JP2022102554A - Tableware washing auxiliary device and tableware washing system - Google Patents

Abstract

To provide a tableware washing auxiliary device and a tableware washing system which can reliably discharge a tableware, can shorten a tact time for tableware discrimination and discharge operation, and can achieve labor saving of a tableware washing work.SOLUTION: A tableware washing auxiliary device 10 is located side by side with a tableware washer 1, and discharges a washed tableware M. The tableware washing auxiliary device 10 comprises: a transport part 20 which transports the tableware M from the tableware washer 1; a tableware detection part 50 which detects a shape of the tableware M transported by the transport part 20; and a discharge operation part 30 in which tableware type information F is registered by registering the type of the tableware M to be transported by the transport part 20 in advance, discriminates the kind of the tableware M in the transportation part 20 on the basis of the shape of the tableware M detected by the tableware detection part 50, holds the tableware M according to the kind of the tableware M and discharges the same from the transport part 20.SELECTED DRAWING: Figure 2

Description

The present invention relates to a dishwashing assist device and a dishwashing system that are arranged side by side in a dishwasher and sequentially discharge the washed dishes.

Dishwashers are used, for example, in restaurants, medical facilities such as hospitals, nursing care facilities, and the like. Normally, at least two workers are required for dishwashing work with this type of dishwasher. At present, the dishwashing work by humans is performed by the following work procedure. First, in the lower set work, when the tableware after eating is placed on the lower set wheel and returned to the washing room, the worker disposes of the leftover food and soaks the tableware in water. As a general rule, pickling is done separately for each type of tableware.

Next, in the work on the entrance side of the dishwasher, the workers wash the dishes that have been soaked in the dishwasher, and then place the dishes on the conveyor of the dishwasher in sequence. Furthermore, in the work on the exit side of the dishwasher, another worker stacks the dishes coming out of the dishwasher one by one in the dish basket, or stacks multiple dishes and then the dishes. Put it in the basket. When the dishes are full in the dishes basket, the worker moves the dishes basket to the dish dryer.

Patent Document 1 proposes a tableware organizing device. In this dishwasher, the dishes washed by the dishwasher are thrown into the bottom of the holder, and while the dishes are sequentially stacked in the holder, the stacked dishes are further pushed up in the holder by the extrusion claws.

Japanese Unexamined Patent Publication No. 2019-11225

As mentioned above, in the dishwashing and tableware stacking work by humans, there is at least two workers, one dishwasher on the entrance side of the dishwasher and one dishwasher on the exit side. is necessary. However, it is difficult to secure a labor force due to the declining working population, and labor saving in dishwashing and tableware stacking work is indispensable.

Further, in the tableware organizing device described in Patent Document 1, after the tableware is put into the bottom of the holder, in order to open the bottom of the holder in the holder, the tableware must be pushed up from the bottom once to hold the next tableware. Cannot be thrown into the bottom of the inside. Therefore, it is difficult to smoothly put the tableware into the holder one after another. Moreover, since the tableware stacked in the pushed-up state needs to be further pushed up by the push-up claws, it is difficult to smoothly stack the tableware. Therefore, there is a problem that it is not possible to smoothly hold and reliably discharge the tableware according to the types of the plurality of tableware, and it is not possible to shorten the tact time of the operation of classifying the types of tableware and discharging the tableware.

The present invention has been made to solve the above-mentioned problems, and it is possible to reliably discharge tableware, shorten the tact time of tableware discrimination and discharge operation, and save labor in dishwashing work. It is an object of the present invention to provide a dishwashing assist device and a dishwashing system that can be used.

The subject is a dishwashing auxiliary device that is arranged side by side in a dishwasher and discharges the washed dishes, and is conveyed by a conveying unit that conveys the dishes from the dishwashing machine and a conveying unit. The tableware detection unit that detects the shape of the tableware and the tableware type information to be transported by the transport unit are registered in advance and the tableware type information is registered, and the tableware detection unit detects the tableware. It is characterized by comprising a discharge operation unit that determines the type of the tableware in the transport unit based on the shape of the tableware, holds the tableware according to the type of the tableware, and discharges the tableware from the transport unit. This is eliminated by the dishwashing assist device of the present invention.

In the dishwashing assist device of the present invention, the discharge operation unit obtains tableware type information in advance, determines the type of tableware in the transport unit based on the shape of the tableware detected by the tableware detection unit, and types of tableware. Since the tableware is held and discharged from the transport unit according to the situation, the tableware can be reliably discharged. Therefore, it is possible to shorten the tact time of the tableware discrimination and discharge operation, and it is possible to save labor in the dishwashing work.

The dishwashing assist device of the present invention is preferably further provided with a tableware registration unit for registering the tableware type information.
In the dishwashing assist device of the present invention, the tableware registration unit obtains the registered tableware type information, and the discharge operation unit can reliably discharge the tableware according to the type of tableware. Therefore, it is possible to shorten the tact time of the tableware discrimination and discharge operation.

In the tableware washing assist device of the present invention, preferably, the tableware registration unit reads the tableware registration medium having the tableware type information in which the type of the tableware to be transported by the transport unit is registered. The feature is that the type can be registered in advance.
In the tableware washing assist device of the present invention, the tableware registration unit can reliably discharge the tableware according to the type of the tableware by reading the tableware registration medium in advance.

In the tableware washing assist device of the present invention, preferably, the tableware type information registered in the tableware registration medium has tableware-related information relating to the tableware.
In the dishwashing assist device of the present invention, by using the tableware-related information, the tableware can be reliably discharged according to the type of the tableware.

In the dishwashing assist device of the present invention, preferably, the discharge operation unit has a holding arm, and the holding arm has a plurality of holding finger parts for holding the tableware and a plurality of the holding fingers. The unit is characterized in that the tableware on the transport unit is sucked and held, and the held tableware is discharged from the transport unit.
In the dishwashing assist device of the present invention, since the holding arm has a plurality of holding finger portions, the discharging operation unit can discharge a plurality of dishes at the same time. Therefore, the takt time of the tableware ejection operation can be shortened.

In the dishwashing assist device of the present invention, preferably, the holding finger portion holds the tableware by sucking air, and releases the holding of the tableware by reversely injecting the air.
In the dishwashing assist device of the present invention, the holding finger portion holds the tableware by using air suction, and the holding can be released by the reverse injection of air. Therefore, the takt time of the tableware ejection operation can be shortened.

In the dishwashing assist device of the present invention, preferably, the tableware-related information includes holding finger portion setting distance information for setting a distance between a plurality of the holding finger portions according to the size of the tableware. It is characterized by that.
In the dishwashing assist device of the present invention, since the distance between the plurality of holding fingers can be set according to the size of the tableware, the tableware can be reliably held and discharged. Therefore, the takt time of the tableware ejection operation can be shortened.

The dishwashing assist device of the present invention is preferably characterized in that the diameter of the holding finger portion can be changed according to the type of the tableware.
In the dishwashing assist device of the present invention, since the holding finger portion can hold the tableware according to the type of the tableware, troubles such as dropping the tableware can be solved, and the tableware can be reliably held and discharged.

In the dishwashing assist device of the present invention, preferably, the discharge operation unit is characterized in that the speed of the operation of discharging the tableware from the transport unit can be changed according to the type of the tableware.
In the dishwashing assist device of the present invention, the discharge operation unit can change the speed of the operation of discharging the tableware from the transport unit according to the type of the tableware, so that the trouble of accidentally dropping the tableware M can be prevented. Can be done.

The dishwashing assist device of the present invention is preferably further provided with a tableware stand provided in the vicinity of the discharge operation unit and for stacking the tableware discharged from the transport unit.
In the dishwashing assist device of the present invention, the discharge operation unit can stack the discharged dishes on the tableware stand. Therefore, the takt time of the tableware ejection operation can be shortened.

In the tableware washing assist device of the present invention, preferably, the tableware-related information includes, in addition to the holding finger portion setting distance information, information on the stacking pattern of the tableware when stacking the tableware, information on the number of stackable sheets, and the above. It is characterized by including information on the orientation of the tableware held by the holding finger, information on the height of the bulky tableware when stacking one piece of the tableware, and information on the color of the tableware when the tableware is gripped and placed. do.
In the tableware washing assist device of the present invention, the tableware-related information includes information on the stacking pattern of tableware, information on the number of stackable sheets, information on the orientation of the tableware held by the holding finger portion, and an increase in bulk when stacking one tableware. The tableware can be reliably placed on the tableware table because it includes the height information of the tableware and the color information of the tableware when the tableware is gripped and placed. Therefore, the takt time of the tableware ejection operation can be shortened.

In the dishwashing assist device of the present invention, preferably, when the unregistered tableware that is not registered in the tableware registration unit is transported by the transport unit, the holding finger portion of the discharge operation unit is used. It is characterized in that it does not hold the unregistered tableware.
In the dishwashing assist device of the present invention, the holding finger portion does not hold the unregistered tableware, so that it is possible to prevent the trouble of mixing and discharging the unregistered tableware and the registered tableware. Therefore, the takt time of the tableware ejection operation can be shortened.

In the dishwashing assist device of the present invention, preferably, the distance between the portions of the holding arm holding the plurality of the tableware becomes smaller than the predetermined distance due to the plurality of the tableware approaching each other on the transport unit. When a plurality of the tableware is transported by the transport unit in a state where the plurality of the tableware is densely packed, the holding finger portion of the discharge operation unit does not hold the densely packed tableware. ..
In the dishwashing assist device of the present invention, when the dishes are transported in a dense state by the transport section, the holding finger portion does not hold the dense dishes, so that the trouble of dropping the dishes during ejection is prevented. be able to. Therefore, the takt time of the tableware ejection operation can be shortened.

In the dishwashing assist device of the present invention, preferably, the distance between the portions of the holding arm holding the plurality of the tableware becomes smaller than the predetermined distance due to the plurality of the tableware approaching each other on the transport unit. When a plurality of the tableware is transported by the transport unit in a dense state of the plurality of the tableware, the holding finger portion of the discharge operation unit may hold at least one of the tableware of the plurality of the tableware. It is characterized in that the tableware other than the at least one of the tableware is not held when the tableware is held.
In the tableware washing assist device of the present invention, when the tableware is transported by the transport unit in a dense state, the tableware held when the holding finger portion holds the tableware of at least one of a plurality of tableware. Since other tableware is not held, it is possible to prevent the trouble of dropping the tableware. Therefore, the takt time of the tableware ejection operation can be shortened.

