JP2019048699A - Food product conveying device - Google Patents

Abstract

To provide a food product conveying device capable of moving efficiently plural food products.SOLUTION: A food product conveying device 40 for conveying plural food products 100 arrayed along a predetermined direction in a predetermined region such as a conveyor belt 21 and the like to the other region such as a tray 110 and the like includes a body part 50 movable in a vertical direction and a horizontal direction, three or more holding parts 90 held on the body part 50 and aligned in a lateral direction so as to be capable of individually holding the plural food products 100 respectively, and further a distance changing mechanism held on the body part 50 and capable of collectively changing intervals between the adjacent holding parts 90.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a food carrier for transporting a plurality of food items arranged in a predetermined area along a predetermined direction to another area.

  In recent years, food, for example, a triangular rice ball has been sold in a state of being packaged with a packaging member, and carried into a store or the like in an arrayed state in a tray. With regard to such food, for example, Patent Document 1 discloses a method and apparatus for automatically packaging food which is capable of hermetically packaging food and capable of safely and reliably packaging food. It is disclosed.

JP 2005-29175 A

  By the way, although food is automatically manufactured and packaged as in Patent Document 1, the work of arranging finished food on a tray is manually performed by the worker, and the worker needs the work. Become. On the other hand, the applicant of the present invention has developed a device for dividing and aligning a plurality of food products by predetermined members and then collectively holding and moving them by a robot. However, in the configuration in which the foodstuffs are partitioned and aligned by predetermined members, a gap is generated between the foodstuffs in this alignment itself. Therefore, if these foods are conveyed to the tray in the aligned state, the density of the food in the tray decreases, that is, the number of foods that can be accommodated in one tray decreases, and the efficiency is degraded.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to provide a food transport apparatus capable of efficiently transporting a plurality of food products.

  In order to solve the above problems, the present invention is a food conveying apparatus for conveying a plurality of food items arranged in a predetermined area along a predetermined direction to another area, which can be vertically and horizontally moved. Main body portion, three or more gripping portions that can be held by the main body portion and that can individually hold a plurality of food items aligned in the left-right direction, and between the adjacent gripping portions held by the main body portion There is provided a food conveying apparatus comprising a distance changing mechanism capable of collectively changing a distance (Claim 1).

  According to this device, a plurality of food products can be gripped collectively by the plurality of gripping units, and the distance between the food products gripped by the gripping units can be collectively changed by the distance changing mechanism. That is, the plurality of foods can be collectively transported while the intervals of the plurality of foods are automatically batched and changed by the same distance. Therefore, a plurality of food products can be efficiently transported.

  In the above configuration, the distance changing mechanism includes a plurality of first link arms aligned in the left-right direction, a plurality of second link arms provided to intersect with the respective first link arms, and the first link arm. A plurality of support shafts provided at respective intersection positions of the second link arm, and the first link arm and the second link arm are collectively pivoted around the respective support shafts, and these first link arms are provided. Driving both link arms so as to collectively change the crossing angle between the second link arm and the second link arm, and changing the distance between the plurality of support shafts in the lateral direction according to the drive; It is preferable that the plurality of gripping portions be attached so as to be movable in the left-right direction integrally with the respective support shafts (claim 2).

  According to this configuration, the drive mechanism rotates the first link arm and the second link arm to change the crossing angle, and the distance between all the support shafts and all the grips The distance and thus the distance between all the food items gripped by the gripping part can be changed collectively.

  In the above configuration, each first link arm and each second link arm have a diamond lattice having an apex between the support shafts defined in a region between two adjacent support shafts when viewed from the front-rear direction. Are preferably connected so as to relatively rotate around the connecting shaft by means of a connecting shaft extending in the front-rear direction provided at an apex other than the support shaft of the grid (Claim 3).

  According to this configuration, by rotating the first link arm and the second link arm around the connecting shaft and the supporting shaft, the distance between all the food items gripped by the gripping part is collectively changed. Can. In addition, the first link arm and the second link arm can be stably supported by being connected to each other through the connection shaft in addition to the support shaft.

  In the above configuration, the first support shaft, which is one of the plurality of support shafts, is fixed so as not to move relative to each other in the left-right direction with respect to the main body portion. The drive unit body movably in the left and right direction in a state of being coupled to a drive unit main body portion fixed so as not to move relative to each other in the left and right direction and a second support shaft which is the support shaft different from the first support shaft. It is preferable to provide the moving member supported by the part (Claim 4).

  According to this configuration, when the moving member moves in the left-right direction with respect to the drive device main body, the distance between the first support shaft and the second support shaft and thus the distance between all the foods gripped by the grips Can be changed by the same amount at once.

  In the configuration described above, the main body portion is an enlarged side stopper that restricts movement of the moving member in a direction in which the moving member abuts on the moving member and the separation distance between the first support shaft and the second support shaft is enlarged. It is preferable to provide (claim 5).

  According to this configuration, the distance between the first support shaft and the second support shaft, that is, the distance between all the food items gripped by the gripping portion is a simple configuration in which the moving member and the expansion side stopper abut. It is possible to avoid becoming larger than a predetermined value.

  In the above configuration, the main body portion is a reduction side stopper that abuts on the moving member and restricts the movement of the moving member in a direction in which the separation distance between the second support shaft and the second support shaft is reduced. It is preferable to have (claim 6).

  According to this configuration, the distance between the first support shaft and the second support shaft, that is, the distance between all the food items gripped by the gripping portion is a simple configuration in which the moving member and the reduction side stopper abut. It is possible to avoid becoming less than a predetermined value.

  In the above configuration, it is preferable that the main body portion includes a guide portion having a shape extending in the left-right direction, and the grip portions are held movably in the left-right direction along the guide portion by the main body portion. (Claim 7).

  According to this configuration, it is possible to stably move the gripping portions and the link arm portions connected to the gripping portions via the support shafts in the left-right direction.

