GB2572198A

GB2572198A - Vessel handling apparatus

Info

Publication number: GB2572198A
Application number: GB1804636.7A
Authority: GB
Inventors: David Newbold Andrew; Luke Coveney Daniel; matthew lawrence fletcher Henry
Original assignee: Elior Group SA
Current assignee: Elior Group SA
Priority date: 2018-03-22
Filing date: 2018-03-22
Publication date: 2019-09-25
Also published as: GB201804636D0; WO2019180254A1

Abstract

A handling tool for handling wares such as glassware and crockery in a warewasher system comprises means for engaging with and releasably securing to a ware for transporting the ware from a first location to a second location in a warewasher system. A resilient ware engaging element 12,13 is provided having a resilient wall 12 that increases in transverse cross-sectional area in a longitudinal direction, from a distal end to a proximal end of the ware engaging element. In operation, the distal end is capable of insertion into a cavity in a ware to be handled, to bring the ware engaging surface into contact with a perimeter of the cavity. The handling tool is coupled to a vacuum source for applying at least a partial vacuum between the ware engaging surface and the ware to be handled.

Description

Vessel Handling Apparatus

The present invention relates to an apparatus for handling wares for a warewashing system and has particular, although not exclusive, relevance for use as a tool for releasably attaching to objects, such as crockery or glassware, for transport from one location to another.

In large kitchens such as those found in hotels or hospitals there is a need to rapidly clean very large quantities of dining ware. In these high-volume environments, it is prohibitively time consuming to wash the objects by hand, and so the process is typically automated using a warewasher system.

Warewasher systems process large numbers of objects, such as crockery or glassware, to clean the objects of debris such as food waste. In order to increase the efficiency of the cleaning process, the objects that enter the machine are often separated into different types. For example, crockery and glassware may be separated from dining trays and other objects. In low-capacity warewasher systems, objects may be manually separated by the user when placing the objects into the machine. High capacity warewasher systems on the other hand are highly complex machines able to process hundreds to thousands of objects per hour, and may mechanically separate the objects automatically before the cleaning process begins.

When the separation process is performed automatically by the warewasher, there is often a need to selectively transport glassware, such as drinking glasses, from one area of the warewasher to another relatively swiftly. However, the surface of glassware that enters a warewasher is typically contaminated by a range of different types of debris, such as liquids, food waste, cutlery, napkins, yoghurt pots or receipts, which makes automatic handling of the glassware challenging. This challenge is made more complex by the need for the warewasher system to be compact, and to be able to process large numbers of objects as rapidly and reliably as possible.

Currently, there are a number of grippers available that are able to releasably attach to glassware in a warewasher for the purposes of such transport. However, these grippers are often unable to reliably transport glassware that is contaminated by large amounts of liquids, or that is partially obstructed by items such as cutlery. This can result in an increased risk of glassware becoming detached from a gripper, which may result in damage to the glassware or machinery, and possibly require interruption of the cleaning process to retrieve items that have been dropped. It can be seen that this may reduce the throughput of the system undesirably.

The currently available grippers typically make use of precise positional alignment with respect to the glassware that is being transported for a secure attachment to be made. However, these systems are often unable to process glassware at the high volumes required in a warewasher system. These grippers may also require an impractical amount of space in which to operate and are often prohibitively expensive.

The present invention seeks to provide an apparatus for releasably attaching to objects for use in a warewashing system, and associated apparatus and methods, for meeting or at least partially contributing to the above need.

According to one aspect of the invention there is provided a handling tool for handling wares in a warewasher system, the handling tool comprising: means for engaging with a ware to be handled for releasably securing the handling tool to the ware for transport of the ware from a first location to a second location in the warewasher system; wherein the engaging means comprises: a resilient ware engaging element for mutually engaging with the ware to be handled; and means for coupling the handling tool to a vacuum source for application of at least a partial vacuum between the ware engaging element and a surface of the ware to be handled for releasably securing the ware to the handling tool during operation; and wherein the ware engaging element has a distal end, a proximal end, and a resilient wall having an external ware engaging surface; wherein the resilient wall of the ware engaging element is configured to form a shape that increases in transverse cross-sectional area in a longitudinal direction, from the distal end to the proximal end whereby, in operation, the distal end of the ware engaging element is capable of insertion into a cavity in the ware to be handled to bring the ware engaging surface into contact with a perimeter of the cavity; and wherein the resilient wall of the ware engaging element is formed of compliant resilient material that, in operation, will conform to a contour of the perimeter of the cavity and/or to any object obstructing that perimeter to form at least a partial seal for establishing at least a partial vacuum in the cavity.