The dishwashing assist device of the present invention preferably further includes a tableware receiving unit that receives the tableware that was not held by the holding finger portion of the discharging operation unit from the transport unit.
In the dishwashing assist device of the present invention, the tableware receiving unit can automatically collect the tableware that was not held by the holding finger unit from the transport unit. Therefore, the takt time of the tableware ejection operation can be shortened.

The dishwashing assist device of the present invention is preferably provided at the tableware loading section of the dishwasher and further includes a tableware loading range indicating section for indicating the range in which the tableware is loaded.
In the dishwashing assist device of the present invention, the range in which the dishes are put into the dishwasher is specified, so that the dishes discharged from the dishwasher can be more reliably held by the holding finger of the discharge operation unit. You can. Therefore, the takt time of the tableware ejection operation can be shortened.

The dishwashing assisting device of the present invention is preferably further provided with a tableware loading timing instruction unit provided in the tableware loading section of the dishwasher and instructing the timing of loading the underwashed tableware. do.
In the dishwashing assist device of the present invention, by instructing the timing of loading the underwashed dishes, it is possible to prevent a trouble that a plurality of dishes are conveyed by the conveying unit in a dense state. Therefore, the takt time of the tableware ejection operation can be shortened.

Further, the subject is a dishwashing system including a dishwashing machine for washing dishes and a dishwashing auxiliary device arranged side by side in the dishwashing machine for discharging the washed dishes. The dishwashing assisting device includes a transport unit for transporting the tableware from the dishwasher, a tableware detection unit for detecting the shape of the tableware transported by the transport unit, and a transport unit for transporting the tableware. The type of tableware is registered in advance and the tableware type information is registered, and the type of the tableware of the transport unit is determined based on the shape of the tableware detected by the tableware detection unit, and the type of the tableware is determined. This is solved by the dishwashing system of the present invention, which comprises a discharge operation unit that holds the tableware and discharges the tableware from the transport unit.

In the dishwashing system of the present invention, the discharge operation unit obtains tableware type information in advance, determines the type of tableware in the transport unit based on the shape of the tableware detected by the tableware detection unit, and determines the type of tableware. Since the tableware is held and discharged from the transport unit accordingly, the tableware can be reliably discharged. Therefore, the tact time of the tableware discrimination and discharge operation can be shortened, the tableware can be reliably discharged, the tact time of the tableware discrimination and discharge operation can be shortened, and the labor saving of the dishwashing work can be achieved.

According to the present invention, there is provided a dishwashing auxiliary device and a dishwashing system capable of reliably discharging dishes, shortening the tact time of tableware discrimination and discharging operation, and saving labor in dishwashing work. can do.

It is a top view which shows the dishwashing system which concerns on embodiment of this invention. It is a perspective view which shows the dishwashing system shown in FIG. It is a perspective view which shows the dishwashing system shown in FIG. 1 from another angle. FIG. 3 is a perspective view showing the dishwashing system shown in FIG. 1 from yet another angle. It is a figure which shows the shape example of the transit part. It is a perspective view which shows the whole structure of the discharge operation part. It is a perspective view which shows the discharge operation part and the peripheral part thereof. It is a perspective view which shows the operation head of a discharge operation part. It is a front view which shows the operation head. It is a figure which shows the control system of the dishwashing assist device. It is a figure which shows the example of the information registered in the tableware type registration card. It is a flow chart which shows the operation example of the dishwashing system. It is a figure which shows the example of the tableware stacked on the tableware stand, and the state that the tableware which is not a target is accommodated in the tableware receiving part. It is a figure which shows the operation example of the holding finger part. It is a top view which shows the example which the tableware M is conveyed along the conveying direction X by the 2nd conveyor. It is a top view which shows the example which the tableware M is conveyed along the conveying direction X by the 2nd conveyor. It is a figure which shows the specific example of "the dense state of tableware M". It is a figure which shows the 2nd Embodiment of this invention. It is a figure which shows the 3rd Embodiment of this invention. It is a figure which shows the 4th Embodiment of this invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.
Since the embodiments described below are suitable specific examples of the present invention, various technically preferable limitations are added, but the scope of the present invention is particularly limited to the present invention in the following description. Unless otherwise stated, the present invention is not limited to these aspects. Further, in each drawing, the same components are designated by the same reference numerals, and detailed description thereof will be omitted as appropriate.

(First Embodiment)
<Dishwashing system 1000>
FIG. 1 is a plan view showing a dishwashing system according to an embodiment of the present invention. FIG. 2 is a perspective view showing the dishwashing system shown in FIG. FIG. 3 is a perspective view showing the dishwashing system shown in FIG. 1 from another angle. FIG. 4 is a perspective view showing the dishwashing system shown in FIG. 1 from yet another angle.

As shown in FIGS. 1 to 4, the dishwashing system 1000 includes a dishwasher 1 and a dishwashing assisting device 10. The dishwashing system 1000 cleans various dishes M by the dishwashing machine 1, then discharges them by the dishwashing assisting device 10 and stacks the dishes M of a predetermined type on the tableware stand 90. However, tableware N of a type other than the predetermined type can be stored in the tableware receiving unit 95 without being stacked on the tableware table 90. The dishwashing system 1000 can be installed even in a relatively narrow building installation space by shortening the system length regarding the transport direction X for transporting the tableware M as much as possible. This dishwashing system 1000 is installed in, for example, a school feeding facility, a company employee cafeteria, a nursing facility, or the like, and continuously cleans a large number of dishes and puts the dishes on the tableware table 90. The work of stacking and accommodating in the tableware receiving unit 95 is performed. The dishwashing system 1000 may be installed surrounded by a safety panel or the like (not shown).

<Dishwasher 1>
First, the dishwasher 1 will be described with reference to FIGS. 1 and 2.
The dishwasher 1 has a main body 2, a conveyor 3 which is a discharge conveyor, and a dishwasher container 4. The main body 2 has a mechanism for washing and preferably drying the tableware M. The main body 2 has an inlet 2A and an outlet 2B, and the conveyor 3 is arranged horizontally through the inlet 2A and the outlet 2B. The conveyor 3 carries the tableware M on it and conveys it at a constant speed along the conveying direction X. The operation of the dishwasher 1 is controlled by a command from the control unit 100.

Here, the tableware M is a predetermined type of tableware among the tableware that has been washed and preferably dried. Further, the tableware N is a tableware other than the predetermined type among the tableware that has been washed and preferably dried. The tableware M is attracted and held by the holding fingers 41 and 42 of the discharge operation unit 30, which will be described later, and is stacked on the tableware table 90. On the other hand, the tableware N is not attracted and held by the holding fingers 41 and 42, and is not stacked on the tableware table 90 but is housed in the tableware receiving unit 95.

The dishwashing container 4 contains water and detergent. The tableware M is disposed of by the worker by the lowering work and is soaked in the water of the tableware underwashing container 4, and the worker includes the soaked tableware M containing the detergent of the tableware underwashing container 4. Rinse with water. One worker performs the underwashing work and the work of placing the dishes M and N that have been underwashed on the upstream side of the conveyor 3 facing down in the vicinity of the dish underwashing container 4. Therefore, the dishwashing system 1000 can operate the dishwashing work by only one worker, and can save labor in the dishwashing work.

The operator turns the underwashed tableware M downward and sequentially places the tableware M on the conveyor 3, so that the conveyor 3 conveys the tableware M along the transport direction X. The tableware M enters the main body 2 from the inlet portion 2A and is washed with washing water, preferably, for example, dried with hot air, and then comes out from the outlet portion 2B to the next stage dishwashing auxiliary device 10 side. Sent. The dishwasher 1 may have a function of only washing the dishes M.

As shown in FIG. 1, the guide member 6 is preferably arranged, for example, corresponding to the first conveyor 21. The guide member 6 sets a tableware transport track for passing the tableware M and N through the detectable range 50S of the tableware detection unit 50 by the first conveyor 21 and guiding the tableware to the discharge operation unit 30 side. Can be done. As a result, the guide member 6 can surely guide the tableware M and N on the transport unit 20 to the detectable range 50S of the tableware detection unit 50, and can surely guide the tableware M and N to the discharge operation unit 30 side. Can be detected and discharged smoothly and reliably. Therefore, the tact time of the detection and discharge operation of the tableware M and N can be shortened.
In the present specification, "tact time" refers to the processing speed per tableware in a series of operations of washing, collecting, and stacking tableware M, and preferably operates within 3.0 seconds per tableware. The aims.

As shown in FIG. 1, preferably, the tableware charging range indicating unit 7 is provided in the tableware loading unit M in the dishwasher 1. The tableware loading range indicating unit 7 can clearly indicate to the worker the range for loading and loading the tableware M that has been washed by the worker on the upstream side of the conveyor 3. As a result, the operator can clearly understand the range in which the dishes M and N in the dishwasher 1 are put. The dishes M and N discharged from the dishwasher 1 can be guided to the detectable range 50S for the detection process of the dishes M and N by the tableware detection unit 50, and the holding fingers 41 and 42 of the discharge operation unit 30 can guide the dishes M and N to the detectable range 50S. The work of sucking and holding only the tableware M can be performed more reliably. Therefore, the tact time of the detection and discharge operation of the tableware M and N can be shortened.

Further, as shown in FIG. 1, preferably, the tableware loading timing indicating section 8 is provided on the tableware loading section side of the dishwasher 1. The tableware loading timing instruction unit 8 sets the timing of loading the tableware M, which has been washed by the operator, on the upstream side of the conveyor 3 at predetermined time intervals, for example, by sound, light, or both, according to the command of the control unit 100. , Can be instructed to the worker. As a result, the worker can sequentially place the tableware M facing down on the upstream side of the conveyor 3 while receiving an instruction on the timing of loading the underwashed tableware M. Therefore, the plurality of tableware M and N can be transported at appropriate intervals along the transport direction X, and the plurality of tableware are transported in a dense state, washed, and transported to the transport unit 20 side. Can be prevented as much as possible. As a result, the effect of the washing process of the tableware M can be improved, and the tact time of the tableware discharging operation can be shortened.

