Deposition robot

Abstract

To facilitate winding of a belt constituting a hand part of a dishing robot.SOLUTION: In a dishing robot 10 including a hand part 30 for scooping up a piece of food, the hand part 30 having a belt 34 wound around the S1 of the upper surface and the S2 of the lower surface of a belt mounting member 33 attached to a hand body 31, the hand part 30 includes an attachment / detachment mechanism 50 interposed between the hand body 31 and the belt mounting member 33 to detachably attach the belt mounting member 33 to the hand body 31.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] As shown in Patent Document 1, one such serving robot is known to have a flat hand part that moves along a conveyor to scoop up sliced ​​meat being transported on the conveyor.

[0003] More specifically, the hand section has a belt wound around the upper and lower surfaces of a flat plate member, and is configured to scoop up sliced ​​meat by winding up the belt, and to send the sliced ​​meat onto a tray or the like by sending out the belt.

[0004] In this configuration, since the belt comes into contact with the sliced ​​meat, it is removed from the plate member after use, washed, and then rewound on the plate member the next time it is used. Also, if the belt becomes worn during use, it may be replaced with a new one.

[0005] However, with conventional device configurations, when a belt is looped around a flat plate member, the belt or a user's hand may come into contact with components around the flat plate member, making it difficult to loop the belt smoothly.

[0006] In particular, in a configuration in which a pair of upper and lower flat plate members are arranged with a small gap between them, it is difficult to thread the belt through that small gap, and there are even cases in which the flat plate members are deformed when trying to separate the upper and lower flat plate members in order to widen the gap. Furthermore, in such a configuration, there is also the issue that the gap between the pair of upper and lower flat plate members is narrow, making it difficult to clean. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2022-175061 Summary of the Invention [Problem to be solved by the invention]

[0008] Therefore, an object of the present invention is to make it easier to loop around the belt that constitutes the hand part of a serving robot. [Means for solving the problem]

[0009] In other words, the serving robot of the present invention is equipped with a hand unit that scoops up food pieces, and the hand unit is a serving robot in which a belt is looped over the upper and lower surfaces of a belt attachment member attached to the hand main body, and is characterized in that the hand unit is equipped with an attachment / detachment mechanism that is interposed between the hand main body and the belt attachment member and allows the belt attachment member to be attached and detached freely to the hand main body.

[0010] According to the thus configured serving robot, the belt attachment member is detachably attached to the hand body, so that the belt can be easily looped around by removing the belt attachment member when looping the belt around. Furthermore, even in a configuration in which a pair of upper and lower belt attachment members are arranged with a small gap between them, as described in the background art, for example, by removing one of the belt attachment members, it becomes easier to loop the belt around the other belt attachment member, and the gaps between the belt attachment members also become easier to clean.

[0011] It is preferable that the attachment / detachment mechanism has a cutout portion cut out from one side of the hand body or the holder that holds the belt attachment member, a sliding body provided on the other side of the hand body or the holder and capable of sliding within the cutout portion, and a fixing device that fixes the sliding body to the cutout portion. This allows the belt attachment member to be easily attached and detached with a simple configuration.

[0012] It is preferable that the hand portion includes a positioning means interposed between the hand body and the holder for positioning the slider with respect to the notch. In this way, the sliding body is positioned relative to the cutout portion, in other words, the belt attachment member and the belt can be positioned relative to the hand body, and for example, the position at which to start scooping food pieces and the position at which to serve the food pieces can be set as desired.

[0013] It is preferable that the positioning means has, when the sliding body is positioned within the cutout portion, an abutment surface provided on the hand body that faces the holding body, and an abutment surface provided on the holding body that faces the hand body and abuts against the held surface. In this case, the slider can be positioned relative to the notch with a simple configuration.

[0014] The belt attachment member is preferably flat. This allows the belt to remain flat, allowing food pieces such as sliced ​​meat to be neatly scooped up without breaking them.

[0015] It is preferable that the hand portion includes a pair of upper and lower belt attachment members arranged closely spaced apart, and the attachment / detachment mechanism is provided between the hand body and at least one of the belt attachment members. In this way, by removing one of the belt attachment members, it becomes easier to loop the belt around the other belt attachment member, which is useful in configurations where a pair of upper and lower belt attachment members are arranged close to each other, which previously made it difficult to loop the belt around.

