JP4620160B2 - Rice cooker with transport cart with double gripping device and its control program - Google Patents

Description

  The present invention relates to a rice cooking apparatus including a transport carriage with a double gripping device and a control program thereof, and more specifically, a rice cooking apparatus including a transport cart with a double gripping apparatus that has two releasable gripping devices. And a program for controlling the operation of the rice cooker.

  2. Description of the Related Art Various rice cooking apparatuses that cook rice for each rice cooker using a plurality of rice cookers arranged in a row have been proposed. For example, in Patent Document 1, as an induction heating type large-scale rice cooker, an inner pot conveyor moves between rows of a plurality of rice cookers arranged in two rows, and sets of inner pots to individual rice cookers The rice cooking device which takes out the inner pot from the cooked rice cooker is disclosed. Further, Patent Document 2 proposes an automatic rice cooker that does not require a large space for installation by arranging the rice cooker row in the upper stage and the steaming section in the lower stage. In this automatic rice cooker, In addition, a traveling mechanism equipped with an elevating mechanism travels in the space above the rice cooking unit, and sets of rice cookers to individual rice cookers and take-out of rice cookers from the cooked rice cookers are performed.

  However, in these conventional rice cookers, for one rice cooker row, the set of the rice cooker to the rice cooker and the removal of the rice cooker from the cooked rice cooker run along the rice cooker row. According to the study by the present inventors, there is a drawback that the traveling distance of the transport device is long and the transport efficiency is poor.

  Further, Patent Document 3 discloses a transport cart in which two arms for gripping a rice cooker are provided on one transport cart, and two rice cookers can be transported at the same time. However, the improvement of the conveyance efficiency in the conveyance cart disclosed in Patent Document 3 is simply brought about by the fact that two rice cookers can be conveyed at the same time, which is not satisfactory. That is, according to the conveying cart disclosed in Patent Document 3, the setting of the rice cooker to the rice cooker and the removal of the rice cooker from the rice cooker can be performed in units of two rice cookers. Of the multiple rice cookers that make up the machine row, if the two adjacent rice cookers are both empty, or both have finished cooking, it can be expected that transport efficiency will increase, but if that is not the case It is necessary to wait for both the adjacent rice cookers to be emptied or the rice cooking to be completed, and the conveyance efficiency is the same as that of the conventional conveyance device that conveys the rice cooker in units of one unit. There is a drawback of getting worse.

  In addition, when two rice cookers are simultaneously transported by the transport cart disclosed in Patent Document 3, acceptance of uncooked rice cookers and unloading of cooked rice cookers are performed in units of two rice cookers, respectively. In both the receiving part and the carry-out part, a place where two rice cookers are arranged in the direction along the rice cooker row is necessary, and the installation space as the whole rice cooker becomes large. There is.

Japanese Patent Laid-Open No. 10-57234 JP 2001-128850 A JP 2002-104646 A

  The present invention was made in order to solve the problems of the conventional rice cooker as described above. The rice cooker has good transfer efficiency of the rice cooker and does not require a large space for installation, and its control program. It is a problem to provide.

  As a result of earnest and research and development to solve the above-mentioned problems, the present inventors have arranged a holding cart for a rice cooker that runs along a row of rice cookers, and two gripping devices before and after the running direction. Of the two gripping devices, the first gripping device located on the receiving unit side of the rice cooker row includes gripping of the uncooked rice cooker in the receiving unit, and of the rice cooker to the empty rice cooker. By sharing the set, the second gripping device located on the carry-out side of the rice cooker row takes out the rice cooker from the rice cooker that has finished cooking and conveys it to the carry-out unit, thereby conveying the carriage. It was found that the traveling distance of the rice cooker can be shortened and the conveyance efficiency of the rice cooker can be increased.

  In addition, according to the transport cart as described above, the present inventors have one rice cooker gripped by the transport cart in the receiving unit, and one rice cooker released from the transport cart in the carry-out unit. Since it is an individual, the place to be secured in the receiving part and the carry-out part may be one rice cooker, and even if two gripping devices are equipped on the carriage, extra space is required for the rice cooker. The present invention has been completed.

That is, the present invention provides a rice cooker row formed by arranging a plurality of rice cookers in a row; a rice cooker receiving portion located on the inlet side of the rice cooker row; a rice cooker unloading portion located on the outlet side of the rice cooker row A conveyor cart that runs along the row of rice cookers; a gripping device that can freely hold and release the rice cooker, and is placed before and after the conveyor cart along the running direction of the conveyor cart, and is located on the rice cooker receiving part side A first gripping device and a second gripping device located on the side of the rice cooker carry-out portion; a first gripping device and a second gripping device each having a transport position above and a grip / release position below First and second lifting and lowering devices that raise and lower relative to the transport carriage; and a control device, the control device including the transport cart, the first and second gripping devices, and the first and second A double gripping device programmed to cause the lifting device to perform at least the following operations (1) to (8): Rice cooking system which includes a transport carriage attached, and, by providing the control program is intended to solve the foregoing problems;
(1) The transport cart is moved to a receiving position where the first holding device can hold the rice cooker located in the rice cooker receiving portion, and stopped at that position.
(2) In the receiving position, the first lifting device and the first gripping device are operated to cause the first gripping device to grip the rice cooker located in the rice cooker receiving portion.
(3) Taking out the transport cart in a state where the first gripping device grips the rice cooker, so that the second gripping device can grip and remove the rice cooker set in the rice cooker after the rice cooking is completed. Drive to a position and stop at that position,
(4) In the take-out position, the second lifting device and the second gripping device are actuated, and the second gripping device grips and takes out the rice cooker set in the rice cooker that has finished cooking.
(5) The first and second gripping devices grip the rice cart, and the first gripping device grips the rice cooker gripped by the operation (4). Drive to the set position where you can set it to the rice cooker that has become empty, and stop at that position,
(6) In the set position, the first lifting device and the first gripping device are operated, and the rice cooker is set in an empty rice cooker.
(7) The first gripping device does not grip the rice cooker, the second gripping device grips the rice cooker, and the second holding device grips the rice cooker gripped by the second gripping device. Travel to the unloading position where it can be placed on the pot unloading section and stop at that position.
(8) At the carry-out position, the second lifting device and the second gripping device are operated to place the gripped rice cooker on the rice cooker carry-out section.

In a preferred embodiment of the rice cooker equipped with the transport cart with the double gripping device of the present invention, when the control device has an empty rice cooker in which the rice cooker is not set in the rice cooker row, the transport cart, Programmed to cause the first and second gripping devices and the first and second lifting devices to perform the following operations (1), (2), (9), (6);
(1) The transport cart is moved to a receiving position where the first holding device can hold the rice cooker located in the rice cooker receiving portion, and stopped at that position.
(2) In the receiving position, the first lifting device and the first gripping device are operated to cause the first gripping device to grip the rice cooker located in the rice cooker receiving portion.
(9) Run the transport cart in a state where the first gripping device grips the rice cooker to the set position where the first gripping device can set the rice cooker gripped by the empty rice cooker. And stop at that position,
(6) At the set position, the first lifting device and the first gripping device are operated to set the rice cooker in an empty rice cooker.

Moreover, the rice cooking device provided with the transport cart with the double gripping device of the present invention is, in another preferred embodiment, the control device has no rice cooking pot in the rice cooking pot receiving portion, and the rice cooking is finished in the rice cooker row. When the cooked rice cooker is present, the following operations (10), (4), (7), (8) are applied to the transport cart, the first and second gripping devices, and the first and second lifting devices. Programmed to do
(10) The transport carriage is caused to travel to a take-out position where the second gripping device can grip and take out the rice cooker set in the rice cooker where rice cooking has been completed, and is stopped at that position.
(4) In the take-out position, the second lifting device and the second gripping device are actuated, and the second gripping device grips and takes out the rice cooker set in the rice cooker that has finished cooking.
(7) The first gripping device does not grip the rice cooker, the second gripping device grips the rice cooker, and the second holding device grips the rice cooker gripped by the second gripping device. Travel to the unloading position where it can be placed on the pot unloading section and stop at that position.
(8) In the carry-out position, the second lifting device and the second gripping device are operated to place the rice cooker on the rice cooker carry-out section.

