JP4903428B2 - vending machine - Google Patents

Description

  The present invention relates to products having various shapes and sizes, such as beverages enclosed in cans, bottles, plastic bottles or paper packs, dairy products stored in predetermined containers such as cups, and confections in boxes or bags. It is related with the vending machine which can sell.

  Conventionally, this type of vending machine includes a product storage provided in the vending machine body, a plurality of product columns arranged in the width direction and the vertical direction in the product storage, and the width of the product storage. And a product transport mechanism provided so as to be movable in a vertical direction and a vertical direction, and a product transport mechanism that takes out a product from a product column and transports it to a predetermined product transport position is known (for example, a patent) Reference 1).

The product transport mechanism moves from the front to the rear of the product column and grips the product with a pair of gripping sections in the width direction, and stores the product gripping mechanism. A first moving mechanism that moves in the width direction of the storage, and a second moving mechanism that moves the first moving mechanism in the vertical direction of the product storage, and the product from the product gripping mechanism that has moved to the product transport position After the product is released, the product gripping mechanism is moved to a predetermined standby position.
JP 2000-76537 A

  By the way, in the vending machine, when the product gripping mechanism grips the product in the product column with a predetermined gripping force at a predetermined position in the vertical direction and the front-rear direction, the product is released at a predetermined position with respect to the product transport position, and the product is released. At the same time, the product is moved to the standby position. However, when selling products having various shapes and sizes, the operation of the product gripping mechanism is not always appropriate for different types of products. For example, products with a large height can be held more stably in the upper position than products with a small height, and products that are longer in the front-rear direction are more stable in the rear position than products that are shorter in the front-rear direction. And can be gripped. In addition, in the case of products having different lengths in the front-rear direction, if the product discharge positions in the front-rear direction are different, they cannot always be dropped to a predetermined position with respect to the product take-out side, which may cause unloading failure. In addition, for products with different sizes in the vertical direction, the time required to completely leave the product gripping mechanism after being released from the product gripping mechanism is different. There is also a risk that the product gripping mechanism may come into contact with the product. In addition, flexible products such as confectionery in bags may fall during transport if the gripping force of each gripping part is small, and products with hard containers such as cupped foods may be gripped by each gripping part. If the force is too large, the container may be deformed or damaged.

  The present invention has been made in view of the above problems, and the object of the present invention is to provide a vending machine that can reliably carry out products even when selling products of different shapes and sizes. Is to provide.

In order to achieve the above object, the present invention provides a product storage provided in the vending machine body, a plurality of product columns arranged in the width direction and the vertical direction in the product storage, and the width of the product storage. And a product transport mechanism that removes the product from the product column and transports it to a predetermined product transport position, and moves the product transport mechanism in the longitudinal direction of the product column to A product gripping mechanism for picking up products from the product column by gripping from the direction, a first moving mechanism for moving the product gripping mechanism in the width direction of the product storage, and a first moving mechanism in the vertical direction of the product storage In a vending machine that is configured with a second moving mechanism that moves the product and releases the product from the product gripping mechanism that has moved to the product transport position, the product release position of the product gripping mechanism can be set to an arbitrary position. Includes a Do setting means, and control means for controlling the product transfer mechanism as products gripped by the product gripping mechanism is released at the set position.

As a result, the product in the product column is released from the product gripping mechanism at an arbitrary setting position, so even if a product with a different shape or size is sold, the product can always be released to an appropriate position. it can.

Further, the present invention provides the setting means capable of setting the product gripping position of the product gripping mechanism for the product in the product column to an arbitrary position in the configuration, and the product so that the product in the product column is gripped at the set position. And a control means for controlling the transport mechanism.

As a result, since the products in the product column are gripped at any set position by the product gripping mechanism, the products can always be stably gripped even when products of different shapes and sizes are sold. .

The present invention also provides the structure, after releasing the product from the product gripping mechanism has moved to the instruments transport position, and configured to move the product gripping mechanism to a predetermined standby position, the goods from the commodity gripping mechanism After releasing the setting means that can set the time until the movement of the product gripping mechanism to the standby position starts to an arbitrary time, and from the time when the product gripping mechanism releases the product to the start of the movement to the standby position And a control means for controlling the product transport mechanism so that the time is equal to the set time.

