Apparatus for filling gyoza in round tray and method of the same

Abstract

The invention provides an apparatus and a method for filling a plurality of gyozas in a round tray radially (so-called petal shaped manner). The apparatus is provided with a gyoza intermittent feeding conveyor, a tray intermittent feeding conveyor which is arranged in such a manner as to be orthogonal to the gyoza intermittent feeding conveyor, a revolving holder apparatus which is installed between both the intermittent feeding conveyors, and a chuck holder which is connected to the revolving holder apparatus and reciprocates and revolves above between both the intermittent feeding conveyors. A plurality of chuck units which are eccentrically rotatable via a drive mechanism are arranged below the chuck holder, chucks which are opened and closed by an opening and closing drive unit are arranged below the chuck units, and a plurality of gyozas are radially transferred to an upper face of a tray on the tray intermittent feeding conveyor.

Description

TECHNICAL FIELD

[0001] The present invention relates to an apparatus for filling gyoza in a round tray and a method of the same.BACKGROUND ART

[0002] In the past, as described in patent literature 1, there has been known an automatic tray filling apparatus for food products, which is configured to grab up the food products fed at predetermined intervals by a discharge conveyor and fill the food products in a tray of an intermittent feeding conveyor disposed side by side in a side portion of the discharge conveyor.

[0003] The automatic tray filling apparatus for food product described in this patent literature 1 is provided with the following constitution and function.

[0004] More specifically, above the conveyor, there are provided with a revolving apparatus in which a plurality of finger apparatuses simultaneously grabbing a plurality of food products arranged in a longitudinal direction on the discharge conveyor are mounted to a revolving holder, the number of the finger apparatuses being the same as the number of the food products, the finger apparatuses are provided with fixed claws and movable claws, the claws are eccentrically disposed at a fixed distance with respect to a support shaft axially supported to the revolving holder, and the revolving apparatus revolves the revolving holder at 90 degrees without changing a direction of the finger apparatuses mounted to the revolving holder, and a vertical movement apparatus which moves up and down.CITATION LIST PATENT LITERATURE

[0005] Patent Literature 1: Japanese Unexamined Utility Model Publication No. 3-53404SUMMARY OF INVENTION TECHNICAL PROBLEM

[0006] However, the tray filling apparatus for food product (gyoza) mentioned above is only configured to adjacently arrange a plurality of gyozas in the rectangular tray vertically and horizontally. Therefore, a planar shape of the tray is restricted to the rectangular shape, and the gyoza can not filled in a round tray.

[0007] Accordingly, an object of the present invention is to provide an apparatus and method for filling gyoza in a round tray which can adjacently arrange and fill a plurality of gyozas radially (so-called petal shaped manner) in such a manner as to prevent unevenness and achieve efficiency and good appearance when filling a plurality of gyozas in a round tray.SOLUTION TO PROBLEM

[0008] In order to solve the problem mentioned above, according to the present invention, the apparatus is provided with a gyoza intermittent feeding conveyor, a tray intermittent feeding conveyor which is arranged in such a manner as to be orthogonal to the gyoza intermittent feeding conveyor, a revolving holder apparatus which is installed between both the intermittent feeding conveyors, and a chuck holder which is connected to the revolving holder apparatus and reciprocates and revolves above between both the intermittent feeding conveyors, a plurality of chuck units which are eccentrically rotatable via a drive mechanism are arranged below the chuck holder, chucks which are opened and closed by an opening and closing drive unit are arranged below the chuck units, a plurality of gyozas fed on the gyoza intermittent feeding conveyor are grabbed by the chucks, the chuck units in which the chucks are arranged are eccentrically rotated at an appropriate angle, the chuck holders in which a direction of each of the chuck units is held in a feeding direction of the gyoza intermittent feeding conveyor or a direction orthogonal to the feeding direction faces above a round tray on the tray intermittent feeding conveyor, and a plurality of gyozas are radially transferred to an upper face of the round tray by opening the chucks.

[0009] The chuck holder has a top plate which is connected to the revolving holder apparatus and a bottom plate which is held at a desired interval below the top plate, and the drive mechanism eccentrically rotating the chuck units is disposed between the top plate and the bottom plate.

[0010] The chuck unit is held below the bottom plate of the chuck holder in an eccentrically rotatable manner via an eccentric lever.

[0011] The chuck units are constructed by four chuck units which are installed in such a manner as to be rectangularly arranged below the bottom plate of the chuck holder, and are provided with a plurality of chucks arranged in a direction orthogonal to the feeding direction of the gyoza intermittent feeding conveyor in such a manner as to grab a plurality of gyozas on the gyoza intermittent feeding conveyor when being positioned above the gyoza intermittent feeding conveyor.

[0012] Among the four chuck units, one chuck unit is fixed to a lower side of the bottom plate of the chuck holder in such a manner as to allow the chuck arranged below to always hold in the direction orthogonal to the feeding direction of the gyoza intermittent feeding conveyor, and the remaining three chuck units are set to be eccentrically rotatable via the eccentric lever such that totally four gyozas grabbed by one chuck fixed to the lower side of the bottom plate of the chuck holder and three chucks provided in the respective chuck units are have equal intervals in a lower face of the bottom plate and have an appropriately crisscross planar shape.

[0013] The chuck arranged below the chuck unit is formed by a combination of the movable claw and the fixed claw, and is formed in such a manner that the movable claw is openable and closable with respect to the fixed claw by the opening and closing drive unit.

[0014] The drive mechanism is formed by a cylinder which is arranged in a horizontal state in an inner side of the top plate and the bottom plate of the chuck holder, a piston and a cam which are connected to a leading end of a piston shaft of the cylinder, a cam follower which is slidably engaged with a long hole formed in the cam, a lever which is fixed to a rotating shaft via the cam follower in a rear end portion, and a spur gear which is fixed to the rotating shaft in a lower side of the lever.

[0015] The revolving holder apparatus is provided with an arm member which is 90 degrees horizontally swingable between the above of the gyoza intermittent feeding conveyor and the above of the round tray put on the round tray intermittent feeding conveyor, and is provided in a leading end of the arm member with a rotating and elevating means which allows the chuck holder connected to a lower end to be swingable at 90 degree and hold to be rotatable on its own axis at 45 degrees.

[0016] The gyozas are radially transferred to the upper face of the tray by grabbing a plurality of gyozas on the gyoza intermittent feeding conveyor by the chuck of a plurality of chuck units arranged below the bottom plate of the chuck holder, eccentrically rotating the chuck units at an appropriate angle via the eccentric lever so as to put the gyozas grabbed by the chucks on a front face of the tray in a petal shape, thereafter allowing the chuck holder to face the upper face of the round tray on the round tray intermittent feeding conveyor, and opening each of the chucks arranged below the chuck units.

[0017] The method of the present invention includes a first step of eccentrically rotating a plurality of gyozas grabbed by the chucks below the plurality of chuck units via the eccentric lever in such a manner as to have an equal interval and an approximately crisscross planar shape below the bottom plate of the chuck holder, allowing the chuck holders to face the upper face of the tray on the tray intermittent feeding conveyor, and opening each of the chucks arranged below the chuck units, thereby transferring the gyozas in an approximately crisscross manner on the upper face of the tray with keeping a predetermined equal interval, and a second step of allowing the chuck holders to rotate on its own axis at 45 degrees, thereafter allowing the chucks grabbing the plurality of gyozas via the chuck units arranged below the bottom plate of the chuck holder to face the upper face of the tray on the tray intermittent feeding conveyor in a state of having the equal interval and the approximately X-shaped planar shape, and opening the chucks arranged below the chuck units, thereby additionally transferring the gyozas in an approximately X-shaped manner between the gyozas transferred in the approximately crisscross shape on the upper face of the tray in the first step, so that a plurality of gyozas are arranged side by side radially on the upper face of the tray.EFFECT OF INVENTION

[0018] According to the present invention, it is possible to provide a compact and inexpensive tray filling apparatus and tray filling method which can fill a plurality of gyozas fed onto the gyoza intermittent feeding conveyor to the upper face of the round tray on the tray intermittent feeding conveyor in such a manner as to prevent unevenness and achieve efficiency in a short time and good appearance radially, in other words, in a so-called petal shape at high densities.BRIEF DESCRIPTION OF DRAWINGS

[0019] FIG. 1 is a front elevational view of a gyoza filling apparatus for round tray according to the present invention.

