NL2034482B1 - A handling device, system and method for handling flat food products. - Google Patents

Abstract

A handling device for handling flat food products, comprising: - a robotic arm, mounted to a frame and moveable with respect thereto, - a gripper attached to an end of the robotic arm, comprising one or more suction cups comprising a suction cup wall including a contact surface, the suction cup wall defining an interior volume, and - one or more pump units, in fluid communication with the suction cup(s) and configured for generating a relative vacuum at the interior of the suction cup(s), at least when said contact surface contacts the flat food product, so that the flat food product may be lifted, wherein the suction cup wall and the pump unit are arranged to retain the relative vacuum at the interior of the suction cup when the flat food product is Hfied,and wherein the pump unit(s) are positioned to move along with the robotic arm.

Description

Title: A handling device, system and method for handling flat food products.

Description:

The present disclosure relates in general to a handling device for handling flat food products.

More in particular, the present disclosure relates to a handling device for handling flat food products, in particular flat baked products arranged on a conveyor, the handling device in use arranged above said conveyor and comprising a robotic arm that is mounted to a frame and that is moveable with respect to said frame, as well as a gripper attached to an end of the robotic arm and that is moveable with respect to the frame by the robotic arm, the gripper comprising one or more suction cups each comprising a suction cup wall including a contact surface, the suction cup wall defining an interior volume.

The handling of flat food products such as baked products including e.g. biscuits and cookies, or such as chocolates typically involves transporting the products from an infeed, e.g. an oven or subsequent cooling conveyor, towards an outfeed, e.g. further handling devices or a packaging device.

During transport from the infeed, the flat food products are typically arranged in a (semi-)random pattern of individual products. Alternatively, the flat food products may arrive in a bulk in which some of the flat food products partly or fully overlap each other. The flat food products need to be transported from the infeed to the outfeed, wherein at the outfeed the flat food products are typically ordered.

Individual handling of flat food products is nowadays often carried out with the aid of suction cups that grasp the flat food product and transport it to a position away from the conveyor belt. The suction cups are moveable by robotic arms that are mounted to a frame which is positioned above the conveyor belt. Typically, a relatively large number of suction cups is present, the suction cups working in relatively close approximation of each other. For example a number of rows of robotic arms, all having suction cups attached thereto may be installed above the conveyor.

At present, a central pump unit may be provided at a position remote from the conveyor. For example, there may be one relatively large pump unit at a central position, in particular in a dedicated room of a flat food product production location, the central pump being fluidly connected to the suction cups of the robotic arms via a number of tubes, wherein a number of valves is employed to control the presence of a relative vacuum inside the suction cup. One can easily imagine that quite some energy is being lost with such a set-up, resulting in mediocre efficiencies.

Alternatively, a pump unit may be arranged on top of the frame, the pump unit being fluidly connected to a number of suction cups via a number of tubes, wherein a number of valves is employed to control the presence of a relative vacuum inside the suction cup.

In both solutions, a disadvantage is that it is relatively difficult to ensure the same (under)pressure to be applied at each suction cup, typically leading to an over-dimensioning of the pump unit to ensure viable operating conditions at all suction pumps. A further disadvantage is that the presence of air tubes may hinder the movement range and flexibility of the robotic arms. A yet further disadvantage is that the tubes and valves need periodic cleaning, which is only possible if the entire system is shut down temporarily.

As such, it is a goal of the present disclosure to provide a handling device for handling flat food products, in which at least some of the above-mentioned disadvantages are reduced or resolved.

According to a first aspect of the disclosure, this goal is achieved with a handling device for handling flat food products arranged on a conveyor, the handling device in use arranged above said conveyor and comprising: - arobotic arm, mounted to a frame and moveable with respect to said frame,

- a gripper attached to an end of the robotic arm and moveable with respect to the frame by the robotic arm, the gripper comprising one or more suction cups each comprising a suction cup wall including a contact surface, the suction cup wall defining an interior volume, and - One or more pump units, arranged in fluid communication with the one or more suction cups and configured for generating a relative vacuum at the interior volume of the suction cup(s) compared to an air pressure outside of the suction cup, at least when said contact surface contacts the flat food product, so that the flat food product may be lifted, wherein the suction cup wall and the pump unit are arranged to retain the relative vacuum at the interior volume of the suction cup when the flat food product is lifted, and wherein the pump unit(s) are positioned to move along with the robotic arm.

