Auxiliary member

Abstract

To provide an auxiliary member that enables efficient placement of workpieces in a container. [Solution] This auxiliary member moves to a predetermined position near the edge when a robot releases a workpiece into the container. The auxiliary member may retract from its predetermined position after the workpiece has been released. The auxiliary member may have a pressing portion that is pressed against the workpiece after it has been released. After the robot releases the workpiece into the container, the auxiliary member may press against any workpieces that are located above the upper edge of the container, or it may press a smooth surface against food items that have been released into the container after being held by the robot hand.

Description

[Technical Field]

[0001] The present disclosure relates to an auxiliary member. [Background Art]

[0002] Patent Literature 1 discloses a gripping system that releases an object gripped by a robot hand into a container. [Prior Art Literature] [Patent Literature]

[0003] [Patent Literature 1] Japanese Unexamined Patent Publication No. 2024-95395 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] However, with the technology disclosed in Patent Literature 1, it is difficult to efficiently place a workpiece in a container.

[0005] Therefore, in one aspect, an object of the present disclosure is to provide an auxiliary member capable of efficiently placing a workpiece in a container. [Means for Solving the Problem]

[0006] According to one aspect of the present disclosure, there is provided an auxiliary member that moves to a predetermined position near an edge of a container when a robot is used to release a workpiece inside the edge of the container. [Advantageous Effects of the Invention]

[0007] In one aspect, according to the present disclosure, an auxiliary member capable of efficiently placing a workpiece in a container can be provided. [Brief Description of the Drawings]

[0008] [Figure 1]This is a perspective view showing the configuration of a processing apparatus to which the auxiliary member of this embodiment (first embodiment) is applied. [Figure 2] This is a top view showing the configuration of the processing unit. [Figure 3] This figure schematically shows the position of the first auxiliary member in the section along line III-III in Figure 2. [Figure 4] This figure schematically shows the position of the second auxiliary member in the cross-section along line IV-IV in Figure 2. [Figure 4A] This diagram schematically shows the position of the second auxiliary member when the device is closed. [Figure 5] This is a front view showing the configuration of the robot hand component. [Figure 5A] Figure 5 is a cross-sectional view along the line Va-Va. [Figure 6] This is a front view showing the robot hand component in the closed position. [Figure 6A] This is a front view showing the robot hand component in the open position. [Figure 7] This diagram schematically shows the position of the first auxiliary member when the lifting member is raised. [Figure 8] This diagram schematically shows the position of the second auxiliary member when the lifting member is raised. [Figure 9] This figure shows an example of using a cylindrical funnel as an auxiliary component. [Figure 10] This is a top view showing the auxiliary members of this embodiment (the second embodiment). [Figure 11] This is a perspective view showing the lifting mechanism in its lowered position. [Figure 12] This is a perspective view showing the lifting mechanism in the raised position. [Figure 13] This is a perspective view showing the auxiliary member in the open position. [Figure 14] This is a perspective view showing the auxiliary member in the closed position. [Figure 15] This is a perspective view from below, showing the auxiliary member in the closed position. [Figure 16] This is a schematic cross-sectional view showing the position of the auxiliary member in the open state in the YZ plane. [Figure 16A] It is a cross-sectional view schematically showing the position of the auxiliary member in the open state on the XZ plane. [Figure 17] It is a cross-sectional view schematically showing the position of the auxiliary member in the closed state on the YZ plane. [Figure 17A] It is a cross-sectional view schematically showing the position of the auxiliary member in the closed state on the XZ plane. [Figure 18] It is a perspective view illustrating a method of conveying a container. [Figure 18A] It is a perspective view illustrating a method of conveying a container. [Figure 19] It is a cross-sectional view of the regulating member on the XZ plane. MODE FOR CARRYING OUT THE INVENTION

[0009] (First Embodiment) FIG. 1 is a perspective view showing the configuration of a processing apparatus to which the auxiliary member of the present embodiment (First Embodiment) is applied; FIG. 2 is a top view showing the configuration of the processing apparatus; FIG. 3 is a diagram schematically showing the position of a first auxiliary member taken along line III-III in FIG. 2; FIG. 4 is a diagram schematically showing the position of a second auxiliary member taken along line IV-IV in FIG. 2; and FIG. 4A is a diagram schematically showing the position of the second auxiliary member in the closed state.

[0010] As shown in FIG. 1 and FIG. 2, the processing apparatus includes a base 10 on which a container 50 is placed, and a lifting member 20 that is movable in the vertical direction (Z-axis direction) relative to the base 10. The lifting member 20 is configured to be movable vertically relative to the base 10 by a pair of lifting mechanisms 21 each including an air cylinder. In FIG. 1 and FIG. 2, as the container 50 placed on the base 10, a container that is substantially rectangular when viewed from above and has the longitudinal (long side) direction along the X-axis direction is illustrated. The shape of the container is arbitrary, and the container may have a shape such as a circle, an ellipse, or a polygon when viewed from above.

[0011] A pair of first auxiliary members 30 (funnels), each having a surface 31 facing each other in the Y-axis direction, are fixedly attached to the lifting member 20. As shown in Figures 1 to 3, the surfaces 31 of the pair of first auxiliary members 30 are inclined to move away from each other in the Y-axis direction as they move upward (Z-direction). In addition, each of the first auxiliary members 30 is provided with a pair of surfaces 32 facing each other in the X-axis direction. Each of the pair of surfaces 32 is inclined to move away from each other in the X-axis direction as they move upward (Z-direction).

[0012] Furthermore, a pair of second auxiliary members 40 (funnels) having surfaces 41 facing each other in the X-axis direction are attached to the lifting member 20. As shown in Figures 1-2 and 4, the surfaces 41 of the pair of second auxiliary members 40 are inclined to move away from each other in the X-axis direction as they move upward (Z-direction). In addition, each of the second auxiliary members 40 is provided with a pair of surfaces 42 (Figure 1) facing each other in the Y-axis direction. Surfaces 41 and 42 function as pressing parts that are pressed against the prepared food 60 after the prepared food 60 as a workpiece has been released.

[0013] The second auxiliary member 40 is rotatable relative to the lifting member 20 around an axis (not shown) extending in the Y-axis direction, which is provided near the end portion 40a of the second auxiliary member 40 in Figure 4.

