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) comprises a cutting machine (CM) for producing sausage-shaped products (S), a robotic device (300) for transferring a tubular packaged casing supply (M) to the cutting machine (CM), and a storage device (200) for storing the tubular packaged casing supply (M). The invention also relates to a method for producing sausage-shaped products (S) in a system (1000).

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 a cutter and a robotic device for producing sausage-shaped products. The invention also 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 a cutter, a robotic device and a hanging line for hanging the sausage-shaped products on a rod-shaped element, such as a smoking rod. Furthermore, the invention relates to a method for producing sausage-shaped products in the system of the invention. 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 at its front end by a closing device (such as a closing clamp), 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. 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 casing, 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 suspension element, such as a suspension 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 suspension element is fed to a cutting device and fixed to the respective ends of the sausage-shaped products by a closing clip closing the respective ends of the sausage-shaped products. The sausage-shaped products are 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 to the rod-shaped elements by their suspension elements. The rod-shaped elements loaded with sausage-shaped products are sent out from the hanging line and placed for further processing, such as in a storage frame.

[0003] In these known cutting machines, the tubular or packaged casings, which may be provided in the form of a hollow rod of folded tubular casing material, are manually moved onto a filling tube by an operator. Typically, the operator pivots the filling tube away from its filling position, moves the tubular packaged casing supply onto the filling tube, and pivots the filling tube back into its filling position. Alternatively, the tubular packaged casing supply may be automatically moved onto the filling tube. In this case, the tubular packaged casing supply is transferred by gravity or by a shifting element onto the filling tube which is held in a specific refilling position.

[0004] Refilling the tubular package casing supply onto the filling tube of the clipper by hand is time consuming and requires the presence of an operator for each refilling event. Furthermore, in order to automatically refill the tubular package casing supply, wherein the tubular package casing supply is transferred to the filling tube by gravity or by a shifting element, a specific storage is required. Furthermore, the storage device must be positioned in a specific position relative to the filling tube, to which the filling tube must be precisely aligned. Furthermore, a huge amount of control is required to coordinate the operation of the components of such an arrangement. Otherwise, the tubular package casing supply may be damaged when being transferred to the filling tube, which results in production losses and increased downtime.

[0005] 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, wherein unnecessary downtimes are omitted. Summary of the invention

[0006] According to the present invention, there is provided a system for producing sausage-shaped products such as sausages by filling a filling material into a tubular packaging casing, the system comprising a cutting machine for producing sausage-shaped products, a robotic device for transferring a supply of tubular packaging casings to the cutting machine, and a storage device for storing the supply of tubular packaging casings. The cutting machine comprises a filling tube assembly having at least a first filling tube for feeding the filling material into the tubular packaging casings stored on the first filling tube and closed at a first end thereof; at least a first casing brake assembly associated with the first filling tube for applying a braking force to the tubular packaging casings when the tubular packaging casings are pulled out of the first filling tube; and a control unit for controlling at least the cutting machine. The robotic device comprises a gripper unit for gripping a supply of tubular packaging casings provided by the storage device and for transferring the supply of tubular packaging casings to at least the first filling tube of the cutting machine. The storage device comprises at least one first storage assembly in which at least one supply of tubular packaging casings is arranged for transfer by the robotic device to at least a first filling tube of a cutting machine.

[0007] Thus, the system of the present invention enables the production of sausage-shaped products without unnecessary downtime, in particular downtime caused by the process of refilling the tubular packaging casings onto the filling tube. In addition, the system of the present invention enables the safe and reliable transfer of the tubular packaging casing supply from the storage device to the filling tube of the clipper. The robotic device can be programmed and controlled based on the current position of the storage device and the first filling tube in the refilling position. The movement path of the robotic device between the collection position and the release position, in which the robotic device collects the tubular packaging casing supply from the storage device and in which the tubular packaging casing supply is released onto the filling tube, can be selected according to desired parameters (e.g., the shortest or fastest movement path) and / or depending on the surroundings. Therefore, the complex design or cumbersome alignment of the storage device and the clipper can be omitted.

[0008] It should 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 for gathering the filled tubular packaging casings and for forming a braided portion on the tubular packaging casings, the gathering device including a first shifter unit and a second shifter unit, a cutting device having a first closing tool and a second closing tool, the first closing tool and the second closing tool being reversibly movable between an open position and a closed position, for applying at least one closing device to the braided portion and closing the closing device when the closing tool is in its closed position, and the cutting machine may also include a discharge device for discharging the sausage-shaped product just produced out of the cutting machine.

[0009] The tubular casing supply can advantageously be provided in the form of hollow rods of folded tubular casings. These hollow casing rods can be easily and reliably gripped by the gripper unit of the robot device to be removed from the storage device and transferred to the filling tube.

[0010] The use of the gripper unit allows the tubular packaging casing supply to be arranged in various positions, such as horizontal or vertical positions, so no special storage device is required. In addition, the storage device can be designed independently of the type of filling tube and its orientation in the refilling position.

[0011] In an advantageous embodiment of the system of the invention, the control unit of the cutting machine is adapted to activate at least the robotic device to start the process of refilling the filling tube with the supply of tubular packaging casings.

[0012] Since all essential information about the sausage-shaped product to be produced is present in the control unit of the cutter, an optimized time point can be selected for starting the process of refilling the tubular packaging casing supply onto the filling tube of the cutter, so that the refilling process can be shortened and unnecessary downtimes in the production process can be omitted.

[0013] In another advantageous embodiment, at least a first filling tube of the clipper is movable between at least a filling position, wherein filling material can be fed through the first filling tube into tubular packaging casings stored on the at least first filling tube, and a refilling position, wherein the supply of tubular packaging casings can be transferred to the at least first filling tube.

[0014] Defining the refilling position of the first filling tube allows an optimized operation of the robotic device, for example with regard to its movement path and / or operating time.

[0015] In order to refill the supply of tubular packaged casings onto at least one filling tube of the cutting machine, it is sufficient that the cutting machine comprises only one filling tube. However, in order to reduce downtime for refilling the supply of tubular packaged casings onto the filling tube, it is preferred that the filling tube assembly of the cutting machine comprises a second filling tube and a second casing brake assembly associated with the second filling tube, wherein preferably the first filling tube is arranged in the filling position while the second filling tube is arranged in the refilling position.

[0016] In this configuration, sausage-shaped products can be produced using the first filling tube, while at the same time, the tubular packaging casing supply can be transferred to the second filling tube. Thus, downtimes in the production of sausage-shaped products can be further reduced.

[0017] In a preferred design, the filling tube assembly further comprises a rotating plate to which at least the first filling tube is attached, the rotating plate being rotatable about a rotation axis to reversibly move at least the first filling tube from the filling position to the refilling position.

[0018] In the case where the filling tube assembly includes a second filling tube, it must be understood that the second filling tube is also attached to the rotating plate. The rotating design of the filling tube assembly enables one of the filling tubes to be quickly and reliably transferred from the filling position to the refilling position, and at the same time, the other filling tube is transferred from the refilling position to the filling position.

[0019] The first and second casing brake assemblies may be associated with the first and second filling tubes in different ways. The casing brake assemblies may be positioned in a fixed relationship with the clipper near the filling position and the refilling position, respectively, such that, for example, the casing brake assembly near the refilling position is aligned with a corresponding filling tube arranged in the refilling position.

[0020] However, in order to securely maintain the first and second filling tubes aligned with their associated first and second casing brake assemblies, the rotating plate together with the first and second filling tubes and the first and second casing brake assemblies are rotatable about the rotating plate's axis of rotation.

[0021] The robotic device for transferring a supply of tubular packaged casings to a cutting machine, in particular for transferring a supply of tubular packaged casings from a storage device to a filling tube arranged in a refilling position, can be controlled in different ways. In one embodiment, the robotic device does not comprise a control unit and the robotic device is controlled by a control unit of the cutting machine. In the system according to the invention, preferably, the robotic device comprises a control unit and the control unit of the cutting machine and the control unit of the robotic device can be interconnected so that the robotic device can at least partially be controlled by the control unit of the cutting machine and / or so that the cutting machine can at least partially be controlled by the robotic device.

[0022] According to this, the control unit of the cutting machine can usually start or stop the operation of the robotic device, while the control unit of the robotic device controls the process of transferring the supply of tubular packaging casings from the storage device towards the refilling position. Therefore, the control amount of the control unit of the cutting machine can be reduced. On the other hand, the control unit of the robotic device may also influence the operation of the cutting machine, for example, in the case of a lack of supply of tubular packaging casings to be transferred to the filling tube in the refilling position, or in the case of any malfunction recognized by the robotic device, the cutting machine may be stopped.

[0023] In a preferred embodiment, the robotic device comprises at least a first sensor unit for detecting at least a position of the gripper unit relative to the storage device and / or a position of the gripper unit relative to the filling tube arranged in the refilling position.

[0024] Such a sensor unit enables accurate positioning of a gripper unit for gripping a tubular packaged casing supply and enables accurate positioning of the tubular packaged casing supply onto the filling tube in the refilling position. Thus, damage to components of the tubular packaged casing supply or the cutting 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.

[0025] In another preferred embodiment the robotic device comprises a second sensor unit for sensing the gripping force applied by the gripper unit to the tubular packaging casing.

[0026] The sensor unit may comprise a suitable sensor element, such as a pressure sensor, a force sensor or a piezoelectric sensor.Thereby, the tubular packaging casing supply may be securely gripped by the gripper unit and damage to the tubular packaging casing supply may be omitted.

[0027] In order to further optimize the refilling process and in order to avoid unnecessary downtimes, it is advantageous if the storage device comprises at least one sensor unit for detecting the presence or absence of a supply of tubular packed casings in the storage device. A signal from said sensor indicating the presence or absence of a supply of tubular packed casings in the storage device can be sent to the robotic device or the trimmer, for example for stopping the robotic device in the event that no supply of tubular packed casings is present in the storage device. In addition, corresponding information can be sent to an operator.

[0028] In order to enable the filling tubes to move from the transverse position to the refilling position when the rotating plate of the filling tube assembly is rotated, while reducing the risk of collision, in one embodiment of the clipper, recesses can be provided in the housing of the clipper, which recesses enable the filling tubes to pass through during their movement between the transverse position and the refilling position, in particular the front end of the filling tubes to pass through. The recesses are arranged in the region of the right edge of the front side of the clipper, below the filling tubes when in the filling position.

[0029] This recess has the further advantage that the angle about which the filling tube must be pivoted outwards into the lateral position, i.e. the angle between the filling position and the lateral position of the filling tube, can be smaller than in a clipper without such a recess. Thus, the necessary operating space in front of the clipper is also reduced.

[0030] In a preferred design, in order to improve the degree of automation, independently of the previously described design of the system of the present invention, the system of the present invention may further include a hanging line arranged downstream of the discharge device, for hanging the sausage-shaped products discharged from the cutting machine through the discharge device onto a rod-shaped element (such as a smoking rod). Moreover, the hanging line may also include a control part for at least controlling the hanging line.

[0031] In one embodiment, the hanging line includes as its main components a capturing device, a feeding conveyor and a transport device.

[0032] A catch device, like a catch needle, is provided for catching the hanging element or hanging loop of the sausage-shaped product that has just been produced. The catch element extends along the discharge device and into the closing area of ​​the cutter. The closing area of ​​the cutter is the area in which the filled tubular packaging casing is gathered to form a braid, one or two closing clips are placed and closed on the braid, and the hanging element is fixed to the braid by one of the closing clips.

[0033] The hanging element caught by the catch element can be further guided along a feed conveyor for feeding the hanging element and the sausage-shaped product thereon into the hanging line. Downstream of the feed conveyor, a guide bar or sword is arranged. The rod-like element or smoking rod is positioned downstream of the guide bar and aligned coaxially with the guide bar so that the hanging element or hanging ring guided along the guide bar can be transferred to the rod-like element, which is the loading position.

[0034] A conveying device for transferring the suspension element along the guide rods to a desired position on the rod-shaped element is arranged above the guide rods and the rod-shaped element in the loading position.

