Modular gripper-bending device and gripper assembly

Abstract

Gripper-bender device and modular gripping assembly Mechanized method for bending and loading elongate products (O) having two longitudinal ends in at least one package (E) using one or more gripper-bender devices and comprising the following steps: - / a / gripping by the gripper-bender device(s) of the products (O) in the rest position (PR) on a support surface (3), position in which each product (O) has an initial length (Li) between its two longitudinal ends, - / b / stressing by the gripper-bender device(s) of the products (O) in a curved position (PC), position in which each product (O) has a reduced length (Lr) between its two longitudinal ends less than the initial length (Li), and,- / c / depositing and inserting by the gripping-bending device(s) of the products (O) in the curved position (PC) into said at least one package (E). Abstract figure: Figure 9e,

Description

Title of the invention: Gripper-bending device and modular gripping assembly

[0001] The present disclosure relates to a mechanized method of bending and loading products into packages, as well as to a gripper-bender device allowing the implementation of such a method and to an assembly comprising a plurality of such gripper-bender devices. Technical field

[0002] The present disclosure relates to the field of automated industrial production processes. More specifically, the present disclosure relates to the field of loading and packaging of agri-food products. Prior art

[0003] Automated and robotic installations have been widely developed in the industrial production sector, and are now replacing operators for highly arduous operations, particularly those requiring repeated handling of a large number of goods, sometimes large and / or very heavy.

[0004] Conventionally, industrial production facilities for the transport, preparation and / or loading of products are equipped with “picking” or “pick and place” robots. These machines select, sort and move goods from one surface to another. To carry out these operations, the robots are conventionally equipped with an articulated robotic arm and a system for grabbing and / or releasing several products simultaneously, typically several dozen times per minute.

[0005] In particular, the food industry uses a set of robotic installations, and typically picking robots which allow food products to be handled and packaged quickly, from a bulk of food products to their placement in a final packaging. Such installations using these technologies for loading food products, such as sausages, into thermoformed packaging and trays are therefore widely known.

[0006] In industrial sectors, there is also a growing need to reduce the carbon footprint and in particular, to reduce non-recyclable and / or polluting waste produced. In particular, a significant portion of the pollution generated by the agri-food production industry comes from packaging, which is mainly single-use and composed of mainly plastic materials.

[0007] A large part of the industries using this packaging are seeking to reduce their consumption of plastics. The main solution is to replace the em- existing towpaths with ecological alternatives, using environmentally friendly materials such as biomaterials, produced in short circuits, reusable and / or requiring the least possible materials / energy.

[0008] On the other hand, these solutions remain too expensive for manufacturers at the moment and the manufacturing methods for this alternative packaging are not yet sufficiently developed to replace all packaging and to keep up with the pace of production.

[0009] In addition, regarding foodstuffs, hygiene standards, sealing, composition, etc., of packaging must be respected for contact and preservation of the products. The plastic and / or polluting materials used in packaging meet these standards and are currently difficult to replace in their entirety. Summary

[0010] The present disclosure improves the situation.

[0011] A mechanized method of bending and loading one or more elongate products having two longitudinal ends into at least one package is proposed, using one or more gripper-bending devices and comprising the following steps: - / a / gripping by the gripping-bending device(s) of the product(s) in the rest position on a support surface, position in which the or each product has an initial length between its two longitudinal ends, - / b / stressing by the gripping-bending device(s) of the product(s) in a curved position, a position in which the or each product has a reduced length between its two longitudinal ends less than the initial length, and, - / c / depositing and inserting by the gripper-bending device(s) of the product(s) in the curved position into said at least one package.

[0012] The features set out in the following paragraphs may, optionally, be implemented independently of one another or in combination with one another.

[0013] According to one embodiment, said at least one package has a base and edges, and placement in / c / is obtained in the curved position of the product(s) having the reduced length, guaranteeing an offset between the longitudinal ends of the or each product and the edges opposite the longitudinal ends at least greater than a threshold margin.

[0014] According to one embodiment, in the initial length, the offset between the longitudinal ends of the or each product and the edges opposite the longitudinal ends is less than the threshold margin.

[0015] According to one embodiment, the or each gripper-bending device comprises one or more suction cups, and the gripping at / a / is obtained by bringing the suction cup into contact with the product, and putting the suction cup(s) under vacuum and the removal at / c / is obtained by stopping the vacuum.

[0016] According to one embodiment, the support surface is a conveyor belt, having parallel housings in relief, individually receiving the elongated products.

[0017] According to one embodiment, the gripper-bending device(s) are manipulated by a robotic arm, and the robotic arm ensures the movement of the product(s) gripped by the gripper-bending device(s) from the support surface at / a / , and to the deposit at / c / .

[0018] The present disclosure also relates to a gripper-bender device suitable for carrying out the mechanized bending and loading method, comprising: - at least one suction cup comprising flexible bellows, connected to at least one vacuum port for actuating the suction of the suction cup, the suction cup being configured to grip by suction in a suction direction the product in the rest position during step / a / , and to pull by continuous suction in a retraction direction of the suction cup, collapsing the bellows of the suction cup, during step / b / causing a movement of the product relative to a fixed part of the gripper-bender device, and, - at least one lower counter-support portion comprising at least one contact surface, in particular concave, configured to come into counter-support on the product during the retraction of the suction cup in a direction opposite to the direction of retraction of the suction cup on the product during step / b / , in order to put it in a curved position.

