JP2021134082A - Tableware collection robot system - Google Patents

Abstract

To provide a tableware collection robot system which can collect used tableware without leaving them in a seat area for an extended period and is configured in compact as a whole.SOLUTION: A tableware collection robot system 10 comprises a passage 11 for the robot and the tableware collection robot 20 collecting used tableware 5 while running on the passage 11 for the robot. A tableware carriage conveyor 30 orthogonal to the passage 11 for the robot, and loading and carrying used tableware 5 from the tableware collection robot 20 is connected to one end 12 of the passage 11 for the robot.SELECTED DRAWING: Figure 6

Description

The present disclosure relates to a food utensil collection robot system that collects food utensils and the like.

Conventionally, there is known a food utensil collection device that collects used food utensils used in the seating area from the seating area.

However, such a food utensil collection device collectively collects used food utensils used in the seating area, and the structure of the entire device becomes large.

In addition, since the customer directly puts the food utensil into the food equipment collection device from each seating area and the put food equipment is collected by the food equipment collection device, the used tableware is used until the customer puts it into the food equipment collection device. Remains in the seating area.

Japanese Unexamined Patent Publication No. 2019-6551

This disclosure has been made in consideration of such a point, and it is possible to collect used food utensils in the seating area without leaving them for a long time, and it is possible to reduce the overall size of the food utensils collection. The purpose is to provide a robot system.

The present disclosure includes a robot passage formed along a plurality of seating areas including a table and a seat, a food equipment collection robot that travels along the robot passage and collects used food equipment, and the above. The used food utensil is connected to one end of the robot passage, the used food utensil from the food utensil collection robot is transferred, and the used food utensil is conveyed. It is a food equipment collection robot system equipped with a control unit that controls an equipment transfer conveyor.

The present disclosure is a food equipment collection robot system in which the food equipment collection robot has a food equipment collection unit that collects the used food equipment and a product provision unit that provides a finished product.

In the present disclosure, the food utensil collection robot includes a robot main body, the product providing unit is arranged in the upper stage of the robot main body, and the food utensil collection unit is arranged in the lower stage of the robot main body. Is.

In the present disclosure, the food utensil collection robot has a robot main body and a moving table provided in the robot main body so as to be movable in the vertical direction, and the moving table serves as the food utensil collecting unit and the product providing unit. It is a food utensil collection robot system that has the function of.

In the present disclosure, the finished product is placed at one end of the robot passage, and a product mounting stand for transferring the finished product to the product providing section of the eating utensil collection robot is provided. It is an instrument collection robot system.

In the present disclosure, the control unit makes the food equipment collection robot stand by at one end of the robot passage, and causes the food equipment collection robot to travel to a predetermined seat area at the collection timing of the used food equipment. After that, it is a food utensil collection robot system that returns to the one end of the robot passage.

In the present disclosure, the collection timing of the used food utensils is when the number of ordered products received from the predetermined seating area exceeds a certain number after a certain period of time has passed since the customer was seated in the predetermined seating area. It is a food utensil collection robot system that is either a collection timing input from a store staff or a customer after a certain period of time has passed from the time when the first order is received from a predetermined seating area.

The present disclosure is a food utensil collection robot system in which a finished product transfer conveyor for transporting finished products is installed at a position above the robot passage and not interfering with the food utensil collection robot.

The present disclosure is a food equipment collection robot system in which a bus box supply mechanism for supplying an empty bus box to the food equipment collection robot is connected to the other end of the robot passage.

In the present disclosure, the food utensil collecting robot includes a robot main body, a product providing unit for providing a finished product is arranged on the upper stage of the robot main body so as to be movable in the vertical direction, and the bus box is placed on the lower stage of the robot main body. This is a food utensil collection robot system in which a food utensil collection unit for collecting used food utensils is arranged in the bath box so as to be movable in the vertical direction.

In the present disclosure, the bus box supply mechanism is arranged between a pair of bus box transport conveyors for transporting the bus box and a pair of bus box transport conveyors, supports the bus box, and is movable in the vertical direction. A box lifter and a bus box holding device arranged in the vicinity of the bus box lifter and holding the bus boxes stacked in a plurality of stages are provided, and the bus box holding device includes a holding device main body and an upper portion of the holding device main body. It has a pair of rotatable rotating bodies including a notch provided in the above, and each rotating body has a holding position for holding the lowermost bus box in the notch and the lowermost from the notch. This is a food utensil collection robot system that releases the bus box and takes an open position for locking the second-stage bus box from the bottom on the outer surface of the rotating body.

In the present disclosure, the control unit controls the bus box supply mechanism to raise the bus box lifter, rotate each rotating body in the holding position to bring it to the release position, and release the bottom bus box. This is a food appliance collection robot system that transfers the bus box lifter to the bus box lifter, lowers the bus box lifter, and supplies the bus box to the food appliance collection robot via the pair of bus box conveyors. ..

In the present disclosure, the control unit makes the food utensil collection robot stand by at one end of the robot passage, and causes the food equipment collection robot to travel to the other end at the collection timing of the used food equipment. This is a food utensil collection robot system that, after receiving the bus box from the bus box supply mechanism, causes the food utensil collection robot to travel to a predetermined seating area and then returns it to the one end portion of the robot passage.

In the present disclosure, the control unit causes the food equipment collection robot that has received the bus box in advance to stand by at one end of the robot passage, and determines the food equipment collection robot at the collection timing of the used food equipment. This is a food equipment collection robot system that returns to the one end of the robot passage after traveling to the seating area.

In the present disclosure, a bus box supply mechanism for supplying an empty bus box to a food utensil collection robot waiting at one end of the robot passage is installed near one end side of the robot passage. It is an instrument collection robot system.

The present disclosure is a food utensil collection robot system in which the bus box supply mechanism has a bus box supply line arranged above one end of the robot passage and a bus box transfer conveyor located below the bus box supply line. Is.

In the present disclosure, a bus box that collects the used food utensils is conveyed to the food utensil transport conveyor, and the connection region of the food utensil transport conveyor to which one end of the robot passage is connected. A stopper for stopping the bus box on the upstream side of the food utensil transport conveyor is provided, and the bus box is detected on the one pitch downstream side of the bus box in the connecting region and in the connecting region of the food utensil transport conveyor. A first detection sensor and a second detection sensor are provided, respectively, and the control unit closes the stopper when the first detection sensor is turned on, and then the stopper stops the bus box and the first detection. This is a food utensil collection robot system that opens the stopper when the sensor and the second detection sensor are turned off.

As described above, according to the present disclosure, used food utensils can be collected in the seating area without being left for a long time, and the entire device can be compactly configured.

FIG. 1 is a plan view showing a food utensil collection robot system according to the first embodiment. FIG. 2 is a side view showing a seating area. FIG. 3 is a view of the seating area as viewed from a direction orthogonal to FIG. FIG. 4 is a side view showing a food utensil collection robot. FIG. 5 is a perspective view showing a food utensil collection robot. FIG. 6 is a diagram showing a state in which a product is provided using a food utensil collection robot. FIG. 7 is a diagram showing a state in which a food utensil collection robot is used to collect food utensils. FIG. 8 is a diagram showing a state in which a food utensil collection robot is used to collect food utensils. FIG. 9 is a diagram showing a modified example of the food utensil collection robot. FIG. 10 is a diagram showing a modified example of the food utensil collection robot. FIG. 11 is a flowchart showing the operation of the food utensil collection robot system. FIG. 12 is a plan view showing a food utensil collection robot system according to the second embodiment. FIG. 13 is a side view showing a seating area. FIG. 14 is a view of the seating area as viewed from a direction orthogonal to FIG. FIG. 15 is a diagram showing a state in which a product is provided using a finished product transport line. FIG. 16 is a plan view showing a food utensil collection robot system according to the third embodiment. FIG. 17A is a plan view showing a finished product transfer conveyor. FIG. 17B is a plan view showing a food equipment conveyor. FIG. 18 is a side view showing a seating area. FIG. 19 is a view of the seating area as viewed from a direction orthogonal to FIG. FIG. 20A is a side view showing the eating utensil collecting robot, and is a view showing the eating utensil collecting robot taking a lower position. FIG. 20B is a front view of the food utensil collection robot shown in FIG. 20A. FIG. 21A is a side view showing the eating utensil collecting robot, and is a view showing the eating utensil collecting robot taking an upper position. 21B is a front view of the food utensil collection robot shown in FIG. 21A. FIG. 22A is a front view showing the bus box supply mechanism. FIG. 22B is a side view showing the bus box supply mechanism. FIG. 23A is a diagram showing the operation of the bus box supply mechanism. FIG. 23B is a diagram showing the operation of the bus box supply mechanism. FIG. 23C is a diagram showing the operation of the bus box supply mechanism. FIG. 24 is an enlarged view of the food utensil transport conveyor. FIG. 25 is a flowchart showing the operation of the food utensil collection robot system. FIG. 26 is a plan view showing a food utensil collection robot system according to the fourth embodiment. FIG. 27 is an enlarged view of the food utensil collection robot system shown in FIG. FIG. 28 is a slimming surface view showing a bus box supply mechanism of a food utensil collection robot system.

