WO2024012614A1

WO2024012614A1 - A device for filling rolls with semi-liquid filling, cartridge for one portion of filling and method of filling rolls

Info

Publication number: WO2024012614A1
Application number: PCT/CZ2023/050043
Authority: WO
Inventors: Lukáš Nádvorník
Original assignee: Premier Food s.r.o.
Priority date: 2022-07-14
Filing date: 2023-07-14
Publication date: 2024-01-18
Also published as: CZ2022311A3; CZ309787B6

Abstract

The present invention generally relates to the field of gastronomy, specifically to fast food. More specifically, it relates to a device for semi-automatic or automatic preparation of filled rolls, which are filled mainly with warm semi-liquid filling. The device according to the present invention comprises the basic components, which are a manipulator with a gripper, refrigerator, heating unit, filling unit, dispensing unit and control unit. Depending on the specific design (semi-automatic, fully automatic), the device may comprise other components, such as a second manipulator, roll tray or contact grill. During operation, the device uses cartridges in which one portion of filling is placed. These cartridges guarantee not only the standard filling of the roll, but especially the safety of the process of storing, heating and filling the filling into the roll.

Description

A device for filling rolls with semi-liquid filling, cartridge for one portion of filling and method of filling rolls

Field of the Invention

The present invention generally relates to the field of gastronomy, specifically to fast food. More specifically, it relates to a device for semi-automatic or automatic preparation of filled rolls, which are filled mainly with warm semi-liquid filling representing a traditional dish of national or international cuisine, such as beef stew or sirloin beef in cream.

Prior Art

Fast food is a type of public catering based on quick selection, sale and consumption of food. As a rule, these are dishes that are suitable by their nature for quick preparation, and it is usually also possible to eat them without cutlery and dishes, from paper packaging or by hand, possibly while standing or even while walking.

Typical foods served in fast food establishments include a hamburger, hot dog, sausage in a roll, kebab, gyros, portions of grilled or fried chicken, or pizza. Kebabs, gyros and pizza were originally dishes typical of specific areas (the Middle East, Greece, Italy), but due to their easy preparation, they have spread practically all over the world, especially in fast food establishments.

The dishes are usually prepared in the traditional way, by grilling, baking, deep-frying, boiling or simply heating, when the processed meat is usually stuffed into some form of bakery product, such as a roll, tortilla or pita bread. The preparation of such dishes requires human service, and semi-automatic or automatic operations do not normally work yet.

A "hot dog" is a dish originating in the USA consisting of a heated or grilled sausage that is placed in a roll, bun or baguette cut lengthwise. It is usually seasoned with mustard, ketchup, mayonnaise, as well as garnish - onion, lettuce or cabbage, pickled cucumber. A sausage in a roll is a Czech version of a hot dog, it consists of a heated (sometimes also grilled) sausage, or other similar wurst, which is placed inside a roll. Unlike other types of hot dog, the bakery product is not cut, but one tip is removed and an elongated hollow is formed in the rest by a toasting spike, and the sausage, usually seasoned with mustard or ketchup, is inserted into the hollow. Commercially available devices basically consist of an electrically heated toasting spike and a container for heating sausages. The preparation and sale of hot dogs and sausages in a roll have not been automated in any way and require full human service.

Patent US 5,172,328 B1 discloses a fully automated robotic "fast food" system suitable for preparing fries, chicken nuggets, fish fillets or hamburgers. International patent application WO 03/047356 A1 discloses an automatic device for preparing a kebab. European patent EP 2 134 183 B1 discloses an automatic system for preparing and serving pizza. Patent US 11,089,905 B2 discloses an automated system for serving and baking rolls/buns usable in fast food establishments for the preparation of hamburgers.

The Czech or eventually Central European cuisine has not contributed much to fast food so far, mainly because traditional dishes such as goulash, tomato or dill sauce, sirloin beef, etc., did not seem suitable for quick preparation in fast food establishments and convenient consumption without cutlery.

A specific feature of fast food is the requirement for the consistency of the prepared foods, which must be prepared under precisely defined conditions for a precisely determined time, as well as for their safety, i.e. complete health harmlessness.

An alternative to current types of fast food and a solution to some problems is offered by the device for filling rolls with semi-liquid mixture. On one hand, the device enables the filling of rolls with specially prepared traditional Czech (or other national) dishes in a fast, semi-automated or fully automated manner, suitable for fast food establishments. The resulting dish, a filled roll, meets the requirements for a fast food dish and thus expands the range of dishes offered so far.

Summary of the Invention

The device according to the present invention is intended for use in the field of gastronomy. In the case of a semi-automatic device, it will find its application specifically in fast food establishments. The fully automatic device can then be used anywhere like other food or beverage vending machines, e.g. at stations, airports, petrol pumps and the like. The pre-prepared semi-liquid filling (filling mixture) is filled, using the device according to the invention, into a pre-baked roll just before consumption, similar to the Czech/European version of a hot dog (sausage in a roll), where the roll is not cut, but the tip is cut off and the hollow for the sausage is created by hitting the roll on a toasting spike (optionally, a special roll can be used - a semi-finished product with a pre-formed cavity). The prepared dish is therefore similar to a sausage in a roll, but instead of a sausage, it contains a pre-prepared, especially cooked filling, which mainly consists of a modified dish of "traditional" Czech (but also other national) cuisine, such as e.g. goulash, chicken with paprika, corned beef rolls, tomato sauce with beef or sirloin beef on cream. The preparation of the filling requires modification of the traditional recipe, as the filling must have certain specific properties, especially density. The consistency of the filling is similar to a thick sauce, as is usually known for e.g. sirloin beef. The filling may contain pieces of meat, eggs and vegetables, which should not exceed approximately 1 cm³ in size. High demands are placed on the stability of the consistency and density (sauce / solid parts) of individual specific fillings. These fillings are filled one portion at a time (preferably with a volume of 75 ml) into special cartridges, in which they are also stored in the refrigerator for a short time before consumption, and just before consumption, they are heated as needed and filled into a pre-prepared roll using the device according to the invention. The said cartridges are an essential part of the device, the use of cartridges in the device according to the invention guarantees not only the standard filling of the roll, but especially the health harmlessness of the process of storing, heating and filling. In this description, the term "roll" means both a regular roll, but especially a special bakery product adapted for filling, essentially known from the state of the art. Advantageously, special bakery products are prepared for use in the device according to the invention, already pre-treated in the bakery so that they are calibrated in terms of weight and size (length and diameter), do not have one tip and contain an elongated cavity (in the direction of the longer axis of the roll) which is open at the end without a tip. Advantageously, the dough recipe is also adjusted so that it does not get soggy quickly after filling the semi-liquid filling. In the description of the invention, the term "semi-liquid" filling means in particular a filling with a consistency ranging from a thick soup to a thick sauce to a thin porridge, which contains a liquid component and larger solid pieces, with the volume of an individual piece usually up to 1 cm³. The term semi-liquid filling according to the invention includes not only the above-mentioned "classic" sauces, but also, for example, pasty dishes such as hummus or spreads (e.g. from cottage cheese, tuna, shrimp, avocado) or meaty dishes such as pâtés or rillettes, as well as vegetable salad (a mixture of pieces of various types of vegetables, or pieces of meat, and a thick, or gel-like, dressing - a dressing made of e.g. yogurt, cream, mayonnaise, mustard, balsamic vinegar).