Further, as shown in FIG. 1, preferably, the notification unit 81 is provided on the dishwasher 1 on the side of, for example, the tableware charging unit. When the number of tableware M stacked on the tableware table 90 becomes a predetermined number or more, the notification unit 81 notifies the operator by, for example, sound, light, or both. As a result, the notification unit 81 can urge the operator to collect the tableware M stacked on the tableware table 90. According to this, it is possible to prevent the discharge operation unit 30 from coming into contact with the tableware M stacked on the tableware table 90, and it is possible to prevent the discharge operation unit 30 from being damaged. Further, the notification unit 81 notifies the operator that the operation of the dishwashing system 1000 has stopped due to the reaction of the safety sensor (not shown) to the operator, for example, by sound, light, or both. do.

<Dishwashing aid 10>
Next, a preferable structural example of the dishwashing assisting device 10 will be described with reference to FIGS. 1 to 4.
The dishwasher assisting device 10 is located on the rear side of the dishwasher 1 and is arranged side by side so as to be in series with respect to the downstream side of the conveyor 3. As shown in FIGS. 1 and 2, the dishwashing auxiliary device 10 stacks a predetermined type of tableware M among the dishes that have been washed and preferably dried in the dishwasher 1 on the tableware table 90. The tableware N of a type other than the predetermined type is not stacked on the tableware table 90, but is housed in the tableware receiving unit 95. In the drawing, the transport direction X is the direction in which the tableware M is transported, the Y direction is the width direction of the dishwasher 1 and the dishwasher assisting device 10, and the Z direction is the dishwasher 1. It is a vertical direction of the dishwashing assist device 10. The transport directions X, Y, and Z are orthogonal to each other.

As shown in FIGS. 1 to 4, the dishwashing assist device 10 includes a transport unit 20, a discharge operation unit 30, a tableware detection unit 50, a tableware stand 90, a tableware receiving unit 95, and a control unit 100. To prepare for. The transport unit 20 places a plurality of various dishes M and N from the conveyor 3 of the dishwasher 1 and transports them along the transport direction X. The discharge operation unit 30 adsorbs and holds only the tableware M of a predetermined type transported by the transport unit 20, so that the tableware M is discharged from the transport unit 20 and stacked on the tableware table 90. The tableware detection unit 50 determines the shape and size of the tableware M and N transported along the transport direction X by the transport unit 20, the orientation (posture) at the time of transport, and the like during the transport, and is in front of the discharge operation unit 30. In, for example, laser light can be used for non-contact detection.

[Transport unit 20]
The transport unit 20 will be described with reference to FIGS. 1 and 2. As shown in FIGS. 1 and 2, the transport unit 20 is arranged on the downstream side of the conveyor 3 of the dishwasher 1. The transport direction X in which the transport unit 20 transports the dishes M and N is the same as the transport direction X in which the conveyor 3 of the dishwasher 1 transports the dishes M and N. The conveyor 3 has a structure that facilitates the passage of washing water downward. The conveyor 3 is driven by a drive motor (not shown). The conveyor 20 includes a first conveyor 21, a second conveyor 22, and a drive motor 23. The first conveyor 21 and the second conveyor 22 are belt conveyors that are excellent in drainage and can convey tableware M and N while stably holding them. The drive motor 23 can drive the first transfer conveyor 21 and the second transfer conveyor 22 in synchronization with each other via the reduction gear unit 23G, and the first transfer conveyor 21 and the second transfer conveyor 22 have the same transfer speed for the tableware M. N is conveyed along the transfer direction X. For example, preferably, the transfer speeds of the first transfer conveyor 21 and the second transfer conveyor 22 are set to be the same as the transfer speed of the conveyor 3 of the dishwasher 1.
However, the transfer speeds of the first transfer conveyor 21 and the second transfer conveyor 22 may be different from those of the conveyor 3 of the dishwasher 1, and if it is desired to increase the discharge processing speed, the first transfer conveyor The transfer speed of the 21 and the second transfer conveyor 22 can be higher than the transfer speed of the conveyor 3 of the dishwasher 1.

The first conveyor 21 receives the dishes M and N discharged from the downstream side of the conveyor 3 of the dishwasher 1 and conveys them along the conveying direction X. The second conveyor 22 receives the tableware M and N transported by the first conveyor 21, and further transports them along the transport direction X. In the illustrated example, preferably, the length of the second conveyor 22 along the transport direction X is set longer than the length of the first conveyor 21 along the transport direction X. As described above, the length of the second conveyor 22 along the transport direction X is set longer than the length of the first conveyor 21 along the transport direction X, which will be described later with reference to FIG. This is for the discharge operation unit 30 as shown in the above to secure the working time for adsorbing and holding the tableware M on the second conveyor 22 and stacking the tableware M on the tableware stand 90. The first conveyor 21 is arranged on the downstream side of the conveyor 3 of the dishwasher 1, while the second conveyor 22 is arranged at a position corresponding to the discharge operation unit 30. As a result, the discharge operation unit 30 can hold the tableware M transported on the second conveyor and smoothly discharge the tableware M. The length of the first conveyor 21 and the length of the second conveyor 22 can be freely set according to the size of the work space.

As shown in FIGS. 1 and 2, the transit portion 5 is arranged on the downstream side of the conveyor 3 of the dishwasher 1, and the transit portion 5 is located on the downstream side of the conveyor 3 of the dishwasher 1 and the first transport. It is provided between the conveyor 21 and the upstream side. The connecting portion 5 is, for example, a plastic plate or a metal plate, and an example of the shape of the connecting portion 5 is shown in FIG. As shown in FIG. 5, the connecting portion 5 has a plurality of semicircular recesses 5P formed at equal intervals. Each of these recesses 5P is designed so that the rotating portion 3R of the conveyor 3 does not hit them. The height position of the conveyor 3 from the floor surface is the same as or slightly higher than the height position of the first transfer conveyor 21 and the second transfer conveyor 22 from the floor surface.

As a result, even if the height position of the conveyor 3 and the height position of the first transfer conveyor 21 are different, the connecting portion 5 compensates for the difference in height, and temporarily the rotation speed of the conveyor 3 and the first transfer. Even if the rotation speeds of the conveyors 21 are different, the connecting portion 5 can absorb the difference in rotation speeds. Therefore, the transfer portion 5 can smoothly and surely transfer the tableware M from the conveyor 3 to the first conveyor 21 side. Whether it is light or heavy dishes washed in the dishwasher 1, or regardless of the size of the dishes such as height and diameter, the dishes M and N use the connecting part 5. It can be delivered reliably. Moreover, since the connecting portion 5 is arranged, it is possible to prevent the "dense state of tableware" and the overlap of the tableware on the transporting unit 20. Therefore, the tact time of the discharge operation of the tableware M and N can be shortened.
Here, in the present specification, the "dense state of tableware" means, for example, a portion (for example, a portion) in which the holding arm 32 (see FIGS. 1 to 3) holds the plurality of tableware M when the plurality of tableware M approach each other. The distance between the center points of the tableware M) is smaller than the predetermined distance. An example of "dense tableware" will be described later.

Further, as shown by the arrow A1 shown in FIG. 5, the connecting portion 5 can move in the vertical direction. That is, the position of the connecting portion 5 in the height direction can be adjusted. Further, as shown by the arrow A2 shown in FIG. 5, the connecting portion 5 can move in the horizontal direction. That is, the position of the connecting portion 5 in the transport direction X can be adjusted. As a result, the transfer portion 5 can transfer the tableware M from the conveyor 3 to the first conveyor 21 side more smoothly and reliably. The positions of the connecting portion 5 in the height direction and the horizontal direction may be manually adjusted or may be electrically adjusted.

[Tableware detection unit 50]
The tableware detection unit 50 will be described with reference to FIGS. 1, 5, and 7. As shown in FIGS. 1 and 5, the shapes of tableware M and N transferred from the first conveyor 21 to the second conveyor 22 are formed between the first conveyor 21 and the second conveyor 22. A tableware detection unit 50 for detection is arranged. Since the tableware M and N have various shapes, heights and sizes depending on the type, it is necessary to specify the shape, height and size of the tableware M and N before the tableware M and N reach the discharge operation unit 30. There is. Therefore, the tableware detection unit 50 is arranged at a position where the tableware detection unit 50 is delivered from the first conveyor 21 on the upstream side of the discharge operation unit 30 in the transport direction X to the second conveyor 22. The tableware detection unit 50 can detect the shapes of the tableware M and N from the first conveyor 21 to the second conveyor 22 in a non-contact manner by, for example, laser light, so that the shapes of the tableware M and N can be detected during the transportation. (Size and orientation (attitude) during transportation) are detected, and then only the tableware M of a predetermined type can be stacked from the transport unit 20 on the tableware stand 90 by the discharge operation unit 30. Therefore, it is possible to shorten the tact time for discriminating the tableware M and N and discharging the tableware.

FIG. 7 shows a structural example of the first conveyor 21, the second conveyor 22, and the tableware detection unit 50. As shown in FIGS. 2 and 7, a gap region 9 is provided along the Y direction between the downstream side of the first conveyor 21 and the upstream side of the second conveyor 22. The tableware detection unit 50 is arranged corresponding to the gap region 9. As a result, when the tableware M and N are transferred from the first conveyor 21 to the second conveyor 22, the tableware detection unit 50 passes the laser beam through the gap region 9 to form the tableware M and N (large). The orientation (posture) during transport of the pod can be detected without contact.