[0019] According to one embodiment, the fixed part comprises a system for adjusting the spacing between the suction cup(s) and said at least one counter-support portion configured to allow the movement of the at least one suction cup according to at least two relative positions, comprising a first position in which the stressing of the product on the contact surface is low, the product is slightly curved and its reduced length has a first value, and a second position in which the stressing of the product on the contact surface is high, the product is very curved and its reduced length has a second value, different from the first value.

[0020] According to another aspect, the present disclosure further relates to a gripper-bender device suitable for implementing the mechanized bending and loading method, comprising three suction cups, two lateral suction cups located on either side of a central suction cup, said three suction cups comprising flexible bellows and each being connected to at least one vacuum port for actuating the suction of each of the three suction cups, wherein the three suction cups are configured to grip by suction in a suction direction the product in the rest position during step / a / , and to pull by continuous suction in a retraction direction of the three suction cups, collapsing the bellows of the suction cups, during step / b / causing a movement of the product relative to a fixed part of the gripper-bender device, and wherein said central suction cup is configured to retract by a retraction amplitude greater than a retraction amplitude of said lateral suction cups during step / b / , making it possible to put the product in the curved position.

[0021] The present disclosure also relates to a modular gripper assembly allowing the implementation of the mechanized bending and loading method, comprising a main frame comprising main rails and a plurality of gripper-benders, mounted parallel to each other one after the other sliding on said main rails, said gripper-bender devices grouped into several groups of independent grippers, sliding along the main rails, and wherein the main frame is equipped with at least one actuator configured to slide the plurality of grippers along the main rails: - between a gripping position in which the gripper-benders of said gripper groups are grouped in the center of the main frame juxtaposed one after the other on the main rails, and each of the two ends of the main rails is left free according to an end spacing, and - a drop-off position, in which the gripper-benders of the gripper groups are arranged in a spaced position, said groups being separated from each other by a group spacing and each of the groups having a group length.

[0022] According to one embodiment, said gripper-bender devices belonging to the same group among the plurality of groups, are secured, two by two, by removable connecting rods, the rods engaging by two ends of each rod in two housings of the gripper-bender devices by elastic fitting.

[0023] According to one embodiment, the mechanized method for bending and loading a plurality of products into packages of length, greater than the group length, and package width, implementing the modular gripper assembly, in which the gripper assembly is placed in the gripping position prior to step / a / , comprises the following steps: - / a / gripping by the plurality of grippers of the plurality of products uniformly distributed and moving on the support surface in the rest position, - / b / stressing and bending the plurality of products by the plurality of grippers in the curved position, - / c / placing the gripper assembly in the depositing position in which the plurality of grippers holding the plurality of curved products is divided into a plurality of groups, each group being of group length, and, - / d / placing and inserting each of the product groups in a curved position into each of the packages.

[0024] According to one embodiment, the products are food products, in particular sausages. Brief description of the drawings

[0025] Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which: Fig.l

[0026] [Fig.l] shows a front view of a gripper-bender device comprising a fixed part and a counter-support portion with concave contact surfaces. The gripper-bender device further comprises bellows suction cups, each connected to a vacuum port, and adjustable relative to each other by means of a suction cup spacing adjustment system. The fixed part comprises fixing housings. Fig. 2

[0027] [Fig.2] represents a three-quarter view of the gripping-bending device according to the [Fig.l]. This view shows a preferred embodiment of the concave contact surfaces. Fig. 3

[0028] [Fig.3] shows a consecutive view of [Fig.l], where the suction cups of the device gripper-bender grasps a long, elongated product in the rest position, having an initial length. Below the long, elongated product is shown a cross-section of a package with a packaging length less than the initial length of the product in the rest position. Fig. 4

[0029] [Fig.4] shows a consecutive view of [Fig.3], where the suction cups of the device gripper-bender suck the product towards the fixed part of the gripper-bender, collapsing the bellows of the suction cups in contact with the product. The concave contact surfaces stress the ends of the product, in a direction opposite to the suction direction of the suction cups. The elongated product is then placed in its curved position, and is now of reduced length, less than the initial length in the rest position, and less than the length of the packaging by a threshold margin. Fig. 5

[0030] [Fig.5] shows a modular gripper assembly, implementing a plurality of gripper-bending devices, as shown in Figures 1 to 4. The assembly illustrated here comprises twenty-four gripper-bending devices, slidably fixed to main rails of a main frame of the assembly. Fig. 6

[0031] [Fig.6] is a view of a second position of the modular gripper assembly shown in [Fig.5], where the gripper-bender devices slide along the main rails and are distributed into three groups of gripper-benders. In this case shown, there are three groups of eight gripper-benders, separated by a group spacing, and each group extends along a group length. Fig. 7

[0032] [Fig.7] shows a top view of the modular gripper assembly, without the gripper-bending devices. This view highlights the main frame, the main rails, a center of the frame, actuators as well as connecting rods. Fig. 8

[0033] [Fig.8] is a view following [Fig.7], of the modular gripper assembly equipped with the groups of gripper-benders, distributed in three groups of eight gripper-benders. The two groups of lateral gripper-benders are positioned at the longitudinal ends of the main rails, and the central group is fixed to the center of the main frame. Fig. 9a

[0034] [Fig.9a] shows a first step of a method of bending and loading a plurality of products into packages, implementing the modular gripper assembly, in which the modular gripper assembly is positioned above a support surface on which a plurality of elongate products move in a rest position. Fig. 9b

[0035] [Fig.9b] shows a second step of the method of bending and loading a plurality of products into packages, in which the products are gripped by the suction cups of the gripper-bending devices of the modular gripper assembly. Fig. 9c

