System for forming sandwich products from flat baked goods with an intermediate layer of viscous edible material

Abstract

A system for forming sandwich products from two or more flat baked goods, wherein between the flat baked goods a layer of viscous edible material is deposited, the system comprising a first conveyor for supplying a plurality of flat baked goods, wherein the plurality of flat baked goods is divided into a first group with the flat baked goods oriented with one of their two main surfaces facing downwards, and a second group with the flat baked goods oriented facing upwards; a second conveyor for supplying the viscous edible material; temperature control means disposed onto the second conveyor and arranged to achieve a predefined viscosity level of the viscous edible material by controlling its temperature; a first robotic manipulator configured to pick up the viscous edible material from the second conveyor after its viscosity has been adjusted to the predefined level, and to deposit the viscous edible material onto flat baked goods of the first group; a second robotic manipulator configured to pick up and place flat baked goods of the second group onto the viscous edible material deposited on the flat baked goods of the first group, thereby forming the sandwich products.

Description

Title: System for forming sandwich products from flat baked goods with an intermediate layer of viscous edible material Description: TECHNICAL FIELD The present invention generally relates to the field of food processing systems, and more particularly to the field of automated systems for forming sandwich products from flat baked goods with an intermediate layer of viscous edible material. BACKGROUND Nowadays, automated systems for forming sandwich products from flat baked goods, such as cookies or biscuits, often involve the use of a gripper or manipulator that flips a portion of the baked goods to ensure proper alignment before applying a layer of cream or other edible material. These systems typically rely on rotating or flipping a portion of the incoming cookies so that one group is oriented with the top side facing downwards, while the remaining cookies retain their original orientation with the top side upwards. The next step in conventional systems involves depositing cream onto the flipped cookies, after which the unflipped cookies are placed on top to form the sandwich product. A notable disadvantage of these conventional systems is the inherent complexity and limitations in handling viscous edible materials, such as cream or chocolate. To ensure the edible material can be deposited without clogging the deposition nozzles, it must maintain a sufficiently low viscosity. However, this presents a further challenge, as once deposited, the material still needs to adhere effectively to the cookie layers. Achieving this requires the edible material to cool down after deposition, allowing it to solidify and bond with the cookies. As a result, current systems often employ long processing lines, sometimes extending 10 or more meters, to allow for sufficient cooling time before the sandwiches can be further handled or packaged. These lengthy processing lines are undesirable for several reasons. First, they occupy significant floor space, making production facilities less efficient in terms of layout. Moreover, while additional freezing units can be used to accelerate cooling, these solutions are also inefficient. The reason for this inefficiency lies in the insulating properties of the cookies, which retain heat and slow down the cooling process. Since the cookies act as insulators, cooling the edible material, such as cream or chocolate, becomes less effective, requiring additional time and energy to bring the product to a stable temperature. This process slows down production and increases operational costs. It is therefore a goal of the present invention to provide an improved system for forming sandwich products that addresses these inefficiencies. The invention seeks to reduce the length of the processing lines and address the inefficiency of current solutions, thereby overcoming the above-mentioned disadvantages of the prior art at least in part. SUMMARY One aspect of the present invention relates to a system for forming sandwich products from two or more flat baked goods, wherein between the flat baked goods a layer of viscous edible material is deposited, the system comprising: a first conveyor for supplying a plurality of flat baked goods, wherein the plurality of flat baked goods is divided into a first group, with the flat baked goods oriented with one of their two main surfaces facing downwards, and a second group, with the flat baked goods oriented facing upwards; a second conveyor for supplying the viscous edible material; temperature control means disposed onto the second conveyor and arranged to achieve a predefined viscosity level of the viscous edible material by controlling its temperature; a robotic manipulator configured to pick up the viscous edible material from the second conveyor after its viscosity has been adjusted to the predefined level, and to deposit the viscous edible material onto a flat baked good of the first group; a robotic manipulator configured to pick up and place a flat baked good of the second group onto the viscous edible material deposited on the flat baked good of the first group, thereby forming a sandwich product; wherein preferably the predefined viscosity of the viscous edible material is tuned to such an extent that it can be picked up and deposited by the robotic manipulator without deforming, while also allowing the viscous edible material to melt together with the flat baked good of the first and second group during the sandwich formation process. Another aspect of the present invention relates to a method of forming sandwich products from two or more flat baked goods, the method comprising the steps of: - supplying a plurality of flat baked goods on a first conveyor, wherein the plurality of flat baked goods is divided into a first group, with the flat baked goods oriented with one of their two main surfaces facing downwards, and a second group, with the flat baked goods oriented facing upwards; - supplying a layer of viscous edible material on a second conveyor; - controlling the temperature of the viscous edible material using temperature control means disposed onto the second conveyor to achieve a predefined viscosity level suitable for handling; - picking up the viscous edible material from the second conveyor using a first robotic manipulator after the viscosity has been adjusted to the predefined level; - depositing the viscous edible material onto flat baked goods of the first group; - picking up flat baked goods from the second group using a second robotic manipulator and placing them onto the viscous edible material deposited on the flat baked goods of the first group to form a sandwich product, wherein preferably the predefined viscosity of the viscous edible material is controlled such that discrete portions of the viscous edible material can be picked up and deposited by the robotic manipulator without deforming, while also allowing the viscous edible material to melt together with the flat baked good of the first and second group during the sandwich formation process. Yet another aspect of the present invention relates to a method for depositing a layer of viscous edible material onto flat baked goods, the method comprising: - supplying a plurality of flat baked goods on a first conveyor; - supplying viscous edible material, either in a layer or in discrete portions, on a second conveyor; - controlling the temperature of the viscous edible material using temperature control means disposed onto the second conveyor to achieve a predefined viscosity level suitable for handling; - picking up the viscous edible material from the second conveyor using a first robotic manipulator after the viscosity has been adjusted to the predefined level; - depositing the viscous edible material onto the flat baked goods, wherein preferably the predefined viscosity of the viscous edible material is controlled such that discrete portions of the viscous edible material can be picked up and deposited by the robotic