EP3619015B1 - Gripper system for gripping blocks of a foodstuff to be cut, cutting device, and method - Google Patents
Gripper system for gripping blocks of a foodstuff to be cut, cutting device, and method Download PDFInfo
- Publication number
- EP3619015B1 EP3619015B1 EP18721788.0A EP18721788A EP3619015B1 EP 3619015 B1 EP3619015 B1 EP 3619015B1 EP 18721788 A EP18721788 A EP 18721788A EP 3619015 B1 EP3619015 B1 EP 3619015B1
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- EP
- European Patent Office
- Prior art keywords
- gripper
- food
- length
- devices
- compensation means
- 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.)
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Links
- 238000000034 method Methods 0.000 title claims description 25
- 238000005520 cutting process Methods 0.000 title description 6
- 235000013305 food Nutrition 0.000 claims description 88
- 235000013351 cheese Nutrition 0.000 description 2
- 238000005259 measurement Methods 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
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000021059 hard food Nutrition 0.000 description 1
- 235000021058 soft food Nutrition 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
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- 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
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- 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 blocks of food 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 grip sausage, ham, meat and cheese bars.
- the gripper systems are typically part of a slicing device, which makes it possible to slice food blocks.
- Such slicing devices are also known as “slicers” or “high-performance slicers”. In principle, it is possible to arrange several blocks of food at the same time in a slicing device, to grip them and then to cut them open at the same time.
- the food slabs typically have (at least slightly) different lengths, which makes gripping with conventional gripper systems impossible, another process step is carried out before gripping in the methods known from the prior art.
- the food blocks are typically cut to an identical length before or after being placed in the slicing machine, but at least before they are gripped and sliced (this applies in particular to comparatively hard food blocks, but also to soft food blocks as soon as the differences in length are too great).
- the longer food slabs are thus cut to the length of the shortest food slab, as a result of which the food slabs of the same length can subsequently be fixed in the slicing device using gripper systems known from the prior art for subsequent slicing.
- the object of the present invention is achieved by a gripper according to claim 1 and by a method according to claim 11.
- the gripper system according to the invention has the advantage over the prior art that several (at least two) blocks of food to be sliced can be gripped simultaneously, in particular around them in the following cut open According to the invention, this makes it possible for even blocks of food of different lengths to be gripped and fixed without an additional step of cutting to size before gripping, which means that the gripping and slicing process can be automated in an advantageous manner, costs can be saved and the process speed can be increased can.
- the gripper system it is possible for the gripper system to have a plurality of gripper devices (but at least two), so that a plurality of food blocks (but at least two food blocks) can be fixed and cut open at the same time.
- At least one of the gripper devices has length compensation, which makes it possible for at least two blocks of food of different lengths to be gripped at the same time.
- the length compensation is determined by a fixing unit, which makes it possible for the gripper and the length compensation to not push further in the direction of the block of food when the load is relieved (during the cutting process). /press and thus disrupt the achieved compensation effect.
- the gripper system has a large number 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, with the locking units each being designed in such a way that the respective length compensation of the respective gripper device can be determined using the respective locking unit.
- each of the gripper devices of the gripper system it is possible for each of the gripper devices of the gripper system to have length compensation and a locking unit.
- each gripper device can grip a block of food with the aid of its length compensation and locking unit, so that it can be cut open.
- the gripper system may have at least one additional gripper device, in particular a plurality of additional gripper devices, with the additional gripper device not having a locking unit and/or no length compensation.
- the gripper devices are each arranged in separate tracks, the tracks being designed in such a way that the tracks can each be equipped with at least one block of food.
- the gripper devices it is possible for the gripper devices to be arranged in separate tracks.
- the tracks are advantageously pronounced in such a way that each of them can accommodate at least one food block. This makes it possible for several blocks of food to be fixed and/or gripped simultaneously by the gripper system. It is conceivable that the tracks are not physically formed as part of the gripper system and/or a slicing device, but only serve to illustrate the assignment of the respective block of food to the respective gripper device.
- the gripper devices are each assigned means for driving in a main direction of extent of the tracks, or wherein the gripper devices each comprise means for driving in a main direction of extent of the tracks, the gripper devices and the respective food slab with the aid of the respective drive means can be moved toward one another, with the drive means in particular comprising the respective length compensations or with the drive means in particular being the respective length compensations.
- the main extension direction of the tracks correspond to the main extension direction of the food slabs and for the food slabs and the gripper devices to be moved toward one another by the drive means. It is also possible that the gripper devices and the food slabs can be separated from one another.
- the means for driving to comprise the length compensations or for the means for driving to be the length compensations, with the respective length compensation moving the respective gripper device and the respective block of food toward one another.
- a threshold value can be defined for the respective force acting on the length compensation.
- the respectively on the The respective force acting on the length compensation can be measured by a means for detecting and/or evaluating the respective force acting on the respective length compensation (or by a plurality of means for detecting and/or evaluating the respective force acting on the respective length compensation).
- the respective force acting on the length compensation increases in particular as soon as the respective block of food and the respective gripper device are in mechanical contact with one another and the movement of the gripper device is continued in the direction of the block of food. It is possible that a definable (that is, adjustable) threshold value for the respective force acting on the length compensation is exceeded.
- the respective gripper device When this is exceeded, it is advantageously possible for the respective gripper device to grip or lock the respective block of food (e.g. by means of grippers that are introduced into the block of food or also by means of a pneumatic gripper or another gripping method) and that the respective locking unit Determines length compensation of the respective gripper device. It is also possible that - if the threshold value is exceeded by the respective force (or if the threshold value for the respective force is exceeded) - the respective means for driving the relative movement (towards each other) between the respective block of food and of the respective gripper device stops. Thus, the respective food block is not further deformed or subjected to higher loads. In the event that the respective drive means includes the respective length compensation, it is possible for the relative movement (towards one another) between the respective block of food and the respective gripper device to be stopped with the aid of or by the locking unit.
- the length compensation has a mechanical spring and/or a gas pressure spring and/or a pneumatic length compensation, with in particular the respective length compensations of the respective gripper devices each having a mechanical spring and/or a gas pressure spring and/or have a pneumatic length compensation.
- the respective length compensations of the respective gripper devices each have a number of mechanical springs and/or a number of gas pressure springs and/or a number of pneumatic length compensations.
- the gripper devices are arranged on a tong carrier.
- the tongs carrier has a display device or a display device is assigned to the tongs carrier, with the threshold value being adjustable with the aid of the display device.
- the gripper devices each have at least one guide.
- a further object of the present invention is a slicing device for slicing blocks of food, wherein the slicing device comprises at least one product feed for supplying the blocks of food and a gripper system according to an embodiment of the present invention.
- the slicing device according to the invention analogously has all the advantages already explained in connection with the gripper system according to the invention described above.
- one subject of the present invention is a method for gripping blocks of food to be sliced, the gripper system having at least two gripper devices, characterized in that at least one of the gripper devices has length compensation, the at least one gripper device having a locking unit, the locking unit being configured in this way is that the length compensation can be determined using the locking unit.