[0016] In the above-mentioned configuration in which a pair of upper and lower belt attachment members are arranged close to each other, in view of the fact that in the past the lower belt attachment member was pushed down to loop the belt around, it is preferable that the attachment / detachment mechanism be provided between the hand body and the lower belt attachment member. [Effects of the Invention]

[0017] According to the present invention configured in this manner, it is possible to easily loop the belt that constitutes the hand portion of the serving robot. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram showing a food cutting and serving system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a schematic diagram showing the configuration of a hand unit in the embodiment. [Figure 3] 5A to 5C are schematic diagrams showing the operation of the hand unit in the embodiment. [Figure 4] 5A to 5C are schematic diagrams showing the operation of the hand unit in the embodiment. [Figure 5] FIG. 2 is a schematic diagram showing the configuration of a detachment mechanism in the embodiment. [Figure 6] FIG. 2 is a schematic diagram showing the configuration of a detachment mechanism in the embodiment. [Figure 7] FIG. 2 is a schematic diagram showing the configuration of a positioning mechanism in the embodiment. [Figure 8] FIG. 10 is a schematic diagram showing the configuration of a detachment mechanism in another embodiment. [Figure 9] FIG. 10 is a schematic diagram showing the configuration of a detachment mechanism in another embodiment. [Figure 10] FIG. 10 is a schematic diagram showing the configuration of a detachment mechanism in another embodiment. [Figure 11] 10A and 10B are schematic diagrams showing the configuration of a holder according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

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

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

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

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

[0023] (Dimensions of food being transported) As shown in Fig. 1, the sliced ​​meat itself cut out by the cutting device 200 and the meat group M consisting of multiple sliced ​​meat are delivered to the first conveying device 300 in a state in which the width, which is the dimension along the width direction (X-axis direction) of the container Z, is longer than the vertical width, which is the dimension along the depth direction (Y-axis direction) perpendicular to the width direction of the container Z. However, the meat group M may be one in which the vertical width is longer than the horizontal width.

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

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

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

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

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

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

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

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

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

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

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

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

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

[0037] More specifically, as shown in FIG. 2, the hand unit 30 has a hand main body 31, a roller 32 and a belt mounting member 33 attached to the hand main body 31, and a belt 34 looped around the roller 32 and the belt mounting member 33.

[0038] The hand unit 30 of this embodiment includes an upper element 30A on which the scooped meat mass M is placed, and a lower element 30B against which both ends of the meat mass M are folded and pressed. The hand body 31 is used for both the upper element 30A and the lower element 30B, and rollers 32, belt attachment members 33, and belts 34 are provided for the upper element 30A and the lower element 30B, respectively.

[0039] In the following, when distinguishing between the roller 32, the belt mounting member 33, and the belt 34 of the upper element 30A and the lower element 30B, they will be referred to as the upper roller 32A, the upper belt mounting member 33A, the upper belt 34A, the lower roller 32B, the lower belt mounting member 33B, and the lower belt 34B.

[0040] The operation of the hand body 31 is controlled by the robot controller 20 described above, and is movable in the horizontal direction (X direction and Y direction) and the vertical direction (Z direction perpendicular to the X direction and Y direction).

[0041] The roller 32 is rotatably supported by the hand body 31 and is connected to a drive motor (not shown). This drive motor is controlled by the robot controller 20 described above, and the roller 32 rotates forward or backward, thereby winding up or unwinding the belt 34 wound around the roller 32.

[0042] The belt mounting member 33 is flat, with a base end 331 supported by the hand body 31 and a tip end 332 that is a free end. Here, the lower surface S2A of the upper belt mounting member 33A and the upper surface S1B of the lower belt mounting member 33B face each other and are arranged with a small gap between them.

[0043] As shown in Fig. 3, these belt attachment members 33 are provided with reinforcing portions 333 to ensure mechanical strength. The upper belt attachment member 33A is provided with a thin plate-like reinforcing portion 333 that is narrower than the upper belt attachment member 33A. On the other hand, the lower belt attachment member 33B is provided with a rib-like reinforcing portion 333 formed by bending the central portion of the lower belt attachment member 33B in the width direction so that it bulges downward. For ease of explanation, the belt 34 is omitted from Fig. 3.

[0044] 2, the belt 34 is wound around the upper surfaces S1A, B and lower surfaces S2A, B of the belt attachment member 33, and is also wound around the rollers 32. Note that the belt 34 does not necessarily need to be in contact with the entire upper surfaces S1A, B and lower surfaces S2A, B of the belt attachment member 33, as long as it is provided along the upper surfaces S1A, B and lower surfaces S2A, B of the belt attachment member 33.

