SYSTEM FOR LOADING A TRANSPORT DISHWASHER

Abstract

System for loading a dishwasher, which is designed as a commercial transport dishwasher, wherein the system comprises: - a feed conveyor belt for feeding items to a loading area of ​​the transport dishwasher;and- a loading arrangement for automatically loading the transport dishwasher with items to be washed, wherein the loading arrangement comprises a gripper system with at least one parallel gripper (1), wherein the at least one parallel gripper (1) has automatically adjustable clamping jaws (2) and preferably clamping jaws (2) adjustable by an electric motor drive, wherein the parallel gripper (1) has at least two clamping jaws (2) that define at least one gripping area of ​​the parallel gripper (1) pointing in the direction of a part of the items to be washed (10), wherein the at least two clamping jaws (2) are movable relative to each other and also relative to a part of the items to be washed (10) to be gripped by the gripper system, characterized in that one of the at least two clamping jaws (2) has two projections (3; 5) arranged parallel to each other and each projecting perpendicular to the direction of movement (L), wherein these projections (3;5) are arranged side by side in a direction perpendicular to the direction of movement (L) of the clamping jaws (2), and the other of the at least two clamping jaws (2) has a single, protruding projection (4, 6) acting substantially centrally between the two projections (3, 5) of the first clamping jaw, so that the part of the dish (10) is gripped and centered via a three-point support.

Description

[0001] The present invention relates generally to the field of commercial dishwashing. In particular, the invention relates to a system for loading a dishwasher, which is designed as a commercial conveyor dishwasher. Furthermore, the present invention relates to a conveyor dishwasher with a corresponding loading system.

[0002] The transport dishwasher according to the invention is in particular a commercial transport dishwasher and can be designed as a belt transport dishwasher or as a basket transport dishwasher.

[0003] The transport dishwasher according to the invention is in particular a commercial transport dishwasher and can be designed as a belt transport dishwasher (flight-type warewasher) or as a rack-conveyor warewasher.

[0004] Conveyor dishwashers are used in commercial settings. Unlike household dishwashers, where the items to be cleaned remain stationary during the cleaning process, conveyor dishwashers transport the items through various cleaning zones within the machine.

[0005] In conveyor dishwashers, the items to be washed (such as trays, dishes, pots, glasses, cutlery, and other utensils) are conveyed through several treatment zones, such as pre-wash zone(s), main wash zone(s), post-wash / pre-rinse zone(s), rinse zone(s), and drying zone(s). A transport device, typically featuring compartments for holding the items, is used to move the items through the conveyor dishwasher in one direction. In belt conveyor dishwashers, these compartments can be formed by support fingers on a conveyor belt. In rack conveyor dishwashers, dish racks serve as the transport device, and these racks may contain compartments for holding the items. It is conceivable that the dish racks are transported through the rack conveyor dishwasher by a conveyor system.

[0006] Typically, the items to be cleaned are pre-sorted before being placed on the conveyor belt. For example, US 6,530,996 B2 discloses a rack conveyor dishwasher in which the items to be cleaned are pre-sorted in dish baskets and fed to the respective treatment zones.

[0007] Conveyor dishwashers are used particularly in large facilities such as cafeterias and canteens to clean large quantities of soiled items as economically as possible. Current conveyor dishwashers can clean several hundred place settings per hour. Studies have shown that, on average, each place setting typically consists of a tray, a plate, one or two bowls, a drinking glass, and a set of cutlery.

[0008] In almost all commercial kitchens, such as company canteens or cafeterias, the items used by diners (dishes, drinking glasses, cutlery, etc.) are returned on trays. From the return station, the place settings are transported to the dishwashing area. This transport is usually carried out using a conveyor belt. The conveyor belt moves the place settings directly from the return station to the loading area of ​​the dishwasher.

[0009] In the loading or infeed area of ​​the transport dishwasher, the items to be washed are usually removed manually by the operating personnel and sorted into the conveyor belt of the transport dishwasher.

[0010] With regard to trays or tray-like items, pre-sorting is usually carried out by having the operator manually remove the dishes and cutlery from a tray to be cleaned and then stacking the tray in front of the conveyor or infeed area (dirty side) of the conveyor dishwasher. The trays from this stack are then periodically sorted and placed into the conveyor belt of the conveyor dishwasher for cleaning.

[0011] This method of separating items by type has the advantage that trays cannot cast a spray shadow onto smaller items stacked behind them. Furthermore, this approach greatly simplifies and increases the efficiency of the loading and unloading process compared to mixing the items with the trays being cleaned.

