Reflector arrangement

Abstract

To arrange a reflection board at a position where an object on a conveyance surface can be reliably detected.SOLUTION: A processing system 1 includes: a detection part 44 and a shielding structure 70 as an arrangement structure for a reflection board; the reflection board; and container detection sensors 41 and 42. The detection part 44 and the shielding structure 70 are installed in a position not affected a conveyance by a conveyance surface of a belt conveyor 2. The reflection board is supported by the detection part 44 and the shielding structure 70 so as to be positioned opposite the container detection sensors 41 and 42 and reflects light projected by the container detection sensors 41 and 42. The container detection sensors 41 and 42 detect an object projecting light onto the reflection board and being conveyed on the conveyance surface by receiving light reflected by the reflection board.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to an arrangement of a reflector. [Background technology]

[0002] In recent years, robots have been increasingly introduced into various fields, including not only the field of industrial product manufacturing, where robots have traditionally been used, but also fields such as food plating. An example of technology relating to a robot that performs such plating is disclosed in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7109054 Summary of the Invention [Problem to be solved by the invention]

[0004] As disclosed in Patent Document 1, when processing (for example, plating) is performed by a processing device such as a robot, it is common practice to transport the object to be processed (for example, a container) by a transport device such as a belt conveyor. It is also common practice to detect the object to be processed by a sensor during this process. However, with such a configuration, there is a problem in that it is difficult to appropriately position a reflector that reflects the light emitted by the sensor in order to reliably detect the object to be processed on the conveying surface. In particular, the height of the object to be processed (here, the height relative to the conveying surface) is generally not very high, so the reflector must be positioned within a tolerance of a few centimeters or a few millimeters, and it is not easy to position it in the appropriate position.

[0005] As described above, in the conventional technology, there is still room for improvement in terms of arranging the reflector for detecting the target object in an appropriate position. Furthermore, this problem is not limited to when the processing equipment is used to plate food, but is common to a wide variety of processing operations performed by processing equipment, such as in the manufacture of industrial products.

[0006] An object of the present invention is to arrange a reflector at a position where an object on the conveying surface can be reliably detected. [Means for solving the problem]

[0007] In order to solve the above problem, the arrangement of a reflector according to one embodiment of the present invention is as follows: a support portion installed at a position where it is not affected by the conveyance of the conveying surface of the conveying device; a reflector that is supported by the support portion and disposed at a position facing the sensor, and that reflects light projected by the sensor; the sensor that projects light onto the reflector and receives the light reflected by the reflector to detect an object being conveyed on the conveying surface; The present invention is characterized by comprising: [Effects of the Invention]

[0008] According to the present invention, the reflector can be disposed at a position where an object on the conveying surface can be reliably detected. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram showing the configuration of a processing system 1 according to the present invention. [Figure 2] 2 is a schematic diagram showing the hardware configuration of a control device 10. FIG. [Figure 3] FIG. 2 is a block diagram showing the functional configuration of a control device 10. [Figure 4] 3A to 3C are schematic diagrams showing examples of the shape of a gripping member 31a installed at the tip of a hand 31. [Figure 5]10 is a diagram showing the positional relationship between the storage space of the storage container 20, the hand 31, the gripping member 31a, the robot arm 32, and the ingredient when performing an operation such as a gripping operation. [Figure 6] 10A and 10B are diagrams showing the opening and closing of a pair of gripping members 31a. [Figure 7] FIG. 2 is an enlarged perspective view showing the vicinity of a detection unit 40. [Figure 8] 1 is a schematic diagram showing the vicinity of a transfer position P1 and a release position P2. FIG. [Figure 9] 1 is a view of the vicinity of the transfer position P1 and the release position P2 viewed from vertically above. [Figure 10] 1 is a perspective view of the configuration of a base 60 seen from a direction adjacent to the belt conveyor 2. FIG. [Figure 11] 1 is a plan view showing the configuration of the base 60 as seen from the downstream side of the belt conveyor 2. FIG. [Figure 12] 1 is a perspective view of the configuration of the base 60 seen from the opposite side to the side adjacent to the belt conveyor 2. FIG. [Figure 13] 10 is a flowchart showing the flow of ingredient plating processing executed by the processing system 1. [Figure 14] 1 is a schematic diagram showing a shielding structure 70 that shields each component of the processing system 1. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [Embodiment] [Overall configuration] FIG. 1 is a schematic diagram showing the configuration of a processing system 1 according to the present invention. Here, it is assumed that the present invention is applied to a system for plating ingredients as the processing system 1. Therefore, in the following explanation, an example will be given in which the processing system 1 grasps ingredients for a side dish or the like and plates the grasped ingredients in a container for the side dish.

[0011] However, this is merely an example for the purpose of explanation and is not intended to limit the scope of application of the present invention. The present invention is applicable to systems in general that perform various processes using processing devices, such as robots. For example, the present invention can be applied to systems that perform various processes using processing devices, such as systems that cook food by heating or cooling, or systems that process food by cutting or crushing. In this case, the objects to be processed are not limited to food or containers, and the present invention can also be applied to systems that perform machining, such as cutting, on industrial products, such as electronic devices. That is, the present invention is applicable to all systems that execute processing using a processing device.

[0012] 1, the processing system 1 includes a control device 10, a container 20, an articulated robot 30, a detection unit 40, a transfer mechanism 50, and a base 60. Among these, the control device 10, the articulated robot 30, the detection unit 40, and the transfer mechanism 50 are connected by wire or wireless communication and can communicate with each other. In addition, the control device 10, the articulated robot 30, the detection unit 40, and the transfer mechanism 50 are arranged on the top surface of the base 60 and are supported by the base 60.

[0013] In addition, a belt conveyor 2 is installed adjacent to the processing system 1, which automatically transports containers of prepared foods from upstream to downstream. The belt conveyor 2 has a conveying surface for transporting the containers, and the containers are transported while placed on this conveying surface. In Figure 1, as shown by the dashed arrow, the left side of the paper is the upstream side of transport on the belt conveyor 2, and the right side is the downstream side of transport on the belt conveyor 2. The operation of supplying the containers to the conveying surface of the belt conveyor 2 further upstream of the processing system 1 may be performed manually or by a container supply device.

[0014] 1 shows only one set consisting of the container 20, the articulated robot 30, the detector 40, and the transfer mechanism 50, but the present invention is not limited to this. In this embodiment, it is assumed that a plurality of these sets are installed along the conveying direction of one belt conveyor 2, and that the plurality of articulated robots 30 work in cooperation with each other.

[0015] The control device 10 is configured with an information processing device such as a PC (Personal Computer) or a programmable controller, and controls the entire processing system 1 by executing various programs. For example, the control device 10 controls the operation of the articulated robot 30, such as grasping ingredients from the storage container 20 and releasing them into a prepared food container to arrange the ingredients. More specifically, the control device 10 controls the driving of the articulated robot 30 to move the hand 31 of the articulated robot 30 to a predetermined position via a predetermined route at a predetermined speed, and controls the driving of the actuator of the hand 31 to grasp and release ingredients using the hand 31. In addition, for example, the control device 10 controls the operation of the transfer mechanism 50 based on the detection results of the detection unit 40.

[0016] The storage container 20 has a storage space for storing ingredients such as prepared dishes to be served in the processing system 1. The storage container 20 is realized by, for example, a general-purpose storage container such as a large tray or a tray. The storage space of the storage container 20 stores, for example, a paste salad (salad containing viscous or sticky ingredients) such as potato salad, prepared dishes such as udon (soybean curd refuse), dried strips of daikon radish, pickled vegetables, hijiki seaweed, boiled beans, and buttered corn. In this embodiment, the storage space stores multiple servings (e.g., tens to hundreds of servings) of one type of ingredient. The processing systems 1 then serve the ingredients of any of the prepared dishes in the corresponding containers, thereby completing the task of serving the prepared dishes. The storage container 20 can be replaced manually by an operator or automatically by the articulated robot 30.

[0017] The articulated robot 30 is, for example, a horizontal articulated robot or a vertical articulated robot, and is equipped with a hand 31 that can grasp the ingredients to be plated, and a robot arm 32 that moves the hand 31 to any position within its movable range. Furthermore, a weight sensor 30A that measures the weight of an ingredient grasped by the hand 31 is installed at the joint that holds the hand 31 of the articulated robot 30, as an example of a means for acquiring the physical quantity of the ingredient grasped by the hand 31. Furthermore, a force sensor 30B that measures a reaction force (including a force sense obtained by touching the surface) from the ingredient that has come into contact is installed at the joint that holds the hand 31 of the articulated robot 30, as an example of a means for detecting that the hand 31 has come into contact with the ingredient. Data on the weight of the ingredient measured by the weight sensor 30A (i.e., the weight of the grasped ingredient) and data on the reaction force from the ingredient measured by the force sensor 30B (i.e., the detection result of contact with the ingredient) are output to the control device 10.

