Device for filling food packages

Abstract

A device (100) for filling a food package (101), the device (100) comprising: a manipulator (110) comprising a base (111), a first link (112) rotatable about a first axis (A1), a second link (114) rotatable about a second axis (A2), and gripping means (116) connected to the second link (114) and arranged to grip and hold a container (103); three drive units (120, 130, 140); a container feed station (150); a container emptying station (170); and a container discharge station (190) wherein the container (103) is movable between the container feed station (150), the container emptying station (170) and the container discharge station (190) by rotating the first and second links about their respective axes (A1, A2) when gripped and held by the gripping device (116), and wherein the manipulator is arranged to vertically position the container at the container feed station and the container discharge station.

Description

Technical Field

[0001] The present disclosure generally relates to an apparatus for filling food packages. More particularly, it relates to an apparatus for filling food packages comprising a manipulator and a drive unit. Background Art

[0002] As is known, the food processing industry uses different types of filling machines to fill food into food packages. Such filling machines usually include a device for filling food into food packages in a safe and accurate manner. The equipment used in the food processing industry must be designed so that it meets hygiene requirements. The equipment used in the food processing industry must also be designed so that the filling of food is carried out in a simple and effective manner.

[0003] Although food processing equipment, especially filling machines, have been used in the food processing industry for decades, there is still room for improvement in order to obtain simpler and more efficient filling machines for different types of food. There is also room for further improvement in order to obtain more accurate filling machines for different types of food.

[0004] For these reasons, there is a need for an improved device for filling food products into food packaging, wherein the filling of food products can be performed in a simple, efficient and accurate manner, regardless of the type of food product. Summary of the invention

[0005] The object is to at least partially overcome one or more of the above-mentioned limitations of the prior art. In particular, the object is to provide a device that can fill different types of food into food packaging in a simple, effective and accurate manner, regardless of the type of food.

[0006] Another object is to provide such a device with improved flexibility.

[0007] Another object is to provide a device that is more cost-effective.

[0008] According to a first aspect, there is provided a device for filling a food package, the device comprising: A manipulator comprising a base, a first link connected to the base via a first joint such that the first link can rotate about a first axis, a second link connected to the first link via a second joint such that the second link can rotate about a second axis, wherein the first axis and the second axis are arranged at a distance from each other, and a gripping arrangement connected to the second link and arranged to grip and hold a container; a first drive unit arranged to rotate the first link about a first axis; a second drive unit arranged to rotate the second link about a second axis; a third drive unit arranged to activate the gripping device to grip and hold, respectively, release the container; a container feed station arranged to provide containers to a gripping device of the manipulator; a container emptying station arranged to receive the contents emptied from the container into a food package by the manipulator; and a container discharge station arranged to receive containers released from the gripping equipment of the manipulator, wherein the container, when gripped and held by the gripping device, can be moved between a container infeed station, a container emptying station and a container outfeed station by rotating the first and second connecting rods about their respective axes, Therein the manipulators are arranged to position the containers vertically at the container infeed station and the container outfeed station.

[0009] Throughout the text of this application, the term "content" is also referred to as "food" or "food type".

[0010] The device is arranged to fill a food package with food. The device is particularly arranged to fill a food package with food, wherein the food is a food comprising bulk ingredients or fragments, sticky ingredients or a mixture of ingredients. Due to the characteristics of the food (i.e., bulk, sticky or mixture), these types of food may be difficult to fill into the food package when using a filling machine or device known in the art. For example, such food may be large meatballs, cut bamboo shoots and assorted fruits. Therefore, the disclosed device is advantageous because it allows different types of food to be filled into the food package in a simple and effective manner. The food package may include a material made of fiber.

[0011] In this context, the containers are arranged vertically at the container infeed station and the container outfeed station, meaning that the containers are arranged with the top of the containers facing upwards and the bottom of the containers facing downwards, i.e. the containers are arranged in the same way at the container infeed station and the container outfeed station. In other words, the containers are upright at both the container infeed station and the container outfeed station. This is advantageous because it can avoid any food that could spill out at the container infeed station and / or the container outfeed station.

