WO2021209181A1

WO2021209181A1 - Method for retrieving a culinary preparation

Info

Publication number: WO2021209181A1
Application number: PCT/EP2021/053845
Authority: WO
Inventors: Sébastien ROVERSO; Cyrill HAMON; Victor BOUTITIE
Original assignee: Ekim
Priority date: 2020-04-15
Filing date: 2021-02-17
Publication date: 2021-10-21
Also published as: FR3109264A1; EP3914083A1

Abstract

The invention relates to a device for retrieving a culinary preparation, which comprises a gripping device with at least two gripping elements arranged to grasp the culinary preparation resting on a support, a deposit area for the culinary preparation comprising at least one slot arranged for the at least two gripping elements to be inserted therein, and a device for moving the gripping device and/or the deposit area and/or the support in relation to one another.

Description

DESCRIPTION

TITLE: Process for recovering a culinary preparation

Technical area

The present invention relates to the field of handling culinary preparations.

The present invention relates in particular to the handling and transport of fragile culinary preparations such as preparations containing baking dough and dough pieces.

State of the prior art

The automated conveyor systems for culinary preparations have changed little since their creation. The automated conveyor devices of the state of the art comprise means of transport of the type conveyor belts or conveyor belts. The transfer of the culinary preparations from or to these means of transport is effected by sliding, for example by means of a spatula pushing the preparation, tilting or falling, under the effect of gravity, of the culinary preparation. Document GB541018 illustrates a conveying device of this type. The most common way of handling is to slide the food preparation on a lubricated support using a spatula by pushing the food preparation to move it from one point to another.

The handling of culinary preparations, and in particular fragile culinary preparations, is extremely delicate and presents a consequent risk of deteriorating and / or deforming the culinary preparation. For example, preparations containing baking dough and dough pieces are viscous and deform under the sole effect of gravity. In addition, this type of preparation based on baking dough needs to rest before baking in order to let the dough rise, otherwise the swelling, the development of flavors and the texture of the dough will be severely limited or even have no effect. not places. Any unsuitable handling that causes deformation, even minor, of the dough will cause:

- poor positioning and / or poor shaping and / or poor handling of the dough in the next transformer and / or workstation, and - poor dough rising and loss of the swelling, flavor and texture of the dough which were obtained by rising the dough.

Also, in order not to be exposed to such a risk, the devices of the state of the art include a minimum number of handling of the culinary preparations during preparation, or even for the most part no handling. For this purpose, the conveyor devices of the state of the art move the culinary preparation being prepared from one processing station to another by means of conveyor belts or conveyor belts without ever having to grab or even lift. culinary preparation. As a result, the processing and culinary preparation devices of the state of the art have a high bulk, require significant machinery for transport causing, among other things, a high need for maintenance.

An aim of the invention is in particular to provide a method, and an associated device, allowing:

- to recover a culinary preparation, and / or

- to transport the culinary preparation, and / or

- automated handling of fragile culinary preparations, and / or

- to cook the culinary preparation immediately after recovery and / or transport of the culinary preparation, and / or

- to control and / or analyze the culinary preparation during its transport, and / or

- to transport the culinary preparation in a vertical and / or horizontal movement, and / or

- recover a culinary preparation on a continuous or discontinuous surface, and / or

- to recover and / or transport the culinary preparation without damaging or deforming the culinary preparation, and / or

- to limit and / or prevent the turning over and / or the deformation and / or the tearing and / or the tearing and / or the piercing and / or the displacement and / or improve and / or make reliable the seizure of a culinary preparation , and or

- not to hinder or interrupt the raising of the dough, and / or

- not to deteriorate or alter the leavened dough, in particular by deforming it, that is to say not to cause deflation and / or degassing of the dough, a loss of flavors of the dough and not to deteriorate the texture of the dough.

Presentation of the invention

To this end, there is proposed a method for recovering a culinary preparation comprising a step of gripping the culinary preparation, resting on a support, by means of a gripping device comprising at least two gripping elements.

The gripping step can comprise an interpenetration of the at least two gripping elements one inside the other.

Preferably, the method comprises the step of:

- transfer of the culinary preparation from the gripping device to a deposition zone by inserting the at least two gripping elements of the gripping device into at least one slot of the deposition zone, and / or

- Insertion of at least two gripping elements between the food preparation and a surface of the support on which the food preparation rests before grasping.

Preferably, the culinary preparation can be a fragile culinary preparation. The term “fragile culinary preparation” may be understood to mean a friable and / or deformable and / or viscous and / or malleable and / or unhealthy culinary preparation. By way of non-limiting example, the culinary preparation may be or comprise or be based on dough, for example a dough, or on steak ha chée or stuffing.

Preferably, the deposition zone comprises at least two slits.

The food preparation can rest on the support before the gripping step, that is to say before it is gripped by the gripping device on the support and / or before the gripping device lifts the food preparation. support.

The method may comprise, subsequent to the gripping step, a step of transporting the culinary preparation resting on the gripping device to the deposit zone. The method may comprise a step of analyzing the culinary preparation in order to measure and / or determine its weight and / or its size and / or its shape and / or its density and / or its viscosity and / or its center.

The analysis step can include:

- a step of weighing the culinary preparation, and / or

- a 2D and / or 3D imaging step of the food preparation by an imaging system.

The imaging step can be carried out before and / or after the seizure and / or before the transport and / or during the transfer.

In the present application, the center of an object, for example of the culinary preparation or of a zone, for example the deposit zone, can be a geometric center or a center of gravity of the object.

A weight and / or size and / or shape and / or density and / or viscosity and / or center of the food preparation can be determined from measured mass and / or 2D images and / or or 3D of the culinary preparation acquired during the analysis step.

The step of determining the weight and / or the size and / or the shape and / or the density and / or the viscosity and / or the center of the culinary preparation can be carried out, by means of a unit processing and / or an image analysis program, by processing and / or analyzing 2D and / or 3D images of the food preparation acquired during the analysis step.

The method may comprise, subsequent to the step of analyzing the culinary preparation, a step of rejecting a culinary preparation that does not comply with at least one predefined criterion.