Explaining the structural example of the tableware detection unit 50 in more detail, as shown in FIGS. 2 and 7, the tableware detection unit 50 includes a light emitting unit 51 and a light receiving unit 52 that receives the laser beam 50L from the light emitting unit. .. The laser beam 50L from the light emitting unit 51 passes through the above-mentioned gap region 9 and is transferred from the first conveyor 21 to the second conveyor 22 in the shape, size, orientation (posture), etc. of the tableware M, N. Is detected. In the so-called transmissive tableware detection unit 50, the laser beam 50L from the light emitting unit 51 passes through the gap region 9 and is transferred from the first conveyor 21 to the second conveyor 22 in the shape of the tableware M and N. Etc. are detected. On the other hand, the reflective tableware detection unit has a structure in which the generated light is reflected by the tableware and the reflected light is received by the light receiving unit. When trying to detect tableware using a reflective tableware detector, for example, it is affected by steam, water droplets, etc., and the tableware cannot be detected well. On the other hand, the transmissive tableware detection unit 50 adopted in the embodiment of the present invention can reliably detect the shape and the like of the tableware without being affected by steam, water droplets and the like. Therefore, the tableware M and N can be accurately discriminated, and the takt time for discriminating can be shortened.

In the example shown in FIGS. 2 and 7, the light emitting unit 51 is arranged on the upper side of the transport unit 20 corresponding to the gap region 9, and the light receiving unit 52 corresponds to the gap region 9 on the lower side of the transport unit 20. Moreover, it is arranged so as to face the light emitting unit 51. However, the light emitting unit 51 may be arranged on the lower side of the transport unit 20 corresponding to the gap region 9, and the light receiving unit 52 may be arranged on the upper side of the transport unit 20 corresponding to the gap region 9. The light emitting unit 51 is arranged along the Y direction of the transport unit 20 to a position about half the width of the transport unit 20, and the light receiving unit 52 is also arranged corresponding to the light emitting unit 51. In the light emitting unit 51, a plurality of laser light emitting elements that generate laser light 50L are arranged along the Y direction, which is a direction intersecting the transport direction X. In the light receiving unit 52, a plurality of light receiving elements that receive the laser light 50L that has passed through the gap region 9 are arranged along the Y direction, which is the direction intersecting the transport direction X. Therefore, no matter where the tableware M or N is transported within the detectable range 50S of the tableware detection unit 50, the shapes of the tableware M and N can be reliably detected. The tact time of the M and N discrimination operation can be shortened.

As a result, the light receiving unit 52 sends a light receiving signal to the control unit 100 by receiving the laser light 50L that has passed through the gap region 9, so that the control unit 100 receives the laser light 50L received by the light receiving unit 52. The shape of the tableware M that has passed through the gap region 9 can be discriminated in a non-contact manner. Therefore, the discharge operation unit 30 shown in FIG. 2 appropriately adsorbs and holds only the tableware M based on the shapes of the tableware M and N detected by the tableware detection unit 50, and from the second transfer conveyor 22. It can be reliably discharged and stacked on the tableware table 90. Therefore, it is possible to shorten the tact time for discriminating the tableware M and N and discharging the tableware. The light emitting unit 51 and the light receiving unit 52 may be arranged to fill the width of the transport unit 20 in the Y direction.

Further, as shown in FIG. 1, the detectable range 50S at which the tableware detection unit 50 can detect the tableware M flowing on the first conveyor 21 is set to about half the width of the first conveyor 21 in the Y direction. Has been done. As shown in FIG. 1, in the first conveyor 21 and the second conveyor 22, the range R1 corresponding to the detectable range 50S conveys a predetermined type of tableware M and discharges it by the discharge operation unit 30. It is a range for stacking on the tableware stand 90. As a result, the operator places the tableware M on the conveyor 3 of the dishwasher 1 in consideration of this range R1. The tableware loading range indicating unit 7 shown in FIG. 1 is arranged so that the operator can visually classify this range R1.

The tableware detection unit 50 can detect the orientation of the tableware M and N and the positions of the tableware M and N, preferably by detecting a part of the tableware M and N passing through. As a result, the tableware detection unit 50 can detect the orientation of the tableware M and N and the position of the tableware M and N only by detecting a part of the tableware M and N. In comparison, the detection speed of the shapes and types of tableware M and N can be increased. Therefore, it is possible to shorten the tact time for discriminating the tableware M and N and discharging the tableware.

[Tableware stand 90 and tableware receiving unit 95]
Next, the tableware stand 90 and the tableware receiving unit 95 will be described with reference to FIGS. 1 and 2. The tableware stand 90 and the tableware receiving unit 95 shown in FIGS. 1 and 2 are arranged side by side in the Y direction. The tableware stand 90 is located at a position off the downstream side of the second conveyor 22 and next to the discharge operation unit 30. The tableware receiving unit 95 is arranged on the downstream side of the second conveyor 22. The tableware table 90 is a square or rectangular flat table, and a plurality of tableware Ms of a predetermined type are stacked and placed at the same time by the operation of the two holding fingers 41 and 42 of the discharge operation unit 30. Can be done. As a result, the takt time of the discharge operation of the tableware M of a predetermined type can be shortened.

As shown in FIG. 2, the tableware receiving unit 95 directly receives and stores the tableware N of a type other than the predetermined type of tableware M from the second transport conveyor 22 without using the discharge operation unit 30. That is, the tableware N of a type other than the tableware M of the predetermined type is flown by the discharge operation unit 30 without being picked up from the second conveyor 22, and is collected by the tableware receiving unit 95. As a result, the discharge operation unit 30 can stack only the predetermined type of tableware M on the tableware table 90, and the predetermined type of tableware M and other types of tableware N are mixed on the tableware table 90. It is possible to prevent them from being piled up.

[Discharge operation unit 30]
Next, the discharge operation unit 30 shown in FIGS. 1 and 2 will be described in detail with reference to FIGS. 6 to 9.
FIG. 6 is a perspective view showing the overall configuration of the discharge operation unit 30, and FIG. 7 is a perspective view showing the discharge operation unit 30 and its peripheral portion. FIG. 8 is a perspective view showing the operation head 33 of the discharge operation unit 30, and FIG. 9 is a front view showing the operation head 33.
As shown in FIGS. 1 and 3, the discharge operation unit 30 is, for example, a 6-axis control robot, which is located next to the second conveyor 22 and next to the tableware table 90. .. The discharge operation unit 30 has a multi-axis structure as shown in FIG. 6, and has a base 31, a holding arm 32, an operation head 33, and a plurality of holding finger parts 41 and 42.

[Holding arm 32]
As shown in FIG. 6, the base portion 31B of the base 31 is fixed to the floor surface, and the holding arm 32 includes the base 31, the first arm portion 34, the second arm portion 35, the wrist 36, and the joint portion 37. , 38. The holding arm 32 includes a J1 axis to a J6 axis. The base 31 can be rotated with respect to the base 31B about the J1 axis and positioned in the rotation direction. One end of the first arm portion 34 is connected to the base 31 by using a joint portion 37, and the first arm portion 34 can be rotated with respect to the base 31 about the J2 axis and positioned in the rotation direction. Is. The other end of the first arm 34 is connected to one end of the second arm 35 by using the joint 38, and the second arm 35 is centered on the J3 axis with respect to the first arm 34. It can be rotated and positioned in the direction of rotation. The other end of the second arm 35 can be rotated about the J4 axis and positioned with respect to one end of the second arm 35 in the rotation direction. The other end of the second arm portion 35 holds the wrist 36, and the wrist 36 holds the operation head 33. The list 36 can be rotated about the J5 axis with respect to the other end of the second arm portion 35 and positioned in the rotation direction. The operation head 33 can be rotated about the J6 axis and positioned in the rotation direction. The operation of rotating and positioning with respect to the rotation direction from each J1 axis to the J6 axis will be described later, but is performed by the motors MT1 to MT6 shown in FIG. 10, respectively.

[Operation head 33 of discharge operation unit 30 and a plurality of holding fingers 41, 42]
Next, structural examples of the operation head 33 and the plurality of holding fingers 41 and 42 will be described with reference to FIGS. 8 and 9. The structure of the operation head 33 and the plurality of holding fingers 41, 42 can also be referred to as an end effector. The operation head 33 is detachably attached to the wrist 36, rotates about the J6 axis, and can be positioned in the direction of rotation. The operation head 33 has a first drive operation portion 61 and a second drive operation portion 62. The first drive operation portion 61 moves and positions one holding finger portion 41 in the P direction and the Q direction. Similarly, the second drive operation portion 62 moves and positions the other holding finger portion 42 in the P direction and the Q direction. The first drive operation portion 61 and the second drive operation portion 62 have a substantially symmetrical structure and are attached to the mounting base portion 63.

As shown in FIG. 9, the first drive operation portion 61 has two air cylinders 61A and 61B, another air cylinder 61C, a guide member 61D, and a mounting member 61E. The air cylinders 61C, which are different from the air cylinders 61A and 61B, operate according to the command of the control unit 100. The operating direction of the rods of the air cylinders 61A and 61B is the P direction. The operating direction of the rod of another air cylinder 61C is the Q direction. The P direction and the Q direction are orthogonal to each other. The mounting member 61E is fixed to the rods of the air cylinders 61A and 61B and the guide member 61D. One of the holding finger portions 41 is detachably attached to the tip of the attachment member 61E. When the rods of the air cylinders 61A and 61B are taken in and out in the P direction, one of the holding finger portions 41 can move and position in the P direction while being guided by the guide member 61D. Further, when the rod of another air cylinder 61C is taken in and out, the first drive operation portion 61 moves with respect to the mounting base 63 along the guide member 61F in the Q direction, and in a plurality of steps along the Q direction. Positioning is possible.

Similarly, the second drive operation portion 62 has two air cylinders 62A and 62B, another air cylinder 62C, a guide member 62D, and a mounting member 62E. The air cylinders 62A and 62C, which are different from the air cylinders 62A and 62B, operate according to the command of the control unit 100. The operating direction of the rods of the air cylinders 62A and 62B is the P direction. The operating direction of the rod of another air cylinder 62C is the Q direction. The mounting member 62E is fixed to the rods of the air cylinders 62A and 62B and the guide member 62D. The other holding finger portion 42 is detachably attached to the tip of the attachment member 62E. When the rods of the air cylinders 62A and 62B are taken in and out in the P direction, the other holding finger portion 42 can move and position in the P direction while being guided by the guide member 62D. Further, when the rod of another air cylinder 62C is taken in and out, the second drive operation portion 62 moves with respect to the mounting base portion 63 along the guide member 62F in the Q direction, and can be positioned in a plurality of stages.
As a result, the distance SR between the holding finger portion 41 on one side and the holding finger portion 42 on the other side is determined according to the shape and size of the tableware to be held, as illustrated by the distance SR1, the distance SR2, and the distance SR3. It can be changed in multiple steps.

