System for producing sausage-shaped products

Abstract

The invention relates to a system (1000) for producing sausage-shaped products (S), such as sausages, by filling a tubular packaging casing (M) with a filling material, the system (1000) comprising a cutting machine (CM) for producing sausage-shaped products (S). The cutting machine (CM) comprises a filling tube assembly (100), the filling tube assembly (100) is provided with at least a first filling tube (110), and the first filling tube (110) is used for feeding filling materials into a tubular packaging casing (M) which is stored on the filling tube (110) and is closed at the first end of the filling tube (110); the at least one first casing braking assembly (120) is associated with the first filling pipe (110) and is used for applying braking force to the tubular packaging casing (M) when the tubular packaging casing (M) is pulled out of the first filling pipe (110); and a control unit (CU) for controlling at least the cutting machine (CM). The system further comprises a removal assembly (400) for removing at least a portion of the tubular packaged casing (M) from the at least first filling tube (110). The invention relates to a method for removing a portion of a tubular packaged casing (M) from at least a first filling tube (110) of a cutting machine (CM).

Description

Technical Field

[0001] The invention relates to a system for producing sausage-shaped products, such as sausages, by filling a filling material into a tubular packaging casing, the system comprising at least a cutting machine for producing sausage-shaped products, the cutting machine having a filling tube with a supply of tubular packaging casings stored thereon and a removal device for removing a portion of the tubular packaging casing from the filling tube. The invention also relates to a method for removing a portion of the tubular packaging casing from the filling tube of the cutting machine. Background Art

[0002] In practice, packaging machines (such as cutting machines) for producing sausage-shaped products (such as sausages) are known, in which filling material is fed into a tubular or bag-shaped packaging casing, which is stored on a filling tube and which is closed by a closing device (such as a closing clamp) at its front end, i.e. the end of the packaging casing pointing in the feeding direction of the filling material. After a predetermined portion of the filling material has been fed into the tubular or bag-shaped packaging casing, the filled tubular or bag-shaped packaging casing is gathered by a gathering device, a braided portion at least substantially free of filling material is formed thereon, and at least a first closing clamp is placed on the braided portion and closed by a cutting device for closing the just filled portion of the tubular or bag-shaped packaging casing.

[0003] In addition, a second closing clamp can be placed for closing the front end of the sausage-shaped product to be produced next. In order to cut off the sausage-shaped product just produced from the remaining supply of tubular or bag-shaped packaging casings, a cutting device can be provided for cutting off the braided portion between the first closing clamp and the second closing clamp. If the sausage-shaped products are intended to be stored on rod-shaped elements (such as smoking rods), for example for further processing (such as cooking or smoking), a hanging element (such as a hanging ring) can be provided and attached to one end of each sausage-shaped product, or to one end of a chain of sausage-shaped products. The hanging element is fed to the cutting device and fixed to the corresponding end of the sausage-shaped product by the closing clamp that closes the corresponding end of the sausage-shaped product. The sausage-shaped product is then discharged from the cutting machine by a discharge device (such as a belt conveyor) and fed to a hanging line, where a predetermined number of sausage-shaped products are suspended on the rod-shaped element by its hanging element. The rod-shaped element loaded with sausage-shaped products is sent out from the hanging line and placed for further processing, such as in a storage frame.

[0004] In these known cutting machines, tubular or packaged casings can be provided in the form of hollow rods of folded tubular casing material, which are moved by an operator to a filling tube and to a filling tube that is kept in a specific refilling position. During production, in particular, after the supply of tubular packaged casings just stored on the filling tube is exhausted, that is, after a certain number of sausage-shaped products have been produced with the supply of said tubular packaged casings or the supply of said tubular packaged casings, a portion of the tubular packaged casings remains on the filling tube. This portion or the remainder of the tubular packaged casings usually has a length that is not enough to produce other sausage-shaped products. Therefore, before a new supply of tubular packaged casings is stored on the filling tube, the remainder or portions of the tubular packaged casings must be removed from the filling tube by the operator. Removing the remainder or portions of the tubular packaged casings from the filling tube by the operator, particularly in cutting machines with high productivity, requires the operator to be present at regular, short intervals or all the time.

[0005] Furthermore, removing said remaining part or parts of the tubular packaging casing is a tedious and mentally strenuous task, leaving a high probability of operating errors, which results in production losses and increased downtime.

[0006] It is therefore an object of the present invention to overcome the above-mentioned drawbacks and to provide a system and a method for producing sausage-shaped products, which enable efficient production of sausage-shaped products and in which unnecessary downtimes are omitted. Summary of the invention

[0007] According to the present invention, a system for producing sausage-shaped products (such as sausages) by filling a filling material into a tubular packaging casing is provided, the system comprising a cutting machine for producing sausage-shaped products, wherein the cutting machine comprises a filling tube assembly having at least one first filling tube for feeding the filling material into the tubular packaging casing stored on at least one filling tube and closed at its first end; at least one first casing brake assembly associated with at least one first filling tube for applying a braking force to the tubular packaging casing when the tubular packaging casing is pulled out from the at least one first filling tube; and a control unit for controlling at least the cutting machine. The system also comprises a removal assembly for removing at least a portion of the tubular packaging casing from at least the first filling tube.

[0008] By means of the removal assembly, a portion of the tubular packaging casing can be reliably removed from at least the first filling tube, whereby operating errors and thus unnecessary downtimes of the system can be prevented.

[0009] In the present description, the portion of the tubular packaging casing to be removed by the removal device must preferably be understood as the remaining portion of the supply of tubular packaging casings stored on the filling tube, i.e. the end portion of the tubular packaging casings which may not be used for the production of sausage-shaped products and which is too short. Alternatively, the portion to be removed from the filling tube by the removal device may also be understood as the remaining portion after a predetermined number of sausage-shaped products have been produced, or after a predetermined length of tubular packaging casings has been used up. A cross section of the tubular packaging casing may also be understood as the portion of the sleeve which remains on the filling tube after the casings have been ruptured in the cutter.

[0010] It should also be understood that the cutting machine for producing sausage-shaped products by filling filling material into tubular packaging casings may also include a gathering device, a cutting device and a discharge device, the gathering device being used to gather the filled tubular packaging casings and to form a braided portion thereon, the gathering device including a first shifter unit and a second shifter unit, the cutting device having a first closing tool and a second closing tool, the cutting device being used to apply at least one closing device to the braided portion and to close the closing device when the closing tool is in its closed position, the first closing tool and the second closing tool being able to move reversibly between an open position and a closed position, and the discharge device being used to discharge the sausage-shaped product just produced from the cutting machine.

[0011] Advantageously, the supply of tubular packed casings or the supply of tubular packed casings can be provided in the form of hollow rods of folded tubular packed casings. These hollow casing rods can be easily and reliably gripped by a gripper unit of a robotic device, which is arranged for removing tubular packed casings from at least one storage device containing a plurality of tubular packed casings and for transferring the tubular packed casings to a filling tube.

[0012] In an advantageous embodiment, the removal assembly comprises at least one engaging device for engaging the portion of the tubular packaging casing to be removed from the at least one first filling tube.

[0013] Such an engaging device enables secure removal of said portion of the tubular packaging casing from the at least one first filling tube.

[0014] The at least one engagement device can be implemented in different ways. In an advantageous embodiment, the engagement device comprises a pusher element for pushing a portion of the tubular packaging casing from the at least one first filling tube. This allows a simple design of the engagement device.

[0015] In an alternative embodiment, said at least one engagement device comprises at least one flap wheel comprising a plurality of flaps and being reversibly movable towards said at least one first filling tube for removing said portion of said tubular packaging casing from said at least one first filling tube. Such a flap wheel, in particular when comprising a plurality of flaps, preferably made of an elastic material and / or a material with a high coefficient of friction, does not damage any part or element of the system while securely removing the portion of the tubular packaging casing.

[0016] Further advantageously, the at least one engaging device may comprise a second flap wheel for further enhancing the removal of the portion of the tubular packaging casing from the filling tube.

[0017] Of course, more than two wing wheels may be provided.

[0018] The removal assembly can be performed in various ways. In a preferred design, the removal assembly is formed by a robotic device that can be driven independently of other components of the production system, but is controlled according to the operation of the system or its components.

[0019] In order to be able to remove the portion of the tubular packaging casing from the at least one first filling tube, the gripper can grip the portion and pull it away from the filling tube. Additionally or alternatively, the gripper can be provided with at least one or more pusher units arranged on the gripper element to push the portion of the tubular packaging casing away from the at least one first filling tube.

[0020] In one embodiment of the system according to the invention, it is preferred that the at least one first filling tube is movable between at least a filling position, in which the filling material can be fed through the at least one first filling tube into the tubular packed casings stored on the at least one first filling tube, and a refilling position, in which the supply of tubular packed casings can be transferred to the at least one first filling tube, and wherein the removal assembly is associated with the at least one first filling tube when the at least one first filling tube is arranged in the refilling position.

