Method and device for the automated handling of foodstuffs

Abstract

The invention relates to a method for the automated handling of foodstuffs, comprising the following steps: providing a foodstuff on a support, gripping the foodstuff by means of a gripper from two sides, holding the foodstuff by means of the gripper, and depositing the foodstuff in a recess of a receiving structure that is connected to a conveyor system or is stationary, while applying pressure to the foodstuff from above. The application also relates to a device for the automated handling of foodstuffs, comprising: a gripper for lifting, moving and depositing foodstuffs, having a first gripping element and a second gripping element, wherein in a depositing position of the gripper the first gripping element forms a support plane for the foodstuff and the second gripping element forms a hold-down device for the foodstuff; and a receiving structure for receiving the foodstuff during depositing, wherein the receiving structure has a recess for at least partially receiving the foodstuff, and wherein the hold-down device formed by the second gripping element is designed to hold the foodstuff in the recess of the receiving structure when the foodstuff is deposited in the recess.

Description

[0001] Method and device for automated handling of food

[0002] The invention relates to a method and a device for the automated handling of food. Specifically, the invention relates to a method and a device for the automated handling of sandwiches, i.e., at least two layers of bread forming a base and a lid, with toppings arranged between them.

[0003] Methods and devices for the automated production of sandwiches, such as baguette sandwiches, are generally already known. In the automated production of baguette sandwiches, a baguette is usually first cut into two pieces along its longitudinal axis, creating a base and a lid, the cut surfaces of which lie on top of each other. The base and lid are then spatially separated from each other or opened up. In addition, toppings are prepared for the baguette, for example by cutting sausage and / or cheese into individual slices and grouping the slices into portions. A portion can be made up of one or more slices. This topping is then placed on one of the cut surfaces of the baguette, for example on the cut surface of the base. In addition, other toppings, such as a sauce or salad, can be applied to the baguette.The other part of the baguette, usually the lid, is then placed on top of the topping. This creates a baguette sandwich, i.e. a baguette with a base and a lid with the topping sandwiched between. This baguette sandwich is then packaged mechanically. On production lines for the automated manufacture of baguette sandwiches, it may be necessary to lift a finished baguette sandwich using a gripper and transfer it, for example, to a conveyor system or a stationary buffer location. Dispensing baguette sandwiches using a gripper is prone to errors due to the instability of the product and fluctuations in the outer contour of the bread. For example, the baguette sandwich may partially or completely fall over to the side when the gripper releases the baguette sandwich.In addition, the upper half of the bread can shift on the topping during delivery, as the topping often contains sauces and therefore only small transverse forces are sufficient to shift the upper half of the bread relative to the lower half of the bread during delivery.

[0004] One object underlying the invention is therefore to provide a method for the automated handling of foodstuffs, by means of which the error rate during the dispensing of the foodstuff by a gripper is minimized. Another object underlying the invention is to provide a device for the automated handling of foodstuffs, by means of which the error rate during the dispensing of a foodstuff by a gripper is minimized. By reducing the error rate during the dispensing of a foodstuff by a gripper, waste in the production line can be avoided, thus saving food.

[0005] The object is achieved by a method having the method steps of claim 1 and in particular in that the gripper places the food item, in particular the sandwich, on a receptacle, in particular in a recess, of a receiving structure connected to a conveyor device or on a receptacle, in particular in a recess, of a stationary receiving structure and the food item is acted upon from above. The gripper preferably acts upon the food item from above when placing it. The invention is based on the finding that the probability of a filled baguette sandwich being damaged is reduced if the baguette sandwich is placed by the gripper and thus not thrown off. In other words, the baguette sandwich is only released from the gripper when one side of the baguette sandwich is resting on the receiving structure.

[0006] Furthermore, we found that the probability of a filled baguette sandwich partially or completely falling over when placed on a section of the production line can be significantly reduced if the baguette sandwich is placed in a recess. The recess is preferably adapted to the shape of the food or baguette sandwich, thereby centering the food.

[0007] In addition, it was found that the probability of an upper half of the bread slipping relative to a lower half of the bread when placing a baguette sandwich can be reduced if the baguette sandwich is loaded from above while the gripper places the baguette sandwich on the holder, in particular into the recess.

[0008] Overall, the three measures - namely that the baguette sandwich is placed down and not thrown away, that the baguette sandwich is placed on the holder, in particular in a recess, and that the baguette sandwich is loaded from above during placement - significantly reduce the probability that the baguette sandwich will be damaged during dispensing and thus generate rejects and process disruptions as well as manual interventions, for example for correction, removal, inspection and cleaning work.

[0009] Advantageous embodiments of the invention can be found in the dependent claims, the description, and the drawings. In general, the food product, in particular the baguette sandwich, can be placed on the receptacle of a receptacle structure. Such a receptacle can be designed, for example, as a flat surface. However, as already described, it is advantageous if the food product is placed in a recess, as this prevents the food product from slipping.

[0010] To securely grip the food item, especially the baguette sandwich, it is advantageous if the gripper grips the food item from at least two sides, i.e., applies a force from two sides. Preferably, gripping the food item by means of the gripper involves applying force to the food item from two opposite directions. This allows the food item to be secured in the gripper. Preferably, the gripper applies force to the food item held by the gripper in such a way that only minimal transverse forces are exerted on the food item.

[0011] The food, especially the sandwich, can be held particularly securely by the gripper if the gripping of the food by means of the gripper includes applying pressure to the food from below and from above.

[0012] Preferably, the placement of the food item by means of the gripper also includes applying force to the food item from below and from above. In other words, the food item is preferably subjected to a force from below and above until the food item is deposited in the recess of the receiving structure.

[0013] The method preferably comprises opening the gripper after the food item has been placed down.

[0014] Opening the gripper preferably comprises moving away at least one lower gripping element - when opening during operation - which may also include releasing the food item laterally. Meanwhile, at least one upper gripping element - when opening during operation - can press the food item against the receiving structure with a holding-down force and thus act on the food item from above or diagonally above. The at least one lower gripping element and / or the at least one upper gripping element can preferably define gripper fingers. The at least one upper gripping element preferably presses the food item arranged on the receptacle, in particular in the recess, against the receiving structure before the at least one lower gripping element is moved away.Preferably, the at least one upper gripping element presses the food against the receiving structure until the at least one lower gripping element is completely moved away and thus no longer applies a force to the food from below.

[0015] Opening the gripper preferably involves pivoting or deforming the at least one lower gripping element, for example, the lower gripper fingers, downward. This results in fewer transverse forces acting on the food item. Alternatively, the at least one lower gripping element can be moved laterally to open the gripper after it has been placed down, thus releasing the food item downward. Symmetry with the central axis, i.e., the longitudinal axis, of the food item is sought for all movements.

[0016] According to an easy-to-implement embodiment, placing the food item on the receptacle, in particular in the recess, of the receptacle structure comprises the at least one gripping element engaging in a corresponding recess or a corresponding free space on the receptacle structure, relative to a desired placement position. In other words, at least one free space for the gripper is provided in or on the receptacle structure, which makes it possible to place the food item in the recess of the receptacle structure without the gripper colliding with the receptacle structure. It is understood that the shape of the recess or the free space depends on the shape of the gripper and, in particular, on the shape of the at least one gripping element that is lower during placement. The gripping element that is lower during placement preferably has a plurality of gripper fingers.In this case, the receiving structure can have several gripper finger recesses or gripper finger spaces corresponding to the gripper fingers, so that each gripper finger can engage a corresponding gripper finger recess or gripper finger space, while the food item located in the gripper is deposited into the depression of the receiving structure. The dimensions of the recesses and spaces are preferably selected so that the gripper has sufficient freedom of movement in the longitudinal direction to correct the deposit position. This is necessary, for example, if the food item was gripped slightly displaced in the longitudinal direction and a correction of the position needs to be made during deposit.

[0017] The process is particularly suitable for the automated handling of sandwiches, i.e., two layers of bread with a topping sandwiched between them. The process is particularly suitable for the automated handling of baguette sandwiches, i.e., elongated sandwiches where the bread can be called a baguette. However, the process can be applied to any type of food that is to be dispensed by a gripper during its production or processing.