One and the other holding fingers 41 and 42 shown in FIGS. 8 and 9 have the same shape and size, have heat resistance, and are made of synthetic rubber, plastic, or the like that flexibly elastically deforms. There is. In the dishwasher 1, the dishes are washed with hot water, for example, hot water at 85 ° C., so that the dishes immediately after the washing treatment are wet with hot water and have a high temperature. Therefore, the holding fingers 41 and 42 need to be suction pads that function even at a high temperature of 100 ° C. or lower. Further, the holding fingers 41 and 42 are consumables and deteriorate because they continuously adsorb and hold the tableware and release the holding. Therefore, the holding fingers 41 and 42 can be replaced in the operation head 33. The range in which the holding arm 32 can reach the holding fingers 41 and 42 is, for example, the range used for transporting the second conveyor 22 and the entire range for placing the tableware on the tableware table 90.

The holding fingers 41 and 42 are supplied with air from the air operating unit 110 according to the command of the control unit 100 to adsorb and hold the bottom of the tableware M on the second conveyor 22 shown in FIG. 1 to hold the air. By reverse spraying, the holding state of the bottom of the tableware M can be immediately released. Since the holding arm 32 shown in FIG. 6 has a plurality of holding fingers 41 and 42, the discharging operation unit 30 can suck and hold the plurality of tableware M at the same time and discharge the tableware M from the second conveyor 22. Therefore, the tact time of the tableware M discharging operation can be shortened.
Further, as shown in FIG. 9, since the distance SR between the plurality of holding fingers 41 and 42 can be changed in a plurality of steps, the shape and size of the tableware M conveyed by the second conveyor 22 can be changed. Correspondingly, the holding fingers 41 and 42 can be reliably held without interfering with the tableware M. Therefore, the tact time of the tableware M discharging operation can be shortened.

Since the holding fingers 41 and 42 can hold the tableware M smoothly and surely by using the air adsorption force, the tableware M can be held in a shorter time than the one in which the tableware M is gripped, and the tableware M can be held. The tact time of the discharge operation can be shortened. Further, the holding fingers 41 and 42 can quickly and surely release the holding of the tableware M by using the reverse injection of air, and moisture remains in the washed tableware M or the holding fingers 41 and 42 have. Even if water remains, it can be removed by removing the water from the holding fingers 41 and 42 and the tableware M. Therefore, the holding finger portions 41 and 42 can hold the tableware M by the air adsorption force even if water remains in the next washed tableware M. Therefore, the tact time of the tableware M discharging operation can be shortened.

As shown in FIGS. 8 and 9, an environment recognition camera CA for recognizing the environment around the discharge operation unit 30 is provided at the center position of the operation head 33. This camera CA is, for example, a CCD (charge-coupled device) color imaging camera, and recognizes tableware M and N on the second transport conveyor 22 shown in FIG. 1, and tableware stacked on the tableware stand 90. The stacking status of M and the like are acquired, and the acquired information V is sent to the control unit 100.

[Control system of dishwashing assist device 10]
Next, the control system of the dishwashing assisting device 10 will be described with reference to FIG. FIG. 10 shows a control system of the dishwashing assist device 10.
As shown in FIG. 6, the holding arm 32 of the discharge operation unit 30 described above includes a J1 axis to a J6 axis. As shown in FIG. 10, the motors MT1 to MT6 are provided to rotate from the J1 axis to the J6 axis and perform a positioning operation in the rotation direction. The motors MT1 to MT6 are controlled by commands from the control unit 100.

The camera CA shown in FIG. 10 recognizes the surrounding environment of the discharge operation unit 30, and sends the recognized acquisition information V of the surrounding environment to the control unit 100. FIG. 11 shows an example of the acquired information V sent by the camera CA to the control unit 100. The acquired information V of the camera CA is, for example, the position recognition information V1 of the second transport conveyor 22, the position recognition information V2 of the tableware M on the second transport conveyor 22, the position recognition information V3 of the tableware stand 90, and the tableware stand 90. There is stacking information V4 and the like of the tableware M being used. The control unit 100 appropriately controls the operation of the holding arm 32 of the ejection operation unit 30 and the operations of the holding fingers 41 and 42 of the operation head 33 based on the acquired information V.

Returning to FIG. 10, the tableware loading timing instruction unit 8 sets the timing at which the tableware M and N washed by the operator to the upstream side of the conveyor 3 shown in FIG. 1 at predetermined time intervals according to the command of the control unit 100. So, for example, it is indicated by sound, light, or both. As a result, the worker can receive the instruction of the timing of putting the underwashed tableware M, and put the tableware M and N in a state of facing downward in order on the upstream side of the conveyor 3 in rhythm. Therefore, the plurality of tableware M and N can be flown at appropriate intervals along the transport direction X. Therefore, it is possible to prevent troubles that the plurality of tableware M and N are washed in a densely packed state or are transported to the transport unit 20 side.

In FIG. 10, the drive motor 23 of the transport unit 20 is controlled by a command of the control unit 100. One of the operation heads 33 and the holding fingers 41 and 42 of the other are connected to the solenoid valve 112 of the air operation unit 110 by using a pipe 111. The solenoid valve 112 is connected to the compressor 117 via a regulator 113, a filter 114, a dryer 115, and a tank 116. As a result, when the compressor 117 operates according to the command of the control unit 100, the holding fingers 41 and 42 generate an air suction force to immediately suck and hold the tableware, and the tableware is held by reversely injecting air. The state can be canceled immediately. The air-type holding fingers 41 and 42, which use air pressure to attract and hold the tableware to release the holding state, hold and hold the tableware as compared with the grip-type holding fingers using an electromagnetic actuator. The speed to release is fast. Therefore, the takt time of the tableware ejection operation can be shortened. Further, since the air can vigorously remove the moisture remaining in the tableware and the moisture remaining in the air supply passages of the holding fingers 41 and 42, the holding fingers 41 and 42 are not affected by the moisture and are next. You can securely hold the tableware.

In FIG. 10, in the light emitting unit 51 of the tableware detection unit 50, for example, a plurality of laser diodes 51D are arranged in series along the Y direction intersecting the transport direction X. Further, in the light receiving unit 52 of the tableware detection unit 50, for example, a plurality of light receiving diodes 52D are arranged in series along the Y direction intersecting the transport direction X. Each laser diode 51D of the light emitting unit 51 is operated by the control unit 100 to generate a laser beam 50L. Since a part of the laser beam 50L is blocked by the tableware M passing through the gap region 9 of the transport portion 20, the light receiving diode 52D does not receive light, but the laser light 50L that does not hit the tableware M is in the gap region 9. The light is received by the light receiving diode 52D through the light receiving diode 52D. The optical signal G received by the light receiving diode 52D is sent to the control unit 100, so that the shape, size, and orientation (posture) of the tableware M transported along the transport direction X can be detected.

In FIG. 10, the tableware registration unit 70 is electrically connected to the control unit 100. The tableware registration unit 70 may be arranged in, for example, the control unit 100 or the discharge operation unit 30. The tableware registration unit 70 has registered in advance tableware type information F regarding a predetermined type of tableware M to be transported along the transport direction X by the transport unit 20 shown in FIG. 1, and the tableware type information F Is notified to the control unit 100. As a result, the tableware registration unit 70 obtains the registered tableware type information F, the control unit 100 controls the operation of the holding finger portions 41, 42 of the discharge operation unit 30, and the holding finger portions 41, 42 control the operation of the holding finger portions 41, 42. Only the tableware M of a predetermined type can be adsorbed, held, and reliably discharged. Therefore, it is possible to shorten the tact time for discriminating the tableware M of a predetermined type and discharging operation.

In FIG. 10, the tableware type information F for the tableware M of a predetermined type to be transported by the transport unit 20 is acquired in advance by the control unit 100. The control unit 100 compares the tableware M of the predetermined type of tableware type information F with the actual tableware detected by the tableware detection unit 50, so that the tableware on the second conveyor 22 is of a predetermined type. It can be determined that the tableware is M. Then, the discharge operation unit 30 can hold the actual tableware M according to the predetermined type of tableware M, discharge it from the second conveyor 22 shown in FIG. 2, and stack it on the tableware stand 90. As a result, it is possible to shorten the tact time for discriminating the tableware M of a predetermined type and discharging operation.

As shown in FIG. 10, the tableware type information F stored in the tableware type registration card 71 is read into the tableware registration unit 70 by simply bringing the tableware type registration card 71 prepared in advance close to the tableware registration unit 70, for example. Can be made. The tableware type registration card 71 is an example of the “tableware registration medium” in the present specification. As a result, the tableware registration unit 70 reads the tableware type information F in advance, and the discharge operation unit 30 can reliably discharge the tableware M of a predetermined type based on the tableware type information F.

FIG. 11 shows an example of information registered in the tableware type registration card 71.
As shown in FIG. 11, the tableware type registration card 71 registers the tableware type information F. The tableware type information F has tableware-related information GF regarding tableware and basic information BF of tableware type. The tableware-related information GF includes the tableware type KF already transported by the transport unit 20 of FIG. 1, the tableware type LF to be transported by the transport unit 20, and the holding finger portion set distances of the holding finger portions 41 and 42. Includes information HF. Basic information on tableware types BF is information on the shapes, sizes, and weights of all types of tableware M and N that are likely to be cleaned. As a result, the control unit 100 can recognize the tableware types of the tableware M and N by obtaining the basic information BF of the tableware type via the tableware registration unit 70.