manipulator without deforming, while also allowing the viscous edible material to melt together with the flat baked good of the first and second group during the sandwich formation process. A sandwich productmay be understood as a food item where two or more baked goods, such as cookies or biscuits, are placed on either side of an edible layer, such as cream or chocolate. Flat baked goods are typically bakery products with two main surfaces that are substantially planar, including but not limited to cookies, crackers, or biscuits. The system comprises a first conveyor for supplying a plurality of flat baked goods, wherein the plurality of flat baked goods is divided into a first group, with the flat baked goods oriented with one of their two main surfaces facing downwards, and a second group, with the flat baked goods oriented facing upward. Preferably at least substantially half of the flat baked goods are oriented with one of their two main surfaces facing downwards and the other half facing upwards. Hence, the first group, being approximately half of the total, is facing downwards, the other half, i.e. the second group, facing upwards. Upwards or downwards is to be understood as that most goods, e.g. cookies, as part of the sandwich, have an inner and outer main surface. The inner surface is destined to face the edible layer, whereas the outer surface is facing outward and may comprise a logo, symbol, text or combination of such. A conveyor is a mechanical system designed to transport goods from one point to another along a controlled path. An effect of this arrangement is that it ensures the flat baked goods are prepared for subsequent processing steps, specifically the deposition of the viscous edible material and the formation of the sandwich structure. The orientation of the baked goods allows efficient handling during the assembly process and ensures that the top and bottom baked goods are correctly aligned for the final product. The system further comprises a second conveyor for supplying a layer of viscous edible material. The term viscous edible material refers to semi-solid or flowable food substances such as cream, chocolate, or jam, which have a particular viscosity at a given temperature. The second conveyor ensures that the viscous edible material is transported in a controlled manner, facilitating its precise placement during the sandwich assembly process. An effect of using a second conveyor specifically for the viscous edible material is that it isolates the edible material handling from the baked goods handling, enhancing control over the deposition process and ensuring a cleaner, more efficient production line. The system also includes temperature control means disposed onto the second conveyor and arranged to achieve a predefined viscosity level of the viscous edible material by controlling its temperature. Temperature control means refer to devices or systems, such as cooling units, that regulate the temperature of the edible material to achieve a specific viscosity suitable for manipulation. This arrangement ensures that the viscous edible material is at the optimal consistency for handling, preventing it from clogging the deposition nozzles or deforming during processing. An effect of controlling the temperature in this manner is the improved efficiency of the deposition process, as the material can be easily deposited onto the flat baked goods without causing delays or requiring manual intervention. The system includes a robotic manipulator configured to pick up the viscous edible material from the second conveyor after its viscosity has been adjusted to the predefined level and to deposit the viscous edible material onto a flat baked good of the first group. A robotic manipulator is an automated mechanical arm designed to perform specific tasks such as picking, placing, or moving items along a production line. This arrangement ensures precise and consistent handling of the viscous edible material, allowing for accurate deposition onto the baked goods without deforming the material. The ability of the robotic manipulator to handle viscous edible material reduces manual handling, increases production speed, and minimizes errors related to material deformation. The system further comprises a second robotic manipulator configured to pick up and place a flat baked good of the second group onto the viscous edible material deposited on the flat baked good of the first group, thereby forming a sandwich product. This second robotic manipulator may however also be the same as the first, hence, in this example, the system has one robotic manipulator which is configured both for handling the viscous edible material, and also to cap the top baked good on top thereof, to complete and form the sandwich assembly. This arrangement ensures the alignment and proper placement of the top baked good on the viscous edible material, completing the sandwich assembly. An effect of this arrangement is that it ensures the sandwich product is formed with the correct structure, with the edible material evenly distributed between the two baked goods. The robotic nature of the manipulator allows for consistent performance and reduces the likelihood of misalignment, which would otherwise result in defective products. In this system, preferably, the predefined viscosity of the viscous edible material is tuned to such an extent that it can be picked up and deposited by the robotic manipulator without deforming, while also allowing the viscous edible material to melt together with the flat baked good of the first and second group during the sandwich formation process. The term predefined viscosity refers to a controlled level of thickness or fluidity that ensures the material can be manipulated without losing its shape but also bonds effectively with the baked goods. This arrangement ensures that the viscous edible material adheres properly to the baked goods, maintaining the integrity of the sandwich structure while also allowing the edible material to melt slightly to create a cohesive bond between the top and bottom baked goods. An effect of this tuning is the enhanced durability and quality of the final product, as the material not only holds its shape during handling but also melts just enough to secure the baked goods together during the sandwich formation. In the context of the present disclosure flat baked goods refer to bakery products that are substantially planar, having two main flat surfaces. These products include, for example, cookies, biscuits, crackers, and wafers. Flat baked goods may come in various shapes, such as round, square, or rectangular, but their defining feature is that they possess two substantially parallel main surfaces. The term is intended to encompass products typically used in sandwich assembly processes, while excluding non-flat or irregularly shaped baked goods that are incompatible with such processes. Viscous edible material refers to any food substance that has a semi-solid or flowable consistency, which can be manipulated and deposited at a controlled viscosity. Examples of viscous edible materials include cream, chocolate, jam, or other confectionery fillings. These materials require precise temperature control to achieve a viscosity suitable for handling by robotic systems without deformation. The term specifically excludes fully solid or hard edible products that do not require temperature control or viscosity adjustment. Conveyor refers to a mechanical device used for moving materials or products along a controlled path within a production line. In the context of the present invention, conveyors are employed to transport flat baked goods and viscous edible material. Examples include belt conveyors and chain-driven conveyors, which may be designed to carry multiple items in parallel rows. The first conveyor refers to the conveyor dedicated to the transport of flat baked goods, while the second conveyor is designated for the supply of viscous edible material. Robotic manipulator refers to a programmable mechanical arm or system designed for precise and automated movement, capable of picking, placing, and manipulating materials. In this invention, robotic manipulators handle both the viscous edible material and the flat baked goods