Food transfer device and food transfer program

Abstract

To operate a transfer robot for placing a sub-food such as ham on a main food such as bread at a practically usable production speed.SOLUTION: This food transfer device 100 for placing the sub-food S on the main food M is provided with a transfer robot 10 for picking up the plurality of sub-foods S from the arranged sub-foods S and placing the picked-up sub-foods S on the plurality of main foods M by a predetermined number.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a food transfer device and a food transfer program used in, for example, a sandwich manufacturing process to place ham on bread. [Background technology]

[0002] Traditionally, sandwich factories have tended to produce a wide variety of sandwiches in small quantities, with workers manually placing ingredients such as ham on top of the bread that comes rolling out one after another.

[0003] For example, there is a device for automating sandwich production, such as that described in Patent Document 1, but this device automatically cuts the sandwich after fillings have been placed inside before packaging, and does not contribute to automating the process of placing the fillings between bread. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-162529 Summary of the Invention [Problem to be solved by the invention]

[0005] In this situation, the inventors of the present invention considered having a robot pick up a number of slices of ham arranged on a tray and place them on bread.

[0006] However, if a robot had to place one slice of ham on a bun and then go pick up the next slice, it would not be able to achieve a production rate that could be used in a practical way.

[0007] Therefore, an object of the present invention is to operate a transfer robot that places a side dish such as ham on a main dish such as bread at a production speed that can be used in reality. [Means for solving the problem]

[0008] In other words, the food transfer device of the present invention is a food transfer device that places side dishes on a main food, and is characterized by having a transfer robot that picks up multiple side dishes from the side dishes that are lined up and places a predetermined number of the picked up side dishes on multiple main foods.

[0009] With this food transfer device configured in this way, the transfer robot picks up multiple side foods in a series of movements and places them on each of multiple main foods, thereby improving production speed compared to a configuration in which side foods are picked up one by one and placed on the main food. As a result, according to the present invention, it is possible to operate a transfer robot that places a side dish such as ham on a main dish such as bread at a production speed that can be used in reality.

[0010] Incidentally, when ham, for example, is manually arranged on a tray and multiple side dishes are picked up from the tray, the side dishes on the tray will likely be placed slightly out of position from when they are neatly arranged. However, if the transfer robot were to pick up all side dishes in the same way and place them on all main dishes in the same way, the relative positions of the side dishes to the main dishes would become inconsistent, which could result in defective products being produced.

[0011] Therefore, it is preferable to further include an imaging means for imaging the side food and a robot controller for controlling the operation of the transfer robot, and the robot controller has a position data acquisition unit for acquiring position data of the side food based on the imaging data obtained by the imaging means, and an operation control unit for controlling the operation of the transfer robot based on the position data. With this configuration, the transfer robot is controlled based on the position data of the side dishes, so the position of the transfer robot can be corrected in accordance with the positional deviation of the side dishes, making it possible to pick up each side dish in the same way and maintaining a constant position of the side dish relative to the main food.

[0012] Incidentally, if the side dish, for example ham, is triangular or rectangular, the orientation of the side dishes arranged on the tray will likely be somewhat uneven. Therefore, it is preferable that the position data includes coordinate information and orientation information of the side food, and that the operation control unit controls the position of the hand of the transfer robot based on the coordinate information and orientation information of each of the multiple side food items to be picked up. With this configuration, the position of the transfer robot can be corrected not only in response to positional deviations of the side food but also in response to its orientation, thereby making it possible to maintain a more constant position of the side food relative to the main food.

[0013] It is preferable that the operation control unit controls the position of the hand before picking up each of the side dishes based on the coordinate information and orientation information corresponding to each side dish. With this configuration, the relative position of the picked-up side food to the hand can be kept constant, and as a result, the relative position of the side food to the main food can be kept constant.

[0014] It is preferable that the food processing system further comprises a transport conveyor for transporting the main food, and the transfer robot places the side food on the main food while it is being transported by the transport conveyor. With this configuration, side dishes can be placed without stopping the conveyance of the main food, thereby improving productivity.

[0015] It is preferable that the transfer robot places the side food on the main food while moving upstream or downstream along the conveying direction of the main food. With this configuration, the side food is less likely to shift position when placed, making it easier to place the side food in the desired position on the main food.

[0016] It is preferable that the position of the main food at the time of receiving the side food from the transfer robot is shifted upstream in the conveying direction of the main food in the order in which the side food is received among the plurality of main foods. With this configuration, the multiple side foods that have been picked up can be quickly placed on the main food, thereby improving production speed.