The rejection step can be implemented by means of a gripping device or by means of a rejection device.

The step of rejecting the culinary preparation can be carried out before or after the transfer of the culinary preparation from the gripping means to the deposit zone.

The predefined criteria may include a weight of the food preparation and / or a position of the center of the food preparation and / or a size of the food preparation and / or a shape of the food preparation and / or a density of the food preparation and / or viscosity of the food preparation and / or improper seizure of the food preparation by the gripping device and / or degradation of the food preparation during the seizure.

The rejection step can include:

- unloading of the culinary preparation, by the gripping device, in a collecting tank or in a dough storage hopper, and / or

an evacuation of the culinary preparation resting on the gripping device or on the deposit zone or on a zone on which the culinary preparation rests before being seized by an evacuation element.

The step of evacuating the food preparation may comprise the relative movement of the evacuation element with respect to the gripping device or to the deposit zone or to the zone on which the food preparation rests before grasping so in sliding the food preparation respectively on an upper surface of the gripping elements on which the food preparation rests or on the upper surface of the at least one protuberance on which the food preparation rests.

During the step of entering the food preparation, the food preparation can rest on a flat and / or stationary surface.

In other words, the surface of the support on which the culinary preparation rests is flat and / or stationary. The planar surface can be understood as a continuous surface and / or a surface which does not include a slit.

The transfer of the culinary preparation can take place between, or respectively from, the gripping device and, or respectively to, at least in part, an upper surface of at least one protuberance located between the at least one slot of the drop zone or vice versa.

After transfer of the food preparation from the gripping device to the deposition zone, the food preparation can rest on the upper surface of the deposition zone formed by the upper surfaces of the protuberances.

After transfer of the food preparation from the gripping device to the deposition area, the at least two gripping elements can be withdrawn from the at least one slot by movement of the gripping elements in a direction mainly parallel to the upper surface of the deposit zone.

The step of inserting the at least two gripping elements between the culinary preparation and the surface of the support can be implemented according to a mainly horizontal translational movement of the at least two gripping elements.

The insertion step can comprise the passage from a close position, of the at least two gripping elements, towards a distant position, of the at least two gripping elements, or vice versa, by setting in relative movement of the at least two gripping elements, one relative to the other, by means of the device for setting in motion. In the remote position, the at least two grips are spaced apart a distance greater than one size, in the horizontal plane, of the food preparation. Following the relative movement of the at least two gripping elements, the gripping device is brought to the close position in which the gripping elements are in contact or spaced apart by a distance (which depends on the type of culinary preparation to be grasped ) less than 5 cm, preferably 3 cm, more preferably 2 cm and more preferably 1 cm.

The insertion step may include rubbing the at least two gripping elements on the surface of the support.

Preferably, the friction of the at least two gripping elements on the surface of the support is carried out during the mainly horizontal translational movement of the at least two gripping elements.

The friction can be continuous throughout the insertion step.

The method may comprise, prior to the input step, a step of positioning the at least two gripping elements in a particular position relative to the center of the culinary preparation, the particular position being determined from the data obtained from the step analysis. The method may include a step of positioning the at least two gripping elements in a particular position relative to the deposition area so that, subsequent to the transfer step, the center of the food preparation coincides with a defined position of the drop zone.

The insertion step can be implemented by exerting pressure by each of the at least two gripping elements on the surface of the support on which the culinary preparation is placed during the insertion of the at least two gripping elements between the food preparation and the surface of the support on which the food preparation rests.

Preferably, the method may include a step of flexing, bending or bending the at least two gripping elements. More preferably, the step consisting in flexing, bending or bending the at least two gripping elements is implemented during the insertion step, and in particular during the gripping step.

Preferably, the at least two gripping elements are bent, flexed or curved depending on the direction in which they are inserted between the food preparation and the surface of the support.

The insertion step may include an inclination of the at least two gripping elements with respect to the surface of the support on which the culinary preparation rests so that the latter form a non-zero angle with respect to the surface of the support on which rests. culinary preparation.

The method may comprise a step of adjusting the operating parameters of a divider arranged to form a dough piece; the adjustment being made according to the weight and / or size and / or shape and / or density and / or viscosity of the divided dough so that the divided dough conforms to the at least one predefined criterion.

According to the invention, the expression adjustment of parameters may be understood as an adjustment of parameters and / or a modification of parameters. It is also proposed a device for recovering a culinary preparation comprising:

- a gripping device comprising at least two gripping elements arranged to grip the culinary preparation resting on a support,

a device for setting the gripping device and / or the support in motion with respect to one another.

The at least two gripping elements can each be an oblong element. It can be understood by oblong element a tapered or slender element. An oblong element can be a tooth or a rod or a tab or a claw.

The at least two oblong elements can be located opposite each other. The at least two oblong elements located opposite each other may or may not be aligned with one another.

One or each gripping element may include one or more rows of oblong elements adjacent to each other. Two adjacent oblong elements of the same row can be separated by a space (gap or slot).

A first row of oblong elements can be arranged opposite a second row of oblong elements. The oblong elements of the first row may or may not be aligned facing the oblong elements of the second row located opposite each other.

A row of oblong elements can be a fork. The fork may comprise a set of oblong elements each constituting a tooth arranged to be inserted into a slot in the deposition zone.

The device for gripping the culinary preparation may comprise two rows of teeth, for example four, six or eight teeth, arranged one facing the other. Each tooth of a row of teeth may be located facing a tooth of the opposite row or facing a space separating two teeth of the opposite row.

The gripping elements and / or the gripping device and / or the device for setting in motion can be arranged so that the rows of oblong elements arranged opposite one another interpenetrate.

Preferably, at least part of an element of one, several or each of the at least two gripping elements is deformable. Of more preferably at least a part of each of the at least two gripping elements is deformable. It can be understood by deformable, reversibly deformable or elastically deformable.

Preferably, the oblong elements of the at least two gripping elements are deformable. More preferably, the oblong elements of the at least two gripping elements can be curved or bent in particular in the direction of their length.