[0018] Furthermore, the joint that holds the hand 31 has an axis that rotates the hand 31 in a twisting direction relative to the robot arm 32. Therefore, when the hand 31 grasps an ingredient, the direction in which the hand 31 opens and closes can be adjusted by changing the orientation of the hand 31. This makes it possible to change the orientation of the hand 31 so that when the hand 31 reaches the vicinity of the inner wall surface of the container, the hand 31 opens and closes in a direction parallel to the inner wall surface of the storage space of the storage container 20, making it easier to grasp ingredients near the inner wall surface of the container.

[0019] The detection unit 40 includes a plurality of optical sensors that detect containers being transported on the belt conveyor 2. For example, the detection unit 40 includes a sensor that detects the position of a container being transported on the belt conveyor 2, and a sensor that detects ingredients served in the container. Data on the position of the container detected by these sensors and data on whether ingredients are served or not are output to the control device 10. The control device 10 controls the operation of the transfer mechanism 50 based on the detection results of these sensors included in the detection unit 40. Details of the positional relationship of these sensors included in the detection unit 40 and the operation control of the transfer mechanism 50 by the control device 10 based on the detection results will be described later.

[0020] The transfer mechanism 50 is a mechanism for transferring an object (here, a container). The transfer mechanism 50 transfers the container, which has been transported to a transfer position P1 by the belt conveyor 2, to a release position P2, where the ingredients are released. After that, when the ingredients have been placed in the container at the release position P2, the transfer mechanism 50 transfers the container from the release position P2 back to the transfer position P1. Thereafter, the containers with the ingredients piled up are transported further downstream by the belt conveyor 2, where post-processing (for example, closing the lids on the containers) is carried out. In this way, by performing the transfer by the transfer mechanism 50, the ingredients can be released and arranged at the release position P2 provided near the articulated robot 30, rather than at the transfer position P1 or the like on the conveying surface of the belt conveyor 2. This makes it possible to prevent the released ingredients from falling onto the conveying surface of the belt conveyor 2.

[0021] The base 60 functions as a pedestal that supports the container 20, the articulated robot 30, the detector 40, and the transfer mechanism 50. These components of the processing system 1 weigh several hundred kg in total, but the base 60 has a structure that is rigid enough to support them even when they are placed on the top surface. The above is the overall configuration of the processing system 1.

[0022] [Hardware configuration of the control device 10] FIG. 2 is a schematic diagram showing the hardware configuration of the control device 10. As shown in FIG. As shown in FIG. 2, the control device 10 includes a CPU (Central Processing Unit) 711, a ROM (Read Only Memory) 712, a RAM (Random Access Memory) 713, a bus 714, an input unit 715, an output unit 716, a memory unit 717, a communication unit 718, and a drive 719.

[0023] The CPU 711 executes various processes according to a program recorded in the ROM 712 or a program loaded from the storage unit 717 into the RAM 713 . The RAM 713 also stores data and the like necessary for the CPU 711 to execute various processes.

[0024] The CPU 711, ROM 712, and RAM 713 are connected to one another via a bus 714. To the bus 714, an input unit 715, an output unit 716, a storage unit 717, a communication unit 718, and a drive 719 are connected.

[0025] The input unit 715 includes an input device such as a mouse or a keyboard, and receives input of various information to the control device 10. Note that the input unit 715 may also include a microphone, and receive input of various information by voice input from the worker. The output unit 716 is composed of a display, a speaker, etc., and outputs images and sounds. The storage unit 717 is configured with a hard disk or a DRAM (Dynamic Random Access Memory), etc., and stores various data managed by each server. The communication unit 718 controls communication with other devices via the network.

[0026] Removable media 731, such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, is appropriately attached to the drive 719. A program read from the removable media 731 by the drive 719 is installed in the storage unit 717 as needed. The above hardware configuration is the basic configuration of the control device 10, and it is possible to configure the control device 10 without some of the hardware, to configure the control device 10 with additional hardware, or to change the implementation form of the hardware.

[0027] [Functional configuration] Next, the functional configuration of the control device 10 will be described. FIG. 3 is a block diagram showing the functional configuration of the control device 10. As shown in FIG. 3, by executing a program for controlling the operation of the processing system 1, a sensor information acquisition unit 151, an ingredient state determination unit 152, an ingredient amount determination unit 153, an articulated robot control unit 154, a transfer mechanism control unit 155, and a recording control unit 156 function in the CPU 711 of the control device 10. In addition, a parameter storage unit 171 and a history database (history DB) 172 are formed in the storage unit 717.

[0028] The parameter storage unit 171 stores various parameters used when the processing system 1 operates. For example, the parameter storage unit 171 stores the position of the storage space of the storage container 20, the position of the area in the prepared food container where ingredients are to be placed, the relationship between the insertion amount of the hand 31 into the ingredient when grasping the ingredient and the weight of the grasped ingredient (function or table-format data, etc.), parameters that define the operation pattern of the articulated robot 30, etc. In this embodiment, the insertion amount of the hand 31 into the ingredient serves as an index for estimating the weight (physical quantity) of the ingredient. In other words, from the relationship between the insertion amount of the hand 31 into the ingredient and the weight of the grasped ingredient, the actual weight of the grasped ingredient (target grasped weight) is estimated based on the insertion amount of the hand 31 into the ingredient.

[0029] The history DB 172 stores, as history, control parameters acquired when the processing system 1 operates or measurement data of the weight of ingredients served by the processing system 1. The history DB 172 also stores an ingredient status map that indicates the status of ingredients in the storage space of the storage container 20. Details of this ingredient status map will be described later together with an explanation of the recording control unit 156 that creates and updates the ingredient status map.

[0030] The sensor information acquisition unit 151 acquires sensor information, which is information detected by various sensors installed in the processing system 1 and the detection unit 40. For example, the sensor information acquisition unit 151 acquires, as sensor information, data on the weight of ingredients measured by weight sensors 30A installed at the joints of the articulated robot 30, data on the reaction force from the ingredients measured by force sensors 30B, data on the position of containers detected by sensors included in the detection unit 40, and data on whether ingredients are served on the containers. These pieces of sensor information are used by the respective functional blocks of the control device 10 as appropriate.

[0031] The ingredient state determination unit 152 recognizes the state of the ingredients based on data on the reaction force from the ingredients measured by the force sensor 30B. For example, the ingredient state determination unit 152 recognizes the depth of the ingredients within the storage space of the storage container 20 (the depth from the surface of the ingredient within the storage space of the storage container 20 to the bottom of the storage space of the storage container 20) and the flatness of the surface (how rough the surface is) based on the data on the reaction force from the ingredients measured by the force sensor 30B. In this embodiment, instead of determining the state of the ingredients through image analysis using a camera, a method is used in which the state of the ingredients is measured based on the reaction force using the force sensor 30B. This, for example, can reduce the cost of introducing and managing a camera, and since there is no need to consider the camera's blind spots, etc., the arrangement of the articulated robot 30 and the storage space of the storage container 20 can be more flexibly selected. Furthermore, since a camera is not used, there is no need to consider the effects of steam generated from the ingredients or lighting on the image capture.

[0032] Furthermore, upon recognizing the depth and surface flatness of the ingredient, the ingredient state determination unit 152 determines whether these meet the conditions for grasping the ingredient (for example, whether the depth and flatness of the ingredient are equal to or greater than a set threshold value). The flatness of the ingredient's surface can be defined, for example, based on the absolute value of the magnitude of the unevenness on the surface, and can be defined so that the flatter the ingredient's surface, the greater the value. The flatness may also be determined for each portion of the ingredient's surface. Furthermore, the ingredient state determination unit 152 determines whether the state of the ingredient in the storage space of the storage container 20 is such that a specified amount of ingredient can be grasped in one grasping operation.

[0033] The ingredient amount determining unit 153 determines, based on the data on the weight of the ingredient measured by the weight sensor 30A of the articulated robot 30, whether or not a specified amount of ingredient has been grasped.

