WO2018105677A1 - 食品の保持装置 - Google Patents
食品の保持装置 Download PDFInfo
- Publication number
- WO2018105677A1 WO2018105677A1 PCT/JP2017/043913 JP2017043913W WO2018105677A1 WO 2018105677 A1 WO2018105677 A1 WO 2018105677A1 JP 2017043913 W JP2017043913 W JP 2017043913W WO 2018105677 A1 WO2018105677 A1 WO 2018105677A1
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- WIPO (PCT)
- Prior art keywords
- food
- holding
- posture
- foods
- unit
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/08—Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0045—Manipulators used in the food industry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/001—Packaging other articles presenting special problems of foodstuffs, combined with their conservation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/06—Packaging slices or specially-shaped pieces of meat, cheese, or other plastic or tacky products
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/02—Supply magazines
- B65B35/04—Supply magazines with buffer storage devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
- B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/06—Packaging groups of articles, the groups being treated as single articles
- B65B5/068—Packaging groups of articles, the groups being treated as single articles in trays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39102—Manipulator cooperating with conveyor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39106—Conveyor, pick up article, object from conveyor, bring to test unit, place it
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40007—Optimize sequence of pick and place operations upon arrival of workpiece on conveyor
Definitions
- the present invention relates to a food holding device.
- the finished food is packed in a container and shipped to a retail store such as a convenience store. Therefore, it is desirable to pack food in a container with high accommodation efficiency from the viewpoint of transportation cost and the like, but the current situation is that it is difficult to automate and depends on manpower.
- Such food is easy to deform, and once deformed by an external force, it does not return to its original shape even if the external force is removed. Therefore, when the food is dropped due to external force when the food is dropped, the commercial value is lost due to the deformation of the food. As a result, the proportion of nonconforming products may increase and work efficiency may decrease.
- the boxing device disclosed in Patent Document 1 adsorbs and holds each food (pepper) on the front row side and the rear row side placed on each of the two alignment trays with each suction pad, and each food product (pepper). The rear end is supported in a slightly inclined posture. Thereafter, the longitudinal end portions of the front row foods (pepper) and the rear row foods (pepper) adsorbed and held by the suction pads are superposed on each other and packed in a box. Further, the boxing device disclosed in Patent Document 2 lifts a plurality of foods (rice balls) upward through an adsorption unit, moves the raised foods to a predetermined boxing position, lowers them, and releases the adsorption.
- 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 a time and transfers them to the next process.
- This robot hand is provided with a long frame in one upper part, and a plurality of gripping posts fixed to the base plate are vertically suspended below the robot hand, and a work gripping tool is provided at the lower end of each gripping support.
- Patent Document 1 can hold only two foods (pepper) at a time. For this reason, when it is assumed that foods such as rice balls and sandwiches are packed in a container with this boxing device, the productivity may decrease.
- the boxing device of Patent Document 2 and the robot hand of Patent Document 3 can hold two or more (six) foods at a time, but in order to hold the foods side by side, There is a problem that a large work space is required to perform the stuffing operation.
- the accuracy of the operation is required in each process, for example, correctly arranging a plurality of foods at predetermined positions, and securely holding the plurality of foods.
- the present invention has been made to solve the above-described problems, and aims to improve the efficiency of work and improve the accuracy of work in a limited work space.
- a food holding device is a food holding device that holds the food in a first posture in which a predetermined first surface of the food is horizontal. And the 1st holding part comprised so that change of the posture of the food was possible from the 1st posture to the 2nd posture which made the 2nd surface different from the 1st surface of the food horizontal,
- a food supply unit configured to sequentially supply the food held in the second posture by the first holding unit to a predetermined position, and a plurality of foods supplied in the second posture to the predetermined position in a predetermined direction
- a second holding unit configured to be held in a stacked manner, a food storage unit for storing a plurality of foods held by the second holding unit in a predetermined container, and the plurality of the plurality of foods supplied to the predetermined position
- a second posture detection unit for detecting that all of the food is in the second posture When the second posture detection unit detects that all the plurality of food items are in the second posture at the predetermined position, the pluralit
- the food is held in a first posture (for example, a prone posture) in which the first surface of the food (for example, the triangular surface of a triangular rice ball) is horizontal.
- 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 (for example, the side surface of the triangular rice ball) is horizontal.
- the food held in the second posture is sequentially supplied to the predetermined position. Only when it is detected that all the plurality of foods are in the second posture at the predetermined position, the plurality of foods in the second posture are held in a predetermined direction, so that the plurality of foods are securely held.
- the second attitude detection unit may include other detection means such as a photoelectric sensor, a camera, an ultrasonic wave, a limit switch, and the like.
- the second posture detection unit irradiates a plurality of parallel lights in a direction intersecting the predetermined direction, and the plurality of parallel lights are in positions corresponding to the plurality of foods in the second posture at the predetermined position.
- a light source unit configured to be irradiated; a light receiving unit configured to receive the parallel light irradiated by the light source unit; and the plurality of light sources based on a detection result of the parallel light by the light receiving unit.
- a second posture determination unit that determines whether or not the food is in the second posture.
- the light receiving unit includes the photoelectric sensor that can detect the parallel light (for example, transmitted light or reflected light) emitted from the light source unit, a plurality of foods are placed at predetermined positions based on the detection result. Whether or not the vehicle is in the second posture can be determined.
- the parallel light means light that goes straight in one direction without being diffused or converged.
- the light source unit irradiates a plurality of first parallel lights in a direction orthogonal to the predetermined direction, and each of the plurality of foods in the second posture at the predetermined position.
- a plurality of first light sources configured to irradiate a position corresponding to the upper portion and a plurality of second parallel lights in a direction orthogonal to the predetermined direction, and the plurality of second parallel lights are
- a plurality of second light sources configured to irradiate a position corresponding to a lower portion of each of the plurality of foods in the second posture at the predetermined position
- the light receiving unit includes the plurality of foods
- a plurality of first light receiving parts configured to receive a plurality of the first parallel lights that have passed through positions corresponding to the upper parts of the respective parts, and a position corresponding to the lower part of each of the plurality of foods.
- a plurality of second light-receiving units wherein the second posture determination unit is configured such that all of the plurality of first parallel lights are respectively in the second posture at a predetermined position by the upper portions of the plurality of foods.
- the plurality of first light receiving units do not receive any of the plurality of first parallel lights, and all of the plurality of second parallel lights are in a second posture at a predetermined position.
- the plurality of second light receiving parts do not receive any of the plurality of second parallel lights by being blocked by the lower portions of each of the foods, all the plurality of foods are the first food at the predetermined position.
- the plurality of first parallel light beams pass through a position corresponding to the upper part of at least one of the plurality of foods by determining that the plurality of first parallel lights are in two postures. Receiving at least one of the parallel lights When the food which corresponds to the first collimated light the light received may be determined not to the second position at the predetermined position.
- all of the plurality of first parallel lights are blocked by the respective upper portions of the plurality of foods in the second posture at the predetermined position, and the plurality of second light receiving parts are the plurality of first parallel lights.
- All of the plurality of second parallel lights are blocked by the lower portions of the plurality of foods in the second posture at the predetermined position, and the plurality of second light receiving parts are the plurality of second light receiving portions.
- the plurality of first parallel light passes through a position corresponding to the upper part of at least one food among the plurality of foods, so that the plurality of first light receiving units is at least one of the plurality of first parallel lights.
- the food corresponding to the received first parallel light is not in the second posture (standing posture) at the predetermined position.
- the second posture of the food can be detected by the principle of the transmission photoelectric sensor.
- the food holding apparatus further includes a second holding detection unit that detects that all the plurality of foods are held by the second holding unit, and the control unit includes the second holding detection unit.
- the food storage unit stores the plurality of foods held by the second holding unit in a predetermined container. The operation may be controlled.
- the second holding detection unit is based on a plurality of reflective photoelectric sensors for detecting that each of the plurality of foods is held, and detection results of the plurality of reflective photoelectric sensors. You may make it further provide the 2nd holding
- the second holding detection unit may include other detection means such as a transmission photoelectric sensor and a limit switch.
- the second holding portion includes a plurality of pairs of holding members configured to hold each of the plurality of foods stacked in the second posture at the predetermined position, and an angle formed between the pair of holding members.
- a drive member that drives the plurality of pairs of holding members so as to be at any one of a first angle capable of holding the food and a second angle capable of opening the food;
- the first angle is a predetermined angle at which each food can be sandwiched from both sides thereof, and the second angle is such that the height of the tip when each pair of holding members is opened is the height of the food.
- the predetermined angle may be higher than the height.
- the pair of holding members can be driven so as to have a predetermined angle (for example, 180 degrees) such that the height of the tip when the pair of holding members is opened is higher than the height of the food. It becomes easy to detect whether the food is in the second posture by the sensor or the like before the holding operation.