Preferably, the device for setting in motion can be arranged to insert the at least two gripping elements between the culinary preparation and a surface of the support on which the culinary preparation rests. Preferably, the gripping device is arranged to carry the at least two gripping elements from a remote position, in which the at least two gripping elements are spaced apart by a distance greater than a size, in the horizontal plane, of the food preparation, to a close position in which the gripping elements are in contact or spaced apart by a distance (which depends on the type of food preparation to be seared) less than 5 cm, preferably 3 cm, more preferably 2 cm and more preferably at 1 cm, and vice versa.

Preferably, the device comprises:

a zone for depositing the culinary preparation comprising at least one slot arranged so that the at least two gripping elements are inserted therein, and preferably, the device for setting in motion is arranged for:

• set the gripping device and / or the deposit zone and / or the support in motion with respect to each other, and

• insert the at least two gripping elements inside the at least two slots so that the food preparation is transferred from the gripping device to the drop zone.

Preferably, the at least two slots can be complementary to the at least two gripping elements.

A gripping element may be an element of suitable thickness to be inserted under the culinary preparation. The deposit zone can be stationary or arranged to be set in motion. The deposit area may be a temporary storage area for the culinary preparation or a preparation or processing station for the culinary preparation.

Preferably, the deposition zone comprises at least two slits.

Preferably, the at least two gripping elements are inserted simultaneously inside the at least two slots.

The device may comprise a device for analyzing the culinary preparation being arranged to weigh and / or image in 2D and / or 3D the culinary preparation.

The device may comprise a processing unit arranged and / or programmed and / or configured to determine, from a mass of the measured culinary preparation and / or images of the culinary preparation acquired by the analysis device, weight and / or size and / or shape and / or density and / or viscosity and / or center of the culinary preparation.

The area for depositing the culinary preparation may comprise at least one protuberance situated between the at least one slot, said at least one protuberance being arranged so that the culinary preparation rests, at least in part, on an upper surface of said au minus a protuberance.

It can be understood by protuberance a projection or a bead or a bulge.

A protuberance may be located between two adjacent slits in the deposition zone. The upper surfaces of the protuberances can form, at least in part, an upper surface of the deposit zone suitable for receiving the culinary preparation.

A surface of the support on which the culinary preparation rests can be a flat and / or stationary surface

The device for setting in motion can be arranged for:

- set in motion the gripping device and / or the support on which rests the food preparation relative to one another, to move the food preparation from the support on which the food preparation rests to the gripping device, and / or

- set in motion the gripping device and / or the deposit zone relative to each other, to deposit the culinary preparation on the deposit zone.

The setting in motion of the gripping device and / or the deposit zone relative to one another to grip the culinary preparation on the support on which the culinary preparation rests and / or to deposit the culinary preparation on the zone deposit can be carried out according to a movement comprising at least one translational and / or rotational movement.

The device for setting in motion can be arranged to produce friction of the at least two gripping elements on the surface of the support on which the culinary preparation rests.

The device for setting in motion can be arranged to position the at least two gripping elements in a particular position relative to:

- at the center of culinary preparation, and / or

- at a center of the drop zone.

The device for setting in motion can be arranged so that the at least two gripping elements exert pressure on the surface of the support on which the culinary preparation is placed.

Preferably, the device for setting in motion is arranged so that an end portion of the at least two gripping elements exert pressure on the surface of the support on which the culinary preparation is placed. at least two gripping elements has the effect of flexing or bending the at least two gripping elements.

The at least two gripping elements can be inclined relative to the surface of the support on which the food preparation rests. so that the latter form a non-zero angle with respect to the surface of the support on which the culinary preparation rests.

The processing unit can be arranged and / or programmed and / or configured to adjust one or more operating parameters of a divider, being arranged to form a dough, depending on the weight and / or the size and / or the shape and / or the density and / or the viscosity of the divided dough so that the divided dough complies with at least one predefined criterion.

The recovery and transport device may include a divider arranged to form the dough.

The device for analyzing the dough may include a weighing system designed to weigh the food preparation and / or a 2D and / or 3D imaging system for imaging the food preparation. The weighing system and / or the imaging system can be associated and / or linked and / or mounted on the gripping device.

The divider may be a continuous dough volumetric divider.

The food preparation gripping device can be arranged to grip, support and transfer the food preparation.

The device according to the invention is preferably designed to implement the method according to the invention.

The method according to the invention is preferably designed to be implemented by the device according to the invention. Description of figures

Other advantages and features of the invention will become apparent on reading the detailed description of implementations and embodiments which are in no way limiting, and from the following appended drawings:

[Fig. 1] FIGURE 1 is a schematic representation in a bias view of a recovery device according to the invention,

[Fig. 2] FIGURE 2 is a schematic representation in a bias view of an advantageous embodiment of the recovery device according to the invention,

[Fig. 3] FIGURE 3 is a schematic representation in a bias view of the recovery device according to the invention illustrating steps A and B of the method according to the invention,

[Fig. 4] FIGURE 4 is a schematic representation in a bias view of the recovery device according to the invention illustrating steps D, E and F of the method according to the invention,

[Fig. 5] FIGURE 5 is a schematic representation in a bias view of the recovery device according to the invention mounted on a divider,

[Fig. 6] FIGURE 6 is a schematic representation in a bias view of the recovery device according to the invention mounted on a divider.

Description of the embodiments

Since the embodiments described below are in no way limiting, it is in particular possible to consider variants of the invention comprising only a selection of characteristics described, isolated from the other characteristics described (even if this selection is isolated within a sentence. including these other characteristics), if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art. This selection comprises at least one characteristic, preferably functional without structural details, or with only part of the structural details if this part alone is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art. .

With reference to FIGURES 1 to 6, and in particular to FIURES 1 and 2, there is illustrated a device 1 for recovering a culinary preparation 2 comprising a gripping device 3 comprising at least two gripping elements 4, two gripping elements. gripping 4 according to the embodiment presented, arranged to grip the culinary preparation 2, resting on a support 5. The recovery device 1 comprises a device for setting the gripping device 3 in motion (not shown) with respect to the support 5 .

