JP7489685B1 - Retention System - Google Patents

Abstract

[Problem] To prevent an object to be held from scattering outside a storage container when held by a robot. [Solution] An expansion member 70 is detachable from a storage container 20 that contains an object to be held by an articulated robot 30, and includes a first detachable part 72, a second detachable part 73, and an expansion part 71. The first detachable part 72 and the second detachable part 73 are parts for attaching and detaching the expansion member 70 to and from the storage container 20. The expansion part 71 is configured in a shape that, when attached to the storage container 20, expands the opening surface of the storage container 20 at least in the vertical direction. [Selected Figure] Figure 1

Description

Article 30, paragraph 2 of the Patent Act applies (1) Published at the 2022 FY Results Report Meeting of the Ministry of Economy, Trade and Industry and the Japan Machinery Federation on March 22, 2023 (2) Published at FOOMA JAPAN 2023 on June 6, 2023 (3) Published in the Nikkan Kogyo Shimbun on March 23, 2023 (4) Published in the Japan Food Newspaper on March 23, 2023 (5) Published on Impress Watch on March 24, 2023 (6) Published in the Nikkan Kogyo Shimbun on March 28, 2023 (7) Published on MONOist on March 28, 2023 (8) Published in the Food Newspaper on March 30, 2023 (9) Published at https://www.youtube.com/watch? on March 28, 2023 Published at https://www.youtube.com/watch?v=GZjYx9GFS4c (10) Published on March 29, 2023 at https://www.youtube.com/watch?v=9y9iCfa5WC0 (11) Published on June 8, 2023 at https://www.youtube.com/watch?v=xdnywSp4FKg (12) Published on June 26, 2023 at https://www.youtube.com/watch?v=oWb5pRHxWz0 (13) Published on June 26, 2023 at https://www.sbbit. jp/article/st/116633 (14) Published on July 5, 2023, at https://www.youtube.com/watch?v=v2gASx30Fw0 (15) Published on September 20, 2023 at Deli & Delica JAPAN (SDJ) 2023 (16) Published on September 25, 2023 at https://www.youtube.com/watch?v=Fy0IMKm72v8 (17) Published on September 25, 2023 at https://www.youtube.com/watch?v=Fy0IMKm72v8 Published on https://www.youtube.com/watch?v=Y38tp9Z1tJM on September 25, 2023.

The present invention relates to a retention system.

In recent years, robots have been increasingly being introduced into various fields, including not only the field of industrial product manufacturing where robots have traditionally been used, but also fields such as plating food.
An example of technology relating to a robot that performs such plating is disclosed in Patent Literature 1. In the technology disclosed in Patent Literature 1, a first control mode for controlling the drive of a gripping member is used selectively, in which the gripping member grips an object, and a second control mode for removing an object attached to the gripping member.

JP 2021-24026 A

In the general technology described in the above-mentioned Patent Document 1, an operation such as gripping is performed on the opening surface of a container in which an object is stored. Also, for example, in the second control mode of Patent Document 1, a gripping member is moved up and down vertically above an object that has not yet been gripped, thereby performing an operation of dropping the object attached to the gripping member.
When performing such an operation, there is a risk that objects that have not been adequately gripped or objects that have been attached to the gripping member may become uncontrollable and fly out of the container. If objects fly out, workers must collect the objects and clean up afterwards. In addition, the robot must stop operating during this process, which results in reduced productivity.

This problem is not limited to situations where a robot holds an object by grasping it, but is common to all situations where a robot holds an object by some means, such as a situation where a robot holds an object by suction, a situation where a robot holds an object by scooping it up, or a situation where a robot holds an object by pinching it.
Furthermore, such problems are not limited to cases where the object held by the robot is food, but are common to all situations in which robots are used to hold various objects, such as in the manufacture of industrial products.
As described above, in the conventional technology, there is still room for improvement in preventing objects being held by a robot from scattering outside the container.

The objective of the present invention is to prevent objects being held by a robot from scattering outside the container.

In order to solve the above problem, a detachable member according to one embodiment of the present invention comprises:
A detachable member that can be attached to and detached from a container that contains an object to be held by the holding device,
An attachment/detachment means for attaching and detaching the expansion means to and from the storage container;
the expansion means configured to expand an opening surface of the storage container at least in a vertical direction when the expansion means is attached to the storage container by the attachment/detachment means;
The present invention is characterized by comprising:

According to the present invention, when holding an object using a robot, it is possible to prevent the object from scattering outside the container.

1 is a schematic diagram showing a configuration of a gripping system 1 according to the present invention; 2 is a schematic diagram showing a hardware configuration of a control device 10. FIG. FIG. 2 is a block diagram showing the functional configuration of a control device 10. 3A to 3C are schematic diagrams showing examples of the shape of a gripping member 31a installed at the tip of a hand 31. 13 is a diagram showing the positional relationship between the storage space of the storage container 20, the hand 31, the gripping member 31a, the robot arm 32, and the ingredient when performing an operation such as a gripping operation. FIG. 11A and 11B are diagrams illustrating the opening and closing of a pair of gripping members 31a. 2 is an enlarged perspective view showing the vicinity of a detection unit 40. FIG. 1 is a schematic diagram showing the vicinity of a transfer position P1 and a release position P2. FIG. 1 is a view showing the vicinity of a transfer position P1 and a release position P2 viewed vertically from above. 2 is a perspective view showing a configuration of a container mounting member 54. FIG. 2 is a perspective view showing the configuration of a placement portion 55. FIG. 2 is a perspective view showing the configuration of an expansion member 60. FIG. 11 is a perspective view showing a state in which the expansion member 60 is attached to the storage container 20. FIG. 11 is a perspective view showing a state in which the expansion member 60 is attached to the storage container 20. FIG. 13 is a schematic diagram showing the effect of attaching an expansion member 60. FIG. 10 is a flowchart showing the flow of an ingredient plating process executed by the gripping system 1. FIG. 13 is a perspective view showing the configuration of an expansion member 60a, which is a modified example of the expansion member 60.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[Embodiment]
[overall structure]
FIG. 1 is a schematic diagram showing a configuration of a gripping system 1 according to the present invention.
Here, the gripping system 1 is intended to be applied to a system for plating ingredients, and therefore, in the following description, an example will be given in which the gripping system 1 grips ingredients of a side dish or the like and plates the ingredients in a container for the side dish.

However, this is merely an example for explanation, and is not intended to limit the scope of application of the present invention. The present invention is applicable to various systems in general that perform holding by a robot. The present embodiment shown as a suitable example is a system that realizes holding by forming a container shape by closing a pair of gripping members and using this container shape to perform holding. However, in addition to this, for example, the present invention may be applied to a system that realizes holding by a suction pad that adsorbs the object by bringing the space between the closely contacted object closer to a vacuum. Alternatively, for example, the present invention may be applied to a system that realizes holding by scooping the object with a spoon-shaped or ladle-shaped gripping member. In addition, for example, the present invention may be applied to a system that realizes holding by pinching the object with a tong-shaped or claw-shaped gripping member.
Furthermore, the objects to be held are not limited to food ingredients or containers, but the present invention can also be applied to a system that holds objects such as parts of industrial products, such as electronic devices.
In other words, the present invention is applicable to systems that realize holding in general.

In the following explanation, weight is used as an example of the amount of ingredients to be served, but the present invention can be applied to physical quantities other than weight, such as volume, bulk, mass, and other various names for the physical quantities.

As shown in FIG. 1, the gripping system 1 includes a control device 10, a container 20, a multi-joint robot 30, a detection unit 40, and a transfer mechanism 50. Among these, the control device 10, the multi-joint robot 30, the detection unit 40, and the transfer mechanism 50 are connected by wire or wireless communication and can communicate with each other.

In addition, a belt conveyor 2 that automatically conveys containers of prepared foods from upstream to downstream is installed adjacent to the gripping system 1. The belt conveyor 2 has a conveying surface for conveying the containers, and the containers are conveyed while placed on this conveying surface. In FIG. 1, as shown by the dashed arrow, the left side of the paper is the upstream of the conveyance on the belt conveyor 2, and the right side of the paper is the downstream of the conveyance on the belt conveyor 2.
Furthermore, the task of supplying containers to the conveying surface of the belt conveyor 2 further upstream of the gripping system 1 may be performed manually or by a container supply device.

In addition, although FIG. 1 shows only one set consisting of a storage container 20, an articulated robot 30, a detection unit 40, and a transfer mechanism 50, this is not limited to this. In this embodiment, it is assumed that multiple sets of these are installed along the conveying direction of one belt conveyor 2, and that multiple articulated robots 30 work in cooperation with each other.

The control device 10 is configured with an information processing device such as a PC (Personal Computer) or a programmable controller, and controls the entire gripping system 1 by executing various programs. For example, the control device 10 controls the operation of the articulated robot 30 gripping ingredients from the storage container 20 and releasing them into a prepared food container to arrange the ingredients. More specifically, the control device 10 controls the drive of the articulated robot 30 to move the hand 31 of the articulated robot 30 to a predetermined position set in advance along a predetermined route at a predetermined speed, and controls the drive of the actuator of the hand 31 to grip and release ingredients by the hand 31. In addition, for example, the control device 10 controls the operation of the transport mechanism 50 based on the detection result of the detection unit 40.

The storage container 20 has a storage space for storing ingredients such as side dishes to be arranged by the gripping system 1. The storage container 20 is realized by a general-purpose storage container such as a large tray or tray. In the storage space of the storage container 20, for example, a paste salad such as potato salad (salad containing ingredients with viscosity or stickiness), side dishes such as udon (soybean pulp), kiriboshi daikon (dried radish), namasu (pickled vegetables), hijiki (seaweed), boiled beans, and buttered corn are stored. In this embodiment, this storage space stores multiple servings (for example, tens to hundreds of servings) of one type of ingredient. Then, the multiple gripping systems 1 arrange the ingredients of any of the side dishes in the corresponding containers of the side dishes, thereby completing the arrangement of the side dishes. The storage container 20 can be replaced manually by an operator or automatically by the articulated robot 30.