<First Embodiment>
Hereinafter, the first embodiment of the food utensil collection robot system according to the present disclosure will be described with reference to the drawings.

Here, FIGS. 1 to 8 are diagrams showing a first embodiment of the food utensil collection robot system according to the present disclosure. As shown in FIGS. 1 to 8, the food utensil collection robot system 10 has a robot aisle 11 formed along a plurality of seating areas 1, each including a table 2 and a seat 3, and the robot aisle 11. The robot 20 is provided with a food utensil collection robot 20 that travels along the line and collects the used food utensil 5.

Of these, each seating area 1 includes a table 2 and a pair of seats 3 on which the customer sits, which are installed so as to sandwich the table 2 as described above, and a plurality of seating areas 1 are continuously arranged side by side. ing. In the present embodiment, six rows of continuous seating areas 1 are arranged, and between the first row seating area 1 and the second row seating area 1, the third row seating area 1 and the first row. A total of three robot passages 11 are formed between the seating area 1 in the fourth row and between the seating area 1 in the fifth row and the seating area 1 in the sixth row.

Further, the food utensil collection robot 20 collects used plates, used glasses, used forks, used knives, etc. (collectively referred to as "used food utensils 5") after eating the product (cooking). It is a robot to be collected, and travels along a robot passage 11 to a predetermined seating area 1 to collect these used food utensils 5.

Further, as shown in FIG. 1, the right end portion (one end portion) 12 of the robot passage 11 is a standby area, and the food utensil transport conveyor 30 is connected to the right end portion 12 of the robot passage 11. The food utensil transport conveyor 30 extends orthogonally to the three robot passages 11, and an automatic dish is provided at one end (upper end portion shown in FIG. 1) of the food utensil transport conveyor 30 via a stand 33. The washing machine 35 is connected.

On the other hand, in FIG. 1, the left end portion (the other end portion) 13 of the robot passage 11 is a robot charging area, and in this robot charging area 13, the food utensil collection robot 20 is charged as required. Can be done. The robot charging area may be the right end (one end) 12 instead of the left end (other end) 13 of the robot passage 11.

Further, the food utensil collection robot 20 and the food utensil transfer conveyor 30 are driven and controlled by the control unit 15.

By the way, among a plurality of seating areas 1 arranged continuously, partitions 4 are arranged between the seating areas 1 arranged in the same row (in the left-right direction of FIG. 1) (see FIGS. 2 and 3). The partition 4 extends between two adjacent rows of seating areas 1, and an opening 4a through which the food equipment collecting robot 20 passes is formed at a position corresponding to the robot aisle 11 in the partition 4.

Next, the food utensil collection robot 20 will be described with reference to FIGS. 4 to 8. As shown in FIGS. 4 to 8, the food appliance collecting robot 20 has a robot main body 21 including wheels 22 and a moving conveyor (moving table) 23 provided on the robot main body 21 so as to be movable in the vertical direction. There is. Of these, the moving conveyor 23 moves in the vertical direction and has both a function as a food utensil collecting unit and a function as a product providing unit. The mobile conveyor 23 also has a conveyor function.

Further, a product loading conveyor (product loading table) 17 is arranged above the food equipment transport conveyor 30 connected to one end 12 of the robot passage 11 so as to face the one end 12 of the robot passage 11. The product loading conveyor 17 is located above the food utensil transport conveyor 30, and also mounts the finished product 7, and has a conveyor function of transporting the finished product 7 in a direction orthogonal to the food utensil transport conveyor 30.

Next, the operation of the present embodiment having such a configuration will be described with reference to the flowchart shown in FIG.

First, as shown in FIG. 11, a customer is seated in a predetermined seating area 1 including a table 2 and a seat 3.

Next, the customer operates the terminal tablet or the staff P of the store operates to order the desired product (cooking). This product order information is sent to the control unit 15, and the product is produced in the kitchen.

Next, the finished product 7 produced in the kitchen is placed on the product loading conveyor 17 arranged above the food utensil transport conveyor 30 by the staff P (see FIG. 6).

During this time, the food utensil collection robot 20 is waiting at one end (standby area) 12 of the robot passage 11.

Further, the moving conveyor 23 of the food utensil collection robot 20 is located at an upper position.

When the finished product 7 is placed on the product loading conveyor 17, the control unit 15 drives the product loading conveyor 17, and the finished product 7 on the product loading conveyor 17 is positioned above the food utensil collection robot 20. It is transferred onto a certain moving conveyor 23. After that, the food utensil collection robot 20 travels to the predetermined seating area 1. Next, the customer in the predetermined seating area 1 receives the finished product on the mobile conveyor 23, and thus the product provision ends.

After that, the food utensil collecting robot 20 travels along the robot passage, returns to the waiting area 12, and waits.

Next, the eating utensil collecting action by the eating utensil collecting robot 20 will be described.

The control unit 15 operates the food utensil collection robot 20 that has been waiting in the standby area 12 of the robot aisle 11 in advance in accordance with the collection timing of the used food utensil 5, and causes the robot to travel to a predetermined seating area 1.

For example, after a certain period of time has passed since the customer was seated in the predetermined seating area 1, the control unit 15 can operate the food utensil collection robot 20 by setting the collection timing of the used food utensil 5.

Alternatively, when the number of ordered products received from the predetermined seating area 1 exceeds a certain level, the control unit 15 may determine the collection timing of the used food utensil 5. Further, the control unit 15 may set the collection timing of the used food utensil 5 after a certain period of time has elapsed from the time when the first order is received from the predetermined seating area 1.

In this case, "when the first order is received" means "when the first order is received" after the used food utensil 5 is once collected by the food utensil collection robot 20.

Alternatively, when a dessert order is received from a predetermined seat, the control unit 15 may determine the collection timing of the used food utensil 5. Generally, when an order for dessert is received, it is often the case that the main product has been ordered in advance and the main product has been eaten. Therefore, when the dessert is ordered, the control unit 15 operates the food utensil collection robot 20 to collect the used food utensil 5 of the main product.

Alternatively, the staff P or the customer of the store inputs the collection timing of the used food utensil 5 to the control unit 15 from the input unit (not shown), and the control unit 15 eats based on the input collection timing. The instrument recovery robot 20 may be operated.

In this way, the control unit 15 causes the food utensil collection robot 20 to travel to the predetermined seating area 1 on the robot aisle 11 in accordance with the collection timing of the used food utensil 5.

At this time, the moving conveyor 23 of the food equipment collecting robot 20 is located at an intermediate position in the height direction between the upper position and the lower position, and a collecting box (bus box) 5a is arranged in advance on the moving conveyor 23 at the intermediate position. ing.

When the food equipment collection robot 20 reaches the predetermined seating area 1, the food equipment collection robot 20 calls out to the customer, "Recover the empty plate."

At this time, in response to this call, the customer in the seating area 1 puts used food utensils 5, such as used plates, used glasses, used forks, and used knives, in the collection box 5a of the mobile conveyor 23. Turn on (see FIG. 7). After that, the customer presses the "OK button" (not shown), or the mobile conveyor 23 descends after a certain period of time.

After that, the moving conveyor 23 of the food utensil collecting robot 20 further descends, takes a lower position, travels on the robot passage 11, and reaches one end 12 of the robot passage 11. After that, the used food utensil 5 on the moving conveyor 23 located below the food utensil collection robot 20 is conveyed together with the collection box 5a by the food utensil transport conveyor 30 extending orthogonally to the robot passage 11 (FIG. 8). reference).

Next, the used food utensil 5 in the collection box 5a conveyed by the food utensil transport conveyor 30 is carried to the automatic dishwasher 35 via the stand 33, and is washed by the automatic dishwasher 35.

In the above embodiment, the food appliance collecting robot 20 has a robot main body 21 having wheels and a moving conveyor 23 provided in the robot main body 21 and moving in the vertical direction, but the present invention is not limited to this. The food utensil collection robot 20 is provided on a robot body 21 having wheels 22, an upper conveyor 24a provided on the upper stage of the robot body 21 and functioning as a product providing supply unit, and a food equipment collection unit provided on the lower stage of the robot body 21. It may have a lower conveyor 24b (see FIG. 9).