The resilient wall of the ware engaging element may be configured to form a shape that is one of frustoconical; and at least partially spherical.

The resilient wall of the ware engaging element may be configured to form an aperture, at the distal end, via which said at least a partial vacuum can be applied and wherein the means for coupling may comprise a conduit for forming a fluid path from the aperture to the vacuum source. The aperture and conduit may be located generally coaxially with the ware engaging element. The aperture may have at least one of the following geometries: circular with a diameter ~25mm to ~40mm, for example ~30mm (with tolerances of plus or minus 20%); and a transverse crosssectional area of ~500mm² to ~1250mm², for example ~700mm² (with tolerances of plus or minus 40%). The resilient wall of the ware engaging element may have a geometry (e.g. wall thickness) whereby the ware engaging element is sufficiently rigid to maintain its shape when not engaged with a ware, and sufficiently compliant to conform to the perimeter of the cavity and/or to an object obstructing that perimeter during operation to releasably secure the ware to the handling tool.

The ware engaging element may have a wall thickness in the range ~2mm to ~4mm, for example ~3mm (with tolerances of plus or minus 20%). The ware engaging element may have at least one of the following geometries: circular with a diameter of ~80mm to ~140mm, for example ~110mm (with tolerances of plus or minus 20%); and a transverse cross-sectional area of ~5000mm² to ~15000mm², for example ~9500mm² (with tolerances of plus or minus 40%). The resilient wall of the ware engaging element may be configured to form a generally frustoconical shape in which the wall extends from the distal end to the proximal end at an angle of between ~5° to -30° (with a tolerance of 10%) to an axis in said longitudinal direction, for example at an angle of ~10° (with a tolerance of 10%) to an axis in said longitudinal direction.

The ware engaging element may be formed of a material from the list: polyurethane; silicone; or rubber.

The ware engaging element may be a first ware engaging element; wherein the ware engaging means may further comprise a second ware engaging element, the second ware engaging element comprising a resilient and compliant skirt that is configured to, in operation, engage with and conform to a surface of a ware to be handled whereby to form at least a partial seal with that surface for establishing at least a partial vacuum between the skirt and the surface. The skirt may be configured to have a transverse cross-sectional area that is smaller than that of a cavity into which, in operation, the distal end of the first ware engaging element is to be inserted.

The skirt may have at least one of the following geometries: annular with an external diameter of ~30mm to ~50mm, for example ~40mm (with tolerances of plus or minus

20%); and a transverse cross-sectional area of ~700mm² to ~1950mm², for example ~1250mm² (with tolerances of plus or minus 40%). The skirt may depend, at a distal end of the handling tool, from at least one of: the first ware engaging element; and the coupling means. The skirt may flare outwardly, at the distal end of the handling tool, to increase in transverse cross-sectional area in a direction opposite to the longitudinal direction from the distal end of first ware engaging element to the proximal end.

The surface of the skirt may be smooth.

The handling tool may further comprise a resilient mechanism configured to allow, in operation, reciprocal movement of the handling tool along an axis generally parallel to a longitudinal axis between the distal end and proximal end of the ware engaging element whereby, in operation, the relative height of the ware engaging means will adjust automatically to ware-to-ware variation in a maximum height of wares to be handled. The resilient mechanism may be further configured to allow, in operation, rotational movement of the handling tool about an axis generally orthogonal to the longitudinal axis between the distal end and proximal end of the ware engaging element whereby, in operation, an angle of the ware engaging means will adjust automatically to ware-to-ware variation in an orientation of the wares to be handled.

The resilient mechanism may be configured to tolerate reciprocal movement of up to 30mm (e.g. 12mm) along the axis generally parallel to a longitudinal axis between the distal end and proximal end of the ware engaging element.

The handling tool may comprise a sensor for sensing if the handling tool is engaged with the surface of a ware.

The handling tool may comprise a sensor for sensing the weight of an object that the handling tool is attached to.

According to one aspect of the invention there is provided apparatus for handling wares in a warewasher system, the apparatus comprising: means for identifying a ware to be transported from a first location to a second location in the warewasher system and for determining a position of the identified ware; means for transporting the identified ware from the first location to the second location using a handling tool as set out above; and a pump for providing said vacuum source for said handling tool.

According to one aspect of the invention there is provided a method of handling wares in a warewasher system using apparatus of an above aspect, the method comprising: identifying a ware to be transported from a first location to a second location in the warewasher system and determining a position of the identified ware; transporting the identified ware from the first location to the second location using a handling tool of an above aspect.