[0021] This design allows to perform the removal of a portion of the tubular packaging casing from at least one filling tube and the refilling of the supply of the tubular packaging casing to at least one first filling tube in the refilling position. Thus, an efficient refilling operation is achieved.

[0022] Further advantageously, the filling tube assembly comprises at least one second filling tube and at least one second casing brake assembly associated with the at least one second filling tube, wherein, preferably, the at least one first filling tube is arranged in the filling position and the at least one second filling tube is arranged in the refilling position, and wherein the removal assembly is associated with the at least one second filling tube when the at least one second filling tube is arranged in the refilling position. Thus, sausage-shaped products can be produced using the at least one first filling tube in the filling position, and removal operations and refilling operations can be performed simultaneously, so that possible interruptions of the production process can be reduced.

[0023] It should be noted that the teaching according to the present invention can be implemented with only one first filling tube or with several first filling tubes or with a combination of one or more first filling tubes and one or more second filling tubes.

[0024] The system for producing sausage-shaped products of the present invention may include other components and devices that improve the efficiency of the production process. In a preferred embodiment, the system also includes a robotic device that can be used for different tasks. For example, the robotic device can be arranged to transfer a supply of tubular packaging casings to a cutting machine and to a storage device for storing a supply of tubular packaging casings, wherein the robotic device includes at least one gripper unit for gripping the supply of tubular packaging casings provided by the storage device and for transferring the process of the tubular packaging casings to at least one first filling tube of the cutting machine. The removal assembly can be associated with the robotic device so that the removal of a portion of the tubular packaging casings from the at least one first filling tube can not only be coordinated with the movement of the robotic device, but can also be performed by the robotic device, thereby achieving a precise removal operation and a precise coordination with the refilling operation.

[0025] In order to prevent collisions between the removal assembly or its elements and parts or elements of the production system, at least one engaging device is associated with at least one gripper unit. The engaging device may be a separate device attached to the gripper unit of the robotic device and may, for example, comprise a separate drive unit for performing the removal movement while the gripper unit is arranged in a corresponding position, for example close to the filling tube. Alternatively, the engaging device may be a part of an element of the gripper unit, such as an extension or a protrusion at the gripper unit, so that the gripper unit performs a removal movement in which the engaging device comes into contact with the portion of the tubular packaging casing to be removed.

[0026] It may further be advantageous if the robotic device comprises a further gripper unit, wherein the engaging device is associated with the further gripper unit. In this embodiment, the gripper unit for gripping the supply of tubular packaging casings and the further gripper unit associated with the engaging device for removing the assembly may be designed to be exchangeable, so that each gripper unit is precisely designed to perform a corresponding operation. In this embodiment, the further gripper unit may form the engaging device.

[0027] Hence, the system may comprise a receiving device for at least temporarily receiving one or both of the first and / or further gripper units.Thereby, a safe replacement of the gripper units can be achieved.

[0028] At least one receiving container may be provided for receiving portions of the tubular packaging casings stripped from the at least one first filling tube, said portions falling or being deposited in the container.

[0029] Furthermore, according to the present invention, a method for producing sausage-shaped products (such as sausages) by filling a filling material into a tubular packaging casing is provided. The method can preferably be performed on the system of the present invention as described above. The method comprises the following steps: producing sausage-shaped products by filling a filling material into a tubular packaging casing stored on at least one first filling tube, and removing a portion of the tubular packaging casing from the at least one first filling tube by a removal assembly.

[0030] The method of the invention further comprises the step of moving the at least one first filling tube from a filling position, in which filling material is fed into the tubular packaging casing, to a refilling position, in which the supply of the tubular packaging casing is transferred to the at least one first filling tube, before removing a portion of the tubular packaging casing from the at least one first filling tube.

[0031] Furthermore, the method of the invention comprises the step of reversibly moving the removal assembly towards at least one first filling tube arranged in the refilling position.

[0032] Alternatively, the method according to the invention further comprises the step of reversibly moving the removal assembly towards the at least one first filling tube while the at least one first filling tube is being moved towards the refilling position.

[0033] According to the method of the invention, the removal assembly is controlled by the control unit of the cutting machine. However, in the case where the system of the invention comprises a robotic device and the robotic device has its own control unit, the removal assembly may also be controlled by the control unit of the cutting machine and / or the control unit of the robotic device.

[0034] The method of the invention further comprises the step of refilling the supply of tubular packaging casings onto at least one first filling tube in the refilling position after portions of the tubular casings have been removed from said filling tube by the removal assembly.

[0035] The method of the invention thus provides all the advantages explained in conjunction with the system of the invention for producing sausage-shaped products.

[0036] According to another aspect of the invention, a system for producing sausage-shaped products (such as sausages) by filling filling material into tubular packaging casings is provided, the system comprising, in particular: a cutting machine for producing sausage-shaped products, a robotic device for transferring at least a batch of closing devices such as clips or clamping reels to the cutting machine, and a storage device for storing a supply of at least the closing devices, the cutting machine comprising a filling tube assembly having at least one first filling tube for feeding filling material into tubular packaging casings stored on the filling tubes and closed at a first end of the filling tubes, at least one first casing brake assembly associated with the at least one first filling tube for applying a braking force to the tubular packaging casings when the tubular packaging casings are pulled out of the at least one first filling tube, a holding device for holding at least a batch of closing devices, and a control unit for controlling at least the cutting machine.

[0037] The robotic device comprises at least one gripper unit for gripping at least one supply of closing devices provided by the storage device and for transferring the at least one supply of closing devices to a holding device for a supply of closing devices of the clipping machine.

[0038] The storage device comprises at least one first storage assembly in which at least one supply of closing devices is arranged for transfer by the robotic device to a holding device for providing a supply of closing devices for a cutting machine.

[0039] The system of the invention thus enables the production of sausage-shaped products without unnecessary downtime, in particular due to the process of refilling the supply of closing means on the holding means of the clipper. Furthermore, the system of the invention enables the safe and reliable transfer of the supply of closing means from the storage device to the holding means of the clipper.

[0040] The robotic device can be programmed and controlled based on the current position of the storage device and the holding device of the clipper. The movement path of the robotic device between a collection position, in which the supply of closing devices is collected by the robotic device from the storage device, and a release position, in which the supply of closing devices is released onto the holding device of the clipper, can be selected according to desired parameters (such as the shortest or fastest movement path) and / or depending on the perimeter. Thus, a complex design or a cumbersome alignment of the storage device and the clipper can be omitted.

[0041] Preferably, the supply or clamping reel of the closing device has a hub with a longitudinal centre axis and an inner surface provided with coupling means, which are preferably arranged at least approximately in the centre of the supply of the closing device with respect to the longitudinal axis.

[0042] Preferably, the retaining device for the supply of closing devices comprises at least one shaft for receiving at least one supply of closing devices or clamping reels, at least one abutment device of the closing device or clamping reel mounted on the shaft abutting against the abutment device in one axial direction of the shaft, and at least one counter coupling device cooperating with the coupling device of the supply of closing devices or clamping reels for reversibly fixing the supply of closing devices or clamping reels on the shaft in another axial direction of the shaft.

[0043] Preferably, the coupling means of the supply or clamping reel of the closing device comprises at least one rib extending at least substantially in the circumferential direction for interacting with counter-coupling means of the retaining device.

[0044] This ensures axial stability of the clamping reel by allowing the counter-coupling means to interact with the ribs. This interaction stabilizes the clamping reel, effectively preventing it from tilting and tipping over.

[0045] In some embodiments, the counter-coupling of the shaft includes a biasing means such that when a force is applied to the counter-coupling, the counter-coupling retracts into the shaft and when no force is applied to the counter-coupling, the counter-coupling returns out of the shaft.

[0046] In this way, the clamping reel can be easily attached to and removed from the reel holding device by retracting the counter-coupling device during the steps of mounting and dismounting the respective clamping reel. The counter-coupling device may comprise a tubular shaped body or a cuboid shaped body or other types of bodies. The counter-coupling device may comprise a flat or non-flat surface at its front end, such as preferably a cone.

[0047] By sliding the clamping reel on the shaft of the reel holding device from the front side, the counter-coupling device is retracted into the shaft. When the reel slides, the counter-coupling device moves back outside the shaft and locks the reel.

[0048] Preferably, the supply or clamping reel of the closing device comprises radially extending outer walls which define a space for the closing device and wherein one of the outer walls abuts against the abutment means of the retaining device.

[0049] Preferably, the gripper unit of the robotic device is configured to grip the supply of gripping reels or closure devices, preferably via a three-point gripper which grips the supply of closure devices or the gripping reel at three angularly spaced points, preferably at an angle of 120°.

[0050] In some embodiments, the closure device of the clamping reel or closure device supply includes a substantially rigid covering that is attached to the first closure device of the row of closure devices. The rigid covering can be made of a material such as rubber or plastic. The rigid covering causes or at least supports the insertion of the beginning of the row of closure devices into the cutting machine.

