following flowcharts explain steps that are different from those in the first embodiment.

[0145] (S10A) When the robot control program is started, in S10A, the control unit 77 sets the robot arm 22 and the hand device 4 to their respective starting positions (initial positions). In this case, the control unit 77 controls the posture of the robot arm 22 so that the fingers 44A and 44B are aligned in the X-axis direction perpendicular to the Y-axis direction, as shown in FIG. 16, which is different from the first embodiment.

[0146] The starting position (initial position) of the robot arm 22 in this embodiment is a point P0 at which the hand device 40 is a predetermined distance above the conveying surface 15a, directly above a position of the folded sliced ​​meat E shifted by an offset amount f (see FIG. 30(a)) toward the -Y side from the collection position T. The offset amount f is set to an amount that allows the circulating scooping belt 117 to scoop up the sliced ​​meat E located at the collection position T while the scooping belt 117 moves from the original position to the scooping position.

[0147] The starting position (initial position) of the fingers 44A, 44B of the hand device 40 is a position where they are in an open state, as in the first embodiment. The starting position (initial position) of the claw members 61 of the hand device 40 is an advanced position, which is different from the first embodiment. Note that there is a gap between the tips of the claws 60 positioned in the advanced position that allows the scooping belt 117 to move to the scooping position. The control unit 77 controls the posture of the robot arm 22, at P0 to P9 and P12 to P0, so that the fingers 44A, 44B are aligned in the X-axis direction, which is perpendicular to the Y-axis direction.

[0148] (S12~S16) S12 to S16 are the same as in the first embodiment, and therefore the explanation will be omitted. (S18A) The sliced ​​meat plating process in S18A is partially different from that in the first embodiment, and will be described with reference to FIGS.

[0149] (S18A: Sliced ​​meat serving process) S200 to S232 shown in Figures 23 and 24 are a flowchart of the sliced ​​meat presentation process in S18A. Figure 27 is an explanatory diagram of the sliced ​​meat presentation section of the tray 88 placed in the presentation area R in the second embodiment.

[0150] As shown in FIG. 27 , the tray 88 is divided into multiple sliced ​​meat placement sections in a matrix. In this embodiment, sliced ​​meat is placed in order from the first row to the next row, such that (m, n) = (1, 1), (2, 1) ..., (1, 2), (2, 2) ..., (M, N). When one row is completed, the next row is similarly processed. In this embodiment, unlike the first embodiment, the first row, "m = 1," is the most upstream side of the tray 88 in the conveying direction of the first conveying device 14. The first column, "n = 1," is the rightmost side of the tray 88 as viewed from the slicer 12. The row numbers indicating the row order and the column numbers indicating the column order are as described above in this embodiment, but are not limited thereto. They may be reversed depending on the manner in which the food is placed. For example, in this embodiment, the torsion angle θ3 (> 0), which will be described later, is used. Instead, when the torsion angle is set to θ3 (<0), "n=1" is set to the leftmost position on the tray 88 as seen from the slicer 12 side, and the paths of points P10 and P11 in Fig. 26 are set on the +X side of the paths of points P12 to P14 in plan view. The "sliced ​​meat presentation process" will be described in detail below.

[0151] (S200) In S200, the control unit 77 performs "collection target position setting processing" and "trajectory generation processing." <Collection target position setting process> The control unit 77 performs the collection target position setting process in the same manner as S100 in the first embodiment, and therefore the description thereof will be omitted.

[0152] <Trajectory generation process> The trajectory generation process is a process for generating a trajectory from points P0 to P2 to P9 to P14 shown in Figures 25 and 26, and from point P14 back to point P0, and the control unit 77 calculates the position, posture, speed, and acceleration of the hand device 40 for each time period.

[0153] <Regarding the position of the hand device 40> Points P0 to P2 and P9 to P14 will be described with reference to Figures 25 and 26. The control point of the robot arm 22 is the midpoint between the lower ends of both finger portions 44A and 44B of the hand device 40, as in the first embodiment.

[0154] Point P1 is the same as in the first embodiment, and therefore its description will be omitted. Point P2 is the position where the lower ends of fingers 44A and 44B and the lower end of scooping belt 117 are close to conveyance surface 15a. Point P2 may be changed (corrected) later in S204, but is treated as a fixed value in S200. Figure 26 shows the position when the X coordinate is not changed in S204.

[0155] The Y coordinate value of point P9 is the value of the position of the hand device 40 moving from point P2 just before it reaches the serving area R. The X coordinate value of point P9 is the same as the X coordinate value of point P2. In this embodiment, the Z coordinate value of point P9 is set higher than the Z coordinate value of point P0, so that the height at which both ends (hanging ends) of the sliced ​​meat E do not interfere with each other when the sliced ​​meat E passes through the peripheral wall 88a of the tray 88 after being picked up by the hand device 40. The three-dimensional coordinate values ​​of point P9 are fixed values.

[0156] At the following points P10 to P14, the meat drop point Rmn, which is the target placement point for dropping off the sliced ​​meat E, differs for each row and column. The meat drop point Rmn is set or calculated in the same manner as in the first embodiment. For ease of explanation, the description will begin with point P12. Point P12 is located directly above the meat drop point Rmn set on the inner bottom surface of the tray 88, which is the serving area R, or on the conveying surface 19a of the belt 19, for each sliced ​​meat placement section (m, n) in the tray 88. The meat drop point Rmn is the center of the sliced ​​meat placement section (m, n). The X and Y coordinate values ​​of point P12 are the same as the X and Y coordinate values ​​of the meat drop point Rmn. Each time column n and / or row m are updated in S20A, S24A, and S28A, which will be described later, the X and Y coordinate values ​​of point P12 become the X and Y coordinate values ​​of the updated meat drop point Rmn.

