JPH06135548A - Automatic loader for blockish dish - Google Patents

Abstract

PURPOSE:To enable a blockish dish to be loadable on a lunch vessel automatically. CONSTITUTION:This automatic loader is one that automatically loads those of blockish dishes such as a hamberger steak, tempura (Japanese fried food), kamaboko (Japanese boiled fish paste), etc., on a lunch vessel 2 positioned on a belt conveyor 1. This automatic loader is set up at the sidepiece of the belt conveyor 1, having plural pieces of pallets stored with the dishes 3, and it is provided with a dish stocker 6 circulatively feeding these pallets 4 successively to a supply port, and a loading robot picking up the dishes 3 individually from the pallets 4 fed in the supply port 5 and transferring these picked-up dishes 3 onto the lunch vessel 2, and mounting the transferred dishes 3 on a specified position on the lunch vessel 2, respectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a side dish automatic loading device for automatically placing side dishes in a bento container.

[0002]

2. Description of the Related Art Recently, various bento have been marketed due to diversification of eating habits. When mass-producing such bento, conventionally, a plurality of bento containers are sequentially placed on a belt conveyor, while moving the bento containers on the belt conveyor, various side dishes are prepared on the side of the belt conveyor, A plurality of workers arranged along the moving direction of the conveyor grabbed the side dish by hand and placed it on a predetermined place in the lunch box container.

However, such a means for loading prepared foods requires a large amount of manpower in order to mass-produce a large number of types of bento, which is inefficient, and it is erroneous to manually load prepared foods. There was a strong desire for improvement, as it was equipped with other types of prepared foods. The present invention has been made in view of such conventional problems, and an object thereof is to provide an apparatus capable of automatically mounting a block-shaped prepared dish on a lunch box container.

[0004]

In order to achieve the above object, the present invention is an apparatus for automatically mounting a block-shaped side dish such as hamburger steak, tempura and kamaboko on a lunch box container positioned on a conveyor. , A plurality of pallets installed on the side of the conveyor and containing the prepared food,
A side dish stocker that sequentially circulates these pallets to the supply port, and individually picks up the side dish from the pallet sent to the supply port, transfers the picked side dish to the lunch box container, and transfers the side dish. And a mounting robot that mounts the container at a predetermined position of the lunch box container.

The prepared food stocker is stacked in two rows in a case so that the upper and lower ends thereof are in contact with each other, and a plurality of pallets on which the prepared foods are placed and a lifting mechanism for moving the pallets in the vertical direction in sequence. And a slide mechanism for moving the pallet back and forth at the uppermost lower position, and having a plurality of fixed rollers provided below the stacked pallet group stacked in a stepwise manner, the elevating mechanism, A pair of rocking locking pawls that respectively support the two rows of stacking pallet groups at the lowermost stage, and one rocking locking pawl installed below one row of the stacking pallet group and in a raised position. Swinging to release the supporting state of the stacking pallet group to receive the lowermost pallet, and the receiving roller link part that places the pallet received in the lowered position on the fixed roller. And the stack pallet The pallet is installed below the other row of the group and receives the pallet from the fixed roller in the lowered position, and pushes up the pallet received in the raised position from the lower side of the stacked pallet group to move the oscillating member on the other side. And a push-up roller link portion that supports the rope with a pawl, and the slide mechanism is wound around the upper and lower portions of the stacking pallet group and is intermittently driven in forward and reverse directions, and the rope. A first locking claw portion that is attached to the plate-shaped member, abuts on the side surface of the pallet placed on the fixed roller by the receiving roller link portion, and moves the pallet to the push-up roller link portion side; Attached to the cord-shaped member,
A second locking claw portion that abuts the side surface of the uppermost pallet of the stacking pallet group on the push-up roller link side and moves it from one stacking pallet group side to the other stacking pallet group side. Can be configured.

The on-board robot has a robot head that moves in three dimensions and a hand unit attached to the robot head. The hand unit includes a pad plate portion that comes into contact with the upper surface of the prepared dish and the pad. It can be configured with a pair of needle-shaped members that expand and contract from the back surface side of the plate portion to the side of the prepared food. The pair of needle-shaped members may be arranged symmetrically with respect to the central axis, and may be provided so as to be inclined so that the expansion and contraction directions of the needle-shaped members are directed to the same point on the central axis.

