Portion grab with non-linear bucket leading edge

Abstract

Portion gripper (3) for picking up and conveying at least one food product (4), with at least one paddle blade (15) extending in the longitudinal direction L and in the transverse direction Q, wherein the transverse direction Q is orthogonal to the longitudinal direction L, wherein the paddle blade (15) is movable by a drive means (22) during a gripping movement from an open position outer in the longitudinal direction L to a closed position inner in the longitudinal direction L in order to grip the food product (4) at least partially, wherein the paddle blade (15) tapers at its end inner in the longitudinal direction L towards a leading edge (16) which is directed towards the food product (4), and wherein the leading edge (16) has a non-linear contour deviating from the transverse direction Q at least in a partial section of its transverse extension, characterized in thatthat the leading edge of the blade (16) is wavy with respect to the transverse direction Q at least on a partial section of its transverse extent.

Description

[0001] The present invention relates to a portion gripper for picking up and conveying at least one food product, in particular a portion consisting of several food slices, wherein the portion gripper has a scoop blade which tapers at its end facing the food product towards a scoop front edge.

[0002] In particular, the invention relates to robot grippers, such as those used in connection with pickers, especially delta robots, for placing food products into packaging.

[0003] Such a portion grab is known, for example, from EP 2 439 026 A1, in which a portion grab with rake-like shaped shovels is shown, the fingers of which each have a tapered shape on one front side.

[0004] Furthermore, it is known from EP 2 168 892 A1 that grooves or ridges are provided in a bucket blade of a portion grab. However, the resulting pocket-like undercuts are a disadvantage, as product residues may accumulate in them.

[0005] These prior art disclosures have in common that they show straight, solid-surface or rake-like blades with a leading edge that extends linearly in the transverse direction of the blade. The opposing leading edges of blades facing each other are therefore parallel. When the blades close, the edges meet head-on or converge on the product edge.

[0006] When gripping a product with a straight side, especially a rectangular food product, the front edge of the scoop comes into full contact with the lower edge of the product, forcing itself between the product support and the bottom edge. This creates significant resistance and can lead to unwanted shifting of the product, particularly onto the opposite scoop. Consequently, the product is not centrally positioned in the gripper after being picked up, and there is a risk of it falling out. Furthermore, the product may be crushed or damaged.

[0007] This applies in particular to food products in the form of a food portion comprising at least one slice, but preferably several slices, which are arranged in a stacked, folded, or shingled manner and may be covered with underleaver or interleaver paper. The slices are primarily slices of sausage, ham, or cheese.

[0008] If the product is not centered in the gripper, problems will arise when placing the product, as the intended placement position may not be reached. This is particularly true when placing the product into packaging, which can result in packaging defects, such as products not being completely inside the packaging or not positioned in the desired area. This necessitates rework by repositioning the products before sealing the packaging or even leads to machine downtime.

[0009] The object of the present invention is to enable improved handling, in particular picking up and placing, of food products using a portion gripper.

[0010] The present invention provides a portion gripper for picking up and conveying at least one food product, comprising at least one paddle blade extending longitudinally and transversely, the transverse direction being orthogonal to the longitudinal direction. During a gripping movement, the paddle blade can be moved by a drive means from an outer longitudinally open position to an inner longitudinally closed position in order to grip at least part of the food product. The paddle blade tapers at its inner longitudinally end towards a leading edge that faces the food product. According to the invention, the leading edge of the paddle has a non-linear contour that deviates from the transverse direction, at least in a partial section of its transverse extension.

[0011] In particular, the non-linear contour of the blade leading edge, which deviates from the transverse direction, lies in a region located inside the blade leading edge in the transverse direction. Specifically, this inner region comprises the central 95%, 90%, 80%, or 70% of the transverse extent of the blade leading edge.

[0012] This makes it possible to dissolve the forces of the forward-directed scooping motion at the edge of the food product into forces directed obliquely towards the product edge at the moment the scoop's leading edge engages. Furthermore, it allows the leading edge of the scoop to only partially engage the product edge during the initial engagement, so that initially, engagement occurs at one or more local points, and only as the engagement progresses is the entire product, or at least a larger area, gripped or supported. However, the engagement can also encompass the entire edge of the product. This is particularly possible if the leading edge of the scoop blade is adapted to the specific shape of the product.

[0013] The invention makes it possible to handle the product as gently as possible, i.e., not to damage or displace it, and to minimize the forces involved in gripping it.

