EP3898134A1

EP3898134A1 - Gripping apparatus

Info

Publication number: EP3898134A1
Application number: EP19832079.8A
Authority: EP
Inventors: Martin Bergmann
Original assignee: Poly Clip System GmbH and Co KG
Current assignee: Poly Clip System GmbH and Co KG
Priority date: 2018-12-19
Filing date: 2019-12-18
Publication date: 2021-10-27
Also published as: US20220072718A1; CA3124300A1; WO2020127562A1; AU2019406578A1; DE102018132888A1; MX2021007262A; BR112021011825A2

Abstract

The present invention relates to a gripping apparatus (100) for receiving, conveying and dispensing a product (P), the gripping apparatus (100) comprising: a main structure (110) which can be releasably and preferably non-destructively attached to a handling device (R) by means of a coupling element (112); at least two gripping elements (120) which each have at least one bottom surface (122) and at least one top surface (124), the top surfaces (124) of the gripping elements (120) facing towards the coupling element (112) and the bottom surfaces (122) of the gripping elements (120) facing away from the coupling element (112); at least one drive means (13) for reversibly moving the gripping elements (120) between a first position, in which the gripping elements (120) can be positioned on opposing sides of the product (P) to be received, and a second position, in which the gripping elements (120) grip the product (P) to be received; and a stop plate (140), which rests at least approximately on the top surfaces (124) of the gripping elements (120).

Description

GRIP DEVICE

FIELD OF THE INVENTION

The present invention relates to a gripping device for receiving, conveying and dispensing a product, in particular a gripping device which is attached to a handling device for handling food.

BACKGROUND

A gripping device, which is attached, for example, to a handling device, is used in the context of the present invention, on the one hand, for picking up, conveying and dispensing a product and, on the other hand, for compressing the product into a predefined form. The product is preferably picked up by a product support and gripped by the gripping device. The product is then transported to a predefined position by means of the handling device and released there. In addition, the product is deliberately pressed on the circumference by the gripping device, preferably from above and from the side. For example, to be able to use a portioning machine to cut a product, such as a meat strand, into slices of approximately the same thickness and weight, it is necessary to first press the meat strand into a predefined shape in order to facilitate the cutting process in the portioning machine. For this purpose, according to the prior art, the meat strand is introduced into a shaped tube or magazine tube and pressed by means of a stop plate at one end of the shaped tube and a movable press ram. The shape of the meat strand is determined by that of the shaped tube.

Since especially long strands of meat can have a not inconsiderable weight, picking up and inserting these strands of meat is very tiring and stressful for an operator. The object of the invention is to provide a gripping device which can be attached to a handling device and a method for controlling such a gripping device which is able to relieve an operator of compressing the product, preferably laterally to compress and shorten cycle times. SUMMARY OF THE INVENTION

The object is achieved by providing a gripping device and a method for controlling the gripping device according to the present invention, which are defined by independent claims 1 and 10. Further developments of the invention are defined in the dependent claims.

A gripping device according to the invention for picking up, conveying and dispensing a product contains a basic structure that can be attached to a handling device by means of a coupling element, preferably in a non-destructive manner, at least two gripping elements, each having at least one underside surface and at least one top surface, the top surfaces of the gripping elements in the direction of the coupling element and the underside surfaces of the gripping elements away from the coupling element, at least one drive means for moving the gripping elements between a first position in which the gripping elements can be positioned on opposite sides of a product to be accommodated and a second position in which the gripping elements grasp the product to be picked up, move it reversibly and a stop plate, which rests at least approximately on the top surfaces of the gripping elements.

This gripping device is capable of gripping or gripping a product such as, for example, a food in the form of a strand of meat or a food equipped with a similar consistency, such as fish or bread, and for example conveying it to a further processing station. On the one hand, the gripping device relieves an operator who carries out this activity by hand according to the prior art. On the other hand, the process is accelerated, which leads to an increased clock frequency, production rate and efficiency, since several processing stations can be loaded with the aid of a handling device. This also saves costs. The stop plate can be formed at least on a side facing the gripping elements, in particular special underside, essentially flat and / or flat. The stop plate can serve to ensure that the product to be picked up by the gripping elements cannot deviate laterally upwards when the product is gripped by the gripping elements. Furthermore, the stop plate can be designed to rest on the top surfaces of the gripping elements both in the first position and in the second position. The stop plate can be dimensioned in this way and / or a dimension of the stop plate in relation to a distance between the gripping elements to each other and / or a movement amplitude of the gripping elements that the stop plate in in the first position and in the second position on the top surfaces of the gripping elements.