The recovery device 1 according to the invention is particularly suitable for handling culinary preparations 2 which are delicate to handle. Also, by way of non-limiting example, the culinary preparation 2 chosen is a dough piece 2 which is known to be particularly delicate to handle. In addition, a gripping element 4 which has proven to be particularly suitable for this type of culinary preparation 2 comprises a row of aligned teeth 6. This type of gripping element 4 limits the areas of friction between the latter and the food preparation 2, which reduces the damage (overturning, deformation, tearing, tearing, piercing, etc.) that can be caused to the food preparation. 2 when entering. Too much space 7 between the teeth 6 runs the risk of causing the viscous culinary preparations 2 (such as fresh dough or minced meat without gelling agent, etc.) to flow out after searing. Also, in the case of dough pieces 2, it is preferable to maintain a ratio between the width of the teeth 6 in the plane horizontal and the width of the spaces 7 in the horizontal plane between two teeth 6 between 5 and 30. In practice, the width of the teeth 6 is between 6 and 10 mm cm and the space 7 between two teeth 6 is between 10 and 15 mm. According to the embodiment, the width of the teeth 6 is 8 mm, the space 7 between two teeth 6 is 13 mm and the thickness of the teeth 6 in the vertical plane is 0.5 mm. These dimensions are to be adapted according to the type of culinary preparations 2 to be handled, in particular according to its viscosity and its friability.

In the case of dough pieces 2, the two gripping elements 4 are arranged vis-à-vis one another and comprise a row of six teeth 6. Here too, the number of teeth 6 must be adapted as a function. the type of food preparation 2 to handle and its size.

In the case of dough pieces 2, the teeth 6 of one row are arranged opposite the teeth 6 of the opposite row. Such an arrangement provides the same effects and advantages as those obtained by means of the ratio between the width of the teeth 6 and the width of the spaces 7 and the dimensions of the teeth and spaces 7 as described above.

According to the nonlimiting embodiment, an additional setting device 10 is arranged so as to insert the gripping elements 4 between the food preparation 2 and the upper surface 51 of the support 5. In particular, the gripping device 3 is arranged to adopt a so-called open (or remote) position 111, in which the gripping elements 4 are spaced apart by a distance greater than the waist, in the horizontal plane of the culinary preparation 2. The device for setting in motion Additional 10 is arranged to set the gripping elements 4 in horizontal translational movement during the insertion of the gripping elements 4 between the food preparation 2 and the upper surface 51 of the support 5 on which the food preparation 2 rests. In particular, the gripping elements 4 are set in translational movement in the horizontal plane in opposite parallel directions 8, 9 by means of a system of sliding rails 10. This has the effect of allowing the grasp of the culinary preparation. 2 on flat and / or stationary surfaces. Thus, it is not necessary for the support 5 to include slits, holes, grooves, or vertures ... for the food preparation 2 to be grasped. Following the translation of the gripping elements 4, the gripping device 3 is carried in a so-called closed (or close) position 112, in which the gripping elements 4 are in contact or spaced apart by a distance which depends on the type of preparation to be grasped. In the case of dough pieces 2, this distance is preferably equal to or less than 1 cm.

In the devices of the state of the art, the transfer of the culinary preparation from one position to another (for example from one workstation to another) requires that the culinary preparation 2 is in motion on an element movable during its transfer and / or that it is pushed and slides on the surface of the element on which it rests and / or that the support on which it rests is not a continuous surface but a surface comprising openings (holes , slots, grooves ...). The insertion of the gripping elements 4 between the food preparation 2 and the upper surface 51 of the support 5 makes it possible to grip the food preparation 2 when it is stationary and rests on flat surfaces. However, it is also possible to enter culinary preparations 2 resting on discontinuous surfaces by adapting the geometry of the gripping elements 4 to the patterns of the support 5 (grooves, slots, etc.). Another advantage of inserting the gripping elements 4 between the food preparation 2 and the upper surface 51 of the support 5 is not to risk turning, deforming or moving the food preparation 2, for example based on cooking dough, during its transfer. This is particularly advantageous in the case of doughs 2 and dough pieces 2. In fact, the doughs 2 and dough pieces 2 must rest before cooking and any unsuitable handling which results in deformation (even minor), turning or displacement of the dough. dough 2 or dough 2 on the upper surface 51 of support 5 will require letting dough 2 or dough 2 rest again before baking (lengthening of the preparation time, duration of immobilization of a station by dough 2 or the dough piece 2 increased ...).

The gripping elements 4 are inclined relative to the upper surface 51 of the support 5 so that the latter form a non-zero angle with respect to the plane in which mainly extends the upper surface 51 of the support 5. This angle is included. between 1 ° and 20 °. It is preferably between 4 and 8 °. This has the effect of limiting the risks of damaging the culinary preparation 2 during its seizure. This also has the effect of improving the grip and avoiding the risk of overturning, deforming or moving the food preparation 2. In addition, this makes it possible to avoid deforming. food preparation 2 and in particular to avoid tearing food preparation 2 by letting food preparation 2 pass under the gripping elements 4.

The device for setting in motion is arranged so that the gripping elements 4 exert pressure on the upper surface 51 of the support 5. This has the effect of limiting the risks of damaging the food preparation 2 and of improving its grip. while limiting the risks of overturning, deformation or displacement of the culinary preparation 2. In fact, in this case, the device for setting in motion is arranged to exert a force oriented towards the support 5 so as to produce a friction of the gripping elements 4 on the upper surface 51 of the support 5 on which the food preparation 2 rests when the gripping elements 4 are set in motion.

In addition, when the gripping elements 4 are inclined relative to the upper surface 51 of the support 5, the lower surface of the end of the gripping elements 4 (the surface of the gripping elements 4 facing the support 5) exerts a pressure on the support 5 and rubs on the latter when the additional movement device 10 moves the gripping elements 4 relative to the support 5.

When the culinary preparation 2 has been grasped, the setting device is arranged to set the gripping device 3 in motion, preferably according to a mainly vertical movement, so as to lift the support 5, (so that the preparation culinary 2 no longer rests the support 5). The device for setting in motion is also designed to move the culinary preparation 2, preferably in a mainly translational movement, to another work or storage station.

