JP2023116354A - Article transfer device and attaching/detaching device of hand device with the article transfer device - Google Patents

Abstract

To provide an article transfer device capable of transferring an article to a proper position in a stable attitude.SOLUTION: The present invention relates to an article transfer device which transfers an article by through forward/backward movements of a support member to/from the article while a belt-like member capable of transferring the article is folded back at a tip part of the support member from a top surface side of the support member and wound around a reverse surface side of the support member and normal/reverse movements of the belt-like member to and from the top surface of the support member, and the article transfer device is configured to move the belt-like member relative to the top surface of the support member by attaching both end parts of the belt-like member to a rotary member arranged on a base part side of the support member and also rotating the rotary member to feed one end side of the belt-like member and simultaneously taking up the other end side. Further, the one end side and the other end side of the belt-like member are wound around the rotary member in opposite directions, and the one end side of the belt-like member is fed out through the rotation of the rotary member to substantially the same length with the winding length of the other end side.SELECTED DRAWING: Figure 5

Description

The present invention relates to an article transfer device for transferring articles such as food, and an attachment/detachment device for attaching and detaching a hand device including the article transfer device.

For example, in a food processing factory, a cutting device is used to cut a block of food such as raw meat at predetermined intervals from its tip, and a plurality of foods (items such as thin pieces) thus formed to have a predetermined thickness are cut manually. Scoop it up from the conveyor and put it on a food tray.
A group of foods arranged on a tray is packaged together with the tray, labeled with the type of food, measured total weight, price, etc., and shipped as a product.

In recent years, attempts have been made to automate the formation of such food groups. Patent Document 1 discloses that food on a conveyor is picked up by a suction head provided on a robot arm, moved, and repeated to form food groups. Techniques for forming are disclosed.
Further, a technique is disclosed for picking up this group of foods by gripping them with a pair of gripping members provided in a hand device and serving them on a tray.
Incidentally, such a hand device is fixed to the wrist portion of the robot arm by fastening means such as bolts.

Japanese Patent No. 6626411

However, when an article such as food containing oil and fat such as raw meat or sticky food is picked up by suction or gripping with the technique disclosed in Patent Document 1, the article adheres to the suction head or the gripping member. do.
For this reason, there is a problem that it is difficult to drop the article even if the suction or grip is released, and it becomes difficult to put the collected article in an appropriate position in a stable posture.
Further, in the case of removing such a hand device from the wrist portion for cleaning due to sanitary reasons, etc., a tool for releasing the fastening by the fastening means is required, which makes it easy to attach and detach the hand device. There is a problem that the work efficiency is lowered.

SUMMARY OF THE INVENTION The present invention solves the above-described problems and facilitates attachment and detachment of an article transfer device capable of placing collected food in a proper position in a stable posture, and a hand device equipped with the article transfer device. It is an object of the present invention to realize an attachment/detachment device capable of

The present invention takes the following technical means in order to solve the above-described problems.
That is, according to the first aspect of the invention, a belt-shaped member capable of transferring an article is folded back at the tip of the support member from the upper surface side of the support member and wound around the lower surface side of the support member to support the article. and movement of the belt-shaped member in forward and reverse directions with respect to the upper surface of the support member, wherein both end sides of the belt-shaped member are attached to the support member. It is attached to a single rotating member or a plurality of coaxially rotating rotating members disposed on the base side, and this rotating member is rotated to let out one end side of the belt-like member while winding up the other end side, whereby the support member is attached to the support member. An article transfer device is characterized in that it is configured to move a belt-shaped member with respect to an upper surface.

In the invention according to claim 2, the winding directions of one end side and the other end side of the belt-like member with respect to the rotating member are set in opposite directions, and the one end side of the belt-like member is paid out by the rotation of the rotating member. 2. The article transfer apparatus according to claim 1, wherein the winding length on the end side is set to approximately the same length.

According to a third aspect of the present invention, narrow width portions are formed on both end sides of the belt-like member, and each of these narrow width portions winds around different portions of the rotating member in the rotation axis direction. The article transfer apparatus according to claim 1 or claim 2.

According to a fourth aspect of the invention, a cutout portion and a narrow width portion are formed adjacent to each other in the width direction of the belt-shaped member on both end sides of the belt-shaped member, and the cutout portion formed on one end side of the belt-shaped member is formed. The width is set larger than the width of the narrow portion formed on the other end side of the belt-shaped member, and the narrow portion on the one end side and the narrow portion on the other end side of the belt-shaped member are each formed on the rotating member. 3. The article transfer apparatus according to claim 1 or 2, wherein the article transfer apparatus is constructed so as to wrap around adjacent portions in the rotation axis direction.

According to a fifth aspect of the invention, one or both of both end sides of the belt-like member are detachably attached to the outer peripheral portion of the rotary member. The article transfer device according to 1.

According to a sixth aspect of the present invention, the belt-shaped member is moved in a positive direction with respect to the upper surface of the support member while advancing the support member toward the lower surface of the article to scoop up the article. 6. The article transfer according to any one of claims 1 to 5, wherein the support member is retracted from the lower surface side of the article to unload the article while moving the support member in the opposite direction with respect to the upper surface of the support member. device.

According to a seventh aspect of the present invention, a hand device having the belt-shaped member, the support member, and the rotating member is provided, and an attachment/detachment device is provided to allow the hand device to be attached/detached to/from the wrist portion of the robot arm. includes a holding member fixed to the wrist portion side of the robot arm and a held member fixed to the hand device side, and the holding member slides the held member in the lateral direction in a placed state. A slide support portion that freely supports the held member, an engaging portion that engages the held member at a predetermined position in the sliding direction, and a position where the engaged portion presses the held member to make it non-slidable. An attachment/detachment device for a hand device comprising the article transfer device according to any one of claims 1 to 6, further comprising a fixing portion for fixing.

According to an eighth aspect of the present invention, the fixing portion is provided with a first operating tool for pressing the held member by a rotating operation, and a second operating tool for locking the rotation of the first operating tool. 2. A hand device attachment/detachment device comprising the article transfer device according to 1.

According to the article transfer apparatus of the present invention, an article can be transferred to an appropriate position in a stable posture.
Further, according to the attachment/detachment device for the hand device provided with this article transfer device, the attachment and detachment of the hand device can be easily performed, and the working efficiency can be improved.

FIG. 2 is an explanatory side view of a robot arm on which a hand device having the article transfer device according to the embodiment is mounted; FIG. 2 is an explanatory plan view of a robot arm on which a hand device having the article transfer device according to the embodiment is mounted; FIG. 2 is an explanatory left side view of a hand device provided with the article transfer device of the first embodiment; FIG. 2 is an explanatory right side view of a hand device provided with the article transfer device of the first embodiment; FIG. 2 is an explanatory plan view of a hand device provided with the article transfer device of the first embodiment; FIG. 2 is an explanatory bottom view of a hand device provided with the article transfer device of the first embodiment; FIG. 2 is an explanatory rear view of a hand device provided with the article transfer device of the first embodiment; The top view of the 1st Example of a strip|belt-shaped member. The top view of the 2nd Example of a strip|belt-shaped member. 1 is a block diagram of a serving system using a hand device equipped with the article transfer device of the first embodiment; FIG. (a) is an explanatory diagram of a state in which the hand device including the article transfer device of the first embodiment starts placing items, and (b) is an explanatory view of the state at the end of placing items. The left side view for description of the hand apparatus provided with the goods transfer apparatus of 2nd Embodiment. The right side view for explanation of the hand device provided with the goods transfer device of a 2nd embodiment. FIG. 11 is an explanatory plan view of a hand device provided with an article transfer device according to a second embodiment; The bottom view for description of the hand apparatus provided with the goods transfer apparatus of 2nd Embodiment. FIG. 11 is a rear view for explaining a hand device provided with an article transfer device according to a second embodiment; FIG. 10A is a diagram showing a partial working state in the second embodiment, where (a) is an explanatory front view of a state before both ends of the thin group are folded, and (b) is a state where both ends of the thin group are folded. Front view for explanation. FIG. 11 is a block diagram of a serving system using a hand device having an article transfer device according to a second embodiment; (a) is an explanatory diagram of a state in which a hand device equipped with an article transfer device according to a second embodiment starts placing items, and (b) is an explanatory view of a state in the middle of placing items. FIG. 11 is an explanatory left side view of a hand device provided with an article transfer device according to a third embodiment; FIG. 11 is an explanatory plan view of a hand device provided with an article transfer device according to a third embodiment; FIG. 11 is a schematic front view for explaining a hand device provided with an article transfer device according to a third embodiment; FIG. 11 is a schematic back view for explaining a hand device provided with an article transfer device according to a third embodiment; FIG. 11 is a front view for explaining a part of a hand device provided with an article transfer device according to a third embodiment; (a) is an explanatory front view of a part of a hand device provided with an article transfer device according to a third embodiment, and (b) is an enlarged view of a part of the hand device. FIG. 11 is a side view for explaining a part of a hand device provided with an article transfer device according to a third embodiment; FIG. 11 is a block diagram of a serving system using a hand device having an article transfer device according to a third embodiment; FIG. 10 is a plan view, a side view, and a front view schematically showing the initial state of the start of collection of the article (thin-walled), wherein (a) is an explanatory diagram of the standby state, (b) is an explanatory diagram of the collection start state, and (c). ) is an illustration of the state in the middle of scooping up. FIG. 28(c) is a plan view, a side view, and a front view schematically showing the state until the collection of the article (thin-walled) is completed, and (d) is an explanatory diagram of the scooping completion state; is an explanatory diagram of a state in which an article is held, and (f) is an explanatory diagram of a state in which an article is picked up and movement is started. Fig. 29(f) is a plan view, a side view, and a front view schematically showing the state after moving the sampled article (thin-walled) until it is placed in a predetermined position; is released, (h) is an explanatory view of a state in which an article has started to be placed at a predetermined position, and (i) is an explanatory view of a state in which the article has been placed at a predetermined position. FIG. 30(i) is a plan view, a side view, and a front view schematically showing a state in which the scooping part is retracted from the article (thin-walled) after the article (thin-walled) is placed in a predetermined position; ) is an illustration of a state in which the article has been placed, and (k) is an illustration of a state in which the scooping portion is retracted from the article. (a) is an explanatory diagram of a serving area in the embodiment, and (b) is an explanatory plan view of a state in which an article (thin-walled) is twisted and placed. (a) to (c) are explanatory diagrams showing a state in which articles (thin-walled) are arranged in rows and columns in a serving area. FIG. 2 is a plan view of the attachment/detachment device; The bottom view of an attaching/detaching device. FIG. 2 is a rear view showing a part of the attachment/detachment device in cross section; Right side view of the attachment/detachment device. Left side view of the attachment/detachment device.

