EP3898134A1 - Dispositif de préhension - Google Patents

Dispositif de préhension

Info

Publication number
EP3898134A1
EP3898134A1 EP19832079.8A EP19832079A EP3898134A1 EP 3898134 A1 EP3898134 A1 EP 3898134A1 EP 19832079 A EP19832079 A EP 19832079A EP 3898134 A1 EP3898134 A1 EP 3898134A1
Authority
EP
European Patent Office
Prior art keywords
product
gripping
gripping elements
gripping device
elements
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Withdrawn
Application number
EP19832079.8A
Other languages
German (de)
English (en)
Inventor
Martin Bergmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Poly Clip System GmbH and Co KG
Original Assignee
Poly Clip System GmbH and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Poly Clip System GmbH and Co KG filed Critical Poly Clip System GmbH and Co KG
Publication of EP3898134A1 publication Critical patent/EP3898134A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C11/00—Sausage making ; Apparatus for handling or conveying sausage products during manufacture
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C11/00—Sausage making ; Apparatus for handling or conveying sausage products during manufacture
    • A22C11/008—Conveying sausages in horizontal position
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C17/00—Other devices for processing meat or bones
    • A22C17/0093—Handling, transporting or packaging pieces of meat
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
    • A22C25/08—Holding, guiding, or conveying fish before, during or after its preparation ; Devices for sizing fish; Automatically adapting conveyors or processing machines to the measured size
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C7/00—Apparatus for pounding, forming, or pressing meat, sausage-meat, or meat products
    • A22C7/0023—Pressing means
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C7/00—Apparatus for pounding, forming, or pressing meat, sausage-meat, or meat products
    • A22C7/0023—Pressing means
    • A22C7/003—Meat-moulds
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B25J15/0038—Cylindrical gripping surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears

Definitions

  • the present invention relates to a gripping device for receiving, conveying and dispensing a product, in particular a gripping device which is attached to a handling device for handling food.
  • a gripping device which is attached, for example, to a handling device, is used in the context of the present invention, on the one hand, for picking up, conveying and dispensing a product and, on the other hand, for compressing the product into a predefined form.
  • the product is preferably picked up by a product support and gripped by the gripping device.
  • the product is then transported to a predefined position by means of the handling device and released there.
  • the product is deliberately pressed on the circumference by the gripping device, preferably from above and from the side.
  • the meat strand is introduced into a shaped tube or magazine tube and pressed by means of a stop plate at one end of the shaped tube and a movable press ram.
  • the shape of the meat strand is determined by that of the shaped tube.
  • the object of the invention is to provide a gripping device which can be attached to a handling device and a method for controlling such a gripping device which is able to relieve an operator of compressing the product, preferably laterally to compress and shorten cycle times.
  • This gripping device is capable of gripping or gripping a product such as, for example, a food in the form of a strand of meat or a food equipped with a similar consistency, such as fish or bread, and for example conveying it to a further processing station.
  • the gripping device relieves an operator who carries out this activity by hand according to the prior art.
  • the process is accelerated, which leads to an increased clock frequency, production rate and efficiency, since several processing stations can be loaded with the aid of a handling device. This also saves costs.
  • the stop plate can be formed at least on a side facing the gripping elements, in particular special underside, essentially flat and / or flat.
  • the stop plate can serve to ensure that the product to be picked up by the gripping elements cannot deviate laterally upwards when the product is gripped by the gripping elements. Furthermore, the stop plate can be designed to rest on the top surfaces of the gripping elements both in the first position and in the second position.
  • the stop plate can be dimensioned in this way and / or a dimension of the stop plate in relation to a distance between the gripping elements to each other and / or a movement amplitude of the gripping elements that the stop plate in in the first position and in the second position on the top surfaces of the gripping elements.
  • a motor for example a servo motor, stepper motor, asynchronous motor and / or direct current motor, can be coupled to the gripper elements in order to control their movement, to set a pressing force to be applied to the product to be pressed and / or to take up the force that is picked up by the grippers and if necessary, to deliver pressed product to a desired further processing station, such as a meat portioning machine.
  • the motor can be configured to provide a pressing force of at least 10ON, at least 500 N, at least 1000 N, at least 1500 N, at least 2000 N, at least 2500 N or at least 3000 N.
  • the motor can react flexibly to different product dimensions, so that products of different dimensions and / or consistency can be gripped and handled by means of the gripping device according to the invention.
  • the use of the motor has proven to be particularly advantageous with regard to the handling of raw products, which have to be taken in the frozen or at least frozen state and processed further.
  • the products to be handled have a high weight and, on the other hand, considerable force is required for the molding of the (frozen on) frozen product, which can be provided or adjusted in a simple manner by means of the motor.
  • raw products can also be further processed in the (not) frozen state.
  • the gripping and subsequent compression of the product takes place as follows: vertical translational lowering of the support plates onto the product to be picked up and compressed; translatory horizontal movement of the gripping elements towards one another to form a closed receiving space between the lateral gripping elements, the stop plate arranged vertically at the top and, if appropriate, the product support arranged vertically at the bottom, such as, for example, a feed which can be implemented, for example, by a conveyor / transport belt; Exerting a desired pressure / a desired pressure force on the picked-up product by means of the gripping elements, wherein the holding force can be applied and / or controlled by means of a motor, for example a servo motor.
  • the stop plate can remain stationary and serve to prevent the product from escaping upwards.
  • the support plate rests on the top surfaces of the gripping elements in every operating position of the gripping elements. In other words, it is horizontal, translational amplitude of movement of the gripping elements set such that the stop plate always rests on the top surfaces of the gripping elements.
  • the gripping elements of the gripping device have inwardly curved gripping surfaces that are capable of at least partially engaging under the product to be picked up. This shape of the gripping elements ensures that the product does not move downwards. In addition, the shape of the product is influenced with the help of the gripping surfaces.
  • the gripping elements can for example have a shell-like shape and / or be concavely curved. Furthermore, the top surface and bottom surface of the gripping elements can be made in one piece.
  • the gripping elements can be designed and / or dimensioned such that they only partially grasp under the picked-up product, so that there is always contact between the product and the product support. For example, the gripping elements undercut less than 90%, less than 80%, less 70%, less than 60% or less than 50% of the product. In some embodiments, at least one of the gripping elements can be moved translationally and / or rotationally with respect to the basic structure.
  • the gripping elements are attached to the base structure by means of fastening means that can be detached without tools. This enables a quick interchangeability of the gripping elements, which means that the gripping elements can be adapted depending on the type of product and its shape.
  • At least one suction element is arranged on the stop plate, which at least partially lifts the product to be picked up during a suction process.
  • the suction element is used to suck the product from a support surface for the product, which can be, for example, a conveyor belt with which the product is conveyed to the gripping device.
  • the gripping elements do not have to be placed on the product support in order to grip the product in a targeted manner.
  • the suction element is embedded or integrated into the stop plate such that it forms at least approximately a straight surface with the stop plate during the suction process. This specific arrangement of the suction element ensures that the product is not undesirably deformed by the suction element.
  • each of the gripping elements is guided by means of at least two guide rods. This increases the stability of the gripping elements and prevents rotational movement about one of the guide rods or the forces to prevent such rotation are reduced.
  • the gripping elements of the gripping device are able to press the product into a predefined shape. Compression of the product is often necessary in order to insert it into a so-called shaped or magazine tube, for example. Since the conveying and pressing takes place in one processing step, time and additional components at the further processing station can be saved. For example, the product is pressed into a predefined cross-section so that it can then be released into the magazine tube of the portioning machine.
  • the predefined cross section is therefore preferably smaller than the cross section of the shaped or magazine tube of the portioning machine.
  • the handling device can enable the gripping device to pivot the food product during transport from the transport device to the magazine tube so that it is brought into a suitable position in which the food product can be delivered to the magazine tube.
  • the food product can be rotated during transport from the transport device to the magazine tube so that it is positioned perpendicular to the magazine tube and can be dispensed or thrown into the magazine tube.
  • a detection means is attached to the stop plate that is capable of detecting the product. The detection of the product is used to detect the product between the gripping elements, which enables targeted and time-controlled gripping.
  • a method for controlling a handling device with a gripping device preferably a gripping device as described above, it contains the following steps: detecting the product to be picked up on a product support, positioning the gripping elements of the gripping device in a first position in which the gripping elements positioned on opposite sides of the product to be picked up, grasping the product to be picked up by at least one of the gripping elements is reversibly moved in the direction of the product until a second position is reached, the product is compressed, the product being able to be pressed into a predefined shape by means of the gripping elements and the stop plate and, if appropriate, the product support, and the method of the gripping device with the product in a predefined position.
