Food material feed apparatus

Abstract

To provide a food material feed apparatus which can securely charge food materials to each of plural food material reception parts separately formed at prescribed intervals.SOLUTION: A feed material feed apparatus comprises: a storage part 20 for storing octopus pieces W cut in a prescribed size; a first holding part 30 for absorptively storing the food materials stored in the storage part 20; a second holding part 50 for receiving the food materials from the first holding part 30 and holding the same; a raising / lowering cylinder 47 for raising and lowering the first holding part 30 between a standby position and a food material delivery position G to the second holding part 50; a robot arm for moving the second holding part 50 between the food material delivery position from the first holding part 30 and a food material charge position; a vacuum blower connected to the first holding part 30 and the second holding part 50; three-way valves respectively installed in a path on an exhaust side and a path on an intake side in the vacuum blower; and a control part for controlling the operation of the three-way valves.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a food supplying device that supplies food to a plurality of food receiving sections formed at predetermined intervals. [Background technology]

[0002] Conventionally, foods distributed in a refrigerated or frozen state (hereinafter referred to as "frozen foods") are processed by baking and / or steaming main ingredients cut to a predetermined size together with batter and sauce seasonings. For example, in the production of frozen takoyaki, all ingredients such as batter, cabbage, tempura scraps, and octopus pieces are placed on a baking iron plate with multiple hemispherical depressions, and the baking process is carried out by transporting the iron plate at a predetermined speed over a heating means.

[0003] Octopus pieces, the main ingredient of takoyaki, are irregularly shaped and soft, and tend to stick together due to moisture, making automatic conveyance difficult. Therefore, a conveying device capable of conveying soft, sticky solids in an individually separated state has been proposed (see Patent Document 1).

[0004] Furthermore, in the case of frozen takoyaki, each spherical takoyaki must contain at least one piece of octopus, which is the main ingredient. Therefore, a food conveying device has been proposed that places octopus pieces into each recess in a baking iron plate (see Patent Document 2). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-019509 [Patent Document 2] Japanese Patent Publication No. 2020-138861 Summary of the Invention [Problem to be solved by the invention]

[0006] The conveying device described in Patent Document 1 eliminates the need for manual separation of octopus pieces that have become clumped together due to moisture before being placed in the recesses of the baking iron plate. However, manual placement of the separated octopus pieces that have been transported into the recesses of the baking iron plate is still required. When making takoyaki, the heat from the heating source that heats the baking iron plate also heats the surrounding environment, which places a heavy workload on the worker who places the octopus pieces in the recesses.

[0007] In addition, the food conveying device described in Patent Document 2 conveys octopus pieces using an endless belt that is generally L-shaped in side view, stacking the pieces in a predetermined position, and then suction-holding each piece from the top of the stack with a suction nozzle. However, the heights of the stacked octopus pieces are not uniform, making it difficult to suction-hold the octopus pieces with all of the suction nozzles at the same time. As a result, it is not possible to complete the feeding of octopus pieces into all of the recesses on the baking iron plate within a predetermined time on a takoyaki production line, resulting in low octopus piece feeding efficiency.

[0008] The problem to be solved by the present invention is to provide a food supplying device that can reliably feed food into each of a plurality of food receiving sections that are formed at predetermined intervals. [Means for solving the problem]

[0009] The food material supplying device according to the present invention, which has been made to solve the above problems, supplies food materials to a plurality of food material receiving sections formed at predetermined intervals, and comprises a storage section for storing food materials, a first holding section for suction-holding the food materials stored in the storage section, a second holding section for receiving and suction-holding the food materials from the first holding section, a lifting device for raising and lowering the first holding section between the bottom position of the storage section and a food material transfer position with the second holding section, a horizontal movement device for moving the second holding section between the food material transfer position and a food material input position into the food material receiving section, intake and exhaust devices respectively connected to the first holding section and the second holding section, and a mechanism for connecting the first holding section to the intake and exhaust devices. a switching valve device having at least three ports, which is interposed between the second holding unit and the intake and exhaust device, and between the second holding unit and the intake and exhaust device, respectively; and a control unit that controls the switching valve device, wherein the first holding unit is supported by the lifting device and is composed of a first air chamber having an air supply and exhaust port, and a plurality of first nozzles that are erected so as to be able to communicate with the first air chamber and that pass through the bottom of the storage unit to rise and fall, and the second holding unit is suspended from the horizontal movement device and is composed of a second air chamber having an air supply and exhaust port, and a plurality of second nozzles that are erected so as to be able to communicate with the second air chamber and that correspond to each of the plurality of first nozzles.

[0010] In addition, another aspect of the food supply device of the present invention is characterized in that, in the food supply device, the switching valve device selectively switches two of the three ports through which fluid flows in and out to be communicable by moving the valve body using the expansion and contraction of an air cylinder.

[0011] In another aspect of the present invention, the food material supplying device includes, as the switching valve device, a first three-way valve interposed in a path between an intake side of the intake and exhaust device and the first holding unit, a second three-way valve interposed in a path between the exhaust side of the intake and exhaust device and the first holding unit, a third three-way valve interposed in a path between the intake side of the intake and exhaust device and the second holding unit, and a fourth three-way valve interposed in a path between the exhaust side of the intake and exhaust device and the second holding unit, and the control unit, when driving the lifting device to raise the plurality of first nozzles, switches the first three-way valve so that the first air chamber and the intake side of the intake and exhaust device communicate with each other, and switches the second three-way valve so that the exhaust side of the intake and exhaust device communicates with an atmospheric open path, and moves the second holding unit to the transfer position. and when the tips of the plurality of first nozzles reach a predetermined height position, the first three-way valve is switched so that the intake side of the intake and exhaust device is connected to the atmosphere open path, and the second three-way valve is switched so that the exhaust side of the intake and exhaust device is connected to the first air chamber. When the tips of the plurality of first nozzles reach a predetermined height position, the first three-way valve is switched so that the intake side of the intake and exhaust device is connected to the atmosphere open path, and the second three-way valve is switched so that the exhaust side of the intake and exhaust device is connected to the first air chamber. When the horizontal movement device is driven to move the second holding part to the loading position, the third three-way valve is switched so that the intake side of the intake and exhaust device is connected to the atmosphere open path, and the fourth three-way valve is switched so that the exhaust side of the intake and exhaust device is connected to the second air chamber.

[0012] In addition, another aspect of the food supplying device of the present invention is characterized in that in the food supplying device, the switching valve device comprises a valve body having a spherical surface, a cylindrical portion that movably holds the valve body, a first valve seat portion provided at one end of the cylindrical portion and a second valve seat portion provided at the other end of the cylindrical portion, a valve main body portion having a first port provided outward from the first valve seat that communicates with the inside of the cylindrical portion and through which fluid flows in and out, a second port provided outward from the second valve seat, and a third port provided in the center of the cylindrical portion, and a support portion that supports the valve main body portion so that it can swing around a swing axis that extends horizontally perpendicular to the longitudinal direction of the cylindrical portion, and the air cylinder is connected to one end of the cylindrical portion in an expandable and contractible manner.

[0013] In addition, another aspect of the food supplying device of the present invention is characterized in that in the food supplying device, the switching valve device comprises a cylindrical casing having at least three ports through which fluid flows in and out, a valve body arranged within the cylindrical casing and having a recessed portion that allows selective communication between two of the at least three ports arranged at predetermined intervals around the circumferential direction of the cylindrical casing, a partition portion for maintaining airtightness of the valve body, a valve main body portion having a drive shaft that penetrates the valve body and the partition portion and rotates the valve body and the partition portion relative to the cylindrical casing, and a support portion that supports the valve main body portion, and the air cylinder is connected to the end of the drive shaft via a link member.

[0014] In addition, another aspect of the food supplying device of the present invention is characterized in that in the food supplying device, the switching valve device has six ports formed in the cylindrical casing at equal intervals along the circumferential direction, and the valve body has a pair of recesses at positions that are rotationally symmetrical by 180 degrees around the axis of the drive shaft. [Effects of the Invention]

[0015] In the food supply device according to the present invention, the control unit controls the switching valve device to adjust the pressure inside the first air chamber, in which multiple first nozzles are arranged vertically and can communicate with each other, and the second air chamber, in which multiple second nozzles are arranged suspended and can communicate with each other. This allows the first holding unit to hold food in each of the multiple first nozzles, and the second holding unit to receive food from the first nozzles to the second nozzles. Therefore, food can be reliably fed into each of the multiple food receiving units formed at predetermined intervals.

[0016] Furthermore, according to the food supply device of the present invention, the expansion and contraction action of the air cylinder is utilized to move the valve body of the switching valve device, so that the switching valve device having a port with a diameter capable of connecting a flexible pipe (air tube) with a relatively large inner diameter, for example, 8 mm to 11 mm, can be manufactured lighter and more inexpensively than when configured as an electromagnetic valve.

[0017] Furthermore, in the food supply device according to the present invention, the control unit controls each of the first, second, third, and fourth three-way valves as switching valve devices in consideration of the timing of the transfer of food between the first and second holding units, thereby preventing food from falling out midway. This allows food to be reliably fed into each of the multiple food receiving units formed at predetermined intervals.

[0018] In addition, according to the food supply device of the present invention, the switching valve device is composed of a valve body having a spherical surface, a cylindrical portion that movably holds the valve body, a first valve seat portion provided at one end of the cylindrical portion and a second valve seat portion provided at the other end of the cylindrical portion, a valve main body portion having a first port provided outward from the first valve seat that communicates with the inside of the cylindrical portion and through which fluid flows in and out, a second port provided outward from the second valve seat, and a third port provided in the center of the cylindrical portion, and a support portion that supports the valve main body portion so that it can swing around an oscillation axis that extends horizontally perpendicular to the length of the cylindrical portion, and by swinging the valve main body portion around the oscillation axis by the expansion and contraction action of an air cylinder connected to one end of the cylindrical portion, it is possible to easily seal either the first port or the second port with the valve body and connect the first port to the third port, or the second port to the third port. The air cylinder that swings the valve body can be small in diameter, which allows the weight of the entire three-way valve as a switching valve device to be reduced while the inner diameter of the piping that can be connected to the three-way valve to be large.Furthermore, the responsiveness of the nozzles of the first and second holding parts in suction and release of suction to ingredients can be improved.

[0019] In addition, according to the food supply apparatus of the present invention, the switching valve device is composed of a cylindrical casing having three ports for fluid inlet and outlet, a valve element arranged within the cylindrical casing and having recessed portions that selectively allow communication between two of the at least three ports arranged at predetermined intervals around the circumferential direction of the cylindrical casing, a valve main body having a partition wall arranged on either side of the valve element, a drive shaft that penetrates the valve element and the partition wall and rotates the valve element and the partition wall relative to the cylindrical casing, and a support part that supports the main body, and the valve element and the partition wall are rotated by a predetermined angle about the drive shaft relative to the cylindrical casing by the extension and contraction action of an air cylinder connected to the end of the drive shaft via a link member, thereby easily allowing communication between two of the three ports. Because the air cylinder that rotates the valve element and the partition wall can have a small cylinder diameter, the weight of the entire three-way valve as the switching valve device can be reduced while the inner diameter of the piping that can be connected to the three-way valve can be increased. Furthermore, the responsiveness of the nozzles of the first holding section and the second holding section in attracting and releasing food materials can be improved.

[0020] Furthermore, in the food supply device according to the present invention, the switching valve device has six ports formed at equal intervals around the periphery of a cylindrical casing, and the valve elements corresponding to the six ports have pairs of recesses at positions rotationally symmetrical by 180 degrees, so that two sets of three-way ports are formed per valve element. This makes it possible to realize two three-way valves with one valve element. By devising the connection mode of the ports, it is possible to reliably synchronize the switching of flow paths between different routes. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a configuration diagram of a takoyaki making device to which a food material supplying device according to an embodiment of the present invention is applied. [Figure 2] FIG. 1 is a schematic diagram of an iron plate for firing. [Figure 3] FIG. 2 is a block diagram showing the electrical configuration of the takoyaki making device. [Figure 4]1 is a schematic plan view of a food material supplying device according to an embodiment of the present invention. [Figure 5] 1 is a schematic front view of a food material supplying device according to an embodiment of the present invention. [Figure 6] 1 is a schematic right side view of a food material supplying device according to an embodiment of the present invention. [Figure 7] 3 is a vertical cross-sectional view of a food material transfer section in the food material supplying device according to one embodiment of the present invention. FIG. [Figure 8] 3 is a vertical cross-sectional view of a food material transfer section in the food material supplying device according to one embodiment of the present invention. FIG. [Figure 9] FIG. [Figure 10] FIG. [Figure 11] FIG. 2 is a partially enlarged view of the bottom of the storage section. [Figure 12] 12 is a cross-sectional view taken along the line BB in FIG. 11. [Figure 13] FIG. 4 is an enlarged cross-sectional view of the tip of the first nozzle. [Figure 14] FIG. 4 is an enlarged cross-sectional view of the tip of the second nozzle. [Figure 15] 3 is a block diagram illustrating the relationship between a first holding portion, a second holding portion, a switching valve device, and an intake / exhaust device. FIG. [Figure 16] 1 is a schematic diagram of a switching valve device according to a first embodiment. [Figure 17] FIG. 4 is a front view of a switching valve device according to a second embodiment. [Figure 18] FIG. 6 is a side view of a switching valve device according to a second embodiment. [Figure 19] 6 is a schematic diagram illustrating the operation of a switching valve device according to a second embodiment. FIG. [Figure 20] 3 is a block diagram illustrating the relationship between a first holding portion, a second holding portion, a switching valve device, and an intake / exhaust device. FIG. [Figure 21] FIG. 10 is a front view of a switching valve device according to a third embodiment. [Figure 22] FIG. 10 is a side view of a switching valve device according to a third embodiment. [Figure 23]10A and 10B are diagrams illustrating the internal structure of a switching valve device according to a third embodiment. [Figure 24] 10A and 10B are diagrams illustrating the internal structure of a switching valve device according to a third embodiment. [Figure 25] 10A and 10B are diagrams illustrating the internal structure of a switching valve device according to a third embodiment. [Figure 26] 10 is a schematic diagram illustrating the operation of a switching valve device according to a third embodiment. FIG. [Figure 27] FIG. 10 is a plan view of a switching valve device according to a fourth embodiment. [Figure 28] FIG. 10 is a side view of a switching valve device according to a fourth embodiment. [Figure 29] 10 is a diagram illustrating the internal structure of a switching valve device according to a fourth embodiment. FIG. [Figure 30] FIG. 10 is a schematic diagram illustrating the operation of a switching valve device according to a fourth embodiment. [Figure 31] 3 is a block diagram illustrating the relationship between a first holding portion, a second holding portion, a switching valve device, and an intake / exhaust device. FIG. [Figure 32] 3 is a block diagram illustrating the relationship between a first holding portion, a second holding portion, a switching valve device, and an intake / exhaust device. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0022] An embodiment of the food supply device according to the present invention will be described below with reference to the drawings. In the following embodiment, an example in which the food supply device according to the present invention is applied to a takoyaki (octopus ball) making machine will be described. However, the food supply device according to the present invention is not limited to a takoyaki (octopus ball) making machine, and can be widely applied to other food manufacturing machines, such as those for making confectionery and frozen prepared foods, in which ingredients of predetermined sizes are placed as fillings on a tray formed with a plurality of food receiving sections at predetermined intervals.

