JP2004314201A - Robot hand for edging blade and robot for edging blade equipped with the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot for edging a blade equipped with a robot hand for supporting a kitchen knife so that the blade can be readily edged. <P>SOLUTION: The robot (1) for edging a blade comprises a robot main body (2), a control device (3) and a grinding device (6). The robot hand (4) installed on a front arm of the robot body comprises a blade body holder having left and right clamps in which a blade body storing space for tightly storing the most part of a blade body of the kitchen knife (7) to which the blade is edged, and a clamp driver for supporting both the clamps while allowing the left and right clamps move between a first position to be away from each other and a second position to be close or in contact with each other. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a knife blade, and more particularly to a blade robot hand capable of supporting a knife so as to perform good blade cutting and a blade robot provided with the same.
[0002]
[Related background art]
Generally, a kitchen knife is made by riveting a wooden handle to a tongue that is integral with the blade, but from the viewpoint of improving the durability of the kitchen knife, the applicant has made a stainless steel hollow handle a stainless steel handle. (See Patent Document 1).
[0003]
In manufacturing a kitchen knife, regardless of whether the handle of the kitchen knife is made of wood or stainless steel, for example, after a heat treatment is performed on a pressed blade, the blade is polished at a suitable angle. Generally, the cutting is performed manually. At this time, the cutting edge is pressed at a suitable angle against a polishing surface of a grindstone or a polishing belt which is rotationally driven by an electric motor or the like, and the kitchen knife is moved along the polishing surface. Such manual cutting depends heavily on the experience and intuition of the operator, and requires skill and labor. For this reason, restrictions are imposed on the improvement of the cutting quality and the increase in the production amount.
[0004]
Now, it is known, for example, from Patent Document 2 to control the posture and the movement path of a processing tool or a workpiece mounted on a robot hand of an articulated robot, and thus, a kitchen knife supported by the robot hand is known. It is theoretically feasible to move the blade by pressing the blade edge against the polishing surface.
[0005]
[Patent Document 1]
Japanese Patent Application Laid-Open No. 2000-189682 [Patent Document 2]
JP-A-7-204952
[Problems to be solved by the invention]
However, it is actually difficult to satisfactorily sharpen the entire length of the knife edge.
The inventor of the present invention has concluded that the manner in which the knife is held by the robot hand greatly affects the quality of the blade in the course of repeating the trial production and evaluation of the bladed robot. For example, when two points, the upper end of the blade and the middle part of the handle, are held by the robot hand, it has been found that the blade is defective.
[0007]
SUMMARY OF THE INVENTION An object of the present invention is to provide a blade-handling robot hand capable of holding a kitchen knife so as to perform good blade-cutting and a blade-cutting robot provided with such a robot hand.
[0008]
[Means for Solving the Problems]
The blade-handling robot hand of the present invention includes a blade holder having left and right clamps each having a blade housing space in which the left and right halves of the blade of the knife to be bladed are tightly stored except for the blade edge and its vicinity. A clamp driving unit that supports the left and right clamps and moves the left and right clamps between a first position where the two clamps are separated from each other and a second position where the two clamps are close to or in contact with each other.
[0009]
According to the robot hand of the present invention, when the blade of the kitchen knife is disposed between the left and right clamps that are separated from each other at the first position, the blade driving unit drives the blade holder so that the left and right clamps take the second position. The left and right clamps approach or abut each other, most of the left and right halves of the blade are closely housed in the blade housing space of both clamps, and the kitchen knife is stably held.
[0010]
In addition, since the blade housing space of the left and right clamps is formed so as to densely house most of the blades having the prescribed shape and dimensions as a whole, if the blades housed in the left and right clamps are warped, this will occur. Be corrected.
Also, in a knife of a type in which a blade and a handle are butt-joined, a slight deviation may occur between the axis of the blade and the axis of the handle. When the robot hand is configured to hold the kitchen knife at two points, the blade and the handle, the robot hand equipped with the kitchen knife having such an inconsistency in the axis is positioned as specified with respect to the polishing surface and specified. Even when the blade is moved along the movement trajectory, the angle formed by the blade with respect to the polished surface deviates from a desired angle, resulting in poor blade sharpening. In this regard, since the robot hand of the present invention holds only the blade of the kitchen knife, inconsistency between the axis of the blade and the handle in positioning and moving the robot hand and thus the blade relative to the polished surface in a prescribed manner has no effect. And therefore, poor cutting performance due to axis misalignment is eliminated.