In an exemplary embodiment, a motor, for example a servo motor, stepper motor, asynchronous motor and / or direct current motor, can be coupled to the gripper elements in order to control their movement, to set a pressing force to be applied to the product to be pressed and / or to take up the force that is picked up by the grippers and if necessary, to deliver pressed product to a desired further processing station, such as a meat portioning machine. The motor can be configured to provide a pressing force of at least 10ON, at least 500 N, at least 1000 N, at least 1500 N, at least 2000 N, at least 2500 N or at least 3000 N.

The motor can react flexibly to different product dimensions, so that products of different dimensions and / or consistency can be gripped and handled by means of the gripping device according to the invention. The use of the motor has proven to be particularly advantageous with regard to the handling of raw products, which have to be taken in the frozen or at least frozen state and processed further. On the one hand, the products to be handled have a high weight and, on the other hand, considerable force is required for the molding of the (frozen on) frozen product, which can be provided or adjusted in a simple manner by means of the motor. In principle, raw products can also be further processed in the (not) frozen state.

According to a further exemplary embodiment, the gripping and subsequent compression of the product takes place as follows: vertical translational lowering of the support plates onto the product to be picked up and compressed; translatory horizontal movement of the gripping elements towards one another to form a closed receiving space between the lateral gripping elements, the stop plate arranged vertically at the top and, if appropriate, the product support arranged vertically at the bottom, such as, for example, a feed which can be implemented, for example, by a conveyor / transport belt; Exerting a desired pressure / a desired pressure force on the picked-up product by means of the gripping elements, wherein the holding force can be applied and / or controlled by means of a motor, for example a servo motor. The stop plate can remain stationary and serve to prevent the product from escaping upwards.

In an exemplary embodiment, the support plate rests on the top surfaces of the gripping elements in every operating position of the gripping elements. In other words, it is horizontal, translational amplitude of movement of the gripping elements set such that the stop plate always rests on the top surfaces of the gripping elements.

In some embodiments, the gripping elements of the gripping device have inwardly curved gripping surfaces that are capable of at least partially engaging under the product to be picked up. This shape of the gripping elements ensures that the product does not move downwards. In addition, the shape of the product is influenced with the help of the gripping surfaces.

The gripping elements can for example have a shell-like shape and / or be concavely curved. Furthermore, the top surface and bottom surface of the gripping elements can be made in one piece. The gripping elements can be designed and / or dimensioned such that they only partially grasp under the picked-up product, so that there is always contact between the product and the product support. For example, the gripping elements undercut less than 90%, less than 80%, less 70%, less than 60% or less than 50% of the product. In some embodiments, at least one of the gripping elements can be moved translationally and / or rotationally with respect to the basic structure. Thanks to translationally and / or rotationally movable gripping elements, products can also be picked up in hard-to-reach places, since the width of the gripping device can be reduced. This can be achieved, for example, by rotatably mounted gripping elements which can be opened and closed reversibly like scissors, as a result of which a small gripping opening width is necessary in order to grip the product.

In some embodiments, the gripping elements are attached to the base structure by means of fastening means that can be detached without tools. This enables a quick interchangeability of the gripping elements, which means that the gripping elements can be adapted depending on the type of product and its shape.

In some embodiments, at least one suction element is arranged on the stop plate, which at least partially lifts the product to be picked up during a suction process. The suction element is used to suck the product from a support surface for the product, which can be, for example, a conveyor belt with which the product is conveyed to the gripping device. As a result, the gripping elements do not have to be placed on the product support in order to grip the product in a targeted manner. In some embodiments, the suction element is embedded or integrated into the stop plate such that it forms at least approximately a straight surface with the stop plate during the suction process. This specific arrangement of the suction element ensures that the product is not undesirably deformed by the suction element.

In some embodiments, each of the gripping elements is guided by means of at least two guide rods. This increases the stability of the gripping elements and prevents rotational movement about one of the guide rods or the forces to prevent such rotation are reduced. In some embodiments, the gripping elements of the gripping device are able to press the product into a predefined shape. Compression of the product is often necessary in order to insert it into a so-called shaped or magazine tube, for example. Since the conveying and pressing takes place in one processing step, time and additional components at the further processing station can be saved. For example, the product is pressed into a predefined cross-section so that it can then be released into the magazine tube of the portioning machine. The predefined cross section is therefore preferably smaller than the cross section of the shaped or magazine tube of the portioning machine. The handling device can enable the gripping device to pivot the food product during transport from the transport device to the magazine tube so that it is brought into a suitable position in which the food product can be delivered to the magazine tube. For example, the food product can be rotated during transport from the transport device to the magazine tube so that it is positioned perpendicular to the magazine tube and can be dispensed or thrown into the magazine tube. In some embodiments, a detection means is attached to the stop plate that is capable of detecting the product. The detection of the product is used to detect the product between the gripping elements, which enables targeted and time-controlled gripping.