In the embodiments detailed below, the target product will be described as raw thin meat E obtained by slicing chilled block meat with the slicer 1 .
Moreover, this thin wall E may be folded in two by the slicer 1 after being cut.
In addition, this article is not limited to the thin-walled material E, and may be other foods, such as food dough having flexibility and adhesiveness, industrial products other than foods, and the like.

(First Conveying Device and Second Conveying Device)
As shown in FIGS. 1 and 2, the thin-walled E cut out from the slicer 1 has a length (width) in the X-axis direction that is longer than a length in the Y-axis direction, and is transferred to the first conveying device 2. It is placed on the conveying surface 3 a of the belt 3 .
The food serving device 4 is arranged at a position on the left side of the first conveying device 2 on the downstream side, but is not limited to this position.

The first transport device 2 is a belt conveyor in which an endless belt 3 is wound over a group of driven rollers and a drive roller (both not shown).
On the terminal end side of the first transport device 2, a second transport device 5 extending in the left-right direction is arranged which is perpendicular to the transport direction of the first transport device 2 in a plan view.
The second conveying device 5 conveys food trays 6 to a waiting position facing the end of the conveying of the first conveying device 2, as will be described later. A chain conveyor wound with the chain 7 of .
It should be noted that the second conveying device 5 may be a belt-type conveyer that conveys the tray 6 in a placed state.

Also, the belt 3 of the first conveying device 2 is driven by a servomotor 8 shown in FIG.
The rotational phase of this servo motor 8 is detected by an encoder 9 and this detected value is input to a slicer controller 10 .

(camera)
Further, as shown in FIGS. 1 and 2, the thin wall E on the conveying surface 3a before being conveyed to the collecting position T (before being collected) is imaged at a position above the collecting position T on the upstream side. A camera 11 is placed.

(robot arm)
As shown in FIGS. 1 and 2 , the food serving device 4 is a robot having a robot arm 12 .
The robot arm 12 can freely rotate as a whole and rotate each part around axes J1 to J6 of a plurality of active joints.
As shown in FIG. 10, all of the axes J1 to J6 of this active joint are provided with servo motors 13 to 18, and these servo motors 13 to 18 are provided with encoders 19 to 23S as rotational position detectors, respectively. .

Also, the robot arm 12 comprises a base 25 , a swivel base 26 , a lower arm 27 , an upper arm 28 , a wrist 29 and a hand mounting base 30 .
The base 25 is fixed on the floor of the processing plant or on a support base 24 connected to the slicer 1 side, and the base 25 is provided with a swivel base 26 which can swivel around the vertical axis J1.
A lower arm 27 is pivotally supported on the swivel base 26 so as to be vertically rotatable about a horizontal axis J2. At the upper end of the lower arm 27, a base 28a of an upper arm 28 is vertically rotatable about a horizontal axis J3. movably pivoted.

A rotating body 28b attached to the tip of the base portion 28a is rotatably supported around an axis J4 along the axis of the base portion 28a. Note that the axis J4 is perpendicular to the axis J3.
A wrist 29 is rotatably supported around a horizontal axis J5 at the tip of the rotating body 28b. This axis J5 is perpendicular to the axis J4.
A hand mounting seat 30 is attached to the tip of the wrist 29 so as to be rotatable around a vertical axis J6.

Servomotors 13 to 18 provided for respective axes J1 to J6 are driven by outputs from a robot controller 34 of a food arrangement control device 31, which will be described later.

(Serving area R)
As shown in FIG. 2, a serving area R is set on the bottom surface of the tray 6 which is transported by the second transport device 5 and waits at a position downstream of the end of the first transport device 2 .
In addition, the position for setting the serving region R can be set at an appropriate position such as a fixed position around the slicer 1 other than the bottom surface of the tray 6 .
By placing a plurality of thin-walled items E in the serving area R, a group of thin-walled items E (a group of articles) is formed.

(definition of direction)
In addition, in the conveying direction of the first conveying device 2 described above, the slicer 1 side is defined as the upstream side, and the opposite side is defined as the downstream side.
In the figure, "-Y" indicates the upstream direction, and "+Y" indicates the downstream direction.
"+X" indicates the right-hand direction when facing downstream from the slicer 1 side, and "-X" indicates the left-hand direction when facing downstream from the slicer 1 side.
"-Z" indicates the downward direction, and "+Z" indicates the upward direction.
The directions indicated by X, Y, and Z are orthogonal to each other, and each serves as a three-dimensional coordinate axis.

(Definition of rows and columns in serving area R)
In the plated region R described above, the direction in which the thin E is continuously plated from one end to the other end of the plated region R is defined as a "row", and the direction perpendicular to the "row" is defined as a "column".
As a result, after all the thin layers E are placed in one row, the next line head is started, and this is repeated to complete the plating in all rows and all columns in the plating region R. .
In this embodiment, "rows" are set in the X-axis direction, and "columns" are set in the Y-axis direction. As a result, a plurality of "rows" are arranged in parallel at intervals in the Y-axis direction.

(First embodiment of transfer device and hand device)
3 to 7 show the hand device 33 of the first embodiment.
A connecting member 103 in the form of a round bar is used to connect the middle portions in the front-rear direction of the left and right side plates 100L and 100R to form a framework.
The outer surfaces of the left and right standing portions 102L and 102R standing from the rear end portion of the supporting plate (“supporting member” in the claims) 101 formed in a rectangular shape in plan view are aligned with the inner surfaces of the front end portions of the left and right side plates 100L and 100R. Fix it in a state where it abuts between the sides.
As a result, the front end portion of the support plate 101 (the “tip portion” in the claims) protrudes greatly forward with respect to the left and right side plates 100L and 100R.
As shown in FIG. 6, the lower surface of the support plate 101 is fixed with three reinforcing plates 101S for suppressing bending and vibration.

Between the rear ends of the left and right side plates 100L and 100R, both ends of a rotating shaft 104A of a rotating frame (a "rotating member" in the claims) 104 are rotatably supported via bearings 104AB and 104AB. .
The rotary frame 104 is constructed by fixing circular support discs 104B to both ends of a rotary shaft 104A and fixing a plurality of rod-like members 104C between the left and right support discs 104B, 104B by welding.
104 C of this rod-shaped member are arrange|positioned in the attitude|position parallel to this rotating shaft 104A on the circular arc centering on 104 A of rotating shafts, and with substantially equal pitch.

Further, as shown in FIG. 7, a portion of the rod-shaped member 104C is shortened to form locking rod-shaped members 104CL and 104CR, which protrude inward from the inner surfaces of the left and right support plates 104B and 104B, respectively. , the base is fixed to the inner surface of the support plates 104B, 104B.
A tension roller 105 is rotatably supported by a support shaft 105S on the front end of the tension arm 105A, and the rear end of the tension arm 105A is supported so as to be vertically swingable coaxially with the rotating shaft 104A. do.
The tension arm 105A is arranged along the inner surface of the right side plate 100R.

In addition, the right end of the support shaft 105S is protruded outward through the tension arm 105A, and this protruding end enters the vertical notch 105C formed in the front portion of the right side plate 100R. Let
A female screw member 105D is screwed onto the projecting end of the support shaft 105S, and the tension arm 105A and the right side plate 100R are fastened and fixed by rotating the female screw member 105D.
The female screw member 105D can be rotated in the opposite direction to loosen the fastening state, and the tension arm 105A can be swung to adjust the vertical position of the tension roller 105. As shown in FIG.

A transmission case 100R1 is attached to the outer surface of the right side plate 100R, and a servomotor 100R2 is attached to the right side of the transmission case 100R1.
As shown in FIG. 4, inside the transmission case 100R1, the output gear 100R3 fixed to the output shaft of the servomotor 100R2 and the input gear 100R4 fixed to the projecting end of the rotary shaft 104A are meshed.

Further, as shown in FIG. 7, the rear part of the right side plate 100R is extended upward and then bent and extended leftward to form a mounting portion 100R5.
A spacer 100R6 having a right-angled triangle shape in a side view is fixed to the upper surface of the attachment portion 100R5. set up.
The attachment/detachment device 400 attaches the hand device 33 to the wrist 29 of the robot arm 12 .

(Belt of the first embodiment and its winding structure)
As shown in FIG. 8, a belt (a "belt-shaped member" in the claims) 106 is formed of canvas or the like that can transfer the thin E, and cutout portions 106S and narrow portions 106T are formed on both end sides of the belt 106. They are formed adjacent to each other in the width direction of the belt 106 .
The width B1 of the notch portion 106S formed at one end of the belt 106 is set larger than the width B2 of the narrow portion 106T formed at the other end of the belt 106.
Similarly, the width A2 of the notch portion 106S formed on the other end side of the belt 106 is set larger than the width A1 of the narrow portion 106T formed on the one end side of the belt 106. FIG.