to ensure accurate placement and assembly of the sandwich product without manual intervention. Examples of robotic manipulators include vacuum-based grippers or mechanical gripping arms, which are specifically designed to handle soft and delicate items without causing deformation or damage. Temperature control means refer to any device or mechanism that regulates the temperature of a substance to achieve a desired physical state. In this invention, the temperature control means are disposed onto the second conveyor and are responsible for adjusting the temperature of the viscous edible material in order to achieve a predefined viscosity suitable for handling by the robotic manipulator. Examples of temperature control means include cooling units, refrigeration systems, or precision temperature control zones integrated into the conveyor system. The function of the temperature control means is to ensure that the viscous edible material is in an optimal state for manipulation, avoiding issues such as clogging or deformation while maintaining its ability to bond effectively with the baked goods. The term viscosity refers to the internal resistance of a fluid to flow, and in the context of the present invention, the viscosity of the viscous edible material is critical for handling and deposition. The predefined viscosity may vary depending on the type of edible material and the specific requirements of the product being formed. For example, the viscosity of the edible material may fall within the broad range of 1 to 100,000 centipoise (cP), covering various cookie fillings from thin liquids to thick pastes. More typical for sandwich product applications is the medium-broad range of 10 to 50,000 cP, which includes most cookie fillings. A more specific range may be 100 to 20,000 cP, suitable for creams, batters, and nut butters, while many common applications may lie within the narrow range of 1,000 to 10,000 cP, encompassing batters, frostings, and certain melted chocolates. Examples of materials within these ranges include melted butter (18-20 cP), cream with varying fat content (e.g., 30% fat cream at 14 cP and 50% fat cream at 112 cP), melted chocolate at 120°F (approximately 17,000 cP), honey at 100°F (1,500 cP), and frosting or icing, which can range from 2,000 to 10,000 cP. These values ensure that the material can be handled by robotic manipulators without deforming while maintaining optimal texture for product formation. The viscosity of the material can be measured using standardized methods, such as those defined byASTM D445 or ISO 3219, depending on the nature of the material and the required precision in viscosity control. The viscosity of the viscous edible material may be adjusted or tuned or controlled by its temperature to achieve a predefined viscosity level suitable for handling by a robotic manipulator. This tuning is essential to ensure that the material is firm enough for precise manipulation, yet flexible enough to bond with the flat baked goods during the sandwich formation process. For example, cooling viscous materials such as melted chocolate to approximately 15-18°C can increase its viscosity to the required level, while creams orjams may require cooling to 5-10°C to achieve optimal viscosity for handling. The temperature control means, such as refrigeration units or cooling zones integrated into the second conveyor, ensure gradual and uniform cooling of the edible material. The system may be configured to adjust the viscosity dynamically based on real-time measurements, ensuring consistent handling and deposition of the material. This tuning ensures that the material achieves the proper balance between being stable enough to maintain its form during transfer and malleable enough to melt slightly during bonding with the flat baked goods. The term "without deforming" refers to the ability of the viscous edible material to maintain its structural integrity during handling and deposition by the robotic manipulator. In this context, the material must be sufficiently stable to retain its intended shape when picked up and deposited, but also flexible enough to melt or bond effectively with the flat baked goods. The material should not collapse, spread, or sag during the transfer process. This stability is achieved by tuning the viscosity of the edible material to a level where it can withstand the forces applied by the robotic manipulator while still allowing it to bond with the baked goods during the sandwich formation. The material's structural stability during handling ensures precision in deposition and reduces the likelihood of deformities in the final product, while its flexibility ensures that it can fuse with the baked goods, maintaining the integrity and quality of the sandwich product. In an example, the system for forming sandwich products may comprise a second conveyor for supplying the viscous edible material, wherein the second conveyor operates in a counter-flow direction, opposite to the direction of movement of the first conveyor, for supplying the flat baked goods. It may be provided that this counter-flow arrangement ensures that the viscous edible material and the flat baked goods are processed in a more coordinated manner, allowing for a streamlined production flow. An effect of this arrangement is that it maximizes the efficiency of the production line by reducing potential delays between the supply of baked goods and the deposition of the viscous edible material, as the materials converge toward the assembly point from opposite directions. In an example, the system may comprise the first and second conveyors disposed in parallel, with the second conveyor positioned alongside the first conveyor, allowing for integrated and synchronized operation of both conveyors in the sandwich- forming process. It may be provided that this configuration allows for closer coordination between the conveyors, reducing the complexity of material handling and minimizing the distance that robotic manipulators must travel between picking up the viscous edible material and placing it on the baked goods. An effect of this arrangement is that it enhances the system's operational speed and precision, leading to improved production throughput and better alignment between the flat baked goods and the edible material. In an example, the viscous edible material may be selected from the group consisting of cream, chocolate, jam, and other soft-set edible materials that solidify at a controlled low temperature. It may be provided that selecting these materials allows the system to work with a variety of semi-liquid substances, which can be adjusted to a suitable viscosity for handling by robotic manipulators. An effect of this arrangement is that it ensures the flexibility of the system to accommodate different product recipes while maintaining the integrity of the sandwich product during and after assembly. In an example, the system may be configured such that the viscous edible material is shaped into discrete portions before being picked up by the robotic manipulator. It may be provided that pre-shaping the viscous edible material ensures that the material conforms to the desired size and shape before being placed onto the baked goods. An effect of this feature is that it increases the consistency and uniformity of the sandwich products, minimizing variations and ensuring that each product meets the required quality standards. In an example, the shaping of the viscous edible material may be carried out on the second conveyor prior to being cooled to the predefined viscosity. It may be provided that shaping the material while it is still warm and malleable allows for greater precision in achieving the desired form. An effect of this feature is that it enables the system to work more efficiently by reducing the time required to handle and manipulate the edible material after cooling, thus improving the overall productivity of the system. In an example, the shaping of the viscous edible material may be performed by the robotic manipulator during the pick-up process. It may be provided that this arrangement allows the robotic manipulator to shape and transfer the edible material in one continuous operation, reducing the need for separate shaping steps. An effect