The articulated robot 30 is, for example, a horizontal articulated robot or a vertical articulated robot, and is equipped with a hand 31 capable of grasping the ingredients to be plated, and a robot arm 32 that moves the hand 31 to any position within its movable range.
A weight sensor 30A for measuring the weight of an ingredient held by the hand 31 is provided at a joint that holds the hand 31 of the articulated robot 30 as an example of a means for acquiring the physical quantity of the ingredient held by the hand 31. A force sensor 30B for measuring a reaction force (including a force sense obtained by touching a surface) from the ingredient that the hand 31 touches is provided at a joint that holds the hand 31 of the articulated robot 30 as an example of a means for detecting that the hand 31 has come into contact with the ingredient. Data on the weight of the ingredient (i.e., the weight of the held ingredient) measured by the weight sensor 30A and data on the reaction force from the ingredient (i.e., the detection result of contact with the ingredient) measured by the force sensor 30B are output to the control device 10.

Furthermore, the joint that holds the hand 31 has an axis that rotates the hand 31 in a twisting direction relative to the robot arm 32. Therefore, when the hand 31 grasps an ingredient, the direction in which the hand 31 opens and closes can be adjusted by changing the orientation of the hand 31. This makes it possible to change the orientation of the hand 31 so that when the hand 31 reaches the vicinity of the inner wall surface of the container, the hand 31 opens and closes in a direction parallel to the inner wall surface of the storage space of the storage container 20, making it easier to grasp ingredients near the inner wall surface of the container.

The detection unit 40 includes a plurality of optical sensors that detect containers being transported on the belt conveyor 2. For example, the detection unit 40 includes a sensor that detects the position of a container being transported on the belt conveyor 2, and a sensor that detects ingredients served in the container. Data on the position of the container detected by these sensors and data on whether ingredients are served or not are output to the control device 10.
The control device 10 controls the operation of the transfer mechanism 50 based on the detection results of these sensors included in the detection unit 40. Details of the positional relationship of these sensors included in the detection unit 40 and the operation control of the transfer mechanism 50 by the control device 10 based on the detection results will be described later.

The transfer mechanism 50 is a mechanism for transferring an object (here, a container). The transfer mechanism 50 transfers the container, which has been conveyed to the transfer position P1 by the belt conveyor 2, to a release position P2, where the ingredients are released. After that, when the ingredients are completely placed in the container at the release position P2, the transfer mechanism 50 transfers the container from the release position P2 back to the transfer position P1.
Thereafter, the containers with the ingredients piled up are transported further downstream by the belt conveyor 2, where post-processing (e.g., closing the lids on the containers) is carried out.
In this way, by the transfer mechanism 50 performing the transfer, the ingredients can be released and arranged at the release position P2 provided in the vicinity of the articulated robot 30, rather than at the transfer position P1 or the like on the conveying surface of the belt conveyor 2. This makes it possible to prevent the released ingredients from falling onto the conveying surface of the belt conveyor 2.

The overall configuration of the gripping system 1 has been described above. Although not shown in the drawings, a shielding section made of a plate-shaped member surrounding the area in which each component of the gripping system 1 is installed may be installed to shield each component from the outside. In addition to each component of the gripping system 1, the belt conveyor 2 may also be shielded by a shielding section. By shielding by a shielding section in this manner, it is possible to prevent ingredients scattered during the operation of the gripping system 1 from soiling the outside, and to prevent foreign matter from the outside from being mixed into the ingredients.
In this case, the plate-like member constituting the shielding part may be made of a transparent material such as glass or resin, so that the operating status of the gripping system 1 can be visually confirmed from the outside. In addition, an openable door may be provided on a part of the side wall constituting the shielding part. In this way, when replacing the storage space of the storage container 20 or performing maintenance on the gripping system 1, a worker can approach each component by opening the door of the shielding part and perform these various tasks.

[Hardware configuration of the control device 10]
FIG. 2 is a schematic diagram showing the hardware configuration of the control device 10. As shown in FIG.
As shown in FIG. 2 , the control device 10 includes a CPU (Central Processing Unit) 711, a ROM (Read Only Memory) 712, a RAM (Random Access Memory) 713, a bus 714, an input unit 715, an output unit 716, a storage unit 717, a communication unit 718, and a drive 719.

The CPU 711 executes various processes according to a program recorded in the ROM 712 or a program loaded from the storage unit 717 to the RAM 713 .
The RAM 713 also stores data and the like necessary for the CPU 711 to execute various processes.

The CPU 711, ROM 712, and RAM 713 are interconnected via a bus 714. An input unit 715, an output unit 716, a memory unit 717, a communication unit 718, and a drive 719 are connected to the bus 714.

The input unit 715 includes input devices such as a mouse and a keyboard, and accepts input of various information to the control device 10. The input unit 715 may also include a microphone, and accept input of various information by voice input from the worker.
The output unit 716 is composed of a display, a speaker, etc., and outputs images and sounds.
The storage unit 717 is configured with a hard disk or a dynamic random access memory (DRAM) or the like, and stores various data managed by each server.
The communication unit 718 controls communication with other devices via the network.

Removable media 731, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is appropriately loaded into the drive 719. A program read from the removable media 731 by the drive 719 is installed in the storage unit 717 as necessary.
It should be noted that the above hardware configuration is the basic configuration of the control device 10, and it is possible to adopt a configuration that does not include some of the hardware, to include additional hardware, or to change the implementation form of the hardware.

[Functional configuration]
Next, the functional configuration of the control device 10 will be described.
FIG. 3 is a block diagram showing the functional configuration of the control device 10. As shown in FIG.
3, by executing a program for controlling the operation of the gripping system 1, a sensor information acquisition unit 151, an ingredient state determination unit 152, an ingredient amount determination unit 153, an articulated robot control unit 154, a transport mechanism control unit 155, and a record control unit 156 function in the CPU 711 of the control device 10. In addition, a parameter storage unit 171 and a history database (history DB) 172 are formed in the storage unit 717.

The parameter storage unit 171 stores various parameters used when the gripping system 1 operates. For example, the parameter storage unit 171 stores the position of the storage space of the storage container 20, the position of the area in the prepared food container where the ingredients are to be served, the relationship between the amount of insertion of the hand 31 into the ingredient when gripping the ingredient and the weight of the ingredient to be gripped (function or table-format data, etc.), parameters that define the operation pattern of the articulated robot 30, and the like. In this embodiment, the amount of insertion of the hand 31 into the ingredient is an index for estimating the weight (physical quantity) of the ingredient. In other words, from the relationship between the amount of insertion of the hand 31 into the ingredient and the weight of the ingredient to be gripped, the actual weight of the gripped ingredient (target gripping weight) is estimated based on the amount of insertion of the hand 31 into the ingredient.

History DB 172 stores control parameters acquired when gripping system 1 operates, or measurement data of the weight of ingredients arranged by gripping system 1, as history. History DB 172 also stores an ingredient status map showing the status of ingredients in the storage space of storage container 20. Details of this ingredient status map will be described later together with an explanation of recording control unit 156 that creates and updates the ingredient status map.

The sensor information acquisition unit 151 acquires sensor information, which is information detected by various sensors installed in the gripping system 1 and the detection unit 40. For example, the sensor information acquisition unit 151 acquires, as sensor information, data on the weight of ingredients measured by a weight sensor 30A installed at a joint of the articulated robot 30, data on the reaction force from the ingredients measured by a force sensor 30B, data on the position of a container detected by a sensor included in the detection unit 40, and data on whether ingredients are served on the container. These pieces of sensor information are used as appropriate by each functional block of the control device 10.

The ingredient state determination unit 152 recognizes the state of the ingredients based on the data of the reaction force from the ingredients measured by the force sensor 30B. For example, the ingredient state determination unit 152 recognizes the depth of the ingredients in the storage space of the storage container 20 (the depth from the surface of the ingredients in the storage space of the storage container 20 to the bottom surface of the storage space of the storage container 20) and the flatness of the surface (how rough the surface is) from the data of the reaction force from the ingredients measured by the force sensor 30B. In this embodiment, a method of measuring the state of the ingredients based on the reaction force using the force sensor 30B is used, rather than a method of determining the state of the ingredients by image analysis using a camera. Therefore, for example, the introduction cost and management cost of the camera can be reduced, and since there is no need to consider the blind spot of the camera, etc., the arrangement of the articulated robot 30 and the storage space of the storage container 20 can be selected more flexibly. In addition, since a camera is not used, there is no need to consider the influence of steam generated from the ingredients and lighting on the shooting.

Furthermore, when the ingredient state determination unit 152 recognizes the depth of the ingredient and the flatness of the surface, it determines whether or not these meet the conditions for grasping the ingredient (for example, whether or not the depth and flatness of the ingredient are equal to or greater than a set threshold value). The flatness of the ingredient's surface can be defined, for example, based on the absolute value of the magnitude of the unevenness of the surface, and can be defined so that the flatter the ingredient's surface is, the larger the value. The flatness may also be determined for each part of the ingredient's surface. Furthermore, the ingredient state determination unit 152 determines whether or not the state of the ingredients in the storage space of the storage container 20 is such that a specified amount of ingredients can be grasped in one grasping operation.

The ingredient amount determination unit 153 determines whether a specified amount of ingredients has been grasped based on the weight data of the ingredients measured by the weight sensor 30A of the articulated robot 30.