[0023] [Takoyaki making equipment] FIG. 1 is a schematic diagram of a takoyaki-making apparatus 100 to which the food supplying device 10 according to this embodiment is applied, and FIG. 2 is a schematic diagram of a baking iron plate 110. FIG. 2(a) is a plan view of the baking iron plate 110, and FIG. 2(b) is a cross-sectional view taken along line AA in (a). FIG. 3 is a block diagram illustrating the electrical configuration of the control unit 90 that controls the overall operation of the takoyaki-making apparatus 100. The block diagram in FIG. 3 shows the main electrical configuration related to the operation of the food supplying device 10 in the control system of the takoyaki-making apparatus 100 to which the food supplying device 10 is applied.

[0024] The takoyaki making device 100 is a device that makes spherical takoyaki by conveying a baking iron plate 110 formed with multiple hemispherical recesses 111 that serve as food receiving areas, putting ingredients into the recesses 111, and heating the baking iron plate 110 from below using firepower such as a gas flame.

[0025] The baking iron plate 110 has a substantially rectangular shape in a plan view, and may have, for example, 16 hemispherical recesses 111 formed in a direction (X direction) perpendicular to the conveying direction (Y direction) and four rows in a direction (X direction) parallel to the conveying direction. In this case, 64 hemispherical recesses 111 are formed at predetermined intervals on one baking iron plate 110. The number of recesses 111 on the baking iron plate 110 varies depending on the diameter and depth of the hemispherical recesses 111. The predetermined interval here means that the distance between the centers of adjacent hemispherical recesses 111 is equal. For example, when the diameter of the hemispherical recesses 111 is 40 mm to 50 mm, the predetermined interval is 50 mm to 60 mm.

[0026] The takoyaki making apparatus 100 includes a conveying mechanism for the baking iron plate 110, an oil application section 130, an ingredient input section 140, a first baking section 125, an iron plate reversing section 150, a second baking section 126, and an iron plate recovery section 160. The oil application section 130, ingredient input section 140, first baking section 125, iron plate reversing section 150, second baking section 126, and iron plate recovery section 160 are arranged in this order from upstream to downstream in the conveying direction of the baking iron plate 110 in the conveying mechanism.

[0027] The transport mechanism for the baking iron plates 110 includes a conveyor 120 in which a plurality of baking iron plates 110 are arranged on a pair of endless chains that rotate synchronously. A sprocket 121 around which the chain is stretched is disposed on the conveyor 120, and the baking iron plates 110 are transported by driving the sprocket 121. The sprocket 121 operates intermittently at preset intervals (for example, every 10 seconds) by the control unit 90, which will be described later, controlling the operation of a motor 122 that rotates the sprocket 121. As a result, the baking iron plates 110 are transported intermittently in one direction (Y direction).

[0028] A gas burner 123 serving as a heating means is disposed below the conveyor 120, and the baking iron plate 110 is conveyed while being heated from below.

[0029] The oil application unit 130 is disposed above the conveyor 120 and has a plurality of brushes that move up and down relative to each of the plurality of recesses 111 of the baking iron plate 110. The oil application unit 130 is configured to apply cooking oil to each of the recesses 111 of the baking iron plate 110 that is heated from below by a gas burner 123.

[0030] The raw material input section 140 is located downstream of the oil application section 130 and above the conveyor 120. The raw material input section 140 has a first dough input device 141 that inputs prepared dough into each of the recesses 111 of the baking iron plate 110 that is coated with cooking oil, a food supply device 10 that inputs octopus pieces, a tempura scraps input device 142 that inputs tempura scraps, a cabbage input device 143 that inputs shredded cabbage, and a second dough input device 144 that inputs dough again.

[0031] The first dough dispenser 141 and the second dough dispenser 144 each have a hopper for storing liquid dough prepared in advance by mixing seasonings, flour, etc., and a plurality of nozzles for discharging a predetermined amount of dough. The plurality of nozzles discharges a predetermined amount of dough into each of the recesses 111 of the baking iron plate 110 transported below the first dough dispenser 141 and the second dough dispenser 144.

[0032] The food supplying device 10 is a device that handles octopus pieces as food, and is configured so that the octopus pieces can be placed in each of the recesses 111 of the grilling iron plate 110. Details of the food supplying device 10 will be described later.

[0033] The tempura scraps dispenser 142 and the cabbage dispenser 143 have a hopper for storing tempura scraps or shredded cabbage, a slit-shaped opening disposed opposite the baking iron plate 110, and a shutter for opening and closing the opening. The tempura scraps dispenser 142 and the cabbage dispenser 143 are configured so that a predetermined amount of raw material can be dropped from the opening onto the baking iron plate 110 by controlling the opening and closing operation of the shutter attached near the opening using the control unit 90.

[0034] In the raw material input section 140, a first dough input device 141, a food supply device 10, a tempura scraps input device 142, a cabbage input device 143, and a second dough input device 144 are arranged in this order from upstream to downstream in the transport direction of the baking iron plate 110 by the conveyor 120.

[0035] A first baking section 125 and a second baking section 126 are provided downstream of the raw material input section 140. The first baking section 125 and the second baking section 126 are areas in the conveying path of the baking iron plate 110 where the raw materials supplied to each recess 111 of the baking iron plate 110 are baked, and have gas burners 123 arranged below the conveyor 120.

[0036] An iron plate inversion unit 150 is provided between the first baking unit 125 and the second baking unit 126. The first baking iron plate 110 is inverted upside down in the iron plate inversion unit 150, and ingredients are transferred to the second baking iron plate 110 with the empty recesses 111. First, in the first baking unit 125, ingredients are baked in each recess 111 of the baking iron plate 110 until the outer periphery of the hemispherical batter in contact with the iron plate solidifies. Next, the first baking iron plate 110 is inverted in the iron plate inversion unit 150, and the half-baked batter transferred to the corresponding recesses 111 of the second baking iron plate 110 spreads out into a hemispherical shape in each recess 111. Thereafter, the second baking unit 126 bakes the ingredients transferred to the second baking iron plate 110, thereby baking spherical takoyaki. The first baking iron plate 110, which has been emptied by transferring ingredients including batter to the second baking iron plate 110, moves in the opposite direction to when it was turned over (reverse turning) and returns to a position where the opening of the recess 111 faces upward, becoming an empty second baking iron plate 110 ready to receive ingredients including batter from a new first baking iron plate 110 that has been transported from upstream and passed through the first baking section 125. In this way, spherical takoyaki are continuously cooked by repeatedly turning over and reversely turning over the baking iron plates 110 that are continuously transported at predetermined intervals.

[0037] An iron plate recovery section 160 is provided downstream of the second baking section 126 and at the end of the conveyor 120. The iron plate recovery section 160 separates the takoyaki that have been baked through the first baking section 125 and the second baking section 126 from the baking iron plate 110 and transfers them to an intermediate conveyor 170 that transports them to a downstream device (for example, a freezer), and recovers the empty baking iron plate 110.

[0038] The motor 122 that drives the conveyor 120 in the transport mechanism of the takoyaki making apparatus 100, as well as the electrically powered components (not shown) arranged in each of the oil application section 130, ingredient input section 140, iron plate reversal section 150, and iron plate recovery section 160, are connected to the control section 90. An input device 93 and a display device 94 are also connected to the control section 90. Note that the display device 94 may function as the input device 93 by employing a liquid crystal display with a touch panel as the display device 94.

[0039] The control unit 90 includes a processing unit (CPU) 91 and a memory 92 (see FIG. 3). The memory 92 stores operation programs for each electrically driven component, and the processing unit 91 executes the programs to cause each component of the takoyaki making apparatus 100 to operate in conjunction with each other.

[0040] The takoyaki making device 100 configured as described above continuously carries out the processes from adding ingredients to cooking takoyaki while heating the baking iron plate 110, which has multiple hemispherical recesses 111 formed therein, from below and transporting it on the conveyor 120.

[0041] [Food supply device] Next, the food supplying device 10 will be described. Figures 4 to 6 show schematic diagrams of the food supplying device 10. Figure 4 is a schematic plan view of the food supplying device 10, Figure 5 is a schematic front view, and Figure 6 is a schematic right side view. Note that Figures 4 and 5 show the food supplying device 10 together with the conveyor 120 that transports the grilling iron plate 110. Also, Figure 6 omits the illustration of the robot arm 60 and the table 11 on which the robot arm 60 is mounted. Furthermore, Figures 7 and 8 show longitudinal cross-sectional views of the food transfer unit 40, illustrating the operation of transferring octopus pieces W from the first holding unit 30 to the second holding unit 50. Figure 7 shows the first holding unit 30 in standby position F, and Figure 8 shows the first holding unit 30 in position G for transferring octopus pieces W to the second holding unit 50. Figures 9 and 10 show schematic diagrams of the octopus pieces W leveling mechanism in the storage unit 20. FIG. 9 is a plan view of the storage section 20, and FIG. 10 is a left side view thereof.

[0042] The food supply device 10 is placed on a table 11 having a flat top plate 12 so as to accommodate the height at which the baking iron plate 110 is transported.

[0043] The food supply device 10 includes a storage section 20 that stores octopus pieces W cut to a predetermined size, a first holding section 30 that suction-holds the food stored in the storage section 20, a second holding section 50 that receives and holds the food from the first holding section 30 by suction, a lifting cylinder 47 as a lifting device that raises and lowers the first holding section 30 between a standby position F and a food transfer position G to the second holding section 50, a robot arm 60 as a horizontal movement device that moves the second holding section 50 between the food transfer position G from the first holding section 30 and a food input position J, vacuum blowers 39, 59 as intake and exhaust devices connected to the first holding section 30 and the second holding section 50, three-way valves 70 interposed in the exhaust and intake paths of the vacuum blowers 39, 59, respectively, and a control section 90 that controls the operation of the three-way valve 70.

[0044] The food supply device 10 is provided with a food transfer section 40 that transfers food from the first holding section 30 to the second holding section 50. The food transfer section 40 has a storage section 20 and the first holding section 30 arranged therein.

[0045] The food material transfer unit 40 has a base 41 and a pair of support pillars 42, 42 erected on the base 41, and the pair of support pillars 42 support the storage unit 20 and the first holding unit 30. The base 41 is fixed to the top plate 12 of the table 11 by screw fastening or the like.

[0046] Storage unit 20 has a rectangular parallelepiped shape with an open top and is fixed at a predetermined height. A mounting base 44 is provided around bottom 21 of storage unit 20, extending horizontally from the side of bottom 21. Mounting base 44 has holes through which a pair of support columns 42, 42 can be inserted, and the pair of support columns 42, 42 are fixed to mounting base 44 by fixing member 45. As a result, the pair of support columns 42, 42 are positioned near the center of the long sides of storage unit 20, which is rectangular in plan view, sandwiching storage unit 20, and support storage unit 20. The pair of support columns 42, 42 also function as guide members that guide the elevation and lowering of first air chamber 32, which will be described later.

[0047] Holes 22, through which the plurality of first nozzles 31 constituting the first holding part 30 penetrate, are provided at a predetermined interval in the bottom 21 of the storage part 20. Note that the predetermined interval here corresponds to the interval at which the plurality of recesses 111 are formed on the iron plate 110 for firing.