According to a method according to the invention for controlling a handling device with a gripping device, preferably a gripping device as described above, it contains the following steps: detecting the product to be picked up on a product support, positioning the gripping elements of the gripping device in a first position in which the gripping elements positioned on opposite sides of the product to be picked up, grasping the product to be picked up by at least one of the gripping elements is reversibly moved in the direction of the product until a second position is reached, the product is compressed, the product being able to be pressed into a predefined shape by means of the gripping elements and the stop plate and, if appropriate, the product support, and the method of the gripping device with the product in a predefined position.

According to a further method for controlling a handling device with a Greifvor direction, the product on the product support by means of the gripping elements, the stop plate and the product support is pressed into a predefined shape.

According to a further method for controlling a handling device with a gripping device, the product is pressed into a predefined shape during the method by means of the gripping elements and the stop plate.

In a further embodiment, a lifter can be arranged below a product support and / or a conveyor belt, the lifter being able to lift the product to be picked up and the product support and / or the conveyor belt. The lifting of the product support and / or the conveyor belt serves to ensure that it is not damaged or accidentally gripped when the product is gripped by the gripping device. Thus, the lifter also increases the lifespan of the product layer and / or the conveyor belt, since the gripping device has essentially no contact with it. Such a configuration can also be used independently of the gripping device described above.

DESCRIPTION OF THE DRAWINGS

1 shows a perspective view of a gripping device which is attached to a handling device according to one embodiment of the present invention,

2 shows a perspective view of the gripping device shown in FIG. 1, FIG. 3 shows a top view of the gripping device shown in FIG. 1,

4 shows a sectional view along the line V-V in FIG. 3 of the gripping device shown in FIG. 1,

5 shows a front view of the gripping device shown in FIG. 1 in the open state, FIG. 6 shows a front view of the gripping device shown in FIG. 1 in the closed state, and

7 shows a front view of a gripping device in the opened state according to a further embodiment of the present invention. DETAILED DESCRIPTION

FIG. 1 shows a perspective overview view of a handling device R, which is an articulated arm robot or a six-axis robot. A robot is a manipulator, which in turn is a universal, programmable machine for handling, assembling or processing workpieces or the like. The handling device R could, however, also be any other device which is capable of receiving, conveying and dispensing a product. A portal robot, a Scara robot, a parallel robot or a crane would be conceivable, for example.

The robot R stands on one or more foundation plates F, the robot R and the foundation plates F being anchored in the ground, preferably by fastening means such as screws. The foundation plates F conduct large amounts of the forces generated during the operation of the robot R into the ground. The term soil is to be understood here as a suitable foundation which absorbs the forces of the robot R, largely weakens it and dissipates it into the ground over a large area.

At the free end of the robot arm, which is not described in more detail, an end flange E is provided, which is used for the detachable attachment of a gripping device 100 according to the invention, as will be described below in connection with FIGS. 2 to 7.

The control of the robot R and the gripping device 100 is preferably accomplished via a separate control unit, not shown, which is connected to the robot R. In addition, the gripping device 100, like the robot R, is controlled directly by the controller located in the control unit.

Both the gripping device 100, the robot R and the control are preferably fed by means of at least one external energy supply.

The articulated arm robot R is able to perform both translatory and rotary movements and is therefore free to move around in the room. In addition, the gripping device 100 attached to the robot R can be controlled separately from the robot R, which is one enables simultaneous control of the robot R and the gripping device 100. This means that the gripping device 100 can be opened and closed during the movement of the robot R or the product can be pressed into a predefined shape. FIGS. 2 to 4 show different views of the gripping device 100 according to the invention. The gripping device 100 essentially has a cuboid basic structure 110, two gripping elements 120, drive means 130 for a translational method of the gripping elements 120 and a stop plate 140.

FIG. 2 shows a perspective view of the gripping device 100. The gripping device 100 here consists of an essentially cuboid, elongated basic structure 110, which is preferably made of stainless steel or another food-grade material and, depending on the loads that occur, is made of a solid material or a cuboid shape Material or sheet exists. Furthermore, the basic structure 110 can have a coating that protects the material and / or leads to the suitability of the basic structure 110 for food.