[0011]
A bladed robot according to the present invention includes a robot body having a tip arm on which the robot hand is mounted, a control device that drives and controls a clamp drive unit of the robot body and the robot hand, and a blade holder of the robot hand. And a polishing apparatus having a polishing surface for polishing the cutting edge of the blade held by the blade. According to the bladed robot of the present invention, the right and left clamps of the robot hand take the first position near the kitchen knife, and the blade is arranged between both clamps, with the robot main body and the clamp drive of the robot hand being driven and controlled by the control device. Is done. Next, the right and left clamps take the second position by controlling the driving of the clamp driving unit. Most of the blades are closely housed in the blade housing spaces of both clamps, and the kitchen knife is held. As a result, even when the blade has a warp, the warp is corrected, and even when the axis of the blade and the axis of the handle do not match, the knife can be accurately adjusted without being affected by such misalignment of the axis. Will be retained. For this reason, when the robot arm is driven and controlled and the blade is moved along the polishing surface in a state where the blade edge of the blade contacts the polishing surface of the polishing device at a desired angle, the entire blade edge of the blade is desired by the polishing surface. Polished at an angle. That is, the blade is satisfactorily cut.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a blade robot according to an embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in FIGS. 1 to 3, the blade robot 1 of the present embodiment includes an articulated robot main body 2 having a plurality of arms. The robot main body 2 includes, for example, a first arm 23 having a base end articulated to a swivel 22 provided to be rotatable with respect to a base 21 installed on the floor, and a distal end of the first arm 23. And a second arm (distal end arm) 24 having a base end articulated to the distal end arm 24. The distal end arm 24 is rotatable around its axis. As in the case of the conventionally known articulated robot, each joint is provided with an actuator such as a servomotor for driving each arm, and these actuators are driven and controlled by a control device 3 having a control panel provided in the bladed robot 1. It is supposed to be.
[0013]
A robot hand 4 for holding the kitchen knife 7 to be bladed is mounted on the distal end arm 24 of the robot body 2 so as to be rotatable around the axis of the robot hand. By controlling the driving of the arm and the robot hand, the posture and the movement trajectory of the robot hand 4 and the kitchen knife 7 attached thereto can be arbitrarily controlled.
[0014]
Although the type of the knife to be bladed is not particularly limited, the knife 7 illustrated in FIGS. 2 to 4 has a blade 71 made of ultra-hard stainless steel to which molybdenum and vanadium are added, and a blade made of the same type of stainless steel. And a hollow handle 72 butt-joined to the handle 71. The hollow handle 72 is filled with a filler such as river sand for adjusting the weight balance of the kitchen knife 7. Further, a large number of hemispherical dents 73 are formed on the outer surface of the handle 72 to constitute a non-slip. The blade 71 has a sectional shape as shown in FIG. That is, the thickness t of the blade 71 is substantially the same from the ridge (upper surface) 74 to the intermediate portion 75 in the height direction, but gradually decreases from the intermediate portion 75 toward the cutting edge 76.
[0015]
From the viewpoint of holding the kitchen knife 7 in a stable manner, the robot hand 4 of the present embodiment includes, as shown in FIGS. 7 and 8, a blade holder 41 configured to hold most of the blade 71 of the kitchen knife, And a clamp driving unit 46 that supports the blade holding unit 41.
The blade holder 41 has left and right clamps 42 and 43, and the clamps 42 and 43 tightly house the left and right halves of the blade 71 having a specified size and shape, except for the cutting target area 77 and its vicinity. The blade housing spaces 44 and 45 are formed (FIG. 5). As described above, each of the blade housing spaces 44 and 45 is formed in a three-dimensional shape complementary to the three-dimensional shape of the half part of the blade 71 in order to closely house most of the blade 71. For example, the depth D of the blade accommodating space gradually becomes shallower toward the tip at the lower end of the clamp. The outer surfaces of the distal ends of the left and right clamps 42 and 43 are formed in a tapered shape so that the blade 71 can be sharpened at an acute angle.
[0016]
Then, the left and right clamps 42 and 43 are driven by the pneumatic cylinder 47 of the clamp driving unit 46, and the first position (not shown) where the two clamps 42 and 43 are separated from each other and the two clamps 42 and 43 approach or come into contact with each other. It is adapted to move between a second position (FIG. 7).
