Shuttle system and method for moving food products into packaging

• US 8,931,240 B2
• Filed: 10/26/2009
• Issued: 01/13/2015
• Est. Priority Date: 10/27/2008
• Status: Active Grant

• Current Assignee: Provisur Technologies Incorporated
• Original Assignee: Formax Incorporated
• Inventors: Lindee, Scott
• Primary Examiner(s): Tecco, Andrew M
• Application Number:
  US12/606,073
• Publication Number:
  US 20100101191A1
• Time in Patent Office: 1,905 Days
• Field of Search: 532/47, 533/91, 532/661, 532/68, 532/51, 534/71, 535/17
• US Class Current: 53/391
• CPC Class Codes: B25J 17/0266 comprising more than two actuating or connecting rods
• CPC Class Codes: B25J 9/0051 with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
• CPC Class Codes: B25J 9/0093 co-operating with conveyor means
• CPC Class Codes: B26D 5/007 Control means comprising cameras, vision or image processing systems
• CPC Class Codes: B26D 5/34 scanning being effected by a photosensitive device
• CPC Class Codes: B26D 7/32 for conveying or stacking cut product means for removing cut-out material or waste B26D7/18
• CPC Class Codes: B65B 25/065 of meat
• CPC Class Codes: B65B 35/04 with buffer storage devices
• CPC Class Codes: B65B 35/58 Turning articles by positively-acting means, e.g. to present labelled portions in uppermost position
• CPC Class Codes: B65B 5/068 in trays B65B5/061 - B65B5/065 take precedence
• CPC Class Codes: B65B 57/14 and operating to control, or stop, the feed of articles or material to be packaged
• CPC Class Codes: B65G 47/244 by turning them about an axis substantially perpendicular to the conveying plane
• CPC Class Codes: B65G 47/256 removing incorrectly orientated articles
• CPC Class Codes: B65G 47/90 Devices for picking-up and depositing articles or materials
• CPC Class Codes: G05B 19/4182 manipulators and conveyor only
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10T 83/0448 With subsequent handling [i.e., of product]
• CPC Class Codes: Y10T 83/2022 Initiated by means responsive to product or work
• CPC Class Codes: Y10T 83/2033 Including means to form or hold pile of product pieces
• CPC Class Codes: Y10T 83/2037 In stacked or packed relation
• CPC Class Codes: Y10T 83/2192 : Endless conveyor
• CPC Class Codes: Y10T 83/2194 : And means to remove product therefrom
• CPC Class Codes: Y10T 83/748 : With work immobilizer

Abstract

A shuttle system including a main conveyor for transporting food products in a longitudinal direction, a supply of open top containers displaced along a longitudinal direction and movable in the longitudinal direction into a filling station. The shuttle system includes a shuttle robot for moving food products from the main conveyor to an open top container in the filling station. A sensor for receiving food product position data and a controller receiving data from the sensor and for instructing operation of the robot.

Claims

1. A shuttle system for filling packages with food products, comprising:

a shuttle robot having a gripper movable in both x and y directions in a horizontal plane, the gripper for holding a food product, the gripper comprising at least two facing gripping arms, the gripper comprising an open position for releasing a food product, and a closed position for holding and transporting a food product, the arms are further from one another when the gripper is in the open position than when in the closed position;

a main conveyor configured to move food products wherein a portion of the main conveyor is a strip conveyor comprises a plurality of belts, each belt is separated from adjacent belts by a gap, wherein food products span said gap, each gap having a width at least as wide as an arm of the gripper so as to allow portions of the gripper arms to pass between the belts of the conveyor and below a food product spanning the gap on the main conveyor;

an off-weight conveyor;

a food processing apparatus that outputs a pre-selected format of rows and columns of unpackaged food products onto the main conveyor;

a supply of open top containers movable in into a filling station;

at least one electronic sensor configured to capture location or orientation data about one or more food products on the main conveying surface within a sensor range of the at least one sensor;

at least one controller signal-connected to the at least one electronic sensor and the shuttle robot and configured to receive data captured by the at least one sensor and configured to instruct the shuttle robot to move one or more properly aligned food products from the main conveyor to a destination position off the main conveyor, and configured to not instruct the shuttle robot to move misaligned food products from the main conveyor to the destination position so that the misaligned food products are transferred from the main conveyor to the off- weight conveyor, or to instruct the shuttle robot to either not move the misaligned food products from the main conveyor to the destination position so that the misaligned food products are transferred from the main conveyor to the off-weight conveyor, or to instruct the shuttle robot to move the misaligned food products from the main conveyor to the off-weight conveyor; and

the shuttle robot having a working area encompassing at least between a portion of the main conveyor and a portion of the filling station and configured to move food products from the main conveyor to an open top container in the filling station.