[0048] FIG. 11 shows an enlarged view of the bottom 21 of the storage section 20, and FIG. 12 shows a cross-sectional view taken along line BB in FIG. 11. As shown in FIGS. 11 and 12, a tapered surface 23 is formed in a generally inverted cone shape around the hole 22 formed in the side of the storage section 20. The tapered surface 23 is provided so as to form an inclination such that the apex angle θ of the cone is an obtuse angle (e.g., 120 degrees) in cross-sectional view. By providing such a tapered surface 23 on the bottom 21, when the tip of the first nozzle 31 is in the lowered position (standby position F shown in FIG. 7), a dish-shaped portion 24 is formed with the cover portion 35 at the tip of the first nozzle 31 as the base. The octopus piece W slides down the tapered surface 23 and is reliably positioned above the first nozzle 31, which is in the center of the dish-shaped portion 24.

[0049] Octopus pieces W, fragmented to a predetermined size, are dropped into the storage section 20 from a hopper 15 located higher than the upper opening of the storage section 20. The hopper 15 is open at the top and has a slit-shaped discharge outlet 16 with a sloped surface sloping downward toward the storage section 20. The octopus pieces W are supplied to the hopper 15, for example, by an operator climbing a ladder 13 and dropping the octopus pieces W into the top opening of the hopper 15. A roller 17 is provided near the discharge outlet 16 below the hopper 15, with its axial direction parallel to the width direction of the slit-shaped discharge outlet 16. The octopus pieces W supplied to the hopper 15 are pushed out by the roller 17, slide down the slope of the discharge outlet 16, and fall into the storage section 20.

[0050] As shown in FIGS. 9 and 10 , the storage unit 20 is provided with a leveling mechanism for the octopus pieces W. The leveling mechanism distributes the piled-up octopus pieces W in the storage unit 20 evenly across the entire bottom 21 of the storage unit 20. The leveling mechanism includes a rotating shaft 25 whose axial direction is the longitudinal direction of the storage unit 20, a plurality of stirring plates 26 protruding from the rotating shaft 25, and a horizontal cylinder 27 that rotates the rotating shaft 25. The rotating shaft 25 is installed to span both wall portions that form the short sides of the storage unit 20, which is rectangular in plan view. As a result, the rotating shaft 25 is positioned at a height a predetermined distance from the bottom upper end surface 21a of the storage unit 20. The height of the storage unit 20 from the bottom upper end surface 21a is set to a height (e.g., 20 to 30 mm) that allows the food material to move between the bottom 21 and the rotating shaft 25, taking into account the size of the food material. In this embodiment, two rotation shafts 25 are provided. That is, the rotation shafts 25 are provided between the first and second rows and between the third and fourth rows of the holes 22 for raising and lowering the first nozzles 31, which are provided corresponding to the arrangement of the 16 recesses 111 in four rows of the baking iron plate 110.

[0051] Each of the multiple stirring plates 26 protruding from the rotating shaft 25 protrudes upward at an angle relative to the axial direction of the rotating shaft 25. The number of stirring plates 26 is determined by the number of holes 22 through which the first nozzles 31, arranged in a row along the axial direction of the rotating shaft 25, are inserted so as to be able to move up and down. For example, one stirring plate 26 is provided for every two holes. In this embodiment, 16 holes 22 are provided along the axial direction of the rotating shaft 25, resulting in eight stirring plates 26. The mounting angle of the stirring plates 26 to the rotating shaft 25 is not particularly limited. However, instead of all stirring plates 26 being mounted at the same angle, as shown in FIG. 9 , the mounting angle may be different between the right and left sides of the center of the shaft length in the horizontal direction of the drawing. The mounting manner of the stirring plates 26 to the rotating shaft 25 may be any manner that does not interfere with the movement of the first nozzles 31 up and down within the range of movement of the stirring plates 26 due to rotation of the rotating shaft 25.

[0052] A horizontal cylinder 27 that rotates the rotating shaft 25 is connected to one end of the rotating shaft 25. The horizontal cylinder 27 is fixed to a mounting base 44 on the left side of the storage unit 20 with the extension and retraction direction of the cylinder rod 27a horizontal. The horizontal cylinder 27 is an air cylinder, and compressed air for driving it is supplied from a compressed air pipe in a food manufacturing plant via a solenoid valve (5-port solenoid valve) 85. The solenoid valve 85 is electrically connected to a control unit 90 (see FIG. 3). A first link member 28 is connected to each end of the two rotating shafts 25. The tip of the cylinder rod 27a of the horizontal cylinder 27 is connected to the first link member 28 closest to the horizontal cylinder 27. The two rotating shafts are connected to each other by a second link member 29. As a result, the two rotating shafts 25 rotate in unison as the cylinder rods 27a of the horizontal cylinders 27 extend and retract.

[0053] The first holding unit 30 is composed of a box-shaped first air chamber 32 and a plurality of first nozzles 31 erected at predetermined intervals on the upper surface of the first air chamber 32. The tip of a cylinder rod 47a of a lifting cylinder 47 serving as a lifting device is connected to the underside of the first air chamber 32. A cylinder body 47b of the lifting cylinder 47 is fixed to the base 41 via a support member. A mounting unit 33 protrudes horizontally outward from the lower end of the side wall surface at the center of the long side of the box-shaped first air chamber 32. Holes are formed in the mounting unit 33 through which each of the pair of support posts 42, 42 is inserted. The first air chamber 32 is attached to the pair of support posts 42, 42 via the mounting unit 33 so as to be able to slide up and down.

[0054] 12 and 13, each of the plurality of first nozzles 31 has a long, hollow cylindrical portion 34 and a cover portion 35 that covers the upper end of the cylindrical portion 34. The inside of the cylindrical portion 34 is in communication with the inside of the first air chamber 32.

[0055] The cover portion 35 is attached to the upper end of the cylindrical portion 34 at the tip of the first nozzle 31. It has a central hole 36 that communicates with the interior of the cylindrical portion 34 and a dish-like recess that gently curves downward toward the hole 36. The outer circumferential surface of the cover portion 35 is provided with a fitting portion 37 that fits with the inner wall of the cylindrical portion 34. The inner circumferential surface at the upper end of the cylindrical portion 34 is provided with a fitting receiving portion 34a that fits with the outer circumferential surface of the cover portion 35, and a stepped portion 34b that supports a mesh member 38 so that it contacts the underside of the cover portion 35. The mesh member 38 prevents the thin tips of torn octopus legs or shredded food from entering the cylindrical portion 34. For example, a wire mesh made of stainless steel or other material with a predetermined mesh diameter can be used. Each of the multiple first nozzles 31 is capable of holding octopus pieces W in the dish-shaped recess of the cover portion 35.

[0056] The first air chamber 32 is internally divided into four compartments 32a, 32b, 32c, and 32d. Each compartment 32a, 32b, 32c, and 32d has approximately the same volume. For example, when corresponding to the 64 recesses 111 in the baking iron plate 110, the first air chamber 32 is divided by partitions so that 4 × 4 = 16 first nozzles 31 form one unit in the front, back, left, and right directions, or the first air chamber 32 is formed by connecting four boxes of the same shape in one direction. The pressure within each compartment 32a, 32b, 32c, and 32d of the first air chamber 32 is changed by controlling the connection to a vacuum blower 39, which is a pressure source.

[0057] Figure 15 shows the relationship between the configuration of first holding unit 30 and the intake and exhaust device. Note that in Figure 15, in relation to the configuration of second holding unit 50 (described later) and the intake and exhaust device, components corresponding to the configuration of first holding unit 30 are shown with solid lines, and components added to second holding unit 50 are shown with dashed lines. Also, in Figure 15, of the components on the first air chamber 32 side of branch boxes 67 and 68, compartments 32b, 32c, and 32d and the paths leading to them are not shown because they are common to the configuration of compartment 32a and the paths leading to them.

[0058] The vacuum blower 39 is an intake / exhaust device configured so that both the intake side and the exhaust side can be used simultaneously. As shown in Fig. 15, the intake pipe connected to the intake side of the vacuum blower 39 branches into four paths via a branch box 67 and is connected to the vents provided in the compartments 32a, 32b, 32c, and 32d of the first air chamber 32. The exhaust pipe connected to the exhaust side of the vacuum blower 39 branches into four paths via a branch box 68 and is connected to the vents provided in the compartments 32a, 32b, 32c, and 32d of the first air chamber 32. A first three-way valve 70a is disposed on the intake side between the branch boxes 67 and 68 and the compartments 32a, 32b, 32c, and 32d, and a second three-way valve 70b is disposed on the exhaust side. The first three-way valve 70a, the second three-way valve 70b, and the third three-way valve 70c and the fourth three-way valve 70d described below are each a switching valve device, and are collectively referred to as the three-way valve 70.

[0059] Each of the compartments 32a, 32b, 32c, and 32d of the first air chamber 32 is provided with 16 (4 × 4 = 16) first nozzles 31, for example, in a front-to-back, left-to-right arrangement for the 64 recesses 111 in the baking iron plate 110. The 16 first nozzles 31 are treated as a unit, and the pressure within each compartment 32a, 32b, 32c, and 32d is controlled to control the suction and release of the 16 first nozzles 31 as a unit. The suction and release of the octopus pieces W at the tip of the first nozzle 31 is controlled by switching the flow path of a three-way valve 70 interposed between the first air chamber 32 and the vacuum blower 39, connecting either the intake side or the exhaust side of the vacuum blower 39 to the first air chamber 32. The suction and exhaust device may include two separate vacuum pumps and blowers.

[0060] The second holding unit 50 is composed of a box-shaped second air chamber 52 and a plurality of second nozzles 51 suspended at predetermined intervals from the underside of the second air chamber 52. A connecting unit 43 is provided in the center of the upper surface of the second air chamber 52 to which the tip of a robot arm 60 serving as a horizontal movement device is connected.

[0061] The robot arm 60 is a so-called six-axis robot with a rotatable base end and each joint, and while maintaining the second holding unit 50 in a horizontal position, moves it from a transfer position H for octopus pieces W above the first holding unit 30, shown by a dashed line in Fig. 5, to a feeding position J for octopus pieces W above the grilling iron plate 110 on the conveyor 120, shown by a dot-dash line in Fig. 5. The robot arm 60 is electrically connected to a control unit 90, and the operation of motors 61 (61-1...61-6) arranged at the base end and each joint is controlled by the control unit 90 (see Fig. 3).

[0062] Each of the multiple second nozzles 51 is suspended through the lower wall of the second air chamber 52. The second nozzle 51 has a hollow cylindrical portion 54, a suction portion 55 attached to the lower end of the cylindrical portion 54, and a pressure sensor 63 connected to the upper end of the cylindrical portion 54. The cylindrical portion 54 is inserted into a through-hole provided in the lower wall of the second air chamber 52 so as to be able to move slightly up and down. The interior of the cylindrical portion 54 is connected to the interior of the second air chamber 52, and pressure sensors 63 are arranged in the second air chamber 52 corresponding to each of the multiple second nozzles 51.

[0063] The suction portion 55 is the portion that comes into contact with the octopus pieces W, and is a cap-shaped portion attached to the lower end of the cylindrical portion 54 of the second nozzle 51. As shown in FIG. 14 , the suction portion 55 has a hole 56 formed in the center that communicates with the cylindrical portion 54, and has an inverted dish-like shape that slopes toward the hole 56 in cross-section. The inner circumferential surface of the suction portion 55 is formed with a groove that screws into a thread groove provided on the outer periphery of the tip of the cylindrical portion 54. This allows the suction portion 55 to be screwed onto the cylindrical portion 54. In addition, a mesh member 58 is provided between the suction portion 55 and the tip of the cylindrical portion 54, similar to the first nozzle 31, to prevent shredded food ingredients and the like from entering the cylindrical portion 54.

[0064] A ring member 53 is provided at a position slightly above the suction portion 55 of the cylindrical portion 54, and a compression spring 57 can be interposed between the ring member 53 and the lower outer wall of the second air chamber 52. That is, by interposing the compression spring 57, when the octopus piece W held at the tip of the first nozzle 31 is handed over to the second nozzle 51, the physical contact pressure generated when the octopus piece W is brought into close contact with both the first nozzle 31 and the second nozzle 51 is absorbed by the compression spring 57, allowing the second nozzle 51 to retract toward the second air chamber 52.

[0065] The pressure sensor 63 is configured to detect the pressure inside the cylindrical portion 54. Multiple pressure sensors (63-1 to 63-n) corresponding to the cylindrical portion 54 of each second nozzle 51 are electrically connected to the control unit 90 via communication lines 64 (see FIG. 3). The upper end of the cylindrical portion 54 is roughly T-shaped, with the air path branching in two directions. One side of the branch provides communication between the cylindrical portion 54 and the second air chamber 52, and the other side is a path for arranging the pressure sensor 63. Therefore, by arranging the pressure sensor 63 at the upper end of the cylindrical portion 54 so as to seal one of the branched paths, the pressure sensor 63 can detect the pressure inside each cylindrical portion 54. The control unit 90 acquires pressure information inside each cylindrical portion 54 based on the received signal from the pressure sensor 63, and thereby determines whether an octopus piece W is adsorbed to the lower end of the second nozzle 51.

[0066] The control unit 90 is electrically connected to an illumination unit 65 that includes a plurality of lights 66 (66-1 to 66-n). The control unit 90 controls the turning on and off of each of the plurality of lights 66 in accordance with the pressure of each cylindrical portion 54 based on the pressure sensor 63. The plurality of lights 66 may employ light sources that use LED elements, and may include lights such as laser lights (laser pointers) that allow the light irradiation position (point) or irradiation range to be clearly visible.

