Machine for making and sealing filled meat products

Abstract

The present invention relates to a machine (100) for producing and sealing canned meat products, wherein a sealing device (2) is mounted in the machine (100) in a movable manner between at least two positions, one of which is a retracted position (N), the retracted position (N) being adapted to supply a sealing element to the sealing device so that the sealing device (2) can apply the sealing element to an empty longitudinal casing portion, wherein the movement of the sealing device (2) is initiated by an actuator (31) and transmitted to the sealing device (2) via a kinematic chain (32), the machine being equipped with means for non-manually updating the amount of movement that the actuator (31) needs to impart to the kinematic chain (32) to ensure that the sealing device (2) stops at the retracted position (N) with the required accuracy when the sealing device (2) moves toward the retracted position (N), while correcting for displacement deviations caused by wear and / or misalignment in the kinematic chain.

Description

Technical Field

[0001] This invention relates to the field of manufacturing and sealing filled meat products, wherein product filling is filled into tubular casings that are closed at both the distal and proximal ends. An example of a filled meat product is a sausage.

[0002] In addition to other components, the machine for automatically producing and sealing meat products also has a means for forming an empty longitudinal casing portion within a previously filled casing portion, the sealing means acting on the empty longitudinal casing portion, specifically by applying at least one sealing element to tightly surround the empty longitudinal casing portion. Background Technology

[0003] A known automated sausage production technique includes: extruding food filling into a continuous tubular casing portion; forming an empty longitudinal casing portion in the previously filled casing; and applying at least one sealing element tightly around and sealing the empty longitudinal casing portion. Two sealing elements are created by applying two sealing elements to the empty longitudinal casing portion; one sealing element completes sausage production, and the other sealing element allows for filling more product and continuing to produce new sausages. This is accomplished by repeating the aforementioned operation on subsequent empty longitudinal casing portions. The finished sausage can be separated from the new sausage being produced if the empty casing portion between the two newly applied sealing elements is cut transversely.

[0004] For example, traditional sealing elements can be nails or strips made of metal or with a metal core. Sealing elements are sometimes also called clips.

[0005] A sealing assembly is used to form an empty longitudinal casing portion. A sealing assembly is a mechanism that can be actuated and configured to reduce the cross-section of the filled casing, causing the casing to fully close so that a sealing element can be applied to the casing and tightly surround the casing. It is known to arrange two sealing assemblies in series in a filled casing portion such that, starting from the closest relative position of the sealing assemblies, the separation distance between the sealing assemblies increases as each sealing assembly contracts the casing, causing the product inside the casing to displace, thereby forming an empty longitudinal casing portion to which one or more sealing elements will be applied.

[0006] For applying one or more sealing elements, a first type of sealing device is known, which is equipped with an upper jaw and a lower jaw, which can be actuated from their furthest position to their closest position and vice versa. At their closest position, the jaws contact the empty longitudinal casing portion and close one or more sealing elements around that portion. Examples of sealing elements compatible with this first type of sealing device are described, for example, in patent documents DE3715626 and EP1970321, and examples of sealing devices having this type of sealing element are described in patent document PL1743838. Typical combinations of these sealing elements include strips of sheet metal processed to form a string of sealing elements that can be wound onto a reel or the like, for example, as described in patent document PL1845026.

[0007] The advantage is that the grippers leave space when they are at their furthest apart, allowing the sealers to be positioned when they are closest to each other. In other words, the sealing device does not interfere with or prevent the sealer assembly from forming an empty longitudinal casing portion.

[0008] However, this first type of sealing device has drawbacks. One of them is that the specific shape of the sealing element (i.e., roughly ω (omega) shaped) and its rectangular cross-section mean that when a force is applied to seal it around an empty longitudinal casing portion, the relative legs of the sealing element cannot achieve lateral overlap, nor can the overlap be completed in a controlled manner. Therefore, the cross-section of the channel formed by the sealing element when sealing around an empty longitudinal casing portion cannot be adjusted, making it impossible to apply the same sealing element around casing portions of different thicknesses. Therefore, sealing elements of different sizes must be used to perform the operation according to the casing parameters.

[0009] A known second type of sealing device for applying one or more sealing elements has an anvil and a head mounted at a fixed inner spacing. The head has at least one punch that can be actuated to reciprocate in a guided manner. Displacement of the punch in one direction drives the sealing element to move and flatten it against the anvil, which is configured to deform the sealing element by sealing it around an empty longitudinal casing portion. For example, patent document EP0757003 describes an example of a sealing element compatible with this second type of sealing device, and patent document US2008209855 describes an example of a sealing device having this type of sealing element. For example, as described in patent documents EP3388692 and EP2042436, typical combinations of these sealing elements include strings of laterally arranged sealing elements interconnected by connectors such as tape, which can be wound onto a spool or similar device.

[0010] Advantageously, the specific shape of these sealing elements (i.e., generally U-shaped) allows the opposing legs of the sealing elements to overlap laterally when actuated to seal around the longitudinal casing portion, a lateral overlap that is even more convenient when these sealing elements also have a circular cross-section. Specifically, by adjusting the movement of the punch, the degree of overlap of the opposing legs of the sealing elements as the sealing elements are flattened around the empty longitudinal casing portion can be changed, thereby adjusting the cross-section of the channel formed by the flattened sealing elements, enabling the application of sealing elements around casing portions of different thicknesses. Therefore, this second type of sealing device is more versatile than the first type.

