WO2012044157A1 - Dispositif de transport de produit permettant de lever un produit depuis un moyen de transport - Google Patents

Dispositif de transport de produit permettant de lever un produit depuis un moyen de transport Download PDF

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Publication number
WO2012044157A1
WO2012044157A1 PCT/NL2011/050633 NL2011050633W WO2012044157A1 WO 2012044157 A1 WO2012044157 A1 WO 2012044157A1 NL 2011050633 W NL2011050633 W NL 2011050633W WO 2012044157 A1 WO2012044157 A1 WO 2012044157A1
Authority
WO
WIPO (PCT)
Prior art keywords
product
conveying
lifting mechanism
conveying means
slots
Prior art date
Application number
PCT/NL2011/050633
Other languages
English (en)
Inventor
Wilhelmus Antonius Maria Ilmer
Paulus Johannes Maria Thoonsen
Original Assignee
Beheersmaatschappij G.A.Ch.M. Jentjens B.V.
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 Beheersmaatschappij G.A.Ch.M. Jentjens B.V. filed Critical Beheersmaatschappij G.A.Ch.M. Jentjens B.V.
Priority to EP11763791.8A priority Critical patent/EP2621815A1/fr
Publication of WO2012044157A1 publication Critical patent/WO2012044157A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0045—Manipulators used in the food industry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/06—Packaging slices or specially-shaped pieces of meat, cheese, or other plastic or tacky products
    • B65B25/065—Packaging slices or specially-shaped pieces of meat, cheese, or other plastic or tacky products of meat