[0067] The lighting unit 65 is disposed above the baking iron plate 110, which is intermittently transported by the conveyor 120, and is capable of individually illuminating the multiple recesses 111 of the baking iron plate 110 using multiple lights 66. If the pressure inside the cylindrical portion 54 is higher than a preset pressure value based on the signal received from the pressure sensor 63, the control unit 90 determines that no octopus pieces W have been adsorbed onto the second nozzle 51. In this case, a laser beam is emitted from one light 66 onto the position of the recess 111 of the baking iron plate 110 that corresponds to the second nozzle 51 in question. This allows workers on the production line to be notified of the recess 111 into which no octopus pieces W have been introduced.

[0068] The second air chamber 52 is divided into four compartments 52a, 52b, 52c, and 52d, similar to the first air chamber 32. Each of the compartments 52a, 52b, 52c, and 52d is connected to a vacuum blower 59.

[0069] Like vacuum blower 39, vacuum blower 59 is an intake / exhaust device configured so that both the intake side and the exhaust side can be used simultaneously. The intake piping connected to the intake side of vacuum blower 59 branches into four flow paths via branch box 67, which are connected to vents provided in each of sub-chambers 52a, 52b, 52c, and 52d of second air chamber 52 (see FIG. 15). The exhaust piping connected to the exhaust side of vacuum blower 59 branches into four flow paths via branch box 68, which are connected to vents provided in each of sub-chambers 52a, 52b, 52c, and 52d of first air chamber 32. A first three-way valve 70a is disposed on the intake side between branch boxes 67 and 68 and each of sub-chambers 52a, 52b, 52c, and 52d, and a second three-way valve 70b is disposed on the exhaust side as a switching valve device. Hereinafter, when referring collectively to the first three-way valve 70a and the second three-way valve 70b, they will simply be referred to as the three-way valve 70. The control unit 90 operates the three-way valve 70 to switch the flow path, thereby controlling the pressure state of each of the compartments 52a, 52b, 52c, and 52d. When suctioning and releasing the octopus pieces W at the tip of the second nozzle 51, the flow path of the three-way valve 70, which is interposed between the second air chamber 52 and the vacuum blower 59, is switched to connect either the intake side or the exhaust side of the vacuum blower 59 to the second air chamber 52.

[0070] [Switching valve device] The switching valve device has at least three ports and is equipped with a valve body that allows selective communication between two of the three ports, and uses the expansion and contraction action of an air cylinder as the drive unit that operates the valve body.

[0071] The configuration of a three-way valve 70 serving as a switching valve device will be described with reference to Fig. 16. The three-way valve 70 includes a spherical valve element 71, a cylindrical portion 72 that movably holds the valve element 71, a valve main body 75 that has a first valve seat 73 and a second valve seat 74 formed on both ends of the cylindrical portion 72 and against which the spherical surface of the valve element 71 abuts, a support portion 79 that supports the valve main body 75 so that it can swing about a swing shaft 78 that extends horizontally, perpendicular to the length of the cylindrical portion 72, and a switching cylinder 77 connected to one end of the cylindrical portion 72, with the direction of extension and contraction being the vertical direction perpendicular to the swing shaft 78.

[0072] The valve main body 75 also has, as air inlets and outlets communicating with the inside of the cylindrical portion 72, a port P (first port) provided outside a first valve seat 73 of the cylindrical portion 72, a port Q (second port) provided outside a second valve seat 74 of the cylindrical portion 72, and a port R (third port) protruding upward from the center of the cylindrical portion 72. The inner diameters of the ports P, Q, and R are smaller than the inner diameter of the cylindrical portion 72 so that the valve element 71, which is movably held within the cylindrical portion 72, does not slip out. The ports P, Q, and R are cylindrical portions having an outer diameter that allows a flexible pipe (air tube) with a relatively large inner diameter, for example, 8 mm to 11 mm, to be fitted therein. Furthermore, a first valve seat 73 is provided on the port P side of the cylindrical portion 72, and a second valve seat 74 is provided on the port Q side of the cylindrical portion 72.

[0073] A connection part 76 is provided in the center of the length of the cylindrical part 72 for connection to a support part 79 via a swing shaft 78 extending horizontally perpendicular to the length of the cylindrical part 72. By being pivotally supported by the support part 79 installed on the top plate 12 of the table 11 via the connection part 76, the valve main body part 75 becomes rotatable around the swing shaft 78.

[0074] The tip of the cylinder rod 77a of the switching cylinder 77 is connected to one end of the cylindrical portion 72. The switching cylinder 77 moves the valve element 71, which is movably held within the cylindrical portion 72, between a position where it abuts against the first valve seat 73 and a position where it abuts against the second valve seat, thereby switching the valve element 71 so that two selected ports (ports P, Q, and R) are connected to the plant piping that supplies compressed air. The switching cylinder 77 is an air cylinder connected to the plant piping that supplies compressed air, and its cylinder rod 77a is arranged so that it can be extended and retracted vertically. An elongated hole 81 is provided along the length of the cylindrical portion 72 at the position where the tip of the cylinder rod 77a of the switching cylinder 77 is connected to the cylindrical portion 72. An engaging pin provided at the tip of the cylinder rod 77a fits into the elongated hole 81. The provision of this elongated hole 81 in the cylindrical portion 72 absorbs fluctuations in the horizontal distance from the center of the pivot shaft 78 to the end of the valve main portion 75 when the valve main portion 75 is tilted.

[0075] A solenoid valve 86 electrically connected to a control unit 90 is installed in the compressed air supply pipe to the switching cylinder 77. The control unit 90 controls the operation of the solenoid valve 86, causing the switching cylinder 77 to expand and contract at predetermined timing. In other words, the flow path of the three-way valve 70 is switched by controlling the operation of the switching cylinder 77 using the control unit 90.

[0076] When the cylinder rod 77a of the switching cylinder 77 is contracted to position port P downward and port Q upward, as shown in Figure 16(b), the valve element 71 rolls along the slope of the inner wall of the cylindrical portion 72 and abuts against the first valve seat 73 on the port P side. As a result, in the three-way valve 70, port P is closed and port Q and port R are connected.

[0077] When the cylinder rod 77a of the switching cylinder 77 is extended to position port P above and port Q below, as shown in FIG. 16(c), the valve element 71 rolls along the inclined inner wall of the cylindrical portion 72 and abuts against the second valve seat 74 on the port Q side. This closes port Q in the three-way valve 70, and ports P and R communicate with each other. It is not necessary to provide a one-to-one switching cylinder 77 for each valve body 75. As shown in FIG. 15, a first three-way valve 70a is connected to each flow path branched by the branch box 67, and they operate in the same way. Therefore, by arranging the support members 79 and the valve bodies 75 in parallel on the table 11 and connecting one end of each valve body 75 to each other with a connecting member, four valve bodies 75 can be moved by one switching cylinder 77. This reduces the number of parts and simplifies the control system by the control unit 90.

[0078] In the connection between the first holding unit 30 and the vacuum blower 39, port R of the first three-way valve 70a is connected to the intake side (IN) of the vacuum blower 39 via a pipe, port R of the second three-way valve 70b is connected to the exhaust side (OUT) of the vacuum blower 39 via a pipe, ports P of the first three-way valve 70a and the second three-way valve 70b are connected to the respective sub-chambers 32a, 32b, 32c, and 32d of the first air chamber 32 via a pipe, and port Q is an atmospheric open path. When the first three-way valve 70a is in a state where ports P and R are connected as shown in Figure 16(c), the vacuum blower 39 sucks air from the first air chamber 32, creating a negative pressure within the first air chamber 32 and enabling the first nozzle 31 to pick up the octopus pieces W. At this time, the second three-way valve 70b is set to a state in which ports Q and R are connected as shown in Figure 16(b), and the exhaust from the vacuum blower 39 is released to the atmosphere. On the other hand, if the first three-way valve 70a is set to a state in which ports Q and R are connected as shown in Figure 16(b), and the second three-way valve 70b is set to a state in which ports P and R are connected as shown in Figure 16(c), outside air is drawn into the vacuum blower 39 via the first three-way valve 70a, and the exhaust from the vacuum blower 39 is supplied to the first air chamber 32 via the second three-way valve 70b. This releases the octopus piece W from suction by the first nozzle 31, and the exhaust flow from the vacuum blower 39 generates a discharge pressure at the tip of the first nozzle 31, providing buoyancy to the octopus piece W.

[0079] Next, regarding the connection between the second holding unit 50 and the vacuum blower 59, a case will be described in which ports R of the third three-way valve 70c and the fourth three-way valve 70d are connected to the intake side of the vacuum blower 59 via piping, port P is connected to each of the sub-chambers 52a, 52b, 52c, and 52d of the second air chamber 52 via piping, and port Q is open to the atmosphere. When the third three-way valve 70c is in a state in which ports P and R are connected as shown in FIG. 16(c), the vacuum blower 59 sucks air from the second air chamber 52, creating a negative pressure inside the second air chamber 52 and enabling the second nozzle 51 to adsorb the octopus pieces W. At this time, the fourth three-way valve 70d is in a state in which ports Q and R are connected as shown in FIG. 16(b), and the exhaust air of the vacuum blower 59 is released to the atmosphere. On the other hand, when the third three-way valve 70c is set to a state in which ports Q and R are connected as shown in Figure 16(b) and the fourth three-way valve 70d is set to a state in which ports P and R are connected as shown in Figure 16(c), outside air is drawn into the vacuum blower 59 via the third three-way valve 70c, and the exhaust air of the vacuum blower 59 is supplied to the second air chamber 52 via the fourth three-way valve 70d. This releases the octopus pieces W from suction by the second nozzle 51, and the exhaust flow of the vacuum blower 59 generates a discharge pressure at the tip of the second nozzle 51, discharging the octopus pieces W downward.

[0080] [Operation of food supply device] A series of operations of the food material supplying device 10 according to this embodiment having the above-described configuration will be described with reference again to FIGS.

[0081] With the octopus pieces W stored in the storage section 20 and the tip of the first nozzle 31 of the first holding section 30 positioned at the bottom of the dish-shaped section 24 on the bottom section 21 of the storage section 20, the horizontal cylinder 27 is extended at predetermined intervals to repeatedly rotate the rotating shaft 25 clockwise and counterclockwise within a predetermined angle range (e.g., 60 degrees). Such operation of the horizontal cylinder 27 is performed by the control section 90 controlling the solenoid valve 85, which switches between supplying and discharging compressed air to and from the horizontal cylinder 27.

[0082] As the rotating shaft 25 rotates, the octopus pieces W are leveled by the action of the stirring plates 26 arranged at predetermined intervals on the rotating shaft 25 so that at least one octopus piece W falls into each of the multiple dish-shaped sections 24 at the bottom 21 of the storage section 20, where the tip of the first nozzle 31, which is in the standby position F, is located in the center.

[0083] With the second holding unit 50 at the transfer position H above the storage unit 20 where it receives the octopus pieces W, the lifting cylinder 47 is operated to raise the first holding unit 30. Such operation of the lifting cylinder 47 is performed by the control unit 90 controlling the solenoid valve 84, which switches between supplying and discharging compressed air to and from the lifting cylinder 47.

[0084] At this time, the first three-way valve 70a installed on the intake side of the vacuum blower 39 connects the vacuum blower 39 to the first air chamber 32, and the second three-way valve 70b installed on the exhaust side of the vacuum blower 39 discharges the exhaust gas to the atmosphere. The third three-way valve 70c installed on the intake side of the vacuum blower 59 connects the vacuum blower 59 to the second air chamber 52, and the fourth three-way valve 70d installed on the exhaust side of the vacuum blower 59 discharges the exhaust gas to the atmosphere.

[0085] As the cylinder rod 47a of the lifting cylinder 47 extends, the first nozzle 31 and the first air chamber 32 rise. The octopus pieces W, which were located in each dish-shaped portion 24 due to the octopus leveling, are now held by suction at the tip of the first nozzle 31. When the cylinder rod 47a of the lifting cylinder 47 approaches the tip of the first nozzle 31 to the tip of the second nozzle 51 by a distance L (e.g., 3 to 5 cm) at which the octopus pieces W can be transferred, i.e., when the tip of the first nozzle 31 moves to the transfer position G for the octopus pieces W, the first three-way valve 70a on the intake side of the vacuum blower 39 is set to a state in which the vacuum blower 39 draws in outside air, and the second three-way valve 70b on the exhaust side of the vacuum blower 39 is set to a state in which the vacuum blower 39 is connected to the first air chamber 32. Such flow path switching of the three-way valve 70 is performed by the control unit 90 controlling the solenoid valve 86 that switches between supplying and discharging compressed air to and from the switching cylinder 77 .

[0086] By switching the flow path of the first three-way valve 70a and the second three-way valve 70b interposed between the vacuum blower 39 and the first air chamber 32, the suction of the octopus pieces W by the first nozzle 31 is released, and the octopus pieces W are suctioned to each of the multiple second nozzles 51 arranged opposite each of the multiple first nozzles 31.

[0087] After transferring the octopus pieces W to the second nozzle 51, the first nozzle 31 is lowered by the actuation of the lifting cylinder 47, and is ready to suck and hold new octopus pieces at the tip of the first nozzle 31 at a position where it forms the dish-shaped portion 24 at the bottom 21 of the storage portion 20. When the first nozzle 31 has finished lowering, the first three-way valve 70a installed on the intake side of the vacuum blower 39 is switched back to a state where the vacuum blower 39 and the first air chamber 32 are in communication, and the second three-way valve 70b installed on the exhaust side of the vacuum blower 39 is switched to a state where the exhaust air is discharged to the atmosphere.

