Holding system

Abstract

Further improve the structure that suppresses the diffusion range of the target object. [Solution] The holding system 1 comprises a gripping mechanism 31 and covering members 340, 340a, and 340b. The gripping mechanism 31 grips the ingredients. The covering members 340, 340a, and 340b are positioned corresponding to the gripping mechanism 31 and suppress the diffusion range of the ingredients by covering at least a part of the gripping mechanism 31. The covering members 340, 340a, and 340b cover at least the vertically below the gripping mechanism 31.

Description

Technical Field

[0001] The present invention relates to a holding system.

Background Art

[0002] In recent years, work has been carried out by robots to process various objects. For example, there are robots that hold an object in a storage container in which the object is stored and release the held object into another container.

[0003] Technologies related to the control of such robots are disclosed in, for example, Patent Document 1 and Patent Document 2. In the technology disclosed in Patent Document 1, a wall member is arranged so as to surround the side surface of a holding member that executes holding. Then, the wall member suppresses the object held by the holding member from scattering and spreading to an unintended range. Further, in the technology disclosed in Patent Document 2, holding is executed by a holding member using suction force or magnetic force. Further, a wall member is arranged on the side surface of the object held by the holding member. Thereby, the influence of the wind force caused by the movement of the holding member is reduced, and it is suppressed that the object falls and spreads to an unintended range.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] It is desirable to further improve the structure for suppressing the diffusion range of an object as disclosed in Patent Document 1 and Patent Document 2 described above. Furthermore, these challenges are not limited to cases where the object is food, but are common to various fields in which robots are used for holding, such as in the industrial sector. Moreover, these challenges are common not only to methods of holding the object by gripping it with a gripping unit, but also to methods of holding the object by means of suction, etc.

[0006] The objective of this invention is to further improve the structure that suppresses the diffusion range of the target object. [Means for solving the problem]

[0007] To solve the above problems, a holding system according to one embodiment of the present invention is A holding mechanism for holding an object, A covering member is positioned corresponding to the holding mechanism and covers at least a portion of the holding mechanism to suppress the diffusion range of the object, A holding system comprising, The covering member covers at least the vertically lower part of the holding mechanism. It is characterized by the following: [Effects of the Invention]

[0008] According to the present invention, the structure for suppressing the diffusion range of an object can be further improved. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram illustrating the configuration of the holding system 1 according to the present invention. [Figure 2] This is a schematic perspective view showing the configuration of the gripping mechanism 31. [Figure 3] This is a schematic front view illustrating the state transitions associated with the operation of the gripping mechanism 31. [Figure 4] This is a schematic front view illustrating the state transitions associated with the operation of the gripping mechanism 31. [Figure 5] This is a schematic front view illustrating the state transitions associated with the operation of the gripping mechanism 31. [Figure 6] It is a schematic diagram showing the hardware configuration of the control device 70. [Figure 7] It is a block diagram showing the functional configuration of the control device 70. [Figure 8] It is a flowchart showing the flow of the ingredient loading process executed by the holding system 1. [Figure 9] It is a diagram showing the gripping mechanism 31a obtained by modifying the gripping mechanism 31. [Figure 10] It is a diagram showing the gripping mechanism 31a obtained by modifying the gripping mechanism 31. [Figure 11] It is a diagram showing the gripping mechanism 31b obtained by modifying the gripping mechanism 31. [Figure 12] It is a schematic diagram showing the method in which the covering member 340 covers the gripping member 360 in the second modification. [Figure 13] It is a schematic diagram showing the method in which the covering member 340 covers the gripping member 360 in the second modification. [Figure 14] It is a schematic diagram showing the method in which the covering member 340 covers the gripping member 360 in the second modification. [Figure 15] It is a schematic diagram showing the method in which the covering member 340 covers the gripping member 360 in the second modification. [Figure 16] It is a schematic diagram showing the method of using the covering member 340 in the third modification. [Embodiments of the Invention]

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. [Embodiment] [Overall Configuration] FIG. 1 is a schematic diagram schematically showing the configuration of the holding system 1 according to the present invention. Here, the holding system 1 is assumed to apply the present invention to a system that grips and releases food as an object. Therefore, in the following description, the case where the holding system 1 grips ingredients such as prepared vegetables and packs the gripped ingredients into a container will be described as an example.

[0011] However, this is merely an example for illustrative purposes and is not intended to limit the scope of application of the present invention. The present invention is applicable to any system for holding an object. For example, it can be applied to systems that process uncooked vegetables (such as shredded cabbage, carrots, or bean sprouts) rather than prepared foods. It can also be applied to systems that process workpieces of industrial products such as electronic devices (such as screws, bolts, or product components). Furthermore, the method of holding the object is not limited to gripping it. For example, holding the object may be achieved by methods other than gripping, such as suction. Furthermore, the method of releasing the object into the container is not limited to releasing it directly into the container. For example, a robot may release the object into the discharge chute's input port, and then supply the object to the container from the discharge port of the discharge chute for filling. In other words, the present invention can be implemented in a wide range of holding systems, regardless of the object to be gripped, the specific method of holding, or the field in which it is applied.

[0012] As shown in Figure 1, the holding system 1 comprises a food container 10, a container supply device 20, an articulated robot 30, a food storage state detection sensor 41, a container detection sensor 42, a food weight meter 50, a base 60, casters 61, and a control device 70. Of these components, the container supply device 20, the articulated robot 30, the container state detection sensor 41, the container detection sensor 42, the ingredient weight meter 50, and the control device 70 are connected to each other via wired or wireless communication and are able to communicate with one another.

[0013] Adjacent to the holding system 1, a belt conveyor 2 is installed to automatically transport the containers of prepared foods from upstream to downstream. The belt conveyor 2 has a transport surface for transporting the containers, and the containers are transported while placed on this transport surface. In Figure 1, as shown by the dashed arrows, the left side of the paper represents the upstream of the transport on the belt conveyor 2, and the right side of the paper represents the downstream of the transport.

[0014] Furthermore, although Figure 1 shows only one holding system 1, it is not limited to this. In this embodiment, it is assumed that multiple holding systems 1 are installed along the conveying direction of a single belt conveyor 2, and that multiple articulated robots 30 work together.

[0015] The ingredient container 10 has a storage space for storing ingredients such as side dishes that are to be served in the holding system 1. The ingredient container 10 can be implemented using a general-purpose container such as a large tray or tub. The storage space of the ingredient container 10 can hold various ingredients that can be grasped by the articulated robot 30, such as paste salads like potato salad (i.e., side dishes containing ingredients with viscosity or stickiness), okara (soy pulp), dried daikon radish, namasu (pickled daikon radish and carrots), hijiki seaweed, boiled beans, fiddlehead ferns, buttered corn, noodles, croquettes, fried chicken, and broccoli. In this embodiment, the ingredient container 10 is assumed to contain multiple servings (for example, several dozen to several hundred servings) of one type of ingredient. When the amount of ingredients stored in the ingredient container 10 becomes low, it can be replaced manually by an operator or automatically by the articulated robot 30.