- the gripper devices are each assigned means for driving in a main direction of extent of the tracks, or wherein the gripper devices each comprise means for driving in a main direction of extent of the tracks, with the gripper devices and the respective food slab in one move towards one another in the first step with the aid of the drive means, in particular the drive means comprising the respective length compensations or in particular the drive means being the respective length compensations.
- a relative movement takes place between the respective gripper device and the respective block of food, the gripper device moving in the direction of the block of food and/or the block of food moving in the direction of the gripper device. It is possible for these relative movements to be carried out in particular with the aid of drive means, it being preferred for the drive means to each include length compensation or to be length compensation. It is conceivable that the tracks are not physically formed as part of the gripper system and/or a slicing device, but only serve to illustrate the assignment of the food block and the respective gripper device.
- a threshold value can be defined for the respective force acting on the length compensation.
- the respective force acting on the length compensation can be measured by means for detecting and/or evaluating the respective force acting on the respective length compensation (or by several means for detecting and/or evaluating the respective force acting on the respective length compensation). Such a measurement preferably takes place during the entire process, but at least during the first step, continuously or at a fixed rate measurement frequency. It is possible that the respective force acting on the length compensation increases as soon as the respective block of food and the respective gripper device are in mechanical contact with one another and the movement of the gripper device in the direction of the block of food is continued (during the first step).
- a definable (that is, adjustable) threshold value for the respective force acting on the length compensation is exceeded.
- This exceeding of the threshold value is measured and determined/evaluated in the second step with the aid of the means for detecting and/or evaluating the respective force acting on the respective length compensation.
- the respective drive means includes the respective length compensation, it is possible for the relative movement (towards one another) between the respective block of food and the respective gripper device to be stopped with the aid of or by the locking unit.
- FIG 1 four food blocks 6, 6', 6", 6′′′ of different lengths arranged side by side are shown schematically, as well as schematic gripper devices 10, 11, 12, 13.
- the two dashed vertical lines show the difference in length 30 between the shortest food blocks 6', 6′′′ and the longest food bar 6".
- This difference in length 30 is advantageously compensated for by a gripper system 1 according to the invention.
- the food bars 6, 6', 6", 6′′′ it is possible, for example, for the food bars 6, 6', 6", 6′′′ to be sausage, ham, meat and/or cheese bars. However, other food bars 6, 6', 6" can also be used.
- 6′′′ are processed using a gripper system 1 according to the invention.
- a gripper system 1 for gripping blocks of food 6, 6', 6", 6′′′ to be sliced is shown schematically according to an exemplary embodiment of the present invention.
- the cutting edge 40, on which the planned subsequent cutting of the blocks of food 6, 6', 6", 6 ′′′ takes place is shown.
- the gripper system 1 comprises four gripper devices 10, 11, 12, 13.
- each of the four gripper devices 10, 11, 12, 13 includes a length compensation 3, 3 ', 3", 3 ′′′ and each of the four gripper devices 10, 11, 12, 13 a locking unit 4, 4', 4", 4′′′.
- the locking units 4, 4', 4", 4′′′ are each designed in such a way that with the aid of the respective locking unit 4, 4', 4", 4′′′ the respective length compensation 3, 3′, 3", 3′′′ (i.e. belonging to the same gripper device 10, 11, 12, 13) can be grasped and fixed or fixed.
- the gripper devices 10, 11, 12, 13 are arranged on a tong carrier 8, in particular by means of guides 9.
- the arrangement of the gripper devices 10, 11, 12, 13 on the tong carrier 8 is designed in such a way that a mechanical force (exerted by a bar of food 6, 6', 6", 6′′′), which acts on the length compensations 3, 3', 3", 3′′′ of the gripper devices 10, 11, 12, 13, is passed on to the tong carrier 8, i.e. also to the tong carrier 8 applied.
- the sum of the forces that act on the individual length compensations 3, 3', 3", 3′′′ are therefore applied to the tong carrier 8.
- One food bar 6, 6', 6", 6′′′ and one gripper device 10, 11, 12 , 13 are arranged in a respective track 20, 20', 20", 20′′′, the tracks 20, 20', 20", 20′′′ having a main extension direction 100 (indicated by the arrow 100). It is conceivable that the tracks 20, 20', 20", 20′′′ are not physically designed as part of the gripper system 1 and/or a slicing device, but merely to illustrate the assignment of the food blocks 6, 6', 6", 6′′′ and the respective gripper device 10, 11, 12, 13 are used.
- the gripper devices 10, 11, 12, 13 are moved towards the respective food slabs 6, 6', 6", 6′′′, in particular by drive means and/or by the length compensations 3, 3', 3", 3 ′′′ and in particular in the direction of the main extension direction 100 of the tracks 20, 20', 20", 20′′′.
- the force acting on the corresponding length compensation 3, 3', 3", 3′′′ increases (and thus also the entire force applied to the tong carrier 8).
- the respective force acting on the respective length compensation 3, 3', 3", 3′′′ or the entire force applied to the tong carrier 8 can be determined by means for detecting and/or evaluating the force acting on the respective length compensation 3, 3', 3", 3′′′ acting respective force, which are part of the gripping system 1, measured and / or evaluated.
- the choice of a suitable or optimal threshold value typically depends on the material composition, the strength and potentially the geometry of the food slabs 6, 6′, 6′′, 6′′′.
- a second step one of (or all of) the respective Length compensation 3, 3', 3", 3′′′ acting respective force or the entire force applied to the tongs carrier 8 the threshold value.
- This exceeding of the threshold value is measured and determined/evaluated in the second step with the aid of the means for detecting and/or evaluating the respective force acting on the respective length compensation.
- the respective gripper device 10, 11, 12, 13 detects the respective block of food 6, 6', 6", 6′′′ (or grips it, for example by grippers that move into the block of food 6, 6', 6th ", 6′′′ or by a pneumatic gripper or another gripping method).
- the respective locking unit 4, 4', 4", 4′′′ sets the respective length compensation 3, 3', 3", 3′′′ of the respective gripper device 10, 11, 12, 13 firmly or fixes them.
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- 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)
Description
Die vorliegende Erfindung geht aus von einem Greifersystem zum Greifen von aufzuschneidenden Lebensmittelriegeln, wobei das Greifersystem mindestens zwei Greifervorrichtungen aufweist.The present invention is based on a gripper system for gripping blocks of food to be sliced, the gripper system having at least two gripper devices.