[0007]

According to the block side dish automatic loading device having the above-mentioned configuration, the block side dish sequentially supplied to the supply port is
It is possible to individually pick up by the loading robot and automatically place the picked side dish at a predetermined position of the lunch box container positioned on the conveyor.

According to the second aspect of the invention, the pallet can be moved up and down and in the front-rear direction only by providing the pallet with the portions that engage with the swing engaging claw and the first and second engaging claws, respectively. In addition, the plurality of pallets are stacked with their upper and lower ends in contact with each other, so that the space inside the case is effectively utilized. Further, according to the configuration of claim 3, when the pair of needle-like members are extended while the contact plate portion is in contact with the upper surface of the side dish, the pair of needle-like members are pierced by the side dish and the side dish is held and transferred by the needle-like member. In addition, when the side dish is transferred to the predetermined position, the needle-shaped member contracts to the back side of the contact plate portion, and the needle-shaped member is separated from the side dish, and the side dish can be left in the predetermined position. Become.

Furthermore, in the structure of claim 4, since the pair of needle-shaped members symmetrically arranged with respect to the central axis are extended and contracted so as to point at the same point on the central axis, The needle-shaped member can be pierced into the side dish while being obliquely inclined to surely hold the side dish.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. 1 to 14 show an embodiment of an automatic loading device for block-shaped side dishes according to the present invention. The automatic loading apparatus shown in FIG. 1 is an apparatus for automatically loading a block-shaped side dish 3 such as hamburger steak, tempura and kamaboko on a bento container 2 positioned on a belt conveyor 1.

The automatic loading device is installed on the side of the belt conveyor 1 and has a plurality of pallets 4 accommodating the prepared foods 3. The prepared food stocker 6 which sequentially circulates these pallets 4 to the supply port and the supply. The side dish 3 is individually picked up from the pallet 4 sent to the port, the picked side dish 3 is transferred onto the lunch box 2, and the side dish 3 transferred.
And a mounting robot 7 that mounts the same at a predetermined position of the lunch container 2.

3 and 4 show details of the positioning mechanism 8 for positioning the lunch container 2 on the belt conveyor 1. The positioning mechanism 8 shown in the figure includes a photoelectric switch 810 that detects the lunch box 2 moving on the belt conveyor 1 from the front, an elevating arm 811 that moves up and down on the belt conveyor 1, and a front side of this arm 811. And a buffer stopper 812 fixed to the lifting arm 811 and
A pair of clamping arms that move in the width direction of the belt conveyor 1.
813 and. The member indicated by reference numeral 814 in FIGS. 3 and 4 is a portion that supports the arm 811.

In the positioning mechanism 8 constructed as above, when the photoelectric switch 810 detects the lunch container 2, the elevating arm 811 descends to the vicinity of the belt conveyor 1 and the buffer stopper 812 contacts the front surface of the container 2. , Stop at that position. Next, in this state, the holding arms 813 move in the direction of approaching each other, and the lunch container 2 is moved to the belt conveyor 1.
Positioning in the width direction of the
811 rises slightly and holds the bento container 2 in a state of being separated from the belt conveyor 1.

Details of the pallet 4 and the side dish stocker 6 are shown in FIGS. The pallet 4 is composed of a rectangular bottom plate 410 and four side plates standing upright on four sides thereof.
411 is a box-shaped member having an open upper end, and a flange portion 412 protruding outward is formed on the upper end side of the side plate 411, and a rib 413 is fixed to the central portion in the longitudinal direction thereof. ing. The side dish stocker 6 has a case 610 for accommodating the pallet 4, an elevating mechanism 611 for sequentially moving the pallet 4 in the vertical direction, and a slide mechanism 612 for moving the pallet 4 back and forth at the uppermost lower position. .

