Claims (12)
一種機器人手臂，係自如地保持食製品的機器人手臂，其係具備：手指部、開閉作動部及手臂支撐構件，前述手指部係3個以上之自然數的N個同一形狀所構成的手指部，且具有：圍繞著用於保持前述食製品的保持空間而形成的保持面、於相鄰接之手指部的保持面處滑接且清淨該保持面的邊緣部；前述開閉作動部係具有在前述保持面往鉛直方向延伸的內接面與在前述手指部的邊緣部往鉛直方向延伸的邊緣部，且以朝下方凸出的方式連結前述手指部；前述手臂支撐構件可將前述開閉作動部予以開閉動作地支撐，藉由前述開閉作動部之開閉動作而使前述手指部的前述保持面往前述保持空間之中央部集合或離開，藉由該集合動作以前述保持面保持前述食製品，並以前述邊緣部清淨前述保持面。
A robot arm that is capable of freely holding a robot arm of a food product, comprising: a finger portion, an opening and closing operation portion, and an arm supporting member, wherein the finger portion is a finger portion composed of three or more natural shapes of N or more natural shapes. And a retaining surface formed to hold the holding space of the food product, and an edge portion that slides on the holding surface of the adjacent finger portion and cleans the retaining surface; the opening and closing actuating portion has the foregoing The inner surface of the holding surface extending in the vertical direction and the edge portion extending in the vertical direction at the edge portion of the finger portion, and the finger portion is coupled to protrude downward; the arm supporting member can open the opening and closing portion Supporting the opening and closing operation, the holding surface of the finger portion is brought to or away from the central portion of the holding space by the opening and closing operation of the opening and closing operation portion, and the food product is held by the holding surface by the collecting operation, and The edge portion cleans the aforementioned holding surface.
如申請專利範圍第1項所述之機器人手臂，其中，對應於前述保持面用於保持食製品而集合的前述保持空間之中央部，於前述手臂支撐構件具備用以清理前述手指部之前述保持面的清理手段。
The robot arm according to claim 1, wherein the arm supporting member is provided with a central portion of the holding space that is formed by the holding surface for holding the food product, and the arm supporting member is provided with the aforementioned holding for cleaning the finger portion. The means of cleaning up.
如申請專利範圍第2項所述之機器人手臂，其中，
前述清理手段係具有噴出空氣的空氣噴出口。
For example, the robot arm described in claim 2, wherein
The aforementioned cleaning means has an air ejection port that ejects air.
如申請專利範圍第1至3項中任一項所述之機器人手臂，其中，前述手臂支撐構件係具有內部空間，該內部空間係具備：用於收容前述開閉作動部的形成為正N角形的內壁面，前述開閉作動部作為側面至少形成有：前述內接面；透過前述邊緣部與前述內接面交叉，並與相鄰接的開閉作動部之內接面滑接的傾斜滑接面；與前述傾斜滑接面交叉且平行於前述內接面的外接面；以及與前述內接面交叉且與前述內壁面滑接的第2傾斜滑接面，而且於上表面朝單一方向形成長形的溝或孔的導引部；並且，前述手臂支撐構件具備：插入前述導引部，在前述導引部內相對位移的N個導引滾子；及將前述導引滾子在同一圓上等間隔地垂掛，繞該圓之中心進行旋動的旋動構件，前述旋動構件進行旋動時，前述導引滾子在前述導引部內相對位移於前述長形的單一方向，前述開閉作動部之前述第2傾斜滑接面與前述手臂支撐構件之前述內壁面滑接，前述開閉作動部之前述傾斜滑接面與相鄰接的開閉作動部之內接面滑接，藉此使前述開閉作動部進行開閉動作。
The robot arm according to any one of claims 1 to 3, wherein the arm support member has an internal space, and the internal space is provided with a positive N-angle for accommodating the opening and closing operation portion The inner wall surface, the opening and closing actuating portion is formed as a side surface at least: the inner connecting surface; and an inclined sliding surface that passes through the edge portion and intersects with the inner connecting surface and is in sliding contact with an inner surface of the adjacent opening and closing actuating portion; An outer surface that intersects the inclined sliding surface and is parallel to the inner surface; and a second inclined sliding surface that intersects the inner surface and is in sliding contact with the inner wall surface, and forms an elongated shape on the upper surface in a single direction a guide portion of the groove or the hole; and the arm support member includes: N guide rollers inserted into the guide portion and relatively displaced in the guide portion; and the guide roller on the same circle a rotating member that is suspended at intervals around the center of the circle, and when the rotating member is rotated, the guiding roller is relatively displaced in the guiding portion in a single direction of the elongated shape, and the opening The second inclined sliding surface of the actuating portion is slidably coupled to the inner wall surface of the arm supporting member, and the inclined sliding surface of the opening and closing actuating portion is slidably coupled to an inner connecting surface of an adjacent opening and closing actuating portion, thereby The opening and closing actuation unit performs an opening and closing operation.