of this feature is that it simplifies the mechanical design of the system, leading to fewer components and operations, which improves both the reliability and speed of the production line. In an example, the system may include temperature control means configured to lower the temperature of the viscous edible material to a predefined level suitable for handling by the robotic manipulator. It may be provided that these temperature control means ensure the material reaches the desired viscosity for manipulation without becoming too rigid or too fluid. An effect of this arrangement is that it allows the viscous edible material to be handled with greater precision, reducing the risk of deformation or sticking during the transfer process, which in turn improves the quality of the final sandwich product. In an example, the temperature control means may comprise a cooling unit integrated into or adjacent to the second conveyor. It may be provided that having the cooling unit in close proximity to the second conveyor allows for more immediate control over the temperature of the viscous edible material as it moves through the system. An effect of this arrangement is that it enables rapid adjustments to the materials temperature, ensuring that the predefined viscosity is maintained throughout the production process, which enhances the consistency and performance of the system. In an example, the cooling unit may comprise multiple cooling zones to gradually reduce the temperature of the viscous edible material. It may be provided that the use of multiple cooling zones allows for a controlled and gradual reduction in temperature, preventing the material from solidifying too quickly or unevenly. An effect of this feature is that it reduces the likelihood of thermal stress or inconsistencies in the materials texture, ensuring that the viscous edible material is properly prepared for deposition onto the flat baked goods without compromising its ability to bond effectively during the sandwich formation process. In an example, the system may comprise flat baked goods selected from the group consisting of cookies, biscuits, crackers, and wafers. It may be provided that these flat baked goods are typically planar with two main surfaces, allowing for easy handling by conveyors and robotic manipulators. An effect of this arrangement is that the system can accommodate a variety of baked goods commonly used in sandwich products, ensuring flexibility in the types of products the system can produce while maintaining precise handling and alignment during the assembly process. In an example, the flat baked goods may have a round, square, rectangular, or other predefined geometric shape. It may be provided that the system can process baked goods of different shapes, allowing for greater customization in product design. An effect of this feature is that the system can handle various shapes without requiring significant changes to the conveyor or manipulator setup, thus enhancing the versatility of the system and allowing for the production of a wide range of sandwich products. In an example, the first conveyor may supply the flat baked goods in a random order or pattern. It may be provided that the random arrangement of the baked goods eliminates the need for precise upstream alignment, reducing complexity in the feeding process. An effect of this feature is that the system can handle irregular input flows, making it more robust and adaptable to different production environments where the baked goods are not consistently aligned or pre-arranged. In an example, the system may further comprise a selection unit configured to categorize the flat baked goods into at least a first group and a second group based on their orientation. It may be provided that the selection unit is capable of detecting which baked goods need to be flipped or remain in their original orientation. An effect of this arrangement is that it ensures proper alignment of the baked goods for the sandwich formation process, improving the accuracy and consistency of the final products by ensuring that each sandwich is correctly assembled with the top and bottom goods oriented as required. In an example, the selection unit may comprise a vision-based system for detecting the orientation of each flat baked good. It may be provided that this vision- based system uses optical sensors or cameras to analyze the position and orientation of the baked goods as they move along the conveyor. An effect of this feature is that it increases the accuracy of the selection process, ensuring that the system can quickly and reliably identify the orientation of each baked good, leading to more precise handling and placement by the robotic manipulators. In an example, the first conveyor may supply the flat baked goods in a predetermined order or pattern. It may be provided that the use of a predetermined pattern ensures that the baked goods arrive in a consistent and predictable arrangement, simplifying the handling process. An effect of this feature is that it allows the system to operate more efficiently when dealing with consistent product flows, improving the overall speed and accuracy of the sandwich assembly process. In an example, the robotic manipulator for picking up the viscous edible material may comprise a vacuum gripper or a mechanical gripping device. It may be provided that the vacuum gripper or mechanical gripping device is capable of securely handling the viscous edible material without causing deformation or damage. An effect of this arrangement is that it enables precise handling of delicate materials, ensuring that the viscous edible material can be deposited accurately onto the flat baked goods while maintaining its structural integrity during the process. In an example, the robotic manipulator for the flat baked goods of the second group may also comprise a vacuum gripper or a mechanical gripping device. It may be provided that this arrangement allows for the secure and controlled handling of the baked goods, ensuring that the top portion of the sandwich is placed accurately onto the bottom portion without displacement. An effect of this feature is that it ensures consistent and precise placement of the baked goods during the sandwich formation process, reducing product defects and improving the overall quality of the final product. In an example, the second robotic manipulator may be configured to align the second flat baked good with the first flat baked good prior to placement. It may be provided that this alignment ensures that the top and bottom baked goods are perfectly matched, with no misalignment during the sandwich formation. An effect of this feature is that it improves the appearance and structural integrity of the final sandwich product, reducing waste caused by misaligned sandwiches and enhancing the overall consistency of the production process. In an example, the predefined viscosity of the viscous edible material may be adjusted based on the type of flat baked good to ensure proper adherence during the sandwich formation process. It may be provided that different types of baked goods may require different levels of viscosity to achieve optimal bonding with the edible material. An effect of this arrangement is that it ensures the system can produce high- quality sandwich products with various types of baked goods by fine-tuning the viscosity of the edible material to suit the specific product, improving adhesion and reducing the likelihood of product failure during handling and packaging. In an example, the temperature control means may be further configured to adjust the viscosity of the viscous edible material based on ambient environmental conditions. It may be provided that this feature allows the system to adapt to temperature fluctuations, humidity levels, or other environmental factors that may affect the consistency of the viscous edible material. An effect of this feature is that it ensures consistent handling of the edible material, maintaining the predefined viscosity regardless of external conditions, thereby improving the reliability of the production process and reducing waste caused by inconsistent material properties. In an example, the system may further comprise a post-sandwich cooling unit