Food group formation method

Abstract

To automatically adjust weight of a food group so that the weight is within a set range and thereby reduce manual adjustment so as to enhance production efficiency.SOLUTION: A food group formation method includes: a first step in which foods formed in a predetermined thickness are collected at a collection position; a second step in which the foods collected at the collection position are moved onto a set area away from the collection position; and a third step in which the foods moved onto the set area are put on individual positions in the set area, which automatically executes the first step to the third step repeatedly so as to form a food group constituted of a plurality of foods in the set area, and which sets a plurality of lines and a plurality of rows in which the foods are put in parallel and automatically changes the number of the rows in each line in accordance with sizes of the foods to adjust weight of the food group so that the weight is within a set range. Further the method automatically adjusts the number of rows in each line and an interval of each row, in accordance with a size of the food put on the top of each line.SELECTED DRAWING: Figure 37

Description

[Technical field]

[0001] The present invention relates to a food group forming method for forming a food group from a plurality of foods. [Background technology]

[0002] For example, in conventional food processing factories, a block of food such as raw meat is cut at a specified interval from its tip using a cutting device, and multiple food pieces (such as thin pieces) of a specified thickness are then manually arranged on food trays. The food items arranged on the trays to form groups are packaged together with the trays, and labels indicating the total weight, price, etc. are affixed, and the items are shipped as merchandise. In recent years, attempts have been made to automate the formation of such food groups, and Patent Document 1 discloses a technique in which a robot is used to plate food into food containers transported by a conveyor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6650119 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, a block of food such as raw meat does not have a uniform cross-sectional shape from the front to the back end, but rather the cross-sectional shape changes irregularly, so even if it is cut to a uniform thickness, the size and weight of the cut food will not be uniform. For this reason, when groups are formed from the same number of foods, the weights of each food group will vary. When the weights of different food groups vary in this way, it becomes difficult to align the displayed weight ranges and associated displayed price ranges for products, which requires manual adjustments, which can lead to problems such as reduced production efficiency. Note that Patent Document 1 does not disclose a specific technique for placing a plurality of foods in a food container (set area) to form a group.

[0005] An object of the present invention is to solve the above-described problems and realize a method for forming a food group that can automatically adjust the weight of the food group within a set range and increase production efficiency.

Means for Solving the Problems

[0006] In order to solve the above-described problems, the present invention takes the following technical means. That is, the invention according to claim 1 includes a first step of collecting a food formed to a predetermined thickness at a collection position, a second step of moving the food collected at the collection position onto a set area separated from this collection position, and a third step of placing the food moved onto the set area at individual positions within this set area, and automatically repeating these first to third steps to form a food group consisting of a plurality of foods within the set area. A method for forming a food group, characterized in that the number of foods forming the food group is automatically changed according to the size of each food, and the weight of this food group is adjusted within a set range.

[0007] The invention according to claim 2 includes a first step of collecting a food formed to a predetermined thickness at a collection position, a second step of moving the food collected at the collection position onto a set area separated from this collection position, and a third step of placing the food moved onto the set area at individual positions within this set area, and automatically repeating these first to third steps to form a food group consisting of a plurality of foods within the set area. A method for forming a food group, characterized in that a plurality of rows and a plurality of columns for arranging foods are set within the set area, and the number of columns in each row is automatically changed according to the size of the food to adjust the weight of the food group within a set range.

[0008] The invention according to claim 3 is the method for forming a food group according to claim 2, which automatically changes the number of columns in each row or the number of columns in each row and the interval between each column according to the size of the food placed at the head of each row.

[0009] The invention according to claim 4 is the method for forming a food group according to claim 1 or claim 2 or claim 3, which includes imaging means for imaging the food before collection and obtains the size of the food from the imaging result by this imaging means.

[0010] The invention according to claim 5 is the method for forming a food group according to any one of claims 1 to 4, which automatically prohibits the collection of this food when the size of the food is smaller than the set size.

[0011] The invention according to claim 6 is a method for forming a food group, which has a first step of collecting a food formed to a predetermined thickness at a collection position, a second step of moving the food collected at the collection position onto a set area separated from this collection position, and a third step of placing the food moved onto the set area at individual positions within this set area, and automatically repeats and executes from the first step to the third step to form a food group composed of a plurality of foods within the set area. In the set area, a plurality of rows and a plurality of columns for arranging the foods are set, it includes imaging means for imaging the food before collection, calculates the width and area of the food from the imaging result by this imaging means, classifies the size of the food into a plurality of classes based on this width and area, automatically changes the number of columns in each row according to the class of the food placed at the head of each row, and adjusts the weight of the food group within a set range.

[0012] The invention according to claim 7 is the method for forming a food group according to claim 6, which automatically prohibits the collection of this food when the food is classified into a class smaller than a predetermined class.

[0013] The invention according to claim 8 is a method for forming a food group, comprising imaging means for imaging food before collection, determining the suitability in forming a food group from the color of the food imaged by the imaging means, and automatically prohibiting the collection of this food when it is determined to be unsuitable, which is the method for forming a food group according to any one of claims 1 to 7.

[0014] The invention according to claim 9 is a method for forming a food group, comprising imaging means for imaging food before collection, and automatically prohibiting the collection of this food when the ratio of the area occupied by a specific color to the total area of the food imaged by the imaging means is greater than a predetermined value, which is the method for forming a food group according to any one of claims 1 to 7.

[0015] The invention according to claim 10 is a method for forming a food group, comprising removing means for automatically removing the food for which collection has been prohibited, which is the method for forming a food group according to claim 5 or claim 7 or claim 8 or claim 9.

[0016] The invention according to claim 11 is a method for forming a food group, wherein the setting area is set on the bottom surface of a tray for food, which is the method for forming a food group according to any one of claims 1 to 10.

[0017] The invention according to claim 12 is a method for forming a food group, comprising: a first step of supporting and collecting a food formed to a predetermined thickness with a support part provided in a hand device at a collection position; a second step of moving the hand device that has collected the food onto a setting area separated from the collection position; and a third step of retracting the support part of the hand device that has moved onto the setting area to release the support of the food and placing this food at an individual position within the setting area, and automatically repeating these first to third steps to form a food group composed of a plurality of foods within the setting area. In the setting area, a plurality of rows and a plurality of columns for arranging the foods are set, the number of columns in each row is automatically changed according to the size of the food placed at the head of each row, and the weight of the food group is adjusted within a set range.

[0018] The invention according to claim 13 is a method for forming a food group according to claim 12, comprising imaging means for imaging the food before being collected by the hand device, calculating the width of the food from the imaging result by the imaging means, and controlling the position of the hand device so as to support the central part of the width of the food or a part in the vicinity thereof by the support part.

[0019] The invention according to claim 14 is a method for forming a food group according to claim 12 or claim 13, comprising a hand device with a dropping promotion means for dropping the food supported by the support part by peeling it off from the support part, and operating the dropping promotion means when the support part retreats from the support position to drop the food supported by the support part and place it within the set area.

[0020] The invention according to claim 15 is a method for forming a food group according to claim 14, wherein the dropping promotion means presses the upper part of the food supported by the support part downward.

Advantages of the Invention

[0021] According to the method for forming a food group of the present invention, the number of foods forming the food group can be automatically changed according to the size of each food, and the weight of this food group can be adjusted within a set range, so that manual adjustment can be reduced and production efficiency can be increased.

Brief Description of the Drawings

[0022]

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[0023] (Common features in each embodiment) In the multiple embodiments described in detail below, the target food product will be described as raw thin meat E sliced by a slicer 12 from a chilled block of meat. Moreover, this thin wall E may be folded in two by the slicer 12 after being cut. In addition, this food is not limited to the thin wall E, but may be other foods, or may be flexible food dough or the like.

[0024] (First conveying device 14 and second conveying device 18) As shown in FIG. 2, the thin material E cut out by the slicer 12 is placed on the belt 15 of the first conveyor 14 in a state in which its length (width) in the X-axis direction is longer than its length in the Y-axis direction. The food plating device (device for implementing the food group forming method of the present invention) 10 is disposed downstream and to the left of the first conveying device 14, but is not limited to this location.

[0025] The first conveying device 14 includes a conveyor 16 having an endless belt 15 wound around a group of driven rollers and a driving roller (both not shown). At the terminal side of the first conveyor 14, a second conveyor 18 that is orthogonal to the conveying direction of the first conveyor 14 in a plan view and extends in the left - right direction is arranged. This second conveyor 18 conveys the tray 88 as will be described later, and is a chain conveyor 20 around which an endless chain 19 is wound across a driven sprocket and a drive sprocket (both not shown).

[0026] Also, the conveyor 16 of the first conveyor 14 is driven by a servo - motor 91 shown in FIG. 5. The rotational phase of this servo - motor 91 is detected by an encoder 92 shown in FIG. 5, and this detected value is input to a slicer controller 90. By controlling the servo - motor 91 according to the output from this slicer controller 90 and driving the belt 15, the thin - wall E on this belt 15 is conveyed to the sampling position T shown in FIG. 2. When the thin - wall E is conveyed to the sampling position T by driving the belt 15, the belt 15 temporarily stops, and in this stopped state, the thin - wall E at the sampling position T is sampled.

[0027] Also, the second conveyor 18 is stopped from conveying the tray 88 by the food plating device 10 until the setting number of thin - walls E are plated on the tray 88 (until the formation of the food group is completed). And after the plating of the thin - wall E on the tray 88 is completed, the second conveyor 18 is driven to carry out this tray 88 and to send out the next empty tray 88 to the above - mentioned standby position.

[0028] (Camera 87) Also, as shown in FIGS. 1 and 2, a camera (the "imaging means" in the claims) 87 for imaging the thin - wall E before being conveyed to (before being sampled at) the sampling position T is arranged at a position above the upstream side of the sampling position T.

[0029] (Robot arm) As shown in FIG. 1, the food plating device 10 is provided with a robot arm 22. This robotic arm 22 can freely rotate as a whole and each part can rotate around the axes J1 to J6 of a plurality of active joints. As shown in FIG. 5, all of the axes J1 to J6 of these active joints are provided with servo motors 71 to 76, and each of these servo motors 71 to 76 is provided with encoders 81 to 86 as rotational position detectors.