The preparation of a roll before filling usually consists of sliding it onto a toasting spike and toasting the inside of the roll and roasting (grilling) the outside of the roll in a contact grill. The preparation of a roll, its placement in the device for filling and removal and serving to the customer are performed by the operating staff in the case of a semi-automatic device, in the case of a fully automatic device, these operations are also performed by the appropriate robotic manipulator.

Device for filling rolls

The device for filling rolls according to the present invention comprises the basic components, which are: a manipulator, i.e. an x-y-z drive system with a gripper, a refrigerator, a heating unit, a filling unit, a dispensing unit, a control unit and possibly an electrical switchboard. Depending on the specific design (semi-automatic, fully automatic), the device may contain other components, such as a second manipulator, a roll tray, or a contact grill. The components are functionally arranged in, respectively on, a frame structure (frame), where the refrigerator, heating unit and dispensing unit are placed in the frame in the first horizontal level and the manipulator and filling unit are placed higher above them in the second horizontal level. The components are spatially distributed and functionally connected in such a way that after entering an instruction into the control unit (e.g. using the user interface, which is a touch screen), the manipulator removes the full cartridge from the refrigerator, transfers it to the heating unit, after heating to a predefined temperature transfers the cartridge to the filling unit, the filling unit pushes the contents of the cartridge with a piston into a pre-prepared roll in the dispensing unit and throws the empty cartridge into the collection container (cartridges are recycled). The roll after preparation (toasting/roasting) must be placed in the dispensing unit in advance by the operator, who then also removes the roll from the dispensing unit after it has been filled. The assembly described above can be used as a semi-automatic device where the presence of an operator is necessary. In the fully automatic modification, the device described above is further provided with a roll tray, a contact grill, a dispensing box and a second manipulator, which moves rolls from the tray to the contact grill, moves the roll, after the roll is roasted, to the dispensing unit, where the roll is filled, and after filling, moves the roll to the delivery box, from which the customer takes it out.

Manipulator (first manipulator)

It is an automated x-y-z drive system with a gripper for grabbing the cartridge, which has movements defined by the control program: from the initial (rest) position, it moves above the refrigerator and moves down over the grid with cartridges, the gripper grabs the cartridge and picks it up from the refrigerator, moves it to the heating unit, moves the cartridge to the dispensing unit and inserts it into the roll, in coordination with the movement of the ejector piston, ejects the empty cartridge from the roll, moves the cartridge over the ejection opening and the gripper releases the cartridge.

Refrigerator

The refrigerator has an automatically openable horizontally sliding lid, contains an internal space divided by partitions (grid) into cells for storing individual cartridges. The partition system creates a raster that clearly indicates the exact position of individual cartridges. An exact coordinate system (x-y) is defined by the raster, the parameters of which are programmed in the control unit, and which thus enables a specific cartridge to be picked up by the manipulator after entering an instruction. The temperature in the refrigerator is usually maintained at 4 °C to 6 °C. In an advantageous configuration, the refrigerator contains 60 cells for cartridges, in a 3x(5x4) configuration, where, for example, a block of 20 cells is reserved for one type of filling. The refrigerator may contain at least 10 cells, usually e.g. 20, 30, 40, 50, 70, 80, 90 or 100, or any other suitable number depending on the specific spatial and size implementation of the device according to the invention.

Heating unit

The heating unit contains a container with a water bath, where the water is heated to a temperature of approximately 95 °C by means of an electric heating element. The temperature of the water bath is measured by a thermometer (e.g. thermocouple, thermistor, infrared thermometer) and is controlled by the control unit. The container is closed so that there is as little evaporation of water as possible, in the upper lid it contains at least one opening (depending on the specific spatial and size implementation of the device according to the invention also a different number is possible, preferably 2) for inserting the cartridge into the water bath. The opening is covered with silicone flaps - squeegees that wipe water drops from the surface of the cartridge when the cartridge is pulled out of the bath. The cartridge remains in the bath for such a time that the contents of the cartridge are heated to a temperature of approximately 65 °C. The heating time depends, among other things, on the material and design of the cartridge, but it usually takes 30 to 40 seconds.

Filling unit

The filling unit is located above the dispensing unit and contains at least one ejection piston fixed on the stand, horizontally and vertically movable, adapted to be moved from the initial (rest) position above the cartridge inserted in the roll in the dispensing unit, to a coaxial position, and for insertion into the cartridge for pushing out the filling. When the filling is pushed out, the cartridge is simultaneously pulled up by the gripper of the manipulator, so that the filling is pushed into the roll. Preferably, the filling unit contains two vertically movable pistons. The movement of the piston is controlled by the control unit.

Dispensing unit

The dispensing unit in the semi-automatic device contains at least one position, preferably two positions with holds for placing the prepared roll, while in each position there is a detector of the presence of a roll in place. Inserting the roll after roasting and removing it after filling is ensured by operators. The dispensing unit in a fully automatic device contains one position with holds for a roll, and it is additionally supplemented with a second manipulator, a contact grill and a dispensing box.

Collection container for used cartridges

The collection container for used cartridges is a container conveniently located under the filling unit and behind the dispensing unit. After filling the roll, the manipulator transfers the used cartridge over the opening of the collection container for used cartridges and releases the cartridge so that it falls into the collection container.

Second manipulator

In the case of a fully automatic device for filling rolls, the device includes a second manipulator. It is an automated x-y-z drive system, similar to the (first) manipulator, with a gripper for grabbing the roll. It moves from the initial (rest) position above the roll tray and moves the roll from the tray to the contact grill, after the roll is roasted, it moves the roll to the dispensing unit, where the roll filling occurs, and after the filling it moves the roll to the dispensing box (into the prepared package in the dispensing box).

