Article transfer device and attachment / detachment device for hand device equipped with the article transfer device

Abstract

To provide an article transfer device capable of transferring an article to a proper position in a stable attitude.SOLUTION: The present invention relates to an article transfer device which transfers an article by through forward / backward movements of a support member to / from the article while a belt-like member capable of transferring the article is folded back at a tip part of the support member from a top surface side of the support member and wound around a reverse surface side of the support member and normal / reverse movements of the belt-like member to and from the top surface of the support member, and the article transfer device is configured to move the belt-like member relative to the top surface of the support member by attaching both end parts of the belt-like member to a rotary member arranged on a base part side of the support member and also rotating the rotary member to feed one end side of the belt-like member and simultaneously taking up the other end side. Further, the one end side and the other end side of the belt-like member are wound around the rotary member in opposite directions, and the one end side of the belt-like member is fed out through the rotation of the rotary member to substantially the same length with the winding length of the other end side.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an article transfer device for transferring articles such as food, and an attachment / detachment device for attaching and detaching a hand device equipped with the article transfer device. [Background technology]

[0002] For example, in a food processing factory, a block of food such as raw meat is cut at a predetermined interval from its tip using a cutting device, and multiple food items (thin pieces or other items) formed to a predetermined thickness are then manually scooped up from the conveyor and placed on food trays. The food items arranged on the trays to form groups are packaged together with the trays, and labels indicating the type of food, measured total weight, price, etc. are attached, and the items are shipped as merchandise.

[0003] In recent years, attempts have been made to automate the formation of such food groups, and Patent Document 1 discloses a technology in which food items on a conveyor are picked up and moved by a suction head attached to a robot arm, and this process is repeated to form food groups. Also disclosed is a technique for grasping and collecting the food groups with a pair of grasping members provided on a hand device, and then arranging them on a tray. Such a hand device is fixed to the wrist of the robot arm by fastening means such as bolts. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6626411 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when using the technology described in Patent Document 1 to adsorb or grasp and collect an object such as a food containing oil or fat, such as raw meat, or a sticky food, the object will adhere to the adsorption head or the grasping member. This makes it difficult for the object to fall off even when the suction or gripping is released, and there is a problem in that it is difficult to place the collected object in a stable position in an appropriate location. Furthermore, due to hygiene concerns and the like, when removing such a hand device from the wrist section for cleaning, a tool is required to release the fastening means, making it difficult to attach or detach the hand device, resulting in a problem of reduced work efficiency.

[0006] The present invention aims to solve the above-mentioned problems and provide an article transfer device that can place collected food in an appropriate position in a stable posture, and an attachment / detachment device that can easily attach and detach a hand device equipped with this article transfer device. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems, the present invention provides the following technical solutions. In other words, the invention described in claim 1 is an article transfer device configured such that a belt-shaped member capable of transferring articles is folded from the upper surface of a support member at the tip of the support member and wound around the lower surface of the support member, and articles are transferred by moving the support member back and forth relative to the article and moving the belt-shaped member in forward and reverse directions relative to the upper surface of the support member, and both ends of the belt-shaped member are attached to a single rotating member or multiple rotating members that rotate coaxially arranged on the base side of the support member, and the rotating member is rotated to unwind one end of the belt-shaped member while winding up the other end, thereby moving the belt-shaped member relative to the upper surface of the support member.

[0008] The invention described in claim 2 is an article transfer device described in claim 1, in which the winding directions of one end and the other end of the belt-shaped member around the rotating member are set in opposite directions, and the length of the belt-shaped member that is unwound at one end and the length of the belt-shaped member that is wound up at the other end due to rotation of the rotating member are set to be approximately the same length.

[0009] The invention described in claim 3 is an article transfer device described in claim 1 or claim 2, in which narrow portions are formed on both ends of the belt-shaped member, and each of these narrow portions is configured to wrap around different parts of the rotating member in the direction of the rotation axis.

[0010] The invention described in claim 4 is an article transfer device described in claim 1 or claim 2, in which a cutout portion and a narrow portion are formed adjacent to each other in the width direction of the strip-shaped member on both ends of the strip-shaped member, the width of the cutout portion formed on one end of the strip-shaped member is set larger than the width of the narrow portion formed on the other end of the strip-shaped member, and the narrow portion on one end of the strip-shaped member and the narrow portion on the other end of the strip-shaped member are each configured to wrap around adjacent portions of the rotating member in the direction of the rotation axis.

[0011] The invention described in claim 5 is an article transfer device described in any one of claims 1 to 4, in which one or both of the two end sides of the belt-shaped member are configured to be freely attached and detached to the outer periphery of the rotating member.

[0012] The invention described in claim 6 is an article transfer device described in any one of claims 1 to 5, configured so that while the support member is advanced toward the underside of the article, the belt-shaped member is moved in a forward direction relative to the upper surface of the support member to scoop up the article, and while the belt-shaped member is moved in a reverse direction relative to the upper surface of the support member, the support member is retracted from the underside of the article to lower the article.

[0013] The invention described in claim 7 is an attachment / detachment device for a hand device equipped with an article transfer device described in any one of claims 1 to 6, which includes a hand device having the belt-shaped member, a support member, and a rotating member, and an attachment / detachment device that allows the hand device to be attached and detached to the wrist of a robot arm, and which includes a holding member fixed to the wrist of the robot arm, and a held member fixed to the hand device, and the holding member includes a slide support portion that supports the held member so that it can slide laterally in a placed state, an engagement portion that engages with the held member at a predetermined position in the slide direction, and a fixing portion that presses the held member at the position where the engagement portion engages, thereby fixing it so that it cannot slide.

[0014] The invention described in claim 8 is an attachment / detachment device for a hand device equipped with the article transfer device described in claim 7, which is provided with a first operating tool that presses the held member by rotating the fixed part, and a second operating tool that locks the rotation of the first operating tool. [Effects of the Invention]

[0015] According to the article transfer device of the present invention, an article can be transferred to an appropriate position in a stable posture. Furthermore, the hand device mounting and dismounting device equipped with this article transfer device allows the hand device to be easily mounted and dismounted, thereby improving work efficiency. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a side view for explaining a robot arm to which a hand device equipped with an article transfer device according to an embodiment is attached. [Figure 2] 1 is a plan view illustrating a robot arm to which a hand device equipped with an article transfer device according to an embodiment is attached. [Figure 3] FIG. 2 is an explanatory left side view of a hand device equipped with the article transfer device of the first embodiment. [Figure 4] FIG. 2 is an explanatory right side view of a hand device equipped with an article transfer device according to the first embodiment. [Figure 5]FIG. 2 is an explanatory plan view of a hand device equipped with the article transfer device of the first embodiment. [Figure 6] FIG. 2 is an explanatory bottom view of a hand device equipped with the article transfer device of the first embodiment. [Figure 7] FIG. 2 is an explanatory rear view of a hand device equipped with the article transfer device of the first embodiment. [Figure 8] FIG. 2 is a plan view of a first embodiment of a belt-shaped member. [Figure 9] FIG. 10 is a plan view of a second embodiment of the belt-shaped member. [Figure 10] FIG. 1 is a block diagram of a plating system using a hand device equipped with an article transfer device of a first embodiment. [Figure 11] 4A is an explanatory diagram of a state in which plating by a hand device equipped with an article transfer device of the first embodiment starts, and FIG. 4B is an explanatory diagram of a state in which plating is completed. [Figure 12] FIG. 10 is an explanatory left side view of a hand device equipped with an article transfer device according to a second embodiment. [Figure 13] FIG. 10 is an explanatory right side view of a hand device equipped with an article transfer device according to a second embodiment. [Figure 14] FIG. 10 is an explanatory plan view of a hand device equipped with an article transfer device according to a second embodiment. [Figure 15] FIG. 10 is an explanatory bottom view of a hand device equipped with an article transfer device according to a second embodiment. [Figure 16] FIG. 10 is an explanatory rear view of a hand device equipped with an article transfer device according to a second embodiment. [Figure 17] 10A and 10B are diagrams showing the operating state of a part of the second embodiment, where (a) is a front view for explaining the state before both ends of the thin-walled group are folded, and (b) is a front view for explaining the state after both ends of the thin-walled group are folded. [Figure 18] FIG. 10 is a block diagram of a plating system using a hand device equipped with an article transfer device of a second embodiment. [Figure 19] 10A is an explanatory diagram of a state in which dispensing by a hand device equipped with an article transfer device of a second embodiment has started, and FIG. 10B is an explanatory diagram of a state in the middle of dispensing. [Figure 20] FIG. 11 is an explanatory left side view of a hand device equipped with an article transfer device according to a third embodiment. [Figure 21]FIG. 11 is an explanatory plan view of a hand device equipped with an article transfer device according to a third embodiment. [Figure 22] FIG. 11 is a schematic front view for explaining a hand device equipped with an article transfer device according to a third embodiment. [Figure 23] FIG. 11 is a schematic rear view for explaining a hand device equipped with an article transfer device according to a third embodiment. [Figure 24] FIG. 11 is a front view for explaining a part of a hand device equipped with an article transfer device according to a third embodiment. [Figure 25] 10A is a front view for explaining a part of a hand device equipped with an article transfer device according to a third embodiment, and FIG. 10B is an enlarged view of a part of the hand device. [Figure 26] FIG. 11 is an explanatory side view of a part of a hand device equipped with an article transfer device according to a third embodiment. [Figure 27] FIG. 11 is a block diagram of a plating system using a hand device equipped with an article transfer device of a third embodiment. [Figure 28] A plan view, a side view, and a front view showing the initial state at the start of collection of an item (thin-walled), where (a) is an explanatory diagram of the waiting state, (b) is an explanatory diagram of the state at the start of collection, and (c) is an explanatory diagram of the state in the middle of scooping up. [Figure 29] Following Figure 28(c), these are a plan view, a side view, and a front view showing the state up to the completion of collection of an item (thin-walled), where (d) is an explanatory diagram of the state where the scooping is completed, (e) is an explanatory diagram of the state where the item is being held, and (f) is an explanatory diagram of the state where the item has been collected and movement has begun. [Figure 30] Following Figure 29(f), these are a plan view, a side view, and a front view that schematically show the state from when the collected item (thin-walled) is moved until it is placed in the designated position, where (g) is an explanatory diagram of the state when the item has been released from the holding position, (h) is an explanatory diagram of the state when the item has begun to be placed in the designated position, and (i) is an explanatory diagram of the state when the item has been placed in the designated position. [Figure 31] Following Figure 30(i), these are a plan view, a side view, and a front view that schematically show the state in which the scooping part has been retracted from the item after the item (thin-walled) has been placed in a predetermined position, where (j) is an explanatory view of the state after the item has been placed, and (k) is an explanatory view of the state in which the scooping part has been retracted from the item. [Figure 32]1A is an explanatory diagram of the serving area in the embodiment, and FIG. 1B is an explanatory plan view of the state in which an article (thin) is twisted and placed. [Figure 33] 10(a) to 10(c) are explanatory diagrams showing how items (thin-walled) are arranged in a matrix in the serving area. [Figure 34] FIG. [Figure 35] FIG. [Figure 36] FIG. 4 is a rear view showing a part of the attachment / detachment device in cross section. [Figure 37] FIG. [Figure 38] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0017] In the embodiment described in detail below, the target product will be described as a raw thin meat E sliced ​​by a slicer 1 from a chilled block of meat. The thin wall E may also be folded in two after being cut by the slicer 1. The article is not limited to the thin-walled article E, but may be other foods, food dough having flexibility and adhesiveness, or industrial products other than foods.

