Transfer unit and transfer system for food dough

Abstract

Provided is a transfer unit capable of stably gripping and transferring food dough without deforming the food dough or leaving a gripping mark on the surface of the food dough. A transfer unit (4) that transfers food dough (D1) comprises a gripping device (20) capable of gripping the food dough. The gripping device includes a plurality of gripping parts (30) and an actuator (23). The plurality of gripping parts each include an attachment member (31) and a gripping member (33). The plurality of gripping parts are movable by the actuator between an open position in which the gripping parts are separated from each other and a closed position in which the gripping parts are close to each other. The gripping members are annularly rolled sheet-like members and each have a gripping surface (33a) that grips food dough. Both end portions of a gripping member are attached to an attachment member. A space (35) is formed on the side opposite to the gripping surface so as to allow a gripping member to deform in accordance with the shape of food dough when gripping the food dough.

Description

Food Dough Transfer Unit and Transfer System

[0001] The present invention relates to a transfer unit and a transfer system for transferring food dough, and more particularly, to a transfer unit and a transfer system for gripping and transferring easily deformable food dough such as rolled croissant dough.

[0002] Conventionally, devices for gripping and transferring soft and easily deformable food dough or elastic foods using flexible members such as conveyor belts are known (Patent Documents 1 and 2).

[0003] U.S. Patent Application Publication No. 2010 / 0133862, U.S. Patent Application Publication No. 2010 / 0215473

[0004] When transferring food dough such as rolled croissant dough, the devices described in Patent Documents 1 and 2 grip it with a flexible member so as to cover the entire dough. In this case, since the gripping force is strong, there are problems such as damaging the appearance of the product by leaving marks of gripping on the surface of the dough or deforming the croissant dough.

[0005] In addition, when transferring rod-shaped dough with a non-uniform thickness (for example, rolled croissant dough), the devices described in Patent Documents 1 and 2 cannot stably grip the dough, and there is a problem that the position of the dough after transfer is not stable.

[0006] Therefore, an object of the present invention is to provide a transfer unit capable of stably gripping and transferring food dough without deforming the food dough or leaving marks of gripping on the surface of the food dough. Another object of the present invention is to provide a transfer system including such a transfer unit.

[0007] To achieve the above objective, the transfer unit according to the present invention for transferring food dough includes a gripping device capable of gripping food dough, the gripping device includes a plurality of flexible gripping members and an actuator, the plurality of gripping members include a gripping surface for gripping food dough, the gripping surfaces are arranged in a direction facing each other, and are movable between an open position where the opposing gripping surfaces are far apart from each other and a closed position where they are close together by the drive of the actuator, and the gripping members are configured to be attached to the actuator so as to be deformable according to the shape of the food dough to be gripped.

[0008] With a transfer unit configured in this way, food dough can be stably gripped and transferred without deforming the food dough or leaving gripping marks on its surface.

[0009] In the transfer unit according to the present invention, preferably, the gripping device includes a mounting member to which a gripping member is attached, the gripping member is attached to an actuator via the mounting member, the gripping member is a sheet-like member that is rolled up to form an annular shape and fixed at both ends to the mounting member, and a space for the gripping member to deform is formed on the side opposite to the gripping surface of the gripping member.

[0010] In the transfer unit according to the present invention, preferably, the gripping member is characterized by forming an annular shape and creating a space inside the annular shape.

[0011] In the transfer unit according to the present invention, preferably, the mounting member is a shaft.

[0012] In the transfer unit according to the present invention, preferably, the shaft is positioned inside a gripping member that forms an annular shape, and both ends of the gripping member that forms an annular shape are fixed to the side surface of the shaft.

[0013] In the transfer unit according to the present invention, preferably, the shaft is positioned on the outside of the annular gripping member, and both ends of the annular gripping member are fixed to the side surface of the shaft.

[0014] In the transfer unit according to the present invention, preferably, the mounting member is an L-shaped bracket.

[0015] Furthermore, in order to achieve the above objective, the transfer system according to the present invention includes a conveyor for transporting food dough, a detection device for detecting the position of the food dough relative to the conveyor, a transfer unit according to the present invention, and a moving device for moving the transfer unit according to the present invention relative to the conveyor based on the position detected by the detection device.

[0016] In the transfer system according to the present invention, preferably, the moving device is a robot.

