EP3619015A1 - Greifersystem zum greifen von aufzuschneidenden lebensmittelriegeln, aufschneidevorrichtung, verfahren - Google Patents
Greifersystem zum greifen von aufzuschneidenden lebensmittelriegeln, aufschneidevorrichtung, verfahrenInfo
- Publication number
- EP3619015A1 EP3619015A1 EP18721788.0A EP18721788A EP3619015A1 EP 3619015 A1 EP3619015 A1 EP 3619015A1 EP 18721788 A EP18721788 A EP 18721788A EP 3619015 A1 EP3619015 A1 EP 3619015A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- gripper
- length compensation
- devices
- gripper devices
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005520 cutting process Methods 0.000 title abstract description 8
- 235000013305 food Nutrition 0.000 claims description 90
- 238000011156 evaluation Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 4
- 235000013351 cheese Nutrition 0.000 description 2
- 235000013372 meat Nutrition 0.000 description 2
- 235000013580 sausages Nutrition 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 239000000969 carrier Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 235000021058 soft food Nutrition 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
- B26D7/0683—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form specially adapted for elongated articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/01—Means for holding or positioning work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
- B26D7/0608—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form by pushers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/01—Means for holding or positioning work
- B26D2007/011—Means for holding or positioning work by clamping claws, e.g. in high speed slicers for food products
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D2210/00—Machines or methods used for cutting special materials
- B26D2210/02—Machines or methods used for cutting special materials for cutting food products, e.g. food slicers
Definitions
- the present invention is based on a gripper system for gripping food bars to be sliced, the gripper system having at least two gripper devices.
- Such devices are known from the prior art and are used in particular to grab sausage, ham, meat and cheese bars.
- the gripper systems are typically part of a slicing device which allows slicing food bars.
- Such slicers are also known as “slicers” or “high performance slicers”. In principle, it is possible to arrange several food bars at the same time in a slicing device, to grasp them and, at the same time, cut them open at the same time.
- the food bars typically (or at least slightly) have different lengths, which makes gripping impossible with conventional gripper systems, another process step is performed prior to gripping in the prior art methods. Accordingly, the food bars are typically brought to an identical length before or after insertion into the slicer, but at least prior to gripping and slicing (this is especially true for relatively tough food bars, but also for soft food bars when the differences in length are too great). The longer food bars are thus on the length of the shortest
- Gripper systems can be fixed for subsequent cutting in the slicing.
- a disadvantage of such methods / systems is that at least one additional complex process step (the shortening or the
- the object of the present invention is achieved by a gripper system for gripping food bars to be sliced, wherein the gripper system comprises at least two gripper devices, characterized in that at least one of the gripper devices has a length compensation, wherein the at least one of the gripper devices comprises a locking unit, wherein the locking unit such is designed that using the locking unit the
- the gripper system according to the invention has the advantage over the prior art that a plurality of (at least two) food bars to be sliced can be gripped simultaneously, in particular in the following
- the gripper system has a plurality of gripper devices (but at least two), so that several food bars (but at least two food bars) are simultaneously fixable and sliceable.
- at least one of the gripper devices has a length compensation, whereby it is possible that at least two food bars of different lengths can be gripped simultaneously.
- Length compensation is detected by a locking unit, whereby it is possible that the gripper and the length compensation during unloading (during the cutting process) not further in the direction of food bar
- the gripper system comprises a plurality of gripper devices, in particular two or three or four or ten gripper devices.
- the gripper devices each have a length compensation and a locking unit, wherein the locking units each such
- Length compensation of the respective gripper device is detected.
- each of the gripper devices of the gripper system has a length compensation and a fixing unit. This allows anyone
- Locking unit grab a food bar so that it can be cut open.
- the gripper system comprises at least one further gripper device, in particular a plurality of further gripper devices, wherein the further gripper device no locking unit and / or no
- the gripper devices are each arranged in separate tracks, wherein the tracks are formed such that the tracks are each equipped with at least one food latch.
- the gripper devices are arranged in separate tracks.
- the tracks are advantageously so pronounced that each of them can accommodate at least one food bar. This makes it possible that several food bars can be fixed and / or gripped simultaneously by the gripper system. It is conceivable that the tracks are not formed physically as part of the gripper system and / or a slicing device, but merely serve to illustrate the assignment of the respective food bars to the respective gripper device.
- the gripper devices each have means for driving in a
- Gripper devices each comprise means for driving in a main extension direction of the tracks, wherein the gripper devices and the respective
- Length compensations include or wherein in particular the means for driving the respective length compensations.
- the main extension direction of the tracks in each case coincides with the main extension direction of the food bar and that the food bar and the gripper devices can be moved towards each other by the means for driving. It is also possible that the
- Gripper devices and food bars can be removed from each other. It is particularly possible that the means for driving the
- Length compensations include or that the means for driving the
- Length compensations are, wherein the respective length compensation moves the respective gripper device and the respective food bar towards each other.
- the gripper system has at least one means for detecting and / or evaluating the force acting on the respective length compensation respective force, wherein a threshold value for the respective force can be fixed, wherein the gripper devices are each formed that - in the case of
- the respective locking unit determines the respective length compensation of the respective gripper device.
