Method and apparatus for braiding dough

Abstract

The invention relates to a method and apparatus for braiding one or more dough strands into a dough braid with a single-strand braided shape. The method of the present method uses two or more separate dough strands for the braiding steps, starts with providing a first loop with an end of a dough strand lying on top of an edge of the first loop, and comprises a final step for connecting an end of one of the dough strands to an end of an other one of the dough strands to form a second loop, so as to provide a single-strand braided shape. The first and second loop form the opposite ends of the braided dough product with the single-stand braided shape.

Description

[0001] Method and apparatus for braiding dough

[0002] BACKGROUND

[0003] The invention relates to a method and an apparatus for braiding dough into a single-strand braided shape .

[0004] The manual production of a single-strand braid has long been known and is still applied for more complicated braids .

[0005] An apparatus and machine method for producing a single-strand dough braid is known, for example from US 2013 / 0216672 . This apparatus and machine method are in particular configured for producing a single-strand dough braid with a fixed set of four crossovers , which comprises a first loop at a first end of the braid, four characteristic crossover points of the dough strand, and a second loop at a second end of the braid, opposite to the first end . In addition, a first strand end comes out of the first loop and lies on top of the first loop, and a second strand end goes into the second loop and lies under the second loop .

[0006] SUMMARY OF THE INVENTION

[0007] A disadvantage of the known apparatus and machine method is , that the single-strand braids produced by the known apparatus and machine method are limited to four crossover points , whereas some manufacturers for singlestrand braided dough products prefer typically five crossover points between the end loops of the braid, which are impossible to produce by the known apparatus and machine method .

[0008] A further disadvantage of the known apparatus and machine method is , that the braiding steps are complicated to perform by an apparatus , in particular a step of moving an end of the dough strand through a loop of the dough strand . Consequently, the know apparatus and machine method are typically used for braiding relatively thin dough strands , which results in relatively light-weight dough products , typically having a weight of 350 grams or less .

[0009] It is an obj ect of the present invention to provide a method and an apparatus for braiding dough into a single-strand braided shape, which obviates one or more of the above identified disadvantages , at least partially .

[0010] According to a first aspect , the invention pertains to a method for braiding dough by means of an apparatus comprising one or more gripping members configured for gripping and picking-up a dough strand from a support surface , wherein the method comprises the step of : providing a first dough strand with a first end and a second end, and a second dough strand with a first end and a second end, wherein the first end of the second dough strand is arranged to lie on top of the first dough strand at a position between the first and second end of the first dough strand, wherein the first dough strand is divided in a first part between the second dough strand and the first end of the first dough strand and a second part between the second dough strand and the second end of the first dough strand; wherein the one or more gripping members of the apparatus or the one or more gripping members of the apparatus in combination with the support surface , are configured for performing the following steps : ( a ) picking up the first end of the f irst dough strand, arranging the first part of the first dough strand to cross over the second dough strand, and placing the first end of the first dough strand in an area in between the second dough strand and the second part of the first dough strand,

[0011] (b ) picking up the second end of the first dough strand, arranging the second part of the first dough strand to cross over the first part of the first dough strand, and placing the second end of the first dough strand in an area in between the second dough strand and the first part of the first dough strand, and

[0012] ( c ) picking up the second end of the second dough strand, arranging the second dough strand to cross over the second part of the first dough strand, and placing the second end of the second dough strand in an area in between the first part and the second part of the first dough strand; wherein the method further comprise the steps of : braiding the first part of the first dough strand, the second part of the first dough strand and the second dough strand by performing a series of steps comprising : steps ( a ) , or steps ( a ) and (b ) , or steps ( a ) , (b ) and ( c ) , or one of the previous series wherein an additional series of steps ( a ) , (b ) and ( c) are added one or more times before step ( a ) ; wherein after performing the series of steps , the dough strands are arranged as a central dough strand and outer dough strands on oppos ite side of the central dough strand, performing a final step of picking up one of the outer dough strands , arranging the picked up outer dough strand to cross over the central dough strand, and connecting an end of the picked up outer dough strand to an end of the other outer dough strand to form a loop .

[0013] By connecting or j oining the end of the picked up outer dough strand that has been arranged to cross over the central dough strand in the last step, to an end of the other outer dough strand to form a loop, the first and second dough strands are connected to form a single strand . Accordingly, the method of the invention provides a single-strand braided shape .

[0014] In addition, the method of the invention only uses steps of moving a part of a dough strand over another part of a dough strand, thus without having to move a part of a dough strand through a dough strand loop, and thereby provides a more easy way for an apparatus comprising one or more gripping members to braid dough into a dough braid which has a single-strand braided shape .

[0015] Due to the fact that the method o f the invention only moves a part of a dough strand over another part of a dough strand, the method of the invention allows to use much thicker and / or longer dough strands , which allows to produce braided dough products with a larger weight , even more than double the weight , when compared to the dough products produced by the method and apparatus as described in US 2013 / 0216672 .

[0016] In addition, the method of the present invention allows to produce a braided dough product with the shape of the single-strand braid as preferred by some manufacturers , with typically five crossover points between the end loops of the braid, by performing the steps ( a ) , (b ) , ( c ) , ( a ) , (b ) , and the final step .

[0017] It is noted that the shape of the single-strand braid of US 2013 / 0216672 with typically four crossover points between the end loops of the braid, can also be obtained by the method of the invention by performing the steps ( a ) , (b ) , ( c ) , ( a ) and the final step .