[0157] The Z coordinate value of point P12 is a fixed value smaller than the Z coordinate value of point P9, and is set to a height at which the fingers 44A, 44B and the lower end of the scooping belt 117 are spaced apart from the inner bottom surface of the tray 88 in the serving area R. This height is a height at which the sliced ​​meat E picked up by the picking unit 35 does not come into contact with the inner bottom surface of the tray 88, and is a height at which, when the sliced ​​meat E is lowered from this height, the shape supported by the picking unit 35 can be substantially maintained. When the hand device 40 is positioned at point P12, the support for the picked sliced ​​meat E is released, and the sliced ​​meat E is lowered onto the inner bottom surface of the tray 88.

[0158] The X coordinate value of point P10 is set to a value that is a predetermined distance d2 (>0) away from the X coordinate value of point P12 so that it is located on the -X side as shown in Figure 26. The Y coordinate value of point P10 is set to a value that is a predetermined distance d3 (>0) away from the Y coordinate value of point P12 so that it is located on the +Y side. The predetermined distances d2 and d3 are set to the distances that the hand device 40 is allowed to move while twisted at a torsion angle θ3, which will be described later, when moving from point P10 to point P12.

[0159] The XY coordinate values ​​of point P10 are preferably close to point P12, which is set corresponding to each sliced ​​meat placement section (m, n) within the serving area R, and therefore the point P10 is located on or near the serving area R. The Z coordinate value of point P10 is the same as that of point P12. Point P11 is an intermediate point included in the straight line connecting point P10 and point P12. The three-dimensional coordinates of point P11 are the coordinate values ​​included in the straight line between point P10 and point P12. Point P11 may be calculated by interpolation when point P10 and point P12 are determined.

[0160] When the hand device 40 moves from point P9 to point P10, the robot arm 22 is posture-controlled, and at point P10, it is positioned with a torsion angle θ3 (>0) relative to the Y-axis direction, as shown in FIG. 29(d). As a result, the alignment direction of the fingers 44A, 44B is changed from the X-axis direction, which is perpendicular to the Y-axis direction, to a direction perpendicular to the intersection line that intersects with the Y-axis direction at a torsion angle θ3. This torsion angle θ3 is a direction contained in a plane perpendicular to the downward direction. Due to this twist, the scooping unit 100 can be moved toward the -Y side by driving the air cylinder 104 while tilted by the torsion angle θ3 relative to the Y-axis direction.

[0161] Points P13 and P14 are aligned on a straight line with point P12. The X coordinate values ​​of points P13 and P14 are set to the same value as the X coordinate value of point P12, as shown in Figure 26. The Y coordinate values ​​of points P13 and P14 are set to values ​​shifted toward the +Y side from the Y coordinate value of point P12.

[0162] The Z coordinate value of point P13 is set to be larger than the Z coordinate value of point P12, and the Z coordinate value of point P14 is set to be even larger, so that the position of the hand device 40 is moved upward and downstream so as to move away from the tray 88. Note that points P13 and P14 are not limited to being aligned on a straight line with point P12. However, in order to efficiently return to point P0, it is preferable that points P13 and P14 be aligned on a straight line.

[0163] <Regarding the Posture of the Hand Device 40> In this embodiment, posture control of the torsion angle θ3 is performed when the hand device 40 moves from point P9 to P10, and posture control to cancel the torsion angle θ3 is performed when the hand device 40 moves to P12. In the trajectory between the remaining points except for the point between points P9 and P10, posture control is performed to keep the direction toward which the tips of the fingers 44A, 44B of the hand device 40 point as the -Z direction. Also, posture control is performed to maintain the posture in which the alignment direction of the fingers 44A, 44B is set to the ±X directions.

[0164] <About the speed and acceleration between each point> The control unit 77 calculates the speed and acceleration between each point of the hand device 40 (control point) by a known method, enabling, for example, constant speed control or trapezoidal speed control. When the hand device 40 moves to each point in the steps described below, the control unit 77 controls the robot arm 22 based on the coordinate values, speed, acceleration, and posture (the joint angles) calculated or set in S200.

[0165] The following explanation will mainly focus on the movement of the hand device 40 between points and the operations of the claw members 61 and both finger portions 44A and 44B of the hand device 40, which are controlled by the control unit 77 to control the robot arm 22. It should be understood that the other attitude controls, excluding the attitude control related to the torsion angle θ3 of the hand device 40, and the speed, acceleration, etc. of the hand device 40 (control point), are controlled based on the calculation results described above.

[0166] (S202~S206) Steps S202 to S206 are the same as steps S102 to S106 in the first embodiment, respectively, and therefore will not be described in detail. The control unit 77 performs these processes and controls the robot arm 22 to move the hand device 40 from point P0 to point P1. As shown in FIG. 29(a), when the sliced ​​meat E is transferred to the collection position T, in S202 the control unit 77 receives a collection start signal from the slicer controller 90. FIGS. 29(a) to 29(f) show the state of the sliced ​​meat in a plan view from the collection position T until it is placed at the meat drop point Rmn on the tray 88. The state in which the sliced ​​meat E is located at the collection position T is indicated by the symbol Ea, and the imaginary shape of the sliced ​​meat E at the meat drop point Rmn is indicated by the symbol Eb.

