Holding system

Abstract

The components of the holding system are arranged more favorably. [Solution] The holding system 1 comprises a food container 10, a first transport path T1, and an articulated robot 30. The food container 10 contains the food ingredients. The first transport path T1 transports the container to which the food ingredients will be released to the release position. The articulated robot 30 holds the food ingredients from the food container 10 and releases them from the container. At least two of the base ends supporting the food container 10, the first transport path T1, and the articulated robot 30 are positioned to overlap in the vertical direction.

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] Technology related to such robots is disclosed in, for example, Patent Document 1. In the technology disclosed in Patent Document 1, a storage source (for example, a container) that stores food to be processed, a transport path that transports the container to the mounting position, and a robot that performs holding are arranged at adjacent positions in the vicinity of each other. Then, the robot mounts the food held from the storage source onto the container transported to the mounting position. It is thus possible to realize mounting by the robot.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the conventional technology as disclosed in the above Patent Document 1, the components of the holding system such as the storage source of the object, the transport path of the container, and the robot are arranged at adjacent positions in the vicinity of each other. Moreover, it is desired to arrange the components of the holding system more suitably.

[0006] Furthermore, these challenges are not limited to cases where the object is food, as disclosed in Patent Document 1, 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 with a gripping member, but also to methods such as suction.

[0007] The object of the present invention is to more favorably arrange the components of the holding system. [Means for solving the problem]

[0008] To solve the above problems, a holding system according to one embodiment of the present invention is A storage source for storing an object to be held, a transport path for transporting an object to be released to the release position, and a robot that holds the object to be held from the storage source and releases it to the object to be released. Equipped with, At least two of the storage source, the transport path, and the base end supporting the robot are positioned so that they overlap in the vertical direction. It is characterized by the following: [Effects of the Invention]

[0009] According to the present invention, the components of the holding system can be arranged more favorably. [Brief explanation of the drawing]

[0010] [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 perspective view showing the configuration of the gripping mechanism 31. [Figure 3] This is a front view showing the gripping mechanism 31 in the open state (i.e., the state during the release operation). [Figure 4] This is a front view showing the gripping mechanism 31 in the closed state (i.e., the state during gripping operation). [Figure 5]It is a schematic diagram showing the hardware configuration of the control device 70. [Figure 6] It is a block diagram showing the functional configuration of the control device 70. [Figure 7] It is a schematic diagram showing the state of the holding system 1 when performing a gripping operation or a releasing operation. [Figure 8] It is a schematic diagram showing the state of the holding system 1 when performing a gripping operation or a releasing operation. [Figure 9] It is a schematic diagram for explaining the arrangement of the holding system 1 in the present embodiment. [Figure 10] It is a schematic diagram for explaining the arrangement of the prior art shown as a comparative example. [Figure 11] It is a flowchart showing the flow of the ingredient loading process executed by the holding system 1. [Figure 12] It is a schematic diagram showing the state of the holding system 1 in Modification 1. [Figure 13] It is a schematic diagram showing the state of the holding system 1 in Modification 1. [Figure 14] It is a schematic diagram showing the state of the holding system 1 in Modification 1. [Figure 15] It is a diagram showing the configuration of the gripping mechanism 31a in Modification 2.

Embodiments of the Invention

[0011] 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. In the following description, a case where the holding system 1 grips ingredients such as prepared vegetables and releases the gripped ingredients into a container will be described as an example.

[0012] 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 hold uncooked vegetables (such as shredded cabbage, carrots, or bean sprouts) rather than prepared foods. It can also be applied to systems that hold industrial products such as electronic devices (such as screws, bolts, or product components) as objects. 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.

[0013] 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 serving state detection sensor 42, a first weighing scale 51, a second weighing scale 52, a base 60, a control device 70, and a first transport path T1. Of these components, the container supply device 20, the articulated robot 30, the storage state detection sensor 41, the serving state detection sensor 42, the first weighing scale 51, the second weighing scale 52, the first transport path T1, and the control device 70 are connected to each other by wired or wireless communication and are able to communicate with one another.

[0014] Adjacent to the holding system 1, a belt conveyor 2 is installed to automatically transport the prepared food containers from upstream to downstream. The belt conveyor 2 has a second transport path T2, which is a transport surface for transporting the containers. The containers, which have been filled with ingredients by the articulated robot 30, are then transported downstream while placed on this second transport path T2. In Figure 1, as indicated by the arrows representing the second transport direction, the left side of the page represents the upstream of transport in the second transport path T2, and the right side of the page represents the downstream of transport. A location for subsequent operations (e.g., closing the container lids) is provided downstream of the second transport path T2.

[0015] Although Figure 1 shows only one holding system 1, it is not limited to this. In this embodiment, multiple holding systems 1 are installed along the second transport direction of a single belt conveyor 2, and it is assumed that multiple articulated robots 30 work together.

[0016] 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, and fried chicken. 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.

[0017] The container supply device 20 is a device that supplies containers for the articulated robot 30 to put ingredients into. Inside the container supply device 20, a large number of containers are housed vertically. When the holding system 1 starts operating, the container supply device 20 supplies containers by discharging them one by one into the first transport path T1.