[0020] FIG. 2 is a schematic plan view in a first step of the gyoza filling apparatus for round tray according to the present invention.

[0021] FIG. 3 is a schematic plan view in a second step of the same.

[0022] FIG. 4 is a plan view of a chuck holder in the gyoza filling apparatus for round tray according to the present invention.

[0023] FIG. 5 is a front elevational view as seen from a direction A in FIG. 4.

[0024] FIG. 6 is a right side elevational view as seen from a direction B in FIG. 4.

[0025] FIG. 7 is a back elevational view as seen from a direction C in FIG. 4.

[0026] FIG. 8 is a left side elevational view as seen from a direction D in FIG. 4.

[0027] FIG. 9 is a plan view of the chuck holder in the first step of the gyoza filling apparatus for round tray according to the present invention.

[0028] FIG. 10 is a front elevational view as seen from a direction E in FIG. 9.

[0029] FIG. 11 is a right side elevational view as seen from a direction F in FIG. 9.

[0030] FIG. 12 is a back elevational view as seen from a direction G in FIG. 9.

[0031] FIG. 13 is a left side elevational view as seen from a direction H in FIG. 9.

[0032] FIG. 14 is a perspective view as seen from the below before a lever motion in a drive mechanism of the gyoza filling apparatus for round tray in the present invention.

[0033] FIG. 15 is a perspective view as seen from the below after the lever motion of the same.

[0034] FIGS. 16A and 16B show a chuck opening and closing drive unit, in which FIG. 16A is a front elevational view when opening the chuck, and FIG. 16B is a front elevational view when closing the chuck.

[0035] FIG. 17 is a cross sectional view of the chuck and shows a state (a first step) in which the gyoza is transferred to an upper face of a tray of a tray intermittent feeding conveyor from a gyoza intermittent feeding conveyor.

[0036] FIG. 18 is a plan view of the chuck holder in a second step (when rotating at 45 degree) of the gyoza filling apparatus for round tray according to the present invention.

[0037] FIG. 19 is a cross sectional view of the chuck and shows a state (a second step) in which the gyoza is transferred to the upper face of the tray of the tray intermittent feeding conveyor from the gyoza intermittent feeding conveyor.

[0038] FIGS. 20A and 20B show a state in which a plurality of gyozas are put on the upper face of the tray, in which FIG. 20A is a plan view of the same in the first step, and FIG. 20B is a plan view of the same in the second step.DESCRIPTION OF EMBODIMENT

[0039] A description will be in detail given below of an embodiment according to the present invention with reference to the accompanying drawings.

[0040] As shown in FIGS. 1 to 3, the present invention is provided with a gyoza intermittent feeding conveyor A which sequentially feeds gyozas P formed by a gyoza forming apparatus for every line over plural lines (two lines) at equal intervals, and a round tray intermittent feeding conveyor B which sequentially feeds round trays R arranged in such a manner as to be orthogonal to a terminal end in a feeding direction of the intermittent feeding conveyor A at equal intervals.

[0041] A revolving holder apparatus 2 is disposed at an intermediate position inside an orthogonal portion between the gyoza intermittent feeding conveyor A and the round tray intermittent feeding conveyor B. The revolving holder apparatus 2 transfers a plurality of (two lines of four) gyozas P to an upper face of round trays R which are put on the round tray intermittent feeding conveyor B at equal intervals, by means of a chuck 1 which simultaneously grabs a plurality of gyozas P (totally 2 lines of four gyozas at equal intervals in lateral and longitudinal directions of the conveyor in the illustrated example) put on the gyoza intermittent feeding conveyor A.

[0042] The revolving holder apparatus 2 is provided with an arm member 3 which can revolve horizontally at 90 degrees between the gyoza intermittent feeding conveyor A and the round tray R put on the round tray intermittent feeding conveyor B, and is provided in a leading end of the arm member 3 with a chuck holder 5 which a rotating and elevating means 4 set to be rotatable at 45 degrees is supported in a lower end thereof via an attaching tool 4a.

[0043] A description will be given further in detail of the revolving holder apparatus 2 with on the basis of FIG. 1. The revolving holder apparatus 2 is provided with a holder revolving drive unit K which revolves the chuck holder 5 at 90 degrees between the gyoza intermittent feeding conveyor A and the tray intermittent feeding conveyor B, and a holder vertical and lateral moving drive unit N which moves the chuck holder 5 up and down and rotates at a desired angle.

[0044] In the holder revolving drive unit K, a motor M having a rotating drive shaft M1 at the center of a lower portion is disposed in the uppermost portion within a cover C, and the arm member 3 is connected and fixed in a horizontal state to a side portion of the rotating drive shaft M1. At this time, an opening portion C1 having a horizontal width for the arm member 3 to rotate at 90 degrees is formed in a side face of the cover C.

[0045] In the meantime, in the holder vertical and lateral moving drive unit N, a motor M2 having a rotating drive shaft M3 at the center of a lower end is disposed in an uppermost portion within a cover D, and a cylinder S is connected and fixed in a rotatable state within the cover opening to a lower end of the rotating drive shaft M3. Further, the chuck holder 5 is connected and fixed to a lower end of a piston shaft S1 moving up and down in a lower portion of the cylinder S via the attaching tool 4a.

[0046] In association with the rotation of the cylinder S within the cover D at a desired angle (for example, 45 degrees) on the basis of a rotating force of the rotating drive shaft M3 of the motor M2 as mentioned above, the chuck holder 5 is set to rotate at the same angle via the piston shaft S1.

[0047] Here, the piston shaft S1 rotating the chuck holder 5 by the motor M2 is called as the rotating and elevating means 4 in FIG. 4 and below. In the drawing, reference symbol T denotes a pedestal with caster H, reference symbol L denotes a support plate for the gyoza intermittent feeding conveyor A installed to an upper face of the pedestal T, reference symbol L1 denotes a support plate for the round tray intermittent feeding conveyor B, and reference symbol Q denotes a support table for the holder revolving drive unit K, respectively.

[0048] The revolving holder apparatus 2 can employ a horizontal articulated assembling robot (scalar robot) which has been frequently used as an industrial robot in the past.

[0049] In the chuck holder 5, as shown in FIGS. 4 to 13, a top plate 6 having an approximately horizontally long rectangular planar shape is connected to a lower end of the rotating and elevating means 4 at the center of an upper face via the attaching tool 4a, a bottom plate 7 having the same shape is disposed below the top plate 6 at a predetermined interval, four chuck units 8a, 8b, 8c and 8d are arranged in a lower face of the bottom plate 7, and a support shaft 8e is interposed at a corner portion between the top plate 6 and the bottom plate 7 so as to hold both the elements at a predetermined interval. Further, a drive mechanism 9 for the chuck units 8a, 8b, 8c and 8d is interposed between the top plate 6 and the bottom plate 7. Details of the drive mechanism 9 will be mentioned later.

[0050] Among these four chuck units, two chuck units 8a and 8d are arranged in both corner portions in a leading end side of a lower face of the bottom plate 7, and the remaining two chuck units 8b and 8c are arranged approximately at the center portion in both right and left sides of the lower face of the bottom plate 7. More specifically, a distance between two chuck units 8a and 8d and a distance between two chuck units 8b and 8c are set to have equal interval in a lateral direction of the bottom plate 7, and a distance between two chuck units 8a and 8b and a distance between two chuck units 8c and 8d are set to have equal interval in a longitudinal direction of the bottom plate 7. Accordingly, the chuck units 8a, 8b, 8c and 8d are installed in the lower face of the bottom plate 7 in a rectangular arrangement.

[0051] This state corresponds to an arranged state of four chucks 1 when grabbing a plurality of (in the present example, two lines of four) gyozas P placed on the intermittent feeding conveyor A. At this time, each of the chucks 1 is installed below each of the chuck units 8a to 8d in a direction orthogonal to the feeding direction of the intermittent feeding conveyor A for gyoza P.