[0017] In addition, the food transfer program of the present invention is a program used in a food transfer device that places side dishes on a main food, and is characterized by controlling a transfer robot to pick up multiple side dishes from among the side dishes that are lined up, and place a predetermined number of the picked up side dishes on multiple main foods. Such a food transfer program can achieve the same effects as the food transfer device described above. [Effects of the Invention]

[0018] According to the present invention configured in this manner, a transfer robot that places a side dish such as ham on a main dish such as bread can be operated at a production speed that can be practically used. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a schematic diagram showing the overall configuration of a food transfer device according to an embodiment of the present invention; [Figure 2] FIG. 2 is a schematic diagram showing the configuration of the transfer robot of the embodiment. [Figure 3] 4 is a flowchart illustrating the operation of the food transfer device according to the embodiment. [Figure 4] 5 is a schematic diagram showing the operation of the transfer robot of the embodiment scooping up a side food item. FIG. [Figure 5] FIG. 10 is a schematic diagram showing a state in which the hand of the embodiment has moved to a standby position. [Figure 6] 10 is a schematic diagram showing the operation of the transfer robot of the embodiment placing a side food on a main food. FIG. [Figure 7] 10A and 10B are schematic diagrams showing the operation of a food transfer device in another embodiment. [Figure 8] 10A and 10B are schematic diagrams showing the operation of a food transfer device in another embodiment. [Figure 9] FIG. 10 is a schematic diagram showing the configuration of a transfer robot according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, an embodiment of a food transfer device according to the present invention will be described with reference to the drawings.

[0021] The food transfer device is used in the manufacturing process of food products sold in convenience stores, supermarkets, etc., and places a side dish, separate from the main food, on the main food that makes up the food product.

[0022] The food transfer device in this embodiment is used in the process of making sandwiches, and places ham, which is a side dish, on bread, which is a main dish, as a filling.

[0023] Specifically, as shown in Figure 1, the food transfer device 100 includes a transfer robot 10 that places a side food S on a main food M, an imaging means 20 that images the side food S, and a robot controller 30 that receives the imaging data obtained by the imaging means 20 and controls the transfer robot 10.

[0024] The transfer robot 10 picks up side food items S that have been arranged in advance on a transport tray T, for example, and places the side food items S on the main food item M.

[0025] In this embodiment, a worker manually arranges a plurality of side dishes S on a transport tray T in advance, and then sets the transport tray T at a predetermined picking position P.

[0026] Here, multiple side food items S are arranged vertically and horizontally at intervals, in other words, in multiple columns and rows, on the transport tray T. After all of the side food items S arranged on this transport tray T have been placed on the main food M, another transport tray T is set at the picking position P either manually or automatically.

[0027] Meanwhile, as shown in FIG. 1, the main food M is continuously transported by a transport conveyor 40, and the transfer robot 10 is configured to place the side food S on the main food M being transported by the transport conveyor 40.

[0028] Here, one transfer robot 10 is used, but a plurality of transfer robots 10 may be used.

[0029] Specifically, as shown in Figures 1 and 2, the transfer robot 10 has an arm 11 connected via multiple joints and a hand 12 attached to the tip of the arm 11, and this hand 12 is used to scoop up the side dish S.

[0030] 2, the hand 12 has a plurality of rollers 121 and a belt 122 wound around the rollers 121. The belt 122 has a length that allows a plurality of side foods S (for example, three square slices of ham) to be placed on it.

[0031] In this configuration, by bringing the entire hand 12 close to the side food S and winding up the belt 122, the hand 12 can get between the side food S and the upper surface of the transport tray T and scoop up the side food S.

[0032] On the other hand, by moving the entire hand 12 away from the main food M while feeding out the belt 122, the scooped side food S can be placed on the main food M.

[0033] The imaging means 20 is used to image the side dishes S before they are placed on the main dish M, and is, for example, a camera that is placed above the transport tray T set at the picking position P and can image all the side dishes S on the transport tray T.

[0034] However, the placement of the imaging means 20 is not limited to this, and it may be placed, for example, above the transport tray T before it is set at the picking position P. In short, the placement may be changed as appropriate as long as it is possible to capture an image of the side dish S before it is scooped up by the transfer robot 10.

[0035] The imaging data obtained by this imaging means 20 is sequentially output to the robot controller 30. This imaging data is then used to calculate the coordinates of each side food S in a coordinate system in which an origin is set, for example, at one corner or the center of the transport tray T, and X and Y axes are set along the surface of the transport tray T on which the side food S is arranged.