[0018] The first transport path T1 transports the containers supplied by the container supply device 20 to the serving position 62, where the ingredients are placed, by the articulated robot 30. The first transport path T1 is installed on the top surface of the base 60 and includes a transport mechanism for transporting the containers to the serving position 62 and an extrusion mechanism for pushing the containers from the serving position 62 to the second transport path T2. The conveying mechanism may be a mechanism that conveys the container by contacting the bottom surface of the container with the conveying surface, such as a belt conveyor 2, or it may be a mechanism that conveys the container by having a component contact the side or back of the container and pushing it out. When the container is transported to the serving position 62 by the transport mechanism, the articulated robot 30 releases the ingredients, and the released ingredients are placed into the container supplied to the serving position 62. Then, the extrusion mechanism pushes the filled container onto the second transport path T2 of the belt conveyor 2. As a result, the filled container is transported downstream on the second transport path T2.

[0019] 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, a robot arm 32 for moving the gripping mechanism 31 to any position within its range of motion, and a robot base end 33.

[0020] 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. The robot base portion 33 is the base part that supports the robot arm 32 to which the gripping mechanism 31 is attached. The robot base portion 33 is installed on the frame 63, which will be described later.

[0021] The contents state detection sensor 41 is a sensor that detects the contents state of the contents contained in the contents container 10. The contents state detection sensor 41 is implemented, for example, by a depth camera capable of detecting the distance to a subject. In this case, the field of view of the contents state detection sensor 41 is set to be such that it can capture the entire opening surface of the contents container 10. To this end, the contents state detection sensor 41 is positioned, for example, vertically above the center of the contents container 10 in the horizontal plane. 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).

[0022] The serving state detection sensor 42 is a sensor that detects the serving state of the container in which the ingredients are placed and the operating status of the gripping mechanism 31. Similar to the storage state detection sensor 41, the serving state detection sensor 42 is implemented, for example, by a depth camera capable of detecting the distance to the subject. In this case, the field of view of the serving state detection sensor 42 is set to capture, for example, the entire opening surface of the container in which the ingredients are placed and the operating status of the gripping mechanism 31 that places the ingredients into the container. To this end, the serving state detection sensor 42 is positioned, for example, vertically above the center of the serving position 62 in the horizontal plane. The control device 70 can identify the arrangement state of the ingredients in each area of ​​the container where the ingredients are placed, the operating status of the gripping mechanism 31, etc., by analyzing the distance information detected by the food arrangement state detection sensor 42 (i.e., depth information for each pixel across the entire opening surface of the container where the ingredients are placed, and depth information of the gripping mechanism 31 regarding the behavior of the gripping mechanism 31).

[0023] The first weighing scale 51 and the second weighing scale 52 are both devices for detecting the weight of an object. The first weighing scale 51 and the second weighing scale 52 are implemented, for example, by weighing scales that measure weight using strain gauges. Here, the first weighing scale 51 is positioned where the ingredient container 10 will be placed. The first weighing scale 51 then 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 first weighing scale 51, the control device 70 can determine the total weight of the ingredients contained (i.e., the remaining amount) and the increase or decrease in the total weight due to gripping or other actions of the ingredients contained (i.e., the change in the remaining amount).

[0024] The second weighing scale 52 is positioned in the holding system 1 at a predetermined serving position 62 where the ingredients are placed. The second weighing scale 52 detects the weight of the container itself supplied to this serving position 62, and the weight of the ingredients that are released into the container and placed inside. The control device 70 can determine the total weight of the ingredients that have been released into the container and placed inside, based on the detection value of the second weighing scale 52. The control device 70 can also determine, based on the detection value of the second weighing scale 52, whether the container has been supplied to the serving position 62 and whether the filled container has been pushed out onto the conveying surface of the belt conveyor 2.

[0025] The base 60 is a base for installing the ingredient container 10, the container supply device 20, the first transport path T1, and the articulated robot 30, etc. These articulated robots 30, etc., have a combined weight of several hundred kg (for example, more than 300 kg). Therefore, the base 60 has a structure with sufficient rigidity to support these components even when they are placed on its top surface.

[0026] Such a base portion 60 is equipped with casters 61, a serving position 62, and a stand 63. The caster 61 is a caster mounted on the base 60. The base 60 supports the articulated robot 30, etc., by contacting the ground with this caster 61. Furthermore, because this caster 61 functions as a wheel, the base 60 can be moved by human power. As described above, the serving position 62 is the position where the ingredients are placed by the articulated robot 30. The support frame 63 is provided vertically above the first transport path T1 and is a structure that supports the object to be supported vertically above the first transport path T1. In this embodiment, the robot base end portion 33 of the articulated robot 30 is installed as the object to be supported. As a result, in this embodiment, the first transport path T1 and the articulated robot 30 are arranged to overlap vertically. In this case, the legs of the support frame 63 are configured to straddle the first transport path T1. Therefore, they do not obstruct the transport of containers along the first transport path T1. In this holding system 1, instead of arranging the container transport path and the robot in close proximity and adjacent positions as in conventional technology, they are arranged to overlap vertically. This makes it possible to reduce the installation area of ​​the holding system 1 and to facilitate worker access to each component.