  • the product on the product support by means of the gripping elements, the stop plate and the product support is pressed into a predefined shape.
  • the product is pressed into a predefined shape during the method by means of the gripping elements and the stop plate.
  • a lifter can be arranged below a product support and / or a conveyor belt, the lifter being able to lift the product to be picked up and the product support and / or the conveyor belt.
  • the lifting of the product support and / or the conveyor belt serves to ensure that it is not damaged or accidentally gripped when the product is gripped by the gripping device.
  • the lifter also increases the lifespan of the product layer and / or the conveyor belt, since the gripping device has essentially no contact with it.
  • Such a configuration can also be used independently of the gripping device described above.
  • FIG. 1 shows a perspective view of a gripping device which is attached to a handling device according to one embodiment of the present invention
  • FIG. 2 shows a perspective view of the gripping device shown in FIG. 1
  • FIG. 3 shows a top view of the gripping device shown in FIG. 1
  • FIG. 4 shows a sectional view along the line V-V in FIG. 3 of the gripping device shown in FIG. 1,
  • FIG. 5 shows a front view of the gripping device shown in FIG. 1 in the open state
  • FIG. 6 shows a front view of the gripping device shown in FIG. 1 in the closed state
  • FIG. 7 shows a front view of a gripping device in the opened state according to a further embodiment of the present invention.
  • FIG. 1 shows a perspective overview view of a handling device R, which is an articulated arm robot or a six-axis robot.
  • a robot is a manipulator, which in turn is a universal, programmable machine for handling, assembling or processing workpieces or the like.
  • the handling device R could, however, also be any other device which is capable of receiving, conveying and dispensing a product.
  • a portal robot, a Scara robot, a parallel robot or a crane would be conceivable, for example.
  • the robot R stands on one or more foundation plates F, the robot R and the foundation plates F being anchored in the ground, preferably by fastening means such as screws.
  • the foundation plates F conduct large amounts of the forces generated during the operation of the robot R into the ground.
  • the term soil is to be understood here as a suitable foundation which absorbs the forces of the robot R, largely weakens it and dissipates it into the ground over a large area.
  • an end flange E is provided, which is used for the detachable attachment of a gripping device 100 according to the invention, as will be described below in connection with FIGS. 2 to 7.
  • the control of the robot R and the gripping device 100 is preferably accomplished via a separate control unit, not shown, which is connected to the robot R.
  • the gripping device 100 like the robot R, is controlled directly by the controller located in the control unit.
  • Both the gripping device 100, the robot R and the control are preferably fed by means of at least one external energy supply.
  • the articulated arm robot R is able to perform both translatory and rotary movements and is therefore free to move around in the room.
  • the gripping device 100 attached to the robot R can be controlled separately from the robot R, which is one enables simultaneous control of the robot R and the gripping device 100. This means that the gripping device 100 can be opened and closed during the movement of the robot R or the product can be pressed into a predefined shape.
  • FIGS. 2 to 4 show different views of the gripping device 100 according to the invention.
  • the gripping device 100 essentially has a cuboid basic structure 110, two gripping elements 120, drive means 130 for a translational method of the gripping elements 120 and a stop plate 140.
  • FIG. 2 shows a perspective view of the gripping device 100.
  • the gripping device 100 here consists of an essentially cuboid, elongated basic structure 110, which is preferably made of stainless steel or another food-grade material and, depending on the loads that occur, is made of a solid material or a cuboid shape Material or sheet exists.
  • the basic structure 110 can have a coating that protects the material and / or leads to the suitability of the basic structure 110 for food.
  • the cuboid basic structure 110 has a surface 110a facing the end flange E of the robot R, a parallel surface 110b facing away from the end flange E of the robot R, two opposite side surfaces 110c, a front and a rear surface 110d, the two Side surfaces 110c and the front and rear surfaces 110d connect the two surfaces 110a, 110b to one another.
  • the front surface 110d and correspondingly the opposite rear surface 110d are designed rectangular, the length and width of which are at least approximately geometrically similar.
  • the two side surfaces 110c, the surface 110a facing the end flange E and the surface 110b facing away from the end flange E of the basic structure 110 have a length which is many times greater than the length or width of the front or rear surface 110d of the basic structure 110.
  • the length of the surfaces 110a, 110b, 100c of the basic structure 110 which are perpendicular to the front and rear surfaces 110d essentially depends on the length of the product P to be accommodated.
  • the basic structure 110 is detachably attached to the end flange E of the robot R on its side, which faces the robot R in the state mounted on the robot R, by means of a coupling element 112 fastened to the basic structure 110.
  • the coupling element 112 is in this case attached centrally to the surface 110a of the base structure 110 facing the end flange E of the robot, the coupling element 112 allowing detachable attachment to the robot R.
  • the coupling element 112 is fixed to the basic structure 110 connected and has at its free end a substantially disc-shaped, unspecified connecting section which can be detachably connected to the end flange E of the robot R, for example by means of screws.
  • openings 114 are each made or incorporated in the side surfaces 110c of the basic structure 110. As shown in the sectional view in FIG. 4, the openings 114 are arranged in the longitudinal direction centrally to the side surfaces 110c of the basic structure 110.
  • cylinder extension sockets 116 or guide bushings are advantageously attached on both sides to the respective end sections of the openings 114, which are arranged such that they are oriented perpendicularly to the side surfaces 110c of the base structure 110 and laterally increase the respective axial lengths of the base structure 110.
  • the cylinder extension stubs 116 are aligned such that they are parallel to the front and rear 110d, as well as to the surface 110a facing the end flange E and to the surface 110b facing away from the end flange E.
  • FIG. 3 shows a top view of the gripping device 100.
  • the cylinder extension stubs 116 are arranged in such a way that four cylinder extension stubs 116 are provided on one end section of the side surfaces 110c of the basic structure 110.
  • two associated cylinder extension sockets 116 are associated with one of the gripping elements 120 and the closest cylinder extension sockets 116 are associated with the other gripping element 120.
  • the cylinder extension sockets 116 are embedded essentially parallel to the surface 110a facing the end flange E and surface 110b of the basic structure 110 facing away from the end flange E.
  • a cylindrical, axially reversibly displaceable piston 118 or a guide rod 118 is accommodated in each of two cylinder extension sockets 116, which advantageously has an axial length that is greater than the axial length between two opposite cylinder extension sockets 116.
  • two guide rods 118 and four cylinder extension stubs 116 are assigned to a gripping element 120.
  • the guide rods 118 are used for reversible extension and retraction of the gripping elements 120 of the gripping device 100, as shown in FIGS. 5 and 6 and will be explained in more detail below.
  • the guide rods 118 are inside the cylinder extension piece 116 is moved back and forth by a drive means 130, which is also described in more detail below.
  • the four guide rods 118 are driven with a servo motor via a toothing, preferably via a toothed rack or a spindle drive.
  • the two guide rods 118 closest to the front side 110d of the basic structure 110 are driven by a drive means 130 and the two guide rods 118 closest to the rear side 110d of the basic structure 110, which are connected to the drive means 130 via a belt drive, as a result of which the guide rods 118 perform a synchronous movement.
  • the cylinder extension stubs 116 serve on the one hand to guide the guide rods 118 and on the other hand they allow a larger gripping opening width in order to grip larger or smaller products P depending on the circumstances.