[0014] Furthermore, the lifting member 20 is fitted with a pair of air cylinders 44 and a drive shaft 45 that is rotationally driven by each of the air cylinders 44. When the drive shaft 45 is rotationally driven by the air cylinders 44, a cam portion 46 (Figure 1) attached to the drive shaft 45 pushes the second auxiliary member 40, causing the second auxiliary member 40 to rotate. By operating the pair of air cylinders 44 in synchronous order, the pair of second auxiliary members 40 are made capable of reciprocating between an open state and a closed state.

[0015] Figures 1, 2, and 4 show the second auxiliary member 40 in the open state, and Figure 4A shows the second auxiliary member 40 in the closed state. When the pair of air cylinders 44 are operated in synchronous manner, the pair of second auxiliary members 40 rotate while maintaining a symmetrical positional relationship with respect to each other.

[0016] As shown in Figure 4A, when the second auxiliary member 40 is closed, the pair of second auxiliary members 40 rotate so that the ends 40b of the pair of second auxiliary members 40, which are separated from each other in the open state shown in Figure 4, move closer together. A spring member or the like may be provided to maintain the pair of second auxiliary members 40 in the open state when the cam portion 46 is not in contact with the second auxiliary member 40.

[0017] Next, we will describe an example of processing using the processing device, in which the workpiece and prepared food ingredients are placed in container 50. The type and properties of the workpiece are arbitrary and are not limited to food or ingredients. The size and shape of container 50 are also arbitrary, but container 50 is assumed to be a container in which the workpiece and ingredients are finally placed. It may also be a container that is sealed with a lid after the workpiece and ingredients (prepared food) are placed inside. For example, container 50 is a plastic container that is placed in the prepared food section of a store with the prepared food ingredients already placed inside.

[0018] First, with the lifting member 20 raised by the lifting mechanism 21, the container 50 is placed on the base 10. When the lifting member 20 is raised, the first auxiliary member 30 and the second auxiliary member 40 are retracted above and away from the base 10. Therefore, for example, by transporting the container 50 in the Y-axis direction, the container 50 can be placed on the base 10 without interfering with the first auxiliary member 30 and the second auxiliary member 40.

[0019] Next, the lifting mechanism 21 lowers the lifting member 20, moving the first auxiliary member 30 and the second auxiliary member 40 to predetermined positions near the edge 52 of the container 50, as shown in Figures 3 and 4. Here, the predetermined positions near the edge 52 of the container 50 include the outside and inside of the edge 52, as well as the area directly above the edge 52.

[0020] In this embodiment, the first auxiliary member 30 and the second auxiliary member 40 are moved from above to below the container 50, but the direction of movement is arbitrary. For example, the first auxiliary member 30 and the second auxiliary member 40 may be moved horizontally to position them near the edge 52 of the container 50. Alternatively, the first auxiliary member 30 or the second auxiliary member 40 may be made interchangeable with auxiliary members of different sizes, allowing the operator to adjust the size of the auxiliary member according to the size of the container being handled. The size of the auxiliary member may also be increased by attaching an extension member to the tip of the auxiliary member.

[0021] Next, a robot is used to release the prepared food, which is the workpiece, into the inside of the rim 52 of the container 50.

[0022] Figure 3 shows an example of using a robot hand equipped with a pair of robot hand members 71.

[0023] Figure 5 is a front view showing the configuration of the robot hand member, Figure 5A is a cross-sectional view of the Va-Va line in Figure 5, Figure 6 is a front view showing the robot hand member in a closed state, and Figure 6A is a front view showing the robot hand member in an open state.

[0024] As shown in Figures 5 and 5A, the robot hand member 71 comprises a main plate 72 that constitutes the main surface 73 and a pair of side plates 74 that constitute a pair of side surfaces 75 (Figure 5A).

[0025] Each of the pair of robot hand members 71 is driven in the Y-axis direction by an opening / closing mechanism (not shown) to open and close. When the pair of robot hand members 71 are closed, that is, as shown in Figure 6, the pair of robot hand members 71 are in contact with each other in the Y-axis direction, and the prepared food 60 is held between the main surfaces 73 of the pair of robot hand members 71. When the pair of robot hand members 71 are open, that is, as shown in Figure 6A, the pair of robot hand members 71 are separated from each other in the Y-axis direction, and the prepared food 60 is released by sliding down the main surface 73 through the opening 77 formed between the pair of main plates 72.

[0026] In this embodiment, the prepared food 60 is transported to the top of the container 50 by a pair of closed robot hand members 71, and then the prepared food 60 is released by opening the pair of robot hand members 71. At this time, as shown in Figures 3 and 4, a first auxiliary member 30 and a second auxiliary member 40 are positioned near the edge 52 of the container 50, and the outer circumference of the container 50 is covered so as to be surrounded by the first auxiliary member 30 and the second auxiliary member 40. This prevents the prepared food 60 released from the pair of robot hand members 71 from scattering outside over the edge 52 of the container 50. As shown in Figures 3 and 4, the prepared food 60 released inside the edge 52 of the container 50 is held inside the container 50 in contact with the bottom surface 51 of the container 50.

[0027] In this embodiment, the longitudinal direction of the openings 77 of the pair of robot hand members 71 and the longitudinal direction of the container 50 are the same in the X-axis direction. Therefore, the opening width of the pair of robot hand members 71 (the width of the opening 77 in the X-axis direction) can be effectively utilized.

[0028] Furthermore, in the X-axis direction, the width 102 (Figure 3) of the opening defined by the pair of first auxiliary members 30 is set to be larger than the width 101 (Figure 3) of the opening 77 formed between the pair of main plates 72 of the pair of robot hand members 71 in the open state. In addition, in the Y-axis direction, the width 104 (Figure 4) of the opening defined by the pair of second auxiliary members 40 is set to be larger than the width 103 (Figure 5A) of the robot hand member 71. As a result, it is possible to release the prepared food 60 by bringing the lower ends of the pair of robot hand members 71 close to the opening formed by the pair of first auxiliary members 30 and the pair of second auxiliary members 40, or by inserting them into the opening. This makes it easier to prevent the prepared food 60 from spilling out beyond the first auxiliary members 30 and the pair of second auxiliary members 40. In this case, it is preferable to move the lower end of the robot hand member 71 below the upper end of the funnel (first auxiliary member 30 or second auxiliary member 40) before releasing the prepared food 60, but it is also acceptable to release the prepared food 60 with the lower end of the robot member 71 above the upper end of the funnel.