[0036] [Fig.9c] shows a third step of the method of bending and loading a plurality of products into packages, in which the suction cups suck up the products whose ends are stressed and abutted against the contact surfaces of the gripper-benders. The products are then placed in position curved. Fig.9d

[0037] [Fig.9d] shows a fourth step of the method of bending and loading a plurality of products into packages, in which the groups of gripper-benders holding the products in the bent position are formed. In this figure, three groups of eight gripper-benders, each holding one product in the bent position, are shown. Fig. 9e

[0038] [Fig.9e] shows a fifth step of the method for bending and loading a plurality of products into packages, in which the groups of products are placed above packages for loading. The packages have a package width substantially greater than the group length, and a package length, substantially greater than the reduced length of the products in the bent position. In this figure, the three groups of products are placed above three packages. The arrows illustrate the direction of depositing the groups of products in the packages, by deactivating the depression of the suction cups of the gripper-benders. Fig. 10

[0039] [Fig. 10] shows a front view of a second embodiment of the gripper-bender device comprising a fixed part on which are positioned three bellows suction cups, two side suction cups and a central suction cup, gripping a product, elongated, in the rest position. Each of the three suction cups is connected to a vacuum port. The side suction cups can be adjusted relative to each other by means of a suction cup spacing adjustment system and the central suction cup is fixed. The fixed part further comprises fixing housings. Description of the embodiments

[0040] The drawings and the description below contain, for the most part, elements of a certain character. They may therefore not only serve to better understand the present disclosure, but also contribute to its definition, where appropriate.

[0041] The present disclosure relates to a mechanized method for bending and loading one or more elongate products O, having two longitudinal ends, into at least one package E using one or more gripper-bending devices. The elongate products O may typically be food products, for example sausages, in particular of animal or even vegetable origin.

[0042] The method comprises the following steps: - / a / gripping by the gripping-bending device(s) of the product(s) O in rest position PR on a support surface 3, position in which the or each product O has an initial length Li between its two longitudinal ends, - / b / stressing by the gripping-bending device(s) of the product(s) O in a curved position PC, position in which the or each product O has a reduced length Lr between its two longitudinal ends less than the initial length Li, and, - / c / depositing and inserting by the gripper-bending device(s) of the product(s) O in the curved position PC into said at least one package E.

[0043] Such a method makes it possible to reduce the size of the products O to be packaged by curving them. The curved products, of reduced length Lr, can then be inserted into smaller packages. Alternatively, rather than using smaller packages, it is also possible to insert a greater number of curved products into the same package, or to insert products of greater length. This can, for example, have the advantage of selling off existing stocks of packages of conventional dimensions, loaded with more products O.

[0044] As illustrated in [Fig.2], and in general, the packaging E may have a base and edges. In particular, according to one embodiment, the packaging is in the form of a sealed and sealable tray. For example, the tray is thermoformed, composed of polyethylene (PE), polyethylene terephthalate (PET) and / or polypropylene (PP) plastic, and / or extruded polystyrene (thermoformed EPS) and closed by a lid, for example a food-grade lidding film suitable for freezing, made of PE or PP. Any other material whose composition allows contact with a bare product, in particular food, may be suitable.

[0045] The packaging may further comprise recyclable materials, for example recycled plastics, such as rPET. It is also possible to use ecological packaging, using biodegradable and / or eco-designed components, such as compostable molded cellulose trays. In particular, less bulky and lighter alternatives are preferred for storage, manufactured with the least possible material, maintaining optimal sealing and vacuuming of the products.

[0046] The deposition in the packaging E of step / c / of the method is obtained in the curved position PC of the product(s) O of reduced length Lr. This deposition is carried out by guaranteeing an offset between the longitudinal ends of each product O and the edges of the packaging E opposite the longitudinal ends at least greater than a threshold margin dm, as shown in [Fig.2].

[0047] The threshold margin dm is a safety margin, with dimensions in particular between 0 and 10 mm, for example 5 mm. It is chosen to ensure insertion of the products O into the packaging E without forcing and without damage to the products, in particular at their ends. Conversely, it is preferable that the threshold margin is not too high, because the size of the products O would not be optimized: products in curved position PC, particularly in the case of flexible and deformable agri-food products, tend to return naturally to their initial rest position PR, and therefore their length increases significantly, tending towards the initial length Li, once inserted into the packaging E.

[0048] Furthermore, the offset between the longitudinal ends of each product O in rest position PR and of initial length Li, on the one hand, and the edges of the packaging E, on the other hand, is less than the threshold margin dm. In other words, the product O in its rest position PR is too close to the edges of the packaging E to ensure its reliable robotic insertion into the packaging E, or even possibly the product may protrude longitudinally from the packaging E, relative to the edges.

[0049] According to the present disclosure, the method comprises the installation of the gripping-bending device(s) 2 to catch, bend and then deposit the products O. The gripping-bending device 2 may comprise for this purpose one or more suction cups 22. The gripping of step / a / is then obtained by bringing the suction cup 22 into contact with the product O, then putting it under vacuum. The depositing of the product O in step / c / is then typically obtained by stopping the vacuum.

[0050] The support surface 3 for conveying the products O is in particular a conveyor belt, having parallel housings in relief, individually receiving the elongated products O. An example of support surface 3 is visible in [Fig.9a].

[0051] Such a support surface 3 with parallel housings makes it possible to individually arrange the products O, then in the rest position PR, respectively in the housings, and distributes them uniformly, and in the appropriate gripping direction relative to the suction cups 22 of the gripper-bending devices 2.