The articulated robot control unit 154 controls the operation of the articulated robot 30, and causes the articulated robot 30 to execute a series of operations for plating ingredients according to the operation pattern defined in the gripping system 1. For example, the articulated robot control unit 154 causes the articulated robot 30 to execute an operation (detection operation) in which the detector 40 detects containers being transported on the belt conveyor 2, an operation (grasping operation) in which the hand 31 of the articulated robot 30 grasps ingredients, an operation (ingredient transfer operation) in which the hand 31 grasping the ingredients is transferred onto a prepared food container, an operation (releasing operation) in which the grasped ingredients are released onto the container, and an operation (shaping operation) in which the surface of the released ingredients is shaped after plating.

The transfer mechanism control unit 155 controls the operation of transferring the container (container transfer operation) by the transfer mechanism 50 based on data on the position of the container detected by the sensor included in the detection unit 40 and data on whether ingredients are served on the container.

The recording control unit 156 stores the control parameters acquired when the gripping system 1 performs the gripping operation and the measurement data of the weight of the ingredients arranged by the gripping system 1 in the history DB 172. The recording control unit 156 also creates and updates an ingredient condition map showing the state of the ingredients in the storage space of the storage container 20, and also stores this ingredient condition map in the history DB 172. More specifically, the recording control unit 156 detects the state of the ingredients in each area of the storage space of the storage container 20 based on the measurement data of the weight of the ingredients and the reaction force of the ingredients acquired when the gripping system 1 performs the gripping operation, the determination result by the ingredient condition determination unit 152 described below, and the measurement data of the weight of the ingredients arranged by the gripping system 1, and generates an ingredient condition map by linking it to identification information that identifies each area and storing it.

In this case, the state of the ingredients refers to the remaining amount of ingredients in each area, and the depth and flatness of the ingredients as determined by the ingredient state determination unit 152 described below. Also, if the storage space of the storage container 20 is replaced after the ingredients have been piled up in the storage space of the storage container 20, the ingredient state map is updated to indicate that a predetermined amount of ingredients (e.g., a sufficient amount of ingredients for the storage space of the storage container 20) is stored in a predetermined state (e.g., the surface is flat).

[Configuration of hand 31]
Next, the details of the configuration of the hand 31 and the gripping member 31a installed on the hand 31 will be described.
FIG. 4 is a schematic diagram showing an example of the shape of the gripping member 31 a installed at the tip of the hand 31 .
In FIG. 4, only one of the pair of gripping members 31a is shown.
As shown in Fig. 4, the gripping member 31a in this embodiment is composed of a top plate portion, a main plate portion, a first side plate portion, and a second side plate portion. The top plate portion has a rectangular flat surface. When the flat surface of the top plate portion is in a horizontal state, the main plate portion extends at an angle from one end of the flat surface in the longitudinal direction to a position spaced apart vertically below the other end of the flat surface. When the flat surface of the top plate portion is in a horizontal state, the first side plate portion and the second side plate portion extend vertically downward from both ends of the flat surface.
In the following description, when the pair of gripping members 31a is not to be distinguished from one another, they will simply be referred to as "grip members 31a."

Figure 5 is a diagram showing the positional relationship of the storage space of the storage container 20, the hand 31, the gripping member 31a, the robot arm 32, and the ingredient when performing an operation such as a gripping operation. In Figure 5, the vertical direction is referred to as the Z direction, a first horizontal direction perpendicular to the Z direction (direction perpendicular to the paper surface) is referred to as the Y direction, and a second horizontal direction perpendicular to each of the Z direction and the Y direction is referred to as the X direction. In other words, the Z direction, Y direction, and X direction are each perpendicular to one another.

The hand 31 is disposed at the tip of the robot arm 32. The gripping member 31a is connected to the hand 31 by a connecting member and is thereby supported by the hand 31. The hand 31 and the gripping member 31a connected thereto can move within a movable range in each of the X, Y, and Z directions in accordance with the operation of the robot arm 32 controlled by the control device 10. The hand 31 achieves a gripping operation by opening and closing the pair of gripping members 31a in the Y direction by an actuator (not shown).
In addition, the hand 31 and the gripping member 31a connected thereto are capable of rotating about the Z direction as a rotation axis.
With this configuration, in this embodiment, the position and orientation of the hand 31 and the gripping member 31a can be changed arbitrarily, making it possible to appropriately perform operations such as gripping and releasing operations with a variety of movements.

Figure 6 is a diagram showing the opening and closing of a pair of gripping members 31a. The gripping members 31a shown in Figure 4 are connected to the hand 31 by a connecting member so that their openings face each other. The X, Y, and Z directions in Figure 6 are the same as the directions defined in Figure 5. The pair of gripping members 31a are opened in an opening operation along the opening and closing direction (Y direction) as shown in Figure 6(a). The pair of gripping members 31a are closed in a gripping operation by closing in the opening and closing direction (Y direction) as shown in Figure 6(b).

Then, the pair of gripping members 31a are in a closed state and come into contact with each other, so that the inner surface with at least the tip and side plate portions closed forms a container shape for gripping ingredients. With such a shape of the gripping members 31a, the tip of the gripping member 31a is inserted vertically from the surface of ingredients such as a paste salad, and the pair of gripping members 31a is closed at a predetermined depth to lift up the ingredients, so that an approximately fixed amount of ingredients can be gripped and removed from the storage space of the storage container 20.
In addition, after the pair of gripping members 31a are transferred onto the prepared food container at the release position P2, the pair of gripping members 31a open and the container-shaped opening is exposed, thereby releasing the ingredients that have been gripped and allowing an approximately fixed amount of ingredients to be served in the prepared food container.

[Configuration of detection unit 40]
Next, the configuration of the detection unit 40 will be described in detail.
7 is an enlarged perspective view showing the vicinity of the detection unit 40. In Fig. 7, similarly to Fig. 1, the left side of the paper surface is the upstream side of the conveyor belt 2, and the right side of the paper surface is the downstream side of the conveyor belt 2.

As shown in FIG. 7 , the detection unit 40 includes container detection sensors 41 and 42 , a reflector arrangement unit 43 , and an ingredient detection sensor 44 .
The container detection sensors 41, 42 are sensors that detect the position of a container being transported on the belt conveyor 2. The container detection sensors 41, 42 are, for example, configured with optical sensors. The container detection sensor 41 detects that a container being transported on the belt conveyor 2 is about to be transported to the transfer position P1. Furthermore, the container detection sensor 42 detects that a container being transported on the belt conveyor 2 has been transported to the transfer position P1.
The reflector arrangement section 43 is a member in which reflectors that reflect the light emitted by the container detection sensors 41 and 42 for detection are arranged on a surface facing the container detection sensors 41 and 42 .

As shown in the figure, the detection unit 40 is installed at a predetermined position so as to straddle the conveying surface of the belt conveyor 2, with the reflector arrangement unit 43. The light projected by the container detection sensors 41, 42 is reflected by the reflector arranged in the reflector arrangement unit 43 and received by the container detection sensors 41, 42. This allows the container detection sensors 41, 42 to detect the position of the container. In the figure, the paths of the projected and received light are illustrated as light path L1 and light path L2, respectively.

In this embodiment, the reflector arrangement section 43 is designed to be insertable and detachable from the opening of the main body of the detection section 40, and the length in the width direction of the conveying surface can be adjusted. This allows the reflector arrangement section 43 to be installed at a predetermined position, absorbing the difference in the width direction length of the conveying surface, which differs depending on the model of the belt conveyor 2. Here, the conveying surface of the belt conveyor 2 generally undulates in the vertical direction and other directions during conveying due to its mechanism. Therefore, in order to avoid this effect, it is advisable to install the reflector arrangement section 43 at a predetermined position on the outer frame part of the conveying surface (i.e., a part that is not the conveying surface). This allows the reflector arrangement section 43 to be always fixed at an appropriate height to detect the container in which the ingredients are served, without being affected by the vertical undulation of the conveying surface.

The height of the container (here, the relative height with respect to the conveying surface) is generally not very high, so it is desirable to place the sensor and reflector at an appropriate position within a range of a few centimeters to a few millimeters. In this regard, in this embodiment, the reflector position is fixed at a predetermined position by the reflector placement unit 43 in this way, so that the detection range is an appropriate height according to the height of the container, and the position of the container being conveyed can be appropriately detected.

Although colored containers are sometimes used as containers for prepared foods, transparent containers are also commonly used. The container detection sensors 41 and 42 are capable of detecting both colored and transparent containers.
With this configuration, the container detection sensors 41, 42 detect with high accuracy the position of the container being transported on the belt conveyor 2. In addition, data on the container position detected by the container detection sensors 41, 42 is output to the control device 10.

The ingredient detection sensor 44 is a sensor that detects ingredients served in a container. Like the container detection sensors 41 and 42, the ingredient detection sensor 44 is configured, for example, by an optical sensor. The ingredient detection sensor 44 detects whether ingredients are served in a container whose position is detected by the container detection sensors 41 and 42. The light emitted by the ingredient detection sensor 44 is emitted vertically downward and is reflected by either the conveying surface of the belt conveyor 2, the top surface of the ingredients served in the container, or the bottom surface of the container where no ingredients are served, and is received by the ingredient detection sensor 44. This allows the ingredient detection sensor 44 to detect whether ingredients are served in the container. In the figure, the path of the light emitted and received is illustrated as light path L3.

As described above, the detection unit 40 is installed so as to straddle the conveying surface of the belt conveyor 2, so that the ingredient detection sensor 44 can be placed at an appropriate height (e.g., about 15 cm above the conveying surface) to detect ingredients vertically above the belt conveyor 2. That is, the ingredient detection sensor 44 is also fixed at a predetermined position (here, a position relative to the height of the detection unit 40, the container, and the ingredients), so that it can detect with high accuracy whether ingredients are placed in the container. Data on whether ingredients are placed in the container, detected by the ingredient detection sensor 44, is output to the control device 10.

