WO2010105831A1 - Device and method for grabbing a portion of food - Google Patents

Device and method for grabbing a portion of food Download PDF

Info

Publication number
WO2010105831A1
WO2010105831A1 PCT/EP2010/001705 EP2010001705W WO2010105831A1 WO 2010105831 A1 WO2010105831 A1 WO 2010105831A1 EP 2010001705 W EP2010001705 W EP 2010001705W WO 2010105831 A1 WO2010105831 A1 WO 2010105831A1
Authority
WO
WIPO (PCT)
Prior art keywords
conveyor belt
food
gripper
disc
food disc
Prior art date
Application number
PCT/EP2010/001705
Other languages
German (de)
French (fr)
Inventor
Alois Bochtler
Original Assignee
CFS Bühl GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CFS Bühl GmbH filed Critical CFS Bühl GmbH
Publication of WO2010105831A1 publication Critical patent/WO2010105831A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0045—Manipulators used in the food industry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/12—Introducing successive articles, e.g. confectionery products, of different shape or size in predetermined positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/06—Packaging slices or specially-shaped pieces of meat, cheese, or other plastic or tacky products
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles
    • B65B5/068—Packaging groups of articles, the groups being treated as single articles in trays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers

Definitions

  • the present invention relates to a device for gripping a portion consisting of at least one food disc by means of a gripper, wherein the portion is transported by a conveyor belt and optionally an insert sheet is arranged between the conveyor belt and the food disc. Furthermore, the present invention relates to a method for gripping a conveyed by a conveyor belt portion, which consists of at least one food disc.
  • the generic device or the generic method are known from the prior art and in particular after so-called slicers with which food bars are cut into individual food slices arranged.
  • these food slices which were preferably previously configured to portions that consist of several food slices, transported away.
  • the gripper To place the food slice or the portion of the conveyor belt in a packaging tray is the gripper, which picks up the food slice or portion of the conveyor belt and inserts into the packaging tray.
  • BESTATIGUNGSKOPIE Food disc and the conveyor belt is provided, not to be damaged.
  • the object is achieved with a device for gripping a portion consisting of at least one food disc, by means of a gripper, wherein the portion is transported by a conveyor belt and between the conveyor belt and the food disc optionally an insert sheet is arranged and wherein the food disc and / or the insert sheet does not completely rest on the conveyor belt before and / or during grasping (s).
  • the present invention relates to a device for gripping a portion by means of a gripper, which consists of at least one food disc.
  • this portion preferably has several food slices, which can be arranged arbitrarily to one another.
  • the portion may thus be a stack of several superimposed food slices.
  • the food slices are shingled, i. only partially overlapping each other.
  • an insert sheet between two food slices and optionally provided below the bottom food disc In order to prevent excessive adhesion of the food slices with each other, which would make it difficult to remove individual food slices from the portion, preferably an insert sheet between two food slices and optionally provided below the bottom food disc.
  • the insert sheets are positioned as required when slicing the food bar between the food slices.
  • This portion is now transported with a conveyor belt, for example by the slicer, in the region of the gripper, where they are lifted with the gripper from the conveyor belt and placed in a packaging tray.
  • the conveyor belt may be any conveyor belt known to those skilled in the art.
  • the gripping of the portion can take place with a moving or stationary conveyor belt, wherein the conveyor belt preferably moves continuously, ie also during the removal of the portions.
  • gripper is any gripper, with which a portion consisting of food slices can be picked up and transported through the air.
  • this is Gripper arranged on a robot arm, with which the gripper is movable in three spatial directions and is usually provided rotatable about at least one axis.
  • the contact surface between the bottom food disc and / or between the insert sheet and the conveyor belt is smaller than the base of the food disc and / or the insert sheet.
  • the conveyor belt is designed as a spaced belt, on which rest the food slices and / or the portions.
  • the gripper preferably has a blade which is most preferably provided with prongs, which are preferably arranged and dimensioned such that the prongs can at least partially submerge between the belts and thus the gripper at least the food slice and / or portion partially from below and can lift.
  • the conveyor belt has spacers. These spacers are provided, in particular glued on the conveyor belt, for example, and are dimensioned so that a food disc resting on the spacer protrudes beyond the edge of the spacer. This protruding area then serves in particular the gripper as an attack surface for receiving the food slice or food portion.
  • the spacers are either parallel to the transport direction or at an angle, in particular at right angles, arranged.
  • the conveyor belt has permanent and / or temporary bumps, i. Valleys and mountains, so that the food disc rests only on the mountains and the valleys serve that the gripper can be guided into it to lift the food slices from the conveyor belt.
  • the gripper particularly preferably also has tines again.
  • the device according to the invention has a means which temporarily exerts an impulse and / or a force on the food disc and / or the portion.
  • this force counteracts the force of gravity and lifts the food slice and / or portion at least partially before or when grasping the conveyor belt, so that the gripper can in turn grip under the lowest food slice and / or the insert sheet.
  • This means may be a mechanical impulse, for example a one-time pulse, or a vibration.
  • a gas flow for example air flow
  • the gripper has at least one preferably two blades, which grip the food slice and / or the portion from the right and left, in particular simultaneously, wherein the blades at least partially under the bottom food disc and / or between this food disc and insert the insert located on the conveyor belt.
  • the blade has tines. This embodiment is particularly suitable when the food disc on a plurality of spaced-apart spacers and / or mountains is arranged and retract the tines between these spacers or mountains and can engage under the food disc.
  • these prongs are angled downwards, ie provided as a ramp.
  • the gripper preferably simultaneously grips several food slices, namely one serving.
  • Another object of the present invention is a method for gripping at least one transported by a conveyor belt portion consisting of at least one food disc, in which the food disc is partially raised before grasping
  • the edge of the food disc is at least partially raised.
  • a gas in particular air flow, and / or negative pressure.
  • the portion is stored at least temporarily, in particular before and / or when gripping on spacers and / or UNITS of the conveyor belt, of which they are easily tapped with a gripper.
  • FIG. 1 shows an embodiment of the gripper.
  • FIG. 2 shows a further embodiment of the gripper.
  • Figures 3a and 3b show a conveyor belt with a spacer per portion.
  • Figures 4a and 4b show a corrugated conveyor belt.
  • Figures 5a and 5b show a conveyor belt arranged transversely to the transport direction spacers.
  • Figures 6a and 6b show a further embodiment of a conveyor belt with transversely arranged to the transport direction spacers.
  • Figures 7a and 7b show the most suitable for the embodiment of the conveyor belt according to the figures 6a and 6b gripper blades.
  • Figures 8a and 8b show an embodiment with a vacuum bell.
  • Figures 9a and 9b show another embodiment with a vacuum bell.