[0052] Further, as shown in FIGS. 16A and 16B, each of four chucks 1 installed below the chuck units 8a, 8b, 8c and 8d and grabbing a plurality of gyozas P is formed by a combination of a movable claw 1a and a fixed claw 1b, and a cylinder 10a is provided in a standing manner as an opening and closing drive unit 10 for opening and closing the movable claw 1a with respect to the fixed claw 1b. Further, in the cylinder 10a, a canopy 11 is fitted to an upper portion thereof, a piston 13 pressed downward via a spring 12 and retained is housed in a lower face of the canopy 11, a shaft portion 14 is provided in a hanging manner at the center of a lower face of the piston 13, and a pin 15 is provided in a protruding manner below a front face of the shaft portion 14.

[0053] Further, a slit 16 is formed below a side wall of the cylinder 10a, an upper end of an oscillation member 18 having an approximately inverted-L shape is supported to an inner portion of the slit 16 via a support shaft 17, and the movable claw 1a of the chuck 1 is fixed to an inner lower side of the oscillation member 18.

[0054] A groove portion 18b is formed in a leading end of an inward protruding portion 18a above the oscillation member 18, and a pin 15 provided in a protruding manner below the shaft portion 14 of the piston is slidably fitted into the groove portion 18b. Thus, the oscillation member 18 is oscillated by the upward and downward movement of the piston 13, and the movable claw 1a is configured to open and close around the support shaft 17 fixed to the inside below the oscillation member 18 and corresponding to a fulcrum with respect to the fixed claw 1b fixed to a lower side of an outer face of the cylinder 10a.

[0055] Further, an air intake and discharge port 19 is opened to a side wall portion of a hollow portion 10b of the cylinder 10a and is configured to ascend the piston 13 against a pressing force of the spring 12 or descend the piston 13 by the pressing force of the spring 12.

[0056] Accordingly, among these four chuck units 8a, 8b, 8c and 8d, one chuck unit 8a is fixed to the lower face of the bottom plate 7 via the L-shaped fixing tool 20, and the remaining three chuck units 8b, 8c and 8d are supported to be rotatable via eccentric levers 21a, 21b and 21c respectively in such a manner as to put the gyozas P grabbed by the chucks 1 onto the round tray R on the round tray intermittent feeding conveyor B.

[0057] All the chucks a provided in the lower faces of the chuck units 8a, 8b, 8c and 8d are initially set to be orthogonal to the feeding direction of the gyoza intermittent feeding conveyor A, as shown in FIGS. 4 and 17, and are configured to simultaneously grab all the gyozas P (two lines of four gyozas) on the intermittent feeding conveyor A by driving the cylinder 10a to close the movable claws 1a and the fixed claws 1b of all the chucks 1 (refer to FIG. 16B).

[0058] As shown in FIGS. 5 to 12 and FIGS. 14 and 15, the drive mechanism 9 is formed by a cylinder 22 which is arranged in a horizontal state inside the top plate and the bottom plate 7 of the chuck holder 5, a piston 23 and a cam 24 which are connected to a leading end of a piston shaft 23a of the cylinder 23a, a cam follower 24b which is slidably engaged with a long hole 24a formed in the cam 24, a lever 26 which is fixed in a rear end portion thereof to a rotating shaft 25a via the cam follower 24b, and a spur gear 27a which is fixed to the rotating shaft 25a in a lower side of the lever 26.

[0059] A rotating shaft 25b is interposed slightly inside at the rear of the chuck unit 8b between the top plate 6 and the bottom plate 7, and a spur gear 27b meshing with the spur gear 27a of the rotating shaft 25a is fixed to the rotating shaft 25b. Further, a base end of the eccentric lever 21a is fixed to a lower end of the rotating shaft 25b after passing through the bottom plate 7. In the meantime, the chuck unit 8b is connected in an interlocking manner to a leading end of the eccentric lever 21a via an attaching tool 28 having an approximately inverted-L shape in a side view in such a manner that the chuck 1 grabbing the gyoza P by the inward rotation at approximately 90 degrees of the chuck unit 8b is transposed toward a direction orthogonal to the feeding direction of the gyoza intermittent feeding conveyor A, in an inner rear side of the chuck holder 5.

[0060] Further, a rotating shaft 25c is interposed slightly inside a rear side of the chuck unit 8c between the top plate 6 and the bottom plate 7, and a spur gear 27c meshing with the spur gear 27b of the rotating shaft 25a is fixed to the rotating shaft 25c. Further, a base end of the eccentric lever 21b is fixed to a lower end of the rotating shaft 25c after passing through the bottom plate 7. In the meantime, the chuck unit 8c is connected in an interlocking manner to a leading end of the eccentric lever 21b via an attaching tool 28 having the same shape as mentioned above in such a manner that the chuck 1 grabbing the gyoza P by the inward rotation at approximately 180 degrees of the chuck unit 8c is transposed toward the same direction as the feeding direction of the gyoza intermittent feeding conveyor A, in the inner rear side of the chuck holder 5.

[0061] Further, a rotating shaft 25d is interposed in a rear side of the chuck unit 8d between the top plate 6 and the bottom plate 7, and a spur gear 27f meshing with the spur gear 27c via intermediate gears 27d and 27e is fixed to the rotating shaft 25d. Further, a base end of the eccentric lever 21c is fixed to a lower end of the rotating shaft 25d after passing through the bottom plate 7. In the meantime, the chuck unit 8d is connected in an interlocking manner to a leading end of the eccentric lever 21c of the eccentric lever 21 in such a manner that the chuck 1 grabbing the gyoza P by the inward rotation at approximately 90 degree of the chuck unit 8d is transposed toward the same direction as the feeding direction of the gyoza intermittent feeding conveyor A, in the inner rear side of the chuck holder 5.

[0062] Next, a description will be given of actions of the present invention according to steps.

[0063] First of all, a description will be given of a first step. The step revolves the arm member 3 of the revolving holder apparatus 2 to the above of the gyoza intermittent feeding conveyor A, and positions the chuck holder 5 connected in an interlocking manner to the rotating and elevating means 4 in the leading end of the arm member 3 above a plurality of gyozas P (two lines of four gyozas in the present embodiment) put on the intermittent feeding conveyor A).

[0064] Thereafter, the step moves each of the chucks 1 of four chuck units 8a, 8b, 8c and 8d of the chuck holder 5 down to just above each of the gyozas P on the gyoza intermittent feeding conveyor A by the rotating and elevating means 4 (the piston shaft S1) disposed in the lower end of the holder rotating drive unit N in the leading end of the arm member 3, and drives the cylinder 10a of each of the chuck units8a, 8b, 8c and 8d, thereby closing each of the chucks 1 constructed by the openable movable claw 1a and the fixed 1b to simultaneously grab all the four gyozas P (refer to FIG. 16B).

[0065] At this time, each of the chucks 1 arranged below the chuck units 8a, 8b, 8c and 8d is set to the direction orthogonal to the feeding direction of the gyoza intermittent feeding conveyor A. Therefore, all the gyozas P grabbed by the chucks 1 are also retained in the same direction.

[0066] Next, the step ascends the rotating and elevating means 4 (the piston shaft S1) in the leading end of the arm member 3 of the revolving holder apparatus 2, thereafter revolves above the round tray intermittent feeding conveyor B at 90 degrees, and positions the chuck holder 5 connected in an interlocking manner to the rotating and elevating means 4 in the leading end of the arm member 3 above the round tray R put on the intermittent feeding conveyor B.

[0067] Here, among three chuck units 8b, 8c and 8d retained by the chuck holder 5, the chuck unit 8b rotates inward approximately at 90 degrees via the eccentric lever 21a at the lower end of the rotating shaft 25b rotating due to the drive force of the drive mechanism 9, and the chuck 1 grabbing the gyoza P is transposed in the same direction as the feeding direction of the round tray intermittent feeding conveyor A, in a slightly inner rear side of the chuck holder 5. Thus, the gyoza P grabbed by the chuck 1 below the chuck unit 8b is retained at a predetermined interval which is orthogonal to the gyoza P grabbed by the chuck 1 of the chuck 8a.

