Robot gripper for turning food portions

Abstract

Gripper (1) for a robot for handling food portions (10), wherein the gripper (1) comprises: a basic structure (2) that can be attached to the robot, and a gripper element (4), with a gripper support (11) that can be inserted under a food portion (10), wherein the gripper element (4) comprises a holding means (13) which is arranged spaced apart from the gripper support (11) in the direction of the surface normal (F) of the support surface of the gripper support (11), wherein the gripper element (4) is rotatable about an axis of rotation (A), in particular for turning the food portion (10) with respect to the basic structure (2), wherein a front end (12) of the gripper support (11) has a chamfer characterized by the fact that the gripper element (4) is translationally movable with respect to the basic structure (2) in order to grip the food portion (10).

Description

[0001] The present invention relates to a gripper for a robot for handling food portions, wherein the gripper comprises a base structure that can be attached to the robot and a gripper element with a gripper pad that can be inserted under a food portion. The invention further relates to a robot with such a gripper and a method for handling food portions.

[0002] It is known in the prior art that food portions, for example stacks of sliced ​​food, in particular sliced ​​sausage or sliced ​​cheese, or pieces of food, in particular pieces of cheese or pieces of fresh meat, are turned over before packaging. This can be done by a separate device located downstream of a food cutting device.

[0003] Furthermore, it is known in the prior art that food portions are placed into food packaging from a conveyor belt using a robot, in particular a delta robot.

[0004] Turning the food portions over is desirable because many food packages have viewing windows or prints on a specific side, and the food portion should be arranged accordingly in the package to have an appealing appearance.

[0005] Furthermore, grippers with gripping elements that grasp a food portion from both sides are known in the prior art. Additionally, a holding device, in particular a hold-down device, can be provided, which is essentially centrally attached to a base structure of the gripper and holds the food portion in position during the gripping action while the gripping elements move relative to the food portion and the holding device.

[0006] JP 2009-6460A and JP H06-143173A disclose robotic hands. DE 60218316T2 discloses a gripping device with two fingers coated with a movable film. SU 870109A1 discloses a gripper for handling fish. WO 2012 / 044157A1 discloses a product conveying device for lifting a product from a conveying medium. DE 2951418A1 discloses a device for unloading bottle-shaped containers.

[0007] The object of the invention is to further optimize the handling of food portions, so that in particular the food portions can be turned over reliably and the handling performance can be increased.

[0008] This is made possible by a gripper for a robot for handling food portions, wherein the gripper comprises a base structure that can be attached to the robot and a gripper element with a gripper pad that can be inserted under a food portion, wherein the gripper element includes a holding means that is spaced apart from the gripper pad in the direction of the normal to the contact surface of the gripper pad, and wherein the gripper element is rotatable about an axis of rotation, in particular for turning the food portion relative to the base structure. The gripper element is translationally movable relative to the base structure of the gripper in order to grasp the food portion. A front end of the gripper pad has a chamfer.In particular, the gripper element, which is rotatable relative to the gripper's base structure, allows the food portions to be turned during the robot's movement, thus eliminating the need for additional time for turning the food portions. The holding device prevents the food portion from slipping relative to the gripper element when it is turned by rotating the gripper element relative to the base structure. Advantageously, the gripper element rotates at least 90° around its axis of rotation. 0 , usually around 180 0 In particular, no 180° rotation is required for the turning process. 0 necessary when food portions are picked up from slanted surfaces, placed in slanted food packaging, or placed at an angle into food packaging.

[0009] A food portion is primarily a stack of sliced ​​food, but can also refer to a single piece of food. Food slices include, in particular, slices of sausage and cheese. A piece of food is primarily a piece of sausage, cheese, or ham.

[0010] Advantageously, a rotary actuator for rotating the axis of rotation is attached to the basic structure. This rotary actuator is specifically connected to a machine control system to regulate the rotation according to the handling operation being performed.

[0011] In one embodiment, the rotary actuator directly drives the rotary axis. For this purpose, the rotary axis is primarily flanged to the rotary actuator.