In accordance with the present disclosure, the handling device is for handling flat food products. Such products may be baked in an oven, so that the term flat baked products may be more appropriate. Examples of flat baked products include but are not limited to cookies, biscuits and donuts. The products typically have a flat upper side and may be comprised out of several layers (e.g. two outer cookie layers sandwiched by a cream layer in between. However, the handling device may also be suitable for handling flat non-baked food products, such as pieces of chocolate, e.g. to be placed on a baked product or to be handled in another way.

In accordance with the present disclosure, the robotic arm may typically be moveable in an X, a Y and a Z direction with respect to the frame, and in particular downwards so that a flat food product on the conveyor may be gripped as well as upwards so that a flat food product may be lifted from the conveyor. Furthermore, the robotic arm will typically be able to move towards a flat food product that is arranged on a moving conveyor belt. As such, a “forwards” movement speed of the robotic arm should ideally at least match the forward movement speed of the conveyor Although the robotic arm may typically be moveable in an X, a Y anda Z direction, it is not required that it is moveable only along these directions, a combination of movement directions will typically also be possible. Also, the robotic arm may be a type using universal joints to which it is fixed to the frame or platform.

The arms may be operated as parallelograms in which the orientation of the end effector or gripper can be kept steady. Such a design may comprise three-degrees- of-freedom with the three revolute legs which are typically driven by three separate actuators ar motors. The robotic arm may however also have further degrees-of- freedom, for example by having an additional actuator to provide rotational movement around of the gripper in respect of the robotic arm, e.g. to tilt the flat food products with respect to a horizontal orientation, for example to place them in a tray.

Such robotic arms are, known and presently employed as well. For example, such robotic arms may be known as pick-and-place robots or Delta robots..

In accordance with the present disclosure, the suction cup arranged at the end of the robotic arm may contact the flat food product and, as a result of a relative vacuum or underpressure being applied at the interior volume of the suction cup, “press” itself on the flat food product so that the suction cup effectively “sticks” to the flat food product when the suction cup is moved. This principle of moving the flat food product by a suction cup is, by the way, known and presently used in factories around the world. Per robotic arm, one or more suction cups may be implemented.

In accordance with the present disclosure, the handling device comprises one or more pump units, that are positioned to move along with the robotic arm. For example, the pump unit may be arranged on the arm itself, the pump unit being fluidly connected to the suction cup with a tube. Alternatively, the pump unit may be part of the gripper, moving along with the suction cup when the arm is moved.

As used here, a pump unit in particular refers to a device which may be activated to remove air from the inner volume of the suction cup, to generate a relative vacuum there. As the present disclosure relates to handling flat food products, the pump unit may typically be operated for as long as the suction cup is deemed to contact the flat food product, as such products are typically relatively porous and the relative vacuum at the interior volume of the suction cup may be reduced by air entering the interior volume through the flat food product so that the grip on the flat food product would lessen if the pump unit would not be operated. The latter problem of loss of pressure may be especially pertinent for flat baked food products.

In view of the present disclosure, until the present day the world of flat 5 product handling has lived with the prejudice that it is beneficial to have a robotic arm that is as light as possible, to increase the operating speed of the arm. However, it has been an insight of the inventors that effectively placing the pump unit on the robotic arm, so that the pump unit moves along with the robotic arm, may lead to some significant advantages that outweigh the increase in arm weight.

First of all, when each robotic arm includes one or more pump units, the relative vacuum at the interior volume of the suction cups may be controlled with high precision, leading to far higher energy efficiencies. In this sense, a one-on-one coupling of pump unit and suction cup may be preferred, although coupling two or more suction cups of a robotic arm with a single pump unit of the same robotic arm will still be advantageous compared to the prior art, in that respect.

Second of all, by more closely coupling the suction cups and the pump units by effectively placing the pump unit on the robotic arm, less tubing and valves may be required, so that less components need to be bought, installed, maintained, inspected and cleaned while retaining essentially the same operating efficiencies in use of the handling device.