[0018] It is further noted that even longer braids than the single-strand braid with five crossover points can be made with the method of the present invention by adding one or more additional series of steps ( a ) , (b ) and ( c ) , before step ( a ) . This allows to manufacture a braided dough product with the shape of a single-strand braid with six or more crossover points between the end loops of the braid . Accordingly, a further advantage of the method of the present invention is , that there is substantially no limit in the number of crossover points that can be obtained in a braided dough product with the shape of a single-strand braid .

[0019] It is further noted that the support surface , may be a fixed support surface or a moveable support surface with respect to the one or more gripping members . In case of a moveable support surface , the support surface is configured for providing a translational and / or a rotatable movement of the support surface with respect to the one or more gripping members . An example of a device with a support surface that can provide a translational movement is a belt conveyor .

[0020] In an embodiment , the apparatus further comprises a holding member, wherein the method comprises the step of activating the holding member for substantially securing the position of at least one of the dough strands and / or the dough braid on the support surface during at least a part of the braiding . Accordingly, the holding member is configured for substantially preventing that the dough braid and / or dough strand parts that are not picked up by the one of more gripping members is / are displaced on the support surface due to the handling of the dough strand parts by the one or more gripping members during braiding steps . For example , the holding member may be a robot hand that reaches from above downward to the dough braid or at least one of the dough strands for holding said dough braid or at least one of the dough strands on a substantially fixed position on the support surface . In an alternative example , the holding member reaches from a position below the dough braid or the at least one of the dough strands , for example through an opening in the support surface , for gripping the dough braid or the at least one of the dough strands from the bottom of the dough braid or the at least one of the dough strands for holding said dough braid or at least one of the dough strands on a substantially fixed position on the support surface .

[0021] In an embodiment , the length of the second dough strand is in a range of 45 - 100 % of the length of the first dough strand, preferably in a range of 45 - 65 % of the length of the first dough strand, more preferably the first dough strand is substantially twice as long as the second dough strand . Accordingly, in an first example the length of the second dough strand may be similar to the length of the first dough strand In a second example , the length of the second dough strand may be substantially hal f the length of the first dough strand . In a third example the ratio between the length of the first dough strand and the length of the second dough strand may be somewhere between the ratio in the first example (which is substantially equal to 1 ) and the ratio in the second example (which is substantially equal to 2 ) .

[0022] In an embodiment , the weight of the second dough strand is in a range of 45 - 100 % of the weight of the first dough strand, preferably in a range of 45 - 65 % of the weight of the first dough strand, more preferably the first dough strand is substantially twice the weight as the second dough strand . Accordingly, in an first example the weight of the second dough strand may be similar to the weight of the first dough strand In a second example , the weight of the second dough strand may be substantially hal f the weight of the first dough strand . In a third example the ratio between the weight of the first dough strand and the weight of the second dough strand may be somewhere between the ratio in the first example (which is substantially equal to 1 ) and the ratio in the second example (which is substantially equal to 2 ) . In an embodiment , the weight per unit length of the first dough strand is substantially equal to the weight per unit length of the second dough strand . Accordingly, the same type of dough strands , preferably with regard to cross-section and / or type of dough, can be used both for the first dough strand and the second dough strand .

[0023] In an embodiment , the first end of the second dough strand is arranged to lie on top of the first dough strand at a position substantially hal fway between the first and second end of the f irst dough strand . This provides a first part and a second part of the first dough strand with a substantially equal length as the second dough strand . This is particular advantageous for the production of a braided dough product in which each of the first part of the first dough strand, the second part of the first dough strand and the second dough strand is moved over an other part of the dough strand the same number of times , which allows to form the end loop substantially without an excess of dough at one of the dough strands .

[0024] It is noted that dough is commonly a malleable substance , which allows to correct or adj ust the length of one or more of the dough strands during the braiding steps , for example in order to correctly connect the outer dough strands in the final step, substantially without a large excess of one of the dough strands . Accordingly, some variation is allowed in the actual length of the first and second dough strand, and some variation allowed in the position where the first end of the second dough strand is arranged to lie on top of the first dough strand, because such variations can be corrected or adj usted by elongating or shortening one or more of the dough strands during one or more of the braiding steps .

[0025] In an embodiment , the first dough strand is arranged in a substantially straight line , wherein the second dough strand is arranged to extend in a direction substantially perpendicular to said line . Accordingly, at the onset of the braiding proces s , the first and second dough strand are arranged in a ' T ' -shape .

[0026] In an embodiment , in step ( a ) when placing the first end of the first dough strand, the first part of the first dough strand is arranged substantially parallel and / or next to the second part of the first dough strand . Accordingly, the first part of the first dough strand is wrapped around the first end of the second dough strand in order to enable obtaining a tight braid . Preferably, the first part of the first dough strand is spaced apart from the second part of the first dough strand . The space between the first part of the first dough strand and the second part of the first dough strand is preferably selected in order to provide suf ficient space for the one or more gripping members for gripping the first part of the first dough strand or the second part of the second dough strand individually .

