Modular gripper-bender device and gripper assembly

Abstract

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

Description

Title of the invention: Modular gripper-bender device and gripper assembly

[0001] This disclosure relates to a mechanized process for bending and loading products into packages, as well as to a gripper-bender device enabling the implementation of such a process and to an assembly comprising a plurality of such gripper-bender devices. technical field

[0002] This disclosure falls within the field of automated industrial production processes. More specifically, this disclosure relates to the field of loading and packaging of agri-food products. Previous technique

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

[0004] Typically, 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 perform these operations, the robots are typically equipped with an articulated robotic arm and a system for picking up and / or releasing several products simultaneously, typically several dozen times per minute.

[0005] In particular, the food processing industry uses a range of robotic systems, typically picking robots, which enable the rapid handling and packaging of food products, from bulk quantities to their placement in final packaging. Therefore, it is widely known that such systems use these technologies for loading food products, such as sausages, into thermoformed packaging and trays.

[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. Specifically, a significant portion of the pollution generated by the agri-food production industry comes from packaging, which is mostly single-use and composed primarily of plastic materials.

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

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

[0009] Furthermore, with regard to foodstuffs, hygiene, sealing, composition, etc., standards for packaging must be met 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 entirely. Summary

[0010] This disclosure improves the situation.

[0011] A mechanized method for bending and loading one or more long products having two longitudinal ends into at least one package is proposed, employing one or more gripper-bender devices and comprising the following steps: - / a / gripping by the gripper-bender device(s) of the product(s) in a rest position on a support surface, a position in which the product(s) has an initial length between its two longitudinal ends, - / b / constraint applied by the gripping-bending device(s) of the product(s) in a curved position, a position in which the product(s) has a reduced length between its two longitudinal ends that is less than the initial length, and, - / c / placement and insertion by the gripping-bending device(s) of the product(s) in a bent position into said at least one package.

[0012] The features described in the following paragraphs may optionally be implemented independently of each other or in combination with each other.

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

[0015] According to one embodiment, the gripper-bender device or devices comprise one or more suction cups, and the gripping in / a / is obtained by bringing the suction cup into contact with the product, and putting the suction cup or suction cups into a vacuum, and the placement in / c / is obtained by stopping the vacuum.

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

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

[0018] This disclosure also relates to a gripper-bender device suitable for implementing the mechanized bending and loading process, comprising: - at least one suction cup having flexible bellows, connected to at least one vacuum port enabling the suction cup to be activated, the suction cup being configured to grasp the product by suction in a suction direction in its rest position during step / a / , and to pull by continuous suction in a suction cup retraction direction, deflating the suction cup bellows, during step / b / causing a displacement 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 counter-support the product when the suction cup retracts 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 includes a system for adjusting the spacing between the suction cup(s) and said at least portion of counter-support configured to allow the movement of at least one suction cup according to at least two relative positions, comprising a first position in which the stress on 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 stress on 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 also relates to a gripper-bender device suitable for implementing the mechanized bending and loading process, 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 enabling the suction of each of the three suction cups to be actuated, wherein the three suction cups are configured to grasp by suction in a suction direction the product in rest position during step / a / , and to pull by continuous suction in a retraction direction of the three suction cups, deflating the bellows of the suction cups, during step / b / causing a displacement 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 / , enabling the product to be placed in a curved position.

[0021] The present disclosure further relates to a modular gripper assembly enabling the implementation of the mechanized bending and loading process, comprising a main frame including 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 re-grouped into several groups of independent grippers sliding along the main rails, and in which 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 position, in which the bending grippers 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 joined together, 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 interlocking.