[0011] However, when this second type of sealing device must operate in a machine with a sealing assembly, the following drawback exists: because the fixed distance between the anvil and the head does not provide sufficient space for the sealing devices, the sealing devices cannot use their closest possible positions. In other words, the position where the sealing device can operate on the casing is one that interferes with the movement of the sealing assembly, thus hindering the formation of an empty longitudinal casing portion. Therefore, in a machine equipped with both this second type of sealing device and a sealing assembly, the sealing device is a device that works in conjunction with the sealing assembly to be movable between at least two positions: one is a retracted position, in which the sealing device does not operate on the empty longitudinal casing portion, but also does not hinder the sealing assembly from forming an empty longitudinal casing portion; the other position is a working position, in which the sealing device operates on the empty longitudinal casing portion, and this working position can be used when the sealing devices are separated to form the empty longitudinal casing portion.

[0012] The first objective of this invention is to disclose a machine in which the sealing device can move rapidly between a retracted position and a working position, so as not to affect the operating rhythm of the machine including it, or to constitute a bottleneck for the machine.

[0013] In similar situations, pneumatic actuators are used to move the sealing device, particularly suitable for large-diameter sausage making machines that use large sealing elements. In large-diameter sausage making machines, since the filling time is longer than the time required for the sealing device to move from its working position to its retracted position to form an empty longitudinal casing portion and return to its working position, slow movement does not pose an obstacle. In other words, reducing the movement time of the sealing device does not translate into a reduction in the machine's production cycle time.

[0014] When filling times are very short, this pneumatic actuator is too slow to move the sealing device, and this slowness will subsequently create a bottleneck, shortening the machine's production cycle time. Furthermore, practical experience shows that during use, loss of precision due to factors such as wear of the dynamic seals can prevent the sealing device from stopping with the required accuracy in the retracted position, leading to insufficient supply of sealing elements to the head of the sealing device.

[0015] Another object of the present invention is to enable the machine to provide the desired speed while ensuring the minimum required accuracy.

[0016] The filling time for small-diameter sausages is usually short. They also use small sealing elements, which must be supplied or fed to the head of the sealing element through a small supply window that matches the size of the sealing element. This ensures that the sealing element is properly fed and correctly placed in the head. Otherwise, it will be unevenly driven by the punch, or other errors may occur that could force the machine to stop.

[0017] In fact, mechanical adjustments capable of achieving this level of precision have proven to be inefficient during the entire production process, or as the machines operate and the production cycle progresses.

[0018] Therefore, another object of the present invention is to enable the machine to provide the desired accuracy throughout its use.

[0019] Finally, another object of the present invention relates to a method for automating the production and sealing of canned meat products using machines, which reduces the number of malfunctions resulting from forced machine shutdowns and interruptions in the production of the corresponding products. Summary of the Invention

[0020] The machine includes: a separating device having a moving part and configured to form an empty longitudinal casing portion within a tubular casing portion previously filled with product filling; a sealing device configured to apply at least one sealing element tightly surrounding and sealing the empty longitudinal casing portion; and at least one sealing element supplier configured to supply sealing elements to the sealing device, wherein the sealing device is mounted within the machine in a movable manner between at least two positions in coordination with the movement of the moving part of the separating device, one of the at least two positions being a retracted position (N) in which the sealing device does not perform any operation on the empty longitudinal casing portion and does not obstruct the movement of the moving part of the separating device to form the empty longitudinal casing portion, and the other of the at least two positions being a working position (Y) in which the sealing device performs operation on the empty longitudinal casing portion, wherein the displacement of the sealing device is caused by an actuator and transmitted to the sealing device via a kinematic chain.

[0021] The machine is characterized in that at least one sealing element supplier is prepared in cooperation with the sealing device so that the at least one sealing element supplier can supply sealing elements to the sealing device when the sealing device is in the retracted position (N) with the required accuracy, and in particular, the machine is equipped with a means for non-manually updating the amount of motion that the actuator needs to impart to the kinematic chain, so as to ensure that when the sealing device moves toward its retracted position (N), the sealing device stops at the retracted position (N) with the required accuracy, and corrects positional deviations caused by wear and / or misalignment in the transmission system (i.e., kinematic chain), and the operator does not need to manually update or adjust the amount of motion based on visual inspection or trial and error.

[0022] A kinematic chain is an assembly of interconnected components that can provide controlled output motion in response to a given input amount of motion. The input amount of motion is the amount obtained by the actuator in this invention.

[0023] Kinematic chains typically experience wear and / or misalignment during use, which can cause the same input motion provided by the actuator to fail to produce the same output motion.

[0024] The device for non-manually updating the amount of motion required to provide the actuator with a kinematic chain to ensure that the sealing device stops at the retracted position (N) with the required accuracy as it moves toward its retracted position (N) is specifically configured to practice inverse kinematics: determining the input variable (here, the amount of motion of the actuator) required to achieve a specific output configuration (which stops the sealing device at the retracted position (N) with the required accuracy while correcting for positional deviations due to wear in the transmission system).

[0025] Therefore, in one variant of the invention, the actuator is a servo motor with an associated controller, the servo motor being actuated to a drive shaft that drives the motion chain; the device for non-manually updating the amount of motion to ensure the sealing device achieves the accuracy of the retracted position (N) during the machine's production cycle includes a mechanical displacement limiter. The mechanical displacement limiter restricts the travel of the sealing device to the retracted position during the machine calibration cycle, ensuring that the sealing device stops with the target accuracy when it reaches the retracted position; and The mechanical displacement limiter triggers the generation of an excess torque signal (Tmax) in the controller of the servo motor. The excess torque signal (Tmax) is associated with the reference position value (Pt) of the drive shaft. The reference position value (Pt) can be temporarily used to control the servo motor in subsequent production cycles of the machine until a new reference position value (Pt) is obtained in a new calibration cycle.