  In the above configuration, it is preferable to further include a contact bar held by the main body and having a shape extending in the left-right direction and capable of being in contact with the side surface of each food gripped by the grips. ).

  According to this configuration, it is possible to prevent the food held by the grips from shaking when the grips are moved by the contact bar.

  According to the food conveyance device of the present invention, a plurality of food can be efficiently conveyed.

It is a schematic plan view of the food conveyance system concerning the embodiment of the present invention. It is the schematic perspective view which showed a part of food conveyance system. It is a schematic perspective view of the state which looked at a part of food conveying apparatus from back. It is a schematic front view of a food conveying apparatus. It is a schematic perspective view of the state which cut | disconnected the foodstuff conveyance apparatus by the VV line | wire of FIG. It is a figure for demonstrating a link part etc. It is a schematic sectional drawing in the VII-VII line of FIG. It is the figure which showed the state which the space | interval between holding parts is the largest. It is the figure which showed the state which the space | interval between holding parts is the minimum. It is an explanatory view at the time of a hand part gripping food.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic plan view of a food conveyance system 1 to which a food conveyance device 40 according to an embodiment of the present invention is applied. FIG. 2 is a schematic perspective view showing a part of the food conveyance system 1 of FIG.

(1) Overall Configuration The food conveyance system 1 is a system for conveying the food 100 manufactured by a separate machine (hereinafter, appropriately referred to as a manufacturing apparatus) and discharged from the manufacturing apparatus to another area. Here, as shown in FIG. 10, a description will be given of the case where the food 100 to be manufactured and transported is composed of a food main body 101 consisting of a rice ball in a triangular shape in a front view and a packaging member 102 packing the food main body 101. . Moreover, the case where the foodstuff 100 discharged | emitted from the manufacturing apparatus is conveyed by the tray 110 is demonstrated.

  The food conveyance system 1 includes a first conveyor belt 11 and a second conveyor belt 21 for conveying the food 100, and a third conveyor belt 31 for conveying the tray 110.

  In FIG. 1, the first conveyor belt 11 is driven so that the upper surface thereof moves from the right to the left, and conveys to the left the food 100 discharged from the manufacturing apparatus provided on the right of the first conveyor belt 11. Do. In the present embodiment, the food 100 is intermittently carried onto the first conveyor belt 11 in a packaged state, and is carried in such a manner that the top of the food 100 is directed upward. In the present embodiment, a pair of bar members 12 and 12 extending in parallel with the moving direction of the first conveyor belt 11 is provided on the upper surface of the first conveyor belt 11 and passes between the bar members 12 and 12. The food 100 is transported.

  The second conveyor belt 21 is disposed at the end of the moving direction of the upper surface of the first conveyor belt 11 so as to move in the direction orthogonal to the moving direction of the first conveyor belt 11. The surface of the second conveyor belt 21 is formed to have a small coefficient of friction so that the food can slip easily. For example, the surface of the second conveyor belt 21 is treated with Teflon (registered trademark).

  As shown in FIG. 2, a plurality of partition walls 22 are fixed to the second conveyor belt 21. The partition walls 22 and 22 are arranged at equal intervals along the moving direction of the second conveyor belt 21. A food receiving portion 23 for receiving the food 100 is partitioned between the partition walls 22. There is.

  Each partition wall 22 is formed of a substantially rectangular plate-like body. Each partition wall 22 is attached to the second conveyor belt 21 so that its length direction is along the width direction of the second conveyor belt 21 and protrudes outward from the surface of the second conveyor belt 21. . The distance between two adjacent partition walls 22 is set to a value larger than the dimension in the width direction of the food 100.

  The second conveyor belt 21 is arranged such that one side surface in the width direction thereof and the end surface of the first conveyor belt 11 are close to each other with a slight gap. Further, the second conveyor belt 21 is disposed such that the end surface thereof and one side surface in the width direction of the first conveyor belt 11 are substantially at the same position in the moving direction of the second conveyor belt 21.

  With the above structure, the food 100 conveyed by the first conveyor belt 11 is pushed toward the second conveyor belt 21 at the end face of the first conveyor belt 11 and moves to the upper surface of the second conveyor belt 21. At this time, the food 100 extruded from the first conveyor belt 11 is introduced into a portion between the two partition walls 22, 22 on the second conveyor belt 21, that is, into the food receiving portion 23.

  When one food 100 is introduced into the food receiving unit 23, the sensor detects this and the second conveyor belt 21 moves by a predetermined amount based on the detection result. Specifically, the food conveyance system 1 includes the sensor, a motor for driving the second conveyor belt 21, and a control device (not shown) for controlling the motor. Then, when the control device receives a signal indicating that one food item 100 has been introduced into the food receiving unit 23 from the sensor, the control device drives the motor for a predetermined time to move the second conveyor belt 21 by a predetermined amount. Let This predetermined amount is the same as the distance between the adjacent partition walls 22 and 22. As the second conveyor belt 21 moves, the next empty food receiver 23 takes the food 100 out of the first conveyor belt 11. Are arranged to face the area pushed toward the second conveyor belt 21. Then, a new food 100 is introduced into the empty food receiving unit 23.

  Thus, in the present embodiment, the food 100 is introduced one by one into each food receiving portion 23, and as a result, as shown in FIG. 2 etc., the second conveyor belt is placed on the upper surface of the second conveyor belt 21. A plurality of food products 100 are arranged at equal intervals along the moving direction of 21.

  As shown in FIG. 2, above the second conveyor belt 21, a plate-like stop 25 extending in the moving direction of the second conveyor belt 21 is provided. The affixing portion 25 is disposed at a position allowing contact with the side surface of the food 100 introduced into the food receiving portion 23, and the abutment portion 25 abuts on the second conveyor belt 21 of the food 100. Movement in the width direction of is stopped. The attachment 25 extends across the plurality of food receiving parts 23, and the food 100 in the plurality of food receiving parts 23 is aligned by coming into contact with the attachment 25.