[0034] The articulated robot control unit 154 controls the operation of the articulated robot 30 and causes the articulated robot 30 to perform a series of operations for plating ingredients in accordance with an operation pattern defined in the processing system 1. For example, by controlling the articulated robot 30, the articulated robot control unit 154 causes the articulated robot 30 to perform a gripping operation for gripping ingredients with the gripping members 31a, a gripping amount adjustment operation for releasing the ingredients on the spot and gripping them again if the gripped ingredients are not in a specified amount, a removal operation for removing ingredients adhering to the gripping members 31a, a transfer operation for transferring the gripping members 31a that have gripped the ingredients onto a container for the side dish, a rotation operation for rotating the gripping members 31a around the vertical axis during transfer, a release operation for releasing the ingredients gripped by the gripping members 31a onto the container, and a shaping operation for shaping the surface of the released ingredients after plating.

[0035] The transfer mechanism control unit 155 controls the operation of transferring the container (container transfer operation) by the transfer mechanism 50 based on data on the position of the container detected by the sensor included in the detection unit 40 and data on whether or not ingredients are served on it.

[0036] The recording control unit 156 stores control parameters acquired when the processing system 1 performs a gripping operation and measurement data of the weight of the ingredients arranged by the processing system 1 in the history DB 172. The recording control unit 156 also creates and updates an ingredient state map showing the state of the ingredients in the storage space of the storage container 20, and stores this ingredient state map in the history DB 172. More specifically, the recording control unit 156 detects the state of the ingredients in a plurality of regions divided on the horizontal plane of the storage space of the storage container 20 based on the measurement data of the weight of the ingredients and the reaction force of the ingredients acquired when the processing system 1 performs a gripping operation, the determination results by the ingredient state determination unit 152 described below, and the measurement data of the weight of the ingredients arranged by the processing system 1, and generates the ingredient state map by storing the state information associated with identification information identifying each region (for example, coordinate values ​​for controlling the articulated robot 30).

[0037] In this case, the state of the ingredients refers to the remaining amount of ingredients in each area, and the depth and flatness of the ingredients determined by the ingredient state determination unit 152 described below. Furthermore, if the storage space of the storage container 20 is replaced with a new one after the ingredients have been arranged in the storage space of the storage container 20, the ingredient state map is updated assuming that a predetermined amount of ingredients (for example, a sufficient amount of ingredients for the storage space of the storage container 20) is stored in a predetermined state (for example, a flat surface).

[0038] [Hand 31 Configuration] Next, the configuration of the hand 31 and the gripping member 31a installed on the hand 31 will be described in detail. FIG. 4 is a schematic diagram showing an example of the shape of the gripping member 31a installed at the tip of the hand 31. As shown in FIG. In FIG. 4, only one of the pair of gripping members 31a is shown. As shown in Fig. 4, the grip member 31a in this embodiment is composed of a top plate portion, a main plate portion, a first side plate portion, and a second side plate portion. The top plate portion has a rectangular flat surface. When the flat surface of the top plate portion is horizontal, the main plate portion extends at an angle from one end of the longitudinal direction of the flat surface to a position spaced apart vertically below the other end of the longitudinal direction of the flat surface. When the flat surface of the top plate portion is horizontal, the first side plate portion and the second side plate portion extend vertically downward from both ends of the flat surface. In the following description, when the pair of gripping members 31a is not to be distinguished from one another, they will be simply referred to as "gripping members 31a."

[0039] 5 is a diagram showing the positional relationship between the storage space of the storage container 20, the hand 31, the gripping member 31a, the robot arm 32, and the ingredient when performing an operation such as a gripping operation. In FIG. 5, the vertical direction is referred to as the Z direction, a first horizontal direction (a direction perpendicular to the paper surface) perpendicular to the Z direction is referred to as the Y direction, and a second horizontal direction perpendicular to each of the Z direction and the Y direction is referred to as the X direction. In other words, the Z direction, Y direction, and X direction are directions that are perpendicular to each other.

[0040] The hand 31 is disposed at the tip of the robot arm 32. The gripping member 31a is connected to the hand 31 by a connecting member and is thereby supported by the hand 31. The hand 31 and the gripping member 31a connected thereto can move within a movable range in each of the X, Y, and Z directions in accordance with the operation of the robot arm 32 controlled by the control device 10. The hand 31 achieves a gripping operation by opening and closing the pair of gripping members 31a in the Y direction using an actuator (not shown). Furthermore, the hand 31 and the gripping member 31a connected thereto can rotate around the Z direction as a rotation axis. With this configuration, in this embodiment, the position and orientation of the hand 31 and the gripping member 31a can be changed arbitrarily, making it possible to appropriately perform operations such as gripping and releasing operations with various movements.

[0041] FIG. 6 is a diagram showing the opening and closing of a pair of gripping members 31a. The gripping members 31a shown in FIG. 4 are connected to the hand 31 by a connecting member so that their openings face each other. The X, Y, and Z directions in FIG. 6 are the same as the directions defined in FIG. 5. The pair of gripping members 31a are opened in an opening / closing direction (Y direction) as shown in FIG. 6(a). The pair of gripping members 31a are closed in a closing direction (Y direction) as shown in FIG. 6(b) when performing a gripping operation.

[0042] Then, the pair of gripping members 31a is in a closed state and comes into contact with each other, so that the inner surface with at least the closed tips and side plate portions forms a container shape for gripping ingredients. With gripping members 31a shaped like this, ingredients such as paste salad can be gripped and removed from the storage space of storage container 20 by inserting the tips of gripping members 31a vertically from the surface and closing the pair of gripping members 31a at a predetermined depth to lift the ingredients. Furthermore, after the pair of gripping members 31a are transferred onto the container of prepared food at the release position P2, the pair of gripping members 31a open, exposing the opening of the container, thereby releasing the ingredients that have been gripped and allowing an approximately fixed amount of ingredients to be placed in the container of prepared food.

[0043] [Configuration of detection unit 40] Next, the configuration of the detection unit 40 will be described in detail. 7 is an enlarged perspective view showing the vicinity of the detection unit 40. In FIG. 7, similar to FIG. 1, the left side of the paper is the upstream side of the conveyance on the belt conveyor 2, and the right side of the paper is the downstream side of the conveyance on the belt conveyor 2.

[0044] As shown in FIG. 7, the detection unit 40 includes container detection sensors 41 and 42, a reflector arrangement unit 43, and an ingredient detection sensor 44. Container detection sensors 41 and 42 are sensors that detect the position of a container being transported on belt conveyor 2. Container detection sensors 41 and 42 are configured, for example, by optical sensors. Container detection sensor 41 detects that a container being transported on belt conveyor 2 is about to be transported to transfer position P1. Container detection sensor 42 also detects that a container being transported on belt conveyor 2 has been transported to transfer position P1. The reflector arrangement section 43 is a member in which reflectors that reflect light emitted by the container detection sensors 41 and 42 for detection are arranged on a surface facing the container detection sensors 41 and 42.

[0045] As shown in the figure, the detector 40 has a reflector mounting section 43 installed at a predetermined position so as to straddle the conveying surface of the belt conveyor 2. Light emitted by the container detection sensors 41, 42 is reflected by reflectors arranged in the reflector mounting section 43 and received by the container detection sensors 41, 42. This allows the container detection sensors 41, 42 to detect the position of the container. In the figure, the paths of the emitted and received light are shown as light path L1 and light path L2, respectively.

[0046] In this embodiment, the reflector arrangement unit 43 is configured to be insertable and detachable into the opening of the main body of the detection unit 40, allowing the length in the width direction of the conveying surface to be adjusted. This allows the reflector arrangement unit 43 to be installed at a predetermined position, accommodating differences in the width direction of the conveying surface, which differ depending on the model of the belt conveyor 2. Generally, the conveying surface of the belt conveyor 2 undulates vertically and other directions during conveyance due to its mechanism. To avoid this effect, it is preferable to install the reflector arrangement unit 43 at a predetermined position on the outer frame portion of the conveying surface (i.e., a portion that is not part of the conveying surface). This allows the reflector arrangement unit 43 to be constantly fixed at an appropriate height for detecting containers containing ingredients without being affected by vertical undulations on the conveying surface.

[0047] Here, since the height of the container (here, the height relative to the conveying surface) is generally not very high, it is desirable to arrange the sensor and reflector at an appropriate position within a range of several centimeters to several millimeters. In this regard, in this embodiment, by fixing the position of the reflector at a predetermined position using the reflector arrangement unit 43 in this way, it is possible to appropriately detect the position of the container being conveyed, with an appropriate height corresponding to the height of the container as the detection target range. Although colored containers are sometimes used as containers for prepared foods, transparent containers are also commonly used. Container detection sensors 41 and 42 are capable of detecting both colored and transparent containers.

[0048] Furthermore, the reflector is not a light receiver that detects received light, but is simply a reflector. Therefore, the reflector does not need to be electrically connected to other components. Therefore, the reflector arrangement section 43 and the reflector can be realized with a simple configuration.