[0018] According to one embodiment, the method comprises rotating the food item held by the gripper about an axis of the food item. If the food item defines a longitudinal axis, the method can comprise rotating the food item held by the gripper about a longitudinal axis of the food item. The rotation of the food item is preferably carried out after the food item has been gripped by the gripper, but before the food item is placed down or released. The gripper is preferably designed to rotate the food item located in the gripper about an axis. For this purpose, one part of the gripper is preferably rotated about an axis relative to another part of the gripper.

[0019] In order to save time when handling the food, the food can be rotated while the gripper is moving from a gripping position to a dispensing position, i.e. on the travel path.

[0020] In the case of baguette sandwiches, the manufacturer of the baguette sandwiches generally wishes that each baguette sandwich can be placed in its packaging, for example a thermoformed packaging, with the lid facing down. If the baguette sandwich is provided with the bottom facing down for handling reasons, as is usual, the baguette sandwich must be turned over before packaging. It is therefore advantageous under certain circumstances if, when the food is provided on the support, the food rests on the support with a first side of the food and a second side of the food is arranged facing away from the support, and when the food is placed on the receptacle, in particular in the recess, of the receiving structure, the food is placed with the second side on the receiving structure and the first side of the food is arranged facing away from the receiving structure.In the specific application for the automated handling of baguette sandwiches, when the baguette sandwich is provided on the support, the baguette sandwich can rest with its base on the support and the lid can be arranged facing away from the support. When the baguette sandwich is placed on the receptacle, in particular in the recess of the receptacle structure, the baguette sandwich can be placed with the lid facing down on the receptacle structure and the base of the baguette sandwich can be arranged facing away from the receptacle structure. According to one embodiment, the food item is separated into at least two sections while being held by the gripper. Preferably, the food item is cut into two pieces using a cutting device, for example a knife. The cutting device can be coupled to the gripper in order to move translationally with the gripper.However, the gripper can be rotated relative to the cutting device to cause a relative movement between the food and the cutting device.

[0021] The object is also achieved by a device according to the independent device claim. The device is designed to handle foodstuffs in an automated manner. Preferably, the device is designed and configured to handle foodstuffs fully automatically. In other words, the device preferably operates without a person having to control the device during normal operation or otherwise operate the device during normal operation. The device comprises a gripper for lifting, moving, and depositing foodstuffs. The gripper has at least one first gripping element. The first gripping element can have a plurality of first gripper fingers. In addition, the gripper has at least one second gripping element. The second gripping element can have a plurality of second gripper fingers. Gripper fingers are spaced-apart sections which extend in a main direction.When the gripper is in a depositing position, the first gripping element forms a support plane for the food product. In contrast, the second gripping element forms a hold-down device for the food product. In the depositing position, the food product is thus acted upon from below by the first gripping element and from above by the second gripping element. The device further comprises a receiving structure for receiving the food product when it is deposited. The receiving structure preferably forms a recess for at least partially receiving the food product. The hold-down device formed by the second gripping element is designed to hold the food product on the receptacle, in particular in the recess, of the receiving structure when the food product is deposited on the receptacle, in particular in the recess.

[0022] The invention is based on the idea that the transfer of a food item from a gripper to another transport or storage unit in a production line becomes less prone to errors if the gripper deposits the food item instead of dropping the food item, if the device comprises a receiving structure with a receptacle onto which the food item is deposited, in particular with a recess into which the food item is deposited, and if the gripper applies a force to the food item from above while the food item is placed onto the receptacle, in particular into the recess.

[0023] The device and in particular the receiving structure can therefore be part of a production line. For example, the receiving structure can be connected to a conveyor device in order to be able to transport the food item lying on the holder, in particular lying in the recess of the receiving structure, towards a packaging machine. The receiving structure is preferably firmly connected to the conveyor device. Alternatively, the receiving structure can be firmly connected to a machine frame of the production line and serve, for example, as a buffer, i.e. for the temporary storage of food items. The gripper or another gripper can be provided to lift the food item out of the receiving structure again.

[0024] For example, the conveyor device can be designed as a conveyor belt. The conveyor belt is preferably designed as an endless conveyor belt. Alternatively, the conveyor device can be designed as a shuttle system comprising at least one shuttle that can be moved, in particular, along a track or rail. The conveyor device can also be designed as a planar motor drive system. Such a planar motor drive system is marketed, for example, by Beckhoff Automation under the brand name XPianar®.

[0025] In order to be able to transport several food items, e.g., sandwiches, simultaneously, a plurality of, in particular similar, receiving structures are preferably provided. The plurality of receiving structures can be moved together or separately from one another by means of the conveyor device. The receiving structures can be designed to be brought one after the other into the effective range of the gripper in order to place food items one after the other onto the receptacle, in particular into the recesses, of the respective receiving structures by means of the gripper.

[0026] If the conveying device is designed as a conveyor belt, a plurality of receiving structures can be arranged on the conveyor belt at a distance from one another in the direction of movement and connected to the conveyor belt. If the conveying device is designed as a shuttle system, one of the receiving structures can be arranged on each shuttle. According to one embodiment, a receiving structure with exactly one receptacle, in particular exactly one recess, for a food item, in particular a sandwich, can be arranged on each shuttle. If the conveying device is designed as a planar motor drive system, the planar motor drive system can have a plurality of movers, and a receiving structure, in particular with a recess, can be arranged on each mover of the planar motor drive system.

[0027] According to one embodiment, the receptacle, in particular the recess, has a main direction of extension. This is particularly advantageous when the food item also has a main direction of extension, as is the case with baguette sandwiches, for example. The main direction of extension of the receptacle, in particular the recess, is preferably arranged in the effective area of ​​the gripper transversely, in particular perpendicularly, to a conveying direction of the conveyor device. Alternatively, the main direction of extension of the receptacle, in particular the recess, can be arranged in the effective area of ​​the gripper in the conveying direction of the conveyor device.

[0028] To further minimize the error rate when placing the food item in the receptacle, in particular the recess, and to prevent the food item from falling over on the receptacle, in particular in the recess, friction-increasing structures can be provided on the receptacle, in particular in the recess, i.e., on the structures of the receptacle structure that define the recess. According to an easy-to-manufacture embodiment, the friction-increasing structures can comprise edges of stepped structures.

[0029] According to a further embodiment, the receiving structure can have holding structures that define the recess. The holding structures can be rigid or elastically deformable, flexible, or pivotable to a limited extent. If the holding structures are mounted so as to be elastically deformable, flexible, or pivotable to a limited extent, they can yield when the food item is placed in the recess and thus adapt better to the shape of the food item. The holding structures preferably define a section adapted to the shape of the food item, for example, an arcuate section for a baguette sandwich. Holding means can be arranged in end regions of the section adapted to the shape of the food item, for example an arcuate section, which extends in the direction of the food item lying in the recess. The holding means can define a convex contact surface for the food item.

[0030] So that the gripper can put down the food item without colliding with the receiving structure, the receiving structure can have at least one recess corresponding to the first gripping element or form a free space corresponding to the first gripping element. If the gripping element has a plurality of gripper fingers, the receiving structure can have a plurality of gripper finger recesses corresponding to the first gripper fingers, i.e. to the gripper fingers which form a support plane for the food item when it is put down, or can form gripper finger free spaces. The at least one recess or the at least one free space can extend from above or diagonally above into the receiving structure. The at least one recess or the at least one free space can interrupt surfaces defining the receptacle, in particular the depression.The at least one recess or the at least one free space is preferably designed such that it enables the gripper to be inserted into the receiving structure from above, i.e. vertically from above or diagonally from above, in order to place the food item on the receptacle, in particular in the depression. Depending on requirements, the at least one recess or the at least one free space and the gripper can be designed such that the at least one second, i.e. upper, gripping element can also engage or dip into the at least one recess or the at least one free space. As a result, the receiving structure can be designed such that the entire food item, i.e. including its uppermost layer, can be supported, in particular laterally, by the receiving structure.

[0031] In order to hold the food securely in the gripper, it is advantageous if the gripper has at least two first gripping elements which together form the support plane for the food when the gripper is in the depositing position. In order to hold the food securely on the receptacle, in particular in the recess, at least two second gripping elements can be formed on the gripper, which together form the hold-down device for the food when the gripper is in the depositing position. A first gripping element and a second gripping element can each form a pair of gripping elements. The pairs of gripping elements can be movable towards one another in order to push a part or section of the first or second gripping elements under the food lying on a support and thus grip underneath the food.Alternatively or additionally, the first gripping element and the second gripping element of each pair of gripping elements can be movable relative to one another in order to clamp the food between the gripping elements, in particular gripper fingers.