[0012] While the trays from this stack are sorted by type and placed on the conveyor belt of the dishwasher for cleaning, it is not possible to clean other items such as plates, bowls, or other dishes. This is because the trays typically have to be placed perpendicular to the conveyor belt's direction of travel, thus filling the entire available area. Therefore, cleaning trays takes considerably more time compared to other items.

[0013] Furthermore, the operator of the conveyor dishwasher must integrate each tray into their workflow twice at the machine inlet: the first time when removing the cutlery and dishes from the tray to be cleaned, and the second time when actually placing the trays into the conveyor belt of the conveyor dishwasher.

[0014] The described work process involves a particularly high level of manual effort. Each item of dishware in each place setting must be individually removed from the tray and placed on the dishwasher's conveyor belt.

[0015] Furthermore, each individual piece of cutlery for each place setting must be manually removed from the tray and also placed in the transport dishwasher. The trays themselves are then treated as described above.

[0016] With a machine capacity of several thousand plates per hour, it is particularly important to work as quickly and efficiently as possible, which increases the physical strain on the operating personnel.

[0017] Based on this problem, the present invention aims to provide a solution for a transport dishwasher of the type mentioned above, in which it is possible to make the entire washing and rinsing process more efficient, thereby in particular reducing the working time of the dishwasher staff and reducing the resource consumption of the dishwasher.

[0018] This problem is solved according to the invention by the subject matter of independent claim 1, wherein advantageous further developments thereof are specified in the corresponding dependent claims.

[0019] Accordingly, the invention relates in particular to a system for preferably automatic or at least semi-automatic loading of a transport dishwasher, in particular a commercial dishwasher, wherein the system comprises a feed conveyor belt for supplying items to be washed to a loading area of ​​the transport dishwasher and a loading arrangement for automatically loading the transport dishwasher with items to be washed.

[0020] According to the invention, it is particularly provided that the loading arrangement comprises a gripper system with at least one parallel gripper, wherein the at least one parallel gripper has automatically adjustable clamping jaws. The clamping jaws are preferably adjustable by an electric motor drive.

[0021] Preferably, a parallel gripper actuated by an electric motor is proposed as the effector for the gripper system of the loading arrangement, although such electrically driven parallel grippers are rather uncommon in gripper technology for gripping and manipulating workpieces. Instead, pneumatically operated effectors, particularly in the form of so-called suction grippers, are primarily proposed for this purpose in gripper technology. Suction grippers known from gripper technology have a flexible suction cup that defines a suction chamber connectable to a vacuum source and has a front end region adjacent to a suction opening and an opposing rear end region, with a suction cup holder connected to the rear end region of the suction cup.

[0022] Suction cups are typically used to pick up, lift, and move objects. For this purpose, a suction cup usually has at least one flexible suction cup that defines a suction chamber connectable to a vacuum source. It has a front end that surrounds a suction opening and a rear end opposite it. The suction opening of the suction cup is usually formed by a sealing lip that rests against, or can be positioned against, the surface of the object being handled. This seal then encloses a suction chamber between the suction cup and the object's surface, which can be evacuated. This allows the suction cup to adhere tightly to the object's surface and hold it pneumatically.

[0023] However, experience with the use of such suction grippers in dishwashing technology has shown that suction grippers are not suitable for handling items to be washed, as there is a risk, particularly when handling soiled items, that food residues on the items to be handled, such as plates and bowls, will clog the vacuum lines pneumatically connected to the suction chamber during evacuation, thus preventing a secure grip on the items to be washed.

[0024] Pneumatically operated grippers are also known from gripper technology. However, even such grippers are only suitable for use as effectors in the loading area of ​​a transport dishwasher to a limited extent, if at all, since the grippers generally have a restricted gripping range, which makes it impossible to securely grip larger items such as plates, cups, or bowls.

[0025] Another disadvantage of pneumatically operated grippers, similar to those used in gripper technology, is that they require compressed air as an operating medium, which is generally not available in dishwashing areas. Furthermore, pneumatically operated grippers typically only allow two positions: open and closed. This prevents them from being used for a wide variety of dishwashing items, especially those of different sizes.