  In the rice cooking apparatus provided with the transport cart with the double gripping device of the present invention, the transport cart only needs to travel along the rice cooker row, and the travel position may be the space above the rice cooker train. It may be a side space.

  According to the rice cooker provided with the transport cart with the double gripping device of the present invention, the efficiency of the rice cooker is increased, and efficient rice cooking can be performed using a plurality of rice cookers and a plurality of rice cookers. The advantage is obtained. Moreover, the rice cooking apparatus provided with the transport cart with the double gripping device of the present invention only needs to secure a place for one rice cooker in both the rice cooker receiving part and the rice cooker carry-out part. Has the advantage of not requiring extra space. Moreover, according to the program of this invention, the conveyance trolley, the 1st, 2nd holding | grip apparatus, and the 1st, 2nd raising / lowering apparatus which comprise the rice cooking apparatus provided with the conveyance trolley with the double gripping apparatus of this invention. Further, it is possible to obtain an advantage that the above-described various advantages can be realized by performing a predetermined operation.

It is a front view which shows an example of the rice cooking apparatus provided with the conveyance trolley with the double holding | grip apparatus of this invention. It is an enlarged view of the front half of a conveyance trolley. It is a left view of a conveyance trolley. It is a side view of the conveyance trolley in a state where the gripping device is lowered to the grip / release position. It is a figure explaining operation | movement of the rice cooking apparatus of this invention. It is a figure explaining operation | movement of the rice cooking apparatus of this invention. It is a figure explaining operation | movement of the rice cooking apparatus of this invention. It is a figure explaining operation | movement of the rice cooking apparatus of this invention. It is a figure explaining operation | movement of the rice cooking apparatus of this invention. It is a figure explaining operation | movement of the rice cooking apparatus of this invention. It is a figure explaining operation | movement of the rice cooking apparatus of this invention. It is a figure explaining operation | movement of the rice cooking apparatus of this invention. It is a figure which compares the driving | running route of the conveyance trolley in the rice cooking device of this invention with the driving | running route of the conveyance trolley in the conventional rice cooking device. It is a figure which compares the driving | running route of the conveyance trolley in the rice cooking device of this invention with the driving | running route of the conveyance trolley in the conventional rice cooking device. It is a top view which shows the other example of a holding | grip apparatus, and is a figure showing the state which has a holding nail | claw in a release position. It is a top view which shows the other example of a holding apparatus, and is a figure showing the state which has a holding nail | claw in a holding position.

  Hereinafter, the present invention will be described in detail with reference to the drawings, but the present invention is not limited to the illustrated one.

FIG. 1 is a front view showing an example of a rice cooker equipped with a transport cart with a double gripping device of the present invention. In FIG. 1, 1 is a rice cooker provided with a transport cart with a double gripping device of the present invention, 2 is a rice cooker row, and the rice cooker row 2 is a plurality of rice cookers 2 ₁ , 2 ₂ arranged in rows. 2 ₃ , 2 ₄ , 2 ₅ . As shown by broken lines in the figure, rice cookers 2 _{1 to} 2 ₅ have a space portion V whose upper portion is opened inside, and the bottom portion of the rice cooker is received in this space portion V and heated by heating means (not shown). And cook rice. In the illustrated example, although the cooking device 2 ₁ to 2 ₅ are arranged in a straight line, may be arranged in a curved shape, and further, they are arranged linearly in combination with straight lines and curves May be. Further, in the example shown, the rice mill train 2 is composed of five rice machine 2 ₁ to 2 _5, the number of rice machine for forming a cooking mill train 2 is not limited to five, four The following may be sufficient, and six or more may be sufficient.

  Reference numeral 3 denotes a transport carriage, 4, 4, 4 are traveling wheels thereof, and 5 is a traveling path of the traveling wheels 4, 4, 4. Since the traveling path 5 is installed in the upper space of the rice cooker row 2 along the rice cooker row 2 as shown in the figure, the transport cart 3 is configured so that the upper space of the rice cooker row 2 is changed to the rice cooker row 2. Will drive along. In the case where the transport carriage 3 is provided with a gripping device on an arm extending laterally from the transport carriage as in the transport cart disclosed in Patent Document 1 or Patent Document 3, for example, the gripping device transport The traveling path 5 of the cart 3 is not located in the upper space of the rice cooker row 2 but on the side of the rice cooker row 2 at the same height as the rice cooker row 2 or at a position lower than that. You may make it drive | work along the rice cooker row 2 in the space of 2 side parts. However, from the viewpoint of reducing the installation space of the entire rice cooker, it is desirable that the transport carriage 3 travels in the upper space of the rice cooker row 2 as shown in FIG.

6 _1, 6 _2, a first, second gripping device, respectively, along the running direction of the transport vehicle 3, are arranged one behind the transport vehicle 3. The first gripping device ₆₁ is described later cooking pot receiving portion is located (the right side in FIG. 1), the second gripping device 6 ₂ (left side in FIG. 1) cooking kettle discharge portion to be described later Is located.

Reference numerals 7 ₁ and 7 ₂ denote _first and _second lifting and lowering devices 7 ₁ c and 7 ₂ c that lift and lower the _first and second gripping devices 6 ₁ and 62, respectively. It is a cylinder which is a drive source of the lifting / lowering devices 7 ₁ , 7 ₂ . The cylinders 7 ₁ c and 7 ₂ c are cylinders that use any fluid pressure such as hydraulic pressure, air pressure, gas pressure, water pressure, etc. as long as the _first and second gripping devices 6 ₁ and 62 ₂ can be raised and lowered. However, it is desirable to use a pneumatic cylinder from the viewpoint of easy handling and hygiene. The first and second lifting devices 7 ₁ and 7 ₂ include solenoid valves (not shown) that control the supply of working fluid to the cylinders 7 ₁ c and 7 ₂ c in addition to the cylinders 7 ₁ c and 7 ₂ c. The cylinders 7 ₁ c and 7 ₂ c are operated by controlling a fluid supply to the cylinders 7 ₁ c and 7 ₂ c via a solenoid valve, which is described later. first, second gripping device _61, the 6 _2, a transfer position located above, the gripping and releasing position (Figure 1 at the bottom, for convenience, shown by a broken line only for the first gripping device 6 ₁ Lift up and down. Reference numeral 8 denotes an electric motor, which is a drive source that rotates at least one of the traveling wheels 4, 4, and 4 and causes the transport carriage 3 to travel.

P is a rice cooker, and the rice cooker P has double ridges P _U and P _L on the top and bottom. Rice machine 2 ₄ is cooking pot P indicates a state of being set in cooking position, as shown in FIG, rice pot P is equivalent to the lower surface of the lower flange portion P _L on the side wall upper surface of the cooking device 2 ₄ By touching, it is set at a predetermined rice cooking position. "H" from the reference plane (floor of rice mill train 2 in the case illustrated alpha), until the lower surface of the upper flange portion P _U of the cooking pot P when it is set in the cooking machine 2 ₄ height Represents. The rice cookers 2 ₁ , 2 ₂ , 2 ₃ , 2 ₄ , 2 ₅ are all the same shape and the same size, and the rice cooker P is also used with a certain size. "Is the same in any of the rice cookers 2 ₁ , 2 ₂ , 2 ₃ , 2 ₄ , 2 ₅ .

