Dishing robot, food product dishing system, and food product dishing method

Abstract

To enable folding without interference between both ends even when a food product piece is long.SOLUTION: This dishing robot comprises: a hand 30 that supports a food product piece M with both end drooping by scooping up the food product piece M; a first folding member 41 that folds one drooping end M1 of the food product piece M toward the lower surface of the hand 30 by rotating about a prescribed first axis 51 to move from a first standby position to a first folding position; and a second folding member 42 that folds the other drooping end M2 of the food product piece M toward the lower surface of the hand 30 by rotating about a prescribed second axis 52 to move from a second standby position to a second folding position T2. After the first folding member 41 completes moving from the first standby position to the first folding position T1, the second folding member 42 ends moving from the second standby position to the second folding position T2, and at least the tip 42t of the second folding member 42 overlaps the first folding member 41.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a serving robot, a food cutting and serving system, and a food serving method that serve food pieces, such as sliced ​​meat cut from a block of meat, on a serving area such as a tray. [Background technology]

[0002] As shown in Patent Document 1, this type of serving robot serves sliced ​​meat cut out by a slicer on a tray with both ends folded downward.

[0003] More specifically, as shown in Figure 8, the serving robot scoops up the center of the sliced ​​meat with the hand unit and supports the sliced ​​meat with both ends hanging down. Then, folding members provided on both sides of the hand unit rotate around the hanging ends of the sliced ​​meat from the outside, folding both ends toward the underside of the hand unit.

[0004] However, the above-mentioned serving robot is configured so that the left and right folding members rotate simultaneously, and if the sliced ​​meat is long, the tips of both ends may interfere with each other when folding, causing the interfering parts to droop and resulting in poor serving. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-175061 Summary of the Invention [Problem to be solved by the invention]

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to make it possible to fold a food piece without interference at both ends, even if the food piece is long. [Means for solving the problem]

[0007] In other words, the serving robot of the present invention is a serving robot that scoops up food pieces and serves them in a serving area, and is equipped with a hand unit that supports the food pieces with both ends hanging down by scooping up the food pieces, a first folding member that rotates about a predetermined first axis and moves from a first standby position to a first folding position, thereby folding one hanging end of the food piece toward the underside of the hand unit, and a second folding member that rotates about a predetermined second axis and moves from a second standby position to a second folding position, thereby folding the other hanging end of the food piece toward the underside of the hand unit, and is characterized in that after the first folding member has finished moving from the first standby position to the first folding position, the second folding member has finished moving from the second standby position to the second folding position, and at least the tip of the second folding member overlaps the first folding member.

[0008] With the thus configured serving robot, one hanging end of the food piece is folded using the first folding member, and then the other hanging end of the food piece is folded using the second folding member, and since at least the tip of the second folding member overlaps the first folding member, even if the food piece is long, it can be folded without interference between both ends.

[0009] It is preferable that at least the tip end of the second folding member in the second folding position and the first folding member in the first folding position are spaced apart from each other. In this case, a gap is created between the other end of the food piece folded by the second folding member and the first folding member in the first folding position, making it easier for the folded food piece to be smoothly sent from the serving robot to the serving area.

[0010] After the folded food pieces are placed on the tray, the first and second folding members are returned from the first and second folding positions to the first and second standby positions, respectively. At this time, the second folding member, which was folded last, begins to unfold first. However, if the first folding member begins to unfold immediately thereafter, there is a risk that the first folding member will interfere with the second folding member.

[0011] Therefore, it is preferable that the first folding member has its base end supported by a first rotating body connected to the first shaft, and the second folding member has its base end supported by a second rotating body connected to the second shaft, and the length from the base end to the tip end of the first folding member is shorter than the length from the base end to the tip end of the second folding member. In this way, the first folding member, which opens later, is shorter than the second folding member, which opens first, so even if the first folding member is opened immediately after the second folding member is opened, it is possible to prevent the first folding member from interfering with the second folding member.