[0018] (First conveying device and second conveying device) As shown in Figures 1 and 2, the thin piece E cut out from the slicer 1 is placed on the conveying surface 3a of the belt 3 in the first conveying device 2 with its length (width) in the X-axis direction longer than its length in the Y-axis direction. Food plating device 4 is disposed downstream of first conveying device 2 on its left side, but is not limited to this location.

[0019] The first transport device 2 is a belt conveyor in which an endless belt 3 is wound around a group of driven rollers and a driving roller (both not shown). At the terminal end of the first conveying device 2, a second conveying device 5 is disposed, which extends in the left-right direction and is perpendicular to the conveying direction of the first conveying device 2 in a plan view. As will be described later, this second conveying device 5 conveys food trays 6 to a waiting position facing the end of the conveying path of the first conveying device 2, and is a chain conveyor with an endless chain 7 wound around a driven sprocket and a driving sprocket (both not shown). The second transport device 5 may be a belt-type conveyor that transports the trays 6 in a placed state.

[0020] The belt 3 of the first conveying device 2 is driven by a servo motor 8 shown in FIG. The rotation phase of the servo motor 8 is detected by an encoder 9, and this detected value is input to a slicer controller 10.

[0021] (camera) Also, as shown in Figures 1 and 2, a camera 11 is placed at a position upstream and above the collection position T to capture an image of the thin wall E on the conveying surface 3a before it is conveyed to the collection position T (before it is collected).

[0022] (Robot arm) As shown in FIGS. 1 and 2, food plating device 4 is a robot equipped with a robot arm 12. This robot arm 12 can freely rotate as a whole and rotate each part around axes J1 to J6 of a plurality of active joints. As shown in FIG. 10, servo motors 13 to 18 are provided for all of the axes J1 to J6 of the active joints, and these servo motors 13 to 18 are provided with encoders 19 to 23S as rotation position detectors, respectively.

[0023] The robot arm 12 is also composed of a base 25, a rotating 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 table 24 connected to the floor of the processing factory or to the side of the slicer 1, and a swivel base 26 is provided on the base 25 so as to be rotatable about a vertical axis J1. A lower arm 27 is supported on the swivel base 26 so as to be rotatable up and down about a horizontal axis J2, and a base 28a of an upper arm 28 is supported on the upper end of the lower arm 27 so as to be rotatable up and down about a horizontal axis J3.

[0024] Rotating body 28b attached to the tip of base portion 28a is supported so as to be rotatable about axis J4 along the axis of base portion 28a. Note that axis J4 is perpendicular to axis J3. A wrist 29 is supported at the tip of the rotor 28b so as to be rotatable about a horizontal axis J5, which is perpendicular to the axis J4. A hand mounting seat 30 is attached to the tip of the wrist 29 so as to be rotatable about an axis J6 in the vertical direction.

[0025] Servo motors 13 to 18 provided on each of axes J1 to J6 are driven by output from a robot controller 34 of food plating control device 31, which will be described later.

[0026] (Serving area R) As shown in FIG. 2, a serving area R is set on the bottom surface of a tray 6 that has been conveyed by the second conveying device 5 and is kept waiting at a position spaced downstream from the end of the first conveying device 2. The position where the serving area R is set can be set at any suitable position other than on the bottom surface of the tray 6, such as a fixed position around the slicer 1. By placing a plurality of thin articles E in this serving area R, a group of thin articles E (item group) is formed.

[0027] (Direction definition) In the conveying direction of the first conveying device 2, the slicer 1 side is the upstream side, and the opposite side is the downstream side. In the figure, "-Y" indicates the upstream direction and "+Y" indicates the downstream direction. "+X" indicates the right-hand direction when facing downstream from the slicer 1 side, and "-X" indicates the left-hand direction when facing downstream from the slicer 1 side. "-Z" indicates downward direction and "+Z" indicates upward direction. The directions indicated by X, Y, and Z are mutually orthogonal and each serves as a three-dimensional coordinate axis.

[0028] (Definition of rows and columns in the serving area R) In the above-mentioned serving area R, the direction in which the thin parts E are continuously served from one end of the serving area R to the other end is defined as a "row," and the direction perpendicular to this "row" is defined as a "column." As a result, after all the thin walls E have been placed in one row, piling starts at the beginning of the next row, and this is repeated until piling is completed in all rows and all columns within the piling area R. In this embodiment, "rows" are set in the X-axis direction, and "columns" are set in the Y-axis direction, so that multiple "rows" are arranged in parallel at intervals in the Y-axis direction.

[0029] (First embodiment of transfer device and hand device) 3 to 7 show a hand device 33 according to a first embodiment. The left and right side plates 100L, 100R are connected at their intermediate portions in the front-rear direction by round rod-shaped connecting members 103 to form a framework. The outer surfaces of the left and right upright portions 102L, 102R rising from the rear end of the support plate (the "support member" in the claims) 101, which is rectangular in plan view, are fixed in abutting contact with the inner surfaces at the front end of the left and right side plates 100L, 100R. As a result, the front end portion (the "tip portion" in the claims) of the support plate 101 protrudes significantly forward relative to the left and right side plates 100L, 100R. As shown in FIG. 6, three reinforcing plates 101S are fixed to the underside of the support plate 101 to suppress bending and vibration.

[0030] Between the rear ends of the left and right side plates 100L, 100R, both ends of a rotation shaft 104A of a rotation frame (a "rotation member" in claims) 104 are rotatably supported via bearings 104AB, 104AB. The rotary frame 104 is constructed by fixing circular support plates 104B to both ends of a rotary shaft 104A, and by fixing a plurality of rod-shaped members 104C between the left and right support plates 104B, 104B by welding. The rod-shaped members 104C are arranged on an arc centered on the rotation axis 104A, parallel to the rotation axis 104A, and at approximately equal pitches.

[0031] Also, as shown in Figure 7, some of the rod-shaped members 104C are formed into short lengths to serve as locking rod-shaped members 104CL, 104CR, and their bases are fixed to the inner surfaces of the support plates 104B, 104B in a position where they protrude inward from the inner surfaces of the left and right support plates 104B, 104B. A tension roller 105 is rotatably supported by a support shaft 105S at the front end of the tension arm 105A, and the rear end of this tension arm 105A is supported coaxially with the above-mentioned rotation shaft 104A so as to be able to swing up and down. The tension arm 105A is disposed along the inner surface of the right side plate 100R.

[0032] The right end of the support shaft 105S is passed through the tension arm 105A and protrudes outward, and this protruding end is inserted into the vertical notched groove 105C formed in the front part of the right side plate 100R. Then, a female screw member 105D is screwed onto the protruding end of the support shaft 105S, and the tension arm 105A and the right side plate 100R are fastened and fixed together by rotating the female screw member 105D. The female screw member 105D can be rotated in the reverse direction to loosen the fastened state, and the tension arm 105A can be swung to adjust the vertical position of the tension roller 105.

[0033] A transmission case 100R1 is attached to the outer surface of the right side plate 100R, and a servo motor 100R2 is attached to the right side surface of this transmission case 100R1. As shown in FIG. 4, inside the transmission case 100R1, an output gear 100R3 fixed to the output shaft of the servo motor 100R2 is meshed with an input gear 100R4 fixed to the protruding end of the above-mentioned rotary shaft 104A.

[0034] As shown in FIG. 7, the rear portion of the right side plate 100R extends upward and then bends to the left, forming a mounting portion 100R5. The base of a spacer 100R6, which is shaped like a right triangle in side view, is fixed to the upper surface of the mounting portion 100R5, and an attachment / detachment device 400, which will be described later, is provided between the inclined surface of the spacer 100R6 and the hand mounting seat 30 on the robot arm 12 side. The hand device 33 is attached to the wrist 29 of the robot arm 12 by this attachment / detachment device 400 .

[0035] (Belt of the first embodiment and its winding configuration) As shown in Figure 8, a belt ("belt-shaped member" in the claims) 106 is formed from canvas or the like on which a thin-walled member E can be transferred, and a notched portion 106S and a narrow portion 106T are formed adjacent to each other in the width direction of the belt 106 on both ends of the belt 106. The width B1 of the notch 106S formed on one end of the belt 106 is set larger than the width B2 of the narrow portion 106T formed on the other end of the belt 106. Similarly, the width A2 of the notch 106S formed on the other end side of the belt 106 is set to be larger than the width A1 of the narrow portion 106T formed on one end side of this belt 106.