[0012] The rotary actuator is, in particular, a motor whose motor shaft is arranged parallel to the axis of rotation. This enables a direct or at least space-saving transmission of torque to the axis of rotation.

[0013] In some embodiments, the rotary actuator has a transmission, which in particular includes spur gears, friction wheels, toothed belts, etc., and is connected to the axis of rotation.

[0014] This allows for a translation or redirection of the rotary motion of the rotary actuator.

[0015] In particular, the axis of rotation points in a different direction than the surface normal of the gripper support's bearing surface. Since the food portion usually lies flat on the gripper support, this allows the food portion to be reoriented in space, and especially to be turned over.

[0016] Advantageously, the axis of rotation is essentially orthogonal to the surface normal of the gripper support. Consequently, a food portion lying flat on the gripper support can be effectively turned. The axis of rotation also advantageously runs between the gripper support and the holding element. Since the food portion is also positioned between the gripper support and the holding element, it can be rotated without significant pivoting. This allows the food portion to be turned with minimal space requirements.

[0017] Advantageously, the holding device forms a holding surface with a contact area facing the gripper surface. This allows the food portion to be gripped between the holding surface and the gripper surface. This is particularly useful for turning food portions with low stability, such as sliced ​​food, especially sausage or cheese slices, without significant deformation. Specifically, after turning, the food portions rest on the holding surface, which is designed to place the food portion onto a desired surface. The holding surface of the holding device is at least large enough to accommodate the length of the food portion on it.

[0018] As an alternative to an embodiment in which the holding means comprises a holding surface, a holding means in the form of a small-area hold-down can also be provided. This is particularly conceivable for more structurally firm food portions.

[0019] Furthermore, the holding element can also be formed or supplemented by one or more suction cups. In particular, suction cups can also be incorporated into the gripper surface to prevent the food portion from slipping.

[0020] In a preferred embodiment, the gripper support comprises a conveyor belt for picking up and placing the food portion. Such a conveyor belt can be provided only in the gripper support, or in the holding element and in the gripper support. The conveyor belt, in particular, enables the food portion to be moved on the support surface by moving the conveyor belt, specifically allowing it to be picked up and placed down from there.

[0021] In another embodiment, only the holding device comprises a conveyor belt for receiving and depositing the food portion. In particular, the holding device with conveyor belt can be combined with a rigid gripper support without a conveyor belt. Advantageously, the conveyor belt of the holding device extends at least to the front end of the gripper support, that is, at least to the receiving edge of the gripper support, in order to allow a food portion to be pushed onto the rigid gripper support by driving the conveyor belt of the holding device.

[0022] In another embodiment, both the gripper support and the holding element can each have a conveyor belt. Advantageously, the movement of the conveyor belts is synchronized mechanically or by control technology.

[0023] The gripper element is translationally movable relative to the gripper's base structure to grasp the food portion. This allows the robot to remain stationary while the gripper element picks up the food portion. In particular, the gripper element's movement relative to the base structure can be more precise than that required by the robot, enabling precise picking up and placing of the food portion. Since this level of accuracy does not need to be achieved by the robot itself, the robot can be designed to optimize its travel speed. Alternatively, the entire gripper can be moved by the robot.

[0024] Advantageously, the movements of the conveyor belt and the translational movement of the gripper element are synchronized. In particular, the conveyor belt is coupled to the base structure or a stationary part of the gripper element, so that no additional drive means for the conveyor belt are necessary. Advantageously, the conveyor belt is attached to the base structure, so that the movement of at least part of the conveyor belt is caused by the translational movement of the gripper element. A connecting element with one degree of rotational freedom can be used, so that the coupling of the conveyor belt to the base structure does not impede the rotation of the gripper element relative to the base structure.In particular, the synchronization of the gripper's movement and the conveyor belt's movement allows the conveyor belt to remain stationary in the area where the food portion rests, while the gripper element grasps the food portion from underneath. Thus, the food portion is positioned on the conveyor belt without significantly changing its position, while the gripper rest is positioned beneath the food portion.

