RU2407994C2 - Method and system for creating portions of objects - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: weight of each separate object is determined. Objects are transported using a transportation vehicle. Objects are selectively transferred from the said transportation vehicle (10) to apparatus for creating portions through at least the same robot-type displacement apparatus, which can selectively seize or select an object and put into a selected position, owing to which a portion of objects is created taking into account given criteria, where the said portions of objects are created on apparatus for creating portions which are moved around the said at least same robot-type displacement apparatus.

EFFECT: high efficiency of processing created portions such that a portion satisfies given criteria with respect to, for instance overall weight limits, possibly the number of objects, weight, orientation or type of objects.

50 cl, 14 dwg

Description

Field of Invention

The invention relates to a method and system for creating portions of objects to be supplied in such a way that the portion satisfies predetermined criteria with respect to, for example, the limits of the total weight and, possibly, the number of objects, weight, orientation and / or type (s) of objects, and where the means are used moving type of robot.

BACKGROUND OF THE INVENTION

Creating portions of objects, such as, for example, food products, with obtaining portions that, for example, satisfy predetermined criteria regarding, for example, total weight, is well known in the art, for example from GB Patent GB 2116732, European Patent Document EP 781172 and international publication WO 00/23771, which describes systems where food items are transported on a conveyor belt and where items are selectively transferred to a plurality of collection points where portions are formed.

In addition, the use of robots in creating portions of objects, such as food objects, has also been proposed in known systems.

For example, the international publication WO 95/35238 A describes a method and system for creating weighted portions of food items, where a robot is used to transfer selected food items to a carrier plate. However, according to this document, the robot and the system are designed so that the robot collects objects one by one and delivers them to the carrier plate. Thus, the robot is only able to postpone transferred objects in one place located near it, and in the same order in which the objects arrive at the robot.

In addition, in the articles “Advantages of expert robots: intelligence versus art” (“Expert systems and robots”, Springer-Veriag Berlin Heidelberg, 1991) and “Packaging of poultry products using robots” (“Robots in the processing of meat, fish and poultry” , Routledge, 1992) their author K.Khodabandehloo proposed the use of one robot in the system of creating portions. Both of these documents suggest the use of a robotic system for packaging fresh portions of poultry meat, and especially chickens, with a fixed weight and a fixed price. Parts of chickens, such as breasts, are mechanically weighed and weight information is transmitted to a computer controlling the robotic cell. The computer controls the robot so that a predetermined series of parts having (at least) a predetermined total weight (with minimal excess weight) are assembled on a tray. Cameras are used to determine the position of individual parts, for example, to help the robot capture objects.

Further, in the international publication WO 01/22043, the use of robotics for transferring objects to selected receiving points where portions are formed is described.

Also in international publication WO 2005/106405, the use of robot-type moving means for transporting foodstuffs to portion carriers is described, where foodstuffs are conveyed and selectively transferred to portion carriers on a portion carrier that moves parallel to the food conveyor.

The purpose of the present invention is to provide a method and system for creating portions of objects, through which more flexible and efficient creation of portions is provided in comparison with the known methods and systems.

Thus, it is an object of the present invention to provide such a method and such a system by which more efficient processing of created portions or packages can be provided.

In addition, the aim of the present invention is to provide such a method and such a system by which selected objects that need to be divided into portions can be placed, for example, with a given and / or ordered shape, as a result of which the created portions can be processed further, for example, to be packed etc., without violating or interfering with the form or “pattern” of the created servings.

In particular, the purpose of the invention is the creation of such a method and such a device that are suitable for the selection and placement of objects that "constitute together a single group" on the desired packaging, tray, etc. Such objects, about which it can be said that they “constitute a single group”, can, for example, be objects that together have a given mass or weight (for example, 1 kg), but other criteria can also be used. Such an example may be, for example, a package containing chicken parts, for example, cooked and suitable for placement in the oven, the package may contain two thighs, two legs (“drumsticks”), two wings and two breasts.

In addition, the aim of the present invention is to provide such a method and such a device that provide improvements, compared with known systems, with respect to the speed at which the flow of objects can be transmitted to packaging means or means for creating a portion, while at the same time providing the possibility of placing objects in these funds in due order.

Another objective of the present invention is the creation of such a method and such a device by which facilitates the efficient processing of various portions or packages, for example, portions having different specified weight.

These and other objectives are achieved through the invention, described in detail below.

SUMMARY OF THE INVENTION

The invention relates to a method for creating portions of delivered objects, such that the portions satisfy specified criteria, for example, with respect to the limits of the total weight and, possibly, the number of objects, weight, orientation and / or type (s) of objects, in which

determine the weight of each object,

objects are transported by means of transportation of objects,

perform selective transfer of objects from the indicated means of transporting objects to devices for creating a portion by means of at least one means of movement such as a robot when creating a portion of objects taking into account these specified criteria,

moreover, these portions of objects are created on devices for creating portions that move around at least one means of movement such as a robot.

In doing so, a number of advantages are achieved. The efficiency of the operation of creating portions is increased, since objects can be transmitted in such a way that the effective transmission time can be reduced in comparison with known methods and systems. When the portion creating devices move around the robot type moving means, the distance from the object collection area can remain within the specified limits, and the robot type moving means only needs to move from the object collecting area to the portion creating devices that are constantly located in the given area, unlike from known systems and methods, where devices for creating portions move rectilinearly along the direction of transportation of objects, which means that the means of movement are They must travel a relatively large distance, for example, picking up an object that has arrived at the object collection area and moving it to the portion creation tool, which is located at the far end of the effective delivery area.

In addition, a further increase in efficiency can be achieved when the orientation of the objects is taken into account, for example, when the objects are clearly shaped and should be placed on the device to create portions with a given orientation and / or with a certain orientation with respect to other objects. In such cases, the means of movement can be controlled to ensure selection or capture of the selected object when there is a suitable orientation relationship between the object and the intended tool for creating portions (which moves in a circle around the means of movement), as a result of which the means of movement does not need to rotate the object or needs only in turning the object at a small angle. As a result, the time and resources needed to rotate, for example, gripping means of the robot, are not required or at least minimized.

Preferably, as indicated in paragraph 2 of the claims, the specified portioning device may be configured such that several portioning devices are moved around the at least one robot-type moving means.

In this case, a relatively simple configuration can be achieved.

Preferably, as indicated in paragraph 3 of the claims, these devices for creating portions can be trays or similar means.

According to a preferred embodiment, as indicated in paragraph 4 of the claims, these devices can be placed on a carrier, for example, a carrier designed for each of said at least one means of movement such as a robot, while the carrier (s) is movable specified devices.

Preferably, as indicated in paragraph 5 of the claims, the specified carrier can be configured to rotate these devices in a closed path, such as a circle, when creating portions.

This achieves that it is not necessary to complete the creation of the portion within a given limited time corresponding to the transportation time by one revolution around the means of movement such as a robot, but that the creation of the portion can be completed in an optimal way, for example with minimal underload, if the specified device is left in the loop , and the system can do so without having to perform any further operations or actions.

Preferably, as indicated in paragraph 6 of the claims, devices for creating a portion can move around at least one means of movement such as a robot with more than one revolution when creating a portion of objects on said device.

At the same time, it is achieved that there are no restrictions on the time for which the creation of a specific portion can be completed, i.e. since the tray can remain in the loop or loop around the robot for as long as necessary in order to wait for the appearance of one or more desired objects, this will complete the creation of the portion in the optimal way, for example, with a minimum of undelivered weight.

According to a preferred embodiment, as indicated in claim 7, said carrier may comprise a number of segments that can be replaced, for example, if necessary, use portion creation devices having different sizes and / or types.

Thus, changing the dimensions of the tray, for example, in accordance with changing the portion sizes and / or sizes of objects, can be performed relatively easily by replacing some segments with other segments related to the desired size, instead of modifying the media or instead of replacing the entire media. In addition, when using segments of the medium, the medium can easily be modified so that it is possible to place portion creating devices of various sizes on it, and the number of portions of each size placed on the medium can be easily adjusted.

In this regard, it should be noted that such a segment may contain only one place or compartment for the device for creating portions, such as a tray. But you can also understand that there can be two, three or more. In addition, it is clear that on the same media can be used these devices of different sizes, for example, to create different portions (for example, portions of different sizes and / or types). Naturally, it is also possible to have only one type and / or size of devices for creating portions on the same medium.

