Gripping device with needles for malleable food product

Description

[0001] The present invention relates to a device for gripping at least one deformable food product. The invention also relates to an installation for producing deformable food products comprising such a gripping device, and to a method for moving a deformable food product by means of such a gripping device.

[0002] This gripping device is more particularly intended for picking up and placing at least one deformable food product which may be soft and / or sticky on a high-speed food production line.

[0003] DE202012100849U1 discloses a gripping device according to the preamble of claim 1.

[0004] SOMMER AUTOM: “Needle Gripper pneumatic ST-Series” discloses an ST-40 gripping device for handling textiles and soft or porous materials. This gripping device comprises a plate having slots therein and defining a flat surface suitable for receiving a product. The gripping device also comprises needles extending through said slots, and an actuator for moving the needles relative to the plate between an extended position and a retracted position.

[0005] Deformable food product gripping devices are known.

[0006] EP 1750910 B1 discloses a gripping device with a partially convex gripping surface, and needle pairs movable to deployed positions across the gripping surface.

[0007] WO 2004 / 043151 discloses a gripping device comprising stitching members, each stitching member comprising a needle movable relative to a frame between an extended position and a retracted position. The gripping device also comprises a plate serving as a support for the stitching members, said stitching members extending through this plate.

[0008] Thus, for example, WO2007 / 046715 A1 discloses a device for gripping deformable food products comprising a plurality of pairs of needles. This type of device is suitable for gripping food products that can be held, such as meat or fish. The products are handled frozen, which makes them easier to hold and reduces the phenomena of sticking or destructuring of the food product. This device is not, however, suitable for gripping food products handled unfrozen or even at positive temperatures. Indeed, such food products are deformable, soft and sticky and would stick to such a gripper, leading to fouling phenomena and therefore hygiene problems.

[0009] Also known from JP2005333827 is a device for gripping a deformable food product, comprising at least one pair of needles. Here again, this type of gripper is not suitable for gripping deformable, soft and sticky food products. It becomes clogged quickly and does not allow for clean and rapid removal, at high speed, without altering the food product.

[0010] Finally, FR2997031 discloses a device for gripping a plurality of deformable food products, comprising a perforated plate defining a plurality of surfaces for receiving the food products, and a suction system for pressing the food products against the receiving surfaces by suction effect. Such a device has several drawbacks: rapid clogging by the food product during the suction phase and / or sticking during depositing; difficulty in cleaning the device; significant losses due to sticking and destructuring of the food product during its depositing, for example in the case of rolls comprising a cheese filling surrounded by a food sheet of the charcuterie type, the roll unrolling during blowing; necessity for all food products to have a very standardized shape to ensure effective gripping; in fact, as soon as the shape of one of the food products gripped deviates from this standard, gripping by suction against the receiving surface is altered and leads to pressure losses, detachment of the food product before its depositing, or even the absence of gripping of the food product.

[0011] One objective of the invention is thus to enable the automated and high-speed gripping of at least one fragile, deformable, soft and sticky food product, while limiting the phenomena of fouling and deformation, or even destructuring, of said food product, in particular when this food product comprises an outer casing made of a first food material and an inner filling made of a second food material. Another objective is to promote the cleanability of the gripping device used for this purpose.

[0012] To this end, the invention relates to a device for gripping at least one deformable food product according to claim 1.

[0013] According to particular embodiments of the invention, the gripping device also has the characteristics set out in the dependent claims.

[0014] The invention also relates to an installation for producing deformable food products, each comprising an outer casing made of a first food material and an inner filling made of a second food material, according to claim 8.

[0015] The invention also relates to a method for moving a deformable food product by means of a gripping device as defined above, according to claim 9 or 10.

[0016] According to particular embodiments of the invention, the movement method also has one or more of the following characteristics, taken in isolation or in any technically possible combination(s): the deformable food product comprises an outer casing made of a first food material and an inner filling made of a second food material; the casing and the filling do not have the same textures or the same mechanical properties; the first food material consists of: ∘ a slice of meat, in particular a cured product, in particular a slice of ham, for example smoked raw ham, or ∘ a vegetable product, for example a slice of vegetable or a sheet of vegetable puree, or ∘ a cheese product, for example a pressed cheese, a retextured cheese, or a stretched cheese, or ∘ a seafood product, for example a slice of fish, a slice of smoked fish, a fish cured product, a sheet of seaweed, or ∘ a product based on seaweed, fish, crustacean or a mixture thereof; the second food material consists essentially of soft cheese;the soft cheese is a fresh cheese, a processed cheese, a processed fresh cheese, or a stretched cheese; the second food material comprises at least one input mixed with the soft cheese, the or each input being chosen from: aromatics, herbs, fruits, nuts, vegetables, spices, flavorings, colorings; and the food product consists of a small-sized portion-type cheese, for example a cheese string or a wound cheese string.