[0030] This robotic arm 22 is composed of a base 25, a swivel base 26, a lower arm 27, an upper arm 28, a wrist 29, and a hand mounting seat 30. The base 25 is fixed on a support base 24 connected to the floor of the processing factory or the slicer 12 side, and a swivel base 26 is rotatably provided on this base 25 around a vertical axis J1. On this swivel base 26, a lower arm 27 is pivotally supported around a horizontal axis J2 so as to be able to rotate up and down, and at the upper end of this lower arm 27, a base 28a of an upper arm 28 is pivotally supported around a horizontal axis J3 so as to be able to rotate up and down.

[0031] A rotating body 28b attached to the tip of the base 28a is rotatably supported around an axis J4 along the axis of the base 28a. Note that the axis J4 is perpendicular to the axis J3. At the tip of the rotating body 28b, a wrist 29 is rotatably supported around a lateral axis J5. This axis J5 is perpendicular to the axis J4. At the tip of the wrist 29, a hand mounting seat 30 is rotatably mounted around a vertical axis J6.

[0032] The servo motors 71 to 76 provided on each axis J1 to J6 are driven by the output from a food loading control device 70 described later.

[0033] As shown in FIG. 1, a hand device 40 having a collection part 35 is mounted on the lower surface of the hand mounting seat 30.

[0034] (Connection between the robot controller 70 and the slicer controller 90) As shown in FIG. 5, the robot controller 70 is connected by a communication line to a slicer controller 90 that controls the slicer 12.

[0035] (Mounting area R) As shown in FIG. 2, a mounting area (the "setting area" in the claims) R is set on the bottom surface of the tray 88 that is conveyed by the second conveying device 18 and waits at a standby position downstream of the end of the belt 15. As shown in FIG. 10, this mounting area R is set as a rectangular area having a length in the Y-axis direction of r1 and a length in the X-axis direction of r2. In addition, the position where this mounting area R is set can be set at an appropriate position, such as a fixed position around the slicer 12, in addition to the position on the bottom surface of the tray 88. By placing a plurality of thin pieces E in this mounting area R, a group of thin pieces E (the "food group" in the claims) is formed.

[0036] (Definition of directions) In the conveying direction of the above-described first conveying device 14, the side of the slicer 12 is defined as the upstream side, and the opposite side is defined as the downstream side. In the figure, "-Y" indicates the upstream direction, and "+Y" indicates the downstream direction. "-X" indicates the direction of the right hand side when facing from the slicer 12 side to the downstream side, and "+X" indicates the direction of the left hand side when facing from the slicer 12 side to the downstream side. "-Z" indicates the downward direction, and "+Z" indicates the upward direction. The directions indicated by X, Y, and Z are orthogonal to each other, and each serves as a three-dimensional coordinate axis.

[0037] (Definition of rows and columns in the mounting area R) In the above-described mounting area R, the direction in which the thin pieces E are continuously mounted from one end to the other end of the mounting area R is defined as "row", and the direction orthogonal to this "row" is defined as "column". Thereby, after all the thin pieces E are placed in one row, the mounting at the head of the next row is started, and this is repeated to complete the mounting in all the rows and all the columns in the mounting area R.

[0038] (Definition of the direction of rows and columns in each embodiment) The above are matters common to the first and second embodiments described below. However, in the first and second embodiments, the relationship between "rows" and "columns" is set in reverse. That is, in the first embodiment, "rows" are set in the direction along the Y-axis, and "columns" are set in the direction along the X-axis. As a result, a plurality of "rows" are arranged at intervals in the X-axis direction. On the other hand, in the second embodiment, "rows" are set in the X-axis direction, and "columns" are set in the Y-axis direction. As a result, a plurality of "rows" are arranged at intervals in the Y-axis direction.

[0039] <First Embodiment> Based on the above common matters and each definition, the first embodiment of the present invention will be described in detail.

[0040] (Hand device 40) As shown in Fig. 3(a), the hand device 40 provided on the robot arm 22 includes a mounting plate 41 attached to the lower surface of the hand mounting seat 30, an air cylinder 42 fixed to the lower surface of this mounting plate 41, a pair of finger portions 44A and 44B that are opened and closed by this air cylinder 42, and a pair of thin plate-shaped claw portions (the "support portions" in the claims) 60 and 60 that are extended and retracted by another pair of air cylinders 57 and 57. Note that a collection portion 35 is formed from the finger portions 44A and 44B and the claw portions 60 and 60.

[0041] As shown in Fig. 3, the air cylinder 42 portion, which is the finger driving source, has a guide rail 43a on the lower surface of the body 43, and a pair of sliders 45 and 46 are slidably fitted to this guide rail 43a. The body 43 and the guide rail 43a are arranged so that their longitudinal directions are along the Y-axis direction, and a pair of cylinder holes 47 are drilled in parallel in the body 43. A piston (not shown) is reciprocally movable inside each cylinder hole 47, and the sliders 45 and 46 are connected to each piston. Note that the two pistons are configured to slide in opposite directions, whereby the sliders 45 and 46 connected to the respective pistons slide in opposite directions to each other.

[0042] Then, the upper ends of a pair of brackets 48, 48 extending downward are connected to each of the sliders 45, 46. The lower ends of the brackets 48, 48 support the finger portions 44A, 44B via the mounting members 49, 49. As shown in FIG. 13(a), the finger portions 44A, 44B are arranged side by side in the Y-axis direction and are configured to be plane-symmetrical with respect to a virtual plane G in the vertical direction located between the two. Thereby, when the pair of finger portions 44A, 44B provided in the collection portion 35 move in a direction approaching each other by the operation of the air cylinder 42, the pair of claw portions 60, 60 advanced in the opposite direction by the air cylinders 57, 57 from the tips (lower ends) of the respective finger portions 44A, 44B scoop the lower surface of the supported portion B of the thin wall E from both the upstream side and the downstream side in the Y-axis direction, and the thin wall E is supported.

[0043] (Finger portions 44A, 44B) As described above, since the finger portions 44A, 44B are configured to be plane-symmetrical, in the following description of the configuration of the finger portions, one of the finger portions 44A will be described. As shown in FIG. 4, the mounting member 49 is bolted to the bracket 48. This mounting member 49 includes a mounting plate portion 49a in the vertical direction for supporting the finger portion 44A and a claw portion drive source mounting plate 49b formed in the horizontal direction from the upper end of the mounting plate portion 49a.

[0044] As shown in FIGS. 3 and 4, the finger portion 44A includes a pair of finger plate portions 50, 51 provided in parallel in the X-axis direction and a pair of finger tip portions 53, 54. These finger plate portions 50, 51 are bolted to the mounting plate portion 49a with the mounting plate portion 49a inserted between the finger plate portions 50, 51. Moreover, a plurality of spacing holding members 52 interposed between the finger plate portions 50, 51 and the mounting plate portion 49a form a gap between the two finger plate portions 50, 51.

[0045] As shown in FIG. 4, a pair of plate-like fingertip portions 53 and 54 are provided at the lower portions of the finger plate portions 50 and 51. These fingertip portions 53 and 54 are bolt-fixed and attached to the finger plate portions 50 and 51 in a state where a spacing holding member 55 is arranged on the +Y side and the upper portion of a guide member 56 is arranged on the -Y side between their upper portions. The lower portion of the guide member 56 is fixed at the intermediate portion of the fingertip portions 53 and 54 by bolts or the like.

[0046] Thus, as shown in FIG. 13(a), in the initial state, the finger portions 44A and 44B are arranged in an open position where the fingertip portions 53 and 54 are separated by a predetermined distance L1, and are in an open state. Then, as shown in FIG. 13(b), when the air cylinder 42 is driven, the fingertip portions 53 and 54 move to a closed position where they are separated by a predetermined distance L2 (<L1), and are in a closed state where the separation interval is narrower than the open state.

[0047] As shown in FIG. 4, an air cylinder 57 as a claw portion drive source is mounted on the upper surface of the claw portion drive source mounting plate 49b. The piston 58 of this air cylinder 57 is arranged in the gap between the two finger plate portions 50 and 51 below the claw portion drive source mounting plate 49b. In the non-operating state of the air cylinder 57, this piston 58 is shortened to the upper limit position shown in FIG. 4(a), and when the air cylinder 57 operates, it extends to the lower limit position shown in FIG. 4(b). The upper end portion of a swing member 59 is pivotally supported on a stay 58a fixed to the tip of this piston 58 by a swing shaft 59a having an axis in the X-axis direction so as to be swingable.

[0048] Thereby, as shown in FIGS. 4(a) and 4(b), when the piston 58 expands and contracts between the upper limit position and the lower limit position, the lower end of the swing member 59 is in sliding contact with the upper surface 56a of the guide member 56. And the upper end portion of a claw portion 60 is locked to the hook-shaped portion at the lower end of the swing member 59. This claw portion 60 is composed of a curved strip-shaped claw member 61.

[0049] As shown in FIG. 4(a), this claw member 61 is inserted and supported alternately between a plurality of regulating pins 62, 63, 64 arranged side by side from the central portion to the lower portion between the fingertip portions 53, 54. Thereby, the tip of the claw member 61 on the finger portion 44A side is arranged to face the claw member 61 provided on the opposing finger portion 44B.

[0050] Further, when the piston 58 is shortened to the upper limit position, this claw member 61 is located at a retracted position located within the gap between the fingertip portions 53, 54 as shown in FIG. 4(a). And when the piston 58 is extended to the lower limit position, this claw member 61 is located at a protruding position protruding from the fingertip portions 53, 54 as shown in FIG. 4(b). This protruding position is set so that the tips of both claw members 61 are in contact with each other or in a position close to each other when the finger portions 44A, 44B are in a closed state.

[0051] (Food serving control device 70) As shown in FIG. 5, a robot controller 70 which is a food serving control device is provided. This robot controller 70 includes a control unit 77, a storage unit 78, an image processing unit 79, etc., and the storage unit 78 stores a robot control program.

[0052] The control unit 77 controls the robot arm 22 by the first control function and controls the hand device 40 by the second control function based on the robot control program. That is, the control unit 77 outputs to each of the servo motors 71 to 76 by the first control function and drives each of the servo motors 71 to 76. Each of the encoders 81 to 86 detects the rotational position of each of the servo motors 71 to 76 and transmits data indicating the detected rotational position to the robot controller 70. Also, the control unit 77 outputs to the air cylinders 42, 57 by the second control function and expands and contracts the air cylinders 42, 57. By the telescopic operation of this air cylinder 42, the finger portions 44A and 44B are changed to the open state or the closed state, and by the telescopic operation of the air cylinder 57, the claw members 61 of the respective finger portions 44A and 44B are changed to the advanced position or the retracted position.