Definitions

  • Product conveying device for lifting a product from a conveying means
  • the invention relates to a product conveying device for lifting a product from a conveying means.
  • a product conveying device comprising a substantially horizontally disposed conveying means for supplying a product, a movable support and a lifting mechanism mounted on the movable support for lifting the product from the conveying means.
  • the conveying means is provided with a plurality of slots extending in one direction, and the lifting mechanism comprises support elements that cooperate with the slots.
  • the movable support is designed for displacing the lifting mechanism, such that the support elements can be moved into the slots from above, wherein the support elements can be moved under the product in the direction in which the slots extend and wherein the product being supplied can subsequently be lifted from the conveying means by means of the support elements.
  • the movable support is designed for causing the support elements to move in the conveying direction along with the slots in the conveying means, prior to the lifting of the product from the conveying means, when the product is positioned above the support elements.
  • the conveying means is closed at the bottom side. This has the advantage that if products which leak fluid and/or crumble are being supplied by the conveying means, said products will remain on the conveying means until it is cleaned. The area surrounding the conveying means will thus remain clean.
  • the direction in which the slots are provided in the conveying means is the conveying direction, so that the product can be positioned above the support elements by moving the conveying means.
  • the direction in which the slots are provided in the conveying means is a direction different from the conveying direction, so that the support elements can be positioned under the product through displacement of the lifting mechanism.
  • the lifting mechanism is provided with a movable clamping mechanism for at the upper side clamping of the product, whilst at the bottom side the product is supported by the support elements. This makes it possible to secure the product from falling off the support elements as a result of further movements of the lifting mechanism and the associated support arm.
  • the lifting mechanism is provided with tilting means for tilting the lifting mechanism. After the product has been clamped down by means of the clamping mechanism, it is possible to tilt the product, for example downward, making it readily possible to present the product for further processing and/or transport.
  • the conveying device is provided with a sensor for scanning the conveying means for the purpose of detecting a product and determining the position thereof relative to the conveying means.
  • the sensor is connected to a control unit.
  • the conveying device is also provided with means for determining the velocity of the conveying means, and the control unit is designed for determining the location and the velocity of the product on the basis of the velocity of the conveying means and the position determined by the sensor.
  • the movable supports and the lifting mechanism can be controlled by the control unit, and the control unit is designed for controlling the movable support and the lifting mechanism to carry out the above-described movements.
  • Figure 1 shows a conveying device according to the invention.
  • Figure 2 shows a preferred embodiment of the conveying device according to the invention.
  • Figure 3a shows a conveying device according to the invention, in which the support elements are shown to be positioned in the slots of the conveying means and in which a product is being supplied.
  • Figure 3b shows conveying device according to the invention, in which the product being supplied makes contact with the lifting mechanism.
  • Figure 4a shows a conveying device according to the invention, showing the lifted and clamped-down product.
  • Figure 4b shows a conveying device according to the invention, showing the product in a tilted position.
  • Figure 1 shows a conveyor belt 101 as the conveying means, which conveyor belt 101 is preferably provided with slots extending in the conveying direction 108.
  • the conveyor belt 101 may be made up of links, and the slots 106 are made up by recesses formed by ridges 107 provided on the links.
  • Figure 1 further shows a lifting mechanism 102, which is made up of a frame 109, to which support elements 103 are attached.
  • Said support elements 103 are configured as fingers, which can be moved into the slots 106 of the conveyor belt 101 in substantially horizontal direction. The fingers 103 can in that case be moved into the slots 106 in a direction parallel to the ridges 107.
  • a clamping mechanism 104 is optionally provided.
  • Stop elements 105 may also be optionally provided. The stop elements 105 function to stop a product being supplied on the conveyor belt 101 , with the product sliding over the fingers 103 positioned in the slots 106 and subsequently coming to a stop against the stop elements 105.
  • the ridges 107 and the slots 106 may also be provided in the conveyor belt in a direction other than the conveying direction 108. It is conceivable, for example, for the slots 106 to be provided in a direction perpendicular to the conveying direction.
  • the lifting mechanism 102 will in that case be positioned in the slots 106 of the conveyor belt 101 with the fingers 103 extending in the same direction as the slots 106, in which case it will be necessary for the lifting mechanism 102 to move along in the conveying direction 108 in its entirety. After the fingers 103 have been placed in the slots 106 of the conveyor belt 101 , the fingers 103 will then need to be moved under a product, whereupon the product 213 can be lifted from the conveyor belt 101.
  • the conveyor belt 101 may be open to the bottom side, but it is also possible for the conveyor belt 101 to have a closed bottom side, which has the advantage that if parts fall from the product 213, the area around the conveyor belt 101 will not become fouled and the conveyor belt as a whole will move at the same velocity V in the direction 108.
  • Figure 1 also shows a support arm 1 12, on which the lifting mechanism 102 is mounted.
  • the support arm 1 12 makes it possible to cause the lifting mechanism 102 to move above the conveyor belt 101.
  • the support arm 112 may be a robot arm, for example, which can move in a number of degrees of freedom, preferably in x-, y- or z-direction, in the conveying direction, the direction perpendicular to the conveying direction and in the plane perpendicularly to the plane of the conveyor belt 101 , respectively.
  • the lifting mechanism 102 may furthermore be connected to the robot arm 112 in such a manner as to be rotatable about a vertical axis.
  • FIG. 2 shows a preferred embodiment of the conveying device according to the invention.
  • a sensor 209 is disposed above the conveyor belt 101.
  • Said sensor 209 is preferably a vision camera.
  • a vision camera is a camera which generates a series of images in a field of vision 210, making it possible, in cooperation with a control unit, to carry out at least one of measurements, image processing and image recognition.
  • the vision camera 209 has a field of vision 210 on the conveyor belt 101.
  • the vision camera 209 is connected to a control unit 21 1 .
  • the control unit 211 has a processor and a memory and is designed for receiving data from the vision camera 209, such as at least one of a position relative to the lifting mechanism, orientation and time of passage of a product 213, conveyor belt velocity V, and carrying out arithmetic operations for controlling the conveying device according to the invention.
  • the robot arm 112 and the lifting mechanism 102 can be controlled by means of the control unit 21 1.
  • the conveyor belt 101 may be provided with a velocity and position sensor 214. Said sensor 214 is connected to the control unit 211. As soon as a product 213 comes within the field of vision 210 of the camera 209, the control unit 21 1 will detect its presence and determine the position of the object on the conveyor belt. Based on the velocity V in the conveying direction 108 detected by the sensor 214 and the passage of the product 213 through the field of vision 210 of the vision camera 209, the control unit 21 1 can determine the location and the point in time of the readying of the support elements 103 and the lifting of the objects 213 from the conveyor belt 101 and, optionally, the moving of the support elements 103 along with the product 213 before lifting takes place. Prior to said point of time, the fingers 103 of the lifting mechanism 102 are moved into the slots 106 of the conveyor belt 101 by means of the robot arm 112.
  • the conveyor belt 101 is driven under the control of the control unit 21 1.
  • the velocity V of the conveying means is in that case determined by the control unit 211 , and a velocity sensor is not needed.
  • the velocity V of the passage of the product 213 can be determined by the vision camera 209 by measuring the difference in position of the product 213 between two images at a specified time interval.
  • the product 213 can be placed beside the conveyor belt 101 , to the left or to the right thereof, and/or at another level above or below said conveyor belt 101 , for further processing and/or transport. This is determined by the degrees of freedom of the robot arm 1 12.
  • Figures 3a and 3b show details of the lifting of an object 213 with the lifting mechanism 102 according to the invention.
  • the fingers 103 of the lifting mechanism 102 have been moved into the slots 106 of the conveyor belt 101 .
  • the fingers 103 fall within the ridges 107 on the conveyor belt 101. This takes place while the conveyor belt 101 is moving the product 213 in the conveying direction 108 at the velocity V.
  • the product 213 has arrived above the fingers 103.
  • the product 213 may be stopped by stop elements 105.
  • the product 213 can be clamped down by means of a movable and controllable product clamp 104 mounted on the frame by swinging said clamp down onto the product 213.
  • the lifting mechanism 102 can move along at the velocity V with the product 213 in the conveying direction 108 of the conveyor belt 101 so as to prevent damage, deformation or undesirable displacement of the product 213.
  • the product 213 may first be lifted from the conveyor belt 101 and subsequently be clamped down by means of the product clamp 104. Many variations to this are possible, depending on the nature and composition of the product to be lifted.
  • Figures 4a and 4b show the product 213 in the lifted position.
  • the lifting mechanism 102 holding the clamped-down product 213 is positioned above the conveyor belt 101.
  • Figure 4b shows an embodiment of the lifting mechanism 102, in which the lifting mechanism 102 is provided with a tilting mechanism 415, 416, wherein the product clamp 104 and the fingers 103 can be tilted about a pivot 416 relative to the frame 109 by means of an actuator 415, so that tilting of the lifted product 213 clamped down by means of the product clamp 104 is possible.
  • a preferred direction of tilting is a downward direction, so as to make it possible to release the product 213 for a next processing phase, for example packaging or further transport.
  • the product 213 can in that case fall into a packaging unit or container under the influence of the force of gravity. Also in this case many variations are possible as regards the tilting direction and the tilt angle.