More specifically, the clamp drive unit 46 includes a hollow cylinder support member 46a to which the main body of the pneumatic cylinder 47 is mounted, and a pair of clamp support members 46b to which the left and right clamps 42, 43 are fixed. The pneumatic cylinder 47 is, for example, a double-acting type. When pressurized air from a pressurized air source (not shown) is supplied to a first chamber (not shown) via a first port (not shown), the cylinder is operated. When the pressurized air is supplied to the second chamber (not shown) through the second port (not shown) while the rod 47c moves down, the cylinder rod 47c moves up. In FIG. 7, reference numeral 47d denotes a conical wedge provided at the tip of the cylinder rod 47c.
[0017]
The clamp drive unit 46 has a guide shaft 46d and a support shaft 46e supported by a cylinder support member 46a. The guide shaft 46d can move within a slot formed in the cylinder support member 46a, and the support shaft 46e swingably supports the clamp support member 46b. A compression coil spring 46g is disposed between the pair of clamp support members 46b, and the spring force biases the clamp support members 46b in directions away from each other to separate the left and right clamps 42, 43. I have. A tension spring 46i is provided between the pair of guide shafts 46d.
[0018]
Rollers 46f and 46h are rotatably supported on the guide shaft 46d and the support shaft 46e of each clamp support member 46b, and the roller 46f is in contact with the peripheral surface of a wedge portion 47d of the cylinder rod 47c. Accordingly, when the cylinder rod 47c of the pneumatic cylinder 47 moves upward, the pair of clamp support members 46b swing around the support shaft 46e in such a direction that the rollers 46f move away from each other, and the left and right clamps 42, 43 They take one position and move away from each other. On the other hand, when the cylinder rod 47c moves down, the clamp supporting member 46b swings around the support shaft 46e in a direction such that the rollers f approach each other, and the left and right clamps 42 and 43 take the second position and approach each other. Alternatively, the blade 71 is held in contact with the blade.
[0019]
As is apparent from the above description, the blade holder 41 of the robot hand 4 approaches the blade 71 of the kitchen knife 7 from above and holds most of the blade 71. The blade cutting robot 1 of the present embodiment includes the positioning device 5 that positions the kitchen knife 7 so that the blade 71 can be accurately held even by such an approaching method.
As shown in FIG. 4, the positioning device 5 includes positioning tables 54 and 55 and positioning pins 61 and 62.
[0020]
The positioning pins 61 and 62 are supported by a cylinder support member 46a of the robot hand 4 (FIG. 8). In this connection, the left and right clamps 42, 43 are formed with positioning pin housing spaces 48, 49 communicating with the blade housing spaces 44, 45, respectively (FIG. 5).
On the other hand, the positioning tables 54 and 55 are fixed in a tray 53 on a turntable 51 as shown in FIGS. 1, 3 and 4, and hold a plurality of knives 7. In order to hold the kitchen knife 7 at a specified position and height, the positioning tables 54 and 55 are formed with the same number of grooves as the kitchen knife 7 accommodated in the tray 53. The positioning table 54 holds the distal end of the cutting edge 76 of the kitchen knife 7, and the bottom surface of the groove of the positioning table 54 is formed in a shape complementary to the bottom surface shape of the blade tip as shown in FIG. On the other hand, the positioning table 55 holds the joint between the blade 71 and the handle 72 of the kitchen knife 7 or the base end of the handle 72, and the bottom surface of the groove of the positioning table 55 is complementary to the bottom shape of the corresponding portion of the kitchen knife 7. It is formed in a typical shape.
[0021]
In order to improve work efficiency, two trays 53 are fixed on the upper surface of the turntable 51, and the operator arranges the kitchen knives 7 in the tray 53 arranged outside the safety fence 9 installed above the turntable 51. In the meantime, the knife 7 stored in the tray 53 arranged inside the safety fence 9 is used for the blade by the blade robot 1. The knife 7 with the blade is stored in the tray 53 again. When the cutting of all the kitchen knives 7 stored in the tray 53 inside the safety fence 9 is completed, the rotary table 51 is rotated by 180 degrees, and the kitchen knives 7 stored in another tray 53 are provided for blade cutting. You. The rotation of the turntable 51 is performed by an electric motor installed below the turntable 51, for example, under the control of the control device 3 or by an operator of an operation switch (not shown) provided on the control panel of the control device 3. In response to the manual operation, the electric motor starts and the rotary table 51 rotates around the rotary shaft 52. When the rotary table rotates 180 degrees, the electric motor stops operating and another tray 53 is positioned at a predetermined position.