[0052] According to one embodiment, the gripper-bending device(s) are manipulated by a robotic arm, which ensures the movement of the product(s) O gripped by the gripper-bending device(s) 2 from the support surface 3 at / a / , and up to the deposit at / c / .

[0053] The robotic arm can, for example, be equipped with devices for recognizing shapes, dimensions, etc., such as cameras to optimize movement and production rate.

[0054] According to one embodiment of the invention, the gripper-bender device 2 suitable for implementing the mechanized bending method, notably illustrated in FIGS. 1 to 4, comprises at least one suction cup 22 comprising flexible bellows, connected to at least one vacuum port 23 making it possible to actuate the suction of the suction cup 22. The suction cup 22 is thus configured to grasp by suction in a suction direction (vertically) the product O during step / a / , illustrated in [Fig.3], and to pull it by continuous suction in a retraction direction of the suction cup 22 (in conventional use, upwards), thus collapsing the bellows of the suction cup 22, during step / b / , and as illustrated in [Fig.4]. The bellows thus collapsed perfectly follow the surface of the product O grasped by the suction cup. The continuous retraction of the suction cup 22 during step / b / also causes a displacement (upwards) of the product O relative to a fixed part 20 of the gripper-bender device 2.

[0055] The gripping-bending device 2 further comprises at least one counter-support portion 21 comprising at least one contact surface S, in particular concave. Such a concave contact surface S is thus configured to come into counter-support on the product O during the retraction of the suction cup 22, in a direction opposite (downwards) to the direction of retraction of the suction cup 22 on the product O during step / b / . The product O thus pulled (upwards) by the suction cup 22, and its ends abutting against the surfaces S, bends into the curved position PC, as shown in [Fig.4] in particular.

[0056] According to a preferred embodiment, the gripping-bending device 2 comprises two suction cups 22 positioned during gripping on either side of the center of the product, each located on a portion of the product O defined between the center and one of the ends of the product O. The contact surfaces S with counter-support function are located on either side of the two suction cups 22, in the direction separating the two suction cups. Each of the surfaces S is located between one of the suction cups 22 and one of the ends of the product O during gripping.

[0057] According to an alternative embodiment, the position of the suction cups and the contact surfaces S on the gripper-bending device can be reversed, the suction cups 22 being located between the contact surfaces S and the ends of the product O. In such a configuration, the curving of the product O is done by stressing the central portion of the product O, where the contact surfaces S are brought into contact with the central portion of the product O, in counter-support, and the ends of the product O are sucked and pulled by the suction cups 22.

[0058] As shown in the various figures, and according to a preferred embodiment, the suction cups 22 have a circular cross-section. They can also be chosen with other shapes, for example with an oblong shape, and with variable dimensions, adapted to the product O to be grasped. For example, for gripping a sausage, the suction cup is preferably circular, and its diameter can be between 5 and 20 mm, such as 15 mm.

[0059] The suction cup 22 may further comprise a hollow body made of elastomeric material, such as vinyl, silicone or nitrile, and comprises several bellows so as to fit and be in good contact with the curved faces of the product O to be grasped.

[0060] Since the surface S is configured to bear on the product O, it is also preferably adapted to the particular shape thereof. In particular, in the case of food products O, such as sausages, the curvature of the surface S is designed with a diameter greater than the transverse diameter of the sausages, for example the diameter of the curvature of the surface S is equal to 1.2 times the transverse diameter of the sausages, and up to 3 times the transverse diameter of the sausages. The surface S preferably comprises a coating of smooth and flexible materials, such as food-grade silicone, in order to reduce damage to the product O.

[0061] Furthermore, the suction cup 22, its bellows, as well as the contact surfaces S, do not have any retention nest and are suitable for food applications, with specific materials for food contact, meeting the FDA and European CE food standards (EN 1672-2:2005+Al:2009, ISO 14159:2002 standards). The device thus meets the 3A and EHEDG standards.

[0062] The suction cup 22 is depressurized by a vacuum source, for example with a Venturi vacuum pump. The vacuum source is external to the gripping device, for example positioned on the robotic arm. It is also possible to alternatively use a compressed air source with a pneumatic port to generate the pressure changes of the suction cup 22.

[0063] In order to obtain the best ratio of initial product length O Li with the desired reduced final length Lr, the gripper-bender device 2 according to the present disclosure may further comprise a system for adjusting the spacing rv on its fixed part 20, between the suction cup(s) and the counter-support portion 21, visible in FIGS. 1 to 4. The system for adjusting the spacing rv is thus configured to allow the displacement of the suction cups 22 according to at least two relative positions, comprising a first position in which the stressing of the product O on the contact surface S is low, the product O is slightly curved and its reduced length Lr has a first value, and a second position in which the stressing of the product O on the contact surface S is high, the product O is very curved and its reduced length Lr has a second value, different from the first value.

[0064] The adjustment system may comprise a plurality of mounting holes, spaced lengthwise along a lengthwise direction of the support. The plurality of mounting holes selectively allowing the insertion of a rod for fixing the suction cup 22, and its fixing, by the placement of a fixing member on an upper part of the rod, for example the placement of a nut screwed onto a threaded end protruding from the rod.

[0065] The first value is set to be less than the second value. preferably, the central portion of the product O in the curved position PC is offset by 20 mm from the ends of the product O.

[0066] When the device comprises two suction cups 22, the two suction cups can typically be adjusted simultaneously, symmetrically relative to a middle of the support.

[0067] Furthermore, depending on the shape of the product O, it is entirely possible to adjust the suction cups asymmetrically, so that the product O is more curved towards one end than towards the other. This can find an application in particular for products O which are themselves asymmetrical, in particular food products, such as pieces of meat for example.