[0035] In this configuration, it is further preferred that the control unit of the hanging line is interconnected with the control unit of the robot device and / or the control unit of the cutting machine, so that the hanging line can be at least partially controlled by the cutting machine and / or the robot device. Therefore, the hanging line can be started or stopped by the cutting machine and / or the robot device, so that the production process can be interrupted immediately when, for example, the absence of a rod-shaped element in the hanging line or a possible failure of the hanging line is recognized. Therefore, production losses can be omitted. However, the hanging line may also affect the operation of the cutting machine or the robot device, for example, by stopping the cutting machine or the robot device when a failure is detected or the absence of a sausage-shaped product in the hanging line.

[0036] In order to optimize the production process, in particular to hang sausage-shaped products on the rod-shaped elements, the hanging line includes at least one fourth sensor unit for detecting the presence or absence of sausage-shaped products, rod-shaped elements or for detecting possible failures of the hanging line. Therefore, at least the operation of the hanging line can be interrupted, for example in the absence of sausage-shaped products to be hung or corresponding rod-shaped elements. In addition, since the absence of sausage-shaped products in the hanging line may indicate a failure of the clipper or the robot device, the corresponding information can be sent to the operator. The sensor unit can include any suitable sensor element for detecting the presence of sausage-shaped products in the hanging line, such as an optical sensor element or a mechanical sensor element. The sensor unit can be arranged at any suitable position, such as in the area of ​​the front end of the guide rod or the rod-shaped element. It must be understood that the fourth sensor unit of the hanging line is connected to the control unit of the hanging line for sending corresponding signals thereto. In the case where the control unit of the hanging line is connected to the control unit of the clipper, the sensor signal can also be sent to the control unit of the clipper so that the clipper can control the hanging line at least partially based on the signal, for example, in the case where there is no sausage-shaped product in the hanging line, the hanging line can be stopped by the clipper.

[0037] According to the invention, there is also provided a method for producing sausage-shaped products in a system according to the invention, the method comprising the steps of feeding filling material through a filling tube of a cutter into a tubular packaging casing stored on at least a first filling tube, gathering the filled tubular packaging casing by a gathering device of the cutter and forming a braided portion thereon, applying at least one closing device to the braided portion and closing the closing device by a cutting device of the cutter, and discharging the sausage-shaped product just produced out of the cutter by a discharge device of the cutter. The method also comprises the steps of moving at least the 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 tubular packaging casing is transferred to at least the first filling tube, and transferring the supply of tubular packaging casing provided by the storage device to at least the first filling tube arranged in the refilling position by a robotic device.

[0038] The method of the invention further comprises the step of suspending the sausage-shaped products ejected by the ejection device on rod-shaped elements provided by a hanging wire, and the further step of at least partially controlling the robotic device and / or the hanging wire by a cutting machine.

[0039] The method of the invention thus provides all the advantages explained in conjunction with the system of the invention for producing sausage-shaped products.

[0040] According to the present invention, a filling tube assembly of a cutting machine for producing sausage-shaped products (such as sausages) by filling filling material into tubular packaging casings is also disclosed, the filling tube assembly comprising: a rotating plate, which can rotate around a rotation axis; at least a first filling tube and a second filling tube, each of which has a central axis, wherein the filling tubes are mounted on the rotating plate; at least a first casing brake assembly and a second casing brake assembly, wherein the first casing brake assembly is connected to the first filling tube and the second casing brake assembly is connected to the second filling tube; and a driving device, which is used to rotate the rotating plate including the filling tubes around the rotation axis, wherein the central axis of the first filling tube and the central axis of the second filling tube define an angle greater than 0°, preferably between 15° and 75°, more preferably between 30° and 75°, more preferably between 30° and 75° and 60°.

[0041] Preferably, the first casing brake assembly is associated with the first filling tube and comprises a first casing brake unit positioned in the region of a first end of the first filling tube and is pivotally coupled to the rotating plate via a first telescopic casing brake-retainer unit, and the second casing brake assembly is associated with the second filling tube and comprises a second casing brake unit positioned in the region of the first end of the second filling tube and is pivotally coupled to the rotating plate via a second telescopic casing brake-retainer unit.

[0042] Preferably, the first casing brake unit is linearly reversibly displaceable along the first filling tube onto its first end and pivotable away from the first end of the first filling tube, and the second casing brake unit is linearly reversibly displaceable along the second filling tube onto its first end and pivotable away from the first end of the second filling tube.

[0043] Preferably, the first casing brake-holder unit comprises a telescopic guide and a telescopic drive for extending and retracting the telescopic guide, and the second casing brake-holder unit comprises a telescopic guide and a telescopic drive for extending and retracting the telescopic guide.

[0044] Preferably, the telescopic drive is a linear drive, in particular a piston / cylinder drive.

[0045] Preferably, the filling tube assembly further comprises a first pivot drive unit, which is configured to pivot the first casing brake assembly relative to the first filling tube around a pivot point at which the first casing brake assembly is coupled to the rotating plate, and the filling tube assembly further comprises a second pivot drive unit, which is configured to pivot the second casing brake assembly relative to the second filling tube around a pivot point at which the second casing brake assembly is coupled to the rotating plate.

[0046] Preferably, the fill tube assembly is mounted on the frame via an engagement portion.

[0047] Preferably, the engaging portion is mounted on a side wall of the frame.

[0048] Preferably, the fill tube assembly is linearly and / or rotationally displaceable such that the fill tube is positioned in front of the clipper.

[0049] Preferably, the feed socket is fixed to the rotating plate and faces away from the clipper, wherein the feed socket is coaxially aligned with the central axis of the filling tube.

[0050] According to the present invention, a system for producing sausage-shaped products (such as sausages) by filling filling material into tubular packaging casings is also disclosed, the system comprising a cutting machine for producing sausage-shaped products; a robotic device for transferring the tubular packaging casing supply to the cutting machine; and a storage device for storing the tubular packaging casing supply and for providing the tubular packaging casing supply to the robotic device, the cutting machine comprising: a filling tube assembly as described above; a gathering device for gathering the filled tubular packaging casing and for forming a braided portion thereon, the gathering device comprising a first shifter unit and a second shifter unit; a cutting device having a first closing tool and a second closing tool, the first closing tool and the second closing tool being reversibly movable between an open position and a closed position, a discharge device for applying at least one closing device to the braided portion and closing the closing device for discharging the sausage-shaped product just produced out of the cutting machine, and a control unit for at least controlling the cutting machine and the robotic device.

[0051] Preferably, the robotic device comprises a gripper unit for gripping a supply of tubular packed casings provided by a storage device and for transferring said supply of tubular packed casings to at least a first filling tube of a cutting machine, and a control unit for controlling at least said gripper unit.

[0052] Preferably, the storage device comprises at least one first storage assembly in which at least one supply of tubular packaging casings is arranged for transfer by the robotic device to at least a first filling tube of the cutting machine.

[0053] Preferably, the first filling tube is movable between a filling position, in which filling material is fed through the first filling tube into tubular packaging casings stored on the first filling tube, and a refilling position, in which a supply of tubular packaging casings is delivered to the first filling tube.

[0054] According to the present invention, a method for producing sausage-shaped products in a system as described above is also disclosed, the method comprising the following steps: feeding filling material into a tubular packaging casing stored on at least the first filling tube through at least a first filling tube of a cutting machine, gathering the filled tubular packaging casing by a gathering device of the cutting machine and forming a braided portion thereon, applying at least one closing device to the braided portion and closing the closing device by a cutting device of the cutting machine, and discharging the sausage-shaped product just produced from the cutting machine by a discharging device of the cutting machine, the method further comprising the following steps: moving at least the first filling tube from a filling position to a refilling position, in which the filling material is fed into the tubular packaging casing, in which the tubular packaging casing supply is transferred to at least the first filling tube, and transferring the tubular packaging casing supply provided by the storage device to the at least first filling tube arranged at the refilling position by the robotic device.

[0055] According to the present invention, a clamping device for picking up, conveying and transferring casings (such as sausage casings) is also disclosed, the clamping device comprising: a longitudinal base structure, which is attached to a manipulation device by a coupling element, preferably in a non-destructively detachable manner; at least two clamping members, each clamping member having at least one bottom surface and at least one top surface, wherein the clamping members of the clamping device are provided with clamping surfaces; at least two drive devices, which are attached to the axial ends of the base structure and are used to reversibly move the clamping members between a first position and a second position, in which the clamping members are located on opposite sides of the casing to be picked up and in which the clamping members clamp the casing to be picked up; and a control unit, which is used to simultaneously drive the drive devices of the clamping members.

[0056] Preferably, the drive means are pneumatically driven and wherein the drive means are supplied by a compressed air supply via a common valve and corresponding conduits.

[0057] Preferably, the conduits from the common valve to the respective drive means are of substantially the same length.

[0058] Preferably, a respective flow restrictor is connected to the drive device for compensating for asynchronous movements of the drive device during opening and closing of the clamping parts.

[0059] Preferably, at least one of the holder members is movable in translation and / or rotation relative to the base structure.

[0060] Preferably, each of the gripper members is guided by at least two guide rods.

[0061] Preferably, at least one of the gripper members comprises detection means capable of detecting contact of the casing, wherein preferably two opposing gripper members each comprise a detection means.

[0062] Preferably, the drive device is connected to the holder member via at least one connecting bracket, which preferably has a curved shape.

[0063] Preferably, the base structure and / or the at least two holder members comprise a plurality of through holes and oval holes for reducing the weight of the holding device.

[0064] According to the present invention, a system for picking up, conveying and transferring casings (such as sausage casings) is also disclosed, which system includes: a conveying rod on which the corresponding casings are stored, a receiving rod on which the corresponding casings are to be inserted, and a conveying device, which includes a manipulation device and a clamping device as described above, for conveying the casings from the conveying rod to the receiving rod.

[0065] Preferably, the system further comprises at least one magazine, which comprises a plurality of conveying rods, wherein the at least one magazine is mounted on a frame, wherein preferably two magazines are arranged opposite each other on the frame.

[0066] Preferably, the frame is rotatable and configured to rotate the at least one magazine in a pick-up position and a loading position, respectively.

[0067] Preferably, the at least one magazine comprises a plurality of substantially vertical conveying rods, wherein preferably the conveying rods are arranged in a circle at a predetermined distance from each other.

[0068] Preferably, the at least one magazine is rotatable and is configured to rotate one of the transport rods in the pick-up position.

[0069] Preferably, the gripping device of the conveying device is configured to pick up casings from a delivery bar and to deliver said casings onto a receiving bar, which is a filling tube of a trimmer.

[0070] Preferably, the transport device is attached to the clipper, preferably to a back plate of the clipper or to a top plate of the clipper.

[0071] According to the present invention, a magazine for providing at least one tubular packaging casing is also disclosed, which packaging casing is suitable for receiving flowable filling material in the production of sausage-shaped products, especially sausages, and the magazine comprises: at least one spindle for holding at least one packaging casing, wherein at least one spindle has a longitudinal spindle axis, and wherein at least one spindle includes a free end at a first spindle end, and a conveyor for holding at least one spindle in an upright position, wherein the conveyor transports at least one spindle from a loading position to a conveying position.

[0072] Preferably, at least one holding element is provided, wherein the holding element is arranged at least in the vicinity of the first mandrel end for releasably holding the packaging casing on the at least one mandrel.

[0073] Preferably, the at least one retaining element has at least one first section in which the at least one retaining element releases the free end of the at least one spindle and at least one second section in which the free end of the at least one spindle is covered by the at least one retaining element.

[0074] Preferably, the at least one retaining element is made of a material that is elastic at least in sections.

[0075] Preferably, the longitudinal mandrel axis is oriented at least substantially vertically or forms an acute angle with the vertical.

[0076] Preferably, the conveyor is an endless conveyor belt driven by a motor, wherein the conveyor belt is preferably arranged in an elliptical configuration.

[0077] Preferably, said at least one mandrel has a second mandrel end which is spaced apart from said first mandrel end along said longitudinal mandrel axis and which is attached to a respective mandrel carrier positioned on said conveyor.

[0078] Preferably, said at least one mandrel comprises at least one supporting element for supporting the packaging casing, the position of said at least one supporting element preferably being reversibly adjustable along the mandrel.

[0079] Preferably, the conveyor is inclined in its longitudinal axis.

[0080] Preferably, at least one holding element is held by holding means which are coupled to the spindle carrier means by a shaft for supporting the holding means and transmitting forces from the spindle carrier means to the holding means.

[0081] Preferably, the carrier device holds the spindle, the shaft and the holding device.