[0049] With this configuration, the container detection sensors 41, 42 detect with high accuracy the position of the container being transported on the belt conveyor 2. Data on the position of the container detected by the container detection sensors 41, 42 is output to the control device 10. Control device 10 can not only determine the position of the container but also the transport speed of the container based on the data on the position of the container detected by container detection sensors 41 and 42. That is, the transport speed can be calculated and determined by dividing the distance between container detection sensors 41 and 42 by the difference between the time when container detection sensor 41 detects the container and the time when container detection sensor 42 detects the container. This allows the transfer mechanism control unit 155 of the control device 10 to control the transfer mechanism 50 at appropriate timing, taking into consideration the transfer speed. For example, it is possible to execute an operation of transferring a container transferred to the transfer position P1 to the release position P2 at appropriate timing without missing the moment it arrives.

[0050] The ingredient detection sensor 44 is a sensor that detects ingredients placed in a container. Like the container detection sensors 41 and 42, the ingredient detection sensor 44 is configured, for example, by an optical sensor. The ingredient detection sensor 44 detects whether ingredients are placed in a container whose position is detected by the container detection sensors 41 and 42. The light emitted by the ingredient detection sensor 44 is projected vertically downward and reflected by either the conveying surface of the belt conveyor 2, the top surface of the ingredients placed in the container, or the bottom surface of the container without ingredients, and is then received by the ingredient detection sensor 44. This allows the ingredient detection sensor 44 to detect whether ingredients are placed in the container. In the figure, the path of the projected and received light is illustrated as optical path L3.

[0051] As described above, the detection unit 40 is installed so as to straddle the conveying surface of the belt conveyor 2, and therefore the ingredient detection sensor 44 can be placed at an appropriate height (for example, about 15 cm above the conveying surface) to detect ingredients vertically above the belt conveyor 2. That is, by fixing the ingredient detection sensor 44 at a predetermined position (here, a position relative to the height of the detection unit 40, the container, and the ingredients), it is possible to accurately detect whether ingredients are placed in the container. Data on whether ingredients are placed in the container detected by the ingredient detection sensor 44 is output to the control device 10.

[0052] In this way, the detection unit 40 has a unique structure, and by being installed so as to straddle the conveying surface of the belt conveyor 2, various sensors and reflectors can be placed in optimal positions for detection.

[0053] [Configuration of transfer mechanism 50] Next, the configuration of the transfer mechanism 50 will be described in detail. 8 is a schematic diagram showing the vicinity of the transfer position P1 and the release position P2 in this embodiment. In this Fig. 8, the belt conveyor 2, the articulated robot 30, and the transfer mechanism 50 are shown with the downstream direction of transport on the belt conveyor 2 being the bottom side of the page.

[0054] 8, the transfer mechanism 50 includes an actuator 51, a slide member 52, a connecting portion 53, a first transfer member 531, a second transfer member 532, and a container placement member 54. As shown in FIG. 1, the transfer position P1 is the conveyance surface of the belt conveyor 2, and the release position P2 is on a work table provided on the side portion of the articulated robot 30.

[0055] The actuator 51 is disposed vertically above the belt conveyor 2 and performs linear motion in a direction (left-right direction on the paper) perpendicular to the traveling direction of the belt conveyor 2. The actuator 51 is realized by, for example, an electric cylinder (robot cylinder) or an air cylinder.

[0056] The slide member 52 and the connecting portion 53 are connected to the drive portion of the actuator 51, and move linearly in a direction perpendicular to the conveying direction of the belt conveyor 2 (left and right direction on the paper) in accordance with the linear movement of the actuator 51. The connecting portion 53 is further connected to the first transfer member 531 and the second transfer member 532, and as a result, the linear motion of the actuator 51 is also transmitted to the first transfer member 531 and the second transfer member 532, so that the first transfer member 531 and the second transfer member 532 also perform the same linear motion as the actuator 51. In this way, the transfer mechanism 50 of this embodiment can realize a drive mechanism with a relatively simple configuration.

[0057] 9 is a vertically overhead view of the vicinity of the transfer position P1 and the release position P2 in this embodiment, showing the belt conveyor 2, the container 20, the articulated robot 30, the connecting portion 53, the first transfer member 531, the second transfer member 532, and the container mounting member 54.

[0058] One end of the container mounting member 54 is placed on the conveyance surface of the belt conveyor 2, and the other end is placed on the top surface of the workbench where the release position P2 is located. This connects the conveyance surface of the belt conveyor 2 and the top surface of the workbench via the container mounting member 54. The transfer mechanism 50 then uses the horizontal linear motion of the actuator 51 to slide the container from the transfer position P1 on the conveyance surface to the release position P2 on the top surface of the workbench, thereby transferring the container. The container is also transferred from the release position P2 to the transfer position P1 by sliding the container in the opposite direction.

[0059] 9(a), when an empty container is transported to transfer position P1, the transfer mechanism control unit 155 moves the transfer mechanism 50 and transfers the container from transfer position P1 to release position P2 while contacting the container with the end (right end on the paper) of the first transfer member 531. Furthermore, when the ingredient is released by the articulated robot 30, the transfer mechanism control unit 155 transfers the container from release position P2 to transfer position P1 while contacting the container with the end (left end on the paper) of the second transfer member 532.

[0060] In this way, by performing the transfer by the transfer mechanism 50, the ingredients can be released and arranged at the release position P2 provided near the articulated robot 30, rather than at the transfer position P1 or the like on the conveying surface of the belt conveyor 2. This makes it possible to prevent the released ingredients from falling onto the conveying surface of the belt conveyor 2. In addition, after being grasped by the storage container 20, the ingredients can be arranged at a nearby release position P2, which shortens the travel distance of the articulated robot 30, shortens the processing time, and also prevents ingredients from scattering during movement. Furthermore, because the ingredients can be arranged at a nearby release position P2, more precise movements can be achieved, and appropriate arrangement can be achieved, compared to when the robot arm 32 is extended and the ingredients are arranged at a distance.

[0061] In addition, because the transfer mechanism 50 performs the transfer, the containers only need to be transported and supplied from upstream, and there is no need to place a container supply device or container stock near the articulated robot 30. This not only saves space, but also increases the degree of freedom in the placement positions of the storage containers 20 and the articulated robot 30. Furthermore, because the containers from which the ingredients have been released are transferred again to the conveying surface of the same belt conveyor 2, there is no need to prepare multiple belt conveyors, such as a first belt conveyor that transports containers before plating and a second belt conveyor that transports containers after plating.

[0062] [Configuration of Base 60] Next, the configuration of the base 60 will be described in detail. 10 to 12 are diagrams showing the configuration of the base 60. Specifically, FIG. 10 is a perspective view of the configuration of the base 60 seen from a direction adjacent to the belt conveyor 2. FIG. 11 is a plan view of the configuration of the base 60 seen from the downstream direction of the belt conveyor 2. FIG. 12 is a perspective view of the configuration of the base 60 seen from a direction opposite to the direction adjacent to the belt conveyor 2. In other words, FIG. 10 is equivalent to a front view, FIG. 11 is equivalent to a side view, and FIG. 12 is equivalent to a rear view.

[0063] 10, the base 60 includes a main body 61, legs 62, and a support plate 63. The main body 61 includes main body-side casters 611 and stoppers 612. The legs 62 include leg-side casters 621. 10 also illustrates the container 20, the articulated robot 30, the detection unit 40, and the transfer mechanism 50. Although the figure shows two of each of the articulated robots 30 (i.e., two sets), the number of robots is not limited to this, and only one set or three or more sets may be arranged. 10 also illustrates a belt conveyor 2. The belt conveyor 2 includes legs 2a and connecting members 2b. To clarify the configuration of the base 60, the belt conveyor 2 is illustrated in a transparent state by a broken line.

[0064] The base 60 functions as a pedestal that supports the container 20, the articulated robot 30, the detection unit 40, and the transfer mechanism 50. The articulated robot 30 and other components have a combined weight of several hundred kg (for example, more than 600 kg), but the base 60 has a structure that is rigid enough to support them even when they are placed on the top surface.

[0065] The main body 61 has the articulated robot 30 and other components arranged on its top surface, and is provided with a plurality of main body casters 611 on its bottom surface. The base 60 supports the articulated robot 30 and the like by contacting the main body casters 611 with the ground. Furthermore, the main body casters 611 allow the base 60 to be moved by human power with the articulated robot 30 and the like placed on it. Note that the main body casters 611 only need to have a load capacity that can support the weight of the base 60 on which the articulated robot 30 and the like are placed, and general-purpose casters can be used.