[0088] Once the transfer of the octopus from the first nozzle 31 to the second nozzle 51 is complete, the second holder 50 is maintained in a horizontal position by the drive of the robot arm 60 and moves to the loading position J above the conveyor 120. Thereafter, the third three-way valve 70c, which is installed on the intake side of the vacuum blower 59, is switched to a state in which the vacuum blower 59 draws in outside air, and the fourth three-way valve 70d, which is installed on the exhaust side of the vacuum blower 59, is switched to a state in which the vacuum blower 59 communicates with the second air chamber 52. Such flow path switching of the three-way valve 70 is performed by the control unit 90 controlling the solenoid valve 86, which switches the supply and exhaust of compressed air to the switching cylinder 77.

[0089] By switching the flow path of the third three-way valve 70c and the fourth three-way valve 70d interposed between the vacuum blower 59 and the second air chamber 52, the suction of the octopus pieces W by the second nozzle 51 is released, and the octopus pieces are thrown into each of the multiple recesses 111 of the baking iron plate 110 transported by the conveyor 120.

[0090] When the octopus piece W leaves the second nozzle 51, the robot arm 60 drives the second holding unit 50 to return to the transfer position H, ready to receive new octopus pieces W from the first nozzle 31. When the movement of the second holding unit 50 is complete, the third three-way valve 70c installed on the intake side of the vacuum blower 59 is switched back to a state in which the vacuum blower 59 and the second air chamber 52 are connected together, and the fourth three-way valve 70d installed on the exhaust side of the vacuum blower 59 is switched to a state in which the exhaust air is discharged to the atmosphere.

[0091] When the grilling iron plate 110, which is intermittently transported by the conveyor 120, receives the octopus pieces W and reaches a position below the lighting unit 65, the lighting unit 65 irradiates light onto the recesses 111 into which the octopus pieces W were not inserted. The light irradiation is performed under the control of the control unit 90. That is, based on the detection signal from the pressure sensor 63 provided on the second nozzle 51 corresponding to each of the multiple recesses 111 on the grilling iron plate 110, the control unit 90 turns on the light 66, thereby illuminating the recesses 111 into which the octopus pieces W could not be inserted because the second nozzle 51 failed to adsorb the octopus pieces W.

[0092] An operator monitoring the production line manually inserts octopus pieces W into the corresponding recesses 111 of the grilling iron plate 110 illuminated by the lighting unit 65. Unlike conventional methods, octopus pieces W are manually inserted into all recesses 111 of the grilling iron plate 110. Since the food inserting device according to this embodiment has an extremely low incidence of missing an ingredient, only a small number of operators are required. Furthermore, the operator does not need to be constantly near the grilling iron plate 110, which has become hot due to heating; they simply need to approach the grilling iron plate 110 when the lighting unit 65 is turned on, thereby reducing the operator's workload.

[0093] The baking iron plate 110, in which the octopus pieces W have been placed in all of the recesses 111, is transported by the driving of the conveyor 120 to the first baking section 125 where the subsequent manufacturing process is carried out.

[0094] [Another embodiment of the switching valve device] Other embodiments of the switching valve device will be described. In the food material supply device 10 described above, the switching valve device can employ a three-way valve 270, a three-way valve 370, or a six-way valve 470 according to the following embodiments instead of the three-way valve 70 (the three-way valve 70 according to the first embodiment). In the embodiments described below, components common to or corresponding to the three-way valve 70 according to the first embodiment described above will be given the same names and / or the same reference numerals, and explanations of overlapping content will be omitted as appropriate.

[0095] A three-way valve 270 serving as a switching valve device according to a second embodiment will be described with reference to FIGS. 17 to 19. FIG. 17 is a front view of the three-way valve 270 according to the second embodiment, and FIG. 18 is a side view thereof. Note that FIG. 17 shows only the rear end support portion of the cylinder body of the switching cylinder 77 and the tip connection portion of the cylinder rod 77a, and does not show other intermediate portions. FIG. 19 is a schematic diagram illustrating the operation of the three-way valve 270. FIG. 19 shows a cross-sectional view taken along line CC in FIG. 17.

[0096] In the three-way valve 270 according to the second embodiment, a valve body unit 280 is configured in which four valve bodies 275 are arranged horizontally along the oscillation axis X1 of the oscillation shaft by a pair of holders 281 so as to correspond to the respective sub-chambers 32a, 32b, 32c, and 32d for the first air chamber 32 and to correspond to the respective sub-chambers 52a, 52b, 52c, and 52d for the second air chamber 52. The three-way valve 270 simultaneously switches the flow paths in the plurality of valve bodies 275 by swinging the valve body unit 280 using a single switching cylinder 77. In other words, the three-way valve 270 as a switching valve device according to this embodiment is also a multiple three-way valve in which a plurality of (four) valve bodies 275, each having three-way ports, are connected along the oscillation axis X1.

[0097] The valve body 275 of the three-way valve 270 has a valve element 271 that is elliptical in side view and has hemispherical surfaces formed on both ends of a cylinder, a cylindrical portion 272 that movably holds the valve element 271, a first valve seat 273 formed at one end of the cylindrical portion 272, and a second valve seat 274 formed at the other end of the cylindrical portion 272. The three-way valve 270 includes a valve body unit 280 that is integrated by holding the four valve bodies 275 with a pair of holding portions 281, a pair of support portions 279 that support the valve body 75 so that it can swing around a swing axis X1 that extends horizontally and perpendicular to the longitudinal direction of the cylindrical portion 272, and a switching cylinder 77 connected to one end of the cylindrical portion 272.

[0098] Valve main body 275 also has, as air inlets and outlets communicating with the inside of cylindrical portion 272, port P (first port) provided outward from first valve seat 273, port Q (second port) provided outward from second valve seat 274, and port R (third port) opened upward and protruding from the center of cylindrical portion 272. Ports P, Q, and R are made of cylindrical members to which flexible hoses connecting vacuum blowers 39, 59 to first air chamber 32 and second air chamber 52 can be attached, and their inner diameters are formed smaller than the inner diameter of cylindrical portion 272 to prevent valve element 71, which is movably held within cylindrical portion 272, from slipping out. Furthermore, the cylindrical members constituting ports P, Q, and R have outer diameters that allow flexible piping (air tubes) with a relatively large inner diameter, for example, 8 mm to 11 mm, to be fitted. Port P is configured as an end port portion 282a in which the first valve seat 273 and the tubular member that forms the port are integrated together, and is detachably attached to the end of the tubular portion 272. Similarly, port Q is configured as an end port portion 282b in which the second valve seat 274 and the tubular member that forms the port are integrated together, and is detachably attached to the end of the tubular portion 272.

[0099] Each of the pair of holding portions 281 is made of a plate-like member of a predetermined thickness, and four holes 281a into which the cylindrical portion 272 of the valve main body 275 can be inserted are formed at predetermined intervals in a direction parallel to the oscillation axis X1.

[0100] When assembling a valve body unit 280 having four valve bodies 275 arranged in series, an operator inserts both ends of the tubular portion 272 into the holes 281a of the holder 281 and fixes the tubular portion 272 to the holder 281 by screwing or the like. The operator then places the valve element 271 inside the tubular portion 272 and screws the end port portions 282a, 282b to both ends of the tubular portion 272. This completes the assembly of the valve body unit 280, having four valve bodies 275 arranged in series, each having a port P and a first valve seat 73 at one end of the tubular portion 272 and a port Q and a second valve seat 74 at the other end. The number of valve bodies 275 constituting the valve body unit 280 can be changed by changing the longitudinal length of the pair of holders 281 and the number of holes 281a formed.

[0101] Of the four valve main bodies 275 held by the pair of holding parts 281, the two valve main bodies 275 located at both ends in the arrangement direction are provided with holes into which tip ends 283a of a pair of pin members 283 constituting the oscillation shaft are fitted. The holes are provided on the outward-facing side surfaces of the cylindrical part 272 of each valve main body 275 in the longitudinal center, and the tip ends 283a of the pin members 283 are fitted into the holes so as not to rotate. In addition, rear ends 283b of the pin members 283 are fitted into bearing parts 284 provided on the upper end sides of the pair of support parts 279. The bearing parts 284 are made of Oiles metal and rotatably support the rear ends of the pin members 283. By arranging a pair of pin members 283 opposite each other on the swing axis X1 with the four valve body parts 275 in between, the valve body unit 280 is connected and supported so as to rotate up and down around the swing axis X1 relative to the pair of support parts 279.

[0102] A connecting portion 285 that can connect to the tip connecting portion 77b of the cylinder rod 77a of the switching cylinder 77 is provided at the lower end of one of a pair of holding portions 281 arranged on either side of the port R of the cylindrical portion 272. The tip connecting portion 77b of the switching cylinder 77 is connected to the connecting portion 285 via a mounting pin 287.

[0103] The switching cylinder 77 is an air cylinder connected to factory piping that supplies compressed air, and its rear end is supported by a support bracket 286 fixed to the top plate 12 of the table 11. The support bracket 286 supports the switching cylinder 77 at a predetermined angle (for example, approximately 30 to 40 degrees) relative to the top plate 12. In other words, the switching cylinder 77 is arranged so that the cylinder rod 77a can extend and retract in the diagonal vertical direction.

[0104] When the cylinder rod 77a of the switching cylinder 77 is contracted to place port P below and port Q above, as shown in Figure 19(b), the valve element 271 slides along the slope of the inner wall of the cylindrical portion 272 and abuts with its spherical surface against the first valve seat 73 on the port P side. As a result, in the three-way valve 270, port P is closed and port Q and port R are connected.

[0105] When the cylinder rod 77a of the switching cylinder 77 is extended to position port P above and port Q below, as shown in Figure 19(a), the valve element 271 slides along the slope of the inner wall of the cylindrical portion 72 and abuts with its spherical surface against the second valve seat 74 on the port Q side. As a result, in the three-way valve 270, port Q is closed and port P and port R are connected.

[0106] In this embodiment, the valve element 271 is elliptical in side view, which is larger in volume and weight than the spherical valve element 71, and therefore the weight of the valve element 271 can improve the sealing performance between the spherical surfaces of the valve element 271 and the first valve seat 273 and the second valve seat 274. Also, in this embodiment, the three-way valve 270, which has four valve main bodies 275, is operated by one switching cylinder 77, thereby reducing the number of parts and simplifying the control system by the control unit 90.

[0107] The flow path switching of the three-way valve 270 and the connection between the first holding unit 30 and the vacuum blower 39, as well as the flow path switching of the three-way valve 270 and the connection between the second holding unit 50 and the vacuum blower 59, will be described with reference to FIG. 20. FIG. 20 is a block diagram illustrating the relationship between the first holding unit 30, the second holding unit 50, the three-way valve 270, and the intake / exhaust device. Note that in FIG. 20, in the relationship between the configuration of the second holding unit 50 (described later) and the three-way valve 270 (or the three-way valve 370 (described later)), components corresponding to the configuration of the first holding unit 30 are indicated by solid lines, and components added to the second holding unit 50 are indicated by dashed lines. Also, in FIG. 20, of the components on the first air chamber 32 side of the three-way valve 270, the compartments 32b, 32c, and 32d and the paths leading thereto are omitted from the illustration because they are the same as the configuration of compartment 32a and the path leading thereto.

[0108] 20, the intake pipe connected to the intake side of vacuum blower 39 branches into four paths via branch box 67 and is connected to the vents provided in each of compartments 32a, 32b, 32c, and 32d of first air chamber 32. In addition, the exhaust pipe connected to the exhaust side of vacuum blower 39 branches into four paths via branch box 68 and is connected to the vents provided in each of compartments 32a, 32b, 32c, and 32d of first air chamber 32. A first three-way valve 270a is disposed on the intake side between branch boxes 67 and 68 and each of compartments 32a, 32b, 32c, and 32d, and a second three-way valve 270b is disposed on the exhaust side. The first three-way valve 270a, the second three-way valve 270b, and the third three-way valve 270c and the fourth three-way valve 270d described below are each a switching valve device, and are collectively referred to as the three-way valve 270.

[0109] In the connection between the first holding unit 30 and the vacuum blower 39, port R of the first three-way valve 270a is connected to the intake side (IN) of the vacuum blower 39 via a pipe, port R of the second three-way valve 270b is connected to the exhaust side (OUT) of the vacuum blower 39 via a pipe, ports P of the first three-way valve 270a and the second three-way valve 270b are connected to the respective sub-chambers 32a, 32b, 32c, and 32d of the first air chamber 32 via a pipe, and port Q is an atmospheric open path. When the first three-way valve 70a is in a state where ports P and R are connected as shown in Figure 19(a), the vacuum blower 39 sucks air from the first air chamber 32, creating a negative pressure inside the first air chamber 32 and enabling the first nozzle 31 to pick up the octopus pieces W. At this time, the second three-way valve 270b is set to a state in which ports Q and R shown in Figure 19(b) are connected, and the exhaust from the vacuum blower 39 is released to the atmosphere. On the other hand, if the first three-way valve 270a is set to a state in which ports Q and R shown in Figure 19(b) are connected, and the second three-way valve 270b is set to a state in which ports P and R shown in Figure 19(a) are connected, outside air is drawn into the vacuum blower 39 via the first three-way valve 270a, and the exhaust from the vacuum blower 39 is supplied to the first air chamber 32 via the second three-way valve 270b. This releases the octopus piece W from suction by the first nozzle 31, and the exhaust flow from the vacuum blower 39 generates a discharge pressure at the tip of the first nozzle 31, providing buoyancy to the octopus piece W.