Preferably, as indicated in paragraph 8 of the claims, the specified media can be made with the possibility of holding these devices, such as trays, when moving it.

At the same time, it is achieved that when moving the carriers, the devices for creating the portions are held firmly and precisely.

According to a preferred embodiment, as indicated in paragraph 9 of the claims, said carrier may comprise holding means capable of being disengaged, for example by means of an uncoupling mechanism, when the tray is placed on the carrier or when the finished portion is removed.

This achieves the fact that the devices for creating the portion can be transferred from the media with relative ease, when the creation of the portion is completed.

According to a particular preferred embodiment, as indicated in paragraph 10 of the claims, said carrier can be configured to close the edges of said devices, such as trays, when creating said portions from objects.

It is hereby achieved that the edges of the portioning device, for example the tray, will be closed during portioning, which is important in a number of applications, and in particular when it comes to creating a portion of food products and the like. Since these objects may have a wet or wet surface, the edges of the portioning aid, such as a tray, if they are not closed and if the objects come into contact with the edges during portioning, may become wet or dirty. In addition, when working with objects on the edges of the portioning device, if they are not closed, particles, fibers, grease, moisture, such as drops, etc. may fall from the objects, as a result of which wetting and / or pollution of these edges. This is in many cases undesirable, for example, when portioning devices, such as trays, are packed with lids, foils and similar elements attached to the edges of the tray, for example by welding, gluing, molding, etc., since moisture, grease and etc. may result in less than optimal packaging. Thus, through this embodiment of the invention, an improved packaging process can also be achieved.

According to a preferred embodiment, as indicated in paragraph 11 of the claims, the device for creating a portion after the completion of creating the portion can be transferred to a means of further transportation, processing, packaging, etc.

Such a transmission can be facilitated in many ways, for example by using a lever or the like, to push or pull the created portion from the carrier, when the corresponding portion creating device is in line with the transmission means, for example, with a dispensing conveyor.

Preferably, as indicated in paragraph 12, the finished portion can be transferred from, for example, the carrier, possibly through an intermediate position, down through, for example, the descent to the specified means of further transportation, processing, packaging, etc.

This achieves a compact device.

According to a preferred embodiment, as noted in paragraph 13 of the claims, an empty portioning device may be transferred, for example, to said carrier after removal of the finished portion.

In this case, increased efficiency is achieved, especially if the empty portion creation device is transferred to the carrier relatively quickly after the finished portion has been removed, thereby ensuring that the portions are created using the maximum number of portion creation devices and, thus, increasing the ability to selectively place a specific object .

According to a further preferred embodiment, as indicated in claim 14, an empty portioning device may be supplied from the source of these devices, possibly through a buffer zone.

Preferably, as indicated in paragraph 15 of the claims, the objects can be fed in one or more rows on the specified means of transporting objects to the specified at least one means of movement such as a robot.

Preferably, as indicated in paragraph 16 of the claims, the area of collection of objects for each of these at least one means of movement such as a robot can be set by a robot and / or a moving device for creating a portion.

Preferably, as indicated in paragraph 17 of the claims, the specified creation of the portion can be carried out under the control of, for example, a central control system.

In this regard, it should be noted that such a central control system will receive input data concerning individual objects, for example, their weight, position, color, shape, etc., and that the central control system will store the trajectory of these objects, as well as devices for creating portions, for example, position on an individual medium, portions to which objects are transferred, data relating to individual portions, further transportation and location of finished portions, etc.

Preferably, as indicated in paragraph 18 of the claims, several robots can be used, for example two, three or more, and each of the robots can respectively be collected portions of different sizes and / or types.

Preferably, as indicated in paragraph 19 of the claims, said devices can continuously move around said at least one robot-type moving means during the portioning process, or, as indicated in paragraph 20 of the claims, said devices can not continuously move, for example, step by step, around the at least one means of movement such as a robot during the portioning process.

According to a particular preferred embodiment, as indicated in paragraph 21 of the claims, devices for creating portions, such as trays or similar items, can be served as follows:

serve the device to create the portion in the initial position from the source of these devices,

transmit the specified device from the initial position to the working position using the ejector means,

returning said ejecting means to the standby position, whereby the next released portion creation device comes to the indicated initial position.

It is thus achieved that the devices for creating the portion, for example trays, can be fed using a compact arrangement and in such a way that, for example, the tray is easily positioned. In addition, an efficient and quick distribution of portioning devices is achieved.

Preferably, as indicated in paragraph 22 of the claims, the following freed device can be released from the specified source either when the device is transferred from the initial position to the working position, or when the ejector means returns to the standby position.

Preferably, as indicated in paragraph 23 of the claims, the following exempted device can support at least a portion of said ejecting means during at least a portion of said transfer step.

Preferably, as indicated in paragraph 24 of the claims, said ejecting means operate with a reciprocating movement.

The invention also relates to a system for creating portions of served objects in such a way that the portion satisfies predetermined criteria, for example with respect to the limits of the total weight and, possibly, the number of objects, weight, orientation and / or type (s) of objects, while the system contains :

means for determining the weight of each object,

means of transportation of objects,

portioning devices

at least one robot-type moving means designed to selectively transfer objects from the specified transportation means to the indicated devices when creating portions from objects taking into account the specified criteria

moreover, these portions of objects are created on the indicated devices, which move around the indicated at least one means of movement such as a robot.

In doing so, a number of advantages are achieved. The efficiency of the portioning system is increased since the objects can be transmitted in such a way that the effective transmission time can be reduced in comparison with the known methods and systems. While the portioning devices move around the robot-type moving means, the distance from the object collection area can remain within predetermined limits, and the robot-type moving means only need to move from the object-collecting area to the portioning devices that are constantly located in the given area , unlike the known systems and methods, where the devices for creating portions move rectilinearly along the transportation of objects, and this can lead to the fact that the means of moving eniya forced to move relatively large distances, for example, selecting an object that has got to collect objects and delivering it to a displacement means which is located at the distal end of the effective region of delivery.

Preferably, as indicated in paragraph 26 of the claims, said devices can be arranged so that several devices can be moved around each of said at least one means of movement such as a robot.

This achieves a relatively simple system design.

Preferably, as indicated in paragraph 27 of the claims, these means of movement can be trays or similar means.

According to a preferred embodiment, as indicated in paragraph 28 of the claims, said portion creation devices may be located on a carrier, for example, a carrier intended for each of said at least one means of movement such as a robot, the carrier (s) being intended (intended) to move the specified devices.

Preferably, as indicated in paragraph 29 of the claims, the specified carrier can be configured to rotate the specified device in a closed path, for example in a circle, when creating portions.

In this case, it is achieved that the portion does not have to be created, for example, within a predetermined time corresponding to the time of one revolution around the robot-type moving means, but that the portion can be created in an optimal way, for example with a minimum of missing weight, if it remains in the loop , and the system can do this without having to perform any other operations or actions.

Preferably, as indicated in paragraph 30 of the claims, said system can be arranged to move a device to create a portion around said at least one means of movement such as a robot with more than one revolution when creating a portion of objects on said device.

At the same time, it is achieved that there is no restriction on the time during which a specific portion should be created, i.e. since the tray can remain in the loop or loop around the robot for as long as necessary to wait for the appearance of one or more suitable objects for selection, which will complete the creation of the portion in the optimal way, for example, with a minimum of missing weight.

According to a particular preferred embodiment, as indicated in paragraph 31 of the claims, said carrier may comprise several segments that can be replaced, for example, if necessary, use said devices of various sizes and / or types.

Thus, changing the size of the tray, for example in accordance with changing the portion size and / or size of the object, can be done relatively easily by replacing the segments with other segments corresponding to the desired size, instead of making modifications to the media, or instead of replacing all media. In addition, when using segments of the medium, the medium can easily be modified to contain portions of various sizes, and the number of portions of each size placed on the medium can be easily adjusted.

In this regard, it should be noted that such a segment may contain only one place or compartment to accommodate a portion, such as a tray. But one must also understand that two, three or more places or branches may be contained. In addition, it should be understood that on the same media devices can be used to create portions having different sizes, for example to create different portions (for example, portions of different sizes and / or types). It is also natural to have these devices of only one type and / or one size on the same carrier.

Preferably, as indicated in paragraph 32 of the claims, said carrier may comprise means for holding said devices, for example trays, for example in the form of a holding lever, on which elastic means can act.