[0066] The main body 61 also has a plurality of stoppers 612 on its bottom surface. After the base 60 has been moved to a predetermined position, the stoppers 612 are fixed in contact with the ground, thereby installing the base 60 in the predetermined position. In this embodiment, the predetermined position is a position adjacent to the conveying surface of the belt conveyor 2. The stopper 612 may be realized by a metal member fixed in contact with the ground, but is preferably realized by a caster with a stopper function, because a caster with a stopper function can prevent damage to the floor material when the base 60 is moved.

[0067] There is no particular limitation on the number of main body casters 611 and stoppers 612, but as an example, it is assumed here that four of each are attached to the bottom surface of main body 61.

[0068] The legs 62 extend toward a position spaced apart from the main body 61 and come into contact with the ground to support the main body 61. For example, as shown in the figure, the legs 62 support the main body 61 by coming into contact with the ground in the space below the conveying surface of the belt conveyor 2. This makes it possible to effectively utilize the space vertically below the conveying surface, and to position the articulated robot 30 and the base 60 closer to the belt conveyor 2.

[0069] The tip of the leg 62 is provided with a leg-side caster 621, which comes into contact with the ground to provide support. In this way, the main body-side caster 611 and the leg-side caster 621 each provide support, so that shaking of the base 60 supporting the articulated robot 30 due to vibrations associated with the processing operation of the articulated robot 30 or contact with the worker can be suppressed, and the articulated robot 30 can be stably supported.

[0070] The leg-side caster 621 may be a caster with a stopper function, or may be a caster without a stopper function. A caster with a stopper function can suppress horizontal movement. However, if a worker comes into contact with the caster with excessive force, the caster with the stopper function may become the center of rotation (i.e., the fulcrum of the tipping moment), causing the base 60 or the articulated robot 30 to tip over. Therefore, casters without stopper functions are used. Even in this case, normal vibrations and the like can be suppressed. Furthermore, if a worker comes into contact with the casters with excessive force, the casters without stopper functions will become the center of rotation, and the base 60 and the articulated robot 30 will not tip over. In other words, by using casters without stopper functions as the leg-side casters 621, tipping can be more reliably prevented.

[0071] The belt conveyor 2 is supported by multiple legs 2a. The legs 2a are equipped with connecting members 2b, which increase rigidity and enable the distance between the legs 2a to be maintained constant. The leg portions 62 are configured in a shape that does not interfere with the connecting members 2b when installed in a position adjacent to the conveying surface of the belt conveyor 2. This allows the articulated robot 30 and the base 60 to be positioned closer to the belt conveyor 2.

[0072] The support plate 63 prevents the articulated robot 30 and the base 60 from tipping over in the direction opposite to the leg 62. Since the entire support plate 63 cannot be seen in Figure 10, details of the support plate 63 will be described in Figures 11 and 12.

[0073] As shown in Fig. 11, the base 60 is placed at a position adjacent to the conveying surface of the belt conveyor 2. In this case, the articulated robot 30 is placed not in the center of the base 60 but at a position closer to the conveying surface. This causes the articulated robot 30 to protrude to a position vertically above the conveying surface (i.e., a position where it overhangs the conveying surface). This position vertically above the conveying surface is normally a space where nothing exists, so by placing the articulated robot 30 in this way, this space can be used effectively.

[0074] However, with this arrangement, the center of gravity is not in the center of the base 60 as shown in the figure, but is located closer to the conveyance surface. Here, the resistance force (i.e., the force that resists tipping) to the tipping moment (i.e., the force that rotates and causes tipping) becomes stronger the greater the distance between the fulcrum and the center of gravity. In other words, the greater the distance between the fulcrum and the center of gravity, the more difficult it is to tip. In the case of a general base without legs 62, if a worker collides with the base from the side (the right side on the paper) opposite to the side adjacent to the conveyance surface (the left side on the paper) and a tipping moment acts on the base, the fulcrum becomes the third fulcrum. Because the distance between the center of gravity and the third fulcrum is short, resistance to the tipping moment is low and the base easily tips over.

[0075] In contrast, the base 60 has legs 62. Therefore, if an overturning moment acts under the same circumstances, the fulcrum becomes the first fulcrum. Because the distance between the center of gravity and the first fulcrum is long, the resistance to the overturning moment is high and the base will not easily tip over. In addition, because the distance between the center of gravity and the first fulcrum is long, the base 60 is more stable and can be supported while suppressing shaking as described above.

[0076] Also, consider the case where a tipping moment acts on the base due to, for example, a worker colliding with the side adjacent to the conveying surface (the left side in the drawing). In the case of a general base without legs 62, if this tipping moment acts, the fulcrum will be the fourth fulcrum. Because the distance between the center of gravity and the fourth fulcrum is longer than the distance between the center of gravity and the third fulcrum, the resistance to the tipping moment is relatively high and the base will not tip easily. However, the risk of tipping remains. In contrast, the base 60 has a support plate 63. Therefore, if an overturning moment acts under the same circumstances, the fulcrum becomes the second fulcrum. Because the distance between the center of gravity and the second fulcrum is long, the resistance to the overturning moment is high and the unit will not easily tip over.

[0077] As shown in FIG. 10, the leg 62 is shaped to avoid the connecting member 2b in its position relative to the belt conveyor 2. Therefore, the leg 62 does not interfere with the connecting member 2b. Furthermore, the position of the leg-side caster 621 at the tip of the leg 62 is located farther from the main body 61 than the center of the conveyance surface in the conveyance direction. This allows the first fulcrum to be further spaced, thereby more stably supporting the articulated robot 30. However, the side of the belt conveyor 2 not adjacent to the base 60 (the left side of the drawing) is likely to be used as a passageway for workers. Therefore, the position of the leg-side caster 621 at the tip of the leg 62 is set below the extension of the belt conveyor 2 so as not to impede worker movement. For example, the leg 2a of the belt conveyor 2 and the leg-side caster 621 are aligned at approximately the same position.

[0078] Due to this positional relationship with the belt conveyor 2, and by the articulated robot 30 protruding to a position where it overhangs the conveying surface, the articulated robot 30 and the base 60 can be positioned closer to the belt conveyor 2. This makes it easier to perform processing in which the container moves in a direction intersecting the conveying direction of the conveying surface. For example, since the distance over which the transfer mechanism 50 transfers the container is shortened, it is possible to shorten the transfer time and make the transfer mechanism 50 more compact. Furthermore, even if the articulated robot 30 is a processing device that performs processing in which the container moves in a direction intersecting the conveying direction of the conveying surface, it is possible to shorten the processing time and make the articulated robot 30 more compact because the movement distance to the conveying surface is shortened.

[0079] As shown in FIG. 12, the support plate 63 prevents the articulated robot 30 and the base 60 from tipping over in the direction opposite to the leg 62. The function of the support plate 63 is as described above with reference to FIG. 11. The position where the support plate 63 is installed is also used as a passageway for workers. In particular, as shown in the figure, a space is provided on this side where the storage container 20 is placed. Therefore, workers work near the base 60 to replace an empty storage container 20. Work such as transporting the storage container 20 on a dolly is also performed. In order not to impede the work of such an operator, the support plate 63 is formed in a flat plate shape, thereby preventing the base 60 from tipping over without impeding the work of the operator.

[0080] Note that the support plate 63 is not a caster such as the main body side caster 611 or the leg side caster 621, and may hinder movement when the base 60 is moved. Therefore, the support plate 63 may be structured to be detachable from the main body 61. Then, the support plate 63 may be removed when moving the base 60, and may be attached after installation is complete.

[0081] The base 60 described above allows the articulated robot 30 to be positioned adjacent to the transfer surface. The positioned articulated robot 30 can be supported by the main body 61, and the main body 61 can be further supported by the legs 62. In this case, since the main body 61 extends toward a position spaced apart from the main body 61 and is in contact with the ground, the main body 61 and the legs 62 serve as two fulcrums spaced apart from each other, and can support the base 60 and the articulated robot 30 positioned thereon. This prevents the base 60, which supports the articulated robot 30, from shaking due to vibrations caused by the processing operation of the articulated robot 30 or contact with a worker, and allows the articulated robot 30 to be stably supported. This also prevents contact between the base 60 or the articulated robot 30 and the belt conveyor 2, eliminating problems that have occurred in the prior art, such as failure of processing by the articulated robot 30, the object being placed in an unintended position on the conveying surface, or the object being released dropping onto the conveying surface. It also prevents the articulated robot 30 and base 60 from tipping over. That is, according to the processing system 1, when the articulated robot 30 is placed in a position adjacent to the conveying surface of the belt conveyor 2, the articulated robot 30 can be more appropriately supported.

