Servo-driven singling equipment

Abstract

This invention relates to a sorting device for packaging lollipops, each lollipop having a head and a stick. The device comprises: a horizontally rotating sorting disk having a plurality of recesses, each recess receiving the head of the lollipop; a vertically rotating first conveyor wheel having a plurality of notches for the stick of the lollipop; and a vertically rotating second conveyor wheel having a plurality of holding members, each holding member clamping the stick of a lollipop. The invention further relates to a lollipop coating apparatus and a method of operating a sorting machine or a method of modifying the sorting disk.

Description

Technical Field

[0001] This invention relates to a sorting device for packaging lollipops, each lollipop having a head and a stick. The device comprises: a horizontally rotating sorting disk having a plurality of recesses, each recess receiving the head of the lollipop; a vertically rotating first conveyor wheel having a plurality of notches for the lollipop stick; and a vertically rotating second conveyor wheel having a plurality of holding members, each holding member clamping the lollipop stick. The invention further relates to a lollipop coating apparatus and a method of operating a sorting machine or a method of changing the sorting disk. Prior Technology

[0002] It is known to encapsulate articles, such as lollipops, in films / foils, in which case the articles must be separated before encapsulation. This separation can be performed by machines as taught in patents EP 1 357 063 B1 or EP 1 847 179 B1. However, such machines are not suitable for separating lollipops and / or for their relatively low capacity and / or for their difficult operation. Summary of the Invention

[0003] The objective of this invention is to provide a lollipop sorting device, a lollipop processing apparatus, a method for operating the sorting device, and / or a method for modifying the sorting disc of the sorting device that can achieve a high sorting rate and / or are easy to operate.

[0004] The problem is solved by a sorting device for packaging lollipops, each lollipop having a head and a stick. The device includes: a horizontally rotating sorting disk having a plurality of recesses, each recess accommodating the head of the lollipop; a vertically rotating first conveyor wheel having a plurality of notches for the stick of the lollipop; and a vertically rotating second conveyor wheel having a plurality of holding members, each holding the stick of the lollipop. The sorting disk and the first conveyor wheel are each driven by a servo motor, the rotation speed and / or torque of which are independently controlled.

[0005] The disclosure of this subject matter also applies to other subjects claimed in this application, and vice versa. Features disclosed in this subject matter may be incorporated into other subjects, and vice versa.

[0006] This invention relates to a sorting device for individualizing lollipops for further processing, specifically for coating. Each lollipop has a head and a stick made of edible material. The sorting device includes a sorting disc with a plurality of individual recesses on its outer circumference. The recesses are preferably arranged equidistantly around a circular ring. The sorting disc rotates about a vertical axis, thereby orienting randomly entering lollipops into the recesses, preferably such that the stick of the lollipop extends beyond the outer circumference of the sorting disc. Each recess preferably has a circular cross-section.

[0007] A rotating distribution disc is preferably positioned within the inner diameter of the circular ring of the sorting disc that accommodates the recesses, the distribution disc conveying lollipops toward the recesses of the sorting disc. The sorting disc and the distribution disc preferably rotate in opposite directions about a common axis. The rotational speeds of the distribution disc and the sorting disc may be equal or different, wherein the ratio of the two rotational speeds is preferably kept constant. The distribution disc and the sorting disc preferably have a sorting motor.

[0008] Furthermore, the selection device includes first and second conveyor wheels. The first conveyor wheel has multiple notches on its outer circumference, each notch capable of lifting a lollipop stick. The first conveyor wheel rotates about a horizontal axis to push and / or lift the lollipop sticks and supply them to the second conveyor wheel. The second conveyor wheel also rotates about a horizontal axis, but in the opposite direction to the first conveyor wheel, and has multiple holding members, preferably clamps, and more preferably clamp arm pairs, on its circumference, each releasably clamping a lollipop stick. The second conveyor wheel conveys the individualized lollipops to another processing unit, such as a coating unit. Those skilled in the art will understand that the "second conveyor wheel" can also be an annular conveying member (e.g., a chain) rotating about two or more wheels (e.g., sprockets). Holding members are provided at this conveying member. However, wheels are preferred as the "second conveyor wheel".