[0012] When the container is located at the container emptying station, the container is arranged in a manner deviating from the vertical position (i.e., upright position) so that the container can empty the contents into the food package in an easy and effective manner. When the container is at the container emptying station, the container is usually arranged to be inverted or substantially inverted. The advantage of this device is that it allows food to be poured from the container into the food package by a manipulator and different drive units. Each drive unit can be started in different ways, depending on, for example, the type of food that should be emptied from the container into the food package. The movement of the container must make the contents stay in the container until the container arrives at the container emptying station. Thus, the moving speed of the container and the tilt of the container are usually adjusted based on the food type of the container, so that although the container moves away from its vertical position and is usually more or less reversed when arriving at the container emptying station, the food remains in the container. Therefore, it should be understood by those skilled in the art that when the container is moved to the container emptying station, the container must be rotated from the vertical position so that the contents can be emptied from the container into the food package in a simple and effective manner. For example, the first drive unit may be a stepper motor, a DC motor, an AC motor, a brushed motor, a brushless motor, a servo motor, a hydraulic motor, or a pneumatic motor. For example, the second drive unit may be a stepper motor, a DC motor, an AC motor, a brushed motor, a brushless motor, a servo motor, a hydraulic motor, or a pneumatic motor. For example, the third drive unit may be a linear motor, a pneumatic motor, or a hydraulic motor. However, it should be noted that these drive units are only to be considered as examples, and other types of drive units may also be used.

[0013] For example, the first and second connecting rods can be rotated independently relative to each other. With this design, in which the manipulator comprises two connecting rods and the connecting rods can be rotated independently relative to each other, the actuation of the respective connecting rods is achieved in an accurate and easy manner. This is further advantageous because it allows the movement of the container to be controlled in an accurate and easy manner, so that the contents will be emptied into the food package in an efficient manner. Thus, with this design, the respective connecting rods can be actuated depending on the type of food, so that preferably all the food or the majority of the container is emptied into the food package at the container emptying station.

[0014] The movement of the manipulator from the container infeed station to the container emptying station to the container outfeed station and back to the container infeed station takes 1 to 10 seconds, preferably 1 to 5 seconds, more preferably 2 to 3 seconds. The rotation speed of the first and second connecting rods can be varied depending on the contents to be emptied into the food package at the container emptying station.

[0015] The container feed station can be arranged above the container discharge station, viewed in the vertical direction. This is advantageous because it allows the device to receive containers at the container feed station and to release containers at the container discharge station in a simple manner. The container feed station and the container emptying station can be arranged spaced apart from each other in the horizontal direction. This is advantageous because it allows containers to be moved between the container feed station and the container emptying station in a simple and efficient manner.

[0016] The apparatus may further include a control unit connected to the first, second and third drive units and configured to control the first, second and third drive units so that the manipulator: By activating the third drive unit, the container is grasped and held at the container feed station; moving the gripped container from the container feed station to the container emptying station by activating the first and second drive units, thereby tilting the container so that its contents leave the container at the container emptying station and enter the food package; moving the gripped container from the container emptying station to the container discharge station by activating the first and second drive units; and By activating the third drive unit, the gripped container is released at the container discharge station.

[0017] This is advantageous because it allows the movement of the container to be controlled in a simple and effective manner. This is further advantageous because it allows the movement of the container to be controlled depending on the type of content in the container, so that the content remains in the container until the container reaches the container emptying station, so that the content leaves the container at the container emptying station into the food packaging.

[0018] The control unit may be connected to the first drive unit and / or the second drive unit and / or the third drive unit by wire or wirelessly. The control unit may be arranged to store different movements depending on the contents of the container, so that an operator of the device can select a movement that is advantageous for specific contents, thereby emptying the contents in a simple, effective and accurate manner.

[0019] The container feed station may include a distributor wheel, which is arranged to distribute the containers into the container feed station, the distributor wheel can rotate about a third axis and includes a plurality of seats, each of which is configured to receive a corresponding container. This is advantageous because it allows the corresponding containers to be distributed into the container feed station in a controlled manner. The seats are preferably evenly distributed along the circumference of the distributor wheel so that the containers are evenly distributed into the container feed station. The distributor wheel is preferably arranged to distribute the containers into the container feed station along a first direction.

[0020] The container feed station may include an input push device, which is arranged to push the container that has been distributed to the container feed station by the distributor wheel towards the manipulator. This is advantageous because it allows the movement of the container from the distributor wheel to the manipulator to be controlled in an effective manner. The input push device may be arranged to push one or more containers towards the manipulator at the same time. The device may include one or more input push devices. If the device includes more than one input push device, these input push devices can be controlled separately. The input push device is preferably arranged to push the container towards the manipulator in a second direction perpendicular to the first direction.