Toasting spike and contact grill

In the case of semi-automatic device, the toasting spike and the contact grill are accessories of the device for filling rolls, which are installed outside the device itself and require human operation. The toasting spike and the contact grill can be two separate devices, in an advantageous embodiment both devices are combined into one, namely the contact grill with the toasting spike. The contact grill comprises a toasting spike and at least two grilling units that are movably positioned around the spike so that they can move away from or approach the spike. The grilling units in their remote positions create a space around the toasting spike for the free insertion of a roll, in the approached positions they come into contact with the surface of the roll for its heat treatment. In the case of an automatic device, the contact grill is an integral part of the device for filling rolls and is installed together with other components inside the device panel, while the control of the grill (moving the grill units closer and apart, turning the heating on and off) is fully automated and controlled by the control unit.

Dispensing box

The dispensing box is a box in an automatic device that has a first (internal) entrance through which a second manipulator inserts a filled roll, and a second (external) entrance that communicates with the outside environment and through which the consumer can remove the prepared filled roll. The second entrance of the dispensing box is equipped with an automatic opening/closing door.

Electrical switchboard

The electrical switchboard ensures the connection to the electrical network and the power supply of all components of the device. It can be part of the device or it can be an external unit.

Frame

The frame is a solid structure made of metal, preferably aluminium profiles (square or rectangular cross-section, or L or U profile), connected by welding or bolting. It contains at least two levels (floors), where the refrigerator, heating unit and dispensing unit are located in the first level and the manipulator and filling unit are located in the higher second level (above the first level). The frame can be provided with a panelling/casing, preferably from panels made of plastic (e.g. plexiglass or macrolon) or e.g. sheet metal, which are attached to the frame. In the case of a fully automatic device, the frame is housed in a panelling, creating a compact dispenser. At least one wall of the panelling of the dispensing machine is equipped with a communication interface for selecting the product and receiving payment and a door that allows access to the dispensing box.

Control unit

The control unit includes a processor, a memory and a communication interface (touch screen display), where the processor is configured at least to receive input data from the memory (program instructions) and/or the communication device (refrigerator replenishment data, instructions to start a cycle) and/or detectors (detector of the presence of a roll in the dispensing unit) and issuing instructions to at least the control elements (servomotors) of the manipulator (movement in the x-y plane, closing/opening of the arms of the gripper, movement of the gripper in the direction of the z axis), the refrigerator lid (opening/closing) and the filling unit (setting a piston above the roll, movement of the piston up/down (in the direction of the z axis). In the case of a fully automatic device, the processor is further adapted to receive additional data (data on the filling of the roll tray) and issue instructions to the second manipulator. It also includes a system for ensuring communication with the customer (choice of type of filling, etc. and receipt of payments).

All the above-mentioned components of the device are known in principle and a skilled person is able to construct them based on the given descriptions and their expertise. The inventor considers as a new and inventive the entire device, i.e. the functional assembly of the above-mentioned components, which works as a semi-automatic or fully automatic device for filling rolls with semi-liquid filling. Also new and inventive is the cartridge for one portion of filling, which enables the operation of the device while ensuring all hygienic requirements for the storage and serving of meals in the form of fast food.

Cartridge for one portion of the filling

The cooked or otherwise prepared filling mixture, according to a given recipe, is filled into a temporary container - a cartridge. The cartridge is an essential element for the operation of the device, the use of cartridges in the device according to the invention guarantees not only the standard filling of a roll, but especially the health harmlessness of the process of storing and filling. The cartridge comprises three basic parts: a body, a piston and a cracking cap.

The body of the cartridge is a machined tube, preferably a seamless tube made of stainless steel, dimensionally adapted for insertion into the roll and for inserting the required volume of filling. Other materials suitable for the food industry are also possible, such as various plastics, but steel appears to be the most suitable for reasons of durability during repeated use, dimensional stability, and hygienic requirements. Advantageous materials include, for example, stainless steel of quality 1.4301 (so-called food grade steel) or steels designated as AISI 316 L, AISI 304 and ANSI 303. The cartridge at the first end contains a recess (internal groove) for seating the piston with a stopping edge for the piston. The recess continues towards the other end of the cartridge with a gradual transition into the standard diameter of the inside of the cartridge (i.e. without an edge). The inner end edge is advantageously bevelled. At this end, a means for grasping the cartridge with the gripper of the manipulator is also located from the outside. It can be a rim, protrusions, a partial recess or a recess around the entire circumference of the cartridge. Advantageously, this means is a recess (groove) along the entire outer circumference of the cartridge, the profile of the recess being rectangular and its dimensions adapted to the manipulator's gripper jaws. At the second end of the cartridge, there is a recess, and optionally an enlarged inner diameter, for attaching the cracking cap. The inner end edges of the second end are advantageously slightly bevelled, which allows for a more convenient insertion of the cap.

In a preferred embodiment, the cartridge is a seamless tube from stainless steel with an outer diameter of 25 mm, a wall thickness of 2 mm (and therefore an inner diameter of 21 mm), a length of 250 mm, the internal volume (i.e. the volume between the piston and the cap that holds the filling) is 75 ml.

The cartridge piston is a circular cylinder made of food-grade silicone, with a diameter corresponding to the inner diameter of the cartridge body so that it can move in the cartridge body, but at the same time tight enough so that when the filling is pushed out of the cartridge, the filling does not flow over the cartridge piston. Prior to filling the cartridge, the piston is seated inside the cartridge in the recess at the first end of the cartridge. In a preferred embodiment, the piston has a thickness of 15 mm and an outer diameter of 21.2 mm.

The cracking cap is formed by a disc connected to a ring, where the disc forms the actual closing surface of the cap with an overlap on the wall (edge) of the cartridge, and the ring forms a border (frame) reinforcing the cap around the perimeter and allowing the cap to fit in the cartridge. The outer diameter of the disc is the same as the outer diameter of the cartridge body. The entire cap is made as one piece, preferably from food-grade polypropylene. In the part corresponding to the inner diameter of the cartridge, the disc is provided with a thinning, which is formed by lines of thinning that allow the cap to crack (tear). The purpose of the lines of thinning is to locally weaken the firmness of the cap so that when pressure is applied to the cartridge piston (i.e., the pressure of the ejector piston on the piston of the filled cartridge), the thinned areas will crack and the cap will open. Preferably, the lines of thinning are in the shape of a star. The star-shaped thinning preferably contains 8 rays, but in another embodiment it can contain, for example, only 3 rays, 4 rays (cross thinning) or 6, 10 or 12 rays. The cap is preferably produced in an injection jaw mould that contains the exact desired geometry of the cap, with the lines of thinning created directly when the cap is injected into the mould.