  As a result, when an arbitrary time elapses after the product gripping mechanism releases the product, the product gripping mechanism starts moving to the standby position, so even when selling products of different shapes and sizes The product gripping mechanism that starts moving after the product is released does not come into contact with the product.

Further, the present invention is detected in the configuration, the product holding mechanism, and configured to so that Soo bunch on the product width direction a pair of gripping portions of the commodity column, the gripping of the items by the grip of the product gripping mechanism Gripping detection means for detecting the gripping of the product by the gripping detection means, and a control means for continuing the operation of each gripping part in the product gripping direction for a predetermined time after the gripping detection means is detected. Setting means capable of arbitrarily setting the time for which the operation is continued.

  Thereby, since the operation in the product gripping direction of each gripping part is continued for a predetermined time after the gripping of the product is detected by the gripping detection means, the product is not easily dropped from the product gripping mechanism. In this case, since the operation of each gripping part continues until an arbitrary set time elapses after the gripping of the product is detected, the product is surely secured even when selling products of different shapes and sizes. It can be gripped.

The present invention also provides the structure, the product gripping mechanism, configured to so that Soo bunch by the width direction a pair of gripping part driven items commodity column by a motor, by each gripper Product gripping mechanism Gripping detection means for detecting gripping of the product, control means for continuing the operation of each gripping part in the product gripping direction until the amount of rotation of the motor reaches a predetermined amount after detecting gripping of the product by the gripping detection means, Setting means capable of arbitrarily setting a rotation amount of a motor for continuing the operation of each gripping part after detecting gripping of a product.

  As a result, since the gripping means continues to operate in the product gripping direction of each gripping part until the rotation amount of the motor reaches a predetermined amount after the gripping of the product is detected by the gripping detection unit, the product can be easily removed from the product gripping mechanism. Never fall. In this case, since the operation of each gripping part continues until the motor reaches an arbitrary set rotation amount after detecting the gripping of the product, even if the product with a different shape or size is sold, It can be securely gripped.

According to the present invention, even when a product having a different shape or size is sold, the product can always be stably gripped and can be always discharged to an appropriate position, so that the product is reliably carried out. This is extremely advantageous when selling a wide variety of products.

  1 to 18 show an embodiment of the present invention. FIG. 1 is a front view of a vending machine, FIG. 2 is a front sectional view thereof, FIG. 3 is a side sectional view thereof, and FIG. 4 is a control system. FIG. 5 is a block diagram showing the configuration of the product gripping mechanism, FIGS. 6 to 13 are plan views showing the operation of the product gripping mechanism, FIG. 14 is a flowchart showing the operation of the control unit, and FIGS. Front sectional views showing the carry-out operation, and FIGS. 17 and 18 are side sectional views thereof.

  The vending machine includes a vending machine body 10, a plurality of product storage devices 20 provided in the vending machine body 10, a product transport mechanism 30 that transports products of the product storage device 20, and a product unloading operation. And a control unit 40 for controlling.

  The vending machine main body 10 is configured to open and close the front door except for one end in the width direction by the outer door 11, and the outer door 11 is provided with a transparent glass window 11 a. One end in the width direction of the front surface of the vending machine main body 10 is opened and closed by the auxiliary door 12. On the front surface of the auxiliary door 12, a bill insertion slot 12 a, a coin insertion slot 12 b, an amount display unit 12 c, and a product selection operation are provided. A portion 12d, a coin return port 12e, and a product outlet 12f are provided. A product storage 13 is provided in a portion of the vending machine main body 10 excluding one end in the width direction, and a product exit 13 a is provided between the product storage 13 and one end in the width direction in the vending machine main body 10. A partition wall 13b is provided. The product carry-out port 13a is opened and closed by a plate-like flap 14 that receives a product from the product transport mechanism 30. The flap 14 is rotatably supported at the lower end by the product carry-out port 13a, and a motor or gear (see FIG. It is adapted to be rotated by a flap drive mechanism 15 made up of (not shown). The interior of the product storage 13 is partitioned in the vertical direction by a heat insulating partition plate 16, and a heating chamber 13 c heated by a heater (not shown) is formed above the partition position of the partition plate 16. A cooling chamber 13d that is cooled by a cooler (not shown) is formed below. In this case, a movable partition plate 17 is provided on the front end side of the partition plate 16, and the movable partition plate 17 is provided so as to be movable upward (to the heating chamber 13 c side) together with the product transport mechanism 30.