  The food conveying device 40 conveys the food 100 in the food receiving portion 23 of the second conveyor belt 21 into the tray 110. Although the detailed structure of the food conveyance device 40 will be described later, the food conveyance device 40 is configured to be able to collectively convey a plurality of food products 100, and is accommodated in each of a plurality of food receiving parts 23 A plurality of food products 100 arranged along the moving direction of the second conveyor belt 21 are collectively transported into the tray 110.

  The third conveyor belt 31 intermittently conveys the tray 110 on which the food 100 is placed. The tray 110 has a substantially rectangular parallelepiped shape that opens upward, and is conveyed by the third conveyor belt 31 in a posture in which the longitudinal direction thereof follows the movement direction of the third conveyor belt 31.

  As shown in FIG. 1, the food products 100 are accommodated in the tray 110 such that a plurality of food products 100 are arranged in a line along the width direction of the tray 110, and a plurality of the lines are arranged along the longitudinal direction of the tray 110. It has become so.

  As described above, the plurality of food products 100 on the second conveyor belt 21 are collectively transferred to the tray 110 by the food conveyance device 40, and one row of food products 100 aligned in the width direction of the tray 110 is food The transfer device 40 collectively transfers to the tray 110. The third conveyor belt 31 moves the tray 110 by a distance slightly longer than the length of one row of the food 100 when the one row of the food 100 is transferred to the tray 110. In detail, the food conveyance system 1 includes a sensor provided in the vicinity of the third conveyor belt 31 to detect whether the food 100 is newly introduced to the tray 110 and a motor for driving the third conveyor belt 31. And the control device drives the third conveyor belt 31 by a slightly longer distance than the one row when the control device receives a signal indicating that the food 100 has been newly introduced into the tray 110 from this sensor. Do.

(2) Detailed Structure of Food Conveying Device The food conveying device 40 includes a head 41 that holds the food 100 and an operation unit 42 that operates the head 41.

  The operation unit 42 includes an arm portion 421 and a support leg 422 for supporting the arm portion 421.

  The arm portion 421 is supported by the support leg 422 so that its tip end portion can move in a three-dimensional direction. The head portion 41 is connected to the tip end portion of the arm portion 421, and the head portion 41 can be moved together with the arm portion 421 in a three-dimensional direction including the horizontal direction and the vertical direction.

  FIG. 3 is a schematic perspective view of the vicinity of the head portion 41 as viewed from the back side. FIG. 4 is a front view of the head portion 41. FIG. FIG. 5 is a schematic perspective view of a state in which a part of the food conveying device 40 is cut along the line V-V in FIG. 4. FIG. 6 is a view in which the expansion device 70 and the guide bar 57 described later are omitted from FIG. 4. 7 is a cross-sectional view taken along line VII-VII of FIG. In FIG. 4 and FIGS. 8 and 9, some members are shaded to clarify the drawings.

  The head portion 41 includes a head body portion (main body portion) 50 fixed to the tip of the arm portion 421, a link portion 60 held by the head body portion 50, and an expansion device 70 fixed to the head body portion 50. Prepare. Further, the head portion 41 has three or more gripping portions 90. In the present embodiment, nine gripping portions 90 are provided in the head portion 41. As described later, the expansion and contraction device 70 is provided with a piston 72, and the food conveying device 40 is provided with an air pump 200 for driving the piston 72. And in this embodiment, this air pump 200 and expansion-contraction device 70 function as a drive device in a claim, and this drive device, ie, air pump 200 and expansion-contraction device 70, and link part 60, distance change mechanism in a claim Act as.

  In the following description of the head portion 41, upper and lower in the state shown in FIG. 4 will be described simply as upper and lower. Further, the left and right direction in FIG. 4 is simply described as the left and right direction. Moreover, the direction orthogonal to the paper surface of FIG. 4 is demonstrated as front-back direction.

  The head main body 50 includes a first support wall 51 fixed to the tip of the arm 421 and a pair of second support walls 52 and 52 fixed to the first support wall 51, and a pair of central support walls 53. 53, a pair of cylinder support brackets 54, 54, a bracket 55 for the first stopper, and a bracket 56 for the second stopper. In addition, the head main body portion 50 includes a pair of guide bars (guide portions) 57 supported by the second support walls 52.

  The first support wall 51 has a plate shape extending in the left-right direction orthogonal to the up-down direction, and the tip of the arm portion 421 is fixed to the upper surface thereof. In the present embodiment, as shown in FIG. 3, a plurality of holes are formed in the first support wall 51 for the purpose of weight reduction.

  The pair of second support walls 52 is a plate-like member, and is fixed to both left and right edge portions of the first support wall 51 so as to extend downward from the both edge portions. In the present embodiment, holes for weight reduction are respectively formed in the respective second support walls 51.

  The pair of central support walls 53, 53 are plate-like members extending in the left-right direction and the up-down direction, respectively, and are arranged parallel to each other at a predetermined interval in the front-rear direction. Each central support wall 53 extends downward from the central portion of the first support wall 51 in the left-right direction.

  The pair of cylinder support brackets 54 is a member for supporting a cylinder (drive device main body) 71, which will be described later, of the expansion and contraction device 70. The cylinder support brackets 54 are fixed to the first support wall 51 at positions separated from each other in the left-right direction. Each cylinder support bracket 54 includes a support extending wall 54a extending downward from the lower surface of the first support wall 51, and the cylinder 71 is fixed to the support extending wall 54a.

  The first stopper bracket 55 is a member for holding a first stopper bolt (enlarged stopper) 81 described later. The first stopper bracket 55 is fixed to the first support wall 51 at a portion near the left end of the first support wall 51.