[0167] (S208) The control unit 77 controls the robot arm 22 to lower the hand device 40 at a slow (gentle) speed from point P1 to point P2, which is the target pick-up position. As a result, as shown in Figures 30(a) and 30(b), the lower ends of the fingers 44A and 44B and the lower end of the scooping belt 117 each come close to the conveying surface 15a.

[0168] (S210) After the hand device 40 reaches point P2, which is the target picking position, the control unit 77 controls the air cylinder 104 to move the scooping unit main body 102 from the original position to the scooping position. That is, the control unit 77 moves the scooping unit main body 102 from the downstream side of the conveyor 16 to the upstream side, toward the middle part of the sliced ​​meat E in the X direction (the part to be picked B).

[0169] (S212) After a set time has elapsed since the scooping unit main body 102 started to move, the control unit 77 controls the air cylinder 120 to extend the rod 120a from the solid line position in FIG. 17 to the two-dot chain line position, thereby rotating the scooping belt 117 in the forward direction. The set time is shorter than the time required for the scooping unit main body 102 to reach the scooping position from the original position, and is set to the estimated time for the scooping unit main body 102 to reach the sliced ​​meat E located at the collection position T from the original position. As the scooping belt 117 rotates in the forward direction, the sliced ​​meat E located at the collection position T is scooped up diagonally upward. At the same time, when the scooping unit main body 102 reaches the scooping position, the lower end of the scooping belt 117 enters between the open fingers 44A and 44B, as shown in FIGS. 31(a) and 31(b).

[0170] In this embodiment, when fingers 44A, 44B are in the open position, scooping unit main body 102 is moved to the scooping position and inserted between fingers 44A, 44B. Alternatively, for example, the initial position of fingers 44A, 44B may be a closed position, and scooping unit main body 102 may be moved to the scooping position when fingers 44A, 44B are in this closed position. In this case, there is a gap between the tips of claws 60 in the advanced position that allows scooping belt 117 to move to the scooping position, so claws 60 and scooping belt 117 do not interfere with each other.

[0171] The rotational speed of the scooping belt 17 during scooping is preferably the same as the speed at which the scooping unit main body 102 moves from its original position to the scooping position. By making the two speeds the same, the sliced ​​meat E can be transferred smoothly from the conveying surface 15a to the scooping belt 117, preventing wrinkles and spreading of the intermediate portions, and maintaining the original shape of the sliced ​​meat. If the speed of the scooping belt 17 is slower than the moving speed of the scooping unit main body 102, the sliced ​​meat E will stagnate between the conveying surface 15a and the lower end of the scooping belt 117, causing wrinkles to form in the sliced ​​meat E, which will hinder the subsequent presentation. If the speed of the scooping belt 17 is faster than the moving speed of the scooping unit main body 102, a speed difference will occur between the portion transferred to the scooping belt 17 and the portion remaining on the conveying surface 15a, causing both portions to spread. This causes deformation of the middle portion of the sliced ​​meat E, making it difficult to properly serve the meat.

[0172] (S214) The control unit 77 controls the air cylinder 42 to transition the fingers 44A, 44B from the open state to the closed state (see FIG. 32(a)). As a result, the sliced ​​meat E scooped up is supported in a generally U-shape in plan view, with the scooped-up portion by the scooping belt 117 at the center (see FIG. 29(b)). Furthermore, both claw members 61, which are already in the advanced position, are positioned below the sliced ​​meat E scooped up by the scooping belt 117 as shown in FIG. 31(a).

[0173] (S216) 32(b) and 29(c), the control unit 77 controls the robot arm 22 to move the hand device 40 from point P2 to point P9. At this time, the control unit 77 performs trapezoidal speed control so that the moving speed of the upper side of the trapezoid is high.

[0174] By moving the hand device 40 to point P9, both ends (hanging ends) of the sliced ​​meat E are raised above the height of the peripheral wall 88a of the tray 88, and interference with the peripheral wall 88a is avoided when the hand device 40 subsequently moves onto the serving area R. During movement from point P2 to P9, the hand device 40 holds and supports the sides of both hanging ends of the sliced ​​meat E with both claw members 61, as shown in FIG. 33, and moves both hanging ends away from the conveying surface 15a. The support and upward movement of the sliced ​​meat E by the hand device 40 from point P2 to point P9 corresponds to the first step of claim 14.

[0175] (S218) The control unit 77 controls the robot arm 22 to move the hand device 40 from point P9, passing above the peripheral wall 88a of the tray 88, to point P10 above the inner bottom surface of the tray 88 in the serving area R at a medium speed slower than the speed at which it moves from P2 to P9.

[0176] This control by the control unit 77 causes the fingers 44A, 44B and the lower end of the scooping belt 117 to approach and nearly contact the inner bottom surface of the tray 88 in the serving area R. FIG. 34(a) shows a state in which the lower end of the scooping belt 117 is approaching and nearly contacting the inner bottom surface of the tray 88, with the fingers 44A, 44B omitted. This point P10 is located downstream of the nth row to which the meat drop point Rmn where the sliced ​​meat E is dropped belongs. During movement from point P9 to point P10, the control unit 77 controls the attitude of the robot arm 22 so that, at point P10, the hand device 40 is positioned at a torsion angle θ3 with respect to the Y-axis direction, as shown in FIG. 29(d).

