WO2012055411A1

WO2012055411A1 - System for conveying batching means and for batching objects

Info

Publication number: WO2012055411A1
Application number: PCT/DK2011/000123
Authority: WO
Inventors: Bjørn Heide PEDERSEN; Niels Hundtofte
Original assignee: Marel A/S
Priority date: 2010-10-29
Filing date: 2011-10-28
Publication date: 2012-05-03

Abstract

A conveyor system (1) for carrying and/or conveying batching means such as trays (8) or the like, said conveyor system comprising at least one batch conveyor (6) for carrying and/or conveying said batching means, while objects (2) such as food objects are being transferred from a supply (4) of said objects to said batching means by means of at least one robotic handling means, e.g. a robot (14), a pick-and-placing apparatus, or the like, wherein said at least one batch conveyor (6) is configured for being adjustable in an essentially vertical direction in relation to said at least one robotic handling means.

Description

SYSTEM FOR CONVEYING BATCHING MEANS AND FOR BATCHING OBJECTS

Field of the invention The invention relates to a conveyor system for carrying and/or conveying batching means such as trays or the like, said conveyor system comprising at least one batch conveyor for carrying and/or conveying said batching means, while objects such as food objects are being transferred from a supply of said objects to said batching means by means of at least one robotic handling means, e.g. a robot, a pick-and- placing apparatus, or the like.

The invention also relates to a system for batching of objects such as food objects, which system comprises such a conveyor system. Even further, the invention relates to a use of the conveyor system.

Background of the invention

Prior art systems and methods for performing a batching of objects, which are transferred from a supply of objects such as food objects, pieces of meat, etc. using robots, which may also be referred to as robotic handling means, are disclosed or referred to in for example WO 01/22043, WO 2006/061024, WO 2007/134603 and WO 2009/026925.

In connection with such systems and methods the batching of objects may be performed using various principles and/or under control of e.g. a control unit for selecting objects in order to provide batches fulfilling one or more criteria. For example, such a control unit may be provided with software facilitating a selection of objects, which constitutes an optimal choice in consideration of a chosen package- operation. Such software may for example be software operating in accordance with the operating rules described in EP 781 172 or WO 01/22043. Thus, the batching may be performed in accordance with the so-called accumulation principle, i.e. by selecting and placing the objects in accordance with their weight and the weight of the objects already placed or selected (to be placed), or in accordance with the so- called combination principle, i.e. by selecting the object for a batch as a combination of items available for the selection. Other principles or combinations hereof may be used as well in relation with the present invention. In connection with such systems and methods, where e.g. a conveyor belt is used for transporting trays or the like, upon which the batches are formed, it has been realized that it is of particular importance in connection with the robotic handling, where for example pieces of meat are placed by means of robots on trays, which trays are being transported by means of a conveyor belt, which can be referred to as a batch conveyor, that the location of the trays or other batching means are well-defined.

The batching means used in connection with such batching systems and methods may as mentioned be trays or the like, where the trays may be individual trays that are delivered to the systems in manufactured form, e.g. for example in stacks to be delivered to the batching system from a tray dispenser. The batching means may also be trays that are for example thermal-formed trays that may be manufactured online prior to being used for the batching. Other forms of trays and batching means may be used as well. In general, these and other forms of trays will in the following be referred to as trays.

A further problem with such conveyor systems arises when it is desired to use e.g. trays having different sizes. This can for example be the case when e.g. a batching system is used for batching of e.g. large sized batches at certain times, thereby requiring trays that are larger than trays used at other times. In this relation reference is made to Danish patent application No. DK 2009 01058 A, wherein a conveyor system is disclosed comprising a conveyor, e.g. a conveyor belt, which is adapted for conveying for example trays spaced, e.g. regularly spaced, by means of indexing means, wherein the indexing means are configured for being in an active or a passive position and can be activated in groups for providing different intervals. Hereby, the conveyor belt can be used for transporting e.g. trays having different sizes, corresponding to the different intervals between the indexing means of the respective groups. Even further, it has been realized that when batching means, e.g. trays are used, which have different heights, it is of importance that the robotic handling means are controlled in dependence hereof, e.g. when changing from one type of tray with a certain height to another type of tray with a higher or a lower height, where it is of importance that the robot or any part of the robot, e.g. a gripper or picker, does not collide with e.g. the rim of the tray, when moving downward (and/or sideways) for releasing a gripped object on/in the tray. For this reason it is imperative that the object is released at a certain level above the tray. Further, in order for the object to be delivered and placed on/in the tray with a desired accuracy, e.g. being placed fully within the tray without parts sticking out and possibly also placed in a desirable relationship to other objects in the tray, it is of importance that the object is released while it is within a maximum distance from the tray or the bottom of the tray. Thus, when shifting from one size tray to another size it may be necessary to adjust the programming of the robot, perform tests, possibly reprogram, etc.