- a predetermined angle for example, 180 degrees
- the second holding unit may be configured to hold each of the plurality of foods independently.
- a food holding device is a food holding device that holds the food in a first posture in which a predetermined first surface of the food is horizontal, and the first A first holding portion configured to change the posture of the food from a posture to a second posture in which a second surface different from the first surface of the food is horizontal, and the second holding portion by the first holding portion.
- a food supply unit configured to sequentially supply the food held in a posture to a predetermined position, and a plurality of foods supplied in a second posture to the predetermined position so as to overlap and hold in a predetermined direction.
- a second holding unit configured to contain a plurality of foods held by the second holding unit in a predetermined container; and the second holding unit is configured to move the second holding unit at the predetermined position.
- a plurality configured to hold each of a plurality of foods stacked in a posture
- the plurality of the holding members and the pair of holding members are arranged such that an angle between the holding members and the pair of holding members is one of a first angle capable of holding the food and a second angle capable of opening the food.
- a drive member configured to be able to independently drive each of the pair of holding members, and the first angle is a predetermined angle at which each food can be sandwiched from both sides, The two angles are predetermined angles such that the height of the tip when each pair of holding members is opened is higher than the height of the food.
- the food is held in a first posture (for example, a prone posture) in which the first surface of the food (for example, the triangular surface of a triangular rice ball) is horizontal.
- a first posture for example, a prone posture
- 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 (for example, the side surface of the triangular rice ball) is horizontal.
- the food held in the second posture is sequentially supplied to the predetermined position.
- a plurality of foods supplied in the second posture at a predetermined position are held in piles.
- a plurality of held food items are stored in a predetermined container.
- each of the plurality of pairs of holding members that hold each of the plurality of foods can be driven independently by the driving member, for example, the holding operation can be performed by appropriately changing the number of foods to be held.
- the holding member 32 to be driven is changed and the food is accommodated in the container, the height of the tip when the pair of holding members opens the second angle of the holding member in the non-driven state.
- the food holding device controls the driving member so that an angle formed by a predetermined number of pairs of holding members among the plurality of pairs of holding members is the first angle or the second angle.
- the control unit further includes a control unit that controls the drive member so as to fix an angle formed by the pair of holding members to a second angle.
- the food storage unit may be controlled to store the food held by the specified number of pairs of holding members in a predetermined container.
- the holding operation can be performed by appropriately changing the holding number of the food.
- the food is stacked and packed in a container capable of storing 50 (10 ⁇ 5) foods by driving all the five pairs of holding members. Can do.
- food can be stacked and packed in 40 (8 ⁇ 5) food containers. it can. Therefore, it is possible to flexibly cope with the operation of filling food containers having different storage volumes.
- the number of driving of the plurality of pairs of holding members is reduced according to an empty space of the food in the predetermined container, and the angle between the remaining pairs of holding members is the first angle or the first angle.
- the drive member is controlled to have two angles, and when there is a reduced pair of holding members, the drive member is adjusted so that the angle formed by the pair of holding members is fixed to the second angle.
- a control unit may be further provided, and the control unit may control the food storage unit to store the food held by the remaining pair of holding members in the predetermined container.
- the holding operation can be performed by appropriately changing the holding number of the food according to the empty space of the food in the predetermined container.
- the second holding part has five pairs of holding members, when there are only four empty spaces for placing food in the food storage container, the pair of holding members are left fixed at the second angle. Only the four pairs of holding members may be driven. By alternately driving the five pairs of holding members and the four pairs of holding members, the food can be stacked and packed in a container capable of storing 45 (9 ⁇ 5) foods. Therefore, it is possible to flexibly cope with the operation of filling food containers having different storage volumes.
- the food holding device may be configured by a robot including a first arm having the first holding part at a tip and a second arm having the second holding part at a tip.
- the present invention has the above-described configuration, and in a limited work space, it is possible to improve the accuracy of work as well as improve the efficiency of food stuffing work.
- FIG. 1 is a plan view schematically showing an overall configuration of a food holding device according to a first embodiment of the present invention.
- FIG. 2 is a perspective view schematically showing the food of FIG.
- FIG. 3 is a front view schematically showing an overall configuration of an example of the robot of FIG.
- FIG. 4 is a diagram showing the configuration of the hand unit (first holding unit) of the robot of FIG.
- FIG. 5 is a diagram illustrating 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 robot control device of FIG.
- FIG. 7 is a perspective view for explaining a first food holding operation.
- FIG. 8 is a perspective view for explaining the second holding operation of the food.
- FIG. 1 is a plan view schematically showing an overall configuration of a food holding device according to a first embodiment of the present invention.
- FIG. 2 is a perspective view schematically showing the food of FIG.
- FIG. 3 is a front
- FIG. 9 is a perspective view for explaining the third food holding operation.
- FIG. 10 is a perspective view for explaining a fourth food holding operation.
- FIG. 11 is a diagram illustrating another configuration of the hand unit (first holding unit).
- FIG. 12 is a diagram showing another configuration of the hand unit (second holding unit).
- FIG. 13 is a diagram for explaining the retracting operation of the hand unit of FIG.
- FIG. 14 is a timing chart showing an example of the control command of the hand unit and the hand angle during the operation of FIG.
- FIG. 15 is a diagram showing a configuration of a hand unit (second holding unit) of a food holding device (robot) according to the second embodiment of the present invention (transmission type photoelectric sensor).
- FIG. 10 is a perspective view for explaining a fourth food holding operation.
- FIG. 11 is a diagram illustrating another configuration of the hand unit (first holding unit).
- FIG. 12 is a diagram showing another configuration of the hand unit (second holding unit).
- FIG. 13 is a diagram for explaining
- FIG. 16 is a functional block diagram schematically showing the configuration of the control device for the robot having the hand unit shown in FIG.
- FIG. 17 is a schematic diagram for explaining error determination processing by a robot having the configuration of FIGS. 15 and 16.
- FIG. 18 is a diagram illustrating a configuration according to a first modification of the food holding device according to the present embodiment (reflection photoelectric sensor).
- FIG. 18 is a diagram showing a configuration according to a second modification of the food holding device according to the present embodiment (vision sensor).
- FIG. 20 is a diagram illustrating a configuration of a hand unit (second holding unit) of a food holding device (robot) according to a third embodiment of the present invention.
- FIG. 21 is a view showing a food container used for a food stuffing operation by a robot having the hand portion of FIG.
- FIG. 22 is a diagram illustrating a configuration according to a modification of the hand unit (second holding unit) of FIG.
- FIG. 23 is an example of a cross-sectional view of a sheet placed on the work table in FIG.
- FIG. 24 is a diagram illustrating another configuration of the hand unit (first holding unit).
- the food holding device holds the food in a first posture in which a predetermined first surface of the food is horizontal, and from the first posture to the first food.
- a first holding unit configured to change the posture of the food to a second posture in which a second surface different from the surface is horizontal, and the food held in the second posture by the first holding unit
- a food supply unit configured to sequentially supply the food to a predetermined position
- a second holding unit configured to overlap and hold a plurality of foods supplied to the predetermined position in a second posture in a predetermined direction
- a food storage part for storing a plurality of foods held by the second holding part in a predetermined container.
- the food is held in a first posture (for example, a prone posture) in which the first surface of the food (for example, the triangular surface of a triangular rice ball) is horizontal.
- a first posture for example, a prone posture
- 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 (for example, the side surface of the triangular rice ball) is horizontal.
- the food held in the second posture is sequentially supplied to the predetermined position.
- a plurality of foods supplied in the second posture at a predetermined position are held in piles.
- a plurality of held food items are stored in a predetermined container.
- the first holding part includes a base, a rotary joint having a horizontal rotation axis, a tip part rotatably connected to the base by the rotary joint, You may have one or several holding heads provided in the front-end
- the food in the first posture is held by the holding head provided at the tip of the first holding unit, and the tip is rotated 90 degrees with respect to the base, for example, by the rotary joint.
- the posture of the food can be changed from the first posture to the second posture.
- the holding head is an adsorption head for adsorbing and holding the first surface of the food, and the first holding unit is provided at the tip portion, You may further have a support member which contact
- the food packaging portion is sucked and held by the suction head, and the food main body portion is supported by the support member. Therefore, when changing the posture of the food, it becomes easy to maintain the stable posture of the food.
- the second holding part has a plurality of pairs of holding members configured to hold each of the plurality of foods stacked in the second posture at the predetermined position. Also good.
- the second holding portion has a predetermined first angle at which the angle between the pair of holding members can hold the food by sandwiching the food from both sides.
- the angle between the pair of holding members before and after the food holding operation is controlled to be 180 degrees or more, it is easy to check the state of the food by visual observation or a sensor. become. Further, since the opening / closing angle is only binary (for example, 60 degrees and 180 degrees), complicated control becomes unnecessary.