9 is a rice cooker receiving portion for receiving the rice cooker P containing uncooked rice and water, and is located on an extension line at one end of the rice cooker row 2. The rice cooker receiving portion 9 is provided with a rotating roller 9a for conveying the rice cooker P. The rice cooker P containing uncooked rice and water conveyed by the rotating roller 9a from the front side of the drawing in the drawing. Comes into contact with the stopper and is stopped and held at a predetermined position on the rice cooker receiving portion 9. At this time, from the floor of the cooking machine column 2 as a reference plane alpha, height to the lower surface of the upper flange portion P _U in the cooking pot P on rice hook receiving portion 9 "Hin" is described above, cooking machine in the set cooking pot P in the same from the floor of the cooking mill train 2 alpha and height to the lower surface of the upper flange portion P _U "H". That is, the upper surface of the rotating roller 9a in the rice cooker receiving portion 9 is the same height as the rice cooker P set in the rice cookers 2 ₁ , 2 ₂ , 2 ₃ , 2 ₄ , ₂₅ , and the bottom surface of the rice cooker P The diameter of the rotating roller 9a and its mounting height are selected so as to support it.

  In addition, the conveyance direction of the rice cooker P to the rice cooker receiving part 9 is not restricted to the thing of illustration. Contrary to the example shown in the figure, the sheet may be conveyed from the back side of the paper surface in the figure toward the position in the figure, or may be conveyed from the right direction in the figure to the position shown in the figure. However, when transporting from the right direction in the drawing to the illustrated position, it is needless to say that the direction of the rotating roller 9a must be changed by 90 degrees on the horizontal plane.

Reference numeral 10 denotes a rice cooker carry-out section on which the rice cooker P that has finished cooking is placed and carried out to the outside, and is located on the extension line of the rice cooker row 2 opposite to the rice cooker receiving section 9. . The rice cooker carry-out section 10 is provided with a rotating roller 10a for conveying the rice cooker P, and the rice cooker P that has been cooked placed on the rotating roller 10a is placed behind the page in the drawing by the rotating roller 10a. It is carried out in the direction and carried to the subsequent line. Also in cooking pot exit portion 10, from the floor of the cooking machine column 2 as a reference plane alpha, to a lower surface of the upper flange portion P _U in the cooking pot P on rice hook exit portion 10 the height "Hout" is above It was, when it is set on a cooking machine, which is the same from the floor of the cooking mill train 2 alpha underside to the height of the upper flange portion P _U of the cooking pot P "H". That is, the upper surface of the rotating roller 10a in the rice cooker unloading unit 10 is the same height as the rice cooker P set in the rice cookers 2 ₁ , 2 ₂ , 2 ₃ , 2 ₄ , and ₂₅ , and the bottom surface of the rice cooker P The diameter of the rotating roller 10a and its mounting height are selected so as to support it.

  In addition, the carrying-out direction of the rice cooker P from the rice cooker carrying-out part 10 is not restricted to the thing of illustration. Contrary to the example shown in the figure, the rice cooker P may be carried out from the position in the figure toward the front side of the page, or may be carried out from the position in the figure to the left in the figure. . However, when carrying out from the illustrated position to the left in the drawing, it is needless to say that the direction of the rotating roller 10a must be changed by 90 degrees on the horizontal plane.

As described above, in the rice cooker 1 shown in FIG. 1, the height “Hin” of the rice cooker P in the rice cooker receiving unit 9, the rice cookers 2 ₁ , 2 ₂ , 2 ₃ , 2 ₄ constituting the rice cooker row 2. The height “H” of the rice cooker P when set to ₂₅ and ₂₅ and the height “Hout” of the rice cooker P in the rice cooker carry-out portion 10 are the same. Therefore, the first gripping device ₆₁ provided on the transport carriage 3, cooking pot receiving part 9 and the rice machine _{2 1,} 2 _2, 2 _3, 2 4, ₂ at any position of the _5, also, second gripping device _{6 2,} rice machine _{2 1,} 2 _2, 2 _3, 2 4, _{2 5} and at any position of the cooking pot exit portion 10, is lowered to the same height, the grip of the cooking pot P Or release can be performed. Therefore, in the rice cooking apparatus 1 of this example, the 1st, 2nd raising / lowering apparatus 7 ₁ , 7 ₂ is the single conveyance which has the 1st, 2nd holding | gripping apparatus 6 ₁ , 6 ₂ above, respectively. What is necessary is just to raise / lower between two positions of a position and the single holding | grip / release position below. For this reason, as the cylinders 7 ₁ c and 7 ₂ c which are driving sources of the first and second elevating devices 7 ₁ and 7 ₂ , a fluid pressure cylinder that moves the piston between two positions of the protruding position and the retracted position is used. it can be used, first, the advantage that the second lifting device 7 _1, 7 ₂ of the structure can be simplified is obtained.

The first, second lifting device 7 _1, 7 ₂ of the driving source is not limited to a fluid pressure cylinder as described above. For example, when an electric cylinder is used as the cylinders 7 ₁ c and 7 ₂ c, the transfer position and / or the grip / release position can be set to any position of the movement stroke of the inner cylinder of the electric cylinder. It is not necessary to make the heights “Hin” and “Hout” of the rice cooker P in the part 9 and the rice cooker carry-out part 10 the same as the height “H” of the rice cooker P in the rice cookers 2 ₁ to ₂₅ . Further, for example, a rack and a drive mechanism and with the pinion, a drive mechanism such as a linear motor, first, it is also possible to employ as the second lifting device 7 _1, 7 ₂ of the driving source.

  11 is a control device, 12 is a power source, 13 is a fluid source, and 14 accommodates a signal line, a power line, a pipe line, and the like that connect the control device 11, the power source 12, the fluid source 13 and the transport carriage 3. Cable bear (registered trademark).

FIG. 2 is an enlarged view showing only the front half of the transport carriage 3 for convenience of explanation. Hereinafter, the second lifting device 7 ₂ and the second gripping device 6 is only described _second structure, the structure of the first lifting device 7 ₁ and the first gripping device _61, respectively, the second is the same as that of the lifting device 7 ₂ and the second gripping device 6 ₂ structures.

In FIG. 2, 3a is a frame of the transport carriage 3, and 3b is a bottom plate. The bottom plate 3b covers a portion where the frame 3a does not exist on the bottom surface of the conveyance carriage 3, and the conveyance carriage 3 is bottomed by the bottom plate 3b. Thus, since the transport vehicle 3 is to that of the bottom by a bottom plate 3b, is attached to the transport vehicle 3, for example, and the cylinder 7 _{1 c,} 7 2 _c, the electric motor 8, an electromagnetic valve (not shown) Even if oil, dust, screws, or the like fall from the mechanical parts having the movable parts, they are received by the bottom plate 3b and are prevented from falling below the transport carriage 3. Therefore, according to the illustrated conveyance carriage 3, the advantage that the rice cooking pot P can be conveyed extremely safely and hygienically while traveling in the upper space of the rice cooker row 2 is obtained.

8a is a timing belt that transmits the rotational power of the electric motor 8 to the traveling wheel 4, 15 is a sprocket, 16 is a rotary encoder that transmits the rotation of the sprocket 15, 15a is a timing belt that transmits the rotation of the sprocket to the rotary encoder 16, and 17 is a guide bar during lifting of the gripping device _61. Note that the electric motor 8, the timing belts 8a and 15a, the sprocket 15, and the rotary encoder 16 do not exist in the rear half of the transport carriage 3 (not shown).

  The transport carriage 3 configured as described above is configured so that the electric motor 8 is driven and the traveling wheels 4 are rotated based on the control signal from the control device 11 shown in FIG. Drive in both the middle, left and right directions. The teeth of the sprocket 15 are engaged with a chain installed in parallel with the travel path 5, and when the transport carriage 3 travels on the travel path 5, the sprocket 15 rotates accordingly. The rotation is transmitted to the rotary encoder 16, and the rotary encoder 16 transmits a signal corresponding to the position on the travel path 5 of the transport carriage 3. This signal is transmitted to the control device 11 as a signal representing the position of the transport carriage 3 on the travel path 5, and the control apparatus 11 controls the operation of the electric motor 8 based on this signal, and causes the transport cart 3 to travel along the travel path. It is possible to travel to an arbitrary place on 5 and stop at that position.