Third of all, by effectively placing the pump units on the robotic arm a greater range of movement for the robotic arm may be achieved, as there is no tubing in between the frame and the robot arm so the robot arm can not “strangle” itself.

Forth of all, the fact that the pomp unit, i.e. the unit that actually generates the vacuum, is located closely to the gripper or even integrated into the gripper, allows a modular design of the robotic arm and gripper design. The gripper and robotic arm may be arranged for an interface like coupling in which the robotic arm for example is comprised of a coupling frame to which the gripper is mechanically coupled, and which only requires electrically connecting the gripper to the robotic arm, i.e. for driving the gripper/providing electric power. Hence, no air hose or tubes are required. Such interface eases quick change from one gripper to another, e.g. when different produces are to be handled, which require different shaped suction cups, corresponding in shape with the products to be handled.

Finally, “on-time” of the pump unit may be minimized as it can now better be controlled when the pump unit must be activated and when it can be switched off due to the pump unit being closely coupled with one or more grippers. This may lead to significant energy savings.

Yet other advantages are described in the below, with respect to particularly advantageous embodiments of the present disclosure.

In an example, the robotic arm is associated with a single pump and a single suction cup. In such an example, advantageously, the weight of the robotic arm is increased the least and the underpressure (i.e. the relative vacuum) inside the suction cup can be controlled most precisely. Furthermore, this configuration is preferred when the flat food products are arranged on the conveyor at random.

In an example, the robotic arm is associated with a single pump and two or more suction cups. Optionally, the suction cups may be moveable independently of each other; in other configurations the suction cups may be arranged on the conveyor in a fixed orientation with respect to each other. For example, each suction cup may be arranged for contacting one flat food product. Alternatively, the two or more suction cups may be arranged for contacting one and the same flat food product. This configuration may be preferred when the flat food products are arranged in a relatively organised orientation, e.g. in rows with fixed distances compared to each other.

Advantageously, using one pump unit and more than one suction cup may minimize the weight added to the robotic arm while increasing the control over the relative vacuum applied at the suction pump and minimizing part count.

In an example, the robotic arm is associated with two or more pumps and e.g. an equal number of suction cups. Such an embodiment may be preferred when the flat food products are arranged on the conveyor in a fixed orientation with respect to each other and when optimal control over the relative vacuum in the interior volume of the suction cup is desired.

In an example, the gripper further comprises a filter that is arranged in between the suction cup and the pump unit. The filter, which is preferably arranged in the air path in between the exterior of the suction cup and the inlet of the pump unit, may catch any particles, including drops of fat or other substances, crumbs or other particles, thereby preventing such particles to enter the pump unit and guaranteeing the functioning of the pump unit. In particular, the filter may be releasably mounted in the gripper, so that the filter may easily be replaced during regular / scheduled maintenance of the gripper.

In an example, the handling device further comprises a vacuum release valve that, in an open state, removes the relative vacuum at the interior volume of the suction cup, so that the flat food product is released from the suction cup, and that, in a closed state, retains the relative vacuum at the interior volume of the suction cup, so that the flat food product may be lifted. In certain embodiments, the flat food product may stick to the suction cup for a shorter or longer period of time when operation of the pump unit is stopped. This is suboptimal when handling speed and controllability are concerned. A vacuum release valve may help in removing the relative vacuum inside the suction cup and releasing the flat food product from the suction cup faster and with more precision / control.

In an example, the handling device further comprises an air inlet line in fluid communication with the interior of the suction cup, the air inlet line operable to insert a volume of air inside the interior of the suction cup to remove the relative vacuum thereof, the air inlet line optionally closable by the vacuum release valve. In certain embodiments, only stopping operation of the pump unit may be insufficient to predictably and speedily release the flat food product from the suction cup after it has been lifted. By inserting, e.g. blowing, air inside the interior volume of the suction cup, the relative vacuum therein may be relieved or even turned into an over-pressure, helping in the quick release of the flat food product from the suction cup.