[0029] Although Figure 3 shows a pair of robot hand members 71 that open and close in the Y-axis direction, robot hand members that open and close in the X-axis direction may also be used. The configuration for releasing the workpiece is arbitrary. A configuration can be adopted depending on the container and workpiece.

[0030] Next, the pair of air cylinders 44 are operated to move the pair of second auxiliary members 40 into a closed state. In this embodiment, by moving the pair of second auxiliary members 40 into a closed state, surfaces 41 and 42 are pressed against the prepared food 60, and the shape of the prepared food 60 placed in the container 50 can be adjusted, as shown in Figure 4A.

[0031] Next, the lifting mechanism 21 raises the lifting member 20.

[0032] Figure 7 schematically shows the position of the first auxiliary member when the lifting member is raised, and Figure 8 schematically shows the position of the second auxiliary member when the lifting member is raised.

[0033] As shown in Figures 7 and 8, when the lifting mechanism 21 raises the lifting member 20, the first auxiliary member 30 and the second auxiliary member 40, which were in the predetermined positions near the edge 52 of the container 50, retract upward away from the container 50. As a result, the first auxiliary member 30 and the second auxiliary member 40 do not interfere with the container 50 or the prepared food 60, and the container 50 can be transported, for example, in the Y-axis direction. Alternatively, the second auxiliary member 40 may be moved upward after being moved to the open position.

[0034] In this embodiment, the first auxiliary member 30 and the second auxiliary member 40 are retracted above the container 50, but the position in which they are retracted is arbitrary. For example, the first auxiliary member 30 and the second auxiliary member 40 may be moved horizontally to avoid interference with the container 50, etc.

[0035] The positions in which the first auxiliary member 30 and the second auxiliary member 40 are retracted may be set to avoid the range of motion of the pair of robot hand members 71. This eliminates any restrictions on the movement of the pair of robot hand members 71 when the first auxiliary member 30 and the second auxiliary member 40 are retracted. For example, if the robot hand member 71 moves horizontally, the first auxiliary member 30 and the second auxiliary member 40 may be retracted to a position above or below the container 50. Alternatively, if the robot hand member 71 moves vertically, the first auxiliary member 30 and the second auxiliary member 40 may be retracted to a position horizontally offset from the container 50. Furthermore, instead of retracting the entire auxiliary members corresponding to the first auxiliary member 30 and the second auxiliary member 40, only a part of the auxiliary members may be retracted. In addition, the movement of retracting the auxiliary members may involve rotating (rotating) the entire or a part of the auxiliary members. For example, a part of the auxiliary member may rotate to open, thereby securing an opening for the container 50 to pass through.

[0036] Thus, in this embodiment, in the processes before and after releasing the prepared food 60 into the inside of the rim 52 of the container 50, the first auxiliary member 30 and the second auxiliary member 40 are moved to a position away from the vicinity of the container 50. This prevents them from hindering the movement of the container 50 or the movement of the robot hand member 71. For example, if the first auxiliary member 30 or the second auxiliary member 40 were configured to always move in accordance with the container 50, there is a risk of hindering the movement of the container 50 or the movement of the robot hand member 71, but this embodiment avoids such problems.

[0037] As described above, in this embodiment, the shape of the prepared food 60 is adjusted by closing the pair of second auxiliary members 40 and pressing them against the prepared food 60. For example, as shown in Figures 3 and 4, when the prepared food 60 is dropped onto the container 50, the height of the prepared food 60 may not fit within the container 50, or the shape of the prepared food 60 may not be good. However, as can be seen by comparing Figure 4 and Figure 4A, by pressing the pair of second auxiliary members 40 against the surface of the prepared food 60, the prepared food 60 can be shaped into a good shape with an appropriate height. For example, it is possible to reproduce the state as if the prepared food 60 had been arranged by a person. In addition, because the prepared food 60 is pressed by the second auxiliary members 40, the group of prepared food 60 solidifies to some extent. This prevents the unstable prepared food 60 from collapsing to the side of the container 50. Furthermore, when a lid is placed on the container 50, it is possible to prevent the prepared food 60 from obstructing the closing of the lid.

[0038] Specifically, the height of the prepared food 60 can be kept down to match the height of the container 50 by pressing down on the prepared food 60 from above with a pair of second auxiliary members 40, particularly the surface 41. For example, the height of the prepared food 60 can be kept down to the height of the lid (not shown) of the container 50. In addition, the prepared food 60 can be prevented from collapsing to the side of the container by pressing down on the prepared food 60 from the side with a pair of second auxiliary members 40, particularly the surface 42.

[0039] In particular, as shown in Figures 3 and 4, if the robot hand member 71 places the prepared food 60 above the upper edge of the rim 52 of the container 50, there is a possibility that the prepared food 60 will collapse and spill out of the container 50. In this embodiment, the pair of second auxiliary members 40 can press down on the prepared food 60 above the upper edge of the rim 52 and control its shape, thereby effectively preventing the prepared food 60 from collapsing and spilling out of the container 50. However, this embodiment also applies when the height of the prepared food 60 placed by the robot hand member 71 is less than the upper edge of the rim 52 of the container 50.

[0040] Furthermore, by making surfaces 41 and 42 of the second auxiliary member 40 smooth, the surface of the prepared food 60 can be leveled, and the marks left by the robot hand member 71 on the surface of the prepared food 60 can be erased. For example, if marks from irregularities formed on the main surface 73 or side surface 75 of the robot hand member 71 remain on the surface of the prepared food 60, these marks can be erased by pressing the smooth surfaces 41 and 42 onto the prepared food 60. In some cases, a part of the robot hand may be made into a mesh or grid shape to handle highly adhesive ingredients, which can easily leave marks on the prepared food 60, but even in this case, the marks can be erased. As a result, the traces of robot-assisted plating can be erased, and a plating state similar to that achieved by human work can be obtained. This is particularly effective when plating soft, lumpy prepared foods 60, such as kneaded salads (e.g., potato salad), macaroni salad, and okara (soy pulp). The shape of the smooth surface is arbitrary; for example, it may be a flat surface or a concave, curved surface.

