EP2158833A2 - Dishwasher with handling device on the dish feed - Google Patents

Abstract

The apparatus has an automatic conveyor-type cleaning machine having a transportation apparatus to transport a washware (120) through a cleaning zone e.g. wash zone, to clean fluid. A handling device e.g. robot, partly automatically picks up the presented washware, and transfers the washware to the transportation apparatus. A feed device e.g. conveyor belt, feeds the washware to the machine, where the handling device automatically picks up the washware from the feed device, where a sensor detects the presented washware. An independent claim is also included for a method for loading an automatic conveyor-type cleaning machine with washware using a cleaning apparatus.

Description

Technical area

The invention relates to a cleaning device for cleaning of items to be cleaned and to corresponding methods for feeding a continuous-cleaning machine and for cleaning items to be cleaned. Such cleaning devices and methods are used in particular in the field of public catering in commercial kitchens, for example in schools, government agencies, hospitals and nursing homes, canteens or similar facilities. In particular, use of such cleaning devices and methods for cleaning dishes such as glasses, plates, cutlery, cups, trays or other objects, which come directly or indirectly in contact with objects suitable for consumption. In principle, however, a use of the proposed cleaning device and the proposed method is also possible for the cleaning of other types of items to be cleaned.

State of the art

In institutions for public catering, such as cafeterias in colleges, canteens, hospital canteens or similar facilities at peak times of the food is usually a simultaneous attack of high amounts of cleaning equipment, such as crockery, cutlery and dining trays. Usually used food trays are fully stocked with all crockery and cutlery and waste, for example by means of a conveyor belt in the vicinity of a dishwashing task of a dishwasher, such as a continuous dishwasher, transported. Continuous dishwashing machines are known, for example, in the form of basket transport machines or in the form of belt transport machines. At the dishes task the dishes and cutlery are usually removed by hand from the trays and used on the conveyor belt of the dishwasher or in the baskets. These Work is very monotonous and at high levels of dishes or items to be cleaned, for example, during the peak times, very tiring.

When a larger amount of items to be cleaned occurs, this volume of work is often no longer manageable by a single operator. For this reason, are provided at the Geschirraetgabe, for example, at the inlet zones of large flushing systems, usually several Abräumplätze and staffed. However, this then increases the space required at these inlet zones. In addition, the financial burden on the operator is significantly increased. Fluctuations in the amount of material to be cleaned are difficult to compensate for in this constellation, and it is usually held unnecessarily much staff.

Alternatively, so-called automatic sorting machines are used for very large rinsing systems with very high volumes of cleaning goods. Such automatic sorting machines are specially designed for the existing cover set. In these systems, the trays are mechanically turned and fed the crockery parts on switches, locks and with similar tools and methods using conveyors of the dishwasher. However, these systems are very large, therefore require a lot of space and are expensive to buy. In addition, these systems are inflexible in terms of the type of cleaning material and the distribution of this cleaning material on the trays. The systems are usually designed for one, special application only. Furthermore, such systems are very maintenance-intensive and relatively prone to failure due to the high complexity.

Object of the invention

It is therefore an object of the present invention to provide a cleaning device and method for feeding a continuous cleaning machine and for cleaning of items to be cleaned, which at least largely avoid the disadvantages of known devices and methods. In particular, the cleaning device and the method should allow a high degree of automation and at the same time be used flexibly.

Disclosure of the invention

This object is achieved by a cleaning device and by methods having the features of the independent claims. Advantageous developments of the invention, which can be realized individually or in combination are shown in the dependent claims.

It is proposed a cleaning device for cleaning of items to be cleaned, which has at least one continuous-cleaning machine. Furthermore, a method for feeding a continuous cleaning machine with items to be cleaned is proposed. In this case, the cleaning device can be set up in particular to carry out a method according to the invention, for example by means of one or more corresponding controls, and the method can be carried out using a cleaning device according to the invention. In this respect, reference may be made to details of the method for possible embodiments of the cleaning device and vice versa.

The method is used to load a continuous cleaning machine with items to be cleaned. Under a loading is generally the provision of cleaning material to understand the continuous cleaning machine, which takes place in such a way that the cleaning material can be properly cleaned in the continuous cleaning machine. In particular, the loading may comprise a correct provision of the cleaning product to a transport device of the continuous-cleaning machine, for example in a correct sorting of the cleaning material, in a correct orientation, in a correct classification in compartments for certain types of cleaning material or the like. The method can also be extended to a method for cleaning the cleaning product by supplementing at least one cleaning step carried out in the continuous-cleaning machine.

The proposed cleaning device can be used in particular for cleaning dishes. Under dishes are, as shown above, to understand objects which can come into direct or indirect contact with food and drinks suitable for consumption and / or can be used in the preparation of such food and / or drinks. Examples of such items are plates, bowls, bowls, cups, glasses, cutlery or trays. As a rule, the item to be cleaned will be composed of several individual parts, so that, for example, a tray provided with a plurality of tableware parts will be provided.