[0026] For this purpose, the invention preferably proposes an electrically driven parallel gripper as the effector for automatically loading the transport dishwasher with items to be washed. In this parallel gripper, the associated clamping jaws can be adjusted as desired over a gripping range of the parallel gripper by means of an electric motor drive. However, the invention is not limited to parallel grippers whose clamping jaws are adjustable by means of an electric motor drive. Rather, the present invention is intended to relate generally to parallel grippers whose clamping jaws are automatically adjustable.

[0027] Another advantage is that the effector, designed as a parallel gripper, can be implemented with a self-locking mechanism in a simple way, so that it holds the gripped item in the dishwashing area in a stress-free state without moving into an open position.

[0028] With the loading system according to the invention, the manual handling steps required for loading the transport dishwasher can be significantly reduced, since with the help of the gripper system not only plates, but also bowls or glasses or other items to be washed can be automatically sorted into the transport dishwasher in an efficient manner.

[0029] In this way, manual work steps and thus the workload for the dishwashing staff can be reduced overall, since ideally the staff no longer needs to load the conveyor dishwasher manually. In particular, the loading system according to the invention ensures the most ergonomic and user-friendly operation of the conveyor dishwasher possible, since manual loading of the items to be washed, and especially plates, cups, or bowls, into the conveyor dishwasher is no longer necessary.

[0030] In addition, the loading system according to the invention can improve the cleaning results of the dishwasher, since the loading arrangement automatically sorts all items of a defined group of items uniformly onto a correspondingly assigned conveyor belt of the conveyor dishwasher. Furthermore, the unloading process can be simplified, as each group of items can be transported along a defined conveyor track through the conveyor dishwasher and thus arrives at the unloading area of ​​the conveyor dishwasher already pre-sorted.

[0031] In order to be able to sort the items to be washed, which are fed to the loading area of ​​the transport dishwasher via the feed conveyor belt of the loading system according to the invention, according to predetermined or definable groups of items to be washed, it is conceivable that the loading system according to the invention has a item detector device which serves to detect the type of items to be washed (plates, cups, bowls, etc.) fed via the feed conveyor belt and then to use the at least one parallel gripper to pick up a specific type of item from the feed conveyor belt and sort it into a corresponding transport lane of the transport dishwasher.

[0032] The term "washing material detector device" as used herein refers to any detection device designed to detect or determine the type of wash material fed via the feed conveyor. In particular, it is conceivable that the washing material detector device includes at least one detector element with which the size, shape, and / or material of the wash material items fed via the feed conveyor can be detected.

[0033] According to possible implementations, the dishwashing item detector device can have at least one detector unit, preferably optical, inductive, or capacitive, so that the size, shape, and / or material of the corresponding dishwashing item can be detected to identify the type of dishwashing item. However, other detector types are also suitable, such as inductive proximity sensors, photoelectric sensors, light curtains, laser scanners, 3D lasers, cameras, rotary encoders, etc.

[0034] Because the gripper system of the loading arrangement has at least one parallel gripper, it is ensured that - with the exception of cutlery - almost all other types of items to be washed can be manipulated accordingly, i.e. in particular removed from the feed conveyor belt and sorted into a transport lane of the transport dishwasher.

[0035] Unlike gripping jaws, the operating principle of parallel grippers is based on the fact that they have at least two clamping jaws that can move linearly relative to each other. For example, the clamping jaws of the parallel gripper could be moved or driven by a type of "plunging piston." Alternatively, a linear drive could be used as the electric motor. Another option is to use a gearbox to transmit torque generated as needed by an electric motor to the clamping jaws.

[0036] Advantageously, the parallel gripper has at least two clamping jaws defining a gripping area of ​​the parallel gripper that points towards a part of the dishwashing material to be gripped, wherein these at least two clamping jaws are movable relative to each other and preferably also relative to a part of the dishwashing material to be gripped by the gripper system.

[0037] Because the at least two clamping jaws of the parallel gripper are both movable relative to the part of the dishwashing item to be gripped by the gripper system, it is ensured that the dishwashing item is not moved during the actual gripping process, but rather that the clamping jaws contact the part of the dishwashing item without moving it in the loading arrangement.

[0038] It is advantageous if the at least two clamping jaws of the parallel gripper have a self-centering function. To achieve this in a particularly simple yet effective manner, according to embodiments of the loading system according to the invention, at least one, and preferably exactly one, of the at least two clamping jaws has two projections arranged parallel to each other and each projecting perpendicular to the direction of movement, wherein these projections, which are occasionally also referred to as "gripping fingers", are arranged next to each other in a direction perpendicular to the direction of movement.