[0026] In this variant of the invention, the displacement is the amount of rotation of the drive shaft, specifically, the amount required to arrange the drive shaft according to the reference position value (Pt).

[0027] The idea is that the machine is configured such that the speed pattern that imparts displacement to the sealing device during a calibration cycle is different from the speed pattern that imparts displacement to the sealing device during a production cycle of the machine.

[0028] It is also envisioned that the machine is prepared such that the position value (Pp) used to control the servo motor in the machine's production cycle after the calibration cycle is a coefficient of the reference position value (Pt), or the result of applying a correction subtraction to the reference position value (Pt).

[0029] According to a variation of the present invention, the mechanical displacement limiter is a position-adjustable limiter.

[0030] Preferably, the mechanical displacement limiter includes: a fixed component that is securely engaged with the machine's base frame; and an impact element that is securely engaged with the sealing device, the impact element tapping the fixed component in the retracted position (N) during a calibration cycle.

[0031] More preferably, the impact element has a rod threadedly connected to the sealing device, and the position of the head of the impact element relative to the sealing device can be adjusted by screwing the rod in or out.

[0032] In a variant of the invention, the sealing device includes a head and an anvil, wherein the head provides a channel for each sealing element supplier, the channel for guiding a sealing element placed in the channel toward an outlet end of the channel leading to the anvil, the sealing element being propelled by a punch capable of reciprocating along the channel; and the channel is only accessible through a supply window for the sealing element when the sealing device is precisely in the retracted position (N).

[0033] According to one embodiment, the channel is provided with a retainer or brake for moving the sealing element toward the outlet end of the channel; and the punch can be actuated in two strokes to push the sealing element placed in the channel in two stages. In the first stage of pushing: apply sufficient thrust to separate the sealing element from the sealing element continuously connected to it in the sealing element storage device, and move the sealing element through the channel toward the outlet end until it reaches the height of the retainer or brake, which is designed to provide sufficient resistance to the involuntary advance of the sealing element; In the second stage of pushing: apply sufficient thrust to overcome the holding or braking force exerted by the retainer or brake on the sealing element, causing the sealing element to move until it passes through the outlet end and flattens it onto the anvil. Throughout the push process, the first stage is initiated when the sealing device is in the retracted position (N), and the second stage is completed when the sealing device is in the working position (Y).

[0034] In a variant of the invention, the first stage of pushing is completed when the sealing device is in the retracted position (N).

[0035] According to another aspect of the invention, in one variant, the machine has two sealing element suppliers arranged oppositely in a fixed manner within the machine for placing a first sealing element from its respective sealing element storage device through its respective associated supply window into its respective associated channel at the head of the sealing device when the sealing device is in its retracted position (N); the machine is provided with means for ensuring proper alignment of the two sealing element suppliers so that, preferably simultaneously, each sealing element can be placed through its associated supply window into its associated channel when the sealing device is in its retracted position (N).

[0036] According to one embodiment, a device for ensuring proper alignment of two sealing element suppliers includes: alignment holes disposed in the sealing element suppliers and the sealing device; and an auxiliary rod of sufficient length to be tightly inserted into both the alignment holes of at least one sealing element supplier and the alignment hole of the sealing device when the sealing device is in its retracted position (N).

[0037] The machine is equipped with a device configured to practice inverse kinematics: determining the input variable (actuator motion) required to control the kinematic chain and position it in the desired manner, without requiring the operator to manually adjust the motion through visual inspection or trial and error, thereby stopping the sealing device in the retracted position (N) with the required accuracy, while correcting positional deviations caused by wear in the transmission system.

[0038] The present invention also relates to a method for achieving this objective.

[0039] The method includes updating the amount of motion that the actuator needs to transmit to the motion chain during a machine production cycle, the motion chain moving the sealing device from its working position (Y) to its retracted position (N), the method including running a machine calibration cycle to automatically acquire parameters of the actuator for updating the amount of motion.

[0040] In a variant of a machine where the actuator is a servo motor with an associated controller (the servo motor actuates a drive shaft connected to and driving the kinematic chain), the method includes: a) During the machine calibration cycle, the travel of the sealing device to its retracted position (N) is mechanically limited by a mechanical displacement limiter to trigger the generation of an excess torque signal (Tmax) in the controller. The excess torque signal (Tmax) corresponds to the reference position value (Pt) of the drive shaft of the servo motor, causing the sealing device to stop at its retracted position (N) with the target accuracy of the servo motor. The reference position value (Pt) or a value derived therefrom is used as the position value (Pp) to control the servo motor (31.1) in subsequent production cycles of the machine (100), specifically to stop the servo motor (31.1) when the sealing device (2) moves from its working position (Y) to its retracted position (N) until a new reference position value (Pt) is obtained in the new calibration cycle. b) Running the machine for n production cycles, using the position value (Pp), instructing the axial motion chain to transmit the amount of motion, causing the sealing device to move from its working position (Y) to its retracted position (N); and Repeat steps a) and b).