The cleaning device comprises at least one continuous-flow cleaning machine, in particular a continuous-type dishwashing machine. This continuous cleaning machine comprises at least one transport device and is set up to the items to be cleaned through at least one cleaning zone to transport. In this cleaning zone, the cleaning material is applied to at least one cleaning fluid. Several such cleaning zones may also be provided, for example a pre-evacuation zone, a rinsing zone, a rinsing zone, in particular a pump rinsing zone and / or a fresh-water rinsing zone or combinations of said cleaning zones and / or further cleaning zones. Other types of zones may also be provided in the continuous-flow cleaning machine, for example one or more drying zones, inlet zones, outlet zones or the like. Under a continuous cleaning machine is thus generally a suitable for a continuous and / or sequential use of a cleaning device to understand, which has a corresponding transport device and at least one cleaning zone. In particular, this continuous-flow cleaning machine may comprise at least one belt transport and / or rack conveyor through-bed dishwasher and / or a combination of such continuous dishwashers and / or other continuous dishwashers.

Furthermore, the cleaning device comprises at least one handling device, in particular a robot. This handling device is set up to at least partially automatically receive the cleaning items provided and to transfer them to the transport device. Under a handling device is a device to understand, which is adapted to accommodate also randomly distributed provided cleaning and spatially two- or three-dimensional in its position and / or change orientation, so that in general a recording of a device that provides the cleaning material , And a transfer to the transport device is also possible if the providing device does not always provide the cleaning material in the same position and / or orientation, but under a stochastic spatial distribution and / or angular distribution. In this respect, should be understood under a handling device, a device which can respond flexibly to a stochastic spatial distribution and / or angular distribution of the cleaning and yet can accomplish the transfer to the transport device.

The term "at least partially automatically" is to be understood that not every provided cleaning material must be received by the handling device. For example, as explained in more detail below, a plurality of handling devices can also be provided, which, for example, can also be used for different types of items to be cleaned. Furthermore, in addition to the at least one handling device, also one or more human operators can be used, which also receive cleaning supplies and to which at least a transport device and / or to other devices, such as other types of cleaning devices passed.

However, the at least one handling device should act automatically, in the sense that the recording of the provided cleaning can be done by the handling device without direct intervention of human operators. The handling device should therefore recognize automatically that a cleaning material is provided, how and where this cleaning material is positioned and should make accordingly the recording and the transfer of this cleaning material to the transport device.

The cleaning device may further comprise a feed device for feeding the cleaning product to the continuous-cleaning machine. For example, the feeder can be set up to deliver the items to be cleaned to and / or in the vicinity of this task of the continuous-flow washing machine and / or to a plurality of such types of task. This Geschirraufgabe can be arranged for example in the region of an inlet of a continuous dishwashing machine. The handling device should be set up in this case to receive the cleaning material automatically from the feeder and transfer it to the transport device. In this case, one or more feed devices, combined with one or more transport devices, may be provided. Alternatively or in addition to the at least one feed device, which preferably operates fully automatically, however, other types of provision of the cleaning product can be selected, for example, additionally a manual provision of items to be cleaned, for example dishes.

For example, the feeder may comprise at least one of the following feeders: a conveyor belt, in particular a webbing and / or a round belt conveyor; a chain strap, in particular a plate chain strap. However, other types of feeders and / or combinations of the mentioned types and / or other types of feeders are conceivable. If a conveyor belt or a chain belt is used, this conveyor belt or chain belt can be arranged in particular perpendicularly or substantially perpendicular to a transport direction of the at least one transport device. The at least one handling device can then be arranged, for example, in an angular range between the transport device and the conveyor belt or a transport direction of the feed device. In this respect, the handling device is preferably configured to perform a pivoting movement, in which the cleaning material received by the feed device by an angle, preferably an angle of at least approximately 90 °, is pivoted to be able to be placed on the transport device can. For example, the handling device may comprise a pivot axis for this purpose.

As indicated above, the cleaning device may include one or more continuous-cleaning machines. In the case of several continuous-cleaning machines, for example at least two continuous-cleaning machines, the feeding device can be set up to provide cleaning goods for both continuous-flow washing machines. Thus, for example, one and the same feed device can be used to provide cleaning goods to a plurality of continuous-flow washing machines, for example a first continuous-cleaning machine a first type of laundry, and a second continuous-cleaning machine a second type of laundry. In this case, it is particularly preferred if each continuous-cleaning machine is assigned at least one own handling device, which receives the cleaning material provided by the feed device and transfers it to the respective transport device of the respective continuous-flow cleaning machine.

The handling device can basically be adapted to the type of cleaning product provided. For example, the handling device may have at least one of the following receiving devices for receiving the provided cleaning stock: a mechanical pick-up device, in particular a gripper; a magnetic recording device; a pneumatic receiving device, in particular at least one sucker and / or at least one suction cup. However, other types of recording devices are in principle possible. Regardless of the type of recording device provided, this recording device can also be adapted to the type of provision of the cleaning product. If this item to be cleaned, for example, essentially provided in a plane, for example by a conveyor belt, a conveyor belt, a webbing or the like, the receiving device may be set up to receive the items to be cleaned in this plane or from spatial directions above this level.