[0039] This simple implementation of the parallel gripper ensures that a dishwashing item is gripped by the gripper's jaws via a three-point support. Because the jaws of the parallel gripper can move relative to each other and relative to the dishwashing item being gripped, a self-centering function is automatically achieved.

[0040] In order to ensure that a large number of different types of items to be washed can be handled safely with the aid of the at least one parallel gripper of the gripper system, further developments of the loading system according to the invention provide that the clamping jaws preferably have three first projections extending in a first direction perpendicular to the direction of movement and preferably three further second projections extending in the first direction perpendicular to the direction of movement, wherein the preferably three first projections are arranged further outwards with regard to the direction of movement of the clamping jaws than the preferably three further, second projections, and wherein the preferably three first projections extend further in the first direction perpendicular to the direction of movement than the preferably three further, second projections.

[0041] In this way, two different gripping areas can effectively be realized with the parallel gripper. This expands the application range of the parallel gripper or the loading system according to the invention, since a large number of different types of items to be washed, and in particular items or parts of items of different sizes, can be handled safely with the loading system.

[0042] This embodiment makes it particularly possible to define different (effective) gripping ranges with the at least two clamping jaws of the parallel gripper. This ensures that different sized items can be securely gripped and manipulated with one and the same parallel gripper.

[0043] According to preferred embodiments of the loading system according to the invention, the parallel gripper is movable in a vertical direction relative to the item to be gripped, in order to position and align the parallel gripper as needed with respect to the item to be gripped, so that the item to be cleaned can be positioned within a gripping area defined by the clamping jaws of the parallel gripper. For this purpose, the parallel gripper is preferably connected to, or at least connectable to, a suitable manipulator, such as a robot arm.

[0044] In particular, in a further development of the last-mentioned embodiment, it is provided that the clamping jaws have at least two and preferably exactly three first projections extending in the first direction perpendicular to the direction of movement, as well as at least two and preferably exactly three second projections extending in the first direction perpendicular to the direction of movement, wherein in an open position of the parallel gripper the distance between opposing first projections is between 350 mm and 270 mm, and wherein in a closed position of the parallel gripper the distance between opposing first projections is between 230 mm and 150 mm.

[0045] In this way, the parallel gripper is designed for the wide variety of plates and bowls found in dishwashing areas. In particular, the parallel gripper is suitable for items that differ in shape and size.

[0046] For example, the dishwashing category "plates" includes dinner plates, soup plates, and saucers. Field observations have shown that plate diameters range from 145 mm to 270 mm. Furthermore, plates are used in round, square, and oval shapes. Bowls have been measured with diameters ranging from 85 mm to 175 mm. As with plates, bowls are typically round, oval, and square.

[0047] This wide variety of different types of items to be washed can preferably be handled safely with the parallel gripper according to the invention.

[0048] In a preferred further development of the latter embodiment, it is provided that in the open position of the parallel gripper, the distance between opposing second projections is preferably between 100 mm and 50 mm, and in the closed position of the parallel gripper, the distance between opposing second projections is preferably between 70 mm and 20 mm. This embodiment thus covers the dimensions of the parts to be manipulated during washing as recorded in the field observations.

[0049] This selection of different gripping areas allows the parallel gripper to handle a wide range of items to be washed. This applies in particular to plates, saucers, bowls, glasses, cups, and even pots if necessary.

[0050] According to further developments of the loading system according to the invention, it is provided that the clamping jaws have at least two and preferably exactly three first projections which extend in a first direction perpendicular to the direction of movement, wherein the clamping jaws furthermore each have at least two and preferably exactly three second projections which extend in a second direction perpendicular to the direction of movement, wherein the second direction is opposite to the first direction.

[0051] This embodiment of the loading system according to the invention further expands the application range of the at least one parallel gripper, since a large number of different gripping areas can be realized. In particular, it is conceivable in this context that the parallel gripper, or at least parts thereof, is rotatably mounted about a rotational axis running parallel to the direction of movement of the clamping jaws, such that, selectively or as required, the at least one first projection of the clamping jaws or the at least one second projection of the clamping jaws define the efficient gripping area of ​​the parallel gripper.

[0052] Advantageously, in an open position of the parallel gripper, the distance between the first projections should be different from the distance between the second projections.

[0053] In this context, it is advantageous that in an open position of the parallel gripper, the distance between the first projections is greater than the distance between the second projections, in order to increase the number of gripping areas that can be realized with the parallel gripper.

[0054] According to embodiments of the loading system according to the invention, it is provided that the clamping jaws of the parallel gripper are at least partially covered with an elastic material.