  Each of the product storage devices 20 has a known configuration in which products arranged in the front-rear direction are moved forward, and a plurality of product storage devices 20 are arranged in the width direction and the vertical direction in the product storage case 13 respectively. Each product storage device 20 includes a device main body 21 extending in the front-rear direction, a conveyor 22 that moves the product forward, and a partition plate 23 that partitions the center in the width direction in the device main body 21. It is designed to be stored in a row. That is, each product storage device 20 is provided with two product columns 20a for storing products in the width direction.

  The merchandise transport mechanism 30 includes a merchandise gripping mechanism 31 that grips merchandise, a first moving mechanism 32 that moves the merchandise gripping mechanism 31 in the width direction of the merchandise storage case 13, and a first moving mechanism 32 that moves up and down. The product gripping mechanism 31 is configured to move in front of each product storage device 20.

  The product gripping mechanism 31 has a pair of gripping portions 31a provided at intervals in the width direction on the back side, and each gripping portion 31a is moved in the width direction by a motor 31b. The motor 31b is a well-known stepping motor and is driven by a pulse signal from the motor drive circuit 31c. In this case, the motor 31b rotates at a speed corresponding to the magnitude of the drive voltage or the cycle of the pulse signal. In addition, a grip sensor 31d as a grip detection unit is provided on the opposing surface of each grip portion 31a, and the grip sensor 31d includes a pressure sensor that detects contact with a product. That is, the merchandise gripping mechanism 31 moves each gripping portion 31a rearward as shown in FIG. 6 (a) and positions it on both sides of the merchandise A, and then holds each gripping section as shown in FIG. 6 (b). The product A is moved toward the inner side in the width direction, the product A is gripped by the gripping portions 31a, and the gripping portions 31a are moved forward as shown in FIG. It is taken out from the column 20a.

  The 1st moving mechanism 32 is provided so that it may extend in the width direction in the goods storage 13, and supports the upper end of the goods gripping mechanism 31 so that a movement in the width direction is possible. In this case, the product gripping mechanism 31 is moved in the front-rear direction with respect to the first moving mechanism 32 by a drive mechanism (not shown). The second moving mechanism 33 is provided on both sides in the width direction of the commodity storage 13 so as to extend in the vertical direction, and supports both ends of the first moving mechanism 32 so as to be movable in the vertical direction.

  That is, the product transport mechanism 30 moves from a predetermined standby position (lower center in the width direction of the product storage 13) to an arbitrary product column 20a, takes out the product from the product column 20a by the product gripping mechanism 31, and then After moving to the product transport position (above the flap 14) and discharging the product to the flap 14, the product returns to the standby position. At that time, the position in the vertical direction of the first moving mechanism 32 and the position in the width direction of the product gripping mechanism 31 are detected by position detecting means (not shown) including an optical sensor or a pulse sensor of a motor. ing.

  The control unit 40 includes a microcomputer, and is connected to the product selection operation unit 12d, the flap drive mechanism 15, the product gripping mechanism 31 of the product transport mechanism 30, the first moving mechanism 32, and the second moving mechanism 33. A storage unit 41 is connected to the control unit 40, and the storage unit 41 includes a first movement amount L 1 corresponding to the vertical product gripping position of the product gripping mechanism 31 and the longitudinal direction of the product gripping mechanism 31. The second movement amount L2 corresponding to the product gripping position, the first time T1 during which the operation of each gripper 31a is continued after the product gripping is detected, and the motor 31b until the product gripping is detected are rotated. The first rotation speed ω1 to be driven, the second rotation speed ω2 to rotate the motor 31b after detecting the grip of the product, and the third movement amount L3 corresponding to the product release position in the front-rear direction of the product gripping mechanism 31. And a fourth movement amount L4 corresponding to the product release position in the vertical direction of the product gripping mechanism 31 and a second time T2 from when the product is released to when the product gripping mechanism 31 starts moving are stored. ing. The second rotational speed ω2 is set to be lower than the first rotational speed ω1. The storage unit 41 also stores the first movement amount L1, the second movement amount L2, the third movement amount L3, the fourth movement amount L4, the second rotational speed ω2, the first time T1, and the first movement amount L1. A setting operation unit 42 is connected as setting means capable of arbitrarily setting the time T2 of 2 for each product column 20a.