[0051] In some embodiments, the beginning of the row of closures is pushed into the clipper by a robotic device. The row of closures may also be inserted into the clipper by gravity. The clipper may also have an eyelet or funnel that helps guide the row of closures into the clipper. Preferably, the clipper is configured to automatically pull the row of closures into the clipper.

[0052] Preferably, the cover of the closures is pushed away from the row of closures while the row of closures is inserted into the clipping machine. The cover may be pushed away via a rod or spring or the like.

[0053] In some embodiments, the robotic device comprises a control unit, and wherein the control unit of the clipper and the control unit of the robotic device are interconnected such that the robotic device can be at least partially controlled by the control unit of the clipper and / or the clipper can be at least partially controlled by the robotic device.

[0054] According to this, the control unit of the clipper can usually start or stop the operation of the robotic device, while the control unit of the robotic device controls the process of transferring at least one supply of closing means from the storage device towards the holding device of the clipper. It is thereby possible to reduce the control amount of the control part of the control of the clipper. On the other hand, the control unit of the robotic device may also influence the operation of the clipper, for example, in the case of a lack of supply of closing means to be transferred to the holding device of the clipper, or in the case of any malfunction recognized by the robotic device, the clipper can be stopped.

[0055] Preferably, the robotic device comprises at least a first sensor unit for detecting at least a position of the gripper unit relative to a storage device for storing a supply of at least one closing device and / or a position of the gripper unit relative to a holding device of a clipping machine.

[0056] Such a sensor unit enables accurate positioning of a gripper unit for gripping at least one supply of closing means and enables accurate positioning of at least one supply of closing means on a holding device of a clipping machine. Thus, damage to at least one supply of closing means or to parts of the clipping machine, for example due to accidental collisions, can be prevented and production losses can be omitted. Various sensor units for detecting the position of the gripper unit can be used, such as contact sensors or non-contact sensors. In order to prevent damage, preferably non-contact sensors, such as optical sensors, inductive sensors or ultrasonic sensors can be used. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Other advantages and preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings listed below. The expressions "left", "right", "below" and "above" used in the following description refer to the drawings aligned so that the reference numerals and symbols of the drawings used can be read in a normal orientation.

[0058] Figure 1 : is a schematic diagram showing the main design of a cutting machine for producing sausage-shaped products;

[0059] Figure 2 : is a perspective view of the front side of a system for producing sausage-shaped products according to the present invention, the system comprising Figure 1 The clipping machine shown, the robotic device shown in a picking position, and the removal assembly;

[0060] Figure 3 :It is based on Figure 2 A perspective view of a rear side of the system with the robotic device in a stowed position;

[0061] Figure 4 : A perspective view of the front side of a system for producing sausage-shaped products according to the present invention, the system comprising Figure 1 The clipping machine shown, the robotic device shown in a picking position, and another embodiment of the removal assembly;

[0062] Figure 5 :It is based on Figure 4 A perspective view of a rear side of the system with the robotic device in a dispensing position;

[0063] Figure 6 : is a perspective view of a gripper unit of the robotic device in an open position;

[0064] Figure 7 :It is the basis for being in a closed position Figure 6 A perspective view of a gripper unit;

[0065] Figure 8a : is a schematic diagram of a first embodiment of an engagement device for removing a component according to the present invention; and

[0066] Figure 8b : is a schematic diagram of a second embodiment of an engagement device for removing components according to the present invention. DETAILED DESCRIPTION

[0067] exist Figure 1 Schematically shown in the figure is a cutting machine 1 for producing sausage-shaped products S, such as sausages, which contain a flowable filling material in a tubular packaging casing supply M. The cutting machine 1 comprises a filling tube 10 with a central axis A extending longitudinally and horizontally, with a discharge opening at its left end 12 for discharging the filling material, and with a feed opening at its right end 14 for feeding the filling material in a feed direction F to the discharge opening of the filling tube 10, for example by a feed pump for the filling material. Furthermore, a casing brake assembly 16 is arranged on the filling tube 10 in the region of the left end 12 of the filling tube 10 and coaxially with the filling tube 10. The filling tube 10 is made of a suitable material, such as stainless steel.

[0068] A supply M of tubular packaging casings made of sheet material is stored in a folded and pleated manner like an accordion on a filling tube 10. During the production of sausage-shaped products S, when the filling material is filled into the tubular packaging casings M, the tubular packaging casing material is pulled out of the tubular packaging casing supply M, in particular by a feed pressure. The casing brake assembly 16 provides a braking force for allowing the tubular packaging casings M to be pulled out in a controlled manner during the filling process.

[0069] The cutting machine 1 further comprises a gathering device 20 for gathering the filled tubular packaging casing M and forming a braided portion P on the tubular packaging casing M, and a cutting device 30 for closing the filled portion of the tubular packaging casing M by applying a closing device (such as a closing clamp C) to the braided portion P. These components are arranged downstream of the filling pipe 10.

[0070] As from Figure 1As can be inferred, the trimming device 30 is positioned downstream of the left end 12 of the filling tube 10 and is coaxially aligned with the filling tube 10. The trimming device 30 includes a first trimming tool 32 and a second trimming tool 34 formed by a punch 32 and a die 34. It must be noted that the punch 32 and the die 34 can apply and close a single closing clamp C to close the tubular packaging casing M that has just been filled, or can apply and close two closing clamps C at the same time, the first closing clamp C being used to close the rear end of the tubular packaging casing M that has just been filled to form a sausage-shaped product S, and the second closing clamp C being used to close the front end of the tubular packaging casing M to be filled subsequently.

[0071] The gathering device 20 includes a first shifter unit 22 and a second shifter unit 24, wherein the first shifter unit 22 is located downstream of the second shifter unit 34. The first trimming tool 32 and the second trimming tool 34 of the trimming device 30 can be positioned between the first shifter unit 22 and the second shifter unit 24, at least for applying and closing one or two closing clamps C to the braided portion P. The first shifter unit 22 can be reversibly moved parallel to the feeding direction F of the filling material to form the braided portion P of a desired length.

[0072] If the sausage-shaped products S are intended to be stored on rod-shaped elements, such as smoking sticks, for example for further processing, such as cooking or smoking, a suspension element L, such as a suspension ring, may be provided and attached to one end of each sausage-shaped product S, or to one end of a chain of sausage-shaped products S. The suspension element L may be supplied to one of the closing tools 32, 34 and may be fixed to the respective end of the sausage-shaped product S by a closing clamp C, which closes said end of the sausage-shaped product S.

[0073] In order to separate the sausage-shaped product S that has just been produced from the remaining supply of tubular packaging casings M stored on the filling tube 10, a cutting device 40 may be provided. The cutting device 40 cuts the tubular packaging casings M upstream of the closing clamps C that close the just filled portion of the tubular packaging casings M. In case two closing clamps C have been applied to the braided portion P by the trimming device 30, the cutting device 40 cuts the braided portion P between the two closing clamps C.

[0074] In order to discharge the sausage-shaped products S just produced from the cutting machine 1 in a conveying direction T at least substantially identical to the feed direction F, a discharge device 50 is arranged downstream of the cutting device 30, which discharge device 50 may be a belt conveyor comprising a conveyor belt and guide rollers.

[0075] In order to store the sausage-shaped product S on the rod-shaped element, the suspension element L is caught by a catching device (not shown), such as a catching needle, which guides the suspension element L towards the rod-shaped element.

[0076] The cutting machine 1 further comprises a control unit 5 for controlling the cutting machine 1 , in particular components of the cutting machine 1 , such as the first and second cutting tools 32 , 34 of the cutting device 30 and the first and second shifter units 22 , 24 of the gathering device 20 .

[0077] The control unit 5 may also control additional components or machines which are not part of the cutting machine 1 but are involved in the production process. In particular, the control unit 5 may control drive units of said additional components or machines, such as a metal detector which may be arranged in the region of the filling tube 10 for detecting metal parts in the filling material when it is fed into the tubular packaging casing M, a label supply device for feeding labels to the cutting device 30 for attaching the labels to the sausage-shaped products S, a stuffer for feeding the filling material through the filling tube 10 of the cutting machine 1, or a hanging wire for hanging the sausage-shaped products S produced by the cutting machine 1 on a rod-shaped element. These and other additional components and machines may be connected to the control unit CU and at least partially controlled by the control unit CU, for example, to be adjusted to each other and / or to the kind of sausage-shaped products S produced by the cutting machine CM.

[0078] Figure 2 is a perspective view of the front side of a system 1000 for producing sausage-shaped products S according to the present invention.

[0079] like Figure 2 As shown, the system 1000 comprises a cutting machine CM having a control unit CU. The cutting machine CM comprises a cutting device and a gathering device, both of which are arranged in a Figure 2 Not visible in, but if combined Figure 1 The cutting machine CM also comprises a discharge device DC and a filling pipe assembly 100.