The cuboid basic structure 110 has a surface 110a facing the end flange E of the robot R, a parallel surface 110b facing away from the end flange E of the robot R, two opposite side surfaces 110c, a front and a rear surface 110d, the two Side surfaces 110c and the front and rear surfaces 110d connect the two surfaces 110a, 110b to one another. The front surface 110d and correspondingly the opposite rear surface 110d are designed rectangular, the length and width of which are at least approximately geometrically similar. In contrast, the two side surfaces 110c, the surface 110a facing the end flange E and the surface 110b facing away from the end flange E of the basic structure 110 have a length which is many times greater than the length or width of the front or rear surface 110d of the basic structure 110. The length of the surfaces 110a, 110b, 100c of the basic structure 110 which are perpendicular to the front and rear surfaces 110d essentially depends on the length of the product P to be accommodated.

The basic structure 110 is detachably attached to the end flange E of the robot R on its side, which faces the robot R in the state mounted on the robot R, by means of a coupling element 112 fastened to the basic structure 110. The coupling element 112 is in this case attached centrally to the surface 110a of the base structure 110 facing the end flange E of the robot, the coupling element 112 allowing detachable attachment to the robot R. The coupling element 112 is fixed to the basic structure 110 connected and has at its free end a substantially disc-shaped, unspecified connecting section which can be detachably connected to the end flange E of the robot R, for example by means of screws.

Four, essentially circular or circular openings 114 are each made or incorporated in the side surfaces 110c of the basic structure 110. As shown in the sectional view in FIG. 4, the openings 114 are arranged in the longitudinal direction centrally to the side surfaces 110c of the basic structure 110.

In addition, cylinder extension sockets 116 or guide bushings are advantageously attached on both sides to the respective end sections of the openings 114, which are arranged such that they are oriented perpendicularly to the side surfaces 110c of the base structure 110 and laterally increase the respective axial lengths of the base structure 110. The cylinder extension stubs 116 are aligned such that they are parallel to the front and rear 110d, as well as to the surface 110a facing the end flange E and to the surface 110b facing away from the end flange E. FIG. 3 shows a top view of the gripping device 100. The cylinder extension stubs 116 are arranged in such a way that four cylinder extension stubs 116 are provided on one end section of the side surfaces 110c of the basic structure 110. Here, in each case, two associated cylinder extension sockets 116 are associated with one of the gripping elements 120 and the closest cylinder extension sockets 116 are associated with the other gripping element 120.

It can be seen in particular from FIG. 4 that the cylinder extension sockets 116 are embedded essentially parallel to the surface 110a facing the end flange E and surface 110b of the basic structure 110 facing away from the end flange E.

A cylindrical, axially reversibly displaceable piston 118 or a guide rod 118 is accommodated in each of two cylinder extension sockets 116, which advantageously has an axial length that is greater than the axial length between two opposite cylinder extension sockets 116. In the present embodiment, two guide rods 118 and four cylinder extension stubs 116 are assigned to a gripping element 120. The guide rods 118 are used for reversible extension and retraction of the gripping elements 120 of the gripping device 100, as shown in FIGS. 5 and 6 and will be explained in more detail below. The guide rods 118 are inside the cylinder extension piece 116 is moved back and forth by a drive means 130, which is also described in more detail below.

The four guide rods 118 are driven with a servo motor via a toothing, preferably via a toothed rack or a spindle drive. The two guide rods 118 closest to the front side 110d of the basic structure 110 are driven by a drive means 130 and the two guide rods 118 closest to the rear side 110d of the basic structure 110, which are connected to the drive means 130 via a belt drive, as a result of which the guide rods 118 perform a synchronous movement. As can be seen from FIGS. 5 and 6, the cylinder extension stubs 116 serve on the one hand to guide the guide rods 118 and on the other hand they allow a larger gripping opening width in order to grip larger or smaller products P depending on the circumstances. At the same time, the basic structure 110 can be kept small in its spatial dimensions. Adapting the maximum gripping opening width of the gripping device 100 to the width of the product P on the one hand leads to the most compact possible design of the gripping device 100 and on the other hand to shorter cycle times, since when closing or opening the gripping device 100 the gripping elements 120 have to travel a shorter distance.

If the gripping opening width of the gripping device 100 is to be increased, longer guide rods 118 are required for this. When the gripping elements 120 of the gripping device 100 are open, due to the extended guide rod 118, this leads to higher lever forces at the exit point of the guide rod 118 (here: side surfaces 110c of the basic structure 110). These can be reduced or weakened by using cylinder extension stubs 116, which shift the point of application of the lever force.

In addition, at the free ends of two gripping elements 120 belonging to guide rods 118 by means of two connecting elements 119, a side plate 128 is attached substantially perpendicular to the guide rods 118, the respective free end of the side plates 128 pointing away from the end flange E of the robot R. The connecting elements 119 have a cylindrical indentation at one end, which can be plugged onto the guide rods 118 and can be pressed or screwed, for example. In order to connect the guide rod 118 to the connecting element 119, means such as gluing, welding or soldering can also be used. The connecting element 119 is made, for example, of stainless steel or another food-grade material. Furthermore, the connecting element 119 can have a coating that protects the material and / or leads to the food-grade suitability of the connecting element 119. The connecting element 119 is used to transmit the linear movement of the guide rods 118 to the, attached to the free ends of the connecting elements 119, side plates 128. The side plates 128 are preferably welded, glued or screwed to the connecting elements 119.