[0110] 19(a), when the third three-way valve 270c is connected to the second holding unit 50 and the vacuum blower 59, port R of the third three-way valve 270c is connected to the intake side (IN) of the vacuum blower 39 via a pipe, port R of the fourth three-way valve 270d is connected to the exhaust side (OUT) of the vacuum blower 39 via a pipe, ports P of the third three-way valve 270c and the fourth three-way valve 270d are connected to the respective sub-chambers 52a, 52b, 52c, and 52d of the second air chamber 52 via a pipe, and port Q is an atmospheric open path. At this time, the fourth three-way valve 270d is set to a state in which ports Q and R are connected as shown in Figure 19(b), and the exhaust from the vacuum blower 59 is released to the atmosphere. On the other hand, if the third three-way valve 270c is set to a state in which ports Q and R are connected as shown in Figure 19(b), and the fourth three-way valve 270d is set to a state in which ports P and R are connected as shown in Figure 19(a), outside air is drawn into the vacuum blower 59 via the third three-way valve 270c, and the exhaust from the vacuum blower 59 is supplied to the second air chamber 52 via the fourth three-way valve 270d. This releases the octopus pieces W from suction by the second nozzle 51, and the exhaust flow from the vacuum blower 59 generates a discharge pressure at the tip of the second nozzle 51, discharging the octopus pieces W downward.

[0111] In the second embodiment described above, the three-way valve 270 is described as a multiple three-way valve having multiple valve bodies 275. However, the number of valve bodies 275 may be one for each switching cylinder 77. Furthermore, in this embodiment, the holder 281 is capable of holding four valve bodies 275, but this is not limiting. The holder 281 may have multiple holes 281a (e.g., 5 to 10) that can hold a larger number of valve bodies 275, depending on the number of targets for which the connection state with the vacuum blowers 39 and 59 is to be switched synchronously. In other words, the number of valve bodies 275 is changed appropriately depending on the number of air chambers or sub-chambers of the air chambers to which the three-way valve 270 is connected.

[0112] A three-way valve 370 as a switching valve device according to the third embodiment will be described with reference to FIGS. 21 to 26. FIG. 21 is a front view of the three-way valve 370 according to the third embodiment, and FIG. 22 is a side view thereof. FIG. 23 is a front view illustrating the internal configuration of a cylindrical casing 381. In FIG. 23, the outline of the cylindrical casing 381 is indicated by a two-dot chain line. FIG. 24 is an explanatory diagram showing an enlarged view of the partition wall portion 372, with (a) being a front view and (b) being a side view. FIG. 25 is an explanatory diagram showing an enlarged view of the valve element 371, with (a) being a front view and (b) being a side view. FIG. 26 is a schematic diagram illustrating the operation of the three-way valve 370 according to the third embodiment. FIG. 26 shows a cross-sectional view taken along line DD in FIG. 21.

[0113] The three-way valve 370 has a valve main body 375 in which four valve elements 371 are rotatably housed in a cylindrical casing 381, one for each of the compartments 32a, 32b, 32c, and 32d in the first air chamber 32, and one for each of the compartments 52a, 52b, 52c, and 52d in the second air chamber 52. In the valve main body 375, one valve element 371 and three-way ports provided at predetermined intervals around the circumference of the cylindrical casing 381 corresponding to that valve element 371 constitute one functional unit acting as a three-way valve. Therefore, the valve main body 375 having four valve elements 371 is provided with four sets of functional units acting as a three-way valve. Furthermore, in the three-way valve 370 according to this embodiment, the drive shaft 378 penetrating the four valve bodies 371 is rotated about the drive axis X2 by one switching cylinder 77, thereby simultaneously switching the flow path among four routes using the four valve bodies 271. Because the four valve bodies 371 are connected to the drive axis X2, the three-way valve 370 can also be said to be a multiple three-way valve in which functional units serving as three-way valves are arranged in a row in the axial direction.

[0114] The three-way valve 370 of this embodiment includes a cylindrical casing 381 having a plurality of ports through which the fluid, air, flows in and out, a plurality of valve bodies 371 arranged within the cylindrical casing 381 and having recessed portions 371a that selectively allow communication between two of at least three ports (port P, port Q, port R) arranged at predetermined intervals around the circumferential direction of the cylindrical casing 381, a valve main body portion 375 having a plurality of partition portions 372 arranged on either side of the valve body 371, and a drive shaft 378 that penetrates the valve body 371 and the partition portions 372 and rotates the valve body 371 and the partition portions 372 relative to the cylindrical casing 381.

[0115] The three-way valve 370 also includes a support portion 379 that supports the valve main body portion 375, and a switching cylinder 77 that is connected to the end of the drive shaft 378 via a link member 383. The rear end of the switching cylinder 77 is supported by a support bracket 286 that is fixed to the top plate 12 of the table 11. The support bracket 286 supports the switching cylinder 77 horizontally with respect to the top plate 12. In other words, the switching cylinder 77 is arranged so that the cylinder rod 77a can extend and retract horizontally.

[0116] The link member 383 is a plate-like member for converting the linear motion of the cylinder rod 77a of the switching cylinder 77 into the rotational motion of the drive shaft 378. The drive shaft 378 is fixed to one end of the link member 383, and the tip connecting portion 77b of the switching cylinder 77 is connected to the other end via a mounting pin 287. The extension and contraction of the switching cylinder 77 causes the drive shaft 378 fixed to the link member 383 to rotate back and forth at a predetermined angle (for example, 60 degrees). This switches the flow path so that the valve element 371 can selectively communicate two of the three ports (port P, port Q, port R).

[0117] The valve main body 375 is configured by accommodating a plurality of valve bodies 371 and a plurality of partition wall portions 372 inside a cylindrical casing 381. Inside the cylindrical casing 381, as shown in FIG. 23 , the valve bodies 371 and the partition wall portions 372 are arranged alternately in the longitudinal direction of the cylindrical casing 381 so that one valve body 371 is sandwiched between two partition wall portions 372. In this embodiment, five partition wall portions 372 are arranged for four valve bodies 371. A drive shaft 378 is arranged in the center of the cylindrical casing 381, penetrating the valve bodies 371 and the partition wall portions 372.

[0118] The cylindrical casing 381 is composed of a cylindrical tubular portion 382 and lid portions 385 that seal both ends of the tubular portion 382. Twelve tubular members are provided on the outer peripheral surface of the tubular portion 382 of the tubular casing 381. These tubular members are provided at 60-degree intervals around the drive axis X2 along the circumferential direction of the tubular portion 382, ​​corresponding to the positions of the valve discs 371. Three tubular members form three ports (port P, port Q, and port R). Four sets of these three ports are arranged at predetermined intervals along the longitudinal direction of the tubular portion 382, ​​corresponding to the number of valve discs 371. The inner peripheral surface of the tubular portion 382, ​​on which the multiple ports are formed, serves as a valve seat surface for each valve disc 371. The tubular members that form port P, port Q, and port R have outer diameters that allow flexible piping (air tubes) with a relatively large inner diameter, for example, 8 mm to 11 mm, to be fitted therein. Flanges 382a are formed on both ends of the cylindrical portion 382, ​​and lids 385 are screwed to the flanges 382a to seal both ends of the cylindrical portion 382. Both ends of the cylindrical casing 381 are fixed by screwing or the like to a pair of supports 379 provided upright on the top plate 12 of the table 11. In this way, the cylindrical casing 381 is supported by the pair of supports 379 with its longitudinal direction horizontal.

[0119] 24, the valve element 371 has a shape in which a recessed portion 371a is formed by cutting a circular plate of a predetermined thickness with a diameter equal to or slightly smaller than the inner diameter of the cylindrical casing 381 from the outer periphery inward at an angle of approximately 90 degrees + 30 degrees (total 120 degrees) to a predetermined depth. A hole 371b through which the drive shaft 378 passes is formed in the center of the circle of the valve element 371, and a key groove 371c that fits with a key 378a provided on the drive shaft 378 is formed at the lower end of the hole 371b, extending from the hole 371b. The opening angle of the recessed portion 371a corresponds to the range in which two adjacent ports out of three ports provided along the circumferential direction of the cylindrical casing 381 are located. Further, the key groove 371c is formed so that the angle formed by the line L1 passing through the center of the key groove 371c and the line L2 along the notch edge on one side of the recessed portion 371a in the valve body 371 is approximately 90 degrees, and the angle formed by the line L1 and the line L3 along the notch edge on the other side of the recessed portion 371a is approximately 30 degrees. The valve body 371 rotates together with the rotation of the drive shaft 378 as the key 378a fits into the key groove 371c.

[0120] 25, the partition wall 372 is formed by forming a circumferential groove 372d in the center of the circular plate, and has a predetermined thickness and a diameter equal to or slightly smaller than the inner diameter of the cylindrical portion 382 of the cylindrical casing 381. A sealing O-ring 386 is fitted into the groove 372d. A hole 372b is formed in the center of the circular plate, allowing the drive shaft 378 to be inserted. A portion of the hole 372b is enlarged to form a key groove 372c that fits with a key 378a provided on the drive shaft 378. The O-ring 386 airtightly abuts the partition wall 372 against the inner peripheral surface of the cylindrical portion 382, ​​thereby separating the space that serves as the air flow path, formed by the recess 371a of each valve element 371 and the wall surface 372e of the partition wall 372, for each valve element 371.

[0121] The drive shaft 378, valve element 371, and partition wall 372 are connected to each other so as to be unable to rotate relative to each other by a key 378a on the drive shaft 378 side, a key groove 371c in the valve element 371, and a key groove 372c in the partition wall 372. Therefore, the valve element 371 and partition wall 372 rotate integrally with respect to the cylindrical casing 381 as the drive shaft 378 rotates. At this time, the O-ring 386 slides against the inner peripheral surface of the cylindrical casing 381, thereby maintaining the airtightness of the flow path for each valve element 371.

[0122] A drive shaft 378 that passes through the cylindrical casing 381 is rotatably fitted to the lid portion 385. One end of the drive shaft 378 that protrudes horizontally from the cylindrical casing 381 is connected to the switching cylinder 77. The switching cylinder 77 expands and contracts at predetermined timing by controlling the operation of an electromagnetic valve 86 that is installed in the compressed air supply pipe of the switching cylinder 77 with a control unit 90. As a result, the drive shaft 378 rotates back and forth through a predetermined angle, thereby switching the flow path of the three-way valve 370.

[0123] When the cylinder rod 77a of the switching cylinder 77 is contracted and the drive shaft 378 is rotated so that the key 378a of the drive shaft 378 faces downward and is aligned vertically with port R, the recessed portion 371a of the valve body 371 is positioned opposite ports P and R, as shown in FIG. 26(a). At this time, port Q is closed by the outer peripheral surface 371d of the valve body 371. In other words, when the switching cylinder 77 is contracted, port P and port R are connected to each other.

[0124] When the cylinder rod 77a of the switching cylinder 77 is extended and the drive shaft 378 is rotated so that the position of the key 378a of the drive shaft 378 is rotated 60 degrees clockwise from the position shown in FIG. 25(a), the recessed portion 371a of the valve body 371 is positioned to face the ports R and Q, as shown in FIG. 25(b). At this time, the port P is closed by the outer peripheral surface 371d of the valve body 371. In other words, the extension of the switching cylinder 77 causes the ports R and Q to communicate with each other.

[0125] The flow path switching of the three-way valve 370 and the connection between the first holding unit 30 and the vacuum blower 39, as well as the flow path switching of the three-way valve 370 and the connection between the second holding unit 50 and the vacuum blower 59, will be described with reference to Figure 20. Between the first holding unit 30 and the vacuum blower 39, and between the second holding unit 50 and the vacuum blower 59, a plurality of three-way valves 370 are provided that enable flow path switching in the air supply and exhaust paths according to at least the number of compartments provided in each air chamber of the first holding unit 30 and the second holding unit 50.

[0126] In the connection between the first holding unit 30 and the vacuum blower 39, port R of the first three-way valve 370a is connected to the intake side (IN) of the vacuum blower 39 via a pipe, port R of the second three-way valve 370b is connected to the exhaust side (OUT) of the vacuum blower 39 via a pipe, ports P of the first three-way valve 370a and the second three-way valve 370b are connected to the respective sub-chambers 32a, 32b, 32c, and 32d of the first air chamber 32 via a pipe, and port Q is an atmospheric open path. When the first three-way valve 70a is in a state where ports P and R are connected as shown in Figure 26(a), the vacuum blower 39 sucks air from the first air chamber 32, creating a negative pressure inside the first air chamber 32 and enabling the first nozzle 31 to pick up the octopus pieces W. At this time, the second three-way valve 370b is set to a state in which ports Q and R shown in Figure 26(b) are connected, and the exhaust from the vacuum blower 39 is released to the atmosphere. On the other hand, if the first three-way valve 370a is set to a state in which ports Q and R shown in Figure 26(b) are connected, and the second three-way valve 370b is set to a state in which ports P and R shown in Figure 26(a) are connected, outside air is drawn into the vacuum blower 39 via the first three-way valve 370a, and the exhaust from the vacuum blower 39 is supplied to the first air chamber 32 via the second three-way valve 370b. This releases the octopus piece W from suction by the first nozzle 31, and the exhaust flow from the vacuum blower 39 generates a discharge pressure at the tip of the first nozzle 31, providing buoyancy to the octopus piece W.