[0023] According to one embodiment, the mechanized method for bending and loading a plurality of products into packages of a length greater than the group length and of a 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 a plurality of grippers of a plurality of uniformly distributed products moving on the support surface in a rest position, - / b / stressing and bending of the plurality of products by the plurality of grippers in the curved position, - / c / setting up the gripper assembly in the placement 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 / placement and insertion of 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 features, details and advantages will become apparent from reading the detailed description below and from analyzing the accompanying drawings, in which: Fig. 1

[0026] [Fig. 1] 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 includes mounting recesses. Fig. 2

[0027] [Fig.2] represents a three-quarter view of the gripper-bender device according to the [Fig.1]. This view shows a preferred embodiment of concave contact surfaces. Fig. 3

[0028] [Fig.3] shows a consecutive view of [Fig.1], where the suction cups of the device A gripper-bender grasps a long, elongated product in its rest position, with an initial length of [value missing]. Below the elongated product is a cross-section of a package whose package length is shorter than the initial length of the product in its rest position. Fig. 4

[0029] [Fig.4] shows a consecutive view of [Fig.3], where the suction cups of the device The gripper-bender draws the product towards its fixed section, compressing the bellows of the suction cups in contact with the product. The concave contact surfaces then apply pressure to the product's ends, in the opposite direction to the suction direction. The elongated product is thus bent into its curved position and is now shorter than its initial length in the resting position, and shorter than the packaging length by a certain margin. Fig. 5

[0030] [Fig.5] shows a modular gripper assembly, implementing a plurality of gripper-bender devices, as shown in Figures 1 to 4. The assembly illustrated here comprises twenty-four gripper-bender devices, fixed by sliding 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 arranged in three gripper-bender groups. In this case, 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-bender devices. This view highlights the main frame, the main rails, a center of the frame, actuators, and connecting rods. Fig. 8

[0033] [Fig. 8] is a view following [Fig. 7], of the modular gripper assembly equipped with groups of gripper-benders, distributed in three groups of eight gripper-benders. The two lateral groups of 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 for 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 long products move in a rest position. Fig. 9b

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

[0036] [Fig. 9c] shows a third step in the process of bending and loading a plurality of products into packaging, in which suction cups draw in the products whose ends are placed under pressure and against the contact surfaces of the bending grippers. The products are then placed in position curved. Fig. 9d

[0037] [Fig. 9d] shows a fourth step in the process of bending and loading a plurality of products into packages, in which groups of bending grippers holding the products in a bent position are formed. In this figure, three groups of eight bending grippers, each holding one product in a 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 product groups are placed on top of the packages for loading. The packages have a width substantially greater than the length of the product group, and a length substantially greater than the reduced length of the products in the bent position. In this figure, the three product groups are placed on top of three packages. The arrows illustrate the direction in which the product groups are placed in the packages, by deactivating the suction of the bending grippers. Fig. 10

[0039] [Fig. 10] shows a front view of a second embodiment of the gripper-bender device comprising a fixed part on which three bellows suction cups, two lateral suction cups, and a central suction cup are positioned, gripping a long, thin product in its rest position. Each of the three suction cups is connected to a vacuum port. The lateral 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 includes mounting recesses. Description of the implementation methods

[0040] The drawings and description below contain, essentially, elements of a definite nature. They may therefore not only serve to better understand this disclosure, but also contribute to its definition, if necessary.

[0041] This disclosure relates to a mechanized method for bending and loading one or more elongated products O, having two longitudinal ends, into at least one package E employing one or more gripper-bender devices. The elongated products O can typically be food products, for example sausages, particularly of animal origin, or even of vegetable origin.

[0042] The process comprises the following steps: - / a / gripping by the gripper-bender device(s) of the product(s) O in rest position PR on a support surface 3, a position in which the product or each product O has an initial length Li between its two longitudinal ends, - / b / subjecting the product or products O to stress by the gripper-bender device(s) in a curved position PC, a position in which the product or each product O has a reduced length Lr between its two longitudinal ends that is less than the initial length Li, and, - / c / placement and insertion by the gripper-bender device(s) of the product(s) O in curved position PC into said at least one packaging E.