[0041] The following describes some modified examples related to auxiliary members.

[0042] In the above embodiment, when the prepared food 60 is released, the pair of first auxiliary members 30 and the pair of second auxiliary members 40 surround the rim 52 of the container 50 so as to cover the entire circumference. However, it is not essential that the auxiliary members cover the entire circumference of the rim 52; it is sufficient if they are near a part of the rim 52. However, when the entire circumference of the rim 52 is covered as in this embodiment, it is possible to reliably prevent the prepared food 60 from falling out of the container 50.

[0043] In the above embodiment, as shown in Figure 2 and other figures, the width of the second auxiliary member 40 in the Y-axis direction is set to be smaller than the width of the first auxiliary member 30 in the X-axis direction. However, the width of the second auxiliary member 40 in the Y-axis direction for shaping the prepared food 60 may be set to be larger than the width of the first auxiliary member 30 in the X-axis direction. The dimensions and shape of the auxiliary members can be changed as appropriate depending on the shape of the container 50, the arrangement of the prepared food 60, the properties of the prepared food 60, etc.

[0044] Alternatively, the configuration of the first auxiliary member 30 may be changed to the same configuration as the second auxiliary member 40, and the prepared food 60 may be pressed and shaped from both the X-axis and Y-axis directions. In this case, the pressing operations from the X-axis and Y-axis directions may be performed at different timings. Alternatively, the pressing operations from the X-axis and Y-axis directions may be performed simultaneously. In the latter case, the two auxiliary members should be given shapes that do not interfere with each other when the pressing operations are performed.

[0045] Furthermore, the auxiliary member does not have to be a funnel. For example, a robot hand member separate from the robot hand member 71 may be used as the auxiliary member and pressing part. Alternatively, the auxiliary member may be attached to a common robot arm together with the robot hand member 71, and the auxiliary member may be moved to the vicinity of the container 50 when releasing the prepared food 60. This auxiliary member can prevent the prepared food 60 from scattering when it is placed in the container 50. The auxiliary member may also be used as a pressing part by pressing it against the surface of the prepared food 60 that has already been placed.

[0046] Furthermore, the robot hand member 71 itself, after releasing the prepared food 60, may be used as an auxiliary member and a pressing part to shape the prepared food 60. In this case, for example, the closed robot hand member 71 shown in Figure 6 may be pressed against the prepared food 60 from above once or multiple times. Alternatively, the robot hand member 71 may be pressed against the prepared food 60 from above once or multiple times while controlling the width of the opening 77 (width in the Y-axis direction) to an appropriate dimension. Alternatively, an action may be added to move the robot hand member 71 pressed against the prepared food 60 in the horizontal direction. When using the robot hand member 71 itself as a pressing part, it is preferable to press the outside of the main plate 72 (i.e., the back side of the main surface 73) against the prepared food 60 placed in the container 50, especially the part of the prepared food 60 that is on the edge 52 side of the container 50 (non-center part). Furthermore, if the width of the opening defined by the pair of first auxiliary members 30 and the pair of second auxiliary members 40 (width 102 in Figure 3 and width 104 in Figure 4) is set to a dimension that allows shaping operation by the robot hand member 71, the prepared food 60 can be shaped without retracting the first auxiliary members 30 and the second auxiliary members 40. When using the method described in this paragraph, it is necessary to control the robot so that the robot hand member 71 does not come into contact with the container 50 or the first auxiliary members 30 and the second auxiliary members 40. It is preferable to acquire height information of the area around the container 50 (container 50, first auxiliary members 30 and second auxiliary members 40) using a 3D camera or the like, and then adjust the height of the robot hand member 71. Alternatively, height information of the prepared food 60 can be acquired using a 3D camera or the like, and the slanted portion of the prepared food 60 can be identified, and the robot hand member 71 can be pressed against that portion.

[0047] In the above embodiment, a rotatable second auxiliary member 40 is used to shape the prepared food 60, along with a mechanism (such as an air cylinder 44) to rotate it. However, a regular funnel can also be used as the auxiliary member and the pressing part.

[0048] Figure 9 shows an example of using a cylindrical funnel as an auxiliary member.

[0049] The funnel 80 shown in Figure 9 has a cylindrical shape with a circular inner diameter in the XY plane. In this example, the robot hand moves the prepared food 60 above the funnel 80, releases the prepared food 60 onto the container 50 via the funnel 80, and then presses the lower end 81 of the funnel 80 against the surface of the prepared food 60, thereby shaping the prepared food 60. When pressing the funnel 80 against the prepared food, the funnel 80 may be lowered, or the floor supporting the container 50 may be raised.

[0050] (Second example) Figure 10 is a top view showing the auxiliary member of this embodiment (second embodiment), Figure 11 is a perspective view showing the lifting section in the lowered position, Figure 12 is a perspective view showing the lifting section in the raised position, Figure 13 is a perspective view showing the auxiliary member in the open position, Figure 14 is a perspective view showing the auxiliary member in the closed position, and Figure 15 is a perspective view of the auxiliary member in the closed position viewed from below.

[0051] As shown in Figures 10 to 12, in the second embodiment, the processing device comprises a base 110 and a lifting unit 120 that is movable vertically (in the Z-axis direction) relative to the base 110. The lifting unit 120 is supported by a guide 122 so as to be able to move vertically in parallel, and is moved vertically relative to the base 110 by a pair of actuators 121.

[0052] As shown above, Figure 11 shows the state in which the lifting unit 120 is lowered, and Figure 12 shows the state in which the lifting unit 120 is raised. As shown in Figure 11, when the lifting unit 120 is lowered, the lifting unit 120 approaches the conveying surface 111 (Figure 12). In this embodiment, in this state, the prepared food 60 is released toward the container 50 placed on the conveying surface 111. As shown in Figure 12, when the lifting unit 120 is raised, the lifting unit 120 moves away from the conveying surface 111. In this embodiment, the container 50 is conveyed in this state.

[0053] As shown in Figures 10 to 15, the lifting section 120 is fitted with four auxiliary members 130 (funnels) having a planar surface 131, a pair of auxiliary members 140 (funnels), and a pair of auxiliary members 150 (funnels).