As shown in FIGS. 5 and 6, the loop-shaped engaging portion 106R formed at the end of the narrow portion 106T on the one end side of the belt 106 is attached to the right locking bar member 104CR. Installed in a penetrating state.
Then, the other end of the belt 106 is folded back at the tip of the support plate 101 from the upper surface of the support plate 101 and wound around the lower surface of the support plate 101 .
Further, the loop-shaped engaging portion 106L formed at the end portion of the narrow portion 106T on the other end side is fitted through the left locking rod-shaped member 104CL.

As a result, the narrow portion 106T on the one end side of the belt 106 and the narrow portion 106T on the other end side of the belt 106 are adjacent to each other in the rotation axis direction of the rotating frame 104 while forming a lateral gap 106Q therebetween. It wraps around the part where it does.
That is, interference between the narrow portion 106T on the one end side of the belt 106 and the narrow portion 106T on the other end side of the belt 106 is prevented from occurring during the winding and feeding.

As shown in FIG. 7, the winding direction of the narrow portion 106T on the one end side of the belt 106 and the winding direction of the narrow portion 106T on the other end side of the belt 106 with respect to the rotating frame 104 are opposite to each other. The length of the belt 106 that is paid out at one end and the length that is taken up at the other end of the belt 106 due to the rotation of the belt 106 are set to approximately the same length.
That is, one of the two ends of the belt 106 is wound by a predetermined length, and the other is unwound by the predetermined length.

As shown in FIG. 5, a tension roller 105 is brought into contact with the upper surface of the narrow portion 106T on the one end side of the belt 106 at a position immediately before the rotating frame 104 to apply tension to the belt 106. As shown in FIG.
By adjusting the vertical position of the tension roller 105, the tension of the belt 106 can be adjusted and the stretching of the belt 106 caused by work can be absorbed.

The support plate 101, the rotating frame 104, the belt 106, the servomotor 100R2, and the like constitute the transfer device 107 for the thin E as the hand device 33. As shown in FIG.

(Second embodiment of belt-shaped member)
A second embodiment of the belt 106 is shown in FIG.
That is, a single notch portion 106S is formed by notching a central portion in the left-right direction of one end of the belt 106, and left and right narrow portions 106T, 106T are formed on both left and right sides of the single notch portion 106S. do.
Left and right side portions of the belt 106 are notched to form left and right notch portions 106S, 106S, and a single narrow portion 106T is formed between the left and right notch portions 106S, 106S. .
The width B1 of the notch portion 106S formed at one end of the belt 106 is set larger than the width B2 of the narrow portion 106T formed at the other end of the belt 106.
Similarly, the width A2 of the left and right notch portions 106S, 106S formed at the other end of the belt 106 is set larger than the width A1 of the left and right narrow portions 106T formed at the one end of the belt 106.

As a result, the left and right narrow portions 106T, 106T on one end of the belt 106 and the single narrow portion 106T on the other end of the belt 106 form a left-right gap 106Q therebetween. It wraps around the adjacent parts in the direction of the rotation axis. (This state is omitted from the illustration.)
Therefore, interference between the left and right narrow portions 106T, 106T on the one end side of the belt 106 and the narrow portion 106T on the other end side of the belt 106 is prevented from occurring during winding and unwinding.

(Block circuit of serving system)
As shown in FIG. 10, a robot controller 34 having an arithmetic unit, a storage unit, etc. is provided with the encoders 19 to 23S described above, the encoder 100R2E provided in the servomotor 100R2 described above, and the camera 11 on the input side thereof. to connect.
On the output side of the robot controller 34, the servo motors 13 to 18 and the servo motor 100R2 are connected.
Although not shown, the output side of the robot controller 34 is interposed with separate relay circuits for operating the servomotors 13 to 18 and the servomotor 100R2.

On the other hand, the slicer controller 10 on the slicer 1 side is connected to the above-mentioned encoder 9 on its input side and connected to the above-mentioned servomotor 8 on its output side.
Other sensors and actuators related to the operation control of the slicer 1 are omitted from the drawing.
Then, the robot controller 34 and the slicer controller 10 are connected via the communication line SL.
The food arrangement control device 31 is configured as described above.

(Arrangement control)
As shown in FIG. 2, the slicer 1 cuts the block meat into a predetermined thickness, and the cut thin pieces E are partially overlapped on the conveying surface 3a of the belt 3 in the first conveying device 2. , and a thin group E1 is formed. The thin groups E1 are sequentially formed at predetermined intervals by controlling the driving speed of the belt 3. As shown in FIG. Each thin wall E forming the thin wall group E1 may be folded in two.
Here, based on the size of the thin group E1 obtained from the imaging result of the camera 11, the center position in the X-axis direction at the -Y side end of the thin group E1 is defined as a target point B (see FIG. 2). set. Alternatively, the target point B may be set as the center of area position of the entire thin group E1.

When the thin group E1 reaches the picking position T by driving the belt 3, the belt 3 is temporarily stopped, and a picking start signal is output from the slicer controller 10 to the robot controller .
When this sampling signal is input to the robot controller 34, each active joint of the robot arm 12 is controlled by outputs to the servo motors 13 to 18, and the movement of the hand device 33 attached to the wrist 29 is controlled.

That is, the center point in the width direction of the belt 106 at the tip of the transfer device 107 provided in the hand device 33 is aligned with the above-mentioned target point B (the center position in the width direction (X-axis direction) of the thin group E1). To match, the hand device 33 is moved from the -Y side to the +Y side along the Y-axis direction, and the transfer device 107 is advanced to the thin group E1 side.
At this time, the robot controller 34 outputs an output to the servomotor 100R2, the belt 106 is driven in the forward direction, and after the thin group E1 is scooped up, the driving of the belt 106 is stopped.

Then, each active joint of the robot arm 12 is controlled by outputs from the robot controller 34 to the servo motors 13 to 18, and after the hand device 33 is once lifted, the serving area R formed on the bottom upper surface of the tray 6 is displayed. Move to the setting position of the first row above.
At this set position, the hand device 33 is lowered while facing the +Y direction, and the hand device 33 is moved in the -Y direction while driving the belt 106 of the transfer device 107 in the opposite direction.
As a result, as shown in FIG. 11(a), the first thin group E1 is transferred.

By performing such a transfer operation also on the setting position of the second row adjacent on the serving region R, as shown in FIG. The serving is completed so as to overlap a part of the thin group E1 of .
The second conveying device 5 stops conveying the tray 6 until the stacking of the thin group E1 on the tray 6 is completed.
After the stacking of the thin-walled group E1 on the tray 6 is completed, the second conveying device 5 is driven to carry out the tray 6, and the next empty tray is sent to the standby position.

(Second embodiment of transfer device and hand device)
12 to 16 show the hand device 33 of the second embodiment.
As shown in FIG. 15, upper and lower round bar-shaped connecting members 201U and 201D connect between the front-rear middle portions of the left and right side plates 200L and 200R to form a framework.
The outer surfaces of the left and right upright portions 203UL and 203UR standing from the rear end portion of the upper support plate (“support member” in the claims) 202U formed rectangular in plan view are attached to the front end portions of the left and right side plates 200L and 200R. It is fixed in a state of abutting between the inner surfaces of the

Further, the outer surfaces of the left and right drooping portions 203DL and 203DR hanging down from the rear end portion of the lower support plate (“support member” in the claims) 202D formed in a rectangular shape in plan view are attached to the left and right side plates 200L and 200R. It is fixed in a state of abutting between the inner surfaces at the front end of the.
As a result, the upper support plate 202U and the lower support plate 202D are arranged in parallel with a predetermined gap therebetween.

Further, the front end portions (“tip portions” in the claims) of the upper support plate 202U and the lower support plate 202D protrude greatly forward with respect to the left and right side plates 200L and 200R.
As shown in FIGS. 12 and 13, the front end of the upper support plate 202U extends further forward than the front end of the lower support plate 202D.

In addition, between the front-back direction intermediate portions of the left and right side plates 200L and 200R, a rotation shaft 205U of an upper rotating frame ("rotating member" in the claims) 204U and a rotating shaft 205U of a lower rotating frame ("rotating member" in the claims) are provided. Rotating member") 204D rotatably bears both ends of a rotating shaft 205D via bearings 206,206.
These upper and lower rotary frames 204U and 204D fix circular support plates 207UL, 207UR, 207DL and 207DR to both ends of the rotary shafts 205U and 205D.

A plurality of upper bar-shaped members 208U and a plurality of lower bar-shaped members 208D are fixed by welding between the left and right support discs 207UL and 207UR on the upper side and between the left and right support discs 207DL and 207DR on the lower side. configuration.
The rod-like members 208U and 208D are arranged on arcs centered on the rotation shafts 205U and 205D, in a posture parallel to the rotation shafts 205U and 205D, and at substantially equal pitches.

Further, as shown in FIGS. 12 and 16, in the upper and lower rotating frames 204U and 204D, the outer peripheral portions of the left support plates 207UL and 207DL are partially cut out to form cutout portions 207USP and 207DSP.
One of the locking rod members 208UK and 208DK out of the rod members 208U and 208D is placed in a cantilevered state, and the distal end portions of the locking rod members 208UK and 208DK are connected to the notches 207USP and 207DSP, respectively. come to
The upper and lower belts 106, 106 can be attached and detached through the gaps between the notch portions 207USP, 207DSP and the tip portions of the locking rod members 208UK, 208DK.

As shown in FIGS. 12, 14 and 15, upper and lower tension rollers 210U and 210D are rotatably supported by support shafts 211US and 211DS at the front ends of upper and lower tension arms 209U and 209D.
The rear ends of the upper and lower tension arms 209U and 209D are supported so as to be vertically swingable coaxially with the upper and lower rotating shafts 205U and 205D.
The upper and lower tension arms 209U and 209D are arranged along the inner surface of the right side plate 200R.