[0177] 26, for convenience of explanation, the straight path from point P9 to point P10 is shown as forming a certain angle with respect to the Y-axis direction. The angle between the straight path from point P9 to point P10 and the Y-axis is not always the same. This is because the position of point P10 in the ±X and +Y directions changes as the meat drop point Rmn changes. The movement of the hand device 40 from point P2 to point P10 corresponds to the second step of claim 14.

[0178] (S220) The control unit 77 controls the robot arm 22 to move the hand device 40 from point P10 to point P11, which is at the same height as point P10, at a speed slower than the speed at which the hand device 40 moved from point P10 to point P10, as shown in FIGS. 25 and 26. While the hand device 40 is moving from point P10 to point P11, the control unit 77 controls the attitude of the robot arm 22 so that the hand device 40 has a torsion angle θ3 with respect to the Y-axis direction, as shown in FIG. 29(d). During this movement of the hand device 40, both hanging ends of the sliced ​​meat E are dragged on the inner bottom surface of the tray 88. FIG. 27(b) shows a plan view of the sliced ​​meat E in a roughly assembled state. As shown in the figure, both hanging ends of the sliced ​​meat E are angled at approximately the torsion angle θ3 with respect to the Y-axis direction. This prevents the sliced ​​meat E, which is roughly U-shaped in plan view, from separating from its opposite ends.

[0179] (S222) The control unit 77 controls the air cylinder 57 and the air valve 123 after a preset time has elapsed since the movement to point P11 began. By controlling the air cylinder 57, both claw members 61 are moved from the advanced position to the retracted position. This releases the sliced ​​meat E from the grip of both claw members 61 and releases their support. In this example of the present embodiment, at this point, the support of the sliced ​​meat E is released by moving only the claw members 61 to the retracted position while the fingers 44A and 44B remain closed. Alternatively, at this point, the support of the sliced ​​meat E may be released by opening the fingers 44A and 44B and moving both claw members 61 to the retracted position. Alternatively, at this point, the support of the sliced ​​meat E may be released by maintaining both claw members 61 in the advanced position and shifting the fingers 44A and 44B to the open position.

[0180] Control of the air valve 123 allows air to be ejected from an air supply source (not shown) through the air nozzle 122. This causes air to start being ejected from the air nozzle 122 toward the sliced ​​meat E. The control of this step is executed during movement from point P10 to point P11.

[0181] (S224) The control unit 77 controls the robot arm 22 to move the hand device 40 at a slow (gentle) speed from point P11 to point P12, which is at the same height as point P11 and on the upstream side, as shown in Figures 25 and 26. Figures 29(e) and 29(f) show the state of the sliced ​​meat E at this time as viewed from above.

[0182] During this movement from point P11 to point P12, the control unit 77 controls the air cylinder 120 to retract the rod 120a from the position indicated by the two-dot chain line in Figure 17 to the position indicated by the solid line. This causes the scooping belt 117 to rotate in the reverse direction, and the sliced ​​meat E is lowered diagonally downward toward the inner bottom surface of the tray 88, as shown in Figure 34(a). As a result, the sliced ​​meat E is placed on the inner bottom surface of the tray 88 while being held in a substantially U-shape.

[0183] Furthermore, the control unit 77 controls the attitude of the robot arm 22 to set the torsion angle θ3 to 0, and return the alignment direction of the fingers 44A, 44B to the ±X direction. The step of moving the hand device 40 from point P10 to point P12 corresponds to the third step of claim 14.

[0184] (S226) The control unit 77 controls the robot arm 22 to move the hand device 40 from point P12 to point P13 at a slow speed, as shown in Figures 25 and 26. As a result, the hand device 40 moves above point P12 and in the +Y direction (downstream), thereby moving away from the sliced ​​meat E that has just been lowered (see Figure 34(b)).

[0185] (S228) After a preset time has elapsed since the movement started from point P12, the control unit 77 controls the air cylinders 104 and 57 to move the scooping unit main body 102 to its original position and move the fingers 44A and 44B to their open positions.

[0186] (S230) The control unit 77 controls the robot arm 22 to move the hand device 40 at a high speed from point P13 to point P14, which is further downstream and higher than point P13, as shown in Figures 25 and 26. During this movement, the control unit 77 controls the air valve 123 to cut off the air supply from an air supply source (not shown), thereby stopping the air jet from the air nozzle 122.

[0187] (S232) The control unit 77 controls the robot arm 22 to move the hand device 40 at a high speed from point P14 to the starting position, point P0, as shown in Figures 25 and 26. During this movement, the control unit 77 controls the air cylinder 57 to position both claw members 61 from the retracted position to the advanced position, and extend the claw members.

[0188] This completes the sliced ​​meat placement process for the current meat drop point Rmn. (S20A) After the sliced ​​meat placement process for the current meat drop point Rmn is completed as described above, in S20A as shown in FIG. 22, the control unit 77 increments the count value n of the column counter.

[0189] (S22A) In the next step S22A, the control unit 77 determines whether the count value n of the column counter exceeds the predetermined number of columns N. If the count value n does not exceed the predetermined number of columns N, the control unit 77 outputs a serving completion signal to the slicer controller 90, and then returns to S18A to perform the sliced ​​meat serving process for the meat drop point Rmn in the next column order in the current column n. Therefore, this sliced ​​meat serving process is performed N times per row. If the count value n exceeds the predetermined number of columns N, the process proceeds to S24A.