[0017] This is a front view of the transfer system according to the present invention. This is a plan view of the transfer system according to the present invention. This is a perspective view of the transfer unit according to the present invention. This is a front view of the transfer unit in Figure 3. This is a bottom view of the transfer unit in Figure 3 in the open position. This is a bottom view of the transfer unit in Figure 3 in the closed position. This is a diagram showing part of the gripping operation. This is a diagram showing part of the gripping operation. This is a diagram showing part of the gripping operation. This is a diagram showing part of the gripping operation. This is a diagram showing part of the gripping operation. This is a diagram showing part of the gripping operation. This is a diagram showing part of the gripping operation. This is a diagram showing part of the gripping operation. This is a bottom view of a modified transfer unit according to the present invention in the open position. This is a bottom view of a modified transfer unit according to the present invention in the open position. This is a bottom view of a modified transfer unit according to the present invention in the open position. This is a diagram showing part of the gripping operation of a modified transfer unit according to the present invention. This is a bottom view of a modified transfer unit according to the present invention in the open position. This is a front view of a modified transfer unit according to the present invention. This is a bottom view of the transfer unit shown in Figure 17 in the closed position. This is a front view of a modified transfer unit according to the present invention.

[0018] An embodiment of the present invention, the transfer system 1, will be described with reference to Figures 1 to 6.

[0019] As shown in Figures 1 and 2, the transfer system 1 is configured to transfer a long, slender, rod-shaped piece of dough D1 to a predetermined position. The transfer system 1 includes a conveyor 2 that transports the dough D1 in the transport direction A and also transports the dough D1 that has been transferred (repositioned) to the predetermined position downstream (in the transport direction A), a detection device 3 that detects the dough D1 during transport, a transfer unit 4 that grips the dough D1 and transfers it to the predetermined position, a moving device 5 that moves the transfer unit 4, and a control device 6. Hereinafter, the transport direction of the conveyor 2 is indicated by the symbol "A".

[0020] As shown in Figure 2, the transfer system 1 is specifically configured to transfer (reposition) the dough D1, which is being transported in three rows by the conveyor 2, into four rows and at a 45-degree angle with respect to the transport direction A, and then transport it downstream (in the transport direction A).

[0021] The dough D1 is, for example, a rolled croissant dough. The dough D1 has a central part DC and left parts DL and right parts DR adjacent to both sides of the central part DC. The left part DL has a left front part DLF and a left rear part DLB, and the right part DR has a right front part DRF and a right rear part DRB (see Figure 7A).

[0022] The conveyor 2 includes, for example, a conveyor belt 2A that constitutes a support surface for transporting the dough D1. In this embodiment, the conveyor 2 consists of one conveyor, but two conveyors may be arranged. The detection device 3 is, for example, a camera mounted above the conveyor 2. The camera can detect the position and / or orientation (inclination with respect to the transport direction A) of the dough D1 relative to the conveyor 2 by photographing the support surface of the conveyor 2 from above. The moving device 5 is, for example, a robot (arm-type robot or parallel-link type robot), and in this embodiment, a parallel-link type robot. The control device 6 is configured to operate the conveyor 2, the detection device 3, the transfer unit 4, and the moving device 5.

[0023] As shown in Figure 3, the transfer unit 4 is configured as a robot hand for gripping the fabric D1. The transfer unit 4 includes a base 10 connected to the moving device 5 and a gripping device 20 attached to the base 10. The base 10 is made up of, for example, a plate-shaped member with a U-shaped cross-section.

[0024] As shown in Figures 3 to 6, the gripping device 20 is positioned below the base 10. The gripping device 20 includes two gripping parts 30 (30F, 30B) for gripping the fabric D1 and an actuator 23, which moves the two gripping parts 30 (30F, 30B) laterally between an open position (see Figure 5) where they are far apart from each other and a closed position (see Figure 6) where they are close together. The actuator 23 is, for example, an air cylinder.

[0025] The first gripping section 30F includes a link plate 22F, two mounting members 31 (31F), and two sheet-like gripping members 33 (33F). The link plate 22F is a plate-shaped member and is attached to the actuator 23. In this embodiment, the mounting members 31 are shafts 31FL and 31FR. The two shafts 31F are attached to the link plate 22F with a gap H between them. The gap H is preferably determined by the shape of the material D1. The attachment positions of the two shafts 31F to the link plate 22F are adjustable. The two sheet-like gripping members 33F (33FL and 33FR) are strip-shaped (rectangular) and flexible, and are made of materials such as urethane, polyester, or silicone, which are used in conveyor belts.