[0068] Furthermore, the system for adjusting the spacing rv advantageously makes it possible to adapt the gripper-bending device 2 to products O of different initial lengths Li, for example, different types of sausages, products having a more or less increased resistance to stressing from one end to the other, or to adapt to smaller packages E.

[0069] According to another possible embodiment shown in [Fig. 10], the gripper-bender device 2 comprises three suction cups 22, namely two lateral suction cups located on either side of a central suction cup. The three suction cups 22 comprise flexible bellows and are each connected to at least one vacuum port 23 making it possible to actuate the suction of each of the three suction cups 22. In this embodiment, the three suction cups 22 are configured to grasp by suction in a suction direction the product O in the rest position PR during step / a / , and to pull by continuous suction in a retraction direction of the three suction cups 22, collapsing the bellows of the suction cups 22, during step / b / by causing a displacement of the product O relative to a fixed part 20 of the gripper-bender device 2.The central suction cup is configured to retract at a retraction amplitude greater than a retraction amplitude of the side suction cups during step / b / , allowing the product O to be placed in the curved position PC.

[0070] In this embodiment, the central suction cup is then configured to grip the central portion of the product O in the rest position PR, and the two lateral suction cups are configured to grip the ends of the product O.

[0071] The difference between the retraction amplitude of the central suction cup and the retraction amplitude of the two lateral suction cups in step / b / , corresponding to the offset between the central portion and the ends of the product O in the curved position PC, is preferably 20 mm.

[0072] Alternatively, it is possible to design lateral suction cups with a retraction amplitude greater than the retraction amplitude of the central suction cup. In such a case, the product O is brought into its curved position by its ex- ends, sucked and pulled by the side suction cups.

[0073] Preferably, the three suction cups 22 are at the same level in their deployed position, prior to step / a / , so that they can be brought into contact simultaneously with the product O to be grasped in the rest position PR during step / a / .

[0074] The three suction cups 22 may comprise a hollow body made of elastomeric material, such as vinyl, silicone or nitrile, or any material meeting food standards, and several bellows. According to a preferred embodiment, the three suction cups 22 have a circular cross-section, and preferably, the central suction cup has a diameter and a length greater than the diameters and lengths of the lateral suction cups as well as a greater number of bellows.

[0075] Furthermore, in this embodiment, the fixed part 20 may comprise a system for adjusting the spacing rv of the two lateral suction cups. The adjustment system rv is then configured to allow the movement of the lateral suction cups according to at least two relative positions, depending on the desired offset between the central portion and the ends of the product O in the curved position PC. Preferably, the central suction cup is fixed and cannot be moved on the fixed part 20.

[0076] In the context of industrial production, the present disclosure also relates to a modular gripping assembly 1 allowing the implementation of the mechanized bending and loading method described above, and comprising a plurality of gripping-bending devices 2. The modular gripping assembly 1 is notably represented in FIGS. 5 to 8.

[0077] Such a modular gripper assembly 1 comprises a main frame 10 comprising main rails 103 on which the plurality of gripper-benders 2 are slidably mounted, parallel to each other and one after the other ([Fig.5]). The gripper-bender devices 2 are grouped into several groups of independent grippers Gr, sliding along the main rails 103 (Figures 6, 7 and 8). The main frame 10 is equipped with at least one actuator 102 particularly visible in [Fig.7], configured to slide the plurality of grippers 2 along the main rails 103.

[0078] Furthermore, the grippers 2 slide along the main rails 103; - between a gripping position PI illustrated in [Fig.5], in which the gripper-benders 2 of each gripper group Gr are grouped in the center 104 of the main frame 10, juxtaposed one after the other on the main rails 103, and each of the two ends of the main rails 103 is left free according to an end spacing of, and, - a depositing position P2 illustrated in [Fig.6] in particular, in which the gripper-benders 2 of the gripper groups Gr are arranged in a spaced position, where the groups Gr are separated from each other by a group spacing dg and each of the groups Gr has a group length Lg.

[0079] In particular, such an assembly can be mounted on an automated robotic arm, and equipped with devices for recognizing shapes, dimensions, etc., such as cameras.

[0080] In a preferred embodiment, and as shown for example in [Fig.7], the assembly 1 preferably comprises two actuators 102. These two actuators 102 comprise a cylinder system, with a piston and a retractable rod, each connected to a group Gr of gripper-benders 2. In the gripping position PI, the rod is retracted into the cylinder. In the depositing position P2 for separating the groups Gr, the rod is actuated by the piston and deployed to push and slide a group Gr along the main rails 103.

[0081] Alternatively, it is also possible to design each actuator 102 in such a way that the rod is deployed in the engagement position PI, and retracted in the depositing position P2 for separating the groups, to pull and slide a group Gr.

[0082] Such a cylinder device may for example be a single-acting or double-acting cylinder, actuated by an air passage system with external pneumatic ports.

[0083] In the embodiment of the invention, illustrated in Figures 5 to 8, the main rails 103 are sized to accommodate three groups Gr of eight gripper-benders 2, with a spacing dg between each group Gr.

[0084] It is possible to alternatively design any larger or smaller modular gripper assembly. In particular, its main rails 103 and / or its main frame 10 can be sized to accommodate more or fewer gripper-benders 2, and / or more or fewer groups Gr, and / or with spacing dg between each group Gr that is larger or smaller depending on the size of the products O, and / or the number of products O to be loaded per package E, and / or the simultaneous number of packages E, and / or the specific sizing of the available robotic installation (for example, support surfaces 3), etc.