[0080] As in Figure 2 As can be further seen in the drawing, a supply SC of closing clips C is arranged above the clipping machine CM. The supply of closing clips C or clip supply SC comprises two reels on which the closing clips C are stored in the form of a clip chain. The clip chain is guided from the clip supply SC towards the closing area of ​​the clipping machine CM.

[0081] The filling tube assembly 100 includes a first filling tube 110 having a first end 112 and a second end 114, a first casing brake assembly 120 associated with the first filling tube 110, a second filling tube 130 having a first end 132 and a second end 134, and a casing brake assembly 140 associated with the second filling tube 130. The first filling tube 110 and the second filling tube 130 are connected to each other by their second ends 114, 134 via respective hinges (see Figure 7 ) is pivotally connected to the rotating plate 150.

[0082] The first end 112 of the first filling tube 110 faces in the feed direction F toward the closed area of ​​the cutting machine CM, in which the cutting device and the gathering device are arranged. Figure 2 In the arrangement of , the first filling tube 110 is in the filling position.

[0083] The second filling tube 130 faces the rear side of the trimmer CM with its first end 132. The second filling tube 130 is in a refilling relative position, wherein a tubular packaging casing supply M can be arranged on the second filling tube 130.

[0084] The first casing brake assembly 120 is associated with the first filling tube 110 and comprises a first casing brake unit 122 positioned in the region of the first end 112 of the first filling tube 110 and is pivotally coupled to the rotating plate 150 via a first telescopic casing brake retainer unit 124. The first casing brake retainer unit 124 is designed so that the first casing brake unit 122 can be reversibly moved linearly along the first filling tube 110 onto its first end 112 and pivoted away from the first end 112 of the first filling tube 110. The first casing brake retainer 124 comprises a telescopic guide and a telescopic drive for extending and retracting the telescopic guide. The telescopic drive is a linear drive, in particular a piston / cylinder drive. A pivot drive unit, also in the form of a piston / cylinder drive, is provided for pivoting the first casing brake assembly 120 relative to the first filling tube 110 about a pivot point at which the first casing brake assembly 120 is coupled to the rotating plate 150.

[0085] The second casing brake assembly 140 comprises a second casing brake unit 142 pivotally coupled to the rotating plate 150 via a second telescopic casing brake retainer unit 144 for linearly reversibly displacing the second casing brake assembly 140 along the second filling tube 130 onto its first end 132 and for pivoting the second casing brake unit 142 away from the first end 132 of the second filling tube 130. The second casing brake retainer unit 142 has a similar design to the first casing brake retainer unit and comprises a telescopic guide and a telescopic drive for extending and retracting the telescopic guide. The telescopic drive is a piston / cylinder drive. A pivot drive unit, also in the form of a piston / cylinder drive, is provided for pivoting the second casing brake assembly 140 relative to the second filling tube 130 about a pivot point at which the second casing brake assembly 140 is coupled to the rotating plate 150.

[0086] The telescopic guide of the first casing brake holder 124 is in a retracted position, wherein the first casing brake unit 122 is positioned on the first end 112 of the first filling tube 110, and the telescopic guide of the second casing brake holder 144 is in an extended position, wherein the second casing brake unit 142 is moved away from the first end 132 of the second filling tube 130 (see Figure 3 ).

[0087] The pivoting movements of the filling tubes 110, 130 and the casing brake assemblies 120, 140 are performed in a common plane which is at least substantially horizontal with respect to the trimmer CM.

[0088] The filling tube assembly 100 further comprises a drive device 152 comprising an electric motor and a suitable transmission or gear unit for rotating the rotating plate 150 about a rotation axis 154. When the filling tubes 110, 130 are in the refilling position and the respective other filling tube 130, 110 is in the filling position, the rotation axis 154 and the filling tubes 110, 130 are arranged in a common plane that is at least approximately horizontally aligned.

[0089] The fill tube 110 positioned in the filling position can be moved in a common plane of the rotation axis 154 from the Figure 2 , Figure 7 8 and the filling position is pivoted laterally outward to the Figure 7 and the lateral position shown in dashed lines in Fig. 8. In the lateral position and the refilling position, the filling tubes 110, 130 are arranged at least approximately equiangularly with respect to the axis of rotation 154.

[0090] As in Figure 2 As can be further seen in the drawing, the filling tube assembly 100 is provided with a feed socket 160 fixed to the rotating plate 150 and facing away from the cutting machine CM. When the filling tube 130 is in the filling position, the feed socket 160 is coaxially aligned with the central axis A of the filling tube 130. A feeding device (such as a filling machine) for feeding filling material (such as sausage meat) to the cutting machine CM can be connected to the cutting machine CM via the feed socket 160.

[0091] As combined Figure 1 As explained by the main design of the cutting machine CM shown, the tubular packaging casing supply M is made of a thin sheet of tubular material folded in an accordion shape. The tubular packaging casing supply M thus forms a hollow rod of folded tubular casings, which can be transferred to the filling tube 110, 130. The tubular packaging casing M can further be closed at one end by a closing clamp C, which forms the front end of the first sausage-shaped product S to be produced with the tubular packaging casing supply M. In order to handle the tubular packaging casing supply M, it is advantageous if the tubular packaging casing supply M has an inherent stability for preventing the tubular packaging casing supply M from unintentionally unfolding and sufficient to transfer the tubular packaging casing supply M at least from the storage device to the filling tube 110, 130 of the cutting machine CM.

[0092] The system 1000 for producing sausage-shaped products S also includes a storage device 200 for storing a plurality of tubular packaging casing supplies M to be loaded onto the first filling tube 110 and the second filling tube 130 when the first filling tube 110 and the second filling tube 130 are arranged in the refilling position. Figure 2 and Figure 3 The illustrated storage device 200 includes a first storage component 210 and a second storage component 230 .

[0093] The first storage assembly 210 includes a plurality of receiving pins 212 arranged vertically of equal length, which are fixed to the upper side of a circular rotating plate 214 by their lower ends and fixed on a circle concentric with the center of the rotating plate 214. The central column 216 is mounted to the rotating plate 214 with its lower end and is coaxially aligned with the rotation axis 220 of the rotating plate 214. The rotation axis 220 extends vertically to the rotating plate 214 and passes through its center. At the upper end of the central column 216, a retaining element 218 is arranged. The retaining element 218 is made of an elastic material (such as rubber), has an approximately rectangular shape and extends radially outward from the central column 216 toward the upper end of the receiving pin 212, so that their outer ends are laid on the upper end of the receiving pin 212 with pre-tension. The storage device 210 also includes a rotation driver 222 connected to the lower side of the rotating plate 214 for rotating the first storage assembly 210 around the rotation axis 220.

[0094] The second storage assembly 230 has the same design as the first storage assembly 210 and includes a rotating plate 234 having a vertical rotation axis 240 and a plurality of receiving pins 232 arranged vertically, the lower ends of which are attached to the rotating plate 234 and are on a circle concentric with the center of the rotating plate 234. A central column 236 is arranged at the center of the rotating plate 234 and is coaxially aligned with the rotation axis 240 of the rotating plate 234 and passes through its center. At the upper end of the central column 236, a retaining element 238 is arranged. The retaining element 238, which is also made of an elastic material such as rubber, has a rectangular shape and extends radially outward toward the upper end of the receiving pin 312 and is laid on the upper end of the receiving pin 312 with pretension. The second storage assembly 230 can be rotated around the rotation axis 240 by a rotation drive 242 mounted to the lower side of the rotating plate 234.

[0095] exist Figure 2 In the embodiment, the first storage assembly 210 is positioned in an unloading position, in which the tubular packaged casing supply M is unloaded from the first storage assembly 210 to be transferred to the second filling tube 130 arranged in the refilling position, and the storage assembly 230 is in a loading position, in which the tubular packaged casing supply M is loaded onto the storage assembly 230.

[0096] The storage device 200 further includes a rotating assembly 250 for rotating the first storage assembly 210 and the second storage assembly 230 around a rotation axis 252. The first storage assembly 210 and the second storage assembly 230 are mounted on a common rotating table 254 at the same height, and the rotation axes 220, 240 are aligned parallel to each other and to the rotation axis 252. The rotating table 254 of the rotating assembly 250 is rotated around the rotation axis 252 by a rotating mechanism arranged below the rotating table 254.

[0097] The system 1000 for producing sausage-shaped products S also includes a robotic device 300 having a control unit RCU for controlling the movement of the robotic device 300. The robotic device 300 has a base 310, a first arm 320 having a first end 322 and a second end 324. The first arm 320 is pivotally connected to the base 310 via its first end 322. The robotic device 300 also has a second arm 330 having a first end 332 and a second end 334. The second arm 330 is pivotally connected to the second end 324 of the first arm 320 via its first end 332 (see Figure 3 The base 310 further includes a rotation drive mechanism for rotating together with the first arm 320 and the second arm 330 relative to the clipper CM around a vertical rotation axis.