[0036] Physically, robot controller 30 is a general-purpose or dedicated computer equipped with a CPU, memory, etc. The CPU and its peripheral devices cooperate in accordance with a food transfer program stored in the memory, and robot controller 30 functions as a position data acquisition unit 31 that acquires position data of side dish S based on image data, and an operation control unit 32 that controls the operation of transfer robot 10 based on the position data, as shown in Figure 1 .

[0037] In the following, the operation of the food transfer device 100 will be described with reference to the flowchart in FIG. 3, along with an explanation of these functions.

[0038] First, a worker manually arranges a plurality of side dishes S on a transport tray T and sets the transport tray T at a predetermined picking position P (S1).

[0039] Next, the imaging means 20 described above captures images of the side dishes S arranged on the transport tray T, and outputs the image data to the robot controller 30 (S2).

[0040] When the imaging data is output to the robot controller 30, the position data acquisition unit 31 acquires position data indicating the position of each of the side dishes S arranged on the transport tray T based on the imaging data (S3).

[0041] Specifically, the position data acquisition unit 31 is configured to acquire position data from the coordinates and inclination of both ends or the center of one side of the side food S, and this position data includes coordinate information and orientation information for each side food S.

[0042] The coordinate information is information that indicates the coordinates of characteristic points (e.g., the center point or a point on an edge) of each side food S in a coordinate system in which the origin is set at, for example, one corner or the center of the transport tray T, and mutually perpendicular X-axis and Y-axis are set along the edge of the transport tray T.

[0043] For example, when the side food S is a rectangular or triangular ham, the orientation information indicates the deviation of the actual orientation of the side food S from a predetermined reference orientation, specifically, the angle required to rotate the reference orientation to the actual orientation. The reference orientation is, for example, an orientation in which the base of the rectangular or triangular side food S is parallel to one side of the transport tray T.

[0044] The transfer robot 10 of this embodiment is configured to pick up a plurality of side dishes S from the side dishes S arranged on the transport tray T and place a predetermined number of the picked up side dishes S on a plurality of main dishes M.

[0045] Here, the above-mentioned operation control section 32 controls the position of the hand 12 before scooping up each side dish S based on the coordinate information and orientation information corresponding to each side dish S (S4).

[0046] More specifically, when scooping up a side food S, the hand 12 of the transfer robot 10 advances toward the side food S, and the relative positional relationship between the hand 12 just before advancing and the side food S to be scooped up is maintained for each side food S.

[0047] As a result, the side food S on the conveying tray T is scooped up at a predetermined position on the upper surface of the hand 12 in a predetermined orientation (posture).

[0048] In this configuration, the transfer robot 10 scoops up a plurality of side food items S in a series of operations (S5). In other words, the transfer robot 10 holds the plurality of scooped side food items S before heading toward the main food item M, and more specifically, the plurality of side food items S are arranged at equal intervals on the upper surface of the hand 12.

[0049] For example, as shown in Figure 4, if the hand 12 scoops up three side dishes S in a series of movements, the numerous side dishes S arranged on the transport tray T can be divided into multiple groups G, each consisting of three side dishes S.

[0050] The order in which each group G is scooped up is determined in advance, and the hand 12 scoops up three side dishes S for each group G in a series of movements in accordance with that order.

[0051] Specifically, as shown in Figure 4(a), when scooping up the first side dish S, the above-mentioned operation control unit 32 first controls the position of the hand 12 so that it is in a predetermined relative positional relationship with the first side dish S, and then scoops up the first side dish S.

[0052] Then, as shown in Figure 4(b), when scooping up the second side dish S, the above-mentioned operation control unit 32 controls the position of the hand 12 so that it is in a predetermined relative positional relationship with the second side dish S, and then the second side dish S is scooped up.

[0053] Then, as shown in Figure 4(c), when scooping up the third side dish S, the above-mentioned operation control unit 32 first controls the position of the hand 12 so that it is in a predetermined relative positional relationship with the third side dish S, and then scoops up the third side dish S.

[0054] After scooping up multiple side foods S in this manner, as shown in Figure 5, the hand 12 of the transfer robot 10 moves toward the main food M and to a standby position Q, which is the position before placing the scooped side foods S on the main food M (S6).