2. The system of claim 1, where the gripping arms each comprise a lower support-having a portion extending inwardly toward the center of the gripper and configured to support the bottom of a food product when the gripper is in a closed position.

3. The system of claim 1, wherein the open top container comprises a plurality of open top containers, and wherein the at least one controller has shuttle robot position instructions comprising, during a fill cycle, at least one pickup position at an end portion of the continuously moving main conveyor corresponding to a location of a food product as reported by the at least one sensor and a plurality of drop positions located above the plurality of respective open top containers in the filling station;

the robot movable to the positions represented by the position instructions of the at least one controller.

4. The system of claim 1, wherein the open top container comprises a plurality of open top containers, and wherein the at least one controller has cycle instructions for directing the robot to fill all the open top containers in the filling station during a fill cycle.

5. The system of claim 1, wherein the food processing apparatus comprises:

a rotatable slicing blade, a conveying assembly, and a support for holding a loaf in a cutting path of said rotatable slicing blade, said slicing blade arranged to rotate in said cutting path to slice drafts from said loaf, said drafts being plural slices formed in a pile on said conveying assembly, said conveying assembly including a staging conveyor that forms the piles into rows and transports said rows onto the main conveyor.

6. The system of claim 1, wherein the food processing apparatus comprises:

a patty-forming machine, the patty-forming machine having a machine frame, a mold plate having at least one cavity and mounted to reciprocate with respect to said frame to position the cavity between a fill position and patty knock out position, a food product delivery channel for delivering food product into the cavity, the food product delivery channel mounted stationary with respect to the frame and having a fill opening into the cavity when the mold plate is in the fill position, one or more knockout plungers for expelling the formed food product from the mold plate onto an output conveyor when the mold plate is in the knockout position, the output conveyor upstream of the main conveyor.

7. The system of claim 1, wherein the at least one controller has motion instructions for instructing the robot to move in sync with a food product on the continuously moving main conveyor and for gripping the food product while the conveyor is in motion and for lifting the food product off of the conveyor while the conveyor is in motion;

the robot movable on a motion path represented by the motion instruction of the at least one controller.

8. The system of claim 1, further comprising:

a sealing station downstream of the filling station, the sealing station configured to apply a cover to the open top containers.

9. The system according to claim 1, further comprising:

a container-forming station for forming the open top containers.

10. The system of claim 1, wherein

the at least one controller has instructions for directing the shuttle robot to fill one or more open top containers from a group of incoming open top containers while the incoming group of open top containers are advanced into the filling station;

the robot movable to the positions represented by the position instructions of the at least one controller.

11. The system of claim 1, wherein the off-weight conveyor comprises a downstream end, an upstream end and a longitudinal portion;

the downstream end is adjacent to a downstream end of the main conveyor, the longitudinal portion runs upstream from the downstream end of the off-weight conveyor along the main conveyor, and the upstream end of the off-weight conveyor crosses the main conveyor and is adjacent a correction station on a side of the main conveyor opposite the longitudinal portion.

12. The system of claim 1, wherein the controller is configured to not instruct the shuttle robot to move the misaligned food products from the main conveyor to the destination position, and the off-weight conveyor is located below the main conveyor so that the misaligned food products fall off the main conveyor to the off-weight conveyor.

13. The system of claim 1, wherein the controller is configured to instruct the shuttle robot to not move the misaligned food products from the main conveyor to the destination position, and the off-weight conveyor is located below the main conveyor so that the misaligned food products fall off the main conveyor to the off-weight conveyor.

14. The system of claim 1, wherein the controller is configured to instruct the shuttle robot to move the misaligned food products from the main conveyor to the off-weight conveyor.