[0017] Other characteristics and advantages of the invention will appear in the light of the description which follows, given solely by way of non-limiting example and made with reference to the appended drawings, in which: there Figure 1 is a general view, from above, of a production installation according to the invention, the Figure 2 is a perspective view of a deformable food product produced by the installation of the Figure 1 , there Figure 3 is an elevational view of a gripping device of the production facility of the Figure 1 , there Figure 4 is a perspective view, from below, of a gripping head of the gripping device of the Figure 3 , there Figure 5 is a perspective view, from below, of a perforated plate of the gripping head of the Figure 4 , there Figure 6 is a perspective view, from above, of the perforated plate of the Figure 5 , there Figure 7 is a perspective view, from below, of a detail of the Figure 4 , a perforated plate of the gripping head having been removed. Figure 8 is a sectional view, according to the plane marked VIII-VIII on the Figure 4 , of the gripping head of the Figure 4 , there Figure 9 is a sectional view, according to the plane marked IX-IX on the Figure 4 , of the gripping head of the Figure 4 , a gripping head stitching system being in a retracted configuration, the Figure 10 is a view of a detail marked X on the Figure 9 , the tapping system being in a deployed configuration, and the Figure 11 is a perspective view, from above, of the gripping head of the Figure 4 .

[0018] Production facility 2 visible on the Figure 1 is intended for the production of food products such as the stuffed food 10 shown in the Figure 2 .

[0019] In reference to this Figure 2 , the stuffed food 10 is substantially cylindrical in revolution. It has two bases 11A, 11B each defining an axial end of the stuffed food 10, and a peripheral lateral face 11C connecting the bases 11A, 11B to each other. It typically has a diameter of between 1 and 3 cm, and a length of between 2 and 8 cm.

[0020] The stuffed food 10 comprises an outer casing 12 made of a first food material, and an inner filling 14 made of a second food material.

[0021] The outer casing 12 is tubular. It defines the peripheral lateral surface 11C of the stuffed food 10. It does not cover the axial ends of the stuffed food 10. Seen from an axial end of the stuffed food 10, it forms a spiral around the inner stuffing 14.

[0022] The first food material is typically meat, especially a cured product, and preferably ham. Alternatively, the first food material is a vegetable product, for example a vegetable slice or a sheet of vegetable puree. In another alternative, the first food material is a cheese product, for example a pressed cheese, a retextured cheese or a stretched cheese. Still alternatively, the first food material is a seafood product, for example a fish slice, a smoked fish slice, a fish cured product, a seaweed sheet, or a product made from seaweed, fish, crustacean or a mixture thereof.

[0023] The inner filling 14 forms a solid cylinder. It is flush with the axial ends of the filled feed 10.

[0024] The second food material which makes up this fodder 14 has a penetrometry index of between 80 and 300. It is advantageously a shear-thinning product having a consistency of between 800 and 1200 Pa.s at 12°C, with a shear-thinning index of between 0.10 and 0.20.

[0025] An example of a second food material having these characteristics is when the second food material is a cheese product consisting essentially of cheese, i.e., the cheese constitutes more than 70% by weight of the cheese product. This cheese is typically a soft cheese as defined by CODEX STAN 283-1978, i.e., a cheese with a fat-free cheese water content (FWC) greater than 67%, said FWC being calculated as follows: (Weight of water in cheese) / (Total weight of cheese - Weight of fat in cheese).

[0026] In one embodiment, the cheese product comprises at least one input mixed with the cheese, the or each input being chosen from: aromatics, herbs, fruits, nuts, vegetables, spices, flavorings, colorings.

[0027] The second food material also has a density between 0.9 and 1.

[0028] Back to the Figure 1 , the installation 2 comprises a station 22 for supplying a sheet 24 of the first food material, a system 26 for supplying a roll 28 of the second food material, and a belt 30 for driving the sheet 24 and the roll 28. The installation 20 also comprises a station 32 for winding the sheet 24 around the roll 28 to form a large roll 34, and a belt 36 for storing large rolls 34. The installation 20 finally comprises a station 38 for cutting each large roll 34 into sections 39, a device 40 for driving and separating the sections 39, a system 42 for removing the end sections 39, and a station 44 for packaging the filled foods 10.

[0029] For the description of the supply station 22, the supply system 26, the drive belt 30, the winding station 32, the storage belt 36, the cutting station 38, the drive device 40 and the elimination system 42, the reader is invited to refer to the description of these elements given by the document FR2996988A1.

[0030] In the following, we will focus on the description of the packaging station 44 alone. For this description, the orientation terms are understood in relation to the direct orthogonal reference frame defined below, represented in the Figures, and in which we distinguish: a longitudinal axis X, oriented from upstream to downstream of the installation 20, a transverse axis Y, oriented from right to left of the installation 20, and a vertical axis Z, oriented from bottom to top.

[0031] The packaging station 44 is arranged at the downstream end of the installation 20. It comprises a gripping device 100 according to the invention for gripping food products on the central belts of the drive device 40, and for depositing said food products in trays (not shown).