[0036] 5 and 6, a loop-shaped engaging portion 106R formed at the end of the narrow portion 106T on one end side of the belt 106 is attached to the right-side engaging rod member 104CR in a passing state. The other end of the belt 106 is then wound from the upper surface side of the support plate 101 to the lower surface side of the support plate 101 by folding back at the tip of the support plate 101 . Furthermore, a loop-shaped engaging portion 106L formed at the end of the narrow width portion 106T on the other end side is attached to the left locking rod member 104CL in a passing state.

[0037] As a result, the narrow portion 106T on one end side of the belt 106 and the narrow portion 106T on the other end side are wound around adjacent portions of the rotary frame 104 in the direction of the rotation axis, with a gap 106Q formed between them in the left-right direction. That is, narrow width portion 106T on one end side of belt 106 and narrow width portion 106T on the other end side are prevented from interfering with each other when being wound up or unwound.

[0038] As shown in FIG. 7, the winding direction of the narrow portion 106T at one end of the belt 106 around the rotary frame 104 is opposite to the winding direction of the narrow portion 106T at the other end, and the length of the belt 106 that is unwound at one end and the length that is wound up at the other end due to the rotation of the rotary frame 104 are set to be approximately the same. That is, one of the two ends of the belt 106 is wound up by a predetermined length, and the other is unwound by this predetermined length.

[0039] As shown in FIG. 5, a tension roller 105 is brought into contact with the upper surface of a narrow portion 106T on one end of the belt 106 immediately before the rotary frame 104 to apply tension to the belt 106. By adjusting the vertical position of this tension roller 105, the tension of the belt 106 can be adjusted, and also the stretch of the belt 106 caused by the work can be absorbed.

[0040] The above-described support plate 101, rotary frame 104, belt 106, servo motor 100R2, etc. constitute a transfer device 107 for thin-walled object E as a hand device 33.

[0041] (Second embodiment of the belt-shaped member) A second embodiment of the belt 106 is shown in FIG. That is, a single cutout portion 106S is formed by cutting out the center portion in the left-right direction on one end side of the belt 106, and left and right narrow portions 106T, 106T are formed on the left and right sides of this single cutout portion 106S. Also, left and right side portions of the other end of the belt 106 are cut out to form left and right cutout portions 106S, 106S, and a single narrow width portion 106T is formed between the left and right cutout portions 106S, 106S. The width B1 of the notch 106S formed on one end of the belt 106 is set larger than the width B2 of the narrow portion 106T formed on the other end of the belt 106. Similarly, the width A2 of the left and right cutouts 106S, 106S formed on the other end of the belt 106 is set larger than the width A1 of the left and right narrow portions 106T formed on one end of the belt 106.

[0042] As a result, the left and right narrow portions 106T, 106T at one end of the belt 106 and the single narrow portion 106T at the other end are wound around adjacent portions of the rotary frame 104 in the direction of the rotation axis, with a gap 106Q formed between them in the left-right direction (this state is not shown in the drawings). Therefore, the left and right narrow portions 106T, 106T at one end of the belt 106 and the narrow portion 106T at the other end are prevented from interfering with each other when being wound up or unwound.

[0043] (Block circuit of the plating system) As shown in FIG. 10, the above-mentioned encoders 19 to 23S, the encoder 100R2E provided on the servo motor 100R2, and the camera 11 are connected to the input side of a robot controller 34 equipped with a calculation unit, a storage unit, etc. On the other hand, the output side of the robot controller 34 is connected to the above-mentioned servo motors 13 to 18 and the servo motor 100R2. Although not shown, the output side of the robot controller 34 is provided with individual relay circuits for operating the servo motors 13 to 18 and the servo motor 100R2.

[0044] On the other hand, the slicer controller 10 on the slicer 1 side has the encoder 9 connected to its input side and the servo motor 8 connected to its output side. It should be noted that other sensors and actuators related to the operation control of the slicer 1 are omitted from the illustration. The robot controller 34 and the slicer controller 10 are connected via a communication line SL. Food plating control device 31 is configured as described above.

[0045] (Placement control) As shown in Fig. 2, a chunk of meat is cut into a predetermined thickness by a slicer 1, and the cut thin pieces E are sequentially placed on the conveying surface 3a of the belt 3 of the first conveying device 2 so that they overlap one another, forming a thin piece group E1. This thin piece group E1 is sequentially formed at predetermined intervals by controlling the driving speed of the belt 3. Note that each thin piece E forming this thin piece group E1 may be folded in half. Here, the center position in the X-axis direction at the end on the -Y side of the thin wall group E1 is set as the target point B (see FIG. 2) based on the size of the thin wall group E1 obtained from the imaging result by the camera 11. Alternatively, the area center of gravity position of the entire thin wall group E1 may be set as the target point B.

[0046] Then, when the thin-walled group E1 reaches the collection position T by driving the belt 3, the belt 3 is temporarily stopped, and the slicer controller 10 outputs a collection start signal to the robot controller . When this collected signal is input to the robot controller 34, the servo motors 13 to 18 are output to control the active joints of the robot arm 12, and the movement of the hand device 33 attached to the wrist 29 is controlled.

[0047] That is, the hand device 33 is moved from the -Y side to the +Y side along the Y axis direction so that the center point in the width direction of the belt 106 at the tip of the transfer device 107 provided on the hand device 33 coincides with the above-mentioned target point B (the center position in the width direction (X axis direction) of the thin-walled group E1), and the transfer device 107 is advanced toward the thin-walled group E1. At this time, the robot controller 34 outputs to the servo motor 100R2, the belt 106 is driven in the forward direction to scoop up the thin-walled group E1, and then the driving of the belt 106 is stopped.

[0048] Then, the robot controller 34 controls each active joint of the robot arm 12 by outputting to the servo motors 13 to 18, and the hand device 33 is raised once and then moved to the setting position of the first row on the serving area R formed on the bottom upper surface of the tray 6. At this set position, the hand device 33 is lowered while facing the +Y direction, and the belt 106 of the transfer device 107 is driven in the reverse direction to move the hand device 33 in the -Y direction. As a result, the first row of thin-walled group E1 is transferred as shown in FIG. 11(a).

[0049] By performing this transfer operation on the adjacent second row set position in the placement area R, the placement is completed with the thin-walled group E1 in the second row overlapping a portion of the thin-walled group E1 in the first row, as shown in Figure 11(b). The second conveying device 5 stops conveying the tray 6 until the arrangement of the thin-walled group E1 on the tray 6 is completed. After the thin walled group E1 has been arranged on the tray 6, the second conveying device 5 is driven to carry out the tray 6, and the next empty tray is sent to the standby position.

[0050] (Second embodiment of transfer device and hand device) 12 to 16 show a hand device 33 according to a second embodiment. As shown in FIG. 15, the left and right side plates 200L, 200R are connected at their intermediate portions in the front-rear direction by upper and lower round rod-shaped connecting members 201U, 201D to form a framework. The outer surfaces of the left and right upright portions 203UL, 203UR rising from the rear end of the upper support plate (the "support member" in the claims) 202U, which is rectangular in plan view, are fixed in abutment between the inner surfaces at the front ends of the left and right side plates 200L, 200R.

[0051] In addition, the outer surfaces of the left and right hanging portions 203DL, 203DR hanging from the rear end of the lower support plate (the "support member" in the claims) 202D, which is rectangular in plan view, are fixed in abutment between the inner surfaces at the front ends of the left and right side plates 200L, 200R. As a result, the upper support plate 202U and the lower support plate 202D are arranged in a parallel posture with a predetermined gap therebetween.

[0052] Furthermore, the front ends ("tips" in claims) of the upper support plate 202U and the lower support plate 202D protrude significantly forward relative to the left and right side plates 200L, 200R. As shown in FIGS. 12 and 13, the front end of the upper support plate 202U extends further forward than the front end of the lower support plate 202D.

[0053] In addition, between the front-to-rear middle portions of the left and right side plates 200L, 200R, the rotating shaft 205U of the upper rotating frame body (the "rotating member" in the claims) 204U and the rotating shaft 205D of the lower rotating frame body (the "rotating member" in the claims) 204D are rotatably supported at their respective ends via bearings 206, 206. These upper and lower rotary frames 204U and 204D have circular support plates 207UL, 207UR, 207DL, and 207DR fixed to both ends of the rotary shafts 205U and 205D, respectively.

[0054] A plurality of upper rod-shaped members 208U and a plurality of lower rod-shaped members 208D are welded and fixed between the upper left and right support plates 207UL, 207UR and between the lower left and right support plates 207DL, 207DR, respectively. The rod-shaped members 208U and 208D are arranged on an arc centered on the rotation shafts 205U and 205D, respectively, in a position parallel to the rotation shafts 205U and 205D, and at approximately the same pitch.

[0055] As shown in FIGS. 12 and 16, in the upper and lower rotary frames 204U and 204D, the outer peripheries of the left support plates 207UL and 207DL are partially cut out to form cutout portions 207USP and 207DSP. Then, one of the rod-shaped members 208U, 208D, the locking rod-shaped member 208UK, 208DK, is cantilevered, and the tip of this locking rod-shaped member 208UK, 208DK faces the above-mentioned notch portions 207USP, 207DSP, respectively. The upper and lower belts 106, 106 can be attached and detached through the gaps between the notches 207USP, 207DSP and the tips of the locking rod members 208UK, 208DK.

[0056] As shown in FIGS. 12, 14 and 15, upper and lower tension rollers 210U and 210D are rotatably supported by support shafts 211US and 211DS at the front ends of the upper and lower tension arms 209U and 209D. The rear ends of the upper and lower tension arms 209U, 209D are supported coaxially with the upper and lower rotary shafts 205U, 205D so as to be able to swing up and down. The upper and lower tension arms 209U and 209D are disposed along the inner surface of the right side plate 200R.

