Picker device and robot arm for picking up products such as vegetables and fruit, packaging device provided therewith and method therefor

Abstract

The invention relates to a picker device and robot arm for picking up products such as vegetables and fruit, packaging device provided therewith and method therefor. The picker device according to the invention for a robot arm for directional picking up and displacing of products, such as vegetables and fruit, comprises: a pick-up element (2) connectable to the robot arm and configured to pick up the product, wherein the pick-up element is provided with: a frame (4) provided with one or more coupling elements (8a) configured to connect to the arm; a picker (12) for picking up the product; a rod mechanism (16) configured to rotate the picker relative to the frame; and a drive (18) configured to move the rod mechanism whereby the picker is movable relative to the frame.

Description

[0001] PICKER DEVICE AND ROBOT ARM FOR PICKING UP PRODUCTS SUCH AS VEGETABLES AND FRUIT, PACKAGING DEVICE PROVIDED THEREWITH AND METHOD THEREFOR

[0002] The present invention relates to a picker device with a picker, i.e. a gripper, for a robot arm whereby products can be placed into a packaging or container, such as a tray, crate or box, in directional manner. Such a picker device is also referred to as a set-down device. Products are particularly products such as vegetables and fruit, including apples, peaches, kiwis, tomatoes and other fruits, as well as other products. According to the invention, directional packaging relates to placing of the fruits / products in a packaging or container with a desired orientation.

[0003] The demand in practice is usually for fruits to be placed in a packaging or container with a specific spatial orientation and positioning in order to thereby present the product to a consumer in a visually attractive manner. It is thus for instance desirable to place apples with the calyx-stalk axes in a substantially horizontal plane, wherein these axes extend in the same direction as the other products in the same packaging. The demand in practice is usually also for a specific positioning of the bloom of a fruit, for instance an apple, wherein this bloom is particularly arranged directed upward in the packaging or container. It is further usually desired to place oval fruits in a packaging or container at an angle to the vertical, i.e. obliquely vertically.

[0004] If positioning of the fruits in the packaging or container is performed manually, this affects the overall packaging capacity of the processing line and usually results here in additional costs. Also known in practice therefore are pickers or grippers which are able to realize a specific positioning of the fruits in a packaging or container. EP 3423201 thus describes a packaging device wherein use is made of a robot arm with a pick-up element for positioning fruits in a packaging.

[0005] A problem with known devices provided with pick-up elements is that a relatively large space for manoeuvring the fruit in the container or packaging is needed to bring the fruit into a desired position. Such a fruit must usually be turned here. This requires sufficient manoeuvring space for the picker and / or the transferring of the fruit. This manoeuvring space is not always sufficiently available and / or setting down the fruit in a desired orientation takes too much time. This latter is detrimental to the overall processing capacity. It is also possible for the packaging or container to be placed at an angle, whereby the manoeuvring space is limited. The manoeuvring space for manoeuvring with a fruit while setting it down in a packaging or container is further limited in the case of relatively deep packagings or containers which limit the space for manoeuvring the fruits due to the relatively great height.

[0006] The present invention has for its object to provide a pick-up element whereby products, particularly fruits, can be packaged with a desired orientation and positioning in efficient manner.This enables directional packaging, whereby one or more of the above stated drawbacks is obviated or at least reduced.

[0007] This object is achieved with a picker device for a robot arm for directional picking up and displacing of products, such as vegetables and fruit, wherein the picker device according to the invention comprises:

[0008] a pick-up element (2) connectable to the robot arm and configured to pick up the product, wherein the pick-up element is provided with:

[0009] a frame (4) provided with one or more coupling elements (8a) configured to connect to the arm;

[0010] a picker (12) for picking up the product;

[0011] a rod mechanism (16) configured to rotate the picker relative to the frame, wherein the rod mechanism comprises:

[0012] a first hinge piece (26) on a first frame hinge point (A, 20) connected to the frame;

[0013] a second hinge piece (32) on a second picker hinge point (E, 34) connected to the picker, and a on a second hinge connection point (D, 36) connected to the first hinge piece (26);

[0014] a first connecting arm (28) extending between a second frame hinge point (B, 22) connected to the frame and a first hinge connection point (C, 40) for connection to the second hinge piece (32); and

[0015] a second connecting arm (38) extending between a first picker hinge point (G, 24) and a third hinge connection point (F, 30) connected to the first hinge piece (26); and

[0016] a drive (18) configured to move the rod mechanism whereby the picker is movable relative to the frame.