[0085] Furthermore, the gripper-bender devices 2 according to the present disclosure, belonging to the same group Gr, are secured, two by two, according to an advantageous embodiment by removable connecting rods 101, as shown in FIGS. 6 and 8. The rods 101 engage by their two ends in two housings 200 of the gripper-bender devices 2 by elastic fitting.

[0086] The connecting rods 101 are elongated elements, and preferably composed of at least one thin portion of lower radius, on which the gripper-benders 2 can be fixed, or even slide, and of at least one thick portion of upper radius, on which the gripper-benders 2 cannot slide. The ends of the connecting rods 101 are each provided with a stop.

[0087] In a preferred embodiment and shown for example in [Fig.8], the connecting rods 101 are presented in two groups: - a first group of long connecting rods, are positioned between the Gr groups of gripper-benders 2. Only the gripper-benders 2 of the ends of group Gr are fixed to these removable rods (for example in [Fig.8], from left to right, the eighth, the ninth, the sixteenth and the seventeenth gripper-benders 2), in elastic interlocking, by their housings 200. The maximum length of the group spacing dg is less than the length of the long connecting rods. The long connecting rods provide a sliding connection between two gripping-bending devices 2 of two successive groups Gr, following the rails 103, allowing the two gripping-bending devices 2 to come together, in the gripping position PI, and a separation between the two groups Gr according to a limited stroke determined by the long connecting rod, fixing the spacing of the two groups Gr, in the depositing position P2; - a second group of short connecting rods, keeps the gripper-bender devices 2 secured to each other within the same group Gr. These short connecting rods are configured to leave no mechanical play between two successive gripper-benders 2, during the sliding of the groups Gr along the main rails 103.

[0088] In the embodiment shown, the gripper-benders 2 are fixed to the connecting rods by a system of clips and circlips. Any suitable alternative fixing device can be used.

[0089] Preferably, the length of the short connecting rods is chosen as a function of the length Lg of the groups Gr of product O required, typically much less than the length of the packages E to be loaded, and in particular of a length determined to fix the gap between two gripper-bending devices 2 during the gripping position PL. This gap typically corresponds to the center distance separating the parallel housings of the support surface / conveyor 3. The length of the long connecting rods is chosen as a function of the necessary spacing between the groups Gr and the packages E, and in order to fix the spacing dg between the successive groups Gr in the depositing position P2.

[0090] The gripper assembly 1 comprising removable connecting rods, advantageously makes it possible to quickly reconfigure the number of gripper-bending devices 2, per group Gr. Such a modular design, comprising gripper-bending devices 2, removable from one another, and connecting rods, advantageously makes it possible to secure the gripper-bending devices 2 to one another by means of said short and long rods, according to different possible configurations.

[0091] Such a modular design offers rapid adaptation of the configuration of the gripper assembly 1 to the dimensions of the packaging E, and / or to the number of products. food O to be entered by group Gr, or even the space separating two successive E packages when depositing.

[0092] According to a preferred embodiment and in the case where there is an odd number of Gr groups, in order to optimize the separation of the Gr groups along the main rails 103, it is also possible to fix to the main frame 10 the gripper-benders 2 of the central Gr group. This is for example illustrated in [Fig.8], where the two central gripper-benders 2 of the group Gr, located on either side of the center 104 of the main frame 10 (in [Fig.8], from left to right, the twelfth and thirteenth gripper-benders), are fixed immobile and integral with the center 104 of the main frame 10. With such a configuration, the lateral groups Gr, whose gripper-benders 2 are integral with each other by the short connecting rods 101, are moved apart by the actuator(s) 102 of the central group Gr towards the ends of the main frame 10, which remains fixed to the center 104.

[0093] It is of course possible to design any other suitable device for separating the Gr groups of gripper-benders 2. For example, it is possible to envisage an actuator 102 for each Gr group to be separated, or to replace the rods with removable stops on the main rails 103.

[0094] Furthermore, the present disclosure also relates to the mechanized method of bending and loading a plurality of products O simultaneously into packages E, implementing the modular gripper assembly 1 thus described.

[0095] In this method, illustrated in particular in Figures 9a to 9e, the packages E are of length Lem, greater than the group length Lg, and of package width Le, and the modular gripping assembly 1 is placed in gripping position PI prior to step / a / ([Fig.9a]). The method then comprises the following steps: - / a / gripping by the plurality of grippers 2 of the plurality of products O uniformly distributed and moving on the support surface 3 in the rest position PR ([Fig.9b]), - / b / stressing and bending the plurality of products O by the plurality of grippers 2 in the curved position PC ([Fig.9c]), - / c / placing the gripper assembly 1 in the depositing position P2 in which the plurality of grippers 2 holding the plurality of curved products O is divided into a plurality of groups Gr, each group Gr having a group length Lg ([Fig.9d]), and, - / d / removal and insertion of each of the Gr groups of products O in curved position PC in each of the packages E ([Fig.9e]).

[0096] Preferably, all of the steps of the method are carried out by the automated robotic arm.

[0097] Thus, prior to step / a / of [Fig.9a], the support surface 3 conveys in continues the products O, each housed in their separate housing, in the rest position PR. The modular gripper assembly 1 is positioned above the support surface 3 by the robotic arm, in the gripping position PL The vacuum source does not generate any depression in the suction cups 22 of each gripper-bending device 2.