[0027] Furthermore, in the holding system 1, the main components of the holding system 1, such as the ingredient container 10, the container supply device 20, the articulated robot 30, and the first transport path T1, are all installed on a portable base 60. By using casters 61, these components can be moved as a single unit by human power. Therefore, it becomes possible to easily transport the holding system 1 and change its layout in food factories and other similar facilities.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] [Configuration of the gripping mechanism 31] Figure 2 is a perspective view showing the configuration of the gripping mechanism 31. As shown in Figure 2, the gripping mechanism 31 comprises a coupling member 311, two air cylinders 312, two connecting members 313, and two gripping members 314. In the following description, the front, back, left side, and right side of the gripping mechanism 31 are defined as indicated by arrows in the figure.

[0032] The connecting member 311 is a member that connects the gripping mechanism 31 and the robot arm 32. The gripping mechanism 31 is supported by the robot arm 32 when connected to the robot arm 32 by the connecting member 311, and moves in accordance with the movement of the robot arm 32. Two air cylinders 312 are also arranged inside the connecting member 311.

[0033] The two air cylinders 312 are a drive mechanism that can move back and forth in a straight line in the horizontal direction (in this case, left-right direction). In this case, the two air cylinders 312 are arranged so that their directions of movement are opposite to each other. The piston rods (i.e., the reciprocating parts) of the two air cylinders 312 are each connected to a connecting member 313 corresponding to itself.

[0034] The two connecting members 313 are members that connect the corresponding air cylinder 312 and the corresponding gripping member 314. The piston rod of the corresponding air cylinder 312 is connected to the upper end of the connecting member 313, and the upper end of the corresponding gripping member 314 is connected to the lower end of the connecting member 313. This forms a pair of sets consisting of the air cylinder 312, the connecting member 313, and the gripping member 314. When this pair of sets is driven, the gripping and releasing operations of the gripping mechanism 31 are realized.

[0035] The two gripping members 314 are the parts that grip the ingredients by contacting them. The two gripping members 314 are positioned so that their opening surfaces face each other. The shape of the two gripping members 314 is such that when their opening surfaces come close together and come into contact, they form a gripping space for gripping the ingredients. The gripping member 314 of this shape is composed of a plate-like member having multiple surfaces, and is provided with slits (i.e., narrow gaps) of a size that prevents the gripped ingredients from falling out. By providing these slits, it is possible to suppress the adhesion of sticky ingredients to the gripping member 360 (for example, the ingredients sticking to it). Therefore, it becomes possible to suppress the occurrence of situations where the attached ingredients fall off and to easily release the ingredients.

[0036] Figure 3 is a front view showing the gripping mechanism 31 in the open state (i.e., the state during the release operation). Figure 4 is a front view showing the gripping mechanism 31 in the closed state (i.e., the state during the gripping operation). As shown in Figures 3 and 4, the air cylinder 312 and the connecting member 313 are fastened together at the first point P1 in a rotatable manner using screws or the like. Furthermore, in the two connecting members 313, one connecting member 313 and the other connecting member overlap and intersect near the center, and at the intersection point, the second point P2, they are also fastened together at the same point in a rotatable manner using screws or the like. In addition, the lower end of the gripping member 314 is designated as the third point P3.

[0037] With this structure, the gripping mechanism 31 as a whole achieves a mechanism similar to that of a typical pair of scissors or forceps. In this case, the first point P1 functions as the point of force application, the second point P2 functions as the fulcrum, and the third point P3 functions as the point of application. The specific operation in this configuration will now be explained. In Figures 3 and 4, the forward and backward directions of the piston rods of each air cylinder are indicated by white arrows.

[0038] First, when transitioning to the open state, as shown in Figure 3, the piston rods of each of the two air cylinders 312 are driven to extend outwards from the gripping mechanism 31 (in this case, outwards in the left-right direction). In other words, the piston rods are driven to move away from each other. As a result, the first point P1, which is the point of force application, moves away from each other, and the third point P3, which is the point of application, also moves away from each other via the second point P2, which is the fulcrum. In this way, the gripping mechanism 31 transitions to the open state. Consequently, the gripping mechanism 31 can release the gripped material from the opening surface of the gripping member 314.

[0039] In contrast, when transitioning to the closed state, as shown in Figure 3, the piston rods of each of the two air cylinders 312 are driven to retract toward the inside of the gripping mechanism 31 (in this case, toward the inside in the left-right direction). That is, they are driven to move closer to each other. As a result, the first point P1, which is the point of force application, moves closer together, and the third points P3, which are the points of application, also move closer together via the second point P2, which is the fulcrum. In this way, the gripping mechanism 31 transitions to the closed state. Consequently, the edges of the opening surfaces of the gripping members 314 come into contact with each other, and a gripping space is formed on the inner surface of the gripping members 314. The gripping mechanism 31 can then grip the object by enclosing it in this gripping space.