[0032] The movement of the gripping elements relative to one another and / or the movement of the pairs of gripping elements relative to one another can be controlled or regulated in different ways. According to one embodiment, the movement of the gripping elements relative to one another and / or the movement of the pairs of gripping elements relative to one another can be controlled such that the gripping elements are brought into specific, i.e. predefined, positions relative to one another for opening and / or closing the gripper. For example, the gripping elements can be moved towards one another up to a predefined minimum distance for closing the gripper. Such a control has the advantage that it is relatively easy to implement. According to a further embodiment, the movement of the gripping elements relative to one another and / or the movement of the pairs of gripping elements relative to one another for gripping the food item can be controlled such that the gripping elements move up to a measured value that corresponds to a threshold value.Preferably, the movement of the gripping elements relative to one another and / or the movement of the pairs of gripping elements relative to one another for gripping the food item is controlled in a force-dependent manner. In other words, the gripper can be programmed so that the gripping elements move toward one another to grip the food item until a predefined force is applied to the food item. Such a force-controlled gripper has the advantage that the food item can be gripped gently.

[0033] According to one embodiment, the gripper is programmed such that the at least one lower gripping element, which forms the support surface for the food item during placement, is moved to a predefined position, preferably relative to the receiving structure or a fixed point, for depositing the food item. This allows the position of the underside of the food item to be easily determined during placement.

[0034] Preferably, the robot knows the dimensions and / or position of the lower gripping element during placement. This allows the robot to easily avoid a collision with the receiving structure. Alternatively, a safety buffer would have to be provided in the receiving structure to prevent a collision with the receiving structure.

[0035] A first gripping element of a first pair of gripping elements can be movable independently of a first gripping element of a second pair of gripping elements. This allows differences in the size of the food to be compensated for when clamping the food, thus holding the food securely without damaging it due to overloading. Such independent mobility of the first gripping elements can be easily achieved if the first gripping elements are pneumatically driven.

[0036] According to one embodiment, a clamping direction of the gripping elements, in particular gripper fingers, for clamping the food between the gripping elements is oriented transversely to a direction of movement of the pairs of gripping elements for gripping underneath the food lying on the support. Preferably, the effective clamping direction of all first gripping elements is oriented perpendicular to the direction of movement for gripping underneath the food. Furthermore, the effective clamping direction of all second gripping elements can also be oriented perpendicular to the direction of movement for gripping underneath the food. The effective clamping direction is understood to be the sum of the vectors of the individual clamping forces of all first or second gripping elements.

[0037] In order for the gripper to be able to release the deposited food item in a safe manner, it is advantageous if the at least one first gripping element forming the support plane in the deposit position of the gripper is mounted on a base element so as to be pivotable and / or linearly displaceable. If a plurality of first gripping elements are provided, it is advantageous if all of the first gripping elements forming the support plane in the deposit position of the gripper are mounted on a respective base element so as to be pivotable and / or linearly displaceable. Alternatively or additionally, the at least one first gripping element forming the support plane in the deposit position of the gripper can be actively changed in terms of its shape, i.e. deformable. If a plurality of first gripping elements are provided, it is advantageous if all of the first gripping elements forming the support plane in the deposit position of the gripper can be actively changed in terms of their shape.An example of a gripping element that can be changed in terms of its shape is the SoftGripper from SoftGripping GmbH.

[0038] According to an easy-to-manufacture embodiment, the at least one second gripping element forming the hold-down device in the gripper's deposit position is firmly connected to a base element. If multiple second gripping elements are provided, it is advantageous if all second gripping elements forming the hold-down device are firmly connected to a respective base element.

[0039] To be able to turn the food item over using the gripper, it is advantageous if the gripper has a base element on which the first and second gripping elements are arranged, and the base element is mounted so that it can rotate or pivot at least 180° relative to a gripper suspension about an axis that is horizontal during operation. In other words, it is advantageous if the base element is adjustable relative to a gripper suspension so that the food item can be turned to its opposite side.

[0040] A pneumatic and / or electric drive can be provided to drive the gripper. For example, a clamping movement of the gripping elements relative to one another can be realized by means of a pneumatic and / or electric drive. Alternatively or additionally, a movement of the pairs of gripping elements relative to one another for gripping underneath the food item can be realized by means of a pneumatic and / or electric drive. According to one embodiment, the clamping movement and the movement of the pairs relative to one another are driven by the same drive type.

[0041] The device may comprise a cutting device. The cutting device may be configured to cut the food item into two pieces while it is held by the gripper. According to one embodiment, the cutting device comprises a knife. The knife may be movably, in particular pivotably, attached to the gripper suspension.

[0042] According to one embodiment, the device has a plurality of gripping sections. The gripping sections can be used to handle a plurality of food items, for example two separate sections of a sandwich, together in the gripper, e.g. to hold and move them together by the gripper. Each gripping section can be designed to hold one of the sections of the food item or one of the food items. The gripping sections can be controlled independently of one another, for example to place a first food item or a first section of the food item in a first receiving structure and to place a second food item or a second section of the food item in a second receiving structure, optionally with a different positioning of the gripper. According to one embodiment, the device can have a sensor system for determining a closing force of the gripper, iea force applied by the gripper while holding the food. Using this sensor technology, conclusions can be drawn about the dimensions of the food, for example.

[0043] To further increase process reliability, sensors can be installed to detect the presence and / or correct position of the food in the gripper. For example, the sensors can include one or more cameras and / or one or more pressure sensors. Such sensors make it possible to detect potential errors early on, thus minimizing system downtime.

[0044] In order, for example, to space separated sections of the food product apart from one another in the longitudinal direction, the gripping sections, i.e. the respective gripping elements forming the gripping sections, can be movable away from one another. For this purpose, at least one drive can be provided in order to move the gripping sections relative to one another in the longitudinal direction, i.e. perpendicular to the cutting plane of the cutting device. A distance by which the gripping sections can be moved relative to one another in the longitudinal direction is preferably adjustable. Such relative adjustability of the gripping sections to one another is advantageous, for example, when sandwich halves are not intended to lie in a common recess in a package and therefore need to be spaced apart from one another after being cut apart.

[0045] The device preferably has evaluation means for evaluating the motor current of at least one electric drive motor of the device. If the cutting device has an electric cutting drive, conclusions can be drawn about the cutting forces of the cutting device by measuring the motor current of the cutting drive. The cutting forces can, in turn, be used to draw conclusions about the product consistency of the respective food or the sharpness of the knife. Alternatively, it would also be conceivable to draw conclusions about the product consistency of the respective food or the sharpness of the knife by measuring the motor current of the gripper's drive motor.Especially if the knife is provided separately from the gripper, conclusions can be drawn about the product consistency of the respective food or the sharpness of the knife by measuring the increased motor current of the gripper's drive motor while the food held by the gripper is moved through the knife.

[0046] Preferably, means are provided for regularly checking the weight of the gripper, preferably during an empty run. For example, these means can comprise means for evaluating the motor current of at least one drive motor of the gripper arms or the gripper arm. By measuring the motor current, it can be determined, for example, whether the gripper is lighter or heavier than desired. If the gripper is lighter than desired, this may indicate that the gripper is incomplete and therefore parts of the gripper are missing, for example, because parts have fallen off due to a collision or were forgotten to be installed.

[0047] The method described above or below can be carried out using a device having one or more of the features mentioned above or below. Likewise, the device described above or below can be configured to carry out one or more of the method steps mentioned above or below.