[0026] As shown in Figures 3 to 6, the sheet-like gripping member 33F is rolled into an annular shape. The shaft 31F is positioned inside the annularly rolled gripping member 33F. Both ends of the annularly rolled gripping member 33F are fixed to one side of the shaft 31F. A space 35 is formed between the intermediate part of the gripping member 33F and the shaft 31F. The space 35 is located on the opposite side of the shaft 31F that fixes both ends of the sheet-like gripping member 33F, and the gripping member 33F has flexibility and elasticity. The intermediate part of the gripping member 33F is the part that grips the fabric D1, and the outside of the annularly rolled gripping member 33F (intermediate part) is called the gripping surface 33a.

[0027] The second gripping portion 30B has the same configuration as the first gripping portion 30F. The second gripping portion 30B includes a link plate 22B, two mounting members 31 (31B), and two sheet-like gripping members 33 (33B). The link plate 22B is a plate-shaped member and is attached to the actuator 23. In this embodiment, the mounting members 31 are shafts 31BL and 31BR. The two shafts 31B are attached to the link plate 22B with a gap H between them. The gap H is preferably determined by the shape of the material D1. The attachment positions of the two shafts 31B to the link plate 22B are adjustable. The two sheet-like gripping members 33B (33BL, 33BR) are strip-shaped (rectangular) and flexible, and are made of materials such as urethane, polyester, or silicone, which are used in conveyor belts.

[0028] As shown in Figures 3 to 6, the sheet-like gripping member 33B is rolled into an annular shape. The shaft 31B is positioned inside the annularly rolled gripping member 33B. Both ends of the annularly rolled gripping member 33B are fixed to one side of the shaft 31B. A space 35 is formed between the intermediate part of the gripping member 33B and the shaft 31B. The space 35 is located on the opposite side of the shaft 31B that fixes both ends of the sheet-like gripping member 33B, and the gripping member 33B has flexibility and elasticity. The intermediate part of the gripping member 33B is the part that grips the fabric D1, and the outside of the annularly rolled gripping member 33B (intermediate part) is called the gripping surface 33a.

[0029] The first gripping portion 30F and the second gripping portion 30B are attached to the actuator 23 such that the gripping surface 33a of the gripping member 33F and the gripping surface 33a of the gripping member 33B face each other. Furthermore, the gripping surface 33a of the first gripping portion 30F and the gripping surface 33a of the second gripping portion 30B can be moved laterally (approximately horizontally) between an open position (see Figure 5) where they are far apart from each other and a closed position (see Figure 6) where they are close together, by the drive of the actuator 23.

[0030] Next, the operation of the transfer system 1 according to the present invention will be explained.

[0031] As shown in Figures 1 and 2, the rolled dough (croissant dough) D1 is supported by the conveyor 2 and transported in the transport direction A. The rolled dough D1 is long and narrow, and is transported with its longitudinal direction perpendicular to the transport direction A. The detection device 3 detects the position and orientation (inclination with respect to the transport direction A) of the dough D1 during transport. The control device 6 determines the position and orientation (inclination with respect to the transport direction A) of the dough D1 relative to the conveyor 2 based on the information detected by the detection device 3. This information is, for example, image data obtained by a camera. The control device 6 also determines the speed of the conveyor 2, i.e., the speed of the dough D1. The speed of the conveyor 2 is preferably constant.

[0032] As shown in Figures 7A and 7B, the transfer unit 4 is moved by the moving device 5. Specifically, the first gripping part 30F and the second gripping part 30B of the gripping device 20 are in the open position, and the transfer unit 4 is moved directly above the dough D1 based on the detected information. Then, the moving device 5 moves the transfer unit 4 in the transport direction A at the same speed as the conveyor 2. In a plan view, the first gripping part 30F is positioned in front of the dough D1 and the second gripping part 30B is positioned behind it, and the position and angle in the plan view of the transfer unit 4 are adjusted so that the distance from the dough D1 to the respective gripping surfaces 33a of the first gripping part 30F and the second gripping part 30B is approximately the same.

[0033] As shown in Figures 8A and 8B, the transfer unit 4 is lowered to near the conveyor 2 by the moving device 5.