[0082] According to the present invention, there is also disclosed a production system for filling and closing tubular or bag-shaped packaging casings to produce sausage-shaped products (especially sausages), in particular a cutting machine, comprising: at least one magazine as described above, and a robot for picking up the packaging casings set at the magazine and placing them at the filling unit.

[0083] Preferably, the loading position and the delivery position of the conveyor are separated by a dividing wall, wherein the dividing wall comprises at least one window for passing the conveyor comprising the at least one spindle.

[0084] Preferably, the partition wall comprises at least one sensor to monitor unintentional movement of at least one window of the partition wall, for example by an operator's hand.

[0085] Preferably, at least one sensor is switched off when the spindle passes through the window of the dividing wall.

[0086] According to the present invention, a magazine for providing at least one tubular packaging casing is also disclosed, which packaging casing is suitable for receiving flowable filling material in the production of sausage-shaped products, in particular sausages, and the magazine comprises: a longitudinal magazine axis, at least one spindle for holding at least one packaging casing, wherein at least one spindle has a longitudinal spindle axis extending at least approximately parallel to the longitudinal magazine axis, and wherein at least one spindle comprises a free end at a first spindle end, and at least one retaining element, which is arranged at least near the first spindle end, for releasably retaining the packaging casing on the at least one spindle.

[0087] Preferably, the longitudinal magazine axis is oriented at least approximately vertically.

[0088] Preferably, the at least one retaining element has at least one first section in which the at least one retaining element releases the free end of the at least one spindle and at least one second section in which the free end of the at least one spindle is covered by the at least one retaining element.

[0089] Preferably, the at least one retaining element is made of a material that is elastic at least in sections.

[0090] Preferably, said at least one mandrel has a second mandrel end which is spaced apart from said first mandrel end along said longitudinal mandrel axis and which is attached to a mandrel carrier means.

[0091] Preferably, the spindle carrier is rotatable about the longitudinal magazine axis.

[0092] Preferably, at least one holding element is held by holding means which are coupled to the spindle carrier means by a shaft for supporting the holding means and transmitting forces from the spindle carrier means to the holding means.

[0093] Preferably, the spindle carrying means has a first diameter and the retaining means has a second diameter, and wherein the first diameter is larger than the second diameter.

[0094] Preferably, the at least one spindle is arranged on the spindle carrier along a circle perpendicular to the magazine axis.

[0095] Preferably, the annulus has a ring diameter, and the first diameter is larger than the ring diameter and / or the ring diameter is larger than the second diameter.

[0096] Preferably, said at least one mandrel comprises at least one supporting element for supporting the packaging casing, the position of said at least one supporting element preferably being reversibly adjustable along the mandrel.

[0097] According to the present invention, a rotator is also disclosed, which includes at least two magazines as described above, wherein the at least two magazines are arranged on a rotator supporting device, and the rotator supporting device can rotate around a rotator axis extending at least approximately parallel to the longitudinal magazine axis.

[0098] Preferably, the rotator carrier has at least one first position, in which one magazine is arranged in a conveying position, and at least one second position, in which the other magazine is arranged in a feeding position.

[0099] Preferably, at least one dividing wall is included for separating the first position from the second position.

[0100] According to the present invention, there is also disclosed a production machine for filling and closing tubular or bag-shaped packaging casings to produce sausage-shaped products (especially sausages), in particular a cutting machine, comprising: at least one magazine as described above and / or at least one rotator as described above, and a robot for picking up the packaging casings set at the magazine and / or the rotator and placing them at the filling unit.

[0101] According to the present invention, a method for controlling a robotic device by a control unit of a cutting machine is also disclosed, wherein the robotic device is arranged in a system for producing sausage-shaped products by filling a filling material into a tubular packaging casing supply arranged on a filling tube of the cutting machine, wherein the system comprises at least: a cutting machine, which is preferably provided with at least a first filling tube and preferably a second filling tube and a first and preferably a second casing brake assembly; a storage device, which is used to store at least one tubular packaging casing supply; and a robotic device, which is used to transfer the tubular packaging casing supply from the storage device to the filling tube of the cutting machine, wherein the control unit is suitable for at least providing control commands to the robotic device, and wherein the robotic device comprises a device for clamping the tubular packaging casing. a first gripper unit for supplying and a second gripper unit for gripping a first casing brake assembly, the method further comprising: removing the casing brake assembly from the filling tube by the second gripper unit; moving the robotic device to a collecting position so that the first gripper unit collects the tubular packaged casing supply disposed in the storage device; gripping the tubular packaged casing supply disposed in the storage device by the first gripper unit; moving the robotic device from the collecting position toward the filling tube; transferring the tubular packaged casing supply to the filling tube by the first gripper unit; releasing the tubular packaged casing supply to the filling tube of the trimmer by the first gripper unit, and positioning the casing brake assembly on the filling tube by the second gripper unit.

[0102] Preferably, the method further comprises the step of replacing a first gripper unit of the robotic device for gripping a supply of tubular packaging casings with a second gripper unit for gripping at least a first casing brake assembly for reversibly removing the first casing brake assembly from at least the first filling tube.

[0103] Preferably, the method further comprises the step of securing the tubular packaging casing supply to the first filling tube by means of at least one holder device.

[0104] Preferably, the robotic device comprises at least a first sensor unit associated with the first gripper unit for detecting the position of the gripper unit relative to the supply of tubular packaging casings in the storage device and / or for detecting the position of the gripper unit relative to the filling tube.

[0105] Preferably, the first gripper unit comprises at least a first and a second gripper element arranged transversely along a longitudinally extending gripper axis, and at least a second sensor unit for sensing a gripping force applied by the at least first and second gripper element to the supply of tubular packaging casings, wherein preferably, the method further comprises the step of limiting the gripping force applied by the at least first and second gripper element to the supply of tubular packaging casings to a predetermined value.

[0106] Preferably, the method further comprises the step of moving the first gripper unit along a predetermined movement path towards a filling tube of the clipping machine.

[0107] Preferably, the method further comprises the steps of positioning a first gripper unit with its gripping axis coaxial with the central axis of the filling tube and in front of the filling tube; and moving the tubular packaging casing supply onto the filling tube by means of the first gripper unit.

[0108] Preferably, the method further comprises the steps of: detecting the position of the tubular packaging casing supply on the filling tube by a first sensor unit; and releasing the tubular packaging casing supply onto the filling tube.

[0109] Preferably, the robotic device is activated in response to a signal indicative of a particular condition of the clipping machine.

[0110] Preferably, the robotic device is deactivated in response to a signal indicative of a specific condition of the clipping machine and / or a specific condition of the storage device.

[0111] Preferably, the trimmer comprises a first filling tube and at least one second filling tube, wherein one of the filling tubes is arranged in a filling position in which filling material can be fed into the tubular packaging casings, and the other filling tube is arranged in a refilling position in which a supply of tubular packaging casings is fed onto the filling tubes, and wherein the robotic device is activated in response to a signal indicating that one of the first or second filling tubes is arranged in the refilling position or is moved towards the refilling position.

[0112] Preferably, the first gripper unit comprises at least one further sensor unit for detecting the position of the gripper element.

[0113] According to the present invention, a system for producing sausage-shaped products (such as sausages) by filling filling material into a tubular packaging casing supply arranged on a filling tube of a cutting machine is also disclosed, the system comprising at least: a storage device for storing at least one packaging casing supply; a cutting machine, the cutting machine being provided with at least a first filling tube and preferably a second filling tube, each of which can be applied with a packaging casing supply; a robotic device, the robotic device being used to transfer the packaging casing supply from the storage device to the filling tube of the cutting machine, and having at least a first clamping unit for clamping the tubular packaging casing supply and a second clamping unit for clamping the casing brake assembly of the cutting machine; and a control unit for at least partially controlling the operation of at least the robotic device, wherein the control unit is suitable for controlling the operation of the robotic device according to the filling state of the sausage-shaped product to be filled.

[0114] Preferably, the filling tubes of the cutting machine are configured such that one filling tube can assume a filling position, which is arranged for filling a supply of tubular packed casings with filling material, and the other filling tube can assume a refilling position, which is arranged for loading a new supply of tubular packed casings onto the filling tube, and vice versa, wherein the control unit is configured to control the robotic device such that the robotic device applies a new supply of tubular packed casings to the filling tube located in the refilling position while the other filling tube is in the filling position.

[0115] According to the invention, there is further disclosed a robotic device comprising a gripper unit and arranged in a system for producing sausage-shaped products as described above and controlled by a method as described above.

[0116] According to the present invention, a system for producing sausage-shaped products (such as sausages) by filling filling material into tubular packaging casings is also disclosed, the system comprising a cutting machine for producing sausage-shaped products; a robotic device for transferring a supply of tubular packaging casings to the cutting machine; and a storage device for storing the supply of tubular packaging casings and for providing the supply of tubular packaging casings to the robotic device, the cutting machine comprising: a filling tube assembly having: at least a first filling tube for feeding the filling material into the tubular packaging casings stored on the filling tube and closed at a first end thereof; at least a first casing brake assembly associated with the first filling tube for braking the tubular packaging casings when the tubular packaging casings are pulled out of the first filling tube and a control unit for controlling at least the cutting machine, the robotic device comprising: at least one first gripper unit for gripping a supply of tubular packed casings provided by a storage device and for transferring the supply of tubular packed casings to at least a first filling tube of the cutting machine; and at least a second gripper unit for gripping the at least first casing brake assembly for reversibly removing the at least first casing brake assembly from the at least first filling tube; and the storage device comprising: at least one first storage assembly, in which at least one tubular packed casing supply is arranged for being transferred by the robotic device to the at least first filling tube of the cutting machine.

[0117] Preferably, a receiving device is provided for at least temporarily receiving the first and / or the second gripper unit, wherein preferably the receiving device is provided at the cutting machine.

[0118] Preferably, the receiving device comprises at least a first holding unit and a second holding unit for at least temporarily accommodating the first and / or the second gripper unit.

[0119] Preferably, at least one holding device is provided for temporarily fixing the tubular packaging casing supply on the first filling tube in the refilling position.

[0120] Preferably, the control unit of the cutting machine is adapted to activate at least the robotic device to start the process of refilling the tubular packaging casing supply onto the first filling tube.

[0121] Preferably, the first filling tube is movable between at least a filling position, in which filling material can be fed through the first filling tube into tubular packaging casings stored on the first filling tube, and a refilling position, in which the supply of tubular packaging casings can be transferred to the first filling tube.

[0122] Preferably, the filling tube assembly comprises a second filling tube and a second casing brake assembly associated with the second filling tube, wherein preferably the first filling tube is arranged in the filling position while the second filling tube is arranged in the refilling position.

[0123] Preferably, the filling tube assembly further comprises a rotating plate to which at least the first filling tube is attached, the rotating plate being rotatable about a rotation axis to reversibly move at least the first filling tube from the filling position to the refilling position.

[0124] Preferably, the robotic device comprises a control unit RCU, 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.

[0125] Preferably, the robotic device comprises at least a first sensor unit for detecting at least a position of the first gripper unit relative to the storage device and / or a position of the first gripper unit relative to the first and / or second filling tube arranged in the refilling position.

[0126] Preferably, the robotic device comprises a second sensor unit for determining the gripping force applied by the first gripper unit to the tubular packaging casing.

[0127] Preferably, the storage device comprises at least a third sensor unit for detecting the presence of a supply of tubular packaging casings in the storage device.

[0128] Preferably, the system further comprises a hanging line arranged downstream of the discharge device for hanging the sausage-shaped product discharged from the cutting machine by the discharge device onto a rod-shaped element, such as a smoking stick, the hanging line comprising a control unit for at least controlling the hanging line, wherein, preferably, the control unit of the hanging line is interconnected with the control unit of the robotic device and / or the control unit of the cutting machine, so that the hanging line is at least partially controlled by the cutting machine and / or the robotic device.

[0129] Preferably, the hanging wire comprises at least one fourth sensor unit for detecting the presence of sausage-shaped products in the hanging wire.

[0130] According to the present invention, a method for producing sausage-shaped products in a system as described above is also disclosed, the method comprising the following steps: producing sausage-shaped products by a cutting machine having at least a first filling tube, on which tubular packaging casings are stored, and into which filling material is fed, the method also comprising the following steps: moving at least the first filling tube from a filling position to a refilling position, in which the filling material is fed into the tubular packaging casings, in which the tubular packaging casing supply is transferred to at least the first filling tube, removing the first casing brake assembly from at least the first filling tube in the refilling position by a robotic device, and transferring the tubular packaging casing supply provided by the storage device to at least the first filling tube arranged in the refilling position by a robotic device.

