JP6738302B2 - Food holding device - Google Patents

Description

The present invention relates to a food holding device.

Generally, in a production line for food such as rice balls and sandwiches, the finished food is packed in a container and shipped to a retail store such as a convenience store. Therefore, from the viewpoint of transportation costs, but accommodates efficient packing how methods such as reducing the dead space between the food in the container is desired, at present automation is dependent on the difficult manual. Such food is easily deformed, and once deformed by an external force, it does not return to its original shape even if the external force is removed. Therefore, if the food is deformed by an external force when the food is dropped, the deformation of the food impairs the commercial value. As a result, the proportion of non-conforming products may increase and work efficiency may decrease.

Conventionally, there are devices capable of holding a plurality of food items. For example, the boxing device disclosed in Patent Document 1 sucks and holds the front row side and rear row side food items (cucumber) placed on each of the two aligning trays by suction using each suction pad, and also each food item (cucumber). The rear end of the rear is supported in a posture inclining slightly downward. After that, the food products on the front row side (cucumber) and the food products on the rear row side (cucumber) adsorbed and held by the respective adsorption pads are polymerized with each other at the longitudinal side end portions and packed in a box. Further, the boxing device disclosed in Patent Document 2 lifts a plurality of food items (rice balls) upward through an adsorption unit, moves the hoisted food items to a predetermined boxing position and lowers them to release the adsorption. Pack in a box. As another conventional technique, Patent Document 3 discloses a robot hand that holds a plurality of foods that have flowed through a previous process by a conveying means such as a belt conveyor at one time and transfers them to the next process. In this robot hand, a frame that is long in one direction is provided on the upper part, and a plurality of gripping posts fixed to the base plate are vertically installed at equal intervals below the work gripping tool at the lower ends of the gripping posts. It is provided.

Japanese Utility Model Publication No. 6-71404 JP, 2011-251702, A JP 2001-198871 A

However, the boxing device of Patent Document 1 can hold only two foods (cucumber) at one time. Therefore, if it is assumed that foodstuffs such as rice balls and sandwiches are packed in a container with this box packing device, the productivity may be reduced.

Further, the boxing device of Patent Document 2 and the robot hand of Patent Document 3 can hold two or more (six) food items at a time, but since the food items are held side by side, There is a problem that a large work space is required to perform the packing work.

Further, when the food body is contained in the bag, it is necessary that the bag of the food is securely held when the food is packed in the container.

The present invention has been made to solve the above problems, and reliably holds foods in a limited work space to improve the efficiency of food packing work.

In order to achieve the above object, a food holding device according to an aspect of the present invention is a food holding device in which a food body is housed in a bag, and a plurality of the food products are stacked at a predetermined position in a predetermined direction. Each top portion of the bag of food is provided with a plurality of pairs of holding members configured to sandwich and hold along the predetermined direction, two pairs of holding members adjacent to each other in the predetermined direction, the predetermined direction At different positions in the direction orthogonal to.

According to the above configuration, the tops of the plurality of food bag bodies stacked in the predetermined direction at the predetermined position are sandwiched and held by the plurality of pairs of holding members along the predetermined direction. Here, since the two pairs of holding members adjacent to each other in the predetermined direction are at different positions in the direction orthogonal to the predetermined direction, they do not interfere with each other during the holding operation of the food. Thereby, the food contained in the bag can be reliably held.

Each of the plurality of pairs of holding members has a base portion, a pair of holding arms attached to the base portion so as to be drivable in the predetermined direction, and a pair of distal end portions provided at respective distal ends of the pair of holding arms. And may be provided.

According to the above configuration, the pair of holding arms do not interfere with each other during the food holding operation.

The plurality of pairs of holding members, in order to hold two or more points on the top of the bag of each food, at least two pairs are provided in a direction orthogonal to the predetermined direction for each food, the plurality of pairs of holding members, Alternatively, they may be arranged in a staggered manner in a plan view along the predetermined direction.

According to the above configuration, a plurality of pairs of holding members are provided in at least two pairs in a direction orthogonal to the predetermined direction in order to hold two or more points on the top of the bag body of each food, and a plan view along the predetermined direction. Since they are arranged in a zigzag pattern, the food can be reliably held without interfering with each other during the holding operation.

The food holding device holds the food in a first position in which a predetermined first surface of the food body is horizontal, and is different from the first surface of the food body in the first position. The first holding unit configured to change the posture of the food product to a second posture in which the second surface is horizontal, and the food product held in the second posture by the first holding unit are disposed at the predetermined position. Further comprising: a food supply unit configured to sequentially supply the plurality of food bags supplied to the predetermined position in the second posture to the predetermined direction. It may be overlapped and held.