[0017] Providing the picker device (or set-down device) according to the invention with at least one coupling element enables the picker device, or at least parts thereof, to be connected fixedly or releasably to the robot arm. Such a robot arm for instance forms part of a sorting line and / or packaging line whereby fruits, for instance apples, peaches and kiwis, can be placed in directed manner in a packaging or container, such as a tray, crate or box, with a desired orientation after sorting.

[0018] According to the invention, the picker device is further provided with a pick-up element having a picker, for instance in the form of a vacuum element or a gripper, configured to pick up the relevant fruit, and is further provided with a rod mechanism, wherein the rod mechanism is configured to position the picker, wherein this positioning relates particularly to rotating the pickerrelative to the frame of the picker device. According to the present invention, this rod mechanism comprises at least two connecting arms and two hinge pieces, wherein these parts are mutually connected such that the pick-up element can perform a rotation relative to the frame of the picker device. Such a rotation provides an additional degree of freedom in picking up and displacing the fruits. When the picker device according to the invention is coupled to a robot arm, the picker device can be displaced in a three-dimensional space, and preferably rotate around a rotation axis, by means of the robot arm. This therefore provides four degrees of freedom. Providing the picker device / pick-up element according to the invention with the rod mechanism, whereby the picker can undergo a rotation relative to the frame of the picker device, provides an additional degree of freedom. In a currently preferred embodiment the centre point of the picker element does not change here. Providing the rod mechanism in the picker device here enables a rotation of the picker relative to the frame in the picker device itself, and an (additional) rotation is therefore not required in the robot arm as such. Hereby, the rotation of the picker is located close to or at the position of the fruit itself, and the manoeuvring space required can remain limited. A compact construction is also obtained hereby.

[0019] Using this additional degree of freedom, which is obtained with said rod mechanism, the picker device with the pick-up element, the picker and the fruit can be moved into the packaging or container using the robot arm and, if necessary, be rotated around the rotation axis inside the packaging or container. The product can hereby be oriented and positioned in desired manner in a relatively limited manoeuvring space so that the fruit is presented to for instance a consumer in visually attractive manner in the packaging or container. By performing the rotation with the rod mechanism in the picker device, wherein a rotation of the fruit is performed around a rotation axis at the position of the fruit or in the immediate vicinity thereof, the time required for such an orientation and positioning is also relatively limited, this in addition to the limited manoeuvring space required. The directional packaging can hereby be performed at a high speed so that an optimal packaging capacity can be realized. Directional packaging is hereby enabled in effective manner, irrespective of the shape and / or dimensions of the packaging or container. Relatively high packagings or containers (with high side walls) in particular can in this way likewise be provided with fruits with a desired orientation and position. Additionally, packagings and / or containers placed at an angle can also be provided in effective manner with fruits with the desired orientation and position. The fruits can also be set down at an angle in a relatively deep packaging and / or container. This increases the flexibility for packaging of fruits.

[0020] The picker can take diverse forms. It will be apparent that diverse gripping elements are possible here. In a currently preferred embodiment uses made of a holder and a sponge-like element, so that fruits can be picked up and displaced in effective manner using an underpressure (vacuum) and then be set down in a packaging or container in directional manner.The packaging or container comprises a large number of possible packagings, including cardboard boxes, wooden crates, barrels of synthetic material, plastic tubs, packing trays with preformed recesses of synthetic material, cardboard, paper pulp, and other packagings / packaging materials. An example of a packing tray is a honeycomb pattern of for instance seven positions horizontally and five positions vertically, wherein a fruit is placed at an individual position.