[0053] Further, the image processing unit 79 individually images the thin film E before being conveyed to the collection position T with the camera 87 and performs image processing, and based on this result (imaging result), calculates the size (length (width) and area in the X-axis direction) of the thin film E.

[0054] Then, the control unit 77 calculates the coordinates of the supported portion B in each thin film E. As this supported portion B, as shown in FIG. 2, a central position in the X-axis direction length (width) of the thin film E or a position in the vicinity thereof is set as a reference position. This supported portion B corresponds to the support target point (collection target point). Note that the entire upper surface of the conveyance surface 15a is colored blue, facilitating the extraction of the contour of the thin film E and the detection of the position (coordinates of the contour line) of the thin film E based on one end portion in the X-axis direction of the conveyance surface 15a.

[0055] Also, this supported portion B can be changed by operating the touch panel 80 on the slicer 12 side. That is, the numerical value input via the touch panel 80 is sent from the slicer controller 90 to the robot controller 70, set as the offset amount in the X-axis direction, and stored in the storage unit 78. For example, if the offset amount is a + value, it is offset in the +X direction from the central portion of the thin film E. If the offset amount is a - value, it is offset in the -X direction from the central portion of the thin film E. In this embodiment, the offset amount is described as "0".

[0056] First, when the thin film E reaches the collection position T, the slicer controller 90 outputs a collection start signal to the robot controller 70. This synchronizes the movement state of the thin wall E placed on the conveying surface 15a with the timing of sampling the thin wall E on the conveying surface 15a. When the set number of thin slices E have been taken and all of the arrangement thereof has been completed, a arrangement completion signal is output from the robot controller 70 to the slicer controller 90.

[0057] (Serving process in the first embodiment) 6 to 8 are flowcharts showing the execution of the robot control program. The control point to be controlled by the robot arm 22 is the midpoint between the lower ends of the fingers 44A, 44B of the hand device 40. As shown in FIG. 9(a) and FIG. 9(b), this control point is controlled to move with the center position of a circle (or sphere) of points P0 to P8 (described later) as a target position.

[0058] (S10) When the robot control program is started, in S10, the control unit 77 sets the robot arm 22 and the fingers 44A, 44B and claw members 61, 61 of the hand device 40 to their respective starting positions (initial positions). The starting position of the robot arm 22 is a point P0 at the collection position T, which is a predetermined distance directly above the transport surface 15a. This point P0 corresponds to a waiting position before starting to collect the next thin wall E. Furthermore, the fingers 44A, 44B of the hand device 40 are in an open state at the start position, and the claw members 61, 61 are in a retracted state at the start position.

[0059] (S12) In S12, the control unit 77 acquires the attributes of the thin-walled object E being transported to the collection position T. That is, the slicer controller 90 receives the detection result from a thickness (height) sensor provided on the slicer 12 side for detecting the thickness (height) of the tip end of the chunk of meat before slicing. Since the slicer 12 cuts the chunk of meat supplied horizontally in the vertical direction from its tip, the thickness (height) of the tip of the chunk of meat is a dimension that is approximate to the length in the Y-axis direction of the thin meat E placed on the conveying surface 15a. In addition, in the case of the thin part E folded at the center in the Y-axis direction, the length of this thin part E in the Y-axis direction is about half the thickness (height) thereof.

[0060] The slicer controller 90 sends the thickness (height) of the tip of the chunk of meat before slicing to the robot controller 70. Moreover, the image processor 79 processes the image of the thin wall E captured by the camera 87, and based on the result, obtains the size of the thin wall E (the length (width) and area of the thin wall E in the X-axis direction). Then, based on the size of the obtained thin wall E, the thin wall E is classified into four classes: large, medium (standard), small, and unsuitable for collection.

[0061] (Removal of thin wall E classified as unsuitable for collection) Thin walls E having a size that does not reach a preset reference value are classified as unsuitable for collection, and collection of the thin walls E is prohibited, and the thin walls E are removed from the conveying surface 15a by the removing means JK. As shown in FIG. 2, the remover JK scrapes off the thin-walled portion E, which is prohibited from being collected and which has passed through the collection position T and been transported downstream, from the transport surface 15a. This removal means JK has a flat scraper that slides in the X-axis direction while in sliding contact with the upper surface of the conveying surface 15a at the end of the belt 15, and an air cylinder that slides this scraper, and when the thin wall E reaches a position set downstream of the collection position T, the air cylinder is extended to slide the scraper, scraping off the thin wall E from the conveying surface 15a. (The scraper and air cylinder are not shown.)

[0062] (Removal of thin wall E with large fatty area) Further, from the color image of the thin meat E captured by the camera 87, the area of the red meat part and the area of the white meat part (fat part) in this thin meat E are calculated. When the area ratio occupied by the white meat exceeds a predetermined ratio, this thin meat E may be classified into the class of unsuitable for collection. The thin meat E classified into the class of unsuitable for collection is shaved off from the transport surface 15a by the removing means JK as described above. In addition, when only the white meat is extracted from the entire surface of the thin meat E in the color image of the thin meat E captured by the camera 87, it is also classified into the class of unsuitable for collection.

[0063] (Removal of Unsuitable for Collection and Skipping of Collection in Two-Row Conveyance) In the slicer that cuts out two rows of thin meat E onto the transport surface 15a, the imaging range by the camera 87 is set to a range capable of imaging these two rows of thin meat E, E, and both the thin meat E on the +X side and the thin meat E on the -X side are imaged. As a result, when both of the two thin meat E, E arranged on the +X side and the -X side are classified into the class of unsuitable for collection, both of these two thin meat E, E are removed from the transport surface 15a by the removing means JK. Also, when only one of the thin meat E on the +X side and the thin meat E on the -X side is classified into the class of unsuitable for collection, only the thin meat E classified into this final unsuitable class is removed from the transport surface 15a by the removing means JK. As a result, only the thin meat E not classified into the class of unsuitable for collection reaches the collection position T and is collected. Also, when the thin meat E on either the +X side or the -X side is removed, when the thin meat E on the other side reaches the collection position T, it is collected, and the collection on one side is skipped.

[0064] (Collection and Packaging of Thin Meat E Suitable for Collection) Hereinafter, the basic processing when the thin meat E captured by the camera 87 is classified into any of the above-mentioned large, medium, and small classes will be described.

[0065] (S14) In S14, the control unit 77 selects the predetermined number of rows M corresponding to the size of the tray 88 to be used from a plurality of predetermined number of rows M stored as fixed values. In addition, the predetermined number of rows N is automatically calculated based on the thickness (height) of the chunk of meat and the size of the thin wall E based on image processing. As a result, a predetermined number M of rows and a predetermined number N of columns are set within serving area R on the inner bottom surface of tray 88, as shown in FIG. It should be noted that each row and each column is set at equal intervals.

[0066] Hereinafter, first, a process in the case where the initially calculated predetermined number of columns N is applied to all rows (where N columns (N sheets) of thin parts E are placed in all rows) will be described. The process of calculating the predetermined number of columns N for each row will be described in a second embodiment to be described later, but the same process is also performed in the first embodiment.

[0067] (S16) In S16, the control unit 77 sets the count value m of the row counter and the count value n of the column counter to 1, and then proceeds to a "thin meat serving process" in S18.

[0068] (S18: Thin-meat serving process) S100 to S128 shown in FIG. 7 and FIG. 8 are a flow chart of the thin meat serving process in S18. As shown in FIG. 10, the serving area R is partitioned into a plurality of thin wall placement sections in rows and columns. In the (m,n) assigned to each section, m is the row number that matches the count value m of the row counter described above, and n is the column number that matches the count value n of the column counter described above.

[0069] In this embodiment, the thin plates E are arranged in column order in the first row, such that (m,n) = (1,1), (1,2), (1,3), (1,4), (1,5), (2,1), (2,2), ..., (M,N), and when the arrangement of N thin plates E in this first row is completed, a similar arrangement process is performed in the adjacent second row. In this embodiment, "m = 1" which means the first row refers to the row at the +X side end in the mounting area R. "n = 1" which means the first column refers to the column at the +Y side end in the mounting area R.

[0070] (S100) In S100, the control unit 77 performs "collection target position setting process" and "trajectory generation process".

[0071] (Collection target position setting process) Based on the size of the thin film E obtained by the image processing unit 79, a position at or near the central part in the X-axis direction of the thin film E is set as the supported part B, and the collection target position of this supported part B is calculated. Although the thin film E and P0 to P3 overlap in a plan view, for convenience of explanation, in Fig. 9(b), the thin film E is shown in a state shifted in the -Y direction from P0 to P3.

[0072] (Movement of control points) This will be described based on Figs. 9(a) and 9(b). The control point of the robot arm 22 is the midpoint between the lower ends of the two finger parts 44A and 44B of the hand device 40 as described above. Point P0 is the initial position of the control point and is set as a fixed position. This point P0 is located directly above the center line O of the belt 15 of the first transfer device 14.

[0073] Point P2 is the collection target position located below point P0 and is the target position for lowering the above-mentioned control point when collecting the thin film E located at the collection position T. This point P2 is changed (corrected) in S104 later, but is treated as a fixed position in S100. In Fig. 9(b), the position after changing the X coordinate in S104 is shown. The X coordinate value of point P2 before being changed in S104 is the same as that of point P0.

[0074] Point P1 is included in the path between point P0 and point P2. Point P3 has the same X and Y coordinate values as point P0, and is set to be greater (higher) than the Z coordinate value of point P0. The height of this point P3 from the transfer surface 15a is set such that when the claw members 61, 61 of the hand device 40 rise to point P3 with the thin film E collected, both ends of the collected thin film E do not touch the transfer surface 15a.

[0075] For point P4, its Y coordinate value is set to the value immediately before the hand device 40 moving from point P3 reaches above the mounting area R. The X coordinate value of this point P4 is the same as the X coordinate value of point P3. The Z coordinate value of point P4 is made greater (higher) than the Z coordinate value of point P3, and is set to a height at which when passing through the peripheral wall 88a of the tray 88 with the thin film E supported by the claw members 61, 61 of the hand device 40, both ends (hanging lower ends) of the thin film E do not interfere.

[0076] For the following points P5 to P8, which are the target placement points for lowering the thin film E, the meat drop points Rmn are different for each thin film placement section (m, n). For convenience of explanation, the description will start from point P7.