18 gripping claws attached to the second gripping device _{6 2,} 18a is a support plate of the gripping claws 18, 18b, 18b, the connecting body for connecting the gripping claws 18 and the supporting plate 18a, 19 is a cover member is there. In FIG. 2, only the gripping claws 18 are shown on the near side, but there is a pair of gripping claws 18 on the other side of the paper, and the gripping claws 18, 18 function as a pair to grip the rice cooker. have.

FIG. 3 is a left side view of the transport carriage 3 shown in FIG. 2, and the same members as those in FIG. Further, there is shown a cooking pot P in a state of being gripped by the second gripping device 6 ₂ for reference by a broken line.

In FIG. 3, 15c shows the chain installed in parallel with the traveling path 5, and the teeth of the sprocket 15 are engaged with the chain 15c. 20 is a second top plate of the gripping device 6 _2, the tip of the piston of the cylinder 7 _{2 c} is the top plate 20 is connected. The illustrated state, the position where the piston is pulled most into the cylinder of the cylinder 7 _{2 c,} namely, shows a case in which the second gripping device 6 ₂ is in the most elevated transport position to the transport carriage 3, When the piston from the state shown cylinder 7 _{2 c} protrudes downward, the second gripping device 6 _2, while being guided by the two guide bars 17, 17 will be lowered to grip and release positions.

6 ₂ c and 6 ₂ c are cylinders as a driving source for moving the pair of gripping claws 18, 18 between the gripping position and the release position, and the tip ends of the pistons are respectively connected to the pair of gripping claws 18, 18 support plates 18a and 18a. The second gripping device _{6 2,} in addition to the cylinder ₆ 2 c, _{6 2} c, and the solenoid valve (not shown) is provided for controlling the supply of hydraulic fluid to the cylinder ₆ 2 c, _{6 2} c, the control The device 11 controls the supply of fluid to the cylinders 6 ₂ c and 6 ₂ c via the solenoid valve, whereby the cylinders 6 ₂ c and 6 ₂ c are operated, and the pair of gripping claws 18 and 18 are moved. And move between a gripping position closest to each other and a release position farthest from each other. 21 and 21 are guide bars for guiding the movement of the support plates 18a and 18a when the gripping claws 18 and 18 are moved. Note that the second gripping device ₆₁ (not shown), the cylinder ₆ 1 c, _{6 1} c are provided, a pair of gripping claws 18, 18 in the second gripping device _61, is closest to each other gripping It has a function of moving between a position and a release position that is farthest from each other.

FIG. 3 shows a state in which the pair of cylinders 6 ₂ c and 6 ₂ c have their pistons drawn most into the cylinder, and the grip claws 18 and 18 are in the grip positions closest to each other. In the state shown in FIG., The upper surface of the grip claw 18 is in contact with the lower surface of the upper flange portion P _U of the cooking pot P those, rice pot P is in a state of being gripped by the gripping claws 18, 18. When the pair of cylinders 6 ₂ c and 6 ₂ c causes their pistons to protrude most from the cylinders in response to a signal from the control device 11, the gripping claws 18 and 18 move to the release positions farthest from each other.

As long as the pair of gripping claws 18 and 18 can be moved between the gripping position and the release position, any fluid pressure such as hydraulic pressure, air pressure, gas pressure, and water pressure can be used as the cylinders 6 ₂ c and 6 ₂ c. Although a cylinder to be used may be used, it is desirable to use a pneumatic cylinder from the viewpoint of easy handling and hygiene. In some cases, instead of the fluid pressure cylinder, an appropriate drive mechanism such as an electric cylinder, a drive mechanism using a rack and a pinion, or a linear motor may be employed.

Incidentally, as shown in Figure, the cover member 19 has an upper opening surface comfortably and cover the size of the cooking pot P of the second gripping device 6 ₂ to grip are shaped, cylinder 6 _{2 c,} 6 ₂ c The mechanical part having a movable part constituting the _second gripping device 62 such as an electromagnetic valve is located above the cover member 19 and inside the outer periphery of the cover member 19. Therefore, even if there are falling objects such as oil, dust, screws, etc. from mechanical parts such as the cylinders 6 ₂ c, 6 ₂ c and solenoid valves, these falling objects are placed on the upper opening surface of the rice cooker P. There is no fear of falling. For this reason, the advantage that the rice cooker P can be conveyed hygienically is obtained.

4, from the state shown in FIG. 3, the cylinder 7 _{2 c} is allowed to protrude the piston 7 _{2 p,} and the second gripping device 6 ₂ is lowered until the gripping and release positions, for example, on the cooking machine 2 ₄ The state where the rice cooking pot P is set is shown. As shown, when the second gripping device 6 ₂ is lowered until the gripping and release positions, the lower surface of the lower flange portion P _L of the cooking pot P is already contact with the upper surface of the side wall of the cooking machine 2 _4, and the upper surface of the gripping claws 18, 18, the lower surface of the upper flange portion P _U of the cooking pot P is already separated state. That is, the second gripping and releasing positions of the gripping device 6 _2, position the underside of the lower flange portion P _L of the cooking pot P is brought into contact with the upper surface of the side wall of the cooking machine 2 _4, rice pot P stops descending a position lowered below the upper surface of the gripping claws 18, 18 is a position where the lower than the lower surface of the upper flange portion P _U of the rice pot P. Positional relationship between the upper flange portion _{P U} of the gripping claws 18, 18 and rice pot P in the grip-release position, the second gripping device _{6 2} other cooking machine ₂ 1 _{to 2} 3, _{2 5} and rice pot out the same applies when in the grip-release position on the part 10, also when the first gripping device ₆₁ is in the grip-release position on the cooking device 2 ₁ to 2 ₅ and rice hook receiving portion 9 Is the same.

In the grip-release position, the upper surface of the gripping claws 18, 18, since the lower surface of the upper flange portion _{P U} of the cooking pot P is in a state apart, the second gripping device _{6 2,} cylinder ₆ 2 c, 6 the _{2 c} is operated, the gripping claws 18, 18 from the gripping position closest to each other shown in the figure, respectively moves outwardly, it is possible to move to the farthest release positions. In the release position, the gripping claws 18, 18 do not lie longer directly below the upper flange portion P _U of the rice pot P. Therefore, even by increasing the second gripping device 6 ₂ in this state, not the upper surface of the gripping claws 18, 18 to the lower surface abutting the upper flange portion P _U of the cooking pot P, the second gripping device 6 ₂ rises without holding the rice cooker P.

  Hereinafter, operation | movement of the rice cooking apparatus 1 of this invention is demonstrated using FIGS.

As shown in FIG. 5, the rice cooker P is set in all of the rice cookers 2 ₁ to ₂₅ constituting the rice cooker row 2, and the rice cooker is in progress in each of the rice cookers 2 ₁ to ₂₅ . When a new rice cooker P containing rice and water for rice cooking is conveyed to the rice cooker receiving unit 9, the rice cooker receiving unit 9 converts the conveyed rice cooker P to a predetermined one on the rice cooker receiving unit 9. While stopping at the position, a signal notifying that there is a rice cooker P waiting for rice cooking is transmitted to the control device 11.

Controller 11 receives a signal indicating that there is cooking pot P stove waiting from rice hook receiving portion 9 drives the motor 8 of the transport vehicle 3, the first gripping device ₆₁ is rice pot accepted The conveyance carriage 3 is caused to travel to a receiving position where the rice cooker P located in the section 9 can be gripped, and is stopped at that position. FIG. 5 shows a state where the transport carriage 3 is stopped at the receiving position.