[0009] The sorting disc and / or first conveyor wheel are preferably interchangeable components, and more preferably customized for the handling of a specific lollipop, specifically for a specific lollipop head size, and more specifically for a spherical lollipop head with a specific head diameter. Specifically, the number and / or size / shape of the recesses in the sorting disc vary depending on the sorting disc. The number and / or size / shape of the recesses in the first conveyor wheel are variable and preferably suited to a specific application. Preferably, a specific sorting disc and a specific set of first conveyor wheels are a matching pair. Preferably, one first conveyor wheel is suitable for two or more different sorting discs.

[0010] Preferably, the sorting tray and the first transfer wheel each include an identifier (e.g., RFID), which is read by a sensor that can be part of the sorting device or another processing unit. Preferably, the machine is activated only if both identifiers match the task to be sorted. If the two identifiers match, the sorting machine is preferably configured automatically; for example, by automatically acquiring the parameters required to operate the sorting device and / or another processing unit, specifically after the operator has specified the lollipop to be sorted and / or the output per unit of time.

[0011] According to the present invention, the sorting disk and the first conveyor wheel are each driven by a servo motor.

[0012] The servo motor according to the present invention is a rotary actuator that allows precise control of the angular position and / or speed and / or acceleration and / or torque provided by the output shaft of the motor and / or components connected thereto; for example, a sorting disk and / or a first conveyor wheel. The servo motor includes a suitable motor coupled to a sensor for position feedback. It also requires a controller.

[0013] The servo motor is preferably a closed-loop mechanism, which can use position feedback from the output shaft and / or the sorting disk and / or the first conveyor wheel to control its movement and / or final position and / or the torque provided. The input to its control can be a signal representing the position and / or speed and / or acceleration and / or torque commanded by the output shaft of the sorting disk and / or the first conveyor wheel.

[0014] The electric motor is preferably paired with an encoder to provide position and / or speed and / or acceleration feedback. The electric motor can also be paired with a torque encoder to provide feedback on, for example, the torque provided by the motor's shaft. In the simplest case, only the position of the output shaft and / or sorting disc and / or first drive wheel is measured. The measured position is compared with the desired position. If the actual position differs from the desired position, a signal is generated that then causes the motor to accelerate or decelerate as needed to bring the output shaft and / or sorting disc and / or first drive wheel to the appropriate position and / or rotational speed.

[0015] Preferably, the servo controller includes an amplifier, wherein the proportional gain factor for the first conveyor wheel is adjustable. According to this preferred embodiment, the first conveyor wheel can be given a rotational "spring effect." This allows, for example, lollipops to be conveyed from the sorting tray to the first conveyor wheel and then to a second conveyor wheel having, for example, a bent bar. The first conveyor wheel adapts to the handover of lollipops from the sorting tray by accommodating the movement of the lollipops to the need for misalignment of the lollipops with the bar. Specifically, it adapts to the rotational speed of the first conveyor wheel and / or the sorting tray. Before conveying the lollipops to the second conveyor wheel, the servo motor corrects the position of the first conveyor wheel and thus returns it to the correct timing of the machine, specifically the timing of the second conveyor wheel.

[0016] The second conveyor wheel is preferably driven by a motor component separate from the servo motors of the sorting disc and the first conveyor wheel. These motor components are preferably driven independently of the first conveyor wheel and / or the sorting disc.

[0017] According to the present invention, the sorting device includes a servo motor for the sorting wheel and a servo motor for the first conveying wheel. These two servo motors can be controlled independently of each other and independently of all other drives of the sorting device and / or the connected machine.

[0018] This problem is also solved by another inventive or preferred embodiment of the present invention, wherein the sorting disc includes a plurality of openings and wherein the number of openings is the same as the number of recesses.

[0019] The disclosure of this subject matter also applies to other subject matters claimed in this application, and vice versa. Features disclosed in this subject matter may be incorporated into other subject matters, and vice versa.

[0020] According to this invention or preferred embodiment, in addition to the recesses that each accommodates the head of a lollipop, the sorting tray includes openings, the number of which is the same as the number of recesses. The openings can be used to position the recesses of the sorting tray relative to a first conveyor wheel, and vice versa. Preferably, a sensor determines the position of the opening and compares it with a set value. This signal is used to control a servo motor of the sorting tray and / or the first conveyor wheel. The openings are preferably arranged along a circular ring, and preferably inside the circular ring accommodating the recesses. Preferably, the center of each recess is radially aligned with the center of an opening. Preferably, the openings have a circular cross-section. The openings are preferably equidistantly distributed around the circular ring of the sorting tray.