[0014] The force is applied in such a way that the previously usual pressure on the edge is transformed into a shearing motion or a (more or less) oblique pulling of the blade's leading edge under the edge of the product. It is advantageous if the blade initially enters the product as gently as possible at least at one point.

[0015] The teaching according to the invention allows the local force application to the product edge to be influenced and, if necessary, locally increased to facilitate easier gripping, and / or locally reduced to prevent damage to the product edge.

[0016] It should be noted that the properties of the product during gripping are product-dependent; in particular, the adhesion or friction between the product and the surface varies depending on the product. Furthermore, the consistency and weight of different products differ. Food products can also vary in their shape. For example, a food product might be a portion of sliced ​​food, especially in a stacked, shingled, or wavy arrangement. The product shape can therefore differ in terms of portion weight, weight distribution, height, size, etc.

[0017] The design of the bucket's leading edge contour can be tailored to the selected gripper design, particularly taking into account the bucket width and depth, the maximum grippable product height, the chosen centering means, the desired travel speed or acceleration, any ejection aids, and / or the requirements for transferring the product to its packaging, especially the format, lateral clearance, and available space within the packaging, considering the product size, discharge height, etc. The shape of a product tray, such as a downstream conveyor, can also be considered when designing the bucket's leading edge contour. The base of the packaging or product tray can be sloped or corrugated, especially if the product tray is designed as a conveyor belt.The buckets of the grab can also be adapted to the shape of the product support, which in turn allows for improved undercutting of the product with the bucket blades.

[0018] The drive mechanism for moving the gripper arms with the paddle blades is preferably a pneumatic actuating cylinder, alternatively a servo motor or linear drive.

[0019] In one embodiment, the leading edge of the blade extends over a portion of the blade's longitudinal direction. This means that when the leading edge of the blade moves toward a food product with a linear, transversely extending edge, the leading edge engages the product edge at different times, depending on the edge's transverse position. The engagement process begins when the innermost longitudinal section of the leading edge of the blade contacts the product edge and is completed after the blade has moved approximately the length of the leading edge's extension. However, the blade continues to move even after this point to further engage the food product. Depending on the chosen blade contour, this movement assists in centering the product relative to the gripper's center.

[0020] In one embodiment, the blade edge is designed with several sections offset with respect to the transverse and / or longitudinal direction. That is, the blade leading edge is discontinuous. For this purpose, a stepped shape, a slotted shape, or another type of stepped shape can be provided for the contour of the blade leading edge.

[0021] In particular, the leading edge of the shovel can be inclined with respect to the transverse direction, at least over a portion of its transverse extent. For example, a continuously inclined shovel leading edge can be provided, i.e., the leading edge is inclined at a constant angle to the transverse direction. Alternatively, it is also possible to provide regularly or irregularly repeating inclined sections of the shovel leading edge, so that the shovel leading edge contour is formed, for example, by a serrated shape.

[0022] In one embodiment, the blade leading edge can be wavy along at least a portion of its transverse extent. This can consist of regular waves, i.e., identically repeating indentations and protrusions, or irregularly shaped waves. For example, a wave structure with 3, 4, 5, 6, 7, 8, 9, or more than 10 uniformly or irregularly shaped waves can be provided. Alternatively, it is also possible to form the entire leading edge of the blade only according to half a wave shape, so that the blade essentially has a tongue shape.

[0023] In some embodiments, the leading edge of the blade can be essentially concave, in other embodiments essentially convex.

[0024] In particular, the leading edge of the shovel can be described, at least in part, by a continuous function in the plane defined by the transverse and longitudinal directions. Such a continuous design allows, in particular, for a gentle gripping of softer food products.

[0025] In particular, the longitudinal position of the shovel's leading edge can be defined, at least in certain areas, by a differentiable function depending on the transverse direction. Consequently, at least in these areas, there are no kinks or sharp edges, allowing for even gentler scooping of soft food products.

[0026] However, such continuous or differentiable scoop leading edges can also be advantageous for other food products, as they can, for example, reduce the probability of the food product slipping on the product support.

[0027] In a preferred embodiment, the thickness of the blade varies in the transverse and / or longitudinal direction. That is, the material thickness of the blade in the vertical direction varies depending on the transverse and / or longitudinal direction. This allows, in particular, the compliance at the blade's leading edge to be varied depending on the desired application. A locally increased compliance of the blade, achieved by selectively reducing its thickness, can also enable the blade to better adapt to uneven product surfaces or deposits. This effect is particularly noticeable when the gripper is placed on the product and when it passes underneath it.