Each feature disclosed in this specification (which term includes the claims) and/or shown in the drawings may be incorporated in the invention independently (or in combination with) any other disclosed and/or illustrated features. In particular but without limitation the features of any of the claims dependent from a particular independent claim may be introduced into that independent claim in any combination or individually.

Embodiments of the invention will now be described by way of example only with reference to the attached figures in which:

Figure 1a shows a simplified schematic diagram of an area of a warewasher system;

Figure 1b shows a simplified schematic diagram of an apparatus for separating wares in a warewasher system;

Figure 2 shows a 3D view of a handling tool;

Figure 3 schematically illustrates a cross section of the handling tool of Figure 2;

Figure 4a schematically illustrates the handling tool of Figure 2 attached to an item of glassware in a first orientation;

Figure 4b schematically illustrates the handling tool of Figure 2 attached to an item of glassware in a second orientation;

Figure 4c schematically illustrates the handling tool of Figure 2 attached to an item of glassware in a third orientation;

Figure 5 shows a cross-section view of the handling tool attached to an item of glassware contaminated by a liquid and an item of cutlery;

Figure 6a shows a cross-sectional view of a variation of the handling tool; and

Figure 6b shows a simplified 3D view of the variation of the handling tool.

It will be appreciated that the figures are purely illustrative and that the relative dimensions of the different components shown may not reflect the actual relative dimensions in real implementations.

Overview

Figure 1a shows, for illustrative purposes, a simplified schematic diagram of an area of a warewasher system generally at 1. The system comprises a ware separation area comprising a first conveyor 3 for transporting, in the direction indicated by arrow A, items (‘wares’) through an automated ware separation apparatus 5 and a warewasher transport area comprising a second conveyor 7 for transporting, in the direction indicated by arrow B, items into a warewasher 9.

Figure 1b shows the ware separation apparatus 5 in more detail. As seen in Figure 1b, the ware separation apparatus 5 comprises a vision system 51 for identifying and locating wares for separation, a handling system 53 for picking up, handling, and transporting items to the warewasher transport area, and a control unit 55 for controlling the vision system 51 and the handling system 53.

The vision system 51, in this example, comprises a digital camera positioned over conveyer 3 for capturing images of items passing through the automated ware separation apparatus 5.

The handling system 53, in this example, comprises a moveable arm 57 coupled to a handling tool 10 for picking up and holding items during transport, by the arm 57 to the warewasher transport area. The handling tool 10 is configured for securing the items to be transported using suction provided by a high-power vacuum pump 59.

The control unit 55 receives images from a vision system 51 and, based on the received images, controls the moveable arm 57 and the vacuum pump 59 to pick up items from the first conveyor 3, using the handling tool 10, and to transport the item to the second conveyor 7.

As seen in Figure 1b, in this example, the items (wares) transported by the first conveyor 3 include crockery 43 and glassware 44 arranged on a tray 46. The items may be contaminated by debris such as food waste 42 and liquids 45. The skilled person will appreciate that other items may be present on the conveyor 3 or tray 46, such as napkins or cutlery.

As described in more detail later, the handling tool 10 has a particularly beneficial configuration comprising a resilient wall 12 arranged such that, when the tool is inserted into a vessel such as glassware, the diameter of a part of the wall section inserted into a vessel increases as the tool is inserted further into the vessel. The handling tool, in one example, also beneficially comprises a resilient skirt 13 at the lower end of the tool that assists secure engagement with an item that is in a nonstandard orientation (e.g. a glass on its side or upside down). The skirt 13 comprises an opening to a suction path, through which air may be drawn by the pump 59, to form a partial vacuum between the tool 10 and an item that is to be transported. This allows the tool 10 to be securely and releasably attached to vessels of a variety of sizes, shapes and orientations, so that the vessel can be rapidly moved to another location.

The resilient skirt 13 and resilient wall 12 are locally flexible such that they are able to deform around debris, thus enabling a seal or partial seal to form between the tool 10 and the item. Because of the relative geometry and flexibility of the tool, the partial vacuum can be formed even when the item is obstructed by relatively large objects such as cutlery, or by food waste. Beneficially, the relative geometry of the handling tool 10 greatly reduces the amount of air and debris that flows into the apparatus during operation. The configuration of the handling tool 10 and in particular the flexibility of the resilient skirt 13 and the resilient wall 12 also allows the apparatus to reliably attach to objects even when there are large positional errors or variations in the orientation of the objects.

Whilst the tool 10 is locally flexible so that it may deform around debris, the tool 10 remains globally rigid such that the overall structure of the tool 10 is maintained even when the partial vacuum has formed, allowing undesirable folding or collapse of the tool into a vessel to be inhibited.