[0068] Next, the chuck unit 8c retained by the chuck holder 5 rotates inward approximately at 180 degrees via the eccentric lever 21b at the lower end of the rotating shaft 23c rotating due to the drive force of the drive mechanism 9, and the chuck 1 grabbing the gyoza P is transposed in the direction orthogonal to the feeding direction of the round tray intermittent feeding conveyor B, in the inner rear side of the chuck holder 5. Thus, the gyoza P grabbed by the chuck 1 of the chuck unit 8c is retained at a predetermined interval in such a manner as to be orthogonal to the gyoza P grabbed by the chuck 1 of the chuck 8b.

[0069] Next, the chuck unit 8d retained by the chuck holder 5 rotates inward upward approximately at 90 degrees via the eccentric lever 21c at the lower end of the rotating shaft 23d rotating due to the drive force of the drive mechanism 9, and the chuck 1 grabbing the gyoza P is transposed in the same direction as the feeding direction of the round tray intermittent feeding conveyor, in the inner rear side of the chuck holder 5. Thus, the gyoza P grabbed by the chuck unit 8d is retained at a predetermined interval in such a manner as to be orthogonal to the gyoza P grabbed by the chuck 1 of the chuck 8c.

[0070] Next, as shown in FIGS. 16A, 17 and 20A, by descending the chuck holder 5 via the rotating and elevating means 4 below the leading end of the arm member 3, and thereafter simultaneously opening the respective chucks 1 of four chuck units 8a, 8b, 8c and 8d connected to the below of the chuck holder 5, four gyozas P retained by the respective chucks 1 are transferred to the upper face of the round tray R on the round tray intermittent feeding conveyor B at equal intervals and with an approximately crisscross plan shape.

[0071] Next, a description will be given of a second step. After a plurality of (four) gyozas P put on the gyoza intermittent feeding conveyor A are transferred to the upper face of the tray R on the round tray intermittent feeding conveyor B by revolving the arm member 3 at 90 degrees in the first step, as mentioned above, the second step returns the arm member 3 to an upper position of the gyoza intermittent feeding conveyor A. Then, the step grabs a plurality of (four) gyozas which are next fed in the upper face of the gyoza intermittent feeding conveyor A by the respective chucks 1 of four chuck units 8a, 8b, 8c and 8d connected to the below of the chuck holder 5, and positions each of the chucks 1 above the round tray intermittent feeding conveyor B by revolving the arm member again. Thus, the step is performed similarly to the first step mentioned above by this time.

[0072] However, in this stage, the second step rotates the rotating and elevating means 4 connected to the lower end of the arm member 3 at about 45 degrees in a clockwise direction or a counterclockwise direction in a state in which each of the gyozas P is retained to each of the chucks 1, before opening each of the chucks 1 to transfer each of the gyozas P onto the round tray R on the round tray intermittent feeding conveyor B, as shown in FIGS. 9, 19 and 20B. The chuck holder 5 connected to the rotating and elevating means 4 rotates on its own axis at about 45 degrees as mentioned above, and a plurality of (four) gyozas P retained by the respective chucks 1 are transferred to the upper face of the round tray R on the round tray intermittent feeding conveyor B by opening the respective chucks 1 installed below the chuck units 8a, 8b, 8c and 8d at the rotating position. Thus, the gyozas are additionally transferred with an approximately X-shaped plan form in four gap portions of a plurality of (four) gyozas P transferred to the upper face of the tray R approximately in the crisscross shape in the first step. As a result, a plurality of gyozas P are radially arranged on the round tray R on the round tray intermittent feeding conveyor B.

[0073] In the first step and the second step mentioned above, the chuck 1 and the gyoza P grabbed by the chuck 1 are once faced the upper sides of the gyoza intermittent feeding conveyor A, and the gyoza P or the chuck 1 is thereafter descended to the gyoza intermittent feeding conveyor A and just above the round tray A on the round tray intermittent feeding conveyor B. These motions are all performed by the rotating and elevating means 4 (the piston shaft S1).

[0074] In the present embodiment, there is shown the example in which totally eight gyozas P are filled in the upper face of the round tray R. However, four gyozas P are added and totally twelve gyozas P can be filled by setting the intervals between four gyozas P transferred by the first step greater by the use of a large-size round tray R, and rotating the chuck holder 5 on its own axis twice at about a half of 45 degrees via the rotating and elevating means 4.

[0075] Various structures can be employed for the cylinders S, 10a and 22 mentioned above. However, an air cylinder is suitable in the present embodiment.

Examples

Embodiment Construction

[0039] A description will be in detail given below of an embodiment according to the present invention with reference to the accompanying drawings.

[0040]As shown in FIGS. 1 to 3, the present invention is provided with a gyoza intermittent feeding conveyor A which sequentially feeds gyozas P formed by a gyoza forming apparatus for every line over plural lines (two lines) at equal intervals, and a round tray intermittent feeding conveyor B which sequentially feeds round trays R arranged in such a manner as to be orthogonal to a terminal end in a feeding direction of the intermittent feeding conveyor A at equal intervals.

[0041] A revolving holder apparatus 2 is disposed at an intermediate position inside an orthogonal portion between the gyoza intermittent feeding conveyor A and the round tray intermittent feeding conveyor B. The revolving holder apparatus 2 transfers a plurality of (two lines of four) gyozas P to an upper face of round trays R which are put on the round tray intermitt...

TECHNICAL FIELD

[0001] The present invention relates to an apparatus for filling gyoza in a round tray and a method of the same.BACKGROUND ART

[0002] In the past, as described in patent literature 1, there has been known an automatic tray filling apparatus for food products, which is configured to grab up the food products fed at predetermined intervals by a discharge conveyor and fill the food products in a tray of an intermittent feeding conveyor disposed side by side in a side portion of the discharge conveyor.

[0003] The automatic tray filling apparatus for food product described in this patent literature 1 is provided with the following constitution and function.

[0004] More specifically, above the conveyor, there are provided with a revolving apparatus in which a plurality of finger apparatuses simultaneously grabbing a plurality of food products arranged in a longitudinal direction on the discharge conveyor are mounted to a revolving holder, the number of the finger apparatuses being the same as the number of the food products, the finger apparatuses are provided with fixed claws and movable claws, the claws are eccentrically disposed at a fixed distance with respect to a support shaft axially supported to the revolving holder, and the revolving apparatus revolves the revolving holder at 90 degrees without changing a direction of the finger apparatuses mounted to the revolving holder, and a vertical movement apparatus which moves up and down.CITATION LIST PATENT LITERATURE

[0005] Patent Literature 1: Japanese Unexamined Utility Model Publication No. 3-53404SUMMARY OF INVENTION TECHNICAL PROBLEM

[0006] However, the tray filling apparatus for food product (gyoza) mentioned above is only configured to adjacently arrange a plurality of gyozas in the rectangular tray vertically and horizontally. Therefore, a planar shape of the tray is restricted to the rectangular shape, and the gyoza can not filled in a round tray.

[0007] Accordingly, an object of the present invention is to provide an apparatus and method for filling gyoza in a round tray which can adjacently arrange and fill a plurality of gyozas radially (so-called petal shaped manner) in such a manner as to prevent unevenness and achieve efficiency and good appearance when filling a plurality of gyozas in a round tray.SOLUTION TO PROBLEM

[0008] In order to solve the problem mentioned above, according to the present invention, the apparatus is provided with a gyoza intermittent feeding conveyor, a tray intermittent feeding conveyor which is arranged in such a manner as to be orthogonal to the gyoza intermittent feeding conveyor, a revolving holder apparatus which is installed between both the intermittent feeding conveyors, and a chuck holder which is connected to the revolving holder apparatus and reciprocates and revolves above between both the intermittent feeding conveyors, a plurality of chuck units which are eccentrically rotatable via a drive mechanism are arranged below the chuck holder, chucks which are opened and closed by an opening and closing drive unit are arranged below the chuck units, a plurality of gyozas fed on the gyoza intermittent feeding conveyor are grabbed by the chucks, the chuck units in which the chucks are arranged are eccentrically rotated at an appropriate angle, the chuck holders in which a direction of each of the chuck units is held in a feeding direction of the gyoza intermittent feeding conveyor or a direction orthogonal to the feeding direction faces above a round tray on the tray intermittent feeding conveyor, and a plurality of gyozas are radially transferred to an upper face of the round tray by opening the chucks.