[0082] [Overall operation] Next, the overall operation of the processing system 1 will be described. 13 is a flowchart showing the flow of the ingredient plating process executed by the processing system 1. The ingredient plating process is started, for example, when an operator performs an operation to start the ingredient plating process.

[0083] When the ingredient placement process is started, in step S11, the articulated robot control unit 154 reads operation data (such as data on the movement pattern and data on the insertion amount of the hand 31) from the parameter memory unit 171 to perform a series of operations in the ingredient placement process, thereby preparing to grasp the ingredients.

[0084] In step S12, the articulated robot control unit 154 transfers the hand 31 to the accommodation space of the accommodation container 20 in accordance with the data of the operation pattern.

[0085] In step S13, the ingredient state determination unit 152 recognizes the state of the ingredients in the storage space of the storage container 20 by reading from the history DB 172 an ingredient state map that indicates the state of the ingredients in the storage space of the storage container 20. Thereafter, the ingredient state determination unit 152 continues to recognize the state of the ingredients based on the data of the reaction force from the ingredients measured by the force sensor 30B, which is acquired by the sensor information acquisition unit 151.

[0086] In step S14, the articulated robot control unit 154 determines the depth to which the gripping member 31a should be inserted into the ingredient based on the movement pattern data read in step S11 and the state of the ingredient in the storage space of the storage container 20 recognized in step S13. In step S15, the articulated robot control unit 154 inserts the gripping member 31a into the ingredient to the determined insertion depth. In this case, for example, the articulated robot control unit 154 can calculate the insertion depth from the control parameters of the articulated robot 30 (such as the rotation angle of the joints), or can calculate the insertion depth from the elapsed time since the surface of the ingredient was detected in step S12 and insertion began. In step S16, the articulated robot control unit 154 closes the gripping members 31a to grip the ingredient.

[0087] In step S17, the ingredient amount determination unit 153 measures the weight (physical quantity) of the ingredient being held and determines whether a specified amount of ingredient is being held. Holding a specified amount of ingredient means, for example, that the weight of the held ingredient is within a specified error range (within ±15%, etc.) from the target weight. However, in consideration of cases where the ingredient sticks to the holding member 31a and cannot be released, the error when the held weight is more than the specified amount may be set larger than the error when it is less than the specified amount.

[0088] If the specified amount of ingredients is grasped, step S17 is judged as Yes, and the process proceeds to step S18. In this case, if necessary, an operation to remove the attached ingredients may be performed before proceeding to step S18. On the other hand, if the specified amount of ingredients is not grasped, step S17 is judged as No, and the process is performed again from step S14. In this case, if the grasped ingredients exceed the specified amount, the insertion depth is re-determined to be shallower in step S14 that is performed again. On the other hand, if the grasped ingredients are less than the specified amount, the insertion depth is re-determined to be deeper in step S14 that is performed again.

[0089] In the process of repeating steps S14 to S17, even if the gripping member 31a is inserted deeper into the ingredient than previously, if it is not possible to grip the specified amount of ingredient (for example, if the depth of the ingredient at the intended gripping position is shallower than the insertion depth required to obtain the specified amount), it is also possible to control the amount of ingredient gripped in multiple attempts to be the specified amount by gripping the ingredient from multiple points on the ingredient's surface. In this case, for example, the total depth to which the gripping member 31a is inserted at multiple points on the ingredient's surface (total insertion amount) can be controlled to be the same as the depth to which the gripping member 31a would be inserted into the ingredient if the specified amount of ingredient were to be gripped in one attempt. Also, for example, when gripping a second or subsequent point, it is possible to temporarily release the gripped ingredient at the next intended gripping position, and then insert the gripping member 31a into the ingredient to the depth that would be inserted if the specified amount of ingredient were to be gripped in one attempt against the surface of the ingredient where the released ingredient is located, and then grip the specified amount of ingredient again in one attempt.

[0090] In step S18, the transfer mechanism control unit 155 determines whether or not a container has been detected at the transfer position P1 based on the detection results of the container detection sensors 41, 42. If a container has been detected, the determination in step S18 is Yes, and the process proceeds to step S19. On the other hand, if a container has not been detected, the determination in step S18 is No, and the process repeats the determination in step S18.

[0091] In step S19, the transfer mechanism control unit 155 determines whether or not ingredients are already placed in the container based on the detection result of the ingredient detection sensor 44. Specifically, the transfer mechanism control unit 155 sets a threshold value for the height of the ingredients from the conveyance surface, assuming that ingredients are already placed in the container. Then, based on the detection result of the ingredient detection sensor 44, if a height exceeding this threshold value continues to be detected for a certain period of time, the transfer mechanism control unit 155 determines that ingredients are already placed in the container. Even if a certain height portion of an empty container (e.g., the periphery of the container) exceeds this threshold, it will only be for a short time, less than the specified time. Therefore, it is possible to prevent the empty container from being mistakenly determined to already contain ingredients. In this case, the length of this specified time can be appropriately set within a range of time that is shorter than the time from when the container detection sensors 41, 42 detect the container to when the container is transported and passes the transfer position P1.

[0092] If ingredients have already been placed in the container, the determination in step S19 is Yes, and the process returns to step S18, where the determination in step S18 is performed again. If the determination in step S19 is Yes in this way, the container with ingredients placed in it passes between the first transfer member 531 and the second transfer member 532 of the transfer mechanism 50, and is conveyed directly downstream on the belt conveyor 2. On the other hand, if ingredients have not been placed in the container, the determination in step S19 is No, and the process proceeds to step S20. The reason for making this determination is that, as mentioned above, when multiple articulated robots 30 are arranged on one belt conveyor 2 and these multiple articulated robots 30 are working in cooperation with each other, there is a possibility that a container that has already been filled with ingredients by an upstream articulated robot 30 may be transported.

[0093] In step S20, the transfer mechanism control section 155 drives the transfer mechanism 50 to transfer the container from the transfer position P1 to the release position P2.

[0094] In step S21, the articulated robot control unit 154 executes release onto the container at the release position P2.

[0095] In step S22, the transfer mechanism control unit 155 determines whether the timing is right for transferring the container, which has been released and filled with ingredients, to transfer position P1. The reason for this determination is that if the container were transferred to transfer position P1 simply on the condition that the release by the articulated robot 30 has been completed, there is a possibility that the container would collide with another container (another empty container or a container in which ingredients have already been filled by another articulated robot 30) that has been transferred to transfer position P1. Therefore, based on the detection results of the container detection sensors 41 and 42, the transfer mechanism control unit 155 determines that the timing is right for transferring the container to transfer position P1, provided that it has been confirmed that no other container has been transferred to transfer position P1 or that the container is not about to be transferred to transfer position P1. This makes it possible to prevent collisions between containers.

[0096] If it is not determined that the timing is right to transfer the container to the transfer position P1, the determination in step S22 is No, and the process repeats the determination in step S22. On the other hand, if it is determined that the timing is right to transfer the container to the transfer position P1, the determination in step S22 is Yes, and the process proceeds to step S23.

[0097] In step S23, the transfer mechanism control unit 155 drives the transfer mechanism 50 to transfer the container from the release position P2 to the transfer position P1. When the container (here, the container with the ingredients already filled in) is transferred to the transfer position P1, it is placed again on the conveying surface of the belt conveyor 2 and is transported downstream on the belt conveyor 2.

[0098] In step S24, the recording control unit 156 stores the control parameters acquired in the ingredient plating process and the measurement data (history data) of the weight of the plated ingredients in the history DB 172. The recording control unit 156 also updates an ingredient state map showing the state of the ingredients in the storage space of the storage container 20, and also stores this updated ingredient state map in the history DB 172. In this case, if the weight of the plated ingredients is either too much or too little, an alert may be output to the worker.

[0099] In step S25, the articulated robot control unit 154 determines whether or not a condition for ending the ingredient plating process has been met. In this case, the condition for ending the ingredient plating process can be defined as when ingredients have been plated into the planned number of side dish containers, or when an operator has performed an operation to end the ingredient plating process, etc. If the conditions for terminating the ingredient plating process are not met, step S25 is judged as No and the process is repeated from step S12. On the other hand, if the conditions for terminating the ingredient plating process are met, step S25 is judged as Yes and the ingredient plating process is terminated.

