EP2621815A1 - Dispositif de transport de produit permettant de lever un produit depuis un moyen de transport - Google Patents
Dispositif de transport de produit permettant de lever un produit depuis un moyen de transportInfo
- Publication number
- EP2621815A1 EP2621815A1 EP11763791.8A EP11763791A EP2621815A1 EP 2621815 A1 EP2621815 A1 EP 2621815A1 EP 11763791 A EP11763791 A EP 11763791A EP 2621815 A1 EP2621815 A1 EP 2621815A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- product
- conveying
- lifting mechanism
- conveying means
- slots
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0045—Manipulators used in the food industry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/06—Packaging slices or specially-shaped pieces of meat, cheese, or other plastic or tacky products
- B65B25/065—Packaging slices or specially-shaped pieces of meat, cheese, or other plastic or tacky products of meat
Definitions
- Product conveying device for lifting a product from a conveying means
- the invention relates to a product conveying device for lifting a product from a conveying means.
- a product conveying device comprising a substantially horizontally disposed conveying means for supplying a product, a movable support and a lifting mechanism mounted on the movable support for lifting the product from the conveying means.
- the conveying means is provided with a plurality of slots extending in one direction, and the lifting mechanism comprises support elements that cooperate with the slots.
- the movable support is designed for displacing the lifting mechanism, such that the support elements can be moved into the slots from above, wherein the support elements can be moved under the product in the direction in which the slots extend and wherein the product being supplied can subsequently be lifted from the conveying means by means of the support elements.
- the movable support is designed for causing the support elements to move in the conveying direction along with the slots in the conveying means, prior to the lifting of the product from the conveying means, when the product is positioned above the support elements.
- the conveying means is closed at the bottom side. This has the advantage that if products which leak fluid and/or crumble are being supplied by the conveying means, said products will remain on the conveying means until it is cleaned. The area surrounding the conveying means will thus remain clean.
- the direction in which the slots are provided in the conveying means is the conveying direction, so that the product can be positioned above the support elements by moving the conveying means.
- the direction in which the slots are provided in the conveying means is a direction different from the conveying direction, so that the support elements can be positioned under the product through displacement of the lifting mechanism.
- the lifting mechanism is provided with a movable clamping mechanism for at the upper side clamping of the product, whilst at the bottom side the product is supported by the support elements. This makes it possible to secure the product from falling off the support elements as a result of further movements of the lifting mechanism and the associated support arm.
- the lifting mechanism is provided with tilting means for tilting the lifting mechanism. After the product has been clamped down by means of the clamping mechanism, it is possible to tilt the product, for example downward, making it readily possible to present the product for further processing and/or transport.
- the conveying device is provided with a sensor for scanning the conveying means for the purpose of detecting a product and determining the position thereof relative to the conveying means.
- the sensor is connected to a control unit.
- the conveying device is also provided with means for determining the velocity of the conveying means, and the control unit is designed for determining the location and the velocity of the product on the basis of the velocity of the conveying means and the position determined by the sensor.
- the movable supports and the lifting mechanism can be controlled by the control unit, and the control unit is designed for controlling the movable support and the lifting mechanism to carry out the above-described movements.
- Figure 1 shows a conveying device according to the invention.
- Figure 2 shows a preferred embodiment of the conveying device according to the invention.
- Figure 3a shows a conveying device according to the invention, in which the support elements are shown to be positioned in the slots of the conveying means and in which a product is being supplied.
- Figure 3b shows conveying device according to the invention, in which the product being supplied makes contact with the lifting mechanism.
- Figure 4a shows a conveying device according to the invention, showing the lifted and clamped-down product.
- Figure 4b shows a conveying device according to the invention, showing the product in a tilted position.
- Figure 1 shows a conveyor belt 101 as the conveying means, which conveyor belt 101 is preferably provided with slots extending in the conveying direction 108.
- the conveyor belt 101 may be made up of links, and the slots 106 are made up by recesses formed by ridges 107 provided on the links.
- Figure 1 further shows a lifting mechanism 102, which is made up of a frame 109, to which support elements 103 are attached.
- Said support elements 103 are configured as fingers, which can be moved into the slots 106 of the conveyor belt 101 in substantially horizontal direction. The fingers 103 can in that case be moved into the slots 106 in a direction parallel to the ridges 107.
- a clamping mechanism 104 is optionally provided.
- Stop elements 105 may also be optionally provided. The stop elements 105 function to stop a product being supplied on the conveyor belt 101 , with the product sliding over the fingers 103 positioned in the slots 106 and subsequently coming to a stop against the stop elements 105.