Derartige Vorrichtungen sind aus dem Stand der Technik bekannt und dienen insbesondere dazu Wurst-, Schinken-, Fleisch- und Käseriegel zu greifen. Die Greifersysteme sind typischerweise Teil einer Aufschneidevorrichtung, welche es ermöglicht Lebensmittelriegel aufzuschneiden. Solche Aufschneidevorrichtungen sind auch als "Slicer" oder "Hochleistungsslicer" bekannt. Prinzipiell ist es möglich mehrere Lebensmittelriegel gleichzeitig in einer Aufschneidevorrichtung anzuordnen, diese zu greifen und im Folgenden gleichzeitig aufzuschneiden.Such devices are known from the prior art and are used in particular to grip sausage, ham, meat and cheese bars. The gripper systems are typically part of a slicing device, which makes it possible to slice food blocks. Such slicing devices are also known as "slicers" or "high-performance slicers". In principle, it is possible to arrange several blocks of food at the same time in a slicing device, to grip them and then to cut them open at the same time.
Da die Lebensmittelriegel jedoch typischerweise (zumindest leicht) unterschiedliche Längen aufweisen, was ein Greifen mit herkömmlichen Greifersystemen unmöglich macht, wird vor dem Greifen bei aus dem Stand der Technik bekannten Verfahren ein weiterer Prozessschritt durchgeführt. Demnach werden die Lebensmittelriegel typischerweise vor oder nach dem Einlegen in die Aufschneidemaschine, aber zumindest vor dem Greifen und Aufschneiden, auf eine identische Länge gebracht (dies gilt insbesondere für vergleichsweise harte Lebensmittelriegel, aber auch für weiche Lebensmittelriegel sobald die Längenunterschiede zu groß sind). Die längeren Lebensmittelriegel werden somit auf die Länge des kürzesten Lebensmittelriegels zurechtgeschnitten, wodurch die nun gleichlangen Lebensmittelriegel im Folgenden mit aus dem Stand der Technik bekannten Greifersystemen zum anschließenden Aufschneiden in der Aufschneidevorrichtung fixiert werden können. Nachteilig bei solchen Verfahren/Systemen ist, dass mindestens ein zusätzlicher komplexer Prozessschritt (das Kürzen bzw. die Längenanpassung der Lebensmittelriegel) nötig ist, was die Kosten des Verfahrens in die Höhe treibt und die technischen Anforderungen an die Aufschneidemaschinen erhöht. Dies führt zu Preissteigerungen und/oder höheren Prozesszeiten.However, since the food slabs typically have (at least slightly) different lengths, which makes gripping with conventional gripper systems impossible, another process step is carried out before gripping in the methods known from the prior art. Accordingly, the food blocks are typically cut to an identical length before or after being placed in the slicing machine, but at least before they are gripped and sliced (this applies in particular to comparatively hard food blocks, but also to soft food blocks as soon as the differences in length are too great). The longer food slabs are thus cut to the length of the shortest food slab, as a result of which the food slabs of the same length can subsequently be fixed in the slicing device using gripper systems known from the prior art for subsequent slicing. The disadvantage of such methods/systems is that at least one additional complex process step (shortening or adjusting the length of the food block) is necessary, which drives up the costs of the process and increases the technical requirements for the slicing machines. This leads to price increases and/or longer process times.
Das Kürzen bzw. die Längenanpassung der Lebensmittelriegel wird dazu häufig von Hand vorgenommen. Nachteilig dabei ist, dass solche Verfahren teuer sind und eine vollständige Automatisierung, die ein paralleles Aufschneiden mehrere Lebensmittelrigel ermöglich, gar nicht oder nur technisch umständlich möglich ist. Aus der Druckschrift
Es ist eine Aufgabe der vorliegenden Erfindung, ein Greifersystem zum Greifen von aufzuschneidenden Lebensmittelriegeln umfassend mindestens zwei Greifervorrichtungen zum jeweiligen Greifen von Lebensmittelriegeln zu verbessern, um die Prozesskosten des Aufschneideprozesses zu verringern und/oder die Prozessgeschwindigkeit zu erhöhen.It is an object of the present invention to improve a gripper system for gripping blocks of food to be sliced, comprising at least two gripper devices for respectively gripping blocks of food, in order to reduce the process costs of the slicing process and/or increase the process speed.
Die Aufgabe der vorliegenden Erfindung wird durch einen Greifer gemäß Anspruch 1 und durch ein Verfahren gemäß Anspruch 11 gelöst.The object of the present invention is achieved by a gripper according to
Das erfindungsgemäße Greifersystem hat gegenüber dem Stand der Technik den Vorteil, dass mehrere (mindestens zwei) aufzuschneidende Lebensmittelriegel gleichzeitig gegriffen werden können, insbesondere um sie im Folgenden aufzuschneiden. Erfindungsgemäß ist es hierdurch möglich, dass selbst Lebensmittelriegel unterschiedlicher Länge - ohne einen zusätzlichen Schritt des Zurechtschneidens vor dem Greifen - gegriffen und fixiert werden können, wodurch sich der Greif-und Aufschneideprozess in vorteilhafter Weise automatisieren lässt, Kosten gespart werden können und die Prozessgeschwindigkeit erhöht werden kann. Hierfür ist es möglich, dass das Greifersystem mehrere Greifervorrichtungen aufweist (aber mindestens zwei), sodass mehrere Lebensmittelriegel (aber mindestens zwei Lebensmittelriegel) gleichzeitig fixierbar und aufschneidbar sind. Dafür weist mindestens eine der Greifervorrichtungen eine Längenkompensation auf, wodurch es möglich ist, dass mindestens zwei Lebensmittelriegel unterschiedlicher Länge gleichzeitig gegriffen werden können. Insbesondere nachdem die Greifervorrichtungen unter Zuhilfenahme der Längenkompensation die Lebensmittelriegel festgestellt haben ist es vorgesehen, dass die Längenkompensation durch eine Feststelleinheit festgestellt wird, wodurch es möglich ist, dass der Greifer und die Längenkompensation beim Entlasten (während des Schneidevorgangs) nicht weiter in Richtung des Lebensmittelriegels schieben/drücken und somit den erreichten Kompensationseffekt stören. Erfindungsgemäß ist es somit möglich, die Lebensmittelriegel - nach dem Greifen und insbesondere nach der Feststellung der Längenkompensation mittels der Feststelleinheit - aufzuschneiden. Dies geschieht insbesondere in vorteilhafter Weise bis der kürzeste Lebensmittelriegel vollständig aufgeschnitten ist.The gripper system according to the invention has the advantage over the prior art that several (at least two) blocks of food to be sliced can be gripped simultaneously, in particular around them in the following cut open According to the invention, this makes it possible for even blocks of food of different lengths to be gripped and fixed without an additional step of cutting to size before gripping, which means that the gripping and slicing process can be automated in an advantageous manner, costs can be saved and the process speed can be increased can. For this purpose, it is possible for the gripper system to have a plurality of gripper devices (but at least two), so that a plurality of food blocks (but at least two food blocks) can be fixed and cut open at the same time. For this purpose, at least one of the gripper devices has length compensation, which makes it possible for at least two blocks of food of different lengths to be gripped at the same time. In particular, after the gripper devices have secured the block of food with the aid of the length compensation, it is provided that the length compensation is determined by a fixing unit, which makes it possible for the gripper and the length compensation to not push further in the direction of the block of food when the load is relieved (during the cutting process). /press and thus disrupt the achieved compensation effect. According to the invention, it is thus possible to cut open the food slabs—after gripping and in particular after determining the length compensation by means of the locking unit. This takes place particularly advantageously until the shortest block of food has been completely cut open.
Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung sind den Unteransprüchen, sowie der Beschreibung unter Bezugnahme auf die Zeichnungen entnehmbar.Advantageous configurations and developments of the invention can be found in the subclaims and the description with reference to the drawings.
Gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung ist es vorgesehen, dass das Greifersystem eine Vielzahl von Greifervorrichtungen aufweist, insbesondere zwei oder drei oder vier oder zehn Greifervorrichtungen.According to a preferred embodiment of the present invention, it is provided that the gripper system has a large number of gripper devices, in particular two or three or four or ten gripper devices.
Hierdurch ist es gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung möglich, dass eine Vielzahl von Lebensmittelriegeln parallel und simultan gegriffen und aufgeschnitten wird.As a result, according to a preferred embodiment of the present invention, it is possible for a large number of blocks of food to be gripped and cut open in parallel and simultaneously.
Erfindungsgemäß ist es vorgesehen, dass die Greifervorrichtungen jeweils eine Längenkompensation und eine Feststelleinheit aufweisen, wobei die Feststelleinheiten jeweils derart ausgebildet sind, dass mithilfe der jeweiligen Feststelleinheit die jeweilige Längenkompensation der jeweiligen Greifervorrichtung feststellbar ist.According to the invention, it is provided that the gripper devices each have a length compensation and a locking unit, with the locking units each being designed in such a way that the respective length compensation of the respective gripper device can be determined using the respective locking unit.
Hierdurch ist es gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung möglich, dass jede der Greifervorrichtungen des Greifersystems eine Längenkompensation und eine Feststelleinheit aufweist. Dadurch kann jede Greifervorrichtung unter Zuhilfenahme ihrer Längenkompensation und Feststelleinheit einen Lebensmittelriegel greifen, sodass dieser aufgeschnitten werden kann.As a result, according to a preferred embodiment of the present invention, it is possible for each of the gripper devices of the gripper system to have length compensation and a locking unit. As a result, each gripper device can grip a block of food with the aid of its length compensation and locking unit, so that it can be cut open.
Es ist jedoch ebenso denkbar, dass das Greifersystem mindestens eine weitere Greifervorrichtung, insbesondere mehrere weitere Greifervorrichtungen, aufweist, wobei die weitere Greifervorrichtung keine Feststelleinheit und/oder keine Längenkompensation aufweist.However, it is also conceivable for the gripper system to have at least one additional gripper device, in particular a plurality of additional gripper devices, with the additional gripper device not having a locking unit and/or no length compensation.
Gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung ist es vorgesehen, dass die Greifervorrichtungen jeweils in separaten Spuren angeordnet sind, wobei die Spuren derart ausgebildet sind, dass die Spuren mit jeweils mindestens einem Lebensmittelriegel bestückbar sind.According to a preferred embodiment of the present invention, it is provided that the gripper devices are each arranged in separate tracks, the tracks being designed in such a way that the tracks can each be equipped with at least one block of food.
Hierdurch ist es gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung möglich, dass die Greifervorrichtungen in separaten Spuren angeordnet sind. Die Spuren sind in vorteilhafter Weise derart ausgeprägt, dass jede von ihnen mindestens einen Lebensmittelriegel aufnehmen kann. Dadurch ist es möglich, dass mehrere Lebensmittelriegel simultan durch das Greifersystem fixiert und/oder gegriffen werden können. Es ist denkbar, dass die Spuren nicht physisch als Teil des Greifersystems und/oder einer Aufschneidevorrichtung ausgebildet sind, sondern lediglich der Veranschaulichung der Zuordnung der jeweiligen Lebensmittelriegel zu der jeweiligen Greifervorrichtung dienen.As a result, according to a preferred embodiment of the present invention, it is possible for the gripper devices to be arranged in separate tracks. The tracks are advantageously pronounced in such a way that each of them can accommodate at least one food block. This makes it possible for several blocks of food to be fixed and/or gripped simultaneously by the gripper system. It is conceivable that the tracks are not physically formed as part of the gripper system and/or a slicing device, but only serve to illustrate the assignment of the respective block of food to the respective gripper device.
Gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung ist es vorgesehen, dass den Greifervorrichtungen jeweils Mittel zum Antrieb in eine Haupterstreckungsrichtung der Spuren zugeordnet sind oder wobei die Greifervorrichtungen jeweils Mittel zum Antrieb in eine Haupterstreckungsrichtung der Spuren umfassen, wobei die Greifervorrichtungen und die jeweiligen Lebensmittelriegel unter Zuhilfenahme der jeweiligen Mittel zum Antrieb aufeinander zu bewegbar sind, wobei insbesondere die Mittel zum Antrieb die jeweiligen Längenkompensationen umfassen oder wobei insbesondere die Mittel zum Antrieb die jeweiligen Längenkompensationen sind.According to a preferred embodiment of the present invention, it is provided that the gripper devices are each assigned means for driving in a main direction of extent of the tracks, or wherein the gripper devices each comprise means for driving in a main direction of extent of the tracks, the gripper devices and the respective food slab with the aid of the respective drive means can be moved toward one another, with the drive means in particular comprising the respective length compensations or with the drive means in particular being the respective length compensations.
Hierdurch ist es gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung möglich, dass die Haupterstreckungsrichtung der Spuren jeweils mit der Haupterstreckungsrichtung der Lebensmittelriegel übereinstimmt und dass die Lebensmittelriegel und die Greifervorrichtungen durch die Mittel zum Antrieb aufeinander zu bewegt werden können. Es ist ebenso möglich, dass die Greifervorrichtungen und die Lebensmittelriegel voneinander entfernt werden können. Es ist insbesondere möglich, dass die Mittel zum Antrieb die Längenkompensationen umfassen oder dass die Mittel zum Antrieb die Längenkompensationen sind, wobei die jeweilige Längenkompensation die jeweilige Greifervorrichtung und den jeweiligen Lebensmittelriegel aufeinander zu bewegt.According to a preferred embodiment of the present invention, it is thereby possible for the main extension direction of the tracks to correspond to the main extension direction of the food slabs and for the food slabs and the gripper devices to be moved toward one another by the drive means. It is also possible that the gripper devices and the food slabs can be separated from one another. In particular, it is possible for the means for driving to comprise the length compensations or for the means for driving to be the length compensations, with the respective length compensation moving the respective gripper device and the respective block of food toward one another.
Erfindungsgemäßist es vorgesehen, dass das Greifersystem mindestens ein Mittel zur Detektion und/oder Auswertung der auf die jeweilige Längenkompensation wirkenden jeweiligen Kraft aufweist, wobei ein Schwellenwert für die jeweilige Kraft festlegbar ist, wobei die Greifervorrichtungen jeweils derart ausgebildet sind, dass - im Falle der Überschreitung des Schwellenwertes durch die jeweilige Kraft -:
- --- mithilfe der Greifervorrichtungen mindestens der jeweilige Lebensmittelriegel festgestellt ist und
- --- die jeweilige Feststelleinheit die jeweilige Längenkompensation der jeweiligen Greifervorrichtung feststellt.