The pallets 4 are stacked stepwise in the case 610 of the side dish stocker 6 with their upper and lower ends in contact with each other, and form a pair of stacked pallet groups A and B in the front-rear direction for storage. Has been done. And case 61
A pair of partition walls 613 facing each other along the inner surface in the front-rear direction is provided in 0, and the stacking pallet groups A and B are moved in the left-right direction by contacting the partition walls 613 at both ends. Regulated. A guide roller 614, which is in sliding contact with the lateral side surface of the pallet 4, is provided at an intermediate position of the case 610 defining the stacked pallet groups A and B at intervals in the vertical direction.

Below the stacking pallet groups A and B, fixed rollers 615 are rotatably supported by the case 610 at a predetermined interval. The lifting mechanism 611
Are the first and second swing locking claws 616 and 617 for supporting the stacking pallet groups A and B at the lowermost step, respectively, and the receiving roller link part 618 installed below the stacking pallet group A.
And a push-up roller link portion 619 installed below the stacking pallet group B.

In this embodiment, the first swing locking claws 616 for supporting the stacking pallet group A have the case 610 and the partition wall 613 so as to engage with the collar portions 412 at the four corners of the lowermost pallet 4. 4 are provided in the front-rear direction and the left-right direction between them and the front-rear direction is connected by a connecting rod 620, and a spring 621 that biases the locking claw 616 toward the side plate 411 of the pallet 4.
Is provided. The second swing locking claws 617 supporting the stacked pallet group B are moved back and forth in the same position as the first swing locking claws 616 so as to engage with the collar portions 412 at the four corners of the pallet 4 at the bottom. The left and right are individually provided with four locking claws 61
Springs 622 for urging 7 toward the side plate 411 side of the pallet 4 are respectively interposed.

The receiving roller link portion 618 has four identical structures arranged in the front, rear, left and right directions, is bent in a substantially V shape, and is rotatably supported at its center position.
623, and a receiving roller 624 rotatably supported on one end side of the link rod 623 and abutting against the bottom plate 410 of the lowermost pallet 4 of the stacking pallet group A in the raised position.

The push-up roller link portion 619 has the same four components arranged in the front-rear direction and the left-right direction like the receiving roller link portion 618. The push-up roller link portion 619 is bent in a substantially V shape and is rotatably supported at the center position. Link rod 625 and the bottom plate 410 of the pallet 4 rotatably supported on one end side of the link rod 625 and supported by the stacking and fixing roller in the lowered position.
And a push-up roller 626 that abuts against.

The lifting mechanism 611 includes link rods 623 and 62 of the receiving and pushing-up roller link portions 618 and 619.
A connecting link rod 627 is provided to connect four of each of the five 5 located at the other end thereof on the same straight line. The connecting link rod 627 is a connecting link rod 628.
It is connected to the rotary shaft of the drive motor 629 via the drive motor 629 and is moved in the front-rear direction by the drive of the drive motor 629.

On the front end side of the connecting link rod 627, there is provided a slide member 630 which moves up and down by being linked with the connecting link rod 627.
The end of 0 engages with the protrusion 631 provided on the connecting rod 620 of the first swing locking claw 616, and the slide member 630 moves up and down, so that the connecting rod 620 rotates. There is.

On the other hand, the slide mechanism 612 comprises a plurality of sprocket wheels 632 which are symmetrically arranged in the left-right direction between the case 610 and the partition wall 613, and a chain 633 (cord-shaped) wound around the sprocket wheels 632. Members) and. A drive motor 640, which is intermittently driven to rotate in the forward and reverse directions, is connected to the rotary shaft of the sprocket wheel 632 arranged at the bottom.

The chain 633 arranged in the left-right direction
The fixed roller 61 by the receiving roller link 618.
5 Ribs 41 provided on the side surface of the pallet 4 placed on
Abut the 3 and push the pallet 4 into the push-up roller link 61
The first locking claw portion 634 to be moved to the 9 side and the rib 413 provided on the side surface of the uppermost pallet 4 of the stacking pallet group B are brought into contact with and moved to the stacking pallet group A side. The locking claws 635 and 635 are attached respectively.