Alternatively, the food equipment collecting robot 20 is provided as a robot main body 21 having wheels 22, an upper shelf 25a provided on the upper stage of the robot main body 21 and functioning as a product providing unit, and a food equipment collecting unit provided on the lower stage of the robot main body 21. It may have a functioning lower shelf 25b (see FIG. 10).

As described above, according to the present embodiment, the used food utensil 5 can be collected at a desired timing by using the food utensil collection robot 20. Therefore, the used food utensil 5 does not remain in the seating area 1 for a long time without increasing the size of the food utensil collection robot system 10 as a whole.

<Second Embodiment>
Next, a second embodiment of the food utensil collection robot system according to the present disclosure will be described with reference to the drawings.

Here, FIGS. 12 to 14 are diagrams showing a second embodiment of the food utensil collection robot system according to the present disclosure. In the second embodiment shown in FIGS. 12 to 14, the same parts as those in the first embodiment shown in FIGS. 1 to 8 and 11 are designated by the same reference numerals, and detailed description thereof will be omitted. .. As shown in FIGS. 12 to 14, the food utensil collection robot system 10 has a robot aisle 11 formed along a plurality of seating areas 1 each including a table 2 and a seat 3, and the robot aisle 11. The robot 20 is provided with a food utensil collection robot 20 that travels along the line and collects the used food utensil 5.

Of these, each seating area 1 includes a table 2 and a pair of seats 3 on which the customer sits, which are installed so as to sandwich the table 2 as described above, and a plurality of seating areas 1 are continuously arranged side by side. ing. In the present embodiment, six rows of continuous seating areas 1 are arranged, and between the first row seating area 1 and the second row seating area 1, the third row seating area 1 and the first row. A total of three robot passages 11 are formed between the seating area 1 in the fourth row and between the seating area 1 in the fifth row and the seating area 1 in the sixth row.

In addition, the food utensil collection robot 20 collects used plates, used glasses, used forks, used knives (collectively referred to as "used food utensils 5") and the like after eating a product (cooking). It is a robot to be collected, and travels along a robot passage 11 to a predetermined seating area 1 to collect these used food utensils 5.

Further, as shown in FIG. 12, the right end portion 12 of the robot passage 11 is a standby area, and the food utensil transport conveyor 30 is connected to the right end portion 12 of the robot passage 11. The food utensil transport conveyor 30 extends orthogonally to the three robot passages 11, and an automatic dish is provided at one end (upper end portion shown in FIG. 12) of the food utensil transport conveyor 30 via a stand 33. The washing machine 35 is connected.

On the other hand, in FIG. 12, the left end portion 13 of the robot passage 11 is a robot charging area, and the food utensil collecting robot 20 can be charged as required in the robot charging area 13. The robot charging area may be the right end (one end) 12 instead of the left end (other end) 13 of the robot passage 11.

Furthermore, a finished product transport conveyor 40 for transporting the finished product 7 is installed above the robot passage 11 and at a position that does not interfere with the food utensil collecting robot 20 (see FIGS. 12 and 15).

Further, the food utensil collection robot 20 and the food utensil transfer conveyor 30 are driven and controlled by the control unit 15.

By the way, among the plurality of seating areas 1 arranged continuously, partitions 4 are arranged between the seating areas 1 arranged in the same row (in the left-right direction of FIG. 12) (see FIGS. 13 and 14). The partition 4 extends between two adjacent rows of seating areas 1, and an opening 4a through which the food equipment collecting robot 20 passes is formed at a position corresponding to the robot aisle 11 in the partition 4. Further, a finished product transport conveyor 40 for transporting the finished product 7 is arranged in a portion of the opening 4a of the partition 4 located above the food utensil collection robot 20.

By the way, the eating utensil collecting robot 20 has the same structure as the eating utensil collecting robot 20 in the first embodiment shown in FIGS. 4 and 5. That is, the food utensil collecting robot 20 has a robot main body 21 including wheels 22 and a moving conveyor (moving table) 23 provided on the robot main body 21 so as to be movable in the vertical direction (see FIG. 15).

However, the total height of the eating utensil collecting robot 20 in the second embodiment is smaller than that of the eating utensil collecting robot 20 in the first embodiment.

Further, a product loading conveyor (product loading stand) 17 is arranged above the food equipment transport conveyor 30 connected to one end 12 of the robot passage 11 so as to face the one end 40a of the finished product transport conveyor 40. The product loading conveyor 17 is located above the food utensil transport conveyor 30, and also mounts the finished product 7, and has a conveyor function of transporting the finished product 7 in a direction orthogonal to the food utensil transport conveyor 30.

Next, the operation of the present embodiment having such a configuration will be described with reference to the flowchart shown in FIG.

First, as shown in FIG. 11, a customer is seated in a predetermined seating area 1 including a table 2 and a seat 3.

Next, the customer operates the terminal tablet or the staff P of the store operates to order the desired product (cooking). This product order information is sent to the control unit 15 to produce a product in the kitchen.

Next, the finished product 7 produced in the kitchen is placed on the product loading conveyor 17 arranged above the food utensil transport conveyor 30 by the staff P (see FIG. 15).

During this time, the food utensil collection robot 20 is at one end (standby area) 12 of the robot passage 11 and stands by below the finished product transfer conveyor 40.

Further, the moving conveyor 23 of the food utensil collection robot 20 is located at an intermediate position in the height direction between the upper position and the lower position.

When the finished product 7 is placed on the product loading conveyor 17, the control unit 15 drives the product loading conveyor 17, and the finished product 7 on the product loading conveyor 17 is placed at one end 40a of the finished product transport conveyor 40. Reprinted above. After that, the finished product 7 is transported to a predetermined seating area 1 by the finished product transport conveyor 40. Next, the customer in the predetermined seating area 1 receives the finished product 7 on the finished product transport conveyor 40, and thus the product provision ends.

Next, the eating utensil collecting action by the eating utensil collecting robot 20 will be described.

The control unit 15 operates the food utensil collection robot 20 that has been waiting in the standby area 12 of the robot aisle 11 in advance in accordance with the collection timing of the used food utensil 5, and causes the robot to travel to a predetermined seating area 1.

For example, after a certain period of time has passed since the customer was seated in the predetermined seating area 1, the control unit 15 can operate the food utensil collection robot 20 by setting the collection timing of the used food utensil 5.

Alternatively, when the number of ordered products received from the predetermined seating area 1 exceeds a certain level, the control unit 15 may determine the collection timing of the used food utensil 5. Further, the collection timing of the used food utensil 5 may be set after a certain period of time has elapsed from the time when the first order is received from the predetermined seating area 1.

In this case, "when the first order is received" means "when the first order is received" after the used food utensil 5 is once collected by the food utensil collection robot 20.

Alternatively, when a dessert order is received from a predetermined seat, the control unit 15 may determine the collection timing of the used food utensil 5. Generally, when an order for dessert is received, it is often the case that the main product has been ordered in advance and the main product has been eaten. Therefore, when the dessert is ordered, the control unit 15 operates the food utensil collection robot 20 to collect the used food utensil 5 of the main product.

Alternatively, the staff P or the customer of the store inputs the collection timing of the used food utensil 5 to the control unit 15 from the input unit (not shown), and the control unit 15 inputs the collection timing of the used food equipment 5 based on the input collection timing. The recovery robot 20 may be operated.

In this way, the control unit 15 causes the food utensil collection robot 20 to travel to the predetermined seating area 1 on the robot aisle 11 in accordance with the collection timing of the used food utensil 5.

At this time, the moving conveyor 23 of the food utensil collecting robot 20 is located at an intermediate position in the height direction between the upper position and the lower position, and the collecting box 5a is arranged in advance on the moving conveyor 23 at the intermediate position (FIG. 7).

When the food equipment collection robot 20 reaches the predetermined seating area 1, the food equipment collection robot 20 calls out to the customer, "Recover the empty plate."

At this time, the customer in the seating area 1 puts used food utensils 5, such as used plates, used glasses, used forks, and used knives, into the collection box 5a of the mobile conveyor 23. After that, the customer presses the "OK button", or the mobile conveyor 23 descends after a certain period of time has elapsed.

After that, the moving conveyor 23 of the food utensil collecting robot 20 further descends, takes a lower position, travels on the robot passage 11, and reaches one end 12 of the robot passage 11. After that, the used food utensil 5 on the moving conveyor 23 located below the food utensil collection robot 20 is conveyed together with the collection box 5a by the food utensil transport conveyor 30 extending perpendicular to the robot passage 11 (FIG. 8). And see FIG. 15).

Next, the used food utensil 5 in the collection box 5a conveyed by the food utensil transport conveyor 30 is carried to the automatic dishwasher 35 via the stand 33, and is washed by the automatic dishwasher 35.