[0057] In addition, the right end portions of the support shafts 211US, 211DS are passed through the respective tension arms 209U, 209D and protrude outward, and each protruding end portion is inserted into the upper and lower cutout grooves 212UC, 212DC formed in the upper and lower direction in the front portion of the above-mentioned right side plate 200R. Then, female screw members 213UC, 213DC are screwed onto the protruding ends of the support shafts 211US, 211DS, and the tension arms 209U, 209D and the right side plate 200R are fastened and fixed together by rotating the female screw members 213UC, 213DC. The female screw members 213UC and 213DC are rotated in the opposite direction to loosen the fastened state, and the tension arms 209U and 209D are swung, thereby adjusting the vertical positions of the tension rollers 210U and 210D.

[0058] A transmission case 200R1 is attached to the outer surface of the right side plate 200R, and a servo motor 200R2 is attached to the right side surface of this transmission case 200R1. As shown in FIG. 13, inside the transmission case 200R1, an output gear 200R3 fixed to the output shaft of the servo motor 200R2 is engaged with an input gear 200RU fixed to the protruding end of the upper rotary shaft 205U. The input gear 200RU is meshed with an input gear 200RD fixed to the protruding end of the lower rotary shaft 205D. As a result, the upper rotary shaft 205U and the lower rotary shaft 205D are rotationally driven in opposite directions by the output of the servo motor 200R2.

[0059] As shown in FIG. 16, the rear portion of the right side plate 200R extends upward and then bends to the left, forming a mounting portion 200R5. The base of a spacer 200R6 having a right-angled triangular shape in side view is fixed to the upper surface of the mounting portion 200R5, and an attachment / detachment device (described later) is provided between the inclined surface of the spacer 200R6 and the hand mounting seat 30 on the robot arm 12 side. The hand device 33 is attached to the wrist 29 of the robot arm 12 by this attachment / detachment device.

[0060] (Belt winding configuration) Thus, two belts 106, 106 formed narrower than those shown in Figure 8 are used, and as shown in Figures 15 and 16, a loop-shaped engaging portion 106R formed at the end of the narrow portion 106T on one end side of this upper belt 106 is attached in a penetrating state to the base side portion of the above-mentioned upper locking rod-shaped member 208UK. The other end of the upper belt 106 is then folded back from the upper surface of the upper support plate 202U at the tip of the support plate 202U and wound around the lower surface of the support plate 202U. Furthermore, the loop-shaped engaging portion 106L formed at the end of the narrow portion 106T on the other end side is attached to the tip side of the upper locking rod member 208UK in a state of passing through.

[0061] As a result, the narrow portion 106T at one end of the belt 106 and the narrow portion 106T at the other end thereof are wound around adjacent portions of the upper rotary frame 204U in the direction of the rotation axis, with a gap 106Q formed between them in the left-right direction. That is, narrow width portion 106T on one end side of belt 106 and narrow width portion 106T on the other end side are prevented from interfering with each other when being wound up or unwound.

[0062] As shown in Figures 12 and 15, the winding direction of one end of the belt 106 around the upper rotary frame 204U is opposite to the winding direction of the other end, and the length of the belt 106 that is unwound at one end due to the rotation of the rotary frame 204 and the length that is wound up at the other end are set to be approximately the same length. That is, one of the two ends of the upper belt 106 is wound up by a predetermined length, and the other is unwound by this predetermined length.

[0063] As shown in FIG. 12, an upper tension roller 210U is brought into contact with the upper surface of a narrow portion 106T at one end of the belt 106 just before the upper rotary frame 204U, to apply tension to the belt 106. By adjusting the vertical position of this tension roller 210U, the tension of the belt 106 can be adjusted, and also the stretch of the belt 106 caused by work can be absorbed.

[0064] The winding configuration of the upper belt 106 has been described above, but the winding configuration of the lower belt 106 is vertically symmetrical to the winding configuration of the upper belt 106, so a description thereof will be omitted. The transfer device 200 is configured as described above.

[0065] 12, 13, and 17, the base of a suspending member 220 bent in a crank shape in side view is fixed to the front surface of the spacer 200R6, and a folding device 221 is attached to the tip (front end) of this suspending member 220. First, the left and right air cylinders 221L and 221R are fixed inside the support frame 221A, which is formed in a downward U-shape when viewed from the side, with their positions offset in the front-rear direction.

[0066] That is, the right air cylinder 221R is disposed at a position biased rearward relative to the left air cylinder 221L. Upper and lower pistons 221LP, 221LP of this left air cylinder 221L extend rightward, and a plate 221LT is fixed to the tip of each piston, and an operating plate 221LA having an L-shape in plan view is fixed to the plate 221LT via a spacer 221LS. The upper and lower pistons 221RP, 221RP of the right air cylinder 221R extend leftward, and an operating plate 221RA having an L-shape in plan view is fixed to a plate 221RT fixed to the tip end thereof via a spacer 221RS. The left and right operating plates 221LA and 221RA are formed with vertically long holes 221L1 and 221R1, respectively.

[0067] Then, the upper part of an inverted T-shaped support plate 221X1 is fixed to the support frame body 221A, and the inner protruding ends formed on the upper parts of the left and right pivot arms 221LM, 221RM are rotatably attached to the left and right ends of the lower side of this support plate 221X1 via the left and right fulcrum axes 221LJ, 221RJ. Furthermore, pins 221L1P and 221R1P fixed to the upper ends of the left and right rotating arms 221LM and 221RM are inserted into elongated holes 221L1 and 221R1 formed in the left and right operating plates 221LA and 221RA, respectively. Then, the bases of left and right support members 221LSP, 221RSP extending inward are fixed to the inner surfaces of the lower ends of the left and right pivot arms 221LM, 221RM, and three thin rod-shaped members 221LSB, 221RSB extending in the front-to-rear direction are fixed to the upper surfaces of the left and right support members 221LSP, 221RSP.

[0068] With the above configuration, when the pistons 221LP, 221RP of the left and right air cylinders 221L, 221R are retracted, the left and right pivot arms 221LM, 221RM rotate and open to widen the gap between them, and the left and right rod-shaped members 221LSB, 221RSB retreat outward from the underside of the transfer device 200. In this state, both left and right ends of the thin-wall group E1 supported on the transfer device 200 hang down (see FIG. 17(a)).

[0069] When the pistons 221LP, 221RP of the left and right air cylinders 221L, 221R are extended, the left and right rotating arms 221LM, 221RM rotate to close so as to reduce the gap between them, and the left and right rod-shaped members 221LSB, 221RSB approach the underside of the transfer device 200. As a result, the left and right ends of the thin-walled group E1, which had been hanging down due to being supported by the transfer device 200, are lifted up to the underside of the transfer device 200, and the left and right ends of the thin-walled group E1 are folded (see FIG. 17(b)).

[0070] The transfer device 200, folding device 221, etc. described above constitute a hand device 33.

[0071] (Block circuit of the plating system) As shown in FIG. 18, instead of the servo motor 100R2 linked to the output side of the robot controller 34 in the block diagram of FIG. 10, the left and right air cylinders 221L and 221R are linked to the servo motor 100R2. In addition to the encoder 100R2E connected to the input side of the robot controller 34, left and right position sensors (or stroke sensors) 222L, 222R that detect the expansion and contraction positions of the left and right air cylinders 221L, 221R are connected.

[0072] (Placement control) As in the first embodiment described above, when the thin-walled group E1 reaches the collection position T by driving the belt 3, the belt 3 is temporarily stopped and a collection start signal is output from the slicer controller 10 to the robot controller 34. When this collected signal is input to the robot controller 34, the servo motors 13 to 18 are output to control the active joints of the robot arm 12, and the movement of the hand device 33 attached to the wrist 29 is controlled.

[0073] That is, the hand device 33 is moved from the -Y side to the +Y side along the Y axis so that the center point in the width direction of the upper belt 106 at the tip of the transfer device 200 provided on the hand device 33 coincides with the target point B (the center position in the width direction (X axis direction) of the thin-walled group E1), and the transfer device 200 is advanced toward the thin-walled group E1. At this time, an output is sent from the robot controller 34 to the servo motor 200R2, and the upper belt 106 is driven in the forward direction (at this time, the lower belt 106 is driven in the opposite direction to the upper belt 106), and after scooping up the thin-walled group E1, the driving of this belt 106 is stopped.

[0074] Then, the robot controller 34 controls each active joint of the robot arm 12 by outputting to the servo motors 13 to 18, and the hand device 33 is raised once and then moved to the setting position of the first row on the serving area R formed on the bottom upper surface of the tray 6. During this time, the robot controller 34 outputs to the left and right air cylinders 221L, 221R, causing the pistons 221LP, 221RP of the left and right air cylinders 221L, 221R to extend.

[0075] As a result, the left and right rotary arms 221LM, 221RM rotate and close so as to reduce the distance between them, and the left and right rod-shaped members 221LSB, 221RSB approach the lower surface of the transfer device 200. As a result, both left and right ends of the thin-wall group E1, which have been supported and hanging down by the transfer device 200, are lifted up to the underside of the transfer device 200, and both left and right ends of the thin-wall group E1 are folded.

[0076] Then, at this set position, the hand device 33 is lowered while still facing the +Y direction, and the belt 106 of the transfer device 200 is driven in the reverse direction while the hand device 33 is moved in the -Y direction. As a result, as shown in FIG. 19(a), the first row of thin-walled group E1 is transferred with both ends folded downward.

[0077] By performing this transfer operation on the adjacent second row set position in the placement area R, the placement is completed as shown in Figure 19(b), with the second row thin-walled group E1 overlapping part of the first row thin-walled group E1 with both ends folded downward.

[0078] (Third embodiment of transfer device and hand device) 20 to 23 show a hand device 33 according to a third embodiment. The hand device 33 is constructed with a frame 36 as a base. A mounting plate 35 is fixed to the top of the frame 36 for mounting on the underside of the hand mounting seat 30 via a mounting / detaching device, which will be described later.

[0079] (Scooping section) As shown in Figures 20 and 21, the cylinder portion of an electric cylinder 37, which expands and contracts in the Y-axis direction, is fixed to the inside of the frame body 36, and a drive case 39 is attached to the tip of the operating rod 37A of this electric cylinder 37 via a support member 38. As a result, the electric cylinder 37 is disposed above the hand device 33 and is less susceptible to the effects of water (such as washing water used when washing the slicer 1) and meat scraps.

