EP3619015B1 - Système de préhension servant à saisir des barres de produits alimentaires à couper, dispositif de coupe, procédé - Google Patents

Système de préhension servant à saisir des barres de produits alimentaires à couper, dispositif de coupe, procédé Download PDF

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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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Application number
EP18721788.0A
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German (de)
English (en)
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EP3619015A1 (fr
Inventor
Albert Hartmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GEA Food Solutions Germany GmbH
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GEA Food Solutions Germany GmbH
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Publication date
Application filed by GEA Food Solutions Germany GmbH filed Critical GEA Food Solutions Germany GmbH
Publication of EP3619015A1 publication Critical patent/EP3619015A1/fr
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Publication of EP3619015B1 publication Critical patent/EP3619015B1/fr
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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 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)

Claims (12)

  1. Système de préhension (1) pour la préhension de barres de produit alimentaire (6, 6', 6", 6‴) à découper, le système de préhension (1) présentant au moins deux dispositifs de préhension (10, 11, 12, 13), caractérisé en ce qu'au moins l'un des dispositifs de préhension (10, 11, 12, 13) présente une compensation de longueur (3, 3', 3", 3‴), l'au moins un des dispositifs de préhension (10, 11, 12, 13) présentant une unité de blocage (4, 4', 4'', 4'''), l'unité de blocage (4, 4', 4", 4‴) étant configurée de telle sorte que la compensation de longueur (3, 3', 3", 3''') peut être bloquée à l'aide de l'unité de blocage (4, 4', 4", 4‴), le système de préhension (1) présentant au moins un moyen d'évaluation de la force respective agissant sur la compensation de longueur respective (3, 3', 3", 3‴), une valeur seuil pouvant être fixée pour la force respective, les dispositifs de préhension (10, 11, 12, 13) étant chacun configurés de telle sorte qu'en cas de dépassement de la valeur seuil par la force respective, au moins la barre de produit alimentaire respective (6, 6', 6'', 6''') est bloquée à l'aide des dispositifs de préhension (10, 11, 12, 13) et l'unité de blocage respective (4, 4', 4", 4‴) bloque la compensation de longueur respective (3, 3', 3", 3‴) du dispositif de préhension respectif (10, 11, 12, 13).
  2. Système de préhension (1) selon la revendication 1, dans lequel le système de préhension (1) présente une pluralité de dispositifs de préhension (10, 11, 12, 13), notamment deux ou trois ou quatre ou dix dispositifs de préhension (10, 11, 12, 13).
  3. Système de préhension (1) selon l'une quelconque des revendications précédentes, dans lequel les dispositifs de préhension (10, 11, 12, 13) présentent chacun une compensation de longueur (3, 3', 3", 3''') et une unité de blocage (4, 4', 4", 4‴), les unités de blocage (4, 4', 4'', 4''') étant respectivement configurées de telle sorte que la compensation de longueur respective (3, 3', 3'', 3‴) du dispositif de préhension respectif (10, 11, 12, 13) peut être bloquée à l'aide de l'unité de blocage respective (4, 4', 4", 4‴).
  4. Système de préhension (1) selon l'une quelconque des revendications précédentes, dans lequel les dispositifs de préhension (10, 11, 12, 13) sont agencés chacun dans des pistes séparées (20, 20', 20", 20‴), les pistes (20, 20', 20", 20‴) étant configurées de telle sorte que les pistes (20, 20', 20", 20‴) peuvent être garnies chacune d'au moins une barre de produit alimentaire (6, 6', 6", 6‴).
  5. Système de préhension (1) selon l'une quelconque des revendications précédentes, dans lequel des moyens d'entraînement dans une direction d'extension principale (100) des pistes sont respectivement associés aux dispositifs de préhension (10, 11, 12, 13) ou dans lequel les dispositifs de préhension (10, 11, 12, 13) comprennent respectivement des moyens d'entraînement dans une direction d'extension principale (100) des pistes (20, 20', 20", 20‴), les dispositifs de préhension (10, 11, 12, 13) et les barres de produit alimentaire respectives (6, 6', 6'', 6''') pouvant être déplacés les uns vers les autres à l'aide des moyens d'entraînement respectifs, les moyens d'entraînement comprenant notamment les compensations de longueur respectives (3, 3', 3", 3‴) ou les moyens d'entraînement étant notamment les compensations de longueur respectives (3, 3', 3'', 3''').