It can be seen, therefore, that because of its design, the handling tool 10 for picking up and holding items, identified based on feedback from the vision system 51, during transport is particularly position and orientation tolerant. More specifically, the handling tool 10 will successfully engage with, secure, and hold onto wares even when the tool 10 is not precisely centred. For example, the handling tool 10 can successfully pick up a ware such as a drinking glass 44 even when the centre of the tool 10 is not aligned with the central axis of the drinking glass 44 (e.g. radially towards the edge of the drinking glass 44). The handling tool 10 is also able to successfully pick up an item of glassware, cup, mug, jug, or similar liquid carrying vessel, regardless of its orientation, such as by creating a vacuum in the interior of, or attaching to an external surface of a base or outer wall of, the vessel 44.

Moreover, because the handling tool 10 is particularly tolerant to a lack of precision in a location determined, for an identified ware, by the control unit 55 the use of the position tolerant handling tool 10 can significantly reduce the precision constraints that have to be imposed on the positioning algorithms used by the control unit 55. This in turn means that the control unit 55 has the potential to accurately identify wares and determine sufficiently precise position information relatively quickly thereby increasing the possible throughput achievable using the ware separation apparatus 5. Alternatively, or additionally, the reduction in the position constraints allows more processing time to be devoted to accurately identifying wares and classifying them (e.g. as plates, bowls, ups, glasses, etc.) thereby providing the potential to improve separation reliability without a commensurate reduction in throughput.

In summary, therefore, the handling tool 10 can pick up a glass or other drinking style or similar vessel, regardless of its orientation. The handling tool 10 can pick them up on their side, right way up, upside down, if there are large objects sticking out from them (e.g. cutlery), or if they are full or partially full of a liquid. The handling tool 10 achieves this using a continuous vacuum system to allow for a partial seal to be formed. The handling tool 10 is, in effect, a compliant end effector that can deform around objects. The handling tool 10 is designed to be locally compliant and flexible, but globally stiff to avoid collapse into the drinking vessels.

The handling tool is beneficially designed to operate successfully even with a partial seal, thereby mitigating issues associated with contamination and strange curvature surfaces. The handling tool 10 has a geometry which can either align the object being picked up to the surface of the tool 10, or does not need to be placed an exact position for an item to be successfully secured and picked up. This means that the wider handling system does not need to locate items as precisely and therefore does not require high precision motors and/or a high precision vision system, thereby reducing system installation and maintenance costs and allowing for increased throughput for the system.

Illustrative Examples

The handling tool 10 will now be described in more detail, by way of example only, with reference to Figures 2 to 5.

Referring to Figure 2, this shows a simplified 3D view of the handling tool 10. The tool 10 comprises a resilient skirt 13, a resilient wall 12 and a conduit 11.

In the present example, the resilient wall 12 is illustrated as having a generally hollow funnel shaped configuration, having a generally frustoconical boundary, such that the diameter of the conical frustum increases from a lower (or ‘distal’) end of the tool towards the upper (or ‘proximal’) end of the tool (when the tool is in its normal operational orientation as seen in Figure 2). However, it will be appreciated that any other suitable shape such as a hemispherical configuration may be used.

The conduit 11 comprises a generally elongate tubular member of circular crosssection (in this example) configured for direct or indirect coupling, for fluid flow, to the pump 59. The frustoconical shape formed by the resilient wall 12 and conduit 11 are coaxially aligned with one another along mutual longitudinal axis as indicated by the dashed line (X-X’).

The resilient skirt 13 extends around a perimeter of a narrow end of the conical frustum formed by the resilient wall 12 and flares outwardly, from that narrow end of the conical frustum, towards a base of the handling tool 10. The resilient skirt 13 thus has a generally annular shape having a narrower portion that has an external circular perimeter that coincides with a corresponding perimeter of the narrow end of the conical frustum, and a wider portion at the base of the handling tool. The narrower portion of the annular skirt 13 has an internal circular aperture of the same (or similar) size to that of the conduit 11.

In the present example, the handling tool 10 is illustrated as having a generally circular shaped transverse cross-section, although the skilled person will appreciate that any other suitable non-circular shape, such as an elliptical or polygonal shaped cross-section, may be used for one or more of the components 11, 12, 13 of the handling tool 10. (e.g. to provide better performance with particular types or shapes of glassware).

The largest diameter of the resilient wall 12 is beneficially between 20mm and 40mm larger than the diameter of the largest opening that the tool is to be inserted into, for example when the tool 10 is inserted into an item of glassware 44 as shown in Figure 4a. For example, a diameter of 110mm may be used.