Landscapes

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

Abstract

La présente invention concerne un dispositif de transport de produit, comprenant un moyen de transport disposé de manière sensiblement horizontale (101) destiné à fournir un produit, un support mobile (112) et un mécanisme de levage (102) monté sur le support mobile pour lever le produit depuis le moyen de transport. Le moyen de transport est pourvu d'une pluralité de fentes (106) disposées dans une direction et le mécanisme de levage comprend des éléments de support (103) qui peuvent coopérer avec les fentes. Le support mobile est conçu pour déplacer le mécanisme de levage de sorte que les éléments de support peuvent être déplacés dans les fentes depuis le haut, les éléments de support pouvant être déplacés sous le produit dans la direction dans laquelle les fentes s'étendent, et le produit fourni pouvant par la suite être levé depuis le moyen de transport au moyen des éléments de support.
PCT/NL2011/050633 2010-09-27 2011-09-20 Dispositif de transport de produit permettant de lever un produit depuis un moyen de transport WO2012044157A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11763791.8A EP2621815A1 (fr) 2010-09-27 2011-09-20 Dispositif de transport de produit permettant de lever un produit depuis un moyen de transport

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2005406 2010-09-27
NL2005406A NL2005406C2 (nl) 2010-09-27 2010-09-27 Producttransportinrichting voor het van een transportmiddel tillen van een product.

Publications (1)

Publication Number Publication Date
WO2012044157A1 true WO2012044157A1 (fr) 2012-04-05

Family

ID=43731832

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2011/050633 WO2012044157A1 (fr) 2010-09-27 2011-09-20 Dispositif de transport de produit permettant de lever un produit depuis un moyen de transport

Country Status (3)

Country Link
EP (1) EP2621815A1 (fr)
NL (1) NL2005406C2 (fr)
WO (1) WO2012044157A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2845698A1 (fr) * 2013-09-10 2015-03-11 Weber Maschinenbau GmbH Breidenbach Poignée de robot destinée à tourner des portions de produits alimentaires
JP2019000007A (ja) * 2017-06-12 2019-01-10 株式会社なんつね 食肉盛付装置
WO2019072908A1 (fr) 2017-10-13 2019-04-18 Teknologisk Institut Dispositif de préhension pour la manipulation de pièces à usiner
JP2020019605A (ja) * 2018-07-31 2020-02-06 株式会社ダイフク 搬送装置
WO2021209181A1 (fr) * 2020-04-15 2021-10-21 Ekim Procede de recuperation d'une preparation culinaire

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1351998A (en) 1970-02-26 1974-05-15 Union Carbide Corp Packaging method and apparatus
WO2005016799A2 (fr) * 2003-08-18 2005-02-24 Fps Food Processing Systems B.V. Appareil conçu pour transporter des objets

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2725430B1 (fr) * 1994-10-11 1997-01-24 Aoste Dispositif de prehension et de manipulation d'un lot de tranches d'un produit alimentaire

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1351998A (en) 1970-02-26 1974-05-15 Union Carbide Corp Packaging method and apparatus
WO2005016799A2 (fr) * 2003-08-18 2005-02-24 Fps Food Processing Systems B.V. Appareil conçu pour transporter des objets

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2621815A1

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2845698A1 (fr) * 2013-09-10 2015-03-11 Weber Maschinenbau GmbH Breidenbach Poignée de robot destinée à tourner des portions de produits alimentaires
DE102013015020A1 (de) * 2013-09-10 2015-03-12 Weber Maschinenbau Gmbh Breidenbach Robotergreifer zum Wenden von Lebensmittelportionen
JP2019000007A (ja) * 2017-06-12 2019-01-10 株式会社なんつね 食肉盛付装置
WO2019072908A1 (fr) 2017-10-13 2019-04-18 Teknologisk Institut Dispositif de préhension pour la manipulation de pièces à usiner
JP2020019605A (ja) * 2018-07-31 2020-02-06 株式会社ダイフク 搬送装置
JP7110799B2 (ja) 2018-07-31 2022-08-02 株式会社ダイフク 搬送装置
WO2021209181A1 (fr) * 2020-04-15 2021-10-21 Ekim Procede de recuperation d'une preparation culinaire

Also Published As

Publication number Publication date
EP2621815A1 (fr) 2013-08-07
NL2005406C2 (nl) 2011-06-21

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