[0098] In step / a / of [Fig.9b], the modular gripping assembly 1 is brought closer by the robotic arm to the products O on the support surface 3, until the suction cups 22 come into contact with the products O. Upon contact with the products O, the suction cups 22 are put under vacuum by activating the vacuum source, for the simultaneous gripping of the plurality of products O.

[0099] Preferably, at the end of step / a / , once the products O have been grasped, the robotic arm positions the modular gripping assembly 1 at a distance from the support surface 3.

[0100] At step / b / of [Fig.9c], the depression and the continuous suction of the suction cups 22 causes the bellows of the suction cups to collapse, making them perfectly in contact with the gripped products O. The suction cups retract in this way, and the products O are pulled towards the fixed part 20 of the grippers 2. The ends of the products O thus come into contact with the counter-support portion 21 and with the contact surfaces S. During the continuous suction of the suction cups 22, the ends of the products O are held by the contact surfaces S in a low position, while the central parts of the products O are held by the retracted suction cups 22 in a high position. This opposing movement between the ends and the central parts of the products O generates the simultaneous curving of the products O into the curved position PC.

[0101] During step / c / , illustrated in [Fig.9d], the gripper-benders 2 holding the curved products O are separated into several groups Gr, by the actuator(s) 102 of the modular gripper assembly 1. The connecting rods 101 ensure the separation of the groups Gr according to the group spacing dg. The groups Gr thus formed are of length Lg, less than the length Lem of the packages E in which the products O are to be loaded.

[0102] Preferably, the difference between the length Lg and the length Lem of the packages E can vary between 0 and 100 mm.

[0103] In the illustration shown in [Fig.9d], there are two actuators 102 configured to each push a group Gr towards an opposite end of the main rails 103, and two connecting rods 101 are placed between the eighth and ninth gripper-bender and between the sixteenth and seventeenth gripper-bender respectively and from left to right. This configuration shown thus forms three groups Gr of eight gripper-benders 2, two groups Gr are placed at the ends of the main rails 103, and a third group Gr is held at the center 104 of the frame, with four gripper-benders 2 located on either side of the center 104. In detail, when moving from the gripping position PI to the depositing position P2, the two actuators 102 actuate their rod which deploys and pushes on each of the lateral Gr groups of gripper-benders 2 towards the longitudinal ends of the main rails 103. The two lateral Gr groups thus separate from the central group close to the center 104, immobile, until they form between them the group spacing dg.

[0104] Steps / b / and / c / can be implemented in any order or simultaneously. For example, it is possible to separate the Gr groups of O products before they are constrained in the curved position PC.

[0105] During step / d / , shown in [Fig.9e], each group Gr of grippers holding the curved products O is positioned above one of the packages E to be loaded. To deposit the products, the suction of the suction cups 22 by depression is deactivated, releasing the curved products O which are placed one after the other in the package E.

[0106] According to a preferred embodiment, prior to step / d / , or during step / d / before the release of the products O, the modular gripping assembly 1 is positioned close to and just above the packages E to be loaded, so as to avoid damage to the products O and to preserve as much as possible their reduced length Lr when they are released.

[0107] Furthermore, the packages E can move on another conveyor surface not shown, preferably comprising housings adapted to the dimensions of the packages in order to position them perfectly under the modular gripping assembly 1 for loading the groups Gr of curved products O. In addition, during the depositing step / d / , the packages E are preferably stationary to accommodate the products O.

[0108] Once the products O have been loaded into the packages E, a final sealing step can be carried out, for example, by an in-line thermoforming machine, or by an industrial sealing machine on the production line, applying a plastic film to the products O in a hermetic manner.

[0109] For the proper implementation of the method described above, it is possible to provide means ensuring the verification of the progress of each step, in particular, if the correct number of products O is grasped by the grippers 2, if the packages E are correctly positioned under the products O at step / d / , if the products are correctly in the curved position PC, or any other verification point. This can be ensured for example in an automated manner, conventionally by cameras or a shape / dimension recognition device equipping the robotic arm, or by an operator.

[0110] According to one embodiment of the invention, the products O are food products, in particular sausages. List of reference signs

[0111] - 1: Modular gripper assembly, - 10: main frame, - 101: connecting rod, - 102: actuator, - 103: main rail, - 104: center, - 2: gripper-bender, - 20: fixed part, - 21: counter-support portion, - 22: suction cup, - 23: vacuum port, - 200: accommodation, - 3: support surface, - of: end spacing, - dg: group spacing, - dm: threshold margin, - E: packaging, - Gr: group of gripper-benders, - The: packaging width, - Lem: packaging length, - Lg: group length, - Li: initial length, - Lr: reduced length, - PC: curved position, - PR: resting position, - PI: grip position, - P2: drop-off position, - O: product, - rv: adjustment of the suction cup spacing, - S: contact surface.

Claims

Claims

1. Mechanized method for bending and loading one or more elongate products (0) having two longitudinal ends into at least one package (E) using one or more gripper-bending devices and comprising the following steps: - / a / gripping by the gripper-bending device(s) of the product(s) (0) in the rest position (PR) on a support surface (3), in which position the or each product (0) has an initial length (Li) between its two longitudinal ends, - / b / stressing by the gripper-bending device(s) of the product(s) (0) in a curved position (PC), in which position the or each product (0) has a reduced length (Lr) between its two longitudinal ends less than the initial length (Li), and, - / c / depositing and inserting by the gripper-bending device(s) of the product(s) (0) in the curved position (PC) into said at least one package (E) a package (E).

2. Method according to claim 1, in which said at least one package (E) has a base and edges, and in which the depositing in / c / is obtained in the curved position (PC) of the product(s) (0) having the reduced length (Lr), by guaranteeing an offset between the longitudinal ends of the or each product (0) and the edges opposite the longitudinal ends at least greater than a threshold margin (dm).

