JP6626411B2 - 食品の詰め込み装置 - Google Patents
食品の詰め込み装置 Download PDFInfo
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- JP6626411B2 JP6626411B2 JP2016112777A JP2016112777A JP6626411B2 JP 6626411 B2 JP6626411 B2 JP 6626411B2 JP 2016112777 A JP2016112777 A JP 2016112777A JP 2016112777 A JP2016112777 A JP 2016112777A JP 6626411 B2 JP6626411 B2 JP 6626411B2
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- 235000013305 food Nutrition 0.000 title claims description 174
- 230000032258 transport Effects 0.000 claims description 10
- 210000000707 wrist Anatomy 0.000 description 17
- 238000012856 packing Methods 0.000 description 10
- 241000209094 Oryza Species 0.000 description 5
- 235000007164 Oryza sativa Nutrition 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 235000009566 rice Nutrition 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 3
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- 239000013013 elastic material Substances 0.000 description 2
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- 230000001771 impaired effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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- 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
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- 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
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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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
-
- 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
-
- 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
- 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
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
- B65G47/08—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
- B65G47/084—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding grouping articles in a predetermined 2-dimensional pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- 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
- B65B25/16—Packaging bread or like bakery products, e.g. unsliced loaves
- B65B25/18—Wrapping sliced bread
-
- 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
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0202—Agricultural and processed food products
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Food Science & Technology (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
- Container Filling Or Packaging Operations (AREA)
Description
本実施形態に係る食品40の詰め込み装置10は、複数の食品40をトレイ41に詰め込む装置である。図1に示すロボット11により本発明に係る食品40の詰め込み装置10を構成した場合について説明する。ただし、食品40の詰め込み装置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11を採用することができる。また、食品40は、一定の形状を有する食料品であって、たとえば、おにぎりおよびサンドイッチが例示される。
上記実施形態において、供給部20に吸着ヘッド23が用いられているが、食品40を作業台42などに供給できるものであれば、これに限定されない。たとえば、供給部20はL字形状の板部材であってもよい。この場合、L字形状の板部材で食品40をすくい上げて作業台42などに供給してもよい。
20 :供給部
23 :吸着ヘッド
30 :把持部
31 :挟持部材
32 :支持部材
40 :食品
41 :トレイ
Claims (4)
- 食品を供給する供給部と、
前記供給部により載置面上に並べられた複数の前記食品を把持する把持部と、
前記把持部により把持された複数の前記食品をトレイ上に搬送する搬送部と、を備え、
前記把持部は、複数の前記食品が並べられた方向における複数の前記食品の両側から、複数の前記食品を挟む一対の挟持部材を有し、
一対の前記挟持部材は、互いに平行に設けられた板状体によりそれぞれ構成され、
前記把持部は、前記食品の下方が解放された状態で複数の前記食品の上面及び側面の少なくともいずれか一面を支える支持部材をさらに有し、
前記食品の外表面は平行な一対の平面を有しており、その平面どうしが接するように前記載置面上において前記載置面に平行な方向に並べられた複数の前記食品を、前記把持部が前記食品の下方を解放した状態で、一対の前記挟持部材により挟んで前記載置面上から持ち上げる、食品の詰め込み装置。 - 前記供給部は、前記食品を吸着する吸着ヘッドを有している、請求項1に記載の食品の詰め込み装置。