The transfer to the transport device can be designed accordingly. If this transport device, for example, in turn designed as a planar transport device, for example in the form of a belt, a chain or similar transport devices, so again a transfer in this plane or from spatial directions can be made above this level. As explained below by way of example in more detail, the transport device can be designed for example as a belt transport and can, for example have multiple subjects, tracks or the like on a tape. Accordingly, the assignment of different types of items to be cleaned to these subjects, tracks or similar recordings in the transport device can take place. Also, a corresponding sorting or task in baskets or other baskets of the transport device is possible, for example, when using basket transport continuous dishwashers.

The handling device is preferably designed as a freely programmable handling device. For example, the handling device may have one or more controls, which may be set up centrally or even decentrally. A complete or partial summary of this at least one control of the handling device with other types of controls of the cleaning device is possible, as also exemplified below. The control of the handling device is also referred to below as device control, for example, to distinguish from other types of controls of the cleaning device, such as a machine control of the continuous cleaning machine. The device controller may comprise, for example, at least one data processing device, for example one or more microprocessors or the like. Furthermore, corresponding storage means may be provided, for example non-volatile or volatile storage means. Furthermore, input and output means can be provided, for example one or more displays, display devices, keyboards, touch screens, control buttons, acoustic display elements or the like.

Free programmability of the handling device should be understood to mean that, by changing a corresponding program in the device control, the handling device can be freely adapted to the ambient conditions within certain limits. Thus, for example, an adjustment with regard to the type of provision of the cleaning, with regard to the type of cleaning material itself, with regard to the type of recording of the cleaning, with respect to the orientation of the supply device to the transport device and the movements to be performed for the transfer, with respect to the type of transport device or with respect to other environmental conditions or combinations of the said and / or other types of environmental conditions. In this way, the cleaning device can be flexibly adapted to the local conditions. In particular, a free programmability with respect to the movements that must be performed by the handling device in the transfer to the transport device may be provided.

The handling device can be configured in particular as a handling device with at least two degrees of freedom of a movement. Preferably, even three or more degrees of freedom are provided. This can be ensured, for example, by the fact that the handling device comprises at least one robot, for example at least one industrial robot. This robot may be, for example, a biaxial, a triaxial, or even a quad or multiaxial robot. For example, this may be a robot with a corresponding robot arm, which is controllable on several axes. A robot can generally be understood to mean a freely programmable and multifunctional manipulator which preferably has at least three independent axes and which is generally used to move materials, parts, tools or special devices on programmed, variable paths to perform various kinds of tasks. In the present case, this task is at least partially in an automatic recording of the cleaning and a transfer to the transport device. Under an industrial robot are universally applicable multi-axis motion machine to understand their movements with respect to the sequence of movements and the movement paths or angles free, i. preferably without mechanical intervention, are programmable, and which may be sensor-guided. They can be equipped with grippers, tools or other means of production and can perform handling and / or manufacturing tasks. In the present case, such industrial robots are preferably used for the automatic recording of the provided cleaning material and the transfer to the transport device.

As already described in connection with the above definition of an industrial robot, it is particularly preferred if the cleaning device, in particular the handling device, has at least one sensor for detecting the provided cleaning material. In this case, a sensor is generally to be understood as a device based on basically any physical principles which can detect at least one property of the cleaning product, for example a physical and / or chemical property. For example, this property may include at least one of the following properties: a layer of the cleaning product; an orientation of the cleaning material; a kind of the cleaning material; a degree of contamination of the cleaning material; a condition of the cleaning material; a material of the cleaning material. Other types of properties can also be detected. By means of the at least one sensor, it can be realized, for example, that the handling device reacts flexibly to the stated properties in order to receive the cleaning product and / or transfer the product To design cleaning goods to the transport device according to the detected characteristics. The pure presence of a cleaning product can be understood as a property in this sense, so that the recording and transfer to the transport device can be started accordingly upon detection of this presence. Furthermore, as explained in more detail below, the at least one property of the items to be cleaned can also be forwarded to the continuous-flow cleaning machine, for example a controller of the continuous-cleaning machine, in order to adapt a cleaning process or cleaning operation accordingly to this property. For example, as also explained below, this may be a degree of contamination and / or a type of cleaning product.

Alternatively or in addition to the at least one sensor or as part of this at least one sensor, the cleaning device, in particular the handling device, further comprise at least one imaging system. This image acquisition system can be configured to recognize the items to be cleaned, wherein the cleaning device can be set up to control the reception of the items to be cleaned by the handling device and / or the transfer of the items to be cleaned to the transport device according to the items to be cleaned recognized by the image acquisition system.

An imaging system is generally understood to mean a system which records one, two or three-dimensional image information about the cleaning material provided, for example at regular or irregular intervals. For example, for this purpose, the image processing system can detect at least one optical array, for example a one-, two- or three-dimensional optical array. For example, cameras, preferably digital cameras, can be used for this purpose, which record still images or sequences of images. For example, these cameras may include CMOS and / or CCD chips and / or other types of image sensors.

Furthermore, the image processing system may comprise at least one data processing device for processing and / or storing the image information. By way of example, an image processing system can also be included which evaluates the provided optical data completely or partially. By way of example, this image processing system can comprise an image recognition device which is set up in order to detect one or more properties in the sense of the properties of the cleaning product described above. Thus, for example, the presence of items to be cleaned, the type of items to be cleaned, the orientation and / or position of the items to be cleaned, a degree of contamination of the cleaning product or similar properties or combinations of said and / or other properties are detected. For example, this can be done by the image processing system by means of a pattern recognition, by means of which, for example, targeted searches for the occurrence of certain, typical for a particular type of cleaning goods types of patterns.