[0190] (S24A) In S24A, the control unit 77 increments the count value m of the row and column counter. (S26A) In S26A, if the count value m of the row counter does not exceed the predetermined number of rows M, the control unit 77 proceeds to S28A, and if the count value m of the row counter exceeds the predetermined number of rows M, the control unit 77 temporarily ends the processing of this flowchart. That is, the placement of sliced ​​meat E at all meat drop points Rmn in the predetermined number of rows M and the predetermined number of columns N is completed. The predetermined number of rows M and the predetermined number of columns N may each be at least 1.

[0191] (S28A) In S28A, the control unit 77 sets the count value n of the column counter to 1, outputs a serving completion signal to the slicer controller 90, and returns to S18A. Therefore, when returning from S28A to S18A, the sliced ​​meat serving process is executed for the meat drop point Rmn in the first column of the next row.

[0192] 28(a) to 28(c) show an example of the above flowchart when the predetermined number of rows M is set to "3" and the predetermined number of columns N is set to "4." FIG. 28(a) is an example of a plan view of the tray 88 in a state where sliced ​​meat E has been arranged at the meat drop point Rmn (=R11) in the first row and first column. FIG. 28(b) is an example of a plan view of the tray 88 in a state where sliced ​​meat E has been arranged at the all meat drop points Rmn in the first row and the meat drop point Rmn (=R21) in the second row and first column. FIG. 28(c) is an example of a plan view of the tray 88 in a state where sliced ​​meat E has been arranged at the all meat drop points Rmn in the first and second rows and the meat drop point Rmn (=R31) in the third row and first column. By setting the predetermined number of rows M and the predetermined number of columns N, the sliced ​​meat E is arranged in the tray 88 in a weight range that falls within a set range.

[0193] (First modified example of the second embodiment) As a first modification of the second embodiment, the hand device 40 included in the food plating device 10 may be configured as follows. The claws 60 of the fingers 44A, 44B and the air cylinder 57 (claw drive source) are omitted. Instead, picking protrusions (not shown) are formed integrally with the tips (lower ends) of the fingers 44A, 44B so as to face each other. In this case, when the fingers 44A, 44B are in the closed position, they are positioned in the same position as the claw members 61 in the advanced position of the first embodiment. When the folded sliced ​​meat E is cradled, it is deformed into a roughly U-shape in plan view. The plating control device 70 of this modification omits the control of the air cylinder 57 from the control of the second embodiment, but the remaining controls are the same.

[0194] (Second Modification of the Second Embodiment) The torsion angle θ3 may be set to 0 degrees, that is, the hand device 40 may be prevented from twisting, and the serving may be performed.

[0195] In addition to the same effects as those (1) and (5) to (8) of the first embodiment, this embodiment has the following features. (1) In the first step of the food presentation method of this embodiment, sliced ​​meat E (food) located at collection position T is scooped up diagonally upward by scooping unit 100, which enters between open fingers 44A, 44B. Then, in the first step, the fingers 44A, 44B are transitioned to a closed state, thereby supporting the scooped sliced ​​meat E (food) in a generally U-shape in plan view. In the second step, hand device 40 is moved to a presentation area R separated from collection position T. In the third step, in presentation area R, the sliced ​​meat E (food) is released from its support and lowered diagonally downward by scooping unit 100, thereby placing it while maintaining its generally U-shape in plan view. As a result, soft foods can be presented in an optimal manner.

[0196] (2) In the food plating method of this embodiment, the fingers 44A, 44B have multiple claws 60 that are movable between an advanced position where they are close to each other and a retracted position where they are farther apart. The open states of the fingers 44A, 44B include a state where the multiple claws 60 are located in the advanced position and a state where the multiple claws 60 are located in the retracted position. When the fingers 44A, 44B are closed, the lower part of the sliced ​​meat E (food) scooped diagonally upward by the scooping part 100 in the first step is placed on and supported by the claws 60. As a result, while moving from the collection position to the plating area, the sliced ​​meat E (food) scooped up by the scooping part can be stably supported by the claws 60 from below.

[0197] (3) In the food presentation method of this embodiment, meat drop points Rmn (target placement points) having a predetermined number of rows M and a predetermined number of columns N are set in the presentation area R. The sliced ​​meat E (food) is presented by performing the first, second, and third steps for each meat drop point Rmn arranged in column order in each row. As a result, in this embodiment, the sliced ​​meat E (food) is arranged in each column in row order, ultimately enabling the presentation of food in a matrix. By setting the predetermined number of rows M and the predetermined number of columns N, the sliced ​​meat E is presented in the tray 88 within a set weight range.

[0198] (4) In the food presentation method of this embodiment, in the second step, the hand device 40 is twisted in a direction perpendicular to the downward direction, and then in the third step, the sliced ​​meat E (food) is lowered diagonally downward by the scooping unit 100. This allows the sliced ​​meat E (food) to be placed while remaining roughly U-shaped in a plan view. As a result, the sliced ​​meat E (food) can be presented in a roughly U-shaped state in a plan view. (5) The collection unit 35 of the hand device 40 of this embodiment includes a plurality of fingers 44A, 44B that are capable of transitioning between open and closed states, and an air cylinder 42 (finger drive source) that transitions the fingers 44A, 44B between open and closed states.