[0041] In a variation of this method, a reference position value (Pt) of the drive shaft is obtained by a rotary position encoder, which provides an output corresponding to the rotation of the drive shaft. If an incremental encoder is used, the output is in the form of voltage pulses; if an absolute encoder is used, the output is in the form of absolute angular position. Attached Figure Description

[0042] Figure 1a and Figure 1b These are front views illustrating the machine of the present invention at two moments in the production cycle.

[0043] Figure 2a and Figure 2b The machines in Figure 1 are respectively Figure 1a and Figure 1b The simplified side view corresponding to a moment in the production cycle is shown.

[0044] Figure 3 This is a partial cross-sectional perspective view illustrating the details of the head and anvil of the sealing device of the machine of the present invention.

[0045] Figure 4 This is a block diagram of a method for updating the amount of motion that an actuator (in this case, a servo motor) needs to transmit to a motion chain that moves a sealing device, the method including a step of calibrating the machine. Detailed Implementation

[0046] Figure 1a and Figure 1b The following is a front view illustrating the machine 100 of the present invention.

[0047] The exemplary machine 100 has a fixed frame 101 that supports a plurality of means for performing operations on tubular casing portions 5 that have been previously filled with product filling.

[0048] In these devices, the separating device 1 and the sealing device 2 are movably installed within the machine 100, and these devices can be actuated in a coordinated manner to perform their respective functions.

[0049] The separating device 1 is a conventional device that has moving parts and is capable of forming an empty longitudinal casing portion 51 within the previously filled tubular casing portion 5 (see [link]). Figure 1b and Figure 2b ).

[0050] Because it is conventional, it is only used in Figure 1a and Figure 1b The diagram schematically illustrates a separation device 1, which includes two sealing devices 11, each of which can be actuated to provide a channel from the filled casing portion 5. Figure 1a The situation shown) is converted into a shape for sealing the casing ( Figure 1b (As shown in the diagram). The separating device 1 can also be actuated to change the separation distance between the two closing devices 11.

[0051] In the exemplary machine 100, the sealing device 11 shown on the left side of the image can be actuated away from the sealing device 11 shown on the right side of the image. When this movement occurs, since the sealing device 11 is not sealing the casing, the product inside the casing shifts or moves, thereby achieving the desired effect. Figure 1b The empty longitudinal casing portion 51 is shown schematically.

[0052] The sealing device 2 enables the use of two sealing elements to tightly surround the empty longitudinal casing portion 51.

[0053] For this purpose, the sealing device 2 includes a head and an anvil (described in more detail below), with a fixed distance maintained between the head and the anvil. The head is equipped with a device that flattens two sealing elements, which initially have a conventional U-shape, onto the anvil, deforming them like a staple. By arranging the sealing device 2 such that the empty longitudinal casing portion 51 is located between the head and the anvil, when this occurs, the sealing elements are applied to the empty longitudinal casing portion, tightly surrounding and sealing it.

[0054] Although not depicted in the accompanying drawings, the machine 100 is typically equipped with means for making a transverse cut on the empty casing portion 51 at a position between two sealing elements.

[0055] Note: The sealing device 2 requires the same position for placing the empty longitudinal casing portion 51 between the head and the anvil to apply the sealing element as the sealing device 11 requires (see [reference]). Figure 1a The position that causes interference at the beginning of closing the filled casing portion 5.

[0056] Therefore, the sealing device 2 is movably installed between two positions in the machine 100, in a simplified manner. Figure 2a and Figure 2b These two positions are easier to see in the middle: the retracted position (N) and the working position (Y).

[0057] In the example, the sealing device 2 is rotatably mounted in the base of the machine 100 about the rotation axis X.

[0058] To more clearly show the location of the sealing device 2, the aforementioned Figure 2a and Figure 2b The machine's base and separation device are not shown.

[0059] In the retracted position (N), although the sealing device 2 is not in the area where the product is being made, it does not obstruct the operation of the sealing device 1's closing device 1, thus it is located from its closest position to each other (e.g., Figure 1a (as shown in the figure) begins to form an empty longitudinal casing portion 51.

[0060] In the working position (Y), the sealing device 2 operates on the newly formed empty longitudinal casing portion 51, without the sealing device 11 adopting its position furthest from each other. Figure 1b Interference with the receiver 11 at the position shown in the figure.

[0061] The machine 100 also includes two sealing element suppliers 4, which are configured to cooperate in supplying two sealing elements to the sealing device 2.

[0062] In the exemplary machine 100, two sealing element suppliers 4 are fixed, each of which is essentially composed of a guide rail, and the stack of sealing elements can slide along the guide rail. The stack is in the form of a series of laterally parallel sealing elements 7 connected to each other, for example by adhesive tape, and each sealing element is configured in a generally U-shape.

[0063] Each guide rail guides the associated string of sealing elements to the supply window formed in the head of the sealing device 2, through which the string of sealing elements can enter a channel (the purpose and function of which will be described in more detail below) for inserting the first sealing element of the string into the channel, which can be performed when the sealing device 2 is stopped in the retracted position (N).

[0064] The sealing device 2 is moved between the working position (Y) and the retracted position (N) by actuator 31 (and vice versa), and by... Figure 2a and Figure 2b The visible motion chain 32 is transmitted to the sealing device 2.

[0065] The kinematic chain can be implemented in different ways without affecting the implementation of the present invention. In an exemplary case, the kinematic chain includes a connecting rod-crank mechanism.

[0066] In any case, actuator 31 keeps sealing device 2 precisely stopped. Figure 1a and Figure 2a The retraction position (N) used in the process is crucial, only in this way can the first sealing element 7 in the series of sealing elements be correctly inserted into the head channel through the supply window.