- the ridges 107 and the slots 106 may also be provided in the conveyor belt in a direction other than the conveying direction 108. It is conceivable, for example, for the slots 106 to be provided in a direction perpendicular to the conveying direction.
- the lifting mechanism 102 will in that case be positioned in the slots 106 of the conveyor belt 101 with the fingers 103 extending in the same direction as the slots 106, in which case it will be necessary for the lifting mechanism 102 to move along in the conveying direction 108 in its entirety. After the fingers 103 have been placed in the slots 106 of the conveyor belt 101 , the fingers 103 will then need to be moved under a product, whereupon the product 213 can be lifted from the conveyor belt 101.
- the conveyor belt 101 may be open to the bottom side, but it is also possible for the conveyor belt 101 to have a closed bottom side, which has the advantage that if parts fall from the product 213, the area around the conveyor belt 101 will not become fouled and the conveyor belt as a whole will move at the same velocity V in the direction 108.
- Figure 1 also shows a support arm 1 12, on which the lifting mechanism 102 is mounted.
- the support arm 1 12 makes it possible to cause the lifting mechanism 102 to move above the conveyor belt 101.
- the support arm 112 may be a robot arm, for example, which can move in a number of degrees of freedom, preferably in x-, y- or z-direction, in the conveying direction, the direction perpendicular to the conveying direction and in the plane perpendicularly to the plane of the conveyor belt 101 , respectively.
- the lifting mechanism 102 may furthermore be connected to the robot arm 112 in such a manner as to be rotatable about a vertical axis.
- FIG. 2 shows a preferred embodiment of the conveying device according to the invention.
- a sensor 209 is disposed above the conveyor belt 101.
- Said sensor 209 is preferably a vision camera.
- a vision camera is a camera which generates a series of images in a field of vision 210, making it possible, in cooperation with a control unit, to carry out at least one of measurements, image processing and image recognition.
- the vision camera 209 has a field of vision 210 on the conveyor belt 101.
- the vision camera 209 is connected to a control unit 21 1 .
- the control unit 211 has a processor and a memory and is designed for receiving data from the vision camera 209, such as at least one of a position relative to the lifting mechanism, orientation and time of passage of a product 213, conveyor belt velocity V, and carrying out arithmetic operations for controlling the conveying device according to the invention.
- the robot arm 112 and the lifting mechanism 102 can be controlled by means of the control unit 21 1.
- the conveyor belt 101 may be provided with a velocity and position sensor 214. Said sensor 214 is connected to the control unit 211. As soon as a product 213 comes within the field of vision 210 of the camera 209, the control unit 21 1 will detect its presence and determine the position of the object on the conveyor belt. Based on the velocity V in the conveying direction 108 detected by the sensor 214 and the passage of the product 213 through the field of vision 210 of the vision camera 209, the control unit 21 1 can determine the location and the point in time of the readying of the support elements 103 and the lifting of the objects 213 from the conveyor belt 101 and, optionally, the moving of the support elements 103 along with the product 213 before lifting takes place. Prior to said point of time, the fingers 103 of the lifting mechanism 102 are moved into the slots 106 of the conveyor belt 101 by means of the robot arm 112.
- the conveyor belt 101 is driven under the control of the control unit 21 1.
- the velocity V of the conveying means is in that case determined by the control unit 211 , and a velocity sensor is not needed.
- the velocity V of the passage of the product 213 can be determined by the vision camera 209 by measuring the difference in position of the product 213 between two images at a specified time interval.
- the product 213 can be placed beside the conveyor belt 101 , to the left or to the right thereof, and/or at another level above or below said conveyor belt 101 , for further processing and/or transport. This is determined by the degrees of freedom of the robot arm 1 12.
- Figures 3a and 3b show details of the lifting of an object 213 with the lifting mechanism 102 according to the invention.
- the fingers 103 of the lifting mechanism 102 have been moved into the slots 106 of the conveyor belt 101 .
- the fingers 103 fall within the ridges 107 on the conveyor belt 101. This takes place while the conveyor belt 101 is moving the product 213 in the conveying direction 108 at the velocity V.
- the product 213 has arrived above the fingers 103.
- the product 213 may be stopped by stop elements 105.
- the product 213 can be clamped down by means of a movable and controllable product clamp 104 mounted on the frame by swinging said clamp down onto the product 213.
- the lifting mechanism 102 can move along at the velocity V with the product 213 in the conveying direction 108 of the conveyor belt 101 so as to prevent damage, deformation or undesirable displacement of the product 213.