  The first stopper bracket 55 includes a first stopper extending wall 55 a extending downward from the lower surface of the first support wall 51. The first stopper extension wall 55a has a plate shape extending in the front-rear direction. In the vicinity of the lower end of the first stopper extension wall 55a, a bolt hole 55b (hereinafter, appropriately referred to as a first stopper bolt hole 55b) which penetrates the first stopper extension wall 55a in the left-right direction is formed.

  The first stopper bolt 81 is a bolt extending in a predetermined direction, and is screwed to the first stopper bolt hole 55b in a posture extending in the left-right direction. The first stopper bolt 81 has a head 81a, and the head 81a is attached to the right of the first stopper extension wall 55a. In the present embodiment, a nut is screwed to a portion of the first stopper bolt 81 on the left side of the first stopper extension wall 55a.

  The second stopper bracket 56 is a member for holding a second stopper bolt (reduction side stopper) 82 described later. The second stopper bracket 56 is fixed to the first support wall 51 at a portion near the right end of the first support wall 51.

  The second stopper bracket 56 includes a second stopper extending wall 56 a extending downward from the lower surface of the first support wall 51. The second stopper extension wall 56a has a plate shape extending in the front-rear direction. In the vicinity of the lower end of the second stopper extension wall 56a, a bolt hole 56b (hereinafter, appropriately referred to as a second stopper bolt hole 56b) which penetrates the second stopper extension wall 56a in the left-right direction is formed.

  The second stopper bolt 82 is a bolt extending in a predetermined direction, and is screwed to the second stopper bolt hole 56b in a posture extending in the left-right direction. The second stopper bolt 82 has a head 82a, and the head 82a is attached to the left of the second stopper extension wall 56a. In the present embodiment, a nut is screwed on a portion of the second stopper bolt 82 on the right side of the second stopper extension wall 56a.

  The pair of guide bars 57, 57 are cylindrical members extending in the left-right direction. The guide bars 57, 57 are arranged parallel to each other at a predetermined interval in the front-rear direction. Each guide bar 57 is supported by the second support walls 52 by fixing both ends in the left and right direction to the second support walls 52 respectively, and extends in the left and right direction across the second support walls 52. ing.

  Each central support wall 53 is formed with a through hole 53a which penetrates the center support wall 53 in the left-right direction, and the guide bars 57, 57 are inserted into the through holes 53a. Specifically, the front guide bar 57 is inserted through the through hole 53a of the front central support wall 53, and the rear guide bar 57 is inserted through the through hole 53a of the rear central support wall 53.

  As shown in FIG. 6 and the like, the link portion 60 includes a plurality of support shafts 69 arranged at equal intervals in the left-right direction and extending in the front-rear direction, and a plurality of first link arms 61 connected to the support shafts 69, respectively. And a plurality of second link arms 62.

  Each support shaft 69 has a cylindrical shape extending in the front-rear direction.

  Each first link arm 61 has a plate shape extending in a direction orthogonal to the front and rear direction, and is arranged in parallel in the left and right direction. Each second link arm 62 also has a plate shape extending in a direction perpendicular to the front-rear direction, and is arranged in parallel in the left-right direction. The second link arm 62 and the first link arm 61 are arranged to intersect with each other, and in the present embodiment, they are adjacent to each other by the first link arm 61 and the second link arm 62 between the adjacent support shafts 69. A diamond-shaped grid is defined, the supporting axis 69 of which is at the two apexes. The first link arm 61 and the second link arm 62, which are adjacent to each other, are connected with each other at the intersection point and at the portion forming the apex of the rhombus (the two apexes different from the portion where the support shaft 69 is located) Are mutually connected by The connecting shaft 68 has a cylindrical shape extending in the front-rear direction.

  In detail, the first link arms 61 are two end first link arms 611 respectively located at the left and right ends, and a plurality of central first link arms 612 excluding these, and a plurality of centers having the same structure as one another. And a first link arm 612. The longitudinal dimension of the two end first link arms 611 is set to approximately half of the longitudinal dimension of the central first link arm 612.

  Similarly, the second link arms 62 also have a plurality of central second link arms 622 located at the left and right ends respectively, and a plurality of central second link arms 622 excluding these, and having a plurality of central second links And one link arm 622. The longitudinal dimension of the two end second link arms 621 is set to about half of the longitudinal dimension of the central second link arm 622.

  The longitudinal dimension of each central first link arm 612 and the longitudinal dimension of each central second link arm 622 are set to the same value. Further, the dimension in the longitudinal direction of the end first link arm 611 and the dimension in the longitudinal direction of the end second link arm 621 are set to the same value.

  The center first link arm 612 and the center second link arm 622 are pivotable about the support shaft 69 via the support shaft 69 at their longitudinal centers, in particular, of the support shaft 69 It is connected rotatably around a central axis extending in the front-rear direction. Specifically, through holes are formed in the longitudinal center of the central first link arm 612 and in the longitudinal center of the central second link arm 622 so as to penetrate them in the front-rear direction, respectively. The common support shaft 69 is inserted into the hole so as to be relatively rotatably connected to each other.

  Further, both longitudinal ends of the central first link arm 612 are the longitudinal ends of the central second link arm 622 adjacent to the right and one longitudinal end of the central second link arm 622 adjacent to the right. The other end is rotatably connected via a connecting shaft 68 about a central axis extending in the front-rear direction of the connecting shaft 68. Specifically, through holes are formed in the end portions of the link arms 612 and 622 connected to each other in the front-rear direction, and the common connecting shaft 68 is inserted through the through holes. Are mutually connected so as to be rotatable relative to each other.

  In the example of FIG. 6, the upper end of one central first link arm 612 is connected to the upper end of the central second link arm 622 adjacent to the left side thereof via a connecting shaft 68, Lower ends of the two center first link arms 612 are connected to lower ends of the center second link arm 622 adjacent to the right side thereof via a connecting shaft 68.