- --- at least the respective block of food is fixed with the help of the gripper devices and
- --- the respective locking unit determines the respective length compensation of the respective gripper device.
Hierdurch ist es gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung möglich, dass ein Schwellenwert für die jeweils auf die Längenkompensation wirkende jeweilige Kraft festlegbar ist. Die jeweils auf die Längenkompensation wirkende jeweilige Kraft kann durch ein Mittel zur Detektion und/oder Auswertung der auf die jeweilige Längenkompensation wirkenden jeweiligen Kraft gemessen werden (oder durch mehrere Mittel zur Detektion und/oder Auswertung der auf die jeweilige Längenkompensation wirkenden jeweiligen Kraft). Die jeweils auf die Längenkompensation wirkende jeweilige Kraft steigt insbesondere an, sobald der jeweilige Lebensmittelriegel und die jeweilige Greifervorrichtung in mechanischem Kontakt zueinanderstehen und die Bewegung der Greifervorrichtung in Richtung des Lebensmittelriegels weitergeführt wird. Dabei ist es möglich, dass ein festlegbarer (also einstellbarer) Schwellenwert für die jeweils auf die Längenkompensation wirkende jeweilige Kraft überschritten wird. Bei der Überschreitung ist es in vorteilhafter Weise möglich, dass die jeweilige Greifervorrichtung den jeweiligen Lebensmittelriegel greift bzw. feststellt (beispielsweise durch Greifer, die in den Lebensmittelriegel eingebracht werden oder auch durch einen pneumatischen Greifer oder ein anderes Greifverfahren) und dass die jeweilige Feststelleinheit die jeweilige Längenkompensation der jeweiligen Greifervorrichtung feststellt. Des Weiteren ist es möglich, dass - im Falle der Überschreitung des Schwellenwertes durch die jeweilige Kraft (bzw. im Falle der Überschreitung des Schwellenwertes für die jeweilige Kraft) - das jeweilige Mittel zum Antrieb die relative Bewegung (aufeinander zu) zwischen dem jeweiligen Lebensmittelriegel und der jeweiligen Greifervorrichtung stoppt. Somit wird der jeweilige Lebensmittelriegel nicht weiter deformiert bzw. höher belastet. Für den Fall, dass das jeweilige Mittel zum Antrieb die jeweilige Längenkompensation umfasst, ist es möglich, dass das Stoppen der relativen Bewegung (aufeinander zu) zwischen dem jeweiligen Lebensmittelriegel und der jeweiligen Greifervorrichtung unter Zuhilfenahme oder durch die Feststelleinheit geschieht.It is thereby possible according to a preferred embodiment of the present invention that a threshold value can be defined for the respective force acting on the length compensation. The respectively on the The respective force acting on the length compensation can be measured by a means for detecting and/or evaluating the respective force acting on the respective length compensation (or by a plurality of means for detecting and/or evaluating the respective force acting on the respective length compensation). The respective force acting on the length compensation increases in particular as soon as the respective block of food and the respective gripper device are in mechanical contact with one another and the movement of the gripper device is continued in the direction of the block of food. It is possible that a definable (that is, adjustable) threshold value for the respective force acting on the length compensation is exceeded. When this is exceeded, it is advantageously possible for the respective gripper device to grip or lock the respective block of food (e.g. by means of grippers that are introduced into the block of food or also by means of a pneumatic gripper or another gripping method) and that the respective locking unit Determines length compensation of the respective gripper device. It is also possible that - if the threshold value is exceeded by the respective force (or if the threshold value for the respective force is exceeded) - the respective means for driving the relative movement (towards each other) between the respective block of food and of the respective gripper device stops. Thus, the respective food block is not further deformed or subjected to higher loads. In the event that the respective drive means includes the respective length compensation, it is possible for the relative movement (towards one another) between the respective block of food and the respective gripper device to be stopped with the aid of or by the locking unit.
Gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung ist es vorgesehen, dass die Längenkompensation eine mechanische Feder und/oder eine Gasdruckfeder und/oder eine pneumatische Längenkompensation aufweist, wobei insbesondere die jeweiligen Längenkompensationen der jeweiligen Greifervorrichtungen jeweils eine mechanische Feder und/oder eine Gasdruckfeder und/oder eine pneumatische Längenkompensation aufweisen.According to a preferred embodiment of the present invention, it is provided that the length compensation has a mechanical spring and/or a gas pressure spring and/or a pneumatic length compensation, with in particular the respective length compensations of the respective gripper devices each having a mechanical spring and/or a gas pressure spring and/or have a pneumatic length compensation.
Es ist ebenso denkbar, dass die jeweiligen Längenkompensationen der jeweiligen Greifervorrichtungen jeweils mehrere mechanische Federn und/oder mehrere Gasdruckfedern und/oder mehrere pneumatische Längenkompensationen aufweisen.It is also conceivable that the respective length compensations of the respective gripper devices each have a number of mechanical springs and/or a number of gas pressure springs and/or a number of pneumatic length compensations.
Gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung ist es vorgesehen, dass die Greifervorrichtungen an einem Zangenträger angeordnet sind.According to a preferred embodiment of the present invention, it is provided that the gripper devices are arranged on a tong carrier.
Hierdurch ist es gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung möglich, dass die jeweils auf die Längenkompensationen wirkenden jeweiligen Kräfte an dem Zangenträger anliegen und der Zangenträger damit die Summe der auf die Längenkompensationen wirkenden jeweiligen Kräfte erfährt. Es ist dadurch in vorteilhafter Weise möglich, dass der Schwellenwert sich auf die am Zangenträger anliegende Kraft bezieht. Hierdurch ist es möglich, dass das Greifersystem mindestens ein Mittel zur Detektion und/oder Auswertung der auf die jeweilige Längenkompensation wirkenden jeweiligen Kraft aufweist, wobei ein Schwellenwert für die am Zangenträger anliegende Kraft festlegbar ist, wobei die Greifervorrichtungen jeweils derart ausgebildet sind, dass - im Falle der Überschreitung des Schwellenwertes durch die am Zangenträger anliegende Kraft-:
- --- mithilfe der Greifervorrichtungen mindestens der jeweilige Lebensmittelriegel festgestellt ist und
- --- die jeweilige Feststelleinheit die jeweilige Längenkompensation der jeweiligen Greifervorrichtung feststellt.
- --- at least the respective block of food is fixed with the help of the gripper devices and
- --- the respective locking unit determines the respective length compensation of the respective gripper device.
Gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung ist es vorgesehen, dass der Zangenträger eine Displayvorrichtung aufweist oder wobei dem Zangenträger eine Displayvorrichtung zugeordnet ist, wobei unter Zuhilfenahme der Displayvorrichtung der Schwellenwert einstellbar ist.According to a preferred embodiment of the present invention, it is provided that the tongs carrier has a display device or a display device is assigned to the tongs carrier, with the threshold value being adjustable with the aid of the display device.
Gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung ist es vorgesehen, dass die Greifervorrichtungen jeweils mindestens eine Führung aufweisen.According to a preferred embodiment of the present invention, it is provided that the gripper devices each have at least one guide.
Ein weiterer Gegenstrand der vorliegenden Erfindung ist eine Aufschneidevorrichtung zum Aufschneiden von Lebensmittelriegeln, wobei die Aufschneidevorrichtung mindestens eine Produktzuführung zum Zuführen der Lebensmittelriegel und ein Greifersystem gemäß einer Ausführungsform der vorliegenden Erfindung umfasst.A further object of the present invention is a slicing device for slicing blocks of food, wherein the slicing device comprises at least one product feed for supplying the blocks of food and a gripper system according to an embodiment of the present invention.
Die erfindungsgemäße Aufschneidevorrichtung hat gegenüber dem Stand der Technik analog alle bereits im Zusammenhang mit dem vorstehend beschriebenen erfindungsgemäßen Greifersystem erläuterten Vorteile.Compared to the prior art, the slicing device according to the invention analogously has all the advantages already explained in connection with the gripper system according to the invention described above.
Des Weiteren ist ein Gegenstand der vorliegenden Erfindung ein Verfahren zum Greifen von aufzuschneidenden Lebensmittelriegeln, wobei das Greifersystem mindestens zwei Greifervorrichtungen aufweist, dadurch gekennzeichnet, dass mindestens eine der Greifervorrichtungen eine Längenkompensation aufweist, wobei die mindestens eine Greifervorrichtungen eine Feststelleinheit aufweist, wobei die Feststelleinheit derart ausgebildet ist, dass mithilfe der Feststelleinheit die Längenkompensation feststellbar ist.Furthermore, one subject of the present invention is a method for gripping blocks of food to be sliced, the gripper system having at least two gripper devices, characterized in that at least one of the gripper devices has length compensation, the at least one gripper device having a locking unit, the locking unit being configured in this way is that the length compensation can be determined using the locking unit.
Das erfindungsgemäße Verfahren hat gegenüber dem Stand der Technik analog alle bereits im Zusammenhang mit dem vorstehend beschriebenen erfindungsgemäßen Greifersystem erläuterten Vorteile.Compared to the prior art, the method according to the invention analogously has all the advantages already explained in connection with the gripper system according to the invention described above.
Gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung ist es vorgesehen, dass den Greifervorrichtungen jeweils Mittel zum Antrieb in eine Haupterstreckungsrichtung der Spuren zugeordnet sind oder wobei die Greifervorrichtungen jeweils Mittel zum Antrieb in eine Haupterstreckungsrichtung der Spuren umfassen, wobei sich die Greifervorrichtungen und die jeweiligen Lebensmittelriegel in einem ersten Schritt unter Zuhilfenahme der Mittel zum Antrieb aufeinander zubewegen, wobei insbesondere die Mittel zum Antrieb die jeweiligen Längenkompensationen umfassen oder wobei insbesondere Mittel zum Antrieb die jeweiligen Längenkompensationen sind.According to a preferred embodiment of the present invention, it is provided that the gripper devices are each assigned means for driving in a main direction of extent of the tracks, or wherein the gripper devices each comprise means for driving in a main direction of extent of the tracks, with the gripper devices and the respective food slab in one move towards one another in the first step with the aid of the drive means, in particular the drive means comprising the respective length compensations or in particular the drive means being the respective length compensations.
Hierdurch ist es gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung möglich, dass während eines ersten Schrittes eine relative Bewegung zwischen der jeweiligen Greifervorrichtung und dem jeweiligen Lebensmittelriegel stattfindet, wobei sich die Greifervorrichtung in Richtung des Lebensmittelriegels bewegt und/oder der Lebensmittelriegel sich in Richtung der Greifervorrichtung bewegt. Es ist möglich, dass diese relativen Bewegungen insbesondere unter Zuhilfenahme von Mitteln zum Antrieb vollzogen werden, wobei es bevorzugt ist, dass die Mittel zum Antrieb jeweils eine Längenkompensation umfassen oder die Längenkompensation sind. Es ist denkbar, dass die Spuren nicht physisch als Teil des Greifersystems und/oder einer Aufschneidevorrichtung ausgebildet sind, sondern lediglich der Veranschaulichung der Zuordnung der Lebensmittelriegel und der jeweiligen Greifervorrichtung dienen.This makes it possible according to a preferred embodiment of the present invention that during a first step, a relative movement takes place between the respective gripper device and the respective block of food, the gripper device moving in the direction of the block of food and/or the block of food moving in the direction of the gripper device. It is possible for these relative movements to be carried out in particular with the aid of drive means, it being preferred for the drive means to each include length compensation or to be length compensation. It is conceivable that the tracks are not physically formed as part of the gripper system and/or a slicing device, but only serve to illustrate the assignment of the food block and the respective gripper device.
Gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung ist es vorgesehen, dass das Greifersystem mindestens ein Mittel zur Detektion und/oder Auswertung der auf die jeweilige Längenkompensation wirkenden jeweilige Kraft aufweist, wobei ein Schwellenwert für die jeweilige Kraft festgelegt wird, wobei in einem auf den ersten Schritt folgenden zweiten Schritt - unter Zuhilfenahme des Mittels zur Detektion und/oder Auswertung der auf die jeweilige Längenkompensation wirkenden Kraft - eine Überschreitung des Schwellenwertes durch die jeweilige Kraft detektiert wird, wobei bei der Überschreitung des Schwellenwertes:
- --- mithilfe der Greifervorrichtungen der jeweilige Lebensmittelriegel festgestellt ist und
- --- die jeweilige Feststelleinheit die jeweilige Längenkompensation der jeweiligen Greifervorrichtung feststellt.
- --- the respective block of food is fixed with the help of the gripper devices and
- --- the respective locking unit determines the respective length compensation of the respective gripper device.