In this way, the detection unit 40 has a unique structure and is installed so as to straddle the conveying surface of the belt conveyor 2, allowing various sensors and reflectors to be positioned in optimal positions for detection.

Note that, although the container detection sensors 41 and 42 and the ingredient detection sensor 44 have been described as optical sensors realized by a light projector and a light receiver arranged opposite the light projector, this is not limited thereto. For example, these sensors may be realized by optical sensors realized by a light projector and a light receiver arranged opposite the light projector.

[Configuration of the transfer mechanism 50]
Next, the configuration of the transfer mechanism 50 will be described in detail.
8 is a schematic diagram showing the vicinity of the transfer position P1 and the release position P2 in this embodiment. In this Fig. 8, the belt conveyor 2, the articulated robot 30, and the transfer mechanism 50 are shown with the downstream direction of the conveyance on the belt conveyor 2 being the lower side of the paper.

As shown in FIG. 8, the transfer mechanism 50 includes an actuator 51, a slide member 52, a connecting portion 53, a first transfer member 531, a second transfer member 532, and a container placement member 54. As shown in FIG. 1, the transfer position P1 is the conveying surface of the belt conveyor 2, and the release position P2 is on a work table provided on the side portion of the articulated robot 30.

The actuator 51 is disposed vertically above the belt conveyor 2 and performs linear motion in a direction perpendicular to the direction of travel of the belt conveyor 2 (the left-right direction on the paper). The actuator 51 is realized, for example, by an electric cylinder (ROBO cylinder) or an air cylinder.

The slide member 52 and the connecting portion 53 are connected to the drive portion of the actuator 51, and perform linear movement in a direction perpendicular to the conveying direction of the belt conveyor 2 (left-right direction on the paper) in association with the linear movement of the actuator 51.
The connecting portion 53 is further connected to the first transfer member 531 and the second transfer member 532, and as a result, the linear motion of the actuator 51 is also transmitted to the first transfer member 531 and the second transfer member 532, so that the first transfer member 531 and the second transfer member 532 also perform the same linear motion as the actuator 51. In this manner, the transfer mechanism 50 of the present embodiment can realize a drive mechanism with a relatively simple configuration.

Figure 9 is a vertical overhead view of the vicinity of the transfer position P1 and the release position P2 in this embodiment. Figure 9 illustrates the belt conveyor 2, the storage container 20, the articulated robot 30, the connection part 53, the first transfer member 531, the second transfer member 532, and the container placement member 54.

One end of the container mounting member 54 is placed on the transport surface of the belt conveyor 2, and the other end is placed on the top surface of the work table where the release position P2 is located. This connects the transport surface of the belt conveyor 2 and the top surface of the work table via the container mounting member 54. The transfer mechanism 50 then uses the horizontal linear motion of the actuator 51 to slide the container from the transfer position P1 on the transport surface to the release position P2 on the top surface of the work table to transfer the container. The container is also transferred from the release position P2 to the transfer position P1 by sliding the container in the opposite direction.

Specifically, as shown in FIG. 9(a), when an empty container is transported to transfer position P1, the transfer mechanism control unit 155 moves the transfer mechanism 50 and transfers the container from transfer position P1 to release position P2 while abutting the container with the end of the first transfer member 531 (the right end on the page). Also, when the ingredients are released by the articulated robot 30, the transfer mechanism control unit 155 transfers the container from release position P2 to transfer position P1 while abutting the container with the end of the second transfer member 532 (the left end on the page).

In this way, by the transfer mechanism 50 performing the transfer, the ingredients can be released and arranged at the release position P2 provided in the vicinity of the articulated robot 30, rather than at the transfer position P1 or the like on the conveying surface of the belt conveyor 2. This makes it possible to prevent the released ingredients from falling onto the conveying surface of the belt conveyor 2.
In addition, since the ingredients can be arranged at the nearby release position P2 after being grasped by the storage container 20, the travel distance of the articulated robot 30 can be shortened, the processing time can be shortened, and scattering of ingredients due to movement can be suppressed. Furthermore, since the ingredients can be arranged at the nearby release position P2, more precise movements can be realized and appropriate arrangement can be achieved compared to when the robot arm 32 is extended and the ingredients are arranged at a distance.

In addition, since the transfer mechanism 50 performs the transfer, the containers only need to be transported from upstream and supplied, and there is no need to place a container supply device or container stock near the articulated robot 30. This not only saves space, but also increases the freedom of placement of the storage containers 20 and the articulated robot 30. Furthermore, since the containers from which the ingredients have been released are transferred again to the conveying surface of the same belt conveyor 2, there is no need to prepare multiple belt conveyors, such as a first belt conveyor for transporting containers before plating and a second belt conveyor for transporting containers after plating.

[Configuration of container mounting member 54]
Next, the configuration of the container mounting member 54 will be described in detail.
Fig. 10 is a perspective view showing the configuration of the container mounting member 54. In both Fig. 10(a) and (b), the container mounting member 54 is shown in the installed state as shown in Fig. 9, with the left side of the drawing being the transfer position P1 side when installed, and the right side of the drawing being the release position P2 side when installed.
As shown in FIGS. 10( a ) and 10 ( b ), the container mounting member 54 includes a guide portion 541 , a bottom portion 542 , and a slit 543 .

The guide section 541 is configured as a pair of guide sections. The guide section 541 has a tapered shape that narrows from the transfer position P1 side toward the release position P2 side, and is structured to guide the container to the release position P2. The tip of the guide section 541 on the release position P2 side has a shape that is bent inward toward the center, and as shown in FIG. 10(b), the container can be held at this bent portion. In this embodiment, the position where the container is held corresponds to the release position P2. Therefore, the articulated robot 30 releases the ingredients into the container when the container is held by the guide section 541.

The bottom 542 functions as the transfer surface of the container when the transfer mechanism 50 performs transfer. The bottom 542 also has a number of slits 543. These slits 543 allow the scattered ingredients and juices to fall further vertically downward from the slits 543, even if the released ingredients themselves or the juices of the ingredients are scattered at the release position P2, preventing the ingredients from adhering to the bottom of the container.

In addition, the tip of the container placement member 54 on the transfer position P1 side has a mountain-shaped shape that rises vertically upward. If it were flat instead of this shape, if the height of the conveying surface and the height of the top surface of the work table differ even slightly, the member would be inclined from one side to the other, making it difficult to slide from the other side to one side. In contrast, the container placement member 54 slides downward to the other side after climbing over this mountain-shaped shape, so even if the height of the conveying surface and the height of the top surface of the work table differ slightly, this difference can be absorbed and the container can be slid and transferred appropriately. In addition, since the force that tries to slide toward the release position P2 is maintained even after transfer, the container can be held more stably by the guide portion 541.
In this manner, in this embodiment, the container mounting member 54 also has a distinctive structure, which makes it possible to more reliably transport the container and hold the container when released.

[Configuration of placement unit 55]
Next, the configuration of the placement unit 55 will be described in detail.
Fig. 11 is a perspective view showing the configuration of the placement unit 55. The placement unit 55 is disposed at a position adjacent to the articulated robot 30. For example, the placement unit 55 is disposed at a position where the storage container 20 is placed in Fig. 1 .
11A and 11B show the articulated robot 30, the release position P2, and the installation base in addition to the placement unit 55. Note that the container placement member 54 placed at the release position P2 is omitted from the illustration.

As shown in FIG. 11(a), the mounting portion 55 is placed on the installation stand. The mounting portion 55 has a concave portion. In this embodiment, the concave shape is configured to be rectangular when viewed from above. Three sides around the concave shape form wall surfaces, and a handle-shaped member is disposed on the remaining side. This handle-shaped member functions as a handle when moving the articulated robot 30 together with the installation stand when installing the gripping system 1. Such a shape of the mounting portion 55 is realized, for example, by processing sheet metal.

11(b), when the grasping system 1 is actually operated, the storage container 20 is placed on the concave shape of the placement portion 55. Ingredients (not shown in the figure to clarify the configuration of the storage container) are stored inside the storage container 20. The articulated robot 30 grasps the ingredients from the storage container 20 and releases the grasped ingredients at a release position P2.
In this case, it is desirable to configure the concave shape so that when placed on the concave shape, the highest position of the storage container 20 is lower than the position of the gripping member 31a when it is being transported, so as not to hinder the transport of the gripping member 31a.

In addition, it is desirable to configure the concave shape so that when placed on the concave shape, the position of the gripping member 31a when released is lower than the highest position of the storage container 20 so that any ingredients that splash out when released fall into the concave shape of the mounting portion 55.
With this configuration, even if the ingredients themselves or the juices of the ingredients splash when gripping or releasing them, the splashed juices and the like will accumulate in the concave shape adjacent to the articulated robot 30. Therefore, it is possible to prevent the juices and the like from leaking outside the mounting section 55.

11 is an enlarged side view of the surface with the handle-like member, and as shown there, the end of the mounting portion 55 is configured to protrude further than the wall surface constituting the base portion 58. Therefore, even if liquid or the like accumulated in the concave shape spills over this surface, the spilled liquid or the like will not come into contact with the base portion 58 and soil the base portion 58. Therefore, for example, it is also possible to store electrical equipment (such as a control device for the actuator 51) that may cause problems if liquid or the like comes into contact with the inside of the base portion 58.
Furthermore, by placing the storage container on the concave shape, even if the robot arm 32 or the gripping member 31a accidentally collides with the storage container when gripping or releasing it, the position of the storage container is maintained by the three wall surfaces surrounding the concave shape, so that the position of the storage container can be prevented from shifting due to contact.