[0055] By coating the clamping jaws with an elastic material, it is ensured that the item being washed, which is gripped between at least two clamping jaws, is not damaged and / or that the clamping jaws are protected. This is particularly advantageous when gripping items that are especially delicate, such as glasses.

[0056] Advantageously, the clamping jaws of the parallel gripper are at least partially coated with an elastomer. Hydrogenated acrylonitrile butadiene rubber (HNBR) is also a suitable elastic material. HNBR offers the advantage of being highly inert due to the absence of double bonds, thus increasing its durability. Furthermore, HNBR is relatively temperature-resistant, allowing clamping jaws coated with HNBR to be operated at temperatures up to, for example, 150 degrees Celsius, or to come into contact with parts being washed that have a temperature of up to 150 degrees Celsius.

[0057] In particular, it is conceivable that to form a coating of elastic material, the elastic material is vulcanized onto the clamping jaws or that the clamping jaws are formed with the elastic material by an injection molding process.

[0058] Vulcanization means, in particular, that an intermediate layer is provided between the elastic material and the material of the clamping jaw. This intermediate layer is a suitable bonding agent to ensure a strong bond between the elastic material and the clamping jaw material and, in particular, to prevent the elastic material from becoming porous.

[0059] When forming a clamping jaw with an elastic material, an injection molding process is preferably used. In this process, the clamping jaw is placed in a mold, and the elastic material, in a fluid state, is injected into the mold so that it fills the cavity between the mold and the clamping jaw. The elastic material then hardens within the mold. Following this, the mold can be removed, and the clamping jaw formed by the elastic material can be taken out.

[0060] According to further developments of the aforementioned aspect, it is stipulated that the clamping jaws of the parallel gripper each have at least one transverse bore. This at least one transverse bore in the area of ​​the clamping jaws improves the retention of the elastic material when it is applied to the clamping jaws. In particular, the retention of the elastic material on the clamping jaws is improved compared to a case where the clamping jaws are not further structured or modified, i.e., essentially smooth. Specifically, it is stipulated that the elastic material covers the at least one transverse bore.

[0061] The invention is by no means limited to loading systems in which at least one parallel gripper with only two clamping jaws is used. Rather, the invention also relates to loading systems with parallel grippers, each of which has a total of three clamping jaws that are movable relative to each other and relative to a part of the dishwashing material to be gripped by the gripper system, wherein the movement of the three clamping jaws is synchronized.

[0062] Advantageously, the clamping jaws of the parallel gripper are designed to grip a part of the dishwashing material to be gripped via friction and / or form fit.

[0063] Furthermore, according to preferred implementations of the loading system according to the invention, the electromechanical drive of the parallel gripper is designed with a self-locking mechanism such that the electromechanical drive fixes a relative distance between the clamping jaws in a stress-free state.

[0064] The invention further relates to a transport dishwasher with at least one transport device, preferably in the form of at least one conveyor belt, wherein the transport dishwasher is provided at its inlet area with at least one loading system of the type described above according to the invention for preferably automatically placing items to be washed into the transport device of the transport dishwasher.

[0065] Exemplary embodiments of the solution according to the invention are described in more detail below with reference to the accompanying drawings.

[0066] They show: Fig. 1 schematically and in a side view a first exemplary embodiment of the parallel gripper used in the loading system according to the invention; Fig. 2 schematically the parallel gripper according to Fig. 1 in a view from below; Fig. 3A schematically and in an isometric view the parallel gripper according to Fig. 1 with a first part of the dishwashing material gripped by the parallel gripper; Fig. 3B schematic and in an isometric view of the parallel grippers according to Fig. 1 with a second part of the dishwashing material gripped by the parallel gripper; Fig. 4 schematically and in a side view a second exemplary embodiment of the parallel gripper according to the invention; Fig. 5 schematically and in a side view a third exemplary embodiment of the parallel gripper according to the present invention; Fig. 6A schematically and in an isometric view the parallel gripper according to Fig. 5 with a first part of the dishwashing material gripped by the parallel gripper; and Fig. 6B schematic and in an isometric view of the parallel grippers according to Fig. 5 with a second part of the dishwashing material gripped by the parallel gripper.

[0067] The following sections refer to the descriptions in Fig. 1 to Fig. 6 different embodiments of the parallel gripper belonging to the gripper system of the loading arrangement 1 described.