[0048] The invention is described below using purely exemplary embodiments with reference to the accompanying drawings. Figure 1A shows a device for the automated handling of foodstuffs with a gripper;

[0049] Fig. 1 B is a perspective detailed view of the gripper of the device of Fig. 1 A from a first viewing direction;

[0050] Fig. 2A is a perspective detailed view of the gripper of the device of Fig. 1A from a second viewing direction in a state approaching a support;

[0051] Fig. 2B is a perspective detailed view of the gripper of the device of Fig. 1A from the second viewing direction in a state gripping under a food product;

[0052] Fig. 3A is a second perspective detailed view of the gripper of the device of Fig. 1A from the second viewing direction in a state gripping the foodstuff from underneath and acting on it from above;

[0053] Fig. 3B shows the gripper of the device of Fig. 1A in the raised state, with a cutting device pivoted into the food held by the gripper;

[0054] Fig. 4A shows the gripper of the device of Fig. 1 A in the raised state, with the cutting device pivoted further into the food held by the gripper;

[0055] Fig. 4B shows the gripper of the device of Fig. 1A in the raised state, wherein the food held in the gripper is rotated about an axis of rotation arranged perpendicular to a cutting plane of the cutting device;

[0056] Fig. 5A shows the gripper of the device of Fig. 1A in a raised state at a stage in which the food held in the gripper is cut into two completely separate sections; Fig. 5B shows the gripper of the device of Fig. 1A with the first gripping elements fully opened, the food being deposited, but the receiving structure not shown;

[0057] Fig. 6A shows the gripper of the device of Fig. 1 A with the first gripping elements fully opened and food placed in the receiving structure;

[0058] Fig. 6B is a detailed view of one half of the receiving structure of Fig. 6A;

[0059] Fig. 6C is a detailed view of a receiving structure according to another

[0060] embodiment; and

[0061] Fig. 7A the gripper of the device of Fig. 1 A in raised state;

[0062] Fig. 7B shows the gripper of the device of Fig. 1A in a raised state and rotated by 180° compared to the representation of Fig. 7A;

[0063] Fig. 8A is a perspective view of the gripper of the device of Fig. 1A during placement;

[0064] Fig. 8B is a perspective side view of the gripper of the device of Fig. 1A during placement;

[0065] Fig. 9A shows the gripper of the device of Fig. 1A with the first gripping elements fully opened and the food product deposited in the receiving structure, the receiving structure being attached to a conveyor device;

[0066] Fig. 9B shows the gripper of the device of Fig. 1A with the first gripping elements fully opened and the food product deposited in the receiving structure, the receiving structure being attached to a machine frame;

[0067] Fig. 10A shows a gripper of a device for the automated handling of food according to a second embodiment;

[0068] Fig. 10B shows the gripper of Fig. 10A in a disassembled state;

[0069] Fig. 11 A shows a gripper of a device for the automated handling of food according to a third embodiment; and Fig. 11 B shows the gripper of Fig. 11 A in a disassembled state.

[0070] Fig. 1A shows a device 10 for the automated handling of food 12 in the form of baguette sandwiches. The baguette sandwiches 12 are produced automatically and then placed on a support 14 formed by a conveyor unit 15. The baguette sandwich 12 rests with its base 12a on the support 14, a topping 12b is arranged on the base 12a, and a lid 12c of the baguette sandwich 12 is arranged on the topping 12b. The device 10 comprises a gripper 16 and gripper arms 24 that support the gripper 16 and are designed to lift the gripper 16, move the gripper 16 translationally in space, and lower the gripper 16 again at another location. In the present example, the gripper 16 and the gripper arms 24 are part of a delta robot for pick-and-place applications. However, it would also be conceivable in principle to provide a different type of robot arm.

[0071] The gripper 16 defines two gripping sections 36, 38 (see Fig. 1B). A cutting gap 28 is formed between the gripping sections 36, 38. The cutting gap 28 extends in a substantially vertical direction during operation. A width of the cutting gap 28 is defined by a distance between the first gripping section 36 and the second gripping section 38. The gripping sections 36 and 38 are designed - as can be seen, for example, in Fig. 1B - to jointly hold a baguette sandwich 12 such that the baguette sandwich 12 protrudes through the cutting gap 28. A cutting device 18 in the form of a knife is attached to the gripper 16. In the present embodiment, the knife has an elongated blade 18a. The cutting device 18, more precisely the blade 18a, is mounted on a holder 19 for the cutting device 18 so as to be pivotable about a pivot axis S (see Fig. 2A).The holder 19 is in turn fixedly connected to a gripper suspension 48. The cutting device 18 can be actively pivoted relative to the holder 29 and the gripper suspension 48 via a pivot drive 50. In the embodiment shown, the pivot drive 50 comprises a pneumatic cylinder, which is connected to the cutting device 18 at a coupling point spaced from the pivot axis S. This converts a linear movement of the pneumatic cylinder into a pivoting movement of the cutting device 18. The cutting device 18 is mounted between the two gripping sections 36, 38 so as to be movable along the cutting gap 28 in order to divide the baguette sandwich 12 into two sections in an area exposed between the gripping sections 36, 38.

[0072] In the following, with reference to Figs. 2A to 6C, it will be discussed in detail how the baguette sandwich 12 is gripped, cut and placed into a receiving structure 30 by means of the device 10.

[0073] Initially, the baguette sandwich 12 rests on the support 14. The support 14 should be as flat as possible so that the gripper 16 can easily grip the baguette sandwich 12 underneath. The gripper 16 is then moved over the baguette sandwich 12 by means of the gripper arms 24 and lowered until the gripper 16, with its lower gripper fingers 23 (see Fig. 2A), is minimally spaced from the support 14. In this position of the gripper 16, two pairs of gripping elements 20a, 22a, 20b, 22b, namely one pair per gripping section 36, 38, are arranged next to one long side of the baguette sandwich 12, and two further pairs 20c, 22c, 20d, 22d, also one pair per gripping section 36, 38, are arranged on the other long side of the baguette sandwich 12. It is understood that only one pair of gripping elements 20, 22 or one pair of gripping elements per side of the baguette sandwich 12 could be provided.Each of the pairs of gripping elements 20, 22 has a first gripping element 20a-20d, which is movably arranged, pivotably in the present embodiment, on the respective base element 40a-40d. Each of the pairs of gripping elements 20, 22 also has a second gripping element 22a-22d, which is fixedly connected, i.e., essentially immovably relative to its base element 40, to a respective base element 40a-40d. Thus, each of the four base elements 40a-40d is provided with a fixed gripping element 22a-22d and a gripping element 20a-20d that is movable relative to the fixed gripping element 22a-22d. The gripper suspension 48 extends laterally upward and over a space formed by the gripper 16 for receiving the baguette sandwich 12. Each of the base elements 40a-40d is coupled to the gripper suspension 48. The gripper suspension 48 is connected to the robot arms 24. The robot arms 24 are connected to a stationary base 26.

[0074] In order to grip the baguette sandwich 12 from underneath, the pairs of gripping elements 20c, 22c and 20d, 22d are moved in the direction of movement 44 towards the respective opposite pairs of gripping elements 20b, 22b and 20a, 22a (see Fig. 2A) until the gripping elements 22a-22d, which are firmly connected to the respective base element 40a-40d, have gripped the baguette sandwich 12 from underneath, i.e., have slid under the baguette sandwich 12. In order to be able to move the pairs of gripping elements 20c, 22c and 20d, 22d relative to the opposite pairs of gripping elements 20b, 22b and 20a, 22a, the base elements 40c and 40d are pneumatically adjustable relative to the base elements 40b and 40a. The pairs of gripping elements 20c, 22c and 20d, 22d are movable independently of one another relative to the opposite pairs of gripping elements 20b, 22b and 20a, 22a.In addition, the base elements 40c and 40d are each arranged on the base elements 40b and 40a in a linearly guided manner by means of a linear guide 54a, 54b. In other words, the base element 40c is linearly movable toward the base element 40b, and the base element 40d is linearly movable toward the base element 40a. As can be seen in Fig. 2A, for example, the base elements 40a and 40b are directly coupled to the gripper suspension 48, and the base elements 40c and 40d are each coupled to the gripper suspension 48 via the base elements 40a and 40b.

[0075] Once the gripper 16 has gripped the baguette sandwich 12 from under, the next step involves moving the upper gripping elements 20a-d against the baguette sandwich 12 during gripping in order to press the baguette sandwich 12 against the gripping elements 22a-22d, i.e., the gripping elements that form a support surface for the baguette sandwich 12 when the baguette sandwich 12 is gripped. For this purpose, the gripping elements 20a-20d are pivoted in the clamping direction 42 (see Fig. 3A) against the baguette sandwich 12. In doing so, the gripping elements 20a and 20b are pivoted counterclockwise from the direction of view in Fig. 3A, and the gripping elements 20c and 20d are pivoted clockwise. The gripping elements 20a-20d are arranged to be movable independently of one another on the respective base element 40a-40d in order to be able to compensate for irregularities in the thickness of the baguette sandwich 12 along its longitudinal direction.The movement of the gripping elements 20a-20d in the clamping direction 42 is effected pneumatically. The baguette sandwich 12 is thus subjected to a clamping force by four pairs of gripping elements 20, 22. This securely holds the baguette sandwich 12 in the gripper 16.