[0067] At the same time, it is also important that the actuator 31 moves the sealing device 2 between the working position (Y) and the retracted position (N) at a certain speed, because only in this way can the machine 100 not affect the production cycle time, and this movement will not become a bottleneck in the cycle (which may happen when the newly filled casing portion 5 is conveyed to the machine for sealing very quickly).

[0068] To meet these two requirements, in the exemplary machine 100, the actuator 31 is a servo motor 31.1 with an associated controller 31.2 (the controller 31.2 is schematically shown in the figures as being located inside the servo motor, but it may be located outside the servo motor), the servo motor 31.1 is actuated to a drive shaft 31.3 connected to the motion chain 32 and driving the motion chain 32.

[0069] Even with the use of servo motors to provide the required speed capabilities, and even with the common practice of using servo motor controllers to set the necessary stop positions, these known measures have proven insufficient for machines that produce and seal filled meat products, particularly failing to move the sealing device 2 in the manner and with the precision described above. Specifically, practice has shown that the initially met required precision becomes insufficient throughout the machine's production cycle, resulting in the supply of sealing elements 7 to the head of the sealing device 2 failing to meet requirements.

[0070] Among other possible causes, the kinematic chain 32 that transmits the rotation of the drive shaft 31.3 of the servo motor 31.1 to the sealing device 2 is a kinematic chain that includes worn hinges and / or connectors that create gaps between moving parts. This absorbs some of the motion applied to the kinematic chain 32 by the drive shaft 21.3, and the resulting transmission losses affect the accuracy of the sealing device 2 in the retracted position (N), even when the drive shaft 31.3 is always stopped in the same absolute position.

[0071] To provide a solution to this loss of accuracy, the machine 100 of the present invention is provided, for example, with means for updating the amount of motion that the actuator 31 needs to impart to the motion chain 32 during the machine production cycle, so as to ensure that when the sealing device 2 moves toward its retracted position (N), the sealing device 2 stops at the retracted position (N) with the required accuracy.

[0072] These devices include a mechanical displacement limiter 33, which restricts the travel of the sealing device 2 to the retracted position (N) during the machine calibration cycle, stopping it at the retracted position (N) with target accuracy. This mechanical limiter triggers the generation of an excess torque signal Tmax in the controller 31.2 of the servo motor 31.1. The excess torque signal Tmax is programmed to stop the servo motor, and then the reference position value Pt of the drive shaft 31.3 is recorded. The reference position value Pt is temporary, as it will be used to establish a position value Pp. The position value Pp will be used to control the servo motor 31.1 in subsequent production cycles of the machine 100 until the aforementioned reference position value Pt is updated again.

[0073] The reference position value Pt of the drive shaft 31.3 is usually obtained by a rotary position encoder. The rotary position encoder provides an output corresponding to the rotation of the drive shaft. If an incremental encoder is used, it outputs a voltage pulse; if an absolute encoder is used, it outputs an absolute angular position.

[0074] Tmax can be an absolute or relative value, such as a value obtained by applying a coefficient x to the nominal value of the maximum safe torque of the motor used.

[0075] For example only, Tmax can be selected from 5 ÷ 15 Nm; preferably from 6 ÷ 12 Nm, more preferably from 7 ÷ 10 Nm, for example, Tmax = 7.6 Nm.

[0076] Continuing with the previous example, again as an example, a MINAS A6 servo motor (model MSMF042L1U1) with a gear ratio i=15 and a nominal maximum safe torque of 19.05 Nm can be used. Then, a coefficient x=0.4 is applied to implement the invention according to Tmax=7.6 Nm.

[0077] Figure 4 The block diagram illustrates how this calibration can be performed: the machine can be prepared for calibration according to a preset logical form when any of the following conditions are met, or when a combination of multiple of these conditions is met simultaneously: At the start of each workday; Each time the machine restarts after being shut down for more than a preset time; Each time the parameters of the product to be produced change, such as changes in casing material, type of filling for the product to be filled, filling pressure, etc.; Each time the sealing element is replaced; Or simply, after every n production cycles (where n is a preset value), this is Figure 4 The diagram illustrates a typical example.

[0078] exist Figure 4 In a specific example of the diagram, without changing the parameters of the product to be manufactured, a calibration cycle is performed after every n production cycles (n is a preset value).

[0079] The value n can be changed throughout the machine's use. For example, it may be more meaningful to decrease the value of n each time a machine calibration cycle is performed. As wear increases in components with relative motion within the kinematic chain, it becomes more necessary to calibrate the machine and determine new reference position values ​​Pt.

[0080] To illustrate this point, if calibration is chosen after every n production cycles without changing the parameters of the product to be produced, the initial value of n can be millions of cycles, for example, close to 3 million (3M); using sealing elements of the HC25-2700 type from the supplier Suministros Lorenzo Barroso, sausages with a diameter of 25 mm - 120 mm and a length of 250 mm are obtained in each production cycle. This means that the sealing device 2 will perform two operations on the casing in a single production cycle, applying two sealing elements to the corresponding empty longitudinal casing portion each time.

[0081] Alternatively, without affecting the implementation of the invention, one reciprocating movement of the sealing device between the working position (Y) and the retracted position (N) (with two sealing elements applied to the empty longitudinal casing portion) can be considered as one production cycle of the machine.