Thus, it is an object of the present invention to present a conveyor system, which provides improvements in comparison with the above-mentioned prior art. It is an object of the invention to provide a system, whereby a solution to the above- mentioned problem is provided and whereby a change from one size tray to another size tray is facilitated in an advantageous manner, in particular when trays with different heights are concerned. Furthermore, it is an object of the invention to provide such a system, whereby an enhanced flexibility can be provided as regards the use of different sizes of batching means, e.g. trays, while still maintaining the process speed of the robotic handling and batching and while also achieving a desired accuracy, when placing the objects in/on the batching means, e.g. the trays.

These and other objects are achieved by the present invention, as it will be explained in further detail in the following. The invention

The invention relates to a conveyor system for carrying and/or conveying batching means such as trays or the like, said conveyor system comprising at least one batch conveyor for carrying and/or conveying said batching means, while objects such as food objects are being transferred from a supply of said objects to said batching means by means of at least one robotic handling means, e.g. a robot, a pick-and- placing apparatus, or the like, wherein said at least one batch conveyor is configured for being adjustable in an essentially vertical direction in relation to said at least one robotic handling means.

Hereby, it is achieved that when it is necessary to change from one size batching means, e.g. trays, to another size where the e.g. rim of the tray has another height, this can be facilitated in a relatively simple and quick manner, e.g. by adjusting the vertical level of the batch conveyor in relation to the at least one robotic handling means, e.g. a robot, e.g. by lifting or lowering the batch conveyor, whereby it is achieved that the upper level, e.g. the upper edge, of the new size tray can be placed at the same level as the upper level of the former size tray in relation to the at least one robotic handling means, e.g. a robot. Thus, there will be no need to reprogram the at least one robotic handling means, e.g. a robot as regards the adaptation to the different height of the batching means such as trays, e.g. change control parameters or the like, or to perform subsequent tests, etc, because the at least one robotic handling means, e.g. a robot can continue using the same handling pattern etc. as before without any risk of colliding with the batching means, e.g. rim or edge of a tray or the like, while still being able to deliver and place the objects with an unchanged accuracy, i.e. because the objects will be released from essentially the same level above e.g. the upper edge of a tray. It is apparent, though, that the at least one robotic handling means, e.g. a robot need to be adapted to a new tray size for other reasons, e.g. because a larger tray is loaded with a larger batch, more objects, etc., which although has no influence on the movement of the at least one robotic handling means, e.g. a robot in the vertical direction. As regards conveyors as such, it is described in US 1,461,707 that a prior art conveyor in the form of a portable conveyor, which can be moved from place to place and used under varying conditions, can be adjusted in the vertical direction. A conveyor frame supporting the conveyor belt can be raised and lowered by means of lifting cables connected to lifting drums, which lifting drums can be rotated manually by means of handles in order to adjust the conveyor frame. Clearly, this prior art conveyor is not intended for use in connection with batching of objects and it is apparent that this prior art conveyor is neither suitable for such a purpose, e.g. batching of objects using robotic handling means.

Advantageously, as specified in claim 2, said at least one batch conveyor may be configured to be supported by a support structure, and wherein said at least one batch conveyor is adjustable in relation to said support structure in said essentially vertical direction.

Hereby, the adjustment in the vertical direction can be effected by lifting and/or lowering e.g. a batch conveyor unit in relation to the support structure, that can be a frame structure or the like, placed on e.g. the floor or ground.