  • Figures 10a and 10b show the combination of a vacuum bell and a gas, in particular air flow.
  • FIG. 11 shows a conveyor belt designed with a transport belt.
  • FIG. 1 shows an embodiment of the gripper, which is suitable for receiving individual food slices or food portions of a conveyor belt.
  • This gripper is shown in the present representation in three views and has two blades 1.1, which is suitable for gripping and away from each other for dropping or depositing or the respective food slice or portion.
  • the gripper has a linkage 3, along which the blades 1.1 move.
  • a connecting arm 9 for example a robot arm
  • the gripper is movable in each spatial direction and rotatably provided at least one spatial direction.
  • On the blades is the food slice or after gripping at least partially.
  • FIG. 2 shows a further embodiment of the gripper, which essentially corresponds to the embodiment according to FIG. 1, wherein the blades 1.1 in the present case are not provided translationally as in FIG. 1, but in each case rotationally about an axis of rotation 1.2. Furthermore, in the present case, the blades on slide 1.3, which are bent by the food slice or the portion when gripping to the outside and strip the portion when released again from the blade or lead the portion when grasping or releasing, so that the discs do not move to each other.
  • the sliders 1.3 preferably cooperate with the lateral surfaces of the portion.
  • the grippers according to FIGS. 1 and 2 can grasp a food slice or a portion with the conveyor belt running or stationary and deposit them in a packaging tray.
  • the packaging tray can also move, for example, along a packaging machine or resting when inserting.
  • the food slices of a portion or insert sheet located below the lowermost disk are not completely on the conveyor belt.
  • the conveyor belt according to a first embodiment, which is shown in Figures 3a and 3b, a conveyor belt 2, which moves in the direction shown by the arrow.
  • Parallel to the transport direction at least one spacer is provided, which is preferably adhered to the conveyor belt.
  • the portions 8 rest on the spacer 2.2, wherein the support surface is provided so that the food slices 8.1 to 8.3 each stand right and left over the spacer. This area can then be easily grabbed by a gripper and the portions are taken from the spacer 2.2 and lifted.
  • the food slices are 8.1 to 8.3 stacked as a stack, the disc 8.1 is the bottom disc, which is in contact with the spacer 2.2 and the disc 8.2, the top disc.
  • This nomenclature of Food slices applies to all subsequent presentations.
  • the discs are provided shingled, ie they overlap only partially.
  • the gripper preferably grips not only the lowermost disc, but more preferably several food discs.
  • FIGS. 4a and 4b show a further embodiment of the device according to the invention.
  • the conveyor belt 2 is provided wavy so that it has at least one mountain and at least one valley, preferably two valleys.
  • the food portions are placed on the mountains, the mountains are dimensioned so that the food slices stand right and left over the mountain and thus this area does not come to rest with the conveyor belt and easily, as already carried out according to the figures 3a and 3b, of one or two gripper blades can be undercut and lifted.
  • the corrugation of the conveyor belt 2 can be performed permanently. In the present case, however, it is provided only temporarily and is generated by a means 10 for producing unevenness, which is located below the conveyor belt, whose transport direction is also represented by the case.
  • the bumps are in the present case only in the area in which the gripper operates.
  • This embodiment has the advantage that the portions are otherwise transported on a smooth surface and thus are in a more stable transport position.
  • the means 10 are arranged parallel to the transport direction of the conveyor belt. Also in the illustrations according to FIGS. 4a and 4b, FIG. 4a is a stack and in FIG. 4b a shingled portion.
  • FIG. 5a shows a further embodiment of the device according to the invention.
  • spacers 2.2 are provided on the conveyor belt, which moves from right to left or from left to right, transversely to the transport direction, on which the portion rests.
  • the distance of the spacers 2.2 to each other and their dimension is provided so that in each case a prong 7.1, which are provided on the blades 7 of the gripper and aligned obliquely downwards, at least partially engage between two spacers 2.2 and thus can engage under the portion 8.
  • a prong 7.1 which are provided on the blades 7 of the gripper and aligned obliquely downwards, at least partially engage between two spacers 2.2 and thus can engage under the portion 8.
  • insert sheets 5 are between the individual Food slices 8.1 to 8.3 insert sheets 5 provided to prevent excessive adhesion of the food slices with each other.
  • an insert sheet 5 is likewise provided underneath the lowest food slice 8.1, which reduces the contact between the spacers 2.2 and the food slice 8.1.
  • the device according to FIG. 5b essentially corresponds to the device according to FIG. 5a, so that the statements made in this regard also apply with regard to FIG. 5b. In the present case, however, not a stacked but a shingled portion is provided as in Figure 5a, which is received by the gripper.
  • FIGS. 6a and 6b show a further embodiment of the device according to the invention.
  • the device has spacers 2.2, which are arranged in the present case on a conveyor belt 2, for example glued.
  • the conveyor belt moves in the direction shown by the arrow, so that, as the skilled artisan clearly recognizes, the spacers 2.2 are arranged transversely to the transport direction.
  • the distance between the spacers 2.2 and their dimension is in turn provided so that a tine 7.1 of the blade 7, which is arranged on a gripper, as shown for example in Figure 1, retract between the spacers 2.2 and the portions 8 can engage and lift ,
  • Figure 6a shows a stack as a portion while Figure 6b represents a shingled portion.
  • the blade which is shown in FIGS. 7a and 7b, has tines in its front portion, which is executed for serving, whose width and spacing are dimensioned such that they lie between the spacers 2.2. but also between unevenness 2.3, as shown for example in Figures 4a and 4b, can intervene.
  • the tines are angled downwards to facilitate gripping and lifting the side edge of the food slices of a serving. When grasping the portion, the tines act as a ramp.
  • Figures 8a and 8b show a further embodiment of the device according to the invention, which in the present case has at least one vacuum bell 6.1, which is lowered from above onto the uppermost disc 8.2 of the portion and this sucks and then lifts, so that the blades 1.1. a gripper can be easily guided under the portions.
  • the device has four vacuum bells, ie four portions are picked up and inserted simultaneously. The skilled person understands that the vacuum can be discontinued as soon as the blades are sufficiently below the portion 8. At the latest when the portion is placed in a packaging tray, the vacuum must be discontinued.
  • the device according to FIGS. 9a and 9b substantially corresponds to the device according to FIGS. 8a and 8b, wherein in the device according to FIG. 8a, b a stacked position and in the device according to FIG. 9a, b a shingled position is seized.
  • FIGS. 10a and 10b show a further embodiment of the device according to the invention.
  • the vacuum bell 6.1 still means 6.2 are provided with which the bottom slice of the food portion 8 with a gas, in particular air flow, can be acted upon, so that their edge lifts and easier from the blades 1.1 grabbed a gripper can be.
  • the gas flow in particular air flow, alone may be sufficient to sufficiently reduce the contact between the food slices and the conveyor belt in the region before or during gripping.
  • FIG. 11 shows a last embodiment of the device according to the invention.
  • a portion 8 on belt 2.1 which move in the direction symbolized by the arrow, transported.
  • a gripper as shown for example in Figures 7a and 7b, can intervene between the belt 2.1 and lift the portions of the belt and insert into a packaging tray.