[0199] Each finger is provided with a claw 60 that is movable between an advanced position where the fingers are close to each other and a retracted position where the fingers are farther apart, and an air cylinder 57 (claw drive source) that drives each claw 60 to reciprocate between the advanced and retracted positions. The collection unit 35 is provided with a scooping unit 100 that is disposed so as to be able to enter the gap between the claws 60 that are positioned in the advanced position when the fingers 44A, 44B are in the open state, and that scoops up sliced ​​meat E (food) diagonally upward and drops the scooped sliced ​​meat E (food) diagonally downward. The collection unit 35 is provided with an air cylinder 104 (first drive source) that moves the scooping unit 100 diagonally upward and diagonally downward, and an air cylinder 120 (second drive source) that moves the scooping unit 100 into and out of the gap. With the fingers 44A, 44B in the open position and the claws 60 in the advanced position, the picking unit 35 uses the scooping unit 100 to scoop up the sliced ​​meat E (food) diagonally upward. Then, the fingers 44A, 44B are shifted to the closed position. This causes the lower part of the sliced ​​meat E (food) to be supported by the claws 60, and the hand device 40 is moved to move the sliced ​​meat E (food) to a position above the serving area R. Thereafter, each of the claws 60 is moved to the retracted position to release the sliced ​​meat E (food) from the claws 60. As a result, the method (1) of the second embodiment can be easily realized using this hand device 40.

[0200] (6) The hand device 40 of the first modification of this embodiment omits the claws 60 described in (5) of the second embodiment. Furthermore, the scooping unit 100 is disposed between the fingers 44A, 44B so as to be able to freely move in and out of the gap, and is operable to scoop up sliced ​​meat E (food) diagonally upward and then lower the scooped sliced ​​meat E (food) in the opposite direction from the diagonally upward direction. The hand device 40 includes an air cylinder 104 (first drive source) that operates the scooping unit 100, and an air cylinder 120 (second drive source) that operates the scooping unit 100 to move in and out of the gap between the fingers 44A, 44B. This configuration also makes it easy to implement the method of the second embodiment.

[0201] (7) In food plating apparatus 10 of the first modified example of this embodiment, robot arm 22 moves hand device 40 from a start position (standby position) to collection position T. When hand device 40 moves to collection position T, air cylinder 120 (second drive source) causes scooping unit 100 to enter between the open fingers and scoop up sliced ​​meat E (food) located at the collection position diagonally upward using air cylinder 104 (first drive source). Open fingers 44A, 44B allow scooping unit 100 to enter between the fingers and scoop up sliced ​​meat E (food). When fingers 44A, 44B transition to a closed state using air cylinder 42, the scooped sliced ​​meat E (food) is deformed into a generally U-shape in plan view. After the sliced ​​meat E (food) has been deformed, robot arm 22 moves hand device 40 to a plating area R away from collection position T. After the hand device 40 is moved above the serving area R by the robot arm 22, the fingers 44A, 44B are opened by the air cylinder 42 (finger drive source), releasing the fingers 44A, 44B from supporting the sliced ​​meat E (food). The scooping unit 100 lowers the released sliced ​​meat E (food) diagonally downward by the air cylinder 104 (first drive source), placing it on the serving area R while still maintaining its approximate U-shape in plan view. As a result, by performing the method of the second embodiment, the sliced ​​meat (food) can be served on the serving area while still maintaining its approximate U-shape in plan view.

[0202] (8) In food plating apparatus 10 of this embodiment, robot arm 22 moves hand device 40 from a start position (standby position) to picking position T. When hand device 40 moves to picking position T, air cylinder 120 (second drive source) causes scooping unit 100 to enter the gap between fingers 44A, 44B in the open or closed position and claw 60 in the advanced position. Then, air cylinder 104 (first drive source) causes scooping unit 100 to scoop up sliced ​​meat E (food) located at picking position T diagonally upward. When fingers 44A, 44B are moved to the closed position by air cylinder 42 (finger drive source), the scooped sliced ​​meat E (food) is deformed into a substantially U-shape in a plan view, and the scooped sliced ​​meat E (food) is supported by claw 60 in the advanced position. After the sliced ​​meat E (food) is supported by the claws 60, the robot arm 22 moves the hand device 40 to a presentation area R away from the collection position T. As the hand device 40 moves to the presentation area R, the claws 60 are moved to a retracted position by the air cylinder 57 (claw drive source) to release their support for the sliced ​​meat E (food). The scooping unit 100 lowers the sliced ​​meat E (food) released from support by the claws 60 diagonally downward by the air cylinder 104 (first drive source) and places it on the presentation area R while maintaining its approximate U-shape in plan view. As a result, the method (1) of the second embodiment described above can be easily implemented using this food presentation device 10, and the sliced ​​meat (food) can be presented on the presentation area while maintaining its approximate U-shape in plan view.

[0203] (9) In the robot controller 70 of this embodiment, the control unit 77 drives and controls the active joints J1 to J6 of the robot arm 22 to move the hand device 40 from the standby position to the picking position T. When the hand device 40 moves to the picking position T, the control unit 77 controls the air cylinder 120 (second drive source) to cause the scooping unit 100 to enter the gap between the fingers 44A, 44B when they are in the open position or the open position and the claws 60 when they are in the advanced position. The control unit 77 controls the air cylinder 104 (first drive source) to scoop up the sliced ​​meat E (food) located at the picking position T obliquely upward. The control unit 77 controls the air cylinder 42 (finger drive source) to move the fingers 44A, 44B in the closing direction to deform the scooped sliced ​​meat E into a substantially U-shape in a plan view and support the sliced ​​meat E (food) with the claws 60 when they are in the advanced position.