In an example, the gripper further comprises a quick release coupling, for coupling the gripper to the robotic arm. Such a quick release coupling advantageously makes it possible to perform maintenance, inspection or repairs on the gripper while another gripper is put in place. This allows the machine to operate with hardly any interruption.

In an example, the pump unit is positioned on the gripper, and preferably, arranged in a fixed spatial relationship with respect to the suction cup. As such, the distance between the pump unit and the suction cup is preferably minimized, without any external tubes near the robotic arm. This maximized the movement freedom for the robotic arm as well as minimizing the part count of the handling device. The gripper to this end may be mounted onto the robotic arm, integrated into the robotic arm, but preferably mounted onto the gripper or even integrally integrated into the gripper, e.g. by being comprised of a housing, in which the pump unit is shielded from the environment. In industrial applications like in the present disclosure, motors, pumps and other active parts may be often exposed to dust, moisture, baking particles and other contaminants that can cause damage. To provide protection from these contaminants, a housing may be used. The housing may be designed specifically to shield the pump unit and is preferably at least substantially airtight but provided with an air filter to allow filtered air to and from the pump.

A second aspect of the present disclosure relates to a system for moving a flat food product from a first position to a second position, the system comprising: - a conveyor for transporting flat food products; - the handling device as described in the above; and - a flat product processing line, e.g. arranged besides at least a part of the conveyor, wherein the handling device is configured for lifting individual flat food products from the conveyor and transporting them to the flat product processing line.

Advantages obtainable with the system according to the second aspect of the present disclosure are the same as the advantages obtainable with the handling device according to the first aspect of the present disclosure.

In a particular example of such a system, the handling device further comprises a flat food product recognition sensor for recognizing a position, movement speed and/or movement direction of one or more flat food products on the conveyor and the system further comprises a controller for controlling a position, movement speed and/or movement direction of the gripper of the handling device. This may help in automatically guide the suction cup towards a flat food product and will be advantageous mainly in embodiments where the flat-food products are arranged on the conveyor in a (semi-)}random pattern.

A third aspect of the present disclosure relates to a method for handling flat food products arranged on a conveyor, wherein use is made of a handling device as described in the above and/or a system as described in the above, wherein the method comprises the steps of: - moving the suction cup of the gripper towards a flat food product arranged on the conveyor; - activating the pump unit of the handling device and generating a relative vacuum at the interior volume of the suction cup; - placing the contact surface of the suction cup on the flat food product; - lifting the flat food product from the conveyor with the handling device; - while the flat food product is lifted, retaining the relative vacuum and moving the flat food product to a position away from the conveyor by movement of the robotic arm; and - removing the relative vacuum at the interior of the suction cup and thereby releasing the flat food product.

Advantages obtainable with the method according to the third aspect of the present disclosure are the same as the advantages obtainable with the system according to the second aspect of the present disclosure and/or the handling device according to the first aspect of the present disclosure.

These and other features of the present handling device, system and method are elucidated further in the below, with respect to the attached figures. In said figures:

Figure 1 schematically shows a system for moving flat food products from a first position on a conveyor to a second position besides the conveyor;

Figures 2A-2C schematically show a number of grippers that may be incorporated in the system shown in Figure 1; and

Figure 3 schematically shows a cross sectional view of the gripper shown in Figure 2C.

Turning to Figure 1 initially, shown here is system for moving flat food products P from a first position on a conveyor 100 to a second position besides the conveyor 100. More in particular, conveyor 100 may be a conveyor 100 transporting flat food products P, which are here flat baked food products away from an oven {not shown) in which they have been baked. It is however not essential that the products

P have been baked in an oven, non-baked products may be handled with the system as well. On the conveyor 100 the flat food products P may be arranged in a random order, as shown here. However, alternatively the products P may be organised to a higher or lesser degree, e.g. using known sorting elements. In an industrial setting, several hundreds of flat food products P may be transported on the conveyor 100 every minute, and in certain cases many more. The oven and conveyor 100 may be equipment that is bought from a certain supplier. Arranged besides the conveyor 100 may be a packaging, for packaging the flat food products P. Whereas the oven typically outputs the flat food products P in a (semi-) random order, the packaging line typically requires the flat food products P to be inserted in an organised / ordered manner. Hence, the packaging line cannot be installed behind the oven without any transfer equipment.