[0009] The chuck holder has a top plate which is connected to the revolving holder apparatus and a bottom plate which is held at a desired interval below the top plate, and the drive mechanism eccentrically rotating the chuck units is disposed between the top plate and the bottom plate.

[0010] The chuck unit is held below the bottom plate of the chuck holder in an eccentrically rotatable manner via an eccentric lever.

[0011] The chuck units are constructed by four chuck units which are installed in such a manner as to be rectangularly arranged below the bottom plate of the chuck holder, and are provided with a plurality of chucks arranged in a direction orthogonal to the feeding direction of the gyoza intermittent feeding conveyor in such a manner as to grab a plurality of gyozas on the gyoza intermittent feeding conveyor when being positioned above the gyoza intermittent feeding conveyor.

[0012] Among the four chuck units, one chuck unit is fixed to a lower side of the bottom plate of the chuck holder in such a manner as to allow the chuck arranged below to always hold in the direction orthogonal to the feeding direction of the gyoza intermittent feeding conveyor, and the remaining three chuck units are set to be eccentrically rotatable via the eccentric lever such that totally four gyozas grabbed by one chuck fixed to the lower side of the bottom plate of the chuck holder and three chucks provided in the respective chuck units are have equal intervals in a lower face of the bottom plate and have an appropriately crisscross planar shape.

[0013] The chuck arranged below the chuck unit is formed by a combination of the movable claw and the fixed claw, and is formed in such a manner that the movable claw is openable and closable with respect to the fixed claw by the opening and closing drive unit.

[0014] The drive mechanism is formed by a cylinder which is arranged in a horizontal state in an inner side of the top plate and the bottom plate of the chuck holder, a piston and a cam which are connected to a leading end of a piston shaft of the cylinder, a cam follower which is slidably engaged with a long hole formed in the cam, a lever which is fixed to a rotating shaft via the cam follower in a rear end portion, and a spur gear which is fixed to the rotating shaft in a lower side of the lever.

[0015] The revolving holder apparatus is provided with an arm member which is 90 degrees horizontally swingable between the above of the gyoza intermittent feeding conveyor and the above of the round tray put on the round tray intermittent feeding conveyor, and is provided in a leading end of the arm member with a rotating and elevating means which allows the chuck holder connected to a lower end to be swingable at 90 degree and hold to be rotatable on its own axis at 45 degrees.

[0016] The gyozas are radially transferred to the upper face of the tray by grabbing a plurality of gyozas on the gyoza intermittent feeding conveyor by the chuck of a plurality of chuck units arranged below the bottom plate of the chuck holder, eccentrically rotating the chuck units at an appropriate angle via the eccentric lever so as to put the gyozas grabbed by the chucks on a front face of the tray in a petal shape, thereafter allowing the chuck holder to face the upper face of the round tray on the round tray intermittent feeding conveyor, and opening each of the chucks arranged below the chuck units.

[0017] The method of the present invention includes a first step of eccentrically rotating a plurality of gyozas grabbed by the chucks below the plurality of chuck units via the eccentric lever in such a manner as to have an equal interval and an approximately crisscross planar shape below the bottom plate of the chuck holder, allowing the chuck holders to face the upper face of the tray on the tray intermittent feeding conveyor, and opening each of the chucks arranged below the chuck units, thereby transferring the gyozas in an approximately crisscross manner on the upper face of the tray with keeping a predetermined equal interval, and a second step of allowing the chuck holders to rotate on its own axis at 45 degrees, thereafter allowing the chucks grabbing the plurality of gyozas via the chuck units arranged below the bottom plate of the chuck holder to face the upper face of the tray on the tray intermittent feeding conveyor in a state of having the equal interval and the approximately X-shaped planar shape, and opening the chucks arranged below the chuck units, thereby additionally transferring the gyozas in an approximately X-shaped manner between the gyozas transferred in the approximately crisscross shape on the upper face of the tray in the first step, so that a plurality of gyozas are arranged side by side radially on the upper face of the tray.EFFECT OF INVENTION

[0018] According to the present invention, it is possible to provide a compact and inexpensive tray filling apparatus and tray filling method which can fill a plurality of gyozas fed onto the gyoza intermittent feeding conveyor to the upper face of the round tray on the tray intermittent feeding conveyor in such a manner as to prevent unevenness and achieve efficiency in a short time and good appearance radially, in other words, in a so-called petal shape at high densities.BRIEF DESCRIPTION OF DRAWINGS

[0019] FIG. 1 is a front elevational view of a gyoza filling apparatus for round tray according to the present invention.

[0020] FIG. 2 is a schematic plan view in a first step of the gyoza filling apparatus for round tray according to the present invention.

[0021] FIG. 3 is a schematic plan view in a second step of the same.

[0022] FIG. 4 is a plan view of a chuck holder in the gyoza filling apparatus for round tray according to the present invention.

[0023] FIG. 5 is a front elevational view as seen from a direction A in FIG. 4.

[0024] FIG. 6 is a right side elevational view as seen from a direction B in FIG. 4.

[0025] FIG. 7 is a back elevational view as seen from a direction C in FIG. 4.

[0026] FIG. 8 is a left side elevational view as seen from a direction D in FIG. 4.

[0027] FIG. 9 is a plan view of the chuck holder in the first step of the gyoza filling apparatus for round tray according to the present invention.

[0028] FIG. 10 is a front elevational view as seen from a direction E in FIG. 9.

[0029] FIG. 11 is a right side elevational view as seen from a direction F in FIG. 9.

[0030] FIG. 12 is a back elevational view as seen from a direction G in FIG. 9.

[0031] FIG. 13 is a left side elevational view as seen from a direction H in FIG. 9.

[0032] FIG. 14 is a perspective view as seen from the below before a lever motion in a drive mechanism of the gyoza filling apparatus for round tray in the present invention.

[0033] FIG. 15 is a perspective view as seen from the below after the lever motion of the same.

[0034] FIGS. 16A and 16B show a chuck opening and closing drive unit, in which FIG. 16A is a front elevational view when opening the chuck, and FIG. 16B is a front elevational view when closing the chuck.

[0035] FIG. 17 is a cross sectional view of the chuck and shows a state (a first step) in which the gyoza is transferred to an upper face of a tray of a tray intermittent feeding conveyor from a gyoza intermittent feeding conveyor.

[0036] FIG. 18 is a plan view of the chuck holder in a second step (when rotating at 45 degree) of the gyoza filling apparatus for round tray according to the present invention.

[0037] FIG. 19 is a cross sectional view of the chuck and shows a state (a second step) in which the gyoza is transferred to the upper face of the tray of the tray intermittent feeding conveyor from the gyoza intermittent feeding conveyor.

[0038] FIGS. 20A and 20B show a state in which a plurality of gyozas are put on the upper face of the tray, in which FIG. 20A is a plan view of the same in the first step, and FIG. 20B is a plan view of the same in the second step.DESCRIPTION OF EMBODIMENT

[0039] A description will be in detail given below of an embodiment according to the present invention with reference to the accompanying drawings.

[0040] As shown in FIGS. 1 to 3, the present invention is provided with a gyoza intermittent feeding conveyor A which sequentially feeds gyozas P formed by a gyoza forming apparatus for every line over plural lines (two lines) at equal intervals, and a round tray intermittent feeding conveyor B which sequentially feeds round trays R arranged in such a manner as to be orthogonal to a terminal end in a feeding direction of the intermittent feeding conveyor A at equal intervals.

[0041] A revolving holder apparatus 2 is disposed at an intermediate position inside an orthogonal portion between the gyoza intermittent feeding conveyor A and the round tray intermittent feeding conveyor B. The revolving holder apparatus 2 transfers a plurality of (two lines of four) gyozas P to an upper face of round trays R which are put on the round tray intermittent feeding conveyor B at equal intervals, by means of a chuck 1 which simultaneously grabs a plurality of gyozas P (totally 2 lines of four gyozas at equal intervals in lateral and longitudinal directions of the conveyor in the illustrated example) put on the gyoza intermittent feeding conveyor A.