[0040] Furthermore, because the gripping mechanism 31 as a whole has a scissor-like shape, the force driving the two air cylinders 312 horizontally is converted into a force that opens and closes the gripping member 314 diagonally (i.e., a combination of horizontal and vertical directions). This makes it easier to insert the gripping member 314 into the contents compared to when the gripping member 314 is directly connected to the air cylinders 312 and simply opens and closes horizontally. Furthermore, the gripping mechanism 31 performs an action that gathers the contained ingredients from the left-right and up-down directions toward the center of the gripping space using the two gripping members 314, making it possible to grip the ingredients more efficiently.

[0041] Note that one or more such gripping mechanisms 31 may be attached to a single robot arm 32. For example, as shown in Figure 1, two gripping mechanisms 31 may be arranged side by side on a single robot arm 32 so that their opening and closing directions are parallel.

[0042] [Hardware configuration of control device 70] Figure 5 is a schematic diagram showing the hardware configuration of the control device 70. As shown in Figure 5, 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] [Functional configuration] Next, the functional configuration of the control device 70 will be described. Figure 6 is a block diagram showing the functional configuration of the control device 70. As shown in Figure 6, 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.

[0048] 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 the gripping operation, 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 grasped and released, as well as parameters that define the operation pattern of the articulated robot 30.

[0049] 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.

[0050] 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 sequentially acquires distance information detected by the storage state detection sensor 41 and the serving state detection sensor 42. In addition, for example, the information acquisition unit 151 sequentially acquires weight values ​​detected by the first weighing scale 51 and the second weighing scale 52. In this way, the various types of information acquired by the information acquisition unit 151 are used as appropriate by other functional blocks provided by the control device 70.

[0051] 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 based on the operation patterns defined in the holding system 1 and various information acquired by the information acquisition unit 151. 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).

[0052] For example, when performing a gripping operation, the articulated robot control unit 152 determines the surface height of the ingredients at each position within the ingredient container 10 in advance, based on the distance information detected by the storage state detection sensor 41. Then, the articulated robot control unit 152 inserts the gripping member 314 into the group of ingredients to a predetermined depth from this height and performs the gripping operation. 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 314 to be used for gripping, and the target amount (in this case, the target weight) to be targeted for gripping and releasing. By setting the insertion depth in advance in this way, the gripping member 314 can grip ingredients of the same weight as the target amount, or a weight close to the target amount.

[0053] 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 314 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).

[0054] In this embodiment, the weight of the ingredients that were actually grasped and the weight of the ingredients that were actually released can be determined based on the weight values ​​detected by the first weighing scale 51 and the second weighing scale 52. The articulated robot control unit 152 then performs various adjustment operations if these weights are far from the target amount. For example, if the weight of the grasped ingredients is too much or too little from the target amount, the grasped ingredients are released from the ingredient container 10 and the grasping is repeated to grasp only the target amount. Alternatively, if the weight of the released ingredients is too much or too little from the target amount, the robot returns to the ingredient container 10, grasps the missing weight and releases it into the container, or grasps the excess weight from the container and returns it to the ingredient container 10. Furthermore, in this embodiment, the state of the ingredient container 10 and the ingredients in the container (for example, the height and unevenness of the ingredient surface) can be identified based on the distance information detected by the storage state detection sensor 41 and the serving state detection sensor 42. The articulated robot control unit 152 then performs various adjustment operations based on the state of these ingredients. For example, it adjusts the position for gripping and releasing based on the state of these ingredients. Alternatively, it shapes the serving state of the ingredients by leveling the surface of the released ingredients based on the state of the ingredients released into the container.

[0055] In addition, for example, when performing a removal operation, the articulated robot control unit 152 controls the removal operation based on parameters that define the operation pattern of the articulated robot 30, which are 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, easily tangled ingredients 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 314 up and down or vibrating it to remove the adhered ingredients and drop them into the ingredient storage container 10, etc.

[0056] The container supply control unit 153 controls the container supply device 20 to supply containers for serving ingredients to be placed in the holding system 1 to the first transport path T1. The container supply control unit 153 also controls the first transport path T1 to transport the containers supplied by the container supply device 20 to the serving position 62, or to push containers with ingredients already placed on them onto the transport surface.

[0057] 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.

[0058] [Control during operation of the articulated robot 30] Next, we will explain how the articulated robot control unit 152 controls the articulated robot 30 during its operation. Figures 7 and 8 are schematic diagrams showing the state of the holding system 1 during gripping and releasing operations. Figures 7 and 8 illustrate the holding system 1 as viewed from above, looking downwards. Although not shown in the diagram, the container 10 holds a large quantity of ingredients. These large quantities of ingredients will be referred to as the "group of ingredients" below.

[0059] First, as shown in Figure 7(a), when the holding system 1 starts operating, the container supply device 20 supplies containers by discharging them one by one into the first transport path T1. Then, the containers are transported in the first transport direction toward the serving position 62 along the first transport path T1. At this time, the containers move vertically below the articulated robot 30 installed on the frame 63. Here, as mentioned above, the legs of the frame 63 are configured to straddle the first transport path T1. Therefore, the presence of the articulated robot 30 does not obstruct the transport of containers along the first transport path T1. In Figure 7, only one container is transported along the first transport path T1. However, as shown in Figure 1, multiple containers may be supplied sequentially along the first transport path T1 in an adjacent arrangement, and these multiple containers may be transported sequentially to the serving position 62.