[0025] Alternatively, a means for the translational adjustment of the gripper element, primarily in the direction of the axis of rotation, can be arranged between the gripper support and the rotary bearing, allowing the gripper element to rotate relative to the base structure. In this case, the conveyor belt can be connected to the non-translationally adjustable part of the gripper element, and no degree of rotational freedom is then required for this connection.

[0026] In one embodiment, the gripper support and the holding element can be moved towards each other by means of an actuator. This allows the food portion to be clamped between the gripper support and the holding element and thus secured in this position while the gripper element is rotated. Conversely, the gripper support and the holding element can be moved away from each other by the actuator to release the food portion before it is placed down. The actuator can be, in particular, a hydraulic actuator, a pneumatic actuator, or an electromechanical actuator. A hydraulic or pneumatic actuator cylinder is especially preferred.

[0027] In one embodiment, only the holding element is movable towards the gripper support via the actuator. Thus, the gripper support remains stationary relative to the gripper element and is not moved by the actuator. This also allows the food portion to be clamped and thus secured between the holding element and the gripper support.

[0028] The movement of the gripper support and the holding element relative to each other by the actuator can be purely translational or pivoting. For pivoting, a pivot bearing is provided in an edge region of the gripper support and / or the holding element. Linear movement can be achieved by a linear guide such as a rail. Alternatively, linear movement can also be guided solely by a pneumatic or hydraulic actuator.

[0029] Furthermore, it is also possible that the gripper support and the holding element are arranged immovably at a small distance from each other, and that lateral boundaries prevent the food portion from falling out. It is also possible that the holding element is elastically pre-tensioned in the direction of the gripper support and holds the food portion through this elastic pre-tensioning force.

[0030] In one embodiment, two gripping elements are provided which can be moved relative to each other in order to simultaneously grip the food portion from opposite sides. Such a double gripper enables easier picking up and placing of the food portion without unintentionally shifting it. In particular, the gripping elements are moved in opposite directions. Thus, primarily, opposite sides of the food portion are gripped simultaneously.

[0031] Advantageously, an elastic element is provided between the holding element and the gripper surface, which pre-tensions the holding element towards the gripper surface. This allows the food portion to be held on the gripper surface by the elastic force of the elastic element. The holding element can be fixed or slidably attached to the gripper surface, with the holding element acting on the food portion solely through the force of the elastic element. Furthermore, a secure hold for the food portion can be achieved by combining the movement of the holding element by an actuator with the resulting deformation of the elastic element. In particular, the elastic element can be a spring element or an elastic plastic or foam.

[0032] The invention further provides a robot with a gripper according to the invention, wherein the robot is in particular a delta robot. A delta robot is a robot with delta kinematics, wherein the robot in particular comprises a robot base and a tool holder. The robot base and the tool holder are connected by at least three combinations of an upper robot arm and a lower robot arm, wherein in each of the combinations the upper robot arm and the lower robot arm are pivotably connected to each other. The independent pivoting of the individual robot arms enables rapid lateral displacement of the tool holder, thereby enabling rapid lateral displacement of food portions, particularly in pick-and-place applications.

[0033] Alternatively, the robot can also be a portal robot, wherein the gripper according to the invention can be moved linearly by the portal robot in at least one and preferably in particular three linear directions.

[0034] The object of the invention is further achieved by a method for handling food portions with a robot, wherein a food portion is first arranged on a gripper surface of a gripper element, then the gripper element is rotated relative to a base structure of the gripper while the food portion is held by a holding element in the gripper element, and finally the turned food portion is placed down. A front end of the gripper surface has a chamfer. The gripper element is translationally movable relative to the base structure in order to grasp the food portion.

[0035] Advantageously, the gripper element is lifted after the food portion has been placed on the gripper support and before the gripper element is rotated. This allows the gripper element to rotate without collisions.

[0036] The gripper element is rotated, in particular by at least 90 degrees. 0 , primarily around 180 0 In one embodiment of the method, the gripper element is rotated about an axis of rotation that points in a direction other than the surface normal of the gripper support surface. Advantageously, the axis of rotation is essentially orthogonal to the surface normal of the support surface.