Hierdurch ist es gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung möglich, dass ein Schwellenwert für die jeweils auf die Längenkompensation wirkende jeweilige Kraft festlegbar ist. Die jeweils auf die Längenkompensation wirkende jeweilige Kraft kann durch ein Mittel zur Detektion und/oder Auswertung der auf die jeweilige Längenkompensation wirkenden jeweiligen Kraft gemessen werden (oder durch mehrere Mittel zur Detektion und/oder Auswertung der auf die jeweilige Längenkompensation wirkenden jeweiligen Kraft). Eine solche Messung findet bevorzugt während des gesamten Verfahrens aber zumindest während des ersten Schritts kontinuierlich oder mit festgelegter Messfrequenz statt. Es ist möglich, dass die jeweils auf die Längenkompensation wirkende jeweilige Kraft ansteigt sobald der jeweilige Lebensmittelriegel und die jeweilige Greifervorrichtung in mechanischem Kontakt zueinanderstehen und die Bewegung der Greifervorrichtung in Richtung des Lebensmittelriegels weitergeführt wird (während des ersten Schritts). Dabei ist es möglich, dass ein festlegbarer (also einstellbarer) Schwellenwert für die jeweils auf die Längenkompensation wirkende jeweilige Kraft überschritten wird. Diese Überschreitung des Schwellenwerts wird im zweiten Schritt unter Zuhilfenahme des Mittels zur Detektion und/oder Auswertung der auf die jeweilige Längenkompensation wirkenden jeweilige Kraft gemessen und festgestellt/ausgewertet. Bei der Überschreitung ist es in vorteilhafter Weise möglich, dass die jeweilige Greifervorrichtung - während des zweiten Schritts - den jeweiligen Lebensmittelriegel greift bzw. feststellt (beispielsweise durch Greifer, die in den Lebensmittelriegel eingebracht werden oder auch durch einen pneumatischen Greifer oder ein anderes Greifverfahren) und dass die jeweilige Feststelleinheit - während des zweiten Schritts - die jeweilige Längenkompensation der jeweiligen Greifervorrichtung feststellt. Des Weiteren ist es möglich, dass - im Falle der Überschreitung des Schwellenwertes durch die jeweilige Kraft (bzw. im Falle der Überschreitung des Schwellenwertes für die jeweilige Kraft) - das jeweilige Mittel zum Antrieb die relative Bewegung (aufeinander zu) zwischen dem jeweiligen Lebensmittelriegel und der jeweiligen Greifervorrichtung stoppt. Für den Fall, dass das jeweilige Mittel zum Antrieb die jeweilige Längenkompensation umfasst, ist es möglich, dass das Stoppen der relativen Bewegung (aufeinander zu) zwischen dem jeweiligen Lebensmittelriegel und der jeweiligen Greifervorrichtung unter Zuhilfenahme oder durch die Feststelleinheit geschieht.It is thereby possible according to a preferred embodiment of the present invention that a threshold value can be defined for the respective force acting on the length compensation. The respective force acting on the length compensation can be measured by means for detecting and/or evaluating the respective force acting on the respective length compensation (or by several means for detecting and/or evaluating the respective force acting on the respective length compensation). Such a measurement preferably takes place during the entire process, but at least during the first step, continuously or at a fixed rate measurement frequency. It is possible that the respective force acting on the length compensation increases as soon as the respective block of food and the respective gripper device are in mechanical contact with one another and the movement of the gripper device in the direction of the block of food is continued (during the first step). It is possible that a definable (that is, adjustable) threshold value for the respective force acting on the length compensation is exceeded. This exceeding of the threshold value is measured and determined/evaluated in the second step with the aid of the means for detecting and/or evaluating the respective force acting on the respective length compensation. When this is exceeded, it is advantageously possible for the respective gripper device—during the second step—to grip or fix the respective block of food (e.g. by means of grippers that are introduced into the block of food or also by means of a pneumatic gripper or another gripping method) and that the respective locking unit - determines the respective length compensation of the respective gripper device - during the second step. It is also possible that - if the threshold value is exceeded by the respective force (or if the threshold value for the respective force is exceeded) - the respective means for driving the relative movement (towards each other) between the respective block of food and of the respective gripper device stops. In the event that the respective drive means includes the respective length compensation, it is possible for the relative movement (towards one another) between the respective block of food and the respective gripper device to be stopped with the aid of or by the locking unit.
Weitere Einzelheiten, Merkmale und Vorteile der Erfindung ergeben sich aus den Zeichnungen, sowie aus der nachfolgenden Beschreibung von bevorzugten Ausführungsformen anhand der Zeichnungen. Die Zeichnungen illustrieren dabei lediglich beispielhafte Ausführungsformen der Erfindung, welche den wesentlichen Erfindungsgedanken nicht einschränken.Further details, features and advantages of the invention result from the drawings and from the following description of preferred embodiments with reference to the drawings. The drawings merely illustrate exemplary embodiments of the invention, which do not restrict the essential idea of the invention.
- Figur 1figure 1
- zeigt schematisch vier nebeneinander angeordnete Lebensmittelriegel mit unterschiedlicher Länge sowie schematische Greifervorrichtungen.shows a schematic of four blocks of food of different lengths arranged next to one another, as well as schematic gripper devices.
- Figur 2figure 2
- zeigt schematisch ein Greifersystem zum Greifen von aufzuschneidenden Lebensmittelriegeln gemäß einer beispielhaften Ausführungsform der vorliegenden Erfindung.shows schematically a gripper system for gripping blocks of food to be sliced according to an exemplary embodiment of the present invention.
In den verschiedenen Figuren sind gleiche Teile stets mit den gleichen Bezugszeichen versehen und werden daher in der Regel auch jeweils nur einmal benannt bzw. erwähnt.In the various figures, the same parts are always provided with the same reference symbols and are therefore usually named or mentioned only once.
In
In
- 11
- Greifersystemgripper system
- 3, 3', 3", 3‴3, 3', 3", 3‴
- Längenkompensationlength compensation
- 4, 4', 4", 4‴4, 4', 4", 4‴
- Feststelleinheitlocking unit
- 6, 6', 6", 6‴6, 6', 6", 6‴
- Lebensmittelriegelfood bars
- 88th
- Zangenträgertongs carrier
- 99
- Führungguide
- 10, 11, 12, 1310, 11, 12, 13
- Greifervorrichtunggripper device
- 20, 20', 20", 20‴20, 20', 20", 20‴
- Spurtrack
- 3030
- Längenunterschieddifference in length
- 4040
- Schnittkanntecutting edge
- 100100
- Haupterstreckungsrichtungmain extension direction
Claims (12)
- Gripper system (1) for gripping blocks of food (6, 6', 6", 6‴) to be sliced, wherein the gripper system (1) has at least two gripper devices (10, 11, 12, 13), characterized in that at least one of the gripper devices (10, 11, 12, 13) has a length-compensation means (3, 3', 3", 3‴), wherein the at least one of the gripper devices (10, 11, 12, 13) has a fixing unit (4, 4', 4", 4‴), wherein the fixing unit (4, 4', 4", 4‴) is designed in such a way that, with the aid of the fixing unit (4, 4', 4", 4‴), the length-compensation means (3, 3', 3", 3‴) is able to be fixed in place, wherein the gripper system (1) has at least one means for evaluating the respective force acting on the respective length-compensation means (3, 3', 3", 3‴), wherein a threshold value for the respective force is able to be defined, wherein the gripper devices (10, 11, 12, 13) are each designed in such a way that, if the threshold value is exceeded by the respective force, at least the respective block of food (6, 6', 6", 6‴) is fixed in place with the aid of the gripper devices (10, 11, 12, 13) and the respective fixing unit (4, 4', 4", 4‴) fixes the respective length-compensation means (3, 3', 3", 3‴) of the respective gripper device (10, 11, 12, 13) in place.