The fitting at the first end of the cap ring fits all the way around the recess in the second end of the cartridge body and holds the cap firmly in the cartridge. The fitting at the first end is preferably wedge-shaped (by its profile) for easier insertion of the cap into the cartridge and includes an edge that abuts the edge of the recess in the cartridge body and prevents the cap from loosening. The rectangular (by its profile) fitting (overlap) at the second end of the ring rests against the edge of the second end of the cartridge after the cap is inserted. After insertion, it seals correctly without additional components (does not contain a rubber seal), that is, it seals directly in contact with the cartridge body, thanks to dimensional compatibility (dimensional overlap) on the diameter of both parts. In an advantageous embodiment, the diameter of the disc (including the overlap) is 25 mm (after inserting the cap on the cartridge, the edge of the cap exactly matches the outer edge of the cartridge body), the width of the ring is 6.2 mm, the outer diameter of the ring is 22 mm, the inner diameter is 20 mm, the wedge-shaped fitting has the largest outer diameter of 23 mm.

When filling the cartridge with the filling mixture, in the first step, a piston is inserted into the body of the cartridge at the first end, which stops at the edge of the recess. This guarantees the exact position of the piston, which guarantees the same volume of filling in the cartridge. After the interior is filled, the other end is closed by the cracking cap. With this, the filling is closed and the filled cartridge is ready for pasteurization (at a temperature of 60-75 °C for 30-120 minutes depending on the type of filling mixture), which guarantees the conservation of the filling for the required time (at least 4 days). After completion of pasteurization, shock cooling to 4 to 6 °C follows. At this temperature, the filled cartridges are kept in a cooling box.

Cartridge filler

In the simplest case, a filling funnel can be used to fill cartridges, or commercially available food fillers (mechanical, manual, automated), which are known to skilled persons.

For a better understanding of the operation of the device according to the invention, a brief overview of the working cycle of the device (filling one roll) is given below.

Device working cycle (semi-automatic mode)

1. Filling the refrigerator with cartridges: the refrigerator contains an internal space divided by partitions into cells for individual cartridges. The raster thus indicates the exact position of individual cartridges. The refrigerator in a preferred embodiment contains 60 positions for cartridges. The operator fills the refrigerator and after filling marks and confirms the stock level on the touch screen, so the number of cartridges and the type of filling are stored in the memory of the control unit.

2. Starting the working cycle: on the screen, the operator chooses what type of filling is to be filled into the roll.

3. The upper lid of the refrigerator, where the cartridges cooled to 4-6 °C are stored, opens automatically. The gripper of the manipulator moves to the given position in the refrigerator. The gripper grabs the cartridge and moves out of the refrigerator, which then closes.

4. The selected cartridge is transferred to the heating unit by the manipulator. The water bath of the heating unit is maintained at a temperature of 95 °C. The cartridge is inserted into the container of the heating unit through the opening in the lid of the heating unit; it remains in the bath until the filling is heated to 65 °C (usually 35-40 seconds).

5. During the heating of the cartridge, the operator prepares the roll - it toasts and calibrates the roll on a stainless steel toasting spike (that has a temperature of 150 °C). The spike calibrates the cavity in the roll to a diameter of 25 mm and a depth of 125 mm (constant volume) and, by toasting, creates a fine crust in the cavity of the roll, which helps to reduce the absorption of the filling into the dough of the roll. After calibrating the cavity on the toasting spike, the operators roast the roll on the contact grill - they slide the roll onto a wooden spike, which serves as a reinforcement for the cavity in the roll so that it does not collapse in the contact grill. The grill is heated to 250 °C. It is necessary to turn the roll approximately every 15 seconds so that it toasts evenly. The operation can be simplified by using a device that combines the function of a toasting spike and a contact grill. Preferably, the operators use a single combined device - a contact grill with a toasting spike.

6. After toasting and roasting, the operator moves the roll to the mechanical holds in the dispensing unit for filling. The dispensing unit in an advantageous embodiment contains two dispensing points which are fitted with an optical sensor to detect the presence of a roll. Thanks to this, the manipulator is instructed in which position the operator placed the roll.

7. After meeting the condition of completed heating of the cartridge and detection of the roll in the position of the dispensing unit, the manipulator moves the heated cartridge above the dispensing unit, reaches the position exactly above the roll with the opening, the gripper descends in the direction of the z axis, and the cartridge enters the roll to a depth of 110 mm, then the piston of the filling unit starts to descend from above, which presses on the piston of the cartridge and creates pressure in the cartridge, due to which the cracking cap breaks/opens, and then, while the cartridge moves upwards, the filling is pushed out of the cartridge into the roll. After filling the roll, the piston of the filling unit moves up to the starting position, the manipulator moves over the ejection opening (between the positions for the roll in the dispensing unit) and drops the used cartridge into the opening of the collection container for used cartridges.

8. The device uses verbal/visual information on the display (accompanied, for example, by a sound signal) to notify the operator of the prepared filled roll, which the operator takes out, places in the prepared delivery wrapping (paper, plastic, aluminium foil, combination of materials) and hands it over to the customer.

The subject-matter of the invention is therefore a device for filling rolls with semi-liquid filling, which comprises a manipulator with a gripper, a refrigerator, a heating unit, a filling unit, a dispensing unit, a collection container and a control unit, wherein the manipulator comprises an automated x-y-z drive system, the gripper is adapted to grasp a cartridge for one portion of filling, the dispensing unit comprises at least one position for placing a roll, while the said components are arranged in a supporting frame, where they are spatially distributed and functionally connected in such a way that a coordinated, control unit-controlled movement of the cartridge with filling between the refrigerator, the heating unit, the filling unit, the dispensing unit and the collection container.

The refrigerator in a preferred embodiment of the device for filling rolls with semi-liquid filling has an automatically openable horizontally sliding lid, comprises an internal space divided by a grid into cells for storing individual cartridges for one portion of filling.

In a preferred embodiment of the device for filling rolls with semi-liquid filling, the heating unit comprises a container with a water bath and a heating element, where the container is closed with a lid that contains at least one opening for inserting the cartridge into the water bath, while the opening is covered with silicone flaps for wiping water drops from the surface of the cartridge when pulling out the cartridge from the container.

In another preferred embodiment of the device for filling rolls with semi-liquid filling, the filling unit comprises a stand on which a vertically and horizontally movable ejector piston is attached, while the stand enables the displacement of the piston from its initial resting position outside the dispensing unit above the cartridge inserted in the roll in the dispensing unit, to a co-axial position with a cartridge, and vertical movement of the piston to insert into the cartridge.