The largest diameter of the resilient skirt 13 is beneficially between 10mm and 20mm smaller than the diameter of the smallest opening that the tool 10 is to be inserted into, for example when the tool 10 is inserted into an item of glassware 44 as shown in Figure 4a, to prevent the resilient skirt 13 from interfering with the insertion of the tool 10 into the item. However, a largest diameter of the resilient skirt 13 of 40mm was found to be particularly beneficial, as this reduced the interference by the resilient skirt 13 to the insertion of the tool 10 into items of glassware 44 commonly found in a warewasher, whilst still allowing a sufficient seal to form between the resilient skirt 13 and an item of glassware 44 when the tool is attached to the item of glassware in one of the orientations shown in Figures 4b or 4c.

The angle of the resilient wall 12 to the central axis of the tool X-X’ shown in Figure 3 may beneficially be between 5 degrees and 20 degrees (i.e. between 70 degrees and 85 degrees to a transverse plane orthogonal to the central axis). However, a particularly beneficial angle between the resilient wall 12 and the central axis of the tool X-X was found to be 10 degrees, to improve the seal formed between the tool and an item of glassware 44.

The thickness of the resilient wall 12 and the resilient skirt 13 is beneficially between 2mm and 4mm. However, a thickness of 3mm was found to be particularly beneficial for allowing the tool 10 to remain locally flexible, whilst preventing the tool from collapsing into an item of glassware 44.

It will be appreciated that whilst the resilient skirt 13, resilient wall 12 and the conduit are described separately one or more of these components may be formed as a single integrated part (e.g. using an appropriate moulding process or the like). It will also be appreciated that the conduit could extend longitudinally through and out of the aperture in the frustum or other shape formed by the resilient wall 12 and that the resilient skirt 13 could extend from the conduit rather than (or as well as) from the resilient wall 12.

The resilient skirt 13 and resilient wall 12 may beneficially be formed of any suitable resilient material such as silicone. The conduit 11 may be formed of any suitable material, for example a material such as silicone, rubber or plastic may be used.

Figure 3 schematically illustrates a cross section of the handling tool 10. The resilient skirt 13 comprises an opening that is aligned with the opening at the lower end of the conduit 11, so that a path for fluid flow 14 indicated by the dashed line X-X’ is formed. When the pump 59 is coupled directly or indirectly to the upper end of the conduit 11 and turned on it thus attempts to draw fluid (air) through the opening of the resilient skirt 13 and into the conduit 11 thereby providing suction. A filter 15 is provided in the conduit 11, proximate the opening in the skirt 13, to inhibit debris from entering the conduit 11 and forming an obstruction to fluid flow or damaging the pump 59. In the present example the filter 15 is shown positioned inside the lower end of the conduit 11 (e.g. for ease of access and cleaning). However, the skilled person will appreciate that the filter 15 may be located at any other suitable position inside the conduit 11, or may instead by provided separately by the pump 59. Beneficially, the filter may be formed of a relatively stiff, metallic material such as stainless steel, to provide increased resistance to deformation under pressure. Whilst beneficial, the filter 15 need not necessarily be provided. For example, if the handling tool 10 is used to transport clean, dry glassware at a later stage of the warewashing process, or if the vacuum pump 59 is designed to tolerate the ingestion of liquids and solid debris, then the filter 15 may not be necessary. When a filter is not provided, a larger transverse cross sectional area of the path for fluid flow may be provided in order to inhibit the obstruction of the path for fluid flow by debris.

Figures 4a, 4b and 4c schematically illustrate the handling tool 10, in operation, attached to an item of glassware 44 in three different orientations.

In operation, to arrive at the illustrated positions, it will be appreciated that the control unit 55 controls the moveable arm 57 to move the handling tool 10 into position such that the tool 10 engages with an identified item of glassware 44. The control unit 55 also controls the pump 59 to draw air through the conduit 11 to form a vacuum or partial vacuum. As can be seen in Figures 4a, 4b and 4c the relative geometry of the handling tool 10 enables it to securely attach to an item of glassware 44, regardless of the orientation of the glassware 44.

Figure 4a illustrates the handling tool 10 attached to an item of glassware 44 in the upright position. As can be seen in Figure 4a, the tool 10 is partially inserted into the cavity formed by the inner wall of the glassware 44, such that the resilient wall 12 of the tool 10 is engaged with a rim at the top of a wall of the glassware 44 to form a seal or partial seal with the glassware 44. When the high-power vacuum pump 59 pumps air out of the conduit 11a vacuum or partial vacuum is formed in the area between the tool 10 and the glassware 44, and the handling tool 10 becomes secured to the glassware 44. The control unit 55 then controls the moveable arm 57 to transport the glassware 44 to another location. For example, the control unit may control the moveable arm 57 to transport the glassware 44 from the first conveyor 3 to the second conveyor 7.