[0082] In the exemplary machine 100, the mechanical displacement limiter 33 is a position-adjustable limiter. For this purpose, the mechanical displacement limiter 33 includes: a fixing member 33.1, which is securely engaged with the machine's base frame; and an impact element 33.2, which is securely engaged with the sealing device 2, and which taps the fixing member 33.1 in the retracted position (N) during a calibration cycle.

[0083] During the production cycle of the machine, the impact element 33.2 may strike the fixed part 33.1 in the retracted position (N) or may not strike it.

[0084] For example, the position value Pp controlling the movement of the sealing device 2 during the machine's production cycle can be equivalent to the reference position value Pt, or can be a factor of the reference position value Pt through a correction factor, so that the sealing device 2 stops in the retracted position (N) before the impact element 33.2 strikes the fixed part 33.1, or reduces the impact exerted when the impact element 33.2 strikes the fixed part 33.1, all of which ensure the required accuracy.

[0085] In other words, assume Pt ​​= Pp. Also assume Pt ​​= F1. Pp or Pt = F2 + Pp, where, for example, F1 or F2 is chosen so that the position value Pp corresponds to a rotation value between 0.1º and 3º (degrees), more preferably between 0.2º and 1º, for example 0.5º, which is lower than the value of Pt.

[0086] During the calibration cycle, preferably during the production cycle, any of the above variations is compatible with providing a braking curve to the controller of the servo motor 31.1, and the drive shaft 31.3 can follow the braking curve until the sealing device 2 stops in the retracted position (N).

[0087] Calibration can be performed under production conditions, that is, calibration is performed at the moving speed of the sealing device 2 during the production cycle when the product is being made.

[0088] Calibration can be performed under conditions different from production conditions, that is, at a speed lower than the speed at which the sealing device 2 will be moved when the product is being manufactured.

[0089] In the exemplary machine 100, the impact element 33.2 has a rod 33.2a threadedly connected to the sealing device 2, and the position of the head 33.2c of the impact element relative to the sealing device 2 can be adjusted by screwing the rod 33.2a in or out. This allows for fine adjustment of the retracted position (N).

[0090] To illustrate this point, if one or two sealing element suppliers 4 are replaced, fine adjustments may be required.

[0091] Figure 3 An example is given of the gap between the head 21 and the anvil 22 of the sealing device 2 of the machine (specifically machine 100) according to the invention, in which case it is suitable for applying two sealing elements 7 to the empty longitudinal casing portion.

[0092] For this purpose, the head 21 has two channels 21.1, each channel being used to guide the generally U-shaped sealing element 7 to the outlet end 21.1a of the channel, the outlet end 21.1a leading to the anvil 22.

[0093] The anvil 22 includes two grooves 22.1, each groove being configured to deform the corresponding sealing element 7 that moves along the channel 21.1 to the anvil 22 until it is flattened on the anvil 22, causing the opposing legs to bend, contact each other laterally and overlap, forming a ring that tightly wraps around the empty longitudinal casing portion at the point of action.

[0094] Each sealing element 7 passes through the associated supply window 23 (which repeats when the sealing device is precisely in the retracted position (N)) into the channel 21.1.

[0095] In order to make the sealing element 7 move along the channel 21.1, two punches 21.2 are installed on the head 21, and each punch can be reciprocated along the channel 21.1.

[0096] For example, the punch can be actuated by a specific pneumatic assembly or a shared pneumatic assembly. The pneumatic assembly may include a single-acting cylinder or a double-acting cylinder. The punch can also be actuated by a specific electric actuator or a shared electric actuator. In any case, as described below, the ability of the punch to stop midway between the two ends of its stroke is of great significance.

[0097] exist Figure 3 In this position, the punch 21.2 is in the raised position, which allows the sealing element 7 to be inserted into the channel 21.1. From this raised position, the punch 21.2 can be actuated downward to push and drive the sealing element 7 downward to the outlet end 21.1a of the channel 21.1.

[0098] In the specific example in the attached diagram, this is done in two stages, which are described according to one of the punches.

[0099] In the first phase of the promotion, from Figure 3 Starting at the indicated position, the punch 21.2 is given sufficient travel to separate the first sealing element 7 (the supply window 23 leading to the channel along which the punch 21.2 travels) from the sealing element adjacent to the first sealing element 7 in the chain of sealing elements. Since the channel 21.1 is in a vertical position or at an angle when this first stage occurs, the sealing element 7 detached from the chain of sealing elements may experience uncontrolled displacement along the channel 21.1 due to gravity or inertia. Therefore, a retainer or brake 25 for the sealing element 7 is provided in the exemplary head 21. During the first stage of the push, the travel of the punch 21.2 is appropriate to move the sealing element 7 along the channel 21.1 up to the height of the retainer or brake 25, which is designed to provide sufficient resistance to the involuntary advance of the sealing element 7.

[0100] In the second stage of the push, the punch 21.2 is given a sufficient stroke to overcome the holding force or braking force applied to the sealing element 7 by the retainer or brake 25, so that the sealing element 7 moves until it passes through the outlet end 21.1a and is flattened on the anvil 22.

[0101] Although the first stage of the push needs to be initiated when the sealing device is in the retracted position (N), the first stage may be completed or may not have been completed when the sealing device is turned to the working position (Y).

[0102] Naturally, the second stage needs to be completed when the sealing device is in the working position (Y) to apply the sealing element 7 to the empty longitudinal casing portion, surround the empty longitudinal casing portion and seal it.