[0080] In addition, this drive case 39 protrudes forward from the front surface of the support member 38, and on its left outer surface is arranged a rotating disk (the "rotating member" in the claims) 39D attached to an output shaft 39S that is rotated by an internal servo motor 39M. Eight pins 39P are fixed at their bases in a cantilevered manner on a circular arc locus centered on the output shaft 39S on the outer periphery of the rotary disc 39D, with the tips of the pins 39P extending to the left. Of these pins 39P, two adjacent pins 39PS, 39PS are used as belt retaining pins. Upper and lower guide rollers 39R, 39R are rotatably supported by rotation shafts 39RS, 39RS on the left side surface of the drive case 39 in front of the rotating disc 39D.

[0081] Additionally, the base of a support stay 40 is fixed to the lower left side surface of the drive case 39, and the tip of this support stay 40 protrudes forward. The tip (front end) of this support stay 40 is bent diagonally upward, and a surface that slopes downward toward the front is formed at this bent end, and the base of a support plate 41 (referred to as the "support member" in the claims) formed in a narrow rectangle is fixed along this surface. As a result, the support plate 41 extends in a position inclined downward at a predetermined angle, and is supported on the drive case 39 side.

[0082] The tip end (extending end) of the support plate 41 is folded back downward, and a curved surface is formed at this folded back end (which essentially becomes the tip of the support plate 41). Then, loop-shaped locking portions are formed at both ends of a resin belt (referred to as a "belt-shaped member" in the claims) 106 formed to a width equal to the left-right width of the support plate 41, and the locking portion at one end is locked to one of the locking pins 39PS.

[0083] The belt 106 is supported along the upper surface of the support plate 41 from the upper peripheral surface of the upper guide roller 39R, and then folded back at the tip of the support plate 41 toward the lower surface side. The other end portion of the folded belt 106 is aligned roughly along the lower surface of the support plate 41, and the engaging portion on the other end is engaged with the other engaging pin 39PS via the upper peripheral surface of the lower guide roller 39R and the outer peripheral portion of the multiple pins 39P.

[0084] As described above, the transfer device 100 is configured, and when the electric cylinder 37 is extended or retracted, the drive case 39 supported at the tip of the operating rod 37A moves back and forth in the Y-axis direction.

[0085] When the servo motor 39M is driven, the belt 106 moves back and forth in the forward and reverse directions. That is, in FIG. 20, when the rotating disk 39D rotates counterclockwise by the drive of the servo motor 39M, the engaging portion on one end of the belt 106 engaged with the front engaging pin 39PS is pulled backward, and the portion on one end of the belt 106 is wound up. As a result, the portion of the belt 106 supported on the upper surface of the support plate 41 moves obliquely upward along the upper surface of the support plate 41 . At this time, the rear locking pin 39PS descends, and the other end of the belt 106 is unwound, so the winding circumferential length of the belt 106 remains substantially unchanged and the tension is maintained within a predetermined range.

[0086] On the other hand, when the servo motor 39M is driven in the reverse direction to rotate the turntable 39D in the clockwise direction, the engaging portion on one end of the belt 106 engaged with the front engaging pin 39PS is pushed forward, and the portion on one end of this belt 106 is unwound. As a result, the portion of the belt 106 supported on the upper surface of the support plate 41 moves obliquely downward along the upper surface of the support plate 41 . At this time, the rear locking pin 39PS rises, and the other end of the belt 106 is wound up, so that the winding circumferential length of the belt 106 remains substantially unchanged and the tension is maintained within a predetermined range.

[0087] In this manner, the portion of the belt 106 supported on the upper surface of the support plate 41 mainly forms the scooping section 54 (the "transfer device 100" in the claims).

[0088] (digital part) 22 to 26, a first air cylinder 56 and a second air cylinder 57 that drive the left and right finger portions 55L, 55R to open and close are fixed at a distance in the Y-axis direction to the underside of the frame 36. As a result, the first air cylinder 56 and the second air cylinder 57 are disposed above the hand device 33 and are less susceptible to the effects of water (such as washing water when washing the slicer 1) and meat scraps. 22 and 23, the approximate installation range of the left and right finger members 55L and 55R is indicated by dashed lines.

[0089] As shown in FIG. 26, the first air cylinder 56 disposed on the +Y side forms a guide rail 56B in the left-right direction (X-axis direction) on the +Y side surface of the cylinder block 56A. A pair of left and right sliders 56L and 56R are slidably fitted onto the guide rail 56B. Upper and lower cylinder holes are drilled in parallel inside the cylinder block 56A, and individual pistons (not shown) are housed in each cylinder hole so as to be reciprocatingly slidable, with left and right sliders 56L, 56R connected to each piston. The pistons are configured to slide in opposite directions when air is supplied, and as a result, the left and right sliders 56L, 56R connected to the pistons slide in opposite directions.

[0090] On the other hand, second air cylinder 57 disposed on the -Y side forms guide rails 57B in the left-right direction (X-axis direction) on the -Y side surface of cylinder block 57A. A pair of left and right sliders 57L and 57R are slidably fitted onto the guide rail 57B. Inside the cylinder block 57A, upper and lower cylinder holes are drilled in parallel, and individual pistons (not shown) are housed in each cylinder hole so as to be able to slide back and forth, and left and right sliders 57L, 57R are connected to each piston, respectively. The pistons are configured to slide in opposite directions when air is supplied, and as a result, the left and right sliders 57L and 57R connected to the pistons slide in opposite directions.

[0091] The left and right fingers 55L, 55R include left and right first members 58L, 58R and left and right second members 59L, 59R.

[0092] (First member) As shown in FIGS. 24 to 26, the left and right first members 58L, 58R are supported by left and right sliders 56L, 56R on the first air cylinder 56 side, respectively. That is, the inner ends of the left and right plate-shaped first support members 60L, 60R extending in the left-right direction are fixed to the +Y side surfaces of the left and right sliders 56L, 56R. The outer ends of the left and right first support members 60L, 60R are bent downward and extend downward (in the -Z direction), and then bent and extend in the -Y direction.

[0093] The outer ends of the first sub-support members 61L, 61R extending in the left-right direction are fixed to the lower surfaces of the left and right extending ends formed in this way via square bar-shaped first reinforcing members RI, RI, respectively. The inner ends of the left and right first sub-support members 61L, 61R are bent downward and extended downward (in the -Z direction) to form left and right inner fingers 58IFL, 58IFR.

[0094] Furthermore, the inner fingers 58IFL, 58IFR are formed with a wide portion extending from the lower end thereof to a predetermined height. These wide portions are referred to as first members 58L, 58R. The inner edges of the left and right first members 58L, 58R extend in a substantially vertical direction up to the vicinity of their lower ends. The inner edges of the lower ends of the left and right first members 58L, 58R extend inward (toward the opposing sides) in an arc shape to form left and right engagement portions 58LS, 58RS.

[0095] (Second member) As shown in FIGS. 24 to 26, the left and right second members 59L and 59R are supported by left and right sliders 57L and 57R on the second air cylinder 57 side, respectively. That is, the inner ends of the left and right plate-shaped second support members 62L, 62R extending in the left-right direction are fixed to the −Y side surfaces of the left and right sliders 57L, 57R. The outer ends of the left and right second support members 62L, 62R are bent downward and extend downward (in the −Z direction), and then bent and extend in the +Y direction.

[0096] The outer ends of second sub-support members 63L, 63R extending in the left-right direction are fixed to the lower surfaces of the left and right extending ends formed in this way via second reinforcing members RJ, RJ, respectively. The inner ends of the left and right second auxiliary support members 63L, 63R are bent downward and extended downward (in the -Z direction) to form left and right outer fingers 59IFL, 59IFR.

[0097] Furthermore, the portions of the outer fingers 59IFL, 59IFR extending from the lower end thereof to a predetermined height are formed to be wide in both directions. These wide portions are referred to as second members 59L, 59R. The inner edges of the left and right second members 59L, 59R extend in a substantially vertical direction up to their lower ends.

[0098] As shown in Figures 24 to 26, two left-side second auxiliary support members 63L and left-side outer fingers 59IFL are provided, and are fixed to the front and rear surfaces (-Y side surface and +Y side surface) of the above-mentioned left-side second reinforcing member RJ, respectively. As a result, a gap SP in the Y-axis direction is formed between the front and rear second members 59L, 59L on the left side.

[0099] In addition, two right-side second auxiliary support members 63R and right-side outer fingers 59IFR are provided, and are fixed to the front and rear surfaces (-Y side surface and +Y side surface) of the above-mentioned right-side second reinforcing member RJ, respectively. As a result, a gap SP in the Y-axis direction is also formed between the front and rear second members 59R, 59R on the right side.

[0100] The left and right first members 58L, 58R are arranged so as to be able to retract and protrude into these left and right gaps SP, SP, respectively.

[0101] (Collection Department) As shown in FIG. 20, the collection portion 32 is formed by the scooping portion 54 and the left and right finger portions 55L, 55R. In the initial state, the drive case 39 moves away in the +Y direction, and the tip of the belt 106 supported on the upper surface of the support plate 41 of the scooping section 54 retreats in the +Y direction from between the left and right finger-like sections 55L, 55R.

[0102] As shown in FIG. 20, when the electric cylinder 37 is contracted and the drive case 39 moves a set distance in the -Y direction, the scooping portion 54 enters between the left and right finger portions 55L, 55R. In this state, the tip of the scooping portion 54 (the end on the -Y side of the portion of the belt 106 supported by the upper surface of the support plate 41) protrudes further toward the -Y side than the left and right finger portions 55L, 55R. FIG. 24 shows a state in which the scooping portion 54 has entered between the left and right first members 58L, 58R and the left and right second members 59L, 59R in the open state.