Controller 11 can also store the receiving position which can first gripping device ₆₁ grips the cooking pot P located cooking pot receiving part 9 as the initial position of the transport vehicle 3. When the control device 11 stores the receiving position as the initial position of the transport carriage 3, the control device 11 has a rice cooker P waiting for cooking from the rice cooker receiving unit 9 after the preceding series of operations is completed. Without waiting for the reception of a signal to inform the user, the carriage 3 is moved to the initial receiving position, stopped at that position, and a new rice cooker P is conveyed to the rice cooker receiving section 9. I can wait to come. Alternatively, the control device 11 receives both the signal indicating the signal indicating that the cooking pot P stove waiting from rice hook receiving portion 9 is present, the cooking termination from either cooking machine 2 ₁ to 2 ₅ waiting to, the transport vehicle 3, the first gripping device ₆₁ is allowed to travel to the receiving position capable of gripping the cooking pot P located cooking pot receiving portion 9, so as to stop at that position Also good.

When the transport carriage 3 stops at the receiving position, the control device 11 controls the electromagnetic valve that constitutes the _first lifting device 71 to operate the cylinder 7 ₁ c and the first gripping device 6 at the transport position. ₁ is lowered to the grip / release position. Figure 6 shows a state in which the first gripping device ₆₁ is lowered to grip and release positions. Note that until the first gripping device ₆₁ is lowered to grip and release position from the transport position, be first gripping device ₆₁ of the pair of gripping claws 18, 18 is in the farthest release position to each other say Nor.

When the first gripping device ₆₁ is lowered to grip-release position, the controller 11 controls the solenoid valve constituting the first gripping device _61, to actuate the cylinder 6 _{1 c,} 6 1 _c, The pair of gripping claws 18, 18 in the release position are moved to the gripping positions closest to each other. When the pair of gripping claws 18 and 18 move to the gripping position, the control device 11 controls the electromagnetic valve constituting the _first lifting device 71 to operate the cylinder 7 ₁ c and is in the gripping / releasing position. raising the first gripping device ₆₁ to the transfer position. In the gripping position, the gripping claws 18, 18 so positioned immediately below the upper flange portion P _U of the cooking pot P, the first gripping device ₆₁ is raised to the transport position, the halfway, the gripping claws 18 , 18 top surface of contact with the lower surface of the upper flange portion P _U of the cooking pot P, cooking pot P is gripped by the gripping claws 18 will rise along with the first gripping device _61.

Thus, in the rice cooking system 1 of the present invention, first the transport vehicle 3, the second gripping device _61, although 6 ₂ are provided, gripping the cooking pot P located cooking pot receiving part 9 for, since only the first gripping device ₆₁ located at the cooking pot receiving portion 9 side, rice pot P un rice held in rice hook receiving portion 9 has only one. For this reason, the space of the running direction of the conveyance trolley | bogie 3 which the rice cooking pot acceptance part 9 requires is sufficient for one rice cooking pot, and the rice cooking apparatus 1 can be made compact and space-saving.

In addition, when it waits for the control apparatus 11 to receive the signal which informs that there exists the rice cooking pot P waiting for rice cooking from the rice cooker receiving part 9, it makes the conveyance trolley 3 drive to an acceptance position, and stops. The control device 11 receives a signal notifying that there is a rice cooker P waiting for rice cooking or a signal notifying that there is a rice cooking pot P waiting for rice cooking, and the rice cookers 2 ₁ to ₂₅ . waiting to receive both signals indicating the cooking completion from either, described above to grip the cooking pot P on rice hook receiving portion 9 to the first lifting device 7 ₁ and the first gripping device 6 ₁ It will cause the action to be performed.

The first gripping device ₆₁ is, as described above, to grip the new cooking pot P in cooking pot receiving part 9, when raised to the transport position, the control device 11, cooking machine 2 constituting the rice mill train 2 waiting for from 21 _{to 5} either to receive a signal of cooking completion, grip the transport vehicle 3, the second gripping device 6 _2, a cooking pot P of cooking is set to finished cooking machine Then, the vehicle travels to an extraction position where it can be taken out, and stops at that position. At this time, the first gripping device ₆₁ is in a state holding the cooking pot P.

7, the control device 11, for example, receives signals cooking completion from rice machine 2 _4, the transport vehicle 3, the second gripping device 6 _2, is set to cooking machine 2 ₄ cooking is finished It shows a state where the rice cooker P is run to the take-out position where it can be grasped and taken out and stopped at that position.

In addition, the control apparatus 11 receives both the signal informing that the rice cooking pot P waiting for the rice cooking from the rice cooking pot receiving unit 9 exists and the signal informing the rice cooking end from any of the rice cookers 2 ₁ to _25. Then, when the transport cart 3 is traveled to the receiving position and stopped at that position, the control device 11 revisits any of the rice cookers 2 ₁ to ₂₅ when traveling the transport cart 3 to the take-out position. There is no need to wait to receive a signal indicating that rice has been cooked. Moreover, the control apparatus 11 receives both the signal notifying that the rice cooking pot P waiting for the rice cooking from the rice cooker receiving part 9 exists and the signal notifying the end of the rice cooking from any of the rice cookers 2 ₁ to _25. waiting to, even when to perform the first lifting device 7 ₁ and the first gripping device ₆₁ operation the cooking pot P on rice hook receiving portion 9 is gripped above, the control unit 11 When the transport cart 3 is moved to the take-out position, it is not necessary to wait for the receipt of a rice cooking end signal from any of the rice cookers 2 ₁ to ₂₅ .

It should also be appreciated that the cooking machine cooking is completed, a cooking machine 2 ₁ adjacent to cooking pot receiving portion 9, in the receiving position, already transport vehicle 3, the second gripping device 6 _2, when in the removal position can be extracted by gripping the cooking pot P set in the cooking device 2 _1, allowed to travel transport vehicle 3 to the removal position, the operation for stopping at that position will be omitted.

When the transport carriage 3 stops at the take-out position, the control device 11 controls the electromagnetic valve that constitutes the _second lifting device 72 to operate the cylinder 7 ₂ c and the second gripping device 6 at the transport position. ₂ is lowered to the grip / release position. Figure 8 shows a state in which the second gripping device 6 ₂ is lowered until the gripping and release positions. Note that until the second gripping device 6 ₂ is moved down to the grip-release position from the transport position, be the second gripping device 6 ₂ of the pair of gripping claws 18, 18 is in the farthest release position to each other say Nor.

When the second gripping device 6 ₂ is moved down to the grip-release position, the controller 11 controls the solenoid valve constituting the second gripping device 6 ₂ actuates the cylinder 6 _{2 c,} 6 2 _c, The pair of gripping claws 18, 18 in the release position are moved to the gripping positions closest to each other. When the pair of gripping claws 18, 18 is moved to the gripping position, the control device 11 controls the solenoid valve constituting the second lifting device 7 ₂ actuates the cylinder 7 _{2 c,} in the grip-release position raising the second gripping device 6 ₂ to the transport position. In the gripping position, the gripping claws 18, 18 so positioned immediately below the upper flange portion P _U of the cooking already cooking pot P set in the rice machine 2 _4, the second gripping device 6 ₂ transport When raised to a position, on its way, the upper surface of the gripping claws 18 and 18 contact with the lower surface of the upper flange portion P _U of the cooking pot P, rice already cooking pot P is gripped by the gripping claws 18, 18 rice is removed from the machine 2 ₄ will increase along with the second gripping device 6 _2.

When the second gripping device 6 ₂ rises to conveying position gripping the cooking already cooking pot P, the control device 11, first, second gripping device 6 _and 62 grips the cooking pot together the transport vehicle 3 in a state, the first gripping device ₆₁ is to set the cooking pot P being gripped, the rice machine 2 ₄ cooking pot P already cooking in the preceding operation becomes empty retrieved Drive to the set position where you can, and stop at that position. 9, first, second gripping device 6 _and 62 are transport vehicle 3 in a state of gripping together cooking kettle shows a stopped state to the set position.