- the food holding device further includes a control unit that outputs a holding command or a release command to the driving member so as to be the first angle or the second angle, and the control unit Switching the output from the holding command to the release command when retracting the second holding unit containing the plurality of food items in the predetermined container to the outside of the predetermined container;
- the output may be switched from the release command to the hold command at a timing at which the angle between the two does not exceed a predetermined third angle that is larger than the first angle and smaller than the second angle.
- the control unit can control the angle between the pair of holding members in the retracting operation of the second holding unit by controlling the output timing of the control command to the driving member. .
- the control unit can avoid that a holding member collides with the inner wall of a predetermined
- the food holding device further includes a sheet disposed at the predetermined position, and the sheet is arranged in the predetermined direction in the second posture in a cross-sectional view of the predetermined direction.
- seat can be stabilized by having a some convex part. Therefore, it becomes easy to hold a plurality of foods in a predetermined direction.
- the sheet is inclined in the predetermined direction while supporting each of the plurality of foods arranged in the predetermined direction in the second posture in a sectional view in the predetermined direction. You may have the level
- the food product has the first surface and a second surface perpendicular to the first surface, and the first posture is the first surface of the food product.
- the second posture may be a posture in which the second surface of the food is faced down.
- the first surface and the second surface being vertical are not limited to strict vertical, but allow a slight inclination that may occur due to the surface of food or packaging.
- the food may be, for example, a triangular hand-wound rice ball having a triangular first surface and a rectangular second surface.
- the inspection apparatus emits X-rays from above the food, in the case of a triangular hand-rolled rice ball, a prone posture with the triangular surface down is suitable.
- the food is passed through the inspection apparatus while conveying the food in a prone posture (first posture) with the triangular surface of the food down by a conveyor in the production line, and then the food is retained by the food holding device.
- a plurality of foods can be packed together in an upright posture (second posture) with the rectangular surface of the bottom.
- the robot may include a first arm having the first holding part at the tip and a second arm having the second holding part at the tip.
- the food stuffing operation can be realized by the double-arm robot.
- FIG. 1 is a plan view schematically showing the overall configuration of the food 40 holding device 10 according to the first embodiment of the present invention. As shown in FIG.
- the food 40 holding device 10 is used to pack a plurality of foods 40 into a tray 41.
- This embodiment demonstrates the case where the holding apparatus 10 of the foodstuff 40 which concerns on this invention with the robot 11 is comprised.
- the robot 11 is a double-arm robot including a pair of robot arms 13 and 13 supported by a base 12.
- the holding device 10 for the food 40 is not limited to the case where it is configured by the robot 11.
- a horizontal articulated type double-arm robot will be described, but a horizontal articulated type or vertical articulated 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.
- the work table 50 of the robot 11 is arranged on the front left side of the robot 11.
- the work table 50 is substantially square in plan view, and is attached to the front surface of the base 12.
- a rectangular sheet 50a is disposed at a predetermined position on the work table 50 in a plan view.
- a first belt conveyor 51 is disposed in front of the robot 11, and a second belt conveyor 52 is disposed on the left side of the robot 11.
- the “working area” of the pair of robot arms 13, 13 covers the work table 50, a partial area on the robot 11 side of the first belt conveyor 51, and an area that covers the second belt conveyor 52. It is.
- the first belt conveyor 51 is a device for transferring the food 40 from the front front to the front of the robot 11 and extends in the front-rear direction.
- the second belt conveyor 52 is a device for transferring the tray 41 from the left side of the robot 11 to the left rear side, and extends in the front-rear direction.
- the tray 41 is a container that can store 40 (8 columns ⁇ 5 rows) foods 40, but the storage capacity of the tray 41 is not limited to this. Other containers may be used as long as the container is open at the top.
- the food 40 is a food product having a certain shape, and examples thereof include a rice ball and a sandwich.
- FIG. 2 is a perspective view schematically showing the food 40 of FIG. As shown in FIG. 2, the food 40 has a first surface portion 40a and a second surface portion 40b perpendicular to the first surface portion 40a.
- the food 40 of this embodiment is a triangular rice ball wrapped with a film.
- the first surface portion 40a of the food 40 is composed of two triangular planes parallel to each other.
- the 2nd surface part 40b of the foodstuff 40 is comprised by three rectangular planes provided in the three sides surrounding the outer periphery of the 1st surface part 40a.
- the 1st surface part 40a and the 2nd surface part 40b are perpendicular
- a rice ball packaged with a film has a film protruding upward so that it can be easily opened, but the upper film is not shown here.
- the food 40 is conveyed by the first belt conveyor 51 in a first posture with the first surface portion 40a horizontal.
- the first posture is a lying posture with the triangular first surface portion 40a of the food 40 facing down.
- foreign matter inspection is performed before shipping the food 40.
- the posture of the food 40 is suitable for the prone posture.
- the first belt conveyor 51 allows the food 40 to pass under an inspection apparatus (not shown) while being conveyed in a lying posture.
- the second posture is a standing posture with the rectangular second surface portion 40b of the food 40 down.
- FIG. 3 is a front view schematically showing the overall configuration of an example of the robot 11.
- the robot 11 includes a base 12 fixed to a carriage, a pair of robot arms (hereinafter simply referred to as “arms”) 13 and 13 supported by the base 12, and a base 12 is provided with a control device 14 housed in 12 and a vacuum generator 60.
- the vacuum generating device 60 is a device that generates a negative pressure in the suction head 22 described later, such as a vacuum pump or CONVUM (registered trademark).
- Each arm 13 is a horizontal articulated robot arm configured to be movable with respect to the base 12, and includes an arm unit 15, a wrist unit 17, and hand units 18 and 19.
- the right arm 13 and the left arm 13 may have substantially the same structure. Further, the right arm 13 and the left arm 13 can operate independently or operate in association with each other.
- the arm portion 15 is composed of a first link 15a and a second link 15b.
- the first link 15 a is connected to a base shaft 16 fixed to the upper surface of the base 12 by a rotary joint J ⁇ b> 1 and is rotatable around a rotation axis L ⁇ b> 1 passing through the axis of the base shaft 16.
- the second link 15b is connected to the distal end of the first link 15a by the rotary joint J2, and is rotatable around the rotation axis L2 defined at the distal end of the first link 15a.
- the list unit 17 includes an elevating unit 17a and a rotating unit 17b.
- the raising / lowering part 17a is connected with the front-end
- the rotating part 17b is connected to the lower end of the elevating part 17a by the rotary joint J4, and can be rotated around the rotation axis L3 defined at the lower end of the elevating part 17a.
- the right hand unit 18 and the left hand unit 19 are connected to the rotating unit 17b of the wrist unit 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
- the left hand portion 19 corresponds to the “second holding portion” of the present invention.
- the right arm 13 corresponds to a “food supply unit” of the present invention
- the left arm 13 corresponds to a “food storage unit” of the present invention.
- Each arm 13 having the above configuration has each joint J1 to J4.
- the arm 13 is provided with a drive servomotor (not shown) and an encoder (not shown) for detecting the rotation angle of the servomotor so as to be associated with each joint J1 to J4. It has been.
- the rotation axes L1 of the first links 15a and 15a of the two arms 13 and 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 up and down. It is arranged with a height difference.
- the right hand unit 18 holds the food 40 in the first posture with the first surface portion 40a horizontal, and can change the posture of the food 40 from the first posture to the second posture with the second surface portion 40b horizontal. Composed.
- the right hand portion 18 includes a base portion 20 including a rotation 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. It has a suction head 22 that is provided in the portion 21 and sucks the food 40 (first surface portion 40a).
- the base portion 20 is connected to the lifting / lowering portion 17a of the wrist portion 17 through the rotary joint J4 and is connected to the distal end portion 21 through the rotary joint J5.
- the base 20 is bent into a substantially L shape in a side view (see FIG. 4B).
- the base 20 includes a drive unit 25 for the rotary joint J5 inside the L-shaped member.
- the distal end portion 21 is connected to the base portion 20 through the rotary joint J5, and the suction head 22 is attached.
- the distal end portion 21 is bent in a substantially L shape in a side view (see FIG. 4B).
- the suction head 22 is provided at three places with the same length on the back side of the tip surface 22b.
- the three contact surfaces of the suction head 22 are configured to contact three points that are not on a straight line on the first surface portion 40 a of the food 40.
- 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. 1) via a pipe (not shown).
- an on-off valve (not shown) is provided in the pipe.
- the food head 40 in the first posture is sucked and held by the suction head 22 provided at the tip portion 21 of the right hand portion 18, and the tip portion 21 is rotated 90 degrees with respect to the base portion 20 by the rotary joint J5.
- the posture of the food 40 can be changed from the first posture to the second posture.