In yet another preferred embodiment of the device for filling rolls with semi-liquid filling, the control unit includes a processor, a memory and a communication device, where the processor is configured at least for receiving input data from the memory and/or communication device and a detector of the presence of a roll in the dispensing unit and issuing instructions at least for the control elements of the manipulator for movement of the gripper in the x-y plane, closing/opening of the gripper arms, movement of the gripper in the direction of the z axis, movement of the refrigerator lid and movement of the ejector piston of the filling unit and regulation of the temperature of the water bath in the container of the heating unit by means of the heating element.

In a preferred embodiment, the device for filling rolls with semi-liquid filling further comprises a second manipulator, a roll tray, a contact grill and a dispensing box, where the second manipulator is an automated x-y-z drive system with a gripper for grasping the roll, while the said components are spatially distributed and functionally connected in such a way that a coordinated, control unit-controlled movement of the roll between the tray, the contact grill and the dispensing box is enabled.

The contact grill in a preferred embodiment of the device for filling rolls with semi-liquid filling is a combined device combining a toasting spike and two grilling units that are movably placed around the spike to move away from or approach the roll mounted on the spike.

Another subject-matter of the invention is a cartridge for one portion of filling for filling a roll, the cartridge comprising a body, a piston and a cracking cap, the body being a tube, at the first end having a recess which forms a stopping edge for the piston, the recess continues towards the second end of the cartridge with a gradual transition without an edge to the standard diameter of the inside of the body, and further comprises on the outside a means for grasping the cartridge by the gripper of the manipulator, at the second end it comprises a recess for holding the cracking cap; the piston is a circular cylinder with a diameter corresponding to the inner diameter of the cartridge body; the cracking cap, fitted at the other end of the cartridge body, is adapted to tear when pressure is applied to the piston of the filled cartridge.

In a preferred embodiment of the cartridge for one portion of filling for filling rolls, the body of the cartridge is a seamless tube made of stainless steel.

In yet another preferred embodiment of the cartridge for one portion of the filling for filling rolls, the cracking cap is formed by a disc connected to a ring, wherein the disc creates the actual closing surface of the cap and the ring creates a rim that strengthens the cap around its perimeter and enables positioning of the cap in the body of the cartridge, while the outer diameter of the disc is equal to the outer diameter of the cartridge body, the outer diameter of the ring is equal to the inner diameter of the second end of the cartridge body, the disc is in the area corresponding to the inner cross section of the body of the cartridge provided with a thinning to weaken the firmness of the closing surface of the cap, while the fitting at the first end of the ring is adapted to fit in the recess at the second end of the body of the cartridge and holds the cap firmly inside the body, and the fitting at the second end of the ring contacts the edge of the second end of the body of the cartridge after the cap is inserted into the body.

In another preferred embodiment of the cartridge for one portion of filling for filling rolls, the thinning of the closing surface of the cracking cap is formed by lines of thinning which are in the shape of a star containing 3 rays, or 4 rays, or 6 rays, or 8 rays, or 10 rays, or 12 rays, advantageously 6 or 8 rays.

Preferably, the entire cap is made as one piece of food-grade polypropylene.

Furthermore, the subject of the invention is a method of filling a roll with semi-liquid filling, in which the cartridge for one portion of the filling described in the present application is used to fill the roll.

In a preferred embodiment, the method of filling the roll with semi-liquid filling is carried out by inserting a cartridge containing one portion of the filling in a downward vertical movement into the roll, which is provided with a cavity and is placed vertically with the mouth of the cavity at the top, and by pressing on the piston while simultaneously pushing the cartridge upwards the filling is pushed into the cavity of the roll.

In another preferred embodiment of the method of filling the roll with semi-liquid filling, the device for filling the rolls with semi-liquid filling described in the present application is also used to fill the roll.

Clarification of Drawings

. A diagram of a semi-automatic device comprising a manipulator, a refrigerator, a heating unit, a filling unit and a dispensing unit.

. A diagram of an automatic device comprising a manipulator, a refrigerator, a heating unit, a filling unit, a dispensing unit, a second manipulator, a roll tray and a dispensing box.

. A schematic representation of a semi-automatic device containing a manipulator, a refrigerator, a heating unit, a filling unit, a dispensing unit and a control unit with a communication interface installed in the supporting frame.

Fig: 4. A detailed representation of the manipulator with a gripper and the refrigerator with a sliding lid.

. A view into the refrigerator with partitions creating a raster of cells for storing individual cartridges.

. The heating unit with two openings in the top lid.

. A detailed representation of the filling unit with two pistons and the dispensing unit with two roll positions.

A view on the filling unit with two pistons and the dispensing unit with two roll positions, a roll, just filled, is placed in one of them, the piston of the filling unit goes up and the manipulator has just pulled out the cartridge from the roll.

. A schematic representation of a cartridge for one portion of filling.

. A detailed representation of the cartridge body.

. A schematic representation of a cracking cap.

. A detailed representation of the cracking cap.

. A combined device – a contact grill with a toasting spike.

Examples of Embodiments of the Invention Example 1

A semi-automatic device for filling rolls

A device for filling rolls according to the present invention is schematically represented on and . It comprises the basic components which are: a manipulator 1 with a gripper 1.2, a refrigerator 2, a heating unit 3, a filling unit 4, a dispensing unit 5, a collection container 6, a control unit 7 and optionally an electrical switchboard (not displayed). The components are functionally arranged in a supporting frame 9. The refrigerator 2, the heating unit 3, the dispensing unit 5 and the collection container 6 are placed in the frame 9 in the first horizontal level and the manipulator 1 and the filling unit 4 are placed higher above them in the second horizontal level. The device works with cartridges 20 (see ) for one portion of filling. The components are spatially distributed and functionally connected in such a way that that it enables coordinated movement of the cartridge 20 with filling between the refrigerator 2, the heating unit 3, the filling unit 4, the dispensing unit 5 and the collection container 6. The movement is controlled by the control unit (7). After entering a command into the control unit 7 (using a communication interface, which is a touch screen display) the manipulator 1 by its gripper 1.2 removes the full cartridge 20 from the refrigerator 2, transfers it to the heating unit 3, after heating to a predefined temperature, it transfers the cartridge 20 into the filling unit 4, the filling unit 4 by its ejector piston 4.2 pushes the contents of the cartridge 20 into the pre-prepared roll in the dispensing unit 5 and releases the empty cartridge 20 into the collection container 6 (cartridges 20 are recycled). The roll after roasting must be placed into the dispensing unit 5 beforehand by operators, who then remove the filled roll from the dispensing unit 5.