  Next, the operation of the control unit 40 will be described. That is, as shown in the flowchart of FIG. 14, when a product is selected by the product selection operation unit 12d (S1), information on the product column 20a of the selected product is read from the storage unit 41 (S2), and FIGS. As shown, the product gripping mechanism 31 of the product transport mechanism 30 is moved to the product column 20 corresponding to the selected product (S3). At that time, as shown in FIG. 7, the product gripping mechanism 31 moves upward by a first movement amount L1 from a predetermined position H1 (for example, the position of the shelf of the product column 20a) corresponding to the product column 20a of the selected product. Subsequently, as shown in FIG. 8 or FIG. 9, after the product gripping mechanism 31 is moved backward by the second movement amount L2 toward the product column 20a (S4), the motor 31b of the product gripping mechanism 31 is moved to the first column. By rotating at the rotational speed ω1, the product gripping operation of each gripping portion 31a is started (S5). Here, when the gripping of the product is detected by the gripping sensor 31d, the rotational speed of the motor 31b is switched to the second rotational speed ω2 (<ω1), thereby reducing the speed of the product gripping operation (S6). If the first time T1 has elapsed since the first gripping is detected (S7), the product gripping operation of each gripping portion 31a is stopped (S8). Thereafter, the product gripping mechanism 31 is moved forward from the product column 20a by the third movement amount L3 as shown in FIG. 10 or FIG. 11 (S9), and then the product transport mechanism 30 is shown in FIGS. Is moved to the product conveying position (S10), and the flap 14 is opened by the flap drive mechanism 15 (S11). At that time, as shown in FIG. 12, the product gripping mechanism 31 moves from the upper predetermined position H2 of the flap 14 to the lower position by the fourth movement amount L4. Then, the product is released from the product gripping mechanism 31 to the flap 14 (S12), and when the second time T2 has elapsed (S13), the product transport mechanism 30 is moved to the standby position (S14), and the flap 14 is Close (S15) and return to step S1.

  As described above, according to the vending machine of the present embodiment, the product gripping position of the product gripping mechanism 31 for the product in the product column 20a can be set to an arbitrary position, and the product in the product column 20a is gripped at the set position. As described above, since the product transport mechanism 30 is controlled, the product can always be stably held even when products of different shapes and sizes are sold, and the product is reliably transported. be able to.

  In this case, in the case of the product B having a larger height dimension as shown in FIG. 7B than in the case of the product A having a smaller height dimension as shown in FIG. By setting the first movement amount L1 large and shifting the product gripping position upward, the product gripping position in the vertical direction can be made appropriate even for the product B having a large height dimension. Thereby, goods with different height dimensions can always be stably conveyed, and the goods can be reliably conveyed without being dropped during conveyance.

  Further, in the case of the product C having a longer front-rear dimension as shown in FIGS. 9A and 9B than in the case of the product A having a shorter front-rear dimension as shown in FIGS. Sets the second movement amount L2 of the product gripping mechanism 31 to be large and shifts the product gripping position backward to make the product gripping position in the front-rear direction appropriate even for a product C having a long front-rear dimension. be able to. Thereby, goods with different dimensions in the front-rear direction can always be stably conveyed, and the goods can be reliably conveyed without being dropped during conveyance.

  Furthermore, according to the vending machine of the present embodiment, the product discharge position of the product gripping mechanism 31 for the product in the product column 20a can be set to an arbitrary position, and the product in the product column 20a is discharged at the set position. Since the product transport mechanism 30 is controlled as described above, even when products with different shapes and sizes are sold, the products can always be discharged to an appropriate position, and the products can be surely carried out. Can do.

  In this case, as shown in FIGS. 11 (a) and 10 (b), in the case of the product C having a longer longitudinal dimension as shown in FIGS. 11 (a) and 11 (b) than in the case of the product A having a shorter longitudinal dimension. In this case, by setting the third movement amount L3 of the product gripping mechanism 31 to be large and shifting the product gripping position forward, the product release position in the front-rear direction can be appropriately adjusted even for the product C having a long longitudinal dimension. Therefore, products having different dimensions in the front-rear direction can always be dropped at an appropriate position with respect to the flap 14. Thereby, goods can be reliably carried out from the goods outlet 13a, and goods can be reliably conveyed, without dropping during conveyance.