The side plates 128 are formed by a multi-edged angled plate, a first section 128a, which is fixedly connected to the connecting element 119, essentially, with reference to FIG. 5, vertical, a second section 128b essentially horizontal and a third section 128c in the Runs essentially vertically, so that there is a stair-step-like configuration for a side plate 128. The first and third sections 128a, 128c have a greater width than the second section 128b. A first fold line is approximately one third the width of the side plate 128 and the second fold line is approximately two thirds the width of the side plate 128.

In order to ensure sufficient rigidity of the side plates 128 under load, the stair-shaped side plates 128 are reinforced with cross struts or transverse plates, depending on requirements and loads. The cross struts 129 or transverse sheets are arranged in such a way that they reinforce the essentially vertically bent sections of the side sheets 128.

The two side plates 128 are arranged essentially opposite one another, the basic structure 110 being located partially between the side plates 128. In this case, a gripping element 120 is in each case attached to the side plates 128 at their free ends in the longitudinal direction, which is advantageously fastened by means of at least one fastening means 150 that can be released without tools, such as a locking lock or a manually operated screw lock. Naturally, fasteners, such as screwing or welding, which cannot be detached without tools, can also be used to connect the side plate 128 to the gripping element 120. In the present embodiment, a plurality of fastening means 150 or screw fasteners are attached in series in the longitudinal direction, which fasten the gripping elements 120 to the ends of the side plates 128 which point away from the end flange E of the robot R. Of course, only one fastening means 150 can be provided per gripping element 120.

The gripping surfaces 126 of the gripping elements 120 essentially have a C-shaped configuration which extends in the longitudinal direction, the gripping elements 120 being arranged such that their C-shaped or concave gripping surfaces 126 face each other. The gripping surfaces 126 can have smooth as well as wavy or corrugated or longitudinally or transversely grooved surface structures.

The gripping elements 120 are made, for example, of stainless steel, plastic or another food-grade material. Furthermore, the gripping elements 120 can have a coating which protects the material and / or leads to the food-grade elements 120 being suitable for foodstuffs.

The axial length of the gripping elements 120 preferably depends on the length of the product P to be gripped. In the present embodiment, the length of the gripping elements 120 is slightly longer than that of the product P to be gripped, as shown, for example, in FIG.

For the reversible, translatory movement of the gripping elements 120 in the direction of the opposite gripping element 120, each gripping element 120 is assigned at least one guide rod 118, preferably two guide rods 118, which can be actuated, for example, pneumatically, servopneumatically, hydraulically or by an electric drive.

As already mentioned, in principle only one guide rod 118 and / or one drive 130 can be provided for moving the gripping elements 120. Due to the length of the gripping elements 120, however, at least four cylinder extension pieces 116 and two guide rods 118 per gripping element 120 are advantageous, since they can serve as a guide and thus an undesired rotation of the gripping elements 120 is avoided.

By means of drive means 130, which drive the guide rods 118 in the cylinder extension 116, the gripping elements 120 can be moved from a first open position, in which the gripping elements 120 can be positioned on opposite sides of the product P to be picked up and thus preferably have their greatest distance from one another (FIG 5), reversibly and translationally move towards one another into a second closed position, in which the gripping elements 120 grip or grip the product P to be picked up (FIG. 6). FIGS. 5 and 6 show the gripping device 100 in the open position. neter and in the closed position. The open and closed position can be variably adjusted by means of the drive means 130 or servo motor 130. Basically, it is possible to use a stepper motor, asynchronous motor or DC motor instead of or in addition to the servo motor. The motor, designed for example as a servo motor 130, can be coupled to the gripping elements 120 in order to control their movement, to set a pressing force to be applied to the product to be pressed and / or the product picked up by the gripping elements 120 and possibly pressed to a desired further processing station, such as a meat portioning machine. The servomotor 130 can be configured to provide a pressing force of at least 100N, at least 500 N, at least 1000 N, at least 1500 N, at least 2000 N, at least 2500 N or at least 3000 N.