[0021] The container feed station may comprise an input stop device arranged in an upper position or in a lower position, wherein when the input stop device is in the upper position, the input stop device is arranged to prevent the container from moving towards the manipulator, and wherein when the input stop device is in the lower position, the input stop device is arranged to allow the container to be moved towards the manipulator by the input push device, wherein the input stop device is movable between the upper position and the lower position. Thus, the input stop device is movable in a vertical direction between the upper position and the lower position. This is advantageous because it allows controlling the movement of the containers in the feed station in a simple manner.

[0022] Preferably, the input push device only pushes the container towards the manipulator when the input stop device is in the lower position. Thus, the movement of the input push device depends on the position of the input stop device. This is advantageous because it allows the container to move towards the manipulator only when the input stop device is in the lower position.

[0023] The height of the input stop device may be between 5% and 25% of the height of the container, preferably between 15% and 25% of the height of the container. This is advantageous because it allows a safety mechanism to be provided in the device if the input push device pushes the container towards the manipulator despite the input stop device being in the upper position. Thus, if the input stop device is in the upper position and the input push device pushes the container towards the manipulator, the height of the input stop device allows the container to be moved towards the manipulator without pushing the container past the input stop device, or at least reduces the risk of pushing the container past the input stop device.

[0024] The container feed station may comprise a container stop device which is arranged to limit the movement of the container towards the manipulator and to define the container position at which the gripping equipment can grip and hold the container. This is advantageous because it allows the container to be placed in a desired position so that the gripping equipment can grip and hold the container in a simple and effective manner. In addition, the container stop device will also stop the container, for example to prevent it from falling or tipping over. The manipulator may be arranged to lift the container to a height above the container feed station when moving the container from the container feed station towards the container emptying station, seen in a vertical direction, wherein the height is greater than the height of the container stop device. This is advantageous because it allows the container to move past the container stop device without the need to move the container stop device. Therefore, the container stop device is typically a fixed container stop device.

[0025] This is further advantageous as it allows controlling how (ie in desired time spans etc.) containers are assigned to manipulators.

[0026] The gripping device may comprise a plurality of gripping units. Each gripping unit may be arranged to grip and hold a respective container. This is therefore advantageous because it allows the gripping device to grip and hold a plurality of containers simultaneously. The gripping units may be arranged one next to the other, so that if a plurality of containers are positioned one next to the other, the gripping units are arranged to grip and hold the respective containers. This is therefore advantageous because it allows the manipulator to move a plurality of containers between the container infeed station, the container emptying station and the container outfeed station simultaneously, thereby providing a more time-saving and cost-saving solution.

[0027] For each of the plurality of gripping units, a container distributor path may be arranged to distribute the container toward the manipulator. This is advantageous because it allows the container to be distributed to each gripping unit in a simple manner so that each gripping unit is equipped with a container. The container distributor path may be a fan-shaped container distributor path. By this design (wherein the container distributor path is a fan-shaped container distributor path), before the gripping equipment grips and holds the container, looking in a first direction, the container may be easily further separated slightly while reducing the risk of the gripping unit or container contacting other parts of the device (i.e., adjacent containers or gripping units). In other words, the fan-shaped container distributor path may effectively separate and disperse the container as the container moves toward the corresponding gripping unit of the manipulator.

[0028] Each gripping unit may comprise fixed gripping fingers and movable gripping fingers, wherein the gripping fingers may be arranged to grip and hold a container therebetween and engage with recesses on an outer surface of the container.

[0029] Thus, the outer surface of the container may be provided with one or more recesses, so that the corresponding gripping unit can grip and hold the container in a safe manner, while reducing the risk of losing the container when moving the container between different stations of the device. The inner surface of the container may be provided with one or more recesses. Preferably, the outer surface and the inner surface are provided with the same recesses, which are arranged on both the outer surface and the inner surface. For example, the wall of the container can be corrugated, partially corrugated or patterned. By means of this design (the inner surface of the container is provided with one or more recesses), the contents can be emptied from the container while reducing the risk of sticking to parts of the inner wall of the container compared to a solution without recesses. Thus, the recesses contribute to improving the engagement between the container and the gripping fingers and simplifying the emptying of the contents from the container.

[0030] By this design, in which the gripping unit comprises fixed gripping fingers and movable gripping fingers, the step of gripping the container is provided in a controlled manner. The fixed gripping fingers can be arranged to hold the container in place when the movable fingers are moved towards the container so that the container can be gripped and held. Furthermore, due to the fixed gripping fingers, the container will usually be gripped in the same position.

