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JP-7854815-B2 - Weighing device, weighing method, and food weighing system

JP7854815B2JP 7854815 B2JP7854815 B2JP 7854815B2JP-7854815-B2

Inventors

  • 筒井 泰之
  • 多田 遊
  • 塚本 真也
  • 藤森 菜々瀬

Assignees

  • 株式会社ニチレイフーズ

Dates

Publication Date
20260507
Application Date
20220204

Claims (11)

  1. A robot hand including a gripping section for gripping an article being transported by a transport surface, a receiving section for receiving the article from the gripping section, and a measuring section for measuring the weight of the article received by the receiving section, A control unit for controlling the robot hand, A first actuator moves the gripping portion in a first direction opposite to the transport surface and in a second direction opposite to the first direction, The receiving portion is Evacuation location and The measurement position where the article is located between the gripping portion and the gripping portion A second actuator that moves between, A weighing device equipped with [a specific feature].
  2. A robot hand including a gripping section for gripping an article being transported by a transport surface, a receiving section for receiving the article from the gripping section, and a measuring section for measuring the weight of the article received by the receiving section, A control unit for controlling the robot hand, Equipped with, The control unit, The gripping portion is moved in a first direction opposite to the transport surface, and the article on the transport surface is gripped by the gripping portion. The gripping portion that is gripping the article is moved from the transport surface in a second direction opposite to the first direction. Move the receiving portion from the retracted position to the measurement position where the article is located between it and the gripping portion. By releasing the article from the gripping portion, the article is received by the receiving portion. Weighing device.
  3. The control unit, The article measured by the measuring unit is moved from the receiving unit to the gripping unit, While the article is being held by the gripping portion, the receiving portion is moved to the retracted position. The weighing device according to claim 2, wherein the gripping portion is moved in the first direction, releasing the article from the gripping portion, thereby placing the article on the conveying surface.
  4. A robot hand including a gripping section for gripping an article being transported by a transport surface, a receiving section for receiving the article from the gripping section, and a measuring section for measuring the weight of the article received by the receiving section, A control unit for controlling the robot hand, Equipped with, The control unit causes the gripping unit to grip the article from the first region of the transport surface. The robot hand is moved to a second position corresponding to a first position through which the first region passes, one hour after the article is grasped. A weighing device that places an article onto a first region by releasing the article from the gripping portion in accordance with the timing at which the first region passes the first position.
  5. The weighing device according to claim 4, wherein the control unit determines the second position to which the robot hand moves based on the first time and the moving speed of the conveying surface.
  6. The system includes a movement measurement unit that measures the amount of movement of the conveying surface after the item has been grasped from the conveying surface. The control unit determines the timing based on the amount of movement . The weighing device according to claim 4 or 5.
  7. The measuring unit has a load cell that converts the weight of the article received by the receiving unit into an electrical signal. The receiving portion is coupled to the load cell, The receiving portion is moved integrally with the load cell . A weighing device according to any one of claims 1 to 6.
  8. The aforementioned article is a processed food, The gripping portion has a non-contact suction pad that grips the processed food in a non-contact manner by ejecting gas from an opening. The gripping portion includes a guide member that surrounds the side of the processed food, which is gripped in a non-contact state by the non-contact suction pad, in accordance with the shape of the processed food . A weighing device according to any one of claims 1 to 7.
  9. The non-contact suction pad is placed on the guide member, The opening of the non-contact suction pad faces the space surrounded by the guide member , The weighing device according to claim 8.
  10. The robot hand grasps the article on the transport surface where the article is being transported, The article gripped by the gripping part is received from the gripping part by the receiving part of the robot hand. The weight of the item received by the receiving part is measured by the measuring part of the robot hand. The measured article is grasped by the gripping part from the receiving part, The article gripped by the gripping part is released to the transport surface. Weighing method.
  11. A food processing apparatus that processes food to produce processed food, and places the processed food on a conveying surface, A robot hand comprising: a gripping section for gripping the processed food being transported on the transport surface; a receiving section for receiving the processed food from the gripping section; and a measuring section for measuring the weight of the processed food received by the receiving section; A first control unit that controls the robot hand, A second control unit controls the processing of the food by the food processing apparatus based on the weight of the processed food, A first actuator moves the gripping portion in a first direction opposite to the transport surface and in a second direction opposite to the first direction, The receiving portion is Evacuation location and The measurement position where the processed food is located between the gripping portion and the measurement position A second actuator that moves between, A food weighing system equipped with [specific features/features].