[0060] Then, as shown in Figure 7(b), the container reaches the serving position 62. In this case, a mechanism may be provided to prevent the container from moving by contacting the side of the container or the upper surface of the rim of the container at the serving position 62.

[0061] Next, as shown in Figure 8(c), the gripping mechanism 31 of the articulated robot 30, which has gripped the ingredients from the ingredient container 10 by the gripping operation, is moved to the serving position 62 by the robot arm 32, and the ingredients are released from the container at the serving position 62. As a result, the ingredients are placed in the container.

[0062] Next, as shown in Figure 8(d), the containers filled with ingredients are pushed from the first transport path T1 to the second transport path T2 of the belt conveyor 2. The containers filled with ingredients are then transported downstream by the second transport path T2. This completes the series of serving operations of the holding system 1, including the gripping and releasing operations.

[0063] [Placement of holding system 1] As explained above, in the holding system 1, instead of arranging the container transport path and the robot in close proximity and adjacent positions as in conventional technology, they are arranged to overlap vertically. This makes it possible to reduce the installation area of ​​the holding system 1 and to facilitate worker access to each component. This point will be explained with reference to Figures 9 and 10.

[0064] Figure 9 is a schematic diagram illustrating the arrangement of the holding system 1 in this embodiment. Figure 10 is a schematic diagram illustrating the arrangement of the prior art, shown as a comparative example. Figures 9 and 10, like Figures 7 and 8 described above, illustrate the holding system 1 and the prior art system as viewed from above and downward.

[0065] As shown in Figure 9, in this embodiment, the first transport path T1, which is the transport path for the container, and the articulated robot 30 are positioned so that they overlap vertically. This provides the following effects for the holding system 1. First, compared to conventional technology where the container transport path and the robot are placed in close proximity and adjacent locations, the installation area is reduced (corresponding to (1) in the figure).

[0066] Furthermore, it is important that each component of the holding system 1 is easily accessible to workers for tasks such as cleaning and replacement. In this regard, the holding system 1 has no adjacent surfaces on one longitudinal side and one short longitudinal side of the ingredient container 10, making it easily accessible to workers. Therefore, when the amount of ingredients remaining in the ingredient container 10 becomes low, workers can easily replenish the ingredients or replace it with a new ingredient container 10 containing ingredients (corresponding to (2) in the figure).

[0067] Similarly, since the container supply device 20 is easily accessible, the operator can easily replenish the container supply device 20 with containers (corresponding to (3) in the figure). Similarly, access to the articulated robot 30 and the first transport path T1 is also easy, allowing workers to easily clean and maintain these components (corresponding to (4) in the figure). Furthermore, because each component is easily accessible in this way, workers do not need to reach over the conveyor belt 2 to perform their tasks (corresponding to (5) in the diagram).

[0068] Furthermore, the base 63 on which the robot base 33, which is the starting point for the movement of the articulated robot 30, is installed is positioned near the serving position 62. Therefore, the articulated robot 30 can place ingredients onto the container at a position where the robot arm 32 has been moved to the minimum extent possible (so to speak, close to the user's hand). In other words, the robot arm 32 and the gripping mechanism 31 attached to it can be used to place ingredients in a stable state without shaking. As a result, it is possible to prevent ingredients from falling out of the container or scattering during serving, thus preventing contamination of the area around the serving position 62 with ingredients. In addition, since the ingredients do not fall, etc., the weight of the ingredients being placed can be placed with high precision (corresponding to (6) in the figure).

[0069] Furthermore, in contrast to this, when gripping ingredients in the ingredient container 10, the same level of precision is not required as when serving. Therefore, it is preferable to arrange the components such that the distance from the starting point of the articulated robot 30's movement to the serving position 62 is shorter than the distance from the starting point of the articulated robot 30's movement to the furthest area of ​​the ingredient container 10. Furthermore, it is even preferable to arrange the components such that the distance from the starting point of the articulated robot 30's movement to the serving position 62 is shorter than the distance from the starting point of the articulated robot 30's movement to the closest area of ​​the ingredient container 10. Note that the distance from the starting point of the articulated robot 30's movement referred to here is the horizontal distance.

[0070] In contrast to the holding system 1 of this embodiment, as shown in Figure 10, in the prior art, instead of arranging the components to overlap vertically as in the holding system 1 of this embodiment, the components are arranged in nearby, adjacent positions. Therefore, the conventional technology requires a larger installation area compared to the holding system 1 of this embodiment (corresponding to (1) in the figure).

[0071] As mentioned above, it is important that each component of the holding system 1 is easily accessible to workers for tasks such as cleaning and replacement. In this regard, in conventional technology, other components are arranged adjacent to both sides of one component, making it difficult for workers to access them. For example, in the arrangement shown in Figure 10, it is difficult to access the articulated robot, making it difficult to clean or maintain the articulated robot up close (corresponding to (2) in the figure). Therefore, workers have to reach over the conveyor belt to perform the work (corresponding to (3) in the figure). This problem persists in other configurations as well. For example, if the ingredients container, articulated robot, and first transport path are arranged on the side of the belt conveyor 2 from upstream to downstream, the same issue of difficulty accessing the articulated robot arises. Even if the arrangement order is changed, access to the centrally located components remains difficult.