It is this transfer equipment with which the present disclosure is concerned. There are many types of transfer equipment, wherein it may be at the discretion of the flat product manufacturer to choose the type of handling required for a certain type of product P. One known way of transfer equipment is transferring individual products P with a vacuum gripper. The present disclosure, like some of the known equipment, relies on a handling device 1 including a gripper 13 with a suction cup 131 to transport individual products P from the conveyor 100 to the packaging equipment. However, it is the way in which the vacuum in the suction cup is generated / controlled which is optimised. The gripper 13 is suspended by a robotic arm 11 which is connected to a frame 12. If the frame 12 represents the “fixed world”, the conveyor 100 with flat products P on it is running below the frame 12 and the robotic arm 11 is moveable with respect to the frame 12, in particular upwards and downwards as well as in the movement direction of the conveyor 100 (and back to a neutral / starting position) and from the conveyor 100 to the packaging equipment and back. To optimally align the suction cup 131 of the handling device 1 with the flat food product P it is to grip, the handling device 1 may e.g. be equipped with a flat product recognition sensor, for recognizing a position, movement and/or speed of the flat food product(s) P on the conveyor and the system may comprise a controller for controlling a speed, direction and position of the gripper 13. After having successfully gripped a flat product P and while moving it, typically the pump unit will be continuously operated to retain the relative vacuum inside the suction cup, as the flat food products may be relatively porous so that it is needed to continuously suck away air from the interior volume of the suction cup to retain the underpressure. Also in this respect the operation may not substantially differ compared to known vacuum grippers.

As such, to transport a flat food product P from the conveyor 100 to the packaging equipment 200, a suction cup 131 of a gripper 13 is moved towards a flat food product P arranged on the conveyor 100. In accordance with the present disclosure, this movement of the gripper 13 may be done without the pump unit being activated. When the suction cup is placed on the flat food product P, or shortly before that moment, the pump may be activated to generate an underpressure at the interior of the suction cup 131 and grip the flat food product P with the suction cup. The amount of underpressure will typically be dependent on the size of the suction cup relative to the size of the flat food product as well as the weight of the flat food product. With the suction cup 131 gripping the product P, the flat food product P may be lifted from the conveyor 100 and moved to the packaging equipment 200 with the robotic arm. While moving the flat food product P, it is important to retain the vacuum as the flat food product P is typically relatively porous so that air may enter into the interior of the suction cup (where an underpressure is applied) through the product

P. As such, the pump unit is preferably continuously operated while lifting the flat food product P. One the flat food product P has reached its desired destination, the relative vacuum may be removed and the flat food product P may be released. In particular, operation of the pump unit may be stopped to release the product P.

Turning now to Figures 2A — 2C, which will be described in conjunction with each other, shown are three different embodiments of grippers 13 of the handling device 1 generally described in the above. It is noted that the embodiments shown here may be the most preferred embodiments, and that other embodiments may fall inside the scope of the appended claims as well. It is the claims which define the scope of the sought protection, whereas the embodiments shown here are more narrowly construed.

Noticeably first and foremost is a coupling element 18 for coupling the gripper to the robotic arm. Importantly, the coupling element 18 comprises a mechanical quick-release coupling and a bus connection for providing electricity and control signals to the gripper from a central control unit. Absent on the housing of the gripper 18 is in this case an air line for applying a vacuum at the interior of the suction cup. As will be explained in more detail with reference to Figure 3, this may be achieved by integrating the pump unit 14 inside the gripper 13, so that no external pump units (e.g. external to gripper, in particular external to the robotic arm such as external to the frame) may be needed while nonetheless optimally operating the gripper.

In the exemplary embodiment of Figures 2A and 2B the gripper 13 comprises three suction cups 131, although it is of course possible to have any other number of suction cups 131 on the gripper 13. A plurality of suction cups 131 may e.g. be advantageous when the products to be gripped are arranged on the conveyor in an organised manner.

Typically, one suction cup 131 may grip one product. However, alternatively, it may be possible to grip a single product with a plurality of suction cups 131. Also for such operations the suction cups of Figures 2A and 2B may be advantageous.