The manipulator 1 ( ) is an automated x-y-z drive system 1.1 with a gripper 1.2 for grasping the cartridge 20, by movements defined by the control program: from the initial (rest) position it is transferred above the refrigerator 2 and after the opening of the lid 2.1 of the refrigerator 2 it moves above the grid 2.2 with cartridges 20, the gripper 1.2 grasps the cartridge 20 and picks it up from the refrigerator 2, transfers it to the heating unit 3, transfers the cartridge 20 to the filling unit 4 and slides it into the roll, in coordination with the movement of the ejector piston 4.2 removes the empty cartridge 20 from the roll, moves the cartridge 20 above the opening and the gripper 1.2 releases the cartridge 20 into the collection container 6.

The refrigerator 2 ( and 5) has an automatically openable horizontally sliding lid 2.1, contains an inner space divided by a grid 2.2 to cells for storing individual cartridges 20. The grid 2.2 forms a raster that clearly indicates the exact position of individual cartridges 20. The exact coordinate system (x-y) is defined by the raster and its parameters are programmed in the control unit 7 and thus enables after entering the instruction to pick up the particular cartridge 20 by the manipulator 1. The temperature in the refrigerator 2 is maintained at approximately 5 °C. The grid 2.2 creates 60 cells for cartridges 20, in the arrangement 3x(5x4), wherein a block of 20 cells is reserved for one type of filling. Three grid segments of 20 cells, reserved for 3 different types of filling, are color-coded for easy orientation of the operator when filling the refrigerator 2 by cartridges 20.

The heating unit 3 ( ) comprises a water bath container 3.1, where water is heated by means of the electric heating element 3.2 to a temperature of approximately 95 °C. The container 3.1 is closed so that there is as little evaporation of water as possible; it comprises two openings 3.4 in the upper lid 3.3 for inserting the cartridge 20 into the water bath. The opening 3.4 is covered with silicone flaps 3.5 that wipe water drops from the surface of the cartridge 20 when the cartridge 20 is pulled out of the bath.

The filling unit 4 ( and 8) is placed above the dispensing unit 5, and comprises a stand 4.1, on which a vertically and horizontally movable ejector piston 4.2 is attached, it moves from the initial (rest) position above the cartridge 20 inserted in the roll in the dispensing unit 5, to a co-axial position with a cartridge 20, the piston 4.2 is inserted into the cartridge 20 downwards and the cartridge 20 is at the same time pulled upwards by the gripper 1.2 of the manipulator 1, so that the filling is pushed out of the cartridge 20 into the roll placed in the dispensing unit 5.

The dispensing unit 5 ( and 8) comprises two positions 5.1 with holds 5.2 for placing the prepared roll, while a detector 5.3 of the presence of a roll is placed in each position 5.1. Inserting the roll after toasting and removing it after filling is ensured by operators.

The collection container 6 ( and 2) for used cartridges 20 is a container located under the filling unit 4 and behind the dispensing unit 5 and it is provided with an opening for releasing the cartridges. The whole container can be removed from the device. After filling the roll, the manipulator 1 transfers the used cartridge 20 over the opening of the collection container 6 for used cartridges 20 and releases the cartridge 20 so that it falls into the collection container 6. Operators remove the collection container 6 from the device and replace it with an empty collection container 6, or just remove the used cartridges 20 from the collection container 6.

The control unit 7 ( ) comprises a processor, a memory and a communication interface, where the processor is configured at least to receive input data from the memory (program instructions) and/or the communication device (refrigerator replenishment data, instructions to start a cycle) and detectors (temperature of the bath in the heating unit 3, detector 5.3 of the presence of a roll in the dispensing unit 5) and issuing instructions to at least the control elements (servomotors) of the manipulator 1 (movement in the x-y plane, closing/opening of the arms of the gripper 1.2, movement of the gripper 1.2 in the direction of the z axis), the lid 2.1 of the refrigerator 2 (opening/closing) and the filling unit 4 (setting a piston 4.2 above the roll, movement of the piston 4.2 up/down (in the direction of the z axis)) and control of the temperature in the container 3.1 by means of the heating element 3.2.

The electrical switchboard (not displayed) may be a part of the device or an external unit, it ensures the connection to the electrical network and the power supply of all components of the device with electric current with the necessary input power.

The frame 9 is a solid structure made of aluminium profiles joined by welding. It comprises two levels, where the refrigerator 2, the heating unit 3, the dispensing unit 5 and the collection container 6 are placed in the frame in the first (lower) level and the manipulator 1 and the filling unit 4 are placed in the second (higher) level.

The device further comprises a toasting spike (not displayed) and a contact grill (not displayed) as accessories (they are not integral parts of the device) which are installed outside the device itself and require human operation. The toasting spike and the contact grill can be two separate devices, known from the state of the art. In an advantageous embodiment both devices are combined into one, namely the contact grill 15 with the toasting spike 15.1 (see ).

Example 2

An automatic device for filling rolls

The automatic device for filling rolls, schematically represented on , comprises the same basic components as mentioned in example 1 in connection with the semi-automatic device: a manipulator 1 with a gripper 1.2, a refrigerator 2, a heating unit 3, a filling unit 4, a dispensing unit 5, a collection container 6, a control unit 7 and an electrical switchboard (not displayed), which are located in a frame 9. The automatic device further comprises a second manipulator 13, a roll tray 14, a contact grill 15 with a toasting spike 15.1 and a dispensing box 16. The device works with cartridges 20 for one portion of filling.

The dispensing unit 5 comprises one position 5.1 with a hold 5.2 and is functionally connected with the dispensing box 16.

The contact grill 15 (see ) comprises a toasting spike 15.1 and two grilling units 15.2, which are moveably positioned around the spike 15.1, so they can move away from or approach it. The grilling units 15.2 in their remote positions create a space around the toasting spike 15.1 for the free insertion of a roll, in the approached positions they come into contact with the surface of the roll for its heat treatment.

The second manipulator 13 is, similarly to the manipulator 1, an automated x-y-z drive system with a gripper for grasping the roll, it moves from the initial (rest) position above the roll tray 14 and moves the roll from the tray 14 to the contact grill 15, and after the roll is roasted, it moves the roll to the dispensing unit 5, where the roll is filled, and after that the roll is moved to the dispensing box 16 (to a prepared wrap in the dispensing box).

The dispensing box 16 is a box in the automatic device, which has a first (inner) entrance, through which the second manipulator 13 inserts a filled roll, and a second (outer) entrance, which communicates with the external environment and through which the consumer can remove the prepared filled roll. The second entrance of the dispensing box 16 is equipped with an automatic opening/closing door.