[0032] In reference to the Figure 3 , the gripping device 100 comprises a gripping head 102 and a robotic arm 104 for moving the gripping head 102. It also comprises a system 106 for blowing pressurized gas, typically pressurized air, into the gripping head 102.

[0033] The insufflation system 106 comprises a system 107 for supplying pressurized gas, typically an air compressor, and a fluid line 108 fluidly connecting the supply system 107 to the gripping head 102.

[0034] The supply system 107 is adapted to supply a gas at a pressure of between 1 bar and 3 bars, for example between 1 bar and 2.5 bars, and preferably substantially equal to 2 bar. The compressed air consumption here is reduced compared to blowing solutions known from the state of the art. This results in a reduction in the number of decibels generated by the installation and a consequent energy saving.

[0035] As visible on the Figure 4 , the gripping head 102 comprises a body 110, a plurality of perforated plates 112 pressed against a lower wall 114 of the body 110, and a system 116 for fixing the plates 112 to the body 110.

[0036] The body 110 has a generally parallelepiped shape. It is elongated in the transverse direction Y.

[0037] The body 110 is typically made of high-density polyethylene (HDPE). The use of this material ensures a long service life for the body 110, as HDPE is highly resistant to cool environments, typically below 8°C, and to aggressive cleaning agents used in the food industry. This prevents the parts from deforming, particularly during cleaning. Furthermore, HDPE is lightweight, notably lighter than stainless steels, which makes it possible to use a relatively low-power, and therefore inexpensive and energy-efficient, robotic arm for the robotic arm 104.

[0038] The perforated plates 112 are juxtaposed with each other in the transverse direction Y, each being elongated in the longitudinal direction X. In the example shown, there are four of them.

[0039] Each 112 perforated plate is made of a food-safe material, typically HDPE. This ensures that the perforated plates do not warp during in-line washing.

[0040] In reference to the Figure 5 , each perforated plate 112 has a large lower face 120, oriented opposite the body 110, a large upper face 122 resting against the body 110, and a peripheral edge 124 forming the junction between the large lower face 120 and the large upper face 122.

[0041] The large lower face 120 has a substantially flat base 126 and a plurality of bosses 128 projecting downwardly, away from the large upper face 122, relative to the base 126.

[0042] The bosses 128 are arranged in a grid of rows and columns; in other words, each boss 128 is aligned in a first direction with at least one other boss 128 in the same column and in a second direction with at least one other boss 128 in the same row. The columns are longitudinal here and the rows are transverse. In the example shown, there are two columns and ten rows.

[0043] Each boss 128 defines a receiving surface 130 for a food product, suitable for receiving a single food product at a time. This receiving surface 130 is convex. In particular, the receiving surface 130 is elongated in the transverse direction Y and has the shape of a portion of a cylinder of revolution oriented transversely and advantageously having, as shown, two opposite parallel edges 132 flush with the base 126.

[0044] The fact that the receiving surface 130 is convex reduces the contact area between this surface 130 and the food product. The phenomena of sticking leading to the destructuring or even unrolling of the food product are thus considerably reduced. In addition, this small contact area prevents the food product from being deformed, and limits the risks of contamination of the food product by the receiving surface 130.

[0045] The edge 124 has two end faces 134, only one of which is visible on the Figure 5 , arranged at the longitudinal ends of the perforated plate 112, and two lateral faces 136, only one of which is visible on the Figure 5 , defining the lateral ends of the perforated plate 112.

[0046] Each end face 134 defines a horizontal slot 138 opening into each of the side faces 136. Furthermore, a notch 139 is provided in each end face 134, substantially in the middle of said end face 134, the notch 139 having a depth greater than the slot 138 and opening into the lower 120 and upper 122 faces.

[0047] The depth of each of the slots 138 and notches 139 is defined as being the distance from the bottom of said slot 138 or notch 139 to the end face 134 in which it is formed.

[0048] Each perforated plate 112 also has a plurality of through holes 140 each opening into the upper face 122 and into the lower face 120, more particularly into one of the receiving surfaces 130.

[0049] For each receiving surface 130, the perforated plate 112 has two through orifices 140 opening into said receiving surface 130. These two through orifices 140 each open through a respective opening 142 provided in the receiving surface 130.

[0050] The openings 142 of these two orifices 140 each have an oblong shape elongated in the transverse direction Y. They are offset transversely relative to each other, in particular so that there is no longitudinal overlap between these openings 142. They are also offset longitudinally relative to each other, this offset being however small, so that there is a transverse overlap between the openings 142.

[0051] In reference to the Figure 6 , the upper face 122 has a base surface 144, substantially planar, and a plurality of depressions 146, each hollow relative to the base surface 144.

[0052] The base surface 144 is in contact with the outer face 150 of the lower wall 114 of the body 110.