[0028] Advantageously, the thickness of the blade decreases towards its edges in the transverse direction. This means that the interior of the blade is less flexible in the transverse direction than the respective outer areas. For example, the corner areas of the blade's leading edge can be made thinner to provide greater flexibility in these areas. Consequently, an angled landing of the grab can be advantageously compensated for by elastic deformation of the blade.

[0029] In particular, the leading edge of the blade can be symmetrical with respect to a longitudinally extending center line of the blade, which is positioned centrally across the blade's width in the transverse direction. The design of the remaining blade can also be symmetrical with respect to this center line. Such a symmetrical blade design is particularly advantageous when using the gripper for symmetrical food products.

[0030] Additionally or alternatively, the design of the paddle blade can also be based on the shape of the food product.

[0031] In one embodiment, slots can be provided in the blade, extending longitudinally from the leading edge. These slots allow the blade to be divided into several segments that are movable relative to each other due to their elasticity. This can be particularly advantageously combined with a variable blade thickness, especially by making the outer segments thinner and thus particularly flexible.

[0032] In a preferred embodiment, the portion gripper according to the invention has two blades that are directed in opposite directions. During a gripping movement, the drive means moves the two blades from an outer open position, in which they are maximally separated from each other, to an inner closed position in order to grip at least part of the food product. Advantageously, the blades are arranged in the same plane.

[0033] Alternatively, a gripper with only one blade can be used, whereby the blade grips a food product underneath, which is held in place during the gripping process, in particular by a hold-down device.

[0034] The movement of the blade or blades is advantageously linear from the opening to the closing position, but in other embodiments of the invention it is also possible for the blade or blades to be moved from the opening to the closing position by means of a pivoting movement.

[0035] In embodiments where two paddle blades are provided, it can be advantageous if the paddle blades, and in particular their leading edges, are designed to be complementary to each other. This allows the paddle blades to interlock and thus securely hold the food product.

[0036] However, it can also be advantageous if the two paddle blades are designed symmetrically to each other. This ensures that essentially symmetrical forces act on a symmetrical food product, thus preventing any shifting or twisting of the food product during the gripping process.

[0037] Advantageously, one or more air nozzles are provided to simplify lifting the portion. In particular, these air nozzles can be located in a vertical arm of the blade, which attaches the blade to a gripper base structure. Alternatively or additionally, air nozzles can be provided between the segments or fingers of a slotted or rake-like blade. The compressed air, either intermittently or continuously released from the air nozzles, or compressed air pulses, can further improve the gripping of a product, as the product or an underleaver film can be slightly lifted by the compressed air even before being gripped underneath.

[0038] In one embodiment, an alternative or supplementary vibration generation device is provided on the portion gripper, particularly directly on the blades. This allows the blades to vibrate, thus simplifying the gripping of the food products, especially by preventing static friction. Preferably, micro-vibrations are used, i.e., a back-and-forth movement at a high frequency. The vibration generation device is, for example, a vibrating element, such as an unbalanced weight, driven by an electric motor. The vibration generation device can also be an ultrasonic generator or a compressed air-based vibrating element.

[0039] The invention further relates to a food handling robot, in particular a delta robot, with a portion gripper according to the invention. The invention further relates to a food processing plant with such a food handling robot.

[0040] The invention is explained below with reference to exemplary embodiments and the figures.

[0041] Fig. Figure 1 shows an embodiment of a portion gripper according to the invention in a food processing plant in a side view.

[0042] Fig. 2 shows a magnification of the portion gripper from Fig. 1 in open position,

[0043] Fig. Figure 3 shows a magnification of the portion gripper from Fig. 1 in closed position,

[0044] Fig. 4 shows a top view of the paddle blades of an embodiment of a portion grab according to the invention,

[0045] Fig. Figure 5 shows a top view of a blade of an embodiment of a portion grab according to the invention,

[0046] Fig. Figure 6 shows a top view of a blade of an embodiment of a portion grab according to the invention,

[0047] Fig. Figure 7 shows a top view of a blade of an embodiment of a portion grab according to the invention,

[0048] Fig. Figure 8 shows a top view of a blade of an embodiment of a portion grab according to the invention,

[0049] Fig. Figure 9 shows a top view of a blade of an embodiment of a portion grab according to the invention,