As shown in FIGS. 11 and 12, the respective locking claws 634 and 635 have a body portion 63 whose both ends are coupled to the chain 633.
6, a locking claw 637 pivotally attached to the main body 636, and a spring 638 for biasing the locking claw 637 toward the pallet 4 side. The first and second locking claw portions 634 thus configured
, 635 are pulled by the chain 633 and moved, so that at the standby position shown by the solid line in FIG.
7 is inside the partition wall 613 and does not project to the pallet 4 side (see FIG. 12), but is provided on the partition wall 613 when moving from this standby position to the broken line position side shown in FIG. It projects outward from the slit hole 639 (see FIG. 11) and is configured to be able to come into contact with and separate from the rib 413 of the pallet 4.

In the prepared food stocker 6 constructed as described above, the uppermost stage of the stacking pallet group A serves as a supply port for the prepared food 3 placed and stored on the pallet 4, and
The state in which the pallet 4 is placed on the fixed roller 615 serves as a supply port for the various prepared foods 3, and the case 610 is opened corresponding to each of these ports. At this time, the pallet 4 is moved in the case 610 as follows. When moving the pallet 4, first, the drive motor 629 of the lifting mechanism 611 is driven, which causes the coupling link rod 627.
Is moved backwards. By this movement, the receiving and pushing-up roller link parts 618 and 619 synchronously ascend.

When the rollers 624 and 626 of the link parts 618 and 619 are in the highest position of approaching the lower surface of the bottom plate 410 of the pallets 4 of the stacking pallet groups A and B in the movement process of the link parts 618 and 619, The slide member 630, which is linked to the link link rod 627, slides downward, and this movement resists the biasing force of the spring 621 to move the first member.
The connection rod 620 of the swinging locking claw 616 is rotated to release the support state of the stacking pallet group A by the first swinging locking claw 616.

The stacking pallet group A is supported by the receiving roller 624 of the receiving roller link portion 618 by the swinging movement of the first swing locking claw 616. An enlarged view of this state is shown in FIGS. Then, from the state shown in the figure, when the connecting link rod 628 starts to move forward, this time, the slide member 630 starts to slide upward, and when the slide member 630 moves upward by a predetermined amount, the connecting rod The 620 is returned to its original state by the urging force of the spring 621, and by this operation, the first swing locking claw 616 again contacts the side surface of the pallet 4 and supports the stacking pallet group A.

When the connecting link rod 627 moves further forward, the receiving roller link portion 618 moves into the receiving roller 624.
While the pallet 4 is being supported, the pallet 4 is gradually lowered while the link rod 623 is rotated by about 90 degrees.
It is located on the fixed roller 615 and is supported by the fixed roller 615 and the receiving roller 624. This state is shown by imaginary lines in FIGS.

When the pallet 4 is supported on the fixed roller 615, the drive motor 629 of the lift mechanism 611 is stopped, and then the drive motor 640 of the slide mechanism 612 is rotationally driven in the forward direction. The first locking claw portion 634, which was in the standby position due to the drive of the motor 640, moves from the virtual line position in FIG. 9 to the solid line position in the figure. 637 is the spring from the slit hole 639 of the partition wall 613.
The urging force of 638 causes the pallet 4 to project outward, abut against the rib 413 provided on the side surface of the pallet 4, and move the pallet 4 to the push-up roller link portion 619 side.

On the other hand, the second locking claw 635, which was in the standby position like the first locking claw 634, moves in the opposite direction to the first locking claw 634 by the drive of the motor 640. In the process of this movement, the locking claw 47b of the locking claw portion 635 abuts on the rib 413 of the pallet 4 located at the uppermost position of the stacking pallet group B, and this is moved to the uppermost step of the stacking pallet group A. Move to. In the stacking pallet group A, the lifting mechanism 61 described above is used.
Since the pallet 4 for one step has been removed by the operation of 1, there is no hindrance to the movement from the stacking pallet group B to the same pallet A.

When the sliding of the pallet 4 is completed as described above, the locking claws 634 and 47 are returned to the standby positions by rotating the motor 640 in the reverse direction. Then, next, the drive motor 629 of the elevating mechanism 611 is driven again, and the pallet 4 supported on the fixed roller 615 is driven.
Is received by the push-up roller 626 of the push-up roller link portion 619, and is moved upward with the rotation of the link rod 625.