[0100] As described above, the processing system 1 according to this embodiment continues to support the articulated robot 30 and the like by the base 60 in parallel with the above-described processes. Therefore, it is possible to prevent the base 60 supporting the articulated robot 30 from shaking due to vibrations caused by the processing operation of the articulated robot 30 or contact with the worker, and it is possible to stably support the articulated robot 30. That is, according to the processing system 1, when the articulated robot 30 is placed in a position adjacent to the conveying surface of the belt conveyor 2, the articulated robot 30 can be more appropriately supported.

[0101] [Variation 1] In the above-described embodiment, the leg portions 62 are welded to or integrally formed with the main body portion 61 and are used without being removed. However, this is not limiting, and the leg portions 62 may be formed separately from the main body portion 61 and be detachable from the main body portion 61.

[0102] In this case, for example, the legs 62 formed as separate bodies may be attached by fastening them to the left and right side wall surfaces of the main body 61 with fastening parts such as bolts and nuts. Note that the left and right side wall surfaces of the main body 61 in this case refer to the left and right side wall surfaces when the surface of the base 60 adjacent to the conveying surface of the belt conveyor 2 is considered to be the front. Note that the fixing method is not limited to fastening with fastening parts, and for example, holes of the same diameter may be drilled in the attachment parts of the side wall surfaces of the main body 61 and the attachment parts of the legs 62, and they may be fixed by inserting rod-shaped pin members into the holes.

[0103] Because the legs 62 protrude from the main body 61, when the legs 62 are attached, it can be difficult to handle the base 60 when it is moved. However, by removing the legs 62 when moving it as in this modified example, it becomes easier to handle. Furthermore, since the size is reduced, even if there is a door or elevator in the movement path, it can be carried in even if the door width is narrow. Furthermore, by attaching the legs 62 when it is installed adjacent to the conveying surface of the belt conveyor 2, the same effect as the above-described embodiment can be achieved. Furthermore, depending on the positional relationship with the connecting member 2b, it is also possible to attach the legs 62 so that they extend from a high position on the main body 61 and straddle the connecting member 2b.

[0104] [Variation 2] In the above-described embodiment, the detector 40 has a reflector disposed in the reflector mounting portion 43, thereby forming optical paths L1 and L2 between the detector 40 and the container detection sensors 41 and 42. However, the reflector may be disposed in another position. For example, the reflector may be disposed in a shielding structure for shielding the components of the processing system 1, such as the articulated robot 30 and the detector 40, from the outside.

[0105] 14 is a schematic diagram showing a shielding structure 70 that shields each component of the processing system 1. The shielding structure 70 is composed of plate-like members that surround the area in which each component is installed in order to shield each component of the processing system 1 from the outside. In this modified example, the belt conveyor 2 is also shielded by the shielding structure 70. By shielding with the shielding structure 70 in this manner, it is possible to prevent ingredients scattered during operation of the processing system 1 from soiling the outside and prevent foreign matter from entering the ingredients from the outside.

[0106] In this case, the plate-like members constituting the shielding structure 70 are preferably made of a transparent material such as glass or acrylic resin, so that the operating status of the processing system 1 can be visually observed from the outside. Also, an openable / closable door may be installed on a part of the side wall constituting the shielding structure 70. In this way, when replacing the storage space of the storage vessel 20 or performing maintenance on the processing system 1, an operator can open the door of the shielding structure 70 to approach each component and perform these various tasks.

[0107] In this modified example, as shown in the figure, a wall reflector 45 is attached to the inner wall of such a shielding structure 70. Possible methods for attaching the wall reflector 45 include, for example, using double-sided tape or adhesive. By attaching the wall reflector 45 in a position where it can appropriately reflect the light emitted by the container detection sensors 41, 42, optical paths L1 and L2 can be formed between the wall reflector 45 and the container detection sensors 41, 42. This allows containers on the conveying surface to be appropriately detected, similar to the above-described embodiment. Furthermore, the detection unit 40 only requires that the ingredient detection sensor 44 be disposed vertically above the conveyance surface, which allows for a simpler shape for the detection unit 40. Furthermore, when attached using double-sided tape or the like, the wall reflector 45 can be reattached, making it easy to make subtle position adjustments to a position where it can reflect light appropriately.

[0108] [Variation 3] In the above-described embodiment, the articulated robot 30 arranges ingredients in the vicinity of the container, which allows for more precise movements and more appropriate arrangement than when the robot arm 32 is extended to arrange ingredients at a distance. Therefore, the articulated robot 30 may utilize this more precise movement to further shape the released ingredients after releasing them into the container, or to release all ingredients that have adhered to the gripping members 31a after release from the container without leaving any ingredients behind.

[0109] In this case, the action of shaping the released ingredients may involve, for example, re-grasping the released ingredients from the container and then releasing them back into the container to shape them into a more stable shape. Another possible action is, for example, shaping the ingredients into a mountain-like shape by lifting the gripping members 31a while closing them from the released state into the container. Another possible shaping action is, for example, poking the released ingredients with the tip of the gripping members 31a to firmly bond the ingredients together and prevent the released ingredients from crumbling.

[0110] As an operation for releasing the ingredients adhering to the gripping member 31a after release without leaving them in the container, for example, the gripping member 31a may be vibrated, causing the ingredients adhering to the gripping member 31a to fall. Alternatively, the gripping member 31a may be lowered from vertically above the container and suddenly stopped, causing the ingredients adhering to the gripping member 31a to fall by inertial force.

[0111] It is difficult to perform such an operation when serving food on the conveyor belt, as in the case of general technology. However, in the above-described embodiment, the articulated robot 30 performs an operation on a container that is stopped near the container, and therefore, it is possible to perform even more complex operations such as those exemplified above.

[0112] [Variation 4] In the above-described embodiment, it is assumed that a pair of gripping members 31a (i.e., two gripping members 31a) is used, but this is not limited to this. For example, three or more gripping members 31a may be used. A configuration may also be used in which the gripping operation is performed by bringing the openings of the gripping members 31a closer to each other, and the release operation is performed by moving the openings of the gripping members 31a away from each other. In this case, for example, if three gripping members 31a are used, when viewed vertically from above, the tips of the three gripping members 31a, each with a central angle of 120°, are moved closer to or farther away from the center. In this way, the above-mentioned operations can be performed.

[0113] [Configuration example] As described above, the processing system 1 in this embodiment includes the articulated robot 30 and the base 60. The articulated robot 30 is disposed on a base 60 at a position adjacent to the conveying surface of the belt conveyor 2. The base 60 includes a main body 61 and legs 62 . The main body 61 has the articulated robot 30 disposed thereon and supports the articulated robot 30 by being in contact with the ground. The legs 62 extend toward a position spaced apart from the main body 61 and support the main body 61 by coming into contact with the ground. This allows the articulated robot 30 to be placed at a position adjacent to the transfer surface. The placed articulated robot 30 can be supported by the main body 61, and the main body 61 can be further supported by the legs 62. In this case, since the main body 61 extends toward a position spaced apart from the main body 61 and is in contact with the ground, the main body 61 and the legs 62 serve as two fulcrums spaced apart from each other, and can support the base 60 and the articulated robot 30 placed thereon. This prevents the base 60 supporting the articulated robot 30 from shaking due to vibrations caused by the processing operation of the articulated robot 30 or contact with the worker, and allows the articulated robot 30 to be stably supported. This also prevents contact between the base 60 or the articulated robot 30 and the belt conveyor 2, eliminating problems that have occurred in the prior art, such as failure of processing by the articulated robot 30, the object being placed in an unintended position on the conveying surface, or the object being released dropping onto the conveying surface. It also prevents the articulated robot 30 and base 60 from tipping over. That is, according to the processing system 1, when the articulated robot 30 is placed in a position adjacent to the conveying surface of the belt conveyor 2, the articulated robot 30 can be more appropriately supported.

[0114] The tips of the legs 62 contact the ground in a space vertically below the conveying surface, thereby supporting the main body 61 . This allows the space below the conveying surface to be used effectively, and also allows the articulated robot 30 and the base 60 to be disposed closer to the belt conveyor 2.

[0115] The position where the leg portion 62 comes into contact with the ground is at a position that is farther away from the main body portion 61 than at least the center position in the conveying direction on the conveying surface. This allows the two supporting points to be spaced further apart, making it possible to support the articulated robot 30 more stably.

[0116] The articulated robot 30 performs a process in which at least a portion of the articulated robot 30 moves in a direction intersecting the conveying direction of the conveying surface. This makes it possible to stably support even an articulated robot 30 whose movement in a direction intersecting the transport direction acts on the base 60. Furthermore, as described above, the processing system 1 can arrange the articulated robot 30 and the base 60 closer to the belt conveyor 2, which shortens the movement range of the robot arm 32 and the transfer mechanism 50 that perform such processing, and also makes it possible to miniaturize them.