According to the above configuration, first, the food is held in the first posture (for example, the lying posture) in which the first surface (for example, the plane of the round rice ball) of the food main body is horizontal. Next, the posture of the food is changed from the first posture to the second posture (standing posture) in which the second surface of the food body (for example, the side surface of the round rice ball) is horizontal. Then, the food products held in the second posture are sequentially supplied to predetermined positions. Each of the plurality of food bag bodies supplied in the second position at the predetermined position is overlapped and held in the predetermined direction. Accordingly, the food contained in the bag can be reliably held in the second posture (standing posture) and can be efficiently stored in the predetermined container.

The first holding unit includes a base, a rotary joint having a horizontal axis of rotation, a distal end rotatably connected to the base by the rotary joint, and a food product provided on the distal end to adsorb the food. One or a plurality of suction heads to be held may be provided.

According to the above configuration, the bag head for containing the food in the first posture is sucked and held by the suction head provided at the tip of the first holding portion, and the tip end is 90 degrees with respect to the base by the rotary joint. By rotating the food product once, the posture of the food can be changed from the first posture to the second posture.

The food holding device may be configured by a robot including a first arm having the first holding portion at its tip and a second arm having the second holding portion at its tip.

According to the above configuration, food packing work can be realized by the dual-arm robot.

INDUSTRIAL APPLICABILITY The present invention has the configuration described above, and can reliably hold foods in a limited work space and improve the efficiency of food packing work.

FIG. 1 is a plan view schematically showing the overall structure of a food holding device according to an embodiment of the present invention. FIG. 2 is a perspective view schematically showing the food product of FIG. 1. FIG. 3 is a front view schematically showing the overall configuration of an example of the robot of FIG. FIG. 4 is a diagram showing a configuration of a hand unit (first holding unit) of the robot of FIG. FIG. 5 is a diagram showing a configuration of a hand unit (second holding unit) of the robot of FIG. FIG. 6 is a functional block diagram schematically showing the configuration of the control device of the robot of FIG. FIG. 7 is a schematic view for explaining the food holding operation. FIG. 8 is a plan view showing a configuration of a modified example of the hand unit (second holding unit) of the robot of FIG.

Hereinafter, preferred embodiments will be described with reference to the drawings. In the following, the same or corresponding elements will be denoted by the same reference symbols throughout all the drawings, and overlapping description will be omitted. In addition, the drawings schematically show the respective constituent elements for easy understanding. Further, the direction in which the pair of arms are expanded is referred to as the left-right direction, the direction parallel to the axis of the base shaft is referred to as the up-down direction, and the direction orthogonal to the left-right direction and the up-down direction is referred to as the front-back direction.

(Embodiment)
FIG. 1 is a plan view schematically showing an overall configuration of a holding device 10 for food 40 according to an embodiment of the present invention. As shown in FIG. 1, the holding device 10 of the food 40 is used for packing a plurality of foods 40 into a tray 41. In the present embodiment, a case where the robot 11 constitutes the holding device 10 for the food 40 according to the present invention will be described. The robot 11 is a dual-arm robot including a pair of robot arms 13 and 13 supported by a base 12. However, the holding device 10 for the food 40 is not limited to being configured by the robot 11. Although a horizontal multi-joint type double-arm robot will be described as the robot 11, a horizontal multi-joint type robot or a vertical multi-joint type robot can be adopted. The robot 11 can be installed in a limited space (for example, 610 mm×620 mm) corresponding to one person.

A workbench 50 of the robot 11 is arranged on the left side of the front surface of the robot 11. The workbench 50 has a substantially square shape in plan view and is attached to the front surface of the base 12. A rectangular sheet 50a in a plan view is arranged at a predetermined position on the workbench 50. A first belt conveyor 51 is arranged in front of the robot 11, and a second belt conveyor 52 is arranged on the left side of the robot 11. In the present embodiment, the “working area” of the pair of robot arms 13, 13 is an area that covers the working table 50, a part of the first belt conveyor 51 on the robot 11 side, and the second belt conveyor 52 in plan view. Is. The first belt conveyor 51 is a device for transferring the food 40 from the front side of the robot 11 to the front side thereof, and extends in the front-rear direction. The second belt conveyor 52 is a device for transferring the tray 41 from the left side to the left rear of the robot 11, and extends in the front-rear direction. Further, in this example, the tray 41 is a container that can store 40 (8×5) foods 40, but the storage capacity of the tray 41 is not limited to this. Further, any other container may be used as long as the container has an open top.