[0012] It is preferable that the first folding member has a plurality of first contact members arranged at intervals from the base end toward the tip end, extending in a direction intersecting the direction from the base end toward the tip end, and contacting one hanging end of the food piece while moving from the first waiting position to the first folding position, and a frame-shaped first support member to which both ends of each first contact member in the extension direction are connected. In this case, the first support members that support the multiple first contact members can ensure the mechanical strength required for the first folding members. Moreover, because the first support members are frame-shaped and connected to both ends of the first contact members, the area that comes into contact with the food pieces is small when the food pieces are delivered from the delivery robot to the delivery area. This prevents the first support members from interfering with the delivery of the food pieces, allowing the food pieces to be delivered neatly.

[0013] It is preferable that the second folding member has a plurality of second contact members arranged at intervals from the base end toward the tip end, extending in a direction intersecting the direction from the base end toward the tip end, and contacting the other hanging end of the food piece while moving from the second waiting position to the second folding position, and a second support member connected to the side opposite to the side contacting the food piece at the center of the extension direction of each second contact member. In this case, the second support member that supports the multiple second contact members can ensure the mechanical strength required for the second folding member. Moreover, because this second support member is connected to the side of the second contact member opposite the side that comes into contact with the food pieces, it does not interfere with the delivery of the food pieces, allowing the scaly meat to be neatly arranged.

[0014] In addition, the food cutting and serving system of the present invention is characterized by comprising a cutting device that cuts the food pieces from a block of food, a conveying mechanism that conveys the food pieces cut by the cutting device, and the above-mentioned serving robot.

[0015] Furthermore, a food serving method according to the present invention is a food serving method using a serving robot that scoops up food pieces and serves them in a serving area, wherein the serving robot comprises a hand unit that scoops up the food pieces and supports the food pieces with both ends hanging down, a first folding member that rotates about a predetermined first axis and moves from a first standby position to a first folding position, thereby folding one hanging end of the food piece toward the underside of the hand unit, and a second folding member that rotates about a predetermined second axis and moves from a second standby position to a second folding position, thereby folding the other hanging end of the food piece toward the underside of the hand unit, wherein after the first folding member has been moved from the first standby position to the first folding position, the second folding member is moved from the second standby position to the second folding position, and at least the tip of the second folding member is overlapped on the first folding member.

[0016] Such a food cutting and serving system and food serving method can achieve the same effects as the serving robot described above. [Effects of the Invention]

[0017] According to the present invention configured in this manner, even if the food pieces are long, they can be folded without interference at both ends, thereby reducing improper serving. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram showing a food cutting and serving system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a schematic diagram showing the configuration of a hand unit in the embodiment. [Figure 3] 5A to 5C are schematic diagrams showing the operation of the hand unit in the embodiment. [Figure 4] FIG. 3 is a schematic diagram showing the configuration of a first folding member and a second folding member in this embodiment. [Figure 5] FIG. 3 is a schematic diagram showing the configuration of a first folding member and a second folding member in this embodiment. [Figure 6] FIG. 3 is a schematic diagram showing the configuration of a first folding member and a second folding member in this embodiment. [Figure 7] 5A to 5C are schematic diagrams showing the operation of the hand unit in the embodiment. [Figure 8] FIG. 10 is a schematic diagram for explaining a problem in a conventional configuration. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, an embodiment of a food serving device according to the present invention will be described with reference to the drawings.

[0020] As shown in Figure 1, the food serving device 100 constitutes a food cutting and serving system 1 together with a cutting device 200 that slices block food, a first conveying device 300 that conveys food cut out from the cutting device 200, and a second conveying device 400 that conveys containers Z such as trays on which the cut out food is served.

[0021] In this embodiment, sliced ​​meat sliced ​​from a block of meat will be described as the food to be served. Specifically, the cutting device 200 slices the block of meat using a cutting blade such as a band knife and sends the sliced ​​meat to the first conveying device 300 in two rows. The first conveying device 300 forms a group of sliced ​​meat (hereinafter simply referred to as a "group of meat") M, in which multiple sliced ​​meat pieces are stacked while being shifted by a predetermined pitch. This group of meat M is then served on a container Z such as a tray by the food serving device 100, which will be described later. However, the cutting device 200 may be configured to send out the sliced ​​meat in one row, or in three or more rows. Furthermore, the cutting device 200 does not necessarily need to use a band knife; a round blade, a hatchet blade, or the like may be used as a cutting blade.