[0077] Point P7 is located directly above the meat drop point Rmn set at the center position of each thin film placement section (m, n). The X and Y coordinate values of this point P7 are the same as the X and Y coordinate values of the meat drop point Rmn. Each time the column n and / or the row m is updated in S20, S24, and S28 described later, the X and Y coordinate values of point P7 become the X and Y coordinate values of the updated meat drop point Rmn. The Z coordinate value of point P7 is a fixed value, and is set to a predetermined value slightly spaced upward from the inner bottom surface of the tray 88 in the mounting area R. When a control point is located at point P7, the support of the thin film E is released, and this thin film E is lowered onto the inner bottom surface of the tray 88.

[0078] Also, the X - coordinate value of point P5 is set to a value that is separated by a predetermined distance d1(>0) in the - X direction from the X - coordinate value of point P7. The Y - coordinate value of point P5 is set to the same value as the Y - coordinate value of point P7. The predetermined distance d1 is a distance such that when the thin - wall E is hung down at both its ends to have approximately half of its vertical length, the hanging lower end is brought into contact with the inner bottom surface of the tray 88, and it is possible to place the thin - wall E during the downward movement from this point P5 to point P7. The Z - coordinate value of point P5 is set to a value slightly larger than half of the length of the thin - wall E and also larger than the value of point P7.

[0079] Point P6 is an intermediate point included in the straight - line path connecting point P5 and point P7. While the control point of the above - mentioned robot arm 22 moves from point P5 through point P6 to point P7, the thin - wall E supported by the claw members 61, 61 of the hand device 40 can be laid with the points where its hanging both ends (or one end) contact the inner bottom surface of the tray 88 as fixed points. Note that during the movement from point P5, through point P6, to point P7, after pulling the hanging lower end of the thin - wall E, it may be controlled to release the support by the claw members 61, 61.

[0080] Also, as shown in FIG. 9(b), the X - coordinate value of point P8 is set to a value located on the +X side from the X - coordinate value of point P5. The Y - coordinate value of point P8 is set to the same value as the Y - coordinate value of point P5, and the Z - coordinate value of point P8 is set to the same value as the Z - coordinate value of point P5.

[0081] (S102) In S102, the control unit 77 waits for the reception of a sampling start signal output when the thin - wall E moves to the sampling position T from the slicer controller 90. Then, when this sampling start signal is received, it proceeds to S104.

[0082] (S104) In S104, the control unit 77 changes the X coordinate value among the three-dimensional coordinates of point P2 to the X coordinate value at the sampling target position obtained in S100. Note that the Y coordinate value and the Z coordinate value of the sampling target position are not changed.

[0083] (S106) The control unit 77 controls the robot arm 22 to move the control point from the start position (point P0) to point P1.

[0084] (S108) As shown in FIG. 13(a), the control unit 77 controls the robot arm 22 to lower the control point from point P1 to point P2, which is the sampling target position.

[0085] (S110) After the control point reaches point P2, which is the sampling target position, the control unit 77 controls the air cylinder 57 of the claw unit 60 to move both claw members 61 from the retracted position to the extended position and project them (see FIGS. 4(a) and 4(b)).

[0086] (S112) The control unit 77 controls the air cylinder 42 to shift the finger portions 44A and 44B from the open state to the closed state. As a result, the tip portions of both claw members 61 and 61 penetrate to the lower surface side of the supported portion B of the thin wall E located at the sampling position T (see FIG. 13(b)).

[0087] (S114) As shown in FIGS. 14(a) and 14(b), the control unit 77 controls the robot arm 22 to move the control point from point P2 to point P3. Thereby, the hand device 40 supports the supported portion B of the thin wall E with both claw members 61 and 61, lifts this thin wall E from the transport surface 15a as shown in FIGS. 14(a) and 14(b), and separates both end portions thereof from the transport surface 15a and hangs them down to perform sampling. Note that the collection of the thin film E by the hand device 40 from the point P2 to the point P3 and the upward movement thereof correspond to the first step of the claims.

[0088] (S116) The control unit 77 controls the robot arm 22 to move the control point from the point P3 to the point P4. Due to the movement of the control point to this point P4, both ends (hanging lower ends) of the thin film E rise above the height of the peripheral wall 88a of the tray 88. After that, when the hand device 40 moves onto the mounting area R, interference with the peripheral wall 88a is avoided.

[0089] (S118) The control unit 77 controls the robot arm 22 to move the control point from the point P4 through above the peripheral wall 88a of the tray 88 to a point P5 above the inner bottom surface of the tray 88 in the mounting area R. This point P5 exists above the thin film arrangement section to which the meat dropping point Rmn where the thin film E is lowered belongs. When the control point is moved to this point P5, the hanging lower ends of the thin film E supported by both claw members 61, 61 are in a non-contact state separated from the inner bottom surface of the tray 88.

[0090] FIG. 11(a) shows a plan view of the thin film E when the control point is located at the point P5. Note that in FIG. 11(a), the thin film E located at the collection position T is indicated by a virtual line. As shown in the figure, the thin film E is supported by the supported portion B which is at the central portion or near it by the hand device 40. As a result, since both ends are hanging down, in plan view, the length in the longitudinal direction is shorter than the length when it was located at the collection position T. Note that the movement of the hand device 40 from the point P3 to the point P5 corresponds to the second step of the claims.

[0091] (S120) The control unit 77 controls the robot arm 22 to move the control point from point P5 to point P6 as shown in FIGS. 9(a) and 9(b). FIG. 11(b) is a plan view of the thin film E when the control point is located at point P6.

[0092] (S122) The control unit 77 controls the robot arm 22 to move the control point from point P6 to point P7 as shown in FIGS. 9(a) and 9(b). That is, the hand device 40 is lowered and moved in the +X direction so that the control point is located directly above the meat lowering point Rmn where the thin film E is lowered. As a result, the thin film E can be laid with the contact point with the inner bottom surface of the tray 88 as a fixed point. FIG. 11(c) is a plan view of the thin film E when the control point is located at point P7.

[0093] (S124) With the control point positioned directly above the meat lowering point Rmn, the control unit 77 controls the air cylinders 42 and 57 of the claw portions 60, 60 to shift the finger portions 44A, 44B from the closed state to the open state and move both claw members 61, 61 from the advanced position to the retracted position. As a result, the support of the thin film E is released, the supported portion B (the central portion of the longitudinal length or a position in the vicinity thereof) of the thin film E is lowered to the meat lowering point Rmn, and is placed on the inner bottom surface of the tray 88 in a state of being folded at the intermediate portion. FIG. 11(d) is a plan view of the thin film E when the control point is located at point P7 and is lowered to the meat lowering point Rmn. The step of moving the control point from point P5 to point P7 corresponds to the third step of the claim.

[0094] (S126) As shown in FIGS. 9(a) and 9(b), the control unit 77 controls the robot arm 22 to move the control point from point P7 to point P8. As a result, the control point moves to a position above point P7 and biased in the +X direction, and separates from the lowered thin wall E.

[0095] (S128) As shown in FIGS. 9(a) and 9(b), the control unit 77 controls the robot arm 22 to move the control point from point P8 to point P0. Thus, the mounting process of one thin wall E for the meat lowering point Rmn is completed.

[0096] (S20) As described above, after the mounting process of one thin wall E for the meat lowering point Rmn is completed, as shown in FIG. 6, in S20, the control unit 77 increments the count value n of the column counter.

[0097] (S22) In S22, the control unit 77 determines whether the count value n of the column counter has exceeded a predetermined number of columns N. If the count value n has not exceeded the predetermined number of columns N, return to S18 and perform the mounting process of the thin wall E for the meat lowering point Rmn in the next column in the current row m. Therefore, this thin wall mounting process is executed N times per row. If the count value n has exceeded the predetermined number of columns N, proceed to S24.

[0098] (S24) In S24, the control unit 77 increments the count value m of the row counter.

[0099] (S26) In S26, if the count value m of the row counter has not exceeded a predetermined number of rows M, proceed to S28. On the other hand, if the count value m of the row counter has exceeded the predetermined number of rows M, the processing of this flowchart is temporarily terminated. As a result, the mounting of the thin wall E to all the meat lowering points Rmn at the predetermined number of rows M and the predetermined number of columns N is completed.

[0100] (S28) In S28, the control unit 77 sets the count value n of the column counter to 1 and returns to S18. Therefore, when returning from S28 to S18, the mounting process of the thin meat E for the meat dropping point Rmn at the first column of the next row is executed.

[0101] (Mounting example at 3 rows and 5 columns) Here, an example of the case where the predetermined number of rows M is "3" and the predetermined number of columns N is "5" and the above flowchart is executed is shown in FIGS. 12(a) to 12(c). FIG. 12(a) is a plan view of the tray 88 in a state where the mounting of the thin meat E has been completed at the meat dropping point Rmn = R11 in the first row and the first column. FIG. 12(b) is a plan view of the tray 88 in a state where the mounting of the thin meat E has been completed at all the meat dropping points Rmn in the first row and the meat dropping point Rmn = R21 in the second row and the first column. FIG. 12(c) is a plan view of the tray 88 in a state where the mounting of the thin meat E has been completed at all the meat dropping points Rmn in the first row and the second row and the meat dropping point Rmn = R31 in the third row and the first column.

[0102] (Process of calculating the predetermined number of columns N for each row) The above described the process when applying the initially calculated predetermined number of columns N to all rows (when placing N columns (N pieces) of thin meat E in all rows). In contrast, it is advisable to perform a process of calculating the predetermined number of columns N in S14 described above for each row according to the size of the thin meat E placed at the head of each row. This process will be described in detail in the second embodiment described later, but the same process is also performed in this first embodiment.

[0103] <Second Embodiment> Based on the above-mentioned common matters and defined matters, the second embodiment of the present invention will be described with reference to FIGS. 15 to 34 and FIGS. 36 to 39. For the configurations common to the first embodiment, the same reference numerals are given and the description is omitted.

[0104] (Food serving device 10 and hand device 40) As shown in FIGS. 15 and 16, in the food serving device 10 of the present embodiment, the scooping-up portion 100 is attached to the hand device 40 of the first embodiment. Also, as shown in FIG. 16, in the present embodiment, the robot arm 22 is posture-controlled so that the finger portions 44A and 44B are arranged in the X-axis direction. Alternatively, in a plan view, the mounting angle of the hand device 40 with respect to the hand mounting base 30 is changed by 90 degrees, and the finger portions 44A and 44B are adjusted to be arranged in the Y-axis direction.