[0042] The revolving holder apparatus 2 is provided with an arm member 3 which can revolve horizontally at 90 degrees between the gyoza intermittent feeding conveyor A and the round tray R put on the round tray intermittent feeding conveyor B, and is provided in a leading end of the arm member 3 with a chuck holder 5 which a rotating and elevating means 4 set to be rotatable at 45 degrees is supported in a lower end thereof via an attaching tool 4a.

[0043] A description will be given further in detail of the revolving holder apparatus 2 with on the basis of FIG. 1. The revolving holder apparatus 2 is provided with a holder revolving drive unit K which revolves the chuck holder 5 at 90 degrees between the gyoza intermittent feeding conveyor A and the tray intermittent feeding conveyor B, and a holder vertical and lateral moving drive unit N which moves the chuck holder 5 up and down and rotates at a desired angle.

[0044] In the holder revolving drive unit K, a motor M having a rotating drive shaft M1 at the center of a lower portion is disposed in the uppermost portion within a cover C, and the arm member 3 is connected and fixed in a horizontal state to a side portion of the rotating drive shaft M1. At this time, an opening portion C1 having a horizontal width for the arm member 3 to rotate at 90 degrees is formed in a side face of the cover C.

[0045] In the meantime, in the holder vertical and lateral moving drive unit N, a motor M2 having a rotating drive shaft M3 at the center of a lower end is disposed in an uppermost portion within a cover D, and a cylinder S is connected and fixed in a rotatable state within the cover opening to a lower end of the rotating drive shaft M3. Further, the chuck holder 5 is connected and fixed to a lower end of a piston shaft S1 moving up and down in a lower portion of the cylinder S via the attaching tool 4a.

[0046] In association with the rotation of the cylinder S within the cover D at a desired angle (for example, 45 degrees) on the basis of a rotating force of the rotating drive shaft M3 of the motor M2 as mentioned above, the chuck holder 5 is set to rotate at the same angle via the piston shaft S1.

[0047] Here, the piston shaft S1 rotating the chuck holder 5 by the motor M2 is called as the rotating and elevating means 4 in FIG. 4 and below. In the drawing, reference symbol T denotes a pedestal with caster H, reference symbol L denotes a support plate for the gyoza intermittent feeding conveyor A installed to an upper face of the pedestal T, reference symbol L1 denotes a support plate for the round tray intermittent feeding conveyor B, and reference symbol Q denotes a support table for the holder revolving drive unit K, respectively.

[0048] The revolving holder apparatus 2 can employ a horizontal articulated assembling robot (scalar robot) which has been frequently used as an industrial robot in the past.

[0049] In the chuck holder 5, as shown in FIGS. 4 to 13, a top plate 6 having an approximately horizontally long rectangular planar shape is connected to a lower end of the rotating and elevating means 4 at the center of an upper face via the attaching tool 4a, a bottom plate 7 having the same shape is disposed below the top plate 6 at a predetermined interval, four chuck units 8a, 8b, 8c and 8d are arranged in a lower face of the bottom plate 7, and a support shaft 8e is interposed at a corner portion between the top plate 6 and the bottom plate 7 so as to hold both the elements at a predetermined interval. Further, a drive mechanism 9 for the chuck units 8a, 8b, 8c and 8d is interposed between the top plate 6 and the bottom plate 7. Details of the drive mechanism 9 will be mentioned later.

[0050] Among these four chuck units, two chuck units 8a and 8d are arranged in both corner portions in a leading end side of a lower face of the bottom plate 7, and the remaining two chuck units 8b and 8c are arranged approximately at the center portion in both right and left sides of the lower face of the bottom plate 7. More specifically, a distance between two chuck units 8a and 8d and a distance between two chuck units 8b and 8c are set to have equal interval in a lateral direction of the bottom plate 7, and a distance between two chuck units 8a and 8b and a distance between two chuck units 8c and 8d are set to have equal interval in a longitudinal direction of the bottom plate 7. Accordingly, the chuck units 8a, 8b, 8c and 8d are installed in the lower face of the bottom plate 7 in a rectangular arrangement.

[0051] This state corresponds to an arranged state of four chucks 1 when grabbing a plurality of (in the present example, two lines of four) gyozas P placed on the intermittent feeding conveyor A. At this time, each of the chucks 1 is installed below each of the chuck units 8a to 8d in a direction orthogonal to the feeding direction of the intermittent feeding conveyor A for gyoza P.

[0052] Further, as shown in FIGS. 16A and 16B, each of four chucks 1 installed below the chuck units 8a, 8b, 8c and 8d and grabbing a plurality of gyozas P is formed by a combination of a movable claw 1a and a fixed claw 1b, and a cylinder 10a is provided in a standing manner as an opening and closing drive unit 10 for opening and closing the movable claw 1a with respect to the fixed claw 1b. Further, in the cylinder 10a, a canopy 11 is fitted to an upper portion thereof, a piston 13 pressed downward via a spring 12 and retained is housed in a lower face of the canopy 11, a shaft portion 14 is provided in a hanging manner at the center of a lower face of the piston 13, and a pin 15 is provided in a protruding manner below a front face of the shaft portion 14.

[0053] Further, a slit 16 is formed below a side wall of the cylinder 10a, an upper end of an oscillation member 18 having an approximately inverted-L shape is supported to an inner portion of the slit 16 via a support shaft 17, and the movable claw 1a of the chuck 1 is fixed to an inner lower side of the oscillation member 18.

[0054] A groove portion 18b is formed in a leading end of an inward protruding portion 18a above the oscillation member 18, and a pin 15 provided in a protruding manner below the shaft portion 14 of the piston is slidably fitted into the groove portion 18b. Thus, the oscillation member 18 is oscillated by the upward and downward movement of the piston 13, and the movable claw 1a is configured to open and close around the support shaft 17 fixed to the inside below the oscillation member 18 and corresponding to a fulcrum with respect to the fixed claw 1b fixed to a lower side of an outer face of the cylinder 10a.

[0055] Further, an air intake and discharge port 19 is opened to a side wall portion of a hollow portion 10b of the cylinder 10a and is configured to ascend the piston 13 against a pressing force of the spring 12 or descend the piston 13 by the pressing force of the spring 12.

[0056] Accordingly, among these four chuck units 8a, 8b, 8c and 8d, one chuck unit 8a is fixed to the lower face of the bottom plate 7 via the L-shaped fixing tool 20, and the remaining three chuck units 8b, 8c and 8d are supported to be rotatable via eccentric levers 21a, 21b and 21c respectively in such a manner as to put the gyozas P grabbed by the chucks 1 onto the round tray R on the round tray intermittent feeding conveyor B.

[0057] All the chucks a provided in the lower faces of the chuck units 8a, 8b, 8c and 8d are initially set to be orthogonal to the feeding direction of the gyoza intermittent feeding conveyor A, as shown in FIGS. 4 and 17, and are configured to simultaneously grab all the gyozas P (two lines of four gyozas) on the intermittent feeding conveyor A by driving the cylinder 10a to close the movable claws 1a and the fixed claws 1b of all the chucks 1 (refer to FIG. 16B).

[0058] As shown in FIGS. 5 to 12 and FIGS. 14 and 15, the drive mechanism 9 is formed by a cylinder 22 which is arranged in a horizontal state inside the top plate and the bottom plate 7 of the chuck holder 5, a piston 23 and a cam 24 which are connected to a leading end of a piston shaft 23a of the cylinder 23a, a cam follower 24b which is slidably engaged with a long hole 24a formed in the cam 24, a lever 26 which is fixed in a rear end portion thereof to a rotating shaft 25a via the cam follower 24b, and a spur gear 27a which is fixed to the rotating shaft 25a in a lower side of the lever 26.

[0059] A rotating shaft 25b is interposed slightly inside at the rear of the chuck unit 8b between the top plate 6 and the bottom plate 7, and a spur gear 27b meshing with the spur gear 27a of the rotating shaft 25a is fixed to the rotating shaft 25b. Further, a base end of the eccentric lever 21a is fixed to a lower end of the rotating shaft 25b after passing through the bottom plate 7. In the meantime, the chuck unit 8b is connected in an interlocking manner to a leading end of the eccentric lever 21a via an attaching tool 28 having an approximately inverted-L shape in a side view in such a manner that the chuck 1 grabbing the gyoza P by the inward rotation at approximately 90 degrees of the chuck unit 8b is transposed toward a direction orthogonal to the feeding direction of the gyoza intermittent feeding conveyor A, in an inner rear side of the chuck holder 5.