  • the basic structure 110 can be kept small in its spatial dimensions. Adapting the maximum gripping opening width of the gripping device 100 to the width of the product P on the one hand leads to the most compact possible design of the gripping device 100 and on the other hand to shorter cycle times, since when closing or opening the gripping device 100 the gripping elements 120 have to travel a shorter distance.
  • the gripping opening width of the gripping device 100 is to be increased, longer guide rods 118 are required for this.
  • the gripping elements 120 of the gripping device 100 are open, due to the extended guide rod 118, this leads to higher lever forces at the exit point of the guide rod 118 (here: side surfaces 110c of the basic structure 110). These can be reduced or weakened by using cylinder extension stubs 116, which shift the point of application of the lever force.
  • a side plate 128 is attached substantially perpendicular to the guide rods 118, the respective free end of the side plates 128 pointing away from the end flange E of the robot R.
  • the connecting elements 119 have a cylindrical indentation at one end, which can be plugged onto the guide rods 118 and can be pressed or screwed, for example.
  • means such as gluing, welding or soldering can also be used.
  • the connecting element 119 is made, for example, of stainless steel or another food-grade material.
  • the connecting element 119 can have a coating that protects the material and / or leads to the food-grade suitability of the connecting element 119.
  • the connecting element 119 is used to transmit the linear movement of the guide rods 118 to the, attached to the free ends of the connecting elements 119, side plates 128.
  • the side plates 128 are preferably welded, glued or screwed to the connecting elements 119.
  • the side plates 128 are formed by a multi-edged angled plate, a first section 128a, which is fixedly connected to the connecting element 119, essentially, with reference to FIG. 5, vertical, a second section 128b essentially horizontal and a third section 128c in the Runs essentially vertically, so that there is a stair-step-like configuration for a side plate 128.
  • the first and third sections 128a, 128c have a greater width than the second section 128b.
  • a first fold line is approximately one third the width of the side plate 128 and the second fold line is approximately two thirds the width of the side plate 128.
  • the stair-shaped side plates 128 are reinforced with cross struts or transverse plates, depending on requirements and loads.
  • the cross struts 129 or transverse sheets are arranged in such a way that they reinforce the essentially vertically bent sections of the side sheets 128.
  • the two side plates 128 are arranged essentially opposite one another, the basic structure 110 being located partially between the side plates 128.
  • a gripping element 120 is in each case attached to the side plates 128 at their free ends in the longitudinal direction, which is advantageously fastened by means of at least one fastening means 150 that can be released without tools, such as a locking lock or a manually operated screw lock.
  • fasteners such as screwing or welding, which cannot be detached without tools, can also be used to connect the side plate 128 to the gripping element 120.
  • a plurality of fastening means 150 or screw fasteners are attached in series in the longitudinal direction, which fasten the gripping elements 120 to the ends of the side plates 128 which point away from the end flange E of the robot R.
  • fastening means 150 can be provided per gripping element 120.
  • the gripping surfaces 126 of the gripping elements 120 essentially have a C-shaped configuration which extends in the longitudinal direction, the gripping elements 120 being arranged such that their C-shaped or concave gripping surfaces 126 face each other.
  • the gripping surfaces 126 can have smooth as well as wavy or corrugated or longitudinally or transversely grooved surface structures.
  • the gripping elements 120 are made, for example, of stainless steel, plastic or another food-grade material. Furthermore, the gripping elements 120 can have a coating which protects the material and / or leads to the food-grade elements 120 being suitable for foodstuffs.
  • the axial length of the gripping elements 120 preferably depends on the length of the product P to be gripped. In the present embodiment, the length of the gripping elements 120 is slightly longer than that of the product P to be gripped, as shown, for example, in FIG.
  • each gripping element 120 is assigned at least one guide rod 118, preferably two guide rods 118, which can be actuated, for example, pneumatically, servopneumatically, hydraulically or by an electric drive.
  • the gripping elements 120 can be moved from a first open position, in which the gripping elements 120 can be positioned on opposite sides of the product P to be picked up and thus preferably have their greatest distance from one another (FIG 5), reversibly and translationally move towards one another into a second closed position, in which the gripping elements 120 grip or grip the product P to be picked up (FIG. 6).
  • FIGS. 5 and 6 show the gripping device 100 in the open position. neter and in the closed position. The open and closed position can be variably adjusted by means of the drive means 130 or servo motor 130.
  • the motor designed for example as a servo motor 130, can be coupled to the gripping elements 120 in order to control their movement, to set a pressing force to be applied to the product to be pressed and / or the product picked up by the gripping elements 120 and possibly pressed to a desired further processing station, such as a meat portioning machine.
  • the servomotor 130 can be configured to provide a pressing force of at least 100N, at least 500 N, at least 1000 N, at least 1500 N, at least 2000 N, at least 2500 N or at least 3000 N.
  • the servomotor 130 can react flexibly to different product dimensions, so that products of different dimensions and / or consistency can be gripped and handled by means of the gripping device according to the invention.
  • the use of the servo motor 130 has proven to be advantageous, in particular with regard to the handling of raw products, which have to be gripped and further processed in the frozen or at least frozen state.
  • the products to be handled have a high weight and, on the other hand, a considerable force is required for the molding of the (frozen on) frozen product, which can be provided or adjusted in a simple manner by means of the motor.
  • raw products can also be further processed in the (not) frozen state.
  • the guide rods 118 moving in the cylinder extension piece 116 transmit their linear movement to the connecting elements 119, to the side plates 128 and thus also to the gripping elements 120 attached thereto.
  • the gripping elements 120 act in parallel, i.e. the gripping elements 120 move synchronously towards and away from each other when closing and opening.
  • the gripping elements 120 can also be actuated sequentially or only one gripping element 120 is reversibly moved towards the other, then preferably fixed, gripping element 120.
  • the gripping elements 120 each have a bottom surface 122 and a top surface 124, the top surfaces 124 of the gripping elements 120 pointing in the direction of the basic structure 110 of the gripping device 100 and the bottom surfaces 122 of the gripping elements 120 pointing away from the basic structure 110 of the gripping device 100.
  • the gripping elements 120 can for example have a shell-like shape and / or be concavely curved. Furthermore, the top surface 124 and the bottom surface 122 of the gripping elements 120 can be made in one piece.
  • the gripping elements 120 grip only partially according to the exemplary embodiments shown in the figures, so that there is always contact between the product and the product support PA. In a further exemplary embodiment, the gripping elements 120 have an L-shaped structure in cross section.
  • the top surfaces 124 can extend in a straight line. Furthermore, the underside surfaces 122 can also be formed in a straight line from a section, a flank adjoining the respective top surface 124 extending parallel to the surface side surfaces and / or a bottom flank to be laid out on the product support PA being oriented essentially perpendicular to the other flank.
  • the dimensioning of the bottom flank can be larger than the dimensioning of the other flank and, if necessary, additionally the top surface 124.
  • the stop plate 140 is at least substantially flat and / or flat on a side facing the gripping elements 120, in particular the underside (cf. FIGS. 5 and 6).
  • the stop plate 140 can serve to ensure that the product to be picked up by the gripping elements 120 cannot move laterally upwards when the product is gripped by the gripping elements 120.
  • the stop plate 140 is designed both in the open state of the gripping elements 120 (FIG. 5) and in the closed position (FIG. 6) on the upper side surfaces 124 of the To lay gripping elements.