[0031] The container emptying station may include a funnel for directing the contents of the container into the food package as the contents of the container are emptied into the food package. This is advantageous because it allows the contents to be filled into the food package in a controlled manner while reducing the risk of spilling any contents out of the food package. For example, the funnel may be made of embossed stainless steel sheet.

[0032] The funnel may be defined by a funnel surface, wherein a portion of the funnel surface facing away from the manipulator is higher than other portions of the funnel surface. This is advantageous because it allows the contents to be filled into the food package in a controlled manner while reducing the risk of directing any contents outside the food package.

[0033] When the gripping device is located at the container infeed station, the second link can be aligned with the container pick-up surface of the container infeed station, and when the gripping device is located at the container outfeed station, the second link can be aligned with the container release surface of the container outfeed station. This is advantageous because it allows the gripping device to grip and release containers on the respective surfaces in an efficient and controllable manner.

[0034] The main part of the funnel surface can be arranged to be positioned outwardly tilted at an angle between 10 and 30 degrees relative to the vertical direction of the funnel. Through this design, guiding the contents in the container into the food packaging is achieved in an easy manner.

[0035] Moving the gripped container from the container feed station to the container emptying station may include: rotating the first link and the second link about their respective axes such that the container is inverted; and

[0036] Wherein, moving the gripped container from the container emptying station to the container discharging station may include: rotating the first connecting rod and the second connecting rod so that the container stands upright; and reducing the distance between the first joint and the gripping equipment so that the container moves past the container feeding station before reaching the container discharging station.

[0037] This is advantageous because the movement allows the container to be positioned vertically at the container infeed and container outfeed stations, but inverted at the container emptying station. Thus, the contents can be emptied into the food packages at the container emptying station, but may remain in the container at the container infeed and container outfeed stations (if any contents remain in the container and have not yet been emptied from the container at the container emptying station).

[0038] Each of the first drive unit and the second drive unit comprises a respective drive shaft coaxial with the first axis, The drive shaft of the first drive unit may be connected to the first connecting rod for rotating the first connecting rod about the first axis, and The first drive wheel may be connected to a drive shaft of the second drive unit, a second drive wheel coaxial with the second axis is connected to the second connecting rod, and a drive belt is arranged around the drive wheel for rotating the second connecting rod around the second axis.

[0039] This is advantageous because it allows actuation of the first and second links in a simple and accurate manner. This is further advantageous in that, as mentioned above, this allows the first and second links to be rotated independently relative to each other.

[0040] Other objects, features, aspects and advantages will become apparent from the following detailed description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Embodiments will now be described by way of example and with reference to the accompanying drawings, in which

[0042] Figure 1a-Figure 1c is a simplified schematic diagram of an apparatus for filling food packages.

[0043] Figure 2 is a perspective view of an apparatus for filling food packages.

[0044] Figure 3 is a side view of an apparatus for filling food packages.

[0045] Figure 4 It is a perspective view of the funnel. DETAILED DESCRIPTION

[0046] refer to Figure 1a to Figure 1c, a device 100 for filling food packages 101 is shown by way of example. The device 100 is used to move containers 103 between a container infeed station 150, a container emptying station 170 and a container outfeed station 190 of the device 100. In FIG. 1 , the device 100 is shown in a simplified manner, wherein only the parts relevant for understanding how the device 100 moves containers 103 between the different stations 150, 170, 190 are integrated in the device 100. Figure 2 and Figure 3 The device 100 is shown in further detail.

[0047] The device 100 comprises a manipulator 110 arranged to move the container 103 between different stations 150, 170, 190. The manipulator 110 comprises a base 111, a first link 112 and a second link 114. The first link 112 is connected to the base 111 via a first joint 113 so that the first link 112 can move about a first axis A1 ( Figure 2 The second link 114 is connected to the first link 112 via a second joint 115, so that the second link 114 can rotate around the second axis A2 (as shown in FIG. Figure 2 As shown) rotate. Figure 2 As best shown, the first axis A1 and the second axis A2 are arranged at a distance from each other.

[0048] The apparatus 100 further comprises a gripping device 116 arranged to grip and hold the container 103, respectively, and to release the container 103. The gripping device 116 is arranged to grip the container 103 at the container infeed station 150, to release the container 103 at the container outfeed station 190, and to hold the container 103 during movement between the container infeed station 150 and the container outfeed station 190. The gripping device 116 is connected to the second link 114.