[0021] An opening (preferably the number of openings) is better used as an indicator for individual sorting discs.

[0022] Preferably, the selection device includes sensors for locating the tangential position of the opening and / or the tangential position of the corresponding recess. This signal allows the selection disc to be positioned relative to the first conveyor wheel, and vice versa.

[0023] The sensor signal can also be used to count the number of openings on a sorting tray. This information can be used as an identifier for individual sorting trays.

[0024] Preferably, the selection device includes control components that control the rotational speed of the first conveyor wheel and / or the selection disc, and more preferably control them independently of each other.

[0025] Another embodiment of the present invention is a lollipop processing apparatus, specifically a lollipop coating apparatus including an inventive or preferred selection device.

[0026] The disclosure of this subject matter also applies to other subject matters claimed in this application, and vice versa. Features disclosed in this subject matter may be incorporated into other subject matters, and vice versa.

[0027] According to this embodiment, the inventive or preferred device is a lollipop processing device located downstream of the second conveyor wheel, preferably part of a lollipop coating device.

[0028] Another embodiment of the present invention is a method of operating an inventive or preferred sorting device and / or an inventive lollipop processing apparatus, wherein the torque provided by a servo motor of a sorting disc or a first conveyor wheel is permanently monitored and / or the positional deviation of the sorting disc and the first conveyor wheel is permanently monitored.

[0029] The disclosure of this subject matter also applies to other subject matters claimed in this application, and vice versa. Features disclosed in this subject matter may be incorporated into other subject matters, and vice versa.

[0030] In the context of this invention, "permanently" preferably means every 0.01 to 100 milliseconds, more preferably every 0.1 to 10 milliseconds, and even more preferably every 0.2 to 0.6 milliseconds.

[0031] According to this preferred embodiment of the invention, the torque provided by the servo motor driving the sorting disc and the torque provided by the servo motor driving the first conveyor wheel are permanently monitored. Preferably, a window for acceptable torque values ​​is set, within which the positional deviation of the sorting disc and / or the first conveyor wheel can be automatically corrected. The window may be ± the deviation from the set value or average value required for rotating the sorting disc and / or the first conveyor wheel. Preferably, different windows exist for the sorting disc and for the first conveyor wheel. Each window may be a stored parameter that is automatically downloaded when the control system of the sorting device identifies a specific sorting disc or a specific first conveyor wheel. In the case of producing different lollipops, each window may also be part of the formula.

[0032] When the required torque for operating the selection disk and / or the first conveyor wheel is within this window, the controller of the selection device will automatically compensate for any positional deviation of the selection disk and / or the first conveyor wheel. When the required torque for at least one servo motor of the selection disk or the first conveyor wheel is outside this window, the device preferably stops automatically. This avoids damage to the servo of the selection device.

[0033] The above description similarly applies to the position of the sorting disc and / or the first conveyor wheel. The position is automatically adjusted as long as the actual rotational position deviation of the sorting disc and / or the first conveyor wheel is within the window. However, if the position deviation of the sorting disc or the first conveyor wheel is outside the window, the device preferably stops automatically.

[0034] After automatic stopping, the worker or automation system can detect the sorting equipment, resolve the problem if necessary, and then restart the sorting equipment. Automatic stopping is, for example, an indication that cleaning and / or crushing lollipops is required.

[0035] This problem is also solved by another preferred or inventive subject of the present invention, wherein the rotational speed of the first conveyor wheel is not constant even during a constant output of selected or coated lollipops or during a constant rotational speed of the second conveyor wheel.

[0036] The disclosure of this subject matter also applies to other subject matters claimed in this application, and vice versa. Features disclosed in this subject matter may be incorporated into other subject matters, and vice versa.

[0037] According to this inventive or preferred method of the invention, even under steady-state conditions of the sorting device and / or lollipop handling apparatus, the rotational speed of the sorting disc and / or the first conveyor wheel is not constant; for example, the constant output of sorted or coated lollipops and / or the constant rotational speed of the second conveyor wheel. Preferably, the sorting disc and / or the first conveyor wheel accelerates and decelerates during its operation. This allows for the correction of irregularities, such as bent lollipop sticks, during the production process.