[0098] like Figure 3 As shown, Figure 3 is based on Figure 2 In a perspective view of the rear side of the system, a gripper unit 340 for gripping a tubular packaging casing supply M is mounted at the second end 334 of the second arm 330. Figure 3 In the embodiment, the gripper unit 340 is in a receiving position, in which the tubular casing supply M is provided by the first storage assembly 210 and is ready to be held on the receiving pin 212. The receiving pin 212 is arranged in the ready position, and the tubular casing supply M is received from the receiving pin 212 by the gripper unit 340. Figure 6 and Figure 7 The design and function of the gripper unit 340 are explained in detail.

[0099] according to Figure 3 The control unit RCU of the robot device 300 of the embodiment of the present invention is mounted to a base 310 of the robot device 300. The robot device 300 is mounted to the frame of the clipping machine CM via its base 310. Alternatively, a separate frame for the robot device 300 may be provided, which is arranged in a defined position relative to the clipping machine CM, or which is fixedly connected to the frame of the clipping machine CM.

[0100] As in Figure 3As can further be seen in FIG, the removal assembly 400 is mounted to the trimmer CM of the system 1000. It has to be noted that it is also possible to provide several removal assemblies.

[0101] Remove component 400 at Figure 3 is only schematically shown and will be combined with Figure 8a and 8b Explaining its embodiment in more detail, the removal assembly 400 comprises a fixing unit 410 for fixing the removal assembly 400 to the trimming machine CM and a joining device 420 for joining the portion of the tubular packaging casing to be removed from the second filling tube 130, which is formed in the cutting machine CM. Figure 3 is in the refill position.

[0102] Removal assembly 400 is arranged at a rear edge of clipper CM facing fill tube assembly 100 such that engagement device 420 is positioned proximate first end 132 of second fill tube 130 in the refilling position.

[0103] Figure 4 A perspective view of the front side of another embodiment of a system 1000 for producing sausage-shaped products S is shown, the system 1000 comprising a trimming machine CM. Figure 4 The cutting machine CM includes both Figures 1 to 3 The explained cutting device and gathering device, discharge device DC and filling tube assembly 100. The cutting machine CM of the system 1000 can be combined with the above in principle. Figure 1 The trimmer CM of the system 1000 is constructed and operates in the same manner as described above. The trimmer CM of the system 1000 includes a filling tube assembly 100, which includes a first filling tube 110 having a first end 112 and a second end 114, a first casing brake assembly 120 associated with the first filling tube 110, a second filling tube 130 having a first end 132 and a second end 134, and a second casing brake assembly 140 associated with the second filling tube 130. The first filling tube 110 and the second filling tube 130 are pivotally coupled to the rotating plate 150 via respective hinges at their second ends 114, 134.

[0104] The first filling tube 110 faces with its first end 112 the closed area of ​​the cutting machine CM, in which the cutting device and the gathering device are arranged, and in the filling direction F. Figure 2 In the arrangement of , the first filling tube 110 is in the filling position.

[0105] The second filling tube 130 faces the rear side of the trimmer CM with its first end 132. The second filling tube 130 is in a refilling relative position, wherein a tubular packaging casing supply M can be arranged or placed on the second filling tube 130.

[0106] The first casing brake assembly 120 comprises a casing brake unit 122 which is positioned in the region of the first end 112 of the first filling tube 110. A casing brake retainer unit (not shown) is designed such that the casing brake unit 122 is held in place at the first end 112 when in the filling position and is secured against accidental displacement along the first filling tube 110, in particular by a feed pressure of the filling material or a pull-off force from the tubular casing material acting on the casing brake unit 122. The first casing brake retainer may have the form of a fork into which the first casing brake unit 122 engages when in the filling position. Alternatively, an elastic element, such as a spring, or any other suitable retaining or holding element may be provided for securing the first casing brake unit 122 in its position on the first filling tube 110.

[0107] The second casing brake assembly 140 comprises a second casing brake unit 142 positioned in the region of the first end 132 of the second filling tube 130. It must be understood that the casing brake retainer also secures the casing brake device 142 of the second casing brake assembly 140 against accidental displacement along the second filling tube 130 when in the filling position.

[0108] The pivoting movements of the filling tubes 110, 130 and the casing brake assemblies 120, 140 are performed in a common plane which is at least substantially horizontal with respect to the trimmer CM.

[0109] The filling tube assembly 100 further comprises a drive device 152 comprising a motor, preferably an electric motor and a suitable transmission or gear unit for rotating the rotating plate 150 about a rotation axis 154. When the filling tubes 110, 130 are in the refilling position and the respective other filling tube 130, 110 is in the filling position.

[0110] The first fill tube 110 can be rotated in a common plane with the rotation axis 154 from the Figure 2 The filling position shown is pivoted laterally outwardly to Figure 3 In these positions, the filling tubes 110, 130 are arranged at least approximately equiangularly with respect to the rotation axis 154. The rotation axis 154 and the filling tube axis A are at an acute angle.

[0111] As combined Figure 1As explained by the main design of the cutting machine 1 shown in FIG. 1 , the tubular packaging casing supply M is made of a tubular material sheet which is folded and pleated, like an accordion. The tubular packaging casing supply M thereby forms a hollow rod of folded and pleated tubular casing material which can be transferred from the storage device 200 to the filling tube 110, 130. The tubular packaging casing supply M is preferably closed at one end by a closing clamp C which forms the leading end of the first sausage-shaped product S to be produced with the tubular packaging casing supply M. However, the closing clamp C which forms the leading end of the first sausage-shaped product S to be produced can also be applied to the leading end of the tubular packaging casing supply M by the cutting device of the cutting machine CM immediately before starting the filling process. For handling the tubular packaging casing supply M, it is advantageous if said tubular packaging casing supply M has an inherent stability which is sufficient to transfer the tubular packaging casing supply M at least from the storage device to the filling tube 110, 130 of the cutting machine CM.

[0112] The system 1000 for producing sausage-shaped products S further comprises a storage device 200 for storing at least one, preferably a plurality of tubular packaging casing supplies M to be loaded onto the filling tubes 110 , 130 when the filling tubes 110 , 130 are arranged in the refilling position.

[0113] according to Figure 4 The storage device 200 of the embodiment shown in FIG. Figure 2 and Figure 3 The similar construction and functions as explained in the embodiment shown in FIG. 1 and therefore, for detailed description, reference is made to the embodiment shown in FIG. Figure 2 and Figure 3 Corresponding description of storage device 200.

[0114] Similar to Figure 2 and Figure 3 The system 1000 shown in Figure 4 The system 1000 also includes a robotic device 300 having a similar design and function, so that in this respect, combined with Figure 2 and Figure 3 Reference is made to the corresponding description of the robotic device 300 .

[0115] In addition, and if Figure 5 As can be seen in particular, the system 1000 further comprises a receiving device 600 for receiving the first gripper unit 340 or the second gripper unit 170 for gripping one of the casing brake units 122 , 142 of the first casing brake assembly 120 or the second casing brake assembly 140 .

[0116] exist Figure 5, the second casing brake unit 142 clamped by the second gripper unit 170 is received by the receiving device 600. In order to receive or accommodate the first gripper unit 340 and / or the second gripper unit 170, the receiving device 600 is provided with a first holding unit 620 and a second holding unit 630. The first holding unit 620 is provided for holding and fixing the first gripper unit 340 in the receiving device 600, and the second holding unit holds the second gripper unit 170 (see Figure 4 ) is held and fixed in the receiving device 600.

[0117] In order to hold and secure the first and second clamp units 340, 170 in the receiving device 600, the holding units 620, 630 may include elements or components suitable for fitting or press-fitting, such as magnetic elements, tongue-and-groove joints or cut-out elements for securing the first and second clamp units in the receiving device, or a combination thereof.

[0118] Furthermore, in order for the robot apparatus 300 to be able to replace the first and second gripper units 340 , 170 , the gripper units 340 , 170 may be reversibly coupled to the second end 334 of the second arm 330 of the robot apparatus 300 through corresponding coupling mechanisms.

[0119] The coupling mechanism may comprise a bayonet fitting providing a mechanical connection between the robotic device and the first and second gripper units as well as a fluid connection for connecting drive devices of the gripper units with respective fluid sources. The coupling mechanism may also provide an electrical connection, such as a sensor connection or, if present, an electrical connection for a possible electrical drive device.

[0120] Furthermore, the receiving device 600 comprises a third holding unit 640 for receiving and holding a further gripper unit (not shown), which may have a substantially similar design to the gripper unit 340 of the robotic device 300. The further gripper unit forming the engaging device 420 of the removal assembly 400 is used for engaging the portion of the tubular packaging casing to be removed from the second filling tube 130 in the refilling position, the further gripper unit may comprise a gripper element which is reversibly movable between a closed position and an open position and is designed to grip the portion of the tubular packaging casing M to be removed from the third filling tube 130 in the refilling position before the tubular packaging casing supply M is moved onto the third filling tube 130 by the robotic device 300.