[0037] In one embodiment, the step of arranging the food portion on the gripper support includes inserting the gripper support under the food portion. In particular, the support surface can be inserted under the food portion from only one side. In other embodiments, two gripper elements can be provided, which are inserted under the food portion from different sides with their support surfaces facing each other, and which can be rotated together about the same axis of rotation.

[0038] The invention will be explained in more detail below with reference to embodiments and the figures below. Fig. Figure 1 shows a side view of a gripper according to a first embodiment of the invention. Fig. Figure 2 shows a side view of a gripper according to a second embodiment of the invention. Fig. Figure 3 shows a side view of a gripper according to a third embodiment of the invention. Fig. Figure 4 shows a side view of a gripper according to a fourth embodiment of the invention. Fig. Figure 5 shows a side view of a gripper according to a fifth embodiment of the invention. Fig. Figure 6 shows a side view of a gripper according to a sixth embodiment of the invention. Fig. Figure 7 shows a side view of a gripper according to a seventh embodiment of the invention, which is attached to a partially depicted delta robot.

[0039] In Fig. Figure 1 shows a first embodiment of a gripper 1 according to the invention in a side view. The gripper 1 comprises a base structure 2 which has a fastening element 3 in its upper region, enabling the gripper 1 to be attached to a robot (not shown). The fastening element 3 can, for example, be a mounting plate that is attached to a tool mounting of the robot with screws, or a quick-release fastener that allows attachment by snapping or twisting.

[0040] A gripper element 4 is attached to the lower part of the base structure and can be rotated about a horizontal axis of rotation A relative to the base structure 2. For this purpose, a rotary actuator 5 is attached to the base structure 2. The rotary actuator 5 can, for example, be a servo motor. A rotary shaft 6 extends from the rotary actuator 5 in the direction of the axis of rotation A, and the rotary shaft 6 can be rotated relative to the base structure 2 by the rotary actuator 5. In particular, the rotary shaft 6 can be supported in a rotary bearing in the lower part of the base structure 2.

[0041] The basic structure 2 consists of several beams 7, 8, 9 that are slidably mounted relative to each other. In particular, an upper beam 7 is provided on which an intermediate beam 8 is slidably mounted in the lateral direction B. A lower beam 9 connects to the intermediate beam 8 and is adjustable relative to the intermediate beam 8 in the vertical direction H. A telescopic connection is provided between the intermediate beam 8 and the lower beam 9. Alternatively, it is also possible to arrange the intermediate beam 8 and the lower beam 9 side by side and to enable adjustment of the lower beam 9 in the vertical direction H using a suitable linear guide. The movable mounting of the intermediate beam 8 and the lower beam 9 allows movement of the lower beam in the lateral direction B and the vertical direction H. In particular, actuators (not shown) are provided which enable the relative movement of the beams 7, 8, 9 according to a control system setting.Thus, after a robot has moved the entire gripper 1 into the area of ​​a desired position, the desired position of the gripper element 4 can be achieved by fine-tuning the intermediate support 8 and lower support 9. Furthermore, the displacement of the intermediate support 8 in the lateral direction B enables the gripper element 4 to pick up a food portion 10 by moving the gripper element 4 in the direction of the food portion 10.

[0042] The gripper element 4 has a gripper support 11 designed to be inserted under the food portion 10. For this purpose, the front end 12 of the gripper support 11 can, in particular, have a chamfer that simplifies insertion of the gripper support 11 under the food portion 10. This is made possible, in particular, by moving the entire gripper 1 by means of a robot or by moving the intermediate support 8 and lower support 9 relative to the upper support 7 in the lateral direction B. Fig. Figure 1 shows the state in which the food portion 10 is already resting on the gripper support 11.

[0043] A holding element 13 is provided extending from the gripper support 11 in the direction of the surface normal F of the gripper support 11's bearing surface. The holding element 13 can be moved towards and away from the gripper support 11 in the direction of the surface normal F by means of an actuator 14. The actuator 14 is a pneumatic or hydraulic cylinder, but can also be an electric linear actuator. Furthermore, it is also conceivable that the actuator 14 does not allow the holding element 13 to move linearly, but rather pivots towards and away from the gripper support 11.