[0068] The parallel grippers 1 The exemplary embodiments are each designed as electrically driven parallel grippers. 1 executed and for this purpose feature a housing of the parallel gripper 1 recorded electric motor drive.

[0069] Furthermore, the parallel gripper 1 a total of two clamping jaws, each driven by the electric motor drive 2 on, which are mounted in corresponding seats. Although the parallel grippers are shown in the drawings. 1 Only two clamping jaws each 2In the (not shown) embodiments, it is provided that the parallel gripper 1 also three clamping jaws 2 can exhibit features that are captured in three coplanar seats.

[0070] The clamping jaws 2 are each held in the seats in such a way that they are moved by means of the electric motor drive in a direction (= direction of movement L) that is orthogonal to the longitudinal axis of the parallel gripper 1 The jaws are alternately displaceable in both directions between a proximal and a distal position with respect to the longitudinal axis. In the proximal position of the clamping jaws 2 The parallel gripper is located 1 in the open position, while in the distal position of the clamping jaws 2 the parallel gripper 1 in its closed position.

[0071] Inside the housing of the parallel gripper 1Are appropriate means provided for transmitting the movement of the electric motor drive to the clamping jaws? 2 Preferably, these means are designed such that when the electric motor drive is actuated, the clamping jaws 2 They will be moved synchronously.

[0072] In the embodiments of the parallel gripper shown in the drawings 1 It is planned that the parallel gripper 1 two, at least one pointing towards a part of the dishwashing to be grasped 10 pointing gripping range of the parallel gripper 1 defining clamping jaws 2 features, wherein the at least two clamping jaws 2 relative to each other and preferably also relative to a part of the dishwashing material to be gripped by the gripper system 10 are movable.

[0073] In particular, one of the two clamping jaws has 2two projections arranged parallel to each other and each protruding perpendicularly to the direction of movement L 3 , 5 on, whereby these protrusions 3 , 5 are arranged side by side in a direction perpendicular to the direction of movement L.

[0074] It is intended that the parallel gripper 1 relative to a piece of dishware to be grasped 10 is movable in a vertical direction to use the parallel gripper as needed 1 with regard to the item to be washed 10 to position so that the item to be cleaned is 10 in one of the clamping jaws 2 of the parallel gripper 1 defined and in the direction of the item to be washed 10 The gripping area can be positioned using the parallel gripper. 1preferably connected or connectable to a suitable manipulator, in particular in the form of a robot arm.

[0075] In Fig. 1 is an embodiment of the parallel gripper 1 provided for, in which the respective clamping jaws 2 Gripping fingers or projections 3 , 4 , 5 , 6 in a stepped arrangement. Specifically, in this embodiment, the two clamping jaws are provided for. 2 at least two and preferably exactly three first projections extending in a first direction perpendicular to the direction of movement L 3 , 4 (Gripping fingers) as well as at least two and preferably exactly three further second projections extending in the first direction perpendicular to the direction of movement L 5 , 6 exhibit.

[0076] It is intended that the distally (outerly) arranged (first) protrusions 3, 4 extend further in the first direction perpendicular to the direction of movement L than the (second) projections arranged further inwards (proximally). 5 , 6 .

[0077] In this way, the parallel gripper indicates 1 two effectively usable and pointing towards the part of the dish to be washed 10 pointing gripping areas, so that with the help of the parallel gripper 1 Dishwashing items 10 Different sizes can be gripped and handled securely.

[0078] In this regard, reference should also be made to the representations in Fig. 3A and Fig. 3B was referred to, whereby in Fig. 3A with the parallel gripper 1 a relatively large portion of the dishwashing contents 10 (Plate) is grabbed while in Fig. 3B of the same parallel gripper 1 a relatively small portion of dishwashing items 10 (bowl) is grasped.

[0079] At the in Fig. In the state shown in 3A, the gripping range of the parallel gripper is reached. 1 for use, which is provided by the two distally arranged (first) projections 3 , 4 the clamping jaws 2 is defined, while in Fig. 3B the gripping range of the parallel gripper 1 which is used by the two more proximally arranged (second) projections 5 , 6 is formed.

[0080] In this embodiment, it is specifically provided that both clamping jaws 2 Each has at least two and preferably exactly three first projections extending in the first direction perpendicular to the direction of movement L. 3 , 4 as well as at least two and preferably exactly three second projections also extending in the first direction perpendicular to the direction of movement L 5 , 6 5 exhibit, wherein the parallel gripper is in an open position 1preferably a gap between the first projections 3 , 4 between 350 mm and 270 mm, and preferably in a closed position of the parallel gripper 1 a gap between the first projections 3 , 4 between 230 mm and 150 mm.