[0043] Such a process makes it possible to reduce the size of the products to be packaged by bending them. The bent 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 larger number of bent products into the same package, or to insert longer products. This can, for example, have the advantage of using up existing stocks of standard-sized packages filled with more products.

[0044] As illustrated in [Fig. 2], and generally speaking, the packaging E may have a base and rims. In particular, according to one embodiment, the packaging is in the form of a sealed, lidd tray. For example, the tray is thermoformed, made of polyethylene (PE), polyethylene terephthalate (PET), and / or polypropylene (PP), 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 naked product, particularly a food product, may be suitable.

[0045] Packaging may also include recyclable materials, for example recycled plastics such as rPET. It is also possible to use environmentally friendly packaging, employing biodegradable and / or eco-designed components, such as compostable molded cellulose trays. In particular, less bulky and lighter alternatives for storage are preferred, manufactured with the least amount of material possible, while maintaining optimal airtightness and vacuum sealing of the products.

[0046] The placement in the packaging E of step / c / of the process is achieved in the curved position PC of the product(s) O of reduced length Lr. This placement is carried out ensuring 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 damaging the products, in particular at their ends. Conversely, it is preferable that the threshold margin not be too high, because the bulk of the products O would not be optimized: products in curved position PC, especially 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 its rest position PR and 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; indeed, the product may even protrude longitudinally from the packaging E, relative to the edges.

[0049] According to this disclosure, the process includes setting up the gripper-bender device(s) 2 to grasp, bend, and then deposit the products O. The gripper-bender device 2 may include one or more suction cups 22 for this purpose. The grasping in step / a / is then achieved by bringing the suction cup 22 into contact with the product O and then applying a vacuum. The deposit of the product O in step / c / is then typically achieved by releasing the vacuum.

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

[0051] Such a support surface 3 with parallel housings allows the products O, then in rest position PR, to be arranged individually in the housings, and distributes them uniformly, and in the appropriate gripping direction with respect to the suction cups 22 of the gripper-bender devices 2.

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

[0053] The robotic arm can, for example, be equipped with shape recognition devices, dimension recognition devices, 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 process, particularly illustrated in Figures 1 to 4, comprises 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 is thus configured to grasp the product O by suction in a vertical direction during step / a / , illustrated in [Fig. 3], and to pull it by continuous suction in a retraction direction of the suction cup 22 (upwards in conventional use), thereby compressing the bellows of the suction cup 22, during step / b / , as illustrated in [Fig. 4]. The compressed bellows thus 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 having at least one contact surface S, in particular a concave one. Such a concave contact surface S is thus configured to counter-support the product O during the retraction of the suction cup 22, in the opposite direction (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 particular in [Fig. 4].

[0056] According to a preferred embodiment, the gripping-bending device 2 comprises two suction cups 22 positioned on either side of the center of the product during gripping, 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, which act as counter-supports, are located on either side of the two suction cups 22, along 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-bender 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 bending of the product O is done by putting the central portion of the product O under stress, 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 gripped. 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 includes several bellows so as to adapt 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 against the product O, it is also preferably adapted to the particular shape of the latter. 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, and the contact surfaces S have no retention pockets and are suitable for food applications, with specific materials for food contact, meeting FDA and European CE food standards (EN 1672-2:2005+A1:2009, ISO 14159:2002). The device thus meets 3A and EHEDG standards.

[0062] The vacuum in the suction cup 22 is maintained by a vacuum source, for example, a Venturi vacuum pump. The vacuum source is external to the gripper device, for example, positioned on the robotic arm. Alternatively, a compressed air source with a pneumatic port can be used to generate the pressure changes in 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 this disclosure may further include a spacing adjustment system rv on its fixed part 20, between the suction cup(s) and the counter-support portion 21, visible in Figures 1 to 4. The spacing adjustment system rv is thus configured to allow the suction cups 22 to move into at least two relative positions, including a first position in which the stress on the product O on the contact surface S is low, the product O is only slightly curved and its reduced length Lr has a first value, and a second position in which the stress on 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 include a plurality of mounting holes, spaced lengthwise along the length of the support. The plurality of mounting holes allows the selective insertion of a suction cup fixing rod 22, and its fixing, by placing a fixing element on an upper part of the rod, for example, by placing a nut screwed onto a threaded end protruding from the rod.