[0103] In a specific example in the accompanying drawings, the sealing device is provided with a collection mechanism 62, which helps ensure that the empty longitudinal casing portion 51 is located between the head 21 and the anvil 22 of the sealing device 2 when the sealing device 2 is in the working position (Y). This collection mechanism 62... Figure 2a and Figure 2b As can be seen in the text.

[0104] In a specific example, the collecting mechanism 62 is driven by the rotational motion transmitted to the sealing device 2, meaning it does not need to have its own actuation device.

[0105] In this case, the collecting mechanism 62 consists of a set of arms articulated together, including a first type of lever whose fulcrum is an attachment hinged to an axis stably engaged with the sealing device 2; a lever arm articulated to a first end of a telescopic arm, the second end of which is attached to the machine's base by an attachment hinged to an axis stably engaged with the machine's base; a load arm articulated to a connecting body of a transmission arm articulated together, the last arm 61 of which is attached to the anvil 22 of the sealing device by an attachment hinged to an axis stably engaged with the anvil 22, the components of which are adapted and the geometry is designed so that when the sealing device is in the working position (Y) (e.g.) Figure 2b As shown), the empty longitudinal casing portion 51 is located between the head 21 and the anvil 22.

[0106] Continuing with the description of head 21, in a specific example in the accompanying drawings, the aforementioned retainer or brake 25 is formed by an elastic tab that tends to position its free end into the associated channel 21.1, which can be seen in more detail in [reference needed]. Figure 3 .

[0107] In a specific example in the accompanying drawings, the resilient tongue has: a first end 25.1 (upper end in the drawings), which is fastened to the head 21; a body portion extending downward in the direction of the channel 21.1; and the aforementioned free end 25.2 (lower end in the drawings), which in the example ends with a folded edge that protrudes toward and fully enters the channel 21.1 to mechanically retain it at the end of the first stage of pushing the sealing element 7.

[0108] In the second stage of the push, in order to overcome the holding force or braking force exerted by the retainer or brake 25 on the sealing element 7, the tongue needs to deform, specifically its second free end 25.2 away from the trajectory of the sealing element 7. Figure 3 As can be seen, for this purpose, a window 25.3 is formed inside the head 21 to allow the tongue to achieve this deformation. Once the sealing element 7 is pushed downstream of the channel 21.1, the tongue will re-adhere by means of elastic restoring force. Figure 3 The natural position shown.

[0109] Returning to the possibility of finely adjusting the retracted position (N) by adjusting the impact element 33.2, such adjustment needs to be performed in accordance with the correct position that the sealing element supplier 4 needs to be fixed on the machine 100.

[0110] In this sense, the machine 100 of the present invention is provided with means for ensuring that the two sealing element suppliers 4 are properly aligned so that when the sealing device 2 is in its retracted position (N), each sealing element can be simultaneously placed into the associated channel of the sealing device 2 through the associated supply window 23.

[0111] The device used to ensure this correct alignment includes: alignment holes 41, 24 ( Figure 2a and Figure 2b As can be seen in the image, alignment holes 41 and 24 are respectively provided in the sealing element supplier 4 and the sealing device 2; and an auxiliary rod, not shown, having a length sufficient to be tightly inserted into at least one alignment hole 41 of the sealing element supplier 4 when the sealing device is in its retracted position (N), and simultaneously at least partially inserted into the alignment hole 24 of the sealing device 2.

Claims

1. A machine for producing and sealing canned meat products, the machine comprising: A separating device having a moving part and configured to form an empty longitudinal casing portion within a tubular casing portion previously filled with product filling; A sealing device configured to apply at least one sealing element that tightly surrounds and seals the empty longitudinal casing portion; At least one sealing element supplier, the sealing element supplier being configured to supply sealing elements to the sealing device. The sealing device and the moving part of the separating device are coordinated within the machine in a movable manner between at least two positions. One of these positions is a retracted position, in which the sealing device does not perform any operation on the empty longitudinal casing portion, and in which the sealing device does not obstruct the movement of the moving part of the separating device, thereby forming the empty longitudinal casing portion. The other of these positions is a working position, in which the sealing device operates on the empty longitudinal casing portion. The displacement of the sealing device is caused by an actuator and transmitted to the sealing device through a kinematic chain. The machine is characterized by: The at least one sealing element supplier is configured in cooperation with the sealing device so that the at least one sealing element supplier can supply a sealing element to the sealing device when the sealing device is in the retracted position with the required accuracy, and the machine is characterized in that: The machine is equipped with a device for non-manually updating the amount of motion that the actuator needs to impart to the kinematic chain, to ensure that when the sealing device moves toward its retracted position, the sealing device stops at the retracted position with the required accuracy, and to correct positional deviations caused by wear and / or misalignment in the kinematic chain.

2. The machine according to claim 1, characterized in that: The actuator is a servo motor with an associated controller, the servo motor actuating a drive shaft connected to the kinematic chain and driving the kinematic chain, and wherein: The actuator needs to impart an updated amount of motion to the kinematic chain as the rotation of the drive shaft.

3. The machine according to claim 2, characterized in that: The actuator transmits to the motion chain to ensure that the sealing device adopts the retraction position with accuracy during the machine's production cycle. A device for non-manually updating the amount of motion includes a mechanical displacement limiter. The mechanical displacement limiter restricts the travel of the sealing device to the retracted position during the machine calibration cycle, so that the sealing device stops when it reaches the retracted position with the target accuracy. Therefore, the mechanical displacement limiter triggers the controller of the servo motor to generate an excessive torque signal, which is associated with a reference position value of the drive shaft. This reference position value can be temporarily used to control the servo motor in subsequent production cycles of the machine until a new reference position value is obtained in a new calibration cycle.