[0076] The gripper 16 and the gripper suspension 48 holding the gripper 16 can then be raised by means of the gripper arms 24. The cutting process now begins. First, the cutting device 18 is pivoted from a rest position (see Fig. 3A) into a cutting position (see Figs. 3B and 4A) by means of the pivot drive 50. The blade 18a moves along the cutting gap 28 until the blade 18a cuts into the baguette sandwich 12. The blade 18a is then moved further into the baguette sandwich 12 by the pivot drive 50 until the blade 18a reaches a central axis of the baguette sandwich 12. The baguette sandwich 12 is then rotated about its longitudinal axis while held by the gripper 16.

[0077] For this purpose, the device 10 comprises a rotary drive 56 which is designed to rotate the base elements 40a-40d, the gripping elements 20a-20d and 22a-22d coupled to the base elements, and the baguette sandwich 12 held therein relative to the gripper suspension 48 about a rotation axis D (see Fig. 4B). For this purpose, the rotary drive 56 comprises a separate drive train for each gripping section 36, 38, i.e., for each pair of gripping elements 20, 22. In the present embodiment, a torque is transmitted via a first belt 58 (see Fig. 5A) to a first shaft 62 which is fixedly connected to the base element 40a, and a torque is transmitted via a second belt 60 to a second shaft 64 which is fixedly connected to the base element 40d. The rotary drive 56 is designed to rotate the baguette sandwich 12 held by the gripper 16 at least 360° around its longitudinal axis.By rotating the baguette sandwich 12, the baguette sandwich 12 is moved relative to the blade 18a, thereby completely dividing the baguette sandwich 12 into two halves. In the present embodiment, the baguette sandwich 12 is rotated by 540°, so that when placed down (see Fig. 5B), the baguette sandwich 12 can be placed down with the lid 12c facing down.

[0078] As can be seen by comparing Figs. 5A and 5B, in order to deposit the two halves of the baguette sandwich 12, the gripping elements 20a-20d are moved from a clamping position (Fig. 5A) to a release position (Fig. 5B). For this purpose, the gripping elements 20a-20d, which form a support surface during depositing, are pivoted relative to the respective base element 40a-40d so that they release the baguette sandwich 12 downwards. During depositing, the base elements 40 are arranged in the state moved towards one another so that the two halves of the baguette sandwich 12 are released solely due to the movement of the gripping elements 20a-20d. This also ensures that the second gripping elements 22 apply a force to the baguette sandwich 12 from above while the baguette sandwich 12 is being deposited.

[0079] Process-reliable handling is ensured when the baguette sandwich 12 is placed in a receiving structure 30, as shown in Fig. 6A. For this purpose, the receiving structure 30 is designed such that the gripper 16 can place the baguette sandwich 12 in a recess 32 of the receiving structure 30 without colliding with the receiving structure 30. When the baguette sandwich 12 is placed in the recess 32 of the receiving structure 30, i.e. when the weight of the baguette sandwich 12 is essentially completely borne by the holding structures 68 defining the recess 32, the gripping elements 20a-20d forming the support surface during placement can be pivoted relative to the respective base element 40a-40d. In order to enable such a movement of the gripping elements 20a-20d without collision with the receiving structure 30, recesses 66 extending perpendicular to a main extension direction 74 of the recess 32 are formed in the receiving structure 30.This allows the gripping elements 20a-20d to be pivoted downward without colliding with the receiving structure 30. This allows the baguette sandwich 12 to be deposited reliably and, in particular, prevents the lid 12c of the baguette sandwich 12, which rests on the receiving structure 30, from shifting relative to the bottom 12a of the baguette sandwich 12 during depositing. To ensure that the bottom 12a of the baguette sandwich 12 facing away from the receiving structure 30 does not slip, the baguette sandwich 12 is subjected to a hold-down force from above by the gripping elements 22a-22d until the gripping elements 20a-20d are completely pivoted away. To hold the baguette sandwich 12 even more securely in the recess 32, friction-increasing structures 70 (see Fig. 6B) can be formed on the surfaces of the holding structures 68 forming the recess 32. As shown in Fig.6a, the recess 32 extends over the entire length of the baguette sandwich 12. In other words, the recess 32 extends in the main extension direction 74 along a length which approximately corresponds to the length of the baguette sandwich 12 to be handled.

[0080] Fig. 6C shows an alternative embodiment of a receiving structure 30'. The receiving structure 30' comprises two separate sections 72a, 72b. The sections 72a, 72b can, for example, be connected to two separate conveyor devices 34, such as two separate conveyor belts, two separate shuttles, or two separate movers. The receiving structure 30' comprises a plurality of bow-shaped holding structures 68', which together define a recess 32' for the baguette sandwich 12. The bow-shaped holding structures 68' comprise an arcuate section 68a', at each of whose two ends a holding means 68b' with a convex holding surface is arranged in order to laterally fix the baguette sandwich 12. In addition, each holding structure 68' comprises a concave second holding means 68c' extending along the arcuate section 68a' for supporting the baguette sandwich 12.When the baguette sandwich 12 is inserted into the receiving structure 30', the arcuate sections 68a' of the bow-shaped holding structures 68' can deform elastically to adapt to the shape of the baguette sandwich 12. Free spaces 66' are provided between the bow-shaped holding structures 68'. This allows the gripper 16 to insert the baguette sandwich 12 into the recess 32' and then pivot the gripping elements 20a-20d downward without the gripper 16 or the gripping elements 20a-20d colliding with the receiving structure 30'. Figs. 7A to 9A show an alternative embodiment in which the baguette sandwich 12 is not cut during handling, but is placed as a whole onto the receiving structure 30. As can be seen from a comparison of Figs. 7A and 7B, the baguette sandwich 12 located in the gripper 16 is rotated by 180° without the baguette sandwich 12 being cut.The baguette sandwich 12 is then placed as a whole onto the receiving structure 30 from above, as can be seen in Figs. 8A and 8B. First, the lower gripping elements 20 during placement engage the corresponding recesses 66. As the gripper 16 is lowered further, the lower part of the baguette sandwich 12, in this example the lid 12c, comes into contact with the holding structures 68 defining the recess 32. The upper gripping elements 22 during placement press the baguette sandwich 12 against the holding structures 68. The lower gripping elements 20 during placement can then be pivoted downward, as shown in Fig. 8B. The gripper 16 can then be lifted vertically upward by means of the robot arms 24. The baguette sandwich 12 can then either be transported further in the direction of a packaging machine by means of the conveyor device 34 in the conveying direction 76, as shown in Fig.9B, are temporarily stored on a receiving structure 30' which is firmly connected to a machine frame 34'.

[0081] Figures 10A and 10B show a further alternative embodiment in which the baguette sandwich 12 is not cut during handling. In this embodiment, the gripper 16' defines a single gripping section 36. In other words, no cutting gap is provided. The gripper 16' has first gripping elements 20' and second gripping elements 22'. While the second gripping elements 22' are fixedly connected to the respective base element 40', the first gripping elements 20' are pivotally arranged on the respective base element 40' between a gripping position and a release position. Each of the first gripping elements 20' has a plurality of gripper fingers 21'. As can be seen in Fig. 10B, the gripper suspension 48' can be disassembled into two sections 48a' and 48b' in order to remove the gripper 16' from the gripper arm (not shown).Here, a portion 48a' of the gripper suspension 48' remains connected to the at least one gripper arm, while another portion 48b' of the gripper suspension 48' remains connected to the gripper 16'. The subsections 48a' and 48b' of the gripper suspension 48' have corresponding coupling portions 78a', 78b' for releasably coupling the subsections 48a' and 48b' to one another. In the present case, the coupling portion 78a' has a dovetail-shaped rib, and the coupling portion 78b' has a corresponding dovetail-shaped groove. In addition, the coupling section 78a' comprises an opening with an internal thread and the coupling section 78b' comprises a screw with a handle for manually screwing the screw into the opening and thus securely connecting the subsections 48a' and 48b' of the gripper suspension 48'.