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

Abstract

The present invention relates to a device for (8.1-8.3) grabbing a portion (8) having at least one food slice by means of a gripper (1), wherein the portion (8) is transported on a conveyor belt (2) and, if necessary, an insert sheet (5) is disposed between the conveyor belt (2) and the food slice (8-1). Furthermore, the present invention relates to a method for grabbing a portion transported by means of a conveyor belt (2) consisting of at least one food slice (8.1-8.3).

Description

Vorrichtung und Verfahren zum Ergreifen einer Lebensmittelportion Apparatus and method for gripping a food portion
Die vorliegende Erfindung betrifft eine Vorrichtung zum Ergreifen von einer Portion bestehend aus mindestens einer Lebensmittelscheibe mittels eines Greifers, wobei die Portion mit einem Transportband transportiert wird und zwischen dem Transportband und der Lebensmittelscheibe gegebenenfalls ein Einlegeblatt angeordnet ist. Desweiteren betrifft die vorliegende Erfindung ein Verfahren zum Ergreifen einer mittels eines Transportbandes transportierten Portion, die aus mindestens einer Lebensmittelscheibe besteht.The present invention relates to a device for gripping a portion consisting of at least one food disc by means of a gripper, wherein the portion is transported by a conveyor belt and optionally an insert sheet is arranged between the conveyor belt and the food disc. Furthermore, the present invention relates to a method for gripping a conveyed by a conveyor belt portion, which consists of at least one food disc.
Die gattungsgemäße Vorrichtung bzw. das gattungsgemäße Verfahren sind aus dem Stand der Technik bekannt und werden insbesondere nach sogenannten Slicern, mit denen Lebensmittelriegel in einzelne Lebensmittelscheiben aufgeschnitten werden, angeordnet. Mit dem Transportband werden diese Lebensmittelscheiben, die vorzugsweise vorher zu Portionen, die aus mehreren Lebensmittelscheiben bestehen, konfiguriert wurden, abtransportiert. Um die Lebensmittelscheibe bzw. die Portion von dem Transportband in eine Verpackungsmulde zu platzieren dient der Greifer, der die Lebensmittelscheibe bzw. Portion von dem Transportband abgreift und in die Verpackungsmulde einlegt. Da der Greifer oftmals an einem Roboterarm vorgesehen ist, spricht man bei dem oben erwähnten Vorgang auch von „Robotloading". Um eine zu starke Haftung der Lebensmittelscheibe an dem Transportband und/oder zwischen zwei Lebensmittelscheiben zu verhindern, können zwischen den Lebensmittelscheiben bzw. zwischen der untersten Lebensmittelscheibe und dem Transportband sogenannte Einlegeblätter (Interleaver) vorgesehen werden. Insbesondere diese Einlegeblätter aber auch sehr dünn geschnittene Lebensmittelscheiben wurden in der Vergangenheit beim Ergreifen der Lebensmittelscheibe bzw. der Portion oftmals durch den Greifer beschädigt.The generic device or the generic method are known from the prior art and in particular after so-called slicers with which food bars are cut into individual food slices arranged. With the conveyor belt these food slices, which were preferably previously configured to portions that consist of several food slices, transported away. To place the food slice or the portion of the conveyor belt in a packaging tray is the gripper, which picks up the food slice or portion of the conveyor belt and inserts into the packaging tray. Since the gripper is often provided on a robot arm, the process mentioned above is also referred to as "robot loading." In order to prevent excessive adhesion of the food disc to the conveyor belt and / or between two food slices, between the food slices or between the food slices In particular, these insert sheets but also very thinly cut food slices were often damaged in the past when gripping the food slice or the portion by the gripper.
Es war deshalb die Aufgabe der vorliegenden Erfindung, eine Vorrichtung bzw. ein Verfahren zur Verfügung zu stellen, bei dem insbesondere sehr dünn geschnittene Lebensmittelscheiben und/oder Lebensmittelscheiben sowie Portionen, bei denen ein Einlegeblatt zwischen den Lebensmittelscheiben oder zwischen der unterstenIt was therefore an object of the present invention to provide a device or a method available, in particular very thinly cut food slices and / or food slices and portions, in which an insert sheet between the food slices or between the lowest
BESTATIGUNGSKOPIE Lebensmittelscheibe und dem Transportband vorgesehen ist, nicht beschädigt werden.BESTATIGUNGSKOPIE Food disc and the conveyor belt is provided, not to be damaged.
Gelöst wird die Aufgabe mit einer Vorrichtung zum Ergreifen von einer Portion, bestehend aus mindestens einer Lebensmittelscheibe, mittels eines Greifers, wobei die Portion mit einem Transportband transportiert wird und zwischen dem Transportband und der Lebensmittelscheibe gegebenenfalls ein Einlegeblatt angeordnet ist und wobei die Lebensmittelscheibe und/oder das Einlegeblatt vor und/oder während dem/des Ergreifen(s) nicht vollständig auf dem Transportband aufliegt.The object is achieved with a device for gripping a portion consisting of at least one food disc, by means of a gripper, wherein the portion is transported by a conveyor belt and between the conveyor belt and the food disc optionally an insert sheet is arranged and wherein the food disc and / or the insert sheet does not completely rest on the conveyor belt before and / or during grasping (s).
Die vorliegende Erfindung betrifft eine Vorrichtung zum Ergreifen einer Portion mittels eines Greifers, die aus mindestens einer Lebensmittelscheibe besteht. Vorzugsweise weist diese Portion jedoch mehrere Lebensmittelscheiben auf, die beliebig zueinander angeordnet sein können. Bei der Portion kann es sich folglich um einen Stapel von mehreren übereinander angeordneten Lebensmittelscheiben handeln. Gemäß einer weiteren bevorzugten Ausführungsform sind die Lebensmittelscheiben jedoch geschindelt, d.h. lediglich teilweise überlappend zueinander angeordnet. Um eine zu starke Haftung der Lebensmittelscheiben untereinander zu verhindern, die die Entnahme von einzelnen Lebensmittelscheiben aus der Portion erschweren würde, ist vorzugsweise jeweils ein Einlegeblatt zwischen zwei Lebensmittelscheiben und gegebenenfalls unter der untersten Lebensmittelscheibe vorgesehen. Die Einlegeblätter werden bedarfsweise beim Aufschneiden des Lebensmittelriegels zwischen den Lebensmittelscheiben positioniert.The present invention relates to a device for gripping a portion by means of a gripper, which consists of at least one food disc. However, this portion preferably has several food slices, which can be arranged arbitrarily to one another. The portion may thus be a stack of several superimposed food slices. However, according to another preferred embodiment, the food slices are shingled, i. only partially overlapping each other. In order to prevent excessive adhesion of the food slices with each other, which would make it difficult to remove individual food slices from the portion, preferably an insert sheet between two food slices and optionally provided below the bottom food disc. The insert sheets are positioned as required when slicing the food bar between the food slices.
Diese Portion wird nun mit einem Transportband, beispielsweise von dem Slicer, in den Bereich des Greifers transportiert, wo sie mit dem Greifer von dem Transportband abgehoben und in eine Verpackungsmulde eingelegt werden. Bei dem Transportband kann es sich um jedes beliebige dem Fachmann geläufige Transportband handeln. Das Ergreifen der Portion kann bei sich bewegendem oder stillstehendem Transportband erfolgen, wobei sich das Transportband vorzugsweise kontinuierlich, d.h. auch bei der Entnahme der Portionen bewegt. Als Greifer eignet sich jeder Greifer, mit dem eine Portion bestehend aus Lebensmittelscheiben aufgegriffen und durch die Luft transportiert werden kann. Vorzugsweise ist dieser Greifer an einem Roboterarm angeordnet, mit dem der Greifer in drei Raumrichtungen verfahrbar und in der Regel um mindestens eine Achse drehbar vorgesehen ist.This portion is now transported with a conveyor belt, for example by the slicer, in the region of the gripper, where they are lifted with the gripper from the conveyor belt and placed in a packaging tray. The conveyor belt may be any conveyor belt known to those skilled in the art. The gripping of the portion can take place with a moving or stationary conveyor belt, wherein the conveyor belt preferably moves continuously, ie also during the removal of the portions. As gripper is any gripper, with which a portion consisting of food slices can be picked up and transported through the air. Preferably, this is Gripper arranged on a robot arm, with which the gripper is movable in three spatial directions and is usually provided rotatable about at least one axis.