The configuration of the mounting portion 55 shown in FIG. 11 is merely an example and is not limited to this. For example, all four sides around the concave shape may form wall surfaces. Alternatively, for example, if the storage container is cylindrical in shape, the concave shape may also be round in top view. In addition, the above description uses the term "concave shape," but this is intended to be a broad term that includes the idea that when a storage container is placed on a portion called the concave shape, there is a part around the bottom of the storage container that is higher than the bottom (i.e., a wall surface or a raised part).

[Configuration of the expansion member 60]
Next, the configuration of the expansion member 60 will be described in detail.
Fig. 12 is a perspective view showing the configuration of the expansion member 60. The expansion member 60 is used by being attached to the storage container 20. Figs. 13 and 14 are perspective views showing the state in which the expansion member 60 is attached to the storage container 20.

As shown in FIG. 12, the expansion member 60 includes an expansion section 61, a first detachable section 62, and a second detachable section 63. The first detachable section 62 includes clamping sections 621, 622, and 623. The second detachable section 63 includes clamping sections 631, 632, and 633.

The expansion part 61 is a plate-like member extending vertically upward, and when attached to any one of the multiple sides (i.e., the edges of the opening surface) that constitute the opening surface of the storage container 20 by the first detachable part 62, it forms a wall surface that extends vertically upward. As a result, the sides that constitute the opening surface rise in the vertical direction. In other words, the expansion part 61 can expand the opening surface in the vertical direction.
Further, the expansion portion 61 has a shape that slopes outwardly of the storage container 20 as it moves vertically upward. Therefore, when the expansion portion 61 is attached to any one of the multiple sides that form the opening surface of the storage container 20 by the first detachable portion 62, the expansion portion 61 forms a wall surface that extends outwardly in the horizontal direction of the storage container 20. As a result, the sides that form the opening surface extend in the horizontal direction. In other words, the expansion portion 61 can expand the opening surface in the horizontal direction.
In conclusion, the expansion portion 61 is a plate-like member that extends vertically upward and has a shape that slopes outwardly from the storage container 20 as it extends vertically upward, so that when attached to the storage container 20, the opening surface of the storage container 20 can be expanded both vertically upward and horizontally.

The first detachable part 62 is a part for attaching and detaching the expansion part 61 and the first detachable part 62 to and from the storage container 20 via the second detachable part 63. The clamping parts 621, 622, and 623 of the first detachable part 62 function as leaf springs, and when attached to the storage container 20 via the second detachable part 63, they apply a clamping force to the wall surface of the storage container 20 via the second detachable part 63. Hereinafter, this clamping force will be referred to as a "clamping force." Here, the clamping parts 621 and 623 are attached to the inner wall surface of the storage container 20 and apply a clamping force toward the outside. On the other hand, the clamping part 623 is attached to the outer wall surface of the storage container 20 and applies a clamping force toward the inside. In the figure, the direction in which this clamping force acts is indicated by an arrow.

The second detachable part 63 is a part for attaching and detaching the second detachable part 63 itself to and from the storage container 20. The clamping parts 631, 632, and 633 of the second detachable part 63 function as leaf springs, similar to the clamping parts of the first detachable part 62, and exert a clamping force when attached to the storage container 20. Here, the clamping parts 631 and 633 are attached to the inner wall surface of the storage container 20 and exert a clamping force toward the outside. On the other hand, the clamping part 633 is attached to the outer wall surface of the storage container 20 and exerts a clamping force toward the inside.

In this way, the first detachable part 62 and the second detachable part 63 are arranged so that the clamping forces act in different directions. That is, the clamping forces are arranged so that the clamping forces act from the inside to the outside, from the outside to the inside, and from the inside to the outside. This allows the first detachable part 62 and the second detachable part 63 to stabilize the attachment state when attached to the storage container 20, achieving reliable attachment. Furthermore, these clamping parts can be realized by a simple mechanism called a leaf spring.

[Attachment of the extension member 60]
13A shows the shape of the storage container 20. The storage container 20 may be realized by a storage container specific to this embodiment, but can also be realized by a general-purpose storage container that is generally used. Therefore, an existing storage container can be used as the storage container 20 of this embodiment as it is, and no unnecessary costs are incurred.
The storage container 20 is usually formed as a rectangular parallelepiped container with an opening on the vertically upper surface when placed on the storage container 20. In addition, the storage container 20 has handles on the outer wall surfaces on two opposing sides so that the worker can easily carry and place the storage container 20. When replacing the storage container 20, the worker can carry the storage container 20 or place it on the placement section 55 in a stable state while holding the handles.

As shown in FIG. 13(b), when the storage container 20 is used, a container cover is attached and the inner wall surface of the storage container 20 is covered with the container cover. This is for the purpose of managing the hygiene of the food, preventing ingredients from adhering to the inner wall surface of the storage container 20, and making it easier to clean the storage container 20. The container cover is realized by a sheet-like cover made of a resin material such as polyethylene.

The worker attaches a container cover to the cleaned storage container 20, and then stores ingredients in the storage space inside the storage container 20 covered by the container cover. In order to clarify the shape of the storage container 20 and the manner in which the extension member 60 is attached, illustrations of ingredients are omitted in Figs. 13 and 14.
At this point, the container cover is not particularly held on the opening surface of the storage container 20. Therefore, a gap is generated between the container cover and the storage container 20, and the container cover is in a loose state.

Next, as shown in FIG. 14(c), the second detachable portion 63 of the expansion member 60 is first attached to the storage container 20. The clamping portions 631, 632, and 633 of the second detachable portion 63 apply a clamping force as described above and are attached to any of the multiple sides that constitute the opening surface of the storage container 20. As a result, the second detachable portion 63 is attached to the storage container 20 and holds the container cover at the opening surface of the storage container 20. Therefore, the slack in the container cover that existed before the holding can be eliminated. In addition, as shown in the figure, each clamping portion of the second detachable portion 63 is shaped to extend to a deep position below the storage space when attached to the storage container 20. This shape makes it possible to hold the container cover more reliably.

As a result, during subsequent transportation by the worker and various operations by the articulated robot 30, the container cover remains covering the storage container 20, preventing problems such as the container cover rolling up.

Next, as shown in FIG. 14(d), the expansion section 61 and the first detachable section 62 are attached to the storage container 20. The clamping sections 621, 622, and 623 of the first detachable section 62 clamp the clamping sections of the second detachable section 63, which is already attached to the storage container 20, from the outside, thereby achieving attachment to the storage container 20. In other words, strictly speaking, the expansion section 61 and the first detachable section 62 are attached to the storage container 20 via the second detachable section 63.

In this manner, the expansion member 60 is attached to the storage container 20. As described above with reference to Fig. 12, the expansion portion 61 of the expansion member 60 is a plate-like member extending vertically upward, and has a shape that inclines toward the outside of the storage container 20 as it extends vertically upward, so that the side to which the opening surface is attached can be expanded both vertically upward and horizontally, as shown in Fig. 14(d).
When all of the ingredients contained in the storage container 20 have been gripped, the storage container 20 is to be replaced. In this case, the extension member 60 can be removed by performing the above-mentioned attachment procedure in reverse.

As described above, the extension member 60 can be attached and detached as needed. For example, if the extension member 60 is attached when a worker grasps the handle of the storage container 20, the extension member 60 will interfere with the worker's arm, hindering the worker's work. Therefore, when a worker carries the storage container 20 while grasping the handle, or when placing the storage container 20 on the placement section 55, the extension member 60 is removed. This ensures that the extension member 60 does not prevent the worker from holding the handle of the storage container 20. In this case, it is also possible to attach only the second detachable section 63. This allows the worker to hold the container cover without being hindered from holding the handle of the storage container 20.

In addition, it is advisable to remove the expansion member 60 when cleaning the storage container 20 and the expansion member 60. This allows the storage container 20 and the expansion member 60 to be cleaned separately, making the cleaning operation easier.
In this way, by appropriately attaching and detaching the extension member 60 as needed, it is possible to improve the convenience for the worker.

In the above explanation, the case where a container cover is attached is taken as an example, but the attachment of a container cover is not essential in this embodiment, and this embodiment can be applied even if a container cover is not attached.

[Function and effect of the expansion member 60]
Fig. 15 is a schematic diagram showing the effect of attaching the extension member 60. Fig. 15 is a top view similar to Fig. 8, and shows the storage container 20, the articulated robot 30, and the container mounting member 54 with the downstream direction of conveyance on the belt conveyor 2 being the lower side of the paper. Note that the storage container 20 is placed on a mounting portion 55 located adjacent to the articulated robot 30.

The storage container 20 has four sides that form a rectangular opening surface. The four sides that form this opening surface are referred to as the first side to the fourth side, respectively. In this example, the expansion member 60 is attached to the first side. As shown in FIG. 14(d), the expansion portion 61 of the expansion member 60 is a plate-like member that extends vertically upward, and has a shape that slopes outwardly from the storage container 20 as it extends vertically upward, so that the opening surface of the first side can be expanded both vertically upward and horizontally.

Next, the relationship between the extension member 60 and the grasping operation performed by the articulated robot 30 will be described. When performing grasping, the articulated robot 30 moves the grasping member 31a to near the center of the storage container 20 by driving the robot arm 32.

Then, as shown in the figure as "(1) Grasp", a gripping operation is performed using the gripping members 31a. If the weight of the gripped ingredient is not a specified amount, the ingredient that was once gripped is released on the spot, and gripping is performed again.
Next, as shown by "(2) Removal", a removal operation is performed as necessary in which the gripping member 31a is moved up and down to drop the ingredients adhering to the gripping member 31a.

These gripping operations (including the release and re-gripping operations) and removal operations are performed near the center of the opening of the storage container 20, so there is little chance that the ingredients will scatter outside the storage container 20. However, in this case, by performing the gripping and removal operations while positioning the gripping member 31a at a position lower than the highest position of the storage container 20 (i.e., within the storage space of the storage container 20), it is possible to further prevent the ingredients from scattering outside the storage container 20.