At the same time, it is achieved that when moving the carriers, the devices for creating the portions are held firmly and precisely.

Advantageously, as indicated in paragraph 33 of the claims, the means for holding said devices, for example trays, for example in the form of a holding lever, may comprise a trip mechanism.

This achieves the fact that the device for creating a portion can be transferred from the media with relative ease, when the portion is completely ready.

According to a particular preferred embodiment, as indicated in paragraph 34 of the claims, said carrier may comprise means for closing the edges of said devices, for example trays, for example in the form of flanges of a plate portion.

It is hereby achieved that the edges of the portioning device, for example the tray, will be closed during portioning, which is important in a number of applications, and in particular when it comes to creating a portion of food products and the like. Since these objects may have a wet or wet surface, the edges of the portioning aid, such as a tray, if they are not closed and if the objects come into contact with the edges during portioning, may become wet or dirty. In addition, when working with objects on the edges of the portioning device, if they are not closed, particles, fibers, grease, moisture, such as drops, etc. may fall from the objects, as a result of which wetting and / or edge contamination. This is in many cases undesirable, for example, when portioning devices, such as trays, are packed with lids, foils and similar elements attached to the edges of the tray, for example by welding, gluing, molding, etc., since moisture, grease and etc. may result in less than optimal packaging. Thus, using this embodiment of the invention, an improved packaging process can also be achieved.

Preferably, as indicated in paragraph 35 of the claims, the specified system can be configured to transmit devices for creating portions after the completion of creating the portion to the means of further transportation, processing, packaging, etc.

Such a transmission device may be implemented in various ways, for example, may comprise a lever or the like. for pushing or pulling the finished portion from the carrier, when the appropriate portioning device is in line with the transmission means, for example a dispensing conveyor.

Advantageously, as indicated in paragraph 36 of the claims, the finished portion can be transferred, for example, from the carrier, possibly through an intermediate position, down through, for example, the descent to the specified means of further transportation, processing, packaging, etc.

Preferably, as indicated in paragraph 37 of the claims, the system can be configured to transfer an empty device to create a portion to the carrier after removing the finished portion.

In this case, increased efficiency is achieved, especially if the empty portion creation device is transferred to the carrier relatively quickly after the finished portion has been removed, thereby enabling the creation of portions using the maximum number of portion creation devices and thus increasing the possibilities for selective placement of a specific object.

According to another preferred embodiment, as indicated in paragraph 38 of the claims, said system may contain a source of devices for creating a portion, while empty devices are distributed from the specified source, possibly through a buffer zone, to the carrier.

Preferably, as indicated in paragraph 39 of the claims, the objects can be fed in one or more rows on the specified means of transporting objects to the specified at least one means of movement such as a robot.

Advantageously, as indicated in paragraph 40 of the claims, the area for selecting objects for each of the at least one means of movement such as a robot can be determined by a robot and / or moving devices to create a portion.

Preferably, as indicated in paragraph 41 of the claims, said system may comprise a control means, for example a central control system, for controlling said portion creation.

Preferably, as indicated in paragraph 42 of the claims, the specified system may contain several, for example two, three or more robots, while each of these robots can be created respectively portions of different sizes and / or types.

Preferably, as indicated in paragraph 43 of the claims, said devices can continuously move around said at least one robot-type moving means during the portioning process, or, as indicated in paragraph 44 of the claims, said devices can not move continuously, for example, step by step, around the at least one means of movement such as a robot during the portioning process.

According to a particular preferred embodiment, as indicated in paragraph 45 of the claims, said system may comprise a device for distributing devices for creating portions, for example trays, etc., comprising a source of said devices and ejecting means which are adapted to transmit said devices from the initial position in the working position, and the specified device is configured to feed devices to create portions in the specified initial position from the specified Source.

This ensures that the devices for creating portions, such as trays, can be fed using a compact device and so that the tray is easily positioned. In addition, efficient and quick distribution is achieved.

Preferably, as indicated in paragraph 46 of the claims, the specified initial position may be located below the specified source of these devices for creating portions.

Preferably, as indicated in paragraph 47 of the claims, the said ejecting means can be made with the possibility of performing during the operation of the reciprocating motion.

Preferably, as indicated in paragraph 48 of the claims, at least a portion of said ejecting means may be arranged to pass under said source during transfer of the device for creating a portion from the initial position to the working position.

Preferably, as indicated in paragraph 49 of the claims, the specified device can be configured to release the device for creating a portion from the specified source, either when the specified device is transferred from the initial position to the working position, or after completion of the specified transfer.

Preferably, as indicated in paragraph 50 of the claims, said device may comprise a trip mechanism for individually releasing said device from said source.

According to another aspect, the invention also relates to a device for distributing and positioning / placing / pushing packaging or supporting elements, such as trays, etc., and to a method for distributing and positioning such packaging or supporting elements, such as trays, etc.

Brief Description of the Drawings

The invention is explained in detail below with reference to the drawings, where

figure 1 illustrates schematically the method and system according to the first embodiment, in a top view;

figure 2 shows one of the variants of the invention in a plan view, but with the robots removed;

figure 3 corresponds to figure 2, but with the robots shown;

figure 4 shows a variant, presented in figure 3, in side view;

5 shows a perspective view of the embodiment shown in FIGS. 3 and 4;

6 shows a perspective view of a further embodiment of the invention;

Figures 7 and 8 show a device for placement and protection according to the following embodiment in perspective views from above and below, respectively;

Fig.9 shows schematically in side view a device for feeding the tray from the stack and its placement;

figure 10-11 illustrate in appropriate views the operation of the device for feeding the tray from the stack and its placement, shown in figure 9;

12 shows a schematic view of a further embodiment of a finished portion transfer device;

13 shows a portioning system comprising a feed or dispensing device according to a further embodiment of the invention, in a plan view;

Fig. 14 shows a portioning system comprising a feed or dispensing device according to another embodiment of the invention, in a plan view.

DETAILED DESCRIPTION OF THE INVENTION

Figure 1 presents a top view of a system for creating portions of objects according to one embodiment of the invention. Here, objects 1 are delivered by means of transportation equipment containing two feed conveyors 2 and 4, and objects 1 are fed to weighing devices 6 and 8, by means of which the mass (or weight, as described here) is determined. It should be noted that the weight of objects can be determined in other ways than real weighting, for example, by measuring or determining the volume of each object and calculating the mass. Information regarding the individual masses is recorded, for example, by the central control unit 92. As shown in the drawing, the central control unit 92 of the specified system receives a number of input control signals 94a-94n and is configured to transmit a number of output control signals 96a-96m to control various elements and parts of the system, as is understood by specialists. In addition, it should be noted that the system may contain local control units.

Objects after determining their weight or mass are transported further by means 10 for transporting objects in the form of, for example, a conveyor belt. Registration of the position and, possibly, the orientation and / or type of objects is performed by, for example, an optical system, scanning means, etc. (not shown), and information is recorded by the central control unit. Thus, the system at any time will know the position, weight and, possibly, the orientation and / or type of each object that got on the means of transportation of objects 10 and transported further, for example, based on the speed of the conveyor, etc. The determination of the position, etc., for example, by means of scanning equipment, can occur earlier, for example, before determining the mass or at the same time. However, this can lead to erroneous data regarding the position of the objects, since the position and / or orientation of the objects can change when they are transferred from one conveyor to the next, for example, from a belt of a weighing device 6 to a conveyor belt of an object transporting means 10. For example, an object can slow down for a short period when the gap between the conveyors passes, as a result of which the actual position of this object is slightly behind the position calculated by the central control unit based on the speed of the conveyor (conveyors), or the object can be shifted slightly sideways when passes this gap.

Means 10 for transporting objects can, as shown in the drawing, be in the form of a single relatively wide conveyor belt, which for practical reasons may be preferable, but it is clear that two or more separate conveyor belts located next to each other can also be used.

Creating portions of objects belonging to the collection, for example, a collection of chicken parts with a given weight, is carried out by placing objects 1 on devices 14 for creating portions, such as, for example, trays, packaging means or the like, which in the illustrated embodiment, as will be explained later, located with the possibility of their movement around the collection area on the means 10 for transporting objects, for example, moving in a closed loop, which can be round, semicircular, pseudo-circular, etc. The portion creating devices can move while on the carrier 16, as shown in the drawing, which rotates around, for example, the collection area of the objects, as shown in FIG. 1 only for the robot 22. Note also that for the sake of simplicity, only a few are shown on the carrier 16 devices 14. As will be explained later, the created portions 26 are transferred from the carrier and can be transported further, for example, for packaging, etc. dispensing conveyor 12.