[0034] As shown in Figures 9A and 9B, the first gripping portion 30F and the second gripping portion 30B of the gripping device 20 are moved from the open position to the closed position by the actuator 23, thereby moving the respective gripping surfaces 33a of the gripping members 33F and 33B laterally along the conveyor 2 (support surface) from the open position to the closed position, and initiating the gripping operation.

[0035] The gripping surfaces 33a of the gripping members 33F and 33B are moved to the closed position, and the fabric D1 is gripped by the transfer unit 4. More specifically, the distance between the gripping surfaces 33a of the two gripping members 33F and 33B is moved to be narrower than the width of the left DL or right DR of the fabric D1, and the gripping members 33F and 33B are deformed to match the shape of the fabric D1, thereby gripping the fabric D1 between them.

[0036] Next, as shown in Figures 10A and 10B, the dough D1 is lifted and held from the conveyor 2 while gripping two locations, the left DL and right DR, with the four gripping members 33FL, 33FR, 33BL, and 33BR, and then moved to a predetermined position by the moving device 5. After that, the moving device 5 moves the transfer unit 4 in the transport direction A at the same speed as the conveyor 2. Then, the moving device 5 rotates the transfer unit 4 horizontally so that the longitudinal direction of the dough D1 faces a predetermined angle (for example, 45 degrees) with respect to the transport direction A.

[0037] Finally, the transfer unit 4 is lowered by the moving device 5 to near the conveyor 2, and the first gripping part 30F and the second gripping part 30B are moved from the closed position to the open position, releasing the dough D1 onto the conveyor 2 (see Figure 11). Thereafter, by repeating the same operation, it is possible to change the orientation of the dough D1 to a predetermined direction and transfer it to a different number of rows (to a predetermined position).

[0038] The sheet-like gripping member 33 is rolled into an annular shape and has flexibility and elasticity. Furthermore, as described above, the sheet-like gripping member 33 is attached such that a space 35 is formed between it and the shafts 31F and 31B. In other words, the space 35 is formed on the inside of the annularly rolled gripping member 33, on the opposite side of the gripping surface 33a of the gripping member 33. This structure allows the sheet-like gripping member 33 to deform to conform to the shape of the fabric D1, and to grip the fabric D1 without deforming it. In addition, due to the elasticity of the gripping member 33, it can firmly grip and lift the fabric D1.

[0039] Furthermore, since the gripping surface 33a is in surface contact with the fabric D1, the contact area with the fabric D1 is increased, so the gripping force is distributed, making it possible to grip and transfer the fabric D1 without deforming the fabric D1 or leaving gripping marks on the surface of the fabric D1. In addition, the gripping member 33 has a large contact area with the fabric D1, and by gripping the fabric D1 at two points (left DL and right DR), the position of the fabric D1 relative to the gripping device 20 does not shift, making it possible to transfer it stably.

[0040] Although embodiments of the transfer unit and transfer system according to the present invention have been described, the scope of the present invention is not limited to the above embodiments. That is, various modifications are possible within the claims, and these are also included within the scope of the present invention.

[0041] In the above embodiment, the gripping device 20 has two sets (four) gripping members 33F and 33B arranged symmetrically. However, as shown in Figure 12, two gripping members 33F (33FL, 33FR) may be placed on the front side and one gripping member 33B (33BC) may be placed on the rear side. Alternatively, the front and rear may be reversed, with one gripping member 33F on the front side and two gripping members 33B on the rear side (not shown).

[0042] In the above embodiment, each gripping portion 30 (30F, 30B) included two sheet-like gripping members 33. However, as shown in Figure 13, each gripping portion 40F, 40B may include only one sheet-like gripping member 43 (43F, 43B). In this embodiment, the gripping member 43 is attached to the link plate 22 via an L-shaped bracket (mounting member) 41 (41F, 41B). With this configuration, a space 45 is formed on the opposite side of the gripping surface 43a, that is, between the gripping member 43 and the L-shaped bracket (mounting member) 41, so that the gripping member 43 can be deformed to match the shape of the fabric D1.

[0043] Furthermore, as shown in Figure 14, each gripping section 50 (50F, 50B) may include three sheet-like gripping members 33 (33F, 33B). In this case, as shown in Figure 14, it is preferable to change the position of each gripping member 33 to match the shape of the dough D1. By increasing the number of gripping points on the dough D1 in this way, the gripping force can be distributed and deformation of the dough D1 can be prevented. The number of sheet-like gripping members 33 is arbitrary as long as the food dough can be gripped stably without deformation. Similar to the above embodiment, each gripping member 33 (33F, 33B) of the gripping section 50 (50F, 50B) has a gripping surface 33a, and a space 35 is formed on the opposite side of the gripping surface 33a.