When the upper end of the pallet 4 comes into contact with the lower surface of the stacking pallet group B, the pallet 4 is pushed up so as to be raised, and by this pushing-up operation, the second swing locking claw 617 is formed.
Oscillates against the urging force of the spring 622, and when the push-up roller link portion 619 reaches the maximum raised position, the pallet 4 that has been pushed up is supported by the second swing locking pawl 617. After that, the push-up roller link portion 619 descends.

During this push-up operation, the uppermost pallet 4 of the stacking pallet B group is moved by the slide mechanism described above.
Since it is moved to the other stacked pallet group A side by the operation of 612, there is no problem. Further, when the push-up roller link portion 619 is operated as described above, the receiving roller link portion 618 also performs the same operation. However, this operation is the same as that described above, and a description thereof will be omitted.

By the above series of operations, the stacking pallet group A
The lowermost pallet 4 is moved to the lowermost stage of the stacking pallet group B, and the uppermost pallet 4 of the stacking pallet group B is moved to the uppermost stage of the stacking pallet A. After that, the same operation is performed. By repeating, the pallet 4 is sequentially prepared 3
It will be circulated to the supply port, the supply port, and the supply port.

According to the prepared food stocker 6 configured as described above, the collar portion that engages with the swing locking claws 616 and 617 is formed.
412 and ribs 413 engaging with the locking claws 637 are attached to the pallet 4
It is possible to move the pallet 4 in the up-down direction and the front-rear direction by the elevating mechanism 611 and the sliding mechanism 612 only by providing the pallet 4. Further, since the plurality of pallets 4 are stacked with their upper and lower ends in contact with each other, the space inside the case 610 is effectively utilized and foreign matter is prevented from mixing in the prepared side dishes 3 To be done.

In the pallet conveying device of the above embodiment, for example, the receiving and pushing up roller link parts 618, 2 are provided.
If the drive motor 629 is provided with a rotation sensor to detect the swinging movement of the pallet 3 and the sliding movement of the pallet 4 is detected by a proximity switch or the like, the pallet 4 can be automatically moved. On the other hand, the mounting robot 7 has a robot head 710 that moves in three dimensions and a hand unit 711 attached to the robot head. The robot head 710 shown in the figure is a Z-axis support for moving it vertically.
It is supported by the 712, and the Z-axis support 712 is the Y-axis beam 71.
3 is fixed on. The Y-axis beam 713 is movably installed on a pair of X-axis rails 714 arranged in parallel so as to be orthogonal to the moving direction of the belt conveyor 1.

The robot head 710 has a Z-axis drive motor 71.
By driving 5 to rotate, the Z-axis support column 712 moves along the longitudinal axis, and by driving the Y-axis motor 716 to rotate, the Y-axis beam 713 moves along the longitudinal axis. The Y-axis beam 713 is the X-axis drive motor 717.
Is rotated to move along the longitudinal axis of the X-axis rail 714 in the direction of approaching or separating from the belt conveyor 1.

In FIG. 2, a member indicated by reference numeral 718 is a pedestal for supporting the mounting robot 7. Details of the hand part 711 attached to the robot head 710 are shown in FIG.
It is shown in 14. The hand part 711 shown in the figure has a contact plate part 719 that comes into contact with the upper surface of the block-shaped side dish 3, and a needle-shaped member 720 provided on the back side of this contact plate part 719.

In this embodiment, a pair of contact plates 719 having the same shape are used, and a flat elastic plate material is formed to have a substantially concave cross section. Each contact plate portion 719 includes a mounting base portion 721 and a tip circular arc portion 722 provided at both ends, and a connecting portion 723 connecting the mounting base portion 721 and the tip circular arc portion 722. Then, as shown in FIG. 14, a U-shaped notch 724 is formed at the tip circular arc portion 722 that contacts the block-shaped side dish 3, and the needle-shaped member 720 is arranged facing the notch 724. The cutout 724 is
A circular through hole may be used as long as the needle-shaped member 720 can be inserted therethrough. Each of the contact plate portions 719 is supported by the mounting base portion 721 being sandwiched by the tip end side of the actuator 725. The actuator 725 is, for example, a plunger 72 that expands and contracts by power such as hydraulic pressure, pneumatic pressure, and electricity.
Each actuator 725 is supported by a mounting plate 727 fixed to the robot head 710.