[0204] After the sliced ​​meat E (food) is supported by the claws 60, the control unit 77 controls the active joints J1 to J6 to move the hand device 40 above the serving area R. After the hand device 40 has moved above the serving area, the control unit 77 controls either the air cylinder 42 (finger drive source) or the air cylinder 57 (claw drive source) to release the support of the sliced ​​meat E (food). The control unit 77 controls the air cylinder 104 (first drive source) to lower the released sliced ​​meat E (food) diagonally downward using the scooping unit 100, placing the sliced ​​meat E (food) in a generally U-shape in plan view on the serving area R. As a result, by controlling the food serving device 10 using the robot controller 70, the method (1) of the second embodiment described above can be easily implemented, and the sliced ​​meat (food) can be served in a generally U-shape in plan view on the serving area.

[0205] (10) In this embodiment, when the control unit 77 controls the active joints J1 to J6 to move the hand device 40 onto the serving area R via the tip of the robot arm 22, the control unit 77 first twists the hand device 40 in a direction perpendicular to the downward direction on or near the serving area R. The control unit 77 then untwists the hand device 40 and controls the air cylinder 104 (first drive source) to lower the sliced ​​meat E (food) diagonally downward using the scooping unit 100, thereby placing the sliced ​​meat E (food) while maintaining its approximate U-shape in a plan view. As a result, the food can be served on the serving area R with the sliced ​​meat E (food), which is approximate U-shaped in a plan view, facing the twisted direction.

[0206] This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility. When the hand device 40 is attached to a two-axis robot arm that can only move up and down and in the conveying direction of the belt 15, food can be plated in a single line parallel to the conveying direction of the belt 15.

[0207] The hand device 40 may be attached to a three-axis robot arm that can only move in the vertical direction, the conveying direction of the belt 15, and a direction perpendicular to the conveying direction. In this case, food can be plated in a single row parallel to the direction perpendicular to the conveying direction of the belt 15, or in a matrix of food arranged in multiple rows and columns.

[0208] In the first and second embodiments, a serving area R is set on the belt 19 of the conveyor 20, and the trays 88 are placed on the serving area R. Alternatively, a transfer device 300 may be placed on the conveyor 20, and serving areas R1 and R2 may be set on the transfer device 300 side, as shown in Figures 35(a) and 35(b).

[0209] The transfer device 300 includes a pair of transfer belts 304, a pair of receiving plates 308, and a pair of traction plates 306 disposed directly below each receiving plate 308. As shown in FIGS. 35(a) and 35(b), both receiving plates 308 are included in an imaginary plane above the belt 19 and are disposed facing each other. They are driven by a drive source (not shown) to open and close freely in the ±X direction (left and right direction). Each receiving plate 308 is driven by the drive source to reciprocate between a closed position S0, where the opposing edges of the plates are closest to each other and close the top of the belt 19, and an open position E0. In FIG. 35(a), the closed position S0 and the open position E0 indicate the positions of the opposing edges. The open position E0 is a position where the tops of a pair of trays 88 placed on the belt 19 and disposed in the conveying direction of the belt 19 are open. A pair of frames 302 extending in the ±Y directions (directions perpendicular to the plane of the paper) are fixed at positions further to the ±X direction than the positions when each receiving plate 308 is in the open position E0. One end of each transfer belt 304 is connected to the corresponding frame 302, and the other end is connected to the traction plate 306, so that the middle portion passes through the gap between the opposing edges of both receiving plates 308 and is wrapped around the opposing edges of the receiving plates 308 extending in the ±Y directions. The traction plate 306 is driven by a drive source (not shown) so as to be able to move back and forth in the ±X directions (left and right directions).

[0210] The serving areas R1 and R2 are areas where sliced ​​meat E is served on the transfer belt 304 when both receiving plates 308 are in the closed position S0 and trays 88 are placed on the belt 19 below both receiving plates 308. The robot controller 70 controls the food serving device 10 to serve the sliced ​​meat E in these serving areas R1 and R2 in the serving manner of the first embodiment or the second embodiment, respectively. When the sliced ​​meat is served in the serving areas R1 and R2 via the top of the transfer belt 304, the transfer device 300 drives the receiving plate 308 and the traction plate 306 in the ±X directions by drive sources (not shown). 35(b), as the transfer belt 304 moves back and forth at the opposing edge of the receiving plate 308, a group of sliced ​​meat E (not shown) arranged on the transfer belt 304 is peeled off the surface of the transfer belt 304 and falls into and is stored in the tray 88. The tray 88 containing the sliced ​​meat E is carried out to the -X side by the conveyor 20. Note that one of the arrangement areas R1 and R2 may be omitted. [Explanation of symbols]

[0211] 10...Food serving device 12...Slicer 15...Belt 15a...Transport surface 11...Belt 19a...Transport surface 22...Robot arm 35…Collection section 40...Hand device 42...Air cylinder (fingers drive source) 44A, 44B...Finger section 57...Air cylinder (claw drive source) 60...Claw part 61...Claw member 70...Robot controller 77...Control unit 78...Storage section 79...Image processing unit 87...Camera (imaging means) 100...Scooping section 104...Air cylinder (first drive source) 120...Air cylinder (second drive source) B... Part to be sampled (support target point) E…Sliced ​​meat G...virtual plane, M…Predetermined number of lines N…Predetermined number of columns P1~P14...Points R: Serving area Rmn...Meat drop point (target placement point) T…Collection position

Claims

1. A hand device that is attachable to the tip of a robot arm and has a collection unit, The collecting unit is A plurality of fingers provided so as to be able to transition between an open state and a closed state; a finger drive source that causes the finger to transition between the open state and the closed state; a scooping unit that is disposed between the plurality of fingers so as to be able to freely advance and retreat, and that operates to scoop up food obliquely upward and to lower the scooped food in a direction opposite to the obliquely upward direction; a first drive source that operates the scooping unit; a second drive source that operates the scooping portion to move in and out of between the plurality of fingers.