Erfindungsgemäß ist nun vorgesehen, dass die unterste, d.h. die dem Transportband am nächsten angeordnete Lebensmittelscheibe und/oder falls zwischen dieser Lebensmittelscheibe und dem Transportband noch ein Einlegeblatt vorgesehen sein sollte, diese Lebensmittelscheibe und/oder das Einlegeblatt vor und/oder während des Ergreifens nicht vollständig auf dem Transportband aufliegt. Dadurch ist es möglich, dass der Greifer die Lebensmittelscheibe und/oder das Einlegeblatt zumindest teilweise von unten ergreift oder ein seitliches Ergreifen vereinfacht wird und somit deren Beschädigung zumindest vermindert wird.According to the invention, it is now provided that the lowest, i. the conveyor belt nearest the arranged food disc and / or if between this food disc and the conveyor belt nor an insert sheet should be provided, this food disc and / or the insert sheet before and / or not fully rests on the conveyor during gripping. This makes it possible that the gripper grips the food slice and / or the insert sheet at least partially from below or lateral gripping is simplified and thus their damage is at least reduced.
Vorzugsweise ist die Kontaktfläche zwischen der untersten Lebensmittelscheibe und/oder zwischen dem Einlegeblatt und dem Transportband kleiner als die Grundfläche der Lebensmittelscheibe und/oder des Einlegeblattes.Preferably, the contact surface between the bottom food disc and / or between the insert sheet and the conveyor belt is smaller than the base of the food disc and / or the insert sheet.
In einer weiteren bevorzugten Ausführungsform ist das Transportband als beabstandete Riemen ausgeführt, auf denen die Lebensmittelscheiben und/oder die Portionen aufliegen. Bei dieser bevorzugten Ausführungsform weist der Greifer vorzugsweise eine Schaufel auf, die ganz besonders bevorzugt mit Zinken versehen ist, die vorzugsweise so angeordnet und bemessen sind, dass die Zinken zumindest teilweise zwischen die Riemen eintauchen können und der Greifer somit die Lebensmittelscheibe und/oder Portion zumindest teilweise von unten ergreifen und anheben kann.In a further preferred embodiment, the conveyor belt is designed as a spaced belt, on which rest the food slices and / or the portions. In this preferred embodiment, the gripper preferably has a blade which is most preferably provided with prongs, which are preferably arranged and dimensioned such that the prongs can at least partially submerge between the belts and thus the gripper at least the food slice and / or portion partially from below and can lift.
In einer weiteren bevorzugten Ausführungsform weist das Transportband Abstandshalter auf. Diese Abstandshalter werden insbesondere auf dem Transportband vorgesehen, beispielsweise angeklebt, und sind so bemessen, dass eine auf dem Abstandshalter aufliegende Lebensmittelscheibe über den Rand des Abstandshalters hinaussteht. Dieser hinausstehende Bereich dient dann insbesondere dem Greifer als Angriffsfläche zum Aufnehmen der Lebensmittelscheibe bzw. Lebensmittelportion. Die Abstandshalter sind entweder parallel zur Transportrichtung oder dazu winklig, insbesondere rechtwinklig, angeordnet.In a further preferred embodiment, the conveyor belt has spacers. These spacers are provided, in particular glued on the conveyor belt, for example, and are dimensioned so that a food disc resting on the spacer protrudes beyond the edge of the spacer. This protruding area then serves in particular the gripper as an attack surface for receiving the food slice or food portion. The spacers are either parallel to the transport direction or at an angle, in particular at right angles, arranged.
In einer weiteren bevorzugten Ausführungsform weist das Transportband permanente und/oder temporäre Unebenheiten, d.h. Täler und Berge auf, so dass die Lebensmittelscheibe lediglich auf den Bergen aufliegt und die Täler dazu dienen, dass der Greifer in sie hineingeführt werden kann, um die Lebensmittelscheiben von dem Transportband abzuheben. Dafür weist der Greifer besonders bevorzugt ebenfalls wieder Zinken auf.In a further preferred embodiment, the conveyor belt has permanent and / or temporary bumps, i. Valleys and mountains, so that the food disc rests only on the mountains and the valleys serve that the gripper can be guided into it to lift the food slices from the conveyor belt. For this, the gripper particularly preferably also has tines again.
In einer weiteren bevorzugten Ausführungsform weist die erfindungsgemäße Vorrichtung ein Mittel auf, das temporär ein Impuls und/oder eine Kraft auf die Lebensmittelscheibe und/oder die Portion ausübt. Diese Kraft wirkt insbesondere der Schwerkraft entgegen und hebt die Lebensmittelscheibe und/oder Portion zumindest teilweise vor oder beim Ergreifen von dem Transportband ab, so dass der Greifer wiederum insbesondere unter die unterste Lebensmittelscheibe und/oder das Einlegeblatt greifen kann. Bei diesem Mittel kann es sich um einen mechanischen Impuls, beispielsweise einen einmaligen Impuls, oder einen Vibration handeln. Es ist jedoch auch möglich, die unterste Lebensmittelscheibe insbesondere lokal mit einem Gas-, beispielsweise Luftstrom, zu beaufschlagen, der diese vor oder beim Ergreifen von dem Transportband zumindest teilweise, insbesondere im Randbereich, abhebt. Alternativ oder zusätzlich ist es möglich, die Lebensmittelscheibe und/oder die Portion, insbesondere deren oberste Lebensmittelscheibe, mit einem Unterdruck zu beaufschlagen, der die Lebensmittelscheibe und/oder Portion insgesamt oder lokal von dem Transportband vorm ünd/oder beim Ergreifen abhebt.In a further preferred embodiment, the device according to the invention has a means which temporarily exerts an impulse and / or a force on the food disc and / or the portion. In particular, this force counteracts the force of gravity and lifts the food slice and / or portion at least partially before or when grasping the conveyor belt, so that the gripper can in turn grip under the lowest food slice and / or the insert sheet. This means may be a mechanical impulse, for example a one-time pulse, or a vibration. However, it is also possible to act on the lowermost food disc, in particular locally with a gas flow, for example air flow, which lifts it at least partially, in particular in the edge region, before or during gripping of the conveyor belt. Alternatively or additionally, it is possible to apply to the food slice and / or the portion, in particular the uppermost food disc, with a negative pressure that lifts the food slice and / or portion altogether or locally from the conveyor belt before ünd / or when gripping.