[0038] Acceleration and deceleration allow for "spring-like" behavior of the selector and / or first drive wheel, specifically the behavior of a coil spring. Acceleration is better followed by deceleration, and vice versa.

[0039] Preferably, the rotational speed of the first conveyor wheel changes during the period from picking up a lollipop from the sorting tray until it is delivered to the second conveyor wheel. Preferably, the rotational speeds of the sorting tray and the first conveyor wheel change during the period from picking up a lollipop from the sorting tray.

[0040] Another subject of the present invention that also addresses the stated problems is a method for altering the sorting disc and / or the first conveyor wheel of a sorting device, wherein the sorting disc and the first conveyor wheel each include a read-out identification element, and wherein a computer system checks whether the sorting disc and the conveyor wheel are matched together and / or whether they match the desired lollipop selection.

[0041] The disclosure of this subject matter also applies to other subject matters claimed in this application, and vice versa. Features disclosed in this subject matter may be incorporated into other subject matters, and vice versa.

[0042] All sorting discs and / or first conveyor wheels that can be installed on the inventive sorting device preferably have the same outer diameter. Preferably, only the number of recesses or notches is varied.

[0043] According to the present invention, both the sorting tray and the first conveyor wheel include an identifier that allows for individualization of the individual components, enabling a computer component associated with the sorting device to accurately know which sorting tray and which first conveyor wheel are connected to the sorting device. Upon receiving this information, the computer component checks whether the installed sorting tray and first conveyor wheel match and / or match the desired sorting operation, for example, suitable for the lollipop to be selected and / or the desired volume. Preferably, the sorting device can be activated if at least one match is confirmed, and preferably all matches are confirmed.

[0044] According to the present invention, "identification" means that information that can at least be extracted from the identification to individualize the various parts. However, the identification may include storage components that allow for the storage of additional data, such as operating time, maintenance performed, maintenance requirements, cleaning cycles, and / or cleaning needs. This information may be extracted from the storage components, for example, by selecting a device, and / or may be updated periodically.

[0045] Preferably, the identification element is the number of openings in the sorting tray, and preferably, the openings are counted by a computer component as the tray rotates on the sorting device. Another preferred alternative is RFID. Simple Explanation of the Diagram

[0046] The present invention will now be explained with reference to Figures 1 to 3. These explanations do not limit the scope of protection. These explanations also apply to all embodiments of the present invention. [ [picture] [1] Describes the inventive selection device. [ [picture] [2] Depicts details of the first transport wheel. [ [picture] [3] Depicts the details of the sorting disc. Implementation

[0047] The inventive sorting apparatus according to Figures 1 to 3 is used to process lollipops having a stick and a head. The head is preferably spherical, wherein the sphere may have different diameters depending on the lollipop being produced. The stick is preferably cylindrical, wherein the diameter of the cylinder may vary depending on the lollipop being produced. A dispensing disc 2 rotates counterclockwise about a vertical axis of rotation B, as depicted by the arrow. The dispensing disc conveys the lollipop to its circumference. At the circumference, a sorting disc 1 is provided, which, in the present case, rotates clockwise about the same vertical axis as the dispensing disc, as indicated by arrow A. The sorting disc 1 includes a plurality of equidistant recesses 7 in which the lollipop is positioned due to the rotation of the dispensing disc and / or the sorting disc, such that the head of the lollipop is received in the recess 7 and the stick of the lollipop extends above the circumference of the sorting disc 1. The number of recesses 7 that may be provided on the sorting disc preferably depends on the diameter of the lollipop head. The inventive sorting device can be operated by different sorting discs with different numbers of recesses 7, while the outer diameter of the sorting discs is preferably always the same. The sorting discs and the dispensing discs preferably have a common drive, here a servo motor. Lollipops are removed from the sorting disc 1 by a first conveyor wheel 3 rotating about a horizontal axis. The first conveyor wheel 3 rotates counterclockwise about the horizontal axis, as indicated by arrow C. The first conveyor wheel 3 has a plurality of equidistant recesses 9 that lift and / or push the lollipop stick into a holding member 6, such as the arm of a gripper 6, which is attached to a second conveyor wheel 4. The inventive sorting device can be operated by different first conveyor wheels with different numbers of recesses, while the outer diameter of the first conveyor wheels is preferably always the same. The second conveyor wheel 4 has a plurality of equidistant holding members / grippers 6 on its circumference and rotates clockwise therefrom, as indicated by arrow D. At least one arm of the gripper is movable relative to the other arm, thereby gripping and releasing the lollipop stick. The second transfer wheel preferably rotates at a constant speed. The second transfer wheel delivers the lollipop to another processing unit, such as a coating unit.