[0022] In the following, for ease of explanation, in a plan view of the device, the X axis is set along a direction perpendicular to the conveying direction of the meat mass M by the first conveying device 300, and the Y axis is set along the conveying direction, and when viewed from the upstream side to the downstream side in the conveying direction, the right side is the positive side of the X axis, the left side is the negative side of the X axis, the downstream side in the conveying direction is the positive side of the Y axis, and the upstream side in the conveying direction is the negative side of the Y axis (see Figure 1).

[0023] (Dimensions of food being transported) The sliced ​​meat itself cut out from the cutting device 200, or a group M of meat consisting of multiple sliced ​​meat, is delivered to the first conveying device 300 in a state in which the width, which is the dimension along the width direction (X-axis direction) of the container Z, is longer than the vertical width, which is the dimension along the depth direction (Y-axis direction) perpendicular to the width direction of the container Z, as shown in Figure 1.

[0024] (First conveyance device 300) As shown in FIG. 1, the first conveying device 300 conveys the sliced ​​meat cut out from the cutting device 200, and is, for example, a belt conveyor having an endless conveying belt 301 and a drive source (not shown) such as a servo motor that drives the conveying belt 301.

[0025] In the above-described configuration, the drive source is controlled by a control signal output from the controller of the cutting device 200, and the conveyor belt 301 is driven, thereby conveying the meat mass M toward a collection position P that is preset downstream in the conveying direction of the conveyor belt 301.

[0026] When the meat mass M is conveyed to the picking position P, the conveyor belt 301 is temporarily stopped, and in this stopped state, the meat mass M at the picking position P is scooped up by the food presentation device 100, which will be described later.

[0027] (Second conveying device 400) 1, the second conveying device 400 conveys containers Z such as trays to a loading position facing the end of the conveying path of the first conveying device 300, and is, for example, a chain conveyor having an endless chain (not shown) and a drive source (not shown) such as a servo motor that drives the chain. However, the second conveying device 400 may also be a belt conveyor that uses an endless belt.

[0028] The second conveying device 400 is disposed on the terminal end side of the first conveying device 300, and its conveying direction is set to be perpendicular to the conveying direction of the first conveying device 300 in a plan view.

[0029] In this configuration, the second conveying device 400 stops the container Z at the above-mentioned serving position until the food serving device 100 has completed the serving of the meat pieces M into the container Z a set number of times. After the serving of the meat pieces M into the container Z is completed, the second conveying device 400 is driven to carry out the served container Z and send the next empty container Z to the serving position.

[0030] (Camera C) As shown in Figures 1 and 2, an imaging area A in which the transported meat mass M is imaged is set upstream of the collection position P on the conveying belt 301 of the first conveying device 300, and a camera C serving as an imaging means for imaging the meat mass M is provided above this imaging area A.

[0031] Here, the camera C is positioned in the center of the width of the conveyor belt 301 when viewed in a plane, so that the first row of meat M and the second row of meat M conveyed to the imaging area A can be simultaneously imaged by the common camera C.

[0032] The image data obtained by this camera C is used to control the serving robot 10 described later, for example, to calculate the deviation of the actual position of the meat mass M from a reference position, but detailed explanations of such calculation methods will be omitted.

[0033] (Food plating device 100) As shown in Figure 1, food plating apparatus 100 picks up meat pieces M conveyed by first conveying apparatus 300 and plates them in containers Z conveyed by second conveying apparatus 400. Note that, although food plating apparatus 100 is shown here positioned to the left of first conveying apparatus 300, it is not limited to this position and may also be positioned on the right.