[0121] The gripper unit further includes a coupling mechanism as described above, for being connectable to and disconnectable from the robot device 300 , and for being at least temporarily stored in the receiving device 600 .

[0122] The receiving device 600 may be provided with a sensor arrangement (not shown) which may detect the presence or absence of the first gripper unit 340 and / or the second gripper unit 170 and / or the further gripper unit 170 in the first holding unit 620, the second holding unit 630 and the third holding unit 640. Signals from the sensor arrangement may be used to control at least the robotic device 300. The robotic device 300 may be stopped, for example, if both gripper units are placed in the receiving device 600 or if no gripper unit 340, 170 is placed in the receiving device 600. Furthermore, it is also possible that the sensor arrangement is able to detect whether the first gripper unit 340 or the second gripper unit 170 is received by the receiving device 600 and to emit a corresponding signal as to whether an incorrect gripper unit is in the receiving device.

[0123] As in Figure 5 As can be further seen in the figure, the partition wall W is arranged between the first storage assembly 210 and the second storage assembly 230, and is used to separate the operating range of the robot device 300 from the operating range of the operator or another robot device. The first storage device 210 is arranged in the operating range of the robot device 300, and the robot device collects the tubular packaging casing supply M from it. In the operating range of the robot device 300, the tubular packaging casing supply M is refilled onto the receiving pin 232 of the second storage assembly 230. It should be noted that the partition wall W can also be arranged in Figure 2 and Figure 3 In the system 1000.

[0124] The partition wall W may be a solid wall element. Alternatively, the partition wall may be realized by a sensor arrangement that creates a so-called light curtain or light screen that can detect a person or element extending through it and then output a corresponding signal to the control unit of the system 1000 or the trimming machine CM or the control unit RCU of the robot device 300 so that the system 1000 or its components (such as the robot device 300) can be stopped. The partition wall W is arranged on a common rotating table of the first storage assembly 210 and the second storage assembly 230 so that the partition wall W rotates together with the first storage assembly 210 and the second storage assembly 230.

[0125] Figure 6 is a perspective view of the gripper unit 640 of the robotic device 300 in an open position.

[0126] The gripper unit 340 has a first end 340a and a second end 340b. The gripper unit 340 includes a longitudinally extending, substantially rectangular base structure or substrate 342 having a first end 342a coinciding with the first end 340a of the gripper unit 340 and a second end 342b coinciding with the second end 340b of the gripper unit 340. On the underside of the base structure or substrate 342 (according to Figure 6 ), and in the region of its first end 342a, a first drive assembly 343 is arranged, which comprises two piston / cylinder drives, wherein the pistons extend in a plane parallel to the plane of the base plate 342 and extend at least approximately perpendicularly to its longitudinal extension. A second drive assembly 344 designed identically to the first drive assembly 343 is mounted to the base plate 342 in the region of its second end 342b, and the pistons of the piston / cylinder drives extend at least approximately perpendicularly to the longitudinal extension of the base plate 340 and in the same plane as the pistons of the first drive assembly 343. At the outer ends of the pistons of the piston / cylinder drives of the first drive assembly 343 and the second drive assembly 344, brackets 346a, 346b, 348a, 348b are mounted. The brackets 346a, 346b, 348a, 348b are angled and fixed at one end to the piston of the piston / cylinder driver so that their other ends face downward from the base plate 342, and the brackets 346a, 348a at the first end 342a of the base plate 342 and 346b, 348b at the second end 342b are opposite to each other.

[0127] The clamp unit 340 is provided with a first clamp element 346 and a second clamp element 348, each of which is in the form of an angled rod having a V-shaped cross section and a length corresponding to the length of the base plate 342. The first clamp element 346 and the second clamp element 348 are mounted to the brackets 346a, 348a; 346b, 348b so that they are aligned parallel to each other and the open sides of the "V" face each other. The first clamp element 346 and the second clamp element 348 can be moved in the open position (such as by the first drive assembly 343 and the second drive assembly 344) by the first drive assembly 343 and the second drive assembly 344. Figure 6 ) and the closed position (as shown Figure 7 The first and second gripper elements 346, 348 are aligned parallel and equidistantly with a central axis or gripping axis 350 therebetween. In the closed position, the tubular packaging casing supply M is gripped by the first and second gripper elements 346, 348 and maintained coaxially with the gripping axis 350.

[0128] The first and second gripper elements 346, 348 are reversibly moved between the open position and the closed position by first and second drive assemblies 343, 344 including piston / cylinder actuators. The pistons of the piston / cylinder actuators not only drive the first gripper element 346 and the second gripper element 348, but also provide linear guidance or linear support so that the alignment of the first gripper element 346 and the second gripper element 348 is maintained during the entire process.

[0129] As in Figure 6 and Figure 7 As can be further seen in the figure, a connection unit 345 is arranged at the upper side of the base plate 342 and approximately in the center thereof, for connecting the gripper unit 340 to the second end 334 of the second arm 330 of the robotic device 300. At the second end 334 of the second arm 330 of the robotic device 300, a corresponding connection unit is arranged for establishing at least a mechanical connection between the second arm 330 and the gripper unit 330. In addition, the connection unit can also realize an electrical connection and / or a pneumatic connection / hydraulic connection with the sensor unit SU1 / SU2 or the first drive assembly 343 and the second drive assembly 344, respectively, which will be described in detail below.

[0130] As combined Figure 4 and Figure 5 As mentioned, the engagement device 420 may be designed as a gripper unit similar to the gripper unit 430. Thus, the gripper unit or engagement device 420 may comprise two gripper elements which are reversibly movable between an open position and a closed position, driven by one or more corresponding drive devices, similar to the drive assemblies 343, 344 of the gripper unit 340, and which may comprise corresponding piston / cylinder drives. Furthermore, a sensor unit may be provided for detecting the engagement device 420 in the open position and / or the closed position, and its position relative to the corresponding filling tube 110, 130 in the refilling position, in order to achieve a correct positioning of the engagement device 420 for the removal operation.

[0131] Figure 8a and 8b Two embodiments of an engagement device 420 of a removal assembly 400 according to the present invention are shown.

[0132] according to Figure 8aThe engagement device 420 comprises two flap wheels 421, which comprise a plurality of flaps 422 arranged at the outer surface of the hub and which extend radially outward. The at least approximately fork-shaped retainer 423 has two parallel tines, at the free ends of which the flap wheels 421 are arranged. The flap wheels 421 are aligned in a common plane, wherein their axes of rotation are parallel to each other, and the gap between the flap wheels 421 corresponds to the diameter of the filling tubes 110, 130, preferably is smaller than the diameter of the filling tubes 110, 130. Figure 8a As shown by the arrows in , the flap wheel 421 is driven in the opposite direction.

[0133] Thus, when directed towards the corresponding end of the filling tube in the refilling position, as Figure 8a 4. Rotation of the flap wheel 421 engages the portion of the tubular packaging casing to be removed from the filling tube 130 and pulls the portion from the filling tube 130.

[0134] according to Figure 8b A second embodiment of the engagement device 420 comprises two gripper elements 425 in the form of longitudinally extending rods or blades, one end of which is connected to one end of a holder 424. The gripper elements 425 are pivotally mounted to the holder 424 so that the gripper elements can be reversibly pivoted about a pivot axis like a pair of scissors. The gripper elements 425 can be used in a variety of ways, such as Figure 8b The clamping element 425 can be reversibly pivoted between the open position and the closed position shown, in which the clamping elements are arranged at least approximately parallel to each other. The drive unit for reversibly driving the clamping element 425 can include a piston / cylinder drive and a corresponding pivot rod or eccentric drive for realizing the pivoting movement of the clamping element 425.

[0135] like Figure 8b As shown, the engagement device 420 is arranged in a plane perpendicular to the longitudinal extension or center axis of the filling tube 130 and in front of the filling tube 130 so that the filling tube 130 faces the opening formed between the gripper elements 425 when in the open position.

[0136] In order to produce sausage-shaped products S in the system 1000, the tubular packaging casings M stored in the form of a tubular packaging casing supply M on the first filling tube 110 and closed at its front end by the closing clamp C are filled with a filling material, which is fed into the tubular packaging casings M through the first filling tube 110 of the filling tube assembly 100 along the feeding direction F. Thereby, the tubular packaging casings M are pulled out from the first filling tube 110 by the feeding pressure of the filling material.