15. A method of filling open top containers with food products, comprising the steps of:

outputting unpackaged food products from a food processing apparatus onto a main conveyor having a conveying surface;

transporting food products in a pre-selected format in at least two columns and multiple rows on the conveying surface;

sensing with at least one electronic sensor whether the food products on the conveying surface are in a proper orientation or in an improper orientation;

arranging a shuttle robot having a gripper that can be moved in the x, y and z directions to grip food products located in either of the two columns, the main conveyor having gaps in the conveying surface beneath food products transported thereon to allow a portion of the gripper to pass through the gaps to grip food products transported on the main conveyor;

gripping a properly oriented food product on the main conveyor with the gripper;

moving a group of open top containers into a filling station;

moving the properly oriented food product to one of the open top containers in the filling station with the robot;

releasing the properly oriented food product from the gripper into the open top container; and

(1) gripping an improperly oriented food product on the main conveyor with the gripper, moving the improperly oriented food product to an off-weight conveyor with the robot, and releasing the improperly oriented food product from the gripper onto the off-weight conveyor, or (2) not moving the improperly oriented food product on the main conveyor with the robot, and transferring the improperly oriented food product from the main conveyor to the off-weight conveyor.

16. The method of claim 15, further comprising the step of:

before the moving the properly oriented food product step, providing a cycle period during which the group of open top containers are within the filling station; and

wherein the steps of gripping, moving, and releasing the properly oriented food product are repeated during the cycle period until a predefined number of open top containers are filled with properly oriented food products.

17. The method of claim 16, further comprising the step of:

after a predefined number of open top containers are filled with the properly oriented food product, moving a group of filled open top containers out of the filling station, and moving a new group of open top containers into the filling station.

18. The method of claim 16, wherein the steps of gripping, moving, and releasing the properly oriented food product are repeated while progressively filling each empty or incompletely filled container starting at the container farthest from the gripping location and ending at the container closest to the gripping location.

19. The method of claim 15, wherein the step of gripping the properly oriented food product comprises the steps of:

moving the robot in sync with the properly oriented food product; and

gripping the properly oriented food product on the conveyor with the gripper.

20. The method of claim 15, wherein the steps of moving the properly oriented food product and releasing comprise the step of:

during the moving of open top containers, moving the properly oriented food product to an open top container in the filling station and releasing the properly oriented food product into the open top container.

21. The method of claim 15, wherein the step of gripping the properly oriented food product further comprises the steps of:

surrounding the properly oriented food product with a plurality of arms of the shuttle robot, and gripping the properly oriented food product by closing the arms around the properly oriented food product.

22. The method of claim 15, further comprising the step of:

after the step of moving the properly oriented food product, dwelling over the one of the open top containers for a predetermined amount of time, and releasing the properly oriented food product into the one of the open top containers during the dwelling.

23. The method of claim 15, wherein the step of gripping the properly oriented food product comprises the steps of:

providing a downstream portion of the main conveyor as a strip conveyor having a plurality of belts, each belt is separated from adjacent belts by a gap;

moving a portion of a plurality of arms of the gripper between the belts of the strip conveyor and below a conveying surface of the conveyor;

gripping the properly oriented food product with the arms of the gripper; and

raising the properly oriented food product off of the conveying surface.

24. The method of claim 15, further comprising the step of:

during one or more cycles of gripping, moving, and releasing the properly oriented food product;

forming a group of one or more open top containers upstream from the group of open top containers in the filling station.

25. The method of claim 15, further comprising the step of:

during one or more cycles of gripping, moving, and releasing the properly oriented food product;

sealing the top of a group of one or more open top containers downstream from the group of open top containers in the filling station.

26. The method of claim 15, further comprising (1) gripping the improperly oriented food product on the main conveyor with the gripper, moving the improperly oriented food product to the off-weight conveyor with the robot, and releasing the improperly oriented food product from the gripper onto the off-weight conveyor.

27. The method of claim 15, further comprising (2) not moving the improperly oriented food product on the main conveyor with the robot, and transferring the improperly oriented food product from the main conveyor to the off-weight conveyor.

28. The method of claim 27, further comprising the improperly oriented food product falling from the main conveyor to the off-weight conveyor located beneath the main conveyor.