Device for handling a food product

Abstract

The invention relates to a device (1) for handling, in particular for transporting and turning, a food product (L), comprising a detection system (3) for optically detecting the food product (L), an evaluation unit (7) for determining the center of gravity (S) of the food product (L), and a gripper (5) for receiving the food product (L) in a receiving region (10) and dispensing in a dispensing region.

Description

[0001] DESCRIPTION

[0002] title

[0003] Device for handling a food product

[0004] State of the art

[0005] The invention relates to a device for handling, in particular for transporting and turning, a food product, comprising a detection system for optically detecting the food product, an evaluation unit for determining the center of gravity of the food product, and a gripper for picking up the food product in a receiving area and releasing it in a delivery area.

[0006] In the food and / or packaging industry, conveyor units are typically used to transport food products along a main conveying direction. These units are followed by packaging and / or food processing units in the same direction. To increase the level of automation, robotic systems (e.g., delta-pick robots, multi-axis robots, SCARA robots, etc.) are frequently used to load the packaging units. These robots can be equipped with a gripper. The product stream arriving from upstream process steps can be picked up by the robotic system and transported into individual packaging units. Due to production requirements or to meet customer specifications, it may be necessary to turn the individual food products, such as cheese, sausage, and / or fish, inside the packaging units before packaging.

[0007] Such robotic systems or grippers are generally known from the prior art. For example, EP 4 059 672 A1 discloses a gripper that enables the turning of a food product. However, such a gripper has the disadvantage that it cannot account for the specific characteristics or unique features of individual food products – e.g., their geometry, external dimensions, weight distribution, etc.

[0008] - not taken into account. Therefore, the turning of the food product according to the aforementioned publication always follows the same scheme or algorithm, which can result in incomplete turning. Disclosure of the invention

[0009] The object of the present invention is therefore to avoid the disadvantages mentioned in connection with the prior art and to provide a device of the type mentioned at the outset, by means of which the special features or unique characteristics of each individual food product are taken into account.

[0010] The object of the present invention is achieved by a device for handling, in particular for transporting and turning, a food product, comprising a detection system for optically detecting the food product, an evaluation unit for determining the center of gravity of the food product, and a gripper for picking up the food product in a receiving area and dispensing it in a dispensing area, wherein the device is configured such that a data set optically determined by means of the detection system is provided to the evaluation unit, wherein the evaluation unit determines the center of gravity of the food product based on the provided data set, wherein the evaluation unit controls the gripper based on the determined center of gravity, and wherein the food product is picked up by the gripper in the receiving area and moved to the dispensing area.wherein the food product is dispensed by the gripper in the dispensing area in such a way that the food product is turned over during or as a result of the dispensing.

[0011] The device according to the invention has the advantage over the prior art that each individual food product can be optically detected by means of the detection system. The gripper can be controlled product-specifically based on an optically determined data set and a center of gravity determined by the evaluation unit. Thus, each food product can be turned individually according to its own characteristics, in particular its unique weight distribution. Consequently, this results in optimized turning, in which the risk of faulty turning is avoided or at least reduced, since the turning does not follow a fixed pattern or algorithm, but can be carried out in a customized manner.A turning action as described in the present invention can be achieved, in particular, by utilizing the precise position of the center of gravity within the gripper in combination with gravity, thereby inducing and / or forcing a rotational movement of the food product without any further intervention by the device. In other words, with appropriate control of the gripper, the food product can be released and / or withdrawn in such a way that, under the influence of gravity, the food product falls unevenly from the gripper and the turning action occurs during free fall in the air, so that the food product lands or is positioned directly on the base of the packaging unit with the side that was previously facing upwards.A gripping arrangement within the meaning of the invention can, in particular, be an asymmetrical gripping arrangement in which the food product is arranged asymmetrically within the gripper or asymmetrically on the gripper, or at least asymmetrically relative to a release and / or take-up unit of the gripper, or asymmetrically relative to a release and / or take-up side of the gripper. Furthermore, the optical detection of the food product L by means of the detection system 3 can also take place after it has been gripped by the gripper 5. This allows the center of gravity to be verified, in particular.