Objects 1 are moved from the means 10 for transporting objects to devices 14 using one or more means of moving such as robots, or robots, as they are further called. When talking about robots or means of movement such as robots, it is clear that such robots are of a type having at least three degrees of freedom, which means, for example, that robots work in an effective work area (i.e., in the XY plane) and that robots are designed to capture or pick up an object and place it within the effective work area (i.e., also working in the Z direction). In addition, we note that the robots used are of a type having, for example, a gripping or collecting element for lifting objects or objects and a controlled movement system for transferring a captured or selected object or object to a selected position. These robots are controlled by the central control unit for batch feeding of objects based on information available to the system regarding the mass and position of objects available for batch feeding, the mass of objects possibly already placed on the device 14 in incomplete servings, and the required parameters for servings.

Figure 1 shows three such robots that are used with the effective area of operation of each of them, i.e. 20, 22 and 24, respectively. It is assumed that each robot is able to work in a essentially circular region, i.e. grab or pick up an object 1 from an object transport means 10 and place it on devices 14, for example, trays that move around the collection area by means of a carrier 16 (as shown in FIG. 1 only for robot 22 and for simplicity with only a few devices 14 shown in media 16). It is understood that other forms of an effective work area are possible, depending on the type of robot and / or control equipment. Thus, robots serve for the selective movement of objects from the means 10 for transporting objects and placing them in portions on devices 14, possibly in an orderly manner, for example, taking into account the specified requirements and / or in order to achieve that the objects placed in the packaging, possibly after transfer from the conveyor, had a good attractive appearance.

When the fixtures 14 move in a closed circular path, for example, move on the carrier 16, optimal matching can be obtained for most types of robots, which in most cases have an effective working area, which is also essentially circular. Thus, a robot can be used that has a working area that corresponds exactly to the size and shape of the carrier 16, which differs significantly from known systems, where a robot often needs to be used, able to go beyond most of the portions, but where one or more of such provisions required such an opportunity that gave rise to the need for large-sized robots in known systems.

In addition, note that the objects 1 shown by dashed lines in the drawings are only examples and that the actual dimensions, distances and / or orientations may vary, as well as the dimensions of the components, for example conveyors contained in the system.

A specific embodiment of the invention is described below with reference to FIGS. 2-5, where a system is shown comprising two means of movement such as a robot, but where transporting equipment for conveying objects, weighing means, scanning means, etc. are not shown.

As shown in figure 2, which depicts a system for creating portions of the fed objects in a top view, but without showing robots, a means for transporting objects, such as a conveyor 10, is located below two carriers 16 for moving a number of devices 14, such as trays, around the corresponding areas collection of objects, where four objects 1 are shown in the illustration chains, ready to be picked up by robots and sent to the selected tray 14. It is clear that four objects, which are shown in FIG. 2, located in the collection area for robots and 20 (of the left in FIG. 2), of course, should not all be selected and transferred to the fixture 14 located on the carrier 16 near this robot 20. Similarly, it is clear that although even four objects are similarly shown located in the collection area of the robot 22 , and assuming that the conveyor 10 moves to the right in FIG. 2, normally some of the objects will be matched in the previous area (s). As shown in the drawing, each carrier 16 may contain 12 trays, but it is understood that fewer or more trays may be contained, depending, for example, on the size of the required portions, the size of objects, the type of robot, etc. As shown in the drawing, the carrier 16 on the right in FIG. 2, i.e. the carrier 16 relating to the robot 22 may comprise a number of segments, for example, only four, of which, for simplicity, only two segments 16a and 16b will be discussed below and which comprise a complete circular carrier. Thus, changing the size of the tray, for example in accordance with changing the portion size and / or size of the object, can be accomplished relatively easily by replacing segments, for example 16a and 16b, with segments having the desired dimensions. One segment may contain one or more portion creation devices. As shown in the drawing, the carrier 16 may have means 18, for example walls, ribs, elevations, and the like, for arranging individual trays, thereby ensuring that the robot accurately places objects in relation to the tray.

The carrier 16 may also be arranged so that it may contain or support trays of various sizes and / or types. For example, the media may contain a number of rings or ring elements that could be displaced to support trays of different sizes.

As explained above, the portioning system allows robots to select objects and place them on the selected fixture 14 or in it, while these fixtures 14, for example trays (hereinafter referred to as trays), move at an appropriate distance from the robot, for example, along a circular guide as shown in the drawing. This design does not impose restrictions on the time during which a particular portion can be created completely, i.e. since the tray can remain in the loop or loop around the robot for as long as necessary to wait for the appearance of one or more suitable objects that will complete the creation of the portion in the optimal way, for example, with a minimum of unhandled weight.

In addition, the system includes a transfer device 30 for transmitting fully finished portions and empty trays 14. As shown in the drawing, such a transfer device can be a common device for both media 16. The function of the transfer device will be explained below with reference to the carrier 16 on the left figure 2, i.e. the media related to the robot 20. When the device 14 contains the finished portion, this portion can be removed from the carrier 16 by means of a transmission device 32, for example a telescopic arm controlled by the control system, when the portion is in the appropriate position. The device 32 may, as shown in the drawing, comprise a stop, lever or the like, which is usually located on the inner periphery of the carrier and which moves outwardly when the portion is removed from the carrier 16. Other embodiments of such a transfer device are described below. As explained below, the finished portions are transferred to the conveyor 12 for further transportation, processing, packaging, etc. As shown in the drawing, the medium 16 may be arranged to move counterclockwise, and the empty space on the medium will be in a position near the transfer device 34 for empty trays in a short time. Thus, a new tray, i.e. fixture 14 may be placed in a vacant seat by means of this transmission device 34, which may also be a telescopic arm controlled by a control system. Trays may be delivered from a source 38, which may be common to both carriers, and may be delivered through a buffer zone 36 for empty trays.

Figure 3 corresponds to figure 2, but figure 3 shows the robots 20 and 22, as well as the frame 40, supporting, for example, robots and other parts of the system. Robots can be readily available types, such as robots supplied by Asea Brown-Boveri (ABB).

Figure 4 depicts the proposed system in side view, showing the configuration of the robots. However, robots of other types may also be used, for example loading facilities having at least three degrees of freedom.

Figure 5 shows the specified system in a perspective view. Here you can see how the finished portion can be transferred to the conveyor 12 for further transportation, after it has been removed from the carrier 16 by the device 32. As shown in Fig. 5 with reference to the carrier located on the right, i.e. corresponding robot 22, the finished portion 26, for example a tray containing selected objects, can be transported to the conveyor 12 through the descent 42 or the like. For example, the fixture 14, which contains the finished portion, can be transferred to the supporting means 42 at the same level as the carrier 16. The supporting means 42 can then be tilted down, as shown in FIG. 5, whereby the tray with the finished portion can slip down onto conveyor 12. Other methods of transferring finished portions to a dispensing conveyor are also obvious to specialists, for example, by transferring a finished portion from a carrier 16 directly, for example, to a dispensing conveyor located, for example, across to the carrier.

6 shows a perspective view of another embodiment of the proposed system. The features that have already been explained above will not be explained in detail here. However, the descent or the tilting support 42 is clearly visible for directing the finished portions down to the conveyor 12. The means 10 for transporting objects, for example, the conveyor from which objects 1 are assembled or captured, according to this embodiment, is made with a surface having elements, for example plates or ribs, which lift objects from the base of the conveyor, thus allowing them to grab objects, for example, by lifting them with some means, such as forks or finger-shaped elements that may be under conducted under the facilities. As shown in FIG. 6, the plates or ribs may extend in a direction transverse to the conveyor, but it is understood that instead they may extend in the longitudinal direction. In addition, it is clear that the means of transporting objects can be made in the form of a conveyor belt containing many parallel strings or cords, for example, a multi-cord conveyor (a conveyor on which several parallel running cords are used instead of a belt). In this regard, it should be noted that robots in accordance with the invention can be equipped with various gripping or collecting means, for example, lifting, gripping, suction means, etc., which can be replaced, for example, depending on the type of objects.