[0053] Each depression 146 is arranged in line with a corresponding boss 128, and the orifices 140 which open into this boss 128 open, on the upper face 122 side, into said depression 146. The depressions 146 are thus, like the bosses 128, arranged in a grid of lines and columns.

[0054] In reference to the Figure 7 , the lower wall 114 of the body 110 has an outer face 150, against which the perforated plates 112 bear, and an inner face (not shown). The outer face 150 is substantially flat.

[0055] The lower wall 114 also has a plurality of windows 152, 154. These windows 152, 154 are in particular oblong, their direction of elongation substantially merging with the transverse direction Y. They comprise first windows 152, passing through, opening into the outer face 150 and into the inner face, and second windows 154.

[0056] The first windows 152 are substantially identical to each other, and the second windows 154 are substantially identical to each other.

[0057] The first windows 152, respectively the second windows 154, are arranged according to a grid of rows and columns. In other words, each first window 152, respectively each second window 154, is aligned in a first direction with at least one other first window 152, respectively another second window 154, of the same column, and in a second direction with at least one other first window 152, respectively another second window 154, of the same row. The columns are here longitudinal and the rows are transverse.

[0058] The first and second windows 152, 154 are arranged alternately with each other in the longitudinal direction X. Thus, for each pair of second windows 154 arranged successively in the longitudinal direction X, there is a first window 152 interposed longitudinally between said two second windows 154.

[0059] In particular, each first window 152 has a transverse length greater than twice the transverse length of the second windows 154, and the number of columns of first windows 152 is equal to half the number of columns of second windows 154, the middle of each column of first windows 152 being equidistant from two columns of associated second windows 154. As a result, each first window 152 belonging to a column of first windows 152 is interposed between two second windows 154 belonging to a first column associated with said column of first windows 152, and is also interposed between two second windows 154 belonging to a second column associated with said column of first windows 152.

[0060] Each first window 152 extends opposite at least one associated depression 146 among the depressions 146 formed in the upper faces 122 of the plates 112, and each depression 146 formed in the upper face 122 of one of the plates 112 is associated with one of said first windows 152, that is to say arranged opposite said first window 152. In particular, for each first window 152, the depressions 146 associated with said first window 152 are constituted, as shown, by depressions 146 all belonging to the same plate 112 and aligned along the same transverse line, and all the depressions 146 belonging to the same plate 112 and aligned along the same transverse line are associated with the same first window 152.

[0061] Each through-hole 140 is thus arranged opposite one of said first through-windows 152.

[0062] Each second window 154, with the exception of second end windows 156, i.e. arranged at the longitudinal ends of a column, is arranged astride two associated depressions 146 among the depressions 146 formed in the upper faces 122 of the plates 112, i.e. it extends partly opposite each of said associated depressions 146. These depressions 146 associated with the same second window 154 are juxtaposed with each other in the longitudinal direction X.

[0063] Furthermore, each depression 146 formed in the upper face 122 of one of the plates 112 is associated with two of said second windows 154, that is to say that, for each depression 146, there are two second windows 154 each extending partly opposite said depression 146.

[0064] With respect to the second end windows 156, each extends partially opposite a single associated depression 146.

[0065] In reference to the Figure 8 , the body 110 of the gripping head 102 comprises, in addition to the lower wall 114, a guide system 160 for guiding the gas blown in by the insufflation system 106 to the through orifices 140. This guide system 160 thus forms, with the insufflation system 106, a blowing system capable of blowing gas through each receiving surface 130, and in particular through each through orifice 140.

[0066] This guide system 160 comprises a main distribution channel 162, a plurality of secondary distribution channels 164, and a plurality of blowing nozzles 166. The guide system 160 also comprises a connector 168, visible in the Figure 4 , for the fluid connection of the main distribution channel 162 to the insufflation system 106, in particular to the fluid conduit 108.

[0067] The main channel 162 is constituted by a rectilinear tube closed at its ends. It is oriented transversely, that is to say that its axis is substantially coincident with the transverse direction Y. It extends over substantially the entire transverse width of the head 102 and is arranged substantially equidistant from the longitudinal ends of the head 102.

[0068] Each secondary channel 164 is fluidically connected to the main channel 162.

[0069] Each secondary channel 164 is constituted by a rectilinear tube closed at its ends. It is oriented longitudinally, that is to say that its axis is substantially coincident with the longitudinal direction X, and extends over substantially the entire longitudinal length of the head 102.

[0070] Each secondary channel 164 is capable of supplying pressurized gas to all the second windows 154 of the same column. For this purpose, the number of secondary channels 164 is equal to the number of columns of second windows 154.

[0071] Each nozzle 166 extends from one of the secondary channels 164 and opens into a respective second window 154. In addition, the number of nozzles 166 is equal to the number of second windows 154, so as to ensure the supply of pressurized gas to each second window 154.