Thereafter, the articulated robot 30 keeps the gripping member 31a holding the ingredients on standby at that location. Then, when the container is transferred to the release position P2 on the container placement member 54 by the transfer mechanism 50, the articulated robot 30 starts transferring the ingredients with the gripping member 31a. The gripping member 31a holding the ingredients is driven by the robot arm 32 to transfer the ingredients along a path shown in the figure as a "transfer path of the gripping member". In order to quickly complete the operations from gripping to releasing, it is desirable that this transfer path be the shortest route from the gripping position to the release position (for example, a route that involves only horizontal movement as much as possible), and that the drive speed of the robot arm 32 is also as fast as possible.
The gripping member 31a rotates in a direction that allows the most efficient gripping possible. For example, gripping is performed in a state where the opening and closing direction during gripping is rotated in a direction along the wall surface of the storage container 20. Therefore, the gripping member 31a appropriately rotates around the vertical direction as a rotation axis during transfer so that the gripping member 31a is then oriented in a direction suitable for release.

When transporting food in this efficient manner, a large centrifugal force acts on the gripping member 31a when the transport path curves. As a result, ingredients that are not sufficiently gripped by the gripping member 31a or ingredients that are attached to the gripping member 31a are scattered toward the first side by the centrifugal force, and become uncontrollable.

However, in this embodiment, the expansion portion 61 of the expansion member 60 expands the opening surface both vertically upward and horizontally of the first side. Therefore, the scattered ingredients come into contact with the expansion portion 61. Since the expansion portion 61 is shaped to incline toward the inside of the storage container 20 as it extends vertically downward, the ingredients that come into contact (i.e., the ingredients that have scattered from the gripping member 31a) are guided toward the opening surface of the storage container 20. As a result, the expansion portion 61 can drop the scattered ingredients into the storage space of the storage container 20.
In other words, the action and effect of such an extension member 60 can prevent ingredients that are scattered when the articulated robot 30 performs a holding operation (here, a grasping operation, which is an example of achieving holding) from scattering outside the storage container 20.

Then, as shown in the figure as "(5) Release", the gripping member 31a releases the ingredients it has been holding. It is desirable that the position of the gripping member 31a when released is lower than the highest position of the storage container 20 so that any ingredients that splash upon release will fall into the concave shape of the mounting section 55. This makes it possible to prevent juices and the like from leaking outside the mounting section 55.

In this example, it is assumed that the extension member 60 is attached to the first edge. This is merely an example, and the extension member 60 may also be attached to other edges. For example, by attaching the extension member 60 to the second edge, ingredients scattered during the gripping and removal operations can be dropped into the storage space of the storage container 20. In this case, by performing the gripping and removal operations while the position of the gripping member 31a is lower than the highest position of the extension member 60, it is possible to further prevent ingredients from scattering outside the storage container 20.

In addition, for example, by attaching an extension member 60 to the fourth side, ingredients that are scattered during the release operation can be dropped into the concave shape of the mounting portion 55. In this case, by performing the release operation while positioning the gripping member 31a at a position lower than the highest position of the extension member 60, the ingredients can be more reliably dropped into the concave shape of the mounting portion 55.

The horizontal length of the extension member 60 does not necessarily have to be the same as the length of each side. For example, the length of the extension member 60 attached to the fourth side may be shorter than the length of the fourth side (e.g., half the length of the fourth side) and attached to a position near the articulated robot 30 on the fourth side. This makes it possible to prevent scattering towards the articulated robot 30 and does not obstruct the transfer path of the gripping member.

Alternatively, only the second detachable part 63 may be attached to another side (e.g., the third side). This makes it possible to hold the container cover in a balanced manner with equal force from the opposing sides (e.g., the first side and the third side).

The above describes the effect of the extension member 60. In the case of general technology that does not have such an extension member 60, it is necessary to take measures such as slowing down the transport speed in order to prevent splashing. However, in this embodiment, since the extension member 60 is present, there is no need to slow down the transport speed. Therefore, according to this embodiment, it is also possible to improve the productivity of the articulated robot 30.

Next, the difference between a case in which the size of the storage container 20 is made larger and a case in which the extension member 60 is detachable as in this embodiment will be described.
If the size of the storage container 20 is, for example, a special size that is taller than normal, there is a problem that the container cover will not fit. General, general-purpose storage containers 20 are standardized products, and their sizes (e.g., aspect ratio and capacity of the container size) are predetermined. Container covers are also sold in sizes that match the sizes of these standardized products. Therefore, if the storage container 20 is a special size, the container cover must also be a special size to match it, which is disadvantageous in terms of cost. In addition, the shape of the placement portion 55 must also be changed, which reduces the versatility of the system as a whole.

Even if the size of the storage container 20 were to be, for example, a special size that is taller than normal, there is a risk that the worker will store more ingredients until the storage space is filled according to the height. In such a state, the stored ingredients will be held or transferred near the storage surface, and it is not possible to prevent the ingredients from scattering. In other words, the purpose of the size of the storage container 20 being, for example, a special size that is taller than normal is lost.
In contrast, if a detachable expansion member 60 is used as in this embodiment, these problems do not occur. From this perspective, it can be said that using a detachable expansion member 60 is advantageous.

[Overall operation]
Next, the overall operation of the gripping system 1 will be described.
16 is a flowchart showing the flow of an ingredient plating process executed by the gripping system 1. The ingredient plating process is started, for example, when an operation for starting the ingredient plating process is performed by an operator.

When the ingredient placement process is started, in step S11 of FIG. 16, the articulated robot control unit 154 reads operation data (such as data on the movement pattern and the amount of insertion of the hand 31) from the parameter storage unit 171 to perform a series of operations in the ingredient placement process, thereby preparing to grasp the ingredients.

In step S12, the articulated robot control unit 154 transfers the hand 31 to the storage space of the storage container 20 according to the operation pattern data.

In step S13, the ingredient status determination unit 152 recognizes the status of the ingredients in the storage space of the storage container 20 by reading an ingredient status map indicating the status of the ingredients in the storage space of the storage container 20 from the history DB 172. The ingredient status determination unit 152 continues to recognize the status of the ingredients based on the data of the reaction force from the ingredients measured by the force sensor 30B acquired by the sensor information acquisition unit 151.

In step S14, the articulated robot control unit 154 determines the depth to which the gripping member 31a is to be inserted into the ingredient based on the movement pattern data read in step S11 and the state of the ingredient in the storage space of the storage container 20 recognized in step S13.
In step S15, the articulated robot control unit 154 inserts the gripping member 31a into the ingredient to the determined insertion depth. In this case, for example, the articulated robot control unit 154 can calculate the insertion depth from the control parameters (such as the rotation angle of the joints) of the articulated robot 30, or calculate the insertion depth from the elapsed time since the surface of the ingredient was detected in step S12 and the insertion was started.
In step S16, the articulated robot control unit 154 closes the gripping members 31a to grip the ingredient.

In step S17, the ingredient amount determination unit 153 measures the weight (physical quantity) of the grasped ingredient and determines whether a specified amount of ingredient is being grasped. A specified amount of ingredient being grasped means, for example, that the weight of the grasped ingredient is within a specified error (e.g., within ±15%) of the target weight. However, taking into consideration cases in which the ingredient sticks to the grasping member 31a and cannot be released, the error when the grasped weight is more than the specified amount may be set to be larger than the error when it is less than the specified amount.

If the specified amount of ingredients is grasped, step S17 is judged as Yes, and the process proceeds to step S18. In this case, if necessary, the attached ingredients may be removed before proceeding to step S18. On the other hand, if the specified amount of ingredients is not grasped, step S17 is judged as No, and the process is repeated from step S14. In this case, if the grasped ingredients exceed the specified amount, the insertion depth is re-determined to be shallower in the re-execution of step S14. On the other hand, if the grasped ingredients are less than the specified amount, the insertion depth is re-determined to be deeper in the re-execution of step S14.

In addition, in the process of repeating steps S14 to S17, even if the gripping member 31a is inserted deeper into the ingredient than the previous time, if the specified amount of ingredient cannot be gripped (if the depth of the ingredient at the intended gripping position is shallower than the insertion depth required to obtain the specified amount), it is possible to control the total amount of ingredient gripped in multiple attempts to be the specified amount by gripping the ingredient from multiple points on the ingredient's surface. In this case, for example, the total depth to which the gripping member 31a is inserted at multiple points on the ingredient's surface (total insertion amount) can be controlled to be the same as the depth to which the gripping member 31a is inserted into the ingredient when gripping a specified amount of ingredient in one attempt. Also, for example, when gripping the second or subsequent points, it is possible to release the already gripped ingredient at the next intended gripping position, and then insert the gripping member 31a into the ingredient to the depth to which it would be inserted when gripping a specified amount of ingredient in one attempt against the surface of the ingredient where the released ingredient is located, and grip the specified amount of ingredient in one attempt again.

In step S18, the transfer mechanism control unit 155 determines whether or not a container has been detected at the transfer position P1 based on the detection results of the container detection sensors 41, 42. If a container has been detected, step S18 is determined as Yes, and the process proceeds to step S19. On the other hand, if a container has not been detected, step S18 is determined as No, and the process repeats the determination in step S18.