In einer bevorzugten Ausführungsform weist der Greifer mindestens eine vorzugsweise zwei Schaufeln auf, die die Lebensmittelscheibe und/oder die Portion von rechts und links, insbesondere gleichzeitig, ergreifen, wobei sich die Schaufeln zumindest partiell unter die unterste Lebensmittelscheibe und/oder das sich zwischen dieser Lebensmittelscheibe und dem Transportband befindliche Einlegeblatt schieben. In einer besonders bevorzugten Ausführungsform weist die Schaufel Zinken auf. Diese Ausführungsform eignet sich insbesondere dann, wenn die Lebensmittelscheibe auf mehreren zueinander beabstandeten Abstandshaltern und/oder Bergen angeordnet ist und die Zinken zwischen diese Abstandshalter bzw. Berge einfahren und die Lebensmittelscheibe untergreifen können. Vorzugsweise sind diese Zinken nach unten abgewinkelt, d.h. als Rampe vorgesehen.In a preferred embodiment, the gripper has at least one preferably two blades, which grip the food slice and / or the portion from the right and left, in particular simultaneously, wherein the blades at least partially under the bottom food disc and / or between this food disc and insert the insert located on the conveyor belt. In a particularly preferred embodiment, the blade has tines. This embodiment is particularly suitable when the food disc on a plurality of spaced-apart spacers and / or mountains is arranged and retract the tines between these spacers or mountains and can engage under the food disc. Preferably, these prongs are angled downwards, ie provided as a ramp.
Weiterhin bevorzugt greift der Greifer gleichzeitig mehrere Lebensmittelscheiben, nämlich eine Portion, auf.Furthermore, the gripper preferably simultaneously grips several food slices, namely one serving.
Vorzugsweise liegen in diesem Fall alle Lebensmittelscheiben und/oder Einlegeblätter, die eine Kontaktfläche mit dem Transportband aufweisen, vor und/oder während des Ergreifens nicht vollständig auf dem Transportband auf.In this case, preferably all food slices and / or insert sheets, which have a contact surface with the conveyor belt, do not lie completely on the conveyor belt before and / or during gripping.
Ein weiterer Gegenstand der vorliegenden Erfindung ist ein Verfahren zum Ergreifen von zumindest einer mittels eines Transportbandes transportierter Portion, die aus mindestens einer Lebensmittelscheibe besteht, bei dem die Lebensmittelscheibe vor dem Ergreifen teilweise angehoben wirdAnother object of the present invention is a method for gripping at least one transported by a conveyor belt portion consisting of at least one food disc, in which the food disc is partially raised before grasping
Die zu der Vorrichtung gemachten Ausführungen gelten für das erfindungsgemäße Verfahren gleichermaßen und umgekehrt.The comments made on the device apply equally to the method according to the invention and vice versa.
Vorzugsweise wird der Rand der Lebensmittelscheibe zumindest teilweise angehoben.Preferably, the edge of the food disc is at least partially raised.
Dafür wird besonders bevorzugt ein Gas-, insbesondere Luftstrom, und/oder Unterdruck eingesetzt.For this purpose, it is particularly preferable to use a gas, in particular air flow, and / or negative pressure.
Weiterhin bevorzugt wird die Portion zumindest temporär, insbesondere vor und/oder beim Ergreifen auf Abstandshaltern und/oder Unbenheiten des Transportbandes gelagert, von denen sie leicht mit einem Greifer abgegriffen werden.Further preferably, the portion is stored at least temporarily, in particular before and / or when gripping on spacers and / or UNITS of the conveyor belt, of which they are easily tapped with a gripper.
In folgenden wird die Erfindung anhand der Figuren 1 - 11 erläutert. Diese Erläuterungen sind lediglich beispielhaft und schränken den allgemeinen Erfindungsgedanken nicht ein. Diese Erläuterungen gelten für die erfindungsgemäße Vorrichtung sowie das erfindungsgemäße Verfahren gleichermaßen. Figur 1 zeigt eine Ausführungsform des Greifers.In the following the invention will be explained with reference to Figures 1-11. These explanations are merely exemplary and do not limit the general inventive concept. These explanations apply equally to the device according to the invention and to the method according to the invention. FIG. 1 shows an embodiment of the gripper.
Figur 2 zeigt eine weitere Ausführungsform des Greifers.FIG. 2 shows a further embodiment of the gripper.
Figuren 3a und 3b zeigen ein Transportband mit einem Abstandshalter pro Portion.Figures 3a and 3b show a conveyor belt with a spacer per portion.
Figuren 4a und 4b zeigen ein gewelltes Transportband.Figures 4a and 4b show a corrugated conveyor belt.
Figuren 5a und 5b zeigen ein Transportband mit quer zur Transportrichtung angeordneten Abstandshaltern.Figures 5a and 5b show a conveyor belt arranged transversely to the transport direction spacers.
Figuren 6a und 6b zeigen eine weitere Ausführungsform eines Transportbandes mit quer zur Transportrichtung angeordneten Abstandshaltern.Figures 6a and 6b show a further embodiment of a conveyor belt with transversely arranged to the transport direction spacers.
Figuren 7a und 7b zeigen den für die Ausführungsform des Transportbandes gemäß der Figuren 6a und 6b am besten geeigneten Greiferschaufeln.Figures 7a and 7b show the most suitable for the embodiment of the conveyor belt according to the figures 6a and 6b gripper blades.
Figuren 8a und 8b zeigen eine Ausführungsform mit einer Unterdruckglocke.Figures 8a and 8b show an embodiment with a vacuum bell.
Figuren 9a und 9b zeigen eine weitere Ausführungsform mit einer Unterdruckglocke.Figures 9a and 9b show another embodiment with a vacuum bell.
Figuren 10a und 10b zeigen die Kombination einer Unterdruckglocke und einem Gas-, insbesondere Luftstrom.Figures 10a and 10b show the combination of a vacuum bell and a gas, in particular air flow.
Figur 11 zeigt ein mit Transportriemen ausgeführtes Transportband.FIG. 11 shows a conveyor belt designed with a transport belt.
Figur 1 zeigt eine Ausführungsform des Greifers, der zur Aufnahme von einzelnen Lebensmittelscheiben oder Lebensmittelportionen von einem Transportband geeignet ist. Dieser Greifer ist in der vorliegenden Darstellung in drei Ansichten dargestellt und weist zwei Schaufeln 1.1 auf, die aufeinander zu zum Ergreifen und voneinander weg zum Abwerfen bzw. Ablegen der jeweiligen Lebensmittelscheibe bzw. Portion geeignet ist. Dafür weist der Greifer ein Gestänge 3 auf, entlang derer sich die Schaufeln 1.1 bewegen. Mittels eines Verbindungsarms 9, beispielsweise eines Roboterarms, ist der Greifer in jede Raumrichtung bewegbar und zumindest um eine Raumrichtung drehbar vorgesehen. Auf den Schaufeln liegt die Lebensmittelscheibe bzw. nach dem Ergreifen zumindest teilweise auf.Figure 1 shows an embodiment of the gripper, which is suitable for receiving individual food slices or food portions of a conveyor belt. This gripper is shown in the present representation in three views and has two blades 1.1, which is suitable for gripping and away from each other for dropping or depositing or the respective food slice or portion. For this, the gripper has a linkage 3, along which the blades 1.1 move. By means of a connecting arm 9, for example a robot arm, the gripper is movable in each spatial direction and rotatably provided at least one spatial direction. On the blades is the food slice or after gripping at least partially.
Figur 2 zeigt eine weitere Ausführungsform des Greifers, die im wesentlich der Ausführungsform gemäß Figur 1 entspricht, wobei die Schaufeln 1.1 in dem vorliegenden Fall nicht translatorisch wie in Figur 1 , sondern jeweils rotatorisch um eine Drehachse 1.2 vorgesehen sind. Desweiteren weisen in dem vorliegenden Fall die Schaufeln Schieber 1.3 auf, die von der Lebensmittelscheibe bzw. der Portion beim Ergreifen nach außen gebogen werden und die die Portion beim Loslassen wieder von der Schaufel abstreifen bzw. die die Portion beim Ergreifen bzw. Loslassen führen, so dass sich die Scheiben nicht zueinander verschieben. Die Schieber 1.3 wirken vorzugsweise mit den seitlichen Flächen der Portion zusammen.FIG. 2 shows a further embodiment of the gripper, which essentially corresponds to the embodiment according to FIG. 1, wherein the blades 1.1 in the present case are not provided translationally as in FIG. 1, but in each case rotationally about an axis of rotation 1.2. Furthermore, in the present case, the blades on slide 1.3, which are bent by the food slice or the portion when gripping to the outside and strip the portion when released again from the blade or lead the portion when grasping or releasing, so that the discs do not move to each other. The sliders 1.3 preferably cooperate with the lateral surfaces of the portion.