[0034] Specifically, this food plating device 100 includes a plating robot 10 that picks up the conveyed meat pieces M, and a robot controller 20 that is a control device that controls the operation of this plating robot 10.

[0035] (Configuration of the serving robot 10) The serving robot 10 scoops up food pieces and places them in a predetermined serving area. In this case, it places a meat mass M consisting of multiple stacked slices of meat, which are food pieces, in a pre-set serving area in a container Z.

[0036] (Hand part 30) As shown in Figures 1 and 2, this serving robot 10 has a flat hand unit 30, which moves along the top surface of the conveying belt 301 from the upstream side to the downstream side of the first conveying device 300 (i.e., from the negative side to the positive side in the Y-axis direction) to scoop up the meat pieces M.

[0037] More specifically, as shown in FIG. 2, the hand portion 30 is composed of an upper element 31 having an upper surface 30a on which the scooped meat mass M is placed, and a lower element 32 having a lower surface 30b against which both ends of the meat mass M described below are folded and pressed.

[0038] As shown in Figure 2, the upper element 31 has an upper roller 311, an upper guide plate 312, and an upper belt 313 looped around the upper roller 311 and the upper guide plate 312, and is configured so that the upper belt 313 moves back and forth as the upper roller 311 rotates.

[0039] As shown in Figure 2, the lower element 32 has a lower roller 321, a lower guide plate 322, and a lower belt 323 that is looped around the lower roller 321 and the lower guide plate 322, and is configured so that the lower belt 323 moves back and forth as the lower roller 321 rotates.

[0040] In the above-described configuration, when it is time to scoop up the mass of meat M transported to the above-described collection position, the hand unit 30 receives a command from the robot controller 20 and moves in a crawling manner along the upper surface of the conveyor belt 301. Here, the hand unit 30 moves from the negative side of the collection position in the Y-axis direction toward the positive side of the collection position in the Y-axis direction, as described above.

[0041] At this time, as shown in Fig. 3, the upper roller 311 is rotated, and the upper belt 313 is retracted in the opposite direction to the traveling direction of the hand unit 30 (the direction in which the pieces of meat M are pulled up). As a result, the pieces of meat M transported to the collection position are scooped up by the hand unit 30 and supported in a state in which they are placed on the upper surface 30a of the hand unit 30 (i.e., the upper surface of the upper belt 313). At this time, the lower roller 321 may be rotated or may be kept stationary.

[0042] 4, the hand unit 30 of this embodiment scoops up, for example, the center of the meat mass M, and supports the meat mass M with both ends hanging down. Note that the hand unit 30 may support a portion of the meat mass M that is biased toward the ends rather than the center, as long as it supports the meat mass M with both ends hanging down.

[0043] (First folding member 41 and second folding member 42) In the above-described configuration, the serving robot 10 further has a first folding member 41 that folds one of the hanging ends of the food piece (hereinafter also referred to as one end M1) toward the underside 30b of the hand unit 30, and a second folding member 42 that folds the other of the hanging ends of the food piece (hereinafter also referred to as the other end M2) toward the underside 30b of the hand unit 30, as shown in Figures 4 and 5.

[0044] As shown in Figures 4 and 5, the first folding member 41 is rotatable around a predetermined first axis 51, and moves between a first standby position S1 and a first folding position T1 by this rotation.

[0045] The first shaft 51 is provided on the upper part of the hand unit 30. A first rotating body 61 is rotatably supported on the first shaft 51, and the base end portion 41b of the first folding member 41 described above is attached to the first rotating body 61.

[0046] The location of the first shaft 51 does not necessarily have to be above the hand unit 30, but may be changed as appropriate, such as to the side of the hand unit 30. The shape of the first rotating body 61 is not particularly limited, but here it is roughly L-shaped, with one end pivotally supported by the first shaft 51 and the base end 41b of the first folding member 41 attached to the other end.

[0047] As shown in FIG. 4, the first standby position S1 is a position where the first folding member 41 is retracted from the piece of meat M scooped up by the hand unit 30 (i.e., a position where it is not in contact with the scooped piece of meat M), and is a position that does not interfere with the scooping action of the piece of meat M by the hand unit 30 described above.