[0103] Also, Figure 25(a) shows a state in which the scooping portion 54 has entered between the left and right first members 58L, 58R and the left and right second members 59L, 59R, and these left and right first members 58L, 58R and left and right second members 59L, 59R have moved in the closing direction to their respective stroke ends. As shown in a partially enlarged view in Figure 25(b), in this state, the positional relationship between the respective stroke ends is set so that the first gap T1 formed between the left end of the scooping portion 54 (the side end of the belt 106) and the inner edge of the left-side first member 58L is smaller than the second gap T2 formed between the side end of the scooping portion 54 and the inner edge of the second member 59L. Although not shown in the drawings, the positional relationships between the right end of the scooping portion 54 and the first and second right members 58R and 59R are set in the same manner.

[0104] The first gap T1 and the second gap T2 are set by adjusting the left-right extension lengths of the components constituting the left and right finger portions 55L, 55R, and by setting the positions of the sliding stroke ends of the first air cylinder 56 and the second air cylinder 57. The cylinder block 56A of the first air cylinder 56 and the cylinder block 57A of the second air cylinder 57 may be elastically supported relative to the frame 36 so as to be movable up and down.

[0105] In addition, joints (vertical pivoting parts) may be provided at the downward bending portions at the outer ends of the left and right first support members 60L, 60R, the downward bending portions at the outer ends of the left and right second support members 62L, 62R, the downward bending portions at the inner ends of the left and right first sub-support members 61L, 61R, and the downward bending portions at the inner ends of the left and right second sub-support members 63L, 63R, and these joints may be provided with return springs that bias them toward the initial position (vertical position). As a result, even if the lower ends of the left and right finger-like portions 55L, 55R interfere with the conveying surface 3a of the belt 3 on the slicer 1 side, the left and right finger-like portions 55L, 55R will retreat upward, preventing damage or deformation of the belt 3 or the finger-like portions 55L, 55R.

[0106] (Block circuit of the plating system) As shown in FIG. 27, instead of the servo motor 100R2 linked to the output side of the robot controller 34 in the block diagram of FIG. 10, a first air cylinder 56, a second air cylinder 57, an electric cylinder 37, and a servo motor 39M are linked together.

[0107] (Placement control) The "control point" described below is the center position between the tip (inner end) of the engagement portion 58LS of the left first member 58L and the tip (inner end) of the engagement portion 58RS of the right first member 58R. 28 to 31 show the process from the state where the thin wall E is picked up by the hand device 33 to the state where the thin wall E deformed into a substantially U-shape is placed.

[0108] As shown in FIG. 16(a), when the placement control is started, the robot arm 12 is driven and controlled by the output from the robot controller 34, and the left and right fingers 55L, 55R and the scooping part 54 are positioned at their respective initial positions. The initial points of the left and right finger-like portions 55L, 55R are set at a position offset by an offset amount f (see Figure 28(a)) toward the -Y side from the collection position T of the thin wall E, and at a position spaced a predetermined distance directly above the conveying surface 3a.

[0109] At this time, the scooping unit 54 is placed at a position offset in the +Y direction by a predetermined distance from the initial point. The offset amount f is set to an amount that allows the belt 106 of the scooping part 54, which moves diagonally upward, to scoop up the thin-walled part E located at the collection position T while the tip of the scooping part 54 moves from the collection position T to a position directly below the initial point.

[0110] At this initial point, the left and right fingers 55L, 55R of the hand device 33 are spaced apart from each other in an open state. That is, the left and right inner fingers 58IFL, 58IFR and the left and right outer fingers 59IFL, 59IFR are in an open state in which they are spaced apart to their maximum distances.

[0111] In this state, the first members 58L, 58R provided on the left and right inner fingers 58IFL, 58IFR are retracted into the gaps SP, SP between the second members 59L, 59R provided on the left and right outer fingers 59IFL, 59IFR. As a result, the inner edges of the left and right first members 58L, 58R are retracted outward (into the gap SP) relative to the inner edges of the left and right second members 59L, 59R.

[0112] Next, the slicer controller 10 acquires the attributes of the thin-walled piece E being transported to the collection position T. That is, the slicer controller 10 receives detection results from a thickness (height) sensor (not shown) that is provided on the slicer 1 side and detects the thickness (height) of the tip of the block of meat before slicing.

[0113] Since the slicer 1 cuts the chunk of meat supplied in a horizontal position in the vertical direction from its tip, the thickness (height) of the tip of the chunk of meat is a dimension that is approximately the length in the Y-axis direction of the thin meat E placed on the conveying surface 3a. In addition, in the case of the thin wall E folded at the center in the Y-axis direction, the length of this thin wall E in the Y-axis direction is about half the thickness (height).

[0114] The slicer controller 10 sends the thickness (height) of the tip of the block of meat before slicing to the robot controller 34.

[0115] Furthermore, the robot controller 34 processes the image of the thin wall E captured by the camera 11, and based on the results, 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.

[0116] (Collection and serving of thin-walled E suitable for collection) First, the robot controller 34 selects the predetermined number of rows M corresponding to the size of the tray 6 to be used from a plurality of predetermined number of rows M stored as fixed values. Furthermore, 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.

[0117] As a result, a predetermined number M of rows and a predetermined number N of columns are set in the serving area R on the inner bottom surface of the tray 6, as shown in FIG. 33(a). The rows and columns are set at equal intervals.

[0118] Hereinafter, first, a process will be described in which the initially calculated predetermined number of columns N is applied to all rows (in which N columns (N sheets) of thin walls E are placed in all rows). The process of calculating this predetermined number of columns N for each row will be described later.

[0119] First, the robot controller 34 sets the count value m of the row counter and the count value n of the column counter to 1, and then the process moves to the thin-walled serving process.

[0120] (Thin-walled serving process) As shown in Figure 33(a), the inner bottom surface of the tray 6 is divided into a plurality of thin-walled arrangement sections in a matrix. In this embodiment, thin-walled arrangement processing is performed in column order from the first row, such that (m,n) = (1,1), (1,2), (1,3), (1,4), (2,1), (2,2), ..., (M,N). When one row is completed, the same arrangement processing is performed in the next adjacent row.

[0121] "m=1" meaning the first row is placed on the inner bottom surface of the tray 6 at the position furthest to the -Y side. The first row, "n=1," is located on the inner bottom surface of the tray 6 at the position furthest to the +X side.

[0122] First, the robot controller 34 performs a "collection target position setting process" and a "trajectory generation process."

[0123] (Collection target position setting process) Based on the size of the thin wall E obtained from the imaging results by the camera 11, the central part of the thin wall E in the X-axis direction or a position near the central part is set as the supported part B (see Figure 2), and the target collection position of this supported part B is calculated.

[0124] (Trajectory generation processing) The trajectory generation process is a process for generating a trajectory from collection to the end of plating, and a trajectory returning to the initial point, and the position and posture of the hand device 33 at each time are controlled by the robot controller 34.

[0125] (Thin-wall placement control) As shown in the plan view at the top left in FIG. 28(a), in the initial state of the hand device 33, the left and right finger portions 55L, 55R are spread to a position that forms the maximum distance in the X-axis direction. That is, the left and right first members 58L, 58R and the left and right second members 59L, 59R are each opened to their maximum positions, and the inner edge of each first member 58L, 58R is retracted to a position biased outward relative to the inner edge of each second member 59L, 59R. In this state, when the thin wall E conveyed by the first conveying device 2 reaches the picking position T, the robot controller 34 receives (acquires) a picking start signal from the slicer controller 10.

[0126] Then, the robot arm 12 is controlled by the output from the robot controller 34 to slowly lower the control point. As a result, as shown in the side view at the bottom left of Figure 28(a), the lower ends of the finger-like portions 55L, 55R (the lower ends of the first members 58L, 58R and the lower ends of the second members 59L, 59R) and the lower end (tip) of the belt 106 of the scooping portion 54 are brought as close as possible to each other, leaving a small gap so that they do not come into contact with the conveying surface 3a. The lower end of the belt 106 may be in light contact with the conveying surface 3a.

[0127] Thereafter, the electric cylinder 37 is contracted by an output from the robot controller 34, and the scooping part 54 is moved from the initial position to the scooping position (in the −Y direction). That is, the scooping unit 54 is moved from the downstream side (+Y side) of the first transfer device 2 to the upstream side (-Y side) toward the middle part of the thin wall E in the X-axis direction (target point B).

[0128] Then, after a set time has elapsed since the scooping unit 54 started to move, the servo motor 39M is rotationally driven by an output from the robot controller 34, and the belt 106 on the support plate 41 is moved in an upwardly inclined direction (forward movement). The above-mentioned set time is set to be the same as or slightly shorter than the time it takes for the scooping part 54 to reach the thin wall E located at the collection position T from the initial position.

[0129] As a result, as shown in Figures 28(b) to 28(c), the belt 106 moving in an upwardly inclined direction scoops up the central part of the width direction (X-axis direction) of the thin-walled part E located at the collection position T diagonally upward. At this time, both ends of the thin wall E that are not supported on the belt 106 begin to sag and deform due to their own weight.

[0130] It is preferable that the speed at which the belt 106 in the scooping section 54 moves obliquely upward be set to be the same as or slightly faster than the speed at which the scooping section 54 moves in the -Y direction. By setting it in this way, the thin wall E is smoothly transferred from the conveying surface 3a to the belt 106, and wrinkles are less likely to form in the thin wall E.

[0131] 29(d), when the scooping unit 54 moves further toward the -Y side, both ends of the thin piece E, the central portion of which has been scooped up by the belt 106, come into contact with the inner edges of the second members 59L, 59R arranged on the left and right on the +Y side, and this contact resistance corrects the posture of the thin piece E so that it is aligned with the upper surface of the belt 106. In addition, the left and right second members 59L, 59R and the left and right first members 58L, 58R all maintain an open state. In this state, the scooping portion 54 enters between the left and right finger portions 55L, 55R while scooping up the thin wall E. As a result, the tip of the scooping portion 54 (the tip of the belt 106) protrudes toward the -Y side from between the left and right finger portions 55L, 55R.