[0016] The container supply device 20, in the holding system 1, places the ingredients in a predetermined serving position. Place (shown as "serving position" in the diagram) To supply containers. The container supply device 20 holds a large number of containers vertically inside. When the holding system 1 starts operating, the container supply device 20 dispenses the containers one by one into a serving position. Place The ingredients are supplied. In response, the articulated robot 30 releases the ingredients, and the released ingredients are placed in the serving position. PlaceThe contents are placed into the supplied containers. Then, the extrusion mechanism 21 provided in the container supply device 20 pushes the filled containers onto the conveying surface of the belt conveyor 2. As a result, the filled containers are transported downstream by the belt conveyor 2.

[0017] Furthermore, a container detection sensor 42 is positioned near the location where the extrusion mechanism 21 pushes the container onto the belt conveyor 2. The container detection sensor 42 is a sensor that detects containers being transported on the conveying surface of the belt conveyor 2. The container supply device 20 pushes the containers with ingredients already placed onto the conveying surface at a time when the container detection sensor 42 has not detected any other containers being transported on the conveying surface (containers that have already been filled by other articulated robots 30). This prevents containers from colliding with each other on the conveying surface. The reason why other containers are transported from upstream is, as mentioned above, because in this embodiment, multiple holding systems 1 are installed.

[0018] The articulated robot 30 is composed of, for example, a horizontal articulated robot or a vertical articulated robot, and includes a gripping mechanism 31 capable of gripping an object, and a robot arm 32 that moves the gripping mechanism 31 to any position within its range of motion.

[0019] The gripping mechanism 31 is attached to the tip of the robot arm 32 and is supported by the robot arm 32. The gripping mechanism 31 can then be moved to any position within its range of motion in accordance with the movement of the robot arm 32 based on the control of the control device 70. Furthermore, the joint that holds the gripping mechanism 31 is equipped with an axis that rotates the gripping mechanism 31 in a twisting direction relative to the robot arm 32. Therefore, when the gripping mechanism 31 grips an ingredient, the direction in which the gripping mechanism 31 grips can be adjusted by changing the orientation of the gripping mechanism 31. As a result, when the gripping mechanism 31 reaches near the inner wall surface of the ingredient container 10, it becomes possible to change the orientation of the gripping mechanism 31 to a direction parallel to the inner wall surface of the ingredient container 10, making it easier to grip ingredients near the inner wall surface of the container.

[0020] The storage state detection sensor 41 is a sensor that detects the storage state of the ingredients contained in the ingredient container 10. The storage state detection sensor 41 is implemented, for example, by a depth camera that can detect the distance to the subject. In this case, the field of view of the storage state detection sensor 41 is set to, for example, a field of view that can capture the entire opening surface of the ingredient container 10. The control device 70 can determine the amount of ingredients remaining in each area of ​​the ingredient container 10, the degree of surface roughness (unevenness), etc., by analyzing the distance information detected by the storage state detection sensor 41 (i.e., depth information for each pixel across the entire opening surface of the ingredient container 10).

[0021] As described above, the container detection sensor 42 is a sensor that detects containers being transported on the conveying surface of the belt conveyor 2. The container detection sensor 42 is implemented, for example, by an optical sensor (also called a photodetector). The container detection sensor 42 detects containers being transported upstream of the position where the extrusion mechanism 21 pushes the containers onto the belt conveyor 2. Based on the detection results of the container detection sensor 42, the control device 70 can determine the timing at which the extrusion mechanism 21 pushes the container onto the belt conveyor 2.

[0022] The ingredient weigher 50 is a device that detects the weight of an object. The ingredient weigher 50 can be implemented, for example, by a weigher that measures weight using strain gauges. The ingredient weighing scale 50 is then positioned where the ingredient container 10 will be placed. The ingredient weighing scale 50 detects the weight of the ingredient container 10 itself, as well as the weight of the ingredients contained in the ingredient container 10. Based on the values ​​detected by the ingredient weight scale 50, the control device 70 can determine the total weight of the ingredients contained (i.e., the remaining amount) and any increase or decrease in the total weight due to gripping or other actions of the ingredients (i.e., changes in the remaining amount).

[0023] The base 60 is a base for placing the ingredient container 10, the container supply device 20, and the articulated robot 30, etc. These articulated robots, etc., together have a weight of several hundred kg (for example, more than 300 kg). Therefore, the base 60 has a structure that has sufficient rigidity to support these even when they are placed on its top surface.

[0024] The casters 61 are mounted on the base 60. The base 60 supports the articulated robot 30, etc., by contacting the ground with these casters 61. Furthermore, because these casters 61 function as wheels, the base 60 can be moved by human power even with the articulated robot 30, etc., positioned on it.

[0025] The control device 70 is composed of an information processing device such as a PC (Personal Computer) or a programmable controller, and controls the entire holding system 1 by executing various programs. For example, the control device 70 controls the operation of the container supply device 20, such as supplying containers or pushing out containers that have already been filled, and the operation of the articulated robot 30, such as grasping ingredients from the ingredient container 10 and releasing them into the container to fill it with ingredients.

[0026] For example, the control device 70 controls the drive of the robot arm 32 to move the gripping mechanism 31 to a predetermined position along a predetermined route and at a predetermined speed, and controls the drive of the actuator of the gripping mechanism 31 to perform actions such as gripping and releasing the material using the gripping mechanism.

[0027] The components constituting the holding system 1 have been described above. In addition to these components, plate-like members may be further arranged to surround or above the locations where each component is installed. This plate-like member shields each component from the external space, preventing materials gripped or released by the articulated robot 30 from scattering from the internal space to the external space. It also prevents workers from coming into contact with the articulated robot 30 while it is in operation, thereby ensuring worker safety and preventing malfunctions of the articulated robot 30. In this case, the plate-like member should be made of a transparent material such as glass or resin, so that the operating status of the holding system 1 can be visually observed from the outside space. Furthermore, this plate-like member may be used to provide an additional, openable and closable door on a portion of the side wall. This allows workers to open the door and perform various tasks such as replacing or replenishing the ingredient container 10, adding containers to the container supply device 20, or performing maintenance on the holding system 1.

[0028] [Configuration of the gripping mechanism 31] Figure 2 is a schematic perspective view showing the configuration of the gripping mechanism 31. The front, back, right, and left sides of the gripping mechanism 31 are defined as shown by the arrows in Figure 2. As shown in Figure 2, the gripping mechanism 31 comprises a coupling portion 310, a first air cylinder 320, a connecting member 330, a covering member 340, a second air cylinder 350, and a gripping member 360. The gripping mechanism 31, having this configuration, is attached to the robot arm 32, is supported by the robot arm 32, and moves in accordance with the movement of the robot arm 32.

[0029] The coupling portion 310 is a roughly plate-shaped member and is coupled to the first air cylinder 320 and the connecting member 330, respectively. The top surface of the coupling portion 310 is attached to the robot arm 32.