In step S19, the transfer mechanism control unit 155 determines whether or not ingredients are already served in the container based on the detection result of the ingredient detection sensor 44. Specifically, the transfer mechanism control unit 155 sets a threshold value for the height of the ingredients from the conveying surface, assuming that ingredients are already served in the container. Then, based on the detection result of the ingredient detection sensor 44, when a height exceeding this threshold value continues to be detected for a certain period of time, the transfer mechanism control unit 155 determines that ingredients are already served in the container.
For example, even if a part of an empty container with a certain height (for example, the periphery of the container) exceeds the threshold value, it will only be for a short time and will be less than the certain time. Therefore, it is possible to prevent the empty container from being erroneously determined to already have ingredients in it. In this case, the length of the certain time can be appropriately set within a range of time that is shorter than the time from when the container detection sensors 41, 42 detect the container to when the container is transported and passes the transfer position P1.

If ingredients have already been served, the determination in step S19 is Yes, and the process returns to step S18, and the determination in step S18 is performed again. If the determination in step S19 is Yes in this way, the container with the ingredients served passes between the first transfer member 531 and the second transfer member 532 of the transfer mechanism 50, and is conveyed directly downstream of the belt conveyor 2. On the other hand, if ingredients have not been served, the determination in step S19 is No, and the process proceeds to step S20.
The reason for making this determination is that, as mentioned above, when multiple articulated robots 30 are arranged for one conveyor belt 2 and these multiple articulated robots 30 are working in cooperation with each other, there is a possibility that a container with ingredients already placed inside it by an upstream articulated robot 30 will be transported.

In step S20, the transfer mechanism control unit 155 drives the transfer mechanism 50 to transfer the container from the transfer position P1 to the release position P2.

In step S21, the articulated robot control unit 154 executes release onto the container at the release position P2.
As described with reference to FIG. 15, at least between steps S15 and S20, when the articulated robot 30 performs a grasping operation, the extension member 70 makes it possible to cause ingredients that would otherwise scatter outside the storage container 20 to fall onto the opening surface of the storage container 20 (i.e., inside the storage container 20).

In step S22, the transfer mechanism control unit 155 judges whether or not it is time to transfer the container with ingredients filled by the release to the transfer position P1. The reason for this judgment is that if the container is transferred to the transfer position P1 simply on the condition that the release by the articulated robot 30 has been completed, there is a possibility that the container may collide with other containers (other empty containers or containers with ingredients filled by other articulated robots 30) that have been transported to the transfer position P1. Therefore, based on the detection results of the container detection sensors 41 and 42, the transfer mechanism control unit 155 judges that it is time to transfer the container to the transfer position P1 on the condition that it has been confirmed that other containers have not been transported to the transfer position P1 or are not about to be transported to the transfer position P1. This makes it possible to prevent collisions between containers.

If it is not determined that the timing is right to transfer the container to the transfer position P1, then the determination in step S22 is No, and the process repeats the determination in step S22. On the other hand, if it is determined that the timing is right to transfer the container to the transfer position P1, then the determination in step S22 is Yes, and the process proceeds to step S23.

In step S23, the transfer mechanism control unit 155 drives the transfer mechanism 50 to transfer the container from the release position P2 to the transfer position P1. When the container (here, the container with the ingredients already filled in) is transferred to the transfer position P1, it is placed again on the conveying surface of the belt conveyor 2 and is transported downstream of the belt conveyor 2.

In step S24, the record control unit 156 stores the control parameters acquired in the ingredient plating process and the measurement data (history data) of the weight of the plated ingredients in the history DB 172. The record control unit 156 also updates an ingredient status map showing the status of the ingredients in the storage space of the storage container 20, and also stores this updated ingredient status map in the history DB 172. In this case, if the weight of the plated ingredients is too much or too little, an alert may be output to the worker.

In step S25, the articulated robot control unit 154 determines whether or not a condition for terminating the ingredient plating process is met. In this case, the condition for terminating the ingredient plating process can be defined as when ingredients have been plated into the planned number of side dish containers, when an operation for terminating the ingredient plating process has been performed by the worker, or the like.
If the condition for terminating the ingredient plating process is not met, the result in step S25 is No, and the process is repeated from step S12. On the other hand, if the condition for terminating the ingredient plating process is met, the result in step S25 is Yes, and the ingredient plating process is terminated.

As described above, the gripping system 1 according to the present embodiment is expanded both vertically upward and horizontally of the first side by the expansion portion 61 of the expansion member 60. Therefore, the scattered ingredients can be dropped into the storage space of the storage container 20.
In other words, the holding system 1 according to this embodiment can prevent ingredients that are scattered when the articulated robot 30 performs a holding operation (here, a holding operation, which is an example of how to achieve holding) from scattering outside the storage container 20.

[Modification 1]
In the above-described embodiment, the configuration of the expansion member 60 has been described with reference to Fig. 12 and the like, but is not limited thereto. For example, as long as the expansion portion 61 can be appropriately attached to the storage container 20, the configuration of the expansion member 60 can be appropriately changed.

FIG. 17 is a perspective view showing the configuration of an expansion member 60 a , which is a modified example of the expansion member 60 .
17, the expansion member 60a includes an expansion section 61a, a first detachable section 62a, and a second detachable section 63a. The first detachable section 62a includes insertion sections 621a and 622a instead of the clamping sections. The second detachable section 63a includes clamping sections 631a, 632a, and 633a.

The extension portion 61a is similar to the extension portion 61 of the above-described embodiment.
The insertion portions 621a and 622a are plate-shaped portions that protrude vertically downward. Unlike the clamping portions, the insertion portions 621a and 622a do not need to have any particular function such as a leaf spring.
The clamping portions 631a, 632a, 633a function as leaf springs, similar to the clamping portions 631, 632, 633 of the above-described embodiment, and exert a clamping force when attached to the storage container 20. Notches having shapes corresponding to the shapes of the insertion portions 621a, 622a are provided in the top surface portions at positions corresponding to the clamping portions 631a, 633a.

In this modified example, the first detachable part 62a can be attached to the second detachable part 63a by inserting the insertion parts 621a and 622a into the respective notches. It can also be removed by pulling it out. In other words, attachment and detachment can be achieved simply by inserting and removing it.

When attaching to the storage container 20, similarly to the above-described embodiment, the second detachable part 63a is first attached to the storage container 20 by the clamping force of each clamping part of the second detachable part 63a. Next, the first detachable part 62a is attached to the storage container 20 via the second detachable part 63a by inserting the insertion parts 621a, 622a into the respective cutouts of the second detachable part 63a.
Even with this configuration, the extension portion 61 can be appropriately attached to the storage container 20.

In addition, in the above embodiment and the above modification, the structure has two detachable parts so that the extension part 61a can be removed when the worker transports the device. This is not limited to this, and the extension member 60 may be formed as an integrated unit. For example, the extension member 60 may be realized by only the extension part 61 and the first detachable part 62 of the above embodiment. The first detachable part 62 may be attached directly to the storage container 20 (the container cover that covers the storage container 20).

[Modification 2]
In the above-described embodiment, the articulated robot 30 holds the target ingredient by using the gripping member 31 a. However, this is merely one example of a holding method using a holding member.
The present invention is not limited to this, and the articulated robot 30 may be held by other holding members.
For example, the articulated robot 30 may hold an object by sucking the object using a suction pad as a holding member that brings the space between the object and the robot closer to a vacuum. Alternatively, the articulated robot 30 may hold an object by scooping it up using a spoon-shaped or ladle-shaped member as a holding member. In addition, the articulated robot 30 may hold an object by pinching it using a tong-shaped or claw-shaped member as a holding member.
Furthermore, the articulated robot 30 may be configured to hold an object other than an ingredient. For example, the articulated robot 30 may be configured to hold an industrial product part such as an electronic device as the object.
According to this modification, instead of holding by the gripping members in the above-described embodiment, holding of the object is realized by these holding members.

[Modification 3]
In the above-described embodiment, the articulated robot 30 arranges ingredients in the vicinity of the container, and therefore can perform more precise movements and more appropriate arrangement than when the robot arm 32 is extended to arrange ingredients at a distance. Therefore, the articulated robot 30 may utilize this more precise movement to perform an operation of shaping the released ingredients after releasing them into the container, or an operation of releasing the ingredients that have adhered to the gripping members 31a after release without leaving any ingredients in the container.

In this case, the action of shaping the released ingredients may involve, for example, gripping the released ingredients again from the container and releasing them back into the container to shape them into a more stable shape. Another possible action may involve, for example, lifting the gripping members 31a while closing them from the released state into the container to shape them into a mountain shape. Another possible shaping action may involve, for example, poking the released ingredients with the tip of the gripping members 31a to firmly bond the ingredients together and prevent the released ingredients from falling apart.

As an operation for releasing the ingredients attached to the gripping member 31a after release without leaving them behind in the container, for example, the gripping member 31a may be vibrated, causing the ingredients attached to the gripping member 31a to fall. Alternatively, the gripping member 31a may be lowered vertically from above the container and suddenly stopped, causing the ingredients attached to the gripping member 31a to fall by inertial force.

As with common technology, it is difficult to perform such an operation when plating on the conveyor belt. However, in the above-described embodiment, the articulated robot 30 operates on a stopped container in the vicinity of the container, making it possible to perform even more complex operations such as those exemplified above.

[Modification 4]
In the above embodiment, it is assumed that a pair of gripping members 31a (i.e., two gripping members 31a) is used, but this is not limited thereto. For example, three or more gripping members 31a may be used. The gripping operation may be performed by bringing the openings of the gripping members 31a closer to each other, and the release operation may be performed by moving the openings of the gripping members 31a away from each other.
In this case, for example, if three gripping members 31a are used, when viewed vertically from above, the tips of the three gripping members 31a, each with a central angle of 120°, are moved closer to or farther away from the center.
Even in this way, the above-mentioned guidance operation and other operations can be executed.

[Modification 5]
In the above-described embodiment, the ingredient state determination unit 152 determines the state of the ingredient based on data on the reaction force from the ingredient measured by the force sensor 30B (i.e., the detection result of contact with the ingredient), but this is not limited to this.