When the transport vehicle 3 stops at the set position, the control device 11 actuates the first lifting device 7 ₁ and the first gripping device _61, the empty cooking machine 2 _4, the cooking pot P being gripped Let it set. That is, the control unit 11 controls the solenoid valve constituting the first lifting device 7 _1, by operating the cylinder 7 _{1 c,} lowering the first gripping device ₆₁ in the transfer position until the grip-release position Let Figure 10 shows a state in which the first gripping device ₆₁ is lowered to grip and release positions, rice pot P which has been gripped is set to cooking machine 2 _4.

The first gripping device ₆₁ is lowered to grip and release positions, electromagnetic cooking pot P which has been gripped constituting When set to cooking machine 2 _4, the control device 11, a first gripping device 6 ₁ By controlling the valve, the cylinders 6 ₁ c and 6 ₁ c are operated to move the pair of gripping claws 18 and 18 in the gripping position to the release positions farthest from each other. When the pair of gripping claws 18 and 18 are moved to the release position, the control device 11 controls the electromagnetic valve constituting the _first lifting device 71 to operate the cylinder 7 ₁ c to be in the gripping / release position. raising the first gripping device ₆₁ to the transfer position. In the release position, the gripping claws 18, 18 longer, since not located directly below the upper flange portion P _U of the cooking pot P, even when the first gripping device ₆₁ is raised to the transport position, the halfway, while the upper surface of the gripping claws 18, 18 are not able to lower surface abutting the upper flange portion P _U of the cooking pot P, cooking pot P is not gripped by the gripping claws 18, 18 is set to the cooking machine 2 ₄ , Will stay in that position.

Incidentally, when the rice pot P is set to cooking machine 2 _4, the set signal is transmitted to the control device 11, the control device 11, cooking is started by actuating the heating means (not shown) of the cooking device 2 ₄ Will be.

When the first gripping device ₆₁ is raised to the transport position, the control device 11, a state in which the first gripping device ₆₁ does not grip the cooking pot P, the second gripping device 6 ₂ grips the cooking pot P the transport carriage 3 in the second gripping device 6 _2, a cooking pot P being gripped, caused to run until the carry-out position which can be placed on the cooking pot exit portion 10, and stops at that position. FIG. 11 shows a state where the transport carriage 3 is stopped at the carry-out position.

As a matter of course, cooking machine cooking is completed, a cooking machine 2 ₅ adjacent to the cooking pot exit portion 10, in the set position, already transport vehicle 3, the second gripping device 6 _2, When the rice cooker P gripped by the rice cooker carry-out portion 10 is in the carry-out position where it can be placed, the operation of causing the transport carriage 3 to travel to the carry-out position and stopping at that position is omitted.

When the transport vehicle 3 stops at the unloading position, the control device 11, placed actuates the second lifting device 7 ₂ and the second gripping device 6 _2, a cooking pot P that is holding the cooking pot exit portion 10 Let That is, the control unit 11 controls the solenoid valve constituting the second lifting device 7 ₂ actuates the cylinder 7 _{2 c,} lowering the second gripping device 6 ₂ in the transport position to the grip-release position Let Figure 12 shows a state in which the second gripping device 6 ₂ is lowered until the gripping and release positions, rice pot P which has been gripped is placed on the cooking pot exit portion 10.

Second gripping device 6 ₂ is lowered until the gripping and release positions, the rice pot P which has been gripped is placed on the cooking pot unloading unit 10, the control unit 11, the second gripping device 6 ₂ The constituting solenoid valves are controlled to operate the cylinders 6 ₂ c and 6 ₂ c to move the pair of gripping claws 18 and 18 in the gripping position to the release positions farthest from each other. When the pair of gripping claws 18, 18 move to the release position, the control device 11 controls the electromagnetic valve that constitutes the _second lifting device 72 to operate the cylinder 7 ₂ c to be in the grip / release position. raising the second gripping device 6 ₂ to the transport position. In the release position, the gripping claws 18, 18 longer, since not located directly below the upper flange portion P _U of the cooking pot P, even when the second gripping device 6 ₂ rises to the transport position, the halfway, never upper surface of the gripping claws 18, 18 to the lower surface abutting the upper flange portion P _U of the cooking pot P, cooking pot P is not gripped by the gripping claws 18, 18 mounted on the cooking pot exit portion 10 Will remain in that position.

Thus, in the rice cooking system 1 of the present invention, first the transport vehicle 3, the second gripping device _61, although 6 ₂ is provided to place the cooking pot P in cooking kettle exit portion 10 it is given, since only the second gripping device 6 ₂ positioned cooking kettle exit portion 10 side, rice already cooking pot P the cooking pot exit portion 10 receives only needs one. For this reason, the space which the rice cooker carrying-out part 10 requires for the running direction of the conveyance trolley 3 is enough for one rice cooker, and the rice cooker 1 can be made compact and space-saving.

When the second gripping device 6 ₂ rises to transport position, the control device 11, in this state, stops the operation of the transport vehicle 3, new, there are cooking pot P stove waiting from rice pot receiving part 9 You may make it wait until the signal which notifies this is received, the signal of the rice cooking end is received from either of the rice cookers 2 ₁ to ₂₅ , or both signals are received. Or, when the control unit 11, a first gripping device ₆₁ stores a receiving position capable of gripping the cooking pot P located cooking pot receiving part 9 as the initial position of the transport vehicle 3, Conveying without waiting for either the signal to inform that there is a rice cooker P waiting for rice cooking from the rice cooker receiving unit 9 and the signal of the end of rice cooking from any of the rice cookers 2 ₁ to ₂₅ The carriage 3 may travel to the receiving position, stop at that position, and return to the initial position.

Note that the initial position of the transport carriage 3 is not limited to the receiving position described above. Second gripping device 6 _2, a cooking pot P being gripped, to the unloading position which can be placed on the cooking pot exit portion 10 may be an initial position of the transport vehicle 3, other arbitrary position It may be the initial position. When the initial position is set, the control device 11 returns the transport carriage 3 to the initial position when a series of operations ends.

  FIG. 13 is a diagram comparing the travel route of the transport carriage 3 in the rice cooker 1 of the present invention and the travel route of the transport cart in the conventional rice cooker.

13 (a) shows, it is bi-gripping device with the transport carriage 3 in rice cooking system 1 of the present invention, that the first gripping device ₆₁ grips the cooking pot P un cooking located cooking pot receiving part 9 from the receiving position as possible, the second gripping device 6 _2, rice machine 2 ₄ removal position capable of taking out cooking pot P from rice machine 2 ₄ cooking is finished, the first gripping device ₆₁ has been emptied set can set a cooking pot P which is gripped in position, unloading position which can be the second gripping device 6 ₂ for placing a cooking already cooking pot P that is holding the cooking pot exit portion 10 It shows the travel route required to move back to the end and finally return to the receiving position which is the initial position.

As shown by a straight line with an arrow in FIG. 13 (a), when the receiving position is set as the initial position of the transporting carriage 3, the transfer carriage 3 of the present invention only needs to make one round trip from the receiving position to the unloading position. , and retrieval of cooking pot P from rice already cooking machine 2 _4, out of the rice cooking kettle exit portion 10, and the conveying of the cooking pot receiving part 9 of the cooking pot P un cooking to an empty cooking machine 2 ₄ And set.