[0105] As shown in FIG. 16, the scooping-up portion 100 includes a scooping-up portion main body 102 and an air cylinder 104 as a first drive source for reciprocating the scooping-up portion main body 102 in the Y-axis direction. This air cylinder 104 is attached to a hanging member 41a that extends downward on the -Y side of the mounting plate 41. The rod 105 of the air cylinder 104 passes through the center of the gap formed between the brackets 48, 48 and extends to the +Y side, and is integrally connected to the connecting end 102a of the scooping-up portion main body 102 via a connecting member 106. In the hanging member 41a, a slider 107 arranged in parallel with the rod 105 is supported so as to be slidable in the Y-axis direction through a lower portion of the air cylinder 104. One end of the slider 107 is connected to the connecting end 102a of the scooping-up portion main body 102 via a connecting member 108.

[0106] As shown in FIG. 17, the scooping-up portion main body 102 has a belt mechanism 110 and a mechanism case 112 for mounting the belt mechanism 110. As shown in FIG. 18, the mechanism case 112 has a pair of side plates 113, an end plate 114 that connects between the side ends of the finger portions 44A and 44B on both side plates 113, and an end plate 115 that connects between the side ends on the side of the finger portions 44A and 44B.

[0107] The pair of side plates 113 are arranged in parallel at intervals in the X-axis direction. As shown in FIGS. 17 and 18, the -Y side end of the end plate 114 side of both side plates 113 is defined as a connecting end 102a.

[0108] As shown in FIG. 17, the belt mechanism 110 includes a belt support member 116, a lifting belt 117 supported by the belt support member 116, and an air cylinder 120 for driving the lifting belt 117.

[0109] As shown in FIGS. 16 and 17, the belt support member 116 has a guide plate portion 116a formed in a flat plate shape from the base end to the tip end (lower end), and side plate portions 116b erected from both side edges from the central portion of the guide plate portion 116a to the base end. The belt support member 116 is formed in a form that is open upward by the guide plate portion 116a and the side plate portions 116b, and its base end is fixed to the mechanism case 112 in a state of passing through the through hole 114a of the end plate 114. As shown in FIG. 17, the lower end of the guide plate portion 116a extends to a position close to the conveying surface 15a of the belt 15 in a state where the hand device 40 is located at the point P2. The lower end portion (tip end portion) of the guide plate portion 116a is folded back, and this folded-back end portion is formed into a curved surface. Also, a wide roller 118 is rotatably supported between the side plates 113 in the mechanism case 112 at a position opposite to the through hole 114a.

[0110] The lifting belt 117 is an endless belt wound around a portion extending from the lower surface to the upper surface of the lower end portion (tip end portion) of the guide plate portion 116a and the roller 118. Below the roller 118, an air cylinder 120 as a second drive source is fixed in the mechanism case 112. The rod 120a of the air cylinder 120 is connected to a portion of the lifting belt 117 that reciprocates along the lower surface of the guide plate portion 116a via a connecting member 119.

[0111] The scooping-up portion main body 102 reciprocates between the original position (initial position) shown by the solid line in FIG. 16 and separated from the finger portions 44A and 44B toward the +Y side and the scooping-up position shown by the two-dot chain line in FIG. 16 by the drive of the air cylinder 104. The two-dot chain line in FIG. 16 indicates the position where the guide plate portion 116a has moved in the -Y direction. At this position, the scooping-up belt 117 enters between the finger portions 44A and 44B, and the portion closest to the conveying surface 15a of the scooping-up belt 117 is located on the -Y side of the finger portions 44A and 44B. The scooping-up belt 117 reciprocates linearly between the position shown by the solid line and the position shown by the two-dot chain line in FIG. 17. Thereby, the scooping-up belt 117 rotates in the forward and reverse directions.

[0112] By the extension of the rod 120a from the position shown by the solid line to the position shown by the two-dot chain line, the scooping-up belt 117 rotates forward to scoop up the thin film E located at the sampling position T. Conversely, by the shortening of the rod 120a from the position shown by the two-dot chain line to the position shown by the solid line in FIG. 17, the scooping-up belt 117 rotates reversely to lower the scooped-up thin film E. As shown in FIGS. 19 and 20, an air nozzle 122 is attached to the claw portion drive source mounting plate 49b via a bracket 121. The tip of this air nozzle 122 is arranged to face the tip side of the claw member 61 located at the advanced position. In addition, in FIGS. 16, 30 to 33, for convenience of explanation, the bracket 121 and the air nozzle 122 are omitted and the finger portions 44A, etc. are illustrated.

[0113] (Robot controller 70) In addition to the control by the robot controller 70 of the first embodiment, the robot controller 70 of the second embodiment enables the control of the air cylinders 104 and 120 and the air valve 123 that ejects air from the air nozzle 122 of the scooping-up portion 100. That is, the second control function of the control unit 77 outputs to the air cylinders 104 and 120 and the air valve 123, and the operation of the air cylinder 104 moves the lifting part main body 102 to the original position or the lifting position. Then, the operation of the air cylinder 120 causes the thin-walled E to be lifted by the lifting belt 117 or the lifted thin-walled E to be lowered.

[0114] The air valve 123 is an electromagnetic valve, and the output by the second control function of the control unit 77 causes the air to start or stop jetting from the air supply source through the air nozzle 122. Note that the air supply source is a compressed air supply facility in the factory or an air pump provided in the slicer 12.

[0115] (Mounting process in the second embodiment) Figs. 22 to 24 are flowcharts when the above-described robot control program is executed by the control unit 77 of the robot controller 70. As shown in Figs. 25 and 26, this robot control program moves the control points to be controlled by the robot arm 22 to points P0 to P2 to P9 and P9 to P14 to P0. Note that the moving positions of the control points are the centers of the circles (or spheres) of points P0 to P2 and P9 to P14. Hereinafter, in this flowchart, steps different from those in the first embodiment will be described.

[0116] (S10A) As shown in Fig. 16, the finger parts 44A and 44B are arranged in the X-axis direction. When the robot control program is started, in S10A, the control unit 77 positions the robot arm 22 and the hand device 40 at their respective start positions (initial positions). This start position is a point P0 where the control point is separated from the conveyance surface 15a by a predetermined distance directly above a position offset by an offset amount f (see Fig. 30(a)) to the -Y side from the collection position T of the thin-walled E. The offset amount f is set to an amount that allows the thin-walled portion E located at the collection position T to be scooped up by the circulating scooping belt 117 while the scooping belt 117 moves from the original position to the scooping position.

[0117] The start position (initial position) of the fingers 44A, 44B of the hand device 40 is a position in which they are in an open state, similar to the first embodiment. The start position (initial position) of the pair of claw members 61, 61 of the hand device 40 is the advanced position, which is different from the first embodiment. In addition, between the tips of the claws 60, 60 located at the advanced position, there is a passing gap that allows the scooping belt 117 to move to the scooping position.

[0118] (S12) In S12, similarly to the first embodiment, the control unit 77 acquires the attributes of the thin-walled object E being transported to the collection position T. Details, including "removal of thin wall E classified as unsuitable for collection" and "removal of thin wall E with a large fatty portion", are the same as those in the first embodiment, and therefore will not be described.

[0119] (Collecting and serving thin-walled E suitable for collection) In the following, a basic process will be described in the case where the thin wall E photographed by the camera 87 is classified into any one of the above-mentioned classes of large, medium, and small.

[0120] (S14) In S14, the control unit 77 selects the predetermined number of rows M corresponding to the size of the tray 88 to be used from a plurality of predetermined number of rows M stored as fixed values. In addition, the predetermined number of rows N is automatically calculated based on the thickness (height) of the chunk of meat and the size of the thin wall E based on image processing. As a result, a predetermined number M of rows and a predetermined number N of columns are set within serving area R on the inner bottom surface of tray 88, as shown in FIG. The rows and columns are set at equal intervals.

[0121] First, the process when the initially calculated predetermined number of columns N is applied to all rows (when placing the thin films E of N columns (N sheets) in all rows) will be described. Note that the process of calculating this predetermined number of columns N for each row will be described later.

[0122] (S16) In S16, the control unit 77 sets 1 to the count value m of the row counter and the count value n of the column counter respectively, and shifts to the "thin film filling process" of S18A.

[0123] (S18A) Since the thin film filling process of S18A is partly different from that of the first embodiment, it will be described with reference to FIGS. 23 and 24.

[0124] (S18A: Thin film filling process) S200 to S232 shown in FIGS. 23 and 24 are flowcharts of the thin film filling process in S18A. FIG. 27 is an explanatory diagram of the thin film arrangement section of the tray 88 arranged in the filling area R of the second embodiment. As shown in this FIG. 27, the inside of the tray 88 is divided into a plurality of thin film arrangement sections in a matrix. In this embodiment, the thin film filling process is performed in column order from the first row as (m, n) = (1, 1), (1, 2), (1, 3), (1, 4), (2, 1), (2, 2),..., (M, N). When one row is completed, the same filling process is performed in the adjacent next row. In this second embodiment, "m = 1" which means the first row is arranged at the position on the inner bottom surface of the tray 88 that is the most -Y side. "n = 1" which means the first column is arranged at the position on the inner bottom surface of the tray 88 that is the most +X side.

[0125] (S200) In S200, the control unit 77 performs the "collection target position setting process" and the "trajectory generation process".

[0126] (Collection target position setting process) The control unit 77 performs the collection target position setting process in the same manner as S100 in the first embodiment.

[0127] (Trajectory generation process) The trajectory generation process is a process for generating the points P0 to P2 to P9 to P14 shown in FIGS. 25 and 26, and the trajectory returning from the point P14 to the point P0, and the control unit 77 calculates the position and orientation of the hand device 40 at each time.

[0128] (Movement of control points) Referring to FIGS. 25 and 26, the points P0 to P2 and P9 to P14 will be described. The control point of the robot arm 22 is the midpoint between the lower ends of both finger portions 44A and 44B of the hand device 40, similar to the first embodiment. Since the point P1 is the same as in the first embodiment, the description thereof is omitted.

[0129] The point P2 is a position where the lower ends of the finger portions 44A and 44B and the lower end of the lifting belt 117 are each close to the transport surface 15a. Note that this point P2 can be changed (corrected) in S204 later, but the handling in S200 is set as a fixed value. In FIG. 26, the position when the X coordinate is not changed in S204 is shown.

[0130] The Y coordinate value of the point P9 is set to the value of the position immediately before the hand device 40 moving from the point P2 reaches above the packaging area R. The X coordinate value of the point P9 is the same as the X coordinate value of the point P2. In this embodiment, the Z coordinate value of the point P9 is set higher than the Z coordinate value of the point P0, and when passing over the peripheral wall 88a of the tray 88 in a state where the thin wall E is supported by the hand device 40, the height is such that both ends (hanging lower ends) of the thin wall E do not interfere. The three-dimensional coordinate value of the point P9 is a fixed value.