[0044] The holding element 13 has a holding surface 15 designed to come into contact with the food portion 10. The holding surface 15 may also have an angled front end 16, which facilitates picking up or placing the food portion 10. After being picked up onto the gripper support 11, the food portion 10 is clamped between the gripper support 11 and the holding surface 15 by moving the holding element 13. Then the rotary actuator 5 is actuated, and the rotary shaft 6 is rotated approximately 180°. 0The gripper element 4 is rotated together with the entire gripper element. This turns the food portion 10. During the turning process, the gripper 1 can be moved by the robot, so that no additional processing time is required for turning the food portion 10. After the food portion 10 has been turned, the holding device 13 is moved away from the gripper support 11, thus releasing the food portion 10, which can then be placed from the holding support 15 of the holding device 13, either by tipping or by means of additional conveying equipment.

[0045] In Fig. Figure 2 shows a second embodiment of a gripper 1 according to the invention, the differences from the first embodiment being explained below, and the remaining features between the embodiments being essentially the same. In the embodiment according to Fig. 2 The lower support 9 is mounted directly and slidably in the lateral direction B on the upper support 7. Thus, adjustment of the gripper element 4 within the gripper 1 itself can only occur in the lateral direction B, while adjustment in the vertical direction H is performed by the robot to which the gripper 1 is attached by means of the fastening element 3. The lateral adjustment of the gripper element 4 allows, in particular, a portion of food 10 to be positioned on the gripper support 11.

[0046] The gripper support 11 is partially or entirely formed by a conveyor belt 17. When the food portion 10 is to be picked up, the conveyor belt 17 is driven so that it moves the food portion 10 towards the gripper support 11. A separate drive for the conveyor belt 17 may be provided for this purpose.

[0047] The holding element 13 can also include a conveyor belt 18. The holding element 13 can, in particular, be in contact with the food portion 10 during the picking-up process and, by moving the conveyor belt 18, support the picking-up of the food portion 10 into the gripper element 4. Alternatively, the holding element 13 can also be held at a distance from the food portion 10 during the picking-up process. The gripper support 11 is mounted in a pivot bearing 19. The holding element 13 is mounted in a pivot bearing 20. The gripper support 11 and the holding element 13 are connected by an actuator 20, which allows the gripper support 11 and the holding element 13 to be moved towards and away from each other.After the food portion 10 has been placed on the gripper support 11, the actuator 21 is actuated, causing the holding element 13 to be lowered towards the gripper support 11 and the food portion 10 to be clamped between the holding element 13 and the gripper support 11. Then the rotary actuator 5 is actuated, and the gripper element 4 is rotated relative to the base structure 2, thus turning the food portion 10.

[0048] In Fig. Figure 3 shows a third embodiment of a gripper 1 according to the invention. The gripper essentially corresponds to the one shown in Fig. The gripper 1 shown in Figure 2 differs only in the design of the gripper element 4. A conveyor belt 17 is also provided for the gripper support 11, and a conveyor belt 18 for the holding support 15 of the holding element 13. As already described in Figure 2, the gripper 1 is shown in Figure 2, with only the design of the gripper element 4 differing. A conveyor belt 17 is also provided for the gripper support 11, and a conveyor belt 18 for the holding support 15 of the holding element 13. Fig. 2. The gripper support 11 and the holding support 15 are essentially identical in design. In Fig. 3 For the conveyor belt 17 and the conveyor belt 18, only one deflection roller is provided at their respective front ends 12, 16, in order to make the front ends 12, 16 as thin as possible, which simplifies the handling of a food portion 10. The holding element 13 and the support 11 are pre-tensioned relative to each other by an elastic element 22, in particular in the form of a spring. This eliminates the need for a separate actuating element and ensures that the food portion 10 can still be securely held between the holding element 13 and the gripper support 11.