[0050] Fig. Figure 10 shows a top view of a blade of an embodiment of a portion grab according to the invention,

[0051] Fig. Figure 11 shows a top view of the paddle blades of an embodiment of a portion grab according to the invention,

[0052] Fig. Figure 12 shows a top view of the paddle blades of an embodiment of a portion grab according to the invention,

[0053] Fig. Figure 13 shows a top view of the paddle blades of an embodiment of a portion grab according to the invention,

[0054] Fig. Figure 14 shows a top view of a blade of an embodiment of a portion grab according to the invention,

[0055] Fig. Figure 15 shows a top view of a blade of an embodiment of a portion grab according to the invention,

[0056] Fig. Figure 16 shows a top view of a blade of an embodiment of a portion grab according to the invention, and

[0057] Fig. Figure 17 shows a top view of a blade of an embodiment of a portion grab according to the invention.

[0058] In Fig. 1 is a food processing plant 1 shown in side view, depicting a food handling robot 2 with a portion gripper according to the invention 3 includes the food handling robot. 2 is designed to handle food products 4 with the portion grabber 3 from a product run 5 to record, to a product storage 6 to transport and to place it there.

[0059] During the product launch 5 This refers in particular to a feed conveyor, for example a feed conveyor belt. The feed conveyor extends, for example, from and downstream of a food slicing device. During product placement 6This refers in particular to a downstream conveyor, for example a downstream conveyor belt. The product storage area 6 It is, in particular, a packaging station.

[0060] Regarding the food product 4 This refers specifically to a portion of food, for example, a portion of sliced ​​cheese, sliced ​​sausage, or sliced ​​meat products, usually in slice form. The slices in the portion may be stacked on top of each other or staggered, for example, in portion patterns. Furthermore, the slices may be arranged either flat or wavy, as is the case with shaved meat.

[0061] The food handling robot 2 has a base 7 on, which is primarily arranged in a fixed location. In the present embodiment, the food handling robot is 2 to create a delta robot, in which three are each controlled by actuators 8swiveling upper arms 9 are designed to have articulated lower arms 10 are attached, the lower ends of which are mounted on a gripper mounting plate 11 are mounted on hinges. On the gripper mounting plate 11 is the portion gripper according to the invention 3 fastened. The actuators 18 are so movable that the portion gripper 3 anywhere within the robot's work area 2 The procedure can be carried out, in particular along the trajectory. 12 between the product run 5 and the product run 6 .

[0062] In Fig. 2 is the portion gripper according to the invention. 3 Shown enlarged. The portion grabber 2 exhibits a basic structure 13 up. Gripper arms 14 with shovel blades 15 can along the basic structure 13to be moved in the horizontal longitudinal direction L. A drive mechanism is required for this. 22 provided in the form of a pneumatic actuating cylinder. The gripper arms 14 are essentially arranged in the vertical direction H. The blades have a width in the horizontal transverse direction Q that is orthogonal to the longitudinal direction L and the vertical direction H. The blades 15 They each taper towards a shovel leading edge at their end located on the inside in the longitudinal direction L. 16 This tapering is achieved through a slope. 17 on the upper side of the shovel blades 15 educated.

[0063] The shovel blades 15 the portion grabber 3 can be caused by the drive mechanism during a gripping movement 22 from the outer opening position in the longitudinal direction L, shown in Fig. 2, to a longitudinally L inward closing position, shown in Fig. 3. be moved to transport the food product 4 to grasp underneath. For a laying motion to place the food product. 4 The opposite movement is performed on the portion tray.

[0064] During the gripping movement, the leading edge of the shovel comes into contact with the ground. 16 first in contact with the lower outer edge of the food product 4 and then grasps the food product underneath. During the further grasping movement, the food product 4 along the slope 17 to the shovel blade 15 pushed, or rather the shovel blade 15 under the food product 4 pushed until the food product 4 in certain areas on the blade 15 rests on top of the food product. Additionally, a hold-down device (not shown) may be provided, which rests on top of the food product. 4 presses and holds it in position during the gripping movement.

[0065] On the gripper arm 14 is an air nozzle 20 provided for, whose airflow is particularly parallel to the slope 17 at the leading edge of the shovel 16 is geared towards this. Thus, the food product 4 During the grasping motion, the airflow passes underneath, preventing the food product from being gripped too tightly. 4 is advantageously supported.