Advantageously, as specified in claim 3, said support structure may further support said at least one robotic handling means, whereby a relatively simple and compact construction may be achieved. According to a preferable embodiment as specified in claim 4, said system may further comprise a supply conveyor for providing said supply of said objects, said supply conveyor being located adjacent to said at least one batch conveyor at least in an effective working area for said at least one robotic handling means. Hereby, it is achieved that the robotic handling means and the supplied objects will be placed optimally in relation to each other, e.g. with the robotic handling means being placed with a fixed position in relation to the supply conveyor and in particular with a fixed vertical position in relation to the level, at which the objects are supplied. Advantageously, the supply conveyor can be supported by the above- mentioned support structure or support frame. According to a further preferable embodiment as specified in claim 5, said at least one batch conveyor may be designed for carrying and/or conveying one or more rows of said batching means, wherein further guide rails are provided for guiding said one or more rows of said batching means. Hereby, it is achieved that the batching means, e.g. trays, are delivered to the batching area with a high degree of precision, guided by the guide rails in the transverse direction, whereby the robot or robots can deliver the objects to the e.g. trays with a corresponding high degree of accuracy. Preferably, as specified in claim 6, said guide rails may be configured for covering at least part of a rim of said batching means, e.g. a side rim of said trays or the like.

Hereby, a number of advantages can be achieved, one of these being that the rim or edge will be protected from contact with e.g. meat products, etc., whereby the rim or edges will not be contaminated, which is undesirable and can e.g. prevent a subsequent secure fastening of a covering to the tray. Further, the tray can hereby be guided in a more reliable manner by the guide rails and can e.g. be held down towards the conveyor. According to a particular preferable embodiment as specified in claim 7, said guide rails may be fixed in the essentially vertical direction in relation to said at least one robotic handling means, e.g. in relation to said support structure.

Hereby, it is achieved that the adjustment of the at least one batch conveyor in an essentially vertical direction in relation to said at least one robotic handling means can be performed with a high degree of security and without any risk of error due to e.g. human error when performing the adjustment. The upper level of the guide rails will always be in the same level in relation to the robotic handling means, and since the parameters of the robotic handling means are unchanged as regards the vertical level, i.e. the height, when moving in over the batching means, e.g. the trays, there will be no risk of any part of the e.g. robot colliding with the guide rails after the batch conveyor has been adjusted in the vertical level. Furthermore, since the guide rails may be configured for covering the rim or edge of the batching means, it is avoided that the robot will collide with the edge or rim of the batching means even though the vertical level of the at least one batch conveyor has been set too high, e.g. because of an human error, because the batching means, e.g. the trays, will in this instance get in contact with the guide rails and be forced downwards, whereby it will be discovered that a fault has been made the very moment the at least one batch conveyor is started with the new size trays. Thus, an enhanced degree of safety has been achieved, also as regards human errors. Advantageously, as specified in claim 8, said guide rails may be adjustable in a transverse direction of said at least one batch conveyor.

Hereby, an enhanced degree of flexibility has been achieved as regards the sizes of batching means, e.g. trays that can be used, since also trays with different widths can be used by simply adjusting the guide rails in the transverse direction, which also can be done without giving rise to any risk of collision between the e.g. robot and the e.g. trays or guide rails, respectively.

According to a further preferable embodiment as specified in claim 9, said at least one batch conveyor may comprise indexing means arranged in one or more rows, which indexing means are configured for being in an active or an inactive state, where in the active state the indexing means extend above the surface of the at least one batch conveyor for facilitating positioning of said batching means, e.g. said trays, and wherein said indexing means can be activated with a spacing adapted for batching means, e.g. trays, having various sizes, e.g. lengths. Hereby, a further enhanced degree of flexibility has been achieved as regards the sizes of batching means, e.g. trays that can be used, since also trays with different lengths can be used by controlling the respective indexing means. Advantageously, as specified in claim 10, said indexing means may be controlled to be in an active state by means of control means such as control guides, etc., which can cooperate with taps, cams or the like on said indexing means.

Hereby, an advantageous embodiment is provided, whereby the indexing means can be controlled in a relatively simple and efficient manner.