[0060] Further, a rotating shaft 25c is interposed slightly inside a rear side of the chuck unit 8c between the top plate 6 and the bottom plate 7, and a spur gear 27c meshing with the spur gear 27b of the rotating shaft 25a is fixed to the rotating shaft 25c. Further, a base end of the eccentric lever 21b is fixed to a lower end of the rotating shaft 25c after passing through the bottom plate 7. In the meantime, the chuck unit 8c is connected in an interlocking manner to a leading end of the eccentric lever 21b via an attaching tool 28 having the same shape as mentioned above in such a manner that the chuck 1 grabbing the gyoza P by the inward rotation at approximately 180 degrees of the chuck unit 8c is transposed toward the same direction as the feeding direction of the gyoza intermittent feeding conveyor A, in the inner rear side of the chuck holder 5.

[0061] Further, a rotating shaft 25d is interposed in a rear side of the chuck unit 8d between the top plate 6 and the bottom plate 7, and a spur gear 27f meshing with the spur gear 27c via intermediate gears 27d and 27e is fixed to the rotating shaft 25d. Further, a base end of the eccentric lever 21c is fixed to a lower end of the rotating shaft 25d after passing through the bottom plate 7. In the meantime, the chuck unit 8d is connected in an interlocking manner to a leading end of the eccentric lever 21c of the eccentric lever 21 in such a manner that the chuck 1 grabbing the gyoza P by the inward rotation at approximately 90 degree of the chuck unit 8d is transposed toward the same direction as the feeding direction of the gyoza intermittent feeding conveyor A, in the inner rear side of the chuck holder 5.

[0062] Next, a description will be given of actions of the present invention according to steps.

[0063] First of all, a description will be given of a first step. The step revolves the arm member 3 of the revolving holder apparatus 2 to the above of the gyoza intermittent feeding conveyor A, and positions the chuck holder 5 connected in an interlocking manner to the rotating and elevating means 4 in the leading end of the arm member 3 above a plurality of gyozas P (two lines of four gyozas in the present embodiment) put on the intermittent feeding conveyor A).

[0064] Thereafter, the step moves each of the chucks 1 of four chuck units 8a, 8b, 8c and 8d of the chuck holder 5 down to just above each of the gyozas P on the gyoza intermittent feeding conveyor A by the rotating and elevating means 4 (the piston shaft S1) disposed in the lower end of the holder rotating drive unit N in the leading end of the arm member 3, and drives the cylinder 10a of each of the chuck units8a, 8b, 8c and 8d, thereby closing each of the chucks 1 constructed by the openable movable claw 1a and the fixed 1b to simultaneously grab all the four gyozas P (refer to FIG. 16B).

[0065] At this time, each of the chucks 1 arranged below the chuck units 8a, 8b, 8c and 8d is set to the direction orthogonal to the feeding direction of the gyoza intermittent feeding conveyor A. Therefore, all the gyozas P grabbed by the chucks 1 are also retained in the same direction.

[0066] Next, the step ascends the rotating and elevating means 4 (the piston shaft S1) in the leading end of the arm member 3 of the revolving holder apparatus 2, thereafter revolves above the round tray intermittent feeding conveyor B at 90 degrees, and positions the chuck holder 5 connected in an interlocking manner to the rotating and elevating means 4 in the leading end of the arm member 3 above the round tray R put on the intermittent feeding conveyor B.

[0067] Here, among three chuck units 8b, 8c and 8d retained by the chuck holder 5, the chuck unit 8b rotates inward approximately at 90 degrees via the eccentric lever 21a at the lower end of the rotating shaft 25b rotating due to the drive force of the drive mechanism 9, and the chuck 1 grabbing the gyoza P is transposed in the same direction as the feeding direction of the round tray intermittent feeding conveyor A, in a slightly inner rear side of the chuck holder 5. Thus, the gyoza P grabbed by the chuck 1 below the chuck unit 8b is retained at a predetermined interval which is orthogonal to the gyoza P grabbed by the chuck 1 of the chuck 8a.

[0068] Next, the chuck unit 8c retained by the chuck holder 5 rotates inward approximately at 180 degrees via the eccentric lever 21b at the lower end of the rotating shaft 23c rotating due to the drive force of the drive mechanism 9, and the chuck 1 grabbing the gyoza P is transposed in the direction orthogonal to the feeding direction of the round tray intermittent feeding conveyor B, in the inner rear side of the chuck holder 5. Thus, the gyoza P grabbed by the chuck 1 of the chuck unit 8c is retained at a predetermined interval in such a manner as to be orthogonal to the gyoza P grabbed by the chuck 1 of the chuck 8b.

[0069] Next, the chuck unit 8d retained by the chuck holder 5 rotates inward upward approximately at 90 degrees via the eccentric lever 21c at the lower end of the rotating shaft 23d rotating due to the drive force of the drive mechanism 9, and the chuck 1 grabbing the gyoza P is transposed in the same direction as the feeding direction of the round tray intermittent feeding conveyor, in the inner rear side of the chuck holder 5. Thus, the gyoza P grabbed by the chuck unit 8d is retained at a predetermined interval in such a manner as to be orthogonal to the gyoza P grabbed by the chuck 1 of the chuck 8c.

[0070] Next, as shown in FIGS. 16A, 17 and 20A, by descending the chuck holder 5 via the rotating and elevating means 4 below the leading end of the arm member 3, and thereafter simultaneously opening the respective chucks 1 of four chuck units 8a, 8b, 8c and 8d connected to the below of the chuck holder 5, four gyozas P retained by the respective chucks 1 are transferred to the upper face of the round tray R on the round tray intermittent feeding conveyor B at equal intervals and with an approximately crisscross plan shape.

[0071] Next, a description will be given of a second step. After a plurality of (four) gyozas P put on the gyoza intermittent feeding conveyor A are transferred to the upper face of the tray R on the round tray intermittent feeding conveyor B by revolving the arm member 3 at 90 degrees in the first step, as mentioned above, the second step returns the arm member 3 to an upper position of the gyoza intermittent feeding conveyor A. Then, the step grabs a plurality of (four) gyozas which are next fed in the upper face of the gyoza intermittent feeding conveyor A by the respective chucks 1 of four chuck units 8a, 8b, 8c and 8d connected to the below of the chuck holder 5, and positions each of the chucks 1 above the round tray intermittent feeding conveyor B by revolving the arm member again. Thus, the step is performed similarly to the first step mentioned above by this time.

[0072] However, in this stage, the second step rotates the rotating and elevating means 4 connected to the lower end of the arm member 3 at about 45 degrees in a clockwise direction or a counterclockwise direction in a state in which each of the gyozas P is retained to each of the chucks 1, before opening each of the chucks 1 to transfer each of the gyozas P onto the round tray R on the round tray intermittent feeding conveyor B, as shown in FIGS. 9, 19 and 20B. The chuck holder 5 connected to the rotating and elevating means 4 rotates on its own axis at about 45 degrees as mentioned above, and a plurality of (four) gyozas P retained by the respective chucks 1 are transferred to the upper face of the round tray R on the round tray intermittent feeding conveyor B by opening the respective chucks 1 installed below the chuck units 8a, 8b, 8c and 8d at the rotating position. Thus, the gyozas are additionally transferred with an approximately X-shaped plan form in four gap portions of a plurality of (four) gyozas P transferred to the upper face of the tray R approximately in the crisscross shape in the first step. As a result, a plurality of gyozas P are radially arranged on the round tray R on the round tray intermittent feeding conveyor B.

[0073] In the first step and the second step mentioned above, the chuck 1 and the gyoza P grabbed by the chuck 1 are once faced the upper sides of the gyoza intermittent feeding conveyor A, and the gyoza P or the chuck 1 is thereafter descended to the gyoza intermittent feeding conveyor A and just above the round tray A on the round tray intermittent feeding conveyor B. These motions are all performed by the rotating and elevating means 4 (the piston shaft S1).