The food 40 is a food product in which the food body is contained in a bag. FIG. 2 is a perspective view schematically showing the food 40 of FIG. As shown in FIG. 2, the food body has a first surface portion 40a and a second surface portion 40b perpendicular to the first surface portion 40a. The food 40 of the present embodiment is a columnar round rice ball in which the food body is housed in a bag. The first surface portion 40a of the food body is composed of two circular flat surfaces parallel to each other. The second surface portion 40b of the food body is composed of a curved surface that surrounds the outer circumferences of the two first surface portions 40a. The fact that the first surface portion 40a and the second surface portion 40b are vertical or that the first surface portion 40a is parallel to each other is not limited to strict vertical or parallel, and allows a slight inclination.

In this embodiment, the food 40 is conveyed by the first belt conveyor 51 in the first posture with the first surface portion 40a horizontal. The first posture is a lying posture with the circular first surface portion 40a of the food main body facing down. Before shipping the food 40, a foreign matter inspection is generally performed to ensure safety. For example, in the X-ray inspection, X-rays are emitted from above the food 40, and thus the food 40 is suitable in a lying posture. In the present embodiment, the first belt conveyor 51 causes the food 40 to pass under the inspection device (not shown) while being conveyed in a lying posture. After that, the posture of the food 40 is changed from the first posture to the second posture in which the second surface portion 40b is horizontal by the holding device 10 for the food 40 as described later. The second posture is a standing posture with the second surface portion 40b of the main body facing down.

FIG. 3 is a front view schematically showing the overall configuration of an example of the robot 11. As shown in FIG. 3, the robot 11 includes a base 12 fixed to a carriage, a pair of robot arms (hereinafter, may be simply referred to as “arms”) 13 and 13 supported by the base 12, and a base. A control device 14 housed in 12 and a vacuum generator 60 are provided. The vacuum generator 60 is a device such as a vacuum pump or CONVUM (registered trademark) that generates a negative pressure in the suction head 22 described later. Each arm 13 is a horizontal articulated robot arm configured to be movable with respect to the base 12, and includes an arm portion 15, a wrist portion 17, and hand portions 18 and 19. The right arm 13 and the left arm 13 may have substantially the same structure. Also, the right arm 13 and the left arm 13 can operate independently or in association with each other.

In this example, the arm portion 15 is composed of a first link 15a and a second link 15b. The first link 15a is connected to a base shaft 16 fixed to the upper surface of the base 12 by a rotary joint J1 and is rotatable about a rotation axis L1 passing through the axis of the base shaft 16. The second link 15b is connected to the tip of the first link 15a by a rotary joint J2, and is rotatable about a rotation axis L2 defined at the tip of the first link 15a.

The wrist unit 17 includes an elevating unit 17a and a rotating unit 17b. The elevating part 17a is connected to the tip of the second link 15b by a direct acting joint J3, and can move up and down with respect to the second link 15b. The rotating part 17b is connected to the lower end of the elevating part 17a by a rotary joint J4, and is rotatable about a rotation axis L3 defined at the lower end of the elevating part 17a.

The right hand portion 18 and the left hand portion 19 are connected to the rotating portion 17b of the wrist portion 17, respectively. The right hand portion 18 is provided at the tip of the right arm 13, and the left hand portion 19 is provided at the tip of the left arm 13. The right hand portion 18 corresponds to the "first holding portion" of the present invention, and the left hand portion 19 corresponds to the "second holding portion" of the present invention. The right arm 13 corresponds to the "food supply unit" of the present invention, and the left arm 13 corresponds to the "food storage unit" of the present invention.

Each arm 13 having the above structure has joints J1 to J4. The arm 13 is provided with a driving servo motor (not shown) and an encoder (not shown) for detecting the rotation angle of the servo motor so as to be associated with each joint J1 to J4. Has been. The rotation axes L1 of the first links 15a, 15a of the two arms 13, 13 are on the same straight line, and the first link 15a of one arm 13 and the first link 15a of the other arm 13 are vertically arranged. It is arranged with a height difference.