[0131] Also, for the points P10 to P14, for the sake of convenience of explanation, the explanation will start from the point P12. Point P12 is located directly above the meat drop point Rmn set on the inner bottom surface of the tray 88, which is the mounting area R, for each of the thin-wall arrangement sections (m,n) in the aforementioned tray 88. This meat drop point Rmn is the center point of the thin-wall arrangement section (m,n).

[0132] The X and Y coordinate values of point P12 are the same as the X and Y coordinate values of the meat drop point Rmn. Each time the column n and / or the row m is updated by S20A, S24A, and S28A described later, the X and Y coordinate values of point P12 become the X and Y coordinate values of the updated meat drop point Rmn. The Z coordinate value of point P12 is a fixed value smaller than the Z coordinate value of point P9, and is set to the height at which both finger portions 44A and 44B and the lower end of the lifting belt 117 are separated from the inner bottom surface of the tray 88 in the mounting area R. This height is the height at which the thin wall E collected by the collection unit 35 does not contact the inner bottom surface of the tray 88, and is set to the height at which the shape supported by the collection unit 35 is substantially maintained when the thin wall E is lowered from this height.

[0133] When the control point reaches point P12, the support for the thin wall E is released, and this thin wall E is lowered onto the inner bottom surface of the tray 88.

[0134] As shown in FIG. 26, the X coordinate value of point P10 is set to a value separated by a predetermined distance d2 (>0) so as to be biased toward the -X side with respect to the X coordinate value of point P12. The Y coordinate value of point P10 is set to a value biased by a predetermined distance d3 (>0) so as to be located on the +Y side with respect to the Y coordinate value of point P12. The X and Y coordinates of point P10 are set on the mounting area R together with point P12 corresponding to each of the thin-wall arrangement sections (m,n) within the mounting area R. The Z coordinate value of point P10 is the same as that of point P12.

[0135] The point P11 is an intermediate point on the straight line path connecting the point P10 and the point P12. The three-dimensional coordinates of this point P11 are the coordinate values on the straight line path between the point P10 and the point P12. When the control point moves from the point P9 to the point P10, the posture of the robot arm 22 is controlled, and the hand device 40 assumes a posture having a twist angle θ3 (>0) with respect to the Y-axis direction as shown in FIG. 29(d) at the point P10. Thereby, the direction in which the finger portions 44A and 44B are arranged is changed from the X-axis direction to a direction orthogonal to the intersecting line that intersects the Y-axis direction at the twist angle θ3. This twist angle θ3 is a direction included in a plane orthogonal to the vertical direction. Due to this twist, the scooping-up portion 100 moves to the -Y side while being tilted by the twist angle θ3 with respect to the Y-axis direction by the drive of the air cylinder 104.

[0136] Next, the points P13 and P14 are located on a straight line continuous from the point P12. As shown in FIG. 26, the X coordinate values of the points P13 and P14 are set to the same value as the X coordinate value of the point P12. Also, the Y coordinate values of the points P13 and P14 are set to values each offset to the +Y side from the Y coordinate value of the point P12. The Z coordinate value of the point P13 is set to be larger than the Z coordinate value of the point P12, and the Z coordinate value of the point P14 is set to be even larger, so as to move the control point upward and to the +Y side so as to be separated from the tray 88.

[0137] (Posture of the hand device 40) In the present embodiment, when the control point moves to the points P9 to P10, the posture control with the twist angle θ3 is executed, and when it moves to P12, the posture control for canceling the twist angle θ3 is executed. In the trajectories between the remaining points except between the points P9 and P10, the posture control is performed so as to maintain the posture in which the direction in which the finger portions 44A and 44B are arranged is along the X-axis direction.

[0138] (S202 - S206) Since S202 - S206 are the same as S102 - S106 in the first embodiment respectively, detailed descriptions are omitted. The control unit 77 controls the robot arm 22 to move the control point from point P0 to point P1. In S202, when the thin - wall E conveyed by the first conveyor 14 reaches the sampling position T as shown in Fig. 29(a), the control unit 77 receives a sampling start signal from the slicer controller 90. Figs. 29(a) - 29(f) show the state of the thin - wall E from the sampling position T to being placed on the meat dropping point Rmn above the tray 88 in a plan view. The shape of the thin - wall E that has reached the sampling position T is indicated by the symbol Ea, and the virtual shape at the meat dropping point Rmn of this thin - wall E is indicated by the symbol Eb.

[0139] (S208) The control unit 77 controls the robot arm 22 to lower the control point from point P1 to point P2 which is the sampling target position. As a result, as shown in Figs. 30(a) and 30(b), the lower ends of the finger parts 44A, 44B and the lower end of the lifting belt 117 respectively approach or contact the conveying surface 15a.

[0140] (S210) After the control point reaches the sampling target position, point P2, the control unit 77 controls the air cylinder 104 to move the lifting part main body 102 from the original position to the lifting position. That is, the control unit 77 moves the lifting part main body 102 from the downstream side (+Y side) of the conveyor 16 toward the vicinity of the intermediate part in the X - axis direction (the supported part B) of the thin - wall E to the upstream side (-Y side).

[0141] (S212) After the set time has elapsed since the start of the movement of the lifting part main body 102, the control unit 77 controls the air cylinder 120 to extend the rod 120a from the solid - line position in Fig. 17 to the two - dot - chain - line position and rotate the lifting belt 117 in the forward direction. The above set time is shorter than the time required for the lifting part main body 102 to reach the lifting position from the original position, and is set to the time required to reach the thin film E located at the sampling position T from the original position. Then, by the forward rotation of the lifting belt 117, the thin film E located at the sampling position T is lifted obliquely upward. At the same time, as shown in FIGS. 31(a) and 31(b), while the lifting part main body 102 is on the way to the lifting position, the lower end of the lifting belt 117 enters between the two finger parts 44A and 44B in the open state. Note that the circumferential movement speed during lifting of the lifting belt 17 is preferably set to the same speed as the moving speed of the lifting part main body 102 from the original position to the lifting position. By setting in this way, the transfer of the thin film E from the conveying surface 15a to the lifting belt 117 is performed well, and it is possible to prevent wrinkles from being formed in the thin film E.

[0142] (S214) The control unit 77 controls the air cylinder 42 to shift the finger parts 44A and 44B from the open state to the closed state (see FIG. 32(a)). As a result, the lifted thin film E is bent at both end portions with respect to the intermediate portion lifted by the lifting belt 117 by the contact of the inner side surfaces of the finger parts 44A and 44B, and is supported in a state deformed into a substantially U shape in plan view (see FIG. 29(b)). Also, at this time, the two claw members 61, 61 that are already at the advanced position enter below the thin film E due to the shift of the finger parts 44A and 44B to the closed state, and support the thin film E deformed into a substantially U shape.

[0143] (S216) As shown in FIGS. 32(b) and 29(c), the control unit 77 controls the robot arm 22 to move the control point from the point P2 to the point P9. By moving the control point to this point P9, both ends of the thin film E rise above the height of the peripheral wall 88a of the tray 88, and when the control point then moves onto the packaging area R, interference with the peripheral wall 88a is prevented.

[0144] As shown in FIG. 33, during the movement from point P2 to P9, the hand device 40 supports the outer portions of both ends of the thin wall E so as to hold them by both claw members 61, 61, and separates them from the transport surface 15a. The support of the thin wall E by the hand device 40 from point P2 to point P9 and the upward movement thereof correspond to the first step of the claim.

[0145] (S218) The control unit 77 controls the robot arm 22, and moves the control point from point P9 through above the peripheral wall 88a of the tray 88 to point P10 above the inner bottom surface of the tray 88 in the mounting area R. Thereby, the lower ends of both finger portions 44A, 44B and the lifting belt 117 come into contact with or approach the inner bottom surface of the tray 88 in the mounting area R. This point P10 is set on the downstream side (+Y side) of the m-th row to which the meat dropping point Rmn where the thin wall E is lowered belongs.

[0146] During the movement from this point P9 to point P10, the control unit 77 controls the posture of the robot arm 22, and at point P10, the hand device 40 has a posture having a twist angle θ3 with respect to the Y-axis direction as shown in FIG. 29(d). In addition, in FIG. 26, the straight path from point P9 to point P10 is illustrated as having a predetermined angle with respect to the Y-axis direction. The angle formed by the straight path from point P9 to point P10 and the Y-axis is not always the same. The coordinate position of point P10 is changed according to the change of the meat dropping point Rmn.

[0147] The movement of the hand device 40 from point P2 to point P10 corresponds to the second step of the claim.

[0148] (S220) As shown in FIGS. 25 and 26, the control unit 77 controls the robot arm 22, and moves the control point from point P10 to point P11 at the same height as point P10. As shown in FIG. 29(d), during the movement of the control point from point P10 to point P11, the control unit 77 controls the posture of the robot arm 22 so that the hand device 40 has a twist angle θ3 with respect to the Y-axis direction. During the movement from this point P10 to point P11, both end portions of the thin wall E are dragged on the inner bottom surface of the tray 88. FIG. 27(b) shows the shape of the thin wall E at this time in a plan view. As shown in the figure, the virtual line connecting the supported portion B of the thin wall E and both end portions has an angle of approximately the twist angle θ3 with respect to the Y-axis direction. Thereby, the opening between both end portions of the thin wall E that has become substantially U-shaped in plan view is suppressed.

[0149] (S222) After a preset time has elapsed since the start of the movement of the control point to point P11, the control unit 77 operates the air cylinder 57 and the air valve 123. When the air cylinder 57 operates, both claw members 61, 61 move from the advanced position to the retracted position. Thereby, the holding of the thin wall E by both claw members 61, 61 is released. In this way, while the finger portions 44A, 44B remain in the closed state, only the claw members 61, 61 are moved to the retracted position to release the support of the thin wall E.

[0150] Alternatively, the finger portions 44A, 44B may be opened and both claw members 61, 61 may be moved to the retracted position to release the support of the thin wall E. Or, while both claw members 61, 61 are held in the advanced position, the finger portions 44A, 44B may be shifted to the open state to release the support of the thin wall E.

[0151] In addition to the release of the support of this thin wall E, by controlling the air valve 123, air is ejected from the air nozzle 122 toward the thin wall E. This control is executed during the movement from point P10 to point P11.