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

[0066] When the device includes two suction cups 22, the two suction cups can typically be adjusted simultaneously, symmetrically with respect to a midpoint 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 at one end than at the other. This can be particularly useful for products O that are themselves asymmetrical, especially food products, such as pieces of meat, for example.

[0068] Furthermore, the rv spacing adjustment system advantageously allows the gripper-bender device 2 to be adapted to products O of different initial lengths Li, for example, different types of sausages, products exhibiting greater or lesser resistance to stress from one end to the other, or to adapt to smaller packaging 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 have flexible bellows and are each connected to at least one vacuum port 23 for actuating the suction of each of the three suction cups 22. In this embodiment, the three suction cups 22 are configured to grasp the product O by suction in a suction direction in the rest position PR during step / a / , and to pull by continuous suction in a retraction direction of the three suction cups 22, depressing the bellows of the suction cups 22, 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 by a greater amplitude than the lateral suction cups during step / b / , allowing product O to be placed in the curved PC position.

[0070] In this embodiment, the central suction cup is then configured to grasp the central portion of the product O in the rest position PR, and the two lateral suction cups are configured to grasp 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 at step / b / , corresponding to the offset between the central portion and the ends of the product O in 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 placed in its curved position by its ex- hoppers, sucked in 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 on the product O to be grasped in 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-grade standards, and several bellows. In a preferred embodiment, the three suction cups 22 have a circular cross-section, and preferably, the central suction cup has a larger diameter and length 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 portion 20 may include a system for adjusting the spacing rv of the two lateral suction cups. The adjustment system rv is then configured to allow the lateral suction cups to move in 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 portion 20.

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

[0077] Such a modular gripper assembly 1 comprises a main frame 10 including main rails 103 on which are slidably mounted the plurality of gripper-benders 2, parallel to each other and one after the other ([Fig. 5]). The gripper-bender devices 2 are grouped into several independent gripper groups 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] In addition, the grippers 2 slide along the main rails 103; - between a gripping position PI illustrated in [Fig. 5], in which the bending grippers 2 of each gripper group Gr are grouped at 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 deposit position P2 illustrated in particular in [Fig. 6], in which the bending grippers 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 shape recognition devices, 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 include 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 releasing position P2 for separating the groups Gr, the rod is actuated by the piston and extended to push and slide a group Gr along the main rails 103.

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

[0082] Such a jack device can for example be a single-acting or double-acting jack, 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 dimensioned to accommodate three groups Gr of eight gripper-benders 2, with a spacing dg between each group Gr.

[0084] It is possible to design alternatively any larger or smaller modular gripper assembly. In particular, its main rails 103 and / or its main frame 10 can be dimensioned to accommodate more or fewer bending grippers 2, and / or more or fewer groups Gr, and / or with larger or smaller spacings dg between each group Gr 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 dimensioning of the available robotic installation (for example, support surfaces 3), etc.

[0085] In addition, the gripper-bender devices 2 according to the present disclosure, belonging to the same group Gr, are joined together, two by two, in an advantageous embodiment by removable connecting rods 101, as shown in Figures 6 and 8. The rods 101 engage at their two ends in two housings 200 of the gripper-bender devices 2 by elastic interlocking.