[0131] Preferably, the method further comprises the step of positioning a first casing brake assembly onto at least the first filling tube by robotic equipment.

[0132] Preferably, the method further comprises the step of replacing a first gripper unit of the robotic device for gripping a supply of tubular packaging casings with a second gripper unit for gripping at least a first casing brake assembly for reversibly removing the first casing brake assembly from at least the first filling tube.

[0133] Preferably, the method further comprises the step of hanging the sausage-shaped products ejected by the ejection device on rod-like elements provided by a hanging wire, wherein preferably the cutting machine at least partially controls the robotic device and / or the hanging wire.

[0134] According to the present invention, a method for controlling a robotic device by a control unit of a cutting machine is also disclosed, wherein the robotic device is arranged in a system for producing sausage-shaped products by filling filling material into a tubular packaged casing supply arranged on a filling tube of the cutting machine, wherein the system includes at least a cutting machine provided with at least two filling tubes, a storage device for storing at least one tubular packaged casing supply, and a robotic device for transferring the tubular packaged casing supply from the storage device to the filling tube of the cutting machine, wherein the control unit is suitable for at least providing control commands to the robotic device, and wherein the robotic device includes a gripper unit for gripping the tubular packaged casing supply, and the method includes the following steps: moving the robotic device to a collecting position so that the gripper unit collects the tubular packaged casing supply arranged in the storage device; gripping the tubular packaged casing supply arranged in the storage device by the gripper unit; moving the robotic device from the collecting position toward the filling tube; transferring the tubular packaged casing supply to the filling tube by the gripper unit; and releasing the tubular packaged casing supply to the filling tube of the cutting machine by the gripper unit.

[0135] Preferably, the robotic device comprises at least a first sensor unit associated with the gripper unit for detecting the position of the gripper unit relative to the supply of tubular packaging casings in the storage device and / or for detecting the position of the gripper unit relative to the filling tube.

[0136] Preferably, the gripper unit comprises at least a first and a second gripper element arranged transversely along a longitudinally extending gripper axis, and at least a second sensor unit for sensing a gripping force applied by the at least first and second gripper element to the supply of tubular packaging casings, wherein preferably, the method further comprises the step of limiting the gripping force applied by the at least first and second gripper element to the supply of tubular packaging casings to a predetermined value.

[0137] Preferably, the method further comprises the step of moving the gripper unit along a predetermined movement path towards a filling tube of the clipping machine.

[0138] Preferably, the method further comprises the steps of positioning a gripper unit with its gripping axis coaxial with the central axis of the filling tube and in front of the filling tube; and moving the tubular packaging casing supply onto the filling tube by means of the gripper unit.

[0139] Preferably, the method further comprises the steps of: detecting the position of the tubular packaging casing supply on the filling tube by a first sensor unit; and releasing the tubular packaging casing supply onto the filling tube.

[0140] Preferably, the filling tube of the trimmer is provided with a casing brake assembly, the method further comprising the step of positioning the casing brake assembly in front of the filling tube after the tubular packed casing supply has been moved onto the filling tube and before the tubular packed casing supply has been released onto the filling tube by the gripper unit.

[0141] Preferably, the robotic device is activated in response to a signal indicative of a particular condition of the clipping machine.

[0142] Preferably, the robotic device is deactivated in response to a signal indicative of a specific condition of the clipping machine and / or a specific condition of the storage device.

[0143] Preferably, the trimmer comprises a first filling tube and at least a second filling tube, wherein one of the filling tubes is arranged in a filling position in which filling material is fed into the tubular packaging casings and the other filling tube is arranged in a refilling position in which a supply of tubular packaging casings is fed onto the filling tubes, and wherein the robotic device is activated in response to a signal indicating that one of the first or second filling tubes is arranged in the refilling position or moved towards the refilling position.

[0144] Preferably, the gripper unit comprises at least one further sensor unit for detecting the position of the gripper element.

[0145] According to the present invention, a system for producing sausage-shaped products (such as sausages) by filling filling material into a tubular packaging casing supply arranged on a filling tube of a cutting machine is also disclosed, the system comprising at least: a storage device for storing at least one packaging casing supply; a cutting machine, which is provided with at least two filling tubes, on each of which the packaging casing supply can be applied; a robotic device, the robotic device being used to transfer the packaging casing supply from the storage device to the filling tube of the cutting machine; and a control unit for controlling the operation of at least the robotic device, wherein the control unit is suitable for controlling the operation of the robotic device according to the filling state of the sausage-shaped product to be filled.

[0146] Preferably, the filling tubes of the cutting machine are configured such that one filling tube can assume a filling position, which is arranged for filling a supply of tubular packed casings with filling material, and the other filling tube can assume a refilling position, which is arranged for loading a new supply of tubular packed casings onto the filling tube, and vice versa, wherein the control unit is configured to control the robotic device such that the robotic device applies a new supply of tubular packed casings to the filling tube located in the refilling position while the other filling tube is in the filling position.

[0147] Preferably, the filling tubes of the cutting machine are configured such that one filling tube can adopt a filling position arranged for filling a supply of tubular packed casings with filling material and the other filling tube can adopt a refilling position arranged for loading a new supply of tubular packed casings onto the filling tube, and vice versa, wherein the first filling tube is provided with a first casing brake unit which is reversibly removable from the first filling tube and the second filling tube is provided with a second casing brake unit which is reversibly removable from the second filling tube, and wherein the control unit is configured to release the supply of tubular packed casings fed to the filling tube in the refilling position when the respective casing brake unit is located in front of the filling tube shortly before being pushed onto the filling tube.

[0148] According to the invention, there is further disclosed a robotic device comprising a gripper unit and arranged in a system for producing sausage-shaped products as described above and controlled by a method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0149] 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.

[0150] Figure 1 : is a schematic diagram showing the main design of a cutting machine for producing sausage-shaped products;

[0151] Figure 2 : is a perspective view of the front side of a system for producing sausage-shaped products according to the present invention;

[0152] 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;

[0153] Figure 4 :It is based on Figure 2 A perspective view of a rear side of the system with the robotic device in a dispensing position;

[0154] Figure 5 :It is based on Figure 2 A perspective view of the rear side of the system of FIG. 5 , wherein the gripper unit of the robotic device is arranged coaxially with the filling tube in the refilling position;

[0155] Figure 6 :It is based on Figure 2 A perspective view of a rear side of the system of FIG. 1 , wherein the gripper unit of the robotic device is in a released position;

[0156] Figure 7 : is a plan view of a fill tube assembly used in a system according to the present invention;

[0157] Figure 8 :It is based on Figure 2 A detailed plan view of a fill tube assembly of the system;

[0158] Fig. 9 : is a perspective view of a gripper unit of a robot device according to the present invention in an open position;

[0159] Fig.10 :It is based on Fig. 9 A perspective view of the gripper unit in a closed position;

[0160] Fig.11 : a perspective view of the main components of a hanging wire used in a system according to the invention; and

[0161] Fig.12 : is a perspective front view of a system according to the present invention, including a second embodiment of a storage device. DETAILED DESCRIPTION

[0162] exist Figure 1Schematically shown in FIG is the general design of a cutting machine CM for producing sausage-shaped products S, such as sausages, which contain a flowable filling material in a tubular packaging casing M. As its main component, the cutting machine CM comprises a filling tube 10 having a central axis A extending longitudinally and horizontally, having a discharge opening at its first end 12 for discharging the filling material, and having a feed opening at its second end 14 for feeding the filling material to the discharge opening of the filling tube 10 in a feed direction F, for example by a feed pump for the filler. Furthermore, a casing brake assembly 16 is arranged on the filling tube 10 in the region of the first 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.

[0163] The tubular packaging casing M made of a sheet material is stored in a folded manner like an accordion on the filling tube 10. During the production of the sausage-shaped product S, the tubular packaging casing M is pulled out, in particular by a feed pressure, by filling the filling material into the tubular packaging casing M. The casing brake assembly 16 provides a braking force for allowing the tubular packaging casing M to be pulled out in a controlled manner during the filling process.

[0164] The cutting machine CM further comprises a gathering device 30 for gathering the filled tubular packaging casing M and forming a braided portion P thereon, and a cutting device 20 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.

[0165] If you can Figure 1 Inferred, the trimming device 20 is positioned immediately downstream of the first end 12 of the filling tube 10 and is coaxially aligned with the filling tube 10. The trimming device 20 includes a first trimming tool 22 and a second trimming tool 24 formed by a punch 22 and a die 24. It must be noted that the punch 22 and the die 24 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 simultaneously, 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.

[0166] The gathering device 30 includes a first shifter unit 32 and a second shifter unit 34, wherein the first shifter unit 32 is located downstream of the second shifter unit 34. The first trimming tool 22 and the second trimming tool 24 of the trimming device 20 can be positioned between the first shifter unit 32 and the second shifter unit 34, at least for applying and closing one or two closing clamps C to the braided portion P. The first shifter unit 32 can be reversibly moved parallel to the feeding direction F of the filling material to form the braided portion P of a desired length.

[0167] 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 series of sausage-shaped products S. The suspension element L may be fed to one of the closing tools 22, 24 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.

[0168] In order to separate the sausage-shaped product S just produced from the remaining tubular packaging casing M stored on the filling tube 10, a cutting device 40 may be provided. The cutting device 40 cuts the tubular packaging casing M upstream of the closing clamp C that closes the just filled portion of the tubular packaging casing M. In the case where two closing clamps C are applied to the braided portion P by the trimming device 20, the cutting device 40 cuts the braided portion P between the two closing clamps C.

[0169] In order to discharge the sausage-shaped products S just produced from the cutting machine CM in a conveying direction T at least substantially identical to the feeding direction F, a discharge device 50 is arranged downstream of the cutting device 20, which discharge device 50 may be a belt conveyor comprising a conveyor belt and guide rollers.

[0170] In order to store the sausage-shaped products S on the rod-shaped elements, the suspension elements L are captured by the device ( Figure 1 ), such as a capture needle, which guides the suspension element L toward the rod-shaped element.

[0171] The cutting machine CM further comprises a control unit CU for controlling the cutting machine CM, in particular components of the cutting machine CM, such as the first and second cutting tools 22 , 24 of the cutting device 20 and the first and second shifter units 32 , 34 of the gathering arrangement 30 .

[0172] 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.

[0173] 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 clipping machine CM also comprises a discharge device DC and a filling pipe assembly 100.

[0174] As in Figure 2As 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.

[0175] 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.

[0176] 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.

[0177] 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.

[0178] 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 holder unit 124. The first casing brake holder unit 124 is designed such that the first casing brake unit 124 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 holder 124 comprises a telescopic guide 125 and a telescopic drive 126 for extending and retracting the telescopic guide 125. The telescopic drive 126 is a linear drive, in particular a piston / cylinder drive. A pivot drive unit 128 (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 129 at which the first casing brake assembly 120 is coupled to a rotating plate 150 (see Figure 7 ).

[0179] 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 holder 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 holder unit 144 has a similar design to the first casing brake holder unit 124 and comprises a telescopic guide 145 and a telescopic drive 146 for extending and retracting the telescopic guide 145. The telescopic drive 146 is a piston / cylinder drive. A pivot drive unit 148, 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 149 at which the second casing brake assembly 140 is coupled to the rotating plate 150 (see also FIG. 1 ). Figure 7 ).

[0180] exist Figure 7 , the telescopic guide 125 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 145 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.

[0181] 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 approximately relative to the trimmer CM.

[0182] The filling tube assembly 100 further comprises a drive device 152 comprising an electric motor and a suitable transmission device or gear unit for rotating the rotating plate 150 around an axis of rotation 154. When the filling tubes 110, 130 are in the refilling position and the respective other filling tubes 130, 110 are in the filling position. The axis of rotation is arranged to be at an acute angle relative to the axis A of the filling tube 110 in the filling position and between the axes A of the filling tubes 110, 130.

[0183] 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 and Figure 8 The filling position shown in FIG. 1 is pivoted laterally outward to the filling position shown in FIG. Figure 7 and Figure 8 In the transverse position and the refilling position, the filling tubes 110 , 130 are arranged at least approximately equiangularly with the rotation axis 154 .