Die Greifer gemäß den Figuren 1 und 2 können eine Lebensmittelscheibe oder eine Portion bei laufendem oder stillstehendem Transportband ergreifen und in eine Verpackungsmulde ablegen. Die Verpackungsmulde kann sich dabei ebenfalls beispielsweise entlang einer Verpackungsmaschine bewegen oder beim Einlegen stillstehen.The grippers according to FIGS. 1 and 2 can grasp a food slice or a portion with the conveyor belt running or stationary and deposit them in a packaging tray. The packaging tray can also move, for example, along a packaging machine or resting when inserting.
Gemäß der vorliegenden Erfindung liegen die Lebensmittelscheiben einer Portion oder eines Einlegeblattes, das sich unterhalb der untersten Scheibe befindet, nicht vollständig auf dem Transportband auf. Dafür weist das Transportband gemäß einer ersten Ausführungsform, die in den Figuren 3a und 3b dargestellt ist, ein Transportband 2 auf, das sich in der durch den Pfeil dargestellten Richtung bewegt. Parallel zu der Transportrichtung ist mindestens ein Abstandshalter vorgesehen, der vorzugsweise auf das Transportband aufgeklebt ist. Die Portionen 8 liegen auf dem Abstandshalter 2.2 auf, wobei die Auflagefläche so vorgesehen ist, dass die Lebensmittelscheiben 8.1 bis 8.3 jeweils rechts und links über den Abstandshalter hinausstehen. Dieser Bereich kann dann leicht von einem Greifer untergriffen und die Portionen von dem Abstandshalter 2.2 ergriffen und abgehoben werden. In Figur 3a sind die Lebensmittelscheiben 8.1 bis 8.3 als Stapel übereinander gestapelt, wobei die Scheibe 8.1 die unterste Scheibe ist, die mit dem Abstandshalter 2.2 in Kontakt ist und die Scheibe 8.2 die oberste Scheibe. Diese Nomenklatur der Lebensmittelscheiben gilt für alle fortfolgenden Darstellungen. In Figur 3b sind die Scheiben geschindelt vorgesehen, d.h. sie überlappen sich nur teilweise. In diesem Fall ergreift der Greifer vorzugsweise nicht nur die unterste Scheibe, sondern besonders bevorzugt mehrere Lebensmittelscheiben.According to the present invention, the food slices of a portion or insert sheet located below the lowermost disk are not completely on the conveyor belt. For this purpose, the conveyor belt according to a first embodiment, which is shown in Figures 3a and 3b, a conveyor belt 2, which moves in the direction shown by the arrow. Parallel to the transport direction at least one spacer is provided, which is preferably adhered to the conveyor belt. The portions 8 rest on the spacer 2.2, wherein the support surface is provided so that the food slices 8.1 to 8.3 each stand right and left over the spacer. This area can then be easily grabbed by a gripper and the portions are taken from the spacer 2.2 and lifted. In Figure 3a, the food slices are 8.1 to 8.3 stacked as a stack, the disc 8.1 is the bottom disc, which is in contact with the spacer 2.2 and the disc 8.2, the top disc. This nomenclature of Food slices applies to all subsequent presentations. In Figure 3b, the discs are provided shingled, ie they overlap only partially. In this case, the gripper preferably grips not only the lowermost disc, but more preferably several food discs.
In den Figuren 4a und 4b ist eine weitere Ausführungsform der erfindungsgemäßen Vorrichtung dargestellt. In dem vorliegenden Fall ist das Transportband 2 wellig vorgesehen, so dass es mindestens einen Berg und mindestens ein Tal, vorzugsweise zwei Täler, aufweist. Die Lebensmittelportionen werden auf den Bergen angeordnet, wobei die Berge so bemessen sind, dass die Lebensmittelscheiben rechts und links über den Berg hinausstehen und somit dieser Bereich nicht zur Anlage mit dem Transportband kommt und leicht, wie bereits gemäß den Figuren 3a und 3b ausgeführt, von einer oder zwei Greiferschaufeln Untergriffen und abgehoben werden kann. Die Wellung des Transportbandes 2 kann permanent ausgeführt sein. In dem vorliegenden Fall ist sie jedoch nur temporär vorgesehen und wird durch ein Mittel zur Erzeugung von Unebenheiten 10 erzeugt, das sich unterhalb des Transportbandes, dessen Transportrichtung ebenfalls durch den Fall dargestellt ist, befindet. Die Unebenheiten befinden sich in dem vorliegenden Fall lediglich in dem Bereich, in dem der Greifer operiert. Diese Ausführungsform hat den Vorteil, dass die Portionen ansonsten auf einer glatten Fläche transportiert werden und sich somit in einer stabileren Transportlage befinden. Die Mittel 10 sind parallel zur Transportrichtung des Transportbandes angeordnet. Auch bei den Darstellungen gemäß den Figuren 4a und 4b handelt es sich bei der Figur 4a um einen Stapel und bei der Figur 4b um eine geschindelte Portionen.FIGS. 4a and 4b show a further embodiment of the device according to the invention. In the present case, the conveyor belt 2 is provided wavy so that it has at least one mountain and at least one valley, preferably two valleys. The food portions are placed on the mountains, the mountains are dimensioned so that the food slices stand right and left over the mountain and thus this area does not come to rest with the conveyor belt and easily, as already carried out according to the figures 3a and 3b, of one or two gripper blades can be undercut and lifted. The corrugation of the conveyor belt 2 can be performed permanently. In the present case, however, it is provided only temporarily and is generated by a means 10 for producing unevenness, which is located below the conveyor belt, whose transport direction is also represented by the case. The bumps are in the present case only in the area in which the gripper operates. This embodiment has the advantage that the portions are otherwise transported on a smooth surface and thus are in a more stable transport position. The means 10 are arranged parallel to the transport direction of the conveyor belt. Also in the illustrations according to FIGS. 4a and 4b, FIG. 4a is a stack and in FIG. 4b a shingled portion.
Figur 5a zeigt eine weitere Ausführungsform der erfindungsgemäßen Vorrichtung. In dem vorliegenden Fall sind auf dem Transportband, das sich von rechts nach links oder von links nach rechts bewegt, quer zur Transportrichtung Abstandshalter 2.2 vorgesehen, auf denen die Portion aufliegt. Der Abstand der Abstandshalter 2.2 zueinander und deren Abmessung ist so vorgesehen, dass jeweils eine Zinke 7.1 , die an den Schaufeln 7 des Greifers vorgesehen und schräg nach unten ausgerichtet sind, zwischen zwei Abstandshalter 2.2 zumindest teilweise eingreifen und somit die Portion 8 untergreifen kann. In dem vorliegenden Fall sind zwischen den einzelnen Lebensmittelscheiben 8.1 bis 8.3 Einlegeblätter 5 vorgesehen, um eine zu starke Haftung der Lebensmittelscheiben untereinander zu unterbinden. Desweiteren ist unterhalb der untersten Lebensmittelscheibe 8.1 ebenfalls ein Einlegeblatt 5 vorgesehen, dass den Kontakt zwischen den Abstandshalter 2.2 und der Lebensmittelscheibe 8.1 vermindert. Der Greifer ergreift nicht nur die Lebensmittelscheibe 8.1 , sondern auch das zuunterst angeordnete Einlegeblatt 5.FIG. 5a shows a further embodiment of the device according to the invention. In the present case, spacers 2.2 are provided on the conveyor belt, which moves from right to left or from left to right, transversely to the transport direction, on which the portion rests. The distance of the spacers 2.2 to each other and their dimension is provided so that in each case a prong 7.1, which are provided on the blades 7 of the gripper and aligned obliquely downwards, at least partially engage between two spacers 2.2 and thus can engage under the portion 8. In the present case are between the individual Food slices 8.1 to 8.3 insert sheets 5 provided to prevent excessive adhesion of the food slices with each other. Furthermore, an insert sheet 5 is likewise provided underneath the lowest food slice 8.1, which reduces the contact between the spacers 2.2 and the food slice 8.1. The gripper grips not only the food slice 8.1, but also the lowermost insert sheet. 5