[0012] According to an advantageous embodiment of the invention, the detection system is designed separately and can be connected to and disconnected from the device. In particular, the detection system can be connected to the gripper, and can be disconnected from the gripper. The connectability and disconnectability of the detection system offers the advantage of simple and quick replacement, for example, in the event of defects in the detection system. Furthermore, the temporary disconnectability of the detection system allows, for example, the installation of revised software, i.e., advantageous updates. The connection of the detection system to the device is preferably mechanical, for example, positive locking and / or force locking. In addition, the connection can advantageously be such that different orientations, alignments, and arrangements of the detection system relative to the device are possible.For example, the detection system can have different tilt angles relative to a reference plane formed on the device, such as 15°, 30°, 45°, or 60°. Furthermore, the detachability of the detection system offers the advantage of easier cleaning.

[0013] In a preferred embodiment of the invention, the detection system, which is preferably designed as a camera or laser scanner, is capable of capturing multiple images of the food product from different perspectives. These multiple images can then be used to generate a 3D model or a 3D point cloud of the food product, which can be provided to the evaluation unit as a data set. It is conceivable that the detection system is designed to be movable relative to the device. For example, the detection system can be arranged in a ball joint formed on the device and rotated about one, two, or three axes of articulation to capture the food product from different perspectives or spatial directions. This allows for optimal optical capture of a food product, for example, while the food product is moving along the main conveying direction.However, the food product can also be detected optically while it is static or motionless, for example after it has been picked up by the gripper and while it is positioned in or on the gripper.

[0014] A preferred embodiment of the invention provides that the gripper has a first receiving tray and a second receiving tray that is movable relative to the first receiving tray. Picking up or gripping the food products can be advantageously accomplished with two receiving trays, since movement of the first receiving tray can cause the food product to also move in the direction of movement of the first receiving tray, thus making it more difficult to pick up with a single receiving tray. However, by means of or with the aid of the second receiving tray, an obstacle can be formed for the food product, so that effective picking up is achieved using two receiving trays. It is conceivable that only the first receiving tray is movable – essentially analogous to a dustpan in conjunction with its corresponding shovel.The first and second receiving trays can preferably be arranged opposite each other. It is also conceivable that only the second receiving tray is movable. Advantages of a single movable receiving tray include a simpler design with fewer moving parts and simpler control and / or regulation, or a simpler configuration of a control unit.

[0015] According to an advantageous embodiment of the invention, the first and second receiving trays are movable independently of each other. Because the first and second receiving trays are movable independently, only the tray whose movement is necessary for optimal turning of the food product can be selectively moved. For example, only the tray that is subjected to greater stress due to the precise position of the food product's center of gravity, i.e., the tray experiencing a greater lateral force and bending moment, can be moved. As a result of moving only one receiving tray, the food product can fall out (i.e., be released) in such a way that turning is induced or brought about during the fall, as this forces a rotational movement of the food product.

[0016] In a preferred embodiment of the invention, the first receiving tray and / or the second receiving tray are movable based on the determined center of gravity, the device being configured such that, as a result of movement of the first receiving tray and / or the second receiving tray, the food product is released from or turned over by the gripper. It is conceivable that the first receiving tray and the second receiving tray are moved to release or detach the food product. For example, the two receiving trays can be moved away from each other, particularly coplanarly.

[0017] An advantageous embodiment of the invention provides that the device is configured such that the first receiving tray and the second receiving tray are moved, with the first receiving tray moving first and the second receiving tray moving with a time delay relative to the movement of the first receiving tray. To assist the rotation and thus the turning of the food product, it is conceivable that the second receiving tray, which moves with a time delay or later relative to the first receiving tray, performs an additional movement to facilitate an opening movement. For example, the two receiving trays can be moved away from each other in an opening step, particularly coplanarly within an opening plane. During the opening step, the second receiving tray can also be moved in a transverse direction perpendicular to the opening plane to assist or enhance the rotation of the food product.In other words, the second receiving tray can have two degrees of freedom of movement, i.e., it can be configured in such a way that it can be moved independently in two spatial directions perpendicular to each other.