- the product 213 may first be lifted from the conveyor belt 101 and subsequently be clamped down by means of the product clamp 104. Many variations to this are possible, depending on the nature and composition of the product to be lifted.
- Figures 4a and 4b show the product 213 in the lifted position.
- the lifting mechanism 102 holding the clamped-down product 213 is positioned above the conveyor belt 101.
- Figure 4b shows an embodiment of the lifting mechanism 102, in which the lifting mechanism 102 is provided with a tilting mechanism 415, 416, wherein the product clamp 104 and the fingers 103 can be tilted about a pivot 416 relative to the frame 109 by means of an actuator 415, so that tilting of the lifted product 213 clamped down by means of the product clamp 104 is possible.
- a preferred direction of tilting is a downward direction, so as to make it possible to release the product 213 for a next processing phase, for example packaging or further transport.
- the product 213 can in that case fall into a packaging unit or container under the influence of the force of gravity. Also in this case many variations are possible as regards the tilting direction and the tilt angle.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Food Science & Technology (AREA)
- Robotics (AREA)
- Specific Conveyance Elements (AREA)
Abstract
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL2005406A NL2005406C2 (nl) | 2010-09-27 | 2010-09-27 | Producttransportinrichting voor het van een transportmiddel tillen van een product. |
PCT/NL2011/050633 WO2012044157A1 (fr) | 2010-09-27 | 2011-09-20 | Dispositif de transport de produit permettant de lever un produit depuis un moyen de transport |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2621815A1 true EP2621815A1 (fr) | 2013-08-07 |
Family
ID=43731832
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP11763791.8A Withdrawn EP2621815A1 (fr) | 2010-09-27 | 2011-09-20 | Dispositif de transport de produit permettant de lever un produit depuis un moyen de transport |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP2621815A1 (fr) |
NL (1) | NL2005406C2 (fr) |
WO (1) | WO2012044157A1 (fr) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013015020A1 (de) * | 2013-09-10 | 2015-03-12 | Weber Maschinenbau Gmbh Breidenbach | Robotergreifer zum Wenden von Lebensmittelportionen |
JP2019000007A (ja) * | 2017-06-12 | 2019-01-10 | 株式会社なんつね | 食肉盛付装置 |
WO2019072908A1 (fr) | 2017-10-13 | 2019-04-18 | Teknologisk Institut | Dispositif de préhension pour la manipulation de pièces à usiner |
JP7110799B2 (ja) * | 2018-07-31 | 2022-08-02 | 株式会社ダイフク | 搬送装置 |
FR3109264A1 (fr) * | 2020-04-15 | 2021-10-22 | Ekim | Procédé de récupération d’une préparation culinaire |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2725430A1 (fr) * | 1994-10-11 | 1996-04-12 | Aoste | Dispositif de prehension et de manipulation d'un lot de tranches d'un produit alimentaire |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2108640C3 (de) * | 1970-02-26 | 1979-03-29 | Union Carbide Corp., New York, N.Y. (V.St.A.) | Vorrichtung zum Verpacken von Gegenständen wie großstückigen Lebensmitteln |
WO2005016799A2 (fr) * | 2003-08-18 | 2005-02-24 | Fps Food Processing Systems B.V. | Appareil conçu pour transporter des objets |
-
2010
- 2010-09-27 NL NL2005406A patent/NL2005406C2/nl not_active IP Right Cessation
-
2011
- 2011-09-20 EP EP11763791.8A patent/EP2621815A1/fr not_active Withdrawn
- 2011-09-20 WO PCT/NL2011/050633 patent/WO2012044157A1/fr active Application Filing
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2725430A1 (fr) * | 1994-10-11 | 1996-04-12 | Aoste | Dispositif de prehension et de manipulation d'un lot de tranches d'un produit alimentaire |
Also Published As
Publication number | Publication date |
---|---|
NL2005406C2 (nl) | 2011-06-21 |
WO2012044157A1 (fr) | 2012-04-05 |
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RIC1 | Information provided on ipc code assigned before grant |
Ipc: B65B 25/06 20060101AFI20140428BHEP Ipc: B65G 47/90 20060101ALI20140428BHEP Ipc: B65B 35/16 20060101ALI20140428BHEP Ipc: B65G 17/06 20060101ALI20140428BHEP |
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RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: MOONEN BEHEER B.V. |
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RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: IRMATO HOLDING VEGHEL B.V. |
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RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: IRMATO HOLDING VEGHEL B.V. |
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