Figures 4b and 4c illustrate the handling tool attached to an external surface of the wall of an item of glassware 44. To arrive at the illustrated positon, it will be appreciated that the control unit 55 controls the moveable arm 57 to move the handling tool 10 into position such that the resilient skirt 13 engages with the outer wall of the glassware 44. The resilient skirt 13 deforms to form a seal or partial seal with the glassware 44, despite the curved surface presented by glassware 44 in Figure 4b. When the high-power vacuum pump 59 pumps air out of the conduit 11a partial vacuum is formed in the area between the resilient skirt 13 and the glassware 44, and the handling tool 10 becomes secured to the glassware 43.

It can be seen that, beneficially, even if the handling tool 10 is imprecisely located such that it is moved into (or onto a surface of) the glassware 44 at a non-ideal location (e.g. non-centrally relative to the opening in Figure 4a), the effect of applying suction and/or moving the tool into position can result in a beneficial realignment of the glassware 44.

Figure 5 schematically illustrates the handling tool 10, in operation, attached to an item of glassware 44 that is contaminated by a liquid 45 and an item of cutlery 41. As can be seen from Figure 5, the local flexibility and global rigidity of the resilient wall 12 allows a seal or partial seal to form, and hence a partial vacuum to form in the area between the tool 10 and the inner wall of the glassware 44, despite the obstruction formed by the item of cutlery 41.

After the glassware 44 has been transported to the desired location using the moveable arm 57, the partial vacuum is destroyed by allowing air to flow into the area between the tool 10 and the glassware 44, and the glassware 44 becomes detached from the tool 10. For example, air may be allowed to flow into the conduit 11 via a valve provided in the wall of the conduit 11. The valve may be controlled by the control unit 55. However, the skilled person will appreciate that air may be introduced into the area between the tool 10 and the glassware 44 by any other suitable method, to destroy the partial vacuum formed in the area between the tool 10 and the glassware 44.

Modifications and alternatives

An exemplary warewasher system and handling tool 10 have been described above in detail. As those skilled in the art will appreciate, a number of modifications and alternatives can be made to the above examples and variations whilst still benefiting from the inventions embodied therein.

Figures 6a and 6b, for example, show cross-sectional and simplified 3D views of a handling tool 10 in which the resilient wall is arranged to have a generally hemispherical configuration 16, and a resilient skirt is not provided. The hemispherical configuration of the resilient wall beneficially increases the global rigidity of the tool 10 such that the resistance to collapse of the overall structure is increased, whilst maintaining the local flexibility that enables the resilient wall to deform around debris.

Beneficially, a resilient mechanism (such as, but not limited to, a damped spring) may be provided to provide tolerance for positional errors in the direction along the central axis X-X’ of the tool 10. The resilient mechanism may be provided, for example, at an interface between the moveable arm 57 and the handling tool 10 or may be provided at any other suitable position (e.g. as a resilient portion of the conduit 11). For example, in operation, the moveable arm 57 may move the handling tool 10 to a fixed height, and the provision of the resilient mechanism allows the height of the handling tool 10 to adjust to the height of the ware that is to be picked up. This beneficially reduces the precision required in the movement of the moveable arm 57 along the central axis X-X’ of the tool 10. Additionally, the provision of the resilient mechanism (especially in combination with the flexibility of the handling tool 10) beneficially improves the ability of the handling tool 10 to attach to wares that are tilted such that, before the tool 10 is engaged with the ware, the ware is offset by a significant angle from one of the positions shown in Figures 4a, 4b or 4c. Beneficially, the resilient mechanism may tolerate positional errors of up to 30mm in the direction along the central axis X-X’ of the tool, for example a displacement of 12mm may be tolerated.

The handling system 5 may be provided with a sensor for sensing if the handling tool 10 is engaged with the surface of a ware. For example, the handling system 5 may be provided with a sensor for sensing a displacement of the resilient mechanism, from an equilibrium position of the resilient mechanism when the handling tool 10 is not engaged with a ware. The sensor may be provided, for example, in the form of a linear encoder, a microswitch, a strain gauge or a flag breaking an optical beam. The sensor may be provided, for example, by the resilient mechanism. The provision of the sensor beneficially enables the handling system 5 to determine if an attempted engagement of the handling tool 10 with a ware is successful. Alternatively, the sensor for sensing if the handling tool 10 is engaged with the surface of a ware may be provided as a pressure sensor or an air flow sensor. For example, a change in the air pressure inside the conduit 11, or a change in the flow rate of fluid through the conduit 11, may be used to determine if the handling tool 10 is engaged with the surface of a ware.