[0072] Furthermore, with conventional technology, it is not easy to position the robot base, which is the starting point of the articulated robot's movement, and the serving position in close proximity. Therefore, the articulated robot needs to place the ingredients onto the container at a position where the robot arm has moved a considerable distance (so to speak, where it extends its arm). In this case, the robot arm and the gripping mechanism attached to it may become unstable due to shaking. Consequently, there is a possibility that the ingredients may fall from the container or scatter around the serving position. Moreover, if the articulated robot is placed near the serving position to prevent this problem, access to the articulated robot may become even more difficult.

[0073] As described above with reference to Figures 9 and 10, it is clear that the holding system 1 of this embodiment offers many advantages compared to the prior art. In other words, the holding system 1 of this embodiment can solve the problem that the present invention aims to solve, namely, "to arrange the components of the holding system more favorably."

[0074] [Overall Operation] Next, we will explain the overall operation of the holding system 1. Figure 11 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.

[0075] 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 performing the gripping and releasing operations described above. In step S12, the articulated robot control unit 152 moves the gripping mechanism 31 to the standby position.

[0076] In step S13, the container supply control unit 153 transports the container to the serving position 62 via the first transport path T1. In step S14, the articulated robot control unit 152 causes the gripping mechanism 31 to grip a target amount of ingredients from the group of ingredients in the ingredient container 10.

[0077] In step S15, the articulated robot control unit 152 performs the plating by releasing the target amount of ingredients being held by the gripping mechanism 31 from the container. In step S16, the container supply control unit 153 causes the first transport path T1 to push the container with the ingredients into the second transport path T2. Then, the container is transported downstream via the second transport path T2.

[0078] In step S17, 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. In step S18, the articulated robot control unit 152 moves the gripping mechanism 31 to the standby position.

[0079] In step S19, 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, step S19 is determined to be No, and the process returns to step S13, a new container is supplied, and the process is repeated for this new container. On the other hand, if the conditions for terminating the ingredient plating process are met, step S19 is determined to be Yes, and the ingredient plating process is terminated.

[0080] As described above, the ingredient plating process yields various advantageous effects as shown in Figure 9, etc.

[0081] [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.

[0082] [Example 1] The above-described embodiment shows a preferred arrangement of the holding system 1. The arrangement is not limited to this and can be modified in various ways. Here, Figures 12 to 14 are schematic diagrams showing the state of the holding system 1 in this modified example. Figures 12 and 13 illustrate the holding system 1 as viewed from above, looking downwards. Figure 14 illustrates the holding system 1 as viewed from the side. In Figure 14, the side of the ingredient container 10 is shown transparently so that the state of the ingredients is clearly visible.

[0083] Figure 12(A) shows an example of the placement of each sensor and the standby position of the articulated robot 30. In this example, each sensor is placed in a position where it can easily detect its target. Specifically, the contents state detection sensor 41 is placed vertically above the center of the horizontal plane of the ingredients container 10. The plating state detection sensor 42 is placed vertically above the center of the horizontal plane of the plating position 62. This allows each sensor to detect the state of the ingredients with high accuracy.

[0084] However, since each sensor detects the state of the ingredients by optical means, if there is an obstacle between each sensor and the ingredients, proper detection cannot be performed. In the case of the holding system 1, the gripping mechanism 31 and robot arm 32 of the articulated robot 30 can be these obstacles. Therefore, the standby position at times when gripping or releasing operations are not performed (for example, steps S12 and S18 in Figure 11) is set to the area between the ingredient container 10 and the serving position 62 in the horizontal plane. That is, at these times, the gripping mechanism 31 and robot arm 32 are moved to the standby position. This allows for highly accurate detection of the ingredient's condition without interfering with each individual sensor. As a result, subsequent gripping and releasing actions can be performed appropriately based on the ingredient's condition.

[0085] Figure 12(B) shows an example in which the serving position 62 is placed on the conveying surface of the belt conveyor 2 (i.e., the second conveying path T2). In this case, the first conveying path T1 pushes the container before serving onto the second conveying path T2. The articulated robot 30 then releases the ingredients and serves them at the serving position 62 on the second conveying path T2. In this way, the first conveying path T1 can be shortened. This makes it possible to reduce the installation area in the direction perpendicular to the belt conveyor 2.

[0086] Figure 13(C) shows an example in which the first transport path T1 is positioned so that it overlaps vertically above the ingredient container 10. In this case, a support frame 63 is positioned so as to straddle the ingredient container 10, and the first transport path T1 is installed on this support frame 63. Furthermore, Figure 13(D) shows an example in which the articulated robot 30 is positioned so that it is vertically overlapping the ingredient container 10. In this case, a support frame 63 is placed so as to straddle the ingredient container 10, and the robot base end 33 of the articulated robot 30 is installed on this support frame 63. In any of the examples shown in Figure 13, as in the embodiments described above, it is possible to reduce the installation area of ​​the holding system 1 and facilitate worker access to each component. In other words, by arranging at least two of the components—the ingredient container 10, the articulated robot 30, and the first transport path T1—to overlap either vertically or vertically, it becomes possible to achieve the effects described in the above embodiment.