[0049] To make picking up food portion 10 easier, the gripper 1 can be used as shown in Fig. Figure 3 shows the gripper being moved towards a conveyor belt 100 so that the gripper support 11 of the gripper 1 is flush with the upper side of the conveyor belt 100. The food portion 10 can then be moved from the conveyor belt 100 onto the gripper support 11 of the gripper 1. Similarly, after being handled by the gripper 1, a food portion 10 can also be placed back onto a suitable conveyor belt 100. The conveyor belt 100 can, in particular, be connected to a food cutting machine, for example, a slicer. If the conveyor belt 100 is a discharge conveyor, it can, in particular, lead to a packaging machine.

[0050] In Fig. Figure 4 shows a fourth embodiment of a gripper 1 according to the invention. The gripper essentially corresponds to the one shown in Fig. The gripper 1 shown in Figure 3 differs only in the design of the gripper support 11, and an actuating element 21 is provided instead of the elastic element 22. No conveyor belt is provided for the gripper support 11, which is designed as a rigid gripper support. Instead, a conveyor belt 18 is provided for the holding support 15 of the holding element 13. The conveyor belt 18 of the holding element 13 extends slightly beyond the gripper support 11, i.e., the front end 16 of the holding element 13 is positioned behind the front end 12 of the gripper support 11 in the lateral direction B. Due to the slight projection of the front end 16 of the holding element 13, when the holding element 13 is lowered, the front end 16 can come into contact with a portion of food 10 that is not yet resting on the gripper support 11.This food portion 10 can then be moved by moving the conveyor belt 18 over the front end 12 of the gripper support 11 onto the gripper support 11. By driving the conveyor belt 18 in the opposite direction, the food portion 10 can be placed down again after being moved and / or turned. Alternatively or in addition to the movement of the conveyor belt 18, the gripper 1 can be moved to insert the gripper support 11 under the food portion 10 or to place the food portion 10 down.

[0051] In this embodiment, the actuating element 21 is a rotary actuator that allows the holding element 13, which is rotatably mounted at its end spaced from the front edge 16, to tilt. By applying a holding force through the actuating element 21, the food portion 10 can be securely held between the holding element 13 and the gripper support 11 during repositioning and / or turning.

[0052] In Fig. Figure 5 shows a further embodiment of a gripper 1 according to the invention. The basic structure 2 again has a fastening element 3 and a support 23, wherein the gripper element 4 is rotatable about the axis of rotation A in the support 23. In contrast to the previous embodiments, only a single support 23 is provided, which thus does not allow movement of the gripper element 4 in the lateral direction B. For this purpose, a linear cylinder 24 is provided, which is rotatably mounted about the axis of rotation A in the lower region of the support 23. The linear cylinder 24 enables adjustment of a piston 25 in the lateral direction B. A gripper support 11 is connected to the piston 25, which can thus be moved with the linear cylinder 24 in the lateral direction B. A holding means 13 is attached directly to the linear cylinder 24 via a support 26.In contrast to the preceding embodiments, the holding element 13 does not move together with the gripper support 11 when the latter is adjusted in the lateral direction B. Thus, the holding element 13 can function as a hold-down device, that is, it holds a food portion 10 in position while the gripper support 11 is inserted under the food portion 10 by means of the linear cylinder 24. The linear cylinder 24 can be pneumatically, hydraulically, or electrically operated. Furthermore, the holding element 13 enables the food portion 10 to be held firmly on the gripper support 11 when the food portion 10 is to be turned. To turn the food portion 10, the linear cylinder 24 is rotated together with the gripper support 11 and the holding element 13. For this purpose, a rotary actuator 5 in the form of a motor with a gear 27 is attached to the carrier 23.The gear 27 engages with corresponding teeth 28, which are provided on the circumference of the linear cylinder 24. Thus, the rotary actuator 5 enables a rotary movement of the gripper element 4.

[0053] In Fig. Figure 6 shows a sixth embodiment of a gripper 1 according to the invention. As already described in Figure 6, Fig. 5 shown gripper 1, gripper 1 has according to Fig. Figure 6 shows a basic structure 2 with a fastening element 3 and a support 23. A linear cylinder 24 is rotatably mounted in the support 23 about the axis of rotation A. Rotation of the linear cylinder 24 is effected by a rotary actuator 5 with a gear 27 that engages with teeth 28 of the linear cylinder 24. The linear cylinder 24 allows a piston 25 to be adjusted in the lateral direction B.