If the installation cost of the camera is not an issue, the state of the ingredients may be determined by taking an image using a camera (i.e., an imaging device). In the above embodiment, the weight of the ingredients held by the articulated robot 30 or the weight of the ingredients placed in the prepared food container is measured by the weight sensor 30A, but this is not limited to the above.
For example, it is possible to estimate the volume of an ingredient from an image of the ingredient captured by an imaging device, and calculate the weight of the ingredient by multiplying the density by the estimated volume, etc.
In this case, a means for calculating the weight of the ingredient can be implemented without using the weight sensor 30A.

[Configuration example]
As described above, the expansion member 60 in this embodiment is an expansion member 60 that can be attached and detached to a storage container 20 that contains an object to be grasped by the articulated robot 30, and is equipped with a first detachable portion 62, a second detachable portion 63, and an expansion portion 61.
The first detachable portion 62 and the second detachable portion 63 are portions for attaching and detaching the expansion member 60 to and from the storage container 20 .
The expansion portion 61 is configured in a shape that expands the opening surface of the storage container 20 at least in the vertical direction when attached to the storage container 20 .

This allows the opening surface of the storage container 20 to be expanded at least in the vertical direction when the multi-joint robot 30 grasps the ingredients. Therefore, when the multi-joint robot 30 executes a grasping operation, the ingredients that would otherwise scatter outside the storage container 20 can be dropped onto the opening surface of the storage container 20 (i.e., inside the storage container 20).
In other words, the expansion member 60 can prevent the object to be grasped from scattering outside the storage container 20 when the object is grasped by the articulated robot 30 .

Moreover, the extension member 60 can be attached and detached as necessary. For example, if the extension member 60 is attached when an operator grips the handle of the storage container 20, the extension member 60 will interfere with the operator's arm, hindering the operator's work. Therefore, when the operator transports the storage container 20 while gripping the handle, or when the operator places the storage container 20 on the placement portion 55, the extension member 60 is removed. This prevents the operator from holding the handle of the storage container 20 due to the extension member 60. In this case, it is also possible to attach only the second detachable portion 63. This allows the operator to hold the container cover without hindering the operator from holding the handle of the storage container 20.
In addition, it is advisable to remove the expansion member 60 when cleaning the storage container 20 and the expansion member 60. This allows the storage container 20 and the expansion member 60 to be cleaned separately, making the cleaning operation easier.
In this way, by appropriately attaching and detaching the extension member 60 as needed, it is possible to improve the convenience for the worker.

When the extension part 61 is attached to the storage container 20, it guides an object that has come into contact with the extension part 61 as the articulated robot 30 performs a grasping operation toward the opening surface of the storage container 20.
As a result, when an object is grasped by the articulated robot 30, if the object becomes uncontrollable as a result of the execution of a grasping operation, it can be guided toward the opening surface of the storage container 20.

When the extension portion 61 is attached to the storage container 20, the extension portion 61 is configured in a shape that extends the opening surface of the storage container 20 to a position vertically above the position where the articulated robot 30 performs the grasping operation.
This makes it possible to more reliably prevent an object from scattering or falling outside the storage container 20 when the object is grasped by the articulated robot 30, if the object is scattered or dropped during the grasping operation.

The grasping operations performed by the articulated robot 30 include at least one of the following: transporting the grasped object, rotating the grasping member that grasps the object, releasing the grasped object, and removing the object attached to the grasping member.
This makes it possible to more reliably prevent an uncontrollable object from flying outside the storage container 20 in a situation where there is a high possibility of the object flying off during a grasping operation performed by the articulated robot 30.

When the expansion portion 61 is attached to the storage container 20, the expansion portion 61 is configured in a shape that expands horizontally as it extends vertically upward, thereby further expanding the opening surface of the storage container 20 in the horizontal direction.
This makes it possible to more reliably prevent objects scattered horizontally from scattering outside the storage container 20.

The first detachable portion 62 and the second detachable portion 63 are configured in a shape that allows the expansion portion 61 to be attached to at least one of the multiple sides that form the opening surface of the storage container 20.
This makes it possible to attach the extension parts 61 only to the sides where the ingredients are likely to splash, rather than attaching the extension parts 61 to all sides.

The first detachable part 62 and the second detachable part 63 are configured to have a shape that, when attached to the storage container 20 , maintains the state in which the cover covering the storage container 20 covers the storage container 20 .
As a result, the first detachable portion 62 and the second detachable portion 63 not only attach the expansion portion 61 to the storage container 20, but also enable the cover covering the storage container 20 to maintain the state in which it covers the storage container 20.

The above-described embodiment and modifications are merely examples of the present invention, and various embodiments that realize the functions of the present invention are included in the scope of the present invention.
For example, in the above-mentioned embodiment and modified example, the present invention has been described as being applied to a gripping system for serving prepared foods, but the present invention can be applied to systems for gripping various objects. For example, the present invention can be applied to a system for gripping highly viscous or adhesive materials such as kneaded mortar, concrete, plaster, clay, etc. The present invention is suitable for gripping objects having a viscosity of medium viscosity or higher (5000 mPa·s) at working temperature or room temperature.
Furthermore, the examples described in the above-described embodiments can be appropriately combined to implement the present invention.
The above-described series of processes can be executed by hardware or software.
In other words, the functional configuration in Fig. 3 is merely an example and is not particularly limited. In other words, it is sufficient that the grasping system 1 is provided with a function capable of executing the above-mentioned series of processes as a whole, and the type of functional block used to realize this function is not particularly limited to the example in Fig. 3.
Furthermore, one functional block may be configured as a single piece of hardware, a single piece of software, or a combination of both.

When the series of processes is executed by software, the program constituting the software is installed into a computer or the like from a network or a recording medium.
The computer may be a computer built into dedicated hardware, or may be a computer capable of executing various functions by installing various programs, such as a general-purpose personal computer.

The storage medium that stores the program is composed of removable media distributed separately from the device body, or storage media that is pre-installed in the device body. Removable media is composed of, for example, a magnetic disk, optical disk, magneto-optical disk, or flash memory. Optical disks are composed of, for example, CD-ROMs (Compact Disk-Read Only Memory), DVDs (Digital Versatile Disks), Blu-ray Discs (registered trademark), etc. Magneto-optical disks are composed of, for example, MDs (Mini-Disks), etc. Flash memory is composed of, for example, USB (Universal Serial Bus) memory or SD cards. Storage media pre-installed in the device body is composed of, for example, a ROM or hard disk in which the program is stored.

In this specification, the steps of describing a program to be recorded on a recording medium include not only processes that are performed chronologically according to the order, but also processes that are not necessarily performed chronologically but are executed in parallel or individually.
In addition, in this specification, the term "system" refers to an overall device that is composed of a plurality of devices, a plurality of means, etc.

The above embodiment shows an example of the application of the present invention, and does not limit the technical scope of the present invention. In other words, the present invention can be modified in various ways, such as by omission or substitution, without departing from the gist of the present invention, and various embodiments other than the above embodiment can be adopted. The various embodiments and modifications that the present invention can adopt are included in the scope of the invention described in the claims and their equivalents.

1 gripping system, 2 belt conveyor, 10 control device, 20 storage container, 30 articulated robot, 30A weight sensor, 30B force sensor, 31 hand, 31a gripping member, 32 robot arm, 40 detection unit, 41, 42 container detection sensor, 43 reflector arrangement unit, 44 ingredient detection sensor, 50 transport mechanism, 51 actuator, 52 slide member, 53 connection unit, 531 first transport member, 532 second transport member, 54 container mounting member, 541 guide unit, 542 bottom, 543 slit, 55 mounting unit, 60, 60a extension member, 61, 61a extension unit, 62, 62a first detachable unit, 63, 63a Second detachable unit, 621, 622, 623, 631, 632, 633, 631a, 632a, 633a clamping unit, 621a, 622a insertion unit, 151 sensor information acquisition unit, 152 ingredient state determination unit, 153 ingredient amount determination unit, 154 articulated robot control unit, 155 transport mechanism control unit, 156 recording control unit, 171 parameter storage unit, 172 history database (history DB), 711 CPU, 712 ROM, 713 RAM, 714 bus, 715 input unit, 716 output unit, 717 storage unit, 718 communication unit, 719 drive, 731 removable media, L1, L2 optical path

Claims (6)

A holding system including a holding device and an expansion member detachable from a container in which an object to be held by the holding device is contained ,
the holding device performs at least one of the following operations as an operation related to holding: holding the object in the container, transferring the held object, rotating a member that holds the object, and removing the object attached to the holding member;
The expansion member is
a detachable portion for attaching and detaching the expansion member to and from the storage container;
an expansion portion configured to expand an opening surface of the storage container at least in a vertical direction when the expansion portion is attached to the storage container;
Equipped with
The expansion unit guides the object that has come into contact with the expansion unit as the holding device executes the holding operation toward an opening surface of the storage container.
A retention system comprising: The holding device performs at least a transfer of the object being held as an operation related to holding,
The transfer includes moving the object in a horizontal direction on the container while holding the object.
2. The retention system of claim 1 . The holding device performs the holding operation at a position lower than the highest position where the expansion portion expands the opening surface of the storage container in the vertical direction.
3. A retention system according to claim 1 or 2 . When the expansion portion is attached to the storage container, the expansion portion is configured to expand horizontally as it moves vertically upward, thereby further expanding the opening surface of the storage container in the horizontal direction.
3. A support system according to claim 1 or 2 . The detachable portion is configured to have a shape that allows the expansion member to be attached to at least one of a plurality of sides that constitute an opening surface of the storage container.
3. A support system according to claim 1 or 2 . The detachable part is configured to have a shape that maintains a state in which a cover covering the storage container covers the storage container when the detachable part is attached to the storage container.
3. A support system according to claim 1 or 2 .

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