As regards the indexing means it is noted that these can be arranged in a multitude of varieties, for example in one or more rows for each batch conveyor and/or for each intended row of trays. Thus, it is also possible to control these indexing means in numerous manners. As explained, a control pin, tap or the like can be present on each indexing means, whereby these can be actuated selectively or in groups. A single control rail or the like can be used for controlling a row of indexing means, for example by lifting/lowering the control rail towards the underside of the conveyor or by sliding the control rail in the transverse direction, whereby all indexing means passing along the control rail will be activated, e.g. lifted by the control rail. In such instances, different intervals can be achieved by having two or more rows of indexing means placed with different intervals, where each of these rows can be activated by a single control rail. It is mentioned that the various adjustments that takes place when shifting from one tray size to another may be performed in a more or less automated manner and optionally in a completely automated manner, for example since the adjustment of the vertical level of the one or more batch conveyors, the adjustment of the guide rails in the transverse direction and/or the shifting between different indexing means that are active, can be performed using control equipment for controlling servo means or other actuating means for performing the various adjustments, when a tray size is selected. According to a further preferable embodiment as specified in claim 11, said at least one batch conveyor may comprise an outlet end part, which is configured to be maintained at a fixed vertical level regardless of the adjustment of the at least one batch conveyor in said essentially vertical direction. Hereby, it is achieved that the end part of the at least one batch conveyor can gradually lower or lift the completed batches as necessary in order to lead the completed batches to a further conveyor or the like, regardless of the adjustments of the at least one batch conveyor. Further, the invention relates to a system for batching of objects such as food objects, said system comprising a supply of said objects, at least one robotic handling means and a conveyor system according to any one of claims 1 - 11, wherein said at least one robotic handling means is controlled to transfer objects to said batching means carried and/or conveyed by said at least one batch conveyor.

Advantageously, as specified in claim 13, said at least one robotic handling means, e.g. a robot, a pick-and-placing apparatus, or the like, may be of a type having at least three degrees of freedom, for example operating in an effective operation area in e.g. an X-Y-plane and designed for gripping or picking-up an object and placing it within the effective operation area.

Even further, the invention relates to a use of a conveyor system according to any one of claims 1 - 11 for batching of objects such as food objects, wherein said objects are supplied to transfer means comprising at least one robotic handling means and wherein said at least one robotic handling means is controlled to selectively transfer objects to said batching means carried and/or conveyed by said at least one batch conveyor of the conveyor system.

The figures

The invention will be explained in further detail below with reference to the figures of which Fig. 1 is a schematic view from above of an example of a conveyor system,

Fig. 2 shows an example of a conveyor system according to an embodiment of the invention in a schematic side view,

Fig. 3 shows a basic configuration of a batch conveyor and a supply conveyor from above in a schematic view,

Fig. 4 shows an example of a batch conveyor and a guide rail arrangement seen from the end,

Figs. 5a and 5b show the arrangement shown in fig. 4, but with the two arrangements conveying two different tray sizes, and

Fig. 6 shows an example of a conveyor system corresponding to

Fig. 2 in a schematic side view, but wherein further exemplary variations are illustrated. Detailed description

An example of an embodiment according to the invention is illustrated in fig. 1 in a schematic view seen from above in order to illustrate the general features of a conveyor system. Here, the conveyor system 1 comprises a supply conveyor 4 for supplying objects 2 to be transferred to batching means, e.g. trays 8 that are conveyed by means of one or more batching conveyors 6. A single batching conveyor 6 can be used, which can convey one or more rows of batching means, e.g. trays 8, but two or more batching conveyors 6 can be used, where each one of these can convey one or more rows of batching means, e.g. trays 8. Thus, there will be numerous manners of configuring the batching system.

The objects 2 that may be food objects such as pieces of meat, etc., as explained in the previously mentioned documents WO 01/22043, WO 2006/061024, WO