[0087] Furthermore, by installing any of the components on the ceiling or wall of the building where the holding system 1 is installed (i.e., by so-called ceiling suspension or so-called wall mounting), at least two of the components can be arranged so that they overlap either vertically above or below, as in the embodiments described above and this modified example. For example, a multi-joint robot 30, whose robot base 33 can be installed on the ceiling, can be positioned vertically above the first transport path T1. Even in this way, it is possible to achieve the same effects as in the embodiments described above. However, generally speaking, it is preferable to place the frame 63 on the top surface of the base 60 and place other components (for example, the articulated robot 30) on the frame 63, as in the embodiment described above. This is because, compared to the case where the components are suspended from the ceiling, the center of gravity of the components is lowered, and the base 60 and other components become more stable. In other words, the configuration of the embodiment described above is beneficial not only for reducing the installation area of ​​the holding system 1 and for facilitating worker access to each component, but also for improving the stability of the holding system 1 in its installed state and during transport (i.e., when the holding system 1 is moved by human power using the casters 61).

[0088] Figures 14(a) and (b) show an example of providing a moving mechanism 80. As shown in Figure 13, if other components are arranged to overlap vertically above the ingredient container 10, the articulated robot 30 may not be able to grasp the group of ingredients contained in the overlapping portion. Therefore, as in this modified example, a plate-shaped or comb-shaped moving mechanism 80 is placed inside the ingredient container 10 and inserted into the group of ingredients. In this case, if the moving mechanism 80 moves, for example, in the longitudinal direction of the storage space of the ingredient container 10, a plate-shaped or comb-shaped moving mechanism 80 is placed with a length from one end to the other in the short direction of the storage space of the ingredient container 10. The articulated robot 30 then grasps the ingredients from an area where other components are not overlapping and where grasping is easy (corresponding to the "grasping target area" in the figure). As shown in Figure 14(a), when the amount of ingredients remaining in this gripping target area decreases, the moving mechanism 80 moves to push the ingredients towards this gripping target area.

[0089] As a result, as shown in Figure 14(b), the pushed-in ingredients move to the gripping area, and the remaining amount of ingredients in the gripping area becomes sufficient for gripping. By repeating this operation, even if other components are placed vertically above the ingredient container 10, all of the ingredients inside the ingredient container 10 can be gripped. In this case, the height of the moving mechanism 80 is configured to be lower than the bottom surface of the portion of the frame 63 that supports other components arranged to overlap vertically above it, and that straddles the ingredient container 10.

[0090] [Differentiation 2] The gripping mechanism 31 of the above-described embodiment shown in Figures 2 to 4 may be modified. Figure 15 shows the configuration of the gripping mechanism 31a in this modified example. Figure 15(A) shows a front view of the gripping mechanism 31a, and Figure 15(B) shows a left side view of the gripping mechanism 31a.

[0091] In the gripping mechanism 31 of the above-described embodiment, the plate-like member is composed of multiple surfaces and is provided with slits (i.e., narrow gaps) of a size that prevents the gripped material from falling out. By providing such slits, it is possible to suppress the adhesion of adhesive or other easily adhering materials to the gripping member 360 (for example, the material sticking to it). However, in the case of ingredients that are finely packed, such as hijiki seaweed, or ingredients that deform, such as potato salad or okara (soy pulp), there is a risk that these ingredients may protrude from the slits and spill out. Therefore, the gripping mechanism 31a is designed to have the same overall shape as the gripping mechanism 31, but without the slits. This prevents ingredients with the characteristics described above from spilling, keeping the surrounding area clean and allowing for precise control over the amount of ingredients served.

[0092] Furthermore, the shape of the gripping member 314 of the gripping mechanism 31 may also be of a different shape. For example, a gripping member 314 can be a gripping member that comprises multiple members such as wire-like linear members, plate-like members, or rod-like members, and grips an ingredient by sandwiching it between these multiple members. In this case, the multiple members may each have the same shape or they may have different shapes.

[0093] In addition, for example, in the embodiment described above, it was assumed that the object to be grasped and released was an ingredient that maintains its solid form. However, the object may be an ingredient that cannot be grasped (or is difficult to grasp), such as a liquid or gel. In this case, instead of the grasping member 314, a ladle-shaped or spoon-shaped member may be used to hold the object from the ingredient container 10 by scooping it up rather than grasping it, and then release it into the container. Alternatively, a cylindrical member such as a tube may be used to hold the object from the ingredient container 10 by sucking it in, and then release it into the container. In this case, the target object may not be limited to ingredients (i.e., food ingredients), but may also be liquid or gel-like substances such as chemicals or other industrial products.