- FIGS. 5 (A) and 5 (B) are a front view and a side view showing the configuration of the left hand part 19 (second holding part) in FIG.
- the left hand unit 19 puts the four foods 40 in a state in which the first surface part 40 a of each food 40 supplied to the predetermined position on the work table 50 in the second posture is directed in the first direction. Constructed to hold in layers.
- the first direction is the left-right direction in FIGS. 5 (A) and 5 (B).
- the left hand portion 19 includes four pairs of holding members 32 provided in the first direction and four drive members 33 that can drive each of the four pairs of holding members 32 independently.
- the rotating portion 17b of the wrist portion 17 extends in the horizontal direction perpendicular to the rotation axis L3 when viewed from the front. Each holding member 32 is connected to the rotating portion 17 b of the wrist portion 17 through the driving member 33.
- Each pair of holding members 32 is configured to hold each of the foods 40 stacked in a second posture in which the first surface portion 40a faces the first direction at a predetermined position on the work table 50.
- each pair of holding members 32 is configured to sandwich the second surface portion 40b of the food 40 from both sides thereof.
- Each holding member 32 has a shape corresponding to the inclination of the second surface portion 40 b of the food 40 and has a contact surface 32 a that contacts the food 40.
- the holding member 32 has, for example, a rectangular flat plate shape, and has two flat main surfaces facing each other, and one of the main surfaces is a contact surface 32 a that contacts the food 40 held by the holding member 32.
- a resin plate or a metal plate is used as the material of the holding member 32.
- each pair of holding members 32 is arranged such that the distance between the pair of holding members 32 becomes narrower toward the upper end portion, and a mountain shape that extends downward ( Inverted V-shape).
- the driving member 33 drives the pair of holding members 32.
- the drive member 33 is connected to an actuator (not shown) or the like, and is connected to the upper ends of the pair of holding members 32 so that the drive member 33 moves linearly and the distance between the pair of holding members 32 changes. ing.
- the pair of holding members 32 reduce the distance between each other and hold one food 40.
- the pair of holding members 32 maintain each other in the direction of the arrow in FIG. 5B while maintaining an angle (approximately 60 degrees) that matches the inclination of the second surface portion 40b of the food 40. The interval is controlled to expand and contract.
- the food 40 is hold
- this embodiment it is set as the structure which provides a clearance gap between the upper parts of the right and left holding members 32 in the holding state of the food 40. This prevents the rice ball (40) from touching the upper film. Normally, in a rice ball packaged with a film, the upper film is easily broken by perforations so that it can be easily opened. Therefore, the food 40 is not opened or damaged by the above configuration. .
- FIG. 6 is a functional block diagram schematically showing the configuration of the control device 14 of the robot 11 of FIG.
- the control device 14 includes a calculation unit 14 a such as a CPU, a storage unit 14 b such as a ROM and a RAM, and a servo control unit 14 c.
- the control device 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 arithmetic unit 14a generates a control command for the robot 11 and outputs it to the servo control unit 14c.
- the servo control unit 14c is configured to control the driving 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 control device 14 controls the operation of the vacuum generator 60 (see FIG. 1) and the opening / closing of the on-off valve.
- the piping is opened and closed by opening and closing the on-off valve, whereby the suction by the suction head 22 and the release thereof are performed.
- the food 40 is conveyed by the 1st belt conveyor 51 in the 1st attitude
- a pair of side walls 51 a are provided on both sides of the first belt conveyor 51 in the transport direction.
- the pair of side walls 51a defines the flow of the conveyed product.
- a stopper 51 b is provided at the end of the first belt conveyor 51. The flow of the food 40 conveyed in the first posture is stopped by the stopper 51b.
- a pair of support members 50b that support the rectangular sheet 50a and the food 40 in a plan view are disposed at predetermined positions of the work table 50 attached to the front side of the base 12.
- the control device 14 controls the operation of the right arm 13 to move the right hand unit 18 (the position of the wrist unit 17) to the stopper 51 at the end of the first belt conveyor 51. Set it to the position just above b. Then, with the suction head 22 set to the reference position, the right hand unit 18 (the lifting unit 17a of the wrist unit 17) is lowered, and the contact surface of the suction head 22 is the first of the food 40 on the first belt conveyor 51. It is made to contact
- the control device 14 controls the operation of the right arm 13 so that the distal end portion 21 of the right hand portion 18 is rotated with respect to the base portion 20 by the rotation joint J5. Rotate around 90 degrees. As a result, the suction head 22 rotates 90 degrees from the reference position. The posture of the food 40 sucked and held in the first posture by the suction head 22 is changed from the first posture to the second posture. Then, the control device 14 controls the operation of the right arm 13 to supply the food 40 held in the second posture by the right hand unit 18 to the position of the seat 50a of the work table 50. By repeating the above operation, the four foods 40 are sequentially supplied to the position of the sheet 50a of the work table 50.
- the control device 14 controls the operation of the left arm 13, and each food 40 supplied in the second posture to the position of the seat 50 a of the work table 50 by the left hand unit 19.
- the four foods 40 are stacked and held in a state where the first surface portion 40a is directed in a predetermined direction.
- control device 14 controls the operation of the left arm 13 and stores the four foods held by the left hand unit 19 in the tray 41. Thereby, even if it is a limited work space, the efficiency of the packing operation of the food 40 can be achieved.
- the food 40 is adsorbed and held by the adsorbing head 22 provided at the tip 21 of the right hand 18 (see FIG. 4). And the attitude
- the packaging portion (first surface portion 40a) of the food 40 is sucked and the main body portion of the heavy food 40 is supported by the sucked packaging portion. For this reason, when the held food 40 is rotated, the packaging portion and the main body portion of the food 40 are separated, and the posture of the food 40 is easily broken.
- FIG. 11 is a diagram showing the configuration of the right hand unit 18A of another embodiment.
- the right hand portion 18 ⁇ / b> A further includes a support member 21 a provided at the distal end portion 21.
- the support member 21 a supports the food 40 that is sucked and held by the suction head 22.
- the packaging portion (first surface portion 40 a) of the food 40 is sucked and held by the three suction heads 22.
- the support member 21a contacts and supports the second surface portion 40b of the food 40.
- the support member 21a has a flat plate shape. A part of the second surface portion 40b of the food 40 is supported by the flat plate. Thereby, when rotating the food 40 adsorbed and held, the main body portion of the food 40 is supported by the support member 21a, so that the stable posture of the food 40 can be easily maintained.
- control device 14 maintains the distance between the pair of holding members 32 while maintaining the angle (approximately 60 degrees) matched to the inclination of the second surface portion 40b of the food 40.
- the drive member 33 is controlled so as to expand and contract (see FIG. 5B), the drive member 33 may be controlled so as to change the angle between the pair of holding members 32.
- 12 (A) and 12 (B) are a front view and a side view showing the configuration of the left hand portion 19A (second holding portion) of another embodiment.
- the drive member 33 is arranged so that the angle between the pair of holding members 32 (abutment surfaces 32a) is either the first angle or the second angle.
- the pair of holding members 32 are driven.
- the first angle is a predetermined angle at which the food 40 can be held by sandwiching each food 40 from both sides of each pair of holding members 32 (abutment surfaces 32a).
- the angle corresponds to the inclination of both sides (second surface portion 40b) of the food 40, and is approximately 60 degrees here (see FIG. 12B).
- the food 40 may be hold
- the food 40 may be hold
- the second angle is a predetermined angle at which each food 40 can be opened when the angle between the pair of holding members 32 (contact surfaces 32a) is 180 degrees or more, and may be 180 degrees or more. it can. Here, it is 180 degrees (see FIG. 12B). Thereby, for example, before the holding operation of the food 40 by the left hand part 19A, it becomes easy to confirm the state of the food 40 visually or by a sensor.
- the opening angle of the left hand portion 19A is binary (60 degrees and 180 degrees), complicated control is not required.
- the drive member 33 of the left hand unit 19 drives the pair of holding members 32 based on a control command (release command or holding command) from the control device 14.
- FIG. 13 is a diagram for explaining the retreat operation of the left hand unit 19A of FIG.
- the opening angle of the left hand portion 19 ⁇ / b> A is opened 90 degrees or more inside the tray 41
- the holding member 32 collides with the inner wall of the tray 41 or the adjacent food 40.
- the angle (90 degrees) at which the collision occurs is also referred to as a third angle. Since the opening angle of the left hand portion 19A is controlled at either 60 degrees or 180 degrees as described above, a collision occurs when the holding operation (180 degrees) of the left hand portion 19 is completely released inside the tray 41. Will occur.
- FIG. 14 is a timing chart showing an example of the control command and angle of the left hand unit 19A during the retracting operation.
- the control device 14 switches the output from the holding command to the release command prior to the retracting operation of the left hand unit 19A.
- the release command is output for a short time (for example, 0.1 second).