[0018] According to a preferred embodiment of the invention, the device includes a coupling device for connecting it to a robot, wherein the determined center of gravity of the food product is located between the first receiving tray and the coupling device, or between the second receiving tray and the coupling device. The food product can be picked up, grasped, or gripped by the gripper at different positions within the food product. For example, it is conceivable that after being picked up, the food product is arranged symmetrically in or on the gripper within the receiving area, particularly symmetrically with respect to the external dimensions of the food product, i.e., symmetrically with respect to the surface area distribution in a side view of the food product, wherein the (volume) center of gravity is determined by different mass distributions, i.e.,Due to varying densities of a food substance within the food product, the structure is asymmetrically arranged. Preferably, the (volume) center of gravity of the food product is asymmetrically arranged within or on the gripper.

[0019] In a preferred embodiment of the invention, the first receiving shell has a first receiving surface and a tapered first front section with a first front edge, wherein the second receiving shell has a second receiving surface and a tapered second front section with a second front edge, wherein the first receiving surface and the second receiving surface are coplanar, wherein a first angle is formed between the first receiving surface and the first front section, and wherein a second angle is formed between the second receiving surface and the second front section, wherein the first angle and the second angle preferably each amount to 5° to 40°, particularly preferably 10° to 30°, for example 15° to 25°.The first receiving surface and the second receiving surface can each be formed on a (voluminous) first receiving section and a (voluminous) second receiving section, wherein the first receiving surface and the second receiving surface are preferably each arranged on one side of the respective first receiving section and second receiving section facing the aforementioned coupling device. In other words, the center of gravity of the food product is located between the coupling device and the first receiving surface or the second receiving surface. The first front section can directly adjoin the first receiving section, wherein the first front section can be designed as a first free end of the first receiving tray. Similarly, the second front section can directly adjoin the second receiving section, wherein the second front section can be designed as a second free end of the second receiving tray.Preferably, the first front section and the second front section face each other. In other words, the first front edge and the second front edge preferably face each other. Preferably, the first front edge and the second front edge are arranged parallel to each other, with a gap formed between the first and second front edges – in a closed gripper mode – for example, to prevent any food residue from accumulating in the gripper. Similarly, first recesses can be formed in the first receiving section and, consequently, also in the first receiving surface. Analogously, second recesses can be formed in the second receiving section and, consequently, also in the second receiving surface. These first and second recesses allow for material savings and thus a reduction in the gripper's weight.Furthermore, analogous to the aforementioned gap between the first and second leading edges, the recesses prevent any food residue from accumulating in the gripper, which could impair its function and / or efficiency. A first angle is formed between the first receiving surface and the first leading edge, specifically a first surface of the first leading edge. In other words, the first leading edge has a first bend relative to the first receiving edge. Similarly, a second angle is formed between the second receiving surface and the second leading edge, specifically a second surface of the second leading edge. In other words, the second leading edge has a second bend relative to the second receiving edge. These bends facilitate the gripping of the food product.In particular, due to the tapering of the first and second front sections, it is especially easy to grip the food product from two sides, i.e., the food product can be effectively picked up by the gripper.

[0020] An advantageous embodiment of the invention provides that the device is configured such that the movement of the first or second receiving tray results in an asymmetrical dispensing of the food product, and this asymmetrical dispensing also causes the food product to rotate. The asymmetrical dispensing and / or release of the food product is achieved in particular by arranging the food product asymmetrically in the gripper, i.e., by positioning its center of gravity (volume) above the first or second receiving tray.

[0021] According to a preferred embodiment of the invention, the gripper is pneumatically actuated, and the food product is picked up by the gripper by generating a negative pressure or under vacuum. It is conceivable that the movement of the first and second receiving trays is pneumatically actuated. In other words, the gripper can be moved from a closed mode to an open mode and back again by means of air pressure. The advantage of pneumatic actuation lies in a simpler design. For example, pipe walls do not need to be thicker or larger due to the higher pressures in hydraulic systems. Furthermore, less stringent requirements are placed on sealing elements in pneumatic systems, as these elements only need to withstand lower pressures.Accordingly, fewer and / or less expensive sealing materials can be used. Pneumatic actuation is also preferred, as relatively little force is required to load and unload a food product. Furthermore, a pneumatic system—especially in the food industry and particularly compared to a hydraulic system—has the advantage that higher hygiene standards can be maintained in the event of a hydraulic fluid leak, and the cleaning effort is lower.