In use it will be the contact surface 133 of the suction cup 131 that is in contact with the flat food product and grips it, whereas a suction cup wall 132 and the upper side of the flat food product define an inner volume of the suction cup 131.

From the inner volume air may be sucked by a pump unit 14, so that a relative vacuum exists in the inner volume of the suction cup 131 compared to a pressure outside of the suction cup 131 and the product sticks to the suction cup 131. With the product sticking to the suction cup 131, it may be transported from the conveyor to the packaging equipment. As stated in the above and re-stated here, the pump unit 14 may be integral with the gripper 13. As such, when the suction cup 131 is moved by the robotic arm of Figure 1, the pump unit 14 moves along with it. In other words, the suction cup 131 may be arranged in a fixed orientation relative to the pump unit 14.

In the embodiment of Figure 2A the gripper 13 comprises three suction cups 131 and an equal number of pump units 14 that are all integral with the gripper 13. When a configuration with multiple suction cups 131 is chosen, this may lead to optimal control of the underpressure inside the suction cup 131. Alternatively, as shown in Figure 2B, there may be multiple suction cups 131 (here: three) all operated by a single pump unit 14 integral with the gripper 13. This may reduces the size, weight and cost of the gripper 13, potentially at the cost of having a sub-optimal but still satisfactory control over the relative vacuum applied at each of the suction cups 131 when lifting products. In the embodiment of Figure 2C the gripper contains a single suction cup 131, which might be the default option when the products are arranged on the conveyor in a random orientation and when each product is gripped and lifted by a single suction cup 131.

Turning now to Figure 3, shown here is the inside of the gripper housing of the gripper previously shown in Figure 2C, with some of the components allowing the optimal handling of flat food products better visible. Most prominent is the pump unit 14, which is arranged in fluid communication with the suction cup 131 and which is configured for generating a relative vacuum at the interior volume 134 of the suction cup 131, especially when the contact surface 133 of the suction cup 131 is in contact with a flat food product, so that the flat food product may be lifted. As the pump unit 14 is integrated with the gripper 13, and as the gripper 13 is attached to an end of the robotic arm, when the robotic arm moves the pump unit 14 moves along with the robotic arm.

Further shown in Figure 3 is a filter 135 that is arranged in between the suction cup 131 and the pump unit 14. As the filter 135 is now placed relatively close to the flat food product, its interior may become congested with e.g. crumbs, fat or other particles being sucked from the flat food product due to the relative vacuum being applied. The filter 135 may prevent any such congestion and thereby increase the lifetime of the pump unit 14.

Depending on e.g. the porosity and the weight of the flat food product gripped with the gripper 13, release from the suction cup 131, after having been gripped and transported, may be controlled to unsatisfactory degree. To more optimally control the moment on which the flat food product is released, a vacuum release valve 15 may be implemented on the gripper, in particular near an inlet channel 16 of the gripper. When opening the vacuum release valve 15 air may move inside the interior volume 134 of the suction cup 131 so that there is no longer a relative vacuum and the flat food product detaches from the suction cup 131. Of course, when the relative vacuum is to be retained, the valve 15 should be closed.

Better control of the moment on which the product is released from the suction cup 131 increases the operating efficiency of the system as more products may then be gripped in a same amount of time

To further increase the predictability of the moment on which the flat food product is released from the suction cup, it may be possible to blow a volume of air inside the interior volume 134 of the suction cup 131 with a dedicated blower or possibly with the pump unit, thereby optionally even creating a temporarily overpressure inside the suction cup 131.

Based on the above description, a skilled person may provide modifications and additions to the method and arrangement disclosed, which modifications and additions are all comprised by the scope of the appended claims.

It will be clear that the intention of the above description is to shed light on the working of possible embodiments of the present invention, and not to limit the scope of protection of the invention. Starting from the description, a person skilled in the art is able to conceive of and use various embodiments that fall within the inventive concept and scope of protection of the present invention.

