JP3112781B2 - Method and apparatus for transporting solids - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for conveying solids, which are suitable for conveying foods or the like which are easily broken or deformed.

[0002]

2. Description of the Related Art Japanese Patent Application Laid-Open No. Hei 4-201086 discloses an apparatus for transporting articles which are easily broken or deformed, that is, articles to be transported.
In order to prevent the transported object or fragments thereof from being sucked into the suction pad, an obstacle such as a net is provided at the suction port, and the suction efficiency is reduced. In order to increase the height, a configuration is known in which a notched skirt made of a flexible material is disposed at the tip of the suction port. In Japanese Utility Model Laid-Open Publication No. 3-122694, a receiving plate and a holding plate are attached to the tips of a pair of hinged handles to prevent deformation of a conveyed object such as shrimp and fish. It is disclosed that at least one of them has a relief portion, that is, a portion that does not come into contact with the transferred object.

[0003]

Even in the above-mentioned prior art, it is not possible to sufficiently prevent deformation or destruction of the transferred object during transfer, and to grip and transfer extremely soft objects such as tofu. There was a problem that could not be done.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of such a problem of a conventional apparatus for transporting articles which are easily collapsed or deformed, that is, an object to be conveyed, and is very soft. It is an object of the present invention to provide a method and an apparatus for transporting a solid material, which can transport an easy article, that is, an article to be transported without breaking, deforming, or breaking the article.

According to the present invention, a transportable object mounted or stored on a mounting member, which is easily broken or deformed, is supported by a robot hand having a support device for supporting the mounting member and a drop prevention member. The conveyed object is conveyed to the target position by the robot hand, and the conveyed object is tilted in the falling direction while the conveyed object is prevented from dropping by the drop prevention member. Subsequently, the drop prevention function of the drop prevention member is released. And
A method of transporting a solid material, wherein an object to be transported is slid from the above-described mounting member to a target position only by gravity while the mounting member is supported by the support device. The present invention is also directed to a mounting member for mounting or housing an object to be broken or deformed easily during conveyance, a supporting device for detachably supporting the above-described mounting member, and the object to be transferred falling from the mounting member. A robot hand provided with a fall prevention member for preventing the fall, the fall prevention member is capable of releasing the fall prevention function, and the placement member is supported by the support device and the transferred object is lifted only by gravity. A solid object which can be inclined in a direction in which it slides down from the placing member, and wherein the fall prevention member is configured such that the fall prevention function is released after the conveyed object is conveyed to the vicinity of the destination. Transport device.

[0006]

According to the above construction, the object to be transported and the mounting member are transported together while the object to be transported is mounted on the mounting member, and only the object to be transported is held while holding only the mounting member at the target position. Is dropped from the mounting member.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a solid material conveying apparatus according to an embodiment of the present invention. [First Embodiment] As shown in FIG. 3, a storage box 2 for storing a conveyed object 0, such as a hamburger or a croquette, is rectangular, and has a plurality of mounting member partitions which are disposed so as to be inclined and detachable. The plate 6 is arranged. The objects to be transported 0 are placed one by one on each of the partition plates 6. The partition plate 6 may be provided with a storage box in a vertical direction so that the transported object 0 can be easily placed thereon, and may be arranged horizontally there. On the other hand, the gripping device 10, which is a robot hand attached to a robot (not shown),
As shown in FIG. 2, the main body 12, a support plate 14 fixed to the main body 12, and a holding plate 16 supported parallel to the main body 12 so as to be driven in parallel. The support plate 14 is a gripping member provided with a plurality of suction plates 20 for sucking the partition plate 6, and the holding plate 16 reciprocates in the direction of the support plate 14 to support the partition plate 6 supported by the support plate 14. This is a drop prevention member that presses and releases the transferred object 0 placed on the substrate.