The frame 9 is housed in a panel (not displayed), the device thus creates a compact dispenser. At least one wall of the panelling of the dispensing machine is equipped with a communication interface (touch screen display) for selecting the product and receiving payment and a door that allows access to the dispensing box 16.

Example 3

Cartridge

A cartridge 20 for use in the device according to the invention, as described in examples 1 and 2 is schematically represented on . The cartridge comprises three main parts: a body 21, a piston 22 and a cracking cap 23.

The body 21 of the cartridge 20 is a seamless tube from stainless steel. The body 21 (see ) contains a recess 21.1 at the first end, the recess creating a stopping edge 21.2 for the piston 22. The recess 21.1 continues towards the other end of the cartridge 20 with a gradual recess transition 21.3 to the standard diameter of the inner of the cartridge 20 (i.e. without an edge). The inner end edge 21.4 is bevelled. At this end, a means 21.5 for grasping the cartridge 20 with the gripper 1.2 of the manipulator 1 is also provided on the outer side, the means being an external recess 21.5 in the full outer perimeter of the body 21 of the cartridge 20, the profile of the recess 21.5 being rectangular and dimensionally compatible with the gripper 1.1 of the manipulator 1. At the second end of the cartridge there is a recess 21.6 for the attachment of the cracking cap 23. The inner end edge 21.7 of the second end is slightly bevelled. The outer diameter of the body 21 is 25 mm, the wall thickness is 2 mm, and the inner diameter is 21 mm. The inner volume of the cartridge 20 usable for the filling (i.e. if the piston 22 is inserted into the body 21 and the 23 is attached) is 75 ml. The recess 21.1 has a depth of 0.2 mm, the external recess 21.5 has a depth of 1 mm, the recess 21.6 has a depth of 1.3 mm. The modification of the body 21 for inserting the cap 23 in this embodiment consists in creating the recess 21.6 and further in increasing the inner diameter of the body 21 from the recess 21.6 towards the other end of the body 21 to 22 mm.

The piston 22 (see ) of the cartridge 20 is a cylinder from food-grade silicone with a diameter of 21.2 mm and a thickness of 15 mm. The piston 22 is inserted into the body 21, where it fits into the recess 21.1. The edge 21.2 of the recess 21.1 has the function of a stopping edge and is sufficient to hold the piston 22 in the recess 21.1 when filling the cartridge 20.

The cracking cap 23 (see and 12) is formed with a disc 23.1 connected with a ring 23.2, where the disc 23.1 forms the actual closing surface of the cap 23 and the ring 23.2 forms a border (frame) reinforcing the cap 23 around the perimeter and allowing the cap 23 to fit in the body 21 of the cartridge 20. The outer diameter of the disc 23.1 is equal to the outer diameter of the body 21 of the cartridge 20, the outer diameter of the ring 23.2 is equal to the outer diameter of the second end of the body 21 of the cartridge 20. The disc 23.1 is provided with a star-shaped thinning 23.3 in the part corresponding to the inner cross-section of the body 21 of the cartridge 20, the purpose of which is to weaken the firmness of the cap 23 so that when pressure is applied to the piston 22 of the cartridge 20 (i.e. the pressure of the ejector piston 4.2 on the piston 22 of the cartridge 20), the thinned places 23.3 crack and the cap 23 opens. The wedge-shaped (by its profile) fitting 23.4 (sliding edge) at the first end of the ring 23.2 fits into the recess 21.6 at the second end of the body 21 of the cartridge 20 and holds the cap 23 firmly in the body 21 of the cartridge 20. The rectangular (by its profile) fitting 23.5 (overlapping edge) at the second end of the ring 23.2 fits after the insertion of the cap 23 to the edge 21.8 of the second end of the body 21 of the cartridge 20. The entire cap 23 is made as one piece from food-grade polypropylene. In a preferred embodiment, the inner diameter of the disc 23.1 is 25 mm (after fitting the cap 23 to the body 21 of the cartridge 20 the outer edge of the cap 23 exactly matches the peripheral edge of the body 21 of the cartridge 20), the width of the ring 23.2 is 6.2 mm, the outer diameter of the ring 23.2 is 22 mm, the inner diameter being 20 mm, the wedge-shaped fitting 23.4 has the largest outer diameter of 23 mm. After insertion, it seals correctly without additional components (does not contain a rubber seal), that is, the cap 23 seals directly in contact with the body 21 of the cartridge 20, thanks to dimensional overlap on the diameters of both parts. The second end of the body 21 of the cartridge 20 (from the edge of the recess 21.6 outwards), adapted for the fitting of the cap 23, has an inner diameter of 22 mm within the tolerance of 0 to -0.05 and the outer diameter of the ring 23.2 of the cap 23 is 22 mm within the tolerance of 0 to +0,05, which ensures joint overlap and good sealing.

List of reference numerals

1 … manipulator

1.1 … drive system of the manipulator

1.2 … gripper of the manipulator

2 … refrigerator

2.1 … refrigerator lid

2.2 … grid in the refrigerator

3 … heating unit

3.1 … water bath container

3.2 … electric heating element

3.3 … lid of the water bath container

3.4 … opening for inserting the cartridge into the water bath

3.5 … flaps of the opening for inserting the cartridge

4 … filling unit

4.1 … filling unit stand

4.2 … ejector piston of the filling unit

5 … dispensing unit

5.1 … roll position

5.2 … roll hold

5.3 … roll presence detector

6 … collection container

7 … control unit

9 … supporting frame

13 … second manipulator

14 … roll tray

15 … contact grill with toasting spike

15.1 … toasting spike of the contact grill

15.2 … grilling unit of the contact grill

16 … dispensing box

20 … cartridge for one portion of filling

21 … cartridge body

21.1 … recess at the first end

21.2 … stopping edge

21.3 … recess transition

21.4 … inner end edge of the first end

21.5 … external recess in the cartridge body (means) for grasping the cartridge with grasping device

21.6 … recess at the second end

21.7 … inner end edge of the second end

21.8 … end edge of the second end of the cartridge body

22 … cartridge piston

23 … cracking cap

23.1 … cap disc

23.2 … cap ring

23.3 … thinning in the cap surface

23.4 … cap ring first end fitting (sliding edge)

23.5 … cap ring second end fitting (overlapping edge)

Claims

1. A cartridge (20) for one portion of filling for filling of rolls characterised in that it comprises a body (21) a piston (22) and a cracking cap (23), wherein
the body (21) is a tube, comprising a recess (21.1) at the first end, the recess (21.1) forming a stopping edge (21.2) for the piston (22), wherein the recess (21.1) continues towards the second end of the cartridge (20) with a recess transition (21.3) without an edge to the standard inner diameter of the body (21), and further comprises from its outer side a means (21.5) for grasping the cartridge (20) with a gripper (1.2) of a manipulator (1), and at its second end comprises a recess (21.6) for attachment of the cracking cap (23);
the piston (22) is a circular cylinder with a diameter corresponding to the inner diameter of the body (21) of the cartridge (20);
the cracking cap (23) attached at the second end of the body (21) of the cartridge (20) is designed to tear when pressure is applied to the piston (22) of the filled cartridge (20).