[0030] The first air cylinder 320 is a drive mechanism that can move linearly forward and backward in the vertical direction (i.e., upward and downward). The second air cylinder 350 and the gripping member 360 are fixed to the tip of the piston rod of the first air cylinder 320. Therefore, when the piston rod of the first air cylinder 320 is driven upward, the second air cylinder 350 and the gripping member 360 move to an upper position that is relatively closer to the coupling portion 310. In other words, they rise. On the other hand, when the piston rod of the first air cylinder 320 is driven downward, the second air cylinder 350 and the gripping member 360 move to a lower position that is relatively further away from the coupling portion 310. In other words, they descend.

[0031] The connecting member 330 is fixed so as to hang from the joint 310 and connects the first air cylinder 320 and the covering member 340. As a result, the covering member 340 opens and closes in conjunction with the upward and downward movement of the first air cylinder 320.

[0032] The covering member 340 is a plate-shaped member positioned in correspondence with the gripping member 360, and by covering at least a portion of the gripping member 360, it suppresses the diffusion of ingredients from the gripping member 360. Diffusion of ingredients refers to the diffusion of ingredients due to scattering or falling, for example. However, the diffusion of ingredients is not limited to these. For example, it also includes cases where ingredients diffuse by moving as a single mass without scattering, or where ingredients diffuse by moving at a slow pace that cannot be described as scattering. In this embodiment, two covering members 340 are arranged, one corresponding to the right side and the other to the left side. The front ends of these two covering members 340 are folded back so as to extend toward the center of the front of the gripping mechanism 31. As a result, when the two covering members 340 are closed, the dispersion of the ingredients is suppressed not only on the left and right sides but also on the front.

[0033] In this embodiment, as an example, it is assumed that two gripping mechanisms 31 are mounted on one robot arm 32 and arranged adjacent to each other with their backs facing each other. Therefore, only the front is folded back. However, if one gripping mechanism 31 is mounted on the robot arm 32 alone, the end on the back side of the covering member 340 may also be folded back in the same way as the front side, extending toward the center of the back. Furthermore, the covering member 340 and the connecting member 330 are fastened together with wing nuts, allowing for easy attachment and detachment by hand without the use of tools. This makes cleaning and replacement tasks simpler.

[0034] The second air cylinder 350 is a drive mechanism that can move forward and backward in a straight line in the horizontal direction (i.e., to the right and to the left). The upper end of the gripping member 360 is fixed to the tip of the piston rod of the first air cylinder 320.

[0035] The gripping member 360 is the part that grips the ingredients by contacting them. The gripping member 360 has two gripping parts formed by a plate-like member at its lower end, and these two gripping parts have a structure that allows them to open and close. The gripping member 360 grips and releases the ingredients by opening and closing these two gripping parts.

[0036] Furthermore, the gripping member 360 is provided with a slit (i.e., a narrow gap) of a size that prevents the gripped ingredients from falling out. By providing such a slit, it is possible to suppress the adhesion of sticky ingredients to the gripping member 360 (for example, the ingredients sticking to it). This makes it possible to suppress the occurrence of situations where attached ingredients fall off and to easily release the ingredients.

[0037] [State transitions of the gripping mechanism 31] Figures 3-5 schematically show the state transitions associated with the operation of the gripping mechanism 31. front This is a diagram. In this embodiment, the gripping mechanism 31 transitions through three states: "fully open," "half-open," and "closed."

[0038] First, Figure 3 shows the fully open state. In the fully open state, both the covering member 340 and the gripping member 360 are open. First, let's explain the behavior of the covering member 340. The covering member 340 opens in response to the drive of the first air cylinder 320, which is connected via the connecting member 330. Here, the upper end of the connecting member 330 is fixed to a base point P1, which is a point that does not move even when each part rises or falls in conjunction with the driving of the first air cylinder 320. On the other hand, the lower end of the connecting member 330 is fixed to a base point P2, which is a point that rises or falls together with each part when each part rises or falls in conjunction with the driving of the first air cylinder 320. Then, the connecting member 330 functions as a link mechanism, with each of the base point P1, base point P2, and the multiple connecting points J located between them rotatably supporting the link. Two covering members 340 are then connected to this link mechanism.

[0039] Here, while the base point P1 is fixed, the base point P2 moves downward when the piston rod of the first air cylinder 320 is driven downward. As a result, base points P1 and P2 move apart relatively. In this case, the force that moves base points P1 and P2 apart is converted by the link mechanism into a force that raises the two covering members 340 relative to base point P2 and moves the two covering members 340 apart from each other. As a result, when viewed from the front, the two covering members 340 move outward and upward, opening up. This exposes the gripping member 360, making it possible to grip and release.

[0040] Next, the behavior of the gripping member 360 will be described. The gripping member 360 opens in response to the drive of the second air cylinder 350 to which it is connected. The gripping member 360 has two gripping parts at its lower end. Correspondingly, the second air cylinder 350 has two air cylinders. These two gripping parts are each connected to the air cylinder corresponding to themselves. In this case, the two air cylinders are arranged so that their directions of advancement and retraction are opposite to each other.

[0041] Furthermore, the component connecting one air cylinder to one gripping part and the component connecting the other air cylinder to the other gripping part overlap and intersect near the center, and are fastened together with a screw at the point of intersection, functioning as a pivot point for movement. In other words, the overall mechanism is similar to that of a typical pair of scissors or forceps. Then, by driving the two air cylinders in sync as they move forward and backward, the two gripping parts connected to them move closer to and further apart from each other, that is, they open and close. In the fully open state shown in Figure 3, the piston rods of the two air cylinders are driven to move away from each other, which in turn causes the two gripping parts to move away from each other, resulting in the gripping member 360 being in an open state. The fully open state is achieved through the structure and operation described above. In Figures 3-5, the forward and backward movement of the piston rod of each air cylinder is indicated by a white arrow.

[0042] Next, Figure 4 shows the half-open state. In the half-open state, the covering member 340 is open, but the gripping member 360 is closed. In the half-open state, the covering member 340 opens in response to the drive of the first air cylinder 320, similar to the fully open state in Figure 3. Furthermore, in the half-open state, the two air cylinders of the second air cylinder 350 are driven so that the piston rods of the two air cylinders move closer to each other. As a result, the two gripping parts of the gripping member 360 move closer together and close. This creates a gripping space inside the two gripping parts, allowing for the gripping of the material. of It is possible.

[0043] Next, Figure 5 shows the closed state. In the closed state, both the covering member 340 and the gripping member 360 are closed. Similar to the half-open state, in the closed state, the two air cylinders of the second air cylinder 350 are driven so that the piston rods of the two air cylinders move closer to each other. Consequently, the two gripping portions of the gripping member 360 move closer together, resulting in a closed state.

[0044] Furthermore, in the closed state, the piston rod of the first air cylinder 320 is driven upward. As a result, the base point P2 moves upward, but the base point P1 remains fixed. Therefore, base points P1 and P2 move closer together. In this case, the force that brings base points P1 and P2 closer together is converted by the link mechanism into a force that causes the two covering members 340 to move downward relative to base point P2, and also causes the two covering members 340 to move closer together. As a result, when viewed from the front, the two covering members 340 move inward and downward, closing themselves. This suppresses the diffusion range of the material from the gripping member 360.