[0027] In an embodiment , in step (b ) when placing the second end of the first dough strand, the second part of the first dough strand is arranged substantially parallel and / or next to the second dough strand . Accordingly, the second part of the first dough strand is wrapped around the first end of the second dough strand and over the first part of the first dough strand in order to enable obtaining a tight braid . Preferably, the second part of the first dough strand is spaced apart from the second dough strand . The space between the second part of the first dough strand and the second dough strand is preferably selected in order to provide suf ficient space for the one or more gripping members for gripping the second part of the first dough strand or the second dough strand individually .

[0028] In an embodiment , in step ( c ) when placing the second end of the second dough strand, the second dough strand is arranged substantially parallel and / or next to the first part of the first dough strand . Accordingly, the second dough strand is wrapped over the second part of the first dough strand in order to enable obtaining a tight braid . Preferably, the second dough strand is spaced apart from the first part of the first dough strand . The space between the second dough strand and the first part of the first dough strand is preferably selected in order to provide suf ficient space for the one or more gripping members for gripping the second dough strand or first part of the first dough strand individually .

[0029] In an embodiment , the step of providing first and the second dough strand comprises the steps of : providing a single strand of dough having a first end and a second end; arranging substantially 2 / 3 of the length of the single strand of dough into a loop by placing the first end to lie on top of the single strand of dough at a position substantially 1 / 3 of the length of the single strand of dough from the second end; cutting the single strand of dough in the loop at a position substantially 1 / 3 of the length of the single strand of dough from the first end, wherein the part of the single strand between the first end and the cut position provides the second dough strand, and wherein the part of the single strand between the second end and the cut position provides the first dough strand .

[0030] In an embodiment , the apparatus comprises : a controller or control unit for controlling the one or more gripping members , or the one or more gripping members and the moveable support surface , and a detection system connected to the controller and configured for determining position information of the first and / or second dough strand, wherein the method further comprises a step o f controlling the one or more gripping members , or the one or more gripping members and the moveable support surface , based on the position information .

[0031] In an embodiment , the detection system comprises one or more of the following : a camera, a visible light camera, an infrared camera, a LMI camera, a lidar detection system and a stereo 3D camera .

[0032] In an embodiment , the detection system, preferably a camera, is configured for obtaining images of the first and / or second dough strand on the support surface , wherein the method further comprises the step of extracting position information of the first and / or second dough strand from one or more of the images obtained by the detection system .

[0033] In an embodiment , the position information comprises a position of the first end of the first dough strand, the second end of the first dough strand, the first end of the second dough strand and / or the second end of the second dough strand .

[0034] In an embodiment , the detection system is configured for determining one or more of the following : an orientation of at least a part of the first and / or second dough strand, whether the dough strands are arranged substantially straight or crooked, validate a starting position, an intermediate position or whether a previous braiding step has been performed correctly, a thickness , or a variation of a thickness , along or of the first and / or second dough strands .

[0035] In an embodiment , the apparatus comprises a controller for controlling one or more of the one or more gripping members , the holding member and the moveable support surface . In an embodiment , the apparatus further comprises a camera which is connected to the controller, wherein the camera is configured for obtaining images of the first and / or second dough strand on the support surface , the method further comprises the steps of : extracting position information of the first and / or second dough strand from one or more of the images obtained by the camera, and controlling one or more of the one or more gripping members , the holding member and the moveable support surface , based on the position information .

[0036] In an embodiment , the dough is or comprises a bread dough . Preferably the dough or the bread dough comprises a cereal flour in particular a wheat flour .

[0037] It is to be understood that the above apparatus can be an apparatus or assembly as defined below .

[0038] According to a second aspect , the invention pertains to an apparatus for braiding dough, wherein the apparatus comprises one or more gripping members configured for gripping and picking-up at least part of a dough strand from a support surface , and for moving the at least part of the dough strand with respect to the support surface , wherein the apparatus further comprises a controller for controlling the one or more gripping members , and wherein the controller is configured for causing the one or more gripping members to perform at least the steps ( a ) , (b ) and ( c ) of the method according to the first aspect or any one embodiment thereof . Accordingly, the one or more gripping members can pick up an end of a dough strand and move said end of the dough strand over the support surface , wherein the dough strand can be arranged to cross over an other dough strand in order to perform the braiding method of the present invention .

[0039] In addition or alternatively, the apparatus according to the second aspect comprises one or more gripping members configured for gripping and picking-up at least part of a dough strand from a support surface , and for moving the at least part of the dough strand with respect to the support surface , wherein the apparatus and / or the one or more gripping members is / are configured for performing at least the steps ( a ) , (b ) and ( c ) of the method, or an embodiment thereof , as described above .

[0040] In an embodiment , the apparatus further comprises a detection system connected to the controller and configured for determining position information of the first and / or second dough strand, wherein the controller is configured for controlling the one or more gripping members based on the position information .

[0041] In an embodiment , the detection system comprises one or more of the following : a camera, a visible light camera, an infrared camera, a LMI camera, a lidar detection system and a stereo 3D camera .

[0042] In an embodiment , the detection system, preferably a camera, is configured for obtaining images of the first and / or second dough strand on the support surface , wherein the controller is configured for extracting position information of the first and / or second dough strand from one or more of the said images .

[0043] In an embodiment , the apparatus comprises a controller for controlling the one or more gripping members and a camera connected to the controller, wherein the camera is configured for obtaining images of the first and / or second dough strand on the support surface , wherein the controller is configured for : extracting position information of the first and / or second dough strand from one or more of said images , and controlling the one or more gripping members based on the position information .