The holding finger portion setting distance information HF notifies the control unit 100 through the tableware registration unit 70, so that the distance SR between the holding finger portions 41 and 42 shown in FIG. 9 is adjusted according to the shape and size of the tableware M. This is the information to set. Therefore, as shown in FIG. 9, the control unit 100 instructs the discharge operation unit 30 based on the holding finger unit set distance information HF, so that the distance SR between the holding finger units 41 and 42 can be set. As illustrated by the distance SR1, the distance SR2, and the distance SR3, the distance SR between the holding fingers 41 and 42 can be changed in a plurality of steps according to the shape and size of the tableware M to be held. .. As a result, the tableware M of the predetermined type can be reliably held and discharged, and the tact time of the discharge operation of the tableware M of the predetermined type can be shortened.

Further, the tableware-related information GF of FIG. 11 can be used in addition to the holding finger portion setting distance information HF, preferably when the tableware M is stacked and placed on the tableware table 90 as illustrated in FIG. "Stacking pattern information U1 of tableware M", "information on the number of stackable sheets U2", "information U3 regarding the orientation of the tableware M held by the holding fingers 41, 42", "bulking when stacking one tableware M" It includes "height information U4" and "color information U5 of the tableware M when the tableware M is gripped and placed", and these information U1 to U5 are supplied to the control unit 100 through the tableware registration unit 70.

First, in the "tableware M stacking pattern information U1", as illustrated in FIG. 2, when the holding fingers 41 and 42 place the tableware M on the tableware table 90, the tableware M is placed on any part of the tableware table 90. The arrangement pattern of the tableware M on the tableware table 90 to be stacked is predetermined. As a result, the tableware M can be neatly stacked in a predetermined place on the tableware table 90. In the "stackable number information U2", when the holding fingers 41 and 42 stack the tableware M on the tableware table 90, the number of stackable sheets is set in advance according to the type of the tableware M. As a result, by limiting the number of stacked tableware M, it is possible to prevent the stacked tableware M from collapsing due to its own weight or vibration, or by hitting the operating holding fingers 41 and 42.

"Information U3 regarding the orientation of the tableware M held by the holding fingers 41 and 42" is not the circular tableware held by the holding fingers 41 and 42 but, for example, each tableware M having a square shape. This is a function of notifying the control unit 100 whether or not the orientation (posture) of the tableware M is normal for stacking the tableware M on the tableware table 90. As a result, if the orientations of the tableware M are not aligned and the tableware M is not in a normal state, the tableware M held by the holding fingers 41 and 42 is not stacked on the tableware table 90, so that the stacked tableware M is not stacked. Can be prevented from collapsing. The "bulk height information U4 when stacking one tableware M" indicates the bulky height of the tableware on which the tableware M is stacked, and the control unit 100 determines the bulky height of the tableware. To limit. As a result, the operating holding fingers 41 and 42 are prevented from hitting the pile of the stacked tableware M and breaking. The "color information U5 of the tableware M when the tableware M is gripped and placed" defines in advance the color information of the tableware M when the holding fingers 41 and 42 grip the tableware M and place it on the tableware table 90. .. Thereby, the holding finger portions 41 and 42 can grip the tableware of the same color, for example, and place them on the tableware table 90 according to the color information of the tableware M.
By using the above-mentioned information U1 to U4, the discharge operation unit 30 ensures that the tableware M of a predetermined type is stacked on the tableware table 90 shown in FIG. 1 without causing any trouble. Can be done. Therefore, the discharge operation of the tableware M of a predetermined type can be surely performed, and the tact time of the discharge operation and the stacking operation can be shortened. Further, the discharge operation unit 30 can change the speed of the operation of discharging the tableware M from the transport unit 20 onto the tableware table 90 according to the type of tableware. For example, the discharge operation unit 30 changes the speed of the operation of discharging the tableware M from the transport unit 20 onto the tableware stand 90 according to the information on the weight of the tableware M included in the basic information BF of the tableware type. Can be done. As a result, it is possible to prevent the trouble that the holding fingers 41 and 42 accidentally drop the tableware M.

As a result of the tableware detection unit 50 shown in FIG. 1 detecting the tableware M transported by the transport unit 20, it is determined that the unregistered tableware N that is not registered in the tableware registration unit 70 and is not a predetermined type has been transported. In this case, the holding finger portions 41 and 42 of the discharge operation unit 30 do not hold the tableware N. As a result, it is possible to prevent the trouble that the holding fingers 41 and 42 mix and discharge the unregistered tableware N which is not a predetermined type and the registered predetermined type of tableware M and stack them on the tableware stand 90. can. Therefore, the takt time of the discharge operation of the tableware M of a predetermined type can be shortened.

When the tableware detection unit 50 shown in FIG. 1 detects the tableware transported by the transport unit 20 and detects that the tableware has been transported by the transport unit 20 in a state where a plurality of tableware are densely packed, a discharge operation is performed. The holding finger portions 41 and 42 of the portion 30 do not hold the dense tableware. As a result, the holding fingers 41 and 42 do not hold the dense tableware, so that it is possible to prevent the trouble of accidentally dropping the tableware. Therefore, the takt time of the tableware ejection operation can be shortened.

When the tableware detection unit 50 shown in FIG. 1 detects the tableware M transported by the transport unit 20, and detects that the tableware M is transported by the transport unit 20 in a state where a plurality of tableware are densely packed, the tableware is discharged. When the holding finger portions 41 and 42 of the operation unit 30 hold at least one of the plurality of tableware, they do not hold other tableware other than the held tableware. As a result, when the tableware is transported by the transport unit 20 in a densely packed state, the holding finger is held when one of the holding finger portions 41 and 42 holds the tableware M of at least one of the plurality of tableware. Since the other of the portions 41 and 42 does not hold the tableware M other than the held tableware M, it is possible to prevent the trouble of accidentally dropping the tableware M. Therefore, the takt time of the discharge operation of the tableware M of a predetermined type can be shortened.

When the tableware detection unit 50 shown in FIG. 1 detects the tableware M transported by the transport unit 20, the tableware detection unit 50 detects a part of the passing tableware M, thereby indicating the orientation of the tableware M and the tableware. Detect the position of M. As a result, the tableware detection unit 50 can detect the orientation of the tableware M and the position of the tableware M only by detecting a part of the tableware M. The detection speed of the shape and type of tableware M can be increased. Therefore, it is possible to shorten the tact time for discriminating the tableware M of a predetermined type and discharging operation.

As a result of the tableware detection unit 50 shown in FIG. 1 detecting the tableware transported by the transport unit 20, a predetermined number or more of the laser beams 50L (for example, all of them) among the plurality of laser beams 50L generated from the plurality of laser diodes 51D. When the laser beam (50L) is blocked and the light is not received by the light receiving diode 52D, the control unit 100 is an unregistered object that is not registered in the tableware registration unit 70 and is not a predetermined type and is much larger than the tableware. It is determined that (for example, a tray or rack for storing tableware) has been transported. In this case, the control unit 100 retracts the holding arm 32 of the discharge operation unit 30 from the transport unit 20. As a result, when an object much larger than the tableware (for example, a tray or a rack for accommodating the tableware) is conveyed by the transport unit 20, the object conveyed by the transport unit 20 is the holding arm of the discharge operation unit 30. It is possible to avoid contact with 32. As a result, it is possible to prevent the holding arm 32 of the discharge operation unit 30 from being damaged.

<Operation example of dishwashing assist device 10>
Next, an operation example of the above-mentioned dishwashing system 1000 will be described with reference to FIG. FIG. 12 is a flow chart showing an operation example of the dishwashing system 1000.
In step ST1 of FIG. 12, the operator sequentially places the underwashed dishes M and N on the conveyor 3 in FIGS. 1 and 2, so that the conveyor 3 places the dishes M and N on the conveyor 3. It is conveyed along the conveying direction X. The tableware M and N enter the main body 2 from the inlet portion A and are washed with washing water, preferably, for example, dried with hot air, and then come out from the outlet portion 2B, and the tableware washing assist device 10 of the next stage is performed. Is sent to the first transfer conveyor 21 side. When the first conveyor 21 conveys the washed dishes M and N to the second conveyor 22 side along the transfer direction X, the dishes M and N pass through the tableware detection unit 50, so that the tableware detection unit 50 Recognizes the shapes of tableware M and N.

In step ST2 of FIG. 12, the control unit 100 shown in FIG. 10 has the shapes of the tableware M and N obtained from the tableware detection unit 50 and the tableware M and N of the tableware type information F already obtained from the tableware registration unit 70. Match with the shape of. When the control unit 100 determines that the type of tableware detected by the tableware detection unit 50 is the tableware M of a predetermined type to be stacked on the tableware table 90, the process proceeds to step ST3. If the control unit 100 determines that the type of tableware detected by the tableware detection unit 50 is a type of tableware N other than the predetermined type of tableware M to be stacked on the tableware table 90, the step ST4 is performed. Move.

In step ST4 of FIG. 12, since the type of tableware detected by the tableware detection unit 50 is a type of tableware N other than the predetermined type of tableware M to be stacked on the tableware table 90, FIGS. 1 and 1 and FIG. The discharge operation unit 30 shown in 2 does not adsorb the tableware N detected by the tableware detection unit 50. As a result, the tableware N that has not been adsorbed is conveyed along the transfer direction X by the second transfer conveyor 22 shown in FIGS. 1 and 2, and as shown in FIG. 13B, the second transfer conveyor It is housed in the tableware receiving unit 95 from 22.

Returning to step ST3 of FIG. 12, the camera CA of the discharge operation unit 30 recognizes the shape of the tableware M of a predetermined type to be stacked on the tableware table 90, the center position of the tableware M, the orientation of the tableware M, and the like. Then, the discharge operation unit 30 is notified to the control unit 100 via the control unit 100.
In step ST4, the holding finger portion 41 or the holding finger portion 42 of the operation head 33 of the discharge operation unit 30 shown in FIG. 9 is directly above the tableware M on the second conveyor 22 shown in FIG. 1 and is held. The fingers 41 and 42 are moved to a position higher than the height of the tableware M so as not to hit the tableware M to be transported. Then, the holding finger portion 41 or the holding finger portion 42 descends to adsorb the bottom surface of the tableware M with air, and the holding finger portions 41 and 42 each hold a predetermined type of tableware M.