Claims (13)

CONCLUSIONS 1. A processing apparatus (1) for processing flat food products (P) disposed on a conveyor (100), the processing apparatus {1} being disposed in use above the conveyor (100) and comprising: - a robotic arm (11) mounted on a frame (12) and movable relative to the frame (12), - a gripper (13) connected to an end of the robotic arm (11) and movable relative to the frame (12) by the robotic arm (11), the gripper (13) comprising one or more suction cups (131) each comprising a suction cup wall (132) including a contact surface (133), the suction cup wall (132) defining an inner volume (134), and - one or more pump units (14) disposed in fluid communication with the one or more suction cups (131) and adapted to generate a relative vacuum in the inner volume (134) of the suction cup(s) (131) compared to an air pressure outside the suction cup (131), at least when the contact surface (133) is in contact with the flat food product (P), such that the flat food product (P) can be lifted, the suction cup wall (134) and the pump unit (141) being arranged to maintain the relative vacuum in the inner volume (134) of the suction cup (131) when the flat food product (P) is lifted, and the pump unit or pump units (14) being positioned to move with the robot arm (11). The processing device according to claim 1, wherein the robotic arm (11) is associated with a single pump unit (14) and a single suction cup (131). The processing device according to claim 1, wherein the robotic arm (11) is associated with a single pump unit (14) and two or more suction cups (131). The processing device according to claim 1, wherein the robot arm (11) is associated with two or more pump units (14) and e.g. an equal number of suction cups (131). 5. The processing device according to any of the preceding claims, wherein the processing device (1) further comprises a filter (135) disposed between the suction cup (131) and the pump unit (14). 6. The processing apparatus of claim 5, wherein the filter (135) is detachably mounted in the gripper (13). 7. The processing apparatus according to any of the preceding claims, wherein the processing apparatus (1) further comprises a vacuum release valve (15) which, in an open state, removes the relative vacuum in the inner volume (134) of the suction cup (131) such that the flat food product (P) is released from the suction cup {131}, and which, in a closed state, maintains the relative vacuum in the inner volume (134) of the suction cup (131) such that the flat food product (P) can be lifted. The processing apparatus of any preceding claim, wherein the processing apparatus (1) further comprises an air inlet line (16) in fluid communication with the inner volume (134) of the suction cup (131), the air inlet line (16) being operable to admit a volume of air into the inner volume (134) of the suction cup (131) to remove relative vacuum therefrom, the air inlet line (16) preferably being closable by the vacuum release valve (15). 9. The processing device according to any of the preceding claims, wherein the gripper (13) further comprises a quick release coupling for coupling the gripper (13) to the robot arm (11). 10. The processing device according to any one of the preceding claims, wherein the pump unit (14) is positioned on the gripper (13), and preferably is arranged in a fixed spatial orientation relative to the suction cup (131). 11. A system for moving a flat food product (P) from a first position to a second position, the system comprising: - a conveyor (100) for conveying flat food products (P); - the processing device (1) according to any one of claims 1 to 10; and - a flat food products processing line (200), e.g. arranged along at least a portion of the conveyor (100), the processing device (1) being adapted to lift individual flat food products (P) from the conveyor (100) and convey them to the flat food products processing line (200). 12. The system according to claim 11, wherein the processing device (1) further comprises a flat food product recognition sensor for recognizing a position, movement speed and/or movement direction of one or more flat food products (P) on the conveyor (100) and wherein the system further comprises a control unit (21) for controlling a position, movement speed and/or movement direction of the gripper (13) of the processing device (1). 13. A method for processing flat food products (P) disposed on a conveyor (100), using a processing device (1) according to any one of claims 1 to 10 and/or a system according to any one of claims 11 and 12, the method comprising the steps of: - moving the suction cup (131) of the gripper (13) towards a flat food product (P) disposed on the conveyor (100); - activating the pump unit (14) of the processing device (1) and generating a relative vacuum in the inner volume (134) of the suction cup (131); - placing the contact surface (133) of the suction cup (131) on the flat food product (P); - lifting the flat food product (P) from the conveyor (100) with the processing device {1}; - while the flat food product (P) is lifted, maintaining the relative vacuum and moving the flat food product (P) to a position away from the conveyor (100) by moving the robot arm (11); and - removing the relative vacuum in the inner volume (134) of the suction cup (131) and thereby releasing the flat food product (P).