The right end portions of the support shafts 211US and 211DS are passed through the tension arms 209U and 209D to protrude outward, and the protruding end portions extend upward and downward from the front portion of the right side plate 200R. 212UC and 212DC, respectively.
Female screw members 213UC and 213DC are screwed into the protruding ends of the support shafts 211US and 211DS, and the tension arms 209U and 209D and the right side plate 200R are fastened and fixed by rotating the female screw members 213UC and 213DC. do.
The female screw members 213UC and 213DC are rotated in the opposite direction to loosen the fastening state, and the tension arms 209U and 209D are swung to adjust the vertical positions of the tension rollers 210U and 210D.

A transmission case 200R1 is attached to the outer surface of the right side plate 200R, and a servomotor 200R2 is attached to the right side of the transmission case 200R1.
As shown in FIG. 13, inside the transmission case 200R1, the output gear 200R3 fixed to the output shaft of the servomotor 200R2 and the input gear 200RU fixed to the projecting end of the upper rotating shaft 205U are meshed. match.
Also, the input gear 200RU is meshed with the input gear 200RD fixed to the projecting end of the lower rotating shaft 205D.
As a result, the upper rotating shaft 205U and the lower rotating shaft 205D are rotationally driven in opposite directions by the output of the servomotor 200R2.

Also, as shown in FIG. 16, the rear portion of the right side plate 200R is extended upward and then bent leftward to extend to form a mounting portion 200R5.
A spacer 200R6 having a right-angled triangle shape in a side view is fixed to the upper surface of the mounting portion 200R5, and an attachment/detachment device, which will be described later, is provided between the slope of the spacer 200R6 and the hand mounting seat 30 on the robot arm 12 side. establish.
The attachment/detachment device attaches the hand device 33 to the wrist 29 of the robot arm 12 .

(Belt winding structure)
Therefore, two belts 106, 106 formed narrower than that shown in FIG. 8 are used, and as shown in FIGS. The loop-shaped engaging portion 106R formed at the end portion is attached to the portion on the base portion side of the above-described upper locking rod-shaped member 208UK in a penetrating state.
Then, the other end side of the upper belt 106 is folded back at the tip of the support plate 202U from the upper surface side of the upper support plate 202U and wound around the lower surface side of the support plate 202U.
Further, the loop-shaped engaging portion 106L formed at the end portion of the narrow portion 106T on the other end side is attached to the tip side portion of the upper locking bar member 208UK in a penetrating state.

As a result, the narrow portion 106T on the one end side of the belt 106 and the narrow portion 106T on the other end side of the belt 106 form a lateral gap 106Q therebetween, and are rotated in the rotation axis direction of the upper rotary frame 204U. to wrap around adjacent parts.
That is, interference between the narrow portion 106T on the one end side of the belt 106 and the narrow portion 106T on the other end side of the belt 106 is prevented from occurring during the winding and feeding.

12 and 15, the winding direction of the belt 106 on the upper rotating frame 204U and the winding direction of the other end of the belt 106 are opposite to each other, and the rotation of the rotating frame 204 rotates the belt 106 The paid-out length on one end side and the winding length on the other end side are set to be approximately the same length.
That is, either one of both ends of the upper belt 106 is wound up by a predetermined length, and the other is let out by this predetermined length.

As shown in FIG. 12, the upper tension roller 210U is brought into contact with the upper surface of the narrow portion 106T on the one end side of the belt 106 at a position immediately before the upper rotating frame 204U to apply tension to the belt 106. .
By adjusting the vertical position of the tension roller 210U, the tension of the belt 106 can be adjusted, and the stretching of the belt 106 caused by the work can be absorbed.

Although the winding configuration of the upper belt 106 has been described above, the winding configuration of the lower belt 106 is vertically symmetrical with the winding configuration of the upper belt 106, so the description is omitted.
The transfer device 200 is configured as described above.

Further, as shown in FIGS. 12, 13 and 17, a base portion of a suspension member 220 bent in a crank shape in a side view is fixed to the front surface of the spacer 200R6, and a tip portion (front end portion) of the suspension member 220 is fixed. , the folding device 221 is attached.
First, left and right air cylinders 221L and 221R are fixed inside a support frame 221A formed in a downward U-shape when viewed from the side, while shifting their positions in the front-rear direction.

That is, the right air cylinder 221R is arranged at a position that is more rearward than the left air cylinder 221L.
The upper and lower pistons 221LP, 221LP of the left air cylinder 221L extend rightward, and a plate 221LT fixed to the tip thereof is fixed to an L-shaped working plate 221LA in plan view via a spacer 221LS.
The upper and lower pistons 221RP, 221RP of the right air cylinder 221R extend leftward, and a plate 221RT fixed to the tip of the piston 221RP is fixed to an L-shaped actuation plate 221RA in plan view via a spacer 221RS. .
Long holes 221L1 and 221R1 in the vertical direction are formed in the left and right operation plates 221LA and 221RA, respectively.

The upper part of an inverted T-shaped support plate 221X1 is fixed to the support frame 221A, and left and right rotating arms are attached to the left and right ends of the lower side of the support plate 221X1 via left and right fulcrum shafts 221LJ and 221RJ. The inner projecting ends formed on the upper portions of 221LM and 221RM are rotatably pivoted.
Further, the pins 221L1P and 221R1P fixed to the upper ends of the left and right rotating arms 221LM and 221RM are inserted through the long holes 221L1 and 221R1 formed in the left and right operation plates 221LA and 221RA, respectively.
The bases of the left and right support members 221LSP and 221RSP extending inward are fixed to the inner surfaces of the lower ends of the left and right rotating arms 221LM and 221RM. Three thin rod-like members 221LSB and 221RSB are fixed on each side along the direction.

With the above configuration, when the pistons 221LP and 221RP of the left and right air cylinders 221L and 221R are shortened, the left and right rotating arms 221LM and 221RM are rotated and opened so as to widen the distance between them, and the left and right rod-like members 221LSB. , 221RSB are retracted from the lower side of the transfer device 200 to the outer side.
In this state, both left and right ends of the thin group E1 supported on the transfer device 200 hang down. (See FIG. 17(a))

When the pistons 221LP and 221RP of the left and right air cylinders 221L and 221R are extended, the left and right rotating arms 221LM and 221RM are rotated to reduce the distance between them, and the left and right rod members 221LSB and 221RSB are closed. The lower surface of the transfer device 200 is approached.
As a result, the left and right ends of the thin group E1 hanging down by being supported by the transfer device 200 are lifted to the lower surface side of the transfer device 200, and the left and right ends of the thin group E1 are folded. (See FIG. 17(b))

The hand device 33 is composed of the transfer device 200, the folding device 221, and the like.

(Block circuit of serving system)
As shown in FIG. 18, the left and right air cylinders 221L and 221R and the servomotor 100R2 are linked instead of the servomotor 100R2 linked to the output side of the robot controller 34 in the block diagram of FIG.
In addition to the encoder 100R2E connected to the input side of the robot controller 34, left and right position sensors (or stroke sensors) 222L and 222R for detecting the expansion and contraction positions of the left and right air cylinders 221L and 221R are connected.

(Arrangement control)
As in the first embodiment described above, when the belt 3 is driven and the thin group E1 reaches the sampling position T, the belt 3 is temporarily stopped and a sampling start signal is sent from the slicer controller 10 to the robot controller 34. to output
When this sampling signal is input to the robot controller 34, each active joint of the robot arm 12 is controlled by outputs to the servo motors 13 to 18, and the movement of the hand device 33 attached to the wrist 29 is controlled.

That is, the center point in the width direction of the upper belt 106 at the tip of the transfer device 200 provided in the hand device 33 is aligned with the target point B (the center position in the width direction (X-axis direction) of the thin group E1). In order to match, the hand device 33 is moved from the -Y side to the +Y side along the Y-axis direction, and the transfer device 200 is advanced to the thin group E1 side.
At this time, the robot controller 34 outputs an output to the servo motor 200R2 to drive the upper belt 106 in the forward direction (at this time, the lower belt 106 is driven in the opposite direction to the upper belt 106), After scooping up the thin group E1, the driving of the belt 106 is stopped.

Then, each active joint of the robot arm 12 is controlled by outputs from the robot controller 34 to the servo motors 13 to 18, and after the hand device 33 is once lifted, the serving area R formed on the bottom upper surface of the tray 6 is displayed. Move to the setting position of the first row above.
During this time, the robot controller 34 outputs to the left and right air cylinders 221L and 221R to extend the pistons 221LP and 221RP of the left and right air cylinders 221L and 221R.

As a result, the left and right rotating arms 221LM and 221RM rotate and close so as to reduce the distance between them, and the left and right rod-like members 221LSB and 221RSB approach the lower surface of the transfer device 200 .
As a result, the left and right ends of the thin group E1 hanging down while being supported by the transfer device 200 are lifted toward the lower surface of the transfer device 200, and the left and right ends of the thin group E1 are folded.

At this set position, the hand device 33 is lowered while facing the +Y direction, and the hand device 33 is moved in the -Y direction while driving the belt 106 of the transfer device 200 in the opposite direction.
As a result, as shown in FIG. 19A, the thin group E1 in the first row is transferred with both ends folded downward.

By performing such a transfer operation also for the setting positions of the second row adjacent to the serving region R, as shown in FIG. With the portion folded downward, the serving is completed so as to partially overlap the thin group E1 in the first row.

(Third embodiment of transfer device and hand device)
20 to 23 show the hand device 33 of the third embodiment.
The hand device 33 has a frame 36 as a base.
A mounting plate 35 to be mounted on the lower surface of the hand mounting seat 30 is fixed to the upper portion of the frame 36 via an attachment/detachment device which will be described later.

(Scooping part)
As shown in FIGS. 20 and 21, a cylinder portion of an electric cylinder 37 that expands and contracts in the Y-axis direction is fixed to the inner portion of the frame 36, and an operating rod 37A of the electric cylinder 37 is supported at the tip portion thereof. A drive case 39 is attached via the member 38 .
As a result, the electric cylinder 37 is arranged above the hand device 33 and is less likely to be affected by water (cleaning water for cleaning the slicer 1, etc.) and meat scraps.