[0054] The lifting section 120 is provided with a ball screw 124Y and a guide member 125Y, both extending in the Y-axis direction, and a frame member 123Y (an example of a support) is slidably attached to the ball screw 124Y and the guide member 125Y in the Y-axis direction.

[0055] Each of the four auxiliary members 130 is attached to the frame member 123Y. Each of the auxiliary members 130 has a triangular surface 131 facing each other.

[0056] The pair of auxiliary members 140 are attached to the frame member 123Y, similar to the auxiliary member 130. Each of the pair of auxiliary members 140 has a surface 141 that can face each other in the Y-axis direction. Each of the pair of surfaces 141 has a trapezoidal shape, with the width in the X-axis direction narrowing as it goes upward (Z-direction). The surfaces 141 function as a pressing portion and a pressing surface.

[0057] The auxiliary member 140 is rotatably attached to the frame member 123Y. A link mechanism 145 (Figure 14), to which a linear actuator 149 (Figure 10) is connected, is attached to the frame member 123Y, and the auxiliary member 140 is driven by the linear actuator 149 via the link mechanism 145. That is, the linear motion of the linear actuator 149 in the Y-axis direction is converted into rotational motion by the link mechanism 145. At this time, the link mechanism 145 is configured so that the auxiliary member 140 rotates with its linear lower end 140a (Figures 10, 13, and 15) as the pivot axis.

[0058] Furthermore, each lifting section 120 is provided with a ball screw 124X extending in the X-axis direction, and a frame member 123X (an example of a support) is slidably attached to the ball screw 124X in the X-axis direction. Although not shown in the figures, the lifting section 120 is also provided with a guide member (corresponding to guide member 125Y) extending in the X-axis direction, which together with the ball screw 124X supports the frame member 123X so that it can slide in the X direction.

[0059] Each of the pair of auxiliary members 150 has a surface 151 that can face each other in the X-axis direction. Each of the pair of surfaces 151 has a trapezoidal shape, with the width in the Y-axis direction increasing as it moves upward (Z-direction). The surfaces 151 function as a pressing portion and a pressing surface.

[0060] The auxiliary member 150 is rotatably attached to the frame member 123X. A link mechanism 155 (Figure 14), to which a linear actuator 159 (Figure 10) is connected, is attached to the frame member 123X, and the auxiliary member 150 is driven by the linear actuator 159 via the link mechanism 155. That is, the linear motion of the linear actuator 159 in the X-axis direction is converted into rotational motion by the link mechanism 155. At this time, the link mechanism 155 is configured so that the auxiliary member 150 rotates with its linear lower end 150a (Figures 10, 13, and 15) as the pivot axis.

[0061] The pair of auxiliary members 140 and the pair of auxiliary members 150 are each movable between a closed state (Figure 14) and an open state (Figure 13).

[0062] As shown in Figures 10 and 13, the lower ends 140a of the pair of auxiliary members 140 and the lower end 150a of the pair of auxiliary members 150 form the periphery of the rectangular opening 160 in the horizontal plane surrounded by the pair of auxiliary members 140 and the pair of auxiliary members 150. As described above, even if the auxiliary members 140 and 150 rotate, the positions of the lower ends 140a and 150a do not change. Therefore, regardless of the rotation angle of the auxiliary members 140 and 150, a large gap is not created between the lower ends 140a and 150a, and the shape of the opening 160 is substantially maintained.

[0063] Furthermore, as described above, the surfaces 141 of the pair of auxiliary members 140 and the surfaces 151 of the pair of auxiliary members 150 have trapezoidal shapes with their vertical orientations reversed relative to each other. Therefore, as shown in Figure 15, when both the pair of auxiliary members 140 and the pair of auxiliary members 150 are closed, the surface 151 of the auxiliary member 150 and the linear end 140b of the auxiliary member 140 are located on approximately the same plane. In other words, in this embodiment, it is possible to close both the pair of auxiliary members 140 and the pair of auxiliary members 150 simultaneously. Also, when the pair of auxiliary members 150 are closed, the auxiliary member 140 is opened and closed, and the end 140b of the auxiliary member 140 moves back and forth, rubbing against the surface 151 of the auxiliary member 150. This makes it possible to efficiently scrape off any deposits attached to the surface 151.

[0064] Next, we will describe an example of processing using the processing device, in which the workpiece and the prepared food 60 as ingredients are placed in the container 50. Note that the type and properties of the workpiece are arbitrary and are not limited to food or ingredients.

[0065] Figure 16 is a schematic cross-sectional view showing the position of the auxiliary member in the open state in the YZ plane, Figure 16A is a schematic cross-sectional view showing the position of the auxiliary member in the open state in the XZ plane, Figure 17 is a schematic cross-sectional view showing the position of the auxiliary member in the closed state in the YZ plane, Figure 17A is a schematic cross-sectional view showing the position of the auxiliary member in the closed state in the XZ plane, and Figures 18 and 18A are perspective views illustrating a method of transporting the container.

[0066] When serving the prepared food 60, first, the lifting section 120 is raised by a pair of actuators 121, and the container 50 is placed on the receiving position on the conveying surface 111 (Figure 18) (as shown in Figure 18). When the lifting section 120 is raised, the auxiliary members 130, 140, and 150 are retracted above the conveying surface 111, away from it. Therefore, for example, the container 50 can be conveyed on the conveying surface 111 in the Y-axis direction without interfering with the auxiliary members 130, 140, and 150.

[0067] As shown in Figure 18, after the container 50 (container 50a shown in Figure 18) is transported below the opening 160 (Figures 10, 13, etc.), the lifting section 120 is lowered by a pair of actuators 121 (Figure 11). This moves the auxiliary members 130, 140, and 150 to predetermined positions near the edge 52 of the container 50 (positions shown in Figures 16 and 16A). Here, the predetermined positions near the edge 52 of the container 50 include the outside and inside of the edge 52, and also include the area directly above the edge 52.

[0068] Next, as shown in Figure 16, a pair of robot hand members 71 (Figures 5, 5A, 6, and 6A) are used to release the prepared food 60, which is the workpiece, into the inside of the rim 52 of the container 50.