The servomotor 130 can react flexibly to different product dimensions, so that products of different dimensions and / or consistency can be gripped and handled by means of the gripping device according to the invention. The use of the servo motor 130 has proven to be advantageous, in particular with regard to the handling of raw products, which have to be gripped and further processed in the frozen or at least frozen state. On the one hand, the products to be handled have a high weight and, on the other hand, a considerable force is required for the molding of the (frozen on) frozen product, which can be provided or adjusted in a simple manner by means of the motor. Of course, raw products can also be further processed in the (not) frozen state.

The guide rods 118 moving in the cylinder extension piece 116 transmit their linear movement to the connecting elements 119, to the side plates 128 and thus also to the gripping elements 120 attached thereto. Advantageously, the gripping elements 120 act in parallel, i.e. the gripping elements 120 move synchronously towards and away from each other when closing and opening. Of course, the gripping elements 120 can also be actuated sequentially or only one gripping element 120 is reversibly moved towards the other, then preferably fixed, gripping element 120.

The gripping elements 120 each have a bottom surface 122 and a top surface 124, the top surfaces 124 of the gripping elements 120 pointing in the direction of the basic structure 110 of the gripping device 100 and the bottom surfaces 122 of the gripping elements 120 pointing away from the basic structure 110 of the gripping device 100. The gripping elements 120 can for example have a shell-like shape and / or be concavely curved. Furthermore, the top surface 124 and the bottom surface 122 of the gripping elements 120 can be made in one piece. The gripping elements 120 grip only partially according to the exemplary embodiments shown in the figures, so that there is always contact between the product and the product support PA. In a further exemplary embodiment, the gripping elements 120 have an L-shaped structure in cross section. The top surfaces 124 can extend in a straight line. Furthermore, the underside surfaces 122 can also be formed in a straight line from a section, a flank adjoining the respective top surface 124 extending parallel to the surface side surfaces and / or a bottom flank to be laid out on the product support PA being oriented essentially perpendicular to the other flank. The dimensioning of the bottom flank can be larger than the dimensioning of the other flank and, if necessary, additionally the top surface 124.

The stop plate 140 is at least substantially flat and / or flat on a side facing the gripping elements 120, in particular the underside (cf. FIGS. 5 and 6). The stop plate 140 can serve to ensure that the product to be picked up by the gripping elements 120 cannot move laterally upwards when the product is gripped by the gripping elements 120. 5 and 6, the stop plate 140 is designed both in the open state of the gripping elements 120 (FIG. 5) and in the closed position (FIG. 6) on the upper side surfaces 124 of the To lay gripping elements. The stop plate 140 is dimensioned and / or a dimension of the stop plate 140 is matched in relation to a maximum horizontal distance of the gripping elements 120 to one another and / or to a movement amplitude of the gripping elements 120 that the stop plate 140 in the first position and in the second Position rests on the top surfaces 124 of the gripping elements 120.

The at least one drive means 130 is attached on the side of the base structure 110 facing the end flange E centrally between two adjacent guide rods 118, each of which lies between the coupling element 112, as shown in FIG. 3. The drive means 130 is guided to the guide rods 118 to be driven by means of an opening in the side of the base structure 110 facing the end flange E.

Here, the guide rods 118 are preferably driven with a servo motor and toothed racks. The guide rod 118 can also be designed as a toothed rack. Furthermore, the guide rods 118 can optionally also be driven, for example, with the aid of a threaded, ball screw or metric threaded spindle instead of a toothed rack become. In addition, a so-called crank drive can be used to drive the gripping elements 120 instead of the rack.

In the present embodiment, a drive 130 is sufficient to move the gripping elements 120, two guide rods 118 being driven by means of the drive 130 and the other two guide rods 118 being connected to the driven guide rods 118 via a toothed belt drive and thus also being driven. In some embodiments, however, two drive means 130 can be provided, each drive means 130 driving two guide rods 118. As can be seen in FIG. 3, a corresponding opening is already provided in the surface 110a of the base structure 110 facing the end flange E of the robot R for the second drive means 130.

In addition, in a further embodiment, a coupling element (not shown) can be seen which connects two guide rods 118 belonging to a gripping element 120. As a result, two associated guide rods 118 can be controlled by means of a drive means 130.

On the side 110b of the base structure 110 facing away from the end flange E, the essentially rectangular stop plate 140 is attached. The stop plate 140 has a width which corresponds at least to the maximum opening width of the gripping elements 120 and a length which preferably corresponds to the axial length of the gripping elements 120. The stop plate 140 is arranged in such a way that it lies at least approximately flat on the top surfaces 124 of the gripping elements 120.

The gripping elements 120 and the stop plate 140 are made of POM food, stainless steel or plastic, whereby other food-grade materials are also possible, which also withstand the loads during the gripping process. Furthermore, the gripping elements 120 and the stop plate 140 can have a coating which protects the material and / or leads to the basic structure 110 being suitable for foodstuffs.