[0044] In the above embodiment, the lengths of the four gripping members 33FL, 33FR, 33BL, and 33BR and the attachment positions of the four gripping members 33FL, 33FR, 33BL, and 33BR to the link plate 22 were the same. However, the length of the gripping member and / or the attachment position to the link plate may be changed according to the shape of the food dough to be transferred and the gripping position.

[0045] For example, the rolled conical dough D2 shown in FIG. 15 has a thick right part DR and a thin left part DL. In this case, it is preferable to select the lengths of the gripping members 63 suitable for the right part DR and the left part DL respectively. Specifically, the gripping members 63FL and 63BL for gripping the left part DL are shorter than the gripping members 63FR and 63BR for gripping the right part DR. Also, since the width L1 of the right part DR and the width L2 of the left part DL are different, the attachment positions of the attachment members 61 (61F, 61R) (61FR, 61FL, 61BR, 61BL) of the gripping members 63 (63F, 63B) to the link plate 22 (not shown) correspond to their respective widths. Thus, by changing the length of the gripping members 63 (63FR, 63FL, 63BR, 63BL) and the attachment position of the gripping members 63 to the link plate 22 (not shown) according to the shape of the food dough D2 to be transferred and the gripping position, it is possible to grip without damaging the appearance of the product. Similar to the above embodiment, the gripping members 63 (63F, 63R) of the gripping portions 60 (60F, 60R) have a gripping surface 63a, and spaces 65 (space 65R, 65L) are formed on the opposite side of the gripping surface 63a.

[0046] In the above embodiment, the pair of gripping members 33F (33FL, 33FR), 33B (33BL, 33BR) were arranged with an interval H to be able to grip the dough D1. However, the interval H may be changed according to the size of the dough to be transferred.

[0047] In the above embodiment, the shafts 31 (31F, 31B) are arranged inside the annularly rounded gripping members 33 (33F, 33B), and both ends of the annularly rounded gripping members 33 (33F, 33B) are fixed to the side surfaces of the shafts 31F, 31B which are the attachment members 31. However, as shown in FIG. 16, the shafts 71F, 71B (71FR, 71FL, 71BR, 71BL) which are the attachment members 71 may be arranged outside the annularly rounded gripping members 73 (73F, 73B) (73FR, 73FL, 73BR, 73BL), and both ends of the gripping members 73 (73F, 73B) may be fixed to the side surfaces of the shafts 71F, 71B. Similar to the above embodiment, the gripping members 73 (73F, 73R) of the gripping portions 70 (70F, 70R) have gripping surfaces 73a, and spaces 75 (75R, 75L) are formed on the opposite sides of the gripping surfaces 73a.

[0048] In the above embodiment, a sheet-like member is exemplified as the gripping member, but it is not limited thereto. For example, a cylindrical gripping member having flexibility deformable according to the shape of the fabric D1 may be provided on the link plate 22. That is, the material and shape of the gripping member are arbitrary as long as the gripping member has flexibility deformable according to the shape of the fabric D1 and can stably grip the fabric D1 without deforming it.

[0049] In the above embodiment, the moving device 5 is constituted by a robot, but it may be constituted by a linear motion system (for example, an electric actuator) capable of three-dimensional movement.

[0050] In the above embodiment, the detection device 3 is constituted by a camera, but it may be constituted by a photoelectric sensor.

[0051] In the above embodiment, the fabric D1 being conveyed by the conveyor 2 is transferred, but the stationary fabric D1 may be transferred, or the fabric D1 being conveyed by the conveyor 2 may be transferred onto a stationary tray.

[0052] In the above embodiment, the space 35 formed between the intermediate portion of the gripping member 33 and the shaft 31 had an upper opening and a lower opening. However, as shown in Figures 17 to 18, the gripping member 33 may also include a bottom portion 33b that covers the lower opening of the space 35 facing the conveyor belt 2A of the conveyor 2. For example, the gripping member 33 may be T-shaped with an extension portion extending from the intermediate portion, the extension portion being bent to form the bottom portion 33b, and the end of the extension portion being fixed to the side surface of the shaft 31.

[0053] The bottom portion 33b of the gripping member 33 covers the lower opening of the space 35, which prevents the fabric D1 from falling into the space 35 when the moving device 5 moves the gripping member 33 directly above the fabric D1 and lowers it.