Die Vorrichtung gemäß Figur 5b entspricht im Wesentlichen der Vorrichtung gemäß Figur 5a, so dass die diesbezüglich gemachten Ausführungen ebenfalls bezüglich Figur 5b gelten. In dem vorliegenden Fall ist jedoch nicht wie bei Figur 5a eine übereinandergestapelte, sondern eine geschindelte Portion vorgesehen, die von dem Greifer aufgenommen wird.The device according to FIG. 5b essentially corresponds to the device according to FIG. 5a, so that the statements made in this regard also apply with regard to FIG. 5b. In the present case, however, not a stacked but a shingled portion is provided as in Figure 5a, which is received by the gripper.
In Figuren 6a und 6b ist eine weitere Ausführungsform der erfindungsgemäßen Vorrichtung dargestellt. Auch in diesem Fall weist die Vorrichtung Abstandshalter 2.2 auf, die in dem vorliegenden Fall auf einem Transportband 2 angeordnet, beispielsweise angeklebt sind. Das Transportband bewegt sich in der durch den Pfeil dargestellten Richtung, so dass, wie der Fachmann deutlich erkennt, die Abstandshalter 2.2 quer zur Transportrichtung angeordnet sind. Der Abstand der Abstandshalter 2.2 und deren Abmessung ist wiederum so vorgesehen, dass eine Zinke 7.1 der Schaufel 7, die an einem Greifer, wie er beispielsweise in Figur 1 dargestellt, angeordnet ist, zwischen die Abstandshalter 2.2 einfahren und die Portionen 8 untergreifen und abheben kann.FIGS. 6a and 6b show a further embodiment of the device according to the invention. Also in this case, the device has spacers 2.2, which are arranged in the present case on a conveyor belt 2, for example glued. The conveyor belt moves in the direction shown by the arrow, so that, as the skilled artisan clearly recognizes, the spacers 2.2 are arranged transversely to the transport direction. The distance between the spacers 2.2 and their dimension is in turn provided so that a tine 7.1 of the blade 7, which is arranged on a gripper, as shown for example in Figure 1, retract between the spacers 2.2 and the portions 8 can engage and lift ,
Figur 6a zeigt einen Stapel als Portion während Figur 6b eine geschindelte Portion darstellt. Die Schaufel, die in den Figuren 7a und 7b dargestellt ist, weist in ihrem vorderen, d.h. zur Portion hingerichteten Abschnitt, Zinken auf, deren Breite und Abstand so bemessen ist, dass sie zwischen die Abstandshalter 2.2. aber auch zwischen Unebenheiten 2.3, wie beispielsweise in den Figuren 4a und 4b dargestellt ist, eingreifen können. Die Zinken sind schräg nach unten abgewinkelt um ein Ergreifen und Anheben des seitlichen Randes der Lebensmittelscheiben einer Portion zu erleichtern. Beim Ergreifen der Portion wirken die Zinken als Rampe. Figuren 8a und 8b zeigen eine weitere Ausführungsform der erfindungsgemäßen Vorrichtung, die in dem vorliegenden Fall mindestens eine Vakuumglocke 6.1 aufweist, die von oben auf die oberste Scheibe 8.2 der Portion abgesenkt wird und diese ansaugt und danach anhebt, so dass die Schaufeln 1.1. eines Greifers leichter unter die Portionen geführt werden können. In dem vorliegenden Fall weist die Vorrichtung vier Vakuumglocken auf, d.h. es werden vier Portionen gleichzeitig aufgenommen und eingelegt. Der Fachmann versteht, dass das Vakuum abgesetzt werden kann, sobald sich die Schaufeln hinreichend unterhalb der Portion 8 befinden. Spätestens wenn die Portion in eine Verpackungsmulde eingelegt wird, muss das Vakuum abgesetzt werden.Figure 6a shows a stack as a portion while Figure 6b represents a shingled portion. The blade, which is shown in FIGS. 7a and 7b, has tines in its front portion, which is executed for serving, whose width and spacing are dimensioned such that they lie between the spacers 2.2. but also between unevenness 2.3, as shown for example in Figures 4a and 4b, can intervene. The tines are angled downwards to facilitate gripping and lifting the side edge of the food slices of a serving. When grasping the portion, the tines act as a ramp. Figures 8a and 8b show a further embodiment of the device according to the invention, which in the present case has at least one vacuum bell 6.1, which is lowered from above onto the uppermost disc 8.2 of the portion and this sucks and then lifts, so that the blades 1.1. a gripper can be easily guided under the portions. In the present case, the device has four vacuum bells, ie four portions are picked up and inserted simultaneously. The skilled person understands that the vacuum can be discontinued as soon as the blades are sufficiently below the portion 8. At the latest when the portion is placed in a packaging tray, the vacuum must be discontinued.
Die Vorrichtung gemäß den Figuren 9a und 9b entspricht im Wesentlichen der Vorrichtung gemäß 8a und 8b, wobei bei der Vorrichtung gemäß Figur 8a, b eine gestapelte Position und bei der Vorrichtung gemäß 9a, b eine geschindelte Position ergriffen wird.The device according to FIGS. 9a and 9b substantially corresponds to the device according to FIGS. 8a and 8b, wherein in the device according to FIG. 8a, b a stacked position and in the device according to FIG. 9a, b a shingled position is seized.
Figuren 10a und 10b weisen eine weitere Ausführungsform der erfindungsgemäßen Vorrichtung auf. In dem vorliegenden Fall sind zusätzlich zu der Vakuumglocke 6.1 noch Mittel 6.2 vorgesehen, mit denen die unterste Scheibe der Lebensmittelportion 8 mit einem Gas-, insbesondere Luftstrom, beaufschlagt werden kann, so dass sich deren Rand abhebt und leichter von den Schaufeln 1.1 eines Greifers Untergriffen werden kann. Der Fachmann erkennt, dass der Gas-, insbesondere Luftstrom, alleine ausreichend sein kann, um den Kontakt zwischen den Lebensmittelscheiben und dem Transportband in Bereich vor oder während des Ergreifens hinreichend zu vermindern.FIGS. 10a and 10b show a further embodiment of the device according to the invention. In the present case, in addition to the vacuum bell 6.1 still means 6.2 are provided with which the bottom slice of the food portion 8 with a gas, in particular air flow, can be acted upon, so that their edge lifts and easier from the blades 1.1 grabbed a gripper can be. The person skilled in the art recognizes that the gas flow, in particular air flow, alone may be sufficient to sufficiently reduce the contact between the food slices and the conveyor belt in the region before or during gripping.
Figur 11 zeigt eine letzte Ausführungsform der erfindungsgemäßen Vorrichtung. In dem vorliegenden Fall wird eine Portion 8 auf Riemen 2.1 , die sich in der durch den Pfeil symbolisierten Richtung bewegen, transportiert. Ein Greifer wie er beispielsweise in den Figuren 7a und 7b dargestellt ist, kann zwischen die Riemen 2.1 eingreifen und die Portionen von den Riemen abheben und in eine Verpackungsmulde einlegen. Bezugszeichenliste:FIG. 11 shows a last embodiment of the device according to the invention. In the present case, a portion 8 on belt 2.1, which move in the direction symbolized by the arrow, transported. A gripper as shown for example in Figures 7a and 7b, can intervene between the belt 2.1 and lift the portions of the belt and insert into a packaging tray. LIST OF REFERENCE NUMBERS
1 Greifer1 gripper
1.1 Greiferschaufel1.1 grab bucket
1.2 Drehachse1.2 rotation axis
1.3 Abstreifer, Führungsmittel1.3 scrapers, guide means
2 Transportband2 conveyor belt
2.1 Riemen2.1 straps
2.2 Abstandshalter2.2 spacers
2.3 Unebenheiten2.3 bumps
3 Gestänge3 linkage
4 Kontaktfläche4 contact surface
5 Einlegeblatt5 insert sheet
5.1 Grundfläche des Einlegeblatts5.1 Base area of the insert sheet
6 Mittel zur Impuls oder Kraftübertragung6 means for impulse or power transmission
6.1 Ansaugmittel6.1 Intake
6.2 Gas, insbesondere Luftstrom6.2 Gas, in particular air flow
7 Schaufel7 scoops
7.1 Zinken7.1 tines
8 Portion aus mehreren Lebensmittelscheiben 38 portions of several food slices 3
8.1 unterste Lebensmittelscheibe8.1 lowest food disc
8.2 oberste Lebensmittelscheibe8.2 top food disc
8.3 mittlere Lebensmittelscheibe8.3 medium food slice
8.4 Grundfläche der Lebensmittelscheibe8.4 Base area of the food disc
9 Verbindungsarm9 connecting arm
10 Mittel zur Erzeugung der Unebenheit 10 means for producing the unevenness