[0184] As in Figure 2 As can be further seen in FIG. 1 , the filling tube assembly 100 is provided with a feed socket 160 fixed to the rotating plate 150 and facing away from the clipper CM. When in the filling position, the feed socket 160 is coaxially aligned with the central axis A of the filling tube 130 (see FIG. 1 ). Figure 7 , Figure 8 A feeding device (eg a stuffing machine) for feeding filling material (eg sausage meat) to the cutting machine CM may be coupled to the cutting machine CM via a feeding socket 160 .

[0185] 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.

[0186] 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 .

[0187] The first storage assembly 210 includes a plurality of receiving pins 212 of equal length arranged vertically, the receiving pins 212 being 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 (see Figure 3 ). 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 overlapped on the upper end of the receiving pin 212 with pre-tensioning force. The storage device 210 also includes a rotation driver 222 (see Figure 3 ) is used to rotate the first storage component 210 around the rotation axis 220.

[0188] The second storage assembly 230 has the same design as the first storage assembly 210 and includes a rotating plate 234 with a vertical rotation axis 240 and a plurality of receiving pins 232 arranged vertically, the lower ends of the receiving pins 232 being attached to the rotating plate 234 and 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.

[0189] 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.

[0190] 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.

[0191] 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 3The 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.

[0192] from Figure 2 As can be further seen in the drawing, the clipping machine CM is provided with a recess RE which enables the filling tubes 110, 130, in particular their first ends 112, 132, to pass during the movement from the transverse position to the refilling position when the filling tubes 110, 130 are rotated by the rotating plate 150 of the filling tube assembly 100. The recess RE is provided in the form of a cutout in the housing of the clipping machine, in the region of the right edge of the front side of the clipping machine CM, below the filling tubes 110, 130 when in the filling position.

[0193] The recess RE provides the advantage that the angle around which the filling tubes 110, 130 must pivot outwards to the lateral position, i.e. the angle between the filling position and the lateral position of the filling tubes 110, 130, can be smaller than in a clipping machine without such a recess RE. Thus, the risk of collision between the filling tubes 110, 130 and the housing of the clipping machine CM is reduced. Furthermore, reducing the angle around which the filling tubes 110, 130 must pivot from the filling position to the lateral position can also reduce the necessary operating space in front of the clipping machine CM.

[0194] like Figure 2 As shown, at the right side surface of the trimmer CM, the abutment unit 190 is arranged and positioned so that the second casing brake assembly 140 abuts against the abutment unit 190 when pivoting away from the second filling tube 130. Figure 8 The abutment unit 190 , seen in more detail in FIG. 1 , may also include a sensor unit for detecting the second casing brake assembly 140 or the first casing brake assembly 120 , respectively, in the position in which the tubular packaging casing supply M may be transferred to the second filling tube 130 .

[0195] Furthermore, the clipping machine CM is provided with recesses RE which enable the filling tubes 110, 130, in particular their first ends 112, 132 to pass through during the movement from the transverse position to the refilling position when the filling tubes 110, 130 are rotated by the rotating plate 150 of the filling tube assembly 100 (see Figure 3 and Figure 4 ). The recess RE is provided in the form of a cutout in the housing of the clipper in the region of the right edge of the front side of the clipper, below the filling tube when the filling tube is in the filling position.

[0196] The recess RE provides the advantage that the angle around which the filling tubes 110, 130 must pivot outwards to the lateral position, i.e. the angle between the filling position and the lateral position of the filling tubes 110, 130, can be smaller than in a clipping machine without such a recess RE. Thus, the risk of collision between the filling tubes 110, 130 and the housing of the clipping machine CM is reduced. Furthermore, reducing the angle around which the filling tubes 110, 130 must pivot from the filling position to the lateral position can also reduce the necessary operating space in front of the clipping machine CM.

[0197] In particular, if 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 supply M of tubular packaging casings 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 by the gripper unit 340 from the receiving pin 212. Fig. 9 and Fig.10 The design and function of the gripper unit 340 are explained in detail.

[0198] according to Figure 2 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.

[0199] Figure 4 The robotic device 300 is shown in the dispensing position. In this position, the tubular packaging casing supply M is removed from the first storage device 210 and is held approximately horizontally and centrally behind the clipper CM by the gripper unit 340 of the robotic device 300 to be subsequently transferred to the second filling tube 130 arranged in the refilling position.

[0200] Figure 5 is a perspective view of the rear side of the system 1000 , wherein the gripper unit 340 of the robotic device 300 is arranged coaxially with the center axis A of the second filling tube 130 in the refilling position and to which a tubular packaging casing supply M has to be transferred.

[0201] Figure 6The robotic device 300 is shown, and in particular, the gripper unit 340 is shown in a released position, wherein a tubular packaging casing supply M is positioned on the filling tube 130 by the gripper unit 340. For the sake of clarity, in Figure 6 , only the gripper unit 340 of the robot device 300 is shown.

[0202] from Figure 5 In the position shown, the tubular casing supply M is linearly moved along the central axis A of the filling tube 130 and is displaced thereon by the robotic device 300, which is thereby moved to Figure 6 In the released position, the clamp unit 640 is moved from its closed position (see Fig. 9 ) to its open position (see Fig.10 ), in which the tubular packaged casing supply M is clamped for releasing the tubular packaged casing supply M onto the filling tube 130.

[0203] Figure 8 is based on Figure 6 1. A plan view of the filling tube assembly 100 of the trimming machine CM, wherein the gripper unit 340 is in the release position and is about to release the tubular packaging casing supply M onto the filling tube 130.

[0204] exist Figure 6 In the illustrated case, the second casing brake assembly 140 is pivoted away from the second filling tube 130 so that the gripper unit 340 together with the tubular packaging casing supply M can approach the second filling tube 130 (see Figure 7 ).

[0205] Afterwards, if Figure 8 14, the second casing brake assembly 140 is pivoted toward the second filling tube 130 so that the second casing brake unit 142 is positioned in front of the first end 132 of the second filling tube 130. The second casing brake retainer unit 144 is in an extended position. In this position of the second casing brake assembly 140, the gripper unit 340 is moved to its open position for releasing the tubular packaging casing supply M onto the second filling tube 130.

[0206] Fig. 9 is a perspective view of the gripper unit 340 of the robotic device 300 in an open position.

[0207] The gripper unit 340 has a first end 340a and a second end 340b. The gripper unit 340 includes a substantially rectangular base plate 342 extending longitudinally, the base plate 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 lower side of the base plate 342 (according to Fig. 9 ), and in the region of the first end 342a of the base plate 342, 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 the longitudinal extension of the base plate 342. 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 to one end of 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.

[0208] 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 generally 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 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 an 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. Fig. 9 as shown) and the closed position (as Fig.10 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 held coaxially with the gripping axis 350.

[0209] The system 100 according to the invention may also comprise a hanging line HL for hanging the sausage-shaped products S produced in the cutting machine CM and discharged from the cutting machine CM by the discharge device DC on rod-shaped elements R, such as smoking rods.

[0210] Fig.11 4 is a three-dimensional diagram of the main components of the hanging wire HL. The hanging wire HL includes a control unit HCU, a feeding device 400 and a conveying device 500. Fig.11In the drawing, only the conveyor unit of the discharge device DC is shown, which in this case is a belt conveyor for conveying the sausage-shaped products S out of the cutting machine CM.

[0211] The feeding device 400 comprises an actively driven feeding conveyor in the form of a main shaft 410, the outer surface of which is at least similar to a thread supported by a main shaft bearing 420, a guide rod 430, and a connecting element 440 connecting the downstream end of the main shaft 410 with the upstream end of the guide rod 430. The connecting element 440 has the shape of a segment of a circle at least at its upper surface.

[0212] The upstream end of the connecting element 440 has an approximately circular cross section adapted to the cross section of the threaded spindle 410 to allow the suspension element L to be slidably transferred from the threaded spindle 410 to the connecting element 440. The downstream end of the connecting element 440 has an at least approximately rectangular shape adapted to the cross-sectional shape of the guide rod 430.

[0213] In the upper surface of the connecting element 440, two parallel grooves 442 are arranged, which extend in the feed direction ID. In addition, in the upper surface of the guide rod 430, two parallel grooves 432 are arranged, which extend along the feed direction ID and are aligned with the grooves 442 in the connecting element 440.

[0214] A portion of the threaded spindle 410 has a toothed surface 412, which engages with a toothed portion 424 of a support roller 422 of a spindle bearing 420. At the free end of the support roller 422, a gear 426 is arranged, via which the support roller 422 can be rotated for driving the threaded spindle 410 at a desired speed. As a drive of the feeding device 400, an electric motor or the like may be provided.

[0215] In order to support the guide rod 430, holes 436 are provided in both side surfaces of the guide rod 430, into which holes 436 indexing pins of an indexing device can engage. At its upstream end, the guide rod 430 is fixedly coupled to the connecting element 440. The upstream end of the connecting element 440 is radially supported by the threaded spindle 410. The connecting element 440 has an engagement element, such as a pin, at its upstream end, which extends into the downstream end of the spindle 410, in which the connecting element 440 is rotatably supported, for example, in a roller bearing, so that the threaded spindle 410 can be rotationally moved relative to the connecting element 440. Pairs of oppositely arranged indexing pins that can engage the holes 436 in the guide rod 430 provide radial and rotational support for the guide rod 430, and enable the suspension element L to pass along the guide rod 430 by alternately engaging and disengaging the holes 436 in the guide rod 430 in pairs.

[0216] The support member 434 extends from the downstream end guide rod 430 for supporting the rod-shaped member R to be loaded with the sausage-shaped product S. The other end (not shown) of the rod-shaped member R is also supported so that the rod-shaped member R is kept horizontally aligned at both ends thereof during loading of the sausage-shaped product S thereon. Thus, the suspension member L guided along the guide rod 430 can be transferred to the rod-shaped member R. The upstream end of the rod-shaped member R is supported on the support member 434 so that the rod-shaped member R is in a horizontal position. Fig.11 The rod-shaped element R and the guide rod 430 in the loading position shown are arranged approximately coaxially.

[0217] exist Fig.11 In the drawing, for the sake of clarity, only the upstream part of the rod-shaped element R and the suspension element L of the sausage-shaped product S are shown, which represents the sausage-shaped product S to be conveyed along the feeding device 400.

[0218] like Fig.11 As further shown in FIG. 4 , a longitudinally extending capture device 450 (e.g., a capture needle) is attached to the upstream end of the spindle 410 and extends coaxially with the spindle 410 in the opposite direction of the feed direction ID and along the discharge device DC. The capture device 450 has a first end 452 and a second end 454, by which the capture device 450 is mounted on the spindle 410, and a second end 454 extending into the closed area of ​​the clipper CM for capturing the suspension element L of the sausage-shaped product S just produced, and a central portion 456 extending between the first end 452 and the second end 454. The second end 454 is bent downward into the closed area of ​​the clipper CM. The central portion 456 of the capture device 450 is a straight portion and is aligned at least approximately parallel to the conveying direction T of the conveyor unit of the unloading device DC. The suspension element L captured by the capture device 450 is guided by the capture device 450 to the spindle 410, while the body of the sausage-shaped product S placed on the conveyor unit of the discharge device DC is conveyed out of the clipper CM.

[0219] Another component of the hanging line HL is a conveying device 500 for conveying the sausage-shaped products S fed into the hanging line HL by the feeding device 400 along the guide rods 430 and the rod-shaped elements R and for placing the sausage-shaped products S on the rod-shaped elements R.

[0220] The conveying device 500 is arranged vertically above the guide rods 430 and the rod-shaped elements R in the loading position and extends in the feed direction ID. Fig.11 The conveying device 500 is implemented as a chain conveyor forming a conveyor device, which has two endless conveyor chains 510 arranged parallel to each other, and each conveyor chain 510 is wound around a first and a second deflection roller 520. Figure 25 , only the first deflection roller 520 is shown, which is arranged on a common axis 530. The first deflection roller 520 forms the upstream end of the horizontally arranged conveying device 500. The downstream end (not shown) of the conveying device 500 has the same construction and comprises two second deflection rollers around which the conveyor chain 510 is wound and which are also arranged on a common axis.