[0152] (S224) As shown in FIGS. 25 and 26, the control unit 77 controls the robot arm 22 to move the control point from the point P11 to the point P12 at the same height as the point P11 and on the upstream side (-Y side). FIGS. 29(e) and 29(f) show the state of the thin wall E in a plan view at this time. During the movement from the point P11 to the point P12, the control unit 77 controls the air cylinder 120 to shorten the rod 120a from the position of the two-dot chain line in FIG. 17 to the solid line position. As a result, the lifting belt 117 reverses, and the thin wall E is lowered obliquely downward toward the inner bottom surface of the tray 88 as shown in FIG. 34(a).

[0153] The lowered thin wall E is placed on the inner bottom surface of the tray 88 while maintaining a substantially U-shaped configuration. Also, by controlling the posture of the robot arm 22 by the control unit 77, the twist angle θ3 is set to 0, and the direction in which the finger portions 44A and 44B are aligned is returned to the X-axis direction.

[0154] The step of moving the control point from the point P10 to the point P12 corresponds to the third step of the claim.

[0155] (S226) As shown in FIGS. 25 and 26, the control unit 77 controls the robot arm 22 to move the control point from the point P12 to the point P13. As a result, the hand device 40 moves upward from the point P12 and in the +Y direction (downstream side), and separates from the lowered thin wall E (see FIG. 34(b)).

[0156] (S228) After the set time has elapsed since the control point started moving from the point P12, the control unit 77 controls the air cylinders 104 and 57 to move the lifting part main body 102 to the original position and move the finger portions 44A and 44B to the open position.

[0157] (S230) As shown in FIGS. 25 and 26, the control unit 77 controls the robot arm 22 to move the control point to a point P14 further downstream (+Y side) than the point P13 and at a position higher than the point P13. During this movement, the control unit 77 controls the air valve 123 to cut off the air supply from the air supply source, thereby stopping the air ejection from the air nozzle 122.

[0158] (S232) As shown in FIGS. 25 and 26, the control unit 77 controls the robot arm 22 to move the control point from the point P14 to the point P0 at the starting position. During this movement, the control unit 77 controls the air cylinder 57 to move both claw members 61, 61 from the retracted position to the extended position, thereby projecting both claw members 61, 61. Thus, the mounting process of one thin film E for the meat dropping point Rmn is completed.

[0159] (S20A) After the mounting process of one thin film E for the meat dropping point Rmn is completed as described above, in S20A, the count value n of the column counter is incremented.

[0160] (S22A) In the next S22A, the control unit 77 determines whether the count value n of the column counter exceeds a predetermined number of columns N. If the count value n does not exceed the predetermined number of columns N, it returns to S18A to perform the mounting process of the thin film E for the next column-ordered meat dropping point Rmn in the current row m. Therefore, this mounting process of the thin film E is executed N times per row. If the count value n exceeds the predetermined number of columns N, it proceeds to S24A.

[0161] (S24A) In S24A, the count value m of the row counter is incremented.

[0162] (S26A) In S26A, when the count value m of the row counter does not exceed the predetermined number of rows M, the process proceeds to S28A. When the count value m of the row counter exceeds the predetermined number of rows M, the processing of this flowchart is terminated once.

[0163] (S28A) In S28A, the count value n of the column counter is set to 1, and the process returns to S18A. When returning to S18A, the process of attaching the thin film E to the meat dropping point Rmn at the first column of the next row is started. By repeating the above processing, the attachment of the thin film E to all the meat dropping points Rmn at the predetermined number of rows M and the predetermined number of columns N is completed.

[0164] (Example of attachment in 3 rows and 4 columns) Here, an example of executing the above flowchart with the predetermined number of rows M being "3" and the predetermined number of columns N being "4" is shown in FIGS. 27 and 28(a) to 28(c). FIG. 28(a) is an explanatory diagram showing a plan view of the tray 88 in a state where the attachment of the thin film E to the meat dropping point Rmn (= R11) at the first column of the first row is completed. FIG. 28(b) is an explanatory diagram showing a plan view of the tray 88 in a state where the attachment of the thin film E to all the meat dropping points Rmn in the first row and the meat dropping point Rmn (= R21) at the first column of the second row is completed. FIG. 28(c) is an explanatory diagram showing a plan view of the tray 88 in a state where the attachment of the thin film E to all the meat dropping points Rmn in the first row and the second row and the meat dropping point Rmn (= R31) at the first column of the third row is completed.

[0165] (Process of calculating the predetermined number of columns N for each row) The above describes the processing when applying the initially calculated predetermined number of columns N to all rows (when placing the thin film E of N columns (N sheets) in all rows). In contrast, hereinafter, an example of the process of calculating the predetermined number of columns N in S14 above for each row according to the size of the thin film E placed at the head of each row will be described with reference to FIGS. 36 to 38. In FIGS. 36 to 38, the position of the thin plate E placed in the mounting area R is indicated by a circle, and numbers are assigned to the thin plates E placed in this circle in the order in which they are placed.

[0166] (When the thin plates E of the medium (standard) class are aligned) In the thin plate mounting process of S18A, mounting is performed as shown in FIG. 36. That is, in the first row located on the most -Y side within the mounting area R, if the first thin plate E placed at the head (the most +X side position) of this first row is classified into the "medium (standard)" class, it is determined that 4 columns (4 sheets) of thin plates E are to be placed in this first row. Accordingly, in the first row, 4 columns (4 sheets) of thin plates E are placed at equal intervals in the order from the first thin plate E to the fourth thin plate E (from the +X side to the -X side).

[0167] Subsequently, the mounting process for the second row adjacent to the +Y side of the first row is started. And if the fifth thin plate E placed at the head of this second row is also classified into the "medium" class, it is determined that 4 columns (4 sheets) of thin plates E are to be placed in this second row, and 4 columns (4 sheets) of thin plates E are placed at equal intervals in the order from the fifth thin plate E to the eighth thin plate E.

[0168] Subsequently, the mounting process for the third row adjacent to the +Y side of the second row is started. And if the ninth thin plate E placed at the head of this third row is also classified into the "medium" class, it is determined that 4 columns (4 sheets) of thin plates E are to be placed in this third row, and 4 columns (4 sheets) of thin plates E are placed at equal intervals in the order from the ninth thin plate E to the twelfth thin plate E.

[0169] As described above, a total of 12 thin plates E are placed in the mounting area R, and the mounting process for one tray 88 is completed. Note that, in the X-axis direction, from the cutting position of the thin plate E from the slicer 12 onto the transport surface 15a, the supported portion B of the thin plate E classified into the "medium (standard)" class substantially coincides with the center position Xc of the width of the transport surface 15a in the X-axis direction. Therefore, there is no need to correct the reference position of the control point at the sampling position T in the X-axis direction.

[0170] (When thin-walled parts E of medium and small classes are mixed) In the thin-walled mounting process of S18A, the mounting is performed as shown in Fig. 37. That is, in the above-mentioned first row, if the first thin-walled part E placed at the beginning of this first row is classified into the "medium" class, then in this first row, in the same manner as in the above case, four columns (four pieces) of thin-walled parts E are placed in order from the first thin-walled part E to the fourth thin-walled part E.

[0171] Subsequently, the mounting process for the second row is started. If the fifth thin-walled part E placed at the beginning of this second row is classified into the "small" class, it is determined that five columns (five pieces) of thin-walled parts E are to be placed in this second row. Accordingly, in the second row, five columns (five pieces) of thin-walled parts E are placed at equal intervals in order from the fifth thin-walled part E to the ninth thin-walled part E.

[0172] Subsequently, the mounting process for the third row is started. If the tenth thin-walled part E placed at the beginning of this third row is also classified into the "small" class, it is determined that five columns (five pieces) of thin-walled parts E are also to be placed in this third row, and five columns (five pieces) of thin-walled parts E are placed at equal intervals in order from the tenth thin-walled part E to the fourteenth thin-walled part E.

[0173] As described above, a total of 14 thin-walled parts E are placed in the mounting area R, and the mounting process for one tray 88 is completed. Note that in the X-axis direction, since the supported part B of the thin-walled part E classified into the "small" class is offset by a distance Xa to the -X side with respect to the center position Xc of the transport surface 15a, the reference position of the control point at the sampling position T is corrected by a distance Xa to the -X side.

[0174] (When thin-walled parts E of medium and large classes are mixed) In the thin-walled mounting process of S18A, the mounting is performed as shown in Fig. 38. That is, in the above-mentioned first row, if the first thin plate E placed at the beginning of this first row is classified into the "medium" class, then in this first row, in the same manner as in the above-mentioned case, four columns (four sheets) of thin plates E are placed in the order from the first thin plate E to the fourth thin plate E.

[0175] Subsequently, the mounting process for the second row is started. If the fifth thin plate E placed at the beginning of this second row is classified into the "large" class, it is determined that three columns (three sheets) of thin plates E are to be placed in this second row. Accordingly, in the second row, three columns (three sheets) of thin plates E are placed at equal intervals in the order from the fifth thin plate E to the seventh thin plate E.

[0176] Subsequently, the mounting process for the third row is started. If the eighth thin plate E placed at the beginning of this third row is also classified into the "large" class, it is determined that three columns (three sheets) of thin plates E are also to be placed in this third row, and three columns (three sheets) of thin plates E are placed at equal intervals in the order from the eighth thin plate E to the tenth thin plate E.

[0177] As described above, a total of ten thin plates E are placed in the mounting area R, and the mounting process for one tray 88 is completed. Note that by automatically changing the number of columns in each row, the interval between each column is also automatically changed. Note that in the X-axis direction, since the supported portion B of the thin plate E classified into the "large" class is offset by a distance Xb to the +X side with respect to the center position Xc of the conveyance surface 15a, the reference position of the control point at the taking position T is position-corrected by a distance Xb to the +X side.

[0178] (Convergence of total weight) Thus, by automatically adjusting the number of mounted items in the above mounting process, as shown in FIG. 39, the total weight (the "weight of the food group" in the claims) of the thin plates E mounted in the mounting area R in the tray 88 falls within the set range α. Note that in this FIG. 39, the vertical drop portion (step portion) in the solid line indicating the case of controlling the number of items appears when the number of thin plates E mounted on the tray 88 decreases. That is, while maintaining the same number of sheets, as the size of the thin plate E increases, the total weight of the thin plate E after packaging gradually increases. However, when the number of sheets decreases by one, the total weight once decreases. In the examples shown in FIGS. 36 to 38, although the number of sheets of the thin plate E for packaging is different, namely 12 sheets, 14 sheets, and 10 sheets, by increasing or decreasing the number of sheets according to the size of the thin plate E in this way, the total weight is within the set range. Also, by controlling the number of sheets of this thin plate E, the interval between adjacent thin plates E is automatically adjusted, and they are neatly packaged within the packaging area R.