[0022] In an alternative embodiment of the invention, particularly an alternative design of the gripper, the food product is provided for to be picked up eccentrically or off-center, especially at a position of the food product that deviates from its center of gravity. The gripper can have a suction head or a suction element, the suction head being designed to pick up the food product, in particular by generating a vacuum. Such a gripper can also be referred to as a vacuum gripper.

[0023] Further details, features, and advantages of the invention will become apparent from the drawings and from the following description of preferred embodiments with reference to the drawings. The drawings merely illustrate exemplary embodiments of the invention, which do not limit the essential concept of the invention.

[0024] Brief description of the drawings

[0025] Figure 1 schematically shows a first embodiment of a device according to the invention for handling, in particular for transporting and turning, a food product in a block diagram. Figure 2a schematically shows a side view of a first embodiment of a gripper according to a device according to the invention in a closed state.

[0026] Figure 2b schematically shows in a side view the first embodiment of a gripper from Figure 2a at a time when the gripper is opened and the food product is dispensed and turned.

[0027] Figure 3a schematically shows a side view of a second embodiment of a gripper according to a device according to the invention.

[0028] Figure 3b schematically shows in a side view the second embodiment of the gripper from Figure 3a at a time when the food product is dispensed and turned.

[0029] Embodiments of the invention

[0030] In the various figures, identical parts are always marked with the same reference symbols and are therefore usually only named or mentioned once.

[0031] Figure 1 shows a schematic block diagram of a first embodiment of a device 1 according to the invention for handling, in particular for transporting and turning, a food product L. The device 1 comprises a detection system 3 designed as a camera. The detection system 3 optically detects a food product L that is part of a product stream. For simplification, Figure 1 shows not the entire product stream, but a single food product L. The shape of the food product L, illustrated elliptically in Figure 1, can be understood, for example, as the cross-section of a fish. Furthermore, the optical detection of the food product L is illustrated by the two dotted-lined lines. The food product L has a center of gravity S, which is marked with a + in Figure 1.This center of gravity S is the centroid S of the fish and is shown in a particularly eccentric position for illustrative purposes. In other words, the center of gravity S is spaced apart from a surface center M or centroid M of the food product L depicted two-dimensionally in Figure 1. The surface center M is marked by an asterisk *. The optical detection system 3 is configured to be movable. In particular, the optical detection system 3 can, as a result of its movement, take multiple images of the food product L from different perspectives and generate a 3D model of the food product L based on these images. In other words, a data set D can be created from which the center of gravity S of the food product L can be determined. The movement or guidance of the optical detection system 3 can, for example, be along a linear rail, particularly to allow for height adjustment.Preferably, the optical detection system 3 is movable along an elliptically or circularly shaped rail. This offers the advantage that images of the food product L can be captured from all spatial directions, thus enabling optimized determination of the center of gravity of the food product L.

[0032] The device 1 further comprises a control unit, which has an evaluation unit 7 or is identical to the control unit, wherein the determination of the center of gravity takes place in or is carried out by the evaluation unit 7. The data set D is provided to the evaluation unit 7 for this purpose, as indicated by an arrow in Figure 1.

[0033] Based on the center of gravity S determined by the evaluation unit 7, the gripper 5 is activated. For this purpose, the gripper 5 receives control signals A from the evaluation unit 7. Based on the control signals A, the gripper is transported to a receiving area 10, in which the food product L is located. In the receiving area 10, the food product L is picked up and transported to a dispensing area 11. In the dispensing area 11, the food product L is dispensed by the gripper 5 in such a way that it is turned over as a result of the dispensing process. The dispensing area 11 can therefore also be referred to as a release and / or turning area. Packaging units 13 are located in the dispensing area 11, and the food product L is essentially dropped into one of the designated packaging units 13, with one side of the food product L facing downwards due to the turning process.In other words, the top of the food product L in packaging unit 13 touches a packaging base. The exact turning process is described in more detail in the following figures.