[0221] The conveying device 500, in particular the conveyor chain 510, is actively driven by one of its common shafts 530 of the deflection rollers 520 via, for example, an electric motor. The conveying device 500 is driven such that the lower run of the conveyor chain 510 moves in the feed direction ID.

[0222] The conveying elements 540 are arranged at regular intervals on the conveyor chain 510. Each conveying element 540 includes a pair of hooks 542, wherein each hook 542 engages one of the grooves 432, 442 of the guide rod 430 and the connecting element 440 for engaging the hanging element L of the sausage-shaped product S to be hung on the rod-shaped element R.

[0223] according to Fig.11 The suspension line HL is also provided with a fourth sensor unit SU4 arranged in the region of the support element 434. Fig.11 In FIG. 5 , only a possible position of the fourth sensor unit SU4 is shown.

[0224] The fourth sensor unit SU4 can detect the presence or absence of the rod-shaped element R in the loading position. Alternatively or additionally, the same fourth sensor unit SU4 or an additional sensor unit can also detect the presence of the sausage-shaped product S when the sausage-shaped product S passes the conveying element 540. It must be noted that the fourth sensor unit SU4 can also be arranged upstream of the conveying device 500, for example, in the region of the downstream end of the spindle 410, in order to detect the presence of the sausage-shaped product S at an earlier point in time.

[0225] The fourth sensor unit SU4 is coupled to a control unit HCU which controls the operation of the hanging wire HL, such as the operation of the feeding device 400 or the conveying device 500. Thus, based on the signals received from the fourth sensor unit SU4, the control unit HCU can control, for example, the conveying device 500, which can be stopped if the fourth sensor unit SU4 has detected the absence of sausage-shaped products, or the control unit HCU can control the drive of the spindle 410, for example so that the speed of the spindle 410 is increased or decreased in order to control the distance or time between two sausage-shaped products transferred from the spindle 410 to the guide rod 430.

[0226] Furthermore, the control unit HCU of the hanging line HL is connected to the control unit CU of the cutting machine CM. Therefore, the signal from the fourth sensor unit SU4 can also be sent to the control unit CU, so that the control unit CU of the cutting machine CM can also influence the operation of the hanging line HL. For example, in the absence of sausage-shaped products S or rod-shaped elements R, or in the event of any malfunction of the hanging line HL, the hanging line HL can be completely stopped by the control unit CM of the cutting machine CM. Furthermore, the general operation of the hanging line HL, such as starting or stopping the hanging line HL during the production process, can be controlled by the cutting machine CM. The control unit HCU of the hanging line HL can alternatively or additionally be connected to the control unit RCU of the robot device 300, so that the robot device 300 can also at least partially control the hanging line HL, such as stopping the hanging line HL when a malfunction of the robot device has been detected.

[0227] Fig.12 is a perspective front view of a system 1000 according to the present invention, including a second embodiment of a storage device 200.

[0228] according to Fig.12 The system 100 has Figure 2 The system 100 is of similar design and differs only in the design of the storage device 700.

[0229] The second embodiment of the storage device 700 is arranged at a table 710 formed by the plane of the frame of the system 100 , and replaces the storage device 200 .

[0230] The storage device 700 comprises a conveyor 710 for holding at least one mandrel or receiving pin 720, wherein the conveyor 710 transports the at least one mandrel or receiving pin 720 from a preparation position, which is identical to the preparation position explained in conjunction with the storage device 200, to a loading position, which is arranged at least approximately opposite to the preparation position. The conveyor 710 comprises an at least approximately horizontally circulating conveyor belt 712 driven by a motor (not shown), wherein the conveyor belt 712 is arranged in an approximately elliptical configuration.

[0231] The storage device 700 further includes a partition wall W, which is arranged between the preparation position and the loading position of the storage device 700. The partition wall thereby separates the operation range of the robot device 300 from the operation range of an operator or another robot device.

[0232] In order to enable the passage of the receiving pin 720, the partition wall W has at least one window WW, the size of which corresponds to the space required for the passage of the conveyor 710 and the spindle or receiving pin 72. It must be noted that more than one window WW can be provided in the partition wall W. Two windows WW can be provided, so that each conveyor stroke (forward stroke moving towards the preparation position and return stroke moving backwards to the loading position) has its own window WW, whereby the total open surface in the partition wall W can be reduced.

[0233] In order to produce the sausage-shaped product S in the system 1000, the tubular packaged casing M stored in the form of a tubular packaged casing supply M on the first filling tube 110 and closed at its front end by the closing clamp C is filled with a filling material, which is fed into the tubular packaged casing M through the first filling tube 110 of the filling tube assembly 100 along the feeding direction F. Thus, the tubular packaged casing M is pulled out from the first filling tube 110 by the feeding pressure of the filling material. The first casing brake assembly 120 applies a braking force to the tubular packaged casing M while the tubular packaged casing M is pulled out from the first filling tube 110. After a predetermined portion of the filling material is fed into the tubular packaged casing M, the filled tubular packaged 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 the cutting device, the first closing clamp C being used to close the tubular packaging casing M just filled 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 subsequently produced. 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 in the conveying direction T by the discharge device DC.

[0234] The hanging element L of the sausage-shaped product S that has just been produced is caught by the catching device DC and guided towards the feeding device 400 of the hanging line HL. After the sausage-shaped product S (more specifically, the body of the sausage-shaped product S) has left the conveyor unit of the unloading device DC, the sausage-shaped product S is transferred to the guide rod 430 via the connecting element 440 by the main shaft 410 of the feeding device 400. At the left end of the guide rod 430, the hanging element L is caught by the hook 542 of one of the conveying elements 540, and the sausage-shaped product S is guided along the guiding element 430 and the rod-shaped element R to the desired position on the rod-shaped element R. The hook 542 is guided in the groove 432 of the guide rod 430 so that they engage the hanging element L. At the desired position on the rod-shaped element R where the sausage-shaped product S must be placed, the hook 542 pivots ( Figure 7The conveying device 500 then moves the hanging element L in a counterclockwise direction (in the counterclockwise direction) to release the hanging element L, thereby releasing the sausage-shaped product S at a desired position on the rod-shaped element R. Thus, the conveying device 500 then positions the sausage-shaped product S on the rod-shaped element R starting from its left end toward its right end until a predetermined number of sausage-shaped products S are stored on the rod-shaped element R with a predetermined distance therebetween.

[0235] After the supply M of tubular packaging casings on the first filling tube 110 is exhausted, the first filling tube 110 is moved from the filling position (see Figure 2 ) pivoted to a lateral position (eg Figure 7 and Figure 8 150). The filling tube assembly 100 is then rotated about the rotation axis 154 of the rotating plate 150 by an angle of at least about 180°. 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 tubular packaging casing supply M is stored is moved to the lateral position. Thereafter, the second filling tube 130 is pivoted to the filling position, 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 toward the first filling tube 110, which is now in the refilling position, and is stored thereon.

[0236] 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.

[0237] Any position of the robot device 300 (such as the collection position, the distribution position and the release position) and the movement path of the robot device 300 between these positions are stored in the control unit RCU of the robot device 300, for example in the form of coordinates with reference to the corresponding coordinate system. The movement path of the robot device 300 can be programmed by the operator and transferred to the control unit RCU of the robot device 300, or can be directly programmed into the control unit RCU via the corresponding interface. Alternatively, the robot device 300 can be manually guided by the operator along the desired movement path, and the desired movement path is stored in the control unit RCU at the same time. 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.

[0238] In order to refill the tubular packaging casing supply M onto the second filling tube 130 arranged in the refilling position, the robotic device 300 moves to the receiving position (see Figure 3 ). 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 ready 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.

[0239] 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.

[0240] 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 approximately corresponding to the length of the base plate 342 of the gripper unit 340. Thus, it is ensured that the tubular packaged casing M is completely removed from the receiving pins 212 and a collision between the gripper unit 340 and the first storage assembly 210 is securely 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 securely 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.

[0241] Then the robot device 300 is moved to Figure 4The dispensing position shown, in which the gripper unit 340 is arranged at least approximately horizontally on the rear side of the cutting machine CM. In this position, the tubular packaging casing supply M is kept ready for the refilling position close to the filling tube 130, thereby shortening the time between arranging the second filling tube 130 in the refilling position and placing the tubular packaging casing supply M on the second filling tube 130, and also shortening or preventing possible downtimes of the production process.

[0242] The second filling tube 130 is positioned in the refilling position by rotating the filling tube assembly 100 about the rotation axis 154 of the rotating plate 150. The second casing brake assembly 140, which is associated with the second filling tube 130 so that the second filling tube 130 and the second casing brake assembly 140 move toward the refilling position together, is in a position in which the second casing brake unit 142 is removed from the first end 132 of the filling tube 130 by extending the telescopic casing brake retainer unit 144 and pivoting the second casing brake unit 142 together with the casing brake retainer unit 144 toward the rotation axis 154 of the rotating plate 150.

[0243] When the second filling tube 130 is arranged in the refilling position, or at a certain time period before it, the robotic device 300 moves toward the refilling position of the second filling tube 130. The gripper unit 340 is positioned with its second end 340b immediately in front of the first end 132 of the second filling tube 130, wherein the gripper axis 350 is coaxially aligned with the central axis A of the second filling tube 130.

[0244] 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 abuts the first end 132 of the second filling tube 130, which end is the upper end when arranged on the receiving pins 212, 232 of the first storage assembly 210 and the second storage assembly 230.

[0245] The second casing brake assembly 140 is then actuated to pivot back toward the second filling tube 130 and position the casing brake unit 142 in front of the first end 132 of the second filling tube 130 .

[0246] The gripper unit 340 moves to its open position to release the tubular packaged casing supply M onto the second filling tube 130. The second casing brake unit 142 located in front of the first end 132 of the second filling tube 130 prevents the tubular packaged casing supply M from accidentally unfolding and falling off the second filling tube 130.

[0247] Subsequently, the robot device 300 moves away from the second filling tube 130 and returns to the receiving position to clamp another tubular packaging casing supply M set on another receiving pin 212 arranged in the preparation position. By retracting the telescopic casing brake retainer unit 144, the second casing brake unit 142 moves to the first end 132 of the second filling tube 130, whereby the tubular packaging casing supply M is finally fixed to the second filling tube 130.

[0248] 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.

[0249] 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 .

[0250] It should be noted that fill tube assembly 100 for moving first fill tube 110 and second fill tube 130 from a lateral position to a refilling position (or vice versa) can be rotated stepwise through an angle of approximately 180° in the same direction (i.e., clockwise or counterclockwise) so that each fill tube 110, 130 is rotated through an angle of approximately 360°, or reversibly rotated through an angle of at least approximately 180°.

[0251] In order to be able to correctly grip the tubular packaged casing supply M by the gripper unit 340, and to accurately position the tubular packaged casing supply M on the first and second filling tubes 110, 130, the corresponding positions and movement paths of the robot device 300 and the gripper unit 340 can be programmed and implemented into the corresponding control logic of the robot device 300 in the control unit RCU of the robot device 300 or in the control unit CU of the trimming machine CM.

[0252] In order to ensure a safe and reliable production process on the system 1000, and to further ensure a safe refilling operation, a first sensor unit SU1 is provided to the gripper unit 340 of the robotic device 300 (see Fig. 9 ). The first sensor unit SU1 is arranged in the region of the first end 340 a of the gripper unit 340 such that it faces the gripper elements 346 , 348 .

[0253] The first sensor unit SU1 is adapted to detect the position of the gripper unit 340 relative to the tubular packaging casing supply M on the pins 212 of the first storage assembly 210 arranged in the preparation position during the movement of the robotic device 300 to the collection position. The first sensor unit SU1 may include a suitable sensor element, such as an optical sensor or a proximity sensor. In addition, in order to detect or verify the orientation of the gripper unit 340, the first sensor unit SU1 may also include a position sensor.

[0254] In the same manner, the first sensor unit SU1 can also be used to detect the position of the gripper unit 340 relative to the first filling tube 110 or the second filling tube 130 in the refilling position to ensure that the tubular packaging casing supply M is correctly transferred to the first filling tube 110 or the second filling tube 130; 130.