  Further, in the case of the product B having a large height as shown in FIG. 12B, as compared to the case of the product A having a small height as shown in FIG. 4 is set small and the product discharge position is shifted upward, the product release position in the vertical direction can be made appropriate even for the product B having a large height. Thereby, even if it is goods with different height dimensions, the fall distance with respect to the flap 14 can always be made small, and damage to goods can be prevented effectively.

  Furthermore, according to the vending machine of the present embodiment, the time T1 from when the product is released from the product gripping mechanism 31 to when the product gripping mechanism 31 starts moving to the standby position can be set to an arbitrary time. In addition, since the merchandise transport mechanism 30 is controlled so that the time from when the merchandise gripping mechanism 31 releases the merchandise to when the merchandise gripping mechanism 31 starts moving to the standby position is the set time T1, the shape and size are different. Even when a product is sold, the product gripping mechanism 31 that has started to move after the product is released does not come into contact with the product B, and the product can be reliably carried out. For example, in the case of the product B having a large height as shown in FIG. 13B, the set time T1 should be set longer than the product A having a small height as shown in FIG. 13A. Therefore, the product gripping mechanism 31 that has started to move after the product is released does not come into contact with the product B, and it is possible to reliably prevent unloading failure.

  Further, according to the vending machine of the present embodiment, since the gripping sensor 31d detects the gripping of the product, the operation of each gripping portion 31a in the product gripping direction is continued for a predetermined time T1. The product is not easily dropped from the mechanism 31, and the product can be reliably carried out. In this case, since the time T2 for continuing the operation of each gripping portion 31a after detecting the gripping of the product can be set to an arbitrary time, it is set in the case of a flexible product such as a confectionery in a bag, for example. By setting the time T2 to be long, the product can be securely gripped. In addition, a product having a hard container such as a cupped food can prevent deformation or breakage of the container by setting the set time T2 short.

  Furthermore, since the operation speed of each gripping portion 31a is reduced when the gripping of the product is detected, the gripping force is not suddenly applied to the product, and the product can be more effectively prevented from being deformed or damaged. Can do.

  Further, the first movement amount L1 and the second movement amount L2 with respect to the product gripping position, the third movement amount L3 and the fourth movement amount L4 with respect to the product discharge position, the second rotational speed ω2 of the motor 31b, each gripping Since the first time T1 for continuing the operation of the unit 31a and the second time T2 until the product gripping mechanism 31 starts moving to the standby position can be arbitrarily set for each product column 20a, Even when products of different shapes and sizes are stored in the product column 20a, the carry-out operation suitable for each product can be performed in the same manner as described above, and when various products are sold simultaneously. Very advantageous.

  In the above embodiment, the gripper 31a is continuously operated for a set time T2 after the gripping of the product is detected, but the gripping of the product is detected instead of the operation based on the time T2. Then, the operation of each gripper 31a may be continued until the rotation amount of the motor 31b reaches a predetermined amount. In this case, for example, by rotating the motor 31b until the pulse signal for driving the motor 31b reaches a predetermined number of pulses, the motor 31b can be rotated by a predetermined rotation amount after the gripping of the product is detected. Further, by configuring the rotation amount of the motor 31b for continuing the operation of each gripping portion 31a after detecting the gripping of the product so that it can be set for each product column 20a by the setting operation unit 42, as in the above embodiment, A carry-out operation suitable for each product in each product column 20a can be performed.

The front view of the vending machine which shows one Embodiment of this invention Front sectional view of vending machine Side view of vending machine Block diagram showing the control system Block diagram showing the configuration of the product gripping mechanism Plan view showing the operation of the product gripping mechanism Plan view showing the operation of the product gripping mechanism Plan view showing the operation of the product gripping mechanism Plan view showing the operation of the product gripping mechanism Plan view showing the operation of the product gripping mechanism Plan view showing the operation of the product gripping mechanism Plan view showing the operation of the product gripping mechanism Plan view showing the operation of the product gripping mechanism Flow chart showing operation of control unit Front cross-sectional view showing product removal operation Front cross-sectional view showing product removal operation Side cross-sectional view showing product unloading operation Side cross-sectional view showing product unloading operation

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Vending machine main body, 13 ... Merchandise storage, 20a ... Merchandise column, 30 ... Merchandise conveyance mechanism, 31 ... Merchandise gripping mechanism, 31a ... Grip part, 31b ... Motor, 31d ... Grip sensor, 32 ... First movement Mechanism 33 ... Second moving mechanism 40 ... Control unit 41 ... Storage unit 42 ... Setting operation unit A, B, C ... Goods.