- 前記支持部材は、下方に拡がる山型形状を有している、請求項1又は2に記載の食品の詰め込み装置。
- 前記把持部を先端にそれぞれ有する一対のアームを備えたロボットにより構成されている、請求項1〜3のいずれか一項に記載の食品の詰め込み装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016112777A JP6626411B2 (ja) | 2016-06-06 | 2016-06-06 | 食品の詰め込み装置 |
PCT/JP2017/020428 WO2017213015A1 (ja) | 2016-06-06 | 2017-06-01 | 食品の詰め込み装置 |
CN201780033126.0A CN109153513B (zh) | 2016-06-06 | 2017-06-01 | 食品填装装置 |
EP17810193.7A EP3466847A4 (en) | 2016-06-06 | 2017-06-01 | FOOD PRODUCT PACKAGING DEVICE |
US16/307,613 US20190161289A1 (en) | 2016-06-06 | 2017-06-01 | Food packing device |
KR1020187038044A KR102137192B1 (ko) | 2016-06-06 | 2017-06-01 | 식품의 투입 장치 |
TW106118474A TWI630159B (zh) | 2016-06-06 | 2017-06-05 | Food filling device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016112777A JP6626411B2 (ja) | 2016-06-06 | 2016-06-06 | 食品の詰め込み装置 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2017218268A JP2017218268A (ja) | 2017-12-14 |
JP2017218268A5 JP2017218268A5 (ja) | 2018-06-28 |
JP6626411B2 true JP6626411B2 (ja) | 2019-12-25 |
Family
ID=60578613
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016112777A Active JP6626411B2 (ja) | 2016-06-06 | 2016-06-06 | 食品の詰め込み装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US20190161289A1 (ja) |
EP (1) | EP3466847A4 (ja) |
JP (1) | JP6626411B2 (ja) |
KR (1) | KR102137192B1 (ja) |
CN (1) | CN109153513B (ja) |
TW (1) | TWI630159B (ja) |
WO (1) | WO2017213015A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6496285B2 (ja) * | 2016-08-30 | 2019-04-03 | 川崎重工業株式会社 | 食品の保持装置 |
JP7158897B2 (ja) * | 2018-06-01 | 2022-10-24 | 川崎重工業株式会社 | 蓋部材取付装置及びシステム |
JP7063236B2 (ja) * | 2018-10-31 | 2022-05-09 | 株式会社ダイフク | 物品移載設備 |
JP7126437B2 (ja) * | 2018-12-11 | 2022-08-26 | 川崎重工業株式会社 | 蓋部材取付装置 |
JP6836282B2 (ja) * | 2019-06-03 | 2021-02-24 | スキューズ株式会社 | 物品挟持方法、物品挟持装置及び物品移載装置 |
JP7101998B2 (ja) * | 2019-07-03 | 2022-07-19 | 株式会社フジキカイ | 物品移載装置 |
JP7345373B2 (ja) * | 2019-11-29 | 2023-09-15 | 川崎重工業株式会社 | 保持装置、制御方法、制御装置及びロボットシステム |
JP7345372B2 (ja) | 2019-11-29 | 2023-09-15 | 川崎重工業株式会社 | 保持装置、制御方法、制御装置及びロボットシステム |
IT202000018799A1 (it) * | 2020-07-31 | 2022-01-31 | Gd Spa | Unità e metodo di trattenimento e movimentazione di almeno un componente e di almeno un contenitore ed apparato di produzione di articoli ad essi correlati |
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2016
- 2016-06-06 JP JP2016112777A patent/JP6626411B2/ja active Active
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2017
- 2017-06-01 US US16/307,613 patent/US20190161289A1/en not_active Abandoned
- 2017-06-01 EP EP17810193.7A patent/EP3466847A4/en not_active Withdrawn
- 2017-06-01 CN CN201780033126.0A patent/CN109153513B/zh not_active Expired - Fee Related
- 2017-06-01 WO PCT/JP2017/020428 patent/WO2017213015A1/ja unknown
- 2017-06-01 KR KR1020187038044A patent/KR102137192B1/ko active IP Right Grant
- 2017-06-05 TW TW106118474A patent/TWI630159B/zh not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
JP2017218268A (ja) | 2017-12-14 |
EP3466847A1 (en) | 2019-04-10 |
WO2017213015A1 (ja) | 2017-12-14 |
CN109153513B (zh) | 2020-07-17 |
EP3466847A4 (en) | 2020-03-11 |
TW201803788A (zh) | 2018-02-01 |
KR20190013985A (ko) | 2019-02-11 |
US20190161289A1 (en) | 2019-05-30 |
KR102137192B1 (ko) | 2020-07-24 |
TWI630159B (zh) | 2018-07-21 |
CN109153513A (zh) | 2019-01-04 |
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