As described above, according to the present embodiment, the used food utensil 5 can be collected at a desired timing by using the food utensil collection robot 20. Therefore, the used food utensil 5 does not remain in the seating area 1 for a long time without increasing the size of the food utensil collection robot system 10 as a whole.

<Third embodiment>
Hereinafter, a third embodiment of the food utensil collection robot system according to the present disclosure will be described with reference to the drawings.

Here, FIGS. 16 to 25 are diagrams showing a third embodiment of the food utensil collection robot system according to the present disclosure. As shown in FIGS. 16 to 25, the food utensil collection robot system 10 has a robot aisle 11 formed along a plurality of seating areas 1, each including a table 2 and a seat 3, and the robot aisle 11. The robot 20 is provided with a food utensil collection robot 20 that travels along the line and collects the used food utensil 5.

Of these, each seating area 1 includes a table 2 and a pair of seats 3 on which the customer sits, which are installed so as to sandwich the table 2 as described above, and a plurality of seating areas 1 are continuously arranged side by side. ing. In the present embodiment, six rows of continuous seating areas 1 are arranged, and between the first row seating area 1 and the second row seating area 1, the third row seating area 1 and the first row. A total of three robot passages 11 are formed between the seating area 1 in the fourth row and between the seating area 1 in the fifth row and the seating area 1 in the sixth row.

Further, the food utensil collection robot 20 collects used plates, used glasses, used forks, used knives, etc. (collectively referred to as "used food utensils 5") after eating the product (cooking). It is a robot to be collected, and travels along a robot passage 11 to a predetermined seating area 1 to collect these used food utensils 5. In this case, a bus box (also referred to as a collection box) 8 is placed in advance on the food utensil collection robot 20, and the used food utensil 5 is collected in the bus box 8.

Further, as shown in FIG. 16, one end 12 of the robot passage 11 is a standby area, and the food utensil transport conveyor 30 is connected to the one end 12 of the robot passage 11 (see FIG. 17B). The food utensil transport conveyor 30 extends orthogonally to the three robot passages 11, and an automatic dishwasher 35 is connected to one end of the food utensil transport conveyor 30. Further, above the food utensil transport conveyor 30, a finished product transport conveyor 40 extending perpendicular to the three robot passages 11 is arranged like the food utensil transport conveyor 30 (see FIG. 17A). As a result, the food utensil transport conveyor 30 located in the lower stage and the finished product transport conveyor 40 located in the upper stage are arranged in two stages.

On the other hand, in FIG. 16, the other end 13 of the robot passage 11 is a robot charging area, and the food utensil collecting robot 20 can be charged as required in the robot charging area 13. Further, a plurality of empty bus boxes 8 are stacked and held at the other end 13 of the robot passage 11, and a bus box supply mechanism 50 for supplying the bus boxes 8 to the food utensil collection robot 20 one by one is connected. The bus box supply mechanism 50 will be described in detail later. It should be noted that one end 12 may be used as the robot charging area instead of the other end 13 of the robot passage 11.

Further, the food utensil collection robot 20, the food utensil transfer conveyor 30, the finished product transfer conveyor 40, and the bus box supply mechanism 50 are driven and controlled by the control unit 15.

By the way, among the plurality of seating areas 1 arranged consecutively, partitions 4 are arranged between the seating areas 1 arranged in the same row (see FIGS. 18 and 19).

Next, the food utensil collection robot 20 will be described with reference to FIGS. 20A, 20B, 21A and 21B.

As shown in FIGS. 20A to 21B, the food utensil collection robot 20 is provided on the robot main body 21 including the wheels 22, the product providing unit 27 provided on the upper stage of the robot main body 21 and providing the finished product, and the lower stage of the robot main body 21. It is provided with a food utensil collection unit 26 on which the bath box 8 is placed. Of these, the bath box 8 is placed on the food utensil collection unit 26, and the used food utensil 5 is collected in the bath box 8.

Further, the food utensil collecting unit 26 provided in the lower stage of the robot main body 21 and the product providing unit 27 provided in the upper stage of the robot main body 21 are integrally connected to the robot main body 21 via an elevator 26a. Then, by the elevator 26a, the food utensil collecting unit 26 and the product providing unit 27 move integrally in the vertical direction.

Further, the product providing unit 27 and the food utensil collecting unit 26 both include a conveyor.

By the way, in FIG. 16, the side where the seat area 1 is arranged is the audience seat side, and the food equipment conveyor 30 and the finished product conveyor 40 side arranged on the one end 12 side of the robot aisle 11 are the kitchen side.

As shown in FIGS. 17A and 17B, one end 12 of the robot passage 11 includes a food equipment transport conveyor 30 located at the lower stage and a finished product transport conveyor 40 located at the upper stage, orthogonal to the robot passage 11. Are concatenated.

The finished product 7 is placed directly on the finished product transport conveyor 40 located at the upper stage or via the product tray 7a, and is transported by the finished product transport conveyor 40. Further, the finished product transport conveyor 40 is separated at the intermediate portion, and the finished product 7 is delivered to the product providing section 27 of the food appliance collecting robot 20 traveling in the robot passage 11 extending to the center in the separated region of the finished product transport conveyor 40. A product supply conveyor 40B to be supplied is installed.

Further, at one end of the finished product transfer conveyor 40 (the right end in FIG. 16), the product supply conveyor 40A that supplies the finished product 7 to the product providing unit 27 of the food appliance collecting robot 20 traveling in the corresponding robot passage 11. Are concatenated. The product supply conveyor 40A has an arc shape for supplying the finished product 7 on the finished product transport conveyor 40 to the product providing unit 27 of the food utensil collection robot 20 while bending it by 90 ° in a plan view.

Further, at the other end of the finished product transfer conveyor 40 (the left end in FIG. 16), a product supply conveyor that supplies the finished product 7 to the product providing unit 27 of the food appliance collecting robot 20 traveling in the corresponding robot passage 11. 40C is connected. The product supply conveyor 40C has an arc shape in order to supply the finished product 7 on the finished product transport conveyor 40 to the product providing supply of the food utensil collecting robot 20 while bending it by 90 ° in a plan view.

Further, the food utensil transport conveyor 30 located at the lower stage continuously conveys the bath box 8 in which the used food utensil 5 has been collected, and collects the food utensil 8 transported by the food utensil collection robot 20. It is designed to receive from the robot 20 and convey it to the automatic dishwasher 35 side.

By the way, in the food equipment transport conveyor 30, the region to which one end 12 of the robot passage 11 is connected is the connecting region 65 (see FIGS. 17B and 24).

As shown in FIGS. 17B and 24, the food utensil transport conveyor 30 is provided with three connecting regions 65 corresponding to the three rows of robot passages 11. Each of the three connecting regions 65 is provided with a stopper 60 that locks with the bus box 8 on the food utensil transport conveyor 30 to stop the bus box 8.

As shown in FIG. 24, each stopper 60 is connected to a linear motion cylinder 60a, and the linear motion cylinder 60a performs an opening / closing operation. That is, each stopper 60 is closed by the linear motion cylinder 60a to stop the bus box 8, and is opened by the linear motion cylinder 60a to pass through the bus box 8.

Further, in each connection region 65, a first detection sensor 61 and a second detection sensor 62 for detecting the bus box 8 are provided on the one pitch downstream side of the bus box 8 from the connection region 65 and in the connection region 65, respectively.

In this case, when the bus box 8 is conveyed on the food utensil transfer conveyor 30, the presence of the bus box 8 is detected by the second detection sensor 62 in the connecting region 65, and the second detection sensor 62 moves to the control unit 15. An ON signal is output. When the bus box 8 advances from the connecting region 65 to the downstream side by one pitch, the presence of the bus box 8 is detected by the first detection sensor 61, and an ON signal is output from the first detection sensor 61 to the control unit 15.

Further, as shown in FIG. 17B, a third detection sensor 63 for detecting the bus box 8 is provided on the upstream side of the connecting region 65 on the upstream side of the food utensil transport conveyor 30, and is on the downstream side of the food utensil transport conveyor 30. A fourth detection sensor 64 for detecting the bus box 8 sent to the automatic dishwasher 35 is provided on the downstream side of the connecting region 65 of the above. Then, the signals from the third detection sensor 63 and the fourth detection sensor 64 are sent to the control unit 15.

Next, the bus box supply mechanism 50 connected to the other end 13 of the robot passage 11 will be described. As described above, the bus box supply mechanism 50 stacks and holds a plurality of empty bus boxes 8 and supplies the bus boxes 8 one by one to the food utensil collection robot 20 side.