[0082] The interface between the sections 48a' and 48b' of the gripper suspension 48' further comprises means for transmitting, in the assembled state, a drive power of the rotary drive 56' from the first section 48a' of the gripper suspension 48' to the base elements 40a' and 40b'.

[0083] Figs. 11A and 11B show a further alternative embodiment in which the baguette sandwich 12 is not cut during handling. However, it would also be conceivable to modify this embodiment to include a cutting gap so that the baguette sandwich 12 can be cut during handling.

[0084] The embodiment of Figs. 11 A and 11 B differs from the embodiment of Figs. 10A and 10B in that the first gripping elements 20" are designed as so-called soft grippers. The first gripping elements 20" form gripper fingers 21" made of an elastically deformable material, e.g., silicone, which can change their shape pneumatically driven in order to grip and release objects.

[0085] List of reference symbols

[0086] 10 Device 12 Baguette Sandwich

[0087] 12a Base 12b Covering 12c Lid

[0088] 14th edition

[0089] 15 conveyor unit

[0090] 16 grippers

[0091] 18 Cutting device 18a Blade

[0092] 19 Bracket 20a Gripping element 20b Gripping element 20c Gripping element

[0093] 20d gripping element 21 gripper finger

[0094] 22a Gripping element 22b Gripping element 22c Gripping element 22d Gripping element 23 Gripper finger

[0095] 24 gripper arm

[0096] 26 Base

[0097] 28 Cutting gap

[0098] 30 Recording structure

[0099] 32 Deepening 34 Conveyor system

[0100] 34' machine frame

[0101] 36 Gripping section 38 Gripping section

[0102] 40a Base element 40b Base element 40c Base element 40d Base element 42 Clamping direction

[0103] 44 Direction of movement 46 Vibration exciter 48 Gripper suspension

[0104] 50 rotary actuator

[0105] 52 Base

[0106] 54a Linear guide

[0107] 54b Linear guide

[0108] 56 rotary drive

[0109] 58 first belt

[0110] 60 second belt

[0111] 62 first wave

[0112] 64 second wave

[0113] 66 recess

[0114] 66' free space

[0115] 68 support structures

[0116] 68a' curved section

[0117] 68b' Holding device

[0118] 68c' holding device

[0119] 70 friction-increasing structures

[0120] Section 72a

[0121] Section 72b

[0122] 74 Main direction of extension

[0123] 76 Conveying direction

[0124] 78 Coupling section

[0125] S swivel axis

[0126] E Cutting plane

[0127] D axis of rotation

[0128] The present disclosure also relates to the following group of embodiments:

[0129] 1 . A method for automated cutting of food (12), comprising:

[0130] Providing a food item (12) on a support (14), gripping the food item (12) by means of a gripper (16), holding the food item (12) by means of the gripper (16),

[0131] Cutting the food (12) by means of a cutting device (18) while the food (12) is held by the gripper (16), and depositing or discarding the food (12) after cutting.

[0132] 2. Method according to embodiment 1, wherein the gripping of the food (12) by means of the gripper (16) comprises applying pressure to the food (12) by means of gripping elements (20a-20d, 22a-22d), in particular gripper fingers (21, 23), from two opposite directions.

[0133] 3. Method according to embodiment 2, wherein gripping the food (12) by means of the gripper (16) comprises applying pressure to the food (12) from below and from above.

[0134] 4. Method according to at least one of the preceding embodiments, further comprising: moving the gripper (16) while the food (12) is held by means of the gripper (16), wherein the cutting of the food (12) is carried out by means of the cutting device (18) during the movement of the gripper (16).

[0135] 5. Method according to at least one of the preceding embodiments, wherein the food item (12) is rotated about a rotation axis (D) running perpendicular to a cutting plane (E) during cutting. Method according to at least one of the preceding embodiments, wherein the food item (12) is a sandwich, in particular a baguette sandwich (12). Method according to at least one of the preceding embodiments, wherein the cutting device (18) is pivoted about a defined pivot axis (S) during cutting of the food item (12). Method according to at least one of the preceding embodiments, wherein the cutting device (18) is attached to the gripper (16), in particular wherein the cutting device (18) is movably, for example pivotably, attached to the gripper (16), and the cutting of the food item (12) is carried out by means of the cutting device (18) attached to the gripper (16).Method according to at least one of the preceding embodiments 1 to 7, wherein the cutting device (18') is provided separately from the gripper (16'), in particular wherein the cutting device (18') is attached to a base (52') that does not move with the gripper (16'). Method according to at least one of the preceding embodiments, wherein the gripper (16) has a cutting gap (28) and wherein, in order to cut the food item (12), the cutting device (18) is moved along the cutting gap (28) and / or wherein the gripper (16') is moved such that the cutting gap (28') is moved by the cutting device (18').Method according to at least one of the preceding embodiments, wherein, when the food item (12) is provided on the support (14), the food item (12) rests on the support (14) with a first side and a second side of the food item is arranged facing away from the support (14), and when the food item (12) is placed down after cutting, the food item (12) is placed on the second side and the first side of the food item (12) is arranged facing away from a support (14). Method according to at least one of the preceding embodiments, wherein cutting the food item (12) by means of the cutting device (18) comprises cutting the food item (12) into at least two separate pieces. Method according to at least one of the preceding embodiments, wherein cutting the food item (12) comprises causing a blade (18a') of the cutting device (18') to vibrate.Method according to at least one of the preceding embodiments, wherein the placing or dropping of the foodstuff (12) after cutting comprises placing or dropping the foodstuff (12) onto a receptacle, in particular into a recess (32), of a receiving structure (30) connected to a conveyor device (34), in particular wherein the receiving structure (30) is formed at least in two parts and a part of the cut foodstuff (12) is placed or dropped onto each part of the receiving structure (30).Device for the automated cutting of foodstuffs (12), comprising: a gripper (16) for lifting, moving and placing a foodstuff (12), in particular a sandwich, wherein the gripper (16) defines at least two gripping sections (36, 38), wherein a cutting gap (28) is formed between the gripping sections (36, 38), and wherein a cutting device (18) is provided which is designed to cut the foodstuff (12) arranged in the gripper (16) along the cutting gap (28).Device according to embodiment 15, wherein each gripping section (36, 38) has at least one pair of gripping elements (20a, 22a, 20b, 22b), in particular with gripper fingers (21, 23), by means of which the food item (23) can be gripped in a clamping manner from opposite sides, wherein at least one of the gripping elements (20a, 20b) per gripping section (36, 38) can be driven in a movable manner in order to carry out a gripping movement, in particular wherein the movable gripping elements (20a, 20b) of the at least two gripping sections (36, 38) can be moved independently of one another.Device according to embodiment 16, wherein each gripping section (36, 38) has a first pair (20a, 22a, 20b, 22b) of gripping elements (20, 22) and a second pair (20c, 22c, 20d, 22d) of gripping elements (20, 22), wherein the first pair (20a, 22a, 20b, 22b) and the second pair (20c, 22c, 20d, 22d) of gripping elements (20, 22) are drivable to move towards one another in order to push a part of the gripping elements (22a-22d) under the food item (12) lying on a support (14) and thus to grip the food item (12) underneath. Device according to embodiment 17, wherein the pairs of gripping elements (20a, 22a, 20d, 22d, 20b, 22b, 20c, 22c) of the different gripping sections (36, 38) are movable independently of one another towards one another in order to grip underneath the food item (12) lying on the support (14).Device according to at least one of embodiments 16 to 18, wherein, when the food (12) is gripped, a first group of gripping elements (22a-22d), in particular gripper fingers (23), forms a support surface for the food (12) and a second group of gripping elements (20a-20d), in particular gripper fingers (21), forms a hold-down device for the food (12), and wherein the gripping elements (20a-20d), in particular gripper fingers (21), forming the hold-down device are pivotable and / or linearly displaceable. Device according to at least one of embodiments 16 to 19, wherein a clamping direction (42) of the gripping elements (20, 22), in particular gripper fingers (21, 23), in order to clamp the food item (12) from opposite sides is aligned transversely, in particular perpendicularly, to a direction of movement (44) of the pairs of gripping elements (20c, 22c, 20d, 22d) in order to grip underneath the food item (12) lying on the support (14).Device according to at least one of embodiments 15 to 20, wherein the cutting device (18) comprises a blade (18a), in particular wherein the blade (18a') is coupled to a vibration exciter (46'). Device according to at least one of embodiments 16 to 21, wherein the gripper (16) has at least one base element (40) per gripping section (36, 38), on which the pair of gripping elements (20, 22) is arranged, and wherein the base element (40) is mounted such that it can rotate or pivot at least 180° relative to a gripper suspension (48) about an axis of rotation (D) that is horizontal during operation.Device according to at least one of embodiments 16 to 22, wherein a clamping movement of the gripping elements (20, 22), in particular gripper fingers (21, 23), in order to clamp the food item (12) from opposite sides and / or a movement of the pairs (20a, 22a, 20d, 22d) of gripping elements (20, 22) relative to one another in order to grip the food item (12) lying on the support (14) from underneath is realized by means of a pneumatic and / or electric drive. Device according to at least one of embodiments 15 to 23, wherein the cutting device (18) is attached to the gripper (16), in particular wherein the cutting device (18) is movably coupled to, for example pivotably coupled to, the gripper (16). Device according to at least one of embodiments 15 to 23, wherein the cutting device (18') is attached to a base (52') of the device (10') which does not move with the gripper (16').Device according to at least one of embodiments 15 to 25, further comprising: a receiving structure (30) for receiving the food item (12) when it is placed down or dropped, wherein the receiving structure (30) has a receptacle, in particular a recess (32), for at least partially receiving the food item (12), and wherein the receiving structure (30) is connected to a conveyor device (34). Device according to embodiment 26, wherein the receiving structure (30) is designed at least in two parts, so that each part of the receiving structure (30) is designed to receive a piece of the cut food item (12), and in particular wherein each part of the receiving structure (30) is provided with a separate.