The drive case 39 protrudes forward from the front surface of the support member 38, and on the left outer surface of the drive case 39, a rotary disk ("rotating member" in the claims) is attached to an output shaft 39S that is rotationally driven by an internal servomotor 39M. ) 39D.
The bases of eight pins 39P are fixed in a cantilevered manner on an arc locus centered on the output shaft 39S on the outer circumference of the rotating disk 39D, and the tips of the pins 39P are extended leftward.
Of these pins 39P, two adjacent pins 39PS, 39PS are used as locking pins for locking the belt.
Upper and lower guide rollers 39R, 39R are rotatably supported by rotating shafts 39RS, 39RS on the left side surface of the drive case 39 on the front side of the turntable 39D.

Further, the base of the support stay 40 is fixed to the lower left side surface of the drive case 39, and the tip of the support stay 40 protrudes forward.
The tip (front end) of the support stay 40 is bent obliquely upward, and the bent end is formed with a surface inclined forward and downward. ("support member") along the base.
As a result, the support plate 41 extends downward at a predetermined angle and is supported on the drive case 39 side.

Further, the leading end (extending end) of the support plate 41 is folded back toward the lower surface side, and the folded end (substantially serving as the leading end of the supporting plate 41) forms a curved surface.
Then, a loop-shaped locking portion is formed at both ends of a resin belt (a “belt-shaped member” in the claims) 106 formed to have a width equivalent to the left-right width of the support plate 41, and the locking portion on one end side is It locks on one locking pin 39PS.

After the belt 106 is supported along the upper peripheral surface of the upper guide roller 39R along the upper surface of the support plate 41, the tip of the support plate 41 is folded back to the lower surface side.
The part on the other end side of the folded belt 106 is made to substantially follow the lower surface of the support plate 41, and passes from the upper peripheral surface of the lower guide roller 39R through the parts on the outer peripheral side of the plurality of pins 39P to engage the other end side. The stop portion is locked to the other locking pin 39PS.

As described above, the transfer device 100 is configured, and when the electric cylinder 37 is operated to extend and contract, the drive case 39 supported by the tip of the operating rod 37A reciprocates in the Y-axis direction.

Further, when the servomotor 39M is driven, the belt 106 reciprocates in the forward and reverse directions.
That is, in FIG. 20, when the turntable 39D is rotated counterclockwise by driving the servomotor 39M, the locking portion at one end of the belt 106 locked by the locking pin 39PS on the front side is pulled rearward. A part on one end side of the belt 106 is wound up.
As a result, the portion of the belt 106 supported on the upper surface of the support plate 41 moves obliquely upward along the upper surface of the support plate 41 .
At this time, the other end of the belt 106 is let out by lowering the locking pin 39PS on the rear side, so that the wound circumferential length of the belt 106 does not substantially change and the tension is maintained within a predetermined range.

On the other hand, when the rotating disk 39D rotates clockwise by driving the servomotor 39M in the reverse direction, the locking portion of the belt 106 locked to the locking pin 39PS on the front side is pushed forward, and the belt is pushed forward. A part on the one end side of 106 is paid out.
As a result, the portion of the belt 106 supported on the upper surface of the support plate 41 moves obliquely downward along the upper surface of the support plate 41 .
At this time, the other end side of the belt 106 is wound up by raising the locking pin 39PS on the rear side, so that the winding circumference of the belt 106 does not substantially change and the tension is maintained within a predetermined range.

As described above, the scooping portion 54 (the “transfer device 100” in the claims) is formed mainly by the portion of the belt 106 supported on the upper surface of the support plate 41 .

(finger)
As shown in FIGS. 22 to 26, a first air cylinder 56 and a second air cylinder 57 for opening and closing the left and right finger-like portions 55L and 55R are provided on the lower surface of the frame 36 at intervals in the Y-axis direction. and fix it. As a result, the first air cylinder 56 and the second air cylinder 57 are arranged above the hand device 33 and are less likely to be affected by water (cleaning water for cleaning the slicer 1, etc.) and meat scraps.
22 and 23, the approximate installation range of the left and right finger-like members 55L, 55R is indicated by a dashed line.

Thus, as shown in FIG. 26, the first air cylinder 56 arranged on the +Y side forms a lateral (X-axis direction) guide rail 56B on the +Y side of the cylinder block 56A.
A pair of left and right sliders 56L and 56R are slidably fitted to the guide rail 56B.
Inside the cylinder block 56A, upper and lower cylinder holes are drilled in parallel, and individual pistons (not shown) are incorporated in the respective cylinder holes so as to be reciprocally slidable. Link.
It should be noted that the pistons are configured to slide in opposite directions by supplying air, so that the left and right sliders 56L and 56R connected to the respective pistons slide in opposite directions.

On the other hand, the second air cylinder 57 arranged on the -Y side forms a guide rail 57B in the left-right direction (X-axis direction) on the side surface of the cylinder block 57A on the -Y side.
A pair of left and right sliders 57L and 57R are slidably fitted to the guide rail 57B.
Inside the cylinder block 57A, upper and lower cylinder holes are drilled in parallel, and individual pistons (not shown) are reciprocally slidably incorporated in the respective cylinder holes. Connect them respectively.
By supplying air, the pistons are slid in opposite directions, so that the left and right sliders 57L and 57R connected to the pistons slide in opposite directions.

The left and right finger-like portions 55L, 55R are provided with left and right first members 58L, 58R and left and right second members 59L, 59R.

(First member)
As shown in FIGS. 24 to 26, the left and right first members 58L and 58R are supported by left and right sliders 56L and 56R on the first air cylinder 56 side, respectively.
That is, the inner ends of the left and right plate-like first support members 60L and 60R extending in the left and right direction are fixed to the +Y side surfaces of the left and right sliders 56L and 56R.
The outer ends of the left and right first support members 60L and 60R are bent downward to extend downward (-Z direction) and then bent to -Y direction.

The outer ends of the first sub-supporting members 61L and 61R extending in the left-right direction are attached to the lower surfaces of the left and right extending ends formed in this manner via the square bar-shaped first reinforcing members RI and RI. fixed respectively.
The inner ends of the left and right first sub-support members 61L and 61R are bent downward and extended downward (-Z direction) to form left and right inner fingers 58IFL and 58IFR.

Furthermore, the portions extending from the lower ends of the inner fingers 58IFL and 58IFR to a predetermined height are formed to be wide in the left and right directions. The laterally wide portions are referred to as first members 58L and 58R.
The inner edge portions of the left and right first members 58L and 58R extend in a substantially vertical direction to the vicinity of their lower ends.
The inner edges of the lower end portions of the left and right first members 58L, 58R are extended inward (opposing sides) in an arc shape to form left and right engaging portions 58LS, 58RS.

(Second member)
As shown in FIGS. 24 to 26, the left and right second members 59L and 59R are supported by left and right sliders 57L and 57R on the second air cylinder 57 side, respectively.
That is, the inner ends of the left and right plate-shaped second support members 62L and 62R extending in the left and right direction are fixed to the -Y side surfaces of the left and right sliders 57L and 57R.
The outer ends of the left and right second support members 62L and 62R are bent downward to extend downward (-Z direction), and then bent and extended in the +Y direction.

The outer ends of the second sub-support members 63L, 63R extending in the left-right direction are fixed to the lower surfaces of the left and right extended ends thus formed via the second reinforcing members RJ, RJ, respectively. .
The inner ends of the left and right second sub-support members 63L, 63R are bent downward and extended downward (-Z direction) to form left and right outer fingers 59IFL, 59IFR.

Furthermore, the portions extending from the lower ends of the outer fingers 59IFL and 59IFR to a predetermined height are formed to be wide in the left and right directions. The laterally wide portions are referred to as second members 59L and 59R.
The inner edges of the left and right second members 59L, 59R extend substantially vertically to their lower ends.

As shown in FIGS. 24 to 26, two integrally formed left second sub-support members 63L and left outer fingers 59IFL are provided, and the front and rear surfaces ( -Y side surface and +Y side surface).
As a result, a gap SP in the Y-axis direction is formed between the left front and rear second members 59L, 59L.

In addition, two integrally formed right second sub-support members 63R and right outer fingers 59IFR are provided, and the front and rear surfaces (-Y side and +Y side) of the above-mentioned right second reinforcing member RJ are provided. surface).
As a result, a gap SP in the Y-axis direction is also formed between the front and rear second members 59R, 59R on the right side.

The left and right first members 58L and 58R are arranged so as to be retractable and projectable from the left and right gaps SP, SP, respectively.

(Sampling part)
As shown in FIG. 20, the collecting portion 32 is formed by the scooping portion 54 and the left and right finger-like portions 55L and 55R.
In the initial state, the drive case 39 is separated in the +Y direction, and the tip of the belt 106 supported on the upper surface of the support plate 41 of the scooping portion 54 is retracted in the +Y direction from between the left and right fingers 55L and 55R. are doing.

As shown in FIG. 20, when the electric cylinder 37 is shortened and the drive case 39 is moved in the -Y direction by a set distance, the scooping portion 54 enters between the left and right fingers 55L and 55R.
In this state, the tip of the scooping portion 54 (the −Y side end of the portion of the belt 106 supported on the upper surface of the support plate 41) protrudes further to the −Y side than the left and right finger portions 55L and 55R. do.
FIG. 24 shows a state in which the scooping portion 54 has entered between the left and right first members 58L, 58R and the left and right second members 59L, 59R in the open state.