2007/134603, WO 2009/026925 and Danish patent application No. DK 2009 01058 A, can be transferred to the trays 8 by means of transfer means generally referred to by the numeral 10, which transfer means may be one or more robotic handling means as also disclosed in the above-mentioned documents. Thus, it will be seen that the transfer can be performed in various manners and in order to achieve various batches, e.g. batches having a predetermined total weight etc, as also explained in the above-mentioned documents. Thus, it will also be apparent that further means may be involved, which will also be apparent to the skilled person, for example means for determining the individual weight, the position, the orientation, the form and/or other parameters of the supplied objects 2, and that e.g. sensor means and control means are involved, e.g. for controlling the transfer means, e.g. one or more robots. Further, means for supplying trays, e.g. tray dispensers, may be comprised in the system and it will be apparent that means for handling the completed batches, e.g. packaging, labelling, etc. may be provided. However, as it will be apparent to a skilled person, these need not be disclosed in detail here. As regards the one or more robotic handling means, which may also be referred to as handling means of the robot type or robots, it will be understood that such robots are of a type having at least three degrees of freedom, for example meaning that the robots are operating in a effective operation area (for example in the X-Y-plane) and that the robots are designed for gripping or picking-up an object and placing it within the effective operation area (for example also operating in the Z-direction). Further, it is noted that the robots involved are of a type having e.g. a gripping or picking-up element for the lifting of objects or items and a controllable movement system for the transfer of a gripped or picked object or item selectively to a selected depositing position. These robots are controlled by e.g. a central control unit (not shown here) in order to batch the objects based on the information available to the system regarding e.g. the mass and position of the objects available for the batching, the mass of objects possibly already placed on the batching means in unfinished batches and desired parameters for the batches. A control unit for controlling the operation of the system may be connected to a vision- or scanning system, for providing precise information regarding the position/location, orientation and possibly also type of the objects, whereby it is possible for it to control e.g. the robots to move the objects, e.g. lift the objects and place them on the batching means, including changing the orientation of the objects if necessary. Further, the control unit is connected to weighing means or means for determining the mass in other manners, whereby it also comprises weight information relating to each of the objects.

This control unit may be provided with software facilitating a selection of objects, which constitutes an optimal choice in consideration of a chosen package-operation. Such software may for example be software operating in accordance with the operating rules described in EP 781 172 or WO 01/22043. Thus, the batching may be performed in accordance with the so-called accumulation principle, i.e. by selecting and placing the objects in accordance with their weight and the weight of the objects already placed or selected (to be placed), or in accordance with the so-called combination principle, i.e. by selecting the object for a batch as a combination of items available for the selection. Other principles or combinations hereof may be used as well.

Further, it is mentioned that the weight or mass of the objects may be determined in other manners than by weighing. For example, a determination of the weight may be effected using vision equipment, possibly simultaneously with a scanning of the objects that take place in order to determine the position, the orientation and possibly also the type of the objects. Other means and methods for determining the mass of the objects may also be utilized. Further, it is mentioned that instead of batching objects in order to obtain batches having a total weight which fulfils a predetermined criterion or criteria, other manners of performing a batching can be performed, for example batching in order to acquire a predetermined number of objects in a batch. As shown in fig. 1 the trays 8 are conveyed in two rows in the illustrated example, but it will be evident that they can be conveyed in one or more rows. Further, as shown in fig. 1 , the one or more batching conveyors 6 may be configured with indexing means 12, e.g. controllable indexing means, which may serve to define the position of the trays 8, e.g. ensure that the trays are not moved (in relation to the conveyor) during the conveying, and these may as disclosed in for example Danish patent application No. DK 2009 01058 A be configured in such a manner that trays of different lengths can be used.

In fig. 2 an example of a conveyor system 1 according to the invention is shown in a schematic manner in a side view. Here, the conveyor system 1 comprises a support structure 16, e.g. a frame structure placed on the ground 22, which support structure supports the batch conveyor 6, which is shown in a schematic manner comprising a support unit 20 having rollers 18 or the like for supporting the conveyor belt, drive means, etc.. The support unit 20 is connected to the support structure 16 by means of adjustable connections 24, 26, which may be actuators of various types, for example mechanical actuators, by means of which the batch conveyor 6 can be lifted and/or lowered in relation to the support structure 16 and thus also in relation to the transfer device(s), which in fig. 2 is shown in the form of two robots 14 that by means of e.g. grippers 15 can grip a selected object from the supply conveyor (not shown in fig. 2) and transfer it to a selected tray on the batch conveyor 6. The adjustable connections 24, 26, which for example can be placed at each end of the support structure 16, may as shown be connected by means of a mechanical connection 28 in order to ensure that the vertical adjustments are performed evenly, e.g. with synchronized movements at the adjustable connections 24, 26.