2. A hand device that is attachable to the tip of a robot arm and has a collection unit, The collecting unit is A plurality of fingers provided so as to be able to transition between an open state and a closed state; a finger drive source that causes the finger to transition between the open state and the closed state; claws provided on each finger portion, movable between an advanced position where they are close to each other and a retracted position where they are spaced apart; a claw drive source that reciprocates each of the claws between the advanced position and the retracted position; a scooping portion that is disposed so as to be able to freely enter gaps formed between the claw portions that are positioned at the advanced position when the fingers are in an open state, and that scoops up food obliquely upward and drops the scooped food obliquely downward; a first drive source that operates the scooping unit in the diagonally upward and diagonally downward directions; a second drive source that causes the scooping unit to enter and retreat from the gap, When the finger portions are in an open state and the claw portions are in the advanced position, the scooping portion scoops up the food diagonally upward, and then the finger portions are transitioned to a closed state to place the lower part of the food on the claw portions and support it, and the hand device is moved to move the food to a position above the plating area, and then the claw portions are moved to a retracted position to release the support of the food by the claw portions.

3. 10. A food plating device including a robot having a hand device according to claim 1 at the tip of a robot arm having multiple degrees of freedom, the robot arm moves the hand device from a standby position spaced apart from the picking position where the food is located to the picking position; the scooping unit is configured to enter between the fingers in an open state by the second drive source when the hand device moves to the collection position, and to scoop up the food located at the collection position obliquely upward by the first drive source, The fingers, in the open state, allow the scooping unit to enter between the fingers and scoop up the food, and when the fingers are shifted to the closed state by the finger drive source, the scooped food is deformed into a substantially U-shape in a plan view, the robot arm is configured to move the hand device to a serving area spaced from the picking position after the food has been deformed; the finger unit is configured to transition to an open state by the finger unit drive source to release support of the food item by the finger unit after the hand device is moved above the serving area by the robot arm, The food presentation device is configured such that the scooping section lowers the released food diagonally downward using the first drive source, placing it on the presentation area in an approximately U-shaped configuration when viewed from above.

4. 10. A food plating device including a robot having a hand device according to claim 2 at the tip of a robot arm having multiple degrees of freedom, the robot arm moves the hand device from a standby position spaced apart from the picking position where the food is located to the picking position; the scooping unit is configured to enter the gap when the fingers are in an open or closed state and the claws are in an advanced position by the second drive source when the hand device moves to the collection position, and to scoop up the food item located at the collection position obliquely upward by the first drive source; The finger drive source moves the finger portions to the closed state, thereby deforming the scooped food into a substantially U-shape in a plan view, and the claw portions positioned in the advanced position support the scooped food. the robot arm moves the hand device to a serving area spaced apart from the picking position after the food is supported by the claw portion; When the hand device moves to the serving area, the claws are moved to the retracted position by the claw drive source, thereby releasing support for the food item. The food presentation device is configured such that the scooping section, after the support by the claw section has been released, lowers the food diagonally downward using the first drive source, placing it on the presentation area in an approximately U-shaped configuration when viewed from above.

5. A food plating control device comprising a control unit for controlling the food plating device according to claim 4, The control unit has a first control function that controls an active joint of the robot arm; a second control function for controlling the hand device, the first control function drives and controls the active joint of the robot arm to move the hand device from the standby position to the collection position; When the hand device moves to the collection position, the second control function controls the second drive source to cause the scooping unit to enter the gap when the fingers are in an open state or an open state and the claws are in an advanced position, and controls the first drive source to scoop up the food item located at the collection position obliquely upward; the second control function controls the finger drive source to move the fingers in a closing direction, thereby deforming the scooped food into a substantially U-shape in a plan view, and supporting the scooped food with the claws positioned in the advanced position; After the food is supported by the claw portion, the first control function controls the active joint to move the hand device to a serving area spaced from the picking position; The food plating control device is configured such that, after the hand device has moved onto the plating area using the second control function, the finger drive source controls the fingers to transition to an open state, and the claw drive source controls the claws to move to a retracted position, at least controlling the claw drive source to move the claws to the retracted position, thereby releasing support for the food, and further controlling the first drive source to cause the scooping unit to lower the released food diagonally downward, so that the food remains on the plating area in an approximately U-shaped configuration when viewed from above.

6. 6. The food plating control device according to claim 5, A food plating control device configured such that when the first control function controls the active joint to move the hand device via the tip of the robot arm onto a plating area spaced from the collection position, the hand device is first twisted in a direction perpendicular to the downward direction on or near the plating area, and then, while the twist is returned, the second control function controls the first drive source to lower the food diagonally downward using the scooping section, thereby placing the food in an approximately U-shaped configuration when viewed from above.

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