[0034] Figure 2a schematically shows a first embodiment of a gripper 5 according to a device 1 according to the invention in a closed state in a side view. In other words, a food product L has already been picked up by the gripper. The gripper 5 has a first receiving tray 51 and a second receiving tray 52 that is movable relative to the first receiving tray 51, wherein the gripper 5 is configured such that the two receiving trays 51, 52 can be controlled or moved independently of each other. In the gripper 5 according to Figures 2a and 2b, the two receiving trays 51, 52 can, in particular, be moved away from each other and towards each other. According to Figures 2a and 2b, the receiving trays 51, 52 can each be moved to the right and left. The movements, which can be performed linearly or translationally, are supported by the guide element F.Which of the two receiving trays 51, 52 must ultimately be moved to turn the food product L depends in particular on the exact position of the center of gravity S. As will be shown, in the present case at least the first receiving tray 51 must be moved.

[0035] The first receiving tray 51 comprises a first flat receiving surface 511 and a tapered first front section 512 with a first front edge. Similarly, the second receiving tray 52 comprises a second flat receiving surface 521 and a tapered second front section 522 with a second front edge. The tapered front edges 512, 522 enable, in particular, a clean and efficient gripping of the food product L, especially when the gripper 5 closes, i.e., as the two receiving trays 51, 52 move towards each other. In the closed state or mode in which the gripper 5 is shown in Figure 2a, the food product L rests, in particular, on the first flat receiving surface 511 and on the second flat receiving surface 521.This double-sided gripping mechanism ensures that the food product L is securely supported even during movements of the gripper 5, particularly during transport from the receiving area 10 to the dispensing area 11. To enable successful transport, the gripper 5 is mechanically connected to a robot (not shown in the figures) via a coupling device 9. Furthermore, the coupling device 9 allows for electrical connection to the evaluation unit 7, enabling the gripper 5 to communicate with the evaluation unit 7.

[0036] Control signals A are received from the evaluation unit 7.

[0037] Due to the precise location of the center of gravity S shown in Figure 2a, the food product L exerts a greater load on the first receiving tray 51, or the first receiving surface 511, than on the second receiving tray 52, or the second receiving surface 521. In other words, the first receiving tray 51 is subjected to greater shear and bending forces than the second receiving tray 52. ​​Naturally, in this configuration, the food product L tends to rotate clockwise when released. Figure 2b schematically shows a side view of the first embodiment of a gripper 5 from Figure 2a at the point in time when the gripper 5 is opened and the food product L is dispensed and turned. The opening of the gripper 5, and thus the release and / or dispensing of the food product L, is achieved by moving the first receiving tray 51 to the right, as shown in Figure 2b.The second receiving tray 52 remains stationary throughout the entire dispensing of the food product L. Due to the movement of the first receiving tray 51, indicated by the lineed arrow, the food product L falls asymmetrically from the gripper 5 under the influence of gravity. In this context, asymmetric means, in particular, that the food product L undergoes a rotation. This rotational movement is symbolized by a curved arrow in Figure 2b. Since, after the movement of the first receiving tray 51 to the right, the food product L is no longer supported by the first receiving surface 511, it initially rotates or tilts, sliding on a surface of the second front section 522 that is inclined relative to the second receiving surface 521.The rotational movement, and thus the turning of the food product L, can be further intensified or optimized by moving the second receiving tray 52, or at least a section of the second receiving tray 52, for example a voluminous second receiving section 523, on which the second receiving surface 521 is formed, in a transverse direction Q perpendicular to the second receiving surface 521, while the food product L falls out. At this point, the gripper 5 is positioned directly above a packaging unit 13.

[0038] Figure 3a schematically shows a second embodiment of a gripper 5 according to a device 1 according to the invention in a side view. The gripper 5 is pneumatically actuated, i.e., the food product L is picked up by means of the gripper 5 by creating a negative pressure or under vacuum. Pickup is effected by means of a suction head 5' of the gripper 5. As can be seen in Figure 3a, the gripper 5 picks up the food product L at a position laterally to the center of gravity S or at a position deviating from the center of gravity S. This allows the food product L to be turned over when the negative pressure is released.

[0039] Figure 3b schematically shows a side view of the second embodiment of the gripper 5 from Figure 3a at the point in time when the food product is dispensed and turned. Analogous to the first embodiment according to Figure 2b, the rotation or turning occurs due to the position of the center of gravity S in conjunction with gravity.