According to an advantageous improvement of the recovery device 1, there is provided a zone 11 for depositing the culinary preparation 2 comprising at least one slot 12 arranged so that the gripping elements 4 are inserted therein. In general, whatever the type or shape of the gripping elements 4 used; the slot or slots 12 are arranged to cooperate with the gripping elements 4. The deposit zone 11 is arranged to receive the culinary preparation 2.

The deposit zone 11 can be mobile or able to be set in motion According to the case. The deposit zone 11 can be a temporary storage zone, a transport element or a zone of another work station (by way of nonlimiting example, a preparation station, for example addition of ingredients (for example). example in a localized manner) in culinary preparation 2, processing or forming or cooking). This other workstation can aim to modify, transform, garnish and / or cook the culinary preparation 2.

The additional moving device 10 is arranged to insert the gripping elements 4 inside the slots 12 so that the food preparation 2 is transferred from the gripping device 3 to the deposit zone 11 or vice versa.

Although the food preparation 2 can be transferred from the gripping elements 4 to any type of deposit surface, such as continuous and / or flat surfaces, it is preferred, especially in the case of delicate food preparations 2, '' use a deposit surface 11 comprising grooves, holes, orifices, clearances or openings inside which the gripping elements 4 can be inserted during the transfer of the culinary preparation 2.

Such deposit zones 11 comprising openings 12 complementary to the gripping elements 4 into which the latter can be inserted have proved to be particularly suitable for cold culinary preparations 2. This makes it possible to facilitate the transfer of the culinary preparations 2, to considerably increase the preservation of the integrity (in terms of shape, size, appearance) of the culinary preparations 2 transferred and to limit the rejection rate of the culinary preparations 2 due to the tearing, tearing, deformation or piercing of the latter during transfer.

According to an advantageous improvement of the recovery device 1, there is proposed a device for analyzing the culinary preparation 2 which is arranged to weigh and / or image in 2D and / or 3D the culinary preparation 2. According to the embodiment, the analysis device comprises a suspended balance 13 arranged to weigh the food preparation 2 when the latter rests on the gripping device 3 (the food preparation 2 has been grasped and lifted). According to the embodiment, the suspended scale 13 is mounted between the gripping device 3 and a connecting element connected to the device for setting the gripping device 3 in motion. Even more advantageously, the analysis device also comprises an imaging device, for example a camera (not shown), arranged to image, preferably in 3D, the food preparation 2 captured which is supported. by the gripping device 3. Preferably, the imaging device is arranged to continuously image a zone of space located at the level of the gripping elements 4 intended to receive the culinary preparation 2. Preferably, the device for imaging is arranged to image an area of space comprising, at a minimum, the volume located between the gripping elements 4 when the latter are in the open (or remote) position 111. The imaging device can, by way of 'example, be mounted on the additional movement device 10 or on the gripping device 3.

The recovery device 1 comprises a processing unit (not shown) which is arranged and / or configured and / or programmed to determine, from the mass of the culinary preparation 2 measured by the bar 13 and / or from images of the food preparation 2 acquired by the analysis device, a weight and / or a size and / or a shape and / or a density and / or a viscosity and / or a center of the food preparation 2. In this case , the processing unit is preferably programmed to process the acquired images. In general, the culinary preparation 2 must meet specific criteria in terms of size and weight. In the context of the invention, where handling and preparation are completely automated, it was necessary to add additional control criteria. These include, among other things, the viscosity, shape and position of the center.

To improve the grip of the food preparation 2, the setting device is designed to position the gripping elements 4 in a particular position relative to the center of the food preparation 2 and / or to the center of the deposit zone 11. The processing unit is arranged to determine this particular position as a function of the analysis data:

- the determined mass of the culinary preparation 2 (by weighing), and / or

- of the shape, size and / or position determined (by analysis of acquired images), and / or

- the viscosity and / or the center of the food preparation 2 (depending on the determined mass and the determined shape, size and / or position); the analysis data being acquired when the culinary preparation 2 rests on the support 5 and / or on the gripping elements 4 and / or on the deposit zone 11.

With reference to FIGURES 1 to 6, and in particular to FIGURES 3 and

4, there is illustrated a method for recovering a culinary preparation comprising a step of seizing, denoted step A, of the culinary preparation 2 resting on the support 5 by means of the gripping elements 4. Step A comprises the insertion gripping elements 4 between the food preparation 2 and the upper surface 51 of the support 5. Step A is carried out according to a mainly horizontal translational movement of the gripping elements 4. The two gripping elements 4 are moved the towards each other in an opposite parallel direction in a translational movement.

The input step A of the culinary preparation 2 according to the method makes it possible to recover the culinary preparation 2 on a support 5 having an upper surface 51 flat and / or immobile. During this step A, the gripping device 3 is in the open position 111 in which the gripping elements 4 are spaced from one another. The insertion of the gripping elements 4 carries the gripping device 3 from the open position 111 to the closed position 112.

Preferably, during step A, during the movement of the gripping elements 4 towards each other, the gripping elements 4 exert pressure on the upper surface 51 of the support 5. In this way, during the movement of the grips. gripping elements 4 towards each other, the gripping elements 4 exert a friction on the upper surface 51 of the support

5. More preferably, during step A, during the movement of the gripping elements 4 towards each other, the gripping elements 4 are inclined with respect to the plane in which mainly extends the upper surface 51 of the. support 5 so that the latter form a non-zero angle with respect to the upper surface 51 of the support 5. Following the seizure of the food preparation 2, the gripping device 3 is in the closed position 112. The method comprises a step, denoted B, aimed at lifting the food preparation 2 from the support 5. Preferably, the food preparation 2 is raised in a translational movement, optionally in a mainly vertical movement.

Following this step B, the food preparation 2 can be moved to another position during a step C, preferably according to a translational movement, optionally mainly horizontal, by means of the device for setting the gripping device 3 in motion. In particular, during step C, the culinary preparation 2 can be moved to a storage zone or a work zone which may include a deposit zone 11.