Claims (15)

A product storage provided in the vending machine body, a plurality of product columns arranged in the width direction and the vertical direction in the product storage, and provided movably in the width direction and the vertical direction of the product storage, A product transport mechanism that takes out the product from the product column and transports the product to a predetermined product transport position, and moves the product transport mechanism in the front-rear direction of the product column to grip the product from the width direction to remove the product from the product column. composed of a product gripping mechanism, a first moving mechanism for moving the goods gripping mechanism in the width direction of the commodity storage chamber, and a second moving mechanism for moving the first moving mechanism in the vertical direction of the commodity storage chamber to take out In the vending machine that releases the product from the product gripping mechanism that has moved to the product transfer position,
Setting means capable of setting the product release position of the product gripping mechanism to an arbitrary position;
A vending machine comprising: control means for controlling the product transport mechanism so that the product gripped by the product gripping mechanism is discharged at the set position. The product discharge position is configured to be settable by the setting means so that the lower end of the product is positioned near the upper part of the product drop position.
The vending machine according to claim 1. The vending machine according to claim 1 or 2, wherein the product release position can be set to an arbitrary position in the vertical direction by a setting means. The vending machine according to any one of claims 1 to 3, wherein the product release position can be set to an arbitrary position in the front-rear direction by setting means. The vending machine according to any one of claims 1 to 4, wherein the product discharge position can be set for each product column by a setting means. Setting means capable of setting the product gripping position of the product gripping mechanism for the product in the product column to an arbitrary position;
The vending machine according to any one of claims 1 to 5, further comprising a control unit that controls a product transport mechanism so that the product in the product column is gripped at the set position. The vending machine according to claim 6, wherein the product gripping position can be set to an arbitrary position in the vertical direction by setting means. The vending machine according to claim 6 or 7, wherein the product gripping position can be set to an arbitrary position in the front-rear direction by a setting means. The vending machine according to any one of claims 6 to 8, wherein the product gripping position can be set for each product column by setting means. After releasing the product from the product gripping mechanism has moved to the instruments transport position, and configured to move the product gripping mechanism to a predetermined standby position,
A setting means capable of setting the time until the movement of the product gripping mechanism to the standby position after releasing the product from the product gripping mechanism to an arbitrary time;
1 through claim, characterized in that the goods gripping mechanism and control means for controlling the product transfer mechanism as the time to start moving to the standby position after releasing the goods consisting of the set time The vending machine according to any one of 9 . The Product gripping mechanism, configured to so that Soo bunch by the width direction a pair of gripping portions items commodity column,
Gripping detection means for detecting gripping of the product by each gripping part of the product gripping mechanism;
Control means for continuing the operation of each gripping part in the product gripping direction for a predetermined time after detecting gripping of the product by the grip detection means;
The vending machine according to any one of claims 1 to 10, further comprising setting means capable of arbitrarily setting a time for which the operation of each gripping part is continued after the gripping of the product is detected. The vending machine according to claim 11 , wherein a time for detecting the grip of the product and continuing the operation of each gripping part can be set for each product column by a setting means. The Product gripping mechanism, configured to so that Soo bunch by the width direction a pair of gripping part driven items commodity column by a motor,
Gripping detection means for detecting gripping of the product by each gripping part of the product gripping mechanism;
Control means for continuing the operation of each gripper in the product gripping direction until the amount of rotation of the motor reaches a predetermined amount after detecting gripping of the product by the gripping detection means;
The automatic control device according to any one of claims 1 to 12, further comprising setting means capable of arbitrarily setting a rotation amount of a motor for detecting the gripping of the product and continuing the operation of each gripping unit. Vending machine. The vending machine according to claim 13 , wherein a rotation amount of a motor for continuing the operation of each gripping part after detecting the gripping of the commodity can be set for each commodity column by a setting means. The vending machine according to any one of claims 11 to 14, further comprising a control unit that decelerates an operation speed of each gripping unit when gripping of the product is detected.

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