In step ST5 of FIG. 12, in FIGS. 1 and 2, when the holding arm 32 of the discharge operation unit 30 swivels and moves from the second conveyor 22 side to the tableware table 90 side, the holding fingers 41 and 42 are moved. It is located on the side of the tableware stand 90. Therefore, the predetermined type of tableware M held by the holding fingers 41 and 42 moves onto the tableware table 90, and the tableware M of the predetermined type is moved by the air reverse injection of the holding fingers 41 and 42. The holding state is immediately released, and the tableware M is stacked at a predetermined position on the tableware table 90 as illustrated in FIG. 13 (A). When the holding fingers 41 and 42 stack the tableware M at a predetermined position on the tableware table 90 as illustrated in FIG. 13A, the holding arm 32 is attracted to the holding fingers 41 and 42. Place each tableware M on the tableware table 90 at the same time. As a result, the tact time of the operation of discharging the tableware M from the second conveyor 22 onto the tableware stand 90 can be shortened.

Further, in step ST5, when the tableware M adsorbed on the holding finger portions 41 and 42 is placed on the tableware table 90, the holding arm 32 is a tableware M already stacked on the tableware table 90. Stack in places where the number of sheets is small. As a result, the tableware M can be stacked at a plurality of positions on the tableware table 90 so as to have an even stacking height. Therefore, the tact time of the operation of discharging the tableware M from the second conveyor 22 onto the tableware stand 90 can be shortened.

Further, in step ST5, when the holding finger portions 41 and 42 of the discharge operation unit 30 place, for example, a square or rectangular tableware M having a shape other than a circle on the tableware table 90, it is necessary to align the orientation of the tableware M. There is. When these tableware M are adsorbed by the holding fingers 41 and 42, it is desirable to adsorb them to the holding fingers 41 and 42 so that the directions of the tableware M are parallel to each other. As a result, when a plurality of, for example, square or rectangular tableware Ms are placed after being ejected, they can be stacked in the same direction, so that the takt time when ejecting and stacking can be shortened. Therefore, the tact time of the operation of discharging the tableware M from the second conveyor 22 onto the tableware stand 90 can be shortened.

Next, in step ST6 of FIG. 12, the holding arm 32 of the discharge operation unit 30 swivels back from the tableware table 90 side to the second conveyor 22 side, and returns to step ST1. After that, by repeating the operations of steps ST1 to ST5, the tableware M held by the holding fingers 41 and 42 moves onto the tableware table 90 as shown in FIGS. 13 (A) and 13 (B). Then, the holding of the tableware M is released by the air reverse injection of the holding fingers 41 and 42, and the tableware M is stacked on the tableware stand 90. When the tableware detection unit 50 no longer recognizes the tableware, the tableware ejection work is completed in step ST7.
By using the tableware washing assist device 10, the washed tableware M can be reliably discharged, the takt time of the discriminating and discharging operation of the tableware M can be shortened, and the labor saving of the dishwashing work can be achieved.

<Operation example of holding fingers 41, 42 in the dishwashing assist device 10>
FIG. 14 shows a more detailed operation example of the holding fingers 41 and 42. In FIG. 14, the holding fingers 41 and 42 stand by at a position slightly higher than the height of the tableware M placed on the second conveyor 22. As a result, the holding fingers 41 and 42 do not hit the tableware M conveyed by the second conveyor 22, and the holding fingers 41 and 42 can immediately approach and hold the bottom of the tableware M. can. Therefore, the tact time of the tableware M discharging operation can be shortened.

Moreover, the holding finger portion 41 (or 42) that tries to adsorb the tableware M to the tip of the holding finger portions 41, 42 is at a lower position closer to the tableware M than the other holding finger portions 42 (or 41). I'm waiting at. As a result, the holding finger portion 41 (or 42) for sucking the tableware M can stand by at a low position close to the tableware M, so that the holding finger portions 41, 42 keep the distance to access the bottom of the tableware M as small as possible. It can be adsorbed in a shorter time, and the tact time of the adsorbing operation of the tableware M can be shortened. Further, the holding fingers 41 and 42 move above the center of the bottom of the tableware M placed on the second conveyor 22, and then descend perpendicularly to the center of the bottom of the tableware M. ing. As a result, the holding fingers 41 and 42 can immediately approach and hold the center of the bottom of the tableware M to be transported. Therefore, the tact time of the tableware M discharging operation can be shortened.

As shown in FIG. 14A, the holding finger portion 41 on the downstream side along the transport direction X tends to hold the tableware M earlier than the holding finger portion 42, so that the holding finger portion 41 is used. It is positioned at a position lower by ZR by the height in the vertical direction so as to be as close as possible to the bottom of the tableware M as compared with the holding finger portion 42. Then, as shown in FIGS. 14 (A) to 14 (B), the holding finger portion 41 lowers in the Z1 direction to hold the tableware M and then rises in the Z2 direction. On the contrary, the holding finger portion 42 is positioned at a position lower by the height ZR in the vertical direction so as to be as close as possible to the bottom portion of the tableware M as compared with the holding finger portion 41. Then, as shown in FIGS. 14 (B) to 14 (C), the holding finger portion 42 lowers in the Z1 direction to hold the tableware M and then rises in the Z2 direction. Therefore, the holding fingers 41 and 42 can immediately hold the tableware M while preventing them from hitting the tableware M, and the tact time of the suction holding operation of the tableware M can be shortened.

15 and 16 are plan views showing an example in which the tableware M is conveyed along the transfer direction X by the second transfer conveyor 22. 15 and 16 show the tableware M and the holding fingers 41 and 42.
15 (A) and 15 (B) show an example of a circular tableware M. In the example of FIG. 15A, since the arrangement directions WW of the two adjacent circular tableware M are conveyed so as to be substantially parallel to the transfer direction X, the holding fingers 41 and 42 are conveyed. The arrangement direction is along the arrangement direction WW of the two tableware M, and the holding fingers 41 and 42 can reliably suck and hold the bottom of the tableware M, respectively.

On the other hand, in the example of FIG. 15B, since the arrangement direction WW of the two adjacent circular tableware M is inclined with respect to the transport direction X, the holding finger portion 41 The arrangement direction of the tableware M can be changed so as to match the arrangement direction WW of the two tableware M, and the holding fingers 41 and 42 can suck and hold the bottom of the tableware M, respectively. For example, the operation head 33 shown in FIG. 6 is rotated and positioned about the J6 axis to change the arrangement direction of the holding fingers 41 and 42 to the arrangement direction W- of the tableware M on the second transfer conveyor 22. It can be maintained parallel to W. Therefore, even if a plurality of tableware Ms are not necessarily transported side by side along the transport direction X, the holding finger portions 41 and 42 can reliably hold each tableware M according to the positional relationship of each tableware M. .. Therefore, the tact time of the tableware M discharging operation can be shortened. Even if the arrangement of the plurality of adjacent tableware M as shown in FIGS. 15A and 15B is in the arrangement direction WW, the discharge operation unit 30 shown in FIG. 1 is the tableware stand 90. Can be lined up and stacked neatly.

15 (C) and 15 (D) show an example of a square tableware M. In the example of FIG. 15C, since the two adjacent square tableware M are transported so that the arrangement direction WW is substantially parallel to the transport direction X, the two holding fingers are transported. The arrangement direction of 41 and 42 is along the arrangement direction WW of the two square tableware M, and the holding finger portions 41 and 42 can reliably suck and hold the bottom of the tableware M, respectively.

On the other hand, in the example of FIG. 15 (D), one of the two adjacent square tableware M is transported with its orientation (posture) tilted with respect to the transport direction X. It's coming. In this case, after the holding finger portion 41 sucks and holds the bottom portion of one of the tableware M, for example, the operation head 33 shown in FIG. 6 is rotated by a predetermined angle about the J6 axis and positioned in the rotation direction. By doing so, the other holding finger portion 42 can suck and hold the bottom portion of the tableware M whose posture is tilted. Therefore, even if the posture of the square tableware M is tilted with respect to the transport direction X, the holding fingers 41 and 42 align the postures of the square tableware M corresponding to the postures of the square tableware M. It can be held securely and the tact time of the ejection operation of the square tableware M can be shortened.

The examples of FIGS. 16A and 16B show an example in which two adjacent tableware Ms are densely transported.
In the example of FIG. 16A, when the tableware detection unit 50 shown in FIG. 2 detects that the two tableware Ms have been conveyed by the second transfer conveyor 22 in a dense state, one of them is held. When the finger portion 41 holds one tableware M, the other holding finger portion 42 does not hold the other tableware M. As a result, it is possible to prevent the trouble that the other holding finger portion 42 fails to take the tableware M and drops the tableware M. Therefore, the tact time of the tableware M discharging operation can be shortened.
In the example of FIG. 16B, when the tableware detection unit 50 shown in FIG. 2 detects that the two tableware Ms have been conveyed by the second transfer conveyor 22 in a dense state, the holding finger unit 41 and 42 do not hold the dense tableware M at all. This makes it possible to prevent the trouble of dropping the tableware M. Therefore, the tact time of the tableware M discharging operation can be shortened.

FIG. 17 shows a specific example of the “dense state of tableware M”. In the example of FIG. 17A, one tableware M is normally placed downward on the second conveyor 22. However, in the other tableware M, the bottom of the tableware M faces downward and is tilted. The distance E between the center points of the tableware M is smaller than the minimum distance SR between the holding finger portion 41 on one side and the holding finger portion 42 on the other side.
In the example of FIG. 17B, the two tableware Ms are both placed facing down in a normal state. However, the distance E1 between the centers of the two tableware M is smaller than the minimum distance SR between the holding finger portion 41 of one and the holding finger portion 42 of the other.