[0081] In this way the parallel gripper 1 Designed for the wide variety of plates and bowls found in dishwashing areas. The parallel gripper is particularly suitable. 1 for items to be washed that differ in shape and size 10For example, the dishwashing category "plates" includes dinner plates, soup plates, and saucers. Field observations have shown that plate diameters range from 145 mm to 270 mm. Furthermore, plates are used in round, square, and oval shapes. Bowls have been measured with diameters ranging from 85 mm to 175 mm. As with plates, bowls are typically round, oval, and square.

[0082] This wide variety of different types of items to be washed can preferably be handled with the parallel gripper according to the invention. 1 Certainly manipulable.

[0083] In a further development of the latter embodiment, it is provided that in the open position of the parallel gripper 1 a gap between the second projections 5 , 6 between 100 mm and 50 mm, with the parallel gripper in the closed position 1a gap between the second projections 5 , 6 The dimensions are between 70 mm and 20 mm. This embodiment thus covers the dimensions of the parts to be manipulated during washing, as recorded in the field observations. 10 away.

[0084] In this context, reference should also be made to the in Fig. 4 shown embodiment of the parallel gripper according to the invention 1 referred.

[0085] This choice of different gripping areas makes it possible to use the parallel gripper 1 a wide range of items to be treated during washing 10 Coverable. This applies in particular to plates, saucers, bowls, glasses, cups and possibly even pots.

[0086] Basically, the dishwashing part 10 always across the two clamping jaws 2 gripped. As already indicated, preferably at least one clamping jaw is used. 2two gripping fingers / protrusions arranged parallel to each other and each protruding perpendicular to the direction of movement L 3 , 5 for use when gripping with an additional gripping finger / projection 4 , 6 They work together. Therefore, three gripping fingers / protrusions are always used to grasp a piece of dishware. 3 , 4 or 5 , 6 for use, consequently the dishwashing part 10 of the three grasping fingers / protrusions 3 , 4 or 5 , 6 It is always centered, so that minor deviations can be compensated for.

[0087] Furthermore, it can be used with three gripping fingers / protrusions. 3 , 4 or 5 , 6 any type of dishwashing waste 10 be seized.

[0088] Based on the illustrations in Fig. 4 can be seen that in this embodiment of the parallel gripper according to the invention1 the protrusions or grasping fingers 3 , 4 , 5 , 6 the clamping jaws 2 They can be of varying lengths. The length is defined by the dimensions of the projections / fingers. 3 , 4 , 5 , 6 in the first direction perpendicular to the direction of movement L.

[0089] The in Fig. 5 shown embodiment of the parallel gripper according to the invention 1 is characterized by an alternating arrangement of the gripping fingers / projections 3 , 4 , 5 , 6 out. This involves applying pressure to the two clamping jaws. 2 alternating grasping fingers 3 , 4 , 5 , 6This creates at least two opposing gripping areas. One area is suitable for items to be washed, for example, with a size of approximately 290 mm to 170 mm, while the opposite area can be used for items with a size of, for example, 170 mm to 50 mm, although other dimensions of the gripping areas are also conceivable.

[0090] Specifically, the following applies to the in Fig. 5 shown embodiment of the parallel gripper according to the invention 1 It is intended that the two clamping jaws 2 preferably exactly three first projections / gripping fingers 3 , 4 exhibiting a first direction perpendicular to the direction of movement L, and that the two clamping jaws 2 Furthermore, preferably exactly three second projections / gripping fingers 5 , 6exhibiting a second direction that extends perpendicular to the direction of movement L, with the second direction being opposite to the first direction.

[0091] It is intended that the parallel gripper 1 or at least parts thereof are rotatably mounted about an axis of rotation parallel to the direction of movement L, such that the first projections can be selectively or as required 3 , 4 the clamping jaws 2 or the second projections 5 , 6 the clamping jaws 2 the direction of the item to be washed 10 Define the pointing reach area.

[0092] In Fig. 6A and Fig. 6B is the gripping of large or small items to be washed. 10 As shown. Furthermore, it can be seen that each gripper side has at least two, preferably three, gripping fingers. 3 , 4 , 5 , 6, exhibits. As in the case of the reference to Fig. In the staged embodiment described in point 1, the item to be washed is... 10 in the parallel gripper 1 over three gripping fingers 3 , 4 or 5 , 6 centered and positional deviations compensated.