[0066] Furthermore, a vibration generating device can 21 in the form of a vibration element on the blade 15 be provided. The vibration generating device 21 induces vibrations in the blade 15 , and thus simplifies the handling of the food product 4 , especially since the static friction between the food product 4 and the shovel blade 15 or between the blade 15 and the product run 5can be avoided or reduced.

[0067] According to the present invention, the leading edge of the blade has a non-linear contour that deviates from the transverse direction Q, at least in a partial section of its transverse extent in the transverse direction Q. This means that, in the case of a food product that is rectangular in the transverse direction Q and longitudinal direction L, there is no longer line contact between the leading edge of the blade and the food product, but rather point contact or a local shearing motion.

[0068] In Fig. 4 are shovel blades 15 an embodiment of a portion gripper according to the invention 3 Shown in a schematic top view. The blades 15 have already a food product 4 at least partially undercut. The leading edges of the shovel 16 the shovel blades 15They are each arranged obliquely in sections at an acute angle to the transverse direction Q. The design is symmetrical about a center line M, and the oblique leading edges of the blades 16 They exhibit the same angle to the center line M on both sides. That is, the contour of the leading edges of the blades. 16 the shovel blades 15 is designed in such a way that each of the two blades has a projection 15 and a projection of the other blade 15 They are opposed. Furthermore, the design of the shovel leading edges is 16 also symmetrical to an inner line I, which runs in the transverse direction Q centrally between the blades 15 extends. The slope 17 has a substantially constant length in the longitudinal direction L. In other embodiments, the slope can be 17 be designed with a length that varies in certain areas along the longitudinal direction L.

[0069] In Fig. 5 is a shovel blade 15 an embodiment of the portion gripper according to the invention 3 Shown in a schematic top view. A corresponding, counter-rotating blade. 15 can be provided on the opposite side in the longitudinal direction L, so that the food product 4 It is gripped from both sides. The counter-rotating shovel blade 15 can be used in particular for the illustrated shovel blade 15 be mirror-symmetrical with respect to the inner line I.

[0070] The shovel's leading edge 16 It has a concave shape that extends across the entire width of the blade. 15 is shaped in the transverse direction Q. Such a shaping of the shovel's leading edge allows the corners of the food product to be 4 first be attacked, as in Fig. 5 is shown. In particular, the shovel blade 15in addition to the slope 17 The outer surfaces in the transverse direction Q are designed to be thinner overall, so that the blade cannot be pushed underneath. 15 under a corresponding food product 4 This can be done advantageously.

[0071] In Fig. 6 is a shovel blade 15 an embodiment of the portion gripper according to the invention 3 shown in a schematic top view, with the shovel edge now 16 is convex across its entire width in the transverse direction Q. This allows, for example, a convexly or roundly shaped food product. 4 , as in Fig. As shown in 6, the blade is grasped. During the grasping movement, there is initially point contact between the leading edge of the shovel and the blade. 16 and the food product 4 essentially in the area of ​​the midline M. Then the blade moves 15 under the food product4 , which goes over the slope 17 to the shovel blade 15 is postponed.

[0072] Even with the portion grabber 3 according to Fig. 6 can be a corresponding counter-rotating blade 15 on the opposite side in the longitudinal direction L, so that the food product 4 It is gripped from both sides. The counter-rotating shovel blade 15 In particular, it can be mirror-symmetrical with respect to the inner line I shown on the blade.

[0073] In the Fig. 7 to Fig. 10 are further designs for shovel leading edges 16 of shovel blades 15 for portion grippers according to the invention 3 as shown. Here too, a corresponding, counter-rotating blade, symmetrical or complementary to a center line M, can be provided.

[0074] In Fig. 7 indicates the leading edge of the shovel 16 A waveform mirror-symmetrical to the inner line I, with an inner concave region and two outer convex regions. The slope 17 is designed with a constant length in the longitudinal direction L.

[0075] In Fig. 8 are four convex regions with essentially straight sections of the blade leading edge between them. 16 combined in the transverse direction Q. The convex areas are each mirror-symmetrical about the midline M.

[0076] In Fig. 9 are sloping sections in the leading edge of the shovel. 16 The design incorporates sections that alternate with straight sections in the transverse direction Q. This creates trapezoidal projections on the leading edge of the blade. 16 The trapezoidal protrusions are mirror-symmetrical to the midline M.