The transfer of the cleaning material to the transport device can be controlled in this development of the invention according to the recognized by the image processing system cleaning. It should also be mentioned in this aspect of the invention that the transfer of the cleaning product is controlled in accordance with the at least one property of the cleaning product detected by the image acquisition system, for example an orientation and / or position of the cleaning product. For this purpose, for example, the handling device, as soon as a position and / or orientation of the cleaning material is detected, at least one receiving device, for example at least one gripper, according to this recognized position and / or orientation control. Furthermore, the cleaning device can also be set up to control a cleaning process of the cleaning product in the continuous cleaning machine in accordance with the cleaning material or the recognized property detected by the image acquisition system. For example, this control can be done according to a degree of contamination of the cleaning. For example, according to the detected degree of soiling and / or the recognized type of cleaning product, an adjustment of the parameters of the cleaning process, for example, an adaptation of the cleaning parameters of a dishwasher operation. Thus, for example, a belt speed of the transport device can be adapted, a type and / or concentration of cleaning agents, a temperature of cleaning or the like. An adaptation of parameter combinations of the mentioned and / or other parameters of the operation of the continuous cleaning machine is possible.

The cleaning device may, as described above, comprise one or more handling devices, in particular one or more robots. As described above, one or more human operators can additionally be provided, which can also be used, for example, for the transfer of the provided cleaning material to the transport device.

In addition, one or more imaging systems can be provided. For example, each handling device may be associated with one or more of its own imaging systems, or one or more imaging systems may be grouped be provided for several handling devices. It is particularly preferred if the multiple handling devices and / or the multiple image capture systems are controlled and / or supplied by a common device control.

As indicated above, the at least one continuous-cleaning machine may further comprise at least one machine controller. This machine control, which in turn may comprise, for example, one or more data processing devices, may for example be set up in terms of programming in order to control a cleaning process in the continuous-cleaning machine. For example, the machine controller may be set programmatically to perform one or more cleaning programs. In turn, corresponding storage media, input and output means or similar devices usually included in a machine control can be provided.

The at least one handling device, as shown above, have at least one device control. In this case, it is particularly preferred if the at least one automatic control and the at least one device control are in unilateral or mutual operative connection. Under an active connection is a connection to understand, which can be done for example via one or more corresponding wired and / or wireless interfaces, in which in one direction or in both directions data and / or parameters can be exchanged. For example, these may be control parameters. If, for example, a stop is caused in the continuous cleaning machine, for example as a result of a malfunction or interruption of the machine operation caused or caused by operating personnel, the device control can accordingly also be stopped, for example, so that the transfer of items to be cleaned to the transport device is stopped. This is only one way of influencing in this direction, so that, for example, other parameters can be transmitted to the handling device, such as a current transport speed of the transport device or the like. Alternatively or additionally, an influence in the opposite direction, ie from the handling device to the continuous cleaning machine, carried out, for example, as shown above, to adapt a cleaning process in the continuous cleaning machine on at least one property of the cleaning. The operative connection can be decentralized, or it can also be provided a central control, which includes both the machine control and the device control wholly or partially, so that a mutual influence between handling device and continuous cleaning machine is possible.

As indicated above, the cleaning device may be configured to detect different types of items to be cleaned. In particular, the handling device can be set up accordingly. According to this recognition of different types of cleaning material provided, a distinction can be made between these types of items to be cleaned and a transfer to the transport device can be influenced accordingly. Thus, for example, in one and the same pass-through cleaning machine, a sorting of different types of items to be cleaned takes place, for example by assigning these different types to different receptacles in the transport device. For example, the transport device may comprise at least one of the following transport devices: a belt transport device, in particular a belt transport device having at least two different tracks and / or belt areas for different types of cleaning stock; a basket-transporting device, in particular a basket-transporting device with baskets with at least two different compartments for different types of items to be cleaned. Accordingly, by means of the handling device, an assignment of the different types of cleaning material can take place.

In this case, one and the same handling device, for example, also be set up to handle different types of cleaning and handed over to the at least one transport device. Alternatively or additionally, specialized handling devices can be used, so that, for example, the cleaning device comprises at least two handling devices with at least partially different tasks. Preferably, accordingly, at least two imaging systems can be provided. The cleaning device can then be set up to pick up different types of items to be cleaned by means of the at least two handling devices and preferably by means of the at least two image acquisition systems and to transfer them to the transport device.

In addition to the components mentioned, the cleaning device may further comprise additional components. For example, the cleaning device may further comprise at least one disposal device, for example, in particular at least one waste chute for waste. The cleaning device can then be set up to dispose of waste contained in and / or on the items to be cleaned by means of the at least one handling device or (if several handling devices are provided) by means of at least one of these handling devices and the disposal device. In this way, for example, food remnants in appropriate Dishes are disposed of. This can be done in any case, so that, for example, in any case, such disposal is made, or it can, for example by means of the image acquisition system, be recognized if such disposal is required and only in this case, a corresponding disposal are made. Furthermore, additional items such as napkins or the like may also be discarded, or a sorting of non-disposable items (such as forgotten personal belongings) may also be made. This too is an advantage of the described image acquisition, since such image acquisition systems can differentiate between different types of additional items which are not attributable to the items to be cleaned.