[0021] In the packaging process fruits are supplied via a feed conveyor, for instance via a so-called pintle belt or a diabolo bed, and have preferably been viewed and assessed with a sensor system, and optionally a sorting system. The sensor system is preferably provided here with a camera system whereby the position of a stalk, calyx, bloom or other characteristic of the fruit can be determined in effective manner, so that the fruit can be set down in a packaging or container in directional manner.

[0022] In a preferred embodiment according to the invention the pick-up element is mounted substantially vertically under the frame.

[0023] In this embodiment the pick-up element is mounted substantially vertically under the frame and fruits can preferably be picked up substantially horizontally and then, if desired, be set down in a packaging or container at an angle. It is achieved by the substantially vertical positioning of the pick-up element under the frame that a relatively small manoeuvring space is needed to bring the fruit into a desired rotation and position relative to the set-down position in the packaging or container. This is realized by arranging the rotation axis, which is provided using the rod mechanism, at or close to the underside of the frame. A virtual rotation axis, which extends at the position of the fruit and / or the pick-up element, is preferably provided using the rod mechanism. It is hereby achieved that, irrespective of the angle of the picker relative to the frame, the picker device as such remains compact and the fruit is brought into a desired position and orientation. This limits the required manoeuvring space further and enables the construction to remain compact. This for instance makes it possible to pick up fruits as it were horizontally and set them down obliquely vertically, wherein the manoeuvring space can remain limited.

[0024] The first and the second frame hinge point of the rod mechanism preferably lie in a straight line, and more preferably in a substantially horizontal line in a starting position. A maximum flexibility of the pick-up element is hereby obtained for navigating corners that may occur in the packaging or container itself, as well as edges or walls of such packagings or containers, and the desired position and orientation of the fruit.

[0025] In a currently preferred embodiment according to the invention the picker is rotatable relative to the frame around a virtual rotation axis.

[0026] Providing a virtual rotation axis for the picker using the rod mechanism makes it possible to realize a compact construction for the picker device. The virtual rotation axis preferably extends here through or close to the centre of the sponge element, suction cup or, still more preferably,through or close to the centre of an (average) fruit. This is particularly possible by adapting the dimensions of the rod mechanism to the desired location of the virtual rotation axis. An optimal flexibility for the picker device according to the invention is brought about hereby.

[0027] In a currently preferred embodiment according to the invention the distance between the virtual rotation axis and the first picker hinge point is greater than the distance between the virtual rotation axis and the second picker hinge point. This makes the construction of the picker device even more compact, whereby the required manoeuvring space can remain limited to further extent.

[0028] In currently preferred embodiments according to the invention the rod mechanism can be moved in use such that the virtual rotation axis is movable during this use over a line running substantially parallel to, or substantially corresponding with, a central frame axis of the picker device. Movement of the fruit hereby remains controlled while it is being set down in a packaging or container.

[0029] In a preferred embodiment according to the invention the picker is rotatable relative to the frame through a first angle relative to a central picker axis and rotatable through a second angle relative to the central picker axis, wherein the second angle lies in the opposite direction of the first angle. Providing the picker rotatably relative to the central picker axis enables the fruit to be set down in effective manner. The first and second angles here preferably lie in the range of 2.5° to 65°, and more preferably the first angle lies in the range of 25° to 50° and the second angle for instance lies in the range of 2.5° to 12.5°. This brings about a suitable flexibility for manoeuvring a fruit in the packaging or container.

[0030] In a further advantageous preferred embodiment according to the invention the rod mechanism takes a double-sided form.