[0069] In this embodiment, the prepared food 60 is transported to the top of the container 50 by a pair of closed robot hand members 71, and then the prepared food 60 is released by opening the pair of robot hand members 71. At this time, as shown in Figures 16 and 16A, auxiliary members 140 and 150 are placed near the edge 52 of the container 50, and the outer circumference of the container 50 is covered so as to be surrounded by the auxiliary members 140 and 150. This prevents the prepared food 60 released from the pair of robot hand members 71 from scattering outside over the edge 52 of the container 50. As shown in Figures 16 and 16A, the prepared food 60 released inside the edge 52 of the container 50 is held inside the container 50 in contact with the bottom surface 51 of the container 50.

[0070] In this embodiment, the longitudinal direction of the openings 77 of the pair of robot hand members 71 and the longitudinal direction of the container 50 are the same in the X-axis direction. Therefore, the opening width of the pair of robot hand members 71 (the width of the opening 77 in the X-axis direction) can be effectively utilized.

[0071] Furthermore, in the X-axis direction, the width 202 (Figure 16) of the opening defined by the pair of auxiliary members 140 is set to be larger than the width 101 (Figure 16) of the opening 77 formed between the pair of main plates 72 of the pair of robot hand members 71 in the open state. In addition, in the Y-axis direction, the width 204 (Figure 16A) of the opening defined by the pair of auxiliary members 150 is set to be larger than the width 103 (Figure 5A) of the robot hand member 71. As a result, it is possible to release the prepared food 60 by bringing the lower ends of the pair of robot hand members 71 close to the opening 160 formed by the pair of auxiliary members 140 and the pair of auxiliary members 150, or by inserting them into the opening 160. This makes it easier to prevent the prepared food 60 from spilling out beyond the auxiliary members 140 and the auxiliary members 150. In this case, it is preferable to move the lower end of the robot hand member 71 below the upper end of the funnel (auxiliary member 130, auxiliary member 140, or auxiliary member 150) before releasing the prepared food 60, but it is also acceptable to release the prepared food 60 with the lower end of the robot member 71 above the upper end of the funnel.

[0072] Although Figure 3 shows a pair of robot hand members 71 that open and close in the Y-axis direction, robot hand members that open and close in the X-axis direction may also be used. The configuration for releasing the workpiece is arbitrary. A configuration can be adopted depending on the container and workpiece.

[0073] Next, the pair of actuators 149 and 159 are operated to open and close the auxiliary members 140 and 150. As shown in Figures 17 and 17A, by simultaneously closing the pair of auxiliary members 140 and 150, the surfaces 141 and 151 are pressed against the prepared food 60 and pressed down from above, thereby shaping the prepared food 60 placed in the container 50, as shown in Figure 4A. The number of times the pair of auxiliary members 140 and 150 are closed is arbitrary and may be once or multiple times. Alternatively, the number of times may be changed depending on the characteristics of the prepared food 60. Or, the number of times may be controlled by monitoring the shape of the prepared food 60 with a camera and repeating the opening and closing operation of the auxiliary members 140 and 150 until an appropriate shape of the prepared food 60 is confirmed.

[0074] Next, with the auxiliary members 140 and 150 in the open position, the lifting section 120 is raised by the pair of actuators 121. As a result, the auxiliary members 130, 140, and 150 retract upward away from the container 50. Therefore, the container 50 can be transported, for example, in the Y-axis direction, without the auxiliary members 130, 140, and 150 interfering with the container 50 or the prepared food 60. However, when the auxiliary members 140 and 150 are closed, there is a possibility that the prepared food 60, especially long ingredients (for example, kinpira, dried daikon radish, spinach, macaroni), may get caught between the auxiliary members 140 and 150. Therefore, by moving the auxiliary members 140 and 150 to the open state and then raising the lifting unit 120, it is possible to prevent the prepared food 60, which is sandwiched between the auxiliary members 140 and 150, from rising together with the lifting unit 120. However, depending on the properties of the prepared food 60, the lifting unit 120 may be raised from the state in which the auxiliary members 140 and 150 are closed.

[0075] Next, the method for transporting the container 50 will be described with reference to Figures 18 and 18A.

[0076] The container 50 can be transported by the transport member 170 shown in Figures 18 and 18A. The transport member 170 is mounted so as to be rotatable around a pivot shaft 171 extending in the Y-axis direction, and is rotated around the pivot shaft 171 by an actuator (not shown) or the like. The transport member 170 is also supported so as to be slidable in the Y-axis direction along the pivot shaft 171, and is slid in the Y-axis direction by an actuator (not shown) or the like. The transport member 170 is slidable in the Y-axis direction from a state above the transport surface 111 (the state shown in Figure 18).

[0077] When the transport member 170 is slid in the Y-axis direction from the state shown in Figure 18, the transport member 170 comes into contact with the container 50 and pushes it in the Y-axis direction, thereby transporting the container 50 (container 50a shown in Figure 18) from the transport surface 111 (Figure 18) to the transport surface 112 (Figures 18 and 18A). Figure 18A shows the state in which the container 50a has been transported to the transport surface 112 by the transport member 170. Furthermore, by moving the transport surface 112 that has received the container 50 (50b) in the Y-axis direction, the container 50 (50b) can be transported in the Y-axis direction.

[0078] After the container 50a is conveyed to the conveying surface 112, the conveying member 170 is rotated clockwise in Figure 18A so as to pass through the gap between the conveying surfaces 111 and 112, and slides in the -Y direction while avoiding the conveying surface 111. Furthermore, when the conveying member 170 is rotated counterclockwise in Figure 18, it passes through a slit (not shown) formed in the conveying surface 111 and is positioned above the conveying surface 111. That is, it returns to the position shown in Figure 18.

[0079] Furthermore, the transport member 170, which is stopped at the position shown in Figure 18, has the function of coming into contact with a container (for example, the container 50b shown in Figures 18 and 18A) that has been transported from the upstream side (-Y direction side), and stopping at a predetermined position on the transport surface 111.

[0080] In this manner, when the lifting section 120 is raised and the auxiliary members 130, 140, and 150 are in an upper, retracted position away from the container 50, the container 50 is transported by the transport member 170.

[0081] As shown in Figures 18 and 18A, a pair of restricting members 180 are arranged on both sides of the transport surface 111 in the X-axis direction. Each restricting member 180 has a restricting surface 181 that the container 50 can contact. The pair of restricting members 180 have the function of correctly guiding the container 50 to a receiving position to receive the released prepared food 60 by clamping the container 50 in the X-axis direction, and also enabling the container 50 to be transported smoothly in the Y direction.