As shown in FIGS. 22A to 22B and 23A to 23C, such a bus box supply mechanism 50 includes a pair of bus box conveyors 51 and 51 for transporting an empty bus box 8 and a pair of bus boxes. It is arranged between the conveyors 51 and 51, and is provided with a bus box lifter 52 that supports the bus box 8 and is movable in the vertical direction. Further, a bus box holding device 53A for holding the bus boxes 8 stacked in a plurality of stages is provided in the vicinity of the bus box lifter 52. The bus box holding device 53A has a holding device main body 53 and a pair of rotating bodies 55 provided on the upper part of the holding device main body 53. Of these, each rotating body 55 is rotatably provided on the upper portion of the holding device main body 53, and two notched portions 55a are formed on the outer peripheral surface thereof.

Each rotating body 55 is rotatably provided on the upper part of the holding device main body 53, and has a holding position for holding the lowermost bus box 8 by the notch 55a and a lowermost bus box 8 from the notch 55a. The bus box 8 can be released to take an open position on the outer surface of the rotating body 55 to lock the second-stage bus box from the bottom.

Next, the operation of the present embodiment having such a configuration will be described with reference to the flowchart shown in FIG.

First, as shown in FIG. 11, the customer is seated in a predetermined seating area 1 including the table 2 and the seat 3.

Next, the customer operates the terminal tablet or the staff P of the store operates to order the desired product (cooking). This product order information is sent to the control unit 15, and the product is produced in the kitchen.

Next, the finished product 7 produced in the kitchen is placed on the product supply conveyor 40B arranged above the food utensil transport conveyor 30 by the staff P, or placed on the finished product transport conveyor 40. It is sent to the product supply conveyor 40A or the product supply conveyor 40C.

During this time, the food utensil collection robot 20 is waiting at one end (standby area) 12 of each robot passage 11.

Further, the food utensil collecting unit 26 and the product providing unit 27 of the food utensil collecting robot 20 are integrally moved downward by the elevator 26a and take a downward position (see FIGS. 20A and 20B).

When the finished product 7 is placed on the product supply conveyor 40B or the finished product 7 is sent to the product supply conveyors 40A and 40C, the finished product 7 on the product supply conveyors 40A to 40C is the food equipment collection robot 20. It is transferred to the product providing unit 27 which takes a lower position. After that, the food utensil collection robot 20 travels to the predetermined seating area 1. Next, the customer in the predetermined seating area 1 receives the finished product 7 on the product providing unit 27, and thus the product offering ends.

After that, the food utensil collecting robot 20 travels along the robot passage, returns to the waiting area 12, and waits.

Next, the eating utensil collecting action by the eating utensil collecting robot 20 will be described.

The control unit 15 operates the food utensil collection robot 20 that has been waiting in the standby area 12 of the robot aisle 11 in advance in accordance with the collection timing of the used food utensil 5, and causes the robot to travel to a predetermined seating area 1.

For example, after a certain period of time has passed since the customer was seated in the predetermined seating area 1, the control unit 15 can operate the food utensil collection robot 20 by setting the collection timing of the used food utensil 5.

Alternatively, when the number of ordered products received from the predetermined seating area 1 exceeds a certain level, the control unit 15 may determine the collection timing of the used food utensil 5. Further, the control unit 15 may set the collection timing of the used food utensil 5 after a certain period of time has elapsed from the time when the first order is received from the predetermined seating area 1.

In this case, "when the first order is received" means "when the first order is received" after the used food utensil 5 is once collected by the food utensil collection robot 20.

Alternatively, when a dessert order is received from a predetermined seat, the control unit 15 may determine the collection timing of the used food utensil 5. Generally, when an order for dessert is received, it is often the case that the main product has been ordered in advance and the main product has been eaten. Therefore, when the dessert is ordered, the control unit 15 operates the food utensil collection robot 20 to collect the used food utensil 5 of the main product.

Alternatively, the staff P or the customer of the store inputs the collection timing of the used food utensil 5 to the control unit 15 from the input unit (not shown), and the control unit 15 eats based on the input collection timing. The instrument recovery robot 20 may be operated.

First, the control unit 15 causes the food utensil collection robot 20 to travel to the other end 13 of the robot passage 11 in accordance with the collection timing of the used food utensil 5. Then, an empty bus box 8 is supplied from the bus box supply mechanism 50 connected to the other end 13 of the robot passage 11, and the food equipment collecting robot 20 receives the empty bus box 8.

Next, the action of supplying the empty bus box 8 from the bus box supply mechanism 50 to the food utensil collection robot 20 will be described in detail with reference to FIGS. 23A to 23C.

First, as shown in FIG. 23A, the empty bus boxes 8 are stacked and held in a plurality of stages by the bus box supply mechanism 50. At this time, the lowermost bus box 8 is held by the cutout portion 55a of each rotating body 55, and the rotating body 55 takes a holding position. In FIG. 23A, the bus box lifter 52 is located directly below the lowermost bus box 8.

Next, as shown in FIG. 23B, each rotating body 55 rotates in the direction of the arrow, the lowermost bus box 8 is released from the notch 55a, and the second lower bus box 8 is the outer surface of the rotating body 55. Locked with. At this time, the rotating body 55 takes a release position, and the lowermost bus box 8 released from the cutout portion 55a is delivered to the bus box lifter 52.

After that, as shown in FIG. 23C, the bus box lifter 52 is lowered, and the bus box 8 on the bus box lifter 52 is transferred to the pair of bus box transfer conveyors 51. Next, the bus box 8 on the bus box transfer conveyor 51 is sent onto the food utensil collection unit 26 of the food utensil collection robot 20.

In FIG. 23C, each rotating body 55 further rotates, and the cutout portion 55a then holds the lowermost bus box 8.

The food utensil collection robot 20 that has received the bus box 8 from the bus box supply mechanism 50 then travels to a predetermined seating area 1. Next, when the food utensil collection robot 20 reaches the predetermined seating area 1, the food utensil collection unit 26 and the product provision unit 27 are integrally moved upward by the elevator 26a and take an upward position (FIGS. 21A and 21A and). See FIG. 21B). At this time, the food utensil collection robot 20 calls out to the customer, "Recover the empty plate."

In addition, the customer in the seating area 1 has a used food utensil 5, such as a used plate, a used glass, a used fork, and a used food utensil in the bath box 8 placed on the food utensil collection unit 26 located above. Insert the knife.

After that, the food utensil collecting unit 26 and the product providing unit 27 of the food utensil collecting robot 20 are integrally moved downward by the elevator 26a and take a downward position (see FIGS. 20A and 20B). Next, the food utensil collecting robot 20 travels on the robot passage 11 and reaches one end 12 of the robot passage 11. After that, the bus box 8 on the food equipment collection unit 26 of the food equipment collection robot 20 and from which the used food equipment 5 is collected is conveyed by the food equipment transfer conveyor 30 extending orthogonally to the robot passage 11. At this time, the food utensil collection unit 26 of the food utensil collection robot 20 is in a downward position.

Next, the bath box 8 in which the used food utensil 5 is collected is carried to the automatic dish washer 35 by the food utensil transport conveyor 30, and the bath box 8 and the used food utensil 5 are moved by the automatic dish washer 35. To be washed.

Next, the operation of the food utensil transport conveyor 30 for transporting the bus box 8 in which the used food utensil 5 has been collected will be described with reference to FIGS. 17B and 24.

A third detection sensor 63 is provided on the upstream side of the food utensil transport conveyor 30, and when the third detection sensor 63 is turned on, the food utensil transport conveyor 30 starts operating.

In the present embodiment, when the bus box 8 is transferred from the food utensil collection robot 20 arranged in each robot passage 11 to the connecting area 65 of the food utensil transport conveyor 30, the following actions are performed. The bus box 8 can be smoothly and surely transferred to the connecting area 6. That is, first, the existence of the bus box 8 is confirmed by the first detection sensor 61 located one pitch downstream of the bus box 8 from the connection region 65. When the first detection sensor 61 is turned on and the existence of the bus box 8 is confirmed, the stopper 60 is closed by the linear motion cylinder 60a, and the bus box 8 on the upstream side of the connecting region 65 is stopped.

When the bus box 8 is stopped by the stopper 60, the stopper sensor 60b attached to the linear motion cylinder 60a detects that the bus box is stopped by the stopper 60.

Next, when the first detection sensor 61 and the second detection sensor 62 are turned off while the bus box 8 is stopped by the stopper 60, that is, one pitch downstream of the bus box 8 from the connection area 65 and the connection area 65. When the bus box 8 no longer exists, the stopper 60 is opened by the linear motion cylinder 60a. At this time, the bus box 8 is disengaged from the stopper 60 and is conveyed by the food utensil transfer conveyor 30. When the bus box 8 is conveyed from the connecting region 65 to the downstream side of one pitch of the bus box 8, the first detection sensor 61 is turned on, the stopper 60 is closed again by the linear motion cylinder 60a, and the bus box 8 is stopped. do.