[0048] Referring specifically to Figure 3, which depicts details of a sorting disk 1 having a plurality of recesses 7 arranged around a circular ring at its outer circumference. Each recess 7 preferably has a circular cross-section. The sorting disk further includes a plurality of openings 8 that preferably extend through the entire thickness of the sorting disk and are preferably equidistantly arranged around a circular ring located within the inner circumference of the ring accommodating the recesses 7. Each opening 8 preferably has a circular cross-section. The center of the cross-section of one opening is preferably radially aligned with the center of the opening of one recess. The inventive sorting device may have a sensor (not depicted) that, for example, is disposed below the sorting disk and senses each opening as the sorting disk rotates. This provides a controller attached to the sensor with information about the tangential position of each opening 8 and therefore about the tangential position of the corresponding recess 7. This information is used to position the sorting disk relative to a first conveyor wheel, and / or vice versa. For illustrative purposes, a dispensing disk 2 has been omitted in Figure 3. The distribution disc 2 is positioned within the inner circumference of a circular ring that accommodates recesses. The distribution disc covers the openings 8. The distribution disc rotates about the same axis 10 as the sorting disc, but in the opposite direction to the sorting disc 1. The sorting disc 1 and / or the first conveyor wheel preferably each include a marking that allows a computer component to identify the respective portion. The marking is preferably the number of openings 8 in the sorting disc.

[0049] The electric motor driving the first conveyor wheel is depicted in Figure 2. This motor is a servo motor. The sorting disc is also driven by a servo motor.

[0050] At the start of new production, or after cleaning the sorting equipment and sorting disc 1, and after the conveyor wheel has been removed, the first conveyor wheel 3 is installed, and the sorting equipment reads at least the markings on the sorting disc, but preferably also the markings on the first conveyor wheel. This information is transmitted to a computer component, which checks whether the sorting disc and the first conveyor wheel match and / or whether the sorting disc and the first conveyor wheel match the selected formula. Preferably, operation can begin only after confirming at least one match.

[0051] To activate the inventive sorting device, a worker selects the recipe for lollipops to be sorted and further processed (e.g., coated). The necessary sorting discs are then installed and their markings checked, preferably by rotating the sorting discs and counting the openings 8. Preferably, a first conveyor wheel is also installed and its markings checked. At least one, preferably two, markings are then compared with data from the recipe to check if the sorting discs and the first conveyor wheel match the requirements from the recipe. Preferably, the sorting device can only be activated at that point. The recipe preferably includes the setting operating conditions for the sorting device, such as the rotational speed of the sorting discs and / or the first and / or second conveyor wheels, and / or the allowable deviation window for the position of the sorting discs and / or the first conveyor wheel, and / or the torque required to position the sorting discs and / or the first conveyor wheel.

[0052] This invention offers the following advantages: more recesses can be accommodated in the sorting disc. The sorting disc can operate at a lower rotational speed while maintaining the same lollipop output. Because it automatically stops when a certain torque is exceeded and / or when the position of the sorting disc and / or the first conveyor wheel deviates, damage to the sorting equipment and / or downtime of the equipment are avoided.

