| 摘要 |
PROBLEM TO BE SOLVED: To control the amount by which a pad having a vacuum suction mechanism is lowered to an appropriate value at which it does not damage food, etc., when the food is conveyed by the pad. SOLUTION: When a set of pads is lowered and a vacuum sensor detects that the set of pads has sucked food, a food height computing part 4 and a hand position computing part 5 compute the height of the food. A hand refall computing part 6 computes the amount by which the pads should fall again in proportion to the height of the food, and based on this data a main control part 1 directs a hand driving part 3 to lower the pads again. Thus even if the food height is varied, the pads come to a position appropriate for sucking, so the food can surely be sucked and fed out. |