The handling system 5 may be provided with a sensor for sensing the weight of an object that the handling tool 10 is attached to. For example, when the handling tool is attached to an item of crockery contaminated by food debris, the weight indicated by the sensor may beneficially be used to determine the amount of food debris attached to the crockery, or to confirm the identity of the crockery.

In the above examples the handling tool 10 has been described as transporting an item of glassware 44. However, the skilled person will appreciate that the handling tool 10 may be used to transport any other compatible items such as crockery 43 or dining trays 46.

Although the resilient wall 12 and resilient skirt 13 have been illustrated as having a uniform thickness, the thickness of the resilient wall 12 and resilient skirt 13 may beneficially be non-uniform to provide increased local flexibility in particular areas of the tool 10. This allows the local flexibility of the tool 10 to be tailored to the shape of the object to which the tool 10 is to be attached, to improve the seal formed between the tool 10 and the object.

Although the lower surface of the skirt 13 has been illustrated as being smooth, the lower surface of the skirt 13 may beneficially be textured. When the lower surface of the skirt 13 is textured, the amount of debris that moves towards the opening at the centre of the skirt when the high-power vacuum pump is switched on may be reduced. However, providing a smooth lower surface of the skirt 13 may beneficially improve the reliability of the release of wares from the handling tool, and reduce the time taken for a ware to disengage with the surface of the handling tool, when the partial vacuum between the tool 10 and the ware is destroyed.

Beneficially, a section of relatively stiff material may be provided at the interface between the resilient skirt 13 and the conduit 11 (or at the end of the distal end of the conduit for the hemispherical configuration in Figure 6). For example, a ring of relatively stiff material such as, but no limited to, plastic, may be provided between the resilient skirt 13 and the conduit 11. This beneficially inhibits the collapse of the path for fluid flow 14 when the vacuum or partial vacuum has formed, and may also act as a hard end-stop to inhibit folding of the skirt 13 into the path for fluid flow 14. Alternatively, the stiffness of a part of the conduit 11 proximal to the resilient skirt 13 may be increased by providing additional material, for example by increasing the thickness of the part of the conduit 11 or by providing ribs on the surface of the conduit 11. Providing the section of relatively stiff material beneficially allows the tool 10 to remain locally flexible, whilst increasing the amount of force required to deform the tool when the deformation becomes undesirably large. However, it will be 5 appreciated that a section of relatively stiff material need not necessarily be provided.

Although the resilient wall 12 has been described as having a hollow frustoconical configuration, it will be appreciated that a solid frustoconical configuration may be provided such that conduit 11 passes through the centre of a solid, resilient conical frustum, in order to increase the rigidity of the tool 10.

In the above examples the resilient skirt 13 has been described as comprising a single opening for fluid flow into the conduit 11. However, the skilled person will appreciate that the resilient skirt 13 may beneficially comprise a plurality of openings, so that fluid may flow into the conduit 11 even when one of the openings becomes blocked by debris.

Various other modifications will be apparent to those skilled in the art and will not be described in further detail here.

Claims

1. A handling tool for handling wares in a warewasher system, the handling tool comprising:

means for engaging with a ware to be handled for releasably securing the handling tool to the ware for transport of the ware from a first location to a second location in the warewasher system;

wherein the engaging means comprises:

a resilient ware engaging element for mutually engaging with the ware to be handled; and means for coupling the handling tool to a vacuum source for application of at least a partial vacuum between the ware engaging element and a surface of the ware to be handled for releasably securing the ware to the handling tool during operation; and wherein the ware engaging element has a distal end, a proximal end, and a resilient wall having an external ware engaging surface;

wherein the resilient wall of the ware engaging element is configured to form a shape that increases in transverse cross-sectional area in a longitudinal direction, from the distal end to the proximal end whereby, in operation, the distal end of the ware engaging element is capable of insertion into a cavity in the ware to be handled to bring the ware engaging surface into contact with a perimeter of the cavity; and wherein the resilient wall of the ware engaging element is formed of compliant resilient material that, in operation, will conform to a contour of the perimeter of the cavity and/or to any object obstructing that perimeter to form at least a partial seal for establishing at least a partial vacuum in the cavity.

2. A handling tool as claimed in claim 1 wherein the resilient wall of the ware engaging element is configured to form a shape that is one of frustoconical; and at least partially spherical.

3. A handling tool as claimed in claim 1 or 2 wherein the resilient wall of the ware engaging element is configured to form an aperture, at the distal end, via which said at least a partial vacuum can be applied and wherein the means for coupling comprises a conduit for forming a fluid path from the aperture to the vacuum source.