[0045] The above explains the transitions between the three states: fully open, partially open, and closed. Next, we will explain the specific uses of each of these states. First, the fully open position is used before gripping. Specifically, it is used when lowering the gripping member 360 onto the ingredients in the ingredient container 10 in order to grip them, or when inserting the gripping member 360 onto the ingredients. In these cases, if the gripping member 360 is fully open, the covering member 340 is retracted upward, preventing it from coming into contact with and adhering to the ingredients. Also, because the gripping member 360 is open, the entire interior of the gripping member 360 can come into contact with the ingredients before the gripping space is formed.

[0046] Furthermore, the fully open position is also used when releasing the contents. By moving to the appropriate position above the container and then fully opening it, the contents being held can be released into the container without leaving any behind. Furthermore, the fully open state is also used when performing removal operations. In the fully open state, the gripping member 360 can be moved or vibrated to remove any ingredients adhering to the inside and outside of the gripping member 360, allowing the ingredients to fall into an appropriate location (for example, inside the ingredient container 10).

[0047] The half-open state is used during the gripping stage. After inserting the gripping member 360 into the material to the appropriate depth in the fully open state, the gripping member 360 is closed by switching to the half-open state, thereby forming a gripping space and allowing the material to be gripped in the target amount. In both the fully open and partially open states, the covering member 340 is retracted upward, preventing contact between the covering member 340 and the gripping member 360 and thus preventing interference with the operation of the gripping member 360. To achieve this, it is preferable that the covering member 340 be retracted to a position at least higher than the position of the lower end of the gripping member 360 when the gripping member 360 is open.

[0048] The closed state is used when moving between the ingredient container 10 and the container for serving the ingredients. Alternatively, it is used when rising after gripping or when descending to release. In the closed state, the covering member 340 covers the gripping member 360, allowing the ingredients being gripped by the gripping member 360, or ingredients attached to the gripping member 360, to be moved without scattering or falling outside the covering member 340. This suppresses the area over which ingredients are dispersed during movement. Therefore, it is possible to reduce the effort required to clean up dispersed ingredients and to prevent the disposal of ingredients due to dispersion. Furthermore, in the closed state, the covering member 340 covers the gripping member 360, thereby protecting the gripping member 360. For example, the gripping member 360 can be protected from external forces such as wind force associated with movement. Therefore, in addition to suppressing the scattering or falling of the materials held by the gripping member 360, it is possible to prevent scattering or falling in the first place.

[0049] In summary, the fully open and half-open states can be used when performing gripping-related actions. For example, they are suitable for gripping, releasing, removing, and the movements required to perform these actions (including descent before gripping and descent before releasing). On the other hand, the closed state is preferable when performing movement between containers (including upward movement after gripping and upward movement after release). In other words, according to this embodiment, a structure that suppresses the diffusion range of the ingredients, such as the covering member 340, can be effectively utilized depending on the situation.

[0050] In this embodiment, by positioning the covering member 340 as part of the gripping mechanism 31, the covering member 340 always moves together with the gripping member 360. Therefore, the positional relationship between the covering member 340 and the gripping member 360 can always be maintained as intended, making it possible to appropriately perform the state transitions described above.

[0051] Furthermore, we will also consider the aspect of the problem to be solved by the present invention, which is to further improve the structure that suppresses the diffusion range of the object. As described above in the sections on [Background Art] and [Problems to be Solved by the Invention], in general technology, the idea of ​​placing a wall member on the side of the holding member to suppress the diffusion of ingredients in the lateral direction has been disclosed. However, the idea of ​​suppressing the diffusion of ingredients that have fallen when the holding member has dropped them has not been disclosed. For example, while a structure that reduces the effects of external forces such as wind to prevent ingredients from falling from the holding member has been disclosed, the concept of how to deal with the situation if ingredients do fall despite these measures has not been disclosed. In contrast, in this embodiment, as shown in Figure 5, when the device is in the closed state, the covering member 340 covers not only the sides of the gripping member 360 but also the area vertically below it. Therefore, even if the gripping member 360 drops the object it is holding, the covering member 340 can prevent the object from falling further. Furthermore, even if the object is very small and cannot be completely prevented from falling, it can at least prevent it from falling directly from the gripping member 360.

[0052] Furthermore, conventional technologies have not adequately considered the placement of wall members without interfering with the opening and closing mechanism of the retaining member. As a result, depending on the shape of the retaining member, there was a risk of interference between the retaining member and the wall member during opening and closing. Also, if the wall member is placed at a distance from the retaining member with ample clearance to avoid this, the size of the gripping mechanism, including the wall member, becomes unnecessarily large. While this problem can often be avoided with retaining members that utilize suction or magnetic force, this limits the selection of retaining members that can be chosen. In contrast, in this embodiment, as shown in Figures 3 and 4, the covering member 340 retracts when it is fully open or partially open, and does not obstruct the opening and closing of the gripping member 360. Therefore, the gripping member 360 can be used appropriately when it is opening and closing. Also, when the gripping member 360 is not opening or closing, it is in a closed state as shown in Figure 5, so the size of the gripping mechanism 31 does not become unnecessarily large. As discussed above, it is clear that this embodiment improves upon general technology. In other words, this embodiment solves the problem that the present invention aims to solve: "to further improve the structure that suppresses the diffusion range of the target object."

[0053] [Hardware configuration of control device 70] Figure 6 is a schematic diagram showing the hardware configuration of the control device 70. As shown in Figure 6, the control device 70 includes a CPU (Central Processing Unit) 711, a ROM (Read Only Memory) 712, a RAM (Random Access Memory) 713, a bus 714, an input unit 715, an output unit 716, a storage unit 717, a communication unit 718, and a drive 719.

[0054] The CPU 711 executes various processes according to the program recorded in the ROM 712 or the program loaded into the RAM 713 from the storage unit 717. RAM713 also stores data necessary for CPU711 to perform various processes.

[0055] The CPU 711, ROM 712, and RAM 713 are interconnected via a bus 714. The input unit 715, output unit 716, storage unit 717, communication unit 718, and drive 719 are connected to the bus 714.

[0056] The input unit 715 is equipped with an input device such as a mouse or keyboard and accepts various types of information for input to the control device 70. Alternatively, the input unit 715 may be equipped with a microphone and accept various types of information via voice input from the operator. The output unit 716 consists of a display, speakers, etc., and outputs images and sound. The memory unit 717 consists of an SSD (Solid State Drive), HDD (Hard Disk Drive), or DRAM (Dynamic Random Access Memory), and stores various types of data managed by each server. The communications unit 718 controls communication with other devices via the network.

[0057] The drive 719 is appropriately equipped with removable media 731, which may consist of a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory. Programs read from the removable media 731 by the drive 719 are installed in the storage unit 717 as needed. The above hardware configuration is the basic configuration of the control device 70, and it is possible to omit some hardware, add additional hardware, or change the hardware implementation.