configured to solidify the viscous edible material after the sandwich formation process. It may be provided that this cooling unit rapidly cools the viscous edible material to ensure it solidifies properly, securing the flat baked goods together in the final sandwich product. An effect of this feature is that it increases the structural integrity of the sandwich products, preventing separation of the baked goods and ensuring the sandwich remains intact during packaging and distribution. In an example, the post-sandwich cooling unit may be arranged downstream of the sandwiching process and may include an air cooling system or a refrigerated conveyor. It may be provided that placing the cooling unit immediately after the sandwich formation process ensures that the viscous edible material is solidified before the products move to the next stage, such as packaging. An effect of this feature is that it optimizes the workflow by maintaining the appropriate temperature throughout the process, reducing the risk of product deformation and ensuring consistent sandwich quality. In an example, the robotic manipulator for depositing the viscous edible material may be configured to operate at a predefined speed and pressure to avoid deforming the viscous edible material. It may be provided that controlling the speed and pressure of the manipulator ensures that the edible material is deposited with precision and without causing unnecessary stress to the material. An effect of this feature is that it prevents deformation or spreading of the viscous material, maintaining its intended shape and improving the overall appearance and quality of the sandwich product. In an example, the flat baked goods may be pre-heated to a slight residual temperature before the viscous edible material is deposited, to enhance adhesion. It may be provided that warming the baked goods slightly improves the bonding between the edible material and the baked goods, as the warm surface helps the viscous material spread and adhere more effectively. An effect of this feature is that it enhances the integrity of the sandwich product by ensuring better adhesion of the viscous edible material to the baked goods, reducing the risk of separation during handling or packaging. In an example, the system may further comprise a control unit configured to synchronize the operation of the first and second robotic manipulators with the movement of the first and second conveyors. It may be provided that this control unit ensures that the conveyors and manipulators work in harmony, adjusting their speed and timing to match the flow of materials. An effect of this feature is that it improves the efficiency and accuracy of the production process, reducing errors caused by misalignment or delays and ensuring a smooth and continuous workflow. In an example, the viscous edible material may be deposited in a pattern corresponding to the shape of the flat baked good. It may be provided that this feature allows for precise deposition of the edible material to match the specific shape of the baked goods, ensuring that the material is evenly distributed across the surface. An effect of this feature is that it improves the consistency and appearance of the final product by ensuring that each sandwich has the correct amount of edible material in the right location, reducing waste and improving product quality. In an example, the first and second robotic manipulators are the same robotic manipulator. It is expressed and the skilled person will appreciate that any embodiment or example of the first aspect is similarly applicable to the other aspects of the invention. The proposed system in its aspects and examples is designed to handle a variety of viscous edible materials such as fat creams (aerated), marshmallow, jam, compound, and chocolate, as well as materials with inclusions such as rice crispies, broken nuts, or fruit seeds. This allows for a wide range of customizable deposits, accommodating both smooth and textured fillings. The system supports multiple deposit patterns, including single deposits, spot deposits, dotted deposits, stripe deposits, spiral deposits, and more complex formations such as co-deposits and encapsulated deposits, where two different creams can be deposited in a single spot for unique product combinations. Additionally, the proposed system in its aspects and examples is capable of creating multi-spot deposits to ensure even distribution of cream across the entire surface of rectangular or oblong-shaped baked goods. By integrating multiple deposit stations, the system can handle creams with different dosing temperatures, enabling precise layering of different materials, such as serial strip deposits or serial spot deposits, as seen in applications with varying temperature requirements for each layer. This versatility in deposit methods ensures that the system can produce a wide array of high-quality sandwich products, each with consistent and visually appealing cream distribution. The proposed system in its aspects and examples system is also capable of producing complex sandwich configurations, such as those with double edible layers or triple cookies, where the assembly includes alternating layers of cookies and viscous edible materials. For instance, configurations like cookie-edible material- cookie-edible material-cookie can be easily achieved, allowing for the creation of multi- layered sandwich products with enhanced texture and flavor variety. This flexibility makes the system ideal for producing both simple and more intricate multi-Iayered sandwiches. The above-mentioned and other features and advantages of the invention are illustrated in the following description with reference to the enclosed drawings which are provided by way of illustration only and which are not limitative to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS The present disclosure will be explained in more detail below by means of examples of a device according to the present disclosure shown in the drawings, in which: Fig. 1 show a system for forming sandwich products according to an aspect the present invention; Fig. 2 shows a detailed view of the disposing means for edible material according to an aspect the present invention; Fig. 3 shows an alternative embodiment according to an aspect the present invention with a continuous layer of edible material shaped by a stance; Fig. 4 is an overview of the embodiment shown in Fig. 3, illustrating edible material handling; Fig. 5 details the handling of the shaped edible material according to an aspect the present invention; Fig. 6 shows an alternative embodiment where edible material 30 is stanced and placed onto goods and capped with goods; Fig. 7 and Fig. 8 provide detailed views of the robotic pick-and-place process for different edible material supplies according to an aspect the present invention; Fig. 9a and Fig. 9b show examples of finished sandwich products 10' and 10" manufacturable according to an aspect the present invention; Fig. 10 is a flow diagram of a method 200 for producing sandwich products according to an aspect the present invention. DETAILED DESCRIPTION Fig. 1 provides an overview of the sandwich-forming system 100, which automates the production of sandwich products 10 from flat baked goods 20, such as cookies or biscuits. The system comprises a first conveyor 110 and a second conveyor 120, both responsible for transporting the flat baked goods 20 and the edible material 30, respectively. The first conveyor 110 is a belt conveyor or a chain-driven conveyor, designed to carry flat baked goods 20 in a controlled manner. These baked goods 20 are divided into two groups: a first group 20A and a second group 208. The goods in the first group 20A are oriented with their bottom surface (which is the view side which might have a certain text, logo, illustration, or such) facing downward, while the goods in the second group 208 are oriented with their bottom surface facing upward. This specific orientation ensures that the first group 20A is ready to receive a layer of viscous edible material 30, while the second group 208 will be used to cap the final sandwich assembly. The second conveyor 120 moves in a direction B opposite to the movement of the first