4. A handling tool as claimed in claim 3 wherein the aperture and conduit are located generally coaxially with the ware engaging element.

5. A handling tool as claimed in claim 3 or 4 wherein the aperture has at least one of the following geometries: circular with a diameter ~25mm to ~40mm, for example ~30mm (with tolerances of plus or minus 20%); and a transverse cross-sectional area of ~500mm2 to ~1250mm2, for example ~700mm2 (with tolerances of plus or minus 40%).

6. A handling tool as claimed in any preceding claim wherein the resilient wall of the ware engaging element has a geometry (e.g. wall thickness) whereby the ware engaging element is sufficiently rigid to maintain its shape when not engaged with a ware, and sufficiently compliant to conform to the perimeter of the cavity and/or to an object obstructing that perimeter during operation to releasably secure the ware to the handling tool.

7. A handling tool as claimed in any preceding claim wherein the ware engaging element has a wall thickness in the range ~2mm to ~4mm, for example ~3mm (with tolerances of plus or minus 20%).

8. A handling tool as claimed in any preceding claim wherein the ware engaging element has at least one of the following geometries: circular with a diameter of ~80mm to ~140mm, for example ~110mm (with tolerances of plus or minus 20%); and a transverse cross-sectional area of ~5000mm2 to ~15000mm2, for example ~9500mm2 (with tolerances of plus or minus 40%).

9. A handling tool as claimed in any preceding claim wherein the resilient wall of the ware engaging element is configured to form a generally frustoconical shape in which the wall extends from the distal end to the proximal end at an angle of between ~5° to -30° (with a tolerance of 10%) to an axis in said longitudinal direction, for example at an angle of -10° (with a tolerance of 10%) to an axis in said longitudinal direction.

10. A handling tool as claimed in any preceding claim wherein the ware engaging element is formed of a material from the list: polyurethane; silicone; or rubber.

11. A handling tool as claimed in any preceding claim: wherein the ware engaging element is a first ware engaging element; wherein the ware engaging means further comprises a second ware engaging element, the second ware engaging element comprising a resilient and compliant skirt that is configured to, in operation, engage with and conform to a surface of a ware to be handled whereby to form at least a partial seal with that surface for establishing at least a partial vacuum between the skirt and the surface.

12. A handling tool as claimed in claim 11 wherein the skirt is configured to have a transverse cross-sectional area that is smaller than that of a cavity into which, in operation, the distal end of the first ware engaging element is to be inserted.

13. A handling tool as claimed in claim 11 or 12 wherein the skirt has at least one of the following geometries: annular with an external diameter of ~30mm to ~50mm, for example ~40mm (with tolerances of plus or minus 20%); and a transverse cross-sectional area of ~700mm2 to ~1950mm2, for example ~1250mm2 (with tolerances of plus or minus 40%).

14. A handling tool as claimed in claim 11, 12 or 13 wherein the skirt depends, at a distal end of the handling tool, from at least one of: the first ware engaging element; and the coupling means.

15. A handling tool as claimed in claim 14 wherein the skirt flares outwardly, at the distal end of the handling tool, to increase in transverse cross-sectional area in a direction opposite to the longitudinal direction from the distal end of first ware engaging element to the proximal end.

16. A handling tool as claimed in any preceding claim further comprising a resilient mechanism configured to allow, in operation, reciprocal movement of the handling tool along an axis generally parallel to a longitudinal axis between the distal end and proximal end of the ware engaging element whereby, in operation, the relative height of the ware engaging means will adjust automatically to ware-to-ware variation in a maximum height of wares to be handled.

17. A handling tool as claimed in claim 16 wherein the resilient mechanism is further configured to allow, in operation, rotational movement of the handling tool about an axis generally orthogonal to the longitudinal axis between the distal end and proximal end of the ware engaging element whereby, in operation, an angle of the ware engaging means will adjust automatically to ware-to-ware variation in an orientation of the wares to be handled.

18. Apparatus for handling wares in a warewasher system, the apparatus

5 comprising:

means for identifying a ware to be transported from a first location to a second location in the warewasher system and for determining a position of the identified ware;

means for transporting the identified ware from the first location to the second 10 location using a handling tool as claimed in any preceding claim; and a pump for providing said vacuum source for said handling tool.

19. A method of handling wares in a warewasher system using apparatus as claimed in claim 18, the method comprising:

identifying a ware to be transported from a first location to a second location 15 in the warewasher system and determining a position of the identified ware;

transporting the identified ware from the first location to the second location using a handling tool as claimed in any of claims 1 to 17.