[0072] Thus, for each receiving surface 130, two nozzles 166 open near the through-orifices 140 opening into said receiving surface 130, said nozzles 166 longitudinally framing the receiving surface 130. In addition, by opening into a second window 154, each nozzle 166, with the exception of the nozzles 166 opening into the second end windows 156, opens substantially equidistant from the through-orifices 140 opening into a first depression 146 associated with said second window 154, and therefore also into a first receiving surface 130, and from the through-orifices 140 opening into the second depression 146 associated with the second window 154, and therefore also into a second receiving surface 130.

[0073] Each nozzle 166 preferably has a diameter of less than 5 mm. Thus, despite the relatively low pressure provided by the supply system 107, the pressure applied to the through-orifices 140 opening into each receiving surface 130 is sufficient to ensure detachment of the food product received on said receiving surface 130.

[0074] Back to the Figure 4 , the body 110 further comprises ribs 170, 171 for positioning the plates 112. Each rib 170, 171 projects downwards relative to the outer face 150 of the lower wall 114 and is housed in a corresponding notch 139 of one of the plates 112.

[0075] Each rib 170, 171 is in particular elongated in the longitudinal direction X.

[0076] The positioning ribs 170, 171 comprise rear ribs 170, disposed along a rear edge 172 of the wall 114, and front ribs 171, disposed along a front edge 173 of the wall 114. The rear ribs 170 and front ribs 171 are equal in number, each rear rib 170 being substantially longitudinally aligned with a corresponding front rib 171.

[0077] Each positioning rib 170, 171 also has a through opening 169 ( Figure 7 ) opening into the two lateral faces of the rib 170, 171, said through opening 169 being arranged in the extension of the slot 138 formed in the same end face 134 as that in which the notch 139 is formed in which the rib 170, 171 is housed. The through openings 169 formed in the rear ribs 170, respectively front 171, are aligned with each other, so as to form a transverse passage.

[0078] The system 116 for fixing the plates 112 comprises two rods 174, tabs 175 for retaining the rods 174, and hooks 176 for the tabs 175.

[0079] Each rod 174 is rectilinear and is oriented transversely, that is to say that its axis is substantially coincident with the transverse direction Y. Each rod 174 is engaged in the transverse passage defined by the through openings 169 formed in the positioning ribs 170, 171; each rod 174 is, therefore, also engaged in one of the slots 138 of each plate 112, and thus prevents the removal of the plates 112.

[0080] Each tab 175 is integral with a respective rod 174. It comprises, starting from the rod 174, a first U-shaped section 177, a second flat section 178 in an arc of a circle, and a third section 179 projecting relative to the second section 178.

[0081] The hook 176 is formed by a lever closure whose ring engages the third section 179 of the tongue 175 when the lever closure is in the locked position, thus preventing the rod 174 from moving in the transverse direction.

[0082] Thanks to the fixing system 116, it is thus particularly easy to fix the plates 112 to the body 110, as well as to remove them.

[0083] In reference to the Figure 9 , the gripping head 102 also comprises a system 180 for gripping food products. This gripping system 180 comprises needles 182, 184 intended to prick the food products, and a system 186 ( Figure 11 ) for moving the needles 182, 184 between a position for pricking the food products and a position for releasing the food products.

[0084] Each needle 182, 184 is made of a food-safe material, typically stainless steel.

[0085] The needles 182, 184 are even in number, said needles 182, 184 being distributed in pairs each associated with a respective receiving surface 130.

[0086] Each needle of a pair, respectively 182, 184, is secured to an axis of rotation, respectively 188, 190, mounted to rotate about its axis relative to the body 110. Each needle, respectively 182, 184, is thus mounted to rotate about its axis of rotation, respectively 188, 190, between a retracted position, in which it does not pass through the receiving surface 130 with which the pair is associated, and a deployed position, in which the needle 182, 184 passes through said receiving surface 130. In particular, when said needle 182, 184 is in the deployed position, it extends through a respective through-orifice 140 among the through-orifices 140 opening into said receiving surface 130.

[0087] The retracted position constitutes the food product release position, and the extended position constitutes the food product pick-up position.

[0088] These needles 182, 184 and these axes 188, 190 are all mounted inside a common cavity 187 formed inside the body 110 and defined between, on the one hand, the lower wall 114 and, on the other hand, an upper wall 189.

[0089] The axes of rotation 188, 190 of all the needles 182, 184 are longitudinal. Thus, within the same pair, the axes of rotation of the two needles 182, 184 constituting said pair are parallel to each other.

[0090] Each needle, respectively 182, 184, is in the shape of an arc of a circle centered on its axis of rotation, respectively 188, 190. Thus, the penetration and withdrawal of the needle 182, 184 into the food product are done along the same path, which avoids damaging the food product, in particular on the surface.

[0091] Furthermore, each needle 182, 184 has a diameter less than or equal to 2 mm, so as to limit the imprint left by the needle 182, 184 in the food product due to its penetration.