  • the stop plate 140 is dimensioned and / or a dimension of the stop plate 140 is matched in relation to a maximum horizontal distance of the gripping elements 120 to one another and / or to a movement amplitude of the gripping elements 120 that the stop plate 140 in the first position and in the second Position rests on the top surfaces 124 of the gripping elements 120.
  • the at least one drive means 130 is attached on the side of the base structure 110 facing the end flange E centrally between two adjacent guide rods 118, each of which lies between the coupling element 112, as shown in FIG. 3.
  • the drive means 130 is guided to the guide rods 118 to be driven by means of an opening in the side of the base structure 110 facing the end flange E.
  • the guide rods 118 are preferably driven with a servo motor and toothed racks.
  • the guide rod 118 can also be designed as a toothed rack.
  • the guide rods 118 can optionally also be driven, for example, with the aid of a threaded, ball screw or metric threaded spindle instead of a toothed rack become.
  • a so-called crank drive can be used to drive the gripping elements 120 instead of the rack.
  • a drive 130 is sufficient to move the gripping elements 120, two guide rods 118 being driven by means of the drive 130 and the other two guide rods 118 being connected to the driven guide rods 118 via a toothed belt drive and thus also being driven.
  • two drive means 130 can be provided, each drive means 130 driving two guide rods 118.
  • a corresponding opening is already provided in the surface 110a of the base structure 110 facing the end flange E of the robot R for the second drive means 130.
  • a coupling element (not shown) can be seen which connects two guide rods 118 belonging to a gripping element 120.
  • two associated guide rods 118 can be controlled by means of a drive means 130.
  • the stop plate 140 On the side 110b of the base structure 110 facing away from the end flange E, the essentially rectangular stop plate 140 is attached.
  • the stop plate 140 has a width which corresponds at least to the maximum opening width of the gripping elements 120 and a length which preferably corresponds to the axial length of the gripping elements 120.
  • the stop plate 140 is arranged in such a way that it lies at least approximately flat on the top surfaces 124 of the gripping elements 120.
  • the gripping elements 120 and the stop plate 140 are made of POM food, stainless steel or plastic, whereby other food-grade materials are also possible, which also withstand the loads during the gripping process. Furthermore, the gripping elements 120 and the stop plate 140 can have a coating which protects the material and / or leads to the basic structure 110 being suitable for foodstuffs.
  • edges 122a, 124a and / or the top and bottom surfaces 122, 124 of the gripping elements 120 are advantageously rounded in order to reduce the friction between a product pad PA and the stop plate 140.
  • the gripping elements 120 can either be completely or partially coated on their edges 122a, 124a, top and bottom surfaces 122, 124, the coating reducing friction.
  • the side plates 128 to which the gripping elements 120 are attached are bent such that on the one hand they do not collide with the stop plate 140 during the gripping and on the other hand enable the product P to be gripped securely.
  • the side plates 128 have a step-like configuration, the side plates 128 being able to be produced inexpensively and simply, for example by means of a bending machine.
  • the drive means 130 of the guide rods 118 is capable of pressing the product P picked up by the gripping elements 120.
  • the pressing is carried out essentially laterally, the product P being pressed into a predefined shape.
  • the term pressing is also to be understood such that the product P is pressed beyond the holding force.
  • the product P is pressed into a predefined shape so that it can subsequently be introduced, for example, into an essentially horizontally standing shaft or into a shaped or magazine tube.
  • the product P can thus be pressed by means of the handling device R while the product P is being conveyed.
  • the stop plate 140 serves to prevent the product P to be pressed from being able to deflect laterally upwards during the pressing process.
  • the product P to be pressed can be pressed on the product support PA.
  • the product support PA is, for example, a conveying device such as a conveyor belt or another transport device. This has the advantage that the product support PA ensures that the product P to be pressed cannot move sideways downwards.
  • the pressing process can be carried out directly when gripping the product P or while the handling device R is being moved.
  • the gripping elements 120 can be moved in translation and / or rotation. Possible fulcrums for the rotary movement of a gripping element 120 are, for example, the connecting elements 119, which are arranged between the guide rods 118 and the side plates 128, with which a translational and rotational movement of the gripping elements 120 is possible.
  • a purely rotationally movable gripping device 100 can be realized, for example, by a scissor-like structure of the gripping elements 120.
  • FIG. 7 shows a further embodiment of a gripping device 100 of the present invention, in this case at least one suction element 160 is arranged on the side 140a of the stop plate 140 pointing away from the end flange E of the robot R.
  • the suction elements 160 are designed so that they are able to at least partially lift the product P to be picked up from its support surface PA, such as a conveyor belt.
  • the suction elements 160 are preferably embedded in the stop plate 140 in such a way that during the suction process they form at least approximately a straight surface with the side 140a of the stop plate 140 pointing away from the end flange E of the robot R.
  • FIG. 7 also shows an elongated lifter 180, which is arranged below the product support PA.
  • the lifter 180 can be understood as a system, the lifter 180 being able to be used or controlled independently of the presence of the suction element 160 and the robot R.
  • the lifter 180 here preferably has a T-shaped configuration in the longitudinal direction, the lifter 180 preferably having approximately the length of the product P to be picked up.
  • the elongated lifter 180 is arranged under the product support PA, which is preferably a conveyor belt, in such a way that it is at least temporarily essentially completely below the product P.
  • the lifter 180 is able to lift the product P and the product support PA, this serves to make it easier for the gripping elements 120 to be pushed under the product P and thus to reach under it.
  • the product support PA is not damaged during gripping, since the gripping elements 120 do not rest on the product support PA.
  • the lifter 180 can be controlled pneumatically, electrically or hydraulically, for example.
  • the lifter 180 can be activated independently of the robot R and / or triggered by means of a trigger mechanism, such as a light barrier.
  • the trigger mechanism is positioned so that the product P triggers it at the point where the product P is to be gripped or shortly afterwards.
  • at least one detection means 170 can also be attached to the stop plate 140, which detects whether the product P is against the stop plate 140 and / or whether the suction element 160 has sucked the product P or whether the lifter 180 has lifted the product P.
  • the detection means 170 can be, for example, a pressure switch or a sensor (not shown) that is at least partially inserted into the stop plate 140.
  • a method for controlling a handling device R with a gripping device 100 is described below.
  • the product P to be picked up is detected on a product support PA, this is done, for example, by a detection means such as a light barrier.
  • the detection means transmit a signal to the robot R, which then positions itself with the gripping elements 120 of the gripping device 100 open in a first position in which the gripping elements 120 are positioned on opposite sides of the product P to be picked up. If the first position is reached, the robot R grips the product P to be picked up by means of the gripping device by at least one of the gripping elements 120 reversibly moving in the direction of the product P until a second position is reached in which the product P is from the Gripping device 100 was grasped.
  • the product P is then pressed or compressed into a predefined shape or compressed by means of a predefined force, this is done by means of the gripping elements 120 and the stop plate 140 and, if appropriate, the product support PA.
  • the robot R then moves with the gripping device 100 and the picked-up product P into a predefined position in which the product P is delivered.
  • the product P can already be pressed into a predefined shape on the product support PA by means of the gripping elements 120, the stop plate 140 and the product support PA.
  • the product P can be pressed into a predefined shape during the process by means of the gripping elements 120 and the stop plate 140, as a result of which the cycle time can also be shortened by the simultaneous process and pressing.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Food Science & Technology (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