[0049] like Figure 1a As best shown, the container feed station 150 is arranged to provide the containers 103 to the gripping equipment 116. The container feed station 150 includes a container pick-up surface 117 at which the containers 117 are fed to the gripping equipment 116 so that the gripping equipment 116 can grip the containers 103. At the container feed station 150, the containers 103 are placed vertically, i.e., the top of the containers 103 is upward and the bottom of the containers 103 is downward.

[0050] like Figure 1b As best shown, the container 103 has been fed from the container feed station 150 (eg, Figure 1a103) moves to a container emptying station 170, where the contents of the container 103 are emptied into the food package 101. The container emptying station 170 includes a funnel 171, which is arranged to receive the contents from the container 103 and guide the contents into the food package 101. The funnel 171 is connected to the base 111 via a connection 119. Figure 4 The funnel 171 is shown in more detail. The movement of the container 103 from the container feed station 150 to the container emptying station 170 includes rotating the first link 112 and the second link 114 around their respective axes A1, A2 so that the container 103 is inverted. Thus, when the container 103 arrives at the container emptying station 170, the container 103 has been rotated 180 degrees. It should be noted that the container 103 can be rotated less than 180 degrees or more than 180 degrees, as long as the contents of the container 103 can be emptied in the food package 101 at the container emptying station 150. In this context, the rotation of the first link 112 and the rotation of the second link 114 are both defined relative to the horizontal plane. In other words, if the second link 114 remains fixed relative to the first link 112, the second link 114 will rotate 0 degrees relative to the second joint 115, but will rotate the same angle as the first link 112 relative to the horizontal plane. For example, when moving the container 103 between the container feeding station 150 and the container emptying station 170, the first link 112 rotates between 165 and 175 degrees around the first axis, and the second link 114 rotates about 180 degrees around the second axis A2. The first link 112 can rotate around the first axis A1 at a speed between 1000 and 1400 degrees / second, and the second link 114 can rotate around the second axis A2 at a speed between 800 and 1200 degrees / second.

[0051] The container feed station 150 and the container emptying station 170 are arranged at a distance from one another, seen in the horizontal direction HD.

[0052] like Figure 1c As best shown, container 103 has been removed from container emptying station 150 (eg, Figure 1b150) moves to the container discharge station 190, where the container 103 is released from the gripping equipment 116. The container discharge station 190 is arranged to receive the container when it is released from the gripping equipment 116. The movement of the container 103 from the container emptying station 170 to the container discharge station 190 includes rotating the first connecting rod 112 and the second connecting rod 114 around their respective axes A1, A2 so that the container 103 turns upright. Thus, when the container 103 arrives at the container discharge station 190, the container 103 has been rotated 180 degrees and is arranged in its vertical position again. It should be noted that as long as the contents of the container 103 can be emptied in the food package 101 at the container emptying station 150 and as long as the container 103 is placed vertically at the container discharge station 190, the container 103 can be rotated less than 180 degrees or more than 180 degrees. The first link 112 and the second link 114 are shown rotated between the container emptying station 170 and the container discharging station 190 so that the common extension of the links 112, 114 seen in the horizontal direction HD is less than the common extension of the links 112, 114 from the first axis A1 to the container feeding station 150, so that the container 103 is fed through the container feeding station 150 as shown. For example, when moving the container 103 between the container feeding station 150 and the container emptying station 170, the first link 112 rotates between 230 and 250 degrees around the first axis, and the second link 114 rotates about 180 degrees around the second axis A2. The first link 112 can rotate around the first axis A1 at a speed between 1000 and 1400 degrees / second, and the second link 114 can rotate around the second axis A2 at a speed between 800 and 1200 degrees / second.

[0053] Viewed from the vertical direction VD, the container infeed station 150 is arranged above the container outfeed station 190 , ie the container pick-up surface 117 is arranged above the container release surface 118 .

[0054] The device 100 also includes a control unit 105. The control unit 105 can be connected to the device 100 by wire or wirelessly. Figure 2 The control unit 105 is discussed further.

[0055] refer to Figure 2 and Figure 3 , the device 100 is shown in more detail by way of example. Figure 2 shows a perspective view of the device 100, Figure 3 A side view of the device 100 is shown. Figure 2 and Figure 3 The device 100 includes the same features, although not all features are shown in both figures.