- the holding command is switched for a predetermined period (0.5 seconds). In other words, the angle between the pair of holding members 32 is not greater than the first angle (60 degrees) and does not exceed the third angle (90 degrees) smaller than the second angle (180 degrees). Switch the output from the release command to the hold command.
- the angle of the holding member 32 increases for a short time (for example, approximately 60 degrees plus 10 degrees), and the holding operation is released. While the holding command is maintained, the angle of the holding member 32 decreases again and returns to 60 degrees. Meanwhile, the control device 14 controls the operation of the left arm 13 to perform the retreat operation of the left hand unit 19A (retreat command). After the left hand portion 19A moves above the height of the tray 41, the control device 14 outputs a release signal again, and the holding operation is completely released (180 degrees). Thereby, the retracting operation of the left hand unit 19A is completed.
- the control device 14 controls the operation of the left arm 13 to perform the retreat operation of the left hand unit 19A (retreat command). After the left hand portion 19A moves above the height of the tray 41, the control device 14 outputs a release signal again, and the holding operation is completely released (180 degrees). Thereby, the retracting operation of the left hand unit 19A is completed.
- the control device 14 controls the output timing of the control command to the drive member 33, so that the opening angle of the left hand portion 19A is third. It can be controlled to be smaller than the angle (90 degrees). Thereby, it is possible to avoid the holding member 32 from colliding with the inner wall of the tray 41 or the adjacent food 40 during the retreating operation of the left hand portion 19A.
- the 1st angle was about 60 degree
- the second angle is 180 degrees, the second angle is not limited to 180 degrees or more as long as it is a predetermined angle at which the food 40 can be opened.
- the third angle is 90 degrees, but the present invention is not limited to this as long as it is a predetermined angle that is larger than the first angle and smaller than the second angle.
- FIG. 15 is a diagram illustrating a configuration of the left hand unit 19B (second holding unit) of the robot 11 according to the second embodiment of the present invention.
- FIG. 15A and FIG. 15B are a front view and a side view showing the configuration of the left hand portion 19B.
- the holding device 10 for food 40 according to the present embodiment has a function of detecting that all of the plurality of foods 40 supplied to a predetermined position are in the second posture.
- the left hand portion 19B is configured to be able to hold each of the plurality of foods 40 independently. That is, each of the plurality of pairs of holding members 32 is configured to be independently driven by the drive member 33.
- the robot 11 of this embodiment is different from the first embodiment (see FIGS. 5 and 12) in that it includes a transmissive photoelectric sensor (a light source unit 60 and a light receiving unit 70).
- the light source unit 60 is installed on the work table 50 of the robot 11 in this embodiment.
- the light source unit 60 irradiates parallel light (a chain line arrow in the figure) in a direction intersecting a predetermined direction (the first direction in the figure) (orthogonal direction in the figure), and the parallel light is arranged at a predetermined position.
- the four foods 40 supplied on the work table 50 are irradiated.
- the parallel light means light that goes straight in one direction without being diffused or converged.
- the light source unit 60 includes four first light sources 61 configured to irradiate the first parallel light 81 toward the food 40 and the second parallel light 82 toward the food 40.
- the four first light sources 61 irradiate the first parallel light 81 to positions corresponding to the upper portions of the four foods 40 in the second posture on the work table 50.
- the four second light sources 62 irradiate the second parallel light 82 at positions corresponding to the lower portions of the four foods 40 in the second posture on the work table 50.
- the light receiving unit 70 is arranged to face the light source unit 60 and is configured to receive parallel light that has passed right above a predetermined position.
- the light receiving unit 70 is installed on the base 12 of the robot 11.
- the light receiving unit 70 includes four first light receiving portions 71 disposed to face the four first light sources 61 and four second light receiving portions disposed to face the four second light sources 62. 72.
- the light source unit 60 is installed on the work table 50 of the robot 11 and the light receiving unit 70 is installed on the base 12.
- the arrangement is not limited to such an arrangement as long as the arrangement is such that 81 and 82 are irradiated in a direction intersecting with a predetermined direction and the plurality of foods 40 supplied onto the work table 50 are irradiated.
- the light source unit 60 may be installed on the base 12 and the light receiving unit 70 may be installed on the work table 50 of the robot 11.
- the drive member 33 drives the four pairs of holding members 32 so that the angle formed by each pair of holding members 32 (contact surfaces 32a) is either the first angle or the second angle. .
- the first angle is a predetermined angle at which the food 40 can be held by sandwiching each food 40 from both sides of each pair of holding members 32 (abutment surfaces 32a).
- the angle corresponds to the inclination of both sides (second surface portion 40b) of the food 40, and is approximately 60 degrees here.
- the food 40 may be hold
- the food 40 may be hold
- the second angle is a predetermined angle at which each food 40 can be opened when the angle between the pair of holding members 32 (contact surfaces 32a) is 180 degrees or more. Here, it is 180 degrees (see FIG. 15B).
- each pair of holding members 32 can be driven such that the angle between the pair of holding members 32 is 180 degrees or more, for example, before the food holding operation, the angle between the pair of holding members 32 formed between each other. Is controlled to be at the second angle, the parallel lights 81 and 82 from the light source unit 60 are not blocked by each pair of holding members 32, and the determination of food by the optical sensor is facilitated.
- FIG. 16 is a functional block diagram schematically showing the configuration of the control device 14A of the robot 11 having the hand unit 19B of FIG.
- the control device 14A of the present embodiment is different from the first embodiment (see FIG. 6) in that it includes an error determination unit 14d.
- the error determination unit 14d corresponds to the “second attitude determination unit” and the “second holding determination unit” of the present invention.
- the error determination unit 14d determines whether or not all of the plurality of foods supplied to the work table 50 are in the second posture based on the detection results of the parallel lights 81 and 82 by the light receiving unit 70. In the present embodiment, when the error determination unit 14d determines that all the plurality of food items are in the second posture on the work table 50, the servo control unit 14c takes the plurality of food items in the second posture. The operation of the left hand unit 19 is controlled so as to overlap and hold in a predetermined direction.
- FIG. 17A is a schematic diagram when all four foods 40 maintain the second posture on the work table 50.
- the table on the left shows the detection results of the parallel lights 81 and 82 by the light receiving unit 70.
- L in the table indicates that the amount of received light is less than a predetermined threshold (low level).
- H in the table indicates that the amount of received light is greater than a predetermined threshold (high level).
- the detection results of the upper light receiving portion 71 and the lower light receiving portion 72 are shown for each food 40.
- the detection results of the four first light receiving units 71 and the four second light receiving units 72 are all at a low level.
- the error determination unit 14d determines that all four foods 40 are in the second posture at the predetermined position, and outputs a determination result (second posture normal) to the calculation unit 14a.
- the left hand unit 19 causes the four foods 40 in the second posture to be overlapped and held in the first direction.
- the control command for the robot 11 is output to the servo control unit 14c.
- FIG. 17B is a schematic diagram when one of the four foods 40 does not maintain the second posture on the work table 50.
- the food 40 at the left end falls and the second posture is not maintained (for example, in the first posture).
- the detection result of the first light receiving part 71 corresponding to the leftmost food 40 is at a high level.
- the four first light receiving parts 71 receive one of the four first parallel lights 81 by passing the first parallel light 81 through a position corresponding to the upper portion of the food 40 at the left end, an error occurs.
- the determination unit 14d determines that the food 40 corresponding to the received first parallel light 81 is not in the second posture at the predetermined position, and outputs a determination result (second posture error) to the calculation unit 14a.
- the calculation unit 14a receives the determination result (second posture error) from the error determination unit 14d, the calculation unit 14a outputs a control command for the robot 11 to the servo control unit 14c so as to execute predetermined error processing.
- the error process is a process for transferring the four foods 40 including the fallen foods 40 to other containers, but is not limited thereto.
- the robot 11 may be stopped.
- the light receiving unit 70 includes the transmissive photoelectric sensor that can detect the parallel lights 81 and 82 emitted from the light source unit 60, the four foods 40 are based on the detection result. Whether or not the vehicle is in the second posture at the predetermined position can be determined. Only when it is detected that all of the four foods 40 are in the second posture at the predetermined position, these foods 40 are held in a predetermined direction so that the foods 40 are securely held and are accommodated in the tray 41. can do. Therefore, even in a limited work space, it is possible to improve the efficiency of work and improve work accuracy.
- FIG. 18 is a diagram illustrating a configuration according to a first modification of the present embodiment. As shown in FIGS. 18A and 18B, the configuration of the left hand portion 19B is the same as that of the present embodiment, but the light source unit 60 and the light receiving unit 70 are integrally formed on the work table 50.
- the second embodiment is different from the present embodiment in that a reflection unit 90 having reflection plates 91 and 92 is further provided to reflect parallel lights 81 and 82 arranged vertically on the base 12 of the robot 11.