In addition to the proposed cleaning device, a method for feeding a continuous cleaning machine is proposed, which, as shown above, in particular using a cleaning device and / or a handling device according to one or more of the embodiments described above can be performed. In this case, the cleaning material is provided to at least one handling device, wherein the handling device at least partially automatically receives the provided cleaning material and transfers to at least one transport device at least one continuous-cleaning machine. The transport device transports the items to be cleaned through at least one cleaning zone of the continuous-cleaning machine. In this method too, at least partial tasks of the entire scope of work can in turn also be taken over by human operators, for example parts of the transfer of the provided cleaning material to the transport device. As described above, for possible details and further developments of the method according to the invention, reference may be made to the corresponding developments and / or details of the described cleaning device. The method for feeding the continuous-flow cleaning machine can, as described above, be extended to a method for cleaning items to be cleaned.

The proposed cleaning device and the proposed methods have a number of advantages over known devices and methods. Thus, in particular, a device and method are provided, with the aid of which, for example, crockery and cutlery parts of dining trays can be removed and used, for example, on a conveyor belt or in the baskets of a conveyor dishwasher. All this can be done without a human operator having to undergo strenuous, monotonous activity.

At the same time can be created with the sketched cleaning device, a device that meets the described purpose, without requiring a large amount of space and / or without high investment. At the same time, this device can be used comparatively universally. So can be done with little effort, such as simple software changes, adaptation to changing operating situations. This has the effect that cleaning devices of this type can be produced universally and can only be adapted to the special requirements of a specific customer with comparatively simple modifications. This adjustment can already be made in the factory and / or later during commissioning. In this way, logistical costs can be reduced, and also the cost of a commissioning can be significantly reduced.

Furthermore, by means of the proposed cleaning devices by means of the proposed method an increase in the operating speed, ie the throughput of the cleaning device, can be achieved. This is due in particular to the fact that by means of an advanced sensor technology and / or image recognition technology, a handling device, for example a corresponding robot, can achieve a higher operating speed than human operating personnel. This also results in great savings potential for the operator of such a system.

For example, as set forth above, one or more robots may be combined with one or more imaging systems, including, if appropriate, a corresponding image analysis, and combined with a continuous dishwashing machine for the purpose of scavenging food trays in a public catering facility. The advantages of such a combination are then in particular that the robot system is freely programmable in his movements. Such a robot system is therefore not designed and manufactured in one piece only for one purpose, but due to its flexibility is suitable to be built in a series. Only slight adjustments, for example in the software, are then required for adaptation to the respective individual case. In this case too, the proposed combination with an overall system makes it possible to increase the working speed in comparison to a purely manual clearing. Furthermore, the proposed cleaning device for a long time, especially without breaks during a working shift, do a high workload. Overall, such a robotic system, considering all expenses for an operator can be more cost effective than a manual clearance.

embodiments

Further details and features of the invention will become apparent from the following description of preferred embodiments. However, the invention is not limited to the embodiments. The embodiments are shown schematically in the figures. The same reference numerals in the individual figures designate the same or functionally identical or with respect to their functions corresponding elements.

Figur 1a

eine schematische Darstellung einer Reinigungsvorrichtung nach dem Stand der Technik mit manueller Beschickung in Zwei-Platz-Variante;

Figur 1b

eine schematische Darstellung einer dem Stand der Technik entsprechenden Reinigungsvorrichtung mit manueller Beschickung in einer Vier-Platz- Variante;

Figur 2

eine schematische Darstellung eines typischen Tabletts einer Gemein- schaftsverpflegung mit seinem möglichen Inhalt;

Figur 3

eine schematische Draufsicht auf ein Förderband einer Durchlaufgeschirr- spülmaschine mit mehreren Spuren und/oder Bandbereichen für unter- schiedliche Arten von Reinigungsgut; und

Figur 4

eine schematische Darstellung einer Ausführungsform einer erfindungsge- mäßen Reinigungsvorrichtung.

In detail shows:

FIG. 1a

a schematic representation of a cleaning device according to the prior art with manual charging in two-place variant;

FIG. 1b

a schematic representation of a prior art cleaning device with manual charging in a four-place variant;

FIG. 2

a schematic representation of a typical tray of a communal catering with its possible contents;

FIG. 3

a schematic plan view of a conveyor belt of a continuous dishwasher with multiple tracks and / or belt areas for different types of cleaning material; and

FIG. 4

a schematic representation of an embodiment of a cleaning device according to the invention.

In FIG. 1a In plan view, a prior art cleaning device 110 is shown schematically. This cleaning device 110 comprises a continuous-type dishwasher 112, which, as an integral or separate component, is assigned a transport device 114. This transport device 114 may be configured in one or more parts and has, for example, a conveyor belt 116.

As part of the cleaning device 110, the through-feed dishwasher 112 is preceded by a feed device 118. This feed device 118, which can be configured, for example, as a conveyor, serves to supply and thus to provide of items to be cleaned 120 to the continuous dishwasher 112. The feeder 118 may comprise, for example, a simple webbing 122, a round belt conveyor or a plate chain conveyor. However, other embodiments are conceivable.