[0031] Optionally giving the rod mechanism a double-sided form, i.e. the connecting arms and / or hinge pieces take a double form and are therefore provided for instance on the left and on the right in the picker device in the manner of copies of each other, increases the stability of the rod mechanism as a whole further. Forces occurring as a result of mass and acceleration can hereby be absorbed optimally. The speed of setting down the fruits can then be optimized hereby, this having a favourable effect on the capacity of the whole packaging process.

[0032] The frame is preferably likewise provided with two side plates. These side plates, which are preferably provided on the left and on the right of the picker device, on one hand provide further stability to the picker device with the rod mechanism and the pick-up element, and on the other hand provide protection for the movable parts of the picker device.

[0033] In a currently preferred embodiment the picker is provided with pressure means configured to provide an underpressure (vacuum) in use, such that the fruit can be picked up. Such an underpressure can be provided in a per se known manner with for instance, inter alia, a vacuum pump and / or underpressure connection.The picker device is further provided with a drive which is configured to drive and thereby move the rod mechanism whereby the picker is movable relative to the frame of the picker device. The drive can engage on different positions and components of the rod mechanism. In a currently preferred embodiment the drive engages on the first frame hinge point (A, 20), such that the drive can preferably remain wholly or at least largely inside the frame and the mechanism as a whole can remain compact. Alternatively, it is for instance also possible for the drive to engage on second frame hinge point (B, 22). In these embodiments the drive for instance makes use here of a belt or toothed belt or, in an alternative embodiment, of a rod. This makes it possible to provide the drive at an effective location in the picker device, such that a maximum freedom of movement is obtained for the rod mechanism, and pick-up element as a whole. Some shielding of the drive is preferably realized, for instance using side plates of the frame.

[0034] The invention further relates to a robot arm for directional picking up, displacing and setting down of particularly fruits, wherein the robot arm is provided with a picker device in an above described embodiment according to the invention.

[0035] Such a robot arm provides similar effects and advantages as described for the picker device.

[0036] The invention further also relates to a packaging device for directional packaging of products, such as vegetables and fruit, comprising:

[0037] a robot arm provided with a picker device in an embodiment according to the invention;

[0038] a sensor system configured to detect one or more suitable pick-up points of a product for packaging;

[0039] a feed conveyor configured to supply the products; and

[0040] a discharge conveyor configured to discharge a packaging with one or more products placed therein.

[0041] Such a packaging device provides similar effects and advantages as described for the picker device and / or robot arm.

[0042] The sensor system is preferably further provided with a camera system whereby products can be assessed and, if necessary, can be classified. Suitable characteristics of the fruit, such as a stalk, calyx and bloom, are particularly detected.

[0043] The sensor system is preferably further provided with a packaging sensor configured to detect a suitable set-down position for the product. It is preferably also possible here to detect the presence and particularly the orientation of the packaging. The setting down can hereby be realized in effective manner.

[0044] The invention further also relates to a method for directional packaging of products, such as vegetables and fruit, comprising the steps of:providing a packaging device provided with a robot arm and picker device in an embodiment according to the invention;

[0045] supplying the products with a feed conveyor;

[0046] detecting one or more suitable pick-up points with a sensor system; picking up a product for packaging with the picker device;

[0047] displacing the picked-up product to a packaging with the robot arm; orienting the pick-up element relative to a set-down position in the packaging; setting down the picked-up product; and

[0048] discharging the packaging with a discharge conveyor.

[0049] The method provides similar effects and advantages as described for the picker device, robot arm and / or packaging device. The method is particularly configured to set down products provided with a bloom and / or a stalk and / or a calyx, wherein the products are oriented on the basis of the desired orientation of the bloom and / or stalk and / or calyx in the packaging or container. An effective packaging process is provided hereby.