[0137] The first casing brake assembly 120 applies a braking force to the tubular packaging casing M while the tubular packaging casing M is pulled out from the first filling tube 110. After a predetermined portion of the filling material is fed into the tubular packaging casing M, the filled tubular packaging casing M is gathered, and a braided portion is formed on the gathered portion of the tubular casing M by a gathering device. Two closing clamps C are applied to the braided portion and closed by a cutting device, the first closing clamp C being used to close the just filled tubular packaging casing M to form a sausage-shaped product S, and the second closing clamp C being used to close the front end of the sausage-shaped product S to be produced subsequently. A hanging element L may be provided and attached to one end of the sausage-shaped product S by one of the closing clamps C. In order to cut off the sausage-shaped product S just produced from the remaining tubular packaging casing supply M, the braided portion is cut between the two closing clamps C, and the sausage-shaped product S just produced may be discharged from the cutting machine CM along the conveying direction T by a discharge device DC.

[0138] The hanging element L of the sausage-shaped product S that has just been produced is caught by the catcher and can be guided towards a hanging line arranged downstream of the discharge device DC for hanging on similar elements for further processing.

[0139] After the supply M of tubular packaged casings on the first filling tube 110 is exhausted, the filling tube assembly 100 is rotated through an angle of at least about 180° about the rotation axis 154 of the rotating plate 150. During this rotational movement of the filling tube assembly 100, the first filling tube 110 is transferred to the refilling position, and the second filling tube 130 (on which the supply M of tubular packaged casings is stored) is moved toward the filling position.

[0140] Thereafter, the second casing brake unit 142 is moved onto the first end 132 of the filling tube 130 and the production of sausage-shaped products S can continue. During the production process, another tubular packaging casing supply M is transferred towards the first filling tube 110 which is now in the refilling position and stored thereon.

[0141] The refilling of the tubular packed casing supply M onto the second filling tube 130 arranged at the refilling position is performed by the robotic device 300, which collects the tubular packed casing supply M from the first storage component 210 of the storage device 200 in the unloading position and transfers the tubular packed casing supply M to the second filling tube 130 arranged at the refilling position.

[0142] The movement path of the robot device 300 can be programmed by an operator and transferred to the control unit RCU of the robot device 300, or can be directly programmed into the control unit RCU via a corresponding interface. Alternatively, the robot device 300 can be manually guided by an operator along the desired movement path, which is simultaneously stored in the control unit RCU. In all these cases, the movement of the robot device 300 is controlled by the control unit RCU. Alternatively, the position and movement path of the robot device 300 can be stored in the control unit CU of the cutting machine CM, so that the control unit CU of the cutting machine CM can also control the movement of the robot device 300.

[0143] In order to refill the tubular package casing supply M onto the second filling tube 130 arranged in the refilling position, the second casing brake assembly 140 must be pivoted away from the filling tube 130 (see Figure 2 , 3 ) or by gripping and removing the casing brake unit 142 by the gripper unit 170 (see Figure 4 , 5 ) to remove the second casing brake assembly 140 , in particular, to remove the casing brake unit 142 of the second casing brake assembly 140 , from the second filling tube 130 .

[0144] Before the supply of tubular packaging casings or tubular packaging casing supply M is refilled onto the second filling tube 130, the remaining part or parts of the tubular packaging casings that have not been used up and have remained on the second filling tube 130 or the first filling tube 110, respectively, must be removed from the second filling tube 130 by the removal device 400.

[0145] exist Figure 2 and Figure 3 In the illustrated embodiment of the removal device 400 , the removal device 400 operates independently of the robotic device 300 .

[0146] This means that the robotic device 300 is moved to a position similar to the collection position, in which the removal device 400 can clamp the remaining part or part of the tubular packaging casing that has remained on the second filling tube 130 and remove the said part of the tubular packaging casing from the second filling tube 130 without being affected by the robotic device 300.

[0147] The removal device 400, in particular the engagement device 420, is moved towards the second filling tube 130 in the refilling position so that the engagement device is positioned relative to the second filling tube, such as Figure 8a or 8b. Thereafter, Figure 8a In the embodiment of FIG. 4 , the engagement device 420 is moved toward the filling tube 130 so that the flap wheel 421 engages the remaining portion of the tubular packaging casing on the filling tube 130 .

[0148] At the same time, before or shortly after reaching this position, the flap wheel 421 is driven to pull the remainder or portion of the tubular packaging casing from the second filling tube 130 .

[0149] When using according to Figure 8b When the engagement device 420 is positioned in front of the filling tube 130 in the refilling position, the gripper element 425 is in its open position (see Figure 8b ), so that the portion of the tubular packaging casing to be removed from the second filling tube 130 is positioned between the gripper elements 425. The gripper elements 425 are then moved to their closed position, in which the portion of the tubular packaging casing is clamped, and the engaging device 420 is moved away from the second filling tube 130.

[0150] Typically, the second casing brake unit 142 is pulled out from the second filling tube 130 before a portion of the tubular packaged casing is removed from the second filling tube 130. However, in order to prevent the portion of the tubular packaged casing to be removed from accidentally falling off the filling tube 130, the second casing brake unit 142 may also remain on the second filling tube 130 during the removal operation. In this case, the engaging device 420 clamps the front end of the portion of the tubular packaged casing extending out of the second casing brake unit 142 in the filling direction.

[0151] A sensor arrangement coupled to the engagement device 420 can detect the position of the engagement device 420 relative to the filling tube 130 and can also monitor the removal process, so that based on the signals of the sensor arrangement the movement of the removal assembly 400 and the removal operation can be controlled. Corresponding signals can be sent to the control unit CU of the clipping machine CM and / or the control unit RCU of the robotic device, which recognizes, for example, the start or stop of the removal operation and the position of the removal assembly 400.

[0152] A container or box (not shown) may be provided in proximity to the engaging device 420 so that the portion of the tubular casing pulled out of the second filling tube 130 may fall into the container or box.

[0153] In accordance with Figure 4 and Figure 5 In an embodiment of the system 100 , in which the removal component 400 comprises an engagement device 420 in the form of a separate gripper unit that can be reversibly mounted to the robotic device 300 , the gripper unit or engagement device 420 is stored in a third holding unit 640 of the receiving device 600 .

[0154] In order to remove the remaining part or part of the tubular packaging casing from the second filling tube 130, the robotic device 300 places the gripper unit 340 in the holding unit 620 of the receiving device 600 and connects the engaging device 420 to the second end 334 of the second arm 330. Thereafter, the robotic device 300 moves the engaging device 420 toward the second filling tube 130 in the refilling position and removes the part of the tubular casing from the second filling tube 130 by positioning the engaging device 420 with the gripper elements in their open position so that the part of the tubular casing is placed between the gripper elements and moving the gripper elements to their closed position. Then, the engaging device 420 moves away from the second filling tube 130, for example, toward a container or box into which the part of the tubular casing can fall. Thereafter, the engaging device 420 is placed in the holding unit 640 of the receiving device 600 and disconnected from the robotic device 300.

[0155] Furthermore, this removal operation may be performed before or after the second casing brake unit 142 has been removed from the second filling tube 130 .

[0156] After removing the portion of the tubular casing and the second casing brake unit 142 from the second filling tube 130, the robotic device 300 with the gripper unit 340 coupled thereto moves to the collection position (see Figure 3 , Figure 5 ). In the retrieving position, the first gripper element 346 and the second gripper element 348 of the gripper unit 340 in their open position are aligned parallel and transversely with the tubular packaging casing supply M stored on the receiving pin 212 of the first storage assembly 210 in the preparation position. The gripper unit 340 is aligned with the receiving pin 212 so that the first end 340a of the gripper unit 340 and the upper end of the receiving pin 212 are at least approximately arranged at the same height. In this position, the gripping axis 350 at least approximately coincides with the central axis of the receiving pin 212. Then, the first drive assembly 343 and the second drive assembly 344 are actuated so that the first gripper element 346 and the second gripper element 348 are moved to their closed position to grip the tubular packaging casing supply M.

[0157] Each tubular packaged casing supply M arranged on the receiving pin 212 of the first storage assembly 210 or on the receiving pin 232 of the second storage assembly 230, respectively, is aligned with its upper end, which may have been closed to the upper end of the corresponding receiving pin 212, 232 by the closing clamp C. In this position, the retaining element 218 of the first storage assembly 210 and the retaining element 238 of the second storage assembly 230 are respectively laid on the upper ends of the receiving pins 212, 232 with pretension, thereby abutting the upper ends of the tubular packaged casing supply M stored thereon. The retaining elements 218, 238 thus prevent the tubular packaged casing supply M stored on the receiving pins 212, 232 from accidentally unfolding and protruding upward from the receiving pins 212, 232 of the first storage assembly 210 and the second storage assembly 230.