- the four first light receiving portions 71 are configured to receive the reflected light of the four first parallel lights 81 that have passed through positions corresponding to the upper portions of the four foods 40.
- the four second light receiving units 72 are configured to receive the reflected light of the four second parallel lights 82 that have passed through positions corresponding to the lower portions of the four foods 40.
- All of the four first parallel lights 81 are blocked by the upper portions of the four foods 40 in the second posture at a predetermined position, so that the four first light receiving parts 71 have the four first parallel lights 81.
- the four second light beams 82 are not received at all, and all the four second parallel light beams 82 are blocked by the lower portions of the four food items 40 in the second posture at the predetermined positions, so that the four second light beams are blocked.
- the error determination unit 14d determines that all the four foods 40 are in the second posture at the predetermined position.
- the four first light beams 81 pass through a position corresponding to the upper portion of at least one food product 40 of the four food products 40, so that the four first light receiving parts 71 have at least one of the four parallel light products.
- the food 40 corresponding to the received reflected light is not in the second posture at the predetermined position (for example, in the first posture).
- FIG. 19 is a diagram showing a configuration according to a second modification of the present embodiment.
- the configuration of the left hand unit 19B is the same as that of the present embodiment, but differs from the present embodiment in that a vision sensor 75 is provided instead of the photoelectric sensor.
- the second posture of the food 40 may be detected based on the detection result of the vision sensor (camera). You may provide other detection means, such as an ultrasonic sensor and a limit switch.
- the holding device 10 for the food 40 of the present embodiment also has a function of detecting that all the plurality of foods are held by the second holding unit. Specifically, the error determination unit 14 d determines whether the left hand unit 19 is in a state where all four foods 40 are held. As shown in FIG. 15B, FIG. 18B, and FIG. 19B, in each pair of holding members 32, the reflective photoelectric sensor 73 is placed on the food-side contact surface 32a of one holding member 32. Is provided. The four reflective photoelectric sensors 73 detect whether or not each of the four foods 40 is held.
- the 14 d of error determination parts determine whether each of the four foodstuffs 40 is the state hold
- the determination result is output to the calculation unit 14a.
- the calculation unit 14a receives the determination result (second holding normal) from the error determination unit 14d, the calculation unit 14a causes the servo control unit 14c to store the four foods 40 held by the left hand unit 19 in the tray 41.
- a control command for the robot 11 is output.
- the calculation unit 14a outputs a control command for the robot 11 to the servo control unit 14c so as to execute predetermined error processing.
- the error processing is not limited to this, which is an operation of stopping the filling operation of the food 40 into the tray 41 and transferring the remaining food 40 held to another container. The robot 11 may be stopped. This increases the certainty of the work.
- each of the four foodstuffs 40 is hold
- 20 (A) and 20 (B) are a front view and a side view showing the configuration of the hand portion 19C of the food holding device according to the third embodiment of the present invention.
- the control device 14 is driven such that the angle formed by at least one pair of holding members 32 specified in advance among the plurality of pairs of holding members 32 is the first angle or the second angle.
- the drive member 33 is controlled so that the angle formed by the pair of holding members 32 is fixed to the second angle. Different from the first embodiment (see FIGS. 5 and 12).
- the method for specifying the holding member 32 is arbitrary, and an input may be received by an operator.
- Each of the five pairs of holding members 32 can be driven independently by the drive member 33.
- the control device 14 designates four pairs of holding members 32 from the left as the holding members 32 that perform the holding operation in advance among the five pairs of holding members 32.
- the drive member 33 can be controlled to fix the pair of holding members 32 at the right end to the second angle (non-drive state).
- FIG. 21 is a view showing a tray 41 used for food stuffing work by a robot having a hand portion 19C.
- the tray 41A in FIG. 21A is a container that can store 50 (10 ⁇ 5) foods 40. In this case, by designating all of the five pairs of holding members 32 and repeating the operation of stuffing the five foods 40 into the tray 41A, 50 (10 ⁇ 5) foods can be stuffed together.
- the tray 41B in FIG. 21B is a container that can store 45 (9 ⁇ 5) foods 40.
- the tray 41 ⁇ / b> C in FIG. 21C is a container that can store 40 (8 ⁇ 5) foods 40.
- 50 8 ⁇ 5) food items can be obtained.
- control apparatus 14 reduces the drive number of several pairs holding member according to the empty space of the foodstuff 40 in the tray 41, and the angle which the other pair holding member makes makes the 1st angle or the 2nd angle.
- the drive member 33 is controlled so that when the reduced pair of holding members 32 exists, the drive member 33 is controlled so that the angle formed by the pair of holding members 32 is fixed to the second angle. It may be.
- nine trays 41B in FIG. 21B can accommodate nine in a row.
- the control device 14 drives the five pairs of holding members 32 to pack the five foods 40 into the first row of the tray 41B.
- the control device 14 reduces the number of driving of the five pairs of holding members, drives the remaining four pairs of holding members 32, and packs the four foods 40 into the empty space in the first row of the tray 41B. In this manner, 45 foods are alternately repeated by repeating the operation of packing the five foods 40 into the tray 41B and the operation of packing the four foods 40 into the tray 41B according to the empty space in each row of the tray 41B.
- the food 40 when the food 40 is packed into the empty space adjacent to the inner wall of the tray 41B, if there are a plurality of pairs of holding members 32 that are not driven, all the pairs of holding members 32 that are not driven are placed in the tray adjacent to the empty space. It is good also as a pair of the holding member 32 located in the side far from the inner wall of 41B. Further, when the food 40 is packed in the empty space adjacent to the inner wall of the tray 41B, when there is a pair of holding members 32 that are not driven, at least the holding member 32 positioned closest to the inner wall of the tray 41B adjacent to the empty space. The food 40 may be held by the holding member 32 by driving the pair.
- FIG. 22 is a diagram illustrating a configuration according to a modified example of the hand unit (second holding unit) of FIG.
- the second angle is a predetermined angle such that the height of the tip when each pair of holding members 32 is opened is slightly higher than the height of the food 40. Accordingly, when the remaining holding member 32 is driven to store the food 40 in the tray 41, the holding member 32 in the non-driven state interferes with other adjacent food 40 stored in the tray 41. Can be prevented. This increases the certainty of the work.
- control device 14 controls the operation of the right arm 13 to supply the food 40 held in the second posture by the right hand unit 18 to the position of the sheet 50a of the work table 50. (See FIG. 8). By repeating the above operation, the four foods 40 are sequentially supplied to the position of the sheet 50a of the work table 50.
- the cross-sectional shape of the sheet 50a has the following characteristics.
- FIG. 23A is an example of a cross-sectional view of the sheet 50a in the first direction.
- the sheet 50a has a plurality of convex portions 501 provided in the first direction in a cross-sectional view in the first direction.
- the material of the sheet 50a is exemplified by a synthetic resin such as plastic, but is not limited thereto.
- the convex portion 501 is provided in the first direction so as to support each of the four foods 40 arranged in the first direction in the second posture in a sectional view.
- five convex portions 501 are provided. Four foods 40 are accommodated between the five convex portions 501. The top food 40 among the four foods 40 is likely to be loaded in the first direction.
- the convex part 501 for supporting the top food 40 is taller than the other convex parts 501.
- the posture (second posture) of each food 40 on the sheet 50 a can be stabilized. Therefore, the left hand part 19A can easily hold the four foods 40 in the first direction.
- FIG. 23B shows a cross-sectional view of another example of the sheet 50a.
- the sheet 50a has a plurality of steps 502 provided in the first direction in a cross-sectional view in the first direction.
- the step 502 is provided so as to be inclined in the first direction while supporting each of the four foods 40 arranged in the first direction in the second posture.
- four steps 502 are provided.
- the inclination angle ⁇ is, for example, 7 degrees with respect to the first direction.
- the four foods 40 are arranged on the four steps 502. Since each step 502 is inclined, a load is applied to the top food 40 in the first direction. For this reason, the convex part 501 for supporting the top food 40 is provided.
- the posture (second posture) of each food 40 on the sheet 50a can be stabilized. Therefore, the left hand part 19A can easily hold the four foods 40 in the first direction.
- the right hand unit 18 is configured to suck and hold the food 40 by the suction head 22, but other configurations may be used as long as the food 40 can be held in the first posture.
- the food product 40 may be held by a chuck device.
- FIG. 24 is a plan view showing another configuration of the right hand portion 18B.
- the right hand portion 18B includes a chuck body (not shown) and three chuck members 26 that are spaced apart from the chuck body and hold the food 40.
- the right hand portion 18B moves the chuck member 26 from the radially outer side to the inner axis C of the food 40 with respect to the food 40 arranged at a predetermined position (in the direction of the arrow in the figure). 40 is configured to be held.