By this arrangement the vertical level of the batch conveyor 6 in relation to the robotic handling means 14, e.g. the two robots can be effected in a relatively simple and reliable manner, which facilitates an advantageous changing of tray sizes as explained in the introductory parts of this description.

In fig. 3, an example of the basic configuration of a batch conveyor 6 and a supply conveyor 4 is shown from above in a schematic view, without showing the e.g. robot or robots, which perform the transfer of objects. The two conveyors are illustrated as moving in the same direction, but it will be apparent to a skilled person that they can move in different directions. It is shown that the batch conveyor can convey three rows of batching means, e.g. trays 8, which in the longitudinal direction may be positioned by means of indexing means (not shown in fig. 3) as explained above. In the transverse direction the trays 8 are positioned by means of guide rails 30, which will also be explained below with reference to fig. 4. As shown in fig. 3, the guide rails 30 can be fixed by means of a number of guide rail supports 32, e.g. two guide rail supports as shown, and the guide rails can be fixed to these in such a manner that it is made possible to adjust the position in the sidewards direction, i.e. the transverse direction, whereby the guide rails 30 can accommodate trays of different sizes, e.g. widths.

It is noted that the guide rails 30 are fixed in the vertical direction without possibility of altering the position, which is of particular importance as it will be explained in connection with fig. 4. When the trays 8 are guided by the guide rails 30, the trays are positioned with a high degree of accuracy, which furthermore facilitates that the objects can be delivered by the robot or robots with high accuracy and with a relative high processing speed.

Further, it is noted that the guide rails 30 can be adjusted in the transverse direction to allow the conveyors to convey batching means, e.g. trays, having a larger width, if for example one or more of the guide rails 30 are moved to one side of the conveyor, whereby an e.g. tray having a width corresponding to two "normal" trays can be conveyed, etc. Thus, it will be understood that where for example three rows are normally conveyed as shown in fig. 3, where four guide rails are used, two rows can be conveyed instead by "inactivating" one of the four guide rails at one side of the conveyor, one row can be conveyed instead by "inactivating" two of the four guide rails at one side (or one at each side), etc. It will be apparent that such a configuration can also be applied, when two or more batch conveyors are used, where one single row can be conveyed by two or more batch conveyors, when these are placed at the same vertical level. In fig. 4 a batch conveyor 6 is shown seen from the end, also in a schematic view, in an example, where three rows of batching means, e.g. trays 8 are conveyed. The guide rails 30 are shown fixed to the guide rail supports 32 by means of connectors 36 in such a manner that they can be adjusted in the transverse direction, but are fixed in the vertical direction. The batch conveyor 6 is as indicated provided with indexing means 12 as explained above, of which some (the indexing means not in an active position) can be seen below the batch conveyor 6. These indexing means 12 can be designed with control taps 42 or the like, which may cooperate with control guides (not shown) for activating the indexing means as explained in for example the above-mentioned Danish patent application No. DK 2009 01058 A. The guide rails 30 can be designed in such a manner that at least a part 34 of the guide rail 30 will cover the edge or rim 46 of a tray 8. In this manner, the trays 8 are reliably guided and the edge or rim (at least on two sides) is protected from being contacted by e.g. pieces of meat or the like as the objects are delivered to the trays 8. Furthermore, the guide rails 30 will in this manner also prohibit any failure to the equipment if the batch conveyor 6 by mistake has been lifted too high for a certain size of trays. When supplying the trays 8 to the batch conveyor 6, the trays 8 will in such an instance collide with the part 34 of the guide rails 30 before entering the area, where the e.g. robots will try to place objects in the trays, which might otherwise cause the robot or the picker to be damaged, when colliding with the too high tray. Alternatively, a transverse boom can be arranged in front of the at least one batch conveyor 6 in a height corresponding to the guide rails, for example where the e.g. trays are fed to the batch conveyor or prior to the work area of the robot(s), which boom will prohibit the trays from entering the area of the guide rails.