[0008] In the transport device configured as described above, the gripping device 10 approaches the storage box 2 shown in FIG. 3, and moves the predetermined partition plate 6 and the transported object 0 placed thereon to the support plate 14. It is sandwiched by the holding plate 16. Next, the support plate 14
The suction plate 20 is set in a suction state by a vacuum pump (not shown), the partition plate 6 is sucked, and the holding plate 16 is moved in parallel to hold the object 0 from above. Next, the holding device 10 holding the object 0 is transferred to a desired position by operation of a robot (not shown), where the partition plate 6 is inclined. Further, the holding plate 16 is lifted, and the transferred object 0 released from the holding plate 16 slides down from the partition plate 6 due to gravity. Thereafter, the partition plate 6 is transported to a predetermined position and placed there. As a modification of the first embodiment, a push member for pushing the transferred object 0 placed on the partition plate 6 is provided in order to surely slide the transferred object 0 from the inclined partition plate 6. ,
A vibration device for vibrating the gripping device 10 is provided,
Alternatively, a nozzle device for blowing compressed air to the transported object 0 may be provided. The holding plate 16 configured to be driven in parallel may be configured to be driven to swing. Further, as means for gripping the support plate 14, electromagnetic suction, a locking tool, or the like may be used in addition to the suction disk. [Second embodiment] As shown in FIG. 4, a transported object 0 such as tofu is accommodated in a rectangular parallelepiped mounting member 100 having an open top surface, and is arranged and accommodated in a net tray 102. On the other hand, as shown in FIG. 5, the gripping device 110, which is a robot hand attached to a robot (not shown),
And a mounting member supporting device 114 fixed to the main body 112.
And the mounting member 10 for covering the upper surface of the mounting member 100.
And a shutter member 116 supported so as to be swingably driven to zero. The mounting member support device 114 is configured to support the mounting member 100.
Is a gripping member for gripping. Also, the shutter member 116
Is a fall prevention member provided substantially integrally with the gripping member. The shutter member may be provided on the upper surface of the main body 112.

In the transport device configured as described above, the gripping device 110 approaches the predetermined mounting member 100 shown in FIG. 5 and grips the same, and then the shutter member 116 grips the mounting member 100. Close the top. Next, the gripping device 110 that grips the transported object 0 is a robot (not shown).
Is moved to the desired position, where the shutter member 116 is removed from the closed position. Next, the mounting member 100 is rotated, and the transferred object 0 falls from the mounting member 100. Thereafter, the mounting member 100 is transported to a predetermined position.

[0010]

According to the present invention, it is possible to grip and transport an extremely soft article which is easily collapsed or deformed, that is, an object to be transported, without being collapsed, deformed or destroyed. Specifically, the following effects are given as examples. That is, the pork cutlet before the frying treatment can be transported without dropping the bread crumbs. The squid rings before frying can be conveyed without dropping the crumbs. A cream croquette or the like before frying can be transported without being deformed. The hamburger before cooking can be transported without deformation.
Fish meuniere (tongue flounder) can be transported without cutting. A dough such as a donut can be transported without being crushed or cut. A dough such as a pizza on which a topping is placed can be conveyed without collapse of the topping or elongation of the dough. Further, the tofu can be transported without being crushed.

[Brief description of the drawings]

FIG. 1 is a perspective view of a gripping device according to a first embodiment of the present invention.

FIG. 2 is a side view of the gripping device according to the first embodiment of the present invention.

FIG. 3 is a perspective view of a storage box of the transport device according to the first embodiment of the present invention.

FIG. 4 is a perspective view of a net tray according to a second embodiment of the present invention.

FIG. 5 is a perspective view of a gripping device according to a second embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 0 Conveyed object 2 Storage box 4 Outer box 6 Partition plate 10 Gripping device 12 Main unit 14 Support plate 16 Pressing plate 20 Suction plate 100 Placing member 102 Net tray 110 Gripping device 112 Main unit 114 Placing member supporting device 116 Shutter member

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-2-163070 (JP, A) JP-A-5-100198 (JP, A) JP-A-57-189670 (JP, A) JP-A-4- 55052 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 15/08 A23L 1/00

Claims (2)

(57) [Claims] An object, which is easily broken or deformed, mounted or stored on a mounting member, is supported by a robot hand having a support device for supporting the mounting member and a drop prevention member, and The object is conveyed to the target position by the robot hand, the transferred member is tilted in the falling direction while the conveyed object is prevented from dropping by the drop prevention member, and then the drop prevention function of the drop prevention member is released, A method of transporting a solid material, wherein an object to be transported is slid down from the above-described mounting member to a target position only by gravity while the mounting member is supported by the supporting device. 2. A mounting member for mounting or housing an object to be broken or deformed easily during conveyance, a supporting device for detachably supporting the mounting member, and the object to be dropped from the mounting member. A robot hand provided with a fall prevention member for preventing the fall, the fall prevention member is capable of releasing the fall prevention function, and the placement member is supported by the support device and the transferred object is lifted only by gravity. A solid object which can be inclined in a direction in which it slides down from the placing member, and wherein the fall prevention member is configured such that the fall prevention function is released after the conveyed object is conveyed to the vicinity of the destination. Transport device.