  6. Système de préhension (1) selon l'une quelconque des revendications précédentes, dans lequel la compensation de longueur (3) présente un ressort mécanique et/ou un ressort à pression de gaz et/ou une compensation de longueur pneumatique, les compensations de longueur respectives (3, 3', 3", 3‴) des dispositifs de préhension respectifs (10, 11, 12, 13) présentant notamment chacune un ressort mécanique et/ou un ressort à pression de gaz et/ou une compensation de longueur pneumatique.
  7. Système de préhension (1) selon l'une quelconque des revendications précédentes, dans lequel les dispositifs de préhension (10, 11, 12, 13) sont agencés sur un support de pince (8).
  8. Système de préhension (1) selon la revendication 7, dans lequel le support de pince (8) présente un dispositif d'affichage ou dans lequel un dispositif d'affichage est associé au support de pince (8), la valeur seuil pouvant être réglée à l'aide du dispositif d'affichage.
  9. Système de préhension (1) selon l'une quelconque des revendications précédentes, dans lequel les dispositifs de préhension (10, 11, 12, 13) présentent chacun au moins un guide (9).
  10. Dispositif de découpe pour découper des barres de produit alimentaire (6, 6', 6", 6‴), le dispositif de découpe comprenant au moins une amenée de produit pour amener les barres de produit alimentaire (6, 6', 6'', 6''') et un système de préhension (1) selon l'une quelconque des revendications 1 à 8.
  11. Procédé de préhension de barres de produit alimentaire (6, 6', 6", 6‴) à découper avec un système de préhension (1) selon l'une quelconque des revendications 1 à 9, dans lequel le système de préhension (1) présente au moins deux dispositifs de préhension (10, 11, 12, 13), dans lequel au moins l'un des dispositifs de préhension (10, 11, 12, 13) présente une compensation de longueur (3, 3', 3", 3‴), l'au moins un dispositif de préhension (10, 11, 12, 13) présentant une unité de blocage (4, 4', 4", 4‴), l'unité de blocage (4, 4', 4", 4‴) étant configurée de telle sorte que la compensation de longueur (3, 3', 3'', 3''') peut être bloquée à l'aide de l'unité de blocage (4, 4', 4", 4‴), le système de préhension (1) présentant au moins un moyen de détection et/ou d'évaluation de la force respective agissant sur la compensation de longueur respective (3, 3', 3", 3‴), une valeur seuil étant fixée pour la force respective, un dépassement de la valeur seuil par la force respective étant détecté dans une deuxième étape suivant la première
    - à l'aide du moyen d'évaluation de la force agissant sur la compensation de longueur respective (3, 3', 3", 3'''), lors du dépassement de la valeur seuil :
    - la barre de produit alimentaire respective (6, 6', 6'', 6''') étant bloquée à l'aide des dispositifs de préhension (10, 11, 12, 13) et
    - l'unité de blocage respective (4, 4', 4", 4‴) bloquant la compensation de longueur respective (3, 3', 3'', 3''') du dispositif de préhension respectif (10, 11, 12, 13).
  12. Procédé selon la revendication 11, dans lequel les dispositifs de préhension (10, 11, 12, 13) sont associés chacun à des moyens d'entraînement dans une direction d'extension principale (100) des pistes ou dans lequel les dispositifs de préhension (10, 11, 12, 13) comprennent chacun des moyens d'entraînement dans une direction d'extension principale (100) des pistes (20, 20', 20", 20‴), les dispositifs de préhension (10, 11, 12, 13) et les barres de produit alimentaire respectives (6, 6', 6", 6''') se déplaçant les uns vers les autres dans une première étape à l'aide des moyens d'entraînement, les moyens d'entraînement comprenant notamment les compensations de longueur respectives (3, 3', 3'', 3''') ou les moyens d'entraînement étant notamment les compensations de longueur respectives (3, 3' 3", 3‴).
EP18721788.0A 2017-05-02 2018-05-02 Système de préhension servant à saisir des barres de produits alimentaires à couper, dispositif de coupe, procédé Active EP3619015B1 (fr)

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DE102017207340 2017-05-02
PCT/EP2018/061217 WO2018202721A1 (fr) 2017-05-02 2018-05-02 Système de préhension servant à saisir des barres de produits alimentaires à couper, dispositif de coupe, procédé

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EP3619015A1 EP3619015A1 (fr) 2020-03-11
EP3619015B1 true EP3619015B1 (fr) 2023-07-05

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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

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