4. The machine according to claim 3, characterized in that, The machine is configured such that the velocity pattern imparting displacement to the sealing device during a calibration cycle is different from the velocity pattern imparting displacement to the sealing device during a production cycle of the machine.

5. The machine according to claim 2, characterized in that, The machine is configured such that, in the production cycle of the machine after the calibration cycle, the position value used to control the servo motor is a coefficient F1 of the reference position value, or the result of applying a correction subtraction F2 to the reference position value.

6. The machine according to claim 2, characterized in that, The mechanical displacement limiter is a position-adjustable limiter.

7. The machine according to claim 6, characterized in that, The mechanical displacement limiter includes: a fixing component, which is securely engaged with the base frame of the machine; and an impact element, which is securely engaged with the sealing device, and which strikes the fixing component in the retracted position during the calibration cycle.

8. The machine according to claim 7, characterized in that, The impact element has a rod threadedly connected to the sealing device, and the position of the head of the impact element relative to the sealing device can be adjusted by screwing the rod in or out.

9. The machine according to claim 1, characterized in that: The sealing device includes a head and an anvil, wherein the head provides a channel for each sealing element supplier to guide a sealing element placed within the channel toward an outlet end of the channel, the outlet end leading to the anvil, the sealing element being pushed by a punch capable of reciprocating along the channel, and wherein: The channel is accessible through the supply window for the sealing element only when the sealing device is precisely in the retracted position.

10. The machine according to claim 9, characterized in that, The channel is provided with a retainer or brake for moving the sealing element toward the outlet end of the channel, and in accordance with The punch can be actuated in two strokes to push the sealing element placed in the channel in two stages. In the first stage of pushing: apply sufficient thrust to separate the sealing element from the sealing element continuously connected to it in the sealing element storage device, and move the sealing element through the channel toward the outlet end until it reaches the height of the retainer or the brake, which is designed to provide sufficient resistance to the involuntary advance of the sealing element; In the second stage of pushing: apply sufficient thrust to overcome the holding or braking force exerted by the retainer or the brake on the sealing element, so that the sealing element moves until it passes through the outlet end and flattens it onto the anvil; Throughout the pushing process, the first stage is initiated when the sealing device is in the retracted position, and the second stage is completed when the sealing device is in the working position.

11. The machine according to claim 10, characterized in that, The first stage of the push is completed when the sealing device is in the retracted position.

12. The machine according to claim 8, characterized in that: The machine has two sealing element suppliers, which are arranged opposite to each other in a fixed manner within the machine, for placing a first sealing element from its respective sealing element storage device through its respective associated supply window into the respective associated channel of the head of the sealing device when the sealing device is in the retracted position; and wherein: The machine is equipped with a device to ensure proper alignment of the two sealing element suppliers so that, when the sealing device is in its retracted position, each sealing element can be simultaneously placed into the associated channel of the sealing device through the associated supply window.

13. The machine according to claim 12, characterized in that, The device for ensuring proper alignment of the two sealing element suppliers includes: alignment holes disposed in the sealing element suppliers and the sealing device; and an auxiliary rod of sufficient length to be tightly inserted into both the alignment holes of at least one sealing element supplier and the alignment holes of the sealing device when the sealing device is in its retracted position.

14. A method of controlling the machine according to claim 1, comprising: During the production cycle of the machine, the amount of motion that the actuator needs to transmit to the motion chain that moves the sealing device from its working position to its retracted position is updated. The method includes running a machine calibration cycle to automatically acquire parameters of the actuator for updating the amount of motion.

15. The method according to claim 14, wherein, The actuator is a servo motor with an associated controller. The servo motor is actuated to a drive shaft connected to and driving the motion chain. The actuator needs to provide the motion chain with an updated amount of motion as the rotation of the drive shaft. The actuator transmits to the motion chain a non-manual update device to ensure the sealing device achieves the accuracy of the retracted position during the machine's production cycle. This device includes a mechanical displacement limiter that restricts the sealing device's travel to the retracted position during a machine calibration cycle, causing the sealing device to stop when it achieves the target accuracy. Consequently, the mechanical displacement limiter triggers the servo motor's controller to generate an excess torque signal associated with a reference position value for the drive shaft. This reference position value can be temporarily used to control the servo motor in subsequent machine production cycles until a new reference position value is obtained in a new calibration cycle. The method is characterized by comprising: a) During the machine calibration cycle, the travel of the sealing device to its retracted position is mechanically limited by the mechanical displacement limiter to trigger the generation of an excess torque signal in the controller. The excess torque signal corresponds to the reference position value of the drive shaft of the servo motor, causing the sealing device to stop at its retracted position with a target accuracy. The reference position value or a value derived therefrom is used as a position value to control the servo motor in subsequent production cycles of the machine. Specifically, the servo motor is stopped when the sealing device moves from its working position to its retracted position until a new reference position value is obtained in the new calibration cycle. b) Running n production cycles of the machine, using the position value, instructing the drive axis to transmit the amount of motion through the motion chain, causing the sealing device to move from its working position to its retracted position; and Repeat steps a) and b).

16. The method according to claim 15, characterized in that, The reference position value of the drive shaft is obtained by a rotary position encoder, which provides an output corresponding to the rotation of the drive shaft. If an incremental encoder is used, the output is in the form of voltage pulses; if an absolute encoder is used, the output is in the form of absolute angular position.

Images