- the left hand portions 19 and 19A include four pairs of holding members 32 provided in the first direction and four driving members 33 that can independently drive each of the four pairs of holding members 32.
- the four foods 40 may be held together by a pair of holding members.
- the pair of holding members may be configured to cover the side surfaces of the four foods 40 stacked in the first direction.
- the pair of holding members may be driven so as to have either an angle for holding the food 40 or an angle for opening the food 40.
- the holding member may have a plurality of suction ports, and a plurality of foods 40 may be held by suction force.
- FIG. 12B the pair of holding members may be driven so as to have either an angle for holding the food 40 or an angle for opening the food 40.
- the holding member may have a plurality of suction ports, and a plurality of foods 40 may be held by suction force.
- the control device 14 holds the five foods 40 by the suction ports provided at the positions corresponding to the five foods 40, and the tray 41 (B) in the first row. 5 foods 40 are stuffed. At this time, only a space for four 40-minute foods remains in the first row of the tray 41 (B).
- the control device 14 holds the four food items by the suction ports provided at the positions corresponding to the four food items 40, and puts the four food items 40 in the empty space in the first row of the tray 41 (B). Stuff.
- the controller 14 may drive the electromagnetic valve to turn off the suction state of the suction port that does not hold the food 40.
- the suction ports that do not hold the food 40 may be suction ports far from the inner wall of the tray 41B adjacent to the empty space.
- the holding member may have a plurality of suction ports in order to suck one second surface portion 40b.
- the left and right holding members 32 do not touch the film on the rice ball (40), but the left and right holding members 32 are rice balls (40).
- It may be configured to hold food by sandwiching a packaging material such as the upper film.
- the left hand unit 19 is configured to hold four or five foods 40, but the number of holding members 32 provided in the first direction is changed or held to be driven. By changing the designated number of members 32, two or three foods 40 may be held, or five or more foods 40 may be held.
- the foodstuff 40 was a triangular columnar body (triangle rice ball), it is not restricted to this, A cylindrical body (round rice ball) may be sufficient and a flat shape may be sufficient.
- the holding device 10 for the food 40 is used for the operation of stuffing the plurality of foods 40 into the tray 41.
- the control device 14 sequentially supplies the plurality of foods 40 held in the second posture on the sheet 50 a arranged at a predetermined position of the work table 50.
- the predetermined position may be not only one place but also a plurality of places.
- two sheets 50 a may be arranged at two predetermined positions on the work table 50.
- the control device 14 is configured to sequentially supply the plurality of foods 40 held in the second posture on the respective sheets 50a, and store the plurality of foods 40 arranged on the respective sheets 50a in the tray 41. May be.
- the present invention is useful as a food holding device when food is packed in a tray.
- Holding Device 11 Robot 13 Right Arm (Food Supply Unit) 13 Left arm (food compartment) 14 Control device 14d Error determination unit 17 List unit 18 Right hand unit (first holding unit) 19 Left hand part (second holding part) 20 base 21 tip 22 suction head 25 drive unit 26 chuck member 32 holding member 33 drive member 40 food 41, 41A, 41B, 41C tray 50 work table 51 first belt conveyor 52 second belt conveyor 60 light source unit 61 first Light source 62 Second light source 70 Light receiving unit 71 First light receiving unit 72 Second light receiving unit 73, 74 Reflective photoelectric sensor 75 Camera
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Abstract
Description
本発明の上記目的、他の目的、特徴、及び利点は、添付図面参照の下、以下の好適な実施態様の詳細な説明から明らかにされる。
(第1実施形態)
図1は、本発明の第1実施形態に係る食品40の保持装置10の全体の構成を概略的に示す平面図である。図1に示すように、食品40の保持装置10は、複数の食品40のトレイ41への詰め込み作業に使用される。本実施形態ではロボット11により本発明に係る食品40の保持装置10を構成した場合について説明する。ロボット11は、ベース12に支持された一対のロボットアーム13,13を備えた双腕ロボットである。ただし、食品40の保持装置10はロボット11により構成される場合に限定されない。なお、このロボット11について、水平多関節型の双腕ロボットを説明するが、水平多関節型・垂直多関節型などのロボットを採用することができる。ロボット11は、人一人分に相当する限られたスペース(例えば610mm×620mm)に設置することができる。
bの直上付近に合わせる。そして、吸着ヘッド22を基準位置に合わせた状態で右のハンド部18(リスト部17の昇降部17a)を下降させ、吸着ヘッド22の当接面を第1ベルトコンベア51上の食品40の第1面部40aに当接させる。吸着ヘッド22により第1姿勢の食品40が吸着保持される。
尚、上記実施形態では、右ハンド部18の先端部21に設けられた吸着ヘッド22により食品40が吸着保持される(図4参照)。そして、回転関節J5により、基部20に対して先端部21が90度回動することにより、食品40の姿勢が第1姿勢から第2姿勢に変更される。吸着ヘッド22により食品40を吸着保持する際には、食品40の包装部分(第1面部40a)が吸着され、吸着された包装部分によって重量の重い食品40の本体部分が支えられる。このため、保持された食品40を回転させる際に、食品40の包装部分と本体部分が分離してしまい、食品40の姿勢が崩れやすくなる。
次に、第2実施形態について説明する。本実施形態の食品40の保持装置10の基本的な構成は、第1実施形態と同様である。以下では、第1実施形態と共通する構成の説明は省略し、相違する構成についてのみ説明する。
次に、第3実施形態について説明する。本実施形態の食品40の保持装置10の基本的な構成は、第1実施形態と同様である。以下では、第1実施形態と共通する構成の説明は省略し、相違する構成についてのみ説明する。