  On the other hand, the end first link arm 611 located at the right end and the end second link arm 621 located at the right end are centered on the support shaft 69 via the support shaft 69 at the longitudinal end thereof. It is connected rotatably. Further, the end first link arm 611 located at the right end and the central second link arm 622 adjacent to the left of the end first link arm 611 are centered on the connecting shaft 68 via the connecting shaft 68 at the longitudinal end thereof. The end second link arm 621 pivotally connected to the right end and located at the right end, and the central first link arm 612 next to the left thereof are connected at their longitudinal ends via the connecting shaft 68. Thus, it is connected rotatably around this connecting shaft 68.

  In the example of FIG. 6, the support shaft 69 is inserted in common to the lower end of the end first link arm 611 located at the right end and the upper end of the end second link arm 621 located at the right end. Link arms 611 and 621 are connected to each other. In addition, since the connecting shaft 68 is inserted in common between the upper end of the end first link arm 611 located at the right end and the upper end of the center second link arm 622 adjacent to the left, these link arms 611, 622 Are connected to each other. Further, the connecting shaft 68 is inserted in common to the lower end of the end second link arm 621 positioned at the right end and the lower end of the center first link arm 611 next to the left, whereby these link arms 621 and 611 And are connected.

  Similarly, the end first link arm 611 located at the left end and the end second link arm 621 located at the left end are centered on the support shaft 69 via the support shaft 69 at the longitudinal end thereof. Is pivotally connected to the Further, the end first link arm 611 located at the left end and the central second link arm 622 adjacent to the right center the connecting shaft 68 via the connecting shaft 68 at its longitudinal end. The end second link arm 621 pivotally connected to the left end and the central first link arm 612 adjacent to the right end of the second end link arm 621 are connected via the connecting shaft 68 at their longitudinal ends. Thus, it is connected rotatably around this connecting shaft 68.

  In the example of FIG. 6, the support shaft 69 is inserted in common to the upper end of the end first link arm 611 located at the left end and the lower end of the end second link arm 621 located at the left end. Link arms 611 and 621 are connected to each other. In addition, the connecting shaft 68 is inserted in common between the lower end of the end first link arm 611 located at the left end and the lower end of the central second link arm 622 adjacent to the right end thereof. Are connected to each other. In addition, the connecting shaft 68 is inserted in common to the upper end of the end second link arm 621 located at the left end and the upper end of the center first link arm 611 next to the right, whereby these link arms 621 and 611 are obtained. And are connected.

  With this configuration, when a force in the left-right direction is applied to the link portion 60, each link arm 61, 62 pivots about the support shaft 69 and the connecting shaft 68 (these shafts 68, 69 The entire link portion 60 expands and contracts in the left-right direction by rotating around a central axis extending in the front-rear direction. Then, the distance between all the support shafts 69 changes by the same amount.

  Here, in each central support wall 53, a shaft holding hole 53b is formed which penetrates the central support wall 53 in the front-rear direction. The first support shaft 69A, which is one support shaft 69, is inserted into and held by the two shaft holding holes 53b. In the present embodiment, the support shaft 69 located at the center in the left-right direction is inserted into the shaft holding hole 53b. The hole diameter of the shaft holding hole 53b and the outer diameter of the support shaft 69 are substantially equal, and the support shaft 69 is held so as not to move in the left-right direction in the shaft holding hole 53b. Therefore, in the present embodiment, the link portion 60 expands and contracts in the left-right direction centering on the first support shaft 69A positioned at the center in the left-right direction.

  Each gripping portion 90 is a portion that grips the food 100.

  The gripping portions 90 are arranged in a line in the left-right direction. Each of the gripping portions 90 includes a pair of sandwiching pieces 91, 91 for sandwiching the food 100, and a block body 92 for supporting the sandwiching pieces.

  The pair of holding pieces 91, 91 has a shape extending downward from the block 92, and is supported by the block 92 in a posture facing in the front-rear direction. Further, the pair of sandwiching pieces 91, 91 is supported by the block body 92 so as to move in the direction in which the respective tips (lower ends) thereof contact and separate from each other.

  As shown in FIG. 10, the gripping portion 90 is indicated by a solid line from a state in which the pair of sandwiching pieces 91, 91 are opened in the front-rear direction as shown by a chain line (a state in which the sandwiching pieces 91 move away from each other) The upper end of the packaging member 102 of the food 100 is clamped by being in a closed state (a state in which the holding pieces 91 move in the direction in which the holding pieces 91 move close to each other). Further, the gripping portion 90 releases the food 100 by being in the opened state in a state in which the pair of sandwiching pieces 91, 91 sandwich the food 100. In the present embodiment, the pair of holding pieces 91 holds only the upper end of the packaging member 102.

  The clamping pieces 91 can be switched, for example, between an open state and a closed state driven by air, and each block 92 has a mechanism for realizing the switching of this state of the clamping pieces 91, An inlet 92a for introducing air is provided.

  Each gripping portion 90 is connected to the support shaft 69, respectively. In the present embodiment, one gripping portion 90 is connected to each of all the support shafts 69 one by one.

  Specifically, gripping wall support walls 47 and 47 extending downward from the both ends are fixed to both ends in the front-rear direction of the other support shafts 69 except the first support shaft 69A. That is, the support shaft 69 penetrates the link arms 61 and 62 and protrudes in the front-rear direction, and the support wall 47 for the grip portion is fixed to this protruding portion.

  Further, the head main body 50 is provided with a plurality of plate-like intermediate connection members 48 extending in the direction orthogonal to the vertical direction. The intermediate connection members 48 respectively extend over the lower surfaces of the two holding portion support walls 47 fixed to the same support shaft 69 and are fixed thereto, and extend over the lower surfaces of the pair of central support walls 53. It is fixed to And each holding part 90 is connected with these middle connection members 48, respectively.

