Hand device, food dishing device using hand device, and food batch formation device
A hand device for holding a food article with left and right finger-shaped portions that are configured to be operated to open and close. Each of the left and right finger-shaped portions includes a first member and a second member that are configured to be independently operated to open and close, wherein the first member and the second member are disposed in a vicinity of each other in each of the left and right finger-shaped portion. For each of the left and right finger-shaped portions, an inner edge portion of the first member is configured to be projected and retracted relative to an inner edge portion of the second member when the first member is being operated to open and close.
1 . A hand device for holding a food article with left and right finger-shaped portions that are configured to be operated to open and close, wherein each of the left and right finger-shaped portions includes a first member and a second member that are configured to be independently operated to open and close,
the first member and the second member are disposed in a vicinity of each other in each of the left and right finger-shaped portion, and
for each of the left and right finger-shaped portions, an inner edge portion of the first member is configured to be projected and retracted relative to an inner edge portion of the second member when the first member is being operated to open and close,
wherein the hand device further comprises a scooping portion configured to be advanced into and retracted from a space between the left and right finger-shaped portions,
wherein the scooping portion includes a belt-shaped conveyance member that is inclined at a predetermined angle with respect to an up-down direction.
2 . The hand device according to claim 1 , wherein
for each of the left and right finger-shaped portions, the second member includes a space portion, and the inner edge portion of the first member is configured to be projected from and retracted into the space portion when the first member is being operated to open and close.
3 . The hand device according to claim 1 , wherein
the inner edge portion of each of the left and right first members and the left and right second members is formed in an up-down direction, and
lower end portions of the left and right first members include engagement portions extending toward each other.
4 . The hand device according to claim 1 , wherein
when the hand device holds a food article with the left and right finger-shaped portions, the left and right first members operate in closing directions before the left and right second members, and the inner edge portions of the left and right first members project inward beyond the inner edge portions of the left and right second members, and
when the hand device removes the held food article from the left and right finger-shaped portions, the left and right first members open before the second members, and the inner edge portions of the left and right first members retract outward beyond the inner edge portions of the left and right second members.
5 . The hand device according to claim 1 , wherein a driving device is disposed in an upper portion of the hand device, the driving device being configured to cause the left and right first members to open and close and cause the left and right second members to open and close.
6 . The hand device according to claim 1 , further comprising:
a removal aid means configured to operate in conjunction with opening operation of the left and right first members to aid removal of the held food article,
wherein the removal aid means includes a means for ejecting fluid toward a center position between the left and right finger-shaped portions or a position adjacent to the center position.
7 . A food batch formation device using the hand device according to claim 6 , the food batch formation device comprising a controller configured to perform the steps of:
holding a middle portion in a length direction of a food article located at a collection position by operating the left and right first members and the left and right second members in closing directions and lifting the hand device to collect the food article with opposite end portions of the food article hanging down;
changing an orientation in plan view of the hand device that has collected the food article and moving the hand device to a position above a set region that is spaced apart from the collection position; and
lowering the hand device while moving the hand device in a direction opposite to a moving direction in the immediately prior step at the position above the set region and removing the held food article by operating the left and right first members and the left and right second members in opening directions and operating the removal aid means to place the food article in the set region in a state of being folded in half,
wherein the controller is configured to automatically and repeatedly perform the steps to form a food batch including a plurality of food articles in the set region.
8 . The hand device according to claim 1 , wherein
when the scooping portion is being advanced to between the left and right finger-shaped portions, the left and right first members operate in the closing directions before the left and right second members,
the left and right first members are configured to be opened before the scooping portion retracts from between the left and right finger-shaped portions, and
the left and right second members are configured to be opened in a process in which the scooping portion retracts from between the left and right finger-shaped portions or when the scooping portion has retracted from between the left and right finger-shaped portions.
9 . A food batch formation device using the hand device according to claim 1 , the food batch formation device comprising a controller configured to perform the steps of:
scooping a food article located at a collection position obliquely upward with the scooping portion of the hand device and operating the left and right first members and the left and right second members in closing directions to collect the scooped food article in a state of being deformed in a shape of letter U;
moving the hand device that has collected the food article to a position above a set region that is set on a base surface of a tray or the like spaced apart from the collection position; and
operating the left and right first members in opening directions at a position above the set region and lowering the food article obliquely downward with the scooping portion while limiting opening of an end portion of the food article with the second members to place the food article remaining in the shape of letter U in plan view in the set region,
wherein the controller is configured to automatically and repeatedly perform the steps to form a food batch including a plurality of food articles in the set region.
10 . A food arrangement device using a hand device for holding a food article with left and right finger-shaped portions that are configured to be operated to open and close, wherein each of the left and right finger-shaped portions includes a first member and a second member that are configured to be independently operated to open and close, the first member and the second member are disposed in a vicinity of each other in each of the left and right finger-shaped portion, and for each of the left and right finger-shaped portions, an inner edge portion of the first member is configured to be projected and retracted relative to an inner edge portion of the second member when the first member is being operated to open and close, the food arrangement device comprising a controller configured to perform the steps of:
holding a middle portion in a length direction of a food article located at a collection position with the left and right finger-shaped portions of the hand device to cause opposite end portions of the food article to hang down;
moving the hand device to a position above a set region that is spaced apart from the collection position; and
lowering and laterally moving the hand device relative to the set region to bring the food article into contact with the set region from a hanging end side of the food article, cause the food article to lay down in a folded state, and discontinue the hold by the left and right finger-shaped portions.
11 . A food batch formation device using a hand device for holding a food article with left and right finger-shaped portions that are configured to be operated to open and close, wherein each of the left and right finger-shaped portions includes a first member and a second member that are configured to be independently operated to open and close, the first member and the second member are disposed in a vicinity of each other in each of the left and right finger-shaped portion, and for each of the left and right finger-shaped portions, an inner edge portion of the first member is configured to be projected and retracted relative to an inner edge portion of the second member when the first member is being operated to open and close, the food batch formation device comprising a controller configured to perform the steps of:
holding a middle portion in a length direction of a food article located at a collection position by operating the left and right first members and the left and right second members in closing directions and lifting the hand device to collect the food article with opposite end portions of the food article hanging down;
moving the hand device that has collected the food article to a position above a set region that is spaced apart from the collection position; and
lowering the hand device while laterally moving the hand device at the position above the set region and operating the left and right first members and the left and right second members in opening directions to place the food article in the set region in a state of being folded in half,
wherein the controller is configured to automatically and repeatedly perform the steps to form a food batch including a plurality of food articles in the set region.
12 . The food batch formation device according to claim 11 , wherein a number of food articles forming the food batch is automatically changed according to sizes of the food articles to adjust a weight of the food batch to be within a set range.
13 . The food batch formation device according to claim 12 , further comprising:
an image-capturing means for capturing an image of a food article before being collected at the collection position,
wherein a size of the food article is obtained from an image-capturing result of the image-capturing means.
14 . The food batch formation device according to claim 12 , wherein, when a size of the food article is smaller than a set size, collection of the food article is automatically prohibited.
15 . The food batch formation device according to claim 11 , wherein
a plurality of rows and a plurality of columns for arranging food articles are set in the set region, and
a number of columns in each row is automatically changed according to a size of a food article to adjust a weight of the food batch to be within a set range.
16 . The food batch formation device according to claim 11 , wherein
a plurality of rows and a plurality of columns for arranging food articles are set in the set region, and
a number of columns in each row, or a number of columns in each row and intervals between the columns are automatically changed according to a size of the food article to be placed at a beginning of each row.