6, for the sake of simplicity, only one robot 20 is shown, but it is clear that each carrier 16 has its own robot.

In the examples described above, two or three robots were used, but the system can contain only one robot or more than three robots. In addition, it seems that when several robots and corresponding media are used, portions of different sizes and / or types can be collected on the respective media and the media can, as described above, be equipped with devices 14, for example trays, of different sizes. In addition, if different batches are ready, for example, of one size or type for one robot and another size or type for another robot, these batches can be easily transported so that they cannot mix, for example, when using two or more conveyors 12.

2-6, embodiments of the system are shown with a feeding or dispensing device for empty portioning devices, for example, a device 38 that is common to two carriers 16 and their respective robots. Obviously, such a feeding or dispensing device for empty appliances, such as trays (hereinafter referred to as trays), can also serve as a source or distributor for more than two carriers and corresponding robots, for example three, four or more. However, the feeder or dispenser can feed, for example, trays to only one medium and the corresponding robot, or only to several of the carriers and corresponding robots, in the case when the system contains more than two carriers and corresponding robots. In general, each medium and associated robot can have a separate feed or dispenser. We also note that the size and / or type of devices 14 may differ and that, for example, each feed or dispensing device can be configured to work with a specific size and / or type of tray. In addition, we note that the carrier and the corresponding robot may include not one supply or distribution device, but several such devices, and that, for example, each device can work with trays of different sizes. If, for example, the option shown in FIG. 2 is considered, it is obvious that it can be modified to include two separate tray feeders or dispensers, one related to the robot 20 and the other related to the robot 22. In addition, it is obvious that the distribution devices can feed trays of different sizes, for example, large size for the robot 20 and small size for the robot 22. However, one or both of these robots can be equipped with another distribution device, which, for example, can be placed on the other media torons, for example, at the top of FIG. 2, and what a different type of dispenser can feed a tray of a different size than the first dispenser, for example, in cases where portions of different sizes are created on the same robot, as will be explained in more detail below. More than two, for example three, four, etc., different dispensers may also relate to the carrier and the corresponding robot, for example placed along the periphery of the carrier, thus making it possible to deliver devices for creating portions of three or more different sizes and / or types to the carrier / robot. It is also understood that the embodiment shown in FIG. 2, which has a common supply or distribution device, can be supplemented by another common supply or distribution device placed on the other side of the carriers / robots, i.e. in the upper part of figure 2. Thus, one dispenser can, for example, feed large size trays, while another device can, for example, feed small size trays. One dispenser can feed trays to one or both robots, and the same applies to the other dispenser. One skilled in the art will appreciate that numerous other configurations and / or combinations are possible.

Note, however, as shown above, that portions of various sizes and / or types can be created on the same robot, for example, in cases where only one robot and one medium are used. Here, fixtures 14 of various sizes, for example trays, can be placed on the carrier 16 in various positions that are recorded by the control system, whereby the robot can be controlled to ensure that selected objects or objects are transferred to the respective trays in order to complete the various different servings. It is clear that the system will record the position of each of the trays as they move around the robot. When various portioning devices, such as trays, are used on the same medium 16 and the medium contains a number of segments, for example 16a and 16b, trays of different sizes can be assigned to different segments. But it is also clear that trays of various sizes can be placed on the media in random order, since the control system registers the position in which each of the trays is placed by this system.

In addition, in the examples above, objects were shown delivered in two rows located next to each other on the vehicle 10, but it is understood that the objects can be delivered in any other suitable way, for example three or more rows or in an irregular order .

When two or more robots 20, 22, 24 are used according to the invention, they are controlled by the system to ensure joint participation in creating portions in an optimal way, for example by creating portions that have a minimum of unfinished weight and optimally satisfy the specified criteria. Thus, the robot located first in the direction of the flow of objects will not necessarily be controlled to capture a specific object when this object is in the collection area for the first robot, if the control system determines that this particular object can complete the serving on the second robot in this way that, for example, the weight criterion will be fulfilled with a minimum excess for this portion, and / or if it is recognized that another suitable object is on the way to the first robot and / or with great confidence, you can p to consider that he will appear within certain limits of time. Thus, it is clear that robots are controlled by a control system to ensure they work together to achieve an optimal result, and that a system containing a number of robots, due to such cooperation, will achieve better results than a system containing only one robot.

In addition, it should be noted that a tool can be created to facilitate cleaning of the tool located on the tip of the robot, such as a tool for gripping, lifting or suction. For example, a place can be allocated to the side of the conveyor 10, but inside the robot’s working area, in particular, if the media is offset relative to the conveyor 10 where the cleaning tool can be located, so that regular cleaning can be performed when the robot moves the tool to the place cleansing. In addition, the robot can have two such tools and can change these tools, for example, put one tool in the cleaning place, so that it can be cleaned while the other tool is used to create the portion, and vice versa.

A further preferred embodiment of the invention is described below with reference to FIGS. 7 and 8, which show a device for placement and protection, which is generally indicated by number 50, in perspective views from above and below, respectively. This device 50 serves a number of purposes, as explained below, but in general it can replace the means 18 for arranging the portioning devices on the carrier 16 shown in FIGS. 2-6.

As shown, fixture 50 comprises a plate portion 52 (see FIG. 7), which has substantially vertical side portions 54 and 58 and an end portion 56. The side portions 54 and 58 are made with support and fastening means 60 for attachment fixtures 50 to the carrier 16. The overall shape of the plate portion 52 is such that several of these fixtures 50 can be placed essentially in the form of a circle or polygon on the carrier 16. Thus, the plate portion 52 has a smaller width at one end, for example at the end 56, than at the other end, and can be made in the form of a segment.

The fixture 50 has an opening 68 in the plate portion 52 substantially corresponding to the shape of the portion of the fixture 14, such as the tray where the transmission objects 1 are placed. As shown in the drawing, this hole 68 is limited in outline to the portions 62, 64 and 66 in the plate portion 52. The hole 68, as shown in FIGS. 7 and 8, is made in the form of a cutout, for example, an opening, which extends into the plate portion 52 from the outer end, for example the wider end, but it can be understood that a collar can also be located here, thus making a hole of 68 okr -adjoint bumpers on all sides.

As shown in FIG. 8, the fixture 50 comprises end stop means 70 located on the lower side of the plate portion 52 at a predetermined distance from the edge of the bead 64. These end stop means 70 may be in the form of one or more pins, as shown in FIG. , or other similar means that perform the same function, as will be explained later. In addition, the device 50 has a holding lever 74, which, as shown in the drawing, can be mounted using a hinge 72 attached to the plate portion 52.

The holding lever 74 can be rotated and can be controlled by the opening mechanism 78, and the elastic lever 80 acts on the holding lever 74 (see FIG. 8), as will be explained later.

As explained above, the device 50 can be used instead of the accommodating means 18, shown, for example, in figure 2. Thus, these devices 50 are placed on the carriers 16, so that the openings 68 correspond to the places where the devices for creating portions, such as trays 14, are located. It is clear that the devices 50 can be used in the form shown in Figs. 7 and 8, i.e. e. each is designed to accommodate one tray 14, or they can be connected to each other, for example, respectively, segments 16a and 16b shown in figure 2, and each is able to contain three or another number of trays 14.

Devices 50, as shown in FIGS. 7 and 8, are designed to accommodate devices for creating portions, such as trays (hereinafter referred to as trays), substantially rectangular, in accordance with the trays shown in FIG. 2. When the tray is transferred to the fixture 50, for example, via the transfer device 30, one side of the tray will abut against the side portion 54, the end of the tray will abut against the end stop means 70, and the other side of the tray will be held by the holding lever 74. When the tray slides into the fixture 50 for example, by means of a transmission device 30, the holding lever 74 can be rotated in the direction of the side portion 58, for example by means of a release mechanism 78, for example a lever that can be actuated by means of achkan or the like (not shown in Figures 7 and 8). When the tray 14 slides into the device 50, for example, so that one of its ends abuts the end stop means 70, the release mechanism 78 is deactivated, so that the holding lever 74, for example, due to the influence of an elastic element or for another reason, can abut against the tray, such thus also pushing the latter towards the side portion 54, whereby this tray is positioned in the portioning position on the carrier 16. The holding lever 74 may be pressed against the tray by elastic means 80, which may be in the form of an elastic lever or similar to it, attached, for example, to the side portion 58, as shown in Fig. 8, and made of a flexible material, such as rubber or similar materials.