[0094] [Difference 3] In the embodiment described above, the gripping and releasing operations were performed by comparing the target amount with the weight of the ingredients. However, the system is not limited to this, and the determination may also be made by comparing the target amount with the amount of 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 serving and the number of ingredients can be determined, for example, by performing image analysis on the detection results of the storage state detection sensor 41 and the serving state detection sensor 42.

[0095] [Differentiation Example 4] In the embodiment described above, the gripping member 314 identified the weight of the ingredients it gripped or the ingredients it served based on the weight changes detected by the first weighing scale 51 and the second weighing scale 52, and performed control based on this. However, it is not limited to this, and load cells or force sensors may be placed on the gripping member 314. Then, the gripping member 314 may identify the weight of the ingredients it gripped or the ingredients it serves based on the weight changes detected by the load cells or force sensors, and perform control based on this. This makes it possible to omit the first weighing scale 51 and the second weighing scale 52. In addition, this increases the degree of freedom in the placement of the ingredient container 10 and the container itself.

[0096] [Example Configuration] As described above, the holding system 1 in this embodiment comprises a food container 10, a first transport path T1, and a multi-joint robot 30. The ingredient container 10 holds the ingredients. The first transport path T1 transports the container to which the ingredients will be released to the release position. The articulated robot 30 holds the ingredients from the ingredient container 10 and releases them from the container. At least two of the ingredient container 10, the first transport path T1, and the base end supporting the articulated robot 30 are positioned to overlap in the vertical direction.

[0097] The robot base portion 33 that supports the articulated robot 30 is positioned so as to overlap with the first transport path T1 in the vertical direction.

[0098] The position of the robot base end 33 supporting the articulated robot 30 is positioned closer to the release position where the articulated robot 30 releases the ingredients from the ingredient container 10 than to the holding position where the articulated robot 30 holds the ingredients from the ingredient container 10.

[0099] When the first transport path T1 is designated as the first transport path T1, a second transport path T2 is arranged downstream of the first transport path T1 to further transport containers, and a container supply device 20 that supplies ingredients to the first transport path T1 is arranged upstream of the first transport path T1.

[0100] The robot base end 33 supporting the articulated robot 30, or the first transport path T1, or both, are positioned to overlap the ingredient container 10 in the vertical direction.

[0101] 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 6 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 6. Furthermore, a single functional block may consist of hardware alone, software alone, or a combination of both.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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]

[0106] 1 Holding system, 2 Belt conveyor, 10 Ingredient container, 20 Container supply device, 30 Articulated robot, 31 Gripping mechanism, 311 Connecting member, 312 Air cylinder, 313 Connecting member, 314 Gripping member, 32 Robot arm, 33 Robot base end, 41 Storage state detection sensor, 42 Serving state detection sensor, 51 First weighing scale, 52 Second weighing scale, 60 Base unit, 61 Caster, 62 Serving position, 63 Stand, 70 Control device, 80 Moving mechanism, 151 Information acquisition unit, 152 Articulated 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 Memory unit, 718 Communication unit, 719 Drive, 731 Removable media, T1 First transport path, T2 Second transport path

Claims

1. A storage source for storing an object to be held, a transport path for transporting an object to be released to the release position, and a robot that holds the object to be held from the storage source and releases it to the object to be released. Equipped with, The base end supporting the robot is The robot is positioned at a location that overlaps the transport path in the vertical direction, and is closer to the release position where the robot releases the object to be released from the object to be released than to the holding position where the robot holds the object to be held from the source. A holding system characterized by the following:

2. Maintain a positional relationship such that the distance from the starting point of the robot's movement to the release position is shorter than the distance from the starting point of the robot's movement to the furthest region of the storage source. The base end supporting the robot, the release position, and the housing are arranged as follows: The holding system according to feature 1.

3. The aforementioned robot, The object to be held is held and released using a holding member that clamps the object to be held, or a holding member that scoops up the object to be held. The holding system according to feature 1.

4. The object to be held is, It has at least one of the following properties: it consists of fine solids, it is deformable, it is liquid, and it is gel-like. The holding system according to any one of claims 1 to 3.

5. A storage source for storing an object to be held, a transport path for transporting an object to be released to a release position, and a robot that holds the object to be held from the storage source and releases it to the object to be released, Equipped with, The base end supporting the robot is positioned so as to overlap with the transport path in the vertical direction. When the aforementioned transport path is designated as the first transport path, a second transport path is arranged downstream of the first transport path to further transport the object to be released. A supply device for supplying the object to be held to the first transport path is located upstream of the first transport path. At least two adjacent sides of the horizontal plane constituting the storage source face the first transport path and the second transport path. A holding system characterized by the following:

6. A storage source for storing an object to be held, a transport path for transporting an object to be released to a release position, and a robot that holds the object to be held from the storage source and releases it to the object to be released, Equipped with, The base end supporting the robot is positioned so as to overlap with the transport path in the vertical direction. The base end supporting the robot maintains a positional relationship such that it overlaps with the transport path in the vertical direction, but does not overlap with the storage source in the vertical direction. The base end supporting the robot, the transport path, and the storage source are arranged as follows: A holding system characterized by the following:

Images