Belonging to the continuous dishwashing machine 112 are located at an inlet 124 of the continuous dishwashing machine 112 at the in FIG. 1a illustrated embodiment, two workplaces on which operators 126 clear the cleaning 120 by hand from the (also the cleaning material 120 attributable to) trays and put it in the correct position on the conveyor belt 116 of the conveyor dishwasher 112. The cleaning stock 120 originally provided in a first transport direction 128 of the feed direction 118 is then conveyed in a second transport direction 130, which in the illustrated embodiment is different from the first transport direction 120, into the throughflow dishwasher 112 or an inlet tunnel 132 of the throughflow dishwasher 112. The inlet tunnel 132 may, as in the FIGS. 1a and 1b indicated, one or more cleaning zones 134 may be downstream, in which the cleaning 120 is cleaned sequentially. Various embodiments are conceivable.

On the tray or in other types of cleaning product 120 contained waste and / or food particles are in the illustrated embodiment in FIG. 1a , also by hand, given in designated discharge chutes 136. Such discharge chutes 136 could also in the example according to FIG. 1b be provided.

Each operator 126 takes over, for example, in the in FIG. 1a shown process only a few or only a few subtasks. The cleared trays of the items to be cleaned 120 can, for example, be conveyed further, for example to a separate tray dishwashing machine, which in FIG. 1a is not shown and which may for example also be part of the cleaning device 110. However, embodiments in which the trays are transported on their own tracks through the same pass-through dishwasher 112 as the dishes and cutlery and are cleaned therein are also known.

Unlike the in FIG. 1a illustrated embodiment with two operators 126 is in FIG. 1b also shown in plan view, a schematically illustrated embodiment, in which there are four workplaces for operators 126 at the inlet 124 of the conveyor dishwashing machine 112. Also in this, also the state of the art example, the cleaning product 120 by hand of the, in turn, the cleaning material 120 attributable trays cleared and placed in the correct position on the conveyor belt 116 of the conveyor dishwashing machine 112. Again, for example, in turn, the cleared tray can be forwarded, for example, again to a separate tray dishwasher, or it can also be a cleaning of the trays in the same continuous dishwashing machine 112. Otherwise, for more details of the in FIG. 1b illustrated embodiment largely to the description of FIG. 1a to get expelled.

In the FIG. 1b illustrated four-place variant is usually chosen when so much dishes to sort and wash is that the amounts can no longer be processed by two operators 126. Variants in which only one operator 126 is used are likewise to be found in practical use. Furthermore, it should be noted that the arrangements according to the FIGS. 1a and 1b are to be understood merely by way of example, so that, for example, the individual functional elements can also be arranged spatially differently on the scissors task than in the examples according to FIGS FIGS. 1a and 1b shown.

The representation according to FIG. 2 schematically is a possible arrangement of cleaning 120 to take, as it is often encountered in the field of dishwashing. It should be noted, however, that the individual components of this cleaning product 120 can be distributed virtually arbitrarily. In this respect, the in FIG. 2 Exemplarily represented distribution as idealized, and the cleaning device 110 should be able to handle other distributions of any kind.

In FIG. 2 reference numeral 138 denotes a tray, such as a plastic or wooden tray. This tray 138 may basically have a substantially arbitrary shape, but is usually as in FIG. 2 shown, rectangular executed. Furthermore, on the tray 138 in the illustrated embodiment, a soup bowl 140, a plate 142, a salad bowl 144, a dessert bowl 146, cutlery 148 and a drinking glass 150 are provided. All items are only symbolically indicated. As in FIG. 2 can be seen, in addition to an almost random random distribution of the individual objects of the cleaning product 120, also numerous different forms and / or materials to be cleaned 120, which must be handled reliably and safely by the cleaning device 110.

In FIG. 3 an exemplary embodiment is exemplarily illustrated on a transport device 114 of a cleaning device 110 according to the prior art. These Transport device 114 can also be used in the context of the present invention and is intended to clarify a further problem of automatic loading of continuous-flow dishwasher 112.

The transport device 114 in turn has a conveyor belt 116, for example, a conveyor belt. In the present case, this conveyor belt of the throughflow dishwasher 112 is subdivided into a plurality of tracks and / or belt areas (both expressions are used synonymously below) for different types of laundry 120. While reference numeral 116 denotes the entire conveyor belt, reference numerals 152 indicate a track for cutlery 148, reference numeral 154 a track for trays (for example, the salad tray 144 and / or the dessert tray 146 as shown in FIG FIG. 2 ), reference numeral 156 a track for plates 142 and reference numeral 158 a track for trays 138. This arrangement according to FIG. 3 however, is also only to be seen as an example. Other configurations of the transport device 114 are also conceivable, for example arrangements in which a transport of the cleaning product 120 takes place by means of baskets or the like.

In FIG. 4 schematically a possible embodiment of a cleaning device 110 according to the invention is shown in plan view. The embodiment corresponds in many details to the embodiments according to the FIGS. 1a and 1b , so that for the function of the individual elements and their possible structure, for example, reference may be made to the above description of these figures. Again, the cleaning device 110 comprises a continuous dishwashing machine 112 with a transport device 114 with conveyor belt 116. Furthermore, again, again approximately perpendicular to the transport device 114, a feed 118 is provided which provides cleaning material. However, other arrangements of the transport device 114 and / or the feeder 118 are in principle possible.