[0093] In the embodiments of the parallel gripper according to the invention shown in the drawings 1 It is specifically intended that the clamping jaws 2 of the parallel gripper 1 are trained to grasp a part of the dishwashing material to be washed 10 to grip via friction and / or form fit.

[0094] Furthermore, it is advantageous that the electric motor drive of the parallel gripper 1 is designed with a self-locking mechanism such that the electromechanical drive maintains a relative distance between the clamping jaws in a voltage-free state. 2 fixed to each other.

[0095] The invention is not limited to the embodiments of the parallel gripper shown in the drawings. 1 limited, but results from a combination of all the features revealed herein.

[0096] In this context, it is particularly conceivable that the clamping jaws 2 of the parallel gripper 1 are at least partially coated with an elastic material. Furthermore, it is conceivable that the parallel gripper 1 a total of three clamping jaws 2 exhibits which are relative to each other and relative to a part of the dishwashing material to be gripped by the gripper system 10 are movable, whereby a movement of the three clamping jaws 2 is synchronized.

[0097] The invention further relates to a conveyor dishwasher (not shown in the drawings) with at least one transport device, preferably in the form of at least one conveyor belt, wherein the conveyor dishwasher is provided at its inlet area with at least one loading system for preferably automatically placing items to be washed into the transport device of the conveyor dishwasher. The loading system has at least one parallel gripper. 1 of the type described above. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 6530996 B2

[0006]

Claims

[1] System for loading a dishwasher, which is designed as a commercial transport dishwasher, in particular, the system comprising: - a feed conveyor belt for supplying items to a loading area of ​​the transport dishwasher; and - a loading arrangement for automatically loading the transport dishwasher with items to be washed, wherein the loading arrangement has a gripper system with at least one parallel gripper (1), wherein the at least one parallel gripper (1) has automatically adjustable clamping jaws (2) and preferably clamping jaws (2) adjustable by an electric motor drive. [2] System according to claim 1, wherein the parallel gripper (1) has at least two clamping jaws (2) which define at least one gripping area of ​​the parallel gripper (1) pointing in the direction of a part of the dishwashing material (10) to be gripped, wherein the at least two clamping jaws (2) are movable relative to each other and preferably also relative to a part of the dishwashing material (10) to be gripped by the gripper system. [3] System according to claim 2, wherein at least one and preferably exactly one of the at least two clamping jaws (2) has two projections (3; 5) arranged parallel to each other and each projecting perpendicular to the direction of movement, wherein these projections (3; 5) are arranged next to each other in a direction perpendicular to the direction of movement (L) of the clamping jaws (2). [4] System according to claim 2 or 3, wherein the clamping jaws (2) preferably have three first projections (3, 4) extending in a first direction perpendicular to the direction of movement (L) and preferably three further second projections (5, 6) extending in the first direction perpendicular to the direction of movement (L), wherein the preferably three first projections (3, 4) are arranged further outwards with respect to the direction of movement (L) of the clamping jaws (2) than the preferably three further, second projections (5, 6), and wherein the preferably three first projections (3, 4) extend further in the first direction perpendicular to the direction of movement (L) than the preferably three further, second projections (5, 6). [5] System according to one of claims 1 to 4, wherein the parallel gripper (1) is movable in a vertical direction relative to a part of the dishwashing material (10) to be gripped, in order to position the parallel gripper (1) with respect to the part of the dishwashing material (10) to be gripped as required, so that the part of the dishwashing material (10) to be cleaned can be positioned in a gripping area defined by the clamping jaws (2) of the parallel gripper (1), wherein for this purpose the parallel gripper (1) is preferably connected or connectable to a corresponding manipulator, in particular in the form of a robot arm. [6] System according to claims 4 and 5, wherein the clamping jaws (2) have at least two and preferably exactly three first projections (3, 4) extending in the first direction perpendicular to the direction of movement (L) and at least two and preferably exactly three second projections (5, 6) extending in the first direction perpendicular to the direction of movement (L), wherein in an open position of the parallel gripper (1) the distance between opposing first projections (3, 4) is between 350 mm and 270 mm, and wherein in a closed position of the parallel gripper (1) the distance between opposing first projections (3, 4) is between 230 mm and 150 mm, wherein in the open position of the parallel gripper (1) the distance between opposing second projections (5, 6) is preferably between 100 mm and 50 mm, and wherein in the closed position of