[0048] As shown in Figure 5, the first folding position T1 is the position where the first folding member 41 has finished folding one end M1 of the meat M towards the lower surface 30b of the hand unit 30 (i.e., the lower surface of the lower belt 323), in other words, the position where the first folding member 41 clamps one end M1 of the meat M between itself and the lower surface 30b of the hand unit 30.

[0049] As shown in Figures 4 to 6, the first folding member 41 of this embodiment has a plurality of first contact members 411 that come into contact with the hanging end M1 of the food piece as it moves from the first waiting position S1 to the first folding position T1, and a first support member 412 that supports these plurality of first contact members 411.

[0050] The first contact member 411 is configured to capture the hanging end M1 of the meat M during movement from the first standby position S1 to the first folding position T1, and is specifically, as shown in Figure 6, a rod-shaped member arranged at a distance from each other from the base end 41b to the tip end 41t of the first folding member 41.

[0051] These first contact members 411 extend in a direction intersecting the direction from the base end 41b toward the tip end 41t of the first folding member 41, in other words, in a direction intersecting the arrangement direction D1 of the first contact members 411. In this embodiment, two first contact members 411 are provided so as to extend in a direction perpendicular to the arrangement direction D1. However, the extension direction and number of the first contact members 411 may be changed as appropriate.

[0052] The first support member 412 is connected to both end portions 411x of each first contact member 411 in the extension direction, and here forms a frame shape surrounding each first contact member 411. The first support member 412 also functions as a reinforcing member that ensures the mechanical strength of the first folding member 41.

[0053] As shown in Figures 4 and 5, the second folding member 42 is rotatable around a predetermined second axis 52, and moves between the second standby position S2 and the second folding position T2 by this rotation.

[0054] The second shaft 52 is provided on the upper part of the hand unit 30. A second rotating body 62 is rotatably supported on the second shaft 52, and the base end portion 42b of the second folding member 42 described above is attached to the second rotating body 62.

[0055] The location of the second shaft 52 does not necessarily have to be above the hand unit 30, but may be changed as appropriate, such as to the side of the hand unit 30. The shape of the second rotating body 62 is not particularly limited, but here it is roughly L-shaped, with one end pivotally supported by the second shaft 52 and the base end 42b of the second folding member 42 attached to the other end.

[0056] As shown in Figure 4, the second waiting position S2 is a position where the second folding member 42 is retracted from the meat pieces M scooped up by the hand unit 30 (i.e., a position where it is not in contact with the scooped up meat pieces M), and is a position that does not interfere with the scooping up action of the meat pieces M by the hand unit 30 described above.

[0057] As shown in Figure 5, the second folding position T2 is the position where the second folding member 42 has finished folding the other end M2 of the meat M toward the lower surface 30b of the hand unit 30 (i.e., the lower surface of the lower belt 323), in other words, the position where the second folding member 42 clamps the other end M2 of the meat M between itself and the lower surface 30b of the hand unit 30.

[0058] As shown in Figures 4 to 6, the second folding member 42 of this embodiment has a plurality of second contact members 421 that come into contact with the hanging other end M2 of the food piece as it moves from the second waiting position S2 to the second folding position T2, and a second support member 422 that supports these plurality of second contact members 421.

[0059] The second contact member 421 is for capturing the other end M2 of the hanging meat mass M during movement from the second standby position S2 to the second folding position T2, and is specifically rod-shaped and arranged at intervals from the base end 42b to the tip end 42t of the second folding member 42, as shown in Figure 6.

[0060] These second contact members 421 extend in a direction intersecting the direction from the base end 42b toward the tip end 42t of the second folding member 42, in other words, in a direction intersecting the arrangement direction D2 of the second contact members 421. In this embodiment, a greater number of second contact members 421 (specifically, six second contact members 421) than the first contact members 411 are provided in a direction perpendicular to the arrangement direction D2. However, the extension direction and number of the second contact members 421 may be changed as appropriate.