[0056] refer to Figure 2The container feed station 150 comprises a distributor wheel 151, which is arranged to distribute the containers 103 into the container feed station 150. Figure 2 As shown, the distributor wheel 151 includes ten seats 151a, wherein each seat 151a is configured to receive a corresponding container 103. It should be noted that the distributor wheel 151 may include more than ten seats 151a or less than ten seats 151a. The distributor wheel 151 can rotate about the third axis A3 so that each container 103 is distributed to the container feed station 150. When the distributor wheel has distributed the container 103 to the container feed station 150, the subsequent container 103, that is, the next container 103 distributed to the container feed station 150, can push the container 103 forward along the first direction D1, and so on. In this way, the subsequent container 103 distributed to the container feed station 150 by the distributor wheel 151 will push the container 103 in front of the subsequent container forward. The distributor wheel 151 is arranged to distribute the container 103 by causing the subsequent container to push the container 103 in front of the subsequent container forward along the first direction D1 to the container path 158.

[0057] When the container 103 is fed along the container path 158, the input pushing device 153 of the container feeding station 150 is arranged to push the container 103 toward the manipulator 110 along a second direction D2 perpendicular to the first direction D1. Figure 2 As shown, the container feed station 150 includes two input pushing devices 153, wherein each input pushing device 153 includes two seats 153a. The respective seats 153a are arranged to receive the respective containers 103 and push them toward the manipulator 110. Therefore, the depicted input pushing device 153 is arranged to push four containers 103 toward the manipulator 110 at the same time.

[0058] The container feeding station 150 includes an input stop device 154 arranged in an upper position or a lower position. When the input stop device 154 is in the upper position (e.g. Figure 2 As shown in the figure), the input stop device 154 prevents the container 103 from moving toward the manipulator 110. When the input stop device 154 is in the lower position, the input stop device 154 is arranged to allow the container 103 to move toward the manipulator 110 through the input push device 153. The input stop device 154 is movable between an upper position and a lower position. When the input stop device 154 is in the lower position, the input push device 153 is arranged to push the container 103 to the container dispenser path 157. Each seat 153a of the container push device 153 is arranged to push the container 103 into a corresponding path 157a of the container dispenser path 157, wherein the corresponding path 157a of the container dispenser path 157 dispenses the container 103 toward the manipulator 110. As shown in the figure Figure 2As shown, the container dispenser path 157 includes four paths 157a. However, it should be noted that the device 100 may include more than four paths or less than four paths. At the end portion of the container dispenser path 157, a container stopping device 155 is provided as part of the container feeding station 150. The container stopping device 155 is arranged to limit the movement of the container 103 toward the manipulator 110. The container stopping device 155 is also arranged to define the position of the container 103 at which the gripping equipment 116 can grip and hold the container 103. The container stopping device 155 is a fixed stopping device, and therefore, when moving the container 103 toward the container emptying station 170, the gripping equipment 116 must lift the container 103 above the container stopping device 155. As shown in FIG. Figure 2 As shown, four containers 103 are positioned at the end of the corresponding path 157a by the container stop device 155. Each container 103 includes a recess on the outer surface of the container 103. As shown, each container may also include a recess on the inner surface of the container 103.

[0059] In addition, the gripping device 116 includes four gripping units 156, wherein each gripping unit 156 is arranged to grip and hold the container 103. However, it should be noted that the gripping device 116 may include more than four gripping units or less than four gripping units. Each gripping unit 156 includes a fixed gripping finger 156a and a movable gripping finger 156b. The gripping fingers 156a, 156b are arranged to grip and hold the container 103 therebetween and engage with one of the recesses 104 on the outer surface of the container 103.

[0060] Therefore, if Figure 2 As shown, the input push device 153, the container dispenser path 157 and the gripping unit 156 are arranged to distribute four containers 103 in parallel to the manipulator 110. However, it should be noted that if more than four containers 103 or less than four containers 103 need to be distributed simultaneously, the device 100 can be scaled up or down, but the working method is similar to the above. It should also be noted that only one of the two input push devices 153 shown can be actuated at the same time, so that only two containers 103 can be distributed in parallel toward the manipulator 103.

[0061] The device 100 comprises a first drive unit 120, which is arranged to rotate the first link 112 about the first axis A1. The device 100 comprises a second drive unit 130, which is arranged to rotate the second link 114 about the second axis A2. The device 100 comprises a third drive unit 140, which is arranged to activate the gripping equipment 116 to grip and hold the container 180 at the container infeed station 150, and to release the container 180 at the container outfeed station 190, respectively.