[0158] In order to remove the tubular packaged casing supply M from the receiving pins 212, the robotic device 300 moves the gripper unit 340 vertically upwards along the receiving pins 212 and by a length that corresponds approximately to the length of the base plate 342 of the gripper unit 340. It is thus ensured that the tubular packaged casing M is completely removed from the receiving pins 212 and that a collision between the gripper unit 340 and the first storage assembly 210 is prevented. The tension applied by the holding elements 218, 238 to the upper end of the tubular packaged casing supply M is selected so that the tubular packaged casing supply M is firmly held on the holding pins 212, 232 but can be removed from the receiving pins 212, 232 without being damaged by the holding elements 218, 238, which are preferably pushed or pivoted aside or pushed or pivoted upwards by the gripper unit 340.

[0159] Robotic device 300 further moves toward the refilling position of second filling tube 130. Gripper unit 340 is positioned with its second end 340b immediately in front of first end 132 of second filling tube 130, wherein gripping axis 350 is coaxially aligned with central axis A of second filling tube 130.

[0160] Then, by moving the gripper unit 340 along the central axis A of the filling tube 130, the robotic device 300 is moved to the release position, whereby the tubular packaged casing supply M is transferred to the second filling tube 130. The tubular packaged casing supply M is shifted to the second filling tube 130 so that its end closed by the closing clamp C, which is the upper end when arranged on the receiving pins 212, 232 of the first storage assembly 210 and the second storage assembly 230, abuts the first end 132 of the second filling tube 130.

[0161] In this case, a holding device (not shown) can be actuated which abuts against the tubular packaging casing supply M on the second filling tube 130 in the region of the first end 132 of the second filling tube 130 and thereby prevents the tubular packaging casing supply M from unfolding.

[0162] The gripper unit 340 is moved to its open position to release the tubular packaging casing supply M onto the second filling tube 130 , and the first gripper unit 340 is removed from the second filling tube 130 .

[0163] Subsequently, the robotic device 300 moves away from the second filling tube 130 so that the second casing brake unit 142 can move the second casing brake assembly 140 toward the second filling tube 130 by pivoting the second casing brake assembly 140 (see Figure 2 , 3 ) or by gripping the second casing brake unit 142 with the gripper unit 170 and moving it onto the second filling tube 130 (see Figure 4 , 5 ) and shifted to the second filling tube 130.

[0164] To continue the production of sausage-shaped products S, the filling tube assembly 100 is rotated about the rotation axis 154 of the rotating plate 150 so that the first filling tube 110 is transferred to the refilling position and the second filling tube 130 is moved to a lateral position in front of the trimmer CM. The second filling tube 130 with the tubular packaging casing supply M thereon is pivoted to the filling position and the production of sausage-shaped products S can be continued.

[0165] The supply of tubular packaging casings M is refilled onto the first filling tube 110 in the same manner as described in connection with the second filling tube 130 .

[0166] In accordance with Figure 2 and Figure 3 In an embodiment of the system 1000, the removal device 400 is shown mounted to the clipping machine CM. In this embodiment, the removal assembly includes a corresponding drive assembly for moving the engagement device 420 toward the second filling tube 130 in the refilling position. The drive assembly may include any suitable drive device, such as a linear drive device including a piston / cylinder drive and / or a linear guide, along which the engagement device 420 can be reversibly moved toward the second filling tube 130.

[0167] In addition, combined Figure 4 and Figure 5 , one embodiment of the removal assembly 400 has been described as comprising a gripper unit forming the engagement device 420. It must be noted that the engagement device 420 can also be coupled to an existing gripper unit, such as the gripper units 170, 340. In this case, the engagement device 420 can be as Figure 8a , 8bThe design shown and can be connected to a drive assembly of the gripper unit 170, 340 for driving the flap wheel 421 or for reversibly moving the gripper element 425 between its open position and its closed position.

[0168] Furthermore, in a simple design, the removal device 400 may comprise a pivoting rod forming an engagement device 420 which pivots along the second filling tube 130 in the refilling position, or pivots laterally in front of the first filling tube 130 so as to engage the portion of the tubular packaging casing in order to remove said portion of the tubular packaging casing from the second filling tube 130.

[0169] It should also be noted that the removal assembly 400 may be provided in the form of a robotic device, similar to the robotic device 300. Thus, the removal device 400 may comprise a robotic arm, at the free end of which the engagement device 420 is arranged.

[0170] Furthermore, the removal device 400 may be placed at any suitable location, for example, at the front or rear side of the clipper CM, or at the filling tube assembly 100 .

Claims

1. A system (1000) for producing a sausage-shaped product (S) such as a sausage by filling a filling material into a tubular packaging casing (M), the system (1000) comprising a cutting machine (CM) for producing the sausage-shaped product (S), wherein: The cutting machine (CM) comprises: a filling tube assembly (100) having at least one first filling tube (110) for feeding the filling material into the tubular packaging casing (M), the tubular packaging casing (M) being stored on the at least one filling tube (110) and being closed at a first end of the filling tube assembly, - at least one first casing brake assembly (120), the at least one first casing brake assembly (120) being associated with the at least one first filling tube (110) for applying a braking force to the tubular packaging casing (M) when the tubular packaging casing (M) is pulled out of the at least one first filling tube (110), and - a control unit (CU) for controlling at least said cutting machine (CM); The system further comprises a removal assembly (400) for removing at least a portion of the tubular packaging casing (M) from the at least one first filling tube (110).

2. The system (1000) according to claim 1, in, The removal assembly (400) comprises at least one engaging device (420) for engaging the portion of the tubular packaging casing (M) to be removed from the at least one first filling tube (110).

3. The system (1000) according to claim 2, in, The engaging device (420) comprises a pusher element for pushing the portion of the tubular packaging casing (M) from the at least one first filling tube (110).

4. The system (1000) according to claim 2, in, The engaging device (420) comprises at least one flap wheel (421) comprising a plurality of flaps (422) and being reversibly movable towards the at least one first filling tube (110) for removing the portion of the tubular packaging casing (M) from the at least one first filling tube (110).

5. The system (1000) according to any one of claims 1 to 4, in, The removal assembly (400) is formed by a robotic device.

6. The system (1000) according to any one of claims 1 to 5, in, The at least one first filling tube (110) is movable between at least a filling position, in which filling position filling material can be fed through the at least one first filling tube (110) into the tubular packaged casing (M) stored on the at least one first filling tube (110), and a refilling position, in which a supply of tubular packaged casing (M) can be transferred to the at least one first filling tube (110), and wherein the removal assembly (400) is associated with the at least one first filling tube (110) when the at least one first filling tube (110) is arranged in the refilling position.

7. The system (1000) according to any one of claims 1 to 6, in, The filling tube assembly (100) comprises at least one second filling tube (130) and at least one second casing brake assembly (140) associated with the at least one second filling tube (130), wherein, preferably, when the at least one second filling tube (130) is arranged in the refilling position, the at least one first filling tube (110) is arranged in the filling position, and wherein, when the at least one second filling tube (130) is arranged in the refilling position, the removal assembly (400) is associated with the at least one second filling tube (130).

8. The system (1000) according to any one of claims 1 to 5, The invention also comprises a robot device (300) and a storage device (200), wherein the robot device (300) is used to transfer a supply of tubular packaged casings (M) to the cutting machine (CM), the storage device (200) is used to store the supply of tubular packaged casings (M) and comprises at least one gripper unit (340), wherein the gripper unit (340) is used to grip the supply of tubular packaged casings (M) provided by the storage device (200) and to transfer the supply of tubular packaged casings (M) to the at least one first filling tube (110) of the cutting machine (CM), wherein: The removal assembly (400) is associated with the robotic device (300).

9. The system (1000) according to claim 8, in, The engagement device (420) is associated with the at least one gripper unit (340).

10. The system (1000) according to claim 8, in, The robotic device (300) comprises a further gripper unit, wherein the engagement device (420) is associated with the further gripper unit.

11. A method for producing a sausage-shaped product (S) such as a sausage by filling a filling material into a tubular packaging casing (M), the system (1000) comprising a cutting machine (CM) for producing the sausage-shaped product (S); The method comprises the following steps: producing a sausage-shaped product by filling a filling material into a tubular packaging casing (M) stored on at least one first filling tube (110); and A portion of the tubular packaging casing (M) is removed from the at least one first filling tube (110) by the removal assembly (400).

12. The method according to claim 11, The following steps are also included: Prior to removing a portion of the tubular packaging casing (M) from the at least one first filling tube (110), the at least one first filling tube (110) is moved from a filling position, in which filling material is fed into the tubular packaging casing (M), to a refilling position, in which the supply of tubular packaging casing (M) is transferred to the at least one first filling tube (110).

13. The method according to claim 11 or 12, The following steps are also included: The removal assembly (400) is reversibly moved toward the at least one first filling tube (110) disposed in the refilling position.

14. The method according to claim 11 or 12, The following steps are also included: The removal assembly (400) is reversibly moved toward the at least one first filling tube (110) while the at least one first filling tube (110) is moved toward the refilling position.

15. The method according to any one of claims 11 to 14, in, The removal assembly (400) is controlled by the control unit (CU) of the trimming machine (CM).

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