[0127] 26(a), when the third three-way valve 370c connects the second holding unit 50 to the vacuum blower 59, the port R of the third three-way valve 370c is connected to the intake side (IN) of the vacuum blower 59 via a pipe, the port R of the fourth three-way valve 370d is connected to the exhaust side (OUT) of the vacuum blower 59 via a pipe, the ports P of the third three-way valve 370c and the fourth three-way valve 370d are connected to the respective sub-chambers 52a, 52b, 52c, and 52d of the second air chamber 52 via a pipe, and the port Q is an atmospheric open path. At this time, the fourth three-way valve 370d is set to a state in which port Q and port R are connected as shown in Figure 26(b), and the exhaust from the vacuum blower 59 is released to the atmosphere. On the other hand, if the third three-way valve 370c is set to a state in which port Q and port R are connected as shown in Figure 26(b), and the fourth three-way valve 370d is set to a state in which port P and port R are connected as shown in Figure 26(a), outside air is drawn into the vacuum blower 59 via the third three-way valve 370c, and the exhaust from the vacuum blower 59 is supplied to the second air chamber 52 via the fourth three-way valve 370d. This releases the octopus pieces W from suction by the second nozzle 51, and the exhaust flow from the vacuum blower 59 generates a discharge pressure at the tip of the second nozzle 51, discharging the octopus pieces W downward.

[0128] The three-way valve 370 according to the third embodiment described above has been described as a rotary three-way valve having a plurality of movable valve elements (valve elements 371), but the number of valve elements 371 may be one for one switching cylinder 77. In other words, the valve main body 375 may be configured such that one valve element 371 is sandwiched between a pair of partition walls 372 housed in a cylindrical casing 381. In other words, the number of valve elements 371 is changed appropriately depending on the number of air chambers to which the three-way valve 370 is connected or the number of sub-chambers of the air chambers.

[0129] A six-way valve 470 serving as a switching valve device according to the fourth embodiment will be described with reference to FIGS. 27 to 31. FIG. 27 is a plan view of the six-way valve 470 according to the fourth embodiment, and FIG. 28 is a side view thereof. FIG. 29 is an explanatory diagram showing an enlarged view of a valve body 471, with (a) being a front view and (b) being a side view. FIG. 30 is a schematic diagram illustrating the operation of the six-way valve 470 according to the fourth embodiment. FIG. 30 shows a cross-sectional view taken along line E-E in FIG. 27. FIG. 31 is a block diagram illustrating the relationship between the first holding section, the second holding section, the switching valve device, and the intake and exhaust device.

[0130] Six-way valve 470 according to this embodiment has a cylindrical casing 481 having a plurality (12) of ports through which air, which is a fluid, flows in and out, and a valve body 475 consisting of a plurality (2) of valve bodies 471 arranged inside cylindrical casing 481, with ports provided in six directions for each valve body 471. Valve body 471 is a movable valve body that rotates inside cylindrical casing 481, and an air cylinder is used as a drive unit for operating valve body 471.

[0131] In the valve main body 475, six ports are provided at predetermined intervals in the cylindrical casing 481 for each valve element 471, and two sets of three-way valves are integrated together by one valve element 471 and the six ports. In other words, three adjacent ports of the six ports corresponding to one valve element 471 are configured to function as one three-way valve. Since two valve elements 471 are arranged in the valve main body 475, four sets of functional units serving as three-way valves are provided. Furthermore, since the two valve elements 471 are axially connected in the valve main body 475, the six-way valve 470 can also be said to be a multiple three-way valve in which two sets of integrated three-way valves are connected in the axial direction.

[0132] The cylindrical casing 481 is composed of a cylindrical tube portion 482 and lid portions 485 that seal both ends of the tube portion 482. Six ports (ports P1, P2, ports Q1, Q2, ports R1, R2) are provided on the outer peripheral surface of the tube portion 482 of the cylindrical casing 481 by cylindrical members that protrude at 60-degree intervals along the circumferential direction centered on the drive axis X3. These six ports are arranged in two sets at predetermined intervals in the longitudinal direction of the tube portion 482, corresponding to the number of valve bodies 471. The inner peripheral surface of the tube portion 482 on which the multiple ports are formed serves as a valve seat surface for each valve body 471. As in the third embodiment, the cylindrical members that form each port have an outer diameter that allows a flexible pipe (air tube) with a relatively large inner diameter, for example, of 8 mm to 11 mm, to be fitted therein. Flanges 482a are formed on both ends of the cylindrical portion 482, and a lid portion 485 is screwed to the flanges 482a to seal both ends of the cylindrical portion 482. A sealant such as an O-ring is interposed between the lid portion 485 and the flanges 482a to maintain airtightness inside the cylindrical portion 482. Both ends of the cylindrical casing 481 are fixed by screwing or the like to a pair of supports 479 provided on the top plate 12 of the table 11. Thus, the cylindrical casing 481 is supported by the pair of supports 479 with its longitudinal direction horizontal.

[0133] Of the six ports (ports P1, P2, ports Q1, Q2, ports R1, R2) arranged at equal intervals of approximately 60 degrees around the circumferential direction of the cylindrical portion 482, the valve body 471 is configured to selectively allow communication between two ports out of port P1, port Q1, and port R1 which are located to the right of the line Y perpendicular to the drive axis X3 shown in Figure 28, and to selectively allow communication between two ports out of port P2, port Q2, and port R2 which are located to the left of the line Y.

[0134] A partition wall 372 is disposed within cylindrical casing 481 to maintain airtightness of the flow path switched by the rotation of valve element 471. Partition wall 372 is the same as that employed in three-way valve 370 according to the third embodiment described with reference to Fig. 25, and is disposed so as to separate two valve elements 471. A drive shaft 478 is disposed so as to penetrate valve element 471 and partition wall 372, and therefore, when drive shaft 478 rotates, valve element 471 and partition wall 372 rotate as a unit.

[0135] The six-way valve 470 also includes a support portion 379 that supports the valve main body portion 475, and a switching cylinder 77 that is connected to the end of the drive shaft 378 via a link member 483. The rear end of the switching cylinder 77 is supported by a support bracket 486 that is fixed to the top plate 12 of the table 11. The support bracket 486 supports the switching cylinder 77 horizontally with respect to the top plate 12. In other words, the switching cylinder 77 is arranged so that the cylinder rod 77a can extend and retract horizontally.

[0136] The link member 483 is a plate-like member for converting the linear motion of the cylinder rod 77a of the switching cylinder 77 into the rotational motion of the drive shaft 478. The drive shaft 478 is fixed to one end of the link member 483, and the tip connecting portion 77b of the switching cylinder 77 is connected to the other end via a mounting pin 287. The extension and contraction of the switching cylinder 77 causes the drive shaft 478 fixed to the link member 483 to rotate back and forth at a predetermined angle (for example, 60 degrees). This switches the flow path so that the valve body 471 can selectively communicate two of the three ports.

[0137] In the six-way valve 470, a drive shaft 478 that penetrates two valve bodies 471 and a partition wall portion 372 is rotated around a drive axis X3 by a single switching cylinder 77. This allows for simultaneous switching of flow paths between two paths per valve body 471 and four paths for the valve main body 475.

[0138] The valve element 471 will be described in more detail. As shown in FIG. 29, the valve element 471 has a shape formed by cutting a circular plate of a predetermined thickness having a diameter equal to or slightly smaller than the inner diameter of the cylindrical casing 381 from the outer periphery inward at an angle of approximately 90 degrees + 30 degrees (total of 120 degrees) to a predetermined depth, with recessed portions 471a formed with 180-degree rotational symmetry about the drive axis X3. In other words, the valve element 471 has a shape formed by cutting out two portions of the circular plate so that a sector with a central angle of 60 degrees is formed with 180-degree rotational symmetry about the drive axis X3. A hole 471b through which the drive shaft 378 passes is formed in the center of the valve element 371, and a key groove 471c that fits with a key 478a provided on the drive shaft 478 is formed at the lower end of the hole 471b and extends from the hole 471b. The opening angle of recessed portion 471a is an angle corresponding to the range in which two adjacent ports are located among six ports provided along the circumferential direction of cylindrical casing 381. Furthermore, key groove 471c is formed so that the angle between line L1 passing through the center of key groove 471c and line L2 along one cutout edge of recessed portion 471a in valve body 471 is approximately 90 degrees, and the angle between line L1 and line L3 along the other cutout edge of recessed portion 471a is approximately 30 degrees. Valve body 471 rotates together with drive shaft 478 as key 478a fits into key groove 471c.

[0139] Drive shaft 478, valve element 471, and partition wall portion 372 are connected to each other so as to be unable to rotate relative to one another by key 478a on drive shaft 478, key groove 471c of valve element 471, and key groove 372c of partition wall portion 372. Therefore, valve element 371 and partition wall portion 372 rotate integrally with cylindrical casing 481 as drive shaft 378 rotates. At this time, O-ring 386 slides against the inner circumferential surface of cylindrical casing 481, thereby maintaining airtightness of the flow path for each valve element 471.

[0140] Drive shaft 378, which passes through cylindrical casing 481, is rotatably fitted to lid portion 485 and support portion 479. One end of drive shaft 378, which protrudes horizontally from cylindrical casing 481, is connected to switching cylinder 77. By controlling the operation of solenoid valve 86, which is installed in the compressed air supply pipe of switching cylinder 77, with control unit 90, switching cylinder 77 expands and contracts at predetermined timing. As a result, drive shaft 478 rotates back and forth by a predetermined angle, and flow path switching of six-way valve 470 is realized.

[0141] Switching of the flow path by rotation of the valve element 471 will be described with reference to Figure 30. When the cylinder rod 77a of the switching cylinder 77 is extended and the drive shaft 478 is rotated so that the key 478a of the drive shaft 478 faces port P2, the pair of recessed portions 471a, 471a of the valve element 471 are positioned facing ports P1 and R1, and ports R2 and Q2, respectively, as shown in Figure 30(a). At this time, ports Q1 and P2 are blocked by the outer peripheral surface 471d of the valve element 471. In other words, extension of the switching cylinder 77 connects ports P1 and R1, and ports R2 and Q2.

[0142] When the cylinder rod 77a of the switching cylinder 77 is contracted and the drive shaft 478 is rotated so that the position of the key 478a of the drive shaft 478 is rotated 60 degrees clockwise from the position shown in FIG. 30(a), the pair of recessed portions 471a of the valve body 471 are positioned so as to face the ports R1 and Q1, and the ports P2 and R2, respectively, as shown in FIG. 30(b). At this time, the ports P1 and Q2 are blocked by the outer peripheral surface 371d of the valve body 371. In other words, contraction of the switching cylinder 77 connects the ports R1 and Q1, and the ports P2 and R2.

[0143] The flow path switching of the six-way valve 470 and the connection between the first holding unit 30 and the vacuum blower 39, as well as the connection between the second holding unit 50 and the vacuum blower 59, will be described with reference to Figure 31. Between the first holding unit 30 and the vacuum blower 39 and between the second holding unit 50 and the vacuum blower 59, a plurality of six-way valves 470 are provided to switch flow paths in a number of paths corresponding to at least the number of compartments provided on the first holding unit 30 and the second holding unit 50 side. Note that Figure 31 illustrates only the six-way ports of the six-way valve 470 corresponding to one valve element 471, and of the configuration on the first air chamber 32 side of the branch boxes 67 and 68, compartments 32b, 32c, and 32d and the paths leading to them are not shown because they are common to the configuration of compartment 32a and the paths leading to them.

[0144] In the three-way valve 70 according to the first embodiment, the three-way valve 270 according to the second embodiment, and the three-way valve 370 according to the third embodiment, as shown in Figures 15 and 20, separate three-way valves are provided on the intake and exhaust sides of the vacuum blowers 39, 59, and drive signals are sent to the solenoid valves 86 of the switching cylinders 77 of the respective three-way valves. On the other hand, in the six-way valve 470 according to the fourth embodiment, rotation of a single valve element 471 essentially switches the flow paths of two sets of three-way valves. Therefore, in the six-way valve 470, by devising the connection destinations of the six ports provided for a single valve element 471, it is possible to connect both the intake and exhaust sides of the vacuum blowers 39, 59 to a single six-way valve 470. In other words, the first three-way valve interposed in the path between the intake side of the intake and exhaust device (vacuum blower 39) and the first holding section 30, and the second three-way valve interposed in the path between the exhaust side of the intake and exhaust device (vacuum blower 39) and the first holding section 30 can be realized with one valve body 471 and six-way ports, and the third three-way valve interposed in the path between the intake side of the intake and exhaust device (vacuum blower 59) and the second holding section 50, and the fourth three-way valve interposed in the path between the exhaust side of the intake and exhaust device (vacuum blower 59) and the second holding section 50 can be realized with one valve body 471 and six-way ports.

[0145] When the six-way valve 470 is used to connect the first holding unit 30 and the vacuum blower 39, each of the two three-way valves as a functional unit, each consisting of six ports and one corresponding valve element 471, performs flow path switching equivalent to the first three-way valve 70a and the second three-way valve 70b according to the first embodiment. When the six-way valve 470 is used to connect the second holding unit 50 and the vacuum blower 59, each of the two three-way valves as a functional unit, each consisting of six ports and one corresponding valve element 471, performs flow path switching equivalent to the third three-way valve 70c and the fourth three-way valve 70d according to the first embodiment.