In this embodiment, a pair of needle-shaped members 720 having the same shape are used, and they are fixed to the plunger 726 of the actuator 725 via the mounting bracket 728. Each of the needle-shaped members 720 is provided with a bent portion 729 on the rear end side thereof to prevent the needle-shaped member 720 from falling out of the mounting bracket 728. Further, the pair of needle-shaped members 720 are arranged symmetrically with respect to the central axis l,
In addition, the expansion / contraction direction is provided so as to be inclined at a predetermined angle so as to direct the same point O on the central axis l.

In the automatic loading apparatus configured as described above, the side dish 3 is transferred from the stocker 6 to the lunch box 2 as follows. First of all, when transferring the side dish 3,
The side dish stocker 6 is set between the X-axis rails 714 of the loading robot 7, and the lunch box 2 is placed on the belt conveyor 1 at a predetermined interval. And the belt conveyor 1
The bento container 2 moved by the photoelectric switch 810
Then, the positioning mechanism 8 holds the arm 811 in a predetermined state by lowering and raising the arm 811 and operating the holding arm 813.

The mounting robot 7 is operated before and after the positioning of the lunch container 2. In the operation of the on-board robot 7, first, the X and Y axis drive motors 716 and 717 are driven to control the hand portion 711 so that it is located directly above the prepared dish 3 at the supply port of the stocker 6, and the hand portion 711 is moved. Positioning of the central axis 1 is performed. Then, the Z-axis motor 71
The robot head 710 is lowered from above by driving 5, and the tip circular arc portion 722 of each pad plate portion 719 is brought into contact with the upper surface of the prepared dish 3. In this state, when the actuator 725 is driven and the plunger 726 is extended, the plunger 726
The needle-shaped members 720, which are fixed to each other via the mounting brackets 728, extend in the direction of the point O, and the needle-shaped members 720 project from the notches 724 of the backing plate portion 719 to pierce the block-shaped prepared dish 3 and the prepared dish 3 Are held by the needle-shaped member 720 with the upper surface in contact with the contact plate portion 719.

When the needle-shaped member 720 pierces the side dish 3, Z
The robot head 710 moves up by driving the shaft drive motor 715. Then, the X and Y axis drive motors 715 and 716 are driven to position the robot head 710 at the side dish placement position of the lunch container 2. In this way, when the side dish mounting position is determined, the robot head is driven by the Z-axis drive motor 715.
710 descends to a predetermined position, and in this state, the plunger 726 of the actuator 725 contracts.

When the plunger 726 contracts, each needle-shaped member
720 retracts to the back side of the backing plate 719,
Since the side plate 719 prevents the side dish 3 from rising, the side dish 3 is left at a predetermined position of the lunch box container 2 apart from the needle member 720, and thereafter, the lunch box container 2 is sequentially conveyed on the belt conveyor 1. However, the above operation is repeated.

In this case, the pallet 4 of the side dish stocker 6
Since a large number of prepared foods 3 are stored in the pallet, the pallet 4 described above is not moved from one pallet 4 until the prepared foods 3 are exhausted. For determining whether or not the side dish 3 is present on the pallet 4, for example, as shown in FIG. 1, a method is used in which the side dish 3 placed in a two-dimensional manner is assigned an address and the side dish 3 is counted down every time the side dish 3 is transferred. Are adopted.

In addition, since it takes a long time to move the pallet 4 in the prepared food stocker 6 in a circulating manner, the prepared food 3 of the pallet 4 at the supply port is, for example, 2/3.
When transferred, the lowermost pallet 4 of the stacking pallet group A can be moved in advance by the elevating mechanism 611. When such a method is adopted, the side dish 3
When picking up, the hand part 711 may be moved to a lower position by the Z-axis drive motor 715.

[0047]

As described above in detail in the embodiments,
According to the block-shaped side dish automatic loading device of the present invention, the block-shaped side dish can be automatically mounted at a predetermined position of the lunch box container, and the production efficiency of the bento box can be significantly improved. Further, according to the structure of claim 2, the space in the case can be effectively utilized without complicating the structure of the pallet.