[0045] Here, the upper belt 34A and the lower belt 34B are passed through the small gap between the upper belt attachment member 33A and the lower belt attachment member 33B.

[0046] In the above-described configuration, when it is time to scoop up the meat mass M transported to the collection position, the hand unit 30 receives a command from the robot controller 20 and moves along the upper surface of the conveyor belt 301.

[0047] 4, the upper roller 32A is rotated, and the upper belt 34A is retracted in the opposite direction (the direction to pull up the piece of meat M) to the direction of travel of the hand unit 30. As a result, the piece of meat M transported to the collection position is scooped up by the hand unit 30 and supported in a state where it is placed on the upper surface of the hand unit 30 (i.e., the upper surface of the upper belt 34A).

[0048] The hand portion 30 of this embodiment scoops up, for example, the center portion of the meat mass M, and supports the meat mass M with both ends hanging down.

[0049] As shown in Figure 3, the hand unit 30 is equipped with a first folding member 41 that folds one of the hanging end portions toward the underside of the hand unit 30, and a second folding member 42 that folds the other of the hanging end portions toward the underside of the hand unit 30.

[0050] 2, 3, 5, and 6, the hand unit 30 of this embodiment further includes an attachment / detachment mechanism 50 that is interposed between the hand main body 31 and the belt attachment member 33 and that enables the belt attachment member 33 to be attached to and detached from the hand main body 31. For the sake of convenience, the belt 34 is not shown in FIGS. 5 and 6.

[0051] The attachment / detachment mechanism 50 enables the belt attachment member 33 to be attached to and detached from the hand body 31 without using a special tool.

[0052] The attachment / detachment mechanism 50 in this embodiment is interposed between the hand main body 31 and the lower belt attachment member 33B, in other words, the lower belt attachment member 33B can be attached to and detached from the hand main body 31 without using a dedicated tool. Note that the upper belt attachment member 33A here is attached to the hand main body 31, and a dedicated tool such as a hex wrench is required for attachment and detachment.

[0053] The attachment / detachment mechanism 50 of this embodiment is configured using a holder 60 that holds the lower belt attachment member 33B, so first, this holder 60 will be described.

[0054] As shown in FIG. 5, the lower belt attachment member 33B of this embodiment is held by a holder 60, and specifically, the base end 331 of the lower belt attachment member 33B is attached to the holder 60 by, for example, welding.

[0055] More specifically, the retaining body 60 is U-shaped and opens downwards, and a countersunk portion 61 is formed on its upper surface to seat the lower surface of the lower belt mounting member 33B, and a recess 62 is formed on the bottom surface of the countersunk portion 61 to allow the rib-shaped reinforcing portion 333 provided on the lower belt mounting member 33B to escape (pass through).

[0056] In this configuration, the above-mentioned attachment / detachment mechanism 50 has a cutout portion 51 cut out from the hand main body 31, a sliding body 52 provided on the holding body 60, and a fixing device 53 that fixes the sliding body 52 to the cutout portion 51, as shown in Figures 5 and 6.

[0057] The cutout portion 51 extends along the attachment / detachment direction of the lower belt attachment member 33B, and is a slit with one end 511 opening toward the removal direction (dismounting direction) of the lower belt attachment member 33B and the other end 512 closed.

[0058] The cutout portion 51 here is linear and extends in a direction parallel to the extension direction of the lower belt mounting member 33B, and is provided on both the left and right sides of the hand main body 31 (i.e., on the positive and negative sides of the X-axis).

[0059] The slider 52 is slidable within the cutout 51 and is pin-shaped (cylindrical) having an outer diameter equal to or slightly smaller than the width of the cutout 51.

[0060] The slide body 52 is provided so as to protrude from each of the left and right side surfaces of the holder 60, and is provided on each of the left and right side surfaces of the holder 60, at the front and rear in the attachment / detachment direction of the lower belt attachment member 33B. By providing the slide body 52 at the front and rear in the attachment / detachment direction in this way, it is possible to restrict the holder 60 and the lower belt attachment member 33B from rotating around the axis of the slide body 52.

[0061] The fixing device 53 is operated by hand to restrict or release the movement of the sliding body 52 relative to the cutout portion 51, and in this case is provided integrally with the sliding body 52 and presses the sliding body 52 against the cutout portion 51 to fix it.