如申請專利範圍第1至3項中任一項所述之機器
人手臂，其中，前述開閉作動部作為側面至少形成有：前述內接面、以及透過前述邊緣部與前述內接面交叉並且與相鄰接的開閉作動部之內接面滑接的傾斜滑接面，而且，於上表面朝單一方向形成長形的溝或孔的導引部，前述手臂支撐構件進一步具備：N個旋動軸及旋動構件，前述旋動軸係具有：插入前述導引部之於前述長形的單一方向伸長形成的導引軸部、以及從前述導引軸部往鉛直上方凸出的凸出部，且被可旋動地支撐；前述旋動構件具有與前述旋動軸之凸出部卡合的圓環，繞該圓環之中心周圍旋動，前述旋動構件進行旋動時，前述旋動軸旋動而使前述導引軸部在前述導引部內旋動，前述開閉作動部之前述傾斜滑接面一邊與相鄰接的開閉作動部之內接面進行滑接，一邊在前述開閉作動部進行擺動的同時對前述旋動軸沿著前述導引部的長形的單一方向移動，藉此使前述開閉作動部進行開閉動作。
A machine as claimed in any one of claims 1 to 3
The human arm, wherein the opening and closing actuation portion is formed as a side surface at least: the inner surface and the oblique sliding portion that intersects the inner surface through the edge portion and is in sliding contact with the inner surface of the adjacent opening and closing actuator And a guiding portion for forming an elongated groove or a hole in a single direction on the upper surface, the arm supporting member further comprising: N rotating shafts and a rotating member, wherein the rotating shaft system has: inserting the guide a guiding shaft portion formed by elongating in a single direction of the elongated shape, and a protruding portion protruding upward from the guiding shaft portion, and being rotatably supported; the rotating member having the rotation a ring engaged with the protruding portion of the moving shaft is rotated around the center of the ring, and when the rotating member is rotated, the rotating shaft is rotated to rotate the guiding shaft portion in the guiding portion The slanting sliding surface of the opening and closing actuation portion is slidably coupled to the inner surface of the adjacent opening and closing actuation portion, and the swaying shaft is swayed along the guiding portion while the opening and closing actuation portion is oscillating Long single The direction is moved, whereby the opening and closing actuation unit is opened and closed.
如申請專利範圍第1至3項中任一項所述之機器人手臂，其中，前述開閉作動部係在與前述邊緣部為相反側的基端位置形成有軸樞孔，前述手臂支撐構件進一步具備：N個旋動軸及旋動構件，
前述旋動軸係具有：插入前述軸樞孔使其對前述開閉作動部不相對旋轉，從前述軸樞孔凸出的凸出部，且可被旋動地支撐；前述旋動構件具有與前述旋動軸之凸出部卡合的圓環，且繞該圓環之中心周圍旋動，前述旋動構件進行旋動時，前述旋動軸旋動而使前述開閉作動部以前述軸樞孔為中心進行擺動，藉此使前述開閉作動部進行開閉動作。
The robot arm according to any one of claims 1 to 3, wherein the opening and closing actuation portion has a pivot hole formed at a proximal end position opposite to the edge portion, and the arm support member further includes : N rotating shafts and rotating members,
The slewing shaft has a projection that is inserted into the shaft pivot hole so as not to rotate relative to the opening and closing actuation portion, and protrudes from the shaft pivot hole, and is rotatably supported; the rotator member has the aforementioned a ring that engages with the protruding portion of the rotating shaft and rotates around the center of the ring, and when the rotating member rotates, the rotating shaft rotates to cause the opening and closing actuating portion to pivot with the shaft The opening and closing operation is performed by swinging the center.