[0058] [Functional configuration] Next, the functional configuration of the control device 70 will be described. Figure 7 is a block diagram showing the functional configuration of the control device 70. As shown in Figure 7, by executing a program to control the operation of the holding system 1, the CPU 711 of the control device 70 functions as follows: information acquisition unit 151, articulated robot control unit 152, container supply control unit 153, and recording control unit 154. In addition, the storage unit 717 is configured with a parameter storage unit 171 and a history database (history DB) 172.

[0059] The parameter storage unit 171 stores various parameters used when the holding system 1 operates. For example, the parameter storage unit 171 stores data that serves as control criteria for gripping and releasing operations, such as the position and shape of the ingredient container 10, the position and shape of the containers supplied from the container supply device 20, the position of the area within the container where the ingredients are provided and placed, the weight per unit volume of the ingredients (i.e., the density of the ingredients), and the target amount of ingredients to be gripped and released, as well as parameters that define the operation patterns of the articulated robot 30.

[0060] The history DB172 stores control parameters acquired when the holding system 1 is operating, as well as measurement data of the weight of the ingredients placed by the holding system 1, as operation history.

[0061] The information acquisition unit 151 acquires information detected by various sensors and weighing scales installed in the holding system 1. For example, the information acquisition unit 151 acquires distance information detected by the storage state detection sensor 41 (i.e., depth information for each pixel across the entire opening surface of the ingredient storage container 10). Also, for example, the information acquisition unit 151 sequentially acquires the detection results of other containers on the transport surface (containers already filled by other articulated robots 30) by the container detection sensor 42. In addition, for example, the information acquisition unit 151 sequentially acquires data on the weight of the ingredient container 10 and the ingredients contained therein, as detected by the ingredient weight scale 50. In this way, the sensor information notified to the information acquisition unit 151 is used as appropriate by other functional blocks provided by the control device 70.

[0062] The articulated robot control unit 152 controls the movement of the articulated robot 30 and causes the articulated robot 30 to perform a series of operations for serving ingredients according to the operation patterns defined in the holding system 1. For example, the articulated robot control unit 152 causes the articulated robot 30 to perform operations such as gripping the ingredients with the gripping mechanism 31 (gripping operation), releasing the ingredients gripped by the gripping mechanism 31 (release operation), and removing ingredients attached to the gripping mechanism 31 (removal operation).

[0063] For example, when performing a grip, the articulated robot control unit 152 pre-determines the surface height of the ingredients at each position within the ingredient container 10 based on the distance information detected by the storage state detection sensor 41. Therefore, the articulated robot control unit 152 inserts the gripping member 360 into the group of ingredients to a predetermined depth from this height and performs the grip. This predetermined depth can be set in advance based on the density of the ingredients, the characteristics of the ingredients (viscosity, etc.), the number and shape of the gripping members 360 to be used for gripping, and the target amount (in this case, the target weight) to be targeted for gripping and releasing. By pre-setting the insertion depth in this way, the gripping member 360 can grip ingredients of the same weight as the target amount, or a weight close to the target amount. Alternatively, instead of pre-setting the depth, the articulated robot control unit 152 may calculate the insertion depth using the values ​​detected by each sensor and weighing scale as parameters (variables). Or, a learning model may be constructed in advance by performing machine learning based on past gripping performance values, and this learning model may be used to determine the insertion depth.

[0064] Furthermore, for example, when performing a release operation, the articulated robot control unit 152 pre-determines the position and shape of the container on which the ingredients are placed, as well as the position of the area within the container where the ingredients are placed, based on data that serves as the control standard for the release operation and is stored in the parameter storage unit 171. Therefore, the articulated robot control unit 152 moves the gripping member 360 to an appropriate position based on this determined position and then performs the release operation. Note that this appropriate position includes not only the position in the horizontal plane, but also the position in the vertical direction (i.e., height).

[0065] In addition, for example, when performing a release operation, the articulated robot control unit 152 controls the removal operation based on parameters that define the operation pattern of the articulated robot 30 stored in the parameter storage unit 171. As a prerequisite for the removal operation, when a gripping operation or release operation is performed, some of the ingredients may adhere to the gripping member 360 due to the characteristics of the ingredients. In particular, ingredients with characteristics such as viscosity or stickiness, ingredients with a lot of oil or moisture, and long ingredients that tend to get tangled are prone to adhesion. Therefore, it is preferable for the articulated robot control unit 152 to perform a removal operation by moving the gripping member 360 to remove the adhered ingredients and drop them into the ingredient storage container 10, etc.

[0066] One possible method for performing this removal operation is to move the gripping mechanism 31 using the robot arm 32. In this case, the gripping mechanism 31 may be moved up and down or left and right to remove the material. Alternatively, it may be removed by applying a downward inertial force to the material by moving it downward and then suddenly stopping it. In addition, the gripping mechanism 31 may be vibrated in small increments up and down or left and right to remove the material. Alternatively, the object may be removed by repeatedly opening and closing the gripping member 360, without moving the robot arm 32. The object may also be removed by driving the first air cylinder 320 to move the gripping member 360 up and down or by vibrating it.

[0067] The container supply control unit 153 controls the container supply device 20 and supplies containers for serving ingredients to be placed in the holding system 1 to the serving position. Furthermore, the container supply control unit 153 also controls the container supply control unit 153. Extrusion mechanism 21 The system controls the container detection sensor 42 to push the container with the ingredients already added onto the transport surface when it has not detected any other containers being transported on the transport surface (containers that have already been filled by other articulated robots 30).

[0068] The recording control unit 154 stores control parameters acquired when the holding system 1 performs gripping operations, etc., and measurement data of the weight of the ingredients placed by the holding system 1 in the history DB 172. This data is used by the administrator of the holding system 1, etc., as log data for analyzing the operation of the holding system 1.

[0069] [Overall Operation] Next, we will explain the overall operation of the holding system 1. Figure 8 is a flowchart showing the flow of the ingredient plating process performed by the holding system 1. The ingredient plating process is initiated, for example, when an operator initiates the ingredient plating process.

[0070] When the ingredient placement process begins, in step S11, the articulated robot control unit 152 reads operation data (for example, operation pattern data, position and shape data of the ingredient container 10, etc.) from the parameter storage unit 171 to perform a series of operations in the ingredient placement process. This prepares the robot for the gripping, releasing, and removal operations described above.

[0071] In step S12, the articulated robot control unit 152 moves the gripping mechanism 31 to a standby position above the ingredient container 10. In step S13, the articulated robot control unit 152 attaches the covering member 340 and the gripping member 360 to the gripping mechanism 31. Open Transition to the fully open state.

[0072] In step S14, the articulated robot control unit 152 causes the gripping mechanism 31 to close only the gripping member 360, transitioning it to a half-open state, thereby performing the gripping operation. In step S15, the gripping mechanism 31 is made to close the covering member 340 and the gripping member 360, transitioning to the closed state. Note that the gripping mechanism 31 is made to perform a removal operation before reaching the closed state. cormorant You can do that.