[0062] More specifically, this fixing device 53 is a knob having a screw member 531 inserted through the cutout portion 51 from the inside to the outside of the hand body 31 described above, and a knob 532 provided at the tip (outer end) of this screw member 531.

[0063] Then, by tightening the knob 532 against the screw member 531, the knob 532 presses the sliding body 52 against the hand main body 31, and the sliding body 52 is fixed. Conversely, by loosening the knob 532 against the screw member 531, the sliding body 52 becomes slidable within the cutout portion 51.

[0064] Here, the hand unit 30 of this embodiment further includes a positioning means 70 that is interposed between the hand main body 31 and the holder 60 and positions the slider 52 relative to the cutout portion 51, as shown in FIG.

[0065] This positioning means 70 is configured to perform its function by sliding the slider 52 from an opening provided at one end 511 of the cutout portion 51 toward the other end 512, and specifically, its function is performed when a part of the holding body 60 abuts against a part of the hand main body 31.

[0066] Specifically, as shown in Figure 7, the positioning means 70 consists of an abutment surface 71 provided on the hand main body 31 and facing the holding body 60 when the sliding body 52 is positioned within the cutout portion 51, and an abutment surface 72 provided on the holding body 60, facing the hand main body 31, and abutting against the held surface.

[0067] The contact surface 71 is a surface facing the direction in which the lower belt attachment member 33B is removed (dismounted), and is a flat surface provided above the notch 51 in the hand body 31 in this example.

[0068] The contact surface 72 is a surface facing the insertion direction (attachment direction) of the lower belt attachment member 33B. Here, as shown in Figure 5, the tip portion 63 of the holder 60 extends outward on both the left and right sides, and the back surface of this tip portion 63 functions as the flat contact surface 72.

[0069] With the above-described configuration, when the slider 52 is slid from one end 511 of the cutout portion 51 toward the other end 512, the contact surface 72 contacts the contacted surface 71, and the function of the positioning means 70 is exerted, and the holder 60 and the lower belt attachment member 33B held by this holder 60 are positioned relative to the hand main body 31.

[0070] Furthermore, as shown in Figures 5 and 6, when the sliding body 52 is positioned within the cutout portion 51, the outer surface 64 of the holding body 60 and the inner surface 311 of the hand main body 31 are in surface contact, thereby preventing the holding body 60 and the lower belt mounting member 33B from rotating around an axis that intersects with the normal direction of these outer surface 64 and inner surface 311.

[0071] (Actions and Effects of the Food Cutting and Serving System 1 of the Present Invention) According to the food cutting and serving system 1 configured in this manner, the lower belt attachment member 33B is detachably attached to the hand body 31, so that when wrapping the belt 34, removing the lower belt attachment member 33B makes it easier to wrap the belt 34 and also makes it easier to clean the gaps between the belt attachment members 33.

[0072] Furthermore, the attachment / detachment mechanism 50 is composed of a cutout portion 51 provided in the hand main body 31, a sliding body 52 provided in the holding body 60, and a fixing device 53 that fixes the sliding body 52 to the cutout portion 51, so that the lower belt attachment member 33B can be easily attached and detached with a simple configuration.

[0073] Furthermore, hand unit 30 is provided with positioning means 70 that positions slider 52 relative to cutout 51, and the function of this positioning means 70 can be used to position lower belt attachment member 33B and lower belt 34B relative to hand body 31. This allows, for example, the position at which to start scooping food pieces and the position at which to serve the food pieces to be positioned as desired.

[0074] Furthermore, since the positioning means 70 consists of an abutment surface 71 provided on the hand main body 31 and an abutment surface 72 provided on the holding body 60, the sliding body 52 can be positioned relative to the cutout portion 51 with a simple configuration.

[0075] Furthermore, since the belt attachment member 33 is flat, the belt 34 around which it is wound is also flat, allowing food pieces such as sliced ​​meat to be neatly scooped up without crumbling.

[0076] (Modification of the food cutting and serving system according to the present invention) The present invention is not limited to the above-described embodiment.

[0077] For example, as shown in Fig. 8, the attachment / detachment mechanism 50 may have a notch 51 formed in the holder 60 and a slider 52 provided on the hand main body 31. For ease of explanation, the belt 34 is omitted from Fig. 8.