[0082] Figure 19 is a cross-sectional view of the regulating member in the XZ plane.

[0083] As shown in Figure 19, the restricting surface 181 of the restricting member 180 has an uneven shape, and the recesses of the restricting surface 181 are designed to engage with the edge 52 of the container 50 as guide grooves 182 extending in the Y-axis direction. In addition, multiple guide grooves 182 of different heights are provided on the restricting surface 181, so that it can accommodate multiple types of containers 50 with different heights. As shown in Figure 19, the guide grooves 182 have a shape that restricts the upward movement of the edge 52 of the container 50 while allowing it to move downward. As a result, the weight of the container 50 and the prepared food 60 contained in the container 50 causes the edge 52 of the container 50 to slide down the restricting surface 181 and finally engage with a guide groove 182 of the appropriate height. This correctly defines the position of the container 50 in the X-axis direction and guides the container 50 by the transport member 170 so that it moves correctly along the Y-direction without floating up.

[0084] In this embodiment, auxiliary members 130, 140, and 150 are provided in multiple forms and can be replaced. As described above, auxiliary members 130 and 140 are attached to the frame member 123Y, and auxiliary member 150 is attached to the frame member 123Y. Furthermore, the frame member 123Y is slidable in the Y-axis direction along the ball screw 124Y, and the frame member 123X is slidable in the X-axis direction along the ball screw 124X. For this reason, for example, the positions of the frame members 123Y and 123X can be adjusted by the ball screws 124Y and 124X according to the size of the auxiliary members 130, 140, and 150, and fixed in the appropriate position. Auxiliary members 130 and 140 are detachable from the frame member 123Y by screws, and auxiliary member 150 is detachable from the frame member 123X by screws. Therefore, for example, the size of the auxiliary members can be easily changed by adjusting the positions of the frame members 123Y and 123X according to the combination of auxiliary members 130, 140, and 150 of multiple sizes (e.g., large, medium, and small) corresponding to the sizes of multiple types of containers 60.

[0085] The positions of frame members 123Y and 123X may be set steplessly by ball screws 124Y and 124X, or the positions of frame members 123Y and 123X may be selected in multiple stages (for example, three stages) by multiple grooves into which frame members 123Y and 123X engage. In this embodiment, the auxiliary members constituting the funnel are made detachable, and multiple forms of auxiliary members, including different sizes and shapes, are provided, allowing them to be easily replaced.

[0086] In this embodiment, for example, the number of times the auxiliary members 140 and 150 are opened and closed (number of movements) and the content of the operation (movement procedure) can be changed depending on the properties of the prepared food 60. For example, in the case of a prepared food 60 that is easily crumbled (for example, potato salad), the number of times the opening and closing operations are increased to firmly compress the prepared food 60. Also, in the case of a prepared food 60 that tends to stick to the auxiliary members 140 and 150 (for example, a prepared food 60 with high viscosity), the number of times the opening and closing operations are increased to completely remove the prepared food 60 from the auxiliary members 140 and 150. Furthermore, as described above, when the auxiliary member 140 is opened and closed with the auxiliary member 150 closed, the end 140b of the auxiliary member 140 moves back and forth, rubbing against the surface 151 of the auxiliary member 150. This action can be used to scrape off the prepared food 60 that has adhered to the surface 151. Furthermore, the lifting mechanism 120 may be moved up and down to shake the prepared food 60 off the auxiliary members 140 and 150. In this case, this operation may be performed after the opening and closing operation of the auxiliary members 140 and 150, or simultaneously with the opening and closing operation. The number of times the lifting mechanism 120 is moved up and down is also arbitrary, and it may be moved up and down multiple times.

[0087] The angles of the auxiliary members 140 and 150 in the open and closed states are arbitrary. For example, angle α1 shown in Figure 16 represents the angle of the auxiliary member 140 relative to the vertical plane in the open state, and angle α2 shown in Figure 16A represents the angle of the auxiliary member 150 relative to the vertical plane in the open state. Similarly, angle β1 shown in Figure 17 represents the angle of the auxiliary member 140 relative to the vertical plane in the closed state, and angle β2 shown in Figure 17A represents the angle of the auxiliary member 150 relative to the vertical plane in the closed state. These angles α1, α2, β1, and β2 are arbitrary. Furthermore, these angles may be changed according to the properties and final shape of the prepared food 60, the shape of the container 50, etc. These angles may also be changed in conjunction with the replacement of the auxiliary members 140 and 150.

[0088] Furthermore, in this embodiment, the opening and closing operations of the pair of auxiliary members 140 and the pair of auxiliary members 150 can be controlled independently of each other by a pair of actuators 149 or a pair of actuators 159. Therefore, the opening and closing operations of the auxiliary members 140 and 150 may be performed synchronously, or the timing of their opening and closing operations may be staggered. For example, regarding the timing of transitioning from the open state to the closed state, the auxiliary member 150 may be closed before the auxiliary member 140 is closed. In this case, there is virtually no gap between the auxiliary member 150 and the auxiliary member 140 during the period when the auxiliary member 140 is transitioning from the open state to the closed state. Therefore, it is possible to prevent the prepared food 60, which is pushed in by the auxiliary member 140, from getting caught between the auxiliary member 150 and the auxiliary member 140.

[0089] Furthermore, the opening and closing timings of each of the pair of auxiliary members 140 may be staggered, or the opening and closing timings of each of the pair of auxiliary members 150 may be staggered. The opening and closing timings can be arbitrarily adjusted by controlling the operating timings of each of the pair of actuators 149, or each of the pair of actuators 159.

[0090] Furthermore, the angle of the open state of the auxiliary member 140 or auxiliary member 150 when repeating the opening and closing operation is also arbitrary. That is, the angle of the open state when repeating the opening and closing operation may be different from the angle when the prepared food 60 is released (Figures 16 and 16A). For example, the auxiliary member 140 or auxiliary member 150 may not be opened to the angle shown in Figure 16 or Figure 16A (angle α1 or angle α2), and the opening and closing angle (angle difference) during the opening and closing operation may be suppressed, causing the auxiliary member 140 or auxiliary member 150 to open and close in small increments.

