Application Note | Automated Chicory Handling
A SoftGripping end-of-arm tool for delicate chicory
Evaluate a defined six-finger pneumatic gripper configuration for naturally variable chicory heads. The application note provides mounting, pressure, timing and object-window data for feasibility and integration planning.
Gripper specifications are not a guarantee of complete cell performance. Final throughput and product quality depend on the robot, motion path, infeed, product condition and placement task.
Application fit
A defined starting point for feasibility - not a one-size-fits-all promise.
Chicory combines natural variation with a pressure-sensitive surface. An automated system must secure the product for transfer while avoiding concentrated contact forces that can mark leaves or reduce saleable quality.
The six-finger SoftGripping configuration is designed to adapt around the product and distribute contact across flexible silicone fingers. It gives integrators a concrete EoAT configuration to evaluate and gives producers a realistic route toward automating repetitive pick-and-place work.
Representative product trials remain essential. Pick success, visible damage, quality after cold storage and achievable line rate should be validated with the intended product range and complete handling cycle.
Specified object envelope: 30 x 30 x 100 mm minimum to 185 x 300 x 300 mm maximum. Dimensions describe the gripper window, not a validated range for every chicory variety.
Configuration for evaluation
A defined EoAT package for feasibility and integration.
The application note defines the SoftGripper configuration, mounting options, pneumatic requirements and Controlbox reference. Robot, vision, infeed, guarding, product presentation and downstream packaging remain part of the complete cell design. Confirm the final hardware, software and interface scope with SoftGripping before engineering release.
Product contact
Six I60 silicone SoftActuators provide compliant contact around variable product contours.
Base and flange
A 185 mm adapter plate and three ISO 9409-1 mounting patterns support mechanical EoAT planning.
Pneumatics
A 6 mm pneumatic connection and a specified -0.2 to 1.0 bar operating range define the basic supply requirements.
Control reference
The SG.BP.1V.C4 Controlbox is specified for this configuration. Confirm valves, software and robot interfaces for the final cell.
Application tuning
Pressure, grip force and timing are adjustable and must be validated against product quality and cycle requirements.
Gripper principle
Distributed contact for naturally variable products.
The 3x2 parallel configuration uses six flexible I60 silicone fingers. Rather than relying on rigid point contact, the fingers conform around the chicory head and spread contact across a larger area.
This contact principle is intended to secure delicate fresh produce while limiting localized pressure. The final pressure, pre-opening and timing settings must be tuned with representative samples.
- Six I60 SoftActuators provide compliant, distributed product contact.
- Specified actuator response: 80 ms opening and 70 ms closing.
- Block force: 18 N at 1 bar; tune pressure to the product and motion profile.
- Maximum gripper load: 1.8 kg; verify dynamic loads in the complete robot cycle.
Two decisions, one application note
Evaluate product fit and integration effort before cell design.
For integrators: define the EoAT starting point
Use the configuration code, 1.2 kg gripper weight, mounting patterns, adapter diameter, tubing size, pressure range and response times for initial mechanical and pneumatic planning.
Then validate CAD geometry, center of gravity, dynamic loads, air consumption, valve and I/O requirements, hose routing, robot path and actual cell throughput before release.
For producers: validate quality before automating
The intended benefit is product-sensitive automation of repetitive pick-and-place work. Flexible fingers are designed to reduce concentrated contact on irregular chicory heads while supporting repeatable pneumatic motion.
Before investment, validate pick success, immediate marks, quality after cold storage, cleaning requirements, format range and achievable line rate with your products and packaging process.
Technical specification
Selection data for the gripping tool.
These values describe the gripper configuration and support initial EoAT planning. They do not by themselves define the performance, hygiene concept or acceptance criteria of the complete packaging cell.
- Gripper type
- Classic 3x2 parallel SoftActuator
- Configuration
- SG.AN.F3.I60.P2.A185.R50
- Weight
- 1,200 g
- Finger setup
- 6 I60 SoftActuators
- Materials
- PA2200 base, silicone fingers
- Actuation
- Pneumatic, 6 mm tube
- Mounting
- ISO 9409-1-31.5 / 40 / 50-4-M6
- Adapter diameter
- Ø 185 mm
- Block force
- 18 N at 1 bar
- Cycle data
- 80 ms opening, 70 ms closing
- Pick rate
- 45 picks/min suggested; up to 90 picks/min specified maximum
- Operating range
- -0.3 to 1.2 bar, -25 °C to +80 °C
- Object envelope
- 30 x 30 x 100 mm to 185 x 300 x 300 mm
- Maximum load
- 1.8 kg
- Controlbox
- SG.BP.1V.C4 pneumatic Controlbox
- Adjustable parameters
- Pressure, grip force, pre-opening and timing
Confirm final CAD data, control interfaces, air consumption, food-contact declarations, cleaning compatibility and application-specific parameter values with SoftGripping.
Feasibility checklist
What to validate before production release.
Product quality
Check pick success, immediate pressure marks and quality after the intended cold-storage period.
Actual throughput
Measure the complete cycle with robot motion, product acquisition, transfer, placement and recovery.
Product window
Test representative sizes, weights, shapes, orientations, temperatures and surface conditions.
Food and cleaning requirements
Confirm product-contact declarations, cleaning method, chemical compatibility and plant hygiene rules.
Cell integration
Verify CAD, payload, dynamics, pneumatics, control interfaces, infeed, vision and placement geometry.
Service and ownership
Define delivery scope, spare fingers, replacement procedure, maintenance intervals and acceptance criteria.
Download the chicory application note.
Review the defined six-finger configuration, mounting options, pneumatic data, object envelope and gripper performance specifications - then plan a representative product test with SoftGripping.