Description

This disclosure relates to weighing devices, weighing methods, and food weighing systems. In production plants, particularly those producing processed foods, there is a growing trend towards automating or mechanizing various tasks to reduce labor. For example, Patent Document 1 below describes a technique for measuring the weight of an article by using an air suction mechanism or air chuck mechanism to suction and grip the article, based on the external force acting on the article and the article's acceleration. However, this technology has a problem in that the weight value is unstable due to the constant flow of air supplied by the air suction mechanism or air chuck mechanism when measuring the weight of an object. Publication No. 2013-185846 A diagram showing an example of a production line in a food factory according to the first embodiment.A side view showing an example of the overall configuration of a food weighing robot.A functional block diagram of an example of a food weighing robot.A perspective view showing a detailed example of the guide member's configuration.A top view showing a detailed configuration example of the guide member and non-contact suction pad.A cross-sectional view showing a detailed configuration example of the guide member and non-contact suction pad.A bottom view showing a detailed configuration example of the guide member and non-contact suction pad.A cross-sectional view showing how a spring roll is held by suction without contact.A bottom view showing how the spring roll is held by suction in a non-contact manner.A flowchart illustrating an example of weighing processing using a food weighing robot.A diagram illustrating one frame of a moving image captured by a camera.A diagram illustrating an example of how a food weighing robot operates.A diagram illustrating an example of how a food weighing robot operates.A diagram illustrating an example of how a food weighing robot operates.A diagram illustrating an example of how a food weighing robot operates.A diagram illustrating an example of how a food weighing robot operates.A diagram illustrating an example of how a food weighing robot operates.A diagram illustrating an example of how a food weighing robot operates.A diagram illustrating an example of how a food weighing robot operates.A diagram illustrating an example of how a food weighing robot operates.A diagram illustrating an example of how a food weighing robot operates.A diagram showing an example of a food weighing system according to the second embodiment. The embodiments of this disclosure will be described below with reference to the drawings. In the drawings, identical or corresponding elements are denoted by the same reference numerals, and detailed descriptions will be omitted where appropriate. While the core of the embodiments of this disclosure relates to a weighing device, weighing method, and weighing system for articles, processed foods will be used as specific examples in the description. (First Embodiment) Figure 1 shows a production line in a food factory where a food weighing robot 10 according to the first embodiment of this disclosure is installed. Four spring roll wrapping devices 1a to 1d are arranged as an example of processed food. Spring rolls F formed by the wrapping devices 1a to 1d are transported by a belt conveyor 2 including a transport surface. The wrapping devices 1a to 1d wrap the spring roll ingredients in wrappers to form a rectangular shape and drop them onto the transport belt 3 of the belt conveyor 2. The transport belt 3 of the belt conveyor 2 is constantly driven at a constant speed, and the spring rolls F on the transport belt 3 are transported at a constant speed in the direction indicated by the arrow D in the figure. Note that the number of wrapping devices is not limited to four. The number of wrapping devices may be one, or any number of two or more. Hereafter, the direction indicated by arrow D in the figure will be defined as the "conveying direction." The side from which the conveying originates, i.e., the side where the winding devices 1a to 1d are located, will be defined as the "upstream side." The side from which the conveying destinations, i.e., the side in the direction of conveyance by the conveyor belt 3, will be defined as the "downstream side." Furthermore, the plane formed by the conveyor belt 3 will be defined as the "conveying surface S." In Figure 1, the winding devices 1a to 1d are arranged horizontally in a row of four relative to the conveying direction. Each spring roll F formed by the winding devices 1a to 1d is conveyed horizontally in a row of four relative to the conveying direction, from the upstream side to the downstream side, at a constant speed. In Figure 1, the winding devices 1a to 1d are arranged in a row of four horizontally with respect to the conveying direction, but other arrangements are also possible. The discharge ports of the winding devices 1a to 1d should be positioned so that ea