[0022]
In FIGS. 1 and 2, reference numeral 6 denotes a polishing apparatus, and reference numeral 8 denotes whether or not the size and shape of a kitchen knife 7 to be used for cutting are specified and determined by the robot hand 4. 5 shows an inspection apparatus used for determining whether the holding state of the kitchen knife 7 is appropriate. The polishing device 6 has a polishing belt 6a having a polishing surface for polishing the cutting edge 76 of the kitchen knife 7. The polishing belt 6a is stretched over a driving roller and a driven roller of the polishing device 6, and is driven to rotate by a rotation driving source such as an electric motor via the driving roller.
[0023]
Hereinafter, the operation of the bladed robot 1 having the above configuration will be described.
First, when the operator operates the operation switch of the control panel of the control device 3 after arranging the kitchen knives 7 in the tray 53 outside the safety fence 9, the turntable 51 rotates 180 degrees and the inside of the safety fence 9 becomes inside. The control device 3 is arranged, and starts the blade control routine shown in FIG.
[0024]
That is, in step S1 of the blade control routine, the clamp driving unit 46 of the robot hand 4 is driven under the control of the control device 3, and the first and second clamps 42, 43 of the blade holder 41 of the robot hand 4 are separated from each other. Take position. Then, the robot body 2 is driven and the robot hand 4 is positioned above the first kitchen knife 7 in the tray 53. Next, the robot hand 4 is moved down to place the blade 71 between the right and left clamps 42 and 43. Be placed.
[0025]
In this state, the on-off valve (not shown) interposed between the pneumatic cylinder 47 and the pressurized air source (not shown) opens to supply pressurized air to the second chamber of the pneumatic cylinder 47, thereby The cylinder rod 47c of the pneumatic cylinder 47 moves downward, and the left and right clamps 42 and 43 move in the approaching direction to take the second position where the two clamps come into contact with each other. As a result, most of the blade 71 is stored in the blade storage spaces 44 and 45 of both clamps, and the kitchen knife 7 is held by the robot hand 4. Here, since the blade housing spaces 44 and 45 are formed so as to densely store the blades having a prescribed shape and size, if the blade 71 is warped, this is corrected. Also, since only the blade 71 is held when holding the knife 7, even when the axis of the blade 71 does not match the axis of the handle 72, the knife 7 can be accurately held without being affected by such mismatch of the axis. Can be held.
[0026]
When the kitchen knife 7 is held by the robot hand 4 in this manner, the robot body 2 is driven and controlled so that the robot hand 4 moves upward, and the kitchen knife 7 is taken out of the tray 53 (step S1).
Next, the tip of the cutting edge 76 of the kitchen knife 7 held by the robot hand 4 is positioned in the inspection groove 8a of the inspection device 8, and the robot body is moved from the front end to the rear end of the cutting edge in the inspection groove 8a. 2 is driven. On both sides of the inspection groove 8a, for example, a light emitting unit and a light receiving unit of an optical sensor (not shown) are installed, and the control device 3 controls the size and shape of the kitchen knife 7 within a specified range based on an electric signal from the optical sensor. Is determined, and whether the holding state of the kitchen knife 7 by the robot hand 4 is good or not (step S2).
[0027]
If it is determined in step S2 that the size, shape, and holding state of the kitchen knife 7 are normal, the control device 3 drives and controls the robot main body 2 to polish the tip of one side of the cutting edge 76 of the kitchen knife 7 while the polishing device 6 is rotating. The belt 6a is positioned at a specified position on the polishing surface, and then the tip arm 24 is rotated by a predetermined angle around its axis to set one surface of the cutting edge 76 at the polishing angle with respect to the polishing surface (steps S3 and S4). ).