[0044] In an embodiment , the apparatus comprises a robotic arm, preferably an articulated robotic arm, a delta robot , a gantry system and / or a cobot , wherein the one or more gripping members are attached to a free end of said robotic arm, said delta robot , said gantry system and said cobot .

[0045] According to a third aspect , the invention pertains to an assembly compri sing a moveable support surface and an apparatus comprising one or more gripping members configured for gripping and picking-up at least a part of a dough strand from the support surface , wherein the support surface is movable with respect to the apparatus , wherein the assembly further comprises a controller for controlling the one or more gripping members and the support surface , and wherein the controller is configured for causing the one or more gripping members and the support surface to perform at least the steps ( a ) , (b ) and ( c ) of the method according to the first aspect or any one embodiment thereof . Accordingly, the one or more gripping members can pick up an end of a dough strand, and the moveable support surface can move the one or more dough strands on the support surface with respect to said picked-up end of the dough strand, wherein one of the one or more dough strands on the support surface can be moved to pass under the picked- up end . The result is that the picked-up part of the dough strand can be arranged to cross over the one of the one or more dough strands on the support surface in order to perform the braiding method of the present invention .

[0046] In addition, or alternatively, the assembly according to the third aspect comprises a moveable support surface and an apparatus comprising one or more gripping members configured for gripping and picking-up at least a part of a dough strand from the support surface , wherein the support surface is movable with respect to the apparatus , wherein the one or more gripping members of the apparatus and the support surface are configured for performing at least the steps ( a ) , (b ) and ( c ) of the method, or an embodiment thereof , as described above .

[0047] In an embodiment , the moveable support surface is configured to rotate around a rotation axis which extends perpendicular to the support surface and intersects the support surface at a point of rotation .

[0048] In an embodiment , the moveable support surface is configured to shi ft the point of rotation with respect to the support surface .

[0049] In an embodiment , the assembly further comprises a detection system connected to the controller wherein the detection system is configured for determining position information of the first and / or second dough strand, wherein the controller is configured for controlling the one or more gripping members and the support surface based on the position information .

[0050] In an embodiment , the detection system comprises one or more of the following : a camera, a visible light camera, an infrared camera, a LMI camera, a lidar detection system and a stereo 3D camera .

[0051] In an embodiment , the detection system, preferably a camera, is configured for obtaining images of the first and / or second dough strand on the support surface , wherein the controller is configured for extracting position information of the first and / or second dough strand from one or more of said images .

[0052] In an embodiment, the assembly further comprises : a controller for controlling the one or more gripping members and the moveable support surface , and a camera connected to the controller, wherein the camera is configured for obtaining images of the first and / or second dough strand on the support surface , wherein the controller is configured for : extracting position information of the first and / or second dough strand from one or more of said images , and controlling the one or more gripping members and / or the moveable support surface based on the position information .

[0053] The various aspects and features described and shown in the specification can be applied, individually, wherever possible . These individual aspects , in particular the aspects and features described in the attached dependent claims , can be made subj ect of divisional patent applications . BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The invention will be elucidated on the basis of an exemplary embodiment shown in the attached drawings , in which :

[0055] Figure 1 schematically shows an example of the single-strand dough braid as produced by the method and apparatus according to the prior art ;

[0056] Figure 2 schematically shows an example of a dough braid as produced by the method and apparatus of the present invention, which has the shape of a traditional French single-strand braid;

[0057] Figure 3A - 3G schematically show the braiding steps for manufacturing the dough braid of figure 2 ;

[0058] Figure 4 schematically shows several examples of arrangements of dough strands at a starting position of the method of the present invention;

[0059] Figure 5 schematically shows an example of an apparatus configured for using the method of the present invention for braiding dough; and

[0060] Figure 6 schematically shows a second example of an apparatus configured for using the method of the present invention for braiding dough .

[0061] DETAILED DESCRIPTION OF THE INVENTION

[0062] Figure 1 shows a single-strand braid 10 which can be produced manually and, using the method and apparatus of the prior art , automatically . The single-strand dough braid 10 comprises a first loop 11 at a first end of the braid, four characteristic crossover points 12 , 13 , 14 , 15 of the dough strand, and a second loop 16 at a second end of the braid, opposite to the first end . In addition, a first strand end 17 comes out of the first loop 11 and lies on top of the first loop 11 , and a second strand end 18 goes into the second loop 16 and lies under the second loop 16. Figure 2 shows a single-strand braid 20 which can be produced manually . In addition the method and apparatus of the invention allows to automatically produce a dough braid which has the same single-strand braided shape of the single-strand braid 20 . The single-strand dough braid 20 comprises a first loop 21 at a first end of the braid, five characteristic crossover points 22 , 23 , 24 , 25 , 26 of the dough strand, and a second loop 27 at a second end of the braid, opposite to the first end . In addition, a first strand end 28 comes out of the first loop 21 and lies on top of the first loop 21 , and a second strand end 29 goes into the second loop 27 and lies under the second loop 27 .

[0063] The method according to the present invention is explained in more detail below, with reference to figures 3A - 3G .

[0064] Figure 3A schematically shows a possible starting point 30 for the braiding method of the present invention . The arrangement of dough at the starting point 30 comprises a first dough strand 31 with a first end 32 and a second end 33 , and a second dough strand 34 with a first end 35 and a second end 36 . The first end 35 of the second dough strand 34 is arranged to lie on top of the first dough strand 31 at a position between the first end 32 and second end 33 of the first dough strand 31 . Accordingly, the first dough strand 31 is divided in a first part 37 between the second dough strand 34 and the first end 32 of the first dough strand 31 and a second part 38 between the second dough strand 34 and the second end 33 of the first dough strand 31 .