残りの4対の保持部材32を駆動して4個の食品40をトレイ41Bの1列目の空きスペースに詰め込む際、駆動しない一対の保持部材32を、空きスペースに隣接するトレイ41Bの内壁(図21(B)では左側の内壁)から遠い側の一対の保持部材32(図20(A)では右側の保持部材32)としてもよい。これにより、駆動しない一対の保持部材32とトレイ41Bの内壁との衝突を、より確実に防ぐことができる。同様に、トレイ41Bの内壁に隣接する空きスペースに食品40を詰め込む際、駆動しない保持部材32の対が複数ある場合には、駆動しない全ての保持部材32の対を、空きスペースに隣接するトレイ41Bの内壁から遠い側に位置する保持部材32の対としてもよい。また、トレイ41Bの内壁に隣接する空きスペースに食品40を詰め込む際、駆動しない保持部材32の対がある場合に、少なくとも空きスペースに隣接するトレイ41Bの内壁の最も近くに位置する保持部材32の対を駆動して、保持部材32に食品40を保持させてもよい。
更に、一対の保持部材が図12(B)に示すように、食品40を保持する角度又は食品40を開放する角度のいずれかの角度になるように駆動されてもよい。また、保持部材が複数の吸着口を有し、吸引力により複数の食品40が保持されるように構成されてもよい。例えば図21(B)に図示する場合、まず、制御装置14は、5個の食品40に対応する位置に設けられた吸着口によって5個の食品40を保持し、トレイ41(B)一列目に5個の食品40を詰め込む。このとき、トレイ41(B)の一列目には4個の食品40分のスペースしか残らない。次に、制御装置14は、4個の食品40に対応する位置に設けられた吸着口によって4個の食品を保持し、トレイ41(B)の一列目の空きスペースに4個の食品40を詰め込む。吸着口によって4個の食品を保持する際、制御装置14が電磁弁を駆動して、食品40を保持しない吸着口の吸着状態をOFFにしてもよい。また、トレイ41Bの内壁に隣接する空きスペースに食品40を詰め込む際、食品40を保持しない全ての吸着口を、空きスペースに隣接するトレイ41Bの内壁から遠い側の吸着口としてもよい。保持部材は、1つの第2面部40bを吸着するために複数の吸着口を有してもよい。これにより、吸着口が食品40に加える吸着力が分散し、食品40の局所的な変形を防ぐことができる。このことは、食品40が、海苔が巻かれたおにぎりである場合に特に有効である。海苔は厚さ方向に変形された場合容易に割れるからである。一対の保持部材で食品40を挟んで保持する場合も、保持部材が食品40に当接する部分を面、または複数の点とすることで食品40の局所的な変形を防ぐことができる。
尚、上記実施形態では、食品40がおにぎり(40)である場合に、左右の保持部材32がおにぎり(40)上部のフィルムに触れない構成であったが、左右の保持部材32がおにぎり(40)上部のフィルムのような包装材を挟むことによって食品を保持するように構成されてもよい。
上記説明では、食品をトレイに詰め込む場合について説明したが、食品をトレイ内に置くように構成してもよい。
尚、上記実施形態は、図8に示すように、制御装置14は、作業台50の所定位置に配置されたシート50aの上に第2姿勢で保持された複数の食品40を順次供給するように構成されたが、所定位置は1ヶ所だけでなく複数個所でもよい。例えば作業台50の2箇所の所定位置に2枚のシート50aが配置されてもよい。制御装置14は、それぞれのシート50aの上に第2姿勢で保持された複数の食品40を順次供給し、それぞれのシート50aの上に並べられた複数の食品40をトレイ41に収容するよう構成されていてもよい。
11 ロボット
13 右アーム(食品供給部)
13 左アーム(食品収容部)
14 制御装置
14d エラー判定部
17 リスト部
18 右ハンド部(第1保持部)
19 左ハンド部(第2保持部)
20 基部
21 先端部
22 吸着ヘッド
25 駆動部
26 チャック部材
32 保持部材
33 駆動部材
40 食品
41,41A,41B,41C トレイ
50 作業台
51 第1ベルトコンベア
52 第2ベルトコンベア
60 光源ユニット
61 第1の光源
62 第2の光源
70 受光ユニット
71 第1の受光部
72 第2の受光部
73,74 反射型光電センサ
75 カメラ
Claims (11)
- 食品の保持装置であって、
前記食品の所定の第1の面を水平にした第1姿勢で前記食品を保持し、且つ、前記第1姿勢から前記食品の前記第1の面とは異なる第2の面を水平にした第2姿勢に前記食品の姿勢を変更可能に構成された第1保持部と、
前記第1保持部により前記第2姿勢で保持された前記食品を、所定位置に順次供給するように構成された食品供給部と、
前記所定位置に第2姿勢で供給された複数の食品を所定方向に重ねて保持するように構成された第2保持部と、
前記第2保持部により保持された複数の食品を所定の容器に収容する食品収容部と、
前記所定位置に供給された前記複数の食品の全てが前記第2姿勢にあることを検出する第2姿勢検出部と、
前記第2姿勢検出部により、前記所定位置において全ての前記複数の食品が前記第2姿勢にあることが検出された場合は、前記第2姿勢にある当該複数の食品を所定方向に重ねて保持するように前記第2保持部の動作を制御する制御部と、
を備える、食品の保持装置。 - 前記第2姿勢検出部は、
前記所定方向に交差する方向に複数の平行光を照射し、当該複数の平行光が前記所定位置において第2姿勢にある前記複数の食品の各々に相当する位置に照射されるように構成された光源ユニットと、
前記光源ユニットによって照射された前記平行光を受光するように構成された受光ユニットと、
前記受光ユニットによる前記平行光の検出結果に基づいて、前記複数の食品が第2姿勢にあるか否かを判定する第2姿勢判定部と、
を更に備える、請求項1に記載の食品の保持装置。 - 前記光源ユニットは、
前記所定方向に直交する方向に複数の第1の平行光を照射し、当該複数の第1の平行光が記所定位置において前記第2姿勢にある前記複数の食品の各々の上部に相当する位置に照射されるように構成された複数の第1の光源と、前記所定方向に直交する方向に複数の第2の平行光を照射し、当該複数の第2の平行光が前記所定位置において前記第2姿勢にある前記複数の食品の各々の下部に相当する位置に照射されるように構成された複数の第2の光源を備え、
前記受光ユニットは、
前記複数の食品の各々の上部に相当する位置を通過した複数の前記第1の平行光を受光するように構成された複数の第1の受光部と、
前記複数の食品の各々の下部に相当する位置を通過した複数の前記第2の平行光を受光するように構成された複数の第2の受光部と、を更に備え、
前記第2姿勢判定部は、
前記複数の第1の平行光の全てが所定位置において第2姿勢にある複数の食品の各々の上部によって遮られることにより、前記複数の第1の受光部が前記複数の第1の平行光のいずれも受光せず、且つ、複数の第2の平行光の全てが所定位置において第2姿勢にある複数の食品の各々の下部によって遮られることにより、前記複数の第2の受光部において前記複数の第2の平行光のいずれも受光しない場合に、全ての前記複数の食品が前記所定位置において前記第2姿勢にあると判定し、
複数の第1の平行光が複数の食品のうち少なくとも一の食品の上部に相当する位置を通過することにより、前記複数の第1の受光部が前記複数の第1の平行光のうち少なくとも一を受光した場合に、当該受光された第1の平行光に相当する食品が前記所定位置において前記第2姿勢にないと判定する、請求項2に記載の食品の保持装置。 - 前記第2保持部によって全ての前記複数の食品が保持された状態であることを検出する第2保持検出部を更に備え、
前記制御部は、前記第2保持検出部により、全ての前記複数の食品が保持された状態であることが検出された場合は、前記第2保持部により保持された当該複数の食品を所定の容器に収容するように前記食品収容部の動作を制御する、請求項1乃至3のいずれか一項に記載の食品の保持装置。 - 前記第2保持検出部は、前記複数の食品の各々が保持された状態であることを検出するための複数の反射型光電センサと、
前記複数の反射型光電センサの検出結果に基づいて、前記複数の食品の各々が保持された状態であるか否かを判定する第2保持判定部と、を更に備える、請求項4に記載の食品の保持装置。 - 前記第2保持部は、
前記所定位置において前記第2姿勢で重ねられた複数の食品の各々を保持するように構成された複数対の保持部材と、
前記各対の保持部材の互いのなす角度が、前記食品を保持可能な第1角度、および、前記食品を開放可能な第2角度のいずれかの角度になるように前記複数対の保持部材を駆動する駆動部材と、を更に備え、
前記第1角度は、各前記食品をその両側から挟むことが可能な所定の角度であり、
前記第2角度は、前記各対の保持部材が開脚したときの前記保持部材の先端の高さが前記食品の高さよりも高くなるような所定の角度である、請求項1乃至5のいずれか一項に記載の食品の保持装置。 - 前記第2保持部は、前記複数の食品の各々を独立して保持可能に構成される、請求項1乃至6のいずれか一項に記載の食品の保持装置。
- 食品の保持装置であって、
前記食品の所定の第1の面を水平にした第1姿勢で前記食品を保持し、且つ、前記第1姿勢から前記食品の第1の面とは異なる第2の面を水平にした第2姿勢に前記食品の姿勢を変更可能に構成された第1保持部と、
前記第1保持部により前記第2姿勢で保持された前記食品を、所定の位置に順次供給するように構成された食品供給部と、
前記所定位置に第2姿勢で供給された複数の食品を所定方向に重ねて保持するように構成された第2保持部と、
前記第2保持部により保持された複数の食品を所定の容器に収容する食品収容部と、
を備え、
前記第2保持部は、
前記所定位置において前記第2姿勢で重ねられた複数の食品の各々を保持するように構成された複数対の保持部材と、
前記各対の保持部材の互いのなす角度が、前記食品を保持可能な第1角度、および、前記食品を開放可能な第2角度のいずれかの角度になるように前記複数対の保持部材の各々を独立して駆動可能に構成された駆動部材と、を有し、
前記第1角度は、各前記食品をその両側から挟むことが可能な所定の角度であり、
前記第2角度は、前記各対の保持部材が開脚したときの前記保持部材の先端の高さが前記食品の高さよりも高くなるような所定の角度である、食品の保持装置。 - 前記複数対の保持部材のうち、予め指定された数の対の保持部材の互いのなす角度が前記第1角度又は第2角度になるように前記駆動部材を制御するとともに、指定されていない対の保持部材が存在する場合は、当該対の保持部材の互いのなす角度を第2角度に固定するように前記駆動部材を制御する制御部を
更に備え、
前記制御部は、前記指定された数の対の保持部材により保持された当該食品を所定の容器に収容するよう前記食品収容部を制御する、請求項8に記載の食品の保持装置。 - 前記所定の容器における食品の空きスペースに応じて前記複数対の保持部材の駆動数を減少し、残りの対の保持部材の互いのなす角度が前記第1角度又は第2角度になるように前記駆動部材を制御するとともに、減少した当該対の保持部材が存在する場合は、当該対の保持部材の互いのなす角度を第2角度に固定するように前記駆動部材を制御する制御部を更に備え、
前記制御部は、前記残りの対の保持部材により保持された当該食品を前記所定の容器に収容するよう前記食品収容部を制御する、請求項8に記載の食品の保持装置。 - 前記第1保持部を先端に有する第1アームと、
前記第2保持部を先端に有する第2アームと、を備えたロボットにより構成されている、請求項1乃至10のいずれか一項に記載の食品の保持装置。
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KR1020197019263A KR20190091501A (ko) | 2016-12-09 | 2017-12-07 | 식품 지지 장치 |
DE112017006206.3T DE112017006206T5 (de) | 2016-12-09 | 2017-12-07 | Haltevorrichtung für nahrungsmittel |
US16/468,021 US20200009725A1 (en) | 2016-12-09 | 2017-12-07 | Holding device for food |
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