[0136] Conveying device (34) is connected.

Claims

Claims 1 . A method for the automated handling of food (12), comprising: Providing a food (12) on a support (14), Gripping the food (12) by means of a gripper (16) from two sides, holding the food (12) by means of the gripper (16), and Placing the foodstuff (12) on a receptacle, in particular in a recess (32), a receptacle structure (30) connected to a conveyor device (34) or a stationary receptacle structure (30) while applying pressure to the foodstuff (12) from above.

2. The method according to claim 1, wherein gripping the food (12) by means of the gripper (16) comprises applying pressure to the food (12) from two opposite directions.

3. The method according to claim 1 or 2, wherein gripping the food (12) by means of the gripper (16) comprises applying pressure to the food (12) from below and from above.

4. The method according to claim 1 to 3, wherein the method comprises opening the gripper (16) after depositing the food item (12).

5. The method according to claim 4, wherein the opening of the gripper (16) comprises moving away at least one lower gripping element (20), in particular having gripper fingers (21), while at least one, in particular gripper finger (23) having an upper gripping element (22) presses the food (12) against the receiving structure (30) with a holding-down force and thus acts on the food (12) from above.

6. The method according to claim 5, wherein the opening of the gripper (16) comprises pivoting or deforming the at least one lower gripping element (20) downwards.

7. The method according to claim 5 or 6, wherein the placing of the food item (12) onto the receptacle, in particular into the recess (32), of the receptacle structure (30) comprises engagement of the at least one lower gripping element (20) into a corresponding recess or a corresponding free space, in particular engagement of gripper fingers (21) into corresponding gripper finger recesses (66) or free spaces (66'), on the receptacle structure (30).

8. Method according to at least one of the preceding claims, wherein the food is a sandwich, in particular a baguette sandwich (12).

9. Method according to at least one of the preceding claims, comprising: rotating the food item (12) held by the gripper (16) about an axis, in particular a longitudinal axis, wherein the rotating of the food item (12) is carried out after the food item (12) has been gripped by the gripper (16), but before the food item (12) has been placed down.

10. The method according to claim 9, wherein the rotating of the food (12) is performed during a movement of the gripper (16) from a gripping position to a dispensing position.

11. Method according to one of the preceding claims, wherein, when the food item (12) is provided on the support (14), the food item (12) rests with a first side of the food item (12) on the support (14) and a second side of the food item (12) is arranged facing away from the support (14), and when the food item (12) is placed on the receptacle, in particular in the recess (32), of the receptacle structure (30), the food item (12) is placed with the second side on the receptacle structure (30) and the first side of the food item (12) is arranged facing away from the receptacle structure (30).

12. Device (10) for the automated handling of foodstuffs (12), comprising: a gripper (16) for lifting, moving, and depositing foodstuffs (12), wherein the gripper (16) comprises a first gripping element (20), in particular with first gripper fingers (21), and a second gripping element (22), in particular with second gripper fingers (23), wherein in a depositing position of the gripper (16), the first gripping element (20) forms a support plane for the foodstuff (12) and the second gripping element (22) forms a hold-down device for the foodstuff (12), and a receiving structure (30) for receiving the foodstuff (12) during depositing, wherein the receiving structure (30) has a receptacle, in particular a recess (32), for at least partially receiving the foodstuff (12), and wherein the hold-down device formed by the second gripping element (22) is designed to hold the food (12) on the receptacle, in particular in the recess (32), of the receiving structure (30) when the food (12) is placed on the receptacle, in particular in the recess (32).

13. Device (10) according to claim 12, wherein the receiving structure (30) is connected to a conveyor device (34) or a machine frame (34').

14. Device (10) according to claim 13, wherein the conveying device (34) is designed as a conveyor belt, as a shuttle system comprising a plurality of shuttles, in particular movable along a track or a rail, or as a planar motor drive system.

15. Device (10) according to claim 13 or 14, wherein a plurality of, in particular similar, receiving structures (30) are provided, and wherein the plurality of receiving structures (30) are movable by means of the conveyor device (34) and / or are connected to the machine frame (34').

16. Device (10) according to at least one of claims 13 to 15, wherein the receptacle, in particular the recess (32), has a main extension direction (74), and wherein the main extension direction (74) is arranged transversely, in particular perpendicularly, to a conveying direction (76) of the conveying device (34).

17. Device (10) according to at least one of claims 12 to 16, wherein friction-increasing structures (70) are provided on the receptacle, in particular in the recess (32), in particular wherein the friction-increasing structures (70) comprise edges of step-shaped structures.

18. Device (10) according to at least one of claims 12 to 17, wherein the receiving structure (30) has at least one recess (66) corresponding to the first gripping element (20) or a free space (66') corresponding to the first gripping element (20), in particular a plurality of gripper finger recesses or free spaces corresponding to the first gripper fingers (21), which extends from above into the receiving structure (30) and which makes it possible to insert the gripper (16) from above into the receiving structure (30) in order to deposit the food item (12) on the receptacle, in particular in the depression (32).

19. Device (10) according to at least one of claims 12 to 18, wherein the gripper (16) has at least two first gripping elements (20) which together form the support plane for the foodstuff (12) in the depositing position of the gripper (16), and at least two second gripping elements (22) which together form the hold-down device for the foodstuff (12) in the depositing position of the gripper (16), and wherein a first gripping element (20) and a second gripping element (22) each form a pair of gripping elements (20, 22), and wherein the two pairs of gripping elements (20, 22) are movable towards one another in order to push a part of the first or second gripping elements (20, 22) under the foodstuff (12) lying on a support and thus grip the foodstuff (12), and / or wherein the first gripping element (20) and the second gripping element (22) of each pair of gripping elements (20, 22) are arranged relative to one another are movable to To clamp food (12) between the gripping elements (20, 22), in particular gripper fingers (21, 23).

20. Device (10) according to claim 19, wherein a first gripping element (20) of a first pair of gripping elements (20, 22) is movable independently of a first gripping element (20) of a second pair of gripping elements (20, 22).

21. Device (10) according to at least one of claims 19 or 20, wherein an effective clamping direction (42) of the gripping elements (20, 22), in particular gripper fingers (21, 23), in order to clamp the food (12) between the gripping elements (20, 22), is aligned transversely, in particular perpendicularly, to a direction of movement (44) of the pairs of gripping elements (20, 22) in order to grip under the food (12) lying on the support (14).

22. Device (10) according to at least one of claims 12 to 21, wherein the at least one first gripping element (20) forming the support plane in the depositing position of the gripper (16) is mounted on a base element (40) in a pivotable, deformable and / or linearly displaceable manner.