Further, in FIG. 25(a), the scooping portion 54 enters between the left and right first members 58L, 58R and the left and right second members 59L, 59R, and the left and right first members 58L, 58R and the left and right first members 58L, 58R and The left and right second members 59L and 59R are shown moving in the closing direction to their respective stroke ends.
25(b), in this state, it is formed between the left end of the scooping portion 54 (the side end of the belt 106) and the inner edge of the left first member 58L. The positional relationship of each stroke end is set such that the first gap T1 formed between the side end of the scooping part 54 and the inner edge of the second member 59L is smaller than the second gap T2 formed between the side end of the scooping part 54 and the inner edge of the second member 59L. .
Although not shown, the positional relationships between the right end of the scooping portion 54, the right first member 58R, and the right second member 59R are similarly set.

The setting of the first gap T1 and the second gap T2 is determined by the length of extension in the left-right direction of each member constituting the left and right finger-like portions 55L and 55R, and the first air cylinder 56 and the second air cylinder. This is done by setting the position of the sliding stroke end of 57 or the like.
The cylinder block 56A of the first air cylinder 56 and the cylinder block 57A of the second air cylinder 57 may be elastically supported with respect to the frame 36 so as to be vertically movable.

In addition, downward bending portions at the outer ends of the left and right first supporting members 60L and 60R, downward bending portions at the outer end portions of the left and right second supporting members 62L and 62R, and left and right first sub-supporting portions A joint portion (up-and-down rotating portion) is provided at the inner end portions of the members 61L and 61R that bend downward and the inner end portions of the left and right second sub-support members 63L and 63R that bend downward. A configuration in which a return spring that biases the joint to the initial posture (vertical posture) side may be provided.
As a result, even if the lower ends of the left and right finger-like portions 55L and 55R interfere with the conveying surface 3a of the belt 3 on the slicer 1 side, the left and right finger-like portions 55L and 55R are retracted upward. Damage and deformation of the fingers 55L and 55R can be prevented.

(Block circuit of serving system)
As shown in FIG. 27, instead of the servo motor 100R2 linked to the output side of the robot controller 34 in the block diagram of FIG. Link 39M.

(Arrangement control)
The "control point" described below is the center between the tip (inner end) of the engaging portion 58LS of the left first member 58L and the tip (inner end) of the engaging portion 58RS of the right first member 58R. position.
28 to 31 show the process from picking up the thin wall E by the hand device 33 to placing the thin wall E deformed into a substantially U shape.

As shown in FIG. 16(a), when the serving control is started, the robot arm 12 is driven and controlled by the output from the robot controller 34, and the left and right fingers 55L and 55R and the scooping portion 54 are respectively operated. Position at the initial position.
The initial points of the left and right finger-like portions 55L and 55R are a predetermined distance directly above the conveying surface 3a at a position deviated from the picking position T of the thin wall E toward the -Y side by an offset amount f (see FIG. 28(a)). It is set in a spaced position.

At this time, the scooping part 54 is arranged at a position deviated from the initial point in the +Y direction by a predetermined distance.
It should be noted that the offset amount f is determined by the belt 106 of the scooping portion 54 moving obliquely upward while the tip of the scooping portion 54 moves from the sampling position T to the position directly below the initial point. It is set to the amount that can scoop up E.

At this initial point, the left and right finger-like portions 55L and 55R of the hand device 33 are in an open state separated from each other.
That is, the left and right inner fingers 58IFL, 58IFR and the left and right outer fingers 59IFL, 59IFR are in an open state separated from each other by the maximum distance.

In this state, the first members 58L, 58R provided on the left and right inner fingers 58IFL, 58IFR are retracted into the gaps SP, SP between the second members 59L, 59R provided on the left and right outer fingers 59IFL, 59IFR.
As a result, the inner edge portions of the left and right first members 58L and 58R are retreated outward (into the gap SP) with respect to the inner edge portions of the left and right second members 59L and 59R.

Next, the slicer controller 10 acquires the attributes of the thin wall E being transported to the picking position T. FIG.
That is, the slicer controller 10 receives the detection result from a thickness (height) sensor (not shown) that is provided on the slicer 1 side and detects the thickness (height) of the tip of the block of meat before slicing. is entered.

Since the slicer 1 vertically cuts a block of meat supplied in a horizontal orientation from its tip, the thickness (height) of the tip of this block of meat is set on the conveying surface 3a. The dimension approximates the length of the thin wall E in the Y-axis direction.
In addition, in the case of the thin E folded at the central portion in the Y-axis direction, the length of the thin E in the Y-axis direction is about half the thickness (height).

The slicer controller 10 sends to the robot controller 34 the thickness (height) of the tip portion of the lump meat before slicing.

Further, the robot controller 34 processes the image of the thin wall E captured by the camera 11, and based on this result, obtains the size of the thin wall E (the length (width) and area of the thin wall E in the X-axis direction). do.
Based on the obtained size of the thin wall E, the thin wall E is classified into four classes of large, medium (standard), small, and unsuitable for collection.

(Collection and serving of thin E suitable for collection)
First, the robot controller 34 selects a predetermined number of lines M corresponding to the size of the tray 6 to be used from among a plurality of predetermined number of lines M stored as fixed values.
Further, the predetermined number of rows N is automatically calculated based on the thickness (height) of the massive meat and the size of the thin wall E based on the image processing.

As a result, as shown in FIG. 33( a ), a predetermined number M of rows and a predetermined number N of columns are set in the serving area R on the inner bottom surface of the tray 6 .
Each row and each column are set at regular intervals.

In the following, first, the processing in the case of applying the initially calculated predetermined number of columns N to all rows (in the case of placing N columns (N sheets) of thin E in all rows) will be described.
The processing for calculating the predetermined number of columns N for each row will be described later.

First, the robot controller 34 sets the count value m of the row counter and the count value n of the column counter to 1, respectively, and shifts to thin serving processing.

(Thin meat serving process)
As shown in FIG. 33(a), the inner bottom surface of the tray 6 is divided into a plurality of thin-walled sections in a matrix. In this embodiment, (m, n) = (1, 1), (1, 2), (1, 3), (1, 4), (2, 1), (2, 2), ..., ( M, N) from the first row in column order, and when one row is completed, the next adjacent row is similarly subjected to the same plating process.

“m=1”, which means the first row, is arranged on the inner bottom surface of the tray 6 at the most −Y side position.
“n=1”, which means the first row, is arranged on the inner bottom surface of the tray 6 at the position closest to the +X side.

First, the robot controller 34 performs a “collection target position setting process” and a “trajectory generation process”.

(Sampling target position setting process)
Based on the size of the thin wall E obtained from the imaging result of the camera 11, the central portion of the thin wall E in the X-axis direction or a position in the vicinity of the central portion is set as the supported portion B (see FIG. 2). The target sampling position of part B is calculated.

(trajectory generation processing)
The trajectory generation process is a process of generating a trajectory from picking to the end of serving and a trajectory returning to the initial point, and the robot controller 34 controls the position and posture of the hand device 33 for each time.

(thin meat serving control)
As shown in the top left plan view of FIG. 28(a), in the hand device 33 in the initial state, the left and right finger-like portions 55L and 55R are opened to the position forming the maximum distance in the X-axis direction.
That is, the left and right first members 58L, 58R and the left and right second members 59L, 59R are opened to their maximum positions, and the inner edges of the first members 58L, 58R are aligned with the inner edges of the second members 59L, 59R. It is retracted to a position deviated outwardly with respect to the part.
In this state, the robot controller 34 receives (obtains) the picking start signal from the slicer controller 10 when the thin E conveyed by the first conveying device 2 reaches the picking position T. As shown in FIG.

Then, the robot arm 12 is controlled by the output from the robot controller 34 to slowly lower the control point.
As a result, as shown in the lower left side view of FIG. 28(a), the lower ends of the finger-like portions 55L and 55R (the lower ends of the first members 58L and 58R and the lower ends of the second members 59L and 59R) are scooped up. The lower ends (tips) of the belts 106 of the portions 54 are brought as close as possible to the conveying surface 3a with a slight gap left therebetween.
In addition, the lower end of the belt 106 may be brought into light contact with the conveying surface 3a.

Thereafter, the electric cylinder 37 is shortened by the output from the robot controller 34, and the scooping portion 54 is moved from the initial position to the scooping position (in the -Y direction).
That is, the scooping part 54 is moved from the downstream side (+Y side) of the first conveying device 2 to the upstream side (−Y side) toward the vicinity of the intermediate portion (target point B) in the X-axis direction of the thin wall E. .

Then, after a set time has elapsed from the start of movement of the scooping portion 54, the output from the robot controller 34 rotates the servomotor 39M to move the belt 106 on the support plate 41 in the upward tilt direction (forward movement).
The set time described above is set to the same time or a slightly shorter time than the time required for the scooping portion 54 to reach the thin wall E located at the collecting position T from the initial position.

As a result, as shown in FIGS. 28(b) to 28(c), the belt 106 moving in the upward direction obliquely moves the central portion of the thin wall E located at the sampling position T in the width direction (X-axis direction). It is scooped upwards.
At this time, both ends of the thin wall E that are not supported on the belt 106 start to sag and deform due to their own weight.

It is preferable that the speed at which the belt 106 moves obliquely upward in the scooping portion 54 is set equal to or slightly higher than the moving speed of the scooping portion 54 in the -Y direction.
By setting in this manner, the thin wall E can be smoothly transferred from the conveying surface 3a to the belt 106, and the thin wall E is less likely to wrinkle.

As shown in FIG. 29(d), when the scooping portion 54 moves further to the -Y side, both ends of the thin E whose central portion is scooped up by the belt 106 are moved to the +Y side second It abuts against the inner edges of the members 59L and 59R, and the contact resistance corrects the posture of the thin wall E to the posture along the upper surface of the belt 106. FIG. Further, the left and right second members 59L, 59R and the left and right first members 58L, 58R are both kept open.
In this state, the scooping part 54 enters between the left and right finger-like parts 55L and 55R while scooping up the thin wall E.
As a result, the tip of the scooping portion 54 (the tip of the belt 106) protrudes from between the left and right finger-like portions 55L and 55R toward the -Y side.