The feed device 118 is connected upstream of the through-flow dishwasher 112 for the supply of cleaning material 120. For example, the feeder 118 may again comprise a webbing 122, a round belt conveyor, or a plate chain belt. However, other embodiments are again conceivable.

The cleaning device 110 includes in the in FIG. 4 illustrated embodiment further in the region of the inlet 124 a handling device 160. This handling device 160 is preferably universally applicable and can for example as a robot, as a multi-axis robot, as a multi-axis articulated arm robot or in a similar manner be designed. The handling device comprises a device control 162, which may be separate or partially identical from a state machine controller 164 of the continuous dishwashing machine 112. Centralized control of the entire cleaning device 110 is also conceivable. The controllers 162, 164 may also be in operative connection, for example via one or more in FIG. 4 not shown interfaces.

Furthermore, the cleaning device 110 in the in FIG. 4 Illustrated embodiment, an image acquisition system 166. This image acquisition system 166 is in FIG. 4 shown as part of the handling device 160. However, other embodiments are also possible in principle, for example, an arrangement in which the image acquisition system 166 is formed separately and / or multiple handling devices 160 is assigned. The image acquisition system 166 is preferably set up to also at least partially perform image processing, ie, for example, to detect at least one property of the cleaning product 120 by optical means, for example the pure presence of the cleaning product 120 and / or the orientation of the cleaning product 120. Further examples have been given above described.

The handling device 160 further comprises a receiving device 168, which is shown in this embodiment as a gripper 170. Again, however, other embodiments are possible. By means of the image acquisition system 166 and / or the image processing system contained therein, the handling device 160 or the cleaning device 110 can for example detect the presence of items to be cleaned 120, for example the fact that a new, loaded, partially loaded or unloaded tray 138 is provided by the feeder 118. Furthermore, a load on this tray 138 can be detected, for example, as shown in FIG FIG. 2 , The device controller 162 may then cause the manipulator 160, such as the robot, to perform the necessary movements and actions to accomplish the task of transfer to the transport device 114. With the help of the receiving device 168, for example, the gripper 170, for example, the crockery 140, 142, 144, 146, 150 and / or cutlery 148 are received by the tray 138 and placed in the correct position on the conveyor belt 116 of the conveyor dishwasher 112. The receiving device 168 can, for example, as in FIG. 4 illustrated, comprise a mechanical gripper 170 or, alternatively or additionally, a pneumatic gripper, in particular a suction cup, a magnetic gripper, in particular for receiving the cutlery 148, or a combination from such receptacles and / or other types of receptacles 168.

As already according to the state of the art in large clearing stations with manual operation, each operator 126 takes over individual or only a few partial recordings, such a procedure can in principle also be used in robot-assisted dishwashing according to US Pat FIG. 4 or be applicable according to other embodiments of the invention. This may mean that in cleaning devices 110, for example, from a certain size and / or capacity, multiple handling devices 160, for example, several acceptance robots can be used.

Likewise, it is conceivable that the one handling device 160 or the plurality of handling devices 160 does not pick up all existing objects that are provided by the feed device 118 and transfer them to the transport device 114, but that only partial tasks are taken over by the handling devices 160. For example, in addition to the existing handling devices 160, one or more human operators 126 may also be used, for example, to remove remaining remnants (for example, items not detected by the manipulator 160) from the tray 138 and to supply them accordingly.

Furthermore, it is conceivable that the handling device 160, in particular the robot, with its image acquisition system 166 gains knowledge about a property, for example a type, of the cleaning product. For example, it can be seen that it is only lightly soiled dishes from breakfast in the community catering facility. Alternatively or additionally, for example, cleaning material which is particularly difficult to clean could be recognized, for example pots or the like. These findings could pass the device controller 162 of the manipulator 160 to the machine controller 164 of the continuous dishwasher 112 so that the machine controller 164 of the continuous dishwasher 112 can be appropriately influenced on the parameters of the dishwasher operation. As an example, a change in the belt speed of the conveyor belt 160, a temperature in individual cleaning zones 134, special cleaning agent additives or the like may be mentioned here.

Unlike the continuous dishwashers 112 in the form of belt transport machines mentioned in the examples, the use of the described invention is as above shown, also in other types of continuous cleaning machines possible, for example in basket transport dishwashers.