23. Device (10) according to at least one of claims 12 to 22, wherein the at least one second gripping element (22) forming the hold-down device in the depositing position of the gripper (16) is fixedly connected to a base element (40).

24. Device (10) according to at least one of claims 12 to 23, wherein the gripper (16) has a base element (40) on which the first and second gripping elements (20, 22) are arranged, and wherein the base element (40) is mounted so as to be rotatable or pivotable relative to a gripper suspension (48), in particular at least 180°, about an axis (D) which is horizontal during operation.

25. Device (10) according to at least one of claims 12 to 24, wherein at least one pneumatic and / or electric drive is provided to effect a gripping movement of the gripper (16), in particular to effect a clamping movement of the gripping elements (20, 22) relative to one another and / or a movement of the pairs of gripping elements (20, 22) relative to one another.

26. A method for automated cutting of food (12), comprising: Providing a food item (12) on a support (14), gripping the food item (12) by means of a gripper (16), holding the food item (12) by means of the gripper (16), cutting the food item (12) by means of a cutting device (18) while the food item (12) is held by the gripper (16), and depositing or discarding the food item (12) after cutting.

27. The method according to claim 26, wherein gripping the food (12) by means of the gripper (16) comprises applying pressure to the food (12) by means of gripping elements (20a-20d, 22a-22d), in particular gripper fingers (21, 23), from two opposite directions.

28. The method according to claim 27, wherein gripping the food (12) by means of the gripper (16) comprises applying pressure to the food (12) from below and from above.

29. Method according to at least one of the preceding claims 26 to 28, further comprising: moving the gripper (16) while the food (12) is held by means of the gripper (16), wherein the cutting of the food (12) is carried out by means of the cutting device (18) during the movement of the gripper (16).

30. Method according to at least one of the preceding claims 26 to 29, wherein the food (12) is rotated about an axis of rotation (D) running perpendicular to a cutting plane (E) during cutting.

31. Method according to at least one of the preceding claims 26 to 30, wherein the food (12) is a sandwich, in particular a baguette sandwich (12).

32. Method according to at least one of the preceding claims 26 to 31, wherein the cutting device (18) is pivoted about a defined pivot axis (S) during the cutting of the food (12).

33. Method according to at least one of the preceding claims 26 to 32, wherein the cutting device (18) is attached to the gripper (16), in particular wherein the cutting device (18) is movably, for example pivotably, attached to the gripper (16), and the cutting of the food (12) is carried out by means of the cutting device (18) attached to the gripper (16).

34. Method according to at least one of the preceding claims 26 to 32, wherein the cutting device (18') is provided separately from the gripper (16'), in particular wherein the cutting device (18') is attached to a base (52') which does not move with the gripper (16').

35. Method according to at least one of the preceding claims 26 to 34, wherein the gripper (16) has a cutting gap (28) and wherein, in order to cut the food (12), the cutting device (18) is moved along the cutting gap (28) and / or wherein the gripper (16') is moved such that the cutting gap (28') is moved by the cutting device (18').

36. Method according to at least one of the preceding claims 26 to 35, wherein when the food (12) is provided on the support (14), the food (12) rests with a first side on the support (14) and a second side of the food is arranged facing away from the support (14), and when the food (12) is placed down after cutting, the food (12) is placed on the second side and the first side of the food (12) is arranged facing away from a storage (14).

37. Method according to at least one of the preceding claims 26 to 36, wherein cutting the food (12) by means of the cutting device (18) comprises cutting the food (12) into at least two separate parts.

38. Method according to at least one of the preceding claims 26 to 37, wherein cutting the food (12) comprises causing a blade (18a') of the cutting device (18') to vibrate.

39. Method according to at least one of the preceding claims 26 to 38, wherein the placing or discarding of the foodstuff (12) after cutting comprises placing or discarding the foodstuff (12) on a Receiving, in particular in a recess (32), a receiving structure (30) connected to a conveyor device (34), in particular wherein the receiving structure (30) is formed at least in two parts and a part of the cut food (12) is placed or dropped onto each part of the receiving structure (30).

40. Device for the automated cutting of food (12), comprising: a gripper (16) for lifting, moving and placing a food (12), in particular a sandwich, wherein the gripper (16) defines at least two gripping sections (36, 38), wherein a cutting gap (28) is formed between the gripping sections (36, 38), and wherein a cutting device (18) is provided which is designed to cut the food (12) arranged in the gripper (16) along the cutting gap (28).

41. Device according to claim 40, wherein each gripping section (36, 38) has at least one pair of gripping elements (20a, 22a, 20b, 22b), in particular with gripper fingers (21, 23), by means of which the food item (23) can be gripped in a clamping manner from opposite sides, wherein at least one of the gripping elements (20a, 20b) per gripping section (36, 38) can be movably driven in order to carry out a gripping movement, in particular wherein the movable gripping elements (20a, 20b) of the at least two gripping sections (36, 38) can be moved independently of one another.

42. Device according to claim 41, wherein each gripping section (36, 38) has a first pair (20a, 22a, 20b, 22b) of gripping elements (20, 22) and a second pair (20c, 22c, 20d, 22d) of gripping elements (20, 22), wherein the first pair (20a, 22a, 20b, 22b) and the second pair (20c, 22c, 20d, 22d) of gripping elements (20, 22) can be driven to move towards one another in order to push a part of the gripping elements (22a-22d) under the food item (12) lying on a support (14) and thus to grip the food item (12) underneath.

43. Device according to claim 42, wherein the pairs of gripping elements (20a, 22a, 20d, 22d, 20b, 22b, 20c, 22c) of the different gripping sections (36, 38) are movable independently of one another towards one another in order to grip underneath the food item (12) lying on the support (14).

44. Device according to at least one of claims 41 to 43, wherein when gripping the foodstuff (12), a first group of gripping elements (22a-22d), in particular gripper fingers (23), forms a support surface for the foodstuff (12) and a second group of gripping elements (20a-20d), in particular gripper fingers (21), forms a hold-down device for the foodstuff (12), and wherein the gripping elements (20a-20d), in particular gripper fingers (21), forming the hold-down device are pivotable and / or linearly displaceable.

45. Device according to at least one of claims 41 to 44, wherein a clamping direction (42) of the gripping elements (20, 22), in particular gripper fingers (21, 23), in order to grip the food (12) from opposite sides in a clamping manner transversely, in particular perpendicularly, to a direction of movement (44) of the pairs of gripping elements (20c, 22c, 20d, 22d) in order to grip underneath the food (12) lying on the support (14).

46. ​​Device according to at least one of claims 40 to 25, wherein the cutting device (18) comprises a blade (18a), in particular wherein the blade (18a') is coupled to a vibration exciter (46').

47. Device according to at least one of claims 41 to 46, wherein the gripper (16) has at least one base element (40) per gripping section (36, 38), on which the pair of gripping elements (20, 22) is arranged, and wherein the base element (40) is mounted so as to be rotatable or pivotable by at least 180° about an axis of rotation (D) which is horizontal during operation, relative to a gripper suspension (48).

48. Device according to at least one of claims 41 to 47, wherein a clamping movement of the gripping elements (20, 22), in particular gripper fingers (21, 23), in order to clamp the food (12) from opposite sides and / or a movement of the pairs (20a, 22a, 20d, 22d) of gripping elements (20, 22) towards each other in order to grip the food (12) lying on the support (14) is realized by means of a pneumatic and / or electric drive.

49. Device according to at least one of claims 40 to 48, wherein the cutting device (18) is attached to the gripper (16), in particular wherein the cutting device (18) is movably coupled to, for example pivotably to, the gripper (16).

50. Device according to at least one of claims 40 to 48, wherein the cutting device (18') is attached to a base (52') of the device (10') which does not move with the gripper (16'). 51 . Device according to at least one of claims 40 to 50, further comprising: a receiving structure (30) for receiving the food product (12) when it is placed down or dropped, wherein the receiving structure (30) has a receptacle, in particular a recess (32), for at least partially receiving the food product (12) and wherein the receiving structure (30) is connected to a conveyor device (34).

52. Device according to claim 51, wherein the receiving structure (30) is formed at least in two parts, so that each part of the receiving structure (30) is designed to receive a piece of the cut food (12) and in particular wherein each part of the receiving structure (30) is connected to a separate conveyor device (34).

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