[0117] The leg portion 62 is formed as a separate body from the main body portion 61 and is detachable from the main body portion 61 . As a result, the base 60, the articulated robot 30, and the belt conveyor 2 can be placed in their predetermined positions before the legs 62 are attached. Therefore, the legs 62 do not hinder the work of placing these in their predetermined positions. Furthermore, even if there are members for supporting the belt conveyor 2 in the space below the conveying surface, the legs 62 can be attached without avoiding these. can.

[0118] The legs 62 are formed of casters that are rotatable around a vertical axis while in contact with the ground. As a result, even if a worker comes into contact with the base 60 with excessive force, the tip of the leg 62 moves horizontally, and the tip of the leg 62 becomes the center of rotation (i.e., the fulcrum of the tipping moment), preventing the base 60 and the articulated robot 30 from tipping over. In other words, tipping over can be prevented more reliably.

[0119] When the articulated robot 30 is placed on the base 60 , the center of gravity of the articulated robot 30 is closer to the transfer surface than the center of the base 60 . This makes it possible to appropriately prevent tipping even when the device is positioned so that it is more likely to tip toward the conveying surface.

[0120] <Additional Notes> However, a conventional problem is that it is difficult to place a reflector in an appropriate position to properly detect an object (e.g., a container) on the conveying surface. In particular, since the height (here, the height relative to the conveying surface) of the object (here, the container) is generally not very high, it is desirable to place the sensor and reflector in an appropriate position within a range of several centimeters to several millimeters.

[0121] Therefore, a problem to be solved is to provide an arrangement configuration that can appropriately detect an object on the conveying surface. For example, this problem can be solved by the following configuration. That is, it is possible to provide an arrangement configuration that can appropriately detect an object on the conveying surface.

[0122] [Appendix 1] A configuration of a reflector disposed opposite the sensor, a support portion installed at a position where it is not affected by the conveyance by the conveyance surface; the reflector that is supported by the support portion and that reflects light emitted by the sensor; the sensor that projects light onto the reflector and receives light reflected by the reflector; A reflector arrangement comprising:

[0123] [Appendix 2] The support portion is a first member extending from a structure adjacent to the conveying surface and spanning the conveying surface; a second member located at a tip of the first member and supporting the reflector; 2. The reflector arrangement configuration according to claim 1, comprising:

[0124] [Appendix 3] the second member is disposed at an outer end of a conveying surface of a conveying device to support the reflecting plate. 3. The reflector arrangement configuration according to claim 2.

[0125] [Appendix 4] The first member is formed to be expandable and contractible in the width direction of the conveying surface. 4. The reflector arrangement configuration according to any one of claims 1 to 3.

[0126] [Appendix 5] The support portion is a plate-like member that surrounds a region including the conveying surface. 2. The reflector arrangement configuration according to claim 1.

[0127] The above-described embodiment and modifications are merely examples of embodiments of the present invention, and various embodiments that realize the functions of the present invention are included in the scope of the present invention. For example, in the above-described embodiment and modified examples, the present invention has been described as being applied to a processing system for serving prepared foods, but the present invention can also be applied to systems for gripping various objects. For example, the present invention can be applied to systems for gripping highly viscous or adhesive materials such as kneaded mortar, concrete, plaster, and clay. The present invention is suitable for gripping objects with a viscosity of at least medium (5000 mPa·s) at working temperature or room temperature. Furthermore, the examples described in the above-described embodiments can be combined as appropriate to implement the present invention. The above-described series of processes can be executed by hardware or software. In other words, the functional configuration in Fig. 3 is merely an example and is not particularly limited. That is, it is sufficient for the processing system 1 to be provided with a function that can execute the above-described series of processes as a whole, and the type of functional block used to realize this function is not particularly limited to the example in Fig. 3. Furthermore, one functional block may be configured as a single piece of hardware, a single piece of software, or a combination thereof.

[0128] When a series of processes is executed by software, the programs that make up the software are installed into a computer or the like from a network or a recording medium. The computer may be a computer built into dedicated hardware, or may be a computer capable of executing various functions by installing various programs, such as a general-purpose personal computer.

[0129] The storage medium for storing the program may be a removable medium distributed separately from the device itself, or may be a storage medium pre-installed in the device itself. Removable media may be, for example, a magnetic disk, an optical disk, a magneto-optical disk, or a flash memory. Optical disks may be, for example, CD-ROMs (Compact Disk-Read Only Memory), DVDs (Digital Versatile Disks), or Blu-ray Discs (registered trademarks). Magneto-optical disks may be, for example, MDs (Mini-Disks). Flash memories may be, for example, USB (Universal Serial Bus) memories or SD cards. Storage media pre-installed in the device itself may be, for example, a ROM or hard disk on which the program is stored.

[0130] In this specification, the steps describing the program to be recorded on the recording medium include not only processes that are performed chronologically in accordance with the order, but also processes that are not necessarily performed chronologically but are performed in parallel or individually. In addition, in this specification, the term "system" refers to an overall device that is made up of a plurality of devices, a plurality of means, etc.

[0131] The above-described embodiment shows an example of application of the present invention and does not limit the technical scope of the present invention. In other words, the present invention can be modified in various ways, such as by omission or substitution, without departing from the spirit of the present invention, and various embodiments other than the above-described embodiment can be adopted. The various embodiments and modifications that the present invention can adopt are included in the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0132] 1 Processing system, 2 Belt conveyor, 2a Leg, 2b Connecting member, 10 Control device, 20 Storage container, 30 Articulated robot, 30A Weight sensor, 30B Force sensor, 31 Hand, 31a Grasping member, 32 Robot arm, 40 Detection unit, 41, 42 Container detection sensor, 43 Reflector arrangement unit, 44 Ingredient detection sensor, 45 Wall reflector, 50 Transfer mechanism, 51 Actuator, 52 Slide member, 53 Connecting unit, 531 First transfer member, 532 Second transfer member, 54 Container mounting member, 60 Base, 61 Main body, 611 Main body side caster, 612 Stopper, 62 Leg, 621 Leg side caster, 63 Support plate, 70 Shielding structure, 151 Sensor information acquisition unit, 152 Ingredient state determination unit, 153 Ingredient amount determination unit, 154 articulated robot control unit, 155 transfer mechanism control unit, 156 recording control unit, 171 parameter storage unit, 172 history database (history DB), 711 CPU, 712 ROM, 713 RAM, 714 bus, 715 input unit, 716 output unit, 717 storage unit, 718 communication unit, 719 drive, 731 removable media, L1, L2, L3 optical path

Claims

1. a support portion installed at a position where it is not affected by the conveyance of the conveying surface of the conveying device; a reflector that is supported by the support portion and disposed at a position facing the sensor, and that reflects light projected by the sensor; the sensor that projects light onto the reflector and receives the light reflected by the reflector to detect an object being conveyed on the conveying surface; Equipped with Furthermore, the support portion a first member extending from a structure adjacent to the conveying surface in a direction intersecting the conveying surface and spanning the conveying surface; a second member provided at the extended tip of the first member and supporting the reflector; Equipped with A reflector arrangement structure characterized by the above.

2. the second member is placed on an end portion of the conveying device that is located outside the conveying surface, and is supported by the end portion; 2. The reflector arrangement structure according to claim 1.

3. a sensor different from the sensor, a sensor that is disposed on a structural portion of the first member that straddles the conveying surface, and that detects a state of the object by projecting light from vertically above the conveying surface toward vertically below the conveying surface; The reflector arrangement structure according to claim 1 , further comprising:

4. The first member is formed to be expandable and contractible in accordance with the width direction of the conveying surface.

4. The reflector arrangement structure according to claim 1, wherein the reflector is a light source.

5. a support portion that is a plate-like member that is installed at a position that is not affected by the conveyance by the conveyance surface of the conveyance device and that surrounds a periphery of an area that includes the conveyance surface; a reflector that is supported by the support portion and disposed at a position facing the sensor, and that reflects light projected by the sensor; the sensor that projects light onto the reflector and receives the light reflected by the reflector to detect an object being conveyed on the conveying surface; A reflector arrangement structure comprising:

6. a support portion installed at a position where it is not affected by the conveyance of the conveying surface of the conveying device; a reflector that is supported by the support portion and disposed at a position facing the sensor, and that reflects light projected by the sensor; the sensor that projects light onto the reflector and receives the light reflected by the reflector to detect an object being conveyed on the conveying surface; Equipped with a processing device that processes the object or a structure that supports the processing device and the support unit are fixed, and the transport device and the support unit are not fixed. A reflector arrangement structure characterized by the above.

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