[0062] The first drive unit 120 includes a drive shaft coaxial with the first axis A1, wherein the drive shaft is connected to the first connecting rod 112 for rotating the first connecting rod 112 around the first axis A1. The second drive unit 130 includes a drive shaft coaxial with the first axis A1, wherein a first drive wheel 131 is connected to the drive shaft of the second drive unit 130. A second drive wheel 132 coaxial with the second axis A2 is connected to the second connecting rod 114. A drive belt 133 is arranged around the drive wheels 131, 132 for rotating the second connecting rod 114 around the second axis A2.

[0063] As described in conjunction with FIG. 1 , the device 100 further comprises a control unit 105. The control unit 105 may be connected to the first drive unit 120, the second drive unit 130 and the third drive unit 140 by wire or wirelessly. The control unit 105 is arranged to control the first drive unit 120, the second drive unit 130 and the third drive unit 140 so as to cause the manipulator 110 to grasp and hold the container 103 at the container feed station 150 by activating the third drive unit 140, as described above. The control unit 105 is also arranged to cause the manipulator 110 to move the grasped container 103 from the container feed station 150 to the container emptying station 170 by activating the first drive unit 120 and the second drive unit 130, as described above. As a result, the container 103 is tilted so that its contents leave the container 103 at the container emptying station 170 and enter the food package 101. The control unit 105 is also arranged to cause the manipulator 110 to move the gripped container 103 from the container emptying station 170 to the container discharge station 190 by activating the first drive unit 120 and the second drive unit 130, and to release the gripped container 103 at the container discharge station 190 by activating the third drive unit 140, as described above. The control unit 105 can be connected to other components of the device 100 by wire or wirelessly, so that the control unit 105 can control these other components. The control unit 105 can, for example, control the movement of the dispenser wheel 151 and / or the movement of the input push device 153 and / or the movement of the input stop device 154.

[0064] refer to Figure 4, the funnel 171 of the container emptying station 170 is further shown in detail by way of example. The funnel 171 is arranged to guide the contents of the container 103 into the food package 101 when the contents of the container 103 are emptied into the food package 101. The funnel 171 is defined by a funnel surface 172. A portion 173 of the funnel surface 172 facing away from the manipulator 119 is higher than the other portions of the funnel surface 172. The main portion of the funnel surface 172 is arranged in an outwardly inclined position. For example, the main portion of the funnel surface 172 is arranged in an outwardly inclined position, with respect to the vertical direction VD of the funnel 171, an angle between 10 degrees and 30 degrees. The funnel surface 172 or a portion thereof may be provided with projections to prevent food products from adhering thereto.

[0065] From the above it emerges that, although various embodiments of the invention have been described and shown, the invention is not restricted thereto but may also be embodied in other ways within the scope of the subject-matter defined in the following claims.

Claims

1. A device (100) for filling a food package (101), the device (100) comprising: A manipulator (110) comprising a base (111); a first link (112) connected to the base (111) via a first joint (113) such that the first link (112) can rotate around a first axis (A1); a second link (114) connected to the first link (112) via a second joint (115) such that the second link (114) can rotate around a second axis (A2), wherein the first axis (A1) and the second axis (A2) are arranged at a distance from each other; and a gripping device (116) connected to the second link (114) and arranged to grip and hold a container (103); a first drive unit (120) arranged to rotate the first connecting rod (112) about the first axis (A1); a second drive unit (130) arranged to rotate the second connecting rod (114) about the second axis (A2); a third drive unit (140) arranged to activate the gripping device (116) to grip and hold, respectively release, the container (103); a container feed station (150) arranged to provide said container (103) to said gripping device (116) of said manipulator (110); a container emptying station (170) arranged to receive the contents emptied from the container (103) by the manipulator (110) and place it into a food package (101); and a container discharge station (190) arranged to receive said container (103) when said container (103) is released from said gripping device (116) of said manipulator (110), wherein the container (103) can be moved between the container infeed station (150), the container emptying station (170) and the container outfeed station (190) by rotating the first link (112) and the second link (114) about their respective axes (A1, A2) while being gripped and held by the gripping device (116), The manipulator is arranged to vertically position the container (103) at the container infeed station (150) and the container outfeed station (190).