[0255] A second sensor unit SU2 may be provided which comprises a sensor element for detecting the gripping force applied by the first gripper element 346 and the second gripper element 348 to the tubular packaging casing supply M. The sensor element may be a force sensor coupled to the first drive assembly 343 and / or the second drive assembly 344 of the gripper unit 340. The second sensor unit SU2, in particular its force sensor, may be integrated in the first and / or second drive assembly 343, 3644 or may be attached to the gripper elements 346, 348.

[0256] Furthermore, at least the first and second storage assemblies 210, 230 may be provided with a third sensor unit SU3 in the region of their rotating plates 214, 234. The sensor unit SU3 may detect the presence or absence of the tubular packaged casing supply M on the receiving pins 212, 232, in particular on the receiving pins 212, 232 in the preparation position, and in the rotational position of the first storage assembly 210 and the second storage assembly 230. Thus, it may be ensured that the tubular packaged casing supply M remains ready in the preparation position to be gripped by the gripper unit 340 of the robot device 300 when the robot device 300 is in the receiving position. The third sensor unit SU3 may be formed integrally with the central column 216, 236 or the receiving pins 212, 232 and may include a corresponding sensor element, such as a weight sensor or an optical sensor. Alternatively, the third sensor unit SU3 can also be set on the cutting machine CM, when in the unloading position, close to the preparation position of the first storage assembly 210 or the second storage assembly 230, thereby only one third sensor unit SU3 is required, and the control amount is reduced and the design of the system is less complicated.

[0257] It must be noted that Figures 2 to 11Specific sensor elements or detailed embodiments of the sensor units SU1, SU2, SU3, SU4 are not shown, since the respective sensors may be arranged integrally in the respective units or components, such as in the first and second drive components 343, 344, in the center columns 216, 236, in the receiving pins 212, 232 or in the support element 434, and therefore, the sensor units SU1, SU2, SU3, SU4 are not visible.

[0258] The control operation during the production of sausage-shaped products S in the system 1000 may be performed as follows:

[0259] The production of sausage-shaped products can be started, for example, by the operator selecting a specific sausage-shaped product S to be produced, the operator selecting said sausage-shaped product S, whose data together with the corresponding control and operating parameters can be stored in the control unit CM of the cutting machine CM. Alternatively, this information can be entered separately into the control unit CU by the operator.

[0260] When the first filling tube 110 is in the filling position, the tubular packaging casing supply M is stored and the tubular packaging casing supply M is closed at its front end by the closing clamp C. Now the sausage-shaped product S can be produced, such as in combination with Figure 1 As explained, by feeding the filling material into the tubular packaging casing M, the tubular packaging casing M is pulled out from the first filling tube 130, the filled tubular packaging casing M is gathered, a braided portion is formed thereon, and at least one closing clamp C is placed and closed thereon to close the filled portion of the tubular packaging casing M. At the same time, a second closing clamp C may be placed and closed on the braided portion for closing the front end of the sausage-shaped product S to be subsequently produced. In addition, a hanging element L is attached to the sausage-shaped product S and fixed thereto by the at least one closing clamp C. By cutting the braided portion between the two closing clamps C, the sausage-shaped product S is cut off from the remaining tubular packaging casing supply M.

[0261] The suspension element L is caught by the catch device 540 and guided towards the spindle 410 of the feed device 400, while the sausage-shaped product S is discharged from the trimmer CM by means of a discharge device DC.

[0262] The sausage-shaped product S suspended on the main shaft 410 by the suspension element L is transferred to the guide rod 430 along the main shaft 410. The conveying element 540 of the conveying device 500 clamps the suspension element L by its hook 542, and guides the sausage-shaped product S along the guide rod 430 and the rod-shaped element R. At a predetermined position on the rod-shaped element R, the suspension element L is released from the hook 542, and the sausage-shaped product S is stored on the rod-shaped element R.

[0263] When the suspension element L of the sausage-shaped product S conveyed by the spindle 410 or the conveying element 540 passes the fourth sensor unit SU4 arranged in the region of the downstream end of the spindle 410 or in the region of the supporting element 434, the sensor unit SU4 detects the presence of the sausage-shaped product S, for example together with the passage of the conveying element 540, and outputs a corresponding signal to the control unit HCU of the hanging line HL. This signal of the fourth sensor unit SU4 can be used to continue the production process. In the event that the fourth sensor unit SU4 does not detect the sausage-shaped product S, for example when an empty conveying element passes the fourth sensor unit SU4, a corresponding signal is sent to the control unit HCU of the hanging line HL, which in turn can act on the conveying device 500. Alternatively or additionally, the sensor signal can be sent to the control unit CU of the cutting machine CM, which can, for example, stop the hanging line HL.

[0264] The control operation during the refilling of the tubular packaging casing supply M onto the filling tube 130 may be performed as follows:

[0265] When the production of sausage-shaped products S is started, the control unit CU of the trimming machine CM initially activates the robotic device 300, for example for starting to refill the tubular packaging casing supply M onto the second filling tube 130 in the refilling position, in case the second filling tube 130 is not provided with the tubular packaging casing supply M. The activation signal may be output to the robotic device 300 based on a signal received from a sensor unit (not shown) coupled to the filling tube assembly 100. The sensor unit may output a signal corresponding to a specific position of the filling tube assembly 100, for example a position where the second filling tube 130 is in a predetermined angular position relative to the refilling position when moving towards the refilling position.

[0266] Upon receiving the signal from the sensor unit connected to the filling tube assembly 100, the robotic device 300 is activated. The robotic device 300 in the dispensing position moves to the position as shown in FIG. Figure 5The position shown, wherein the gripper unit 340 is positioned in front of the first end 132 of the second filling tube 130, wherein the gripper axis 350 of the gripper unit 340 is coaxially aligned with the center axis A of the second filling tube 130, while in the refilling position. The sensor unit SU1 detects the position of the gripper unit 340 relative to the second filling tube 130. In case the gripper unit 340 is correctly positioned in front of the second filling tube 130, a signal is provided by the sensor unit SU1 to the control unit RCU of the robotic device 300, so that the robotic device 300 moves the gripper unit 340 along the center axis of the second filling tube 130, so that the tubular packaging casing supply M is transferred to the second filling tube 130. When the tubular packaged casing supply M is displaced onto the second filling tube 130, the first sensor unit SU1 may further detect the position of the first end 340a of the gripper unit 340 relative to the second filling tube 130 and may stop the robotic device 300 when the first end 340a and thus the end of the tubular packaged casing supply M, respectively, have reached the first end 132 of the second filling tube 130. Alternatively or additionally, this position may be defined in the programming of the robotic device 300, the robotic device 300 automatically stopping at this position.

[0267] The signal of the sensor unit SU1 indicating that the gripper unit 340 is in the correct position on the filling tube 130 can also be used to activate the Figure 6 The second casing brake assembly 140 is positioned as shown to pivot toward the filling tube 130 and move the second casing brake unit 142 toward the first end 132 of the second filling tube 130. Figure 8 In this position, the second casing brake unit 142 is arranged in front of the first end 132 of the second filling tube 130 .

[0268] Subsequently, the first and second drive assemblies 343, 344 of the gripper unit 340 are actuated to move the gripper elements 346, 348 to their open positions, thereby releasing the tubular packaged casing supply M onto the second filling tube 130. The tubular packaged casing supply M is secured to the filling tube 130 to prevent the second casing brake unit 142 from being unintentionally deployed. The robotic device 300 can then be moved toward the collection position or any intermediate position between the release position and the collection position.

[0269] The second sensor unit SU2 can confirm that the tubular packed casing supply M has been released onto the second filling tube 130, for example, because the gripper elements 346, 348 have no further force applied to the tubular packed casing supply M and / or the gripper elements 346, 348 are in a predetermined position, and the gripper unit 340 can be removed from the filling tube 130.

[0270] Thereafter, the second casing brake unit 142 is displaced onto the first end 132 of the second filling tube 130 by retracting the second telescopic casing brake retainer unit 144 to approximately a certain length, thereby completing the refilling process. A signal for activating the second casing brake assembly 140 may be received from the first sensor unit SU1, which detects the corresponding position of the gripper unit 340 relative to the second filling tube 130 after being removed from the second filling tube 130.

[0271] When a corresponding signal indicates that the supply M of tubular packaged casings on the first filling tube 110 arranged in the filling position is used up, the filling tube assembly 100 rotates about the rotation axis 154 controlled by the control unit CU of the cutting machine CM so that the second filling tube 130 on which the supply M of tubular packaged casings is stored moves toward the lateral position and the filling position, respectively.

[0272] At the same time, the receiving pin 212 of the first storage assembly 210 on which the tubular packaged casing supply M is stored is positioned in the ready position. The third sensor unit SU3 detects the presence of the tubular packaged casing supply M on the receiving pin 212 and outputs a corresponding signal to the control unit CU of the cutting machine CM, or alternatively to the control unit RCU of the robotic device 300. In the case where no tubular packaged casing supply M is stored on the receiving pin 212, the sensor unit SU3 may rotate the first storage assembly 210 so that the next receiving pin 212 moves to the ready position. These steps may be performed until the receiving pin 212 on which the tubular packaged casing supply M is stored is in the ready position. Alternatively, the robotic device 300 may be stopped and a corresponding signal may be sent to the operator. Furthermore, in the case where the receiving pins 212 of the first storage assembly are not provided with the tubular packaged casing supply M, the rotating assembly 250 can be actuated to rotate the storage device 200 about the rotation axis 252 by an angle of about 180° to move the first storage assembly 210 from the unloading position to the loading position, in which the tubular packaged casing supply M is loaded onto the receiving pins 212. Thus, the second storage assembly 230 is moved from the loading position to the unloading position, in which one of the receiving pins 232 of the second storage assembly 230 can be placed in the ready position.

[0273] When the collection position is reached, the first sensor unit SU1 of the gripper unit 340 detects the receiving pin 212 in the ready position and the position of the gripper unit 340 relative to the receiving pin 212. The robotic device 300 positions the gripper unit 340 so that the gripper elements 346, 348 are positioned transversely and parallel to the receiving pin 212, wherein the tubular packaged casing supply M is in the ready position. The gripper axis 350 is coaxially aligned with the central axis of the receiving pin 212. The gripper elements 346, 348 are then moved toward each other by the first and second drive assemblies 343, 344 to their closed positions for gripping the tubular packaged casing supply M stored on the receiving pin 212. The second sensor unit SU2 detects the closing force applied by the gripper elements 346, 348 to the tubular packaged casing supply M. After reaching a predetermined force value, the first drive assembly 343 and the second drive assembly 344 are stopped. The gripper unit 340 then moves upward along the receiving pin 212 until the gripper unit 340 is positioned with its second end 340b higher than the upper end of the receiving pin 212. Thereafter, the robotic device 300 moves to the dispensing position, from which a refilling operation for refilling the tubular packaging casing supply M onto the first filling tube 110, which is now in the refilling position, is performed in the same manner as described above in conjunction with the second filling tube 130.

[0274] As described above, the movement path between the positions of the robot device 300 can be fixedly programmed according to selected conditions, for example, so that the robot device 300 moves on the shortest path and / or in the shortest time. Alternatively or in addition, the robot device 300 can be provided with additional sensors, such as proximity sensors, which can sense the surrounding area of ​​the robot device 300, for detecting possible obstacles on the movement path of the robot device 300, such as parts of the trimming machine CM or other peripheral machines, and for preventing collisions therewith. In addition, the information provided by these additional sensors can be used to optimize the movement path of the robot device 300 by an operator who changes the movement path or by self-learning of the robot device 300.

[0275] Furthermore, alternative movement paths and / or positions of the robotic device 300 may be stored in the control unit RCU of the robotic device 300 or in the control unit CU of the cutting machine CM. Said alternative movement paths and / or positions of the robotic device 300 may be used to control the cutting machine CM and the robotic device 300 depending on the kind of sausage-shaped product S to be produced (e.g. with regard to a varying casing material consumption) or depending on the kind of peripheral machines used (e.g. alternative filling tube assemblies or storage devices). The gripper unit 340 is replaceably mounted to the second end 334 of the second arm 330 of the robotic device 300. Therefore, replacing the gripper unit 340 with an alternative gripper unit, e.g. to adapt to the size of the tubular packaging casing supply M, may also require a change in the position and / or movement path of the robotic device 300.