[0077] In Fig. 10 will be the shovel's leading edge 16The blade is formed by straight sections in the longitudinal direction Q and inclined sections, but these are interrupted by steps in the longitudinal direction Q. Such steps allow the blade to be divided into segments that exhibit a certain degree of flexibility relative to each other due to their elasticity. This design corresponds to a sawtooth shape. The angle of the saw teeth is advantageously variable along the leading edge length; in the inner area in the transverse direction Q, they are more shallowly angled, and in the outer area, more steeply angled, as shown in... Fig. 10 can be seen.

[0078] As can be clearly seen from the edge profiles shown above, the leading edge of the shovel can 16The elements can be constructed regularly, for example, using alternating, identical elements, and in particular exhibit mirror symmetry about the midline M. However, it is also possible to arrange the elements irregularly, for example, irregularly sized elements in irregular positions, resulting in a variable, non-repeating design across the entire edge length.

[0079] Alternatively, the shovel's leading edge can be used 16 be constructed in the same way throughout, for example by making the leading edge of the shovel the same. 16 formed by a single slope arranged at a constant angle to the transverse direction Q. In particular, it is desirable that the respective outer area of ​​the blades 15 The design differs in the transverse direction Q. Advantageously, the outer area of ​​the blade's leading edge is... 16 a slope or curve arranged and / or the blade 15It is designed to be particularly thin, resulting in high compliance. For many embodiments, it is desirable that the central area of ​​the blade's leading edge... 16 slightly protruding from the food product 4 This is particularly true for round or oval food products. 4 This is advantageous because they can then be gripped in the middle first.

[0080] The various design elements of the shovel's leading edge 16 They can be arranged alternately or combined in any way. In particular, the various elements—projections, slots, waves, and intervening straight or angled sections—can be combined. The design can be symmetrical or asymmetrical with respect to the center line M, which lies in the middle in the transverse direction Q.

[0081] The design elements waves, recesses, depressions, teeth or tongues can be primarily in the longitudinal direction or in the transverse direction to the blade. 15 The bucket can be arranged in a curved or arched design, optionally adapted to the specific product position, shape, contact area of ​​the product on the grab bucket, and local weight load. Furthermore, different surface textures or materials can be incorporated into certain areas of the bucket surface.

[0082] Furthermore, structures protruding in the vertical direction H may be found on the upper and / or lower side of the blade. 15 It is provided for. On the upper side of the blade. 15 Can these structures influence the food product? 4 take, whereas on the underside of the blade 15 the contact between the blade 15 and the product run 5or product storage 6 is determined. Therefore, the underside of the blade is 15 preferably flat, but local optimization with the aforementioned structures is also conceivable there.

[0083] The leading edge contour extends particularly from the leading edge of the blade. 16 into the surface of the paddle blade 15 as a transitional structure, advantageously in the form of a slope 17 , primarily in the direction of a blade attachment in the grab arm 4 .

[0084] In the Fig. 11 to Fig. 13. Blade designs for portion grabs according to the invention 3 depicted, in which the opposingly arranged paddle blades 15 Each shovel front edge is designed in a complementary manner. 16 or exhibit design elements. That is, the contour of one blade. 15is formed as a positive shape following the contour of the other blade 15 adapted as a negative mold so that they complement each other. In these embodiments, the projection of one blade fits. 15 essentially exactly into the retraction of the other blade 15 .

[0085] In Fig. 11 will be the leading edge of the shovel blades 15 Each is formed by two straight slopes with respect to the transverse direction Q. One blade 15 It has a protruding leading edge on the shovel. 16 up, the other shovel blade 15 a recess in the leading edge of the shovel 16 Additionally, in Fig. 11 more pockets marked by dashed lines 18 indicated, i.e., partial recesses or reductions in blade thickness in the vertical direction H. These pockets 18can be provided on the underside of the blade if a flat bearing surface is available on the top side of the blade. 15 desired. The pockets on the underside allow for this. 18 a reduction in friction between the blades 15 and the product run 5 or the product storage 6 when moving the shovel blades 15 when picking up and putting down food products 4 Furthermore, a weight reduction of the paddle blades is possible. 15 to be achieved and the elasticity of the blades 15 can be specifically increased. In other embodiments, it is also possible to increase the pockets. 18 on the upper side of the shovel blades 15 to provide for, as this can allow for a smaller contact area between the food product 4 and to provide the scoop surface, thereby reducing friction between the food product 4and the shovel surface area can be reduced. This creates the areas between the pockets. 18 Ribs for the support of the food product 4 It is advantageous if the pockets 18 from the exposed leading edge of the shovel 16 going out. The edges of the bags 18 The pockets can have angular designs. 18 However, they can also be caused by a wave shape on the upper or lower side of the blade. 15 to be trained. The latter makes it possible to avoid adhesions and to simplify cleaning thanks to the radii.