[0053] 1: Sorting tray 2: Distribution disk 3: First teleportation wheel 4: Second Transfer Wheel 5: Servo motor 6: Holding components and clamps 7: Holes and recesses for lollipops to fall into 8: Opening 9: Notch 10: Central Axis A: Rotation direction of sorting disk 1 B: Rotation direction of distribution disk 2 C: Rotation direction of the first transfer wheel 3 D: Rotation direction of the second transfer wheel 4

Claims

1. A sorting device for packaging lollipops, each lollipop having a head and a stick, the device comprising: a horizontally rotating sorting disc (1) having a plurality of recesses (7), each recess receiving the head of the lollipop; a vertically rotating first conveyor wheel (3) having a plurality of notches (9) for the stick of the lollipop at its outer circumference; and a vertically rotating second conveyor wheel (4) having a plurality of holding members (6), each holding member holding the stick of a lollipop, characterized in that the sorting disc (1) and the first conveyor wheel are each driven by a servo motor, the rotational speed and / or torque of the servo motor being independently controlled, wherein each of the plurality of notches (9) can lift the stick of the lollipop for pushing and / or lifting the stick of the lollipop and supplying it to the second conveyor wheel (4), wherein the sorting disc (1) includes a plurality of openings (8). The sorting disk (1) and the first conveyor wheel (3) each include an identification component; the identification component is an opening (8) in the sorting disk (1); and a sensor is configured to count the opening (8) and compare it with a set value to determine whether the correct sorting disk has been installed.

2. The selection device of claim 1, characterized in that the number of openings (8) is the same as the number of recesses (7).

3. The selection device of claim 2, characterized in that the center of each recess (7) is radially aligned with the center of an opening (8).

4. The selection device as claimed in claim 2 or 3, characterized in that it includes a sensor for locating the tangential position of an opening (8).

5. The sorting device according to any one of claims 1 to 3, characterized in that it includes a control member for controlling the rotational speed of the first conveyor wheel (3) and / or the sorting disc (1).

6. A lollipop processing apparatus, specifically a lollipop coating apparatus, comprising a selection device as claimed in any one of claims 1 to 5.

7. A method of operating a sorting device as claimed in any one of claims 1 to 5, characterized in that a torque provided by the servo motor of the sorting disc (1) or the first conveyor wheel is permanently monitored and / or a positional deviation of the sorting disc and the first conveyor wheel is permanently monitored.

8. A method of operating a lollipop processing apparatus as claimed in claim 6, characterized in that a torque provided by the servo motor of the sorting disc (1) or the first conveyor wheel is permanently monitored and / or a positional deviation of the sorting disc and the first conveyor wheel is permanently monitored.

9. The method of claim 7 or 8, characterized in that the required torque is adjusted to maintain the sorting disc and / or the first conveyor wheel in a desired rotational position.

10. The method of claim 9, characterized in that the adjustment of the torque occurs within a preset window.

11. The method of claim 10, characterized in that the servo motors are stopped when the required torque is outside the preset window.

12. A method of operating a selection machine as claimed in any one of claims 1 to 5, characterized in that the rotational speed of the first transfer wheel is not constant even during a constant output of one of the selected or coated lollipops or during a constant rotational speed of one of the second transfer wheels (4).

13. A method of operating a lollipop processing apparatus as claimed in claim 6, characterized in that the rotational speed of the first conveyor wheel is not constant even during a constant output of a selected or coated lollipop or during a constant rotational speed of the second conveyor wheel (4).

14. The method of claim 7 or 8, characterized in that the rotational speed of the first conveyor wheel is not constant even during a constant output of one of the selected or coated lollipops or during a constant rotational speed of one of the second conveyor wheels (4).

15. The method of any one of claims 12 to 14, characterized in that the rotational speed of the first conveyor wheel is changed during the period from picking up the lollipop from the sorting tray to handing it over to the second conveyor wheel (4).

16. A method for modifying the sorting disc of a selection device as claimed in any one of claims 1 to 5, characterized in that the sorting disc and the first conveyor wheel each include a read-out identification member, and wherein a computer system checks whether the sorting disc and the conveyor wheel are matched together and / or matched for the desired lollipop selection, wherein the identification member is an opening (8) in the sorting disc, and the openings are counted and compared with a set value to determine whether the correct sorting disc has been installed.

17. A method for modifying the first conveyor wheel (3) of a sorting device as claimed in any one of claims 1 to 5, characterized in that the sorting disc and the first conveyor wheel each include a read-out identification member, and wherein a computer system checks whether the sorting disc and the conveyor wheel are matched together and / or matched for lollipop selection, wherein the identification member is an opening (8) in the sorting disc, and the openings are counted and compared with a set value to determine whether the correct sorting disc has been installed.

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