[0065] Figure 3B schematically shows the result after a first braiding step ( a) which comprises : picking up the first end 32 of the first dough strand, arranging the first part 37 of the first dough strand to cross over the second dough strand 34 , and placing the first end 32 of the first dough strand in an area in between the second dough strand 34 and the second part 38 of the first dough strand . This provides a first crossover point 22 . Figure 3C schematically shows the result after a second braiding step (b ) which comprises : picking up the second end 33 of the first dough strand, arranging the second part 38 of the first dough strand to cross over the first part 37 of the first dough strand, and placing the second end 33 of the first dough strand in an area in between the second dough strand 34 and the first part 37 of the first dough strand . This provides a second crossover point 23 .

[0066] Figure 3D schematically shows the result after a third braiding step ( c) which comprises : picking up the second end 36 of the second dough strand 34 , arranging the second dough strand 34 to cross over the second part 38 of the first dough strand, and placing the second end 36 of the second dough strand 34 in an area in between the first part 37 and the second part 38 of the first dough strand . This provides a third crossover point 24 .

[0067] Figure 3E schematically shows the result after repeating the first braiding step ( a) which comprises : picking up the first end 32 of the first dough strand, arranging the first part 37 of the first dough strand to cross over the second dough strand 34 , and placing the first end 32 of the first dough strand in an area in between the second dough strand 34 and the second part 38 of the first dough strand . This provides a fourth crossover point 25 .

[0068] Figure 3F schematically shows the result after repeating the second braiding step (b ) which comprises : picking up the second end 33 of the first dough strand, arranging the second part 38 of the first dough strand to cross over the first part 37 of the first dough strand, and placing the second end 33 of the first dough strand in an area in between the second dough strand 34 and the first part 37 of the first dough strand . This provides a fi fth crossover point 26 .

[0069] After performing the above series of steps , the dough strands are arranged as : a central dough strand, which in this example is the second part 38 of the first dough strand, and outer dough strands on opposite side of the central dough strand, which in this example is the second dough strand 34 and the first part 37 of the first dough strand .

[0070] Figure 3G schematically shows the result after the final braiding step and closing the loop, which, in this example, comprises : picking up the second end 36 of the second dough strand 34 ( first outer dough strand) , arranging the second dough strand 34 to cross over the second part 38 of the first dough strand ( central dough strand) , and connecting the end 36 of the second dough strand 34 ( first outer dough strand) to the first end 32 of the first part 37 of the first dough strand ( second outer dough strand) , to form the second loop 27 .

[0071] This concludes the method for producing a dough braid which has the same single-strand braided shape of the single-strand braid 20 of figure 2 . The dough braid as produced by the method of the invention, di ffers from a single-strand braid 20 by the connecting point 3 ( as schematically shown in figure 2 , which allows to identi fy whether or not the braid 20 is produced using the method of the present invention .

[0072] It is noted that in the example of figures 3A - 3G the relatively open structure of the braid is j ust for visualization of the various steps in the method . In practice the dough strands in the braid are thicker and / or more tight together in order to form a more compact dough braid .

[0073] It further is noted that the position of the first end 35 of the second dough stand 34 on the first dough strand 31 as shown in figure 3A, is substantially in the center between the first end 32 and the second end 33 of the first dough strand 31 . However, the first end 35 may also be arranged of f-center in order to fine-tune the relative length of the first part 37 of the first dough strand 31 , the second part 38 of the first dough strand 31 , preferably with respect to the length of the second dough strand 34 , so that in the final step of figure 3G, the ends of the outer dough strand can be j oint at a desired position on the final braid .

[0074] It is noted that in an alternative example , the final step may comprise : picking up the first end 32 of the first part 37 of the first dough strand ( second outer dough strand) , arranging the first part 37 of the first dough strand ( second outer dough strand) to cross over the second part 38 of the first dough strand ( central dough strand) , and connecting the first end 32 of the first part 37 of the first dough strand ( second outer dough strand) to the end 36 of the second dough strand 34 ( first outer dough strand) , to form the second loop 27 . In this example , the first part 37 of the first dough strand is preferably longer than the second part 38 of the first dough strand, and the second dough strand 34 is preferably substantially the same length as the second part 38 of the first dough strand, in order to circumvent any excess length of strand when closing the loop .

[0075] It is further noted that when the method as described above is modi fied by performing the final step for closing the loop after the first repetition of the first braiding step ( a ) , the final step of this modi fied method comprises : picking up the second end 33 of the second part 38 of the first dough strand ( first outer dough strand) , arranging the second part 38 of the first dough strand ( first outer dough strand) to cross over the first part 37 of the first dough strand ( central dough strand) , and connecting the second end 33 of the second part 38 of the first dough strand ( first outer dough strand) to the second end 36 of the second dough strand 34 ( second outer dough strand) , to form the second loop 16 . In order to obtain the desired braided shape , the length of the first part 37 and second part 38 of the first dough strand, and the length of the second dough strand 34 should be shorter in this modified method, when compared to the method as described above with reference to figures 3A - 3G, in order to circumvent any excess length of strand when closing the loop. This modified method produces a dough braid which has the same single-strand braided shape of the single-strand braid 10 of figure 1. The dough braid as produced by the method of the invention, differs from a single-strand braid 10 by the connecting point 2 (as schematically shown in figure 1 by the dotted line) , which allows to identify whether or not the braid 10 is produced using the method of the present invention.