In figs. 5a and 5b a batch conveyor 6 is shown seen from the end together with guide rails 30 etc., corresponding to fig. 4, but where the effect of the invention is illustrated by a comparison of the two figures in figs 5a and 5b. In fig. 5a the batch conveyor 6 is shown adjusted to convey a comparatively low tray 8, and

correspondingly it is shown in fig. 5b that the batch conveyor 6 has been adjusted to convey a higher tray 8. It will be seen that the guide rails 30 remains in the same level and that the upper edge or rim of the trays will also be positioned in the essentially same level, also in relation to the transfer means as illustrated by the picker 15. Thus, nothing has to be altered as regards the robots or pickers in relation to the different height of the tray, when changing tray size, which has the effect that a change can be made quickly and without any risk of errors that might otherwise cause costly damages to e.g. the robots, and/or cause losses in the form of downtime, lost production, etc., and with the advantage that the robots can work with a constant high processing speed while maintaining a constant high degree of accuracy as regards the delivery of objects to the batches that are being formed on e.g. the trays.

As mentioned above, further means, devices, etc. than those illustrated in the drawings and disclosed specifically in the description above may form part of the system or may be required to assist in the operation of the system. For example, it will be apparent that when the at least one batch conveyor is adjusted in the vertical level, means are provided to ensure that the completed batches that leave the area will be conveyed safely to the further processing, sealing, labelling, packaging, etc. without being subjected to movements that might disturb the contents of the e.g. trays. Thus, conveying means that can gradually lower or lift the completed batches may be provided, for example in the form of a conveyor with an adjustable angle, connected for example to the exit of the at least one batch conveyor and leading the completed batches to a further conveyor or the like. An example of an embodiment, wherein completed batches leave the conveyor system 1 at a fixed vertical level is shown in fig. 6. The embodiment shown in fig. 6 essentially corresponds to fig. 2 and shows an example of a conveyor system 1 in a schematic manner in a side view and using the same reference signs for the same elements and features as described in connection with fig. 2. However, it is shown that an outlet roller 19 is supported by a fixed roller support 23, which is fixed in the vertical direction in relation to the floor 22 and thus ensures that the outlet end part 6', i.e. as shown the right hand end of the batch conveyor 6 is maintained at a fixed vertical level, regardless of the vertical adjustments of the main part of the batch conveyor 6. Such an arrangement can for example be achieved by configuring the batch conveyor 6 in various manners, e.g. by using a guide roller 21 or the like on the support unit 20 as illustrated to guide the e.g. conveyor belt between the main part of the batch conveyor 6 and the outlet end part 6'. Other manners of doing this than illustrated and other structural details will be apparent to a skilled person, such as e.g. means for tensioning the conveyor belt, etc.

Other manners of achieving that the outlet end part 6' will deliver the completed batches at the same vertical position will be possible, which will be apparent to a skilled person within the field.

Furthermore, it is shown in fig. 6 that the batch conveyor 6 is equipped with indexing means 12 as explained above, which indexing means may be activated at the upper part of the batch conveyor 6, including at least part of the right hand end of the batch conveyor 6 in order for the completed batches to be delivered with the predetermined distance to each other.

Even further, it is illustrated in fig. 6 that control means 50, e.g. central control means are comprised, which serves as control means for the one or more robotic handling means 14, and which receives e.g. measured and/or detected data from for example object detection or sensor means 52, which may be arranged as e.g. a vision system located above the supply conveyor 4 in order to detect the position of the objects 2 and possibly further data such as the orientation, colour, volume, etc. which will be apparent to a skilled person. As mentioned above, further measuring and/or sensor means may be provided, e.g. for determining or estimating the mass or weight of each of the objects, which data may also be provided to the control means 50.

It will be apparent to a skilled person that other variations, uses and applications are possible than those that have specifically been explained above with reference to the drawings. It is moreover apparent that the system according to the invention may be designed and adapted in various different manners within the scope of the patent claims. Hence, various forms of conveying means, conveyor belts, measuring, detection and/or vision means may be used and the batching may be performed in a multitude of different ways, for example as described in the previously mentioned patent documents, which will be apparent to the skilled person.