According to an advantageous embodiment, the method also comprises a transfer step, denoted D, of the culinary preparation 2 from the gripping device 3 to a deposit zone 11.

This deposition zone 11 can have a flat surface. In this case, the gripping elements 4 are brought into contact with the continuous deposition surface 11. Preferably, the gripping elements 4 exert pressure on the upper surface of the deposition zone 11. More preferably, the gripping elements 4 are inclined with respect to the upper surface of the deposition zone 11. To deposit the preparation culinary 2, the gripping elements 4 are brought from the closed position 112 to the open position 111.

Preferably, the deposition zone 11 comprises openings 12 which are slits 12 according to the embodiment. During this step D, the gripping elements 4 of the gripping device 3 are inserted into the slots 12 of the deposit zone 11. The food preparation 2 is thus transferred from the gripping elements 4 to the discontinuous upper surface 14 of the zone. deposit 11. During a transfer to such a deposit zone 11, it is possible to insert the gripping elements 4 into the slots 12 in a rotational movement (by approaching the gripping elements 4 so that a non-zero angle is formed between the surface of the teeth 6 on which the culinary preparation 2 rests and the discontinuous upper surface 14 of the deposit zone 11) and / or according to a movement of mainly vertical or horizontal translation, or according to a mixed movement including translation and rotation.

Following the transfer step D of the culinary preparation 2, the gripping elements 4 are extracted, during a step denoted E, from the slots 12 by the additional setting device 10.

In certain cases, the deposit zone 11 can transport the culinary preparation 2, during a step F, to another workstation so as to release the gripping device 3 which is again available to recover a new culinary preparation 2. .

According to an advantageous embodiment, the method comprises a step of analyzing the culinary preparation 2 in order to measure and / or determine its weight and / or its size and / or its shape and / or its density and / or its viscosity and / or its viscosity. or its center. In particular, the analysis step comprises weighing the food preparation 2 and / or a 2D and / or 3D imaging step of the food preparation 2 by an imaging system.

In this case, the method comprises a determination, by means of the processing unit, of the weight and / or the size and / or the shape and / or the density and / or the viscosity and / or the center. of the food preparation 2 from the measured mass and / or 2D and / or 3D images of the food preparation 2 acquired during the analysis step.

According to the embodiment, the weighing is carried out by means of a suspended balance 13

In practice, the density, the viscosity and the center are determined, by the processing unit, from the measured mass and the processing of the images, preferably 3D, of the food preparation 2 acquired during the analysis step. .

The analysis step can be implemented before and after the input step A as well as after the transfer step D. The weighing of the culinary preparation 2 is implemented after the input step A when the food preparation 2 rests on the gripping elements 4 and / or after the transfer step D when the preparation in the transfer step (deposit) on the deposit zone 11. In fact, in this case the processing unit can detect , by means of the data measured by the suspended scale 13, that a mass of culinary preparation 2 is always present on the gripping elements 4 after transfer of the culinary preparation 2 to the deposit zone 11. The processing of the images can be carried out before and / or after the capture step A, and / or after the transfer step D.

The analysis step can also be carried out after the transfer of the food preparation 2 to the deposit zone 11. In this case, it is verified that the food preparation 2 still has the shape, size, weight and shape. that the position of the culinary preparation 2 on the deposit zone 11 conforms to the desired position.

The intended position in which the food preparation 2 is supposed to be positioned during the searing step may vary. In addition, the size, shape as well as the center of food preparation 2 can also vary from food preparation 2 to another. Therefore, prior to the input step A, the method comprises a step of positioning the gripping elements 4 in a particular position relative to the center of the culinary preparation 2, the particular position being determined from the data obtained from the analysis step. In practice, the processing unit, from the data resulting from the analysis step, will determine the particular position (or corrected position), that is to say the position in which the gripping elements 4 must be. positioned relative to the center of the culinary preparation 2 so that it is grasped in a stable manner and in the desired position so as to limit its deformation during steps B and C and to ensure a correct laying or positioning and in the desired position of the culinary preparation 2 on or in the next transformer and / or workstation.

Likewise, prior to the transfer step D, the process comprises a step of positioning the gripping elements 4 in a particular position relative to the deposit zone 11, the particular position being determined from the data obtained from the analysis step. This makes it possible to deposit the food preparation 2 on the surface of the deposit zone in the desired position, in particular as a function of the position of the food preparation 2 on the gripping elements 4 and of the center of the food preparation 2. Preferably, subsequent to the step of analyzing the culinary preparation 2, the method comprises a step of rejecting a culinary preparation 2 that does not comply with at least one predefined criterion. This step is carried out using data from the analysis step carried out before and / or after entry A and / or after transfer D.

Referring to FIGURES 5 and 6, the rejection can be achieved when the food preparation 2 rests on the gripping elements 4. The gripping device 3 positions the gripping elements 4 above a waste container 15 and carries them. gripping elements 4 in the open position 111 so as to release the food preparation 2.

The rejection can also be carried out when the culinary preparation 2 rests on the deposition zone 11. In this case, the element comprising the deposition zone 11 can rotate through 90 °, or even by an angle of between 90 ° and 180 °. , around a horizontal axis so as to evacuate the culinary preparation 2.

In a complementary and / or alternative manner, a stop 16 for the food preparation 2, for example a horizontal element 16 according to the embodiment, can push (or move) the food preparation 2 out of the deposit zone 11 during the setting. in relative movement of the stop 16 with respect to the deposition zone 11 or vice versa. Preferably, the stop 16 comprises a face 161 intended to be positioned facing the culinary preparation 2. Preferably, a lower edge, border or wall 162 of the face 161 of the stop 16 is parallel to the surface 14 of the zone. deposit 11. Preferably, the face 161 of the stop 16 extends in a plane which is oriented so as to form a non-zero angle, preferably equal to 90 °, with respect to the direction of the relative movement. Preferably, and unlike the position of the slots in FIGURES 2, 4, 5 and 6, the slots 12 extend in a direction forming an angle of 90 ° with respect to the plane in which the face 161 of the stop 16 lies. extends in a plane that is oriented so as to. Preferably, during the relative movement of the stop 16 with respect to the deposition zone 11 or vice versa, the stop is positioned in a lowered position 163, called a rejection position 163. Also preferably, during the relative movement of the stopper. the stop 16 with respect to the deposition zone 11 or vice versa, the edge 162 of the face 161 of the stop 16 situated opposite the surface 14 of the deposition zone 11 is arranged so as to brush against the surface 14 of the drop zone 11. In the reject position 163, the edge 162 of the face 161 of the stop 16 situated opposite the surface 14 of the deposition zone 11 is positioned at a distance of between 2 and 0.01 mm from the surface 14 of the deposition zone 11. According to the particular embodiment, this distance is 0.2 mm.