[0073] In step S16, the articulated robot control unit 152 moves the closed gripping mechanism 31 above the container on which the ingredients are placed.

[0074] In step S17, the articulated robot control unit 152 、 The gripping mechanism 31 is fitted with the covering member 340 and the gripping member 360. Open By transitioning to the fully open state, the release is executed. In step S18, the gripping mechanism 31 is made to close the covering member 340 and the gripping member 360, transitioning to the closed state.

[0075] In step S19, the articulated robot control unit 152 moves the closed gripping mechanism 31 to a standby position above the ingredient container 10. In step S20, the recording control unit 154 stores the control parameters acquired during the ingredient plating process and the measured weight data (history data) of the plated ingredients in the history DB 172.

[0076] In step S21, the articulated robot control unit 152 determines whether the conditions for terminating the ingredient placement process have been met. In this case, the conditions for terminating the ingredient placement process are that the ingredients have been placed in the planned number of containers, or that the operator has performed an operation to terminate the ingredient placement process. If the conditions for terminating the ingredient plating process are not met, the result is determined as No in step S21, and the process is repeated from step S13. On the other hand, if the conditions for terminating the ingredient plating process are met, the result is determined as Yes in step S21, and the ingredient plating process is terminated.

[0077] As described above, the ingredient plating process yields the various advantageous effects mentioned in Figures 2 to 5, etc.

[0078] [Differentiation] Although embodiments of the present invention have been described above, these embodiments are merely illustrative and do not limit the technical scope of the present invention. The present invention can take various other forms without departing from the spirit of the invention, and various modifications such as omissions and substitutions can be made. For example, it is possible not only to apply any of the modifications described below to the embodiments of the present invention, but also to combine some or all of the modifications described below as appropriate and apply them to the embodiments of the present invention.

[0079] [Example 1] In the embodiment described above, the gripping mechanism 31 had the configuration shown in Figures 2 to 5. However, it is not limited to this configuration and other configurations are also possible. Figures 9 and 10 show a modified gripping mechanism 31a, which is a modified version of the gripping mechanism 31. As shown in Figures 9 and 10, the gripping mechanism 31a comprises a coupling portion 310a, a first air cylinder 320a, a connecting member 330a, a covering member 340a, a second air cylinder 350a, and a gripping member 360a. The basic functions of each of these parts are the same as those of the gripping mechanism 31 in the embodiment described above. Furthermore, similar to the gripping mechanism 31 in the above-described embodiment, the connecting member 330a functions as a link mechanism in order to open and close the covering member 340a, with each of the base point P1, base point P2, and the multiple connecting points J located between them rotatably supporting the link. Furthermore, the second air cylinder 350a is driven to open and close the gripping portion of the gripping member 360a, just as in the gripping mechanism 31 of the embodiment described above. Therefore, redundant explanations regarding these points will be omitted.

[0080] In this modified example, gripping member 360a of The two gripping parts are each wire-like and configured in a closed loop shape at the end. When the ends of the two gripping parts come close together, the gripping member 360a closes, allowing it to grip the ingredients. Such gripping parts can grip ingredients of a certain size, such as fried chicken or broccoli florets. solid It is particularly suitable for gripping ingredients made of body parts. Furthermore, even if such ingredients may fall vertically downward after being gripped, there is no risk of them scattering in multiple directions. Therefore, in this modified example, when the covering member 340a is in the closed state, the gripping mechanism 31 a The structure covers the vertically below the gripping member 360a without covering the front or back. In this modified example, the objective of preventing ingredients from falling is achieved, and the overall size can be reduced. The gripping mechanism 31 is controlled by the articulated robot control unit 152. a In order to achieve proper operation control of the gripping mechanism 31 a Considering the importance of handling it flexibly, the gripping mechanism 31 aThe ability to reduce its size is beneficial.

[0081] Figure 11 shows a modified version of the gripping mechanism 31, called the gripping mechanism 31b. As shown in Figure 11, the gripping mechanism 31b comprises a coupling portion 310b, a first air cylinder 320b, a covering member 340b, a second air cylinder 350b, and a gripping member 360b. In the description of the gripping mechanism 31b, redundant explanations of parts common to the gripping mechanism 31 will be omitted. The gripping mechanism 31b is a gripping mechanism 31 or gripping mechanism 31 a Unlike the previous design, the connecting member 330 (i.e., the link mechanism) is omitted. The first air cylinder 320b is directly fixed to the piston rod of the covering member 340b. The covering member 340b also includes a component 341 that covers the left and right sides of the gripping member 360b, and a component 342 that comes into contact with the second air cylinder 350b when transitioning to the closed state.

[0082] As shown in Figure 11(a), in the fully open or partially open state, the piston rod of the first air cylinder 320b and the covering member 340b fixed thereto are positioned relatively above it. Therefore, the gripping member 360b can perform gripping and release operations without interference from the covering member 340b. As an example of the configuration of the gripping member, when the second air cylinder 350b is driven, the two gripping parts of the gripping member 360b move parallel to each other from left to right, bringing them closer together to grip. Alternatively, when the second air cylinder 350b is driven, the gripping member 360b moves parallel to each other in opposite directions, moving them apart to release.

[0083] On the other hand, as shown in Figure 11(b), when the first air cylinder 320b is driven, the piston rod of the first air cylinder 320b and the covering member 340b fixed thereto are positioned relatively downward. In this case, as the component 342 of the covering member 340b moves downward, it comes into contact with the top surface of the second air cylinder 350b and tilts diagonally. As a result, a force acts to guide the tip of component 341 inward, and component 341 covers the left and right sides of the gripping member 360b. To achieve this state, the covering member 340b can be made of an elastically deformable material such as resin or silicone.

[0084] This makes it possible to suppress the diffusion range of the material being gripped by the gripping member 360b. Furthermore, since a link mechanism can be eliminated, a simpler configuration with fewer parts can be achieved. In this modified example, two configurations with modified gripping mechanisms 31 have been illustrated. However, the embodiments described above and the configurations of this modified example are merely examples of specific configurations. The configuration of the gripping mechanism 31 can be modified as appropriate without departing from the spirit of the present invention.

[0085] [Differentiation 2] Regardless of the specific configuration of the gripping mechanism 31, the method by which the covering member 340 covers the gripping member 360 can also be modified as appropriate. Figures 12-15 are schematic diagrams illustrating how the covering member 340 covers the gripping member 360 in this modified example.

[0086] Figure 12 shows the gripping member 360 as viewed from a direction perpendicular to the opening and closing direction. That is, the left-right direction of the paper is the opening and closing direction of the gripping member 360. As described above, the gripping member 360 performs gripping and release by opening and closing in the opening and closing direction, as shown in Figure 12(a). Then, as shown in Figure 12(b), in the embodiment and modification 1 described above, the covering member 340 moves from this opening and closing direction to cover the opening and closing direction and the area vertically downwards. This is not the only example; other methods will also be illustrated in this modified example.