2. The device (100) according to claim 1, further comprising a control unit (105), the control unit (105) being connected to the first drive unit (120), the second drive unit (130) and the third drive unit (140) and configured to control the first drive unit (120), the second drive unit (130) and the third drive unit (140) so that the manipulator (110) can: Grasping and holding the container (103) at the container feeding station (150) by activating the third drive unit (140); By activating the first drive unit (120) and the second drive unit (130), the gripped container (103) is moved from the container feeding station (150) to the container emptying station (170), thereby tilting the container (103) so that the contents therein leave the container (103) at the container emptying station (170) and enter the food package (101); By activating the first drive unit (120) and the second drive unit (130), the gripped container (103) is moved from the container emptying station (170) to the container discharging station (190); and By activating the third drive unit (140), the gripped container (103) is released at the container discharge station (190).

3. An apparatus (100) according to claim 1 or 2, wherein the container feed station (150) comprises a distributor wheel (151) arranged to distribute the containers (103) into the container feed station (150), the distributor wheel (151) being rotatable about a third axis (A3) and comprising a plurality of seats (151a), wherein each seat (151a) is configured to receive a corresponding container (103).

4. The apparatus (100) according to claim 3, wherein the container feed station (150) comprises an input pushing device (153), which is arranged to push the container (103) that has been distributed into the container feed station (150) by the distributor wheel (151) toward the manipulator (110).

5. The device (100) according to claim 4, wherein the container feed station (150) comprises an input stop device (154) arranged in an upper position or in a lower position, wherein: When the input stop device (154) is in the upper position, the input stop device (154) is arranged to prevent the container (103) from moving toward the manipulator (110), and when the input stop device (154) is in the lower position, the input stop device (154) is arranged to allow the container (103) to move toward the manipulator (110) through the input push device (153), wherein the input stop device (154) is movable between the upper position and the lower position.

6. An apparatus (100) according to any one of the preceding claims, wherein the container feed station (150) includes a container stopping device (155), which is arranged to limit the movement of the container (103) toward the manipulator (110) and define the position of the container (103), at which position the gripping equipment (116) is able to grip and hold the container (103).

7. The device (100) according to any of the preceding claims, wherein the gripping equipment (116) comprises a plurality of gripping units (156).

8. The apparatus (100) according to claim 7, wherein the container feed station (150) comprises a container dispenser path (157) for each gripping unit (156) of the plurality of gripping units (156), the container dispenser path (157) being arranged to dispense the container (103) toward the manipulator (110).

9. The device according to claim 7, wherein each gripping unit (156) comprises a fixed gripping finger (156a) and a movable gripping finger (156b), wherein the gripping fingers (156a, 156b) are arranged to grip and hold the container (103) therebetween and engage with a recess (104) on an outer surface of the container (103).

10. Apparatus according to any one of the preceding claims, wherein the container emptying station (170) comprises a funnel (171) for directing the contents of the container (103) into the food package (101) when the contents of the container (103) are emptied into the food package (101).

11. The device according to claim 10, wherein the funnel (171) is defined by a funnel surface (172), and wherein a portion (173) of the funnel surface (172) facing away from the manipulator (110) is higher than other portions of the funnel surface (172).

12. The device according to claim 10 or 11, wherein: When the gripping device (116) is at the container feeding station (150), the second link (114) is aligned with the container picking surface (117) of the container feeding station (150), and when the gripping device (116) is at the container discharging station (190), the second link (114) is aligned with the container releasing surface (118) of the container discharging station (190).

13. The device according to any one of claims 10 to 12, wherein a major part of the funnel surface (172) is arranged in an outwardly inclined position, at an angle between 10 and 30 degrees relative to the vertical direction (VD) of the funnel (171).

14. The device according to any of the preceding claims, wherein the movement of the gripped container (103) from the container feed station (150) to the container emptying station (170) comprises rotating the first link (112) and the second link (114) about their respective axes (A1, A2) so that the container (103) is turned upside down, and, in, Moving the gripped container (103) from the container emptying station (170) to the container discharge station (190) includes rotating the first link (112) and the second link (114) so ​​that the container (103) turns upright and the distance between the first joint (113) and the gripping equipment (116) decreases so that the container (103) moves past the container feed station (150) before reaching the container discharge station (190).

15. A device according to any one of the preceding claims, wherein Each of the first drive unit (120) and the second drive unit (130) comprises a respective drive shaft coaxial with the first axis (A1), The driving shaft of the first driving unit (120) is connected to the first connecting rod (112) for rotating the first connecting rod (112) around the first axis (A1), and A first driving wheel (131) is connected to the driving shaft of the second driving unit (130), and a second driving wheel (132) coaxial with the second axis (A2) is connected to the second connecting rod (114), and a driving belt (133) is arranged around the driving wheels (131, 132) for rotating the second connecting rod (114) around the second axis (A2).

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