Picking and placing objects may be performed using a system based on 2-D or 3-D vision being used to control a robotic arm system having a gripper. Objects to be picked up and placed into one or more containers may be conveyed to a pick and place apparatus under control of a sensor camera whose output may be processed to provide control signals to the robotic arm system. Multiple such systems may be used to operate on one or more streams of objects being conveyed. The objects may be food items, such as, but not limited to, sliced meat or cheese, and the slices may be picked up and placed into containers for further processing, such as vacuum sealing.

A method for providing at least one utensil wrapped in a napkin is provided. The method includes placing the napkin on a wrapping assembly having first, second and third rollers and an endless belt wrapped around the rollers, in an initial configuration, placing the at least one utensil on the napkin, moving the second roller toward the first roller, turning the endless belt around rollers, stopping to turn the endless belt, and returning the wrapping assembly to the initial configuration. An apparatus for wrapping a napkin around at least one utensil, a utensil picker for picking up at least one utensil from at least one utensil magazine storing a plurality of utensils, an apparatus having the utensil picker, a magazine for storing a plurality of utensils and an apparatus having the magazine are also disclosed.

A method for providing at least one utensil wrapped in a napkin is provided. The method includes placing the napkin on a wrapping assembly having first, second and third rollers and an endless belt wrapped around the rollers, in an initial configuration, placing the at least one utensil on the napkin, moving the second roller toward the first roller, turning the endless belt around rollers, stopping to turn the endless belt, and returning the wrapping assembly to the initial configuration. An apparatus for wrapping a napkin around at least one utensil, a utensil picker for picking up at least one utensil from at least one utensil magazine storing a plurality of utensils, an apparatus having the utensil picker, a magazine for storing a plurality of utensils and an apparatus having the magazine are also disclosed.

A method for transferring at least one filling needle of a number of filling needles into an isolator which has a transfer lock, the method having the following steps: providing a first needle carrier within the transfer lock, said needle carrier carrying the number of filling needles; providing a second needle carrier in a first position within the isolator; robot-assisted transferring of the at least one filling needle of the number of filling needles from the first needle carrier to the second needle carrier; and robot-assisted placing of the at least one filling needle of the number of filling needles in the second needle carrier, wherein the at least one filling needle of the number of filling needles is held directly during the robot-assisted placing. A transfer system, in which such a method can be conducted, is also disclosed.

A method for transferring at least one filling needle of a number of filling needles into an isolator which has a transfer lock, the method having the following steps: providing a first needle carrier within the transfer lock, said needle carrier carrying the number of filling needles; providing a second needle carrier in a first position within the isolator; robot-assisted transferring of the at least one filling needle of the number of filling needles from the first needle carrier to the second needle carrier; and robot-assisted placing of the at least one filling needle of the number of filling needles in the second needle carrier, wherein the at least one filling needle of the number of filling needles is held directly during the robot-assisted placing. A transfer system, in which such a method can be conducted, is also disclosed.

The method can include: determining image data; identifying a container using an object detector; and classifying a container state. The method can optionally include performing an action based on the container state classification. However, the method can additionally or alternatively include any other suitable elements. The method functions to detect and classify the state of bowls (i.e., complete/incomplete) to facilitate ingredient insertion into (unserved, incomplete) bowls along an assembly line.

The method can include: determining image data; identifying a container using an object detector; and classifying a container state. The method can optionally include performing an action based on the container state classification. However, the method can additionally or alternatively include any other suitable elements. The method functions to detect and classify the state of bowls (i.e., complete/incomplete) to facilitate ingredient insertion into (unserved, incomplete) bowls along an assembly line.

The present disclosure relates to a gripper for forming slugs of flat baked products, comprising a longitudinal retainer arranged for individually loading the flat baked products and comprising elongated wall elements extending along a longitudinal direction of the gripper for enclosing the retainer forming a retainer space for retaining the flat baked products a loading element, arranged for displacement of at least a contact surface thereof which is located adjacent a segment of the circumference of a loaded flat baked product near a free end of the retaining space; and wherein the gripper is arranged for displacement of the contact surface of the loading element enabling individually loading the flat baked products for forming the slug in the retainer space, and wherein the gripper is further arranged for rotating the longitudinal retainer over a rotation-axis in a plane parallel to a supporting surface of the conveyor means at the input for bringing the slug from a horizontal vertical orientation into a vertical horizontal orientation, and wherein at least one of the elongated wall elements is arranged for displacement thereof for unloading the vertical horizontally oriented slug into the conveyor means of the packing device.

The present disclosure relates to a gripper for forming slugs of flat baked products, comprising a longitudinal retainer arranged for individually loading the flat baked products and comprising elongated wall elements extending along a longitudinal direction of the gripper for enclosing the retainer forming a retainer space for retaining the flat baked products a loading element, arranged for displacement of at least a contact surface thereof which is located adjacent a segment of the circumference of a loaded flat baked product near a free end of the retaining space; and wherein the gripper is arranged for displacement of the contact surface of the loading element enabling individually loading the flat baked products for forming the slug in the retainer space, and wherein the gripper is further arranged for rotating the longitudinal retainer over a rotation-axis in a plane parallel to a supporting surface of the conveyor means at the input for bringing the slug from a horizontal vertical orientation into a vertical horizontal orientation, and wherein at least one of the elongated wall elements is arranged for displacement thereof for unloading the vertical horizontally oriented slug into the conveyor means of the packing device.

A machine for grouping filter bags for infusion products includes: a movement wheel rotating about a first axis; a rotary transfer wheel, rotating in a synchronised fashion with the movement wheel, about a second axis; a device for collecting the bags; a plurality of gripping elements positioned along a circumference of the transfer wheel and movable with it for picking up, in a first angular position, a bag from the movement wheel and a release configuration of the bag in the collecting device, in a second angular position and after an angular stretch of rotation. A sensor detects possible defects of the bags, and identifies the defective bags before they reach the second angular position. A rejection area receives the defective bags. A locking control controls the gripping element to prevent release of the bag in the second angular position, when detected to be defective by the sensor.