[0028]
In this manner, the robot body 2 is driven such that each part of the cutting edge 76 passes through a predetermined position on the polishing surface in a state where one side of the cutting edge 76 is in contact with the polishing surface at a polishing angle. As a result, the robot hand 4 and the kitchen knife 7 held by the robot hand move along an arc-shaped trajectory in a state of being inclined by an angle corresponding to the polishing angle, and the entire one surface of the cutting edge from the front end to the rear end of the cutting edge 76 is polished. Thus, the cutting of one side of the cutting edge is completed (step S5). By controlling the movement of the blade tip 76 along the polishing surface of the polishing belt 6a as described above under the unique knife holding mode of holding most of the blade 71 stably by the left and right clamps 42 and 43, a good blade can be obtained. Can be attached.
[0029]
Thereafter, the robot hand 4 holding the kitchen knife 7 is further moved to the retreat position beyond the polishing surface, and then the robot hand 4 is turned over (step S6). Next, steps S7 corresponding to the above steps S3 to S5, respectively. -S9 are sequentially performed to polish the entire other surface of the cutting edge 76.
When the cutting of both sides of the cutting edge of the kitchen knife 7 is completed as described above, the control device 3 drives the robot body 2 to move the blade 71 of the kitchen knife 7 held by the robot hand 4 into the tray 53 on the rotary table 51 in the tray 53. Positioning is performed in the first groove of the positioning tables 54 and 55, and then the cylinder rod 47c of the pneumatic cylinder 47 is moved upward to open the left and right clamps 42 and 43, and the kitchen knife 7 is returned into the tray 53 (step S10). Then, the blade control routine for the first kitchen knife 7 ends. Hereinafter, the blades for the second and subsequent knives are sequentially executed in the same procedure. If it is determined in step S2 of the blade control routine that there is an abnormality in the shape and dimensions of the kitchen knife 7 or in the holding state, the control flow proceeds to step S9, and the kitchen knife 7 is returned into the tray 53.
[0030]
The description of the blade-handing robot hand and the blade-equipped robot provided with the same according to one embodiment of the present invention has been described above, but the present invention is not limited to the above-described embodiment and can be variously modified.
For example, in the above-described embodiment, a case where a knife of a type in which a stainless steel hollow handle is butt-joined to a stainless steel blade has been described, but the present invention is a type in which a wooden handle is riveted to the blade. It can also be applied to the blade of a kitchen knife. Further, the cross-sectional shape of the blade is not limited to the illustrated one.
[0031]
In the above embodiment, the knives to be bladed are arranged in a tray fixed to a rotary table in order to improve work efficiency and positioning accuracy, but the present invention is not limited to this. For example, the knives to be bladed may be manually arranged at predetermined positions one by one. In addition, it is not essential to inspect the size and shape of the kitchen knife to be bladed and the quality of the holding state with the inspection device before the blade is bladed by the blade robot. Furthermore, the configuration and control procedure of the robot main body, the configuration of the clamp driving unit, and the configuration and arrangement of the polishing device are not limited to those of the above-described embodiment.
[0032]
FIG. 10 shows a robot hand (cross roller parallel hand) having a clamp drive unit according to a modification of the present invention. The clamp drive unit 46 includes a body 46a as a cylinder support member and a pneumatic cylinder 47 mounted on the body 46a. And The pneumatic cylinder 47 is, for example, a double-acting type. When pressurized air is supplied to the first chamber via a first port 47a formed in the cylinder main body, the piston 47c moves downward while the second port 47a moves downward. The piston 47c moves upward in response to the supply of pressurized air to the second chamber via 47b.
[0033]
The clamp drive unit 46 has a drive mechanism 48 that opens and closes the left and right clamps 42 and 43 according to the reciprocating motion of the piston 47c. More specifically, the drive mechanism 48 includes a pair of arms 48a that are in contact with the distal end surface of the piston 47c, and both arms 48a are swingably supported by a support shaft 48b, and swing in opposite directions according to the movement of the piston 47c. It works. Each arm 48a is formed with a slot into which an operating shaft 48c fits, and each arm 48a is connected to a bearing-mounted retainer 48d via the operating shaft 48c. The pair of retainers 48d are connected to a pair of master jaws 48e that support the left and right clamps 42 and 43. Accordingly, as shown in FIG. 10, when the piston 47c moves down, each arm 48a swings in a direction such that the retainer 48d takes the clamp closed position, whereby the left and right clamps 42, 43 approach or abut each other. Hold the blade in contact. On the other hand, when the piston 47c moves upward, each arm 48a swings in the opposite direction, whereby the retainer 48d moves from the clamp closed position to the clamp open position in the width direction of the robot hand, and the left and right clamps 42, 43 mutually move. The blade moves in the separation direction, and the blade is released from being held.