[0092] When deployed, needles 182, 184 of the same pair cross, as seen in the Figure 10 ; in other words, there is a straight line 191 substantially parallel to the axes of rotation 188, 190 of the needles 182, 184 of the same pair such that, when said needles 182, 184 are in the deployed position, this straight line 191 passes through said needles 182, 184. These needles 182, 184 are, on the other hand, uncrossed when they are retracted, as visible on the Figure 9 .

[0093] For this purpose, each pair comprises a first needle 182 and a second needle 184, one of which is symmetrical to the other relative to a longitudinal plane of symmetry (not shown), said needles 182, 184 further having symmetrical movements relative to said longitudinal plane. Thus, the direction of rotation of the first needle 182 from its retracted position to its deployed position is the opposite of the direction of rotation of the second needle 184 from its retracted position to its deployed position, and vice versa.

[0094] In particular, each first needle 182 of each pair is adapted to rotate in a first direction from its retracted position to its extended position, this first direction being the same for all the first needles 182, and each second needle 184 of each pair is adapted to rotate in a second direction from its retracted position to its extended position, this second direction being the same for all the second needles 184.

[0095] In the example shown, each needle 182, 184 is connected to its respective rotation axis 188, 190 by means of a bent rod 189. This bent rod 189 typically has a diameter substantially equal to the diameter of the needle 182, 184 and is preferably made of the same material as the needle 182, 184.

[0096] In reference to the Figure 11 , the movement system 186 comprises a first device 192 for driving the first needles 182, and a second device 194 for driving the second needles 184. The first driving device 192 is symmetrical to the second driving device 194 relative to a vertical axis of symmetry (not shown) substantially centered on the body 110; also, in order to simplify the description, only the second driving device 194 will be described below, the references given also applying to the first driving device 192.

[0097] This second drive device 194 comprises a horizontal arm 200, a plurality of connecting rods 202 each mechanically connecting a respective second rotation axis 190 to the arm 200, and a jack 204 articulated to the body 110 of the head 102 and to the arm 200.

[0098] The arm 200 is elongated along the transverse direction Y. It is adapted to move in translation within a transverse plane.

[0099] Each link 202 is integral with a respective second axis of rotation 190, while being linked to the arm 200 by a pivot connection 206 with a longitudinal axis. The distance from the pivot connection 206 to the respective second axis of rotation 190 is the same for all the links 202. As a result, the arm 200 is forced to maintain a horizontal orientation.

[0100] The cylinder 204 is oriented transversely. It comprises a cylinder 208 and a piston 210. The cylinder 208 is connected to the body 110 by a first pivot connection 212 with a longitudinal axis. The piston 210 is connected to the arm 200 by a second pivot connection 214 with a longitudinal axis.

[0101] Preferably, the pivot links 206, 210, 214 are adapted to tolerate movements other than just rotation about the pivot axis, as long as said other movements are of small amplitude, in order to accommodate manufacturing tolerances.

[0102] The cylinder 204 is preferably, as shown, a pneumatic cylinder. For this purpose, the cylinder 204 has a first compressed air inlet 216, for deploying the piston 210 out of the cylinder 208, and a second compressed air inlet 218, for retracting the piston 210 inside the cylinder 208. Said inlets 216, 218 are fluidically connected to a compressed air supply system (not shown).

[0103] Thus, when the cylinder 204 deploys, this causes the arm 200 to move in the transverse direction Y, in a first direction. Due to its connections 206 with the connecting rods 202, the movement of the arm 200 causes the connecting rods 202 to rotate around the second axes of rotation 190, said connecting rods 202 simultaneously causing said second axes of rotation 190 to rotate around their axes, in the second direction, and therefore the movement of the second needles 184 from their retracted position to their deployed position. The pivot connections 206 of the arm 200 with the connecting rods 202 force the arm 200 to move upwards and then downwards at the same time as it moves in the transverse direction Y; this movement is tolerated by the cylinder 204 thanks to the pivot connections 212, 214.

[0104] When, on the contrary, the cylinder 204 retracts, this causes the arm 200 to move in the transverse direction Y, in a second direction opposite to the first direction. Due to its connections 206 with the connecting rods 202, the movement of the arm 200 causes the rotation of the connecting rods 202 around the second axes of rotation 190, said connecting rods 202 simultaneously causing the rotation of said second axes of rotation 190 around their axes, in the first direction, and therefore the movement of the second needles 184 from their deployed position to their retracted position. Again, the pivot connections 206 of the arm 200 with the connecting rods 202 force the movement of the arm 200 upwards then downwards at the same time as it moves in the transverse direction Y, this movement always being tolerated by the cylinder 204 thanks to the pivot connections 212, 214.

[0105] The first drive device 192 being symmetrical to the second drive device relative to a vertical axis of symmetry, the deployment of its jack 204 causes the rotation of the first rotation axes 198 not in the second direction, but in the first direction, here too allowing the deployment of the first needles 182, and the retraction of said jack 204 causes the rotation of the first rotation axes 198 not in the first direction, but in the second direction, here too allowing the retraction of the first needles 182.