Subsequently, after stopping the movement of the belt 106 of the scooping portion 54, the operation of the first air cylinder 56 is started by the output from the robot controller 34, and the left and right inner fingers of the left and right finger-like portions 55L, 55R are 58IFL and 58IFR start to move inward (toward each other).
As shown in FIG. 29(e), when the left and right inner fingers 58IFL and 58IFR start to move inward, the inner edge portions of the left and right first members 58L and 58R abut on both ends of the thin wall E, and this abutment Start pushing the part inward.
At this time, the left and right engaging portions 58LS and 58RS enter under the thin wall E and start to hold the thin wall E.

Then, after a set time has elapsed since the left and right inner fingers 58IFL, 58IFR started moving inward, the left and right outer fingers 59IFL, 59IFR are moved inward (to approach each other).
As shown in FIG. 29(f), both ends of the thin wall E are pressed against both side ends of the belt 106 by the inner edges of the left and right first members 58L and 58R, and are substantially U-shaped (horseshoe-shaped) in plan view. approximate shape).

In this state, the thin wall E is held under the scooping portion 54 (below the belt 106) by the left and right engaging portions 58LS and 58RS that are close to each other.
At this time, since the first gaps T1, T1 remain between the inner edge portions of the left and right first members 58L, 58R and the left and right side ends of the scooping portion 54 (belt 106), the thin wall E is sandwiched too strongly. will not damage it.

In addition, the inner edges of the left and right second members 59L and 59R also approach the left and right side ends of the scooping portion 54. and second gaps T2, T2 larger than the first gaps T1, T1 remain.
The presence of the second gaps T2, T2 prevents the inner edge portions of the left and right second members 59L, 59R from positively contacting the thin wall E. As shown in FIG.
After supporting the thin wall E in this manner, the next step is performed.

That is, the robot arm 12 is controlled by the output from the robot controller 34 to raise the control point.
When the control point rises, both ends of the thin E rise from the conveying surface 3a and maintain a position higher than the height of the peripheral wall 6a of the tray 6.例文帳に追加
This prevents interference between the thin wall E and the peripheral wall 6a when the control point moves onto the serving region R.

Subsequently, the robot arm 12 is controlled by the output from the robot controller 34 to move the control point above the peripheral wall 6a of the tray 6 to a point above the serving area R.
As a result, the lower ends of the left and right finger-like portions 55L and 55R and the lower end (tip) of the belt 106 of the scooping portion 54 approach the inner bottom surface of the tray 6 on which the serving region R is set.
This point is set on the downstream side (+Y side) of the m-th row to which the thickness drop point Rmn at which the thin thickness E is lowered belongs.
During movement to this point, the robot controller 34 controls the robot arm 12 so that the hand device 33 assumes a posture having a twist angle θ with respect to the Y-axis direction.

Subsequently, the robot arm 12 is controlled by the output from the robot controller 34 to move the control point to the next point.
During movement to this point, the ends of thin wall E are dragged over the inner bottom surface of tray 6 .

Then, after a preset time has elapsed since the control point started to move to this point, the output from the robot controller 34 causes the first air cylinder 56 to operate in the reverse direction.
As a result, as shown in FIG. 30(g), the left and right inner fingers 58IFL, 58IFR of the left and right finger-like portions 55L, 55R move outward (to move away from each other).
Further, the pressing of the inner edge portions of the left and right first members 58L, 58R against the thin wall E toward both side end sides of the belt 106 and the holding by the left and right engaging portions 58LS, 58RS are released.
However, at this point, no output is provided from the robot controller 34 to the second air cylinder 57, and the left and right outer fingers 59IFL and 59IFR are maintained at positions close to each other.

As a result, the members that contact the thin wall E are switched from the inner edge portions of the left and right first members 58L and 58R to the inner edge portions of the left and right second members 59L and 59R.
That is, the first member 58L is changed so that the thin wall E attached to the inner edge portions of the first members 58L and 58R (by being pressed) is transferred to the inner edge portions of the second members 59L and 59R. , 58R and the second members 59L, 59R.

Subsequently, the robot arm 12 is controlled by the output from the robot controller 34 to move the control point to the next point.
During this movement, the output from the robot controller 34 rotates the servo motor 39M in the opposite direction.
As a result, the belt 106 of the scooping portion 54 moves obliquely downward (reverse direction), and the thin E begins to be lowered obliquely downward toward the inner bottom surface of the tray 6 as shown in FIG. 30(h).

At this time, the left and right outer fingers 59IFL and 59IFR are maintained at positions close to each other, and second gaps T2 and T2 are formed between the side ends of the scooping portion 54 and the inner edges of the left and right second members 59L and 59R. formed.
Further, the lower end portions of the second members 59L, 59R do not have engagement portions unlike the first members 58L, 58R.
Therefore, as shown in the state change from FIG. 30(i) to FIG. 31(j), the left and right side portions of the thin wall E that is lowered obliquely downward are substantially offset by the inner edge portions of the left and right second members 59L and 59R. While the U-shape is restricted from being restored to its original shape, it is smoothly lowered through the second gaps T2, T2.

The unloaded thin E is placed on the inner bottom surface of the tray 6 while maintaining its substantially U-shaped shape.
Further, the robot arm 12 is controlled by the output from the robot controller 34, the twist angle .theta.
After that, after the movement of the belt 106 is stopped by the output from the robot controller 34, the robot arm 12 is controlled to move the control point to the next point.
As a result, the hand device 33 moves upward and in the +Y direction (downstream), and separates from the lowered thin wall E. As shown in FIG.

Subsequently, as shown in FIG. 31(k), when the control point starts to move, the electric cylinder 37 is extended by the output from the robot controller 34 to move the scooping portion 54 to the initial position.
At the same time, the output from the robot controller 34 causes the second air cylinder 57 to operate in the opposite direction, the left and right outer fingers 59IFL, 59IFR move outward (to move away from each other), and the left and right second members 59L, 59R move outward. The spacing of the inner edges of the

Subsequently, the robot arm 12 is controlled by the output from the robot controller 34 to move the control point to a higher position further downstream (+Y side).
After that, the control point is moved to the initial point.

Thus, the process of serving one thin sheet E at the meat descending point Rmn is completed.
Thereafter, the robot controller 34 determines whether or not the count value n of the column counter exceeds the predetermined number N of columns.

If the count value n does not exceed the predetermined number of columns N, the process returns to perform the process of placing thin E for the next column-ordered thickness drop point Rmn in the current row m.
Therefore, this thin-walled E serving process is executed N times per line.
When the count value n exceeds the predetermined number of columns N, the process of placing thin E on the thickness drop point Rmn of the first column of the next row is started.

The above processing is repeated to complete the application of the thin E to all the thickness drop points Rmn in the predetermined number M of rows and N the predetermined number of columns.

(Example of serving in 3 rows and 4 columns)
FIG. 32(a) and FIGS. 33(a) to 33(a) to (c) show an example in which the predetermined number of rows M is "3" and the predetermined number of columns N is "4".
FIG. 33(a) is an explanatory plan view of the tray 6 in a state where the thin-walled E has been served at the meat-lowering point Rmn (=R11) in the first row and first column.
FIG. 33(b) is a plan view of the tray 6 in a state where the thin-walled E has been served at the full meat drop point Rmn in the first row and the meat drop point Rmn (=R21) in the second row and first column. It is an explanatory diagram.
FIG. 33(c) shows the tray 6 in a state where the thin-walled E has been served at the full-thickness drop point Rmn of the first and second rows and the meat drop-off point Rmn (=R31) of the third row and first column. is an explanatory diagram in which the is viewed from above.

(Process of calculating the predetermined number of columns N for each row)
The processing in the case where the initially calculated predetermined number of columns N is applied to all rows (where N columns (N sheets) of thin E are placed in all rows) has been described above.
On the other hand, the above-described predetermined number of columns N may be calculated for each row according to the size of the thin wall E placed at the head of each row.

(When medium (standard) class thin wall E is available)
In the first row located on the most -Y side in the serving region R, the first thin E located at the beginning of this first row (the most +X side position) is classified into the "medium (standard)" class. If so, it is decided to put 4 columns (4 sheets) of thin E in this first row.
Accordingly, in the first row, four columns (four sheets) of thin E are placed at regular intervals in order from the first thin E to the fourth thin E (from the +X side to the -X side).

Subsequently, the serving process to the second row adjacent to the +Y side of the first row is started.
Then, if the fifth thin E placed at the top of this second row is also classified into the "medium" class, place four columns (four sheets) of thin E in this second row as well. is determined, and four rows (four sheets) of thin E are placed at equal intervals in order from the fifth thin E to the eighth thin E.

Subsequently, the serving process to the 3rd row adjacent to the +Y side of the 2nd row is started.
Then, if the ninth thin E placed at the top of this third row is also classified into the "medium" class, place four columns (four sheets) of thin E in this third row as well. is determined, and four rows (four sheets) of thin E are placed at equal intervals in order from the 9th thin E to the 12th thin E.

As described above, a total of 12 thin sheets E are placed in the serving area R, and the serving process on one tray 6 is completed.
Note that the target point B of the thin E classified into the "medium (standard)" class in the X-axis direction is the X It substantially coincides with the center position Xc of the width in the axial direction.
Therefore, it is not necessary to correct the reference position of the control point at the sampling position T in the X-axis direction.

(When medium and small classes of thin wall E are mixed)
In the above-described first line, if the first thin wall E placed at the beginning of this first line is classified into the "medium" class, this first line contains , from the first thin E to the fourth thin E, four rows (four sheets) of thin E are placed.

Subsequently, the serving process to the second row is started, and if the fifth thin E placed at the beginning of the second row is classified into the “small” class, 5 It is decided to put a row (5 sheets) of thin E.
Accordingly, in the second row, five columns (five sheets) of thin E are placed at regular intervals in order from the fifth thin E to the ninth thin E.