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

[0087] In a preferred embodiment, represented for example in [Fig.8], the connecting rods 101 are in two groups: - a first group of long connecting rods are positioned between the groups Gr of gripper-benders 2. Only the gripper-benders 2 at the ends of group Gr are fixed to these removable rods (for example on [Fig.8], from left to right, the eighth, ninth, sixteenth and 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 ensure a sliding connection between two gripper-bender devices 2 of two successive groups Gr, along the rails 103, allowing a rapprochement of the two gripper-bender devices 2, in the gripping position PI, and a spacing 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 dropping position P2; - a second group of short connecting rods, keeps the gripper-bender devices 2 fixed to each other within the same group Gr. These short connecting rods are configured so that there is 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 bending grippers 2 are attached to the connecting rods by a system of clips and circlips. Any suitable alternative fastening device may be used.

[0089] Preferably, the length of the short connecting rods is chosen according to the length Lg of the product groups Gr 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 gripping-bending devices 2 in the picking 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 according to the necessary gap between the groups Gr and the packages E, and in order to fix the gap dg between successive groups Gr in the depositing position P2.

[0090] The gripper assembly 1, comprising removable connecting rods, advantageously allows for the rapid reconfiguration of the number of gripper-bender devices 2, per group Gr. Such a modular design, comprising gripper-bender devices 2, removable from one another, and connecting rods, advantageously allows the gripper-bender devices 2 to be joined together 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 the number of products food items O to be seized 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 the gripper-benders 2 of the central Gr group to the main frame 10. This is illustrated for example in [Fig.8], where the two central gripper-benders 2 of the Gr group, 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 attached to the center 104 of the main frame 10. With such a configuration, the lateral Gr groups, whose gripper-benders 2 are attached to each other by the short connecting rods 101, are moved apart by the actuator(s) 102 of the central Gr group 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 consider an ac-tionner 102 for each Gr group to be separated, or to replace the rods with removable stops on the main rails 103.

[0094] Furthermore, this 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 described above.

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

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

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

[0098] In step / a / of [Fig.9b], the modular gripper assembly 1 is brought closer by the robotic arm to the products O on the support surface 3, until the suction cups 22 are in contact with the products O. Upon contact with the products O, the suction cups 22 are depressurized by activation of 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 gripper assembly 1 at a distance from the support surface 3.

[0100] In step / b / of [Fig. 9c], the continuous suction and vacuum of the suction cups 22 causes the suction cup bellows to collapse, making perfect 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 to rest against the counter-support portion 21 and against 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 lower position, while the central parts of the products O are held by the retracted suction cups 22 in a higher position. This opposing movement between the ends and the central parts of the products O generates the simultaneous bending of the products O into the curved position PC.

[0101] During step / c / , illustrated in [Fig. 9d], the bending grippers 2 holding the bent 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, which is less than the length Lem of the packages E into 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 opposite ends of the main rails 103, and two connecting rods 101 are placed between the eighth and ninth bending grippers and between the sixteenth and seventeenth bending grippers, respectively, from left to right. This configuration thus forms three groups Gr of eight bending grippers 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 bending grippers 2 located on either side of the center 104. In detail, when moving from the pick-up position PI to the drop-off position P2, the two actuators 102 actuate their rod which extends 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 near the center 104, which is stationary, until they form the group spacing dg between them.

[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 prior to their being placed under stress in the curved PC position.

[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. For the placement of the products, the suction of the suction cups 22 is deactivated, releasing the curved products O which then place themselves 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 gripper 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 slots adapted to the dimensions of the packages in order to position them perfectly under the modular gripper assembly 1 for loading the groups Gr of curved O products. In addition, during the placement step / d / , the packages E are preferably stationary to receive the O products.

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

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

[0110] According to one embodiment of the invention, the O products 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: portion of counter-support, - 22: suction cup, - 23: empty port, - 200: housing, - 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: socket position, - P2: drop-off position - O: product, - rv: suction cup spacing adjustment, - S: contact surface.