Further, according to the third aspect of the present invention, the block-shaped side dish can be held by the simple configuration without the shape being deformed or deformed.

[Brief description of drawings]

FIG. 1 is an overall layout plan view showing an embodiment of an automatic loading device for a block-shaped side dish according to the present invention.

FIG. 2 is a side view of FIG.

FIG. 3 is a plan view showing an example of a lunch box container positioning mechanism used in the automatic mounting apparatus.

FIG. 4 is a side view of FIG.

FIG. 5 is a side sectional view showing an example of a side dish stocker used in the automatic loading device.

FIG. 6 is a front sectional view of the side dish stocker.

FIG. 7 is a side view of the main part of the side dish stocker of FIG. 5 with the roller link portion raised.

8 is a front view of FIG. 7. FIG.

9 is a side view of a main part of the side dish stocker of FIG. 5 with a roller link portion lowered.

FIG. 10 is a front view of FIG. 9.

11 is an explanatory view of a locking claw portion of the slide mechanism of the side dish stocker of FIG.

FIG. 12 is an explanatory diagram of a standby position of the locking claw portion of FIG. 11.

FIG. 13 is a side view showing an embodiment of a hand unit used in the automatic mounting apparatus according to the present invention.

FIG. 14 is a plan view of an essential part of a receiving plate portion of the hand portion.

[Explanation of symbols]

 1 Belt conveyor 2 Lunch box 3 Block side dish 4 Pallet 6 Side dish stocker 7 Onboard robot 8 Positioning mechanism

Claims (4)

[Claims] 1. An apparatus for automatically mounting block-shaped side dishes such as hamburger steak, tempura, and kamaboko in a lunch box container positioned on a conveyor, which is installed on the side of the conveyor and accommodates the side dishes. Having a plurality of pallets, a side dish stocker that sequentially circulates these pallets into a supply port, and picks up the side dish individually from the pallet sent to the supply port, and picks up the side dish on the lunch box container. An automatic side dish loading device, comprising: a loading robot that transports the loaded side dish at a predetermined position of the lunch container. 2. The side dish stocker is stacked in two rows in a case so that the upper and lower ends thereof are in contact with each other, and a plurality of pallets on which the side dish is placed and the pallets are sequentially moved in the vertical direction. An elevating mechanism and a slide mechanism for moving the pallet back and forth at the uppermost lower position, and having a plurality of fixed rollers provided below the stacked pallet group stacked in a stepwise manner, the elevating mechanism Is a pair of rocking locking claws that respectively support the two rows of stacking pallet groups at the lowermost stage, and one rocking member that is installed below one row of the stacking pallet group and is in a raised position. A receiving roller that swings the pawl to release the supporting state of the stacked pallet group, receives the lowermost pallet, and places the pallet received in the lowered position on the fixed roller. The link part and the stacking part The pallet is installed below the other row of the stack group and receives the pallet from the fixed roller in the lowered position, and the pallet received in the raised position is pushed up from below the stacked pallet group, and the other sway is shaken. And a push-up roller link portion that supports it with a dynamic locking claw, the slide mechanism is wound around the upper and lower portions of the stacking pallet group, and a cord-shaped member that is intermittently driven in forward and reverse directions, A first locking claw portion which is attached to the cord-like member and which abuts on the side surface of the pallet placed on the fixed roller by the receiving roller link portion and moves the pallet to the push-up roller link portion side. , Is attached to the cord-shaped member, abuts on the side surface of the uppermost pallet of the stacking pallet group on the side of the push-up roller link, and moves it from one stacking pallet group side to the other stacking pallet group side 2. The automatic side dish loading device according to claim 1, further comprising a second locking claw portion to be moved. 3. The mounting robot includes a robot head that moves in a three-dimensional direction, and a hand unit attached to the robot head, the hand unit including a backing plate unit that contacts an upper surface of the prepared dish. The pair of needle-shaped members that extend and contract from the back side of the pad plate portion to the side of the prepared dish, the automatic side dish mounting device according to claim 1. 4. The pair of needle-shaped members are arranged symmetrically with respect to a central axis, and are provided so as to be inclined so that respective expansion and contraction directions thereof are directed to the same point on the central axis. The automatic side dish loading device according to claim 3.