La présente invention concerne un dispositif de préhension (100) pour la saisie, le transport et la délivrance d'un produit (P), le dispositif de préhension (100) contenant : une structure de base (110), qui peut être montée de façon amovible, de préférence sans destruction, sur un appareil de manipulation (R) au moyen d'un élément d'accouplement (112) ; au moins deux éléments de préhension (120), qui présentent respectivement au moins une surface inférieure (122) et au moins une surface supérieure (124), les surfaces supérieures (124) des éléments de préhension (120) étant dirigées vers l'élément d'accouplement (112) et les surfaces inférieures (122) des éléments de préhension (120) étant dirigées à l'opposé de l'élément d'accouplement (112) ; au moins un moyen d'entraînement (13), pour déplacer de façon réversible les éléments de préhension (120) entre une première position, dans laquelle les éléments de préhension (120) peuvent être positionnés sur des côtés opposés du produit (P) à saisir, et une deuxième position, dans laquelle les éléments de préhension (120) saisissent le produit (P) à saisir ; et une plaque de butée (140), qui repose au moins approximativement sur les surfaces supérieures (124) des éléments de préhension (120).
EP19832079.8A 2018-12-19 2019-12-18 Dispositif de préhension Withdrawn EP3898134A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018132888.5A DE102018132888A1 (de) 2018-12-19 2018-12-19 Greifvorrichtung
PCT/EP2019/086063 WO2020127562A1 (fr) 2018-12-19 2019-12-18 Dispositif de préhension