[0061] The second support member 422 is connected to the second contact members 421 at their extension direction central portions 421x, and here extends along the arrangement direction D2 of the second contact members 421. More specifically, the second support member 422 is rod-shaped or plate-shaped and connected to the second contact members 421 at the sides opposite to the sides that come into contact with the meat groups M. The second support member 422 also functions as a reinforcing member that ensures the mechanical strength of the second folding members 42.

[0062] In this embodiment, the length from the base end 41b to the tip end 41t of the first folding member 41 is shorter than the length from the base end 42b to the tip end 42t of the second folding member 42; in other words, the dimension of the first folding member 41 along the arrangement direction D1 is shorter than the dimension of the second folding member 42 along the arrangement direction D2.

[0063] In the above-described configuration, when the hand unit 30 scoops up the meat mass M transported to the collection position, as shown in FIG. 4, the first folding member 41 is waiting at the first standby position S1, and the second folding member 42 is waiting at the second standby position S2.

[0064] Then, when it is time to fold both ends of the meat mass M supported by the hand unit 30, in response to a command from the robot controller 20, the first folding member 41 rotates and moves from the first standby position S1 to the first folding position T1, and the second folding member 42 rotates and moves from the second standby position S2 to the second folding position T2, as shown in FIG. 5.

[0065] Due to this rotational movement, the first folding member 41 catches one hanging end M1 of the group of meat M and folds it towards the lower surface 30b of the hand unit 30, and the second folding member 42 catches the other hanging end M2 of the group of meat M and folds it towards the lower surface 30b of the hand unit 30. Before the first folding member 41 and the second folding member 42 rotate, the hand unit 30 changes its position (rotates) so that the first folding member 41 and the second folding member 42 become approximately horizontal.

[0066] Therefore, the serving robot 10 of this embodiment is configured so that after the first folding member 41 moves from the first waiting position S1 to the first folding position T1, the second folding member 42 moves from the second waiting position S2 to the second folding position T2, and at least the tip portion 42t of the second folding member 42 overlaps the first folding member 41.

[0067] That is, the timing at which the second folding member 42 starts to move from the second standby position S2 is slightly later than the timing at which the first folding member 41 starts to move from the first standby position S1, and the timing at which the second folding member 42 finishes moving to the second folding position T2 is slightly later than the timing at which the first folding member 41 finishes moving to the first folding position T1.

[0068] As a result, as shown in Figure 5, when the first folding member 41 is at the first folding position T1 and the second folding member 42 is at the second folding position T2, when viewed from below, at least the tip portion 42t of the second folding member 42 at the second folding position T2 overlaps with the first folding member 41 at the first folding position T1.

[0069] In the above-described configuration, as shown in FIG. 5, the first folding member 41 at the first folding position T1 and at least the tip portion 42t of the second folding member 42 at the second folding position T2 are arranged with a distance L between them.

[0070] More specifically, the tip 42t of the second folding member 42 at the second folding position T2 is bent away from the first folding member 41 at the first folding position T1, thereby forming the above-mentioned gap L.

[0071] This gap L is intended to make it easier to pull out the other end M2 of the meat mass M from between the tip 41t of the first folding member 41 at the first folding position T1 and the tip 42t of the second folding member 42 at the second folding position T2. ​​Therefore, the dimension of this gap L is preferably greater than at least the thickness of the meat mass M, and the other end M2 of the meat mass M folded by the second folding member 42 is preferably spaced downward from the first folding member 411 at the first folding position T1.

[0072] 5, in this embodiment, when the first folding member 41 is at the first folding position T1 and the second folding member 42 is at the second folding position T2, the second contact member 421 is positioned slightly lower than the first contact member 411. However, the height positions of the first folding member 41 and the second folding member 42 can be changed, and the height relationship between the first contact member 411 and the second contact member 421 is not limited to that described above.