Claims

Patentansprüche: claims:
1. Vorrichtung zum Ergreifen von einer Portion (8), bestehend aus mindestens einer Lebensmittelscheibe (8.1 - 8.3), mittels eines Greifers (1 ), wobei die Portion (8) mit einem Transportband (2) transportiert wird und zwischen dem Transportband (2) und der Lebensmittelscheibe (8.1 ) gegebenenfalls ein Einlegeblatt (5) angeordnet ist, dadurch gekennzeichnet, dass die Lebensmittelscheibe (8.1) und/oder das Einlegeblatt (5) vor und/oder während dem/des Ergreifen(s) nicht vollständig auf dem Transportband (2) aufliegt.1. A device for gripping a portion (8) consisting of at least one food disc (8.1 - 8.3), by means of a gripper (1), wherein the portion (8) with a conveyor belt (2) is transported and between the conveyor belt (2 ) and the food disc (8.1) optionally an insert sheet (5) is arranged, characterized in that the food disc (8.1) and / or the insert sheet (5) before and / or during the (s) not completely on the conveyor belt (2) is up.
2. Vorrichtung nach Anspruch 1 , dadurch gekennzeichnet, dass die Kontaktfläche (4) zwischen der Lebensmittelscheibe (8.1 ) und/oder zwischen dem Einlegeblatt (5) und dem Transportband (2) kleiner ist als die Grundfläche (8.4, 5.1 ) der Lebensmittelscheibe (8.1) und/oder des Einlegeblatts (5).2. Device according to claim 1, characterized in that the contact surface (4) between the food disc (8.1) and / or between the insert sheet (5) and the conveyor belt (2) is smaller than the base surface (8.4, 5.1) of the food disc ( 8.1) and / or the insert sheet (5).
3. Vorrichtung nach einem der voranstehenden Ansprüche, dadurch gekennzeichnet, dass das Transportband als beabstandete Riemen (2.1 ) ausgeführt ist.3. Device according to one of the preceding claims, characterized in that the conveyor belt is designed as a spaced belt (2.1).
4. Vorrichtung nach einem der voranstehenden Ansprüche, dadurch gekennzeichnet, dass auf dem Transportband (2) Abstandshalter (2.2) angeordnet sind.4. Device according to one of the preceding claims, characterized in that on the conveyor belt (2) spacers (2.2) are arranged.
5. Vorrichtung nach einem der voranstehenden Ansprüche, dadurch gekennzeichnet, dass das Transportband (2) permanente und/oder temporäre Unebenheiten (2.3) aufweist.5. Device according to one of the preceding claims, characterized in that the conveyor belt (2) permanent and / or temporary bumps (2.3).
6. Vorrichtung nach einem der voranstehenden Ansprüche, dadurch gekennzeichnet, dass es ein Mittel (6) aufweist, das temporär einen Impuls und/oder eine Kraft auf die Lebensmittelscheibe ausübt.6. Device according to one of the preceding claims, characterized in that it comprises a means (6) which temporarily exerts a momentum and / or a force on the food disc.
7. Vorrichtung nach einem der voranstehenden Ansprüche, dadurch gekennzeichnet, dass der Greifer mindestens eine Schaufel (1.1 , 7) aufweist. 7. Device according to one of the preceding claims, characterized in that the gripper has at least one blade (1.1, 7).
8. Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass an der Schaufel (7) Zinken (7.1 ) angeordnet sind.8. Apparatus according to claim 7, characterized in that on the blade (7) tines (7.1) are arranged.
9. Vorrichtung nach einem der voranstehenden Ansprüche, dadurch gekennzeichnet, dass der Greifer (1.1 , 7) gleichzeitig mehrere Lebensmittelscheiben (8.1 - 8.3) aufnimmt.9. Device according to one of the preceding claims, characterized in that the gripper (1.1, 7) at the same time several food slices (8.1 - 8.3) receives.
10. Vorrichtung nach Anspruch 9, dadurch gekennzeichnet, dass mindestens eine, vorzugsweise alle, Lebensmittelscheibe(n) und/oder mindestens ein Einlegblatt, vorzugsweise alle Einlegeblätter, die jeweils eine Kontaktfläche mit dem Transportband aufweisen vor und/oder während dem/des Ergreifen(s) nicht vollständig auf dem Transportband (2) aufliegt.10. The device according to claim 9, characterized in that at least one, preferably all, food disc (s) and / or at least one insert sheet, preferably all insert sheets, each having a contact surface with the conveyor belt before and / or during / seizing ( s) does not rest completely on the conveyor belt (2).
11. Verfahren zum Ergreifen von zumindest einer mittels eines Transportbandes (2) transportierter Portion (8), die aus mindestens einer Lebensmittelscheibe (8.1 - 8.3) besteht, dadurch gekennzeichnet, dass die Lebensmittelscheibe vor dem Ergreifen teilweise angehoben wird.11. A method for gripping at least one by means of a conveyor belt (2) transported portion (8), which consists of at least one food disc (8.1 - 8.3), characterized in that the food slice is partially raised before grasping.
12. Verfahren nach Anspruch 12, dadurch gekennzeichnet, dass der Rand der Lebensmittelscheibe zumindest teilweise angehoben wird.12. The method according to claim 12, characterized in that the edge of the food disc is at least partially raised.
13. Verfahren nach Anspruch 13, dadurch gekennzeichnet, dass der Rand mit einem Gasstrom angehoben wird.13. The method according to claim 13, characterized in that the edge is raised with a gas stream.
14. Verfahren nach einem der voranstehenden Ansprüche, dass die Portion mit Unterdruck angehoben wird.14. The method according to any one of the preceding claims, that the portion is lifted with negative pressure.
15. Verfahren nach einem der voranstehenden Ansprüche, dadurch gekennzeichnet, dass die Portion zumindest temporär, insbesondere vorm und/oder beim Ergreifen auf Abstandshaltern und/oder Unebenheiten des Transportbandes gelagert wird. 15. The method according to any one of the preceding claims, characterized in that the portion is stored at least temporarily, in particular before and / or when gripping on spacers and / or unevenness of the conveyor belt.
PCT/EP2010/001705 2009-03-18 2010-03-18 Device and method for grabbing a portion of food WO2010105831A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102009013425.5 2009-03-18
DE102009013425 2009-03-18
DE102009016371A DE102009016371A1 (en) 2009-03-18 2009-04-07 Apparatus and method for gripping a food portion
DE102009016371.9 2009-04-07

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WO2010105831A1 true WO2010105831A1 (en) 2010-09-23

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PCT/EP2010/001706 WO2010105832A1 (en) 2009-03-18 2010-03-18 Gripper for arrangement on a robot arm and comprising a driven hold-down device

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DE102009016334A1 (en) 2010-09-23
DE102009016333A1 (en) 2010-09-23
WO2010105832A1 (en) 2010-09-23
DE102009016332A1 (en) 2010-09-23

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