It is understood that the holding lever 74 serves to position the tray with the necessary accuracy and, in addition, the holding lever 74 serves to hold the tray in this position when the carrier 16 moves around the collection area, for example, supporting the tray against the end stop means 70 and the side part 54, as well as when a robot acts on the tray 14, placing objects in / on it, when the centrifugal force acts on the tray due to the rotation of the carrier 16. In this regard, it should be noted that a particular advantage of the invention is based on Moreover, the tray can be quickly transferred to the carrier 16, since the holding lever 74 is turned away from its holding position, allowing the tray to slide quickly and unhindered into the device 50. In addition, it should be noted that when using the invention, the portion creation devices can quickly be transported around collection areas, for example, when a portion is fully assembled, and where it is important that this portion is quickly transferred from the carrier, and a new portion creation device, such as a tray, is inserted to support fill in the media. Thus, it will be understood that this device (hereinafter referred to as the tray) can be transported at a relatively high angular velocity, which may result in a relatively high centrifugal force acting on the trays, but that the trays will be held in position due to the action of the holding lever 74, but that In accordance with this option, you can remove and insert the tray quickly.

Thus, when the batch is assembled in / on the tray and when the carrier is in a predetermined position near the transfer device 30, the tray can be easily removed, for example, pulled or pushed away from the carrier 17, or the release mechanism 78 can be activated, for example, by means of a cam or the like mechanism (not shown), as a result of which the holding lever 74 is rotated against the action of the elastic element of the device 80, from the tray with the finished portion, which can now be easily removed by the transfer device 30, and the empty tray can t easily be pushed into the device 50, as explained above.

Another advantage of the embodiment shown in FIGS. 7 and 8 is based on the fact that the opening 68 can be dimensioned so that the sides, for example, 62, 64 and 66 can cover the edges of the tray 14, which is used as a device for creating a portion. When using the design shown in FIG. 2, the edges of the tray 14 are open, and when portions are created and objects are transferred to the tray, the robot can place the object so that part of the object contacts the edge of the tray before it enters the tray. Since the proposed method and system, in particular, relate to the creation of portions of food products and since these items may have a wet or wet surface, the edges of the tray may become wet or dirty. In addition, during the processing of objects from them, particles, fibers, grease, moisture, such as droplets, etc., may fall onto the edges of the tray, thereby contributing to the wetting and / or contamination of the edges. This is in many cases undesirable, for example, when portioning devices, such as trays, are packed using covers, foils, etc., which are attached to the edge parts of this device, for example by welding, gluing, molding, etc., so like moisture, fat, etc. may result in packaging that is worse than optimal. Thus, the embodiment of FIGS. 7 and 8 improves the packaging process, since the edges of the portioning device, such as a tray, will be closed during portioning.

Note, however, that the segments, for example, 16a and 16b described with reference to FIGS. 2, 3, 5 and 6, can also be made with edges that close the edges of the tray when it is placed on the carrier 16, whereby the above is desired an effect will also be achieved with these options.

It is understood that the device 50 can have different sizes, for example, the openings 68 can have different sizes, and that the device 50 can be interchangeable, and that the devices 50 of different sizes can be used together on the carrier 16 in accordance with what has been explained above in connection with other options, for example, in order to be able to collect portions of different sizes on the same carrier 16.

Thus, it can be seen that the device 50 can be similar to the segments 16a and 16b described in connection with FIGS. 2, 3, 5 and 6, when they are designed to accommodate a single device for creating a portion, such as a tray.

The transfer device for empty portioning devices, such as trays (hereinafter referred to as trays), may according to one aspect of the invention comprise a tray distribution and positioning device, which is described below with reference to FIGS. 9 to 11. In this regard, note that, in for this use, the names "tray loader", "tray dispenser", "tray separator" will be used for similar devices by which trays can be fed one after another from a stack, store or tray store. Figures 9-11 illustrate, in schematic views, the sequential operations of a tray dispenser and positioner 101, or a device for distributing and positioning / placing / pushing packaging or supporting elements, as will be discussed later.

Note that when talking about trays or similar items, it is clear that this applies to packaging or supporting items that can have a wide variety of shapes and can be used for a wide range of applications, for example, in connection with creating portions of a wide variety of objects or in connection with packaging processing etc. items, materials, etc. generally.

The device 101 shown in FIGS. 9-11 comprises a storage or magazine 103 for receiving a source 104 of trays or similar elements that are located at a distance from the horizontal support 112, said distance corresponding to the necessary height for the correct operation of the ejector means, which is described below.

The device 101 is located next to the device to which the trays are to be transferred, for example, next to the system for creating portions, as described above, or conveyor belt, or similar means, which serve to support and / or transport the trays when one or more objects are placed on each of a number of trays. As shown in FIG. 9, a compartment or space 110 is allocated to accommodate the tray, for example, free space on a conveyor belt, a specific space on a carrier, such as a rotary turntable or similar device. It is understood that the tray dispenser serves to transfer the tray to such a compartment or location 110, preferably as soon as the compartment or location becomes free, i.e. as soon as the tray that received the intended object (s) is removed, and the compartment or location 110 is adjacent to the device 101. It can be seen that it is desirable for the dispenser to be able to transfer the tray quickly, and preferably while moving the compartment or location.

The device 101 comprises ejector means that are arranged to reciprocate between one position, as shown in FIG. 9, for example, a standby position, and another position, as shown in FIG. 10, where the device pushed the tray 105 into a compartment or location 110 device or on it.

As shown in FIG. 9, the tray 105 is fed from the source 104 to its initial position below this source 104 and rests on the support 112, while the remaining trays in the source 104 are held in a storage or magazine in a manner that is well known in the art, for example by means of an opening a mechanism (not shown) that serves to feed one tray at a time.

When an empty compartment or location 110 is adjacent to the device 101, ejector means 102 are activated to transfer the tray 105 to the compartment or location 110, as shown in FIG. 10. The subsequent tray 106 in the source 104 is released, for example, by the aforementioned opening mechanism, which can happen as soon as the ejecting means are moved so left that the next released tray 106 cannot fall down in front of the ejecting means, but it 106 can instead be released after how the pushing means 102 began to return to the waiting position. However, the subsequent tray 106 is released at a time when it may fall to face the ejecting means 102 before the latter are actuated to transfer the tray 106 to a new empty seat or compartment 110.

11 shows a tray dispenser where the ejector means 102 is pushed back to the standby position and the subsequent tray 106 is fed into the initial position, ready to be moved to its working position, for example, located in the compartment 110.

As shown in FIG. 10, the subsequent released tray 106 may fall onto the top of the ejector means 102 (or parts thereof) when this means slides under the tray 106. As explained above, when the ejection means is shifted sufficiently to the right, as shown in FIG. 11 , tray 106 drops down and can be passed on.

It is understood that the dispensing and positioning device according to this aspect of the invention has the advantage that the trays can be transferred to the working position quickly and efficiently, since a constant readiness to transfer the tray can be ensured as soon as the ejecting means returns to the standby position. In addition, the ejection means ensure that the tray can be located exactly in the intended place or compartment.

As mentioned, such a device for distributing and positioning trays can be used in connection with various variants of the system and / or method of creating portions described here.

In connection with FIGS. 2 and 3, it is described that the finished portion on / in the tray 14 can be removed from the carrier 16 by means of a transfer device 32, which is shown as having a lever that pushes the finished portion from the carrier 16, for example, pushing the end portion of the device 14 facing the center of the carrier 16. Instead, as shown in FIG. 12, such a transmission device may comprise a lever 114 that is designed to engage with the inside of the rim or the edge of the tray 105. Thus, as schematically shown in the drawing, the lever 114 may be executed with part, for example, an end part, which can be adapted to engage the inside of the tray 105. As shown by the arrows in FIG. 12, when the tray 105 with the finished portion is in the transfer position, the lever 114 can move toward the tray 105, lower and retract, whereby the tray 105 will be transferred from the position or compartment 110 on the carrier, for example, to the dispensing conveyor 116. It is clear that such a lever 114 can be constructed in different ways and that it can be controlled in various ways, for example effective motion and / or rotational motion, etc. It is further understood that the location or compartment 110 shown in FIGS. 9-12 may be located on the carrier 16, as shown in FIGS. 1-6, and that the spaces or offices 110 may form part of these carriers 16 or may be designed to accommodate on them.