[0091] A region with an uneven shape may be provided on the surface 141 of the auxiliary member 140 or the surface 151 of the auxiliary member 150. In this case, a shape that is an inverse of the uneven shape of surface 141 or surface 151 (for example, a shape such as letters, patterns, or logos) can be formed on the surface of the prepared food 60. In particular, a visible shape can be easily formed on the surface of the soft, lumpy prepared food 60.

[0092] As described above, according to this embodiment, when a robot is used to release a workpiece into the inside of the container's edge, an auxiliary member that moves to a predetermined position near the edge is used, so the workpiece can be placed in the container efficiently.

[0093] Although each embodiment has been described in detail above, the invention is not limited to any particular embodiment, and various modifications and changes are possible within the scope of the claims. Furthermore, it is possible to combine all or more of the components of the embodiments described above. In addition, supplementary notes relating to this disclosure are provided below.

[0094] (Note 1) An auxiliary member that moves in accordance with the movement of a robot capable of transporting a workpiece, An auxiliary member that moves to a predetermined position near the edge when the robot releases the workpiece to the inside of the edge of the container. Here, "movement" of the auxiliary member broadly includes changes in the position or angle of the auxiliary member, such as vertical movement, horizontal movement, changes in the angle of the auxiliary member, changes in position or angle in the direction of being pressed against the workpiece (food), changes in position or angle in the direction of retracting from the workpiece (food), and back and forth between two states.

[0095] (Note 2) The auxiliary member is the auxiliary member described in Appendix 1, which retracts from the predetermined position after the workpiece is released.

[0096] (Note 3) The auxiliary member is the auxiliary member described in Appendix 1, having a pressing portion that is pressed against the workpiece after the workpiece has been released.

[0097] (Note 4) An auxiliary member that moves in accordance with the movement of a robot capable of transporting a workpiece, An auxiliary member presses against the workpiece that is located above the upper edge of the container after the workpiece has been released into the container using the robot. Here, "movement" of the auxiliary member broadly includes changes in the position or angle of the auxiliary member, such as vertical movement, horizontal movement, changes in the angle of the auxiliary member, changes in position or angle in the direction of being pressed against the workpiece (food), changes in position or angle in the direction of retracting from the workpiece (food), and back and forth between two states.

[0098] (Note 5) The auxiliary member described in Appendix 4 is an auxiliary member that retracts away from the container after pressing the workpiece.

[0099] (Note 6) An auxiliary member that moves in accordance with the movement of a robot hand capable of transporting food ingredients, An auxiliary member that presses a smooth surface against the food item after it has been released into the container following being held by the robot hand. Here, "movement" of the auxiliary member broadly includes changes in the position or angle of the auxiliary member, such as vertical movement, horizontal movement, changes in the angle of the auxiliary member, changes in position or angle in the direction of being pressed against the workpiece (food item), changes in position or angle in the direction of retracting from the workpiece (food item), and back and forth between two states.

[0100] (Note 7) The pressing portion is an auxiliary member as described in Appendix 3, which moves between a first position where it is pressed against the workpiece and a second position where it is separated from the workpiece.

[0101] (Note 8) The auxiliary member described in Appendix 7 is provided with a plurality of pressing portions, each of which is movable independently of the others.

[0102] (Note 9) The auxiliary member described in Appendix 8, which allows multiple pressing portions to be positioned simultaneously at the first position.

[0103] (Note 10) The pressing portion is an auxiliary member as described in any of appendices 7 to 9, which moves vertically between the first position and the second position.

[0104] (Note 11) The pressing portion moves between the first position and the second position by rotation, as described in any of appendices 7 to 10.

[0105] (Note 12) An auxiliary member according to any one of the appendices 7 to 11, wherein the number of movements or the procedure of movements of the pressing portion can be changed.

[0106] (Note 13) The pressing portion moves upward from the second position without passing through the first position, thereby retracting from the workpiece, as described in any of appendices 7 to 12.

[0107] (Note 14) The auxiliary member is an auxiliary member as described in any of appendices 7 to 13, which is detachable from the support portion that supports the auxiliary member.

[0108] (Note 15) The auxiliary member according to Appendix 14, wherein multiple forms of the auxiliary member are interchangeably attached to and detached from the support portion.

[0109] (Note 16) The support portion comprises a frame member to which the auxiliary member is detachably attached, and the position of the frame member is adjustable, as described in Appendix 15.

[0110] (Note 17) The auxiliary member according to any one of appendices 7 to 16, wherein the pressing portion includes a first pressing portion formed on a first member and a second pressing portion formed on a second member, and the second member is movable along the surface of the first pressing portion.

[0111] (Note 18) The auxiliary member according to any one of appendices 7 to 17, wherein the pressing portion is provided with a pressing surface that is pressed against the workpiece at the first position, and the pressing surface has irregularities formed on it.

[0112] (Note 19) The auxiliary member as described in Appendix 1, wherein the auxiliary member is movable between a predetermined position and a retracted position above the predetermined position, and when the auxiliary member is in the retracted position, the container is transported below the auxiliary member by a transport member that moves below the auxiliary member.

[0113] (Note 20) The transport member functions as a member for positioning the container at a receiving position to receive the released workpiece, and also functions as a member for retracting the container that has received the released workpiece from the receiving position, as described in Appendix 19.

[0114] (Note 21) When the container is moved by the transport member, the container moves along the transport direction while being guided by a guide member that engages with the edge of the container. The auxiliary member according to Appendix 19 or 20, wherein the guide member has a plurality of guide grooves formed to correspond to differences in the height of the container.

[0115] (Note 22) The auxiliary member as described in Appendix 21, wherein the guide groove has a shape that restricts the upward movement of the container and allows it to move downward. [Explanation of Symbols]

[0116] 30 First auxiliary member 40 Second auxiliary member 50 containers 60 prepared foods 71 Robot hand component 80 Funnel 130 Auxiliary member 141 sides 140 Auxiliary member 150 Auxiliary Members 151 sides 170 Conveying components

Claims

[Claim 1] An auxiliary member that moves in accordance with the movement of a robot capable of transporting a workpiece, An auxiliary member that moves to a predetermined position near the edge when the robot releases the workpiece into the inside of the edge of the container.

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