[0054] The gripper support 11 is formed by a conveyor belt 17, and the holding element 13 comprises a conveyor belt 18. In this embodiment as well, the gripper support 11 and the holding element 13 are essentially identical in design. Deflection rollers 30, 31 for the respective conveyor belt 17, 18 are provided at the front ends 12, 16 of the gripper support 11 and the holding element 13. The opposing sides of the conveyor belts 17, 18 are each attached to the linear cylinder 24 at a mounting point 32, 33. The other end of the conveyor belt is wound onto unwindable rollers 34, 35, which are also attached to the linear cylinder 24. The deflection rollers 30, 31 are attached to the front end of the piston 25 and are biased relative to each other by means of springs 36, 37. Fig. Figure 6 shows the piston 25 in its extended position. When the piston 25 is retracted, the opposing sides of the conveyor belts 17, 18 remain essentially stationary, while the conveyor belt 17, 18 is deflected around the rollers 30, 31 and wound onto the rollers 34, 35. A food portion 10, resting on or held by the conveyor belts 17, 18, is thus deposited. The picking-up process for a food portion 10 is reversed: the piston 25 is extended, and the conveyor belts 17, 18 are now deflected around the deflection rollers 30, 31 in such a way that the food portion 10 is conveyed onto the gripper support 11. When the food portion 10 rests on the gripper support 11, it is held in this position by the elastic force of the springs 36, 37 between the conveyor belts 17, 18.Alternatively, instead of the springs 36, 37, an active actuator can be provided which moves the gripper support 11 and the holding means 13 towards and away from each other.

[0055] When the food portion 10 is held between the gripper support 11 and the holding device 13, the rotary actuator 5 can be activated so that the linear cylinder is rotated about the axis of rotation A and the food portion 10 is turned.

[0056] In some embodiments, only the gripper support 11 may be provided with a conveyor belt, and not the holding means.

[0057] In the aforementioned embodiments, single grippers, i.e., grippers with only one gripper element 4, were shown. The gripper elements 4 are made of Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 to Fig. 6 can also be used in a double-sided gripper.

[0058] In Fig. Figure 7 shows a double-sided gripper 1 according to the invention, in which two gripper elements 4 are provided that can be moved towards each other. The gripper 1 in turn has a fastening element 3 on which an upper support 7 is provided.

[0059] The fastening element 3 is attached to a tool attachment 38 of a delta robot, which can be moved by means of the robot arms 39, 40, 41 with respect to a robot base not shown.

[0060] Two lower supports 9 are adjustable in the lateral direction B on the upper support 7. A rotary actuator 5 is provided in the lower region of each of the lower supports 9, enabling the rotation of the two mutually aligned gripper elements 4. The gripper elements 4 rotate about the common axis of rotation A. Each gripper element 4 has a gripper support 11, the front ends 12 of which are aligned with each other. Furthermore, each gripper element 4 has a holding element 13, which can be pivoted about a pivot joint 29 opposite the front end 16 of the holding element 13. Thus, the front end 16 of the holding element 13 can be lowered onto the gripper support 11 to hold a portion of food 10 resting on the gripper support 11.

[0061] In operation, a food portion 10 is grasped by the gripper 1 by first lowering the gripper 1 with its gripper elements 4 spread apart over the food portion 10, so that the food portion 10 is positioned between the gripper elements 4. Then, the gripper elements 4 are moved towards each other by shifting the lower supports 9 relative to the upper support 7, so that the food portion 10 is simultaneously pushed onto the support surfaces 11 of both gripper elements 4. The holding device 13 is then lowered. As soon as the gripper 1 has been slightly lifted by a robot, the rotary actuators 5 can be controlled so that the gripper elements 4 are rotated together and synchronously.