LIST OF REFERENCE NUMBERS

110

cleaning device

112

Conveyor-type dishwasher

114

transport device

116

conveyor belt

118

feeding

120

cleaned

122

webbing

124

enema

126

operators

128

first transport direction

130

second transport direction

132

entry tunnel

134

cleaning zones

136

Discharge shafts for waste

138

tray

140

soup bowl

142

Plate

144

salad bowl

146

Dessert bowl

148

cutlery

150

drinking glass

152

Track for cutlery

154

Trace for shells

156

Trace for plate

158

Trace for trays

160

handling device

162

device control

164

The machine control

166

Image capture system

168

cradle

170

grab

Claims (19)

Cleaning device (110) for cleaning of items to be cleaned (120), in particular crockery, comprising at least one continuous-cleaning machine, in particular a continuous dishwasher (112), wherein the continuous-cleaning machine at least one transport device (114) and is adapted to the cleaning material (120) through at least one The cleaning device (110) further comprises at least one handling device (160), in particular a robot, wherein the handling device (160) is arranged to at least partially automatically receive supplied cleaning material (120) and to the transport device ( 114). Cleaning device (110) according to the preceding claim, wherein the cleaning device (110) further comprises a feed device (118) for supplying the cleaning material (120) to the continuous-cleaning machine, wherein the handling device (160) is adapted to the cleaning material (120) automatically from to receive the feeder (118) and to pass to the transport device (114). Cleaning device (110) according to the preceding claim, wherein the feed device (118) comprises at least one of the following feed devices (118): a conveyor belt, in particular a belt (122) or a round belt conveyor or a chain belt, in particular a plate chain belt. Cleaning device (110) according to one of the two preceding claims, wherein the cleaning device (110) comprises at least two continuous-cleaning machines, wherein the feed device (118) is arranged to provide cleaning material (120) to both continuous-flow cleaning machines. Cleaning device (110) according to the preceding claim, wherein each continuous cleaning machine is associated with at least one handling device (160). Cleaning device (110) according to any one of the preceding claims, wherein the handling device (160) at least one of the following receiving means (168) for receiving the provided cleaning material (120) comprises: a mechanical receiving device (168), in particular a gripper (170); a magnetic one Receiving device (168); a pneumatic receiving device (168), in particular at least one sucker and / or at least one suction cup. Cleaning device (110) according to one of the preceding claims, wherein the handling device (160) is designed as a freely programmable handling device (160). Cleaning device (110) according to any one of the preceding claims, wherein the handling device (160) as a handling device (160) with at least two degrees of freedom of movement, preferably three or more degrees of freedom is configured. Cleaning device (110) according to one of the preceding claims, wherein the cleaning device (110), in particular the handling device (160), at least one sensor for detecting the provided cleaning material (120). Cleaning device (110) according to one of the preceding claims, wherein the cleaning device (110), in particular the handling device (160), further comprises at least one image capture system (166), wherein the image acquisition system (166) is adapted to recognize the cleaning material (120) wherein the cleaning device (110) is set up to receive the cleaning material (120) by the handling device (160) and / or the transfer of the cleaning material (120) to the transport device (114) in accordance with the cleaning material (166) recognized by the image acquisition system (166). 120). Cleaning device (110) according to the preceding claim, wherein the cleaning device (110) is further adapted to perform a cleaning operation of the cleaning product (120) in the continuous cleaning machine according to the cleaning material (120) detected by the image acquisition system (166), in particular according to a degree of soiling of the cleaning material ( 120). Cleaning device (110) according to one of the preceding claims, wherein a plurality of handling devices (160) and / or a plurality of image acquisition systems (166) are provided, wherein the plurality of handling devices (160) and / or the plurality of image acquisition systems (166) are provided by a common device controller (162). controlled and / or supplied. The cleaning device (110) of any one of the preceding claims, wherein the pass-through cleaning machine comprises at least one state machine controller (164), the handling device (160) comprising at least one device controller (162), the state machine controller (164) and the device controller (162) in one-sided or one-way control mutual active connection stand. Cleaning device (110) according to any one of the preceding claims, wherein the cleaning device (110) is adapted to distinguish different types of cleaning material (120) and to deliver the cleaning material (120) to the transport device (114) according to the recognized type. Cleaning device (110) according to one of the preceding claims, wherein the transport device (114) comprises at least one of the following transport device (114): a belt transport device (114), in particular a belt transport device (114) with at least two different tracks (152 , 154, 156, 158) and / or belt areas for different types of items to be cleaned (120); a basket transport device (114), in particular a basket transport device (114) with baskets with at least two different compartments for different types of items to be cleaned (120). Cleaning device (110) according to any one of the preceding claims, comprising at least two handling devices (160) and preferably at least two image acquisition systems (166), wherein the cleaning device (110) is adapted to by means of the at least two handling devices (160) and preferably by means of at least two Image capture systems (166) to receive different types of items to be cleaned (120) and transfer them to the transport device (114). Cleaning device (110) according to any one of the preceding claims, further comprising at least one disposal device, in particular at least one waste discharge shaft (136), wherein the cleaning device (110) is arranged to be in and / or on by means of the handling device (160) and the disposal device Dispose of waste containing the items to be cleaned (120). A method for feeding a continuous-flow cleaning machine, in particular a continuous dishwasher (112), with items to be cleaned (120), in particular using a cleaning device (110) according to one of the preceding claims, wherein the items to be cleaned (120) to at least one handling device (160), wherein the handling device (160) receives the provided cleaning material (120) at least partially automatically and transfers it to at least one transport device (114) of the continuous-cleaning machine, which transports the object to be cleaned (120) through at least one cleaning zone (134) of the continuous-cleaning machine , A method for cleaning items to be cleaned (120), wherein a continuous-cleaning machine is fed using a method according to the preceding claim with the cleaning material (120), wherein the cleaning material (120) is further cleaned in at least one cleaning step in the continuous-cleaning machine.

Images