如申請專利範圍第1至3項中任一項所述之機器人手臂，其中，前述開閉作動部係於上表面朝單一方向形成長形的溝或孔的導引部，且開離於前述導引部，在與前述邊緣部為相反側的基端位置被軸樞，前述手臂支撐構件進一步具備：插入前述導引部，在長形的單一方向相對位移的N個導引滾子；以及將前述導引滾子在同一圓上等間隔地垂掛，繞該圓之中心進行旋動的旋動構件，前述旋動構件進行旋動時，前述導引滾子在前述導引部內相對位移於前述長形的單一方向，前述開閉作動部以前述被軸樞的位置作為中心進行擺動，藉此使前述開閉作動部進行開閉動作。
The robot arm according to any one of claims 1 to 3, wherein the opening and closing actuation portion is a guide portion that forms an elongated groove or a hole in a single direction on the upper surface, and is separated from the guide The guide portion is pivoted at a base end position opposite to the edge portion, and the arm support member further includes: N guide rollers that are inserted into the guide portion and are relatively displaced in a single direction of the elongated shape; The guide roller is suspended at equal intervals on the same circle, and the rotary member is rotated around the center of the circle. When the rotary member is rotated, the guide roller is relatively displaced in the guide portion. In the single direction of the elongate shape, the opening and closing actuation portion swings around the position of the pivot shaft, thereby opening and closing the opening and closing actuation portion.
如申請專利範圍第4項所述之機器人手臂，其中，
進一步具備一對管致動器，該一對管致動器係配置於從前述旋動構件之外側的前述手臂支撐構件至前述旋動構件之間，且於該管致動器內部供給流體或者排出時直徑產生變化的同時進行伸縮動作使前述旋動構件旋動。
The robot arm described in claim 4, wherein
Further provided with a pair of tube actuators disposed between the arm supporting members from the outer side of the rotating member to the rotating member, and supplying fluid inside the tube actuator or At the same time as the diameter changes during discharge, the expansion and contraction operation is performed to rotate the aforementioned rotating member.
一種食製品搬運系統，其係由搬運用之機器人所構成，該機器人係具備如申請專利範圍第1至8項中任一項所述之機器人手臂，其特徵為具備：用以搬運由食製品製造裝置所製造之食製品的食製品搬運手段；以及與搬運前述食製品之前述食製品搬運手段不同的第2搬運手段，前述搬運用之機器人係將前述食製品從前述食製品搬運手段搬運至前述第2搬運手段。
A food product handling system comprising a robot for transporting a robot arm according to any one of claims 1 to 8, characterized in that: a food conveying means for the food product manufactured by the manufacturing device; and a second conveying means different from the food product conveying means for conveying the food product, the robot for conveying conveys the food product from the food product conveying means to The second transport means.
如申請專利範圍第9項所述之食製品搬運系統，其係具備：複數的輔助作業用具及輔助作業用具交換部，前述複數的輔助作業用具係安裝於前述機器人手臂用於進行將前述食製品予以保持以外之輔助作業，且在前述機器人手臂上裝卸交換自如；前述輔助作業用具交換部係將用於對前述機器人手臂進行裝卸交換之複數輔助作業用具加以保管。
The food product conveying system according to claim 9, comprising: a plurality of auxiliary working tools and an auxiliary working tool exchange unit, wherein the plurality of auxiliary working tools are attached to the robot arm for performing the food product The auxiliary work is exchanged and exchanged on the robot arm, and the auxiliary work tool exchange unit stores a plurality of auxiliary work tools for loading and unloading the robot arm.
如申請專利範圍第9項所述之食製品搬運系統，其係具備：輔助作業用具，其係安裝於前述機器人手臂用於進行
將食製品予以保持以外之輔助作業，前述輔助作業用具係於其中一端部具備對食製品進行輔助作業的輔助作業部，而於另一端部具備藉由於機器人手臂所具備之複數的保持構件加以把持的被把持部，前述被把持部係由彈性構件所構成。
The food product handling system of claim 9, comprising: an auxiliary work tool, which is attached to the robot arm for performing
The auxiliary work tool is provided with an auxiliary work unit for assisting the food product at one end portion, and is provided at the other end portion by a plurality of holding members provided by the robot arm. In the grip portion, the grip portion is composed of an elastic member.
如申請專利範圍第11項所述之食製品搬運系統，其中，前述機器人手臂係具備噴出空氣的空氣噴出口，前述被把持部係具備與前述空氣噴出口連接自如的空氣連接部，並在前述輔助作業中使用空氣。
The food product transporting system according to claim 11, wherein the robot arm includes an air ejection port that ejects air, and the gripped portion includes an air connecting portion that is connectable to the air ejection port, and is Use air in auxiliary work.