[0050] Further advantages, features and details of the invention are elucidated on the basis of preferred embodiments thereof, wherein reference is made to the accompanying drawings, in which:

[0051] figure 1 shows a view of the picker device in an embodiment according to the invention;

[0052] figures 2A-D show views of the picker device of figure 1 ;

[0053] figures 3A-C show views of the rod mechanism of the picker device according to figures 1 and 2;

[0054] figures 4A-D show views of the picker device of figures 1-3 in different orientations of the pick-up element;

[0055] figures 5A-G show side views of the picker device of figures 4A-D; figures 6, 6A, 6B show views of the robot arm and packaging device provided with the picker device in an embodiment according to the invention.

[0056] Picker device 1 (figures 1 , 2A-C) is provided with pick-up element 2 with a central frame axis 3 and frame 4. In the shown embodiment frame 4 is provided with two frame plates 6 which in a starting position each extend individually on a side of frame 4 in a substantially vertical direction and are mutually connected using an upper plate 8 on which coupling element or coupling elements 8a are provided. Frame 4 is further provided with two side plates 10. Picker device 1 is further provided with picker 12, which is provided in the shown embodiment with suction cup 14 and sponge-like element 14a, wherein suction cup 14 functions as a holder for the fruits. Picker device 1 is further provided with rod mechanism 16 and drive 18, wherein toothed belt 21 connects drive 18 operatively to rod mechanism 16 in the shown embodiment. Belt 21 here drives shaft 21awhich is connected to rod mechanism 16. On the other side toothed belt 21 rotates around drive shaft 19 which is driven by said drive 18. In the shown embodiment virtual rotation axis O lies in the centre of the downward directed surface of picker 12.

[0057] Provided in the shown embodiment is vacuum or underpressure connection 39 which enables picker 12 to pick up fruits. Likewise provided in the shown embodiment are connections 18a, b for drive 18 for the purpose of controlling pneumatic drive 18. It will be apparent that alternative drives are likewise possible, for instance an electrically driven stepping motor, linear actuator.

[0058] Rod mechanism 16 (figures 2D, 3A-C) is configured to enable rotation of picker 12 around virtual rotation point O. In the shown embodiment rod mechanism 16 is provided for this purpose with two hinge pieces 26, 32, taking a triangular form in the shown embodiment, and two connecting arms 28, 38, taking the form of arms in the shown embodiment. Rod mechanism 16 is provided here with a number of hinge points A,B,C,D,E,F,G and respective hinges / connections 20,22,40,36,34,30,24 related thereto. Hinge piece 26 is formed by points A,D,F with corresponding hinges 20,36,30. Hinge piece 32 is formed by points C,D,E, which are provided in the shown embodiment with respective hinges 40,36,34. Connecting arm 28 is provided with two points B,C which are provided with respective hinges 22,40. Rod mechanism 16 is further provided with second connecting arm 38 which extends between two points G,F formed by respective hinges 24,30. In the shown embodiment frame hinge points A,B with hinges 20,22 are provided fixedly on frame 4, and picker hinge points G,E with hinges 24,34 are provided fixedly on picker 12. In the shown embodiment frame hinge point A is driven using said belt 21 and drive 18.

[0059] In the shown embodiment the length of connecting arms 28,38 is equal to the height of hinge pieces 26,32. The distance between points B-C, A-D, D-E and F-G is hereby substantially equal, irrespective of the position of hinge mechanism 16. This is also the case for the distances between points A-B, C-D, D-F, E-G. Hinge piece 26 and first connecting arm 28 are disposed substantially parallel, as are hinge piece 32 and second connecting arm 38.

[0060] In the shown embodiment frame hinge point A, which hinges by means of hinge 20, is driven by belt 21 of drive 18. First hinge piece 26 likewise rotates due to the hinging about frame hinge point A. Because connecting arm 28 is placed substantially parallel relative to first hinge piece 26, connecting arm 28 will likewise begin to rotate, wherein in the shown embodiment the rotation takes place about second frame hinge point B with hinge 22. As a result of this rotation, points C,D will follow this movement, whereby second hinge piece 32 moves with second picker hinge point E. Due to the movement of first hinge piece 26, third hinge connection point F will likewise co-displace, whereby second connecting arm 38 will likewise move with first picker hinge point G. Picker 12 will rotate around virtual rotation point O due to the displacement of picker hinge points E,G. In the shown embodiment virtual rotation point O moves during the rotation in asubstantially vertical direction along line O-A during the tilting or rotating movement. In this shown embodiment line O-A corresponds with central frame axis 3 and thereby provides for an (even more) compact construction of picker device 1.