FIG. 13 (b), the gripping device in a conventional rice cooking system the transport carriage 3 'comprises only one similar to the above, and taking out the rice pot P from rice already cooking machine 2 _4, rice pot unloading unit out to 10, and shows the traveling path of the conveyance carriage 3 'when the cooking pot receiving portion 9 of the non-cooking the rice pot P was made the transport and set to an empty cooking machine 2 _4. As indicated by the straight line marked with arrow in the drawing in FIG. 13 (b), the transport carriage 3 'in the initial receiving position is once travels to the cooking device 2 _4, where removed cooking pot P which cooking has been completed, after conveyed to the cooking pot exit portion 10 returns to the rice pot receiving part 9 cooking pot P un cooking is waiting, again, traveling up on cooking machine 2 _4, rice machine is empty 2 ₄ the rice pot P is set to, further, it is necessary to return to the initial receiving position.

  As is clear from a comparison between FIG. 13A and FIG. 13B, when the same operation is performed, the transport cart 3 ′ in the conventional rice cooker is only the distance indicated by the broken line in FIG. 13B. It has to travel extra, so that it takes time to carry and the carrying efficiency is poor.

  FIG. 14 is a diagram comparing the travel route of the transport carriage 3 in the rice cooker 1 of the present invention and the travel route of the transport cart in the conventional rice cooker when the center position of the rice cooker row 2 is the initial position. is there. Comparing the travel route of the transport cart 3 with the double gripping device in the rice cooker 1 of the present invention shown in FIG. 14 (a) and the travel route of the transport cart 3 'in the conventional rice cooker 1 shown in FIG. 14 (b). As is clear, even if the center position of the rice cooker row 2 is the initial position, the conventional transport cart 3 ′ must travel extra by the travel route indicated by the broken line in the figure, The conveyance efficiency is poor.

As shown to Fig.13 (a) and FIG.14 (a), the conveyance trolley 3 with the double holding | grip apparatus in the rice cooking device 1 of this invention makes one reciprocation between an acceptance position and a carrying-out position regardless of an initial position. alone, and retrieval of cooking pot P from rice already cooking machine 2 _4, out of the rice cooking kettle exit portion 10, and, from the rice pot receiving part 9 of the cooking pot P un cooking empty the cooking machine 2 ₄ The rice cooking apparatus 1 of the present invention can efficiently convey the rice cooking pot P.

In addition, in the above description, although it started from the state in which the rice cooker P is set in all of the rice cookers 2 ₁ to ₂₅ constituting the rice cooker row 2, the rice cooker P is temporarily in the rice cooker row 2. When there is an empty rice cooker that is not set, the control device 11 includes the transport carriage 3, the first and second gripping devices 6 ₁ and 6 ₂ , and the first and second lifting devices 7 ₁ and 7. ₂ is programmed to perform the following operations.

That is, in the state where the rice cooker P is not set in any or all of the rice cookers 2 ₁ to ₂₅ constituting the rice cooker row 2, and the empty rice cooker exists, the control device 11 performs the rice cooking. when receiving a signal indicating that there is cooking pot P stove waiting from hook receiving portion 9, the controller 11 drives the motor 8 of the transport vehicle 3, the first gripping device ₆₁ is rice The transport carriage 3 is caused to travel to a receiving position where the rice cooker P located in the pot receiving portion 9 can be gripped, and is stopped at that position. This operation of the transport carriage 3 is the same as that described above.

  When the control device 11 stores the receiving position as the initial position of the transport carriage 3, the control device 11 has a rice cooker P waiting for cooking from the rice cooker receiving unit 9 after the preceding series of operations is completed. Without waiting for the reception of a signal to inform the user, the carriage 3 is moved to the initial receiving position, stopped at that position, and a new rice cooker P is conveyed to the rice cooker receiving section 9. I can wait to come.

When the transport vehicle 3 stops at the receiving position, the control device 11, as explained above, by operating the first lifting device 7 ₁ and the first gripping device _61, the first gripping device 6 to ₁ The rice cooker P waiting for rice cooking located in the rice cooker receiving unit 9 is gripped.

Next, the control unit 11, the transport carriage 3 in which the first gripping device ₆₁ is in the state of gripping the cooking pot P, the first gripping device ₆₁ is a cooking pot P being gripped, empty Drive to the set position where it can be set in the rice cooker and stop at that position. In addition, each of the rice cookers 2 ₁ to ₂₅ constituting the rice cooker row 2 is provided with a sensor for detecting the presence or absence of the rice cooker P, and the control device 11 is based on a signal from the sensor. For each rice cooker, information can be obtained about whether it is empty.

When the transport vehicle 3 stops at the set position, the control device 11, as in the case of setting the cooking pot P in cooking machine 2 ₄ described above, the first lifting device 7 ₁ and the first gripping device 6 ₁ actuating the, to set the cooking pot P to an empty cooking machine, the set is completed, it activates the first lifting device 7 _1, raising the first gripping device ₆₁ and to the transfer position.

In this state, the control device 11 stops the operation of the transport carriage 3 and newly receives a signal notifying that there is a rice cooking pot P waiting for cooking from the rice cooking pot receiving unit 9 or the rice cooker 2. ₂₁ to ₅ either from or receive signals cooking termination of, or may be to wait until receiving the both signals. Or when the control apparatus 11 has memorize | stored the acceptance position as an initial position of the conveyance trolley 3, the signal which informs that the rice cooking pot P waiting for the rice cooking from the rice cooker acceptance part 9 exists, and a rice cooker Without waiting for any of the rice cooking end signals from any of 2 ₁ to ₂₅ , the transport carriage 3 may travel to the receiving position, stop at that position, and return to the initial position. .

Also, if there is no rice cooker P waiting for cooking in the rice cooker receiving unit 9 and there is a rice cooker in which the rice cooking is completed in the rice cooker row 2, the control device 11 includes the transport cart 3, the first, The second gripping devices 6 ₁ and 6 ₂ and the first and second lifting and lowering devices 7 ₁ and 7 ₂ are programmed to perform the following operations.

That is, the control unit 11 drives the motor 8 of the transport vehicle 3, and the second gripping device 6 ₂ grasps the cooking pot P that is set cooking end of cooking machine, for example, rice machine 2 _4, The transport carriage 3 is caused to travel to the take-out position where it can be taken out, and is stopped at that position. This operation of the transport carriage 3 is the same as that described above.

Subsequently, the controller 11 is the take-out position, in the same procedure as described above, the second lifting device 7 ₂ and the second gripping device 6 ₂ is operated, the second gripping device 6 ₂ the cooking pot P of cooking is set to cooking machine 2 ₄ ended gripped, thereby retrieved.

State Subsequently, the control unit 11, a similar procedure as described above, the first gripping device ₆₁ does not grip the cooking pot P, the second gripping device 6 ₂ grips the cooking pot P the transport carriage 3 in the second gripping device 6 _2, a cooking pot P being gripped, caused to run until the carry-out position which can be placed on the cooking pot exit portion 10, and stops at that position.

Further, the control unit 11 is the unloading position, actuates the second lifting device 7 ₂ and the second gripping device 6 _2, thereby placing the cooking pot P in cooking kettle exit portion 10 being gripped.

All procedures for causing the transport carriage 3, the first and second gripping devices 6 ₁ and 6 ₂ , and the first and second lifting and lowering devices 7 ₁ and 7 ₂ to perform the operations described above are all performed by the control device 11. It is described in the program provided and is realized by the program.

In the above description, first, the second gripping device 6 _and 62, cooking by the lower surface and the abutment of the upper flange portion P _U of the upper surface of the cooking pot P of the pair of gripping claws 18, 18 It showed that grips the hook P, first, the gripping mechanism of the second gripping device 6 _and 62 in the cooking pot P is not limited to those described above. Any mechanism may be used as long as it can grip and release the rice cooker P, and the rice cooker P is gripped by engaging with a recess provided on the side of the rice cooker P. For example, as shown in FIG. 15 and FIG. 16, a gripping mechanism for gripping the rice cooker P by pressing the pair of gripping claws 18, 18 against the side of the rice cooker P is provided. There may be.