[0034]
The structure of the clamp driving section is not limited to the above, and may be a single-acting type having a return spring. The knife 7 can be cut in one stage, but may be cut in two stages, rough finishing and final finishing. In this case, a rough finishing blade robot and a final finishing blade cutting robot are prepared. I do. Here, the clamp driving section 46 shown in FIGS. 7 and 8 has a stronger holding force of the kitchen knife 7 than that of FIG. 10 and is suitable for final finishing. Therefore, it is desirable to equip the blade driving robot for final finishing with the clamp drive shown in FIGS. 7 and 8. On the other hand, the clamp driving section 46 shown in FIG. 10 is suitable for rough finishing. The cutting robot of the present invention can be variously modified in other respects.
[0035]
【The invention's effect】
The blade-handling robot hand of the present invention includes a blade holder having left and right clamps each having a blade housing space in which the left and right halves of the blade of the knife to be bladed are tightly stored except for the blade edge and its vicinity. And a clamp driving unit that supports the left and right clamps and moves the left and right clamps between a first position where the two clamps are separated from each other and a second position where the two clamps are close to or in contact with each other. As a result, it is possible to perform good blade cutting.
[0036]
Also, a blade-equipped robot according to the present invention includes a robot body having a tip arm on which the robot hand is mounted, a control device that drives and controls a clamp drive unit of the robot body and the robot hand, and a blade of the robot hand. Since there is provided a polishing device having a polishing surface for polishing the blade edge of the blade held by the holding portion, it is possible to hold the kitchen knife well by the robot hand and perform good blade cutting.
[Brief description of the drawings]
FIG. 1 is a schematic plan view of a blade robot according to an embodiment of the present invention.
FIG. 2 is a schematic side view of a robot main body and a polishing apparatus of the blade setting robot.
FIG. 3 is a schematic front view of a robot main body and a rotary table of the blade attaching robot.
FIG. 4 is an enlarged partial cross-sectional side view showing the positioning device of the blade robot together with a knife to be bladed.
FIG. 5 is an enlarged partial cross-sectional view showing left and right clamps constituting a blade holder of the robot hand, taken along line VV of FIG. 4;
FIG. 6 is a sectional view of a blade to be polished.
FIG. 7 is a side view of a clamp drive unit of the robot hand.
FIG. 8 is a front view of a clamp driving unit.
FIG. 9 is a flowchart illustrating a blade control routine executed by the control device of the blade robot.
FIG. 10 is a schematic diagram illustrating a robot hand including a clamp driving unit according to a modification of the present invention.
[Explanation of symbols]
Reference Signs List 1 bladed robot 2 robot body 3 control device 4 robot hand 5 positioning device 6 polishing device 6a polishing belt 7 kitchen knife 8 inspection device 9 safety fence 23, 24 robot arm 41 blade holders 42, 43 clamps 44, 45 blade housing space 46 Clamp drive 51 Rotary table 61, 62 Positioning pin 71 Blade 72 Handle 76 Cutting edge

Claims (5)

A blade holder having left and right clamps each having a blade housing space for tightly storing the left and right halves of the blade of the knife to be bladed except for the blade edge and its vicinity,
A clamp driving unit that supports the left and right clamps and moves the left and right clamps between a first position where the two clamps are separated from each other and a second position where the two clamps approach or contact each other. Robot hand for cutting blades. A robot body having a tip arm on which the robot hand according to claim 1 is mounted,
A control device for driving and controlling a clamp drive unit of the robot body and the robot hand,
A polishing device having a polishing surface for polishing a blade edge of a blade held by a blade holding portion of the robot hand. A first positioning table having an upper surface formed in a shape complementary to the bottom shape of the tip of the cutting edge of the kitchen knife; The robot according to claim 2, further comprising a positioning device having a second positioning table having an upper surface formed in the robot. 4. The bladed robot according to claim 3, wherein the positioning device includes a positioning pin supported by the robot hand and capable of contacting an upper surface of the blade. 5. The robot according to claim 3, wherein the first and second positioning tables are fixed in a tray fixed to a rotary table.

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