In this way, it is possible to eliminate the state in which the bus box 8 stays in the connecting region 65 to which the bus box 8 is transferred from the food utensil collection robot 20 on the food utensil transport conveyor 30. Therefore, the bus box 8 can be smoothly and surely transferred from the food utensil collection robot 20 to the connecting area 65 of the food utensil transfer conveyor 30.

Next, when the fourth detection sensor 64 provided on the downstream side of the food utensil transport conveyor 30 and the other first detection sensor 61, the second detection sensor 62, and the third detection sensor 63 are turned on, the food utensil Considering that the bus box 8 has stayed on the conveyor 30, the entire food equipment conveyor 30 stops. Next, when the fourth detection sensor 64 is turned off, it is considered that the stagnation of the bus box 8 on the food utensil transport conveyor 30 has been eliminated, and the food utensil transport conveyor 30 is operated again.

As described above, according to the present embodiment, the used food utensil 5 can be collected at a desired timing by using the food utensil collection robot 20. Therefore, the food utensil collection robot system 10 does not become large as a whole, and the used food utensil 5 does not remain in the seating area 1 for a long time. Further, the food utensil collection robot 20 receives empty bus boxes 8 stacked and stored in the bus box supply mechanism 50 one by one from the bus box supply mechanism 50, and collects the used food utensils 5 in the bus box 8. do. Therefore, the used food utensil 5 can be quickly collected by using the bath box 8.

Furthermore, by installing the food utensil transport conveyor 30 on the one end 12 side of the robot passage 11 and installing the bus box supply mechanism 50 on the other end 13, the food utensil collection robot 20 runs on the robot passage 11. The operation of receiving the bus box 8 from the bus box supply mechanism 50 and the operation of transferring the bus box 8 to the food utensil transfer conveyor 30 can be easily and easily performed by the food utensil collection robot 20.

Furthermore, by providing the stopper 60 in the connecting area 65 of the food utensil transport conveyor 30, the connecting area 65 can be kept open at all times, and the bus box 8 can be reliably connected to the food utensil transport conveyor from the food utensil collection robot 20. It can be sent to area 65.

In the above embodiment, the food utensil collection robot 20 is made to stand by at one end 12 of the robot passage 11, and the food equipment collection robot 20 travels to the other end 13 of the robot passage 11 at the time of collecting the food equipment, and the bus. An example of receiving an empty bus box 8 from the box supply mechanism 50 is shown. However, not limited to this, the food equipment collecting robot 20 travels to the seating area 1 to provide the finished product 7, and then travels to the bus box supply mechanism 50 without returning directly to one end 12 of the robot aisle 11 and is empty. You may receive the bus box 8 (see FIG. 25).

The food utensil collection robot 20 that has received the empty bus box 8 then travels through the robot passage 11 and returns to one end portion 12, and waits in the one end portion 12 with the bus box 8 in advance.

<Fourth Embodiment>
Hereinafter, a fourth embodiment of the food utensil collection robot system according to the present disclosure will be described with reference to the drawings.

Here, FIGS. 26 to 28 are diagrams showing a fourth embodiment of the food utensil collection robot system according to the present disclosure. As shown in FIGS. 26 to 28, the food utensil collection robot system 10 has a robot aisle 11 formed along a plurality of seating areas 1, each including a table 2 and a seat 3, and the robot aisle 11. The robot 20 is provided with a food utensil collection robot 20 that travels along the line and collects the used food utensil 5.

Of these, each seating area 1 includes a table 2 and a pair of seats 3 on which the customer sits, which are installed so as to sandwich the table 2 as described above, and a plurality of seating areas 1 are continuously arranged side by side. ing. In the present embodiment, six rows of continuous seating areas 1 are arranged, and between the first row seating area 1 and the second row seating area 1, the third row seating area 1 and the first row. A total of three robot passages 11 are formed between the seating area 1 in the fourth row and between the seating area 1 in the fifth row and the seating area 1 in the sixth row. The three robot passages 11 are composed of a robot passage A, a robot passage B, and a robot passage C for convenience from the right side to the left side of FIG. 26.

By the way, among the plurality of seating areas 1 arranged consecutively, the partition 4 is arranged between the seating areas 1 arranged in the same row.

Further, the food utensil collection robot 20 collects used plates, used glasses, used forks, used knives, etc. (collectively referred to as "used food utensils 5") after eating the product (cooking). It is a robot to be collected, and travels along a robot passage 11 to a predetermined seating area 1 to collect these used food utensils 5. In this case, a bus box (also referred to as a collection box) 8 is placed in advance on the food utensil collection robot 20, and the used food utensil 5 is collected in the bus box 8.

Further, as shown in FIG. 26, one end 12 of the robot passage 11 is a standby area, and the food utensil transport conveyor 30 is connected to the one end 12 of the robot passage 11. The food utensil transport conveyor 30 extends orthogonally to the three robot passages 11, and an automatic dishwasher 35 is connected to one end of the food utensil transport conveyor 30 (see FIG. 12). Further, above the food utensil transport conveyor 30, a finished product transport conveyor 40 extending perpendicular to the three robot passages 11 is arranged like the food utensil transport conveyor 30 (see FIG. 17A). As a result, the food utensil transport conveyor 30 located in the lower stage and the finished product transport conveyor 40 located in the upper stage are arranged in two stages. In FIGS. 26 to 28, the finished product transfer conveyor 40 has been removed for convenience.

On the other hand, in FIG. 26, the other end 13 of the robot passage 11 serves as a robot charging area, and the food utensil collecting robot 20 can be charged as required in the robot charging area 13. It should be noted that one end 12 may be used as the robot charging area instead of the other end 13 of the robot passage 11.

Further, as shown in FIGS. 26 to 28, an empty bus box 8 is provided in the vicinity of one end 12 of the robot passage 11 for the food equipment collecting robot 20 waiting at one end 12 of the robot passage 11. A bus box supply mechanism for supplying is installed.

That is, a bus box supply mechanism is installed using the space along one end 12 of the three robot passages 11, and in the present embodiment, the bus box is supplied to the other end 13 side of the robot passage 11. No mechanism is installed.

Specifically, of the three robot passages 11, the third robot passage A is located in the lateral direction of the food utensil collection robot 20 waiting at one end 12 thereof (the transport direction of the food utensil transfer conveyor 30). The bus box supply mechanism 50 described in the embodiment is provided. Then, the empty bus box 8 supplied from the bus box supply mechanism 59 is laterally conveyed and transferred to the food utensil collection robot 20 waiting at one end 12 of the robot passage A.

The bus box supply mechanism 50 in the present embodiment has the same structure as the bus box supply mechanism 50 described in the third embodiment (FIGS. 22A to 22C).

Further, on the opposite side of the bus box supply mechanism 50 with the food utensil collection robot 20 waiting at one end 12 of the robot passage A sandwiched, the bath box 8 in which the used food utensil 5 from the food utensil collection robot 20 is stored. A bus box discharge conveyor 72 is provided to collect and discharge the waste, and the bus box discharge conveyor 72 is connected to the food utensil transport conveyor 30 via the bus box conversion conveyor 75.

Further, at one end 12 of the robot passage A, the bus box 8 for storing the used food utensils 5 thrown in by the staff is discharged to the opposite side of the bus box discharge conveyor 72 with the bus box conversion conveyor 75 sandwiched between them. The bus box discharge conveyor 73 is provided, and the bus box discharge conveyor 73 is connected to the food equipment transport conveyor 30 via the bus box conversion conveyor 75.

Further, as shown in FIG. 28, two bus box supply lines 78a and 78b for transporting the empty bus box 8 are provided in the space above one end 12 of the robot passages A, B, and C. Of these, one bus box supply line 78a supplies an empty bus box 8 to the food appliance collection robot 20 waiting at one end 12 of the robot passage B, and the other bus box supply line 78b supplies the empty bus box 8. An empty bus box 8 is supplied to the food utensil collection robot 20 waiting at one end 12 of the robot passage C.

Both bus box supply lines 78a, 78b include a conveyor belt or roller conveyor. When the bus box supply lines 78a and 78b consist of roller conveyors, the bus box supply lines 78a and 78b are tilted downward toward the corresponding food equipment recovery robot 20 so that they are empty without requiring special power. The bus box 8 can be supplied.

Alternatively, if the bus box supply lines 78a, 78b extend over a long distance, the bus box supply lines 78a, 78b may include both a power-free roller conveyor and a power-requiring transport belt. ..