conveyor 110, direction A, allowing the edible material 30 to be supplied from one end of the system to the point where it is picked up and placed onto the baked goods 20A. The system also includes robotic manipulators 141 and 142 that handle the picking and placing of the edible material 30 and the flat baked goods 20. Robotic manipulator 141 picks up the shaped edible material 30 after it has been processed, while robotic manipulator 142 picks up the second group of baked goods 208 and places them on top of the edible material 30 to complete the sandwich product 10. These robots are typically equipped with vacuum grippers or mechanical gripping devices designed for precise handling of soft or fragile materials without causing deformation or damage. Additionally, the edible material 30, which can be cream, chocolate, or another viscous edible substance, is supplied in discrete portions via a rotating disposing means 150, which includes a drum 151. The edible material 30 is brought to the correct viscosity through precise temperature control, allowing it to be manipulated and deposited accurately. Fig. 2 provides a detailed view of the disposing means 150, which is responsible for delivering discrete portions of edible material 30 onto the second conveyor 120. The drum 151 is configured to rotate and supply portions of edible material 30 from the edible supply 152, ensuring that each portion corresponds to the shape and size of the baked goods 20A. The drum be deposit the edibles into discrete portions as shown and which have a elevated temperature, after which they are cooled by the freezer 130 as shown, they however may also be cooled directly in an integrated embodiment wherein the drum itself cools the edible to such a temperate that the robotic manipulator is able to place the edible onto the goods. The edible material 30 could be a variety offood substances, such as chocolate, marshmallow, or cream, which require controlled temperatures to maintain a workable viscosity. This viscosity is essential for the material 30 to be easily picked up by the robotic manipulator 141 without deforming. For example, melted chocolate needs to be cooled to around 15-18°C to reach the proper viscosity for handling. Cooling units are positioned near the second conveyor 120 to achieve this. Fig. 3 illustrates an alternative embodiment in which the edible material 30 is supplied as a continuous layer rather than in discrete portions. The edible material 30 is shaped by a cutting means or rotating stance 151. This process is ideal for products that require more uniform layers of edible material 30, such as sandwich products with a spread of cream or a uniform chocolate coating. The continuous layer ensures that the edible material 30 adheres evenly to the flat baked goods 20A, maintaining consistency across all sandwich products 10. Like the embodiment shown in Fig. 3, the drum may also cool the edible either fully or partially, or the edible may be provided in a continuous layer 31 as shown which is already cooled. Fig. 4 shows the overall setup of the embodiment in Fig. 3, where the edible material 30 is transported by the second conveyor 120 towards the robotic manipulators. The temperature of the edible material 30 is precisely controlled using cooling units 130 to ensure that it has the required viscosity. The second conveyor 120 may include multiple cooling zones, each designed to gradually reduce the temperature of the edible material 30, making it easier to manipulate. Once the edible material 30 reaches the robotic manipulator 141, it is picked up and placed onto the flat baked goods 20A of the first group. These robotic manipulators can use vacuum-based gripping systems for delicate edible materials or mechanical gripping devices for more robust materials like thick creams or chocolate spreads. Fig. 5 shows the detailed operation of the robotic manipulator 141 and the first conveyor 110. After the edible material 30 has been shaped and cooled, it is transferred by the robotic manipulator 141 onto the flat baked goods 20A of the first group. This manipulator may be equipped with a vacuum gripper, which allows it to pick up soft, viscous materials without distorting their shape. The baked goods 20A and the deposited edible material 30 are then transported further along the conveyor, where the second group of flat baked goods 208 is introduced. Fig. 6 presents an alternative embodiment where the edible material 30 is stanced out from a layer into discrete portions. These portions are then picked up and placed onto the flat baked goods 20A of the first group. The system then picks up the second group of baked goods 208 and caps the sandwich, completing the assembly. This alternative embodiment highlights the flexibility of the system in handling both continuous layers and stanced portions of edible material 30. This feature allows manufacturers to produce a variety of sandwich products 10, depending on the recipe or the desired outcome. These figures show detailed views of the robotic pick-and-place process for different embodiments of edible material 30. Fig. 7 shows the handling of stanced edible material portions, while Fig. 8 shows the handling of continuous layers. The robotic manipulators 141 and 142 are programmed to pick and place the edible material 30 and the flat baked goods 20 with precision, ensuring uniformity in the final product. Fig. 9a and Fig. 9b present two examples of completed sandwich products 10 and 10. Fig. 9a shows a complex-shaped sandwich product 10 made with round flat baked goods 20 and a layer of edible material 30 shaped to fit. Fig. 9b shows a more rectangular sandwich product 10 with similarly shaped baked goods 20 and edible material 30. These examples demonstrate the system's versatility in handling different shapes and sizes of baked goods and edible materials. All kinds of shapes and sizes can be handled with the system according to any aspect of the invention as there is no limitation what so ever as in conventional ways of depositing which are only able to deposit droplets or droplet like portions of the edible. Fig. 10 is a flowchart of the method 200 for producing sandwich products 10. This method involves: Step 201: Supplying a plurality of flat baked goods 20, such as cookies or biscuits, on a first conveyor 110. Step 202: Supplying a viscous edible material 30, such as cream, chocolate, or jam, on a second conveyor 120. This material is typically deposited in either discrete portions or as a continuous layer, depending on the desired product. Step 203: Controlling the temperature of the viscous edible material 30 using cooling means 130 integrated into the second conveyor 120. The cooling zones ensure that the material reaches a predefined viscosity level suitable for handling. For example, chocolate must be cooled to around 15-18°C to maintain the proper consistency for robotic manipulation. Step 204: Picking up and placing the viscous edible material 30 onto the flat baked goods 20A using a robotic manipulator 141. The manipulator handles the material with precision, ensuring accurate placement without deformation. Finally, the second group of flat baked goods 20B is placed on top to complete the sandwich assembly. This method ensures efficient, consistent production of sandwich products 10 while maintaining precise control over the handling of delicate or viscous edible materials. This detailed description thoroughly explains the features, devices, and methods, ensuring it aligns with the rest of the application and provides practical examples where necessary. Let me know if you would like any additional adjustmentsl Based on the above description, a skilled person may provide modifications and additions to the method and arrangement disclosed, which modifications and additions are all comprised by the scope of the appended claims. It will be clear that the intention of the above description is to shed light on the working of possible embodiments of the present invention, and not to limit the scope of protection of the invention. Starting from the description, a person skilled in the art is able to conceive of and use various embodiments that fall within the inventive 5 concept and scope of protection of the present invention.