Preferably, the two movable stops 16 are arranged to be positioned between the reject position 163 and a raised position (not shown). In the raised position, the edge 162 of the face 161 of the stop 16 situated opposite the surface 14 of the deposit zone 11 is positioned at a distance from the deposit zone 11 such that the dough piece 2 cannot enter. in contact with the face 161 during the relative movement of the stop 16 with respect to the deposition zone 11 or vice versa.

When a culinary preparation 2 is identified as compliant, the two stops 16 are positioned in the raised position. When a culinary preparation 2 is identified as non-compliant, the two stops 16 are positioned in the reject position 163.

Preferably, the two stops 16 are movably mounted on a moving device 17. The two stops 16 are set in motion vertically relative to the device 17. Also preferably, the device 17 is movably mounted relative to the recovery device 1. The device 17 is arranged to move the stops from the raised position to the reject position 163 and vice versa.

By way of non-limiting example, and with reference to FIGURES 1 to 6, and in particular to FIGURES 5 and 6, the dough piece 2 recovered during the gripping step A may be a freshly divided and formed dough piece 2, for example for example by a divider 18. By way of example, the divider 18 is a volumetric divider 18 which can be provided with a system of division by vacuum suction. The dough piece 2 can preferably be recovered during the gripping step A at the level of the location 19 of the support 5 where it is formed and divided. In this case, the method comprises a step of adjusting, by means of the processing unit, one or more operating parameters of the divider 18 as a function of the parameters of the divided dough piece 2 determined and / or measured during the process. 'analysis step so that the divided dough piece 2 complies with at least one predefined criterion in terms of weight and / or size and / or shape and / or density and / or viscosity. The divider 18 includes a hopper 20 where dough is stored. A frame 21 on which the hopper 20 rests is movable, preferably horizontally in translation, relative to a support unit 22 of the divider 18. Preferably, the frame 21 is arranged to move along guide rails 212.

The divider 18 is arranged so as to move the hopper 20 from a so-called forming position (not shown) to a so-called recovery position 181 and vice versa. When the dough piece 2 has been formed and divided by suction by means of a piston, the hopper 20 is moved to the recovery position 181. In this position 181, the piston is positioned in a high position and the upper surface 19 of the piston constitutes the location 19 of the support 5 on which the divided and formed dough piece 2 rests before recovery. The passage of the piston from the high position to a low position (not shown) has the effect of removing by suction a given (predetermined) quantity of dough in the hopper 20. The dough is taken through an opening located in the bottom of the hopper. 20. When the piston is in the low position, the hopper 20 is moved to the recovery position 181 which has the effect of cutting the dough which extends from a cavity which is formed in the support 5 when the piston is in the low position until it reaches the bottom. in the hopper 20. The piston is then repositioned in the upper position so that the formed and divided dough piece 2 can be recovered.

Part of the recovery step, and in particular the gripping step, can be performed while the piston is moved from the low position to the high position. In this case, during the step of gripping the dough piece 2, replacement 19 of the support 5 on which the divided and formed dough piece 2 rests is movable during the gripping step. However, it is preferable that the location 19 of the support 5 is at least temporarily stationary during the gripping step.

Prior to, concomitantly or subsequently to the recovery step, and in particular to the seizure step, the method may comprise a step consisting in applying or depositing flour on the location 19, and preferably on the support 5. , and / or on the gripping elements 4, and in particular on the teeth 6 and / or on the deposition zone 11. This step has the effect of reducing the adhesion of the dough piece 2 on a surface 4, 6, 11 on which it rests or with which it is in contact. The recovery device 1 is mounted on the frame 21 on which the hopper 20 rests. The recovery device 1 is connected to the frame 21 via the lance 13 and a device for setting in motion 23. The device for setting in motion 23 is connected to the frame 21 via a connecting element 24 and to the recovery device 1 via the balance 13. The moving device 23 is arranged to move, preferably in a horizontal translational movement, the recovery device 1 relatively to the support 5, and in particular relative to the upper surface 51 of the support 5 and to the location 19, and to the deposition zone 11.

By way of non-limiting example, and with reference to FIGURES 1 to 6, and in particular to FIGURES 5 and 6, the slots 12 are formed in a transfer element 25. The transfer element 25 is movable relative to the upper surface 51 of the support 5 and at the location 19. Preferably, the transfer element 25 is movable relative to the stops 16. Preferably, the transfer element 25 is movable in translation horizontally. More preferably, a moving device 26 is arranged to move the transfer element 25 along a guide rail 27 to another work or transformation station, by way of non-limiting example. dough shaping and / or baking station 2.

Of course, the invention is not limited to the examples which have just been described and numerous modifications can be made to these examples without departing from the scope of the invention.

Thus, in variants which can be combined with one another of the embodiments described above:

- one, each or the moving devices include:

• a system for setting in motion a horizontal translational movement, such as a system of rails and / or slides and / or racks and / or screws and / or system of bearings and / or belt and / or chains and / or a telescopic system, such as jacks, and / or

• a system for setting in motion a vertical translation, such as a system of rails and / or slides and / or racks and / or screws and / or system of bearings and / or belt and / or chains and / or a telescopic system, such as jacks, and / or

• a system for setting in motion of rotation, preferably around a vertical axis, and / or

- A device for setting in motion according to the embodiments is arranged to set in relative movement:

• the gripping device 3 and / or the support 5 on which the food preparation 2 rests with respect to each other, or vice versa, to move the food preparation 2 from the support 5 to the gripping device 3 , and or

• the gripping device 3 and / or the deposit zone 11 relative to one another, or vice versa, to deposit the culinary preparation 2 on the deposit zone 11, and / or

- the recovery device 1 comprises a device for moving:

• common to one or more elements among the deposit zone 11 and / or the support 5 and / or the gripping device 3, or

• independent for each of the elements among the deposit zone 11, the support 5 and the gripping device 3, and / or

- the teeth 6 of a row are arranged vis-à-vis a space 7 separating the teeth 6 of the opposite row, and / or

- Alternatively, in the closed (or close) position 112, the gripping elements 4 of a row of teeth 6 are inserted into the spaces 7 separating the teeth 6 of the opposite row.