3. Method according to claim 2, in which in the initial length (Li) the offset between the longitudinal ends of the or each product (0) and the edges opposite the longitudinal ends is less than the threshold margin (dm).

4. Method according to one of claims 1 to 3, in which the or each gripping-bending device comprises one or more suction cups, and in which the gripping at / a / is obtained by bringing the suction cup into contact with the product (0), and putting the suction cup(s) under vacuum and in which the depositing at / c / is obtained by stopping the vacuum.

5. Method according to one of claims 1 to 4, in which the support surface (3) is a conveyor belt, having in relief parallel housings, individually receiving the elongated products (0).

6. Method according to one of the preceding claims in which the gripper-bending device(s) are manipulated by a robotic arm, and in which the robotic arm ensures the movement of the product(s) (0) gripped by the gripper-bending device(s) from the support surface (3) at / a / , and to the deposit at / c / .

7. A gripper-bender device (2) suitable for implementing the mechanized bending and loading method according to claim 1, comprising: - at least one suction cup (22) having flexible bellows, connected to at least one vacuum port (23) for actuating the suction of the suction cup (22), the suction cup (22) being configured to grip by suction in a suction direction the product (0) in the rest position (PR) during step / a / , and to pull by continuous suction in a retraction direction of the suction cup (22), collapsing the bellows of the suction cup (22), during step / b / causing a displacement of the product (0) relative to a fixed part (20) of the gripper-bender device (2), and, - at least one lower counter-support portion (21) having at least one contact surface (S), in particular concave,configured to come into counter-support on the product (0) during the retraction of the suction cup (22) in a direction opposite to the direction of retraction of the suction cup (22) on the product (0) during step / b / , in order to put it in the curved position (PC).,

8. Gripper-bending device (2) according to claim 7, wherein the fixed part (20) comprises a system for adjusting the spacing (rv) between the suction cup(s) (22) and said at least one counter-support portion (21) configured to allow the movement of the at least one suction cup (22) according to at least two relative positions, comprising a first position in which the stressing of the product (0) on the contact surface (S) is low, the product (0) is slightly curved and its reduced length (Lr) has a first value, and a second position in which the stressing of the product (0) on the contact surface (S) is high, the product (0) is very curved and its reduced length (Lr) has a second value, different from the first value.

9. A gripper-bending device (2) suitable for carrying out the mechanized bending and loading method according to claim 1, comprising three suction cups (22), two lateral suction cups located on either side of a central suction cup, said three suction cups (22) comprising flexible bellows and each being connected to at least one vacuum port (23) for actuating the suction of each of the three suction cups (22), wherein the three suction cups (22) are configured to grip by suction in a suction direction the product (O) in the rest position (PR) during step / a / , and to pull by continuous suction in a retraction direction of the three suction cups (22), collapsing the bellows of the suction cups (22), during step / b / by causing a movement of the product (O) relative to a fixed part (20) of the gripper-bender device (2), and wherein said central suction cup is configured to retract according to a retraction amplitude greater than a retraction amplitude of said lateral suction cups during step / b / , making it possible to put the product (O) in position curved (PC).

10. Modular gripper assembly (1) allowing the implementation of the mechanized bending and loading method according to one of claims 1 to 6, comprising a main frame (10) comprising main rails (103) and a plurality of gripper-bending devices (2) according to one of claims 7, 8 or 9, mounted parallel to each other one after the other sliding on said main rails (103), said gripper-bending devices (2) grouped into several independent gripper groups (Gr), sliding along the main rails (103), and in which the main frame (10) is equipped with at least one actuator (102) configured to slide the plurality of grippers (2) along the main rails (103): - between a gripping position (PI) in which the gripper-benders (2) of said gripper groups (Gr) are grouped in the center (104) of the main frame (10) juxtaposed one after the other on the main rails (103), and each of the two ends of the main rails (103) is left free according to an end spacing (de), and - a depositing position (P2), in which the gripper-benders (2) of the gripper groups (Gr) are arranged in a spaced position, said groups (Gr) being separated from each other by a group spacing (dg) and each of the groups (Gr) having a group length (Lg).

11. Gripper assembly, according to claim 10, said gripper-bending devices (2) belonging to the same group (Gr) among the plurality of groups (Gr), are secured, two by two, by removable connecting rods (101), the rods (101) engaging by two ends of each rod in two housings (200) of the gripper-bending devices (2) by elastic fitting.

12. Mechanized method according to one of claims 1 to 6 for bending and loading a plurality of products (O) into packages (E) of length (Lem), greater than the group length (Lg), and of package width (Le), implementing the modular gripper assembly (1) according to one of the preceding claims 10 or 11, in which the gripper assembly (1) is placed in the gripping position (PI) prior to step / a / , the method comprising the following steps: - / a / gripping by the plurality of grippers (2) of the plurality of products (O) uniformly distributed and moving on the support surface (3) in the rest position (PR), - / b / stressing and bending the plurality of products (O) by the plurality of grippers (2) in the curved position (PC),- / c / placing the gripper assembly (1) in the depositing position (P2) in which the plurality of grippers (2) holding the plurality of curved products (O) is divided into a plurality of groups (Gr), each group (Gr) having a group length (Lg), and, - / d / depositing and inserting each of the groups (Gr) of products (O) in the curved position (PC) into each of the packages (E).,

13. Method according to one of claims 1 to 6 and 12, in which the products (O) are food products, in particular sausages.

Images