As described above with reference to specific examples of FIGS. 16A to 17B, a portion where the holding arm 32 holds the plurality of tableware M when the plurality of tableware M approaches each other (for example, the center point of the tableware M). When the distance between the two is smaller than the predetermined distance, the holding finger portions 41 and 42 do not hold other tableware other than the held tableware when at least one of the tableware M of the plurality of tableware M is held. For example, when two tableware Ms are in contact with each other or overlap each other, the control unit 100 uses the tableware type information F in which the tableware M transported by the transport unit 20 is registered in the tableware type registration card 71. Do not recognize it as tableware to have. Therefore, in such a case, the holding finger portions 41 and 42 do not hold any tableware other than the held tableware when at least one of the plurality of tableware M is held.

Next, another embodiment of the present invention will be described, and the same reference numerals are given in places where the components of each embodiment described below are the same as the components of the first embodiment of the present invention described above. The explanation is omitted.
(Second Embodiment)
FIG. 18 shows the operation head 33A of the holding arm 32 according to the second embodiment of the present invention. In the operation head 33 of the first embodiment of the present invention shown in FIG. 9, the distance SR between one holding finger portion 41 and the other holding finger portion 42 is set in a plurality of stages by using two air cylinders 61C and 62C. It can be changed with.
On the other hand, in the operation head 33A of the second embodiment of the present invention shown in FIG. 18, one air cylinder 62C is used to determine the distance SR between one holding finger portion 41 and the other holding finger portion 42. , Distance SR1, distance SR4, distance SR5, etc. can be changed in multiple stages. As a result, the number of air cylinders set in the operation head 33A can be reduced, so that the weight of the operation head 33A can be reduced and the structure can be simplified.

(Third Embodiment)
FIG. 19 shows one holding finger portion 41 and the other holding finger portion 42 according to the third embodiment of the present invention. The holding fingers 41 and 42 are connected to the air supply unit 80. The air supply unit 80 supplies air to the inside of the holding fingers 41, 42 according to the size and shape of the tableware M according to the command of the control unit 100, so that the diameters of the holding fingers 41, 42 ( The size) can be increased as shown in FIGS. 19 (A) to 19 (B). As a result, even if the size of the tableware M is large and heavy as shown in FIG. 19B, by increasing the diameters of the holding fingers 41 and 42, the tableware M is stably adsorbed and held without dropping. The holding fingers 41 and 42 can hold and discharge various types of tableware M.

(Fourth Embodiment)
FIG. 20 is a plan view showing the dishwashing system 1000A according to the fourth embodiment of the present invention.
In the dishwasher system 1000 of the fourth embodiment of the present invention shown in FIG. 1, the dishwasher 1 includes a conveyor (discharge conveyor) 3, and the dishwasher assisting device 10 includes a first conveyor 21. .. On the other hand, in the dishwasher system 1000A shown in FIG. 20, the conveyor (discharge conveyor) of the dishwasher 1 and the first conveyor of the dishwasher assisting device 10 are integrated into a first conveyor 21A. .. This makes it possible to simplify the configuration of the dishwashing system 1000A.

The embodiment of the present invention has been described above. However, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of claims. The configuration of the above embodiment may be partially omitted or may be arbitrarily combined so as to be different from the above.
For example, in the illustrated example, two holding fingers 41 and 42 are used, but the present invention is not limited to this, and three or more holding fingers may be used.
In the illustrated example, the discharge operation unit 30 is arranged on one side of the transport unit 20. However, the discharge operation unit 30 can be arranged on both one side and the other side of the transport unit 20. The lengths of the first conveyor 21 and the second conveyor 22 of the conveyor 20 in the transport direction X can be changed according to the size of the space of the facility where the dishwashing system 1000 is installed.
As shown in FIG. 1, the guide member 6 and the tableware loading range indicating unit 7 are provided, but one or both of the guide member 6 and the tableware loading range indicating unit 7 may not be provided. In this case, the worker may place the tableware over the entire width of the conveyor 3, the first conveyor 21, and the second conveyor 22 in the Y direction. In this case, the length of the tableware detection unit 50 is increased according to the total width of the first transfer conveyor 21 and the second transfer conveyor 22 in the Y direction to increase the detectable range 50S, thereby increasing the tableware detection unit. 50 can detect the type of tableware.
The holding arm 32 of the discharge operation unit 30 may be a robot having three or more axes, or a three-axis operation table having X, Y, and X axes, in addition to the six-axis robot.

1: Dishwashing machine, 2: Main body, 2A: Entrance, 2B: Exit, 3: Conveyor (discharge conveyor), 4: Dishwashing container, 5: Transit, 6: Guide member, 7: Dishware Loading range indicator, 8: Tableware loading timing indicator, 9: Gap area, 10: Dishwashing auxiliary device, 20: Transport section, 21 and 21A: 1st transport conveyor, 22: 2nd transport conveyor, 23: Drive motor , 30: Discharge operation unit, 32: Holding arm, 33: Operation head, 41, 42: Holding finger part, 50: Tableware detection unit, 50L: Laser light, 50S: Detectable range, 51: Light emitting part, 52: Light receiving Unit, 61: 1st drive operation part, 61A, 61B: air cylinder, 61C: air cylinder, 61D: guide member, 61E: mounting member, 62: 2nd drive operation part, 62A, 62B, 62C: air cylinder, 62D : Guide member, 62E: Mounting member, 70: Tableware registration unit, 71: Tableware type registration card (example of tableware registration medium) 80: Air supply unit, 81: Notification unit, 90: Tableware stand, 95: Tableware receiving unit, 100: Control unit, 110: Air operation unit, 1000, 1000A: Dishwashing system, CA: Camera for environment recognition, F: Tableware type information, M: Tableware, N: Tableware, MT1 to MT6: Motor, R1, R2 : Range, SR: Distance between holding fingers, V: Camera acquisition information, X: Transport direction

Claims (18)

It is a dishwashing auxiliary device that is placed side by side in the dishwasher and discharges the washed dishes.
A transport unit that transports the dishes from the dishwasher,
A tableware detection unit that detects the shape of the tableware transported by the transport unit, and
The type of the tableware to be transported by the transport unit is registered in advance and the tableware type information is registered, and the type of the tableware in the transport unit is based on the shape of the tableware detected by the tableware detection unit. And the discharge operation unit that holds the tableware and discharges it from the transport unit according to the type of the tableware.
A dishwashing assist device characterized by being equipped with. The dishwashing assist device according to claim 1, further comprising a tableware registration unit for registering the tableware type information. The tableware registration unit is characterized in that the type of tableware can be registered in advance by reading a tableware registration medium having the tableware type information in which the type of tableware to be transported by the transport unit is registered. The dishwashing assist device according to claim 2. The dishwashing assist device according to claim 3, wherein the tableware type information registered by the tableware registration medium has tableware-related information relating to the tableware. The discharge operation unit has a holding arm and has a holding arm.
The holding arm has a plurality of holding fingers for holding the tableware, and the plurality of holding fingers suck and hold the tableware on the transport unit, and the held tableware is transported. The dishwashing assisting device according to claim 4, wherein the dishes are discharged from the unit. The dishwashing assisting device according to claim 5, wherein the holding finger portion holds the tableware by sucking air, and releases the holding of the tableware by reversely injecting the air. The tableware according to claim 5, wherein the tableware-related information includes holding finger portion setting distance information for setting a distance between a plurality of the holding finger portions according to the size of the tableware. Cleaning aid. The dishwashing assisting device according to claim 5, wherein the diameter of the holding finger portion can be changed according to the type of the tableware. The dishwashing according to any one of claims 5 to 8, wherein the discharging operation unit can change the speed of the operation of discharging the tableware from the transporting unit according to the type of the tableware. Auxiliary device. The tableware washing assisting device according to any one of claims 1 to 9, further comprising a tableware stand for stacking the tableware discharged from the transport unit, which is provided in the vicinity of the discharge operation unit. In addition to the holding finger portion setting distance information, the tableware-related information includes stacking pattern information of the tableware when stacking the tableware, information on the number of stackable sheets, and information on the orientation of the tableware held by the holding finger portion. The dishwashing assist device according to claim 7, further comprising information on the height of the bulky tableware when stacking the tableware, and information on the color of the tableware when the tableware is gripped and placed. When the unregistered tableware that is not registered in the tableware registration unit is transported by the transport unit, the holding finger portion of the discharge operation unit does not hold the unregistered tableware. The dishwashing assist device according to claim 5. A plurality of the tableware in a dense state in which the distance between the portions of the holding arm holding the plurality of the tableware becomes smaller than a predetermined distance due to the plurality of the tableware approaching each other on the transport unit. The dishwashing assist device according to claim 5 or 6, wherein when the tableware is transported by the transport unit, the holding finger portion of the discharge operation unit does not hold the densely packed tableware. .. A plurality of the tableware in a dense state in which the distance between the portions of the holding arm holding the plurality of the tableware becomes smaller than a predetermined distance due to the plurality of the tableware approaching each other on the transport unit. When the tableware is transported by the transport unit, the holding finger portion of the discharge operation unit holds the tableware of at least one of the plurality of the tableware, and the tableware is at least one of the above. The dishwashing assist device according to claim 5 or 6, wherein the dishes other than the dishes are not held. The dishwashing assist device according to claim 13 or 14, further comprising a tableware receiving unit that receives the tableware that was not held by the holding finger portion of the discharging operation unit from the transport unit. The tableware according to any one of claims 1 to 15, further comprising a tableware loading range indicating section that is provided in the tableware loading section of the dishwasher and indicates a range in which the tableware is loaded. Cleaning aid. The item according to any one of claims 1 to 16, further comprising a tableware loading timing instruction section provided in the tableware loading section of the dishwasher and instructing the timing of loading the underwashed tableware. Described dishwashing aid. A dishwasher for washing dishes and
A dishwashing system that is arranged side by side in the dishwasher and includes a dishwashing assist device for discharging the washed dishes.
The dishwashing assist device is
A transport unit that transports the dishes from the dishwasher,
A tableware detection unit that detects the shape of the tableware transported by the transport unit, and
The type of the tableware to be transported by the transport unit is registered in advance and the tableware type information is registered, and the type of the tableware in the transport unit is based on the shape of the tableware detected by the tableware detection unit. And the discharge operation unit that holds the tableware and discharges it from the transport unit according to the type of the tableware.
A dishwashing system characterized by being equipped with.

Images