The edges 122a, 124a and / or the top and bottom surfaces 122, 124 of the gripping elements 120 are advantageously rounded in order to reduce the friction between a product pad PA and the stop plate 140. In addition, the gripping elements 120 can either be completely or partially coated on their edges 122a, 124a, top and bottom surfaces 122, 124, the coating reducing friction. Advantageously, the side plates 128 to which the gripping elements 120 are attached are bent such that on the one hand they do not collide with the stop plate 140 during the gripping and on the other hand enable the product P to be gripped securely.

As already explained, the side plates 128 have a step-like configuration, the side plates 128 being able to be produced inexpensively and simply, for example by means of a bending machine.

In addition, the drive means 130 of the guide rods 118 is capable of pressing the product P picked up by the gripping elements 120. The pressing is carried out essentially laterally, the product P being pressed into a predefined shape. The term pressing is also to be understood such that the product P is pressed beyond the holding force. The product P is pressed into a predefined shape so that it can subsequently be introduced, for example, into an essentially horizontally standing shaft or into a shaped or magazine tube.

The product P can thus be pressed by means of the handling device R while the product P is being conveyed. The stop plate 140 serves to prevent the product P to be pressed from being able to deflect laterally upwards during the pressing process.

On the other hand, the product P to be pressed can be pressed on the product support PA. The product support PA is, for example, a conveying device such as a conveyor belt or another transport device. This has the advantage that the product support PA ensures that the product P to be pressed cannot move sideways downwards. The pressing process can be carried out directly when gripping the product P or while the handling device R is being moved.

In a further embodiment, the gripping elements 120 can be moved in translation and / or rotation. Possible fulcrums for the rotary movement of a gripping element 120 are, for example, the connecting elements 119, which are arranged between the guide rods 118 and the side plates 128, with which a translational and rotational movement of the gripping elements 120 is possible. A purely rotationally movable gripping device 100 can be realized, for example, by a scissor-like structure of the gripping elements 120. FIG. 7 shows a further embodiment of a gripping device 100 of the present invention, in this case at least one suction element 160 is arranged on the side 140a of the stop plate 140 pointing away from the end flange E of the robot R. This is preferably at least one suction element 160 arranged centrally or laterally on the stop plate 140 or embedded therein. Depending on the length of the product P, several suction elements 160 may be necessary, which are arranged axially one behind the other in the longitudinal direction on the stop plate 140. The suction elements 160 are designed so that they are able to at least partially lift the product P to be picked up from its support surface PA, such as a conveyor belt. The suction elements 160 are preferably embedded in the stop plate 140 in such a way that during the suction process they form at least approximately a straight surface with the side 140a of the stop plate 140 pointing away from the end flange E of the robot R.

FIG. 7 also shows an elongated lifter 180, which is arranged below the product support PA. In the following, the lifter 180 can be understood as a system, the lifter 180 being able to be used or controlled independently of the presence of the suction element 160 and the robot R. The lifter 180 here preferably has a T-shaped configuration in the longitudinal direction, the lifter 180 preferably having approximately the length of the product P to be picked up.

The elongated lifter 180 is arranged under the product support PA, which is preferably a conveyor belt, in such a way that it is at least temporarily essentially completely below the product P.

The lifter 180 is able to lift the product P and the product support PA, this serves to make it easier for the gripping elements 120 to be pushed under the product P and thus to reach under it. In addition, the product support PA is not damaged during gripping, since the gripping elements 120 do not rest on the product support PA. The lifter 180 can be controlled pneumatically, electrically or hydraulically, for example.

Furthermore, the lifter 180 can be activated independently of the robot R and / or triggered by means of a trigger mechanism, such as a light barrier. The trigger mechanism is positioned so that the product P triggers it at the point where the product P is to be gripped or shortly afterwards. Optionally, at least one detection means 170 can also be attached to the stop plate 140, which detects whether the product P is against the stop plate 140 and / or whether the suction element 160 has sucked the product P or whether the lifter 180 has lifted the product P. The detection means 170 can be, for example, a pressure switch or a sensor (not shown) that is at least partially inserted into the stop plate 140.

A method for controlling a handling device R with a gripping device 100 is described below. First, the product P to be picked up is detected on a product support PA, this is done, for example, by a detection means such as a light barrier. The detection means transmit a signal to the robot R, which then positions itself with the gripping elements 120 of the gripping device 100 open in a first position in which the gripping elements 120 are positioned on opposite sides of the product P to be picked up. If the first position is reached, the robot R grips the product P to be picked up by means of the gripping device by at least one of the gripping elements 120 reversibly moving in the direction of the product P until a second position is reached in which the product P is from the Gripping device 100 was grasped. The product P is then pressed or compressed into a predefined shape or compressed by means of a predefined force, this is done by means of the gripping elements 120 and the stop plate 140 and, if appropriate, the product support PA. The robot R then moves with the gripping device 100 and the picked-up product P into a predefined position in which the product P is delivered.