[0132] Next, after stopping the movement of the belt 106 of the scooping section 54, the operation of the first air cylinder 56 is started by output from the robot controller 34, and the left and right inner fingers 58IFL, 58IFR of the left and right finger-like sections 55L, 55R begin to move inward (towards each other). As shown in FIG. 29(e), when the left and right inner fingers 58IFL, 58IFR start to move inward, the inner edges of the left and right first members 58L, 58R come into contact with both ends of the thin wall E and start to push these contacting portions inward. At this time, the left and right engaging portions 58LS, 58RS enter the underside of the thin wall E and begin to embrace the thin wall E.

[0133] Then, after a set time has elapsed since the left and right inner fingers 58IFL, 58IFR started to move inward, the left and right outer fingers 59IFL, 59IFR are moved inward (in the direction of approaching each other). As shown in Figure 29(f), both ends of the thin wall E are pressed toward both ends of the belt 106 by the inner edges of the left and right first members 58L, 58R, and are deformed into an approximately U-shape (a shape similar to a horseshoe) in a plan view.

[0134] In this state, the thin wall E is supported by being held by the left and right engaging portions 58LS and 58RS that are close to each other and below the scooping portion 54 (below the belt 106). At this time, first gaps T1, T1 remain between the inner edges of the left and right first members 58L, 58R and the left and right side ends of the scooping portion 54 (belt 106), so the thin wall E is not pinched too tightly and damaged.

[0135] In addition, the inner edges of the left and right second members 59L, 59R also approach the left and right side ends of the scooping portion 54, but second gaps T2, T2 larger than the first gaps T1, T1 remain between the inner edges of the left and right second members 59L, 59R and the left and right side ends of the scooping portion 54. The existence of the second gaps T2 prevents the inner edge portions of the left and right second members 59L and 59R from coming into contact with the thin wall E. After supporting the thin wall E in this way, the process moves to the next step.

[0136] That is, the robot arm 12 is controlled by the output from the robot controller 34 to raise the control point. When the control point rises, both ends of the thin wall E rise from the conveying surface 3 a and maintain a position higher than the height of the peripheral wall 6 a of the tray 6 . This prevents interference between the thin wall E and the peripheral wall 6a when the control point moves onto the deposition region R.

[0137] Next, the robot arm 12 is controlled by the output from the robot controller 34, and the control point passes above the peripheral wall 6a of the tray 6 and moves to a point above the serving area R. As a result, the lower ends of the left and right finger portions 55L, 55R and the lower end (tip) of the belt 106 of the scooping portion 54 approach the inner bottom surface of the tray 6 on which the serving area R is set. This point is set downstream (+Y side) of the m-th row to which the wall drop point Rmn where the thin wall E is dropped belongs. During the movement to this point, the robot arm 12 is controlled by the robot controller 34, and the hand device 33 assumes a posture having a torsion angle θ with respect to the Y-axis direction.

[0138] Subsequently, the robot arm 12 is controlled by the output from the robot controller 34 to move the control point to the next point. During the movement to this point, both ends of the thin wall E are dragged on the inner bottom surface of the tray 6.

[0139] Then, after a preset time has elapsed since the control point started to move to this point, the first air cylinder 56 is actuated in the reverse direction by an output from the robot controller 34. As a result, as shown in FIG. 30(g), the left and right inner fingers 58IFL, 58IFR of the left and right finger portions 55L, 55R move outward (in directions moving away from each other). Additionally, the pressure exerted on both side ends of the belt 106 by the inner edges of the left and right first members 58L, 58R against the thin wall E and the holding by the left and right engaging portions 58LS, 58RS are released. However, at this point, no output is sent from the robot controller 34 to the second air cylinder 57, and the left and right outer fingers 59IFL, 59IFR are maintained in positions close to each other.

[0140] As a result, the members that come into contact with the thin wall E change from the inner edge portions of the left and right first members 58L, 58R to the inner edge portions of the left and right second members 59L, 59R. That is, the thin wall E that was attached (by being pressed) to the inner edge portion of the first members 58L, 58R is transferred to the inner edge portion of the second members 59L, 59R and detached from the first members 58L, 58R and the second members 59L, 59R.

[0141] Subsequently, the robot arm 12 is controlled by the output from the robot controller 34 to move the control point to the next point. During this movement, the servo motor 39M is driven to rotate in the reverse direction by an output from the robot controller 34. As a result, the belt 106 of the scooping unit 54 moves diagonally downward (in the opposite direction), and the thin-walled portion E starts to be lowered diagonally downward toward the inner bottom surface of the tray 6, as shown in FIG. 30(h).

[0142] At this time, the left and right outer fingers 59IFL, 59IFR are maintained in positions close to each other, and second gaps T2, T2 are formed between the side ends of the scooping portion 54 and the inner edge portions of the left and right second members 59L, 59R. Furthermore, the lower ends of the second members 59L and 59R do not have the engaging portions that are present in the first members 58L and 58R. Therefore, as shown in the state change from Figure 30(i) to Figure 31(j), the left and right sides of the thin-walled portion E being lowered diagonally downward are smoothly lowered through the second gaps T2, T2 while being restricted from returning from the approximately U-shape to their original shape by the inner edges of the left and right second members 59L, 59R.

[0143] The lowered thin-walled portion E is placed on the inner bottom surface of the tray 6 while maintaining its approximate U-shape. Furthermore, the robot arm 12 is controlled by the output from the robot controller 34, the twist angle θ of the hand device 33 is set to 0, and the direction in which the left and right finger-like portions 55L and 55R are aligned is returned to the X-axis direction. Thereafter, the movement of the belt 106 is stopped by an output from the robot controller 34, and then the robot arm 12 is controlled to move the control point to the next point. As a result, the hand device 33 moves upward in the +Y direction (downstream side) and moves away from the thin-walled part E that has been lowered.

[0144] Subsequently, as shown in FIG. 31(k), when the control point starts to move, the electric cylinder 37 is extended by an output from the robot controller 34, and the scooping part 54 is moved to the initial position. At the same time, the second air cylinder 57 is operated in the opposite direction by output from the robot controller 34, causing the left and right outer fingers 59IFL, 59IFR to move outward (away from each other), and the distance between the inner edges of the left and right second members 59L, 59R increases.

[0145] Next, the robot arm 12 is controlled by the output from the robot controller 34, and the control point is moved further downstream (+Y side) to a higher position. After this, the control point is moved to the initial point.

[0146] This completes the process of placing one thin meat piece E onto the meat drop point Rmn. Thereafter, the robot controller 34 determines whether the count value n of the row counter exceeds the predetermined number of rows N.

[0147] If the count value n does not exceed the predetermined number of columns N, the process returns to the current row m, and the thin meat E is placed at the meat drop point Rmn in the next column order. Therefore, this thin-wall E filling process is executed N times per row. If the count value n exceeds the predetermined number of columns N, the process of placing the thin meat E onto the meat drop point Rmn in the first column of the next row is started.

[0148] The above process is repeated until the thin meat E is completely piled onto all meat drop points Rmn in the predetermined number of rows M and the predetermined number of columns N.

[0149] (Example of arrangement in 3 rows and 4 columns) Here, an example in which the predetermined number of rows M is set to "3" and the predetermined number of columns N is set to "4" is shown in FIG. 32(a) and FIGS. 33(a) to 33(c). FIG. 33(a) is an explanatory plan view of the tray 6 in a state where the thin meat E has been placed at the meat drop point Rmn (=R11) in the first row and first column. Figure 33(b) is an explanatory diagram showing a plan view of the tray 6 in a state where thin meat E has been placed at all meat drop points Rmn in the first row and at meat drop point Rmn (=R21) in the second row, first column. Figure 33(c) is an explanatory diagram showing a plan view of the tray 6 after the thin meat E has been placed at all meat drop points Rmn in the first and second rows and at the meat drop point Rmn (=R31) in the third row, first column.

[0150] (Calculating the number of columns N for each row) The above has described the processing when the initially calculated predetermined number of columns N is applied to all rows (when N columns (N sheets) of thin walls E are placed in all rows). In contrast to this, the predetermined number of columns N may be calculated for each row according to the size of the thin wall E placed at the beginning of each row.

[0151] (When medium (standard) class thin-walled E is available) In the first row located on the furthest -Y side within the presentation area R, if the first thin plate E placed at the beginning of this first row (the position furthest +X side) is classified as "medium (standard)", it is determined that four columns (four plates) of thin plates E will be placed in this first row. Accordingly, in the first row, four columns (four sheets) of thin walls E are placed at equal intervals in the order from the first thin wall E to the fourth thin wall E (from the +X side to the -X side).

[0152] Next, the process of filling the second row adjacent to the +Y side of the first row begins. If the fifth thin wall E placed at the beginning of this second row is also classified as "medium", it is decided that four columns (four pieces) of thin wall E will be placed in this second row as well, and the four columns (four pieces) of thin wall E will be placed at equal intervals in the order from the fifth thin wall E to the eighth thin wall E.

[0153] Next, the process of filling the third row adjacent to the second row on the +Y side begins. If the ninth thin wall E placed at the beginning of this third row is also classified as "medium", it is decided that four columns (four pieces) of thin wall E will be placed in this third row as well, and the four columns (four pieces) of thin wall E will be placed at equal intervals in the order from the ninth thin wall E to the twelfth thin wall E.

[0154] As a result of the above, a total of 12 thin-walled foods E are placed in the serving area R, and the serving process on one tray 6 is completed. Furthermore, based on the cutting position of the thin-walled part E from the slicer 1 onto the conveying surface 3a, the target point B of the thin-walled part E classified into the "medium (standard)" class in the X-axis direction approximately coincides with the center position Xc of the width of the conveying surface 3a 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.

[0155] (When small and medium-sized thin-walled E are mixed) In the first row described above, if the first thin wall E placed at the beginning of this row is classified as "medium", then in this first row, four columns (four thin walls E) will be placed in the order of the first thin wall E to the fourth thin wall E, in the same manner as described above.

[0156] Next, the process of placing the second row begins, and if the fifth thin piece E placed at the beginning of this second row is classified as "small," it is determined that five columns (five pieces) of thin pieces E will be placed in this second row. Accordingly, in the second row, five columns (five sheets) of thin plates E are placed at equal intervals in the order from the fifth thin plate E to the ninth thin plate E.