2. The cartridge (20) for one portion of filling for filling of rolls according to claim 1 characterised in that the body (21) of the cartridge (20) is a seamless tube made of stainless steel.

3. The cartridge (20) for one portion of filling for filling of rolls according to claim 1 or 2 characterised in that the cracking cap (23) is formed by a disc (23.1) connected with a ring (23.2), wherein the disc (23.1) creates the actual closing surface of the cap (23) and the ring (23.2) creates a rim that strengthens the cap (23) around its perimeter and enables positioning of the cap (23) in the body (21) of the cartridge (20), wherein the outer diameter of the disc (23.1) is equal to the outer diameter of the body (21) of the cartridge (20), the outer diameter of the ring (23.2) is equal to the inner diameter of the second end of the body (21) of the cartridge (20), the disc (23.1) is in the area corresponding to the inner cross section of the body (21) of the cartridge (20) provided with a thinning (23.3) to weaken the firmness of the closing surface of the cap (23), while a fitting (23.4) at the first end of the ring (23.2) is adapted to fit in the recess (21.6) at the second end of the body (21) of the cartridge (20) and holds the cap (23) firmly inside the body (21), and a fitting (23.5) at the second end of the ring (23.2) contacts the edge (21.8) of the second end of the body (21) of the cartridge (20), after the cap (23) is inserted into the body (21).

4. The cartridge (20) for one portion of filling for filling of rolls according to claim 3 characterised in that the thinning (23.3) of the closing surface of the cracking cap (23) is formed by lines of thinning (23.3), which are in the shape of a star containing 3 rays, or 4 rays, or 6 rays, or 8 rays, or 10 rays, or 12 rays, advantageously 6 or 8 rays.

5. The cartridge (20) for one portion of filling for filling of rolls according to any one of claims 1 to 4 characterised in that the entire cap (23) is made as one piece from food-grade polypropylene.

6. A device for filling rolls with semi-liquid filling characterised in that it comprises a manipulator (1) with a gripper (1.2), a refrigerator (2), a heating unit (3), a filling unit (4), a dispensing unit (5), a collection container (6) and a control unit (7), wherein the manipulator (1) comprises an automated x-y-z drive system (1.1), the gripper (1.2) being adapted to grasp the cartridge (20) for one portion of filling, the dispensing unit (5) comprising at least one position (5.1) pro placing a roll, the said components being organized in a supporting frame (9), where they are spatially distributed and functionally connected in such a way that it enables coordinated movement, controlled by the control unit (7), of the cartridge (20) with filling between the refrigerator (2), the heating unit (3), the filling unit (4), the dispensing unit (5) and the collection container (6).

7. The device for filling rolls with semi-liquid filling according to claim 6 characterised in that the refrigerator (2) has an automatically openable horizontally sliding lid (2.1), comprises an inner space divided by a grid (2.2) to cells for storing individual cartridges (20) for one portion of filling.

8. The device for filling rolls with semi-liquid filling according to claim 6 or 7 characterised in that the heating unit (3) comprises a water bath container (3.1) and a heating element (3.2), wherein the container (3.1) is closed with a lid (3.3), which contains at least one opening (3.4) for inserting the cartridge (20) into the water bath, whereas the opening (3.4) is covered by silicone flaps (3.5) for wiping water drops from the surface of the cartridge (20) when pulling out the cartridge (20) from the container (3.1).

9. The device for filling rolls with semi-liquid filling according to any one of claims 6 to 8 characterised in that the filling unit (4) comprises a stand (4.1), to which a vertically and horizontally moveable ejector piston (4.2) is attached, wherein the stand (4.1) enables the transfer of the piston (4.2) from the initial resting position outside the dispensing unit (5) above the cartridge (20) inserted into a roll in the dispensing unit (5), into the coaxial position with the cartridge (20), and a vertical movement of the piston (4.2) for insertion into the cartridge (20).

10. The device for filling rolls with semi-liquid filling according to any one of claims 6 to 9 characterised in that the control unit (7) comprises a processor, a memory and a communication device (7.1), wherein the processor is configured at least to receive input data from the memory and/or the communication device (7.1) and the detector (5.3) of the presence of a roll in the dispensing unit (5) and issuing instructions to at least the control elements of the manipulator (1) for the movement of the gripper (1.2) in the x-y plane, closing/opening of the gripper (1.2) arms, movement of the gripper (1.2) in the z-axis direction, movement of the lid (2.1) of the refrigerator (2) and movement of the ejector piston (4.2) of the filling unit (4) and the regulation of water bath temperature in the container (3.1) of the heating unit (3) by means of the heating element (3.2).

11. The device for filling rolls with semi-liquid filling according to any one of claims 6 to 10 characterised in that it further comprises a second manipulator (13), a roll tray (14), a contact grill (15) and a dispensing box (16), wherein the second manipulator (13) is an automated x-y-z drive system with a gripper for grasping a roll, wherein said components are spatially distributed and functionally connected in such a way that a coordinated movement, controlled by the control unit (7), of a roll between the tray (14), the contact grill (15) and the dispensing box (16) is enabled.

12. The device for filling rolls with semi-liquid filling according to claim 11 characterised in that the contact grill (15) is a combined device combining a toasting spike (15.1) and two grilling units (15.2), which are movably positioned around the spike (15.1) to move away from or approach the roll mounted on the spike (15.1).

13. A method of filling rolls with semi-liquid filling characterised in that a cartridge (20) for one portion of filling according to any one of claims 1 to 5 is used.

14. The method of filling rolls with semi-liquid filling according to claim 13 characterised in that that the cartridge (20) containing one portion of filling is inserted into a roll, which is provided with a cavity and is placed vertically with the mouth of the cavity at the top, with a vertical movement downwards, and by pressing the piston (22) while simultaneously pushing the cartridge (20) upwards, the filling is pushed out into the cavity of the roll.

15. The method of filling rolls with semi-liquid filling according to claim 13 or 14 characterised in that the device for filling rolls with semi-liquid filling according to any one of claims 6 to 12 is further used to fill the rolls.