[0078] In addition, in the above embodiment, the extension direction of the cutout portion 51 is parallel to the extension direction of the belt attachment member 33, but as shown in Figure 9, it may be a direction that intersects with the extension direction of the belt attachment member 33, such as a direction perpendicular to the extension direction of the belt attachment member 33. However, it is preferable to increase the distance between the front and rear slide bodies 52 in order to prevent the holder 60 and the lower belt attachment member 33B from rotating around the axis of the slide body 52. ​​In view of this, it is preferable to extend the cutout portion 51 horizontally as in the above embodiment rather than extending the cutout portion 51 vertically as in Figure 9, because this makes it easier to increase the distance between the front and rear slide bodies 52.

[0079] Furthermore, as shown in FIG. 10, the cutout portion 51 may be partially inclined so as to gradually slope downward toward the tip. In this case, the lower belt attachment member 33B can be turned obliquely downward during the process of attaching the lower belt attachment member 33B, which makes it easier to loop the lower belt 34B around the lower belt attachment member 33B.

[0080] Furthermore, as shown in FIG. 11, the holder 60 may have a pair of holder elements 64 divided into left and right halves, and the lower belt mounting member 33B may be fixed to these holder elements 64 by, for example, screws. By having the lower belt attachment member 33B held by the divided holder elements 64 in this way, the weight of the holder 60 can be reduced.

[0081] Furthermore, the attachment / detachment mechanism 50 is not limited to those using the cutout portion 51 and the slide body 52, but may also be composed of, for example, screw holes provided in the hand main body 31 and the holder 60 and a screw member 531 that screws into this screw hole, and by inserting and removing the screw member 531, the belt attachment member 33 can be freely attached and detached from the hand main body 31.

[0082] In addition, the attachment / detachment mechanism 50 does not have to be provided between the lower belt attachment member 33B and the hand main body 31, but may be provided between the upper belt attachment member 33A and the hand main body 31, or may be provided between the lower belt attachment member 33B and the hand main body 31, and between the upper belt attachment member 33A and the hand main body 31. In other words, it is sufficient that one or both of the lower belt attachment member 33B and the upper belt attachment member 33A are attachable to and detachable from the hand main body 31.

[0083] Furthermore, the hand unit 30 of the serving robot 10 does not necessarily have to include the upper element 30A and the lower element 30B, and may instead have a single belt attachment member 33.

[0084] Furthermore, the plating robot 10 does not necessarily have to be equipped with the first folding member 41 and the second folding member 42, and may be one that plates the scooped up meat mass M without folding it.

[0085] 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]

[0086] M...meat group 1. Food Cutting and Serving System 100...Food plating equipment 10. Serving robot 20 Robot Controller 30 Hand part 31 Hand unit 32 Laura 33 Belt attachment member 331...Proximal end 332...Tip 333... Reinforcement S1A...Top surface S2A...bottom surface S1B...Top surface S2B...Bottom surface 34 Belt 30A···Upper element 30B Lower element 41 First folding member 42 Second folding member 50 Detachable mechanism 51 Notch 511...One end 512...Other end 52 Slide body 53...fixture 531···Screw member 532···Knob 60...Holding body 61 Counterbore 62 Recess 63...Tip 70 Positioning means 71...Abutted surface 72...Abutment surface

Claims

1. A serving robot having a hand unit for scooping up food pieces, the hand unit having a belt attached to a belt mounting member attached to a hand body and having a belt wound around the upper and lower surfaces thereof, The hand unit is A serving robot characterized by comprising an attachment / detachment mechanism interposed between the hand body and the belt attachment member, which enables the belt attachment member to be attached and detached to the hand body.

2. The detachable mechanism is a notch formed by cutting out one of the hand body or the holder that holds the belt attachment member; a slider provided on the other of the hand body or the holder and slidable within the notch; 2. The serving robot according to claim 1, further comprising a fixture for fixing the slider to the notch.

3. The hand unit is 3. The serving robot according to claim 2, further comprising positioning means interposed between said hand body and said holder for positioning said slider with respect to said notch.

4. The positioning means A serving robot as described in claim 3, characterized in that when the sliding body is positioned within the cutout portion, it has an abutment surface provided on the hand main body facing the holding body, and an abutment surface provided on the holding body facing the hand main body and abutting the held surface.

5. 2. The serving robot according to claim 1, wherein the belt mounting member is flat.

6. the hand unit includes a pair of upper and lower belt attachment members arranged closely to each other with a gap therebetween, 2. The serving robot according to claim 1, wherein the attachment / detachment mechanism is provided between the hand body and at least one of the belt attachment members.

7. 7. The serving robot according to claim 6, wherein the attachment / detachment mechanism is provided between the hand body and the lower belt attachment member.

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