  Guide holes 47a are formed in each of the grip support walls 47 in the left-right direction. The guide holes 47a are holes through which the guide bar 57 is inserted, and the guide bar 57 is inserted in common to the guide holes 47a of all the support walls 47 for gripping portion aligned in the left-right direction. Specifically, a guide bar 57 located on the front side is inserted in common to the guide holes 47a of the support walls 47 for the gripping portions aligned in the left-right direction on the front side of the link arms 61 and 62. A guide bar 57 located on the rear side is commonly inserted through the guide holes 47a of the support walls 47 for the gripping portions aligned in the left-right direction on the rear side of the link arms 61 and 62.

  The telescopic device 70 includes a cylinder (drive device main body) 71 and a piston (moving member) 72 held movably in the left-right direction by the cylinder 71. The cylinder 71 has a cylindrical shape extending in the left-right direction. The piston 72 is inserted into the cylinder 71 so as to penetrate the cylinder 71 in the left-right direction. The extension device 70 is held by the head main body 50 by fixing both ends of the cylinder 71 to the support extending walls 54a.

  In the present embodiment, the cylinder 71 is a so-called air cylinder, and the piston 72 is driven by air. Specifically, as shown in FIG. 1, in the present embodiment, the food conveying apparatus 40 is provided with an air pump 200, and air is supplied from the air pump 200 to the cylinder 71. The illustration of the air supply path between the air pump 200 and the cylinder 71 is omitted.

  For example, two air chambers aligned in the lateral direction in the cylinder 71 are partitioned by a partition (not shown) movable in the lateral direction, and the piston 72 is fixed to the partition. The cylinder 71 is provided with an introduction portion for feeding air into each air chamber. Then, air is fed to the right air chamber to move the piston 72 to the left, and air is fed to the left air chamber to move the piston 72 to the right.

  As shown in FIG. 7, the piston 72 is connected to a second support shaft 69B which is a support shaft 69 located on the left side of the first support shaft 69A near the left end portion thereof. Specifically, at the left end of the piston 72, a through hole 72a is formed which penetrates the piston 72 in the front-rear direction, and the second support shaft 69B is fixed to the through hole 72a so as to be inserted therethrough. In the present embodiment, the second support shaft 69B is set to the second support shaft 69 from the left end, and two support shafts 69 are disposed between the first support shaft 69A and the second support shaft 69B. It is done.

  As described above, since the piston 72 is connected to the second support shaft 69B on the left side of the first support shaft 69A, in the present embodiment, the piston 72 moves to the left and the second support shaft 69B is the first When moving in the direction away from the support shaft 69A, the link portion 60 extends and the distance between the support shafts 69 increases. On the other hand, when the piston 72 moves to the right and the second support shaft 69B moves in the direction approaching the first support shaft 69A, the link portion 60 shrinks and the distance between the support shafts 69 increases.

  Here, as described above, in the present embodiment, the guide bars 57 are inserted through the support walls 47 for the grips. Along with this, at the time of expansion and contraction of the link portion 60, the support wall 47 for the grip portion slides in the left and right direction along the guide bar 57. That is, in the present embodiment, the support walls 47 for the grips, the grips 90 connected thereto, and the links to which the support shafts 69 and the support shafts 69 connected to the support walls 47 for the grips are connected. The arms 61 and 62 are movably held in the left and right direction by the guide bar 57, and move in the left and right direction along the guide bar 57.

  In the present embodiment, the amount of movement of the piston 72 and hence the amount of change of the distance between the support shafts 69 are determined by the first stopper bolt 81 and the second stopper bolt 82.

  Specifically, the cylinder 71 and the piston 72 are disposed between the first stopper bolt 81 and the second stopper bolt 82. Further, when viewed from the left-right direction, the head 81a of the first stopper bolt 81 is disposed at a position overlapping the left end of the piston 72, and the head 82a of the second stopper bolt 82 is the right side of the piston 72. It is arranged at the position which overlaps with the end of. With this configuration, the piston 72 stops moving to the left by abutting the head 81 a of the first stopper bolt 81, and contacts the head 82 a of the second stopper bolt 82 to the right Movement is stopped.

  In the present embodiment, the position of the piston 72 is in contact with the head 81a of the first stopper bolt 81 by being driven by air, and the piston 72 is moved to the head 82a of the second stopper bolt 82. And the contact position.

  Here, as described above, in the present embodiment, the stopper bolts 81 and 82 are fixed by being screwed into the stopper bolt holes 55b and 56b. Therefore, the amount of movement of the piston 72 can be easily changed by changing these screwing positions.

  The head portion 41 is further provided with a contact bar 46.

  The contact bar 46 has a cylindrical shape extending in the left-right direction. The contact bar 46 has a length similar to that of the first support wall 51 in the left-right direction.

  The contact bar 46 is fixed to a block 92 of the grip 90 disposed at the center in the left and right direction via a contact bar support 46 a extending upward from a central portion in the left-right direction.

  The contact bar 46 is disposed below the sandwiching piece 91. Further, the contact bar 46 is disposed at a position separated from the sandwiching piece 91 in the front-rear direction (a position separated rearward), and at a position allowing contact with the side surface of the food 100 gripped by each gripping portion 90 ing.

(3) Operation of Food Carrier Next, the operation of the food carrier 40 of the present embodiment configured as described above will be described. The driving of the head unit 41, the arm unit 421, and the air pump 200 is controlled by the control device.

  First, when it is detected by a sensor or the like that the food 100 has been introduced into the food receiving unit 23 of a preset number (9 in this embodiment) or more, the head unit 41 and the arm unit 421 are: It drives so that each pinching piece 91 may be arrange | positioned above each food 100, respectively. Hereinafter, this preset number is referred to as a prescribed number.

  Next, each sandwiching piece 91 is driven to sandwich the food 100, respectively. In the present embodiment, all the holding pieces 91 are simultaneously moved, and the plurality of food products 100 are simultaneously held by the holding pieces 91 simultaneously.