On the one hand, the product P can already be pressed into a predefined shape on the product support PA by means of the gripping elements 120, the stop plate 140 and the product support PA. On the other hand, the product P can be pressed into a predefined shape during the process by means of the gripping elements 120 and the stop plate 140, as a result of which the cycle time can also be shortened by the simultaneous process and pressing. REFERENCE SIGN LIST

R handling device

E end flange

F foundation plate

P product

PA product edition

100 gripping device

110 basic structure

110a a surface of the basic structure facing the end flange of the robot

110b a surface of the basic structure pointing away from the end flange of the robot

110c side faces of the basic structure

110d front and back surface of the basic structure

112 coupling element

114 opening

116 cylinder extension piece

118 guide rod

119 connecting element

120 gripping element

122 underside surface

122a edge

124 top surface

124a edge

126 gripping surfaces

128 side panels

128a first section of the side panel

128b second section of the side panel

128c third section of the side panel

129 cross struts

130 drive means

140 stop plate

140a side of the stop plate pointing away from the end flange of the robot

150 fasteners

160 suction element

170 means of registration

180 lifters

Claims

EXPECTATIONS

1. Gripping device (100) for picking up, conveying and dispensing a product (P), the gripping device (100) comprising: a basic structure (110) which can be detachably attached to a handling device (R) by means of a coupling element (112), preferably in a non-destructive manner is; at least two gripping elements (120), each having at least one underside surface (122) and at least one top surface (124), the top surfaces (124) of the gripping elements (120) in the direction of the coupling element (112) and the underside surfaces (122) Point gripping elements (120) away from the coupling element (112); at least one drive means (130) for moving the gripping elements (120) between a first position in which the gripping elements (120) can be positioned on opposite sides of the product (P) that is increasing and a second position in which the gripping elements (120) grasp the product to be absorbed (P), move it reversibly; and a stop plate (140) which lies at least approximately on the top surfaces (124) of the gripping elements (120).

2. Gripping device (100) according to claim 1, wherein the gripping elements (120) of the gripping device (100) have inwardly curved gripping surfaces (126) which are able to at least partially grasp under the product (P) to be picked up.

3. Gripping device (100) according to claim 1 or 2, wherein at least one of the gripping elements (120) with respect to the basic structure (110) can be moved in translation and / or rotation.

4. Gripping device (100) according to one of claims 1 to 3, wherein the gripping elements (120) are attached to the gripping device (100) by means of fastening means (150) which can be detached without tools.

5. Gripping device (100) according to one of claims 1 to 4, wherein on the stop plate (140) at least one suction element (160) is arranged, which at least partially raises the product (P) to be picked up during a suction process.

6. Gripping device (100) according to claim 5, wherein the suction element (160) is embedded in the stop plate (140) in such a way that it forms at least approximately a straight surface with the stop plate (140) during the suction process.

7. Gripping device (100) according to one of claims 1 to 6, wherein each of the gripping elements (120) is guided by means of at least two guide rods (118).

8. Gripping device according to one of claims 1 to 7, wherein the gripping elements (120) of the gripping device (100) are able to press the product (P) into a predefined shape.

9. Gripping device (100) according to one of claims 1 to 8, wherein a detection means (170) is attached to the stop plate (140), which is able to detect the product (P).

10. A method for controlling a handling device (R) with a gripping device (100) according to one of claims 1 to 9, comprising the following steps: detecting the product (P) to be picked up on a product support (PA);

Positioning the gripping elements (120) of the gripping device (100) in a first position in which the gripping elements (120) are positioned on opposite sides of the product (P) to be received;

Gripping the product (P) to be picked up by at least one of the gripping elements (120) reversibly moving in the direction of the product (P) until a second one

Position is reached;

Compressing the product (P), wherein the product (P) is pressed into a predefined shape by means of the gripping elements (120) and the stop plate (140) and, if appropriate, the product support (PA); and

Moving the gripping device (100) with the product (P) into a predefined position.

11. The method for controlling a handling device (R) with a gripping device (100) according to claim 10, wherein the product (P) on the product support (PA) by means of the gripping elements (120), the stop plate (140) and the product support (PA) is pressed into a predefined shape.

12. The method for controlling a handling device (R) with a gripping device (100) according to claim 10, wherein the product (P) is pressed during the method by means of the gripping elements (120) and the stop plate (140) into a predefined shape.