[0276] Furthermore, the sensor units SU1, SU2, SU3, SU4 and any additional sensor units may be coupled to the control unit CU of the cutting machine CM for activating the cutting machine CM and / or the robotic device 300 and / or the hanging line HL, or for deactivating the cutting machine CM and / or the robotic device 600 and / or the hanging line HL, for example in case of a lack of tubular packaging casing supply M or a possible wrong or incorrect positioning of components of the system 1000. However, one or more of the sensor units SU1, SU2, SU3, SU4 and any additional sensor units may also be coupled to the control unit RCU of the robotic device 300 and / or the control unit HCU of the hanging line HL for activating or deactivating the robotic device 300 and / or the hanging line HL when necessary.

[0277] As described above, the robotic device 300 can be placed in the dispensing position to keep the tubular packaged casing supply M close to the refilling position to shorten the refilling time. However, depending on the size of the tubular packaged casing supply M and / or the time when the tubular packaged casing supply M runs out, the dispensing position can be omitted and the robotic device 300 can be moved directly from the receiving position to the releasing position.

[0278] In addition, combined Figures 2 to 10 , the filling tube assembly 100 has been described as comprising two filling tubes 110, 130. It must be noted that the process of refilling the supply of tubular packaging casings onto the filling tube as described above can also be performed in a system having a filling tube assembly that includes only one filling tube, or having more than two filling tubes, such as three or four filling tubes. In this case, only the rotation angle for transferring the filling tube to the refilling position is changed, while the remaining steps and control operations can be performed as described above.

[0279] Even if not described above, the storage device 200 may further include a control unit for controlling basic operations of the storage device 200, such as the rotational movement of the first storage component 21 and the second storage component 230 or the rotational component 250. However, the control unit of the storage device 200 may also be connected to the control unit CU, RCU of the clipper CM or the robot device 300, for at least partially being controlled by the clipper CM or the robot device 300, such as starting or stopping the storage device 200.

[0280] In addition, the filling tube assembly 100 has been described as including a feed socket 160, and a feeding device (such as a filling machine) for feeding a filling material (such as sausage meat) can be connected to the cutting machine CM via the feed socket 160. The feeding device can also be connected to the system 1000, in particular to the control unit CU of the cutting machine CM. Therefore, the system 1000 can also control the operation of the feeding device. In addition, other sensor units can be provided for monitoring the feeding device, such as the flow of the filling material of the filling tubes 110, 130 fed to the filling tube assembly 100. The sensor unit can be connected to the system 1000, for example, to the control unit CU of the cutting machine CM, and can be arranged in the region of the feed socket 160 or at a suitable position of the feeding device. Of course, the feeding device can also include a control unit, which can be connected to the control unit CU of the cutting machine CM. Therefore, the feeding device can also become a part of the system 1000.

[0281] Reference numerals

[0282] 10 Filling tube

[0283] 12 Fill the first end of the tube

[0284] 14 Fill the second end of the tube

[0285] 16 Casing Brake Assembly

[0286] 20 Cutting equipment

[0287] 22. First Cutting Tool

[0288] 24 Secondary cropping tool

[0289] 30 Folding device

[0290] 32 First shifter unit

[0291] 34 Second shifter unit

[0292] 40 Cutting equipment

[0293] 50 Discharge equipment

[0294] 100 Filling tube assembly

[0295] 110 First filling tube

[0296] 112 first end of first filling tube

[0297] 114 Second end of the first filling tube

[0298] 120 First casing brake assembly

[0299] 122 First casing brake unit

[0300] 124 First telescopic casing brake retainer unit

[0301] 130 Second filling tube

[0302] 132 first end of the second filling tube

[0303] 134 Second end of the second filling tube

[0304] 140 Second casing brake assembly

[0305] 142 Second casing brake unit

[0306] 144 Second telescopic casing brake retainer unit

[0307] 150 Rotating Plate

[0308] 152 Drive device

[0309] 154 Rotation axis

[0310] 200 Storage Devices

[0311] 210 First storage component

[0312] 212 Receive pin

[0313] 214 Rotating Plate

[0314] 216 Center Column

[0315] 218 Holding element

[0316] 230 Second storage component

[0317] 220 Rotation axis

[0318] 222 Rotary drive

[0319] 232 Receive pin

[0320] 234 Rotating Plate

[0321] 236 Center Column

[0322] 238 Holding element

[0323] 240 Rotation axis

[0324] 242 Rotary drive

[0325] 250 Rotating Components

[0326] 252 Rotation axis

[0327] 254 Rotating Table

[0328] 300 Robotic Equipment

[0329] 310 base

[0330] 320 First Arm

[0331] 322 First end of first arm

[0332] 324 Second end of first arm

[0333] 330 Second Arm

[0334] 332 First end of the second arm

[0335] 334 Second end of the second arm

[0336] 340 Gripper Unit

[0337] 340a First end of the gripper unit

[0338] 340b Second end of the gripper unit

[0339] 342 base plate

[0340] 342a First end of the substrate

[0341] 342b Second end of the substrate

[0342] 343 First drive assembly

[0343] 344 Second drive assembly

[0344] 345 Connection unit

[0345] 346 First gripper element

[0346] 346a, 346b Bracket

[0347] 348 Second gripper element

[0348] 348a, 348b Bracket

[0349] 350 Clamping shaft

[0350] 400 Feeding equipment

[0351] 410 Spindle

[0352] 412 tooth surface

[0353] 420 Spindle bearing

[0354] 422 Support Roller

[0355] 424 Toothed part

[0356] 430 Guide rod

[0357] 432 Groove

[0358] 434 Support components

[0359] 436 Joint hole

[0360] 440 Connecting elements

[0361] 442 Groove

[0362] 450 Capture Needle

[0363] 452 First End

[0364] 454 Second End

[0365] 456 center part

[0366] 500 Conveying equipment

[0367] 510 Conveyor Chain

[0368] 520 Deflection Roller

[0369] 530 Public axis

[0370] 540 Conveyor Components

[0371] 542 Hook

[0372] 1000 Systems for the production of sausage-shaped products

[0373] A Filling tube center axis

[0374] C Closure Clip

[0375] CD cutting equipment

[0376] CM cutting machine

[0377] CU cutting machine control unit

[0378] DC discharge equipment

[0379] F Feed direction

[0380] GM Furling Device

[0381] HL hanging line

[0382] HCU Hanging Control Unit

[0383] ID Feed Direction

[0384] L Suspension element

[0385] M Tubular casings / Tubular casings supply

[0386] P Braided part

[0387] RCU Robotic Device Control Unit

[0388] S Sausage-shaped products

[0389] SC Supply Sealing Clip

[0390] SU1 First sensor unit

[0391] SU2 Second sensor unit

[0392] SU3 Third sensor unit

[0393] SU4 Fourth sensor unit

[0394] T Conveying direction

Claims

1. A system (1000) for producing sausage-shaped products (S), such as sausages, by filling a filling material into a tubular packaging casing (M), the system (1000) comprising a cutting machine (CM) for producing the sausage-shaped products (S), a robotic device (300) for transferring a supply of tubular packaging casings (M) to the cutting machine (CM), and a storage device (200) for storing the supply of tubular packaging casings (M), The cutting machine (CM) comprises: a filling tube assembly (100) having at least a first filling tube (110) for feeding the filling material into the tubular packaging casing (M), the tubular packaging casing (M) being stored on the filling tube (110) and being closed at a first end of the filling tube (110), - at least a first casing brake assembly (120), associated with the 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 first filling tube (110), and - a control unit (CU) for controlling at least said cutting machine (CM), The robotic device (300) comprises: - a gripper unit (340) for gripping a supply (M) of tubular packed casings provided by the storage device (200) and for transferring said supply (M) of tubular packed casings to at least a first filling tube (110) of a cutting machine (CM); The storage device (200) comprises: - at least a first storage assembly (210) in which at least one tubular packaging casing supply (M) is arranged for transferring the tubular packaging casing supply (M) to the at least first filling tube (110) of the cutting machine (CM) by means of the robotic device (300).

2. The system (1000) according to claim 1, in, The control unit (CU) of the trimming machine (CM) is adapted to activate at least the robotic device (300) to start the process of refilling the first filling tube (110) with the supply (M) of tubular packaging casings.

3. The system (1000) according to claim 1 or 2, in, The first filling tube (110) is movable between at least a filling position, in which filling material can be fed through the first filling tube (110) into the tubular packaged casings (M) stored on the first filling tube (110), and a refilling position, in which a supply of tubular packaged casings (M) can be transferred to the first filling tube (110).

4. The system (1000) according to any one of claims 1 to 3, in, The filling tube assembly (100) comprises a second filling tube (130) and a second casing brake assembly (140) associated with the second filling tube (130), wherein, preferably, when the second filling tube (130) is arranged in the refilling position, the first filling tube (110) is arranged in the filling position.

5. The system (1000) according to any one of claims 1 to 4, in, The fill tube assembly further comprises a rotating plate (150) to which at least the first fill tube (110) is attached, the rotating plate being rotatable about a rotation axis (154) to reversibly move the at least first fill tube (110) from the filling position to the refilling position.

6. The system (1000) according to any one of claims 1 to 5, The robotic device comprises a control unit RCU, and the control unit (CU) of the cutting machine (CM) and the control unit (RCU) of the robotic device (300) are interconnected, so that the robotic device (300) can be at least partially controlled by the control unit (CU) of the cutting machine (CM) and / or the cutting machine (CM) can be at least partially controlled by the robotic device (300).

7. The system (1000) according to any one of claims 1 to 6, in, The robotic device (300) comprises at least a first sensor unit (SU1), which is used at least to detect the position of the gripper unit (340) relative to the storage device (200) and / or the position of the gripper unit (340) relative to the first filling tube (110) and / or the second filling tube (130) arranged in the refilling position.

8. The system (1000) according to any one of claims 1 to 7, in, The robotic device (300) comprises a second sensor unit (SU2) for determining a gripping force applied by the gripper unit (340) to the tubular packaging casing supply (M).

9. The system (1000) according to any one of claims 1 to 8, in, The storage device (200) comprises at least a third sensor unit (SU3) for detecting the presence of a supply (M) of tubular packaging casings in the storage device (200).

10. The system (1000) according to any one of claims 1 to 9, It also includes a hanging line (HL) arranged downstream of the discharge device (DC) for hanging the sausage-shaped products (S) discharged from the cutting machine (CM) by the discharge device (DC) onto a rod-shaped element (R) such as a smoking rod, and the hanging line (HL) includes a control unit (HCU) for at least controlling the hanging line (HL).

11. The system (1000) according to any one of claims 1 to 10, in, The control unit (HCU) of the hanging line (HL) is interconnected with the control unit (RCU) of the robot device (300) and / or the control unit (CU) of the cutting machine (CM), so that the hanging line (HL) is at least partially controlled by the cutting machine (CM) and / or the robot device (300).

12. The system according to claim 10 or 11, in, The hanging line (HL) comprises at least one fourth sensor unit (SU4), and the at least one fourth sensor unit (SU4) is used to detect whether a sausage-shaped product (S) is present in the hanging line (HL).

13. A method for producing sausage-shaped products (S) in a system (1000) according to any one of claims 1 to 12, the method comprising the following steps: - feeding filling material through said at least first filling tube (110, 130) of said cutting machine (CM) into a tubular packaging casing (M) stored on said at least first filling tube (110, 130), - gathering the filled tubular casing (M) by the gathering device of the cutting machine and forming a braided portion (P) on the tubular casing (M), - applying at least one closing device (C) to said braided portion (P) and closing said closing device (C) by means of said cutting device of said cutting machine (CM), - discharge the sausage-shaped product (S) just produced out of the cutting machine (CM) through the discharge device (DC) of the cutting machine (CM), The method further comprises the following steps: - moving the at least first filling tube (110, 130) from the filling position, in which filling material is fed into the tubular packaging casing (M), to the refilling position, in which the tubular packaging casing supply (M) is transferred to the at least first filling tube (110, 130), and - transferring, by means of said robotic device (300), a supply (M) of tubular packaging casings provided by a storage device (200) to said at least first filling tube (110, 130) arranged at said refilling location.

14. The method according to claim 13, further comprising the steps of: - The sausage-shaped products (S) discharged by the discharge device (DC) are suspended on rod-shaped elements (R) provided by hanging wires (HL).

15. The method according to claim 13 or 14, further comprising the steps of: - said robotic device (300) and / or said hanging line (HL) are at least partially controlled by said cutting machine (CM).

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