In addition, the different characteristics, forms, variants and embodiments of the invention can be associated with each other in various combinations as long as they are not incompatible or exclusive of each other.

Claims

1. A method of recovering a culinary preparation (2) comprising the steps of:

- grasping the culinary preparation, resting on a support (5), by means of a gripping device (3) comprising at least two gripping elements (4),

- Transfer of the culinary preparation from the gripping device to a deposition zone (11) by inserting the at least two gripping elements of the gripping device into at least two slots (12) of the deposition zone.

2. Method according to claim 1, comprising a step of inserting at least two gripping elements (4) between the food preparation (2) and a surface (51) of the support (5) on which the food preparation rests before grasping. .

3. Method according to claim 1 or 2, comprising a step of analyzing the culinary preparation (2) to measure and / or determine its weight and / or its size and / or its shape and / or its density and / or its density. viscosity and / or its center.

4. The method of claim 3, wherein the analysis step comprises:

- a step of weighing the culinary preparation (2), and / or

- a 2D and / or 3D imaging step of the food preparation by an imaging system.

5. The method of claim 3 or 4, wherein a weight and / or a size and / or a shape and / or a density and / or a viscosity and / or a food preparation (2) are determined from a measured mass and / or 2D and / or 3D images of the culinary preparation acquired during the analysis step.

6. Method according to any one of claims 3 to 5, comprising, subsequent to the step of analyzing the culinary preparation (2), a step of rejecting a culinary preparation that does not comply with at least one predefined criterion. finished.

7. Method according to any one of the preceding claims, wherein during the step of entering the food preparation (2), the food preparation rests on a flat and / or stationary surface.

8. A method according to any preceding claim, wherein the inserting step comprises rubbing the at least two gripping elements (4) on the surface (51) of the support (5).

9. Method according to any one of the preceding claims, comprising, prior to the input step, a step of positioning the at least two gripping elements (4) in a particular position relative to the center of the culinary preparation (2). , the particular position being determined from the data resulting from the analysis step.

10. A method according to any one of claims 2 to 9, wherein the insertion step is carried out by exerting pressure by each of the at least two gripping elements (4) on the surface (51) of the support. (5) on which the culinary preparation (2) is placed during the insertion of the at least two gripping elements between the culinary preparation and the support surface on which the culinary preparation rests.

11. Method according to any one of claims 2 to 10, wherein the insertion step comprises an inclination of the at least two gripping elements (4) relative to the surface (51) of the support (5) on which rests the food preparation (2) so that the latter form a non-zero angle with respect to the surface of the support on which the food preparation rests.

12. Method according to any one of claims 3 to 11, comprising a step of adjusting operating parameters of a divider (18) arranged to form a dough (2); the adjustment being made according to the weight and / or size and / or shape and / or density and / or viscosity of the divided dough so that the divided dough conforms to the at least one predefined criterion.

13. Device for recovering a culinary preparation (1) comprising:

- a gripping device (3) comprising at least two gripping elements (4) arranged to grip the culinary preparation (2) resting on a support (5),

- a zone (11) for depositing the culinary preparation comprising at least two slots (12) arranged so that the at least two gripping elements are inserted therein,

- a device (23) for setting the gripping device and / or the deposition zone and / or the support in motion with respect to one another; the moving device being arranged to insert the at least two gripping elements inside the at least two slots so that the culinary preparation is transferred from the gripping device to the deposit zone.

14. Recovery device (1) according to claim 13, wherein said positive movement (23) is arranged to insert the at least two gripping elements (4) between the food preparation (2) and a surface (51). ) of the support (5) on which the culinary preparation rests.

15. Recovery device (1) according to claim 13 or 14, comprising a device for analyzing the culinary preparation (2) being arranged to weigh and / or image in 2D and / or 3D the culinary preparation.

16. Recovery device (1) according to claim 15, comprising a processing unit arranged and / or configured and / or programmed to determine, from a mass of the culinary preparation (2) measured and / or from images of the food preparation acquired by the analysis device, a weight and / or a size and / or a shape and / or a density and / or a viscosity and / or a center of the culinary preparation.

17. Recovery device (1) according to any one of claims 14 to 16, wherein the setting device (23) is arranged to produce friction of the at least two gripping elements (4) on the surface ( 51) of the support (5) on which the culinary preparation (2) rests.

18. Recovery device (1) according to any one of claims 14 to 17, wherein the setting device (23) is arranged to position the at least two gripping elements (4) in a particular position relative to:

- at the center of the culinary preparation (2), and / or

- at a center of the drop zone (11).

19. Recovery device (1) according to any one of claims 14 to 18, wherein the setting device (23) is arranged so that the at least two gripping elements (4) exert pressure on the surface. (51) of the support (5) on which the culinary preparation (2) is placed.

20. Recovery device (1) according to any one of claims 14 to 19, wherein the at least two gripping elements (4) are inclined relative to the surface (51) of the support (5) on which the culinary preparation (2) rests so that the latter form a non-zero angle with respect to the surface of the support on which the culinary preparation rests.

21. Recovery device (1) according to any one of claims 14 to 20, wherein the processing unit is arranged and / or configured and / or programmed to adjust one or more operating parameters of a divider (18 ), being arranged to form a dough (2), depending on the weight and / or the size and / or the shape and / or the density and / or the viscosity of the divided dough so that the divided dough is complies with at least one predefined criterion.