[0157] Next, the arrangement process for the third row begins, and if the tenth thin E placed at the beginning of this third row is also classified as "small", it is decided that five columns (five pieces) of thin E will be placed in this third row as well, and five columns (five pieces) of thin E will be placed at equal intervals in the order from the tenth thin E to the fourteenth thin E.

[0158] As a result of the above, a total of 14 thin-walled foods E are placed in the serving area R, and the serving process on one tray 6 is completed. In addition, in the X-axis direction, the target point B of the thin-walled E classified as the "small" class is biased by a distance Xa toward the -X side relative to the center position Xc of the conveying surface 3a, so the reference position of the control point at the collection position T is corrected by a distance Xa toward the -X side.

[0159] (When medium and large thin-walled E are mixed) In the first row described above, if the first thin wall E placed at the beginning of this row is classified as "medium", then in this first row, four columns (four thin walls E) will be placed in the order of the first thin wall E to the fourth thin wall E, in the same manner as described above.

[0160] Next, the process of placing the second row begins, and if the fifth thin-cut E placed at the beginning of this second row is classified as "large," it is determined that three columns (three pieces) of thin-cut E will be placed in this second row. Accordingly, in the second row, three rows (three pieces) of thin plates E are placed at equal intervals, starting from the fifth thin plate E to the seventh thin plate E.

[0161] Next, the arrangement process for the third row begins, and if the eighth thin E placed at the beginning of this third row is also classified as "large," it is decided that three columns (three pieces) of thin E will be placed in this third row as well, and the three columns (three pieces) of thin E will be placed at equal intervals in the order from the eighth thin E to the tenth thin E.

[0162] As a result of the above, a total of 10 thin-walled foods E are placed in the serving area R, and the serving process on one tray 6 is completed. By automatically changing the number of columns in each row, the spacing between columns is also automatically changed. In addition, in the X-axis direction, the target point B of the thin-walled part E classified as the "large" class is biased by a distance Xb toward the +X side from the center position Xc of the conveying surface 3a, so the reference position of the control point at the collection position T is corrected by a distance Xb toward the +X side.

[0163] (Total weight convergence) Thus, by automatically adjusting the number of thin-walled foods to be served in the serving process described above, the total weight of the thin-walled foods E served in the serving area R in the tray 6 falls within the set range α. The vertical drop portion (step portion) of the total weight line in the case of controlling the number of pieces appears when the number of thin-walled pieces E placed on the tray 6 decreases.

[0164] That is, as the size of the thin-walled E increases while the number of sheets remains the same, the total weight of the thin-walled E after serving gradually increases, but when the number of sheets decreases by one, the total weight temporarily decreases. If the number of thin-walled E slices to be served is different, such as 12, 14, or 10, the total weight can be kept within the set range by increasing or decreasing the number of slices to be served according to the size of the thin-walled E slices. Furthermore, by controlling the number of thin pieces E, the intervals between adjacent thin pieces E are automatically adjusted, and they are arranged in an orderly manner within the arrangement area R.

[0165] (Detachable device) 34 to 38 show an embodiment of the attachment / detachment device 400. FIG. This attachment / detachment device 400 is composed of an upper holding member 401 fixed to the lower end of the wrist 29 of the robot arm 12 and a held member 402 fixed to the upper part of the hand device 33.

[0166] The holding member 401 forms a connecting seat 401A for connecting with the wrist 29 on its upper surface, and on both left and right sides thereof, left and right sliding support portions 401C, 401C are formed symmetrically on the left and right sides, each having an inclined surface (the "sliding support portion" in the claims) 401B, 401B sloping downward toward the inside. In one of the left and right sliding support members 401C, 401C, the inclined surface 401B is divided in the middle in the front-to-rear direction to form a gap, and a movable member (the "fixed part" in the claims) 401D, which has an inclined surface 401B1 with the same inclination angle as the inclined surface 401B, is fitted into this gap.

[0167] An operating handle (the "first operating tool" in the claims) 401G is provided having a male screw portion 401F that screws into the female screw portion 401E on the sliding support portion 401C side, and the tip of the male screw portion 401F is brought into contact with the outer surface of the moving member 401D. By rotating the operating handle 401G in one direction, the male screw member 401F is tightened, and the tip of this male screw member 401F pushes the moving member 401D, moving it inward.

[0168] In addition, a lock handle (the "second operating tool" in the claims) 401H is screwed onto the outer periphery of a shaft 401F2 that is integral with the male screw member 401F, and by rotating this lock handle 401H to one side, the operating handle 401G can be fixed in a state where it cannot be rotated.

[0169] Furthermore, in the other of the left and right sliding support parts 401C, 401C, a through hole 401I is formed in a portion on the side facing the above-mentioned moving member 401D, and a plunger pin (the "engagement part" in the claims) 401J is inserted through this through hole 401I. The plunger pin 401J is always elastically biased in a direction in which it protrudes inward, and an annular member 401K for pulling operation is attached to the outer end of the plunger pin 401J. A cutout portion 401L is formed to open a part of the upper surface of the holding member 401, and the ends of the left and right sliding support portions 401C, 401C are exposed in a plan view.

[0170] On the other hand, the above-mentioned held member 402 has a connecting seat 402A for connection with the hand device 33 on its underside, and on both left and right sides thereof, inclined surfaces 402B, 402B are formed which are inclined upward and outward at an angle equivalent to the inclined surfaces 401B, 401B on the above-mentioned holding member 401 side. Further, a fitting hole 402C is formed in the center of the other side of the held member 402 in the longitudinal direction.

[0171] With the above configuration, when attaching the hand device 33 to the wrist 29, first, lift the hand device 33, insert the left and right inclined surfaces 402B, 402B on the side of the held member 402 downward through the cutout portion 401L, and place it on the left and right inclined surfaces 401B, 401B on the side of the holding member 401 for support. When the held member 402 is slid toward the rear side of the holding member 401, the tip of the plunger pin 401J on the holding member 401 side engages with the fitting hole 402C on the held member 402 side, and is positioned.

[0172] In this state, the operating handle 401G is rotated to move the moving member 401D inward, and the inclined surface 401B1 on the moving member 401D side is pressed against the inclined surface 402B on the held member 402 side to fix it. Furthermore, the lock handle 401H is rotated to fix the rotation of the operating handle 401G, thereby preventing loosening due to vibration or the like. When removing the hand device 33 from the wrist 29, the above-described procedure for attachment can be reversed.

[0173] This attachment / detachment device 400 makes it easy to perform operations such as cleaning the hand device 33 and replacing the hand device 33 with a different configuration. [Explanation of symbols]

[0174] 33 Hand Device 39D Rotating disc (rotating member) 41 Support plate (support member) 101 Support plate (support member) 104 Rotating frame (rotating member) 106 Belt (belt-shaped member) 106S Notch 106T narrow part 202U Upper support plate (support member) 202D Lower support plate (support member) 204U Upper rotating frame (rotating member) 204D Lower rotating frame (rotating member) 400 Detachable device 401 Retaining member 401B Inclined surface (slide support part) 401D Moving member (fixed part) 401G Operating handle (first operating tool) 401H Lock Handle (Second Operating Tool) 401J Plunger pin (engagement part) 402 Held member

Claims

1. An article transfer device configured in such a way that a belt-shaped member capable of transferring articles is folded from the upper surface of a support member at the tip of the support member and wound around the lower surface of the support member, and the article is transferred by moving the support member back and forth relative to the article and moving the belt-shaped member forward and backward relative to the upper surface of the support member, characterized in that both ends of the belt-shaped member are attached to a single rotating member or multiple coaxially rotating rotating members arranged on the base side of the support member, and the rotating member is rotated to unwind one end of the belt-shaped member while winding up the other end, thereby moving the belt-shaped member relative to the upper surface of the support member.

2. An article transfer device as described in claim 1, wherein the winding directions of one end and the other end of the belt-shaped member around the rotating member are set in opposite directions, and the length of the belt-shaped member that is unwound at one end and the length of the belt-shaped member that is wound up at the other end due to rotation of the rotating member are set to be approximately the same length.

3. 3. An article transfer device according to claim 1, wherein narrow width portions are formed on both ends of the belt-shaped member, and each of these narrow width portions is wound around a different portion of the rotating member in the direction of the rotation axis.

4. An article transfer device as described in claim 1 or claim 2, wherein a cutout portion and a narrow portion are formed adjacent to each other in the width direction of the belt-shaped member on both ends of the belt-shaped member, the width of the cutout portion formed on one end of the belt-shaped member is set larger than the width of the narrow portion formed on the other end of the belt-shaped member, and the narrow portion on one end of the belt-shaped member and the narrow portion on the other end of the belt-shaped member each wrap around adjacent portions in the direction of the rotation axis of the rotating member.

5. 5. The article transfer device according to claim 1, wherein one or both of the two ends of the belt-shaped member are detachably attached to the outer periphery of the rotating member.

6. An article transfer device as described in any one of claims 1 to 5, configured so that while the support member is advanced toward the underside of the article, the belt-shaped member is moved in a forward direction relative to the upper surface of the support member to scoop up the article, and while the belt-shaped member is moved in a reverse direction relative to the upper surface of the support member, the support member is retracted from the underside of the article to lower the article.

7. A hand device equipped with an article transfer device as described in any one of claims 1 to 6, further comprising an attachment / detachment device that enables the hand device to be attached and detached freely to and from the wrist portion of a robot arm, and the attachment / detachment device comprises a holding member fixed to the wrist portion side of the robot arm, and a held member fixed to the hand device side, and the holding member comprises a slide support portion that supports the held member so that it can slide freely laterally in a placed state, an engagement portion that engages with the held member at a predetermined position in this slide direction, and a fixing portion that presses the held member at the position where the engagement portion engages, thereby fixing it so that it cannot slide.

8. 8. The hand device according to claim 7, further comprising: a first operating tool, which is rotated to press the held member, and a second operating tool, which is rotated to lock the rotation of the first operating tool, on the fixing portion.

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