[0076] It is further noted, that also braided dough with a single-strand braided shape with more than five crossover point can be obtained by adding one or more times the series of steps (a) , (b) , (c) before the series of steps comprising: steps (a) , (b) , (c) and the final step, or steps (a) , (b) , (c) , (a) and the final step, or steps (a) , (b) , (c) , (a) , (b) and the final step .

[0077] In the example as shown in figures 3B and 3E, in step (a) when placing the first end (32) of the first dough strand, the first part 37 of the first dough strand is arranged substantially parallel, next to and spaced apart from the second part 38 of the first dough strand. In the example as shown in figures 3C and 3F, in step (b) when placing the second end 33 of the first dough strand, the second part 38 of the first dough strand is arranged substantially parallel, next to and spaced apart from the second dough strand 34. In the example as shown in figure 3D, in step (c) when placing the second end 36 of the second dough strand 34, the second dough strand 34 is arranged substantially parallel, next to and spaced apart from the first part 37 of the first dough strand.

[0078] It is noted, that one or more of the steps of the braiding method of the present invention, can also be performed manually by an employee in a dough product manufacturing facility . When all steps of the braiding method as described above with reference to figures 3A - 3G are performed manually, the apparatus comprising the one or more gripping members can be omitted .

[0079] Instead of starting with a "T" shaped arrangement of a substantially straight first dough strand 31 and a substantially straight second dough strand 34 , as schematically shown in figures 3A and 4 , the method of the invention can also be performed using a U-shaped first dough strand 41 and a straight second dough strand 44 .

[0080] Alternatively, as schematically shown in figure 4 , the method of the invention can also be performed starting with three dough strands 51 , 52 , 53 , wherein two of said dough strands 51 , 53 are interconnected at a connection point to provide the first dough strand, and wherein the remaining dough strand 52 provides the second dough strand . A first end 55 of the second dough strand is arranged to lie on top of the connection point of first dough strand .

[0081] Furthermore , as schematically shown in figure 4 , the method of the invention can also be performed starting with a single dough strand 61 . In this case a part of the single dough strand 61 is arranged in a loop by placing a first end 65 of the single dough stand 61 to lie on top of the single strand dough 61 at a position spaced apart from a second end 63 . Subsequently, the single strand dough 61 is cut at a position 62 in the loop . On part of the loop after cutting provides the first part 67 of the first dough strand, and the other part 64 of the loop after cutting provides the second dough strand .

[0082] Figure 5 schematically shows an example of an apparatus 70 configured for using the method of the present invention for braiding dough . The apparatus 70 in the example is part of an assembly comprising a conveyor 80 . The apparatus 70 is arranged next to the conveyor 80 , and in particular next to a braiding area 81 on the conveyor 80 . The assembly further comprises a camera 100 , which is arranged above the braiding area 81 . The camera 100 is connected to a controller 110 for sending image data to the controller 110 . The controller 110 is also connected to the apparatus 70 for sending control data to the apparatus 70 . In an alternative example , the controller and camera may be part of the apparatus .

[0083] The apparatus 70 comprises an articulated robotic arm 71 , wherein a gripping member 72 is attached to a free end 73 of said robotic arm 71 . The articulated robotic arm 71 is configured to gripping and picking-up at least part of a dough strand 30 ' in the braiding area 81 , for moving the at least part of the dough strand 30 ' with respect to the support surface 82 of the first conveyor 80 , and for placing the picked-up at least part of the dough strand 30 ' at a desired location within the braiding area 81 .

[0084] Downstream of the braiding are 81 on the conveyor 80 , the braided dough portions 30" are transported to a further process ing station (not shown) , for example a proofing cabinet and / or a baking oven .

[0085] In use , the robot arm 71 is configured for performing at least the step ( a ) , (b ) and ( c ) of the method of the invention, and preferably also the final step as described above . Preferably, the movement of the articulated robotic arm 71 and the gripper 72 are controlled by the controller 110 based on extracted position information of the dough strands 30 ' from one or more images captured by the camera 100 .

[0086] It is noted that the conveyor 80 is configured for conveying dough strands 30 towards a braiding area 81 . These dough strands 30 in the example of figure 5 are arranged in a ' T ' shape . However, also any other starting configuration of the dough strand ( s ) can be used, for example any one of the starting configurations as shown in figure 4 .

[0087] When starting with a single dough strand 61 wherein part of the single dough strand 61 is arranged in a loop, the articulated robotic arm 71 can be provided with a cutting member for cutting the loop at the position 62 as schematically shown in figure 4 . Alternatively, the assembly can be provided with a separate cutting device , separate from the articulated robotic arm 71 , for cutting the loop at the position 62 as schematically shown in figure 4 .

[0088] Figure 6 schematically shows a second example of an apparatus 70 ' configured for using the method of the present invention for braiding dough . The apparatus 70 ' of this second example is part of an assembly comprising a worktop 201 . The apparatus 70 ' is arranged next to the worktop 201 . The apparatus 70 ' comprises an articulated robotic arm 71 ' , wherein a gripping member 72 ' is attached to a free end 73 ' of said robotic arm 71 ' . The articulated robotic arm 71 ' is configured to gripping and picking-up at least part of a dough strand 30 on the worktop 201 .