[0086] Furthermore, in the area of ​​the blade 15 , which is attached to the gripper arm 14 adjacent, a vibration generating device 21 provided for, which the shovel blade 15 can cause vibrations to prevent the food product from being undermined 4 to simplify.

[0087] The in Fig. 11 depicted and previously defined pockets 18 or the vibration generating device 21 can also be provided in all other embodiments of the invention.

[0088] In Fig. 12 is a complementary configuration of a convex blade leading edge 16 and a concave leading edge of the shovel 16 depicted.

[0089] In Fig. 13 is a complementary design of wavy blade leading edges 16 depicted.

[0090] In the Fig. 14 to Fig. 17 more shovel blades will be added 15 for portion grippers according to the invention 3 depicted.

[0091] The shovel blade 15 according to Fig. Figure 14 has a convex, rounded shape in the central area in the transverse direction Q, as well as two convex, rounded shapes in the respective outer areas in the transverse direction Q. The outer areas have a longer extension of the slope. 17 in longitudinal direction 11 provided for, thus ensuring greater elasticity of the outer rounded areas of the blade's leading edge 16 reached.

[0092] In Fig. 15 will be another shovel leading edge 16 shown, which is designed as a straight line in the area lying inside in the transverse direction Q, and is designed with a slope in the area lying outside in the transverse direction Q, so that the outer area protrudes further in the longitudinal direction L than the inner area of ​​the leading edge of the blade. 16 This also achieves increased elasticity, even if the slope 17 in Fig. 15 has a constant extent in the longitudinal direction L.

[0093] In Fig. 16 is a shovel leading edge 16 depicted, which are shown through several slots 19 is interrupted, in particular by a central slot 19 in the area of ​​the center line M and two of the slots that were objected to 19 The slots 19 They each extend in the longitudinal direction L and represent a complete interruption of the blade. 15 in the vertical direction H. Through the slots 19 This ensures that the outer areas of the blade 15 and the inner areas of the blade 15 Each segment represents elastically movable segments relative to one another. Due to their greater length in the longitudinal direction L and smaller width in the transverse direction Q, the outer segments are particularly flexible. The leading edge of the blade 16is essentially inclined in the respective areas, each at an angle to the transverse direction Q, whereby the angle to the transverse direction Q of the inner areas is less than the angle to the transverse direction Q of the outer areas.

[0094] Regarding the shovel blade 15 according to Fig. 16 vibration generating devices are located in the middle of the two inner segments. 21 near the attachment of the shovel blade 15 on the gripper arm 14 The combination of vibration-generating devices and a slotted blade design is planned. 15 This is particularly advantageous because the segments between the slots 19 because of their increased elasticity, they can be set into vibration more easily.

[0095] In Fig. 17 is a shovel blade 15 depicted by a multitude of slots 19is interrupted, with the intermediate areas of the shovel leading edge 16 Each segment is offset from the others in the longitudinal direction L, but otherwise extends in the transverse direction Q. Each of the segments between the slots 19 It is independently movable, thus allowing for particularly flexible adaptation to uneven product surfaces. Furthermore, air nozzles are included. 20 on the blade 15 intended to be primarily equipped with slots 19 are aligned. That is, the air nozzles 20 and / or its airflow runs between the fingers of the rake-like blade. 15 This allows, after slightly lifting the food product, 4 through the slots 19 Simply apply compressed air under the food product 4 are introduced so that gripping is simplified by the formation of air cushions.

[0096] The in Fig. 5 to Fig. 10 and Fig. 14 to Fig. 17 illustrated shovel blades 15 each can be achieved by means of an opposing paddle blade 15 It can be supplemented by a design that is symmetrical or complementary. For example, the arrangement of a complementary blade results in 15 to a design as in Fig. 5 or Fig. 6 shown, the design according to Fig. 12.

[0097] The slope 17 is a tapering in the edge area towards the leading edge of the blade 16 This tapering can also extend evenly from the leading edge. 16 starting in the rear bucket surface, possibly up to the vertical grab arm 14 , extend. The same applies to variations in the thickness of the paddle blade. 15 , for example, the pockets formed by wave contours or rib contours in the longitudinal direction L and / or transverse direction Q on the blade 15 be formed.