Publications (1)

Publication Number Publication Date
EP3898134A1 true EP3898134A1 (fr) 2021-10-27

Family

ID=69105830

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19832079.8A Withdrawn EP3898134A1 (fr) 2018-12-19 2019-12-18 Dispositif de préhension

Country Status (8)

Country Link
US (1) US20220072718A1 (fr)
EP (1) EP3898134A1 (fr)
AU (1) AU2019406578A1 (fr)
BR (1) BR112021011825A2 (fr)
CA (1) CA3124300A1 (fr)
DE (1) DE102018132888A1 (fr)
MX (1) MX2021007262A (fr)
WO (1) WO2020127562A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE1029331B1 (nl) * 2021-04-23 2022-11-28 C&B Logistics Bv Werkwijze en inrichting voor het verpakken van een confiserieproduct in een display
IT202100014033A1 (it) * 2021-05-28 2022-11-28 Rg Eng S R L Apparato di manipolazione per impianti di verniciatura per puntali di calzature di sicurezza e metodo per manipolare puntali di calzature di sicurezza mediante detto apparato di manipolazione
EP4272563A1 (fr) * 2022-05-06 2023-11-08 Poly-clip System GmbH & Co. KG Dispositif de préhension permettant de saisir, transporter et délivrer une enveloppe de sausisse