[0087] Figures 13 and 14 show the gripping member 360 as viewed from the opening and closing direction. That is, the front and depth directions of the paper correspond to the opening and closing directions of the gripping member 360. As shown in Figure 13(a), the covering member 340 may be positioned perpendicular to the opening and closing direction of the gripping member 360, so that the covering member 340 descends and covers the gripping member 360. In this way, for example, when performing a release operation, the diffusion range of the ingredients can be suppressed without interference with the gripping member 360. On the other hand, when gripping, as shown in Figure 13(b), the covering member 340 is raised to retract above the surface of the group of ingredients. In this way, the covering member 340 comes into contact with the group of ingredients in the ingredient container 10, preventing the ingredients from coming into contact with the covering member 340.

[0088] As shown in Figure 14(a), the covering member 340 may be positioned in a direction perpendicular to the opening and closing direction of the gripping member 360, and the covering member 340 may move from this perpendicular direction to cover the gripping member 360. In this way, similar to the example in Figure 13, the diffusion range of the ingredients can be suppressed without interference with the gripping member 360 when performing the release operation. On the other hand, when gripping, as shown in Figure 14(b), the first rotating part is rotated using a rotational mechanism such as a motor, thereby moving the covering member 340 away from the gripping member 360. As a result, the covering member 340 springs up. At this time, the second rotating part also rotates due to gravity acting on the covering member 340, so the tip of the covering member 340 does not spring up to an unnecessarily high position. Then, by raising the covering member 340, it is moved above the surface of the group of ingredients. In this way, as in the example in Figure 13, it is possible to prevent the covering member 340 from coming into contact with the group of ingredients in the ingredient container 10 and the ingredients from coming into contact with the covering member 340.

[0089] Figure 15 shows the gripping member 360 as viewed from a direction perpendicular to the opening and closing direction. That is, the left-right direction of the paper corresponds to the opening and closing direction of the gripping member 360. As shown in Figure 15(a), the gripping member 360 may be configured to cover only the vertically downward direction without covering its sides (both in the opening / closing direction and in the direction perpendicular thereto). For example, the covering member 340 may be composed of a plate-shaped member extending horizontally and a rod-shaped member extending vertically to support it. This covering member 340 moves away from the opening / closing direction to cover the vertically downward direction. As a result, the plate-shaped member constituting the covering member 340 functions as a tray, so to speak, preventing the contents from falling.

[0090] Furthermore, as shown in Figure 15(b), the covering member 340 may be positioned on either the left or right side instead of on both sides. The plate-shaped members constituting the covering member 340 may be made larger than those shown in the example in Figure 15(a). Even in this way, it is possible to prevent the ingredients from falling. Furthermore, the concept shown in Figure 15(b) may be applied to the configurations illustrated in the above-described embodiments and Modification 1. That is, in the configurations illustrated in the above-described embodiments and Modification 1, instead of arranging the covering members 340 on both the left and right sides, the covering member 340 may be arranged on either the left or right side.

[0091] In addition, for example, in the embodiments and modified example 1 described above, solid The device was designed to grasp and release ingredients that support the body. However, it is not limited to these ingredients; liquids or gels that cannot be grasped (or are difficult to grasp) may also be used as the object. In this case, instead of the grasping member 360, a ladle-shaped or spoon-shaped member may be used to hold the object from the ingredient container 10 by scooping it rather than grasping it, and then release it into the container. Even with such a configuration, the covering member 340 can prevent liquid or gel-like ingredients from falling or scattering.

[0092] Furthermore, in this case, it is desirable that the covering member 340 be shaped in such a way that it can continue to hold the fallen liquid or gel-like material. For example, the edge of the covering member 340 can be folded back so that it rises vertically upward. This creates a kind of liquid reservoir, allowing the fallen liquid or other material to be held in place by the closed covering member 340 without overflowing to the outside. Furthermore, providing a structure equivalent to a liquid reservoir in this way means solid It is also suitable for gripping ingredients that are body-shaped but contain a lot of moisture and may drip.

[0093] [Difference 3] The covering member 340 may also be used for purposes other than suppressing the diffusion range of the ingredients. Figure 16 is a schematic diagram illustrating the method of using the covering member 340 in this modified example. Figure 16 shows the gripping member 360 as viewed from a direction perpendicular to the opening and closing direction. That is, the left-right direction of the paper corresponds to the opening and closing direction of the gripping member 360.

[0094] As shown in Figure 16(a), food material may adhere to the outer surface of the gripping member 360 after gripping and releasing. For example, as mentioned above in the explanation of the removal operation, the likelihood of adhesion is particularly high with sticky or adhesive food materials. However, by transitioning to the closed state, it is possible to prevent the attached food material from falling off.

[0095] Furthermore, in this modified example, as shown in Figure 16(b), when transitioning to a half-open or fully open state, the covering member 340 is positioned so that it can peel off the attached ingredients during the process of opening. This allows the attached ingredients to fall into the ingredient container 10 or the container in which the ingredients are placed. In other words, the covering member 340 can function not only as a member that suppresses the diffusion range of the ingredients, but also as a peeling member that peels off the attached ingredients. In this case, depending on the properties of the covering member 340 and the gripping member 360 (for example, if they are elastically deformable and resistant to damage like rubber or silicone), the covering member 340 and the gripping member 360 may be positioned very close together so that they come into contact during the process of the covering member 340 opening. This allows for more reliable removal of the attached material.

[0096] [Differentiation Example 4] In the embodiment described above, the weight of the ingredients gripped by the gripping member 360 was determined based on the weight change detected by the ingredient weight scale 50, and compared to the target amount. However, the system is not limited to this, and a load cell or force sensor may be placed on the gripping member 360. In this case, the weight of the ingredients gripped by the gripping member 360 may be determined using the load cell or force sensor, and compared to the target amount. This would make it possible to omit the ingredient weight scale 50. Furthermore, this would increase the degree of freedom in the position where the ingredient container 10 is installed.

[0097] [Difference 5] In the embodiment described above, the determination was made by comparing the target amount with the weight of the ingredients. However, the determination may be made by comparing the target amount with the quantity of the ingredients from other perspectives. For example, the determination may be made by comparing the target amount with the volume of the ingredients. Alternatively, the determination may be made by comparing the target amount with the number of ingredients. The volume of the ingredients and the number of ingredients can be determined, for example, by taking pictures of the grasped and released ingredients with a camera and analyzing the captured images using machine learning or other image analysis techniques.

[0098] [Example Configuration] As described above, the gripping system 1 in this embodiment comprises a gripping mechanism 31 and covering members 340, 340a, and 340b. The gripping mechanism 31 grips the material. The covering members 340, 340a, and 340b are positioned in accordance with the gripping mechanism 31 and suppress the diffusion range of the material by covering at least a part of the gripping mechanism 31. The covering members 340, 340a, and 340b cover at least the vertically below the gripping mechanism 31.

[0099] The system further includes a control device 70 for controlling the movement of the covering members 340, 340a, and 340b. The control device 70 controls the movement of the covering members 340, 340a, and 340b to positions that do not interfere with the gripping operation when the gripping mechanism 31 performs a gripping operation.