[0098] In summary, the inventive design of the portion gripper enables the secure gripping of food products, even sticky and / or delicate products. Furthermore, gripping the products is gentler; that is, portion edges are minimally deformed and undamaged, and no marks are visible on the underside of the portion. Moreover, the inventive design often eliminates the need for a hold-down device, as the forces acting on the product can be reduced. Finally, the inventive design facilitates better and safer placement of food products.

[0099] The simpler gripping of the food products also means that less force is exerted on the scoop mechanism. This has the added advantage that the drive mechanism for the scoop blades can be smaller, thereby reducing the mass of the gripper. This is particularly beneficial for highly dynamic food handling robots, especially delta robots. QUOTES INCLUDED IN THE DESCRIPTION

[0100] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0101] EP 2439026 A1

[0003] EP 2168892 A1

[0004]

Claims

[1] Portion grabber ( 3 ) for the absorption and promotion of at least one food product ( 4 ), with at least one blade extending in the longitudinal direction L and in the transverse direction Q ( 15 ), where the transverse direction Q is orthogonal to the longitudinal direction L, where the shovel blade ( 15 ) during a gripping movement by a propulsion means ( 22 ) is movable from an outer opening position in the longitudinal direction L to an inner closing position in the longitudinal direction L in order to open the food product ( 4 ) to intervene at least in certain areas, and where the shovel blade ( 15 ) at its longitudinally L inner end towards a shovel leading edge ( 16 ) rejuvenates, which leads to the food product ( 4 ) is directed, characterized by that the leading edge of the shovel ( 16) exhibits a non-linear contour that deviates from the transverse direction Q, at least in a subsection of its transverse extent. [2] Portion grab according to claim 1, wherein the shovel leading edge ( 16 ) on a shovel blade ( 15 ) extends over a region of the longitudinal direction L. [3] Portion grab according to claim 1 or 2, wherein the shovel leading edge ( 16 ) is designed with several areas offset with respect to the transverse direction Q and / or the longitudinal direction L. [4] Portion grab according to one of the preceding claims, wherein the shovel leading edge ( 16 ) is at least on a section of its transverse extension obliquely with respect to the transverse direction Q. [5] Portion grab according to one of the preceding claims, wherein the shovel leading edge ( 16 ) is at least on a section of its transverse extent wavy with respect to the transverse direction Q. [6] Portion grab according to one of the preceding claims, wherein the shovel leading edge ( 16 ) is defined at least in certain areas by a continuous function in the plane defined by the transverse direction Q and longitudinal direction L. [7] Portion grab according to one of the preceding claims, wherein the position of the shovel leading edge ( 16 ) in the longitudinal direction L is defined at least in certain areas by a differentiable function depending on the transverse direction Q. [8] Portion grab according to one of the preceding claims, wherein the thickness of the blade ( 15 ) varies in the transverse direction Q and / or longitudinal direction L. [9] Portion grab according to one of the preceding claims, wherein the thickness of the blade ( 15 ) decreases towards the edges in the transverse direction Q. [10] Portion grab according to one of the preceding claims, wherein the design of the shovel leading edge ( 16) symmetrical with respect to a center line extending in the longitudinal direction L ( 11 ) of the shovel blade ( 15 ) is. [11] Portion gripper according to one of the preceding claims, wherein additional slots ( 19 ) in the shovel blade ( 15 ) are provided, extending from the leading edge of the shovel ( 16 ) especially in the longitudinal direction L into the blade ( 15 extend. [12] Portion grab according to one of the preceding claims, wherein two paddle blades ( 15 ) are planned, which are opposed to each other. [13] Portion grab according to claim 12, wherein the paddle blades ( 15 ), especially the leading edges of the shovel ( 16 ) of the two paddle blades ( 15 ), are designed in a complementary manner. [14] Portion grab according to claim 12, wherein the shovel leading edges ( 16 ) of the two shovel blades ( 15) are designed symmetrically to each other. [15] Portion gripper according to one of the preceding claims, wherein at least one air nozzle ( 20 ) is intended to lift the food product ( 4 ) supports. [16] Portion gripper according to one of the preceding claims, wherein a vibration generating device ( 21 ) on the portion grabber ( 3 ) is arranged, in particular on the blade ( 15 ).

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