13 is a plan view of a portioning system comprising a feed or dispensing device according to another embodiment of the invention. A robot-type moving means is shown here, for example, a robot 20 corresponding to the moving means 20, 22 and 24 described above, and therefore further details of the construction of this robot will not be described below. The robot 20 is configured to selectively or capture objects from an object transportation means, such as a conveyor 10, and furthermore, an optical system, a scanning device or the like 90 is shown for determining, for example, position, orientation, volume, color, and so on. .d. objects transported to the collection area in accordance with what is described above.

In addition, there is shown a carrier 16, which, as shown in the drawing, is intended for moving portion-creating devices, for example trays of different sizes, for example large trays 124 located in the accommodation and protection device 150b, and smaller trays 122, located in fixture 150a for placement and protection. It is clear that there may be more than two sizes. According to this embodiment, these trays 122, 124 are delivered to the carriers 16 by means of the feed trays of the conveyor 152 leading to the carriers 16. At the beginning of this conveyor 152 are two dispensers 160 and 162 of trays, each of which has a source of trays, for example smaller trays 122 in the distributor 160 and large trays 124 in the dispenser 162. The trays are distributed to the conveyor 152 in the order in which they should be transferred to the media 16, for example in the order specified by the central control (not shown), and taking into account, for example, which of the port minutes completed or will be completed on the media 16. At 152 the conveyor means can be placed, for example a latch or the like, for supporting mutually spaced trays and / or to block advancement of trays, for example, when the conveyor 152 moves. In addition, sensors can be used to determine when the space on the conveyor becomes empty, so that the next tray can be moved one step forward, for example, by releasing the latch holding its rear side.

Next, FIG. 13 shows a portion conveyance means, or a dispensing conveyor 12 for finished portions 26, which can be transferred to the conveyor 12 by, for example, the device shown in FIG. 12 or the device described with reference to FIG. 2 and 3. It is understood that with the construction shown in FIG. 13, the carrier 16 will preferably be able to move clockwise, so that the finished portion 26 will be transferred from the carrier, leaving empty space for the tray 122 or 124, and thereby the carrier 16 immediately after that udet rotated enough to this empty site was situated in line with the conveyor 152, whereby in this empty space can be transferred tray ready to participate in the establishment portions. Thus, it can be seen that the efficient use of equipment is achieved.

FIG. 14 is a top view, like FIG. 13, of a portioning system comprising a feed or dispensing device according to yet another embodiment of the invention. Therefore, the details already mentioned will not be discussed again. As shown in the drawing, the carriers are also configured to place trays of different sizes, for example, two different sizes.

It is understood that each device shown in FIGS. 13 and 14 may contain only one robot 20, or several robots, for example two, three or more, can be used to create portions of objects coming from their transportation means, for example, conveyor 10.

Shows a means of transporting portions, for example, a conveyor 12, which can be performed as described above in connection with Fig, and, in addition, two devices 166 and 168 are used to distribute and position trays, each of which, for example, feeds trays of a certain size, or they can both feed the same size trays. More than two devices 166 and 168 can be used on each robot. These devices 166 and 168 can be made, as explained in connection with FIGS. 9-11, and, as shown in the drawing, they can be located next to each other and so on. in such a way that the trays are delivered directly to individual empty spaces on the medium 16, transferred and positioned by means of ejector means 154 and 156, respectively.

In connection with the above various devices for transferring empty devices for creating a portion, for example, trays, to the media, we note that to determine whether a place or compartment on / in the medium is empty, means can be used, for example sensors, etc., due to what can be determined if the tray was not accidentally transferred or was not correctly transferred to the media. In such a case, the system may be instructed not to place any object in a specific location, or preferably the tray may be transferred to a specific location. This, for example, can occur when two or more feeders or distribution and positioning devices 166 and 168 are used, as shown in FIG. 14, where, if the tray has not been successfully transferred using the device 166, the tray can be transferred using another device 168 (assuming that the carriers 16 rotate counterclockwise in FIG. 14, and vice versa, if the rotation occurs clockwise).

The above control unit, which, as indicated, is connected to an optical or scanning system, contains accurate information regarding the position, location, orientation and, possibly, the type of objects, so that you can control robots to move objects, for example, to pick up objects and place them on devices for creating portions, including changing the orientation of objects, if necessary. In addition, the control unit is connected to the weighing means or means for determining the mass in other ways, so that it also contains information about the weight in relation to each of the objects.

This control unit can be equipped with software that facilitates the selection of objects, which makes the optimal choice taking into account the selected packaging operation. Such software may, for example, be software operating in accordance with the operating rules described in European patent document EP 781172 or in international publication WO 01/22043. Thus, the creation of portions can be performed in accordance with the so-called principle of accumulation, i.e. by selecting and placing objects in accordance with their weight and the weight of objects already placed or selected (for placement), or in accordance with the so-called combination principle, i.e. by selecting an object for a serving as a combination of objects available for selection, for example, objects present on the medium 10. Other principles or combinations may also be used.

In addition, it is mentioned that the weight or mass of objects can be determined in other ways than weighting, as was also indicated above. For example, the determination of weight can be carried out using optical equipment, possibly simultaneously with the scanning of objects, which takes place to determine the position, orientation and, possibly, also the type of objects. Other means and methods may also be used to determine the mass of objects to be contained in the claims.

As for the means of moving a type of robot, for example robots, as they are simply called above, one skilled in the art will appreciate that various types of robots can be used in connection with the present invention. Essentially, robot-type moving means may include means for selectively capturing, selecting, raising, or generally processing objects carried out under the control of the control means, and, in addition, they can be arranged to control the movement of objects to the desired position, also under the control of the control means , for example, by moving the object to the desired position and lowering / releasing the object, possibly after its orientation, or, for example, by throwing the object in the desired position Eden. One skilled in the art will also appreciate that various types of robots can be used within the scope of the claims.

In addition, we note that the carrier or carriers for portioning devices can move continuously or intermittently, for example in steps. In addition, it is understood that the speed with which they move may be constant or may vary under the control of, for example, a central control means. Moreover, it is also clear that the direction of rotation can always be the same or that it can change.

Designation List

1 Objects

2.4 feed conveyors

6, 8 Weighing devices

10 Means of transportation of objects, conveyor

12 Portion Transport

14 Serving facilities, trays or the like

16 Media

16a, 16b Media Segments

18 Means of arrangement of individual devices, for example

trays on carriers

20, 22, 24 Robot-type moving aids

26 Ready-made servings

30 Serving and portioning transfer device

32 portioning device

34 Empty portion transfer device

36 Buffer zone for portioning devices

38 Source for serving aids, such as trays

40 frame

42 Descent or tilt support for finished meals

50 Tool for placing and protecting devices 14

52 The plate portion of the accommodation and protection device 50

54, 58 Side parts

56 End

60 Support and fixtures

62, 64, 66

68 Plate hole 52

70 End locking means

72 Ball Joint

74 Holding arm

78 Release mechanism

80 Elastic

90 Optical system, scan tool, or the like

92 Central control unit

94a-n Input Control Signals

96a-m output control signals

101 Tray distribution and positioning device

102 Ejector

103 Vault or store

104 Tray Source

105, 106 Trays or accessories for creating a serving of whole

110 Compartment or space for the tray

112 Horizontal support

114 Transmission lever

116 Dispensing conveyor

122 smaller tray

124 larger tray

150a, 150b Placement and protection devices for trays

152 Tray conveyor

154, 156 Ejection means

160, 162 Tray dispensers

166, 168 Tray distribution and positioning devices

Claims (50)