[0106] The gripping head 102 further comprises a cleaning circuit for circulating a cleaning fluid inside the gripping head 102, said cleaning circuit being adapted so that, without dismantling the body 110, the cleaning fluid can circulate in all the cavities inside the body 110 and thus ensure satisfactory cleaning of the body 110.

[0107] This cleaning circuit includes the guide system 160. Indeed, by bringing a cleaning fluid through the connector 168, the cleaning fluid can easily circulate throughout the guide system 160 and exit through the second windows 154, cleaning them at the same time.

[0108] The cleaning circuit also comprises an inlet pipe 220 for supplying cleaning fluid to parts of the body 110 other than just the guide system 160. This pipe 220 opens through an external orifice, not visible in the Figures, to the outside of the body 110, in particular in an upper face 221 of the body 110, and through an internal orifice, not shown, to the inside of the cavity 187; thus, when cleaning fluid is brought through the inlet pipe 220, it spreads into the cavity 187, cleaning the inside of this cavity 187, and in particular the needles 182, 184 arranged inside this cavity 187. The fluid can then be evacuated through the first windows 152, cleaning them in the process.

[0109] Preferably, the cleaning circuit also comprises, as shown, an outlet pipe 222 for discharging the cleaning fluid from said other parts of the body 110. Like the pipe 220, this pipe 222 opens through an external orifice, not visible in the Figures, outside the body 110, in particular in the upper face 221 of the body 110, and through an internal orifice, not shown, inside the cavity 187; thus, any excess cleaning product in the cavity 187 can exit through the outlet pipe 222.

[0110] The cleaning circuit also includes plugs 224 for closing the orifices of the pipes 220, 222 during normal operation of the gripping head 102. These plugs 224 are adapted to be removed when cleaning the gripping head 102.

[0111] A method for producing deformable food products by means of the installation 2 will now be described, with reference to Figures 2 à 11 .

[0112] The method firstly comprises a step of supplying a sheet 24 of the first food material by means of the supply station 22 and a roll 28 of the second food material by means of the supply system 26. This supply step is followed by a step of winding the sheet 24 around the roll 28 by means of the winding station 32, then by a step, carried out by means of the cutting station 38, of cutting the roll 28 and the sheet 24 wound around it into sections 39, including central sections 39 forming the deformable food products. This cutting step is further followed by a step of driving the food products by the driving and separating device 40, then by a step of moving the food products by means of the gripping device 100.

[0113] For the supply, winding, cutting and driving steps, the reader is invited to refer to the description of these steps given in document FR2996988A1.

[0114] During the moving step, the food products are moved from the belts of the drive and separation device 40 into trays (not shown) advantageously having a honeycomb base for packaging. For this purpose, the moving step comprises the following successive sub-steps.

[0115] First, during a first sub-step of moving the head 102, the robotic arm 104 brings the head 102 into the gripping position, so that at least a portion of the receiving surfaces 130 defined by the perforated plates 112 is arranged above the food products carried by the belts of the drive and separation device 40, at a short distance from the latter, for example flush with them. Advantageously, each of said receiving surfaces 130 is arranged above a respective food product after the movement of the head 102 by the arm 104.

[0116] Then, during a gripping sub-step, the cylinder 204 of each of the first and second drive devices 192, 194 is deployed. In doing so, as described above, the first and second needles 182, 184 of each pair are deployed; when the receiving surface 130 with which this pair is associated is arranged above a food product, the needles 182, 184 thus penetrate into said food product and raise this food product towards the receiving surface 130.

[0117] Then, during a second sub-step of moving the head 102, the robotic arm 104 moves the head 102 away from the drive and separation device 40 and takes the head 102 above the food product packaging trays. The food products held by the deployed needles 182, 184 are thus moved simultaneously.

[0118] Finally, during a step of releasing the food products, the cylinder 204 of each of the first and second drive devices 192, 194 is retracted. In doing so, as described above, the first and second needles 182, 184 of each pair retract, thus releasing any food product retained by said needles 182, 184. At the same time, pressurized gas, in particular pressurized air, is blown through the through-orifices 140 by means of the blowing system, so as to detach any food products that may have stuck to their receiving surface 130.Simultaneously, the head 102 performs a rapid horizontal translational movement so as to bring the food products into abutment against the walls of the cells of the packaging trays and thus cause a shearing force at the interface between the food products and their respective receiving surfaces 130 which contributes to the detachment of any stuck food products. The food products thus released, and if necessary detached, are then placed in the trays, where they can be packaged.

[0119] Thus, thanks to the invention described above, it is possible to grasp and move deformable food products with very little damage to the grasped products. Indeed, the method of grasping food products avoids deforming or flattening these products, despite their fragility, and avoids the unrolling of the first food product.