FIGS. 4A and 4B are a front view and a side view showing the configuration of the right hand part 18 (first holding part) of FIG. The right hand part 18 holds the food 40 in a first posture in which the first surface 40a is horizontal, and can change the posture of the food 40 from the first posture to a second posture in which the second surface 40b is horizontal. Composed. The right hand portion 18 includes a base portion 20 including a rotating portion 17b of the wrist portion 17, a rotary joint J5 having a horizontal rotation axis L4, a distal end portion 21 rotatably connected to the base portion 20, and a distal end. The suction head 22 is provided on the portion 21 to suck the food 40 (first surface portion 40a).

The base portion 20 is connected to the elevating/lowering portion 17a of the wrist portion 17 via the rotary joint J4, and is also connected to the distal end portion 21 via the rotary joint J5. The base 20 is bent in a substantially L shape in a side view (see FIG. 4B). The base 20 includes a drive unit 25 of the rotary joint J5 inside the L-shaped member.

The tip portion 21 is connected to the base portion 20 via the rotary joint J5, and the suction head 22 is attached. The tip portion 21 is bent in a substantially L shape in a side view (see FIG. 4B). In the present embodiment, the suction heads 22 are provided on the back side of the tip end face at three locations with the same length, but one or two or four or more may be provided. The three contact surfaces of the suction head 22 are configured to contact three non-linear points on the first surface portion 40a of the food 40. As shown in the figure, the position where the contact surface of the suction head 22 faces downward is referred to as the reference position of the suction head 22. The suction head 22 is connected to a vacuum generator 60 (see FIG. 3 ) via a pipe (not shown). An on-off valve (not shown) is provided in the pipe, for example. By opening and closing the pipe by the open/close valve, the suction and the release by the suction head 22 are performed.

As a result, the suction head 22 provided at the tip portion 21 of the right hand portion 18 sucks and holds the food 40 in the first posture, and the rotary joint J5 causes the tip portion 21 to rotate 90 degrees with respect to the base portion 20. Thus, the posture of the food 40 can be changed from the first posture to the second posture.

FIG. 5A is a front view showing the configuration of the left hand portion 19 (second holding portion) of FIG. As shown in FIG. 5(A), the left hand part 19 has five parts in a state in which the first surface part 40a of each food 40 supplied in the second posture at a predetermined position on the workbench 50 is directed in the first direction. The food product 40 is configured to be stacked and held. The first direction is the left-right direction in FIG. The left hand portion 19 includes ten pairs of holding members 32 and ten driving members 33 that can independently drive each of the ten pairs of holding members 32. The rotating portion 17b of the wrist portion 17 extends in the horizontal direction perpendicular to the rotation axis L3 in a front view. The holding members 32 of each pair are connected to the rotating portion 17b of the wrist portion 17 via a driving member 33. In the present embodiment, the holding member 32 of the ten pairs, the top of each of the bag body of the five food 40 superimposed in the first direction, configured to hold sandwiches along a first direction.

Each pair of holding members 32 includes a pair of holding arms 32a attached to the driving member 33 so as to be drivable in the first direction, and a pair of tip portions 32b provided at the tips of the pair of holding arms 32a. Equipped with. The top of the bag body of the food 40 is sandwiched between the pair of tip portions 32b. For example, a resin plate or a metal plate is used as the material of the pair of tip portions 32b.

The drive member 33 drives the pair of holding arms 32a of each pair of holding members 32 in the first direction. The drive member 33 is connected to an actuator (not shown) or the like, and is connected to the upper ends of the holding arms 32a so that the distances between the tip ends 32b of the pair of holding arms 32a change. By the drive member 33, the pair of holding members 32 reduce the distance between each other and hold one food item 40 therebetween.

FIG. 5B is a plan view showing only the arrangement of the ten pairs of holding members 32 in FIG. 5A. The first direction is the left-right direction in FIG. As shown in FIG. 5B, the two pairs of holding members 32 adjacent to each other in the first direction are at different positions in the direction orthogonal to the first direction. In the present embodiment, ten pairs of holding members 32 are provided for each food item 40 in a direction orthogonal to the first direction in order to hold two points on the top of the bag body of each food item 40, and in the first direction. They are arranged in four rows in a staggered pattern. As shown in FIG. 5B, the ten pairs of holding members 32 (holding arms 32a) do not interfere with each other during driving.

FIG. 6 is a functional block diagram schematically showing the configuration of the control device 14 of the robot 11 of FIG. As shown in FIG. 6 , the control device 14 includes an arithmetic unit 14a such as a CPU, a storage unit 14b such as ROM and RAM, and a servo control unit 14c. The controller 14 is a robot controller including a computer such as a microcontroller. The control device 14 may be configured by a single control device 14 that performs centralized control, or may be configured by a plurality of control devices 14 that perform distributed control in cooperation with each other.