[0040] Reference symbol list

[0041] I Device

[0042] 3 Optical detection system, camera

[0043] 5 grippers

[0044] 5' Suction head

[0045] 7 Evaluation unit

[0046] 9 Coupling device

[0047] 10 Recording area

[0048] II Delivery area

[0049] 13 packaging units

[0050] 51 First receiving tray

[0051] 511 First recording area

[0052] 512 First front section

[0053] 52 Second receiving tray

[0054] 521 Second recording surface

[0055] 522 Second front section

[0056] 523 Second recording section

[0057] A control signal

[0058] D data set

[0059] F Guide element

[0060] L Food product

[0061] Q transverse direction

[0062] The focus of the food product

Claims

PATENT CLAIMS 1. Device (1) for handling, in particular for transporting and turning, a food product (L) comprising a detection system (3) for optically detecting the food product (L), an evaluation unit (7) for determining a center of gravity (S) of the food product (L), and a gripper (5) for picking up the food product (L) in a receiving area (10) and dispensing it in a dispensing area, wherein the device (1) is configured such that a data set (D) optically determined by means of the detection system (3) is provided to the evaluation unit (7), wherein the evaluation unit (7) determines the center of gravity (S) of the food product (L) based on the provided data set, wherein the gripper (5) is controlled by the evaluation unit (7) based on the determined center of gravity (S), wherein the food product (L) is picked up by the gripper (5) in the receiving area and moved to the dispensing area (11),wherein the food product (L) is dispensed by the gripper (5) in the dispensing area in such a way that the food product (L) is turned over during or as a result of the dispensing.

2. Device (1) according to claim 1, wherein the detection system (3) is designed separately and is connectable to and separable from the device (1).

3. Device (1) according to claim 1 or 2, wherein the detection system (3), which is in particular designed as a camera or laser scanner, can be used to take several pictures of the food product from different perspectives, wherein a 3D model or a 3D point cloud of the food product can be generated by means of the several pictures, wherein the 3D model or the 3D point cloud can be provided as a data set to the evaluation unit (7).

4. Device (1) according to one of the preceding claims, wherein the gripper (5) has a first receiving shell (51) and a second receiving shell (52) which is designed to be movable relative to the first receiving shell (51).

5. Device (1) according to claim 4, wherein the first receiving tray (51) and the second receiving tray (52) are independently movable.

6. Device (1) according to claim 4 or 5, wherein, based on the determined center of gravity, the first receiving tray (51) and / or the second receiving tray (52) is movable, wherein the device (1) is configured such that, as a result of a movement of the first receiving tray (51) and / or the second receiving tray (52), the food product is removed from or released by the gripper (5) and turned.

7. Device (1) according to one of claims 4 to 6, wherein the device (1) is configured such that the first receiving tray (51) and the second receiving tray (52) are moved, wherein the first receiving tray (51) is moved first and the second receiving tray (52) is moved with a time delay in relation to the movement of the first receiving tray (51).

8. Device (1) according to one of claims 4 to 7, characterized by a coupling device (9) for connecting the device (1) to a robot, wherein the determined center of gravity of the food product is arranged between the first receiving tray (51) and the coupling device (9), or between the second receiving tray (52) and the coupling device (9).

9. Device (1) according to any one of claims 4 to 8, wherein the first receiving shell (51) has a first receiving surface (511) and a tapered first front section (512) with a first front edge, wherein the second receiving shell (52) has a second receiving surface (521) and a tapered second front section (522) with a second front edge, wherein the first receiving surface (511) and the second receiving surface (521) are coplanar, wherein a first angle is formed between the first receiving surface (511) and the first front section (512), wherein a second angle is formed between the second receiving surface (521) and the second front section (522), wherein the first angle and the second angle preferably each amount to 5° to 40°, particularly preferably 10° to 30°, for example 15° to 25°.

10. Device (1) according to one of claims 4 to 9, wherein the device (1) is configured such that as a result of the movement of the first receiving tray (51) or the second receiving tray (52) an asymmetrical dispensing of the food product is brought about, wherein as a result of the asymmetrical dispensing a turning of the food product is brought about.

11. Device (1) according to one of claims 1 to 3, wherein the gripper (5) is pneumatically actuated, wherein the food product can be picked up by generating a negative pressure or under vacuum using the gripper (5).

12. Device (1) according to claim 11, wherein the food product is to be received eccentrically or off-center, in particular at a position of the food product that deviates from the center of gravity.

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