As shown in FIG. 28, the empty bus box 8 is lifted by the lifter 77 at one end (right end in FIG. 28) of the bus box supply line 78a corresponding to the robot passage B, and the empty bus box 8 is the bus. It is supplied to one end of the box supply line 78a. Subsequently, in FIG. 28, the empty bus box 8 supplied to one end of the bus box supply line 78a is conveyed to the other end of the bus box supply line 78a (the left end in FIG. 28), and then the bus box supply line 78a. It descends from the other end by the lifter 76 and is supplied onto the bus box transfer conveyor 71.

The empty bus box 8 supplied on the bus box transfer conveyor 71 is then supplied to the food utensil collection robot 20 waiting at one end 12 of the robot passage B.

Further, on the opposite side of the bus box transport conveyor 71 with the food utensil collection robot 20 waiting at one end 12 of the robot passage B sandwiched, the bath box 8 in which the used food utensil 5 from the food utensil collection robot 20 is stored. A bus box discharge conveyor 72 is provided to collect and discharge the waste, and the bus box discharge conveyor 72 is connected to the food utensil transport conveyor 30 via the bus box conversion conveyor 75.

Further, at one end 12 of the robot passage B, on the opposite side of the bus box discharge conveyor 72 with the bus box conversion conveyor 75 in between, the bus box 8 for storing the used food utensils 5 thrown in by the staff is discharged. The bus box discharge conveyor 73 is provided, and the bus box discharge conveyor 73 is connected to the food equipment transport conveyor 30 via the bus box conversion conveyor 75.

Further, as shown in FIG. 28, the empty bus box 8 is lifted by the lifter 77 at one end (right end in FIG. 28) of the bus box supply line 78b corresponding to the robot passage C, and the empty bus box 8 is lifted. It is supplied to one end of the bus box supply line 78b. Subsequently, in FIG. 28, the empty bus box 8 supplied to one end of the bus box supply line 78b is conveyed to the other end of the bus box supply line 78b (the left end in FIG. 28), and then the bus box supply line 78b. It descends from the other end by the lifter 76 and is supplied onto the bus box transfer conveyor 71.

The empty bus box 8 supplied on the bus box transfer conveyor 71 is then supplied to the food utensil collection robot 20 waiting at one end 12 of the robot passage C.

Further, on the opposite side of the bus box transport conveyor 71 with the food utensil collection robot 20 waiting at one end 12 of the robot passage C sandwiched, the bath box 8 in which the used food utensil 5 from the food utensil collection robot 20 is stored. A bus box discharge conveyor 72 is provided to collect and discharge the waste, and the bus box discharge conveyor 72 is connected to the food utensil transport conveyor 30 via the bus box conversion conveyor 75.

In the present embodiment, the empty bus box 8 on the bus box transfer conveyor 71 is supplied from the right side to the food appliance collecting robot 20 waiting at one end 12 of the robot passage B, and one end of the robot passage C. An empty bus box 8 on the bus box transfer conveyor 71 is supplied from the left side to the food utensil collection robot 20 waiting at 12 (see FIG. 28).

The bus box transfer conveyor 71 corresponding to the food utensil collection robot 20 waiting at one end 12 of the robot passage B, and the bus box transfer corresponding to the food equipment collection robot 20 waiting at one end 12 of the robot passage C. Each of the conveyors 71 has a length that allows two or more empty bus boxes 8 to be placed. Since the bus box transport conveyor 71 can mount two or more empty bus boxes 8 as described above, the bus boxes 8 are continuously supplied to the food utensil collection robot 20 without rest. can do. In this case, it is sufficient that two or more bus boxes 8 can be placed on the bus box transfer conveyor 71, and the bus box transfer conveyor 71 may be configured so that three or more can be placed.

In the present embodiment, the bus box supply mechanism 50 is installed corresponding to the robot passage A, and the bus box transfer conveyor 71, lifters 76, 77, and bus box supply are installed corresponding to the robot passages B and C. The lines 78a and 78b constitute a bus box supply mechanism 50A corresponding to the robot passages B and C.

Further, the food equipment collection robot 20, the food equipment transfer conveyor 30, the finished product transfer conveyor 40, the bus box supply mechanism 50, the bus box transfer conveyor 71, the bus box discharge conveyors 72 and 73, and the bus box conversion conveyor 75. The lifters 76 and 77 and the bus box supply lines 78a and 78b are driven and controlled by the control unit 15.

Next, the operation of the present embodiment having such a configuration will be described.

First, the customer is seated in a predetermined seating area 1 including the table 2 and the seat 3.

Next, the customer operates the terminal tablet or the staff P of the store operates to order the desired product (cooking). This product order information is sent to the control unit 15, and the product is produced in the kitchen.

Next, the finished product 7 produced in the kitchen is placed on the product supply conveyor 40B arranged above the food utensil transport conveyor 30 by the staff P, or placed on the finished product transport conveyor 40. Is sent to the product supply conveyor 40A or the product supply conveyor 40C (see FIG. 16).

During this time, the food utensil collection robot 20 is waiting at one end (standby area) 12 of each robot passage 11.

Further, the food utensil collecting unit 26 and the product providing unit 27 of the food utensil collecting robot 20 are integrally moved downward by the elevator 26a and take a downward position (see FIGS. 20A and 20B).

When the finished product 7 is placed on the product supply conveyor 40B or the finished product 7 is sent to the product supply conveyors 40A and 40C, the finished product 7 on the product supply conveyors 40A to 40C is the food equipment collection robot 20. It is transferred to the product providing unit 27 which takes a lower position. After that, the food utensil collection robot 20 travels to the predetermined seating area 1. Next, the customer in the predetermined seating area 1 receives the finished product 7 on the product providing unit 27, and thus the product offering ends.

After that, the food utensil collecting robot 20 travels along the robot passage, returns to the waiting area 12, and waits.

Next, the eating utensil collecting action by the eating utensil collecting robot 20 will be described.

The control unit 15 operates the food utensil collection robot 20 that has been waiting in the standby area 12 of the robot aisle 11 in advance in accordance with the collection timing of the used food utensil 5, and causes the robot to travel to a predetermined seating area 1.

For example, after a certain period of time has passed since the customer was seated in the predetermined seating area 1, the control unit 15 can operate the food utensil collection robot 20 by setting the collection timing of the used food utensil 5.

Alternatively, when the number of ordered products received from the predetermined seating area 1 exceeds a certain level, the control unit 15 may determine the collection timing of the used food utensil 5. Further, the control unit 15 may set the collection timing of the used food utensil 5 after a certain period of time has elapsed from the time when the first order is received from the predetermined seating area 1.

In this case, "when the first order is received" means "when the first order is received" after the used food utensil 5 is once collected by the food utensil collection robot 20.

Alternatively, when a dessert order is received from a predetermined seat, the control unit 15 may determine the collection timing of the used food utensil 5. Generally, when an order for dessert is received, it is often the case that the main product has been ordered in advance and the main product has been eaten. Therefore, when the dessert is ordered, the control unit 15 operates the food utensil collection robot 20 to collect the used food utensil 5 of the main product.

Alternatively, the staff P or the customer of the store inputs the collection timing of the used food utensil 5 to the control unit 15 from the input unit (not shown), and the control unit 15 eats based on the input collection timing. The instrument recovery robot 20 may be operated.

First, the control unit 15 controls the food utensil collection robot 20 and the bus box supply mechanisms 50 and 50A according to the timing of collection of the used food utensil 5, and the food utensil collection robot 20 is empty from the bus box supply mechanism 50 and 50A. Receive the bus box 8 of.

Specifically, an empty bus box 8 is supplied from the bus box supply mechanism 50 to the food utensil collection robot 20 waiting at one end 12 of the robot passage A. Further, for the food appliance collecting robot 20 waiting at one end 12 of the robot passage B, an empty bus box 8 is first supplied from the lifter 77 to one end of the bus box supply line 78a of the bus box supply mechanism 50A, and is empty. Bus box 8 is sent to the other end of the bus box supply line 78a. After that, the empty bus box 8 at the other end of the bus box supply line 78a is lowered by the lifter 76 and then supplied to the food utensil collection robot 20 via the bus box transfer conveyor 71.

For the food equipment collection robot 20 waiting at one end 12 of the robot passage C, first, an empty bus box 8 is supplied from the lifter 77 to one end of the bus box supply line 78b of the bus box supply mechanism 50A, and an empty bus is used. The box 8 is sent to the other end of the bus box supply line 78b. After that, the empty bus box 8 at the other end of the bus box supply line 78b is lowered by the lifter 76 and then supplied to the food utensil collection robot 20 via the bus box transfer conveyor 71.

The food utensil collection robot 20 that has received the bus box 8 from the bus box supply mechanisms 50 and 50A then travels to a predetermined seating area 1. Next, when the food utensil collection robot 20 reaches the predetermined seating area 1, the food utensil collection unit 26 and the product provision unit 27 are integrally moved upward by the elevator 26a and take an upward position (FIGS. 21A and 21A and). See FIG. 21B). At this time, the food utensil collection robot 20 calls out to the customer, "Recover the empty plate."