  That is, FIGS. 15 and 16 are plan views showing only the gripping claws 18 and 18 and the relationship with the rice cooker P. FIG. 15 shows the state where the gripping claws 18 and 18 are in the release position. Indicates a state in which the gripping claws 18 are in the gripping position. As shown in the drawing, a recess corresponding to the swelling of the side portion of the rice cooker P is formed at the tip of the gripping claws 18, 18, as shown in FIG. When the rice cooker P is moved to the gripping position and pressed to the side of the rice cooker P, the bulge of the side of the rice cooker P gets stuck in the recesses at the tip portions of the gripping claws 18 and 18 and is gripped.

First, when the second gripping device _61, the rice pot P in 6 _second gripping mechanism is such that, even if the position of the gripped the cooking pot P is deviated from if the normal position The gripping claws 18, 18 are pressed against the side of the rice cooker P, and the bulge of the side of the rice cooker P fits into the dents at the tips of the gripping claws 18, 18, so the rice cooker P and the gripping claws 18, 18 Is uniquely determined, and the advantage that the rice cooker P can be positioned at a regular position is obtained.

In addition, the rice cooking pot P which the rice cooking device 1 of this invention makes object may be a horizontal section circular, a square, or a rectangle. Further, the upper flange portion P _U, either contact with at least the gripping jaws 18 and 18 may be present in the portion to be engaged, may not be present over the entire circumference of the cooking pot P. The first, second gripping device 6 _and 62 by the gripping mechanism, gripping the cooking pot P by causing the upper surface of the gripping claws 18, 18 is the lower surface and the abutment of the upper flange portion P _U, which releases If not, it may be the upper flange portion P _U absent.

  The rice cooker 1 of the present invention is typically composed of a row of rice cooker rows 2 and one transport cart 3 with a double gripping device that runs on the top or side thereof, but the rice cooker row 2 May be arranged in parallel in two rows or more, and each of them may be provided with one transport carriage 3 with a double gripping device that travels in the upper part or the side part thereof.

  As described above, according to the rice cooking device including the transport carriage with the double gripping device of the present invention and the control program thereof, an excellent industry in which a rice cooking device can be efficiently transported and a space-saving rice cooking device can be realized. The above availability is obtained.

DESCRIPTION OF SYMBOLS 1 Rice cooker 2 Rice cooker row 3 Conveyor carriage 4 Traveling wheel 5 Travel path 6 ₁ , 6 ₂ Grasping device 7 ₁ , 7 ₂ Lifting device 8 Electric motor 9 Rice cooker receiving part 10 Rice cooker carry-out part 11 Controller 12 Power supply 13 Fluid source 14 Cableveyor (registered trademark)
15 sprocket 16 rotary encoder 17 guide bar 18, 18 gripping claw P rice cooker

Claims (8)

Rice cooker row in which multiple rice cookers are arranged in a row; rice cooker receiving portion located on the inlet side of the rice cooker row; rice cooker unloading portion located on the outlet side of the rice cooker row; along the rice cooker row A transporting cart that travels in a moving manner; a gripping device that can freely grip and release the rice cooker, and is disposed in front of and behind the transport cart along the traveling direction of the transporting cart, and is located on the rice cooker receiving portion side And the 2nd holding | grip apparatus located in the rice cooker carrying-out part side; each of the 1st, 2nd holding | grip apparatus is made into a conveyance trolley between the conveyance position in the upper part, and the holding | grip / release position in the downward direction. First and second lifting and lowering devices that move up and down, and a control device. The control device includes at least the following on the transport carriage, the first and second gripping devices, and the first and second lifting devices. It is equipped with a transport cart with a double gripping device programmed to perform the operations (1) to (8). Rice cooking system;
(1) The transport cart is moved to a receiving position where the first holding device can hold the rice cooker located in the rice cooker receiving portion, and stopped at that position.
(2) In the receiving position, the first lifting device and the first gripping device are operated to cause the first gripping device to grip the rice cooker located in the rice cooker receiving portion.
(3) Taking out the transport cart in a state where the first gripping device grips the rice cooker, so that the second gripping device can grip and remove the rice cooker set in the rice cooker after the rice cooking is completed. Drive to a position and stop at that position,
(4) In the take-out position, the second lifting device and the second gripping device are actuated, and the second gripping device grips and takes out the rice cooker set in the rice cooker that has finished cooking.
(5) The first and second gripping devices grip the rice cart, and the first gripping device grips the rice cooker gripped by the operation (4). Drive to the set position where you can set it to the rice cooker that has become empty, and stop at that position,
(6) In the set position, the first lifting device and the first gripping device are operated, and the rice cooker is set in an empty rice cooker.
(7) The first gripping device does not grip the rice cooker, the second gripping device grips the rice cooker, and the second holding device grips the rice cooker gripped by the second gripping device. Travel to the unloading position where it can be placed on the pot unloading section and stop at that position.
(8) At the carry-out position, the second lifting device and the second gripping device are operated to place the gripped rice cooker on the rice cooker carry-out section. When the control device further includes an empty rice cooker in which the rice cooker is not set in the row of rice cookers, the transfer cart, the first and second gripping devices, and the first and second lifting devices A rice cooker equipped with a transport carriage with a double gripping device according to claim 1, programmed to perform the following operations (1), (2), (9), (6):
(1) The transport cart is moved to a receiving position where the first holding device can hold the rice cooker located in the rice cooker receiving portion, and stopped at that position.
(2) In the receiving position, the first lifting device and the first gripping device are operated to cause the first gripping device to grip the rice cooker located in the rice cooker receiving portion.
(9) Run the transport cart in a state where the first gripping device grips the rice cooker to the set position where the first gripping device can set the rice cooker gripped by the empty rice cooker. And stop at that position,
(6) At the set position, the first lifting device and the first gripping device are operated to set the rice cooker in an empty rice cooker. When the control device further has no rice cooker in the rice cooker receiving portion and there is a rice cooker in which the rice cooker is finished in the rice cooker row, the transport carriage, the first and second gripping devices, and the first The transport carriage with a double gripping device according to claim 1 or 2, programmed to cause the second lifting device to perform the following operations (10), (4), (7), (8): Rice cooker provided;
(10) The transport carriage is caused to travel to a take-out position where the second gripping device can grip and take out the rice cooker set in the rice cooker where rice cooking has been completed, and is stopped at that position.
(4) In the take-out position, the second lifting device and the second gripping device are actuated, and the second gripping device grips and takes out the rice cooker set in the rice cooker that has finished cooking.
(7) The first gripping device does not grip the rice cooker, the second gripping device grips the rice cooker, and the second holding device grips the rice cooker gripped by the second gripping device. Travel to the unloading position where it can be placed on the pot unloading section and stop at that position.
(8) At the carry-out position, the second lifting device and the second gripping device are operated to place the gripped rice cooker on the rice cooker carry-out section.   The rice cooker provided with the conveyance cart with a double gripping device according to any one of claims 1 to 3, wherein the conveyance cart travels in an upper space of the rice cooker row.   The rice cooker provided with the conveyance trolley with the double gripping device according to any one of claims 1 to 3, wherein the conveyance trolley travels in a side space of the rice cooker row.   The conveying cart, the first and second gripping devices, and the first and second elevating devices in the rice cooking apparatus provided with the conveying cart with the double gripping device according to claim 1 are described in (1) to (1). A program that defines the command to perform the operation of (8).   (1) according to claim 2, wherein the conveying cart, the first and second gripping devices, and the first and second lifting devices in the rice cooking apparatus having the conveying cart with the double gripping device according to claim 2, A program that defines instructions to perform the operations (2), (9), and (6).   (10) according to claim 3, wherein the conveying cart, the first and second gripping devices, and the first and second lifting devices in the rice cooking apparatus provided with the conveying cart with the double gripping device according to claim 3, (4), (7), a program that defines instructions to perform the operations of (8).

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