  When the sandwiching piece 91 sandwiches the food 100, the control device moves the arm portion 421 to move the food 100 toward the tray 110. At this time, in the present embodiment, the contact bar 46 abuts on the side surface of the food 100, whereby the vibration of the food 100 is suppressed, and each food 100 is stably transported.

  Here, in the present embodiment, as described above, the width of the food receiving portion 23 (the dimension in the moving direction of the second conveyor belt 21) is the width of the food 100 (in a state of being accommodated in the food receiving portion 23). Since the food 100 is set to be larger than the dimension of the second conveyor belt 21 of the food 100, the entire length of the specified number of food 100 contained in the specified number of food receiving parts 23 (food 100) (The length in the row direction) is longer than the width of the tray 110.

  Therefore, while moving the food 100 toward the tray 110, the control device drives the air pump 200 to move the piston 72 in the left-right direction, whereby the distance between the support shafts 69 and thus between the holding parts 90 Shorten

  Specifically, when each sandwiching piece 91 sandwiches the food 100, as shown in FIG. 8, the position of the piston 72 is in contact with the piston 72 and the head 81a of the first stopper bolt 81. A position where the distance between the grips 90 is the longest is set. On the other hand, after each sandwiching piece 91 sandwiches the food 100, as shown in FIG. 9, the position of the piston 72 is brought into contact with the head 82a of the second stopper bolt 82, The piston 72 is driven such that the distance between the parts 90 is the shortest.

  As described above, after the distance between the grips 90 is shortened, the control device controls the pinching pieces 91 so as to release the food 100 above the tray 110. After that, the control device changes the position of the piston 72 so that the distance between the grips 90 is the longest again, and waits for the head portion 41 and the arm portion 421 to stand by (the food 100 in the food receiving portion 23 Return to the position where it can be held).

(4) Operation, Etc. As described above, according to the present embodiment, the food conveying device 40 can automatically convey a plurality of food products 100 simultaneously and at the same time, separate the food products 100 from each other. The same length can be changed collectively.

  Therefore, there is no need for an operator for moving the plurality of food products 100 from the second conveyor belt 21 to the tray 110 and for adjusting the distance between the food products 100 when the food products 100 are stored in the tray 110. . Further, compared with the case where the food 100 is accommodated one by one in the tray 110 and the interval between the respective food 100 is adjusted one by one at the time of the accommodation, the working efficiency can be remarkably enhanced.

  In particular, since the food products 100 can be introduced to the tray 110 while reducing the intervals between the plurality of food products 100 set relatively widely on the second conveyor belt 21, the space in the tray 110 is more effective. It can be used to That is, more food 100 can be accommodated in one tray 110, and the transport efficiency of the food 100 through the tray 110 can be enhanced.

  Further, in the present embodiment, two link arms 61 and 62 are used to collectively change the distance between the grips 90 by the same amount, and this change is realized with a simple configuration. be able to.

  Further, in the present embodiment, the guide bar 57 is provided, and the grip portions 90, the support shafts 69, and the link arms 61, 62 are held by the guide bar 57 so as to be movable in the left-right direction. Therefore, the gripping portion 90, the support shaft 69, and the link arms 61 and 62 can be stably moved in the left-right direction.

  Further, in the present embodiment, the first stopper bolt 81 and the second stopper bolt 82 are provided, and the amount of movement of the piston 72 in the left-right direction is defined by coming into contact with the stopper bolts 81, 82. The piston 72 can be moved by an appropriate amount with a simple configuration.

  Further, in the present embodiment, the contact bar 46 is provided, and the contact bar 46 is configured to contact the side surface of each food 100 gripped by the gripping portion 90. Therefore, when the food 100 is moved, the food 100 can be appropriately transported while preventing the food 100 from shaking significantly.

(5) Modifications In the above embodiment, the first support shaft 69A located at the center in the left-right direction is supported against relative movement in the left-right direction relative to the center support wall 53 of the head main body 50, Although the case where the second support shaft 69B positioned second from the left end is connected to the piston 72 has been described, it is connected to the support shaft 69 and the piston 72 fixed to the head main body 50 relatively immovably in the left and right direction. The specific position of the support shaft 69 is not limited to these.

  Further, the drive source for moving the piston 72 is not limited to air.

  In the above embodiment, the case where the movement of the piston 72 is restricted by the abutment of the stopper bolts 81 and 82 with the respective end portions of the piston 72 has been described, but a member which abuts each end of the piston 72 Not only bolts but also other members may be used. However, as described above, if the stopper bolts 81 and 82 are used, the amount of movement of the piston 72 can be easily changed. Further, the portions in contact with the stopper bolts 81 and 82 are not limited to the end of the piston 72. For example, a projection may be provided outside in the middle of the piston 72 in the left-right direction, and the projection may be made to abut on an abutted member such as the stopper bolts 81 and 82.

  Moreover, the object to which the food conveyance apparatus 40 is applied is not limited to the food conveyance system 1 configured as described above. For example, when transporting while changing the interval between the food products 100 from a predetermined tray to another tray, the food transport device 40 may be used. Also, the present invention may be applied to a system in which the interval of the food 100 before transportation by the food transportation device 40 is changed according to the type of the food 100 or the like. Also in this case, according to the food conveyance device 40 of the present invention, the distance between the grips 90 can be changed according to the space of the food 100 before conveyance.