[0089] The worktop 201 may be a fixed worktop, that is ; the worktop is in a fixed position with respect to the basis of the robotic arm 71 ' . In this case the moving o f the at least part of the dough strand 30 with respect to the support surface of the worktop 201 can be done by moving the picked up dough strand by the robotic arm 71 ' .

[0090] In addition or alternatively, the worktop 201 may be movable with respect to the basis of the robotic arm 71 ' , preferably at least rotatable . In this case the moving of the at least part of the dough strand 30 can be done by rotating the worktop around the rotation axis R underneath the robotic arm 71 ' that holds the picked up dough strand .

[0091] Subsequently, the picked-up at least part of the dough strand 30 is placed back on the support surface of the worktop 201 at a desired location .

[0092] It is noted that the worktop 201 is preferably configured to reposition the position of the rotation axis R with respect to the dough strand 30 in order to obtain a correct folding of the picked up dough strand around the part of the dough strands on the support surface during the braiding steps .

[0093] As schematically shown in f igure 6 , the apparatus further comprises a holding member 202 , which can reach down to the dough strand 30 for substantially securing the position of at least one of the dough strands 30 and / or the dough braid on the support surface of the worktop 201 during at least a part of the braiding . In this example , the holding member 202 is connected to and arranged on the worktop 201 , and is configured to rotate together with the worktop 201 .

[0094] It is noted that a similar holding member as schematically shown in figure 6 , can also be applied to the assembly of figure 5 . In this case , the holding member is than preferably arranged adj acent to the first conveyor 80 , in particular close to the braiding area 81 .

[0095] It is to be understood that the above description is included to illustrate the operation of the preferred embodiments and is not meant to limit the scope of the invention . From the above discussion, many variations will be apparent to one skilled in the art that would yet be encompassed by the scope of the present invention .

[0096] In summary, the present invention relates to a method and apparatus for braiding one or more dough strands into a dough braid with a single-strand braided shape . The method of the present method uses two or more separate dough strands for the braiding steps , starts with providing a first loop with an end of a dough strand lying on top of an edge of the first loop, and comprises a final step for connecting an end of one of the dough strands to an end of an other one of the dough strands to form a second loop, so as to provide a single-strand braided shape . The first and second loop form the opposite ends of the braided dough product with the single-stand braided shape . .

Claims

C L A I M S1 . A method for braiding dough by means of an apparatus comprising one or more gripping members configured for gripping and picking-up a dough strand from a support surface , wherein the method comprises the step of : providing a first dough strand with a first end and a second end, and a second dough strand with a first end and a second end, wherein the first end of the second dough strand is arranged to lie on top of the first dough strand at a position between the first and second end of the first dough strand, wherein the first dough strand is divided in a first part between the second dough strand and the first end of the first dough strand and a second part between the second dough strand and the second end of the first dough strand; wherein the one or more gripping members of the apparatus or the one or more gripping members of the apparatus in combination with the support surface , are configured for performing the following steps :( a ) picking up the first end of the f irst dough strand, arranging the first part of the first dough strand to cross over the second dough strand, and placing the first end of the first dough strand in an area in between the second dough strand and the second part of the first dough strand,(b ) picking up the second end of the first dough strand, arranging the second part of the first dough strand to cross over the first part of the first dough strand, and placing the second end of the first dough strand in an area in between the second dough strand and the first part of the first dough strand, and( c ) picking up the second end of the second dough strand, arranging the second dough strand to crossover the second part of the first dough strand, and placing the second end of the second dough strand in an area in between the first part and the second part of the first dough strand; wherein the method further comprise the steps of : braiding the first part of the first dough strand, the second part of the first dough strand and the second dough strand by performing a series of steps comprising : steps ( a ) , or steps ( a ) and (b ) , or steps ( a ) , (b ) and ( c ) , or one of the previous series wherein an additional series of steps ( a ) , (b ) and ( c) are added one or more times before step ( a ) ; wherein after performing the series of steps , the dough strands are arranged as a central dough strand and an outer dough strand on opposite side of the central dough strand, performing a final step of picking up one of the outer dough strands , arranging the picked up outer dough strand to cross over the central dough strand, and connecting an end of the picked up outer dough strand to an end of the other outer dough strand to form a loop .2 . The method for braiding dough according to claim 1 , wherein the apparatus further comprises a holding member, the method further comprises the step of activating the holding member for substantially securing the position of at least one of the dough strands and / or the dough braid on the support surface during at least a part of the braiding .3 . The method for braiding dough according to claim 1 or 2 , wherein the length and / or weight of the second dough strand is in a range of 45 - 100% of thelength of the first dough strand, preferably wherein the length and / or weight of the second dough strand is in a range of 45 - 65 % of the length of the first dough strand, more preferably wherein the first dough strand is substantially twice as long as the second dough strand or wherein the first dough strand and the second dough strand have similar weights and lengths .4 . The method for braiding dough according to claim 1 , 2 or 3 , wherein the first end of the second dough strand is arranged to lie on top of the first dough strand at a position substantially hal fway between the first and second end of the first dough strand .5 . The method for braiding dough according to any one of the claims 1 - 4 , wherein the first dough strand is arranged in a substantially straight line , wherein the second dough strand is arranged to extend in a direction substantially perpendicular to said line .6 . The method for braiding dough according to any one of the claims 1 - 5 , wherein in step ( a ) when placing the first end of the first dough strand, the first part of the first dough strand is arranged substantially parallel and / or next to the second part of the first dough strand, preferably wherein the first part of the first dough strand is spaced apart from the second part of the first dough strand .7 . The method for braiding dough according to any one of the claims 1 - 6 , wherein in step (b ) when placing the second end of the first dough strand, the second part of the first dough strand is arranged substantially parallel and / or next to the second dough strand, preferably wherein the second part of the first dough strand is spaced apart from the second dough strand .8 . The method for braiding dough according to any one of the claims 1 - 7 , wherein in step ( c ) when placing the second end of the second dough strand, the second dough strand is arranged substantially parallel and / or next to the first part of the first dough strand, preferably wherein the second dough strand is spaced apart from the first part of the first dough strand .