[0073] Although it may depend on the size of the meat mass M, here, as shown in Figures 4 and 5, one end M1 of the meat mass M protrudes from the tip 41t of the first folding member 41, and the other end M2 of the meat mass M protrudes from the tip 42t of the second folding member 42, and the meat mass M is folded in a state where at least a portion of the one end M1 and the other end M2 are in contact with or close to each other.

[0074] Then, when it is time to serve the meat mass M with both ends folded in the container Z, the hand unit 30 receives a command from the robot controller 20 and moves above a predetermined serving area while holding the folded meat mass M.

[0075] Thereafter, the hand unit 30 receives a command from the robot controller 20 and moves from the positive side in the Y-axis direction to the negative side in the Y-axis direction. At this time, as shown in Fig. 7, the upper roller 311 and the lower roller 321 are rotated to move the upper belt 313 and the lower belt 323 in the opposite direction to the moving direction of the hand unit 30 (the direction in which the pieces of meat M are fed out).

[0076] As a result, the folded meat mass M is sent from the hand unit 30 to the serving area, completing the serving operation. As a more specific serving method, for example, multiple meat masses M may be served in one container Z, or a single meat mass M may be served in one container Z, and various serving methods may be adopted.

[0077] Thereafter, upon receiving a command from robot controller 20, first folding member 41 rotates from first folding position T1 and returns to first standby position S1, and second folding member 42 rotates from second folding position T2 and returns to second standby position S2. Note that the timing at which first folding member 41 starts to return from first folding position T1 to first standby position S1 is shifted slightly later than the timing at which second folding member 42 starts to return from second folding position T2 to second standby position S2.

[0078] Thereafter, the above-mentioned operations, i.e., scooping up the meat pieces M transported to the collection position, folding both ends of the meat pieces M, and plating the meat pieces M, are repeated until the meat pieces M have been plated into the set number of containers Z.

[0079] (Actions and Effects of the Food Cutting and Serving System 1 of the Present Invention) According to the food cutting and serving system 1 configured in this manner, after one hanging end M1 of the meat M is folded by the first folding member 41, the other hanging end M2 of the meat M is folded by the second folding member 42, and further, at least the tip 42t of the second folding member 42 overlaps with the first folding member 41, so that even if the width (dimension in the X-axis direction) of the meat M is long, it can be folded without interference between both ends.

[0080] In addition, the tip 42t of the second folding member 42 at the second folding position T2 is bent so as to move away from the first folding member 41 at the first folding position T1, creating a gap between the other end M2 of the meat mass M folded by the second folding member 42 and the first folding member 41 at the first folding position T1, so that the meat mass M can be smoothly sent to the serving area.

[0081] Furthermore, after the meat portions M are arranged, the first folding member 41, which opens later than the second folding member 42, which opens first, is made shorter, so that even if the first folding member 41 is opened immediately after the second folding member 42 is opened, it is possible to prevent the first folding member 41 from interfering with the second folding member 42.

[0082] In addition, since the first support member 412 is frame-shaped and connected to both ends 411x of the first contact member 411 in the extension direction, the area that comes into contact with the meat pieces M when the meat pieces M are delivered to the serving area is small. This means that the delivery of the meat pieces M is not hindered by the first support member 412, and the meat pieces M can be neatly served.

[0083] Furthermore, since the second support member 422 is connected to the side of the second contact member 421 opposite to the side that comes into contact with the meat pieces M, the meat pieces M can be neatly arranged without being hindered from being sent out to the serving area.

[0084] (Another embodiment of the food cutting and serving system 1 according to the present invention) The present invention is not limited to the above-described embodiment.

[0085] For example, in the above embodiment, a configuration was described in which the first folding member 41 is shorter than the second folding member 42, but the length from the base end 41b to the tip end 41t of the first folding member 41 may be the same as the length from the base end 42b to the tip end 42t of the second folding member 42, or the length from the base end 41b to the tip end 41t of the first folding member 41 may be longer than the length from the base end 42b to the tip end 42t of the second folding member 42.