[0055] Then, the transfer robot 10 places a predetermined number of the scooped-up side food items S on the main food items M (S7). If three side food items S are scooped up as in the previous example, one side food item S may be placed on each of the three main foods M.

[0056] Furthermore, when six side foods S are scooped up in a single action, for example, two side foods S may be placed on each of three main foods M. In this case, the two side foods S may be, for example, ham stacked on top of each other with mayonnaise between them. Furthermore, after one side food S is placed on one main food M, one or more side foods S may be placed on the same main food M.

[0057] As described above, the transfer robot 10 here is configured to place the side food S on the main food M being transported by the transport conveyor 40.

[0058] More specifically, when placing the side dish S, the hand 12 of the transfer robot 10 moves away from the main food M, but during this operation, the hand 12 moves along the conveying direction of the main food M.

[0059] In this embodiment, the hand 12 places the side food S on the main food M while moving upstream in the conveying direction of the main food M, but it may also be configured to place the side food S on the main food M while moving downstream in the conveying direction.

[0060] Here, as shown in Figure 6, the position of the main food M at the time of receiving the side food S from the transfer robot 10 (hereinafter referred to as the receiving position R) shifts upstream in the conveying direction of the main food M in the order in which the side food S of the multiple main foods M is received.

[0061] In other words, when three side dishes S are placed one on each of three main dishes M as in this embodiment, the second receiving position R2, which is the position of the second main dish M when the second side dish S is placed, is located upstream in the conveying direction of the main dishes M, compared to the first receiving position R1, which is the position of the first main dish M when the first side dish S is placed.

[0062] Similarly, the third receiving position R3, which is the position of the third main food M at the time the third side dish S is placed, is located upstream of the second receiving position R2 in the conveying direction of the main food M.

[0063] These first to third receiving positions R1 to R3 are also common positions when the next three scooped side food pieces S are placed on the three main food pieces M.

[0064] The main food M on which the side food S is placed is transported to the next process, such as a process in which another side food S is placed on top, a process in which the side food S is sandwiched between another main food, or a process in which the main food is bagged or packaged.

[0065] Thereafter, the robot controller 30 determines whether all of the side dishes S on the transport tray T have been placed on the main food M, specifically, whether the number of side dishes S transferred has reached the number of side dishes S transported on the transport tray T that was input in advance (S8).

[0066] If it has not yet reached the target position, the process returns to S4. On the other hand, if it has reached the target position, the transfer operation is temporarily terminated, and after the next transport tray T is set, the operation is restarted from S1.

[0067] (Actions and Effects of the Food Transfer Device According to the Present Embodiment) According to the food transfer device 100 configured in this manner, the transfer robot 10 scoops up a plurality of side foods S in a series of operations and places them on each of a plurality of main foods M, thereby improving production speed compared to a configuration in which the side foods S are scooped up one by one and placed on the main food M. As a result, according to the present invention, the transfer robot 10 that places a side food S such as ham on a main food M such as bread can be operated at a production speed that can be used in reality.

[0068] Furthermore, since the operation control unit 32 controls the operation of the transfer robot 10 based on the position data of the side food S, the position of the transfer robot 10 can be corrected according to the positional deviation of the side food S, making it possible to scoop up each side food S in the same way, and maintaining a constant relative position of the side food S to the main food M.

[0069] Furthermore, since the position data includes not only the coordinate information of the side dish S but also the orientation information, the transfer robot 10 can correct the position not only according to the positional deviation of the side dish S but also according to the orientation, and the relative position of the side dish S to the main food M can be kept more constant.

[0070] In addition, since the transfer robot 10 places the side food S on the main food M being transported by the transport conveyor 40, there is no need to stop the transport of the main food M, thereby improving productivity.

[0071] Furthermore, the transfer robot 10 places the side food S on the main food M while moving upstream or downstream along the conveying direction of the main food M, so the side food S is less likely to shift position when placed, and the side food S can be easily placed at a desired position on the main food M.

[0072] Moreover, the receiving position R of the main food M at the timing of receiving the side food S from the transfer robot 10 shifts upstream in the conveying direction of the main food M in the order in which the side food S of the multiple main foods M is received, so that the multiple side foods S can be quickly placed on the main food M, improving the production speed.

[0073] (Another embodiment of the food transfer device) The present invention is not limited to the above-described embodiment.

[0074] For example, in the above embodiment, multiple side dishes S are arranged on the transport tray T with a gap between them, but this arrangement limits the number of side dishes S that can be arranged on the transport tray T in advance. As a result, for example, if the transport tray T is not large enough, the transport tray T will have to be replaced more frequently, which increases the burden on the worker.