Claims

1. A system (100) for forming sandwich products (10) from two or more flat baked goods (20), with two or more flat baked goods between the flat baked goods goods are deposited with a low viscous edible material (30), whereby the system includes: a first conveyor belt (110) for delivering a multiple to flat baked goods (20), where the plural of flat baked goods is divided into a first group (20A), where the flat baked goods are oriented with one of their two main surfaces facing downwards, and a second group (2OB), where the flat baked goods are facing upwards oriented; a second conveyor belt (120) for delivering the viscous edible material (30); temperature control means (130) on the second conveyor belt (120) are placed and are arranged to a predefined viscosity level of the to achieve viscous edible material by regulating its temperature; a first robot manipulator (141) that is configured to the viscous to pick up edible material (30) from the second conveyor belt (120) after the its viscosity has been adjusted to the predefined level, and to make it viscous edible material (30) to put on flat baked goods of the first group (20A); a second robot manipulator (142) that is configured to flat to pick up baked goods from the second group (208) and place them on the viscous edible material (30) that is deposited on the flat baked goods of first group (20A), which form the sandwich products (10).

2. The system of claim 1, where the predefined viscosity of the viscous edible material (30) is arranged in such a way that it can be picked up and set down by the first robot manipulator (141) without deforming, while it also melts the viscous edible material (30) with the flat baked goods from the first (20A) and second group (208) during the sandwich forming process.

3. The system of claim 1 or 2, where the second conveyor belt, for the supplying the viscous edible material, works in a countercurrent direction (B), opposite to the direction of movement (A) of the first conveyor belt, for the delivery of the flat baked goods.

4. The system of one of the preceding claims, whereby the first and second conveyor belts (110, 120) are placed parallel, where the second conveyor belt (120) is placed next to the first conveyor belt (110), which a integrated and synchronized operation of both conveyor belts in the enables sandwich forming process 5. The system of one of the preceding claims, where the viscous edible material (30) is selected from the group consisting of cream, chocolate, jam and other soft-hardened edible materials that solidify upon controlled low temperature.

6. The system of one of the preceding claims, where the viscous edible material (3) is formed into separate portions before it is arrested by the robot manipulator.

7. The system of claim 6, whereby the formation of the viscous edible material (30) is discharged onto the second conveyor belt (120) before it is cooled to the predefined viscosity level.

8. The system of claim 6, whereby the formation of the viscous edible material (30) is performed by the first robot manipulator (110) during the pick-up process, or prior to the pick-up process.

9. The system of one of the preceding claims, whereby the temperature control device (130) is configured to the temperature of the viscous to reduce edible material (30) to a predefined level that is suitable for processing by the first robot manipulator (110).

10. The system of claim 9, where the temperature control device (130) a includes a cooling unit that is integrated into or adjacent to the second conveyor belt (120).

11. The system of claim 10, where the cooling unit has multiple cooling zones includes gradually lowering the temperature of the viscous edible material.

12. The system of one of the preceding claims, whereby the flat baked goods (20) are selected from the group consisting of cookies, biscuits, crackers and waffles.

13. The system of claim 12, where the flat baked goods (20) a round, square, rectangular or other predefined geometric shape to have.

14. The system of one of the preceding claims, whereby the first conveyor belt (110) the flat baked goods (20) in any order or pattern delivers.