[0146] In the connection between the first holding unit 30 and the vacuum blower 39, port R1 of the six-way valve 470 is connected to the intake side (IN) of the vacuum blower 39 via a pipe, port P1 is connected to one of the compartments 32a, 32b, 32c, and 32d of the first air chamber 32 via a pipe, port R2 is connected to the exhaust side (OUT) of the vacuum blower 39 via a pipe, port P2 is connected to one of the compartments 32a, 32b, 32c, and 32d of the first air chamber 32 via a pipe, and ports Q1 and Q2 are open to the atmosphere. When port P1 and port R1 are connected as shown in Figure 30(a), the vacuum blower 39 sucks air from the first air chamber 32, creating a negative pressure inside the first air chamber 32 and enabling the first nozzle 31 to pick up the octopus pieces W. At this time, as shown in Figure 30(a), port Q2 and port R2 are in communication, and the exhaust from vacuum blower 39 is released into the atmosphere. Next, when six-way valve 470 is set to the state shown in Figure 30(b), where port Q1 and port R1 are in communication and port P2 and port R2 are in communication, outside air is drawn into vacuum blower 39 via six-way valve 470, and the exhaust from vacuum blower 39 is supplied to first air chamber 32 via six-way valve 470. This releases the octopus piece W from suction by first nozzle 31, and the exhaust flow from vacuum blower 39 generates discharge pressure at the tip of first nozzle 31, providing buoyancy to the octopus piece W.

[0147] 30(a), when the six-way valve 470 is in a state where ports P1 and R1 are connected to each other, the vacuum blower 59 sucks in air from the second air chamber 52, creating a negative pressure inside the second air chamber 52, and allowing the second nozzle 51 to pick up the octopus pieces W. At this time, as shown in Figure 30(a), port Q2 and port R2 are in communication, and the exhaust from the vacuum blower 59 is released into the atmosphere. On the other hand, if the six-way valve 470 is set to a state in which port Q1 and port R1 are in communication, as shown in Figure 30(b), port Q2 and port R2 are in communication. This causes outside air to be drawn into the vacuum blower 59 via the six-way valve 470, and the exhaust from the vacuum blower 59 is supplied to the second air chamber 52 via the six-way valve 470. This releases the octopus pieces W from suction by the second nozzle 51, and the exhaust flow from the vacuum blower 59 generates a discharge pressure at the tip of the second nozzle 51, discharging the octopus pieces W downward.

[0148] In the six-way valve 470 according to the fourth embodiment, by devising port connections, it is possible to switch between two different flow paths with a single operation of the switching cylinder 77. In other words, the switching of the flow paths between the intake and exhaust sides of each of the vacuum blowers 39 and 59 is physically synchronized by the rotation of the valve element 471 via the drive shaft 478. This simplifies the signal transmission system between the control unit 90 and the switching cylinder 77. Furthermore, by increasing the number of valve elements 471 provided in the cylindrical casing 481, it is possible to further reduce the number of switching cylinders 77 and solenoid valves 86, thereby contributing to a reduction in the manufacturing cost of the food supply device 10.

[0149] The connections of the ports of the six-way valve 470 shown in FIG. 31 are merely examples and are not intended to be limiting. Referring to FIG. 32, a modified example of the flow path switching of the six-way valve 470 and the connection between the first holding unit 30 and the vacuum blower 39, as well as the flow path switching of the six-way valve 470 and the connection between the second holding unit 50 and the vacuum blower 59, will be described. Similar to FIG. 31, FIG. 32 is a block diagram illustrating the relationship between the first holding unit, the second holding unit, the switching valve device, and the intake / exhaust device. Note that FIG. 32 illustrates only the six-way ports of the six-way valve 470 corresponding to one valve element 471. Of the configuration of the first air chamber 32 closer to the branch boxes 67 and 68, the compartments 32c and 32d and the paths leading thereto are not shown because they are the same as the configuration of the compartments 32a and 32b and the paths leading thereto.

[0150] In the modified example shown in FIG. 32, separate six-way valves 470 are provided on the intake and exhaust sides of each of the vacuum blowers 39 and 59. In this case, the positions of ports P2 and Q2 shown in FIG. 31 are swapped, with ports P1 and P2 connected to the sub-chambers 32a and 32b of the first air chamber 32, ports R1 and R2 connected to the vacuum blower 39, and ports Q1 and Q2 open to the atmosphere. That is, of the two six-way valves 470 shown at the top and bottom of the page in FIG. 32, one six-way valve 470 is used to switch the flow path between suction and suction release of the air chamber, and the other six-way valve 470 is used to switch the flow path between supplying and canceling discharge air to the air chamber. The control unit 90 then controls the operation of the switching cylinders 77 provided on both six-way valves 470 to synchronize with each other. In addition, the connections of each port of the six-way valve 470 arranged between the vacuum blower 59 and the second air chamber 52 are the same as those of the six-way valve 470 arranged between the vacuum blower 39 and the first air chamber 32.

[0151] The six-way valve 470 according to the fourth embodiment has been described above as an example of a rotary three-way valve having a plurality of movable valve bodies 471, but the number of valve bodies 471 may be one or three or more for one switching cylinder 77. In other words, the number of valve bodies 471 is changed appropriately depending on the number of air chambers or sub-chambers of the air chambers to which the six-way valve 470 is connected.

[0152] The reasons for adopting the three-way valves 70, 270, 370 having the configurations described in the first to third embodiments and the six-way valve 470 having the configuration described in the fourth embodiment as the switching valve devices of the food material supplying device 10 are as follows: To improve the responsiveness of the first nozzles 31 and the second nozzles 51 in the operations of suction and release of the target object (octopus pieces W), it is necessary to quickly change the pressure in the air chambers (first air chamber 32, second air chamber 52) that communicate with each nozzle to a state where suction is possible or where suction can be released. In the above-described embodiment, the air chamber is divided into four compartments, and three-way valves 70, 270, 370 having valve bodies 71, 271, 371 or six-way valve 470 having valve body 471 are used to switch the connection state between each compartment and vacuum blower 39, 59, making it possible to quickly change the pressure in the air chamber via flexible piping (air tube) with a relatively large inner diameter, for example, of 8 mm to 11 mm.

[0153] Three-way solenoid valves have been known for some time, but solenoid valves that can connect to air tubes of the aforementioned size (inner diameter of 8 mm to 11 mm) are large and heavy. Therefore, when the members and components that make up robot arm 60 and food delivery unit 40 are arranged on table 11 to match the transport height of grilling iron plate 110, the strength of table 11 makes it impossible to arrange a conventional solenoid valve on table 11 as a three-way valve for switching the flow path between the air chamber and vacuum blowers 39, 59.

[0154] On the other hand, the three-way valves 70, 270, 370 and six-way valve 470 employed in food supply device 10 use a solenoid valve installed in the compressed air supply pipe of factory equipment to operate switching cylinder 77, but the volume inside the cylinder body of switching cylinder 77 is sufficiently small compared to the air chamber, so a small and lightweight solenoid valve is sufficient. In other words, the solenoid valve (5-port solenoid valve) that operates the expansion and contraction of switching cylinder 77 can be a small and lightweight one to which a relatively small-diameter air tube with an inner diameter of, for example, about 1 mm to 2.5 mm is connected. The three-way valves 70, 270, 370 and six-way valve 470 configured as described above are significantly lighter than solenoid valves that enable three-way switching, and can be installed on table 11.

[0155] Furthermore, the switching valve device (three-way valves 70, 270, 370 and six-way valve 470) applied to the food supply device of the present invention can be installed on tables with load restrictions, etc., and therefore can be applied not only to food manufacturing devices, but also to other industrial machinery and equipment that transport objects by repeatedly suctioning and releasing the suction using air supplied by an intake and exhaust device.

[0156] The above-described embodiment is merely an example of the present invention, and the food supply device according to the present invention is not limited to the above-described embodiment. Therefore, even if it is not the above-described embodiment, various modifications can be made depending on the design, etc., as long as they do not deviate from the technical concept of the present invention. Furthermore, the effects described in this disclosure are merely examples and are not limited thereto, and other effects may also be obtained. [Explanation of symbols]

[0157] 10 Food supply device 11 tables 12 Top plate 13 Ladder 20 Storage section 21 Bottom 22 Hole 23 Tapered surface 24 Disc part 27 Horizontal Cylinder 30 1st holding part 31 No. 1 nozzle 32 Second air chamber 39 Vacuum blower (intake and exhaust device) 40 Delivery Section 41 Foundation 42 Post 47 Lifting cylinder (lifting device) 50 Second holding part 51 Second nozzle 52 Second Air Chamber 53 Ring member 54 Cylindrical part 59 Vacuum blower (intake and exhaust device) 60 Robot arm (horizontal movement device) 70 Three-way valve (switching valve device) 70a 1st three-way valve 70b Second three-way valve 70c 3rd three-way valve 70d Fourth Three-Way Valve 71 Valve body 72 Cylinder part 73 First valve seat 74 Second valve seat 75 Valve body 77 Switching cylinder 90 Control Unit 110 Iron plate for baking 111 recess 120 Conveyor 270 Three-way valve (switching valve device) 271 Valve body 272 Cylinder part 273 First valve seat 274 Second valve seat 275 Valve body 283 Pin member (swing shaft) 281 Holding part 370 Three-way valve (switching valve device) 371 Valve body 372 Bulkhead section 378 Drive shaft 381 Cylindrical Casing 383 Link member 470 Six-way valve (switching valve device) 471 Valve body 478 Drive shaft 481 Cylindrical Casing 483 Link member F Standby position G Delivery position H Delivery position J Insertion position X1 Swing axis X2 drive axis X3 drive axis

Claims

1. A food supply device that supplies food to a plurality of food receiving sections formed at predetermined intervals, a storage section for storing ingredients; a first holding section that adsorbs and holds the food material stored in the storage section; a second holding unit that receives and adsorbs and holds the food material from the first holding unit; a lifting device that lifts and lowers the first holding unit between a bottom position of the storage unit and a position for transferring ingredients to the second holding unit; a horizontal movement device that moves the second holding unit between the food material transfer position and a food material input position into the food material receiving unit; an intake and exhaust device connected to the first holding portion and the second holding portion, respectively; a switching valve device having at least three ports, the switching valve device being interposed between the first holding portion and the intake / exhaust device and between the second holding portion and the intake / exhaust device; a control unit that controls the switching valve device; Equipped with the first holding section is supported by the lifting device and is composed of a first air chamber having an air supply / discharge port, and a plurality of first nozzles that are erected so as to be able to communicate with the first air chamber and that penetrate a bottom of the storage section and move up and down; The second holding section is a food supply device that is suspended from the horizontal movement device and is composed of a second air chamber having an air supply and exhaust port, and a plurality of second nozzles that are suspended so as to be able to communicate with the second air chamber and correspond to each of the plurality of first nozzles.

2. The switching valve device selectively switches two of three ports through which fluid flows in and out to be communicable by moving a valve element using the expansion and contraction of an air cylinder.

2. The food supply device according to claim 1.

3. The switching valve device includes: a first three-way valve interposed in a path between an intake side of the intake and exhaust device and the first holding portion; a second three-way valve interposed in a path between an exhaust side of the intake and exhaust device and the first holding portion; a third three-way valve interposed in a path between an intake side of the intake and exhaust device and the second holding portion; a fourth three-way valve interposed in a path between an exhaust side of the intake and exhaust device and the second holding portion; Including, The control unit when the lifting device is driven to lift the plurality of first nozzles, the first three-way valve is switched so that the first air chamber communicates with an intake side of the intake and exhaust device, and the second three-way valve is switched so that the exhaust side of the intake and exhaust device communicates with an atmospheric open path; when the second holding portion is moved to the transfer position, the third three-way valve is switched so that the second air chamber communicates with an intake side of the intake and exhaust device, and the third three-way valve is switched so that the exhaust side of the intake and exhaust device communicates with an atmosphere open path; when the tips of the plurality of first nozzles reach a predetermined height position, the first three-way valve is switched so that an intake side of the intake and exhaust device is connected to an atmosphere open path, and the second three-way valve is switched so that an exhaust side of the intake and exhaust device is connected to the first air chamber; when the horizontal movement device is driven to move the second holding part to the loading position, the third three-way valve is switched so that an intake side of the intake and exhaust device is connected to an atmosphere open path, and the fourth three-way valve is switched so that an exhaust side of the intake and exhaust device is connected to the second air chamber.

3. The food supply device according to claim 1 or 2.

4. The switching valve device is a valve body having a spherical surface; a cylindrical portion for movably holding the valve body; a first valve seat provided at one end of the cylindrical portion and a second valve seat provided at the other end of the cylindrical portion; a valve body having a first port provided outward from the first valve seat that communicates with the inside of the cylindrical portion and through which a fluid flows in and out, a second port provided outward from the second valve seat, and a third port provided in a central portion of the cylindrical portion; a support portion that supports the valve body portion so that the valve body portion can swing about a swing axis that extends in a horizontal direction perpendicular to the length direction of the cylindrical portion; Equipped with The air cylinder is connected to one end side of the cylindrical portion so as to be extendable and contractible.

3. The food supply device according to claim 2.

5. The switching valve device is a cylindrical casing having at least three ports for fluid entry and exit; a valve element disposed within the cylindrical casing, the valve element having recessed portions that selectively allow communication between two of at least three ports disposed at predetermined intervals along the circumferential direction of the cylindrical casing; a partition wall for maintaining airtightness of the valve body; a drive shaft that penetrates the valve body and the partition wall and rotates the valve body and the partition wall relative to the cylindrical casing; a valve body having a support portion that supports the valve main body portion; Equipped with The air cylinder is connected to an end of the drive shaft via a link member.

3. The food supply device according to claim 2.

6. The switching valve device is Six ports are formed in the cylindrical casing at equal intervals along the circumferential direction, The valve body has a pair of recessed portions at positions rotationally symmetrical by 180 degrees around the axis of the drive shaft.

6. The food supply device according to claim 5.

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