[0075] Therefore, food transfer device 100 according to the present invention may be configured so that transfer robot 10 successively scoops up the topmost side food S from a group Sx of side food items S, which are stacked and shifted, multiple times, as shown in Figure 7. In this configuration, the Z-axis coordinate of the side food S to be scooped up can be input as position data based on, for example, the thickness of the side food S, and this information can be used to control the operation of transfer robot 10. According to the food transfer device 100 configured in this manner, many side dishes S can be stacked on the transport tray T in advance while shifting them, which reduces the frequency of tray replacement and prevents an increase in the burden on the worker.

[0076] Furthermore, in the above embodiment, the position of the hand 12 before scooping up the side food S was controlled so as to have a predetermined relative positional relationship with the side food S, but as shown in Figure 8, the position of the hand 12 when placing the side food S on the main food M may also be controlled based on the position data (coordinate information and orientation information) of the side food S.

[0077] Specifically, in this case, the transfer robot 10 moves in a fixed direction and picks up multiple side food items S, regardless of misalignment or uneven orientation of the side food items S. At least the relative positional relationship between the hand 12 immediately before placing the side food items S on the main food items M and the main food items M at the receiving position R is maintained for each main food item M.

[0078] Furthermore, in the above embodiment, the side food S was manually arranged on the transport tray T by an operator, but for example, a large number of slices of ham cut from a log of meat by a slicer may be continuously transported and automatically arranged on the transport tray T, or the ham may be scooped up by a transfer robot 10 during transport.

[0079] The transfer robot 10 is not limited to one that scoops up side food S, but may also be one that picks up a plurality of side food S while stacking them in a series of movements, as shown in FIG. With this arrangement, three-dimensional side foods S such as cherry tomatoes, boiled eggs, or various fruits can be placed on the main food M.

[0080] Furthermore, in the above embodiment, the main food M and the side food S are flat, but one or both of the main food M and the side food S may be three-dimensional. Specifically, the combination of the main food M and the side food S is not limited to the bread and ham that make up a sandwich, but can include various other combinations such as the bread and ingredients that make up a hamburger, the rice and ingredients that make up a rice bowl, the noodles and ingredients that make up noodles, and the dough and toppings that make up a sweet.

[0081] Furthermore, the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications are possible without departing from the spirit of the present invention. [Explanation of symbols]

[0082] 100 Food transfer device M...Standard food S...Side food 10. Transfer robot 11 Arm 12 hands 121···Laura 122 Belt 20. Imaging means 30 Robot Controller 31 Position data acquisition unit 32 Operation control section T ···Transport tray P Picking position 40...Transport conveyor Q...Standby position R Receiving position

Claims

1. A food transfer device for placing a side dish on a main dish, The food transfer device is characterized by comprising a transfer robot that picks up a plurality of side foods from the side foods that are lined up and places the picked-up side foods on a plurality of main foods in predetermined numbers.

2. an imaging means for imaging the side food; a robot controller for controlling the operation of the transfer robot, The robot controller a position data acquisition unit that acquires position data of the side food based on the imaging data obtained by the imaging means; 2. The food transfer device according to claim 1, further comprising an operation control unit that controls the operation of the transfer robot based on the position data.

3. The position data includes coordinate information and orientation information of the side food, 3. The food transfer device according to claim 2, wherein the operation control unit controls the position of the hand of the transfer robot based on the coordinate information and the orientation information of each of the plurality of side foods to be picked up.

4. 4. The food transfer device according to claim 3, wherein the operation control unit controls the position of the hand before picking up each of the side dishes based on the coordinate information and orientation information corresponding to each side dish.

5. Further provided is a conveyor for conveying the main food, 2. The food transfer device according to claim 1, wherein the transfer robot places the side food on the main food being transported by the transport conveyor.

6. 5. The food transfer device according to claim 4, wherein the transfer robot places the side food on the main food while moving upstream or downstream along the conveying direction of the main food.

7. The food transfer device according to claim 5, characterized in that the position of the main food at the time of receiving the side dishes from the transfer robot shifts upstream in the conveying direction of the main food in the order in which the side dishes are received among the plurality of main foods.

8. A program used in a food transfer device that places a side dish on a main food, This food transfer program is characterized by controlling a transfer robot to pick up a plurality of side foods from the side foods that are lined up and place the picked-up side foods on a plurality of main foods in predetermined numbers.

Images