[0061] The movement of hinge mechanism 16 makes it possible to realize a tilting or rotating movement of picker 12 relative to frame 4 (figures 4A-D, and 5A-G). During this tilting movement, picker 12 forms an angle relative to line O-A and central frame axis 3, these corresponding in the shown embodiment. In a first direction angle a is used and in the other, opposite direction second angle P is used. These angles can be the same or different, depending on the desired range for the rotation and tilting movement of picker 12. In the shown embodiment a rotation of 45° is thus possible for first angle a and an angle of 10° for a second rotation angle . It will be apparent that the desired angles can be adapted to the embodiment of packagings or container, as well as the dimensions of the fruit.

[0062] In the shown embodiment packaging line or packaging device 102 (figures 6, 6A, 6B) supplies products P with conveyor belt 104 as feed conveyor. In the shown embodiment products P are provided with calyx 106 and bloom 108. At the outer end of conveyor 104 products P are transferred with optional guide 110 to singulator 112, on which individual (buffer) positions 114 are arranged to bring products into a singulated state. In the shown embodiment separate directing unit 116 is provided with two shafts 118, 120 and rotatable rollers 122, 124 which are rotatable therearound and which form directing position 126. It will be apparent that directing unit 116 can also be provided integrally with singulator 112, or with feed conveyor 104.

[0063] In the shown embodiment transfer device or manipulator or robot arm 128 is embodied with robot arm 41, which is provided in the shown embodiment with three arms 42 which can move using one or more motors 44 and (central) control 146. Arms 42 are provided at the outer end with a rotation shaft 48. In the shown embodiment manipulator or robot arm 128 is provided with two parallel rods 50. Arms 42 meet at robot head 52, on which picker device 1 is arranged. Picker 12 is optionally further provided with a sensor for detecting for instance the pressure in suction cup 14a.

[0064] In the shown embodiment product P is assessed at directing position 126 using camera system 130. It will be apparent that camera system 130 can also be expanded to for instance belt 112 and / or feed conveyor 104 so as to already receive information about products P at an earlier stage. In the shown embodiment camera system 130 sends signal 156 to controller 158. Controller 158 determines the control signals 160 required for directing unit controller 162, which then sends control signals 164 to directing unit 116. Controller 158 further sends signals 166 to control / drive 146 of manipulator 128. It will be apparent that other configurations for the control are also possible, for instance with one central controller or conversely with even more local controllers.Manipulator 128 moves in a three-dimensional X-Y-Z space. Head 52 is rotatable around vertical rotation axis 168, which preferably corresponds with central frame axis 3 in the shown embodiment. Product P is picked up in position K by manipulator 128 and carried via transfer position L into positioning position M, where products P are placed in a packaging 170 on discharge conveyor 172 with head 52. Product P is here placed with the correct orientation at a desired position in packaging 170, for instance with a desired orientation of bloom 108 and / or calyx 106, irrespective of the orientation of packaging 170. Fruits / products P, for instance oval, can be picked up substantially horizontally with manipulator 128, after which they can then be set down in (deep) packaging 170 at an angle. Products P are here picked up at a first angle and set down at a different, second angle.

[0065] The present invention is by no means limited to the above described preferred embodiments thereof. The rights sought are defined by the following claims, within the scope of which many modifications can be envisaged.