[0120] Furthermore, since the invention does not require suction, it limits the fouling of the gripping device 100 used for this purpose, and therefore the contamination of the food products between them, as well as the number of cleaning operations of the gripping head 102. By doing without suction, the invention also limits the noise level caused by the use of the gripping device 100.

[0121] It is also particularly easy to ensure the maintenance of said gripping device 100, in particular the disassembly and cleaning of the gripping head 102 of this device 100.

[0122] Finally, the invention allows effective gripping of food products even in the event of significant variability of these food products in terms of dimensions, shapes and / or weight, and even when the food products presented for gripping are insufficient in number compared to the gripping capacity of the device 100.

[0123] All these advantages result in a reduction in the number of handling operations required at the end of the line and significant productivity gains.

Claims

1. A gripping device (100) for at least one deformable food product (10), comprising: - at least one perforated plate (112) defining at least one receiving surface (130) for the deformable food product (10), the receiving surface (130) being convex and - for the or each receiving surface (130), a pair of needles (182, 184) associated with said receiving surface (130), each needle (182, 184) of said pair being able to be moved between a retracted position, in which the needle (182, 184) does not pass through the receiving surface (130), and a deployed position, in which the needle (182, 184) passes through the receiving surface (130), the or each perforated plate (112) having, for the or each receiving surface (130) defined by said perforated plate (112), at least two through orifices (140) each emerging in said receiving surface (130), each needle (182, 184) of the pair associated with this receiving surface (130) extending, when it is in the deployed position, through a respective through orifice among said through orifices (140); the gripping device (100) comprises a blowing system able to blow gas through the or each receiving surface (130), the blowing system preferably being able to blow air through said through orifices (140), the blowing system comprising, for each receiving surface (130), at least one blowing nozzle (166) emerging near through orifices (140) emerging in said receiving surface (130), each blowing nozzle (166) preferably having a diameter smaller than 5 mm, the or each reception surface (130) is elongated along a main direction (Y), and the blowing nozzles (166) comprise at least two blowing nozzles framing, along a direction orthogonal to the main direction (Y), the through orifices (140) emerging in said reception direction (130).

2. The gripping device (100) according to claim 1, wherein the blowing system comprises a pressurized gas supply system (107), able to supply a gas at a pressure of between 1 bar and 3 bars, for example between 1 bar and 2.5 bars.

3. The gripping device (100) according to claim 1 or 2, wherein the reception surfaces (130) are a plurality, at least one blowing nozzle (166) being positioned substantially equidistant from a first through orifice (140) emerging in a first of said reception surfaces (130) and a second through orifice (140) emerging in a second of said reception surfaces (130).

4. The gripping device (100) according to any one of the preceding claims, wherein each needle (182, 184) is mounted rotating around a rotation axis (188, 190) relative to the perforated plate (112) between its retracted and deployed positions, each needle (182, 184) further being in the shape of an arc of circle centered on said rotation axis (188, 190).

5. The gripping device (100) according to claim 10, wherein the rotation axes (188, 190) of the two needles (182, 184) of a same pair are substantially parallel to one another, the rotation direction of a first needle (182) of the pair from its retracted position toward its deployed position being opposite the rotation direction of the second needle (184) of the pair from its retracted position to its deployed position.

6. The gripping device (100) according to claim 4 or 5, wherein there is a straight line (191) substantially parallel to the rotation axes (188, 190) of the needles (182, 184) of a same pair such that, when said needles (182, 184) are in the deployed position, this line (191) passes through said needles (188, 190).

7. The gripping device (100) according to any one of the preceding claims, wherein each needle (182, 184) has a diameter smaller than or equal to 5 millimeters, preferably smaller than or equal to 2 millimeters.

8. A facility (2) for producing deformable food products (10) each comprising an outer envelope (12) made from a first food product and an inner filling (14) made from a second food product, the facility (2) comprising: - a station (22) for supplying a sheet (24) of first food material, - a system (26) for supplying a roll (28) of second food material, - a station (32) for wrapping the sheet (24) around the roll (28), - a station (38) for cutting the roll (28) and the sheet (24) wrapped around into a plurality of segments (39) each forming a deformable food product (10), and - a station (44) for packaging deformable food products (10), comprising a gripping device (100) according to any one of the preceding claims for gripping deformable food products (10) and depositing said deformable food products (10) into containers.

9. A method for moving a deformable food product (10) using a gripping device (100) according to any one of claims 1 to 7, characterized in that it comprises the following successive steps: - bringing a receiving surface (130) above the deformable food product (10), - deploying the pair of needles (182, 184) associated with the receiving surface (130), the needles (182, 184) penetrating into the deformable food product (10), - moving the gripping device (100), and - retracting said pair of needles (182, 184).

10. The movement method according to claim 9, wherein the deformable food product (10) comprises an outer envelope (12) made from a first food product and an inner filling (14) made from a second food product.