[0086] Furthermore, in the above embodiment, after the meat mass M is placed in the serving area, the timing at which the first folding member 41 begins to return to the first standby position S1 is later than the timing at which the second folding member 42 begins to return to the second standby position S2, but the timing of both may be simultaneous.

[0087] Furthermore, the shapes of first folding member 41 and second folding member 42 are not limited to those described in the above embodiment, and may be changed as appropriate, for example, to a simple plate shape.

[0088] Furthermore, the tip end 42t of the second folding member 42 does not necessarily have to be curved, and may be linear in side view from the base end 42b to the tip end 42t.

[0089] In the above embodiment, the food to be served was described using a group of meats M, but it could also be, for example, a single thick slice of meat, or even processed foods such as ham or cheese, various vegetables, or flexible or viscous food dough.

[0090] Furthermore, the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications are possible without departing from the spirit of the present invention. [Explanation of symbols]

[0091] M...meat group M1: One end M2...Other end 1. Food Cutting and Serving System 100...Food plating equipment 10. Serving robot 20 Robot Controller 30 Hand part 30a...Top surface 41 First folding member 51...1st axis 61 First rotating body S1...1st standby position T1: First folding position 42 Second folding member 52...2nd axis 62 Second rotating body S2...Second standby position T2: Second folding position

Claims

1. A serving robot that scoops up food pieces and serves them in a serving area, a hand unit that scoops up the food piece and supports the food piece with both ends hanging down; a first folding member that rotates about a predetermined first axis and moves from a first standby position to a first folding position, thereby folding a hanging end of the food piece toward the underside of the hand portion; a second folding member that rotates about a predetermined second axis and moves from a second standby position to a second folding position, thereby folding the other hanging end of the food piece toward the underside of the hand portion, A serving robot characterized in that after the first folding member has finished moving from the first standby position to the first folding position, the second folding member has finished moving from the second standby position to the second folding position, and at least the tip portion of the second folding member overlaps the first folding member.

2. 2. The serving robot according to claim 1, wherein at least the tip of the second folding member in the second folding position and the first folding member in the first folding position are arranged at a distance from each other.

3. The first folding member has a base end supported by a first rotating body connected to the first shaft, The second folding member has a base end supported by a second rotating body connected to the second shaft, 2. The serving robot according to claim 1, wherein the length from the base end to the tip end of the first folding member is shorter than the length from the base end to the tip end of the second folding member.

4. The first folding member is a plurality of first contact members arranged at intervals from the base end toward the tip end, extending in a direction intersecting the direction from the base end toward the tip end, and coming into contact with one end of the hanging food piece during movement from the first standby position to the first folding position; 4. The serving robot according to claim 3, further comprising a frame-shaped first support member to which both ends in the extension direction of each of the first contact members are connected.

5. The second folding member is a plurality of second contact members that are spaced apart from one another from the base end toward the tip end, extend in a direction intersecting the direction from the base end toward the tip end, and come into contact with the other hanging end of the food piece during movement from the second standby position to the second folding position; 4. The serving robot according to claim 3, further comprising a second support member connected to each of the second contact members at a central portion in the extending direction thereof, the second contact members being opposite to the side that comes into contact with the food pieces.

6. a cutting device for cutting the food pieces from the block of food; a conveying mechanism that conveys the food pieces cut out by the cutting device; A food cutting and serving system comprising the serving robot according to claim 1.

7. A food serving method using a serving robot that scoops up food pieces and serves them in a serving area, The serving robot, a hand unit that scoops up the food piece and supports the food piece with both ends hanging down; a first folding member that rotates about a predetermined first axis and moves from a first standby position to a first folding position, thereby folding a hanging end of the food piece toward the underside of the hand portion; a second folding member that rotates about a predetermined second axis and moves from a second standby position to a second folding position, thereby folding the other hanging end of the food piece toward the underside of the hand portion, A food serving method characterized by: after the first folding member has been moved from the first standby position to the first folding position, the second folding member has been moved from the second standby position to the second folding position, and at least the tip of the second folding member is overlapped on the first folding member.

Images