Claims

CLAIMS1. Picker device (1) for a robot arm for directional picking up and displacing of products, such as vegetables and fruit, comprising:a pick-up element (2) connectable to the robot arm and configured to pick up the product, wherein the pick-up element is provided with:a frame (4) provided with one or more coupling elements (8a) configured to connect to the arm;a picker (12) for picking up the product;a rod mechanism (16) configured to rotate the picker relative to the frame, wherein the rod mechanism comprises:a first hinge piece (26) on a first frame hinge point (A, 20) connected to the frame;a second hinge piece (32) on a second picker hinge point (E, 34) connected to the picker, and a on a second hinge connection point (D, 36) connected to the first hinge piece (26);a first connecting arm (28) extending between a second frame hinge point (B, 22) connected to the frame and a first hinge connection point (C, 40) for connection to the second hinge piece (32); anda second connecting arm (38) extending between a first picker hinge point (G, 24) and a third hinge connection point (F, 30) connected to the first hinge piece (26); anda drive (18) configured to move the rod mechanism whereby the picker is movable relative to the frame.

2. Picker device according to claim 1, wherein the picker is mounted substantially vertically under the frame in use.

3. Picker device according to claim 1 or 2, wherein the first and second frame hinge point (A, B) lie on a substantially horizontal line.

4. Picker device according to claim 1, 2 or 3, wherein the picker is rotatable relative to the frame around a virtual rotation axis (O).

5. Picker device according to the foregoing claim, wherein the distance (d2) between the virtual rotation point (O) and the first picker hinge point (G, 24) is greater thanthe distance (d3) between the virtual rotation point (O) and the second picker connection point (E, 34).

6. Picker device according to any one of the foregoing claims 4 or 5, wherein the virtual rotation axis (O) is moveable in use over a line equal to or substantially parallel to a central frame axis (3).

7. Picker device according to any one of the foregoing claims, wherein the picker is rotatable relative to the frame through a first angle (a) relative to a central picker axis (O-A) and through a second angle (P) relative to the central picker axis (O-A).

8. Picker device according to the foregoing claim, wherein the first and second angles lie in the range of 2.5° to 65°, and wherein the first angle preferably lies in the range of 25° to 50° and the second angle preferably lies in the range of 2.5° to 12.5°.

9. Picker device according to any one of the foregoing claims, wherein the rod mechanism takes a double-sided form.

10. Picker device according to any one of the foregoing claims, wherein the frame is provided with two side plates.

11. Picker device according to any one of the foregoing claims, wherein the picker is provided with pressure means configured to provide an underpressure in use, such that the product can be picked up.

12. Picker device according to any one of the foregoing claims, wherein the drive engages on the first frame hinge point (A, 20).

13. Picker device according to the foregoing claim, wherein the drive is provided with a belt (21).

14. Robot arm for directional picking up and displacing of products, such as vegetables and fruit, comprising a picker device according to any one of the foregoing claims.

15. Packaging device for directional packaging of products, such as vegetables and fruit, comprising:a robot arm according to the foregoing claim;a sensor system configured to detect one or more suitable pick-up points of a product for packaging;a feed conveyor configured to supply the products; anda discharge conveyor configured to discharge a packaging with one or more products placed therein.

16. Packaging device according to the foregoing claim, wherein the sensor system is provided with a packaging sensor configured to detect a suitable set-down position for the product.

17. Packaging device according to the foregoing claim, wherein the packaging sensor is further configured to detect an orientation of the packaging.

18. Method for directional packaging of products, such as vegetables and fruit, comprising the steps of:providing a packaging device provided with robot arm and picker device according to any one of the foregoing claims;supplying the products with a feed conveyor;detecting one or more suitable pick-up points with a sensor system; picking up a product for packaging with the picker;displacing the picked-up product to a packaging with the robot arm; orienting the pick-up element relative to a set-down position in the packaging;setting down the picked-up product; anddischarging the packaging with a discharge conveyor.

19. Method according to the foregoing claim, wherein in setting down of products provided with a bloom and / or a stalk and / or a calyx the products are oriented on the basis of the desired orientation of the bloom and / or stalk and / or calyx in the packaging or container.

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