The storage unit 14b stores information such as a basic program as a robot controller and various fixed data. The calculation unit 14a controls various operations of the robot 11 by reading and executing software such as a basic program stored in the storage unit 14b. That is, the calculation unit 14a generates a control command for the robot 11 and outputs this to the servo control unit 14c. The servo control unit 14c is configured to control the drive of the servo motors corresponding to the joints J1 to J5 of each arm 13 of the robot 11 based on the control command generated by the calculation unit 14a.

The controller 14 controls the operation of the vacuum generator 60 (see FIG. 3 ) and the opening/closing of the on-off valve. By opening and closing the pipe by opening and closing the on-off valve, the suction head 22 suctions and releases the suction.

Next, the holding operation of the food 40 of this embodiment will be described with reference to FIG. 7. FIG. 7 is a schematic view for explaining the food holding operation.

First, as shown in FIG. 7A, the food 40 is conveyed by the first belt conveyor 51 in the first posture with the first surface portion 40a horizontal. The control device 14 controls the operation of the right arm 13 to lower the right hand unit 18 with the suction head 22 of the right hand unit 18 aligned with the reference position, so that the contact surface of the suction head 22 is moved to the first position. The food 40 on the belt conveyor 51 is brought into contact with the first surface portion 40a. The food 40 in the first posture is sucked and held by the suction head 22.

Next, the control device 14 controls the operation of the right arm 13 to rotate the distal end portion 21 of the right hand portion 18 by 90 degrees about the rotation axis L4 with respect to the base 20 by the rotary joint J5. (See Figure 4). As a result, the suction head 22 rotates 90 degrees from the reference position. The posture of the food 40 suction-held in the first posture by the suction head 22 is changed from the first posture to the second posture. Then, as shown in FIG. 7B, the control device 14 controls the operation of the right arm 13 so that the food 40 held by the right hand portion 18 in the second posture is transferred to the sheet 50a of the workbench 50. Supply to the position. By repeating the above operation, four foods 40 are sequentially supplied to the position of the sheet 50a of the workbench 50. The sheet 50a arranged on the workbench 50 has six convex portions provided in the first direction. The convex portion is provided in the first direction so as to support each of the five foods 40 arranged in the first direction in the second posture. In the present embodiment, five foods 40 fit between the six convex portions. The top food 40 among the five foods 40 is likely to be loaded in the first direction. Therefore, the convex portion for supporting the top food 40 is taller than the other convex portions. Accordingly, the posture (second posture) of each food item 40 on the sheet 50a can be stabilized. Therefore, the left hand portion 19 facilitates stacking and holding the five food items 40 in the first direction.

Next, as illustrated in FIG. 7C, the control device 14 controls the operation of the left arm 13 in a state where the five foods 40 are stacked on the sheet 50a in the second posture in the first direction. by controlling the to lower the left hand portion 19 so as to align the holding member 32 of the ten pairs of left hand portion 19 to the position of the top of the bag body of the five food 40 on the sheet 50a.

Then, as shown in FIG. 7D, the control device 14 controls the operation of the left arm 13 so that the left hand unit 19 causes the five foods 40 to be supplied onto the sheet 50a in the second posture. Each of them is held in an overlapping manner in the first direction. In the present embodiment, the holding member 32 of the ten pairs, the top of each of the bag body of the five food 40 superimposed in a first direction, for holding sandwiches along a first direction. Here, since the two pairs of holding members 32 adjacent to each other in the first direction are at different positions in the direction orthogonal to the first direction, it is possible that the pair of holding arms 32a do not interfere with each other during the holding operation of the food 40. No (see Figure 5). As a result, the food 40 contained in the bag can be reliably held in the second posture (standing posture). Finally, the control device 14 controls the operation of the left arm 13 to store the five held foods 40 in the tray 41. As a result, the efficiency of the work of packing the food 40 can be improved even in a limited work space.

(Modification)
8A and 8B are plan views showing the configurations of the left hand portions 19A and 19B according to the first modification and the second modification. In FIG. 8, only the arrangement of the holding member 32 is shown. As shown in FIG. 8, each of the left hand portion 19A and the left hand portion 19B of this modified example includes five pairs of holding members 32, and each of the five pairs of holding members 32 is stacked in the first direction. It is configured to sandwich and hold the top of each of the bags of the food 40 along the first direction.