[0062] Simultaneously, gripper 1 is moved by a robot until it is in a new desired position where the turned food portion 10 is to be placed. In this position, the gripper elements 4 are moved apart by sliding the lower supports 9 on the upper support 7, so that the food portion 10 is placed.

[0063] Thus, the grippers according to the invention enable the food portion 10 to be turned about an axis of rotation A. Turning the food portion 10 about other axes of rotation can be achieved by the robot rotating the gripper 1.

[0064] In the embodiment according to Fig. 7 In particular, a conveyor belt may be provided on the gripper support 11 and / or on the holding device 13 to facilitate the picking up of the food portions 10.

Claims

[1] Gripper (1) for a robot for handling food portions (10), wherein the gripper (1) comprises: a basic structure (2) that can be attached to the robot, and a gripper element (4), with a gripper support (11) that can be inserted under a food portion (10), wherein the gripper element (4) comprises a holding means (13) which is arranged spaced apart from the gripper support (11) in the direction of the surface normal (F) of the support surface of the gripper support (11), wherein the gripper element (4) is rotatable about an axis of rotation (A), in particular for turning the food portion (10) with respect to the basic structure (2), wherein a front end (12) of the gripper support (11) has a chamfer characterized by , that the gripper element (4) is translationally movable with respect to the basic structure (2) in order to grip the food portion (10). [2] Gripper according to claim 1, characterized by, that a rotary actuator (5) for rotating the axis of rotation (A) is attached to the basic structure. [3] Gripper according to claim 1 or 2, characterized by , that the rotary actuator (5) directly drives the rotary axis (A). [4] Gripper according to any of the preceding claims, characterized by , that the rotary actuator (5) is a motor whose motor axis is arranged parallel to the axis of rotation (A). [5] Gripper according to any of the preceding claims, characterized by , that the rotary actuator (5) is connected to the axis of rotation via a transmission (27, 28), which in particular includes spur gears, friction wheels, toothed belts, etc. [6] Gripper according to one of the preceding claims, wherein the axis of rotation (A) points in a direction other than the surface normal (F) of the support surface of the gripper support (11). [7] Gripper according to one of the preceding claims, wherein the axis of rotation (A) is substantially orthogonal to the surface normal (F) of the support surface of the gripper support (11). [8] Gripper according to one of the preceding claims, wherein the holding means (13) forms a holding support (15) with a support surface facing the gripper support (11). [9] Gripper according to one of the preceding claims, wherein the gripper support (11) and / or the holding means (13) comprises a conveyor belt (17) for receiving and depositing the food portion (10). [10] Gripper according to one of the preceding claims, wherein the movement of the conveyor belt (17, 18) and the translational movement of the gripper element (4) are synchronized. [11] Gripper according to one of the preceding claims, wherein the gripper support (11) and the holding means (13) are movable towards each other by means of an actuating element (21). [12] Gripper according to one of the preceding claims, wherein the holding means (13) is movable towards the gripper support (11) with an actuating element (14). [13] Gripper according to one of the preceding claims, wherein two gripper elements (4) are provided which can be moved towards each other with respect to the basic structure (2) in order to grip the food portion (10) simultaneously from different sides. [14] Gripper according to one of the preceding claims, wherein an elastic element (22) is provided between the holding means (13) and the gripper support (11), which pre-tensions the holding means (13) towards the gripper support (11). [15] Robot with a gripper according to one of the preceding claims, wherein the robot is a delta robot. [16] Method for handling food portions (10) with a gripper (1) of a robot, comprising the following steps: - Arranging a food portion (10) on a gripper support (11) of a gripper element (4), - Rotating the gripper element (4) relative to a base structure (2) of the gripper (1) while the food portion (10) is held by a holding means (13) in the gripper element (4), and - Depositing the turned food portion (10), wherein a front end (12) of the gripper support (11) has a chamfer. characterized by , that the gripping element (4) is translationally movable with respect to the basic structure (2) in order to grip the food portion (10). [17] Method according to claim 16, wherein the step of arranging the food portion (10) on the gripper support (11) of the gripper element (4) comprises inserting the gripper support (11) under the food portion (10).

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