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB8701347D0 (en) * 1987-01-22 1987-02-25 Bishop Barn Ltd Package handling apparatus
DE4004230A1 (de) * 1990-02-12 1991-08-14 Gerhard Engel Greifer
JPH05293784A (ja) * 1992-04-17 1993-11-09 Nissan Motor Co Ltd ロボットハンド
US5330242A (en) * 1992-12-23 1994-07-19 Lucky Sr Bobby D Rotatable hydraulic grapple
US7409812B2 (en) * 2006-06-29 2008-08-12 Smart Motion Robotics, Inc. Robotic packaging device and method
ES2313515T3 (es) * 2006-08-01 2009-03-01 ALBERT HANDTMANN MASCHINENFABRIK GMBH & CO. KG Dispositivo y procedimiento para transportar objetos y agarrarlos por debajo.
DE102007031847B3 (de) * 2007-07-09 2008-10-23 Mars Incorporated Greifvorrichtung
DE102009012332A1 (de) * 2009-03-09 2010-09-16 Weber Maschinenbau Gmbh Breidenbach Produktgreifer
TWI455806B (zh) * 2010-06-03 2014-10-11 Rheon Automatic Machinery Co 機器人手臂及食製品搬運系統
US8322766B1 (en) * 2011-11-02 2012-12-04 Gintech Energy Corporation Wafer gripper
US9010819B2 (en) * 2012-10-16 2015-04-21 Beckman Coulter, Inc. Removable specimen gripper fingers
EP3178742B1 (fr) * 2015-12-08 2019-04-17 Marel A/S Dispositif de préhension preneur-placeur destiné à capter et à repositionner un article alimentaire déformable et procédé de fabrication associé
EP4324605A3 (fr) * 2016-12-30 2024-05-22 Marel A/S Dispositif de préhension et procédé de saisie et de repositionnement d'un article porté par une surface de support
WO2018204275A1 (fr) * 2017-05-01 2018-11-08 Soft Robotics, Inc. Structure pour effecteur terminal robotique
CN107696047B (zh) * 2017-10-12 2020-11-03 新昌县大菠萝农业发展有限公司 一种黄瓜柔性采摘机械手末端执行器及采摘方法

Also Published As

Publication number Publication date
CA3124300A1 (fr) 2020-06-25
BR112021011825A2 (pt) 2021-08-31
MX2021007262A (es) 2021-09-08
US20220072718A1 (en) 2022-03-10
AU2019406578A1 (en) 2021-07-15
WO2020127562A1 (fr) 2020-06-25
DE102018132888A1 (de) 2020-06-25

Similar Documents

Publication Publication Date Title
EP3898141B1 (fr) Système de réception, de transport et de livraison d'un produit ainsi que procédé de commande d'un tel système
EP3898134A1 (fr) Dispositif de préhension
EP2286987B1 (fr) Dispositif de coupe pour couper une bande fine et collante, notamment une bande de corde
EP2421681B1 (fr) Élément de saisie de produit
EP2233221A2 (fr) Dispositif de poinçonnage pour une machine de poinçonnage à coupe continue d'éléments de poinçonnage métalliques
WO2013011107A1 (fr) Dispositif et procédé permettant d'arrêter et/ou d'orienter des produits transportés sur un convoyeur, et convoyeur
EP3448597B1 (fr) Procédé de transport pour la manutention de pièces
WO1997046339A1 (fr) Machine d'usinage pour pieces sous forme de plaques, notamment pour produire des bords plies sur des pieces en tole
DE4307142C1 (de) Vorrichtung zum Greifen von Flächengebilden, insbesondere von erhitzten, biegeschlaffen, fasverstärkten Kunststoffmaterialzuschnitten
EP3448596A1 (fr) Dispositif de transport à pinces de préhension
EP0458830B1 (fr) Tete de montage de manipulateurs
DE4027717A1 (de) Pressvorrichtung fuer abfaelle, insbesondere fuer muell
EP2508276B1 (fr) Station de prélèvement de tôles
EP1851144B1 (fr) Dispositif de rotation
EP3093078A1 (fr) Procédé et dispositif destinés à évacuer une pièce présentant une section de surface profilée ou inégale d'une machine d'usinage
DE19747480C1 (de) Maschine zum Schneiden und Schweißen von Kunststoffplatten
DE3841683A1 (de) Vorrichtung zum ausschneiden und ggf. gleichzeitigen formen von teilen aus blechtafeln
DE2851156A1 (de) Sicherheitsvorrichtung fuer eine presse o.dgl.
EP0251993B1 (fr) Procédé et dispositif d'assemblage de paquets de tôle, en particulier pour noyaux de transformateurs
DE19914580A1 (de) Verfahren zum Handhaben von Stapeln von Papier, Pappe o. dgl. an einer Schneidmaschine
DE2602043C2 (de) Vorrichtung zum Wenden eines magnetisierbaren Schrottstranges um seine Längsachse
EP4063284A1 (fr) Dispositif pour retirer un habillage en film des empilements de produits sur palettes
EP1657008A1 (fr) Dispositif pour l'alimentation d'un matériau en bande vers une presse
CH634492A5 (de) Verfahren und vorrichtung zum vereinzeln von ein loses buendel bildenden abgelaengten draehten, insbesondere zwecks drahtzufuhr zu einer gitterschweissmaschine.
EP2426055B1 (fr) Procédé et dispositif de liaison pour anneaux de bandes refendues

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20210719

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230522

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20230830

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN

18W Application withdrawn

Effective date: 20240109