List of references

1 Conveyor system

2 Object

4 Supply conveyor

6 Batch conveyor

6' Outlet end of batch conveyor

8 Tray

10 Transfer means

12 Indexing means

14 Robotic handling means, robot

15 Picker or gripper

16 Support structure, frame

18 Roller

19 Vertically fixed roller

20 Support unit

21 Guide roller

22 Ground, floor

23 Fixed roller support

24, 26 Adjustable connections, actuators

28 Mechanical connection

30 Guide rails

32 Guide rail supports

34 Part of guide rail covering edge of tray

36 Connector

42 Control tap or cam on indexing means

46 Edge or rim of tray

50 Control unit, e.g. central control unit

52 Object detection or sensor means

Claims

Patent claims

1. A conveyor system (1) for carrying and/or conveying batching means such as trays (8) or the like, said conveyor system (1) comprising at least one batch conveyor (6) for carrying and/or conveying said batching means, while objects (2) such as food objects are being transferred from a supply of said objects (2) to said batching means by means of at least one robotic handling means (14), e.g. a robot, a pick-and-placing apparatus, or the like, wherein said at least one batch conveyor (6) is configured for being adjustable in an essentially vertical direction in relation to said at least one robotic handling means (14).

2. Conveyor system according to claim 1, wherein said at least one batch conveyor (6) is configured to be supported by a support structure (16), and wherein said at least one batch conveyor (6) is adjustable in relation to said support structure (16) in said essentially vertical direction.

3. Conveyor system according to claim 2, wherein said support structure (16) further supports said at least one robotic handling means (14).

4. Conveyor system according to any one of claims 1 to 3, further comprising a supply conveyor (4) for providing said supply of said objects (2), said supply conveyor being located adjacent to said at least one batch conveyor (6) at least in an effective working area for said at least one robotic handling means (14).

5. Conveyor system according to any one of claims 1 to 4, wherein said at least one batch conveyor (6) is designed for carrying and/or conveying one or more rows of said batching means, wherein further guide rails (30) are provided for guiding said one or more rows of said batching means.

6. Conveyor system according to claim 5, wherein said guide rails (30) are configured for covering at least part of a rim (46) of said batching means, e.g. a side rim of said trays (8) or the like.

7. Conveyor system according to claim 5 or 6, wherein said guide rails (30) are fixed in the essentially vertical direction in relation to said at least one robotic handling means (14), e.g. in relation to said support structure (16).

8. Conveyor system according to claim 5, 6 or 7, wherein said guide rails (30) are adjustable in a transverse direction of said at least one batch conveyor (6).

9. Conveyor system according to any one of claims 1 to 8, wherein said at least one batch conveyor (6) comprises indexing means (12) arranged in one or more rows, which indexing means are configured for being in an active or an inactive state, where in the active state the indexing means extend above the surface of the at least one batch conveyor (6) for facilitating positioning of said batching means, e.g. said trays (8), and wherein said indexing means (12) can be activated with a spacing adapted for batching means, e.g. trays (8), having various sizes, e.g. lengths.

10. Conveyor system according to claim 9, wherein said indexing means (12) are controlled to be in an active state by means of control means such as control guides, etc., which can cooperate with taps (42), cams or the like on said indexing means (12).

1 1. Conveyor system according to any one of claims 1 to 10, wherein said at least one batch conveyor (6) comprises an outlet end part (6'), which is configured to be maintained at a fixed vertical level regardless of the adjustment of the at least one batch conveyor (6) in said essentially vertical direction.

12. A system for batching of objects (2) such as food objects, said system comprising a supply of said objects (2), at least one robotic handling means (14) and a conveyor system (1) according to any one of claims 1 - 1 1, wherein sad least one robotic handling means (14) is controlled to transfer objects to said batching means carried and/or conveyed by said at least one batch conveyor (6).

13. System for batching of objects (2) according to claim 12, wherein said at least one robotic handling means (14), e.g. a robot, a pick-and-placing apparatus, or the like, is of a type having at least three degrees of freedom, for example operating in an effective operation area in a plane and designed for gripping or picking-up an object and placing it within the effective operation area.

14. Use of a conveyor system (1) according to any one of claims 1 - 1 1 for batching of objects (2) such as food objects, wherein said objects (2) are supplied to transfer means (10) comprising at least one robotic handling means (14) and wherein said at least one robotic handling means (14) is controlled to selectively transfer objects to said batching means carried and/or conveyed by said at least one batch conveyor (6) of the conveyor system (1).