1 food conveying system 4 food conveying device 46 contact bar 50 head main body (main body)
57 Guide bar (guide section)
Reference Signs List 60 link portion 61 first link arm 62 second link arm 68 connection shaft 69 support shaft 69A first support shaft 69B second support shaft 70 telescopic device (drive device)
71 cylinder (drive unit)
72 Piston (moving member)
81 Bolt for first stopper (magnifying side stopper)
82 Second stopper bolt (reduction side stopper)
90 gripping portion 100 food 200 air pump (drive device)

In order to solve the above problems, the present invention is a food conveying apparatus for conveying a plurality of food items arranged in a predetermined area along a predetermined direction to another area, which can be vertically and horizontally moved. Main body portion, three or more gripping portions that can be held by the main body portion and that can individually hold a plurality of food items aligned in the left-right direction, and between the adjacent gripping portions held by the main body portion And a plurality of first link arms arranged in the left-right direction and a plurality of first link arms provided to intersect with the respective first link arms. Two link arms, a plurality of support shafts provided at respective intersection positions of the first link arm and the second link arm, and the first link arm and the second link arm collectively about the support shafts Rotate Drive device for driving both link arms so as to collectively change the crossing angle between the first link arm and the second link arm, and changing the distance between the plurality of support shafts in the lateral direction according to the drive , And the plurality of grips are attached so as to be movable in the left and right direction integrally with the respective support shafts, and a first support located at a central portion in the left and right direction among the plurality of support shafts. The shaft is fixed so as not to move relative to the main body in the lateral direction, and the drive device is fixed to the main body so as not to move relative to the main body. A moving member supported by the drive device main body so as to be movable in the left-right direction in a state of being connected to a second support shaft which is the support shaft different from the first support shaft; Accordingly, the second support shaft is relative to the first support shaft By near or spaced apart, it provides a food conveying apparatus characterized by distance of said plurality of support shaft to each other about the first support shaft is expanded or contracted (claim 1).

In addition, with a simple configuration in which the first link arm and the second link arm are rotated by the drive device to change the crossing angle, the distance between all the support shafts and the distance between all the grips and thus the grips The distance between all the food items held by can be changed collectively.
Furthermore, by moving the moving member in the lateral direction with respect to the drive device main body, the distance between the first support shaft and the second support shaft, that is, the distance between all the food items gripped by the grip part It can be changed by the same amount.

In the above configuration, each first link arm and each second link arm have a diamond lattice having an apex between the support shafts defined in a region between two adjacent support shafts when viewed from the front-rear direction. Are preferably connected so as to relatively rotate around the connecting shaft by means of a connecting shaft extending in the front-rear direction provided at an apex other than the support shaft of the grid ( Claim 2 ).

In the configuration described above, the main body portion is an enlarged side stopper that restricts movement of the moving member in a direction in which the moving member abuts on the moving member and the separation distance between the first support shaft and the second support shaft is enlarged. It is preferable to provide ( Claim 3 ).

In the above configuration, the main body portion is a reduction side stopper that abuts on the moving member and restricts the movement of the moving member in a direction in which the separation distance between the second support shaft and the second support shaft is reduced. It is preferable to provide ( Claim 4 ).

In the above configuration, it is preferable that the main body portion includes a guide portion having a shape extending in the left-right direction, and the grip portions are held movably in the left-right direction along the guide portion by the main body portion. ( Claim 5 ).

In the above-described configuration, the held by the main body, further preferably provided with contactable abutting bars to the side of the food product held in the respective gripper has a shape extending in the left-right direction (claim 6 ).

Claims (8)

A food conveying apparatus for conveying a plurality of food items arranged in a predetermined area along a predetermined direction to another area, the food conveyance apparatus comprising:
A vertically movable and horizontally movable main body;
Three or more gripping portions that are held by the main body portion and are capable of individually gripping a plurality of food items aligned in the left-right direction;
A food conveying apparatus comprising: a distance changing mechanism which is held by the main body and capable of collectively changing the distance between the adjacent holding parts. In the food conveying apparatus according to claim 1,
The distance changing mechanism includes a plurality of first link arms aligned in the left-right direction, a plurality of second link arms provided to intersect with the respective first link arms, the first link arm, and the second link A plurality of support shafts provided at respective intersection positions of the arms, and the first link arm and the second link arm are collectively pivoted around the support shafts, and the first link arm and the second link are provided. And a driving device that drives both link arms such that the crossing angle with the arm is collectively changed, and changes the distance between the plurality of support shafts in the left-right direction according to the driving.
The plurality of gripping portions are attached so as to be movable in the left and right direction integrally with the respective support shafts. In the food conveying apparatus according to claim 2,
The respective first link arms and the respective second link arms intersect so that, as viewed from the front-rear direction, a diamond lattice having the support axes as a vertex is defined in a region between two adjacent support axes. And a connecting shaft extending in the front-rear direction provided at a vertex other than the support shaft of the grid and connected so as to relatively rotate around the connecting shaft. apparatus. In the food conveyance device according to claim 2 or 3,
The first support shaft, which is one of the plurality of support shafts, is fixed so as not to move relative to each other in the lateral direction with respect to the main body portion,
The drive unit is connected to a drive unit main body portion fixed so as not to move relative to the main body portion in the lateral direction, and a second support shaft which is the support shaft different from the first support shaft. And a moving member supported by the driving device main body so as to be movable in the left and right direction. In the food conveying apparatus according to claim 4,
The main body portion is characterized by including an enlarged side stopper which abuts on the moving member and restricts the moving member from moving in a direction in which the separation distance between the first support shaft and the second support shaft is enlarged. Food conveying device. In the food conveyance device according to claim 4 or 5,
The main body portion includes a reduction side stopper which abuts on the moving member and restricts the movement of the moving member in a direction in which the separation distance between the second support shaft and the second support shaft is reduced. Food conveying device. In the food conveying apparatus according to any one of claims 1 to 6,
The main body portion includes a guide portion having a shape extending in the left-right direction,
The food conveying device according to claim 1, wherein each of the grips is movably held in the left and right direction along the guide by the main body. In the food conveying apparatus according to any one of claims 1 to 7,
A food conveying apparatus further comprising a contact bar held by the main body and having a shape extending in the left-right direction and capable of being in contact with the side surface of each food held by the holding parts.