[0054] In the modified example shown in Figure 18, the attachment of the four shafts 31FR, 31FL, 31BR, and 31BL by the mounting members 31 (31F, 31B) is oriented inward to correspond to the shape of the elongated rod-shaped fabric D1. In this way, by changing the orientation of the four shafts 31FR, 31FL, 31BR, and 31BL according to the shape of the fabric D1 to be transferred, the fabric D1 can be gripped stably without deformation.

[0055] Furthermore, as shown in Figure 19, the extension portion may be brought closer to the side of the shaft 31 and the bottom portion 33b reduced in size, so that the lower part of the gripping member 33 becomes narrower in the width direction and wider in the lateral direction. This shape of the gripping member 33 is similar to that of a human finger, enabling transfer operations that are close to manual work.

[0056] 1 Transfer system 2 Conveyor 3 Detection device 4 Transfer unit 5 Moving device (robot) 20 Gripping device 23 Actuator 30, 40, 50, 60, 70 Gripping part 31, 61, 71 Mounting member (shaft) 33, 43, 63, 73 Gripping member 33a, 43a, 63a, 73a Gripping surface 33b Bottom part 35, 45, 65, 75 Space 41 Mounting member (L-shaped bracket) D1, D2 Fabric

Claims

1. A transfer unit (4) for transferring food dough (D1, D2), comprising a gripping device (20) capable of gripping the food dough (D1, D2), wherein the gripping device (20) comprises a plurality of gripping parts (30, 40, 50, 60, 70) and an actuator (23), wherein the plurality of gripping parts (30, 40, 50, 60, 70) comprises mounting members (31, 41, 61, 71) and gripping members (33, 43, 63, 73), and the plurality of gripping parts (30, 40, 50, 60, 70) are movable by the actuator (23) between an open position, which is far apart from each other, and a closed position, which is close together. The gripping members (33, 43, 63, 73) are sheet-like members rolled into an annular shape, and have gripping surfaces (33a, 43a, 63a, 73a) for gripping the food dough (D1, D2). Both ends of the gripping members (33, 43, 63, 73) are attached to the mounting members (31, 41, 61, 71). Spaces (35, 45, 65, 75) are formed on the opposite side of the gripping surfaces (33a, 43a, 63a, 73a) of the gripping members (33, 43, 63, 73) to allow the gripping members (33, 43, 63, 73) to deform to conform to the shape of the food dough (D1, D2) when gripping the food dough (D1, D2). This is the transfer unit (4).

2. The transfer unit (4) according to claim 1, wherein the mounting member (31, 61, 71) is a shaft (31, 61, 71).

3. The transfer unit (4) according to claim 2, wherein the shafts (31, 61) are arranged inside the annularly rounded gripping members (33, 43, 63).

4. The transfer unit (4) according to claim 2, wherein the shaft (71) is positioned outside the annularly rounded gripping member (73).

5. The transfer unit (4) according to claim 1, wherein the mounting member (41) is an L-shaped bracket.

6. The transfer unit according to claim 1, wherein the gripping member (33) includes an extended portion extending from the gripping surface, and the extended portion constitutes a bottom portion (33b) that covers the lower opening of the space (35).

7. A transfer system (1) comprising: a conveyor (2) for transporting the food dough (D1, D2); a detection device (3) for detecting information on the position of the food dough (D1, D2) being transported by the conveyor (2); a transfer unit (4) as described in claim 1; and a moving device (5) for moving the transfer unit (4), wherein the transfer system (1) is configured to move the transfer unit (4) by the moving device (5) based on the position information detected by the detection device (3), to grasp the food dough (D1, D2) being transported by the conveyor (2) with the transfer unit (4), and to release the food dough (D1, D2) to a predetermined position on the conveyor (2).

8. The transfer system (4) according to claim 7, wherein the detection device (3) detects information on the orientation of the food dough (D1, D2) being transported on the conveyor (2), and the transfer system (1) is configured to move the transfer unit (4) with the moving device (5) based on the orientation information detected by the detection device (3), to grasp the food dough (D1, D2) being transported on the conveyor (2) with the transfer unit (4), rotate the transfer unit (4) with the moving device (5), and release the food dough (D1, D2) to the conveyor (2) in a predetermined orientation.

9. The transfer system (1) according to claim 7, wherein the moving device (5) is a robot.

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