- Length compensation acting respective force Festleg bar is.
- the respectively acting on the length compensation respective force can be measured by a means for detecting and / or evaluation of the force acting on the respective length compensation respective force (or by a plurality of means for detecting and / or evaluation of the force acting on the respective length compensation respective force).
- the particular force acting on the length compensation in particular increases as soon as the respective food rule and the respective gripper device are in mechanical contact with each other and the movement of the gripper device is continued in the direction of the food bar. It is possible that a definable (ie adjustable) threshold for each of the
- Gripper device engages the respective food bar or notes
- the length compensation comprises a mechanical spring and / or a gas pressure spring and / or a pneumatic length compensation, wherein in particular the respective length compensations of the respective
- Gripping devices each have a mechanical spring and / or a gas spring and / or a pneumatic length compensation.
- the respective length compensations of the respective gripper devices each have a plurality of mechanical springs and / or a plurality of gas pressure springs and / or a plurality of pneumatic length compensations
- the gripper devices are arranged on a clamp carrier.
- the threshold value refers to the voltage applied to the forceps carrier.
- Gripper system has at least one means for detecting and / or evaluation of the force acting on the respective length compensation respective force, wherein a threshold value for the force applied to the forceps carrier can be fixed, wherein the gripper devices are each designed such that - in the case of
- the respective locking unit determines the respective length compensation of the respective gripper device.
- the forceps carrier has a display device or wherein the forceps carrier is associated with a display device, wherein with the aid of the display device, the threshold value is adjustable.
- the gripper devices each have at least one guide.
- Another counterpart of the present invention is a
- Slicing apparatus for slicing food bars comprising at least one product feeder for feeding the food bars and a gripper system according to an embodiment of the present invention.
- the slicing device according to the invention has, analogously to the prior art, all the advantages already explained in connection with the gripper system according to the invention described above.
- an object of the present invention is a method for gripping food bars to be sliced, wherein the gripper system comprises at least two gripper devices, characterized in that at least one of the gripper devices has a length compensation, wherein the at least one gripper devices comprises a locking unit, wherein the locking unit is formed is that using the locking unit the
- the method according to the invention has, analogously to the prior art, all the advantages already explained in connection with the gripper system according to the invention described above.
- the gripper devices each have means for driving in a
- Gripping devices each comprise means for driving in a main extension direction of the tracks, wherein the gripper devices and the respective
- Food bars move toward each other in a first step with the aid of the means for driving, wherein in particular the means for driving the respectiveRoonkompensationen include or wherein in particular means for driving the respectiveSnkompensationen.
- Invention possible that during a first step, a relative movement between the respective gripper device and the respective food bar takes place, wherein the gripper device moves in the direction of the food bar and / or the food bar moves in the direction of the gripper device. It is possible that these relative movements are carried out in particular with the aid of means for driving, wherein it is preferred that the means for driving each comprise a length compensation or the Length compensation are. It is conceivable that the tracks are not formed physically as part of the gripper system and / or a slicing device, but merely serve to illustrate the assignment of food bars and the respective gripper device.
- the gripper system has at least one means for detecting and / or evaluating the force acting on the respective length compensation respective force, wherein a threshold value for the respective force is set, wherein in one to the first step following second step - with the aid of the means for detection and / or evaluation of the respective
- Length compensation acting force - exceeding the threshold value is detected by the respective force, wherein when exceeding the
- the respective locking unit determines the respective length compensation of the respective gripper device.
- Length compensation acting respective force can be fixed.
- the respectively acting on the length compensation respective force can be measured by a means for detecting and / or evaluation of the force acting on the respective length compensation respective force (or by a plurality of means for detecting and / or evaluation of the force acting on the respective length compensation respective force). Such a measurement preferably takes place continuously during the entire process but at least during the first step
- Measuring frequency instead. It is possible for the respective force acting on the length compensation to increase as soon as the respective food bar and the respective gripper device are in mechanical contact with one another and the movement of the gripper device in the direction of the food bar is continued (during the first step). It is possible that a definable (ie adjustable) threshold value for each acting on the length compensation _
- respective food bar engages or detects (for example, by grippers that are introduced into the food bar or by a pneumatic gripper or another gripping method) and that the respective locking unit - during the second step - determines the respective length compensation of the respective gripper device. Furthermore, it is possible that - in the case of
- Figure 1 shows schematically four juxtaposed
- Figure 2 shows schematically a gripper system for gripping
- Food bars 6, 6 ', 6 ", 6”' are sausage, ham, meat and / or cheese bars. However, other food bars 6, 6 ', 6 “, 6”' can also be processed by means of a gripper system 1 according to the invention.
- FIG. 2 schematically shows a gripper system 1 for gripping food bars 6, 6 ', 6 ", 6"' to be sliced according to an exemplary embodiment of the present invention.
- the cutting edge 40 at which the intended later slicing of the food bars 6, 6 ', 6 ", 6"' takes place, is shown.