- Gripper system (1) according to Claim 1, wherein the gripper system (1) has a multiplicity of gripper devices (10, 11, 12, 13), in particular two or three or four or ten gripper devices (10, 11, 12, 13).
- Gripper system (1) according to the preceding claim, wherein the gripper devices (10, 11, 12, 13) each have a length-compensation means (3, 3', 3", 3‴) and a fixing unit (4, 4', 4", 4‴), wherein the fixing units (4, 4', 4", 4‴) are each designed in such a way that, with the aid of the respective fixing unit (4, 4', 4", 4‴), the respective length-compensation means (3, 3', 3", 3‴) of the respective gripper device (10, 11, 12, 13) is able to be fixed in place.
- Gripper system (1) according to one of the preceding claims, wherein the gripper devices (10, 11, 12, 13) are each arranged in separate tracks (20, 20', 20", 20‴), wherein the tracks (20, 20`, 20", 20‴) are designed in such a way that the tracks (20, 20', 20", 20‴) are able to be filled with in each case at least one block of food (6, 6', 6", 6‴).
- Gripper system (1) according to one of the preceding claims, wherein the gripper devices (10, 11, 12, 13) are each assigned means for driving in a main extent direction (100) of the tracks, or wherein the gripper devices (10, 11, 12, 13) each comprise means for driving in a main extent direction (100) of the tracks (20, 20', 20", 20‴), wherein the gripper devices (10, 11, 12, 13) and the respective blocks of food (6, 6`, 6", 6‴) are movable towards one another with the aid of the respective means for driving, wherein in particular the means for driving comprise the respective length-compensation means (3, 3', 3", 3‴), or wherein in particular the means for driving are the respective length-compensation means (3, 3', 3", 3‴).
- Gripper system (1) according to one of the preceding claims, wherein the length-compensation means (3) has a mechanical spring and/or a gas-pressure spring and/or a pneumatic length-compensation means, wherein in particular the respective length-compensation means (3, 3', 3", 3‴) of the respective gripper devices (10, 11, 12, 13) each have a mechanical spring and/or a gas-pressure spring and/or a pneumatic length-compensation means.
- Gripper system (1) according to one of the preceding claims, wherein the gripper devices (10, 11, 12, 13) are arranged on a tongs carrier (8).
- Gripper system (1) according to Claim 7, wherein the tongs carrier (8) has a display device, or wherein the tongs carrier (8) is assigned a display device, wherein the threshold valve is able to be set with the aid of the display device.
- Gripper system (1) according to one of the preceding claims, wherein the gripper devices (10, 11, 12, 13) each have at least one guide (9).
- Slicing device for slicing blocks of food (6, 6', 6", 6‴), wherein the slicing device comprises at least one product feed for feeding the block of food (6, 6', 6", 6‴) and a gripper system (1) according to one of Claims 1 to 8.
- Method for gripping blocks of food (6, 6', 6", 6‴) to be sliced by way of a gripper system (1) according to one of Claims 1 to 9, wherein the gripper system (1) has at least two gripper devices (10, 11, 12, 13), wherein at least one of the gripper devices (10, 11, 12, 13) has a length-compensation means (3, 3', 3", 3‴), wherein the at least one of the gripper devices (10, 11, 12, 13) has a fixing unit (4, 4', 4", 4‴), wherein the fixing unit (4, 4', 4", 4‴) is designed in such a way that, with the aid of the fixing unit (4, 4', 4", 4‴), the length-compensation means (3, 3', 3", 3‴) is able to be fixed in place, wherein the gripper system (1) has at least one means for detecting and/or evaluating the respective force acting on the respective length-compensation means (3, 3', 3", 3‴), wherein a threshold value for the respective force is defined, wherein, in a second step, which follows the first step, with the aid of the means for evaluating the force acting on the respective length-compensation means (3, 3', 3", 3‴), exceedance of the threshold value by the respective force is detected, wherein, if the threshold value is exceeded:--- the respective block of food (6, 6', 6", 6‴) is fixed in place with the aid of the gripper devices (10, 11, 12, 13), and--- the respective fixing unit (4, 4', 4", 4‴) fixes the respective length-compensation means (3, 3', 3", 3‴) of the respective gripper device (10, 11, 12, 13) in place.
- Method according to Claim 11, wherein the gripper devices (10, 11, 12, 13) are each assigned means for driving in a main extent direction (100) of the tracks, or wherein the gripper devices (10, 11, 12, 13) each comprise means for driving in a main extent direction (100) of the tracks (20, 20', 20", 20‴), wherein, in a first step, the gripper devices (10, 11, 12, 13) and the respective blocks of food (6, 6', 6", 6‴) move towards one another with the aid of the means for driving, wherein in particular the means for driving comprise the respective length-compensation means (3, 3', 3", 3‴), or wherein in particular the means for driving are the respective length-compensation means (3, 3', 3", 3‴).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017207340 | 2017-05-02 | ||
PCT/EP2018/061217 WO2018202721A1 (en) | 2017-05-02 | 2018-05-02 | Gripper system for gripping blocks of a foodstuff to be cut, cutting device, and method |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3619015A1 EP3619015A1 (en) | 2020-03-11 |
EP3619015B1 true EP3619015B1 (en) | 2023-07-05 |
Family
ID=62104304
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18721788.0A Active EP3619015B1 (en) | 2017-05-02 | 2018-05-02 | Gripper system for gripping blocks of a foodstuff to be cut, cutting device, and method |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3619015B1 (en) |
ES (1) | ES2958751T3 (en) |
WO (1) | WO2018202721A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022133591A1 (en) * | 2022-12-16 | 2024-06-27 | Multivac Sepp Haggenmüller Se & Co. Kg | Multi-lane slicing machine with individually positionable grippers and control procedures for this |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3239178A1 (en) * | 1982-10-22 | 1984-04-26 | Natec Reich, Summer GmbH & Co KG, 8999 Heimenkirch | MACHINE FOR CUTTING CUT BAR |
DE102006003142A1 (en) * | 2006-01-24 | 2007-08-16 | Sig Technology Ltd. | Device for blow molding containers |
DE102011103864A1 (en) * | 2011-06-09 | 2012-12-13 | Weber Maschinenbau Gmbh Breidenbach | Method for slicing products |
DE102015107716A1 (en) * | 2015-05-18 | 2016-11-24 | Weber Maschinenbau Gmbh Breidenbach | feeder |
-
2018
- 2018-05-02 ES ES18721788T patent/ES2958751T3/en active Active
- 2018-05-02 WO PCT/EP2018/061217 patent/WO2018202721A1/en unknown
- 2018-05-02 EP EP18721788.0A patent/EP3619015B1/en active Active
Also Published As
Publication number | Publication date |
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ES2958751T3 (en) | 2024-02-14 |
WO2018202721A1 (en) | 2018-11-08 |
EP3619015A1 (en) | 2020-03-11 |
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