[0100] A position that does not interfere with the gripping mechanism 31's gripping-related movements is a position vertically above the lower end of the gripping mechanism 31.

[0101] The gripping mechanism 31 performs gripping-related operations by opening and closing the gripping member 360. A position that does not interfere with the gripping mechanism 31 is a position that is outward in the opening and closing direction from the position when the gripping member 360 is open.

[0102] The gripping mechanism 31 performs gripping-related operations by opening and closing the gripping member 360. The position that does not interfere with the gripping mechanism 31 is the outer position in the direction that intersects the opening and closing direction of the gripping member 360 with the horizontal plane.

[0103] As the covering members 340, 340a, and 340b move, controlled by the control device 70, they come into contact with the material attached to the gripping mechanism 31, thereby detaching the material from the gripping mechanism 31.

[0104] The control device 70 moves the covering members 340, 340a, and 340b up and down to a position that does not interfere with the gripping operation by the gripping mechanism 31.

[0105] The system further includes a moving mechanism for moving the entire gripping mechanism 31. The covering members 340, 340a, and 340b move together with the movement of the entire gripping mechanism 31 by the moving mechanism.

[0106] From a different perspective, the gripping system 1 in this embodiment comprises a gripping mechanism 31 and covering members 340, 340a, and 340b. The gripping mechanism 31 has a gripping member 360, which grips the material by opening and closing. The covering members 340, 340a, and 340b are positioned in correspondence with the gripping member 360 and suppress the diffusion range of the material by covering at least a portion of the gripping member 360. Then, when the gripping mechanism 31 performs gripping-related operations, the covering members 340, 340a, and 340b retract to the outside of the range of motion of the gripping member 360 so as not to interfere with the gripping-related operations.

[0107] The embodiments and modifications described above are merely examples of embodiments of the present invention, and various embodiments that realize the functions of the present invention are included within the scope of the present invention. For example, in the embodiments and modifications described above, the present invention was explained using the application of the present invention to a holding system for serving prepared foods as an example, but the present invention can be applied to systems for gripping various objects. For example, the present invention can be applied to systems for gripping materials with high viscosity or adhesiveness, such as mixed mortar, concrete, plaster, and clay. The present invention is suitable for gripping objects having a viscosity of medium viscosity or higher (5000 mPa·s) or higher at working temperature or room temperature. Furthermore, the present invention can be implemented by appropriately combining the examples described in the above embodiments. The series of processes described above can be executed by hardware or by software. In other words, the functional configuration shown in Figure 7 is merely illustrative and not particularly limiting. That is, it is sufficient for the holding system 1 to be equipped with a function that can execute the series of processes described above as a whole, and the type of functional block used to realize this function is not particularly limited to the example in Figure 7. Furthermore, a single functional block may consist of hardware alone, software alone, or a combination of both.

[0108] When a series of processes are executed by software, the programs that make up that software are installed on a computer or other device from a network or storage medium. A computer may be a computer built into dedicated hardware. Alternatively, a computer may be a computer capable of performing various functions by installing various programs, such as a general-purpose personal computer.

[0109] The storage medium for storing programs consists of removable media distributed separately from the main unit, or storage media pre-installed in the main unit. Removable media consists of, for example, magnetic disks, optical disks, magneto-optical disks, or flash memory. Optical disks consist of, for example, CD-ROM (Compact Disk-Read Only Memory), DVD (Digital Versatile Disk), Blu-ray Disc (registered trademark), etc. Magneto-optical disks consist of, for example, MD (Mini-Disk). Flash memory consists of, for example, USB (Universal Serial Bus) memory or SD cards. Furthermore, storage media pre-installed in the main unit consists of, for example, ROM, SSD, HDD, etc., on which programs are stored.

[0110] In this specification, the step of describing a program to be recorded on a recording medium includes not only processes that are performed chronologically in that order, but also processes that are not necessarily performed chronologically, but are executed in parallel or individually. Furthermore, in this specification, the term "system" refers to an overall system composed of multiple devices, means, etc.

[0111] The above embodiments illustrate one example of applying the present invention and do not limit the technical scope of the present invention. That is, the present invention can be modified in various ways, such as by omitting or substituting, without departing from the spirit of the invention, and various embodiments other than those described above are possible. Various embodiments that the present invention can take and their variations are included in the scope of the invention described in the claims and its equivalents. [Explanation of Symbols]

[0112] 1 Holding system, 2 Belt conveyor, 10 Ingredient container, 20 Container supply device, 21 Extrusion mechanism, 30 Articulated robot, 31, 31a, 31b Gripping mechanism, 310, 310a, 310b Joint, 320, 320a, 320b First air cylinder, 330, 330a, 330b Connecting member, 340, 340a, 340b Covering member, 3 41,342 Components, 350,350a,350b Second air cylinder 、 360 Gripping member, 32 Robot arm, 41 Storage state detection sensor, 42 Container detection sensor, 50 Ingredient weight scale, 60 Base unit, 61 Caster, 70 Control device, 151 Information acquisition unit, 152 Multi-joint robot control unit, 153 Container supply control unit, 154 Recording control unit, 171 Parameter storage unit, 172 History database (History DB), 711 CPU, 712 ROM, 713 RAM, 714 Bus, 715 Input unit, 716 Output unit, 717 Storage unit, 718 Communication unit, 719 Drive, 731 Removable media, J Connection point, P1, P2 Base point

Claims

1. A holding mechanism that holds an irregularly shaped object by contacting the object, A covering member is positioned corresponding to the holding mechanism and covers at least a portion of the holding mechanism to suppress the diffusion range of the object, A holding system comprising, The covering member covers at least the vertically lower part of the holding mechanism. A holding system characterized by the following:

2. A holding mechanism having a holding member, the holding member opening and closing to hold an object, A covering member is positioned corresponding to the holding member and covers at least a portion of the holding member to suppress the diffusion range of the object, A holding system comprising, The covering member retracts to the outside of the range of motion of the holding member so as not to interfere with the opening and closing operation of the holding mechanism when the holding member is opened and closed. A holding system characterized by the following:

3. The position in which the covering member retracts is outward in the opening and closing direction compared to the position when the holding member is open. The holding system according to feature 2.

4. The position in which the covering member retracts is an outward position in a direction that intersects the opening and closing direction of the holding member in the horizontal plane. The holding system according to feature 2.

5. As the covering member rises, it moves to the position where it retracts. The holding system according to feature 2.

6. A holding mechanism for holding an object, A covering member is positioned corresponding to the holding mechanism and covers at least a portion of the holding mechanism to suppress the diffusion range of the object, A holding system comprising, The covering member moves itself and comes into contact with the object attached to the holding mechanism, thereby detaching the object from the holding mechanism. A holding system characterized by the following:

7. The system further includes a moving mechanism for moving the entire holding mechanism, The covering member moves together with the movement of the entire holding mechanism by the moving mechanism. The holding system according to any one of claims 1 to 6.

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