- the gripper system 1 comprises four in the illustrated embodiment
- Gripper system 1 has a different number of gripper devices 10, 1 1, 12, 13. In the embodiment shown in FIG. 2, each of the four comprises
- the locking units 4, 4 ', 4 ", 4"' are each designed such that by means of the respective locking unit 4, 4 ', 4 ", 4"' the respective (ie to the same
- the gripper devices 10, 1 1, 12, 13 are arranged on a clamp carrier 8, in particular by means of guides 9.
- the arrangement of the gripper devices 10, 1 1, 12, 13 on the clamp carrier 8 is here ""
- the tracks 20, 20 ', 20 “, 20”' are not formed physically as part of the gripper system 1 and / or a slicing device, but merely to illustrate the association of the food bars 6, 6 ', 6 ", 6 '' and the respective gripper device 10, 1 1, 12, 13 serve.
- the gripper devices 10, 1 1, 12, 13 are moved towards the respective food bars 6, 6 ', 6 ", 6"', in particular by means for driving and / or by the length compensations 3, 3 ', 3 ". , 3 "'and
- Length compensation 3, 3 ', 3 ", 3"' acting force (and thus the entire force applied to the forceps carrier 8).
- the force acting on the respective length compensation 3, 3 ', 3 ", 3”' or the entire force applied to the forceps carrier 8 can be detected by means for detecting and / or evaluating the respective length compensation 3, 3 ', 3 ", 3 '' acting respective force, which is part of the
- Gripping system 1 are measured and / or evaluated.
- 3 ', 3 ", 3"' or the entire force applied to the forceps carrier 8 one (or several individual) threshold value can be defined. The choice of a suitable or optimal
- Threshold typically depends on the material composition, the strength and potentially the geometry of the food bars 6, 6 ', 6 ", 6"'.
- Length compensation 3, 3 ', 3 ", 3"' acting force or the entire force applied to the forceps carrier 8 the threshold.
- This threshold is exceeded in the second step with the aid of the detection means and / or evaluation of the force acting on the respective length compensation respective force measured and detected / evaluated.
- the respective locking unit 4, 4 ', 4 ", 4"' the respective length compensation 3, 3 ', 3 ", 3"' of the respective gripper device 10, 1 1, 12, 13 fixed or fixed them. Thereby (or additionally) the relative movement (towards each other) between the respective food bar 6, 6 ', 6 ", 6"' and the respective gripper device 10, 11, 12, 13 is stopped (possibly with the additional participation of the respective means to the drive).
- each of the gripper devices 10, 11, 12, 13 to be brought into contact with the food rattle 6, 6 ', 6 ", 6"' arranged in their track, even in the event that the food bars 6, 6 ', 6 ", 6"' have different lengths, so that it is not necessary, the food bars before the gripping process by means of
- Cut gripper system 1 to size. It is thus possible in an advantageous manner, an increased automation of a slicing process by means of a
- Slicing device which comprises a gripper system 1 according to the invention, while saving costs and process time.
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017207340 | 2017-05-02 | ||
PCT/EP2018/061217 WO2018202721A1 (de) | 2017-05-02 | 2018-05-02 | Greifersystem zum greifen von aufzuschneidenden lebensmittelriegeln, aufschneidevorrichtung, verfahren |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3619015A1 true EP3619015A1 (de) | 2020-03-11 |
EP3619015B1 EP3619015B1 (de) | 2023-07-05 |
Family
ID=62104304
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18721788.0A Active EP3619015B1 (de) | 2017-05-02 | 2018-05-02 | Greifersystem zum greifen von aufzuschneidenden lebensmittelriegeln, aufschneidevorrichtung, verfahren |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3619015B1 (de) |
ES (1) | ES2958751T3 (de) |
WO (1) | WO2018202721A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022133591A1 (de) | 2022-12-16 | 2024-06-27 | Multivac Sepp Haggenmüller Se & Co. Kg | Mehrspurige Aufschneide-Maschine mit einzeln positionierbaren Greifern sowie Steuerungs-Verfahren hierfür |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3239178A1 (de) * | 1982-10-22 | 1984-04-26 | Natec Reich, Summer GmbH & Co KG, 8999 Heimenkirch | Maschine zum schneiden von schneidgutriegeln |
DE102006003142A1 (de) * | 2006-01-24 | 2007-08-16 | Sig Technology Ltd. | Vorrichtung zur Blasformung von Behältern |
DE102011103864A1 (de) * | 2011-06-09 | 2012-12-13 | Weber Maschinenbau Gmbh Breidenbach | Verfahren zum Aufschneiden von Produkten |
DE102015107716A1 (de) * | 2015-05-18 | 2016-11-24 | Weber Maschinenbau Gmbh Breidenbach | Zuführvorrichtung |
-
2018
- 2018-05-02 ES ES18721788T patent/ES2958751T3/es active Active
- 2018-05-02 WO PCT/EP2018/061217 patent/WO2018202721A1/de unknown
- 2018-05-02 EP EP18721788.0A patent/EP3619015B1/de active Active
Also Published As
Publication number | Publication date |
---|---|
WO2018202721A1 (de) | 2018-11-08 |
EP3619015B1 (de) | 2023-07-05 |
ES2958751T3 (es) | 2024-02-14 |
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