15. The system of claim 14, further comprising a selection unit that is configured to categorize the flat baked goods into at least a first group (20A) and a second group (208) based on their orientation.

16. The system of claim 15, where the selection unit is a visual one based system includes for detecting the orientation of each flat baked product.

17. The system of one of the preceding claims, whereby the first conveyor belt (110) the flat baked products in a predetermined order or pattern delivers.

18. The system of one of the preceding claims, whereby the first robot manipulator (141) for picking up the viscous edible material (30) includes a vacuum gripper or a mechanical gripping device.

19. The system of claim 18, where the second robot manipulator (142) for the flat baked products (20) of the second group (208) also a includes a vacuum gripper or a mechanical gripping device.

20. The system of one of the preceding claims, whereby the second robot manipulator (142) is configured to the second flat baked product (208) to align with the first flat baked product (20A) preceding placement 21. The system of one of the preceding claims, whereby the prior defined viscosity of the viscous edible material (30) is adjusted to based on the type of flat baked product (20) to ensure good adhesion during the sandwich forming process.

22. The system of claim 21, where the temperature control device (130) further is configured to the viscosity of the viscous edible material (30) to to adjust based on environmental conditions.

23. The system of one of the preceding claims, further comprising a post-sandwich cooling unit configured to the viscous edible material allow to solidify after the sandwich forming process.

24. The system of claim 23, whereby the post-sandwich cooling unit is placed downstream of the sandwich formation process and a includes an air cooling system or a refrigerated conveyor belt.

25. The system of one of the preceding claims, whereby the first robot manipulator (141) for depositing the viscous edible material (30) is configured to work at a predefined speed and pressure to to prevent deformation of the viscous edible material.

26. The system of one of the preceding claims, where the flat baked goods (20) are preheated to a slight residual temperature before The viscous edible material (30) is deposited to improve adhesion.

27. The system of one of the preceding claims, whereby the system furthermore includes a control unit that is configured to the operation of the to synchronize first and second robot manipulators (141, 42) with the movement of the first and second conveyor belts (110, 120).

28. The system of one of the preceding claims, where the viscous edible material (30) is deposited in a pattern that corresponds to the shape of the flat baked goods (20).

29. The system of one of the preceding claims, whereby the first and second robot manipulators (141, 142) are the same robot manipulator.

30. A depositing system for applying a layer of viscous edible material (30) on flat baked goods (20), where the system includes: a first conveyor belt (110) for delivering a multiple of flat baked goods (20); a second conveyor belt (120) for delivering the viscous edible material (30); temperature control means (130) on the second conveyor belt (120) are placed and are arranged to a predefined viscosity level of the to achieve viscous edible material (30) by controlling its temperature; a first robot manipulator (141) that is configured to the viscous to pick up edible material (30) from the second conveyor belt (120) after the its viscosity has been adjusted to the predefined level, and to make it viscous to deposit edible material (30) on the flat baked goods (20).

31. The filing system of claim 30, whereby the plurality of flat baked goods (20) which are fed by the first conveyor belt (110), are divided into a first group (20A), where the flat baked goods are oriented with one of their two main surfaces facing downwards, and a second group (20B), where the flat baked goods are facing upwards.

32. The filing system of claim 30 or 31, whereby the prior defined viscosity of the viscous edible material (30) is such that the separate parts can be picked up and deposited by the robot manipulator without deforming, while the viscous edible material can also melt with the flat baked goods of the first and second group (20A, 208) during the sandwich forming process.

33. A method for forming sandwich products (10) from two or more flat baked goods (20), the method of which involves the following steps by: - delivering a variety of flat baked goods (20) on a first conveyor belt (110), where the plural of flat baked goods (20) is divided into a first group (20A), where the flat baked goods are oriented with one of their two main surfaces facing downwards, and a second group (20B), where the flat baked goods are facing upwards; - supplying a low viscosity edible material (30) on a second conveyor belt (120); - regulating the temperature of the viscous edible material (30) with the aid of temperature control devices (130) on the second conveyor belt (120) are placed to achieve a predefined viscosity level that is suitable is for processing; - picking up the viscous edible material (30) from the second conveyor belt (120) using a first robot manipulator (141) after the viscosity has been adjusted to the predefined level; - depositing the viscous edible material (30) on flat baked goods of the first group (20A); - picking up flat baked goods from the second group (20B) with the help of a second robot manipulator (142) and placing it on the viscous edible material that is deposited (30) on the flat baked goods of the first group (20A) to form the sandwich products (10).

34. Method according to claim 33, whereby the predefined viscosity of the viscous edible material (30) is arranged in such a way that separate parts of the viscous edible material can be picked up and deposited by the robot manipulator without deforming, while the viscous edible material can also melt with the flat baked goods of the first and second group (20A, 20B) during the sandwich forming process.

35. A method for depositing a layer of viscous edible material (30) on flat baked goods (20), the method being as follows includes: - delivering a variety of flat baked goods (20) on a first conveyor belt (110); - supplying a viscous edible material (30) on a second conveyor belt (120); - regulating the temperature of the viscous edible material (30) with the aid of temperature control devices (130) on the second conveyor belt (120) are placed to achieve a predefined viscosity level that is suitable is for processing; - picking up the viscous edible material (30) from the second conveyor belt (120) using a first robot manipulator (141) after the viscosity has been adjusted to the predefined level; - depositing the viscous edible material (30) on the flat baked goods (20).

36. The method under claim 35, whereby the predefined the viscosity of the viscous edible material (30) is regulated in such a way that separate parts of the viscous edible material (30) by the robot manipulator can be picked up and put down without deforming, while the viscous edible material can also melt with the flat baked product of the first and second group (20A, 20B) during the sandwich formation process. 5

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