1. The way to create portions of the served objects (1) in such a way that the portion satisfies the specified criteria, for example, with respect to the limits of the total weight and, possibly, the number of objects, weight, orientation and / or type (types) of objects, in which the weight of each separate objects, transport objects using means (10) for transporting objects, selectively transfer objects from the specified means (10) for transporting objects to devices for creating a portion using at least one means (20, 22, 24) Robot type buildings, which are means of movement made with the possibility of selective capture or selection of an object and its placement in a selected position, thereby creating a portion of objects taking into account the specified criteria, and these portions of objects are created on devices (14) for creating portions that move around the indicated at least one means (20, 22, 24) of movement of a type of robot. 2. The method according to claim 1, in which these devices (14) for creating portions are arranged in such a way that several devices (14) move around each of the at least one means (20, 22, 24) for moving the type of robot. 3. The method according to claim 1, in which these devices (14) are trays or similar means. 4. The method according to claim 1, in which these devices (14) are placed on a carrier (16), for example, a carrier designed for each of said at least one means (20, 22, 24) of moving a robot type, while the carrier ( carriers) (16) is made (made) with the ability to move these devices (14). 5. The method according to claim 4, wherein said carrier (16) is configured to rotate said devices (14) in a closed path, such as a circle, when creating portions. 6. The method according to claim 1, in which the device (14) for creating a portion can move around the at least one means (20, 22, 24) of moving a robot type with more than one revolution when creating a portion on said device (14) from objects. 7. The method according to claim 4, in which the specified carrier (16) contains a number of segments (16a, 16b), which can be replaced, for example, if necessary, use devices to create portions having different sizes and / or types. 8. The method according to claim 4, in which said carrier (16) is arranged to hold said devices (14), for example trays, when moving it. 9. The method according to claim 8, in which the specified carrier (16) contains holding means (74) made with the possibility of disengagement, for example by means of a trip mechanism (78), when placing the tray on the carrier or when removing the finished portion. 10. The method according to claim 4, wherein said carrier (16) is configured to close the edges of said devices (14), such as trays, when creating said portions from objects. 11. The method according to claim 1, in which the device (14) for creating the portion after completion of the portion is transferred to the means (12) for further transportation, processing, packaging, etc. 12. The method according to claim 11, in which the finished portion is transferred from, for example, the carrier, possibly through an intermediate position, down through, for example, the descent to the specified means (12) for further transportation, processing, packaging, etc. 13. The method according to claim 11, in which the empty device (14) for creating a portion is transferred, for example, to the specified medium (16) after removing the finished portion. 14. The method according to claim 11, in which empty devices (14) for creating portions are supplied from the source (38, 104) of these devices, possibly through a buffer zone (36). 15. The method according to claim 1, in which the objects (1) are fed in one or more rows on the specified means (10) for transporting the objects to the indicated at least one means (20, 22, 24) for moving the type of robot. 16. The method according to claim 1, in which the area of collection of objects for each of the at least one means (20, 22, 24) of movement of the type of robot is set by a robot (20, 22, 24) and / or a moving device (14) for create servings. 17. The method according to claim 1, in which the specified creation of portions is performed under the control of, for example, a central control system (92). 18. The method according to claim 1, in which several robots are used, for example, two, three or more, and each of the robots, respectively, can be collected portions of different sizes and / or types. 19. The method according to claim 1, wherein said devices (14) continuously move around said at least one means (20, 22, 24) of moving a robot type during the portion creation process. 20. The method according to claim 1, wherein said devices (14) are not continuously moved, for example, step by step around said at least one means (20, 22, 24) of moving a robot type during the portion creation process. 21. The method according to one of claims 1 to 20, in which the devices for creating the portion, for example trays or similar items, are served as follows: the device (105, 106) for creating the portion in the initial position from the source (104) of these devices is fed, transfer the specified device (105, 106) from the initial position to the working position using the ejector means (102), return the indicated ejector tool (102) to the standby position, so that the next released device (105, 106) for creating a portion comes in indicated initial position. 22. The method according to item 21, in which the following freed device (105, 106) is released from the specified source (104) either when the device is transferred (105, 106) from the initial position to the working position, or when the ejector means is returned (102 ) to the standby position. 23. The method of claim 21, wherein said next released device (105, 106) is supported by at least a portion of said ejector means (102) during at least a portion of said transmission step. 24. The method according to item 21, in which the said ejecting means (102) operate with a reciprocating movement. 25. A system for creating portions of served objects (1) in such a way that a portion satisfies predetermined criteria, for example, with respect to the limits of the total weight and, possibly, the number of objects, weight, orientation and / or type (types) of objects, containing means for determining the individual weight each object, means (10) for transporting objects, devices (14) for creating a portion, at least one means (20, 22, 24) for moving a robot type, designed to selectively transfer objects from the specified means (10) for transporting access to the indicated devices (14), moreover, the indicated means (20, 22, 24) of moving the robot type are moving means made with the possibility of selective capture or selection of the object and its placement in the selected position, thereby creating a portion of objects taking into account the specified specified criteria moreover, these portions of objects are created on the indicated devices (14), which move around the indicated at least one means (20, 22, 24) of moving the type of robot. 26. The system according A.25, in which these devices (14) are arranged to allow the movement of several devices (14) around each of these at least one means (20, 22, 24) of movement of a type of robot. 27. The system according A.25, in which these devices (14) are trays or similar means. 28. The system according A.25, in which these devices (14) for creating portions are located on the carrier (16), for example, a carrier designed for each of these at least one means (20, 22, 24) of movement of a type of robot, the carrier (s) (16) is intended (intended) to move these devices (14). 29. The system of claim 28, wherein said carrier (16) is configured to rotate said device (14) in a closed path, such as in a circle, when creating portions. 30. The system according to claim 25, which is configured to move the device (14) to create a portion around the indicated at least one means (20, 22, 24) of moving the type of robot with more than one revolution when creating on the specified device (14) servings of objects. 31. The system of claim 28, wherein said carrier (16) comprises several segments (16a, 16b) that can be replaced, for example, if necessary, use said devices of various sizes and / or types. 32. The system of claim 28, wherein said carrier (16) comprises means for holding said devices (14), for example trays, for example in the form of a holding lever (74), which can be acted upon by elastic means (80). 33. The system according to p, in which the means of holding these devices (14), such as trays, for example in the form of a holding lever (74) comprises a trip mechanism (78). 34. The system of claim 28, wherein said carrier (16) comprises means for closing the edges of said devices (14), for example trays, for example in the form of sides (62, 64, 66) of the plate portion (52). 35. The system according to claim 25, which is configured to transfer the device (14) for creating the portion after completion of the creation of the portion to the means (12) for further transportation, processing, packaging, etc. 36. The system according to clause 35, in which the finished portion is transmitted, for example, from the carrier, possibly through an intermediate position, down through, for example, the descent to the specified means (12) for further transportation, processing, packaging, etc. 37. The system according to clause 35, which is configured to transfer an empty device (14) to create a portion to the carrier (16) after removing the finished portion. 38. The system according to claim 35, which comprises a source (38, 104) of devices for creating a portion, while empty devices (14) are distributed from the specified source, possibly through a buffer zone (36), to the carrier. 39. The system according A.25, in which the objects (1) are served in one or more rows on the specified means (10) for transporting objects to the specified at least one means (20, 22, 24) of movement of the type of robot. 40. The system of claim 25, wherein the area for selecting objects for each of said at least one means (20, 22, 24) of moving a robot type is determined by a robot (20, 22, 24) and / or moving devices (14) for create servings. 41. The system of claim 25, which comprises control means, for example, a central control system (92), for controlling said portion creation. 42. The system according A.25, which contains several, for example two, three or more robots, while each of these robots can be created respectively portions of different sizes and / or types. 43. The system of claim 25, wherein said devices (14) continuously move around said at least one means (20, 22, 24) of moving a robot type during the portion creation process. 44. The system of claim 25, wherein said devices (14) do not move continuously, for example step by step, around said at least one means (20, 22, 24) of moving a robot type during the portion creation process. 45. The system according to one of paragraphs.25-44, which contains a device for distributing devices for creating portions, such as trays, etc., containing a source (104) of these devices and ejecting means (102) that are configured to transmit these devices (105, 106) from the initial position to the working position, and the specified device is configured to feed devices (105, 106) to create a portion in the specified initial position from the specified source (104). 46. The system according to item 45, in which the specified initial position is located below the specified source (104) of devices. 47. The system of claim 45, wherein said ejecting means (102) is configured to reciprocate during operation. 48. The system of claim 45, wherein at least a portion of said ejection means (102) is configured to pass under said source (104) during transfer of the tool (105, 106) to create a portion from the initial position to the operating position. 49. The system according to item 45, in which the specified device is configured to release the device (105, 106) to create a portion from the specified source either when transferring the specified device (105, 106) from the initial position to the working position, or after completion of the specified transfer . 50. The system of claim 49, wherein said device comprises a trip mechanism for individually releasing said device (105, 106) from said source (104).

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