Claims

Demands

1. A mechanized method for bending and loading one or more long, thin products (0) having two longitudinal ends into at least one package (E) employing one or more bending gripper devices and comprising the following steps: - / a / gripping by the bending gripper(s) of the product(s) (0) in the rest position (PR) on a support surface (3), a position in which the product(s) (0) has an initial length (Li) between its two longitudinal ends, - / b / applying pressure by the bending gripper(s) of the product(s) (0) into a bent position (PC), a position in which the product(s) (0) has a reduced length (Lr) between its two longitudinal ends that is less than the initial length (Li), and - / c / placing and inserting by the bending gripper(s) of the product(s) (0) in the bent position (PC) into said at least one package (E)..

2. A method according to claim 1, wherein said at least one package (E) has a base and rims, and wherein the / c / deposition is obtained in the curved position (PC) of the product(s) (0) having the reduced length (Lr), ensuring an offset between the longitudinal ends of the product(s) (0) and the rims opposite the longitudinal ends at least greater than a threshold margin (dm).

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

4. A method according to any one of claims 1 to 3, wherein the gripper-bender device or devices comprise one or more suction cups, and wherein the gripping in / a / is obtained by bringing the suction cup into contact with the product (0), and putting the suction cup or suction cups into a vacuum, and wherein the placement in / c / is obtained by stopping the vacuum.

5. A method according to any one of claims 1 to 4, wherein the support surface (3) is a conveyor belt, having raised parallel housings, individually receiving the elongated products (0).

6. A method according to any one of the preceding claims wherein the gripper-bender device(s) are manipulated by a robotic arm, and wherein the robotic arm ensures the movement of the product(s) (0) grasped by the gripper-bender device(s) from the support surface (3) in / a / , and until the deposit in / c / .

7. A gripper-bender device (2) suitable for implementing the mechanized bending and loading process 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 grasp the product (0) in its rest position (PR) by suction in a suction direction during step / a / , and to pull by continuous suction in a retraction direction of the suction cup (22), deflating 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 counter-press against 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 place it in a curved position (PC).

8. Gripper-bender device (2) according to claim 7, wherein the fixed part (20) comprises a system for adjusting the gap (rv) between the suction cup(s) (22) and said at least counter-support portion (21) configured to allow the movement of at least one suction cup (22) in at least two relative positions, comprising a first position in which the stress on 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 stress on 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. Gripper-bender device (2) suitable for implementing the mechanized bending and loading process 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) having flexible bellows and each being connected to at least one vacuum port (23) allowing the suction of each of the three suction cups (22) to be actuated, wherein the three suction cups (22) are configured to grasp by suction in a suction direction the product (O) in rest position (PR) during step / a / , and to pull by continuous suction in a retraction direction of the three suction cups (22), deflating the bellows of the suction cups (22), during step / b / causing a displacement 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 by a greater retraction amplitude than a retraction amplitude of said lateral suction cups during step / b / , allowing the product (O) to be placed in a curved position (PC).

10. Modular gripper assembly (1) enabling the implementation of the mechanized bending and loading process according to any one of claims 1 to 6, comprising a main frame (10) including main rails (103) and a plurality of gripper-bender devices (2) according to any one of claims 7, 8 or 9, mounted parallel to each other one after the other sliding on said main rails (103), said gripper-bender devices (2) grouped into several independent gripper groups (Gr) sliding along the main rails (103), and wherein 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 bending grippers (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 drop position (P2), in which the bending grippers (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-bender devices (2) belonging to the same group (Gr) among the plurality of groups (Gr), are joined, 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-bender devices (2) by elastic interlocking.

12. A mechanized method according to any 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 any one of the preceding claims 10 or 11, wherein 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 / applying pressure and bending the plurality of products (O) by the plurality of grippers (2) in the bent position (PC),- / c / setting up the gripper assembly (1) in the placement 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) being of group length (Lg), and, - / d / placing and inserting each of the groups (Gr) of products (O) in the curved position (PC) into each of the packages (E).

13. A method according to any one of claims 1 to 6 and 12, wherein the products (O) are food products, in particular sausages.

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