Similar to FIG. 5B, the two pairs of holding members 32 adjacent to each other in the first direction are at different positions in the direction orthogonal to the first direction, but in the present modification, each pair of holding members 32 is different. 32 is provided for each food 40 in a direction (front-back direction in the figure) orthogonal to the first direction (left-right direction in the figure) to hold one point on the top of the bag of each food 40. 5(B). Even with such a configuration, the five pairs of holding members 32 (holding arms 32a) do not interfere with each other during driving and can reliably hold the tops of the five food bags 40.

(Other embodiments)
In addition, in the present embodiment, the left hand portion 19 is configured to hold five foods 40, but by changing the number of pairs of the holding members 32, two to four foods 40 are held. Alternatively, it may be configured to hold six or more foods 40.

In addition, in this embodiment, in order to hold two points on the top of the bag body of each food 40, two pairs of holding members 32 are provided in a direction orthogonal to the first direction for each food, but for each food. One or three or more pairs may be provided.

Further, in the above-described embodiment, the right hand portion 18 has a configuration in which the suction head 22 holds the food 40 by suction, but other configurations may be used as long as the food 40 can be held in the first posture. For example, the chuck 40 may be configured to hold the food 40.

In the above-described embodiment, the food 40 is a round rice ball having a cylindrical shape housed in a bag. However, the food 40 is not limited to this as long as the food is contained in the bag, and a triangular pillar (triangular shape) is used. It may be a rice ball) or a flat shape.

In the above embodiment, the holding device 10 for the food 40 is used for packing the plurality of foods 40 into the tray 41, but other work is required as long as it is necessary to hold the plurality of foods 40. May be

From the above description, many modifications and other embodiments of the present invention will be apparent to those skilled in the art. Therefore, the above description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode for carrying out the present invention. Details of its structure and/or function may be substantially changed without departing from the spirit of the invention.

INDUSTRIAL APPLICABILITY The present invention is useful as a food holding device when food is packed in a tray.

10 holding device 11 robot 13 right arm (food supply section)
13 Left arm (food storage section)
14 Control device 17 Wrist part 18 Right hand part (first holding part)
19 Left hand part (second holding part)
20 base part 21 tip part 22 adsorption head 25 drive part 32 holding member 32a holding arm 32b tip part 33 drive member 40 food 41 tray 50 workbench 50a sheet 51 first belt conveyor 52 second belt conveyor

Claims (6)

A food holding device in which a food body having a first surface and a second surface perpendicular to the first surface is housed in a bag,
The tops of the plurality of food bag bodies stacked in a predetermined direction in a standing posture with the second surface facing downward on a sheet arranged on a work table are sandwiched and held along the predetermined direction. Comprising a plurality of pairs of holding members configured as
The food holding device, wherein two pairs of holding members adjacent to each other in the predetermined direction are at different positions in a direction orthogonal to the predetermined direction on a horizontal plane. Each of the plurality of pairs of holding members,
The base,
A pair of holding arms attached to the base so as to be drivable in the predetermined direction,
A pair of distal end portions provided at the distal ends of the pair of holding arms,
Equipped with
The food holding device according to claim 1, wherein the pair of distal end portions are configured to hold and sandwich the top portion of the food bag body. The plurality of pairs of holding members, in order to hold two or more points on the top of the bag of each food, at least two pairs are provided in a direction orthogonal to the predetermined direction for each food,
The food holding device according to claim 1, wherein the plurality of pairs of holding members are arranged in a staggered manner in a plan view along the predetermined direction. Wherein the first surface of the food body to hold the food at Fushimi posture down, and, first holding that is configured to be able to change the orientation of the food to the standing position of the food body from said bend down posture Department,
The food held in the standing posture by the first holding unit, further comprising a food supply unit configured to sequentially supply to a predetermined position,
4. The plurality of pairs of holding members, as second holding portions, hold each of the plurality of food bag bodies that are supplied to the predetermined position in an upright posture in an overlapping manner in the predetermined direction. The food holding device according to claim 1. The first holding portion includes a base portion, a rotary joint having a horizontal rotation axis,
A tip portion rotatably connected to the base portion by the rotary joint;
The food holding device according to claim 4, further comprising one or a plurality of suction heads which are provided at the tip portion and hold the food by suction. A first arm having the first holding portion at its tip;
The food holding device according to claim 4, wherein the food holding device is configured by a robot including a second arm having the second holding portion at a tip thereof.

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