Subsequently, the platting process to the third row is started, and if the tenth thin E placed at the top of the third row is also classified into the “small” class, 5 It is decided to place the thin E in rows (5 sheets), and the 5 rows (5 thin E) are placed at equal intervals in order from the 10th thin E to the 14th thin E.

As described above, a total of 14 thin plates E are placed in the serving area R, and the serving process on one tray 6 is completed.
In the X-axis direction, the target point B of the thin wall E classified into the "small" class is deviated to the -X side with respect to the center position Xc of the conveying surface 3a by the distance Xa. The reference position of the point is position-corrected by the distance Xa to the -X side.

(When medium and large classes of thin wall E are mixed)
In the above-described first line, if the first thin wall E placed at the beginning of this first line is classified into the "medium" class, this first line contains , from the first thin E to the fourth thin E, four rows (four sheets) of thin E are placed.

Subsequently, the serving process to the second row is started, and if the fifth thin E placed at the beginning of the second row is classified into the “large” class, 3 It is decided to put a row (3 sheets) of thin E.
Accordingly, in the second row, three columns (three sheets) of thin E are placed at equal intervals in order from the fifth thin E to the seventh thin E.

Subsequently, the platting process to the third row is started, and if the eighth thin E placed at the beginning of the third row is also classified into the “large” class, the third row also has 3 It is decided to place the thin E in rows (three sheets), and in order from the eighth thin E to the tenth thin E, three rows (three sheets) of the thin E are placed at regular intervals.

As described above, a total of 10 thin sheets E are placed in the serving area R, and the serving process on one tray 6 is completed.
By automatically changing the number of columns in each row, the interval between each column is also automatically changed.
In the X-axis direction, the target point B of the thin wall E classified into the "large" class is deviated to the +X side with respect to the center position Xc of the conveying surface 3a by the distance Xb. is position-corrected to the +X side by a distance Xb.

(convergence of total weight)
Thus, by the automatic adjustment of the number of servings in the serving process described above, the total weight of the thin-walled foods E served in the serving area R in the tray 6 falls within the set range α.
The vertical drop portion (stepped portion) of the total weight line when the number of sheets is controlled appears when the number of thin-walled sheets E piled on the tray 6 decreases.

That is, with the same number of sheets, the total weight of the thin sheets E after serving gradually increases as the size of the thin sheets E increases.
When the number of serving thin E is different from 12, 14, or 10, by increasing or decreasing the serving number according to the size of thin E, the total weight can be kept within the set range. .
In addition, by controlling the number of thin layers E, the interval between adjacent thin layers E is automatically adjusted, so that the thin layers E are arranged in an orderly manner within the region R for serving.

(Detachment device)
34-38 show an embodiment of the attachment/detachment device 400. FIG.
This attachment/detachment device 400 comprises an upper holding member 401 fixed to the lower end of the wrist 29 of the robot arm 12 and a held member 402 fixed to the upper portion of the hand device 33 .

The holding member 401 has a connecting seat 401A formed on its upper surface for connection with the wrist 29, and on both left and right sides thereof, inclined surfaces 401B, 401B that are downwardly inclined inwardly ("slide support parts" in the claims). The sliding support portions 401C, 401C are formed symmetrically.
In the sliding support member 401C on one side of the left and right sliding support portions 401C, 401C, the inclined surface 401B is divided at an intermediate portion in the front-rear direction to form a gap. A moving member (a “fixed portion” in the claims) 401D having an inclined surface 401B1 with an inclination angle is fitted.

Further, an operation handle (“first operation tool” in claims) 401G having a male screw portion 401F screwed into the female screw portion 401E of the sliding support portion 401C is provided, and the tip portion of the male screw portion 401F is moved. It is brought into contact with the outer surface of the member 401D.
By rotating the operating handle 401G to one side, the male screw member 401F is tightened, and the tip of the male screw member 401F pushes the moving member 401D to move inward.

A lock handle (a “second operation tool” in the claims) 401H is screwed onto the outer periphery of a shaft 401F2 integrated with the male screw member 401F, and the operation handle 401G is rotated to one side by rotating the lock handle 401H. can be fixed so that it cannot be rotated.

Further, in the sliding support portion 401C on the other side of the left and right sliding support portions 401C, 401C, a through hole 401I is formed in a portion on the side facing the moving member 401D, and a plunger pin is inserted into the through hole 401I. (“engagement portion” in claims) 401J is inserted.
The plunger pin 401J is always elastically urged inwardly protruding, and an annular member 401K for pull operation is attached to the outer end of the plunger pin 401J.
A notch portion 401L is formed to open a part of the upper surface of the holding member 401, and end portions of the left and right sliding support portions 401C, 401C are exposed in plan view.

On the other hand, the above-described held member 402 has a connection seat 402A formed on its lower surface to connect with the hand device 33, and on both left and right sides of the held member 402, the inclined surfaces 401B, 401B on the side of the holding member 401 described above and the same inclination angle as the inclined surfaces 401B, 401B. Sloping surfaces 402B, 402B that are inclined upward are formed.
In addition, a fitting hole 402C is formed in the longitudinal center of the portion on the other side of the held member 402 .

With the above configuration, when attaching the hand device 33 to the wrist 29, first, the hand device 33 is lifted, and the left and right inclined surfaces 402B, 402B on the held member 402 side enter downward from the notch 401L. and placed on and supported by the left and right inclined surfaces 401B, 401B on the holding member 401 side.
Then, when the held member 402 is slid to the far side of the holding member 401, the tip of the plunger pin 401J on the holding member 401 side engages with the fitting hole 402C on the held member 402 side and is positioned. be.

In this state, the operation handle 401G is rotated to move the moving member 401D inward, and the inclined surface 401B1 on the moving member 401D side is pressed against the inclined surface 402B on the held member 402 side and fixed.
Furthermore, by rotating the lock handle 401H, the rotation of the operation handle 401G is fixed to prevent loosening due to vibration or the like.
In addition, when removing the hand device 33 from the wrist 29, the procedure for attaching the hand device 33 may be reversed.

The attachment/detachment device 400 facilitates cleaning of the hand device 33 and replacement of the hand device 33 having a different shape.

33 hand device 39D rotating disk (rotating member)
41 support plate (support member)
101 support plate (support member)
104 rotating frame (rotating member)
106 belt (belt-shaped member)
106S cutout portion 106T narrow portion 202U upper support plate (support member)
202D lower support plate (support member)
204U Upper rotating frame (rotating member)
204D lower rotating frame (rotating member)
400 Attachment/detachment device 401 Holding member 401B Inclined surface (slide support portion)
401D moving member (fixed part)
401G operating handle (first operating tool)
401H lock handle (second operating tool)
401J plunger pin (engaging part)
402 member to be held

Claims (8)

A band-shaped member capable of transferring an article is folded back at the tip of the support member from the upper surface side of the support member and wound around the lower surface side of the support member, and the support member moves forward and backward with respect to the article and moves with respect to the upper surface of the support member. An article transfer device configured to transfer an article by moving a belt-shaped member in forward and reverse directions, wherein both end sides of the belt-shaped member are arranged on the base side of the support member, and a single rotating member or A configuration in which the band-shaped member is moved with respect to the upper surface of the support member by being attached to a plurality of rotating members that rotate coaxially, and by rotating the rotating members to let out one end side of the band-shaped member while winding up the other end side of the band-shaped member. An article transfer device, characterized in that: The one end side and the other end side of the belt-like member are wound around the rotating member in opposite directions, and the length of one end side of the belt-like member and the winding length of the other end side of the belt-like member due to the rotation of the rotating member are substantially set. 2. The article transfer device according to claim 1, wherein the lengths are set to be the same. 3. The article according to claim 1 or 2, wherein narrow width portions are formed on both end sides of said belt-shaped member, and these narrow width portions are configured to wrap around different portions of said rotating member in the rotation axis direction. Transfer device. A notch portion and a narrow portion are formed adjacent to each other in the width direction of the belt-shaped member on both end sides of the belt-shaped member, and the width of the notch portion formed on one end side of the belt-shaped member is The width of the narrow portion on the one end side and the narrow width portion on the other end side of the belt-shaped member are set to be larger than the width of the narrow portion formed on the side, and the narrow portion on the one end side and the narrow width portion on the other end side of the belt-shaped member are adjacent to each other in the rotation axis direction of the rotating member. 3. The article transfer device according to claim 1, wherein the article transfer device is configured to be wrapped around. 5. The article transfer apparatus according to any one of claims 1 to 4, wherein one or both of both ends of said belt-like member are detachable from the outer peripheral portion of said rotating member. While advancing the support member toward the lower surface of the article, the belt-shaped member is moved in the positive direction with respect to the upper surface of the support member to scoop up the article, and the belt-shaped member is reversed with respect to the upper surface of the support member. 6. The article transfer apparatus according to any one of claims 1 to 5, wherein the article is unloaded by retracting the support member from the lower surface side of the article while moving in the direction. A hand device having the belt-shaped member, the support member, and the rotating member is provided, and an attachment/detachment device is provided for attaching/detaching the hand device to/from the wrist portion of the robot arm. and a held member fixed to the side of the hand device, wherein the holding member includes a slide support portion that supports the held member so as to be slidable in the horizontal direction in a mounted state; An engaging portion that engages the held member at a predetermined position in the sliding direction, and a fixing portion that presses the held member at the position where the engaging portion engages and fixes the held member so that it cannot slide. An attachment/detachment device for a hand device comprising the article transfer device according to any one of claims 1 to 6. 8. The article transfer apparatus according to claim 7, wherein the fixed portion includes a first operating tool for pressing the member to be held by a rotating operation, and a second operating tool for locking the rotation of the first operating tool. Attachment/detachment device for the hand device.

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