9. The method for braiding dough according to any one of the claims 1 - 8 , wherein the step of providing the first and the second dough strand comprises the steps of : providing a single strand of dough having a first end and a second end; arranging substantially 2 / 3 of the length of the single strand of dough into a loop by placing the first end to lie on top of the single strand of dough at a position substantially 1 / 3 of the length of the single strand of dough from the second end; cutting the single strand of dough in the loop at a position substantially 1 / 3 of the length of the single strand of dough from the first end, wherein the part of the single strand between the first end and the cut position provides the second dough strand, and wherein the part of the single strand between the second end and the cut position provides the first dough strand .10 . The method for braiding dough according to any one of the claims 1 - 9 , wherein the apparatus comprises : a controller for controlling the one or more gripping members , or the one or more gripping members and the moveable support surface , and a detection system connected to the controller, wherein the detection system is configured for determining position information of the first and / or second dough strand, wherein the method further comprises a step o fcontrolling the one or more gripping members , or the one or more gripping members and the moveable support surface , based on the position information .11 . The method according to claim 10 , wherein the detection system comprises one or more of the following : a camera, a visible light camera, an infrared camera, a LMI camera, a lidar detection system and a stereo 3D camera .12 . The method according to claim 10 or 11 , wherein the detection system, preferably a camera, is configured for obtaining images o f the first and / or second dough strand on the support surface , wherein the method further comprises the step of : extracting position information of the first and / or second dough strand from one or more of the images obtained by the detection system .13 . The method according to any one of the claims 10 - 12 , wherein the position information comprises a position of the first end of the first dough strand, the second end of the first dough strand, the first end of the second dough strand and / or the second end of the second dough strand .14 . An apparatus for braiding dough, wherein the apparatus comprises one or more gripping members configured for gripping and picking-up at least part of a dough strand from a support surface , and for moving the at least part of the dough strand with respect to the support surface , wherein the apparatus further comprises a controller for controlling the one or more gripping members , andwherein the controller is configured for causing the one or more gripping members to perform at least the steps ( a ) , (b ) and ( c ) of the method according to any one of the previous claims .15 . The apparatus according to claim 14 , wherein the apparatus further comprises a detection system connected to the controller and configured for determining position information of the first and / or second dough strand, wherein the controller is configured for controlling the one or more gripping members based on the position information .16 . The apparatus according to claim 15 , wherein the detection system comprises one or more of the following : a camera, a visible light camera, an infrared camera, a LMI camera, a lidar detection system and a stereo 3D camera .17 . The apparatus according to claim 15 or 16 , wherein the detection system, preferably a camera, is configured for obtaining images o f the first and / or second dough strand on the support surface , wherein the controller is configured for extracting position information of the first and / or second dough strand from one or more of the said images .18 . The apparatus according to any one of the claims 11 - 17 , wherein the apparatus comprises a robotic arm, preferably an articulated robotic arm, a delta robot , a gantry system and / or a cobot , wherein the one or more gripping members are attached to a free end of said robotic arm, said delta robot , said gantry system and said cobot .19 . An assembly comprising a moveable support surface and an apparatus comprising one or more gripping members configured for gripping and picking-up at least a part of a dough strand from the support surface , wherein the support surface is movable with respect to the apparatus , wherein the assembly further comprises a controller for controlling the one or more gripping members and the support surface , and wherein the controller is configured for causing the one or more gripping members and the support surface to perform at least the steps ( a ) , (b ) and ( c ) of the method according to any one of the claims 1 - 13 .20 . The assembly according to claim 19 , wherein the moveable support surface is configured to rotate around a rotation axis which extends perpendicular to the support surface and intersects the support surface at a point of rotation .21 . The assembly according to claim 20 , wherein the moveable support surface is configured to shi ft the point of rotation with respect to the support surface .22 . The assembly according to any one of the claims 19 - 21 , wherein the assembly further comprises a detection system connected to the controller wherein the detection system is configured for determining position information of the first and / or second dough strand, wherein the controller is configured for controlling the one or more gripping members and the support surface based on the position information .23 . The assembly according to claim 22 , wherein the detection system comprises one or more of the following : a camera, a visible light camera, an infraredcamera, a LMI camera, a lidar detection system and a stereo 3D camera .24 . The assembly according to claim 22 or 23 , wherein the detection system, preferably a camera, is configured for obtaining images o f the first and / or second dough strand on the support surface , wherein the controller is configured for extracting position information of the first and / or second dough strand from one or more of said images .

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