[0074] In the present embodiment, there is shown the example in which totally eight gyozas P are filled in the upper face of the round tray R. However, four gyozas P are added and totally twelve gyozas P can be filled by setting the intervals between four gyozas P transferred by the first step greater by the use of a large-size round tray R, and rotating the chuck holder 5 on its own axis twice at about a half of 45 degrees via the rotating and elevating means 4.

[0075] Various structures can be employed for the cylinders S, 10a and 22 mentioned above. However, an air cylinder is suitable in the present embodiment.

Examples

Embodiment Construction

[0039] A description will be in detail given below of an embodiment according to the present invention with reference to the accompanying drawings.

[0040]As shown in FIGS. 1 to 3, the present invention is provided with a gyoza intermittent feeding conveyor A which sequentially feeds gyozas P formed by a gyoza forming apparatus for every line over plural lines (two lines) at equal intervals, and a round tray intermittent feeding conveyor B which sequentially feeds round trays R arranged in such a manner as to be orthogonal to a terminal end in a feeding direction of the intermittent feeding conveyor A at equal intervals.

[0041] A revolving holder apparatus 2 is disposed at an intermediate position inside an orthogonal portion between the gyoza intermittent feeding conveyor A and the round tray intermittent feeding conveyor B. The revolving holder apparatus 2 transfers a plurality of (two lines of four) gyozas P to an upper face of round trays R which are put on the round tray intermitt...

Claims

1. An apparatus for filling gyoza in a round tray, the apparatus comprising: a gyoza intermittent feeding conveyor; a tray intermittent feeding conveyor which is arranged in such a manner as to be orthogonal to the gyoza intermittent feeding conveyor; a revolving holder apparatus which is installed between both the intermittent feeding conveyors and configured to revolve around a vertical axis; and a chuck holder which is connected to the revolving holder apparatus, wherein the chuck holder reciprocates and revolves above and between both the intermittent feeding conveyors, wherein a plurality of chuck units which are eccentrically rotatable about vertical axes via a drive mechanism are arranged below the chuck holder, chucks which are opened and closed by an opening and closing drive unit are arranged below the chuck units, a plurality of gyozas fed on the gyoza intermittent feeding conveyor are grabbed by the chucks, the chuck units in which the chucks are arranged are eccentrically rotated at an appropriate angle, the chuck holders in which a direction of each of the chuck units is held in a feeding direction of the gyoza intermittent feeding conveyor or a direction orthogonal to the feeding direction faces above a round tray on the tray intermittent feeding conveyor, and a plurality of gyozas are radially transferred to an upper face of the round tray by opening the chucks.

2. The apparatus for filling gyoza in the round tray according to claim 1, wherein the chuck holder has a top plate which is connected to the revolving holder apparatus and a bottom plate which is held at a desired interval below the top plate, and the drive mechanism eccentrically rotating the chuck units is disposed between the top plate and the bottom plate.

3. The apparatus for filling gyoza in the round tray according to claim 1, wherein the chuck unit is held below the bottom plate of the chuck holder in an eccentrically rotatable manner via an eccentric lever.

4. The apparatus for filling gyoza in the round tray according to claim 2, wherein the chuck unit is held below the bottom plate of the chuck holder in an eccentrically rotatable manner via an eccentric lever.

5. The apparatus for filling gyoza in the round tray according to claim 1, wherein the chuck units are constructed by four chuck units which are installed in such a manner as to be rectangularly arranged below the bottom plate of the chuck holder, and are provided with a plurality of chucks arranged in a direction orthogonal to the feeding direction of the gyoza intermittent feeding conveyor in such a manner as to grab a plurality of gyozas on the gyoza intermittent feeding conveyor when being positioned above the gyoza intermittent feeding conveyor.

6. The apparatus for filling gyoza in the round tray according to claim 5, wherein among the four chuck units, one chuck unit is fixed to a lower side of the bottom plate of the chuck holder in such a manner as to allow the chuck arranged below to always hold in the direction orthogonal to the feeding direction of the gyoza intermittent feeding conveyor, and the remaining three chuck units are set to be eccentrically rotatable via the eccentric lever such that totally four gyozas grabbed by one chuck fixed to the lower side of the bottom plate of the chuck holder and three chucks provided in the respective chuck units are have equal intervals in a lower face of the bottom plate and have an appropriately crisscross planar shape.

7. The apparatus for filling gyoza in the round tray according to claim 1, wherein the chuck arranged below the chuck unit is formed by a combination of a movable claw and a fixed claw, and is formed in such a manner that the movable claw is openable and closable with respect to the fixed claw by the opening and closing drive unit.

8. The apparatus for filling gyoza in the round tray according to claim 1, wherein the drive mechanism is formed by a cylinder which is arranged in a horizontal state in an inner side of the top plate and the bottom plate of the chuck holder, a piston and a cam which are connected to a leading end of a piston shaft of the cylinder, a cam follower which is slidably engaged with a long hole formed in the cam, a lever which is fixed to a rotating shaft via the cam follower in a rear end portion, and a spur gear which is fixed to the rotating shaft in a lower side of the lever.

9. The apparatus for filling gyoza in the round tray according to claim 2, wherein the drive mechanism is formed by a cylinder which is arranged in a horizontal state in an inner side of the top plate and the bottom plate of the chuck holder, a piston and a cam which are connected to a leading end of a piston shaft of the cylinder, a cam follower which is slidably engaged with a long hole formed in the cam, a lever which is fixed to a rotating shaft via the cam follower in a rear end portion, and a spur gear which is fixed to the rotating shaft in a lower side of the lever.

10. The apparatus for filling gyoza in the round tray according to claim 1, wherein the revolving holder apparatus is provided with an arm member which is 90 degrees horizontally swingable between the above of the gyoza intermittent feeding conveyor and the above of the round tray put on the round tray intermittent feeding conveyor, and is provided in a leading end of the arm member with a rotating and elevating means which allows the chuck holder connected to a lower end to be swingable at 90 degrees and hold to be rotatable on its own axis at 45 degrees.

11. The apparatus for filling gyoza in the round tray according to claim 2, wherein the revolving holder apparatus is provided with an arm member which is 90 degrees horizontally swingable between the above of the gyoza intermittent feeding conveyor and the above of the round tray put on the round tray intermittent feeding conveyor, and is provided in a leading end of the arm member with a rotating and elevating means which allows the chuck holder connected to a lower end to be swingable at 90 degrees and hold to be rotatable on its own axis at 45 degrees.

12. A method for filling gyoza in a round tray, the method comprising the steps of: grabbing a plurality of gyozas on the gyoza intermittent feeding conveyor by the chuck of a plurality of chuck units arranged below the bottom plate of the chuck holder; eccentrically rotating the chuck units at an appropriate angle via the eccentric lever so as to put the gyozas grabbed by the chucks on a front face of the tray in a petal shape; thereafter allowing the chuck holder to face the upper face of the round tray on the round tray intermittent feeding conveyor; and opening each of the chucks arranged below the chuck units, so that the gyozas are radially transferred to the upper face of the tray.

13. The method for filling gyoza in the round tray according to claim 12, wherein the method comprises: a first step of eccentrically rotating a plurality of gyozas grabbed by the chucks below the plurality of chuck units via the eccentric lever in such a manner as to have an equal interval and an approximately crisscross planar shape below the bottom plate of the chuck holder, allowing the chuck holders to face the upper face of the tray on the tray intermittent feeding conveyor, and opening each of the chucks arranged below the chuck units, thereby transferring the gyozas in an approximately crisscross manner on the upper face of the tray with keeping a predetermined equal interval; and a second step of allowing the chuck holders to rotate on its own axis at 45 degrees, thereafter allowing the chucks grabbing the plurality of gyozas via the chuck units arranged below the bottom plate of the chuck holder to face the upper face of the tray on the tray intermittent feeding conveyor in a state of having the equal interval and the approximately X- shaped planar shape, and opening the chucks arranged below the chuck units, thereby additionally transferring the gyozas in an approximately X-shaped manner between the gyozas transferred in the approximately crisscross shape on the upper face of the tray in the first step, so that a plurality of gyozas are arranged side by side radially on the upper face of the tray.

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