[0179] (Another embodiment of the set position of the packaging area) As shown in FIGS. 35(a) and 35(b), a transfer device 300 may be arranged above the chain conveyor 20, and packaging areas R1 and R2 may be set on the side of this transfer device 300. This transfer device 300 has a pair of transfer belts 304, a pair of receiving plates 308, and a pair of traction plates 306 arranged directly below each receiving plate 308.

[0180] As shown in FIGS. 35(a) and 35(b), both receiving plates 308 are included in a virtual plane above the chain conveyor 20 and are arranged to face each other, and are reciprocally driven to be openable and closable in the X-axis direction (left and right direction) by a drive source (not shown). Thereby, the position of each receiving plate 308 switches between a closed position S0 where both opposing edge portions are closest and close the upper part of the chain conveyor 20, and an open position E0 where both opposing edge portions are separated and open the upper part of the chain conveyor 20.

[0181] In FIG. 35(a), the closed position S0 and the open position E0 respectively indicate the positions of the opposing edge portions. The open position E0 is a position where the upper part above a pair of trays 88 placed on the chain conveyor 20 is opened. A pair of frames 302 extending in the Y-axis direction are arranged at fixed positions at positions outside in the X-axis direction compared to the position when each receiving plate 308 is located at the open position E0.

[0182] Each transfer belt 304 has one end connected to each frame 302 and the other end connected to the traction plate 306, so that the middle part passes through the gap between the opposing edges of the two receiving plates 308 and is wound around the opposing edges of the receiving plate 308. The traction plate 306 is driven by a drive source (not shown) to reciprocate in the X-axis direction (left and right direction).

[0183] The mounting areas R1, R2 are set on the upper surface of the transfer belt 304 on which the thin meat E is mounted in a state where both receiving plates 308 are located at the closed position S0 and the trays 88 are arranged below each of the two receiving plates 308. With respect to these mounting areas R1, R2, the robot controller 70 controls the food mounting device 10 to mount the thin meat E in the mounting mode of the first embodiment or the mounting mode of the second embodiment, respectively.

[0184] When a group of sliced meat is mounted on the mounting areas R1, R2 through the upper part of the transfer belt 304, the receiving plate 308 and the traction plate 306 are driven in the X-axis direction. As a result, as shown in FIG. 35(b), the group of thin meat E mounted on the transfer belt 304 is peeled off from the surface of the transfer belt 304 by the folding movement of the transfer belt 304 at the opposing edges of the receiving plate 308 and falls into the tray 88 and is accommodated. The tray 88 containing the thin meat E is carried out to the -X side by the chain conveyor 20.

[0185] (Another embodiment of the finger parts 44A, 44B in the first embodiment) Figs. 40 to 41 show another embodiment of the finger parts 44A, 44B in the first embodiment. Since this other embodiment has many parts with the same structure as the embodiment in the first embodiment, the description of the parts with this common structure will be omitted and only reference numerals will be added in the drawings. As described above, since the pair of finger parts 44A, 44B are configured symmetrically with respect to the plane, only the finger part 44B will be described for the detailed structure.

[0186] Thus, as shown in FIG. 40, the lower part of the finger plate portion 50 in the finger portion 44B is extended downward to form an extension portion 50a, and the base portion of the pressing member (the "drop - promoting means" in the claims) GR is pivotally supported at the lower end portion of this extension portion 50a so as to be vertically pivotable about a rotation axis GJ having an axis in the X - axis direction. Further, a vertical long hole 50b is formed in the above - mentioned finger plate portion 50, and the end portion of the swing shaft 59a is projected outward through this long hole 50b. Then, the projected end portion of this swing shaft 59a and the pin GP fixed to a portion near the rotation axis GJ in the pressing member GR are respectively pivotally attached to the upper and lower end portions of the link plate GL. Note that the lower edge portion of the pressing member GR is formed in an arc shape, and its tip edge is formed in an acute - angled straight - line shape.

[0187] Thus, when the air cylinder 57 extends to advance the claw member 61, the swing shaft 59a descends within the long hole 50b and pushes down the upper end portion of the link plate GL. Thereby, the pin GP pivotally attached to the lower end portion of the link plate GL is pushed downward, and the pressing member GR rotates upward to the retracted position about the rotation axis GJ. On the other hand, when the air cylinder 57 contracts to retract the claw member 61, the swing shaft 59a ascends within the long hole 50b and pulls up the upper end portion of the link plate GL. Thereby, the pin pivotally attached to the lower end portion of the link plate GL is pulled upward, and the pressing member GR rotates downward about the rotation axis GJ.

[0188] As described above, as shown in FIGS. 41(a) and 42(a), when the hand device 40 (or the control point) reaches above the mounting area R in a state where the thin - wall E is scooped up and supported by the pair of claw members 61, the pressing member GR rotates upward and retracts and does not contact the thin - wall E. Then, as shown in FIGS. 41(b) and 42(b), after the hand device 40 descends and the lower end of the thin film E it supports comes into contact with the mounting area R, or immediately before contact, as the air cylinder 57 shortens, the claw members 61 start to retract and the pressing member GR starts to descend and rotate. Thereby, while the support of the thin film E by the claw members 61, 61 is released, the upper surface of the thin film E is pushed down by the pressing member GR. Thereby, as shown in FIGS. 41(c) and 42(c), the adhesion of the thin film E to the claw members 61, 61 is peeled off, and the thin film E smoothly drops and is placed on the mounting area R. Note that this pressing member GR may be added outside the finger plates 51, 51 of the finger portions 44A, 44B and provided on both sides of each finger portion 44A, 44B. Also, this pressing member GR may coexist with the above-described air nozzle 122.

Explanation of Reference Numerals

[0189] E Thin film (food) R Mounting area (set area) T Collection position GR Pressing member (means for promoting dropping) JK Removing means 10 Food mounting device (device for implementing the food group forming method of the present invention) 40 Hand device 60 Claw portion (support portion) 87 Camera (imaging means) 88 Tray

Claims

1. A food group forming method having a first step of collecting a food formed to a predetermined thickness at a collection position, a second step of moving the food collected at the collection position onto a set area separated from the collection position, and a third step of placing the food moved onto the set area at individual positions within the set area, automatically repeating these steps from the first step to the third step, and forming a food group consisting of a plurality of foods within the set area, characterized in that the number of foods forming the food group is automatically changed according to the size of each food, and the weight of this food group is adjusted within a set range.

2. A food group forming method having a first step of collecting a food formed to a predetermined thickness at a collection position, a second step of moving the food collected at the collection position onto a set area separated from the collection position, and a third step of placing the food moved onto the set area at individual positions within the set area, automatically repeating these steps from the first step to the third step, and forming a food group consisting of a plurality of foods within the set area, characterized in that a plurality of rows and a plurality of columns for arranging foods are set within the set area, the number of columns in each row is automatically changed according to the size of the food, and the weight of the food group is adjusted within a set range.

3. The food group forming method according to claim 2, wherein the number of columns in each row, or the number of columns in each row and the interval between each column are automatically changed according to the size of the food placed at the head of each row.

4. The food group forming method according to claim 1, claim 2, or claim 3, comprising imaging means for imaging the food before being collected, and obtaining the size of the food from the imaging result by this imaging means.

5. The food group forming method according to any one of claims 1 to 4, wherein when the size of the food is smaller than a set size, the collection of this food is automatically prohibited.

6. A food group forming method having a first step of collecting a food formed to a predetermined thickness at a collection position, a second step of moving the food collected at the collection position onto a set area spaced apart from this collection position, and a third step of placing the food moved onto the set area at individual positions within this set area, automatically repeating and executing from the first step to the third step, and forming a food group composed of a plurality of foods within the set area. In the set area, a plurality of rows and a plurality of columns for arranging the foods are set. It is equipped with imaging means for imaging the food before it is collected, calculates the width and area of the food from the imaging result by this imaging means, classifies the size of the food into a plurality of classes based on this width and area, automatically changes the number of columns in each row according to the class of the food placed at the head of each row, and adjusts the weight of the food group within a set range.

7. The food group forming method according to claim 6, wherein when the food is classified into a class smaller than a predetermined class, the collection of this food is automatically prohibited.

8. Equipped with imaging means for imaging the food before it is collected, determines the suitability in the formation of the food group from the color of the food imaged by this imaging means, and when it is determined to be unsuitable, automatically prohibits the collection of this food. The food group forming method according to any one of claims 1 to 7.

9. Equipped with imaging means for imaging the food before it is collected, when the ratio of the area occupied by a specific color to the total area of the food imaged by this imaging means is larger than a predetermined value, automatically prohibits the collection of this food. The food group forming method according to any one of claims 1 to 7.

10. The food group forming method according to claim 5 or claim 7 or claim 8 or claim 9, equipped with removing means for automatically removing the food whose collection has been prohibited.

11. The food group forming method according to any one of claims 1 to 10, wherein the set area is set on the bottom surface of a tray for food.

12. A first step of supporting and collecting a food product formed to a predetermined thickness with a support portion provided in a hand device at a collection position; a second step of moving the hand device that has collected the food product onto a set area spaced apart from the collection position; and a third step of retracting the support portion of the hand device that has moved onto the set area to release the support of the food product and placing this food product at an individual position within the set area. The food product group forming method automatically repeats these steps from the first step to the third step to form a food product group composed of a plurality of food products within the set area. In the set area, a plurality of rows and a plurality of columns for arranging the food products are set, the number of columns in each row is automatically changed according to the size of the food product placed at the head of each row, and the weight of the food product group is adjusted within a set range.

13. The food product group forming method according to claim 12, further comprising imaging means for imaging the food product before it is collected by the hand device, calculating the width of the food product from the imaging result by the imaging means, and controlling the position of the hand device so that the support portion supports the central portion of the width of the food product or a portion in the vicinity thereof.

14. The food product group forming method according to claim 12 or claim 13, wherein the hand device is provided with dropping promotion means for dropping the food product supported by the support portion from the support portion, and the dropping promotion means is operated when the support portion retracts from the support position to drop the food product supported by the support portion and place it within the set area.

15. The food product group forming method according to claim 14, wherein the dropping promotion means presses the upper portion of the food product supported by the support portion downward.

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