In addition, the customer in the seating area 1 has a used food utensil 5, such as a used plate, a used glass, a used fork, and a used food utensil in the bath box 8 placed on the food utensil collection unit 26 located above. Insert the knife.

After that, the food utensil collecting unit 26 and the product providing unit 27 of the food utensil collecting robot 20 are integrally moved downward by the elevator 26a and take a downward position (see FIGS. 20A and 20B). Next, the food utensil collecting robot 20 travels on the robot passage 11 and reaches one end 12 of the robot passage 11. After that, the bus box 8 on the food equipment collection unit 26 of the food equipment collection robot 20 and from which the used food equipment 5 is collected is conveyed by the food equipment transfer conveyor 30 extending orthogonally to the robot passage 11. At this time, the food utensil collection unit 26 of the food utensil collection robot 20 is in a downward position.

Next, the action of transferring the bus box 8 from which the used food utensil 5 has been collected from the food utensil collection robot 20 to the food utensil transfer conveyor 30 will be specifically described for each of the robot passages A, B, and C.

First, when the food utensil collection robot 20 reaches one end 12 of the robot passage A, the food utensil collection robot 20 discharges the bus box 8 to the bus box discharge conveyor 72. Then, the bus box 8 on the bus box discharge conveyor 72 is turned 90 ° by the bus box conversion conveyor 75 and transferred to the food equipment transport conveyor 30 side.

Similarly, when the food utensil collection robot 20 reaches one end 12 of the robot passages B and C, the food utensil collection robot 20 discharges the bus box 8 to the bus box discharge conveyor 72. Then, the bus box 8 on the bus box discharge conveyor 72 is turned 90 ° by the bus box conversion conveyor 75 and transferred to the food equipment transport conveyor 30 side.

As described above, according to the present embodiment, the space on the one end 12 side of the robot passages A, B, and C is effectively used, and the empty bus box 8 is moved to the food equipment collection robot 20 side in the upper space. The bus box supply lines 78a and 78b constituting the bus box supply mechanisms 50 and 50A to be supplied can be installed, and the space of the entire food equipment collection robot system can be effectively used.

1 Seating area 2 Table 3 Seat 5 Used food equipment 7 Finished product 8 Bus box 10 Food equipment collection robot system 11 Robot passage 12 One end 13 End part 15 Control unit 20 Food equipment collection robot 21 Robot body 23 Mobile conveyor 24a Upper Conveyor 24b Lower Conveyor 25a Upper Shelf 25b Lower Shelf 26 Food Equipment Collection Department 27 Product Providing Department 30 Food Equipment Conveyor 40 Finished Product Conveyor 50 Bus Box Supply Mechanism 50A Bus Box Supply Mechanism 51 Bus Box Conveyor 52 Bus Box Lifter 53A Bus box holding device 53 Holding device main body 55 Rotating body 55a Notch 60 Stopper 60a Linear cylinder 60b Stopper sensor 61 1st detection sensor 62 2nd detection sensor 63 3rd detection sensor 64 4th detection sensor 65 Connection area 71 Bus box Conveyor conveyor 72 Bus box discharge conveyor 73 Bus box discharge conveyor 75 Bus box conversion conveyor 76 Lifter 77 Lifter 78a, 78b Bus box supply line

Claims (17)

Robot aisles formed along multiple seating areas, including tables and seats,
A food utensil collection robot that travels along the robot passage and collects used food utensils,
A food utensil transport conveyor connected to one end of the robot passage, the used food utensil from the food utensil collection robot is transferred, and the used food utensil is conveyed.
A control unit that controls the food utensil collection robot and the food utensil transfer conveyor,
Eating utensil collection robot system equipped with. The food equipment collection robot system according to claim 1, wherein the food equipment collection robot has a food equipment collection unit that collects the used food equipment and a product provision unit that provides a finished product. The food utensil collection robot includes the robot body and includes the robot body.
The food utensil collection robot system according to claim 2, wherein the product providing unit is arranged in the upper stage of the robot main body, and the food utensil collection unit is arranged in the lower stage of the robot main body. The food utensil collection robot has a robot main body and a moving table provided in the robot main body so as to be movable in the vertical direction.
The food utensil collection robot system according to claim 2, wherein the moving table functions as the food utensil collection unit and the product providing unit. The second aspect of the present invention, wherein the finished product is placed on one end of the robot passage, and a product mounting stand for transferring the finished product to the product providing unit of the eating utensil collection robot is provided. Food equipment collection robot system. The control unit makes the food equipment collection robot stand by at one end of the robot passage, causes the food equipment collection robot to travel to a predetermined seating area at the collection timing of the used food equipment, and then causes the robot. The food utensil collection robot system according to any one of claims 1 to 5, which returns to the one end of the passage. The collection timing of the used food utensils is the predetermined seating area when the number of ordered products received from the predetermined seating area exceeds a certain amount after a certain period of time has passed since the customer was seated in the predetermined seating area. The food utensil collection robot system according to claim 6, which is either a collection timing input from a store staff member or a customer after a certain period of time has elapsed from the time when the first order is received from. The food utensil collection robot system according to claim 1, wherein a finished product transfer conveyor is installed above the robot passage and at a position that does not interfere with the food equipment collection robot. The food equipment collection robot system according to claim 1, wherein a bus box supply mechanism for supplying an empty bus box to the food equipment collection robot is connected to the other end of the robot passage. The food utensil collection robot includes the robot body and includes the robot body.
A product providing unit that provides a finished product is arranged on the upper stage of the robot body so as to be movable in the vertical direction.
The food according to claim 9, wherein the bath box is placed in the lower stage of the robot main body, and a food equipment collecting unit for collecting the used food equipment is arranged in the bath box so as to be movable in the vertical direction. Instrument recovery robot system. The bus box supply mechanism includes a pair of bus box conveyors for transporting the bus box, and a pair of bus box conveyors.
A bus box lifter that is arranged between a pair of bus box conveyors, supports the bus box, and can move in the vertical direction.
It is provided with a bus box holding device arranged in the vicinity of the bus box lifter and holding the bus boxes stacked in a plurality of stages.
The bus box holding device has a holding device main body and a pair of rotatable rotating bodies including a notch provided in the upper part of the holding device main body.
Each rotating body has a holding position for holding the lowermost bus box in the notch, and the lowermost bus box is released from the notch to form the second bus box from the bottom on the outer surface of the rotating body. The food utensil collection robot system according to claim 9 or 10, which takes a locking release position. The control unit controls the bus box supply mechanism to raise the bus box lifter, rotate each rotating body in the holding position to bring it to the release position, release the bottom bus box, and release the bus. The food utensil collection robot system according to claim 11, wherein the robot is transferred to a box lifter, the bus box lifter is lowered, and the bus box is supplied to the food equipment collection robot via the pair of bus box conveyors. The control unit makes the food equipment collection robot stand by at one end of the robot passage, and causes the food equipment collection robot to travel to the other end at the collection timing of the used food equipment, and causes the bus box supply mechanism. The food equipment collection robot system according to any one of claims 9 to 12, wherein after receiving the bus box from the robot, the food equipment collection robot is driven to a predetermined seating area and then returned to the one end portion of the robot passage. .. The control unit causes the food equipment collection robot that has received the bus box in advance to stand by at one end of the robot passage, and travels the food equipment collection robot to a predetermined seating area at the collection timing of the used food equipment. The food utensil collection robot system according to any one of claims 9 to 12, wherein the robot system is returned to one end of the robot passage. The first aspect of claim 1, wherein a bus box supply mechanism for supplying an empty bus box to the food utensil collection robot waiting at one end of the robot passage is installed near one end side of the robot passage. Food equipment collection robot system. The food utensil collection robot according to claim 15, wherein the bus box supply mechanism has a bus box supply line arranged above one end of the robot passage and a bus box transfer conveyor located below the bus box supply line. system. A bus box that collects the used food utensils is conveyed to the food utensil transport conveyor.
A stopper for stopping the bus box on the upstream side of the food utensil transport conveyor is provided in the connecting region of the food utensil transport conveyor to which one end of the robot passage is connected.
A first detection sensor and a second detection sensor for detecting the bus box are provided on the downstream side of one pitch of the bus box in the connection region and in the connection region of the food equipment transport conveyor, respectively.
When the first detection sensor is turned on, the control unit closes the stopper, and then the stopper stops the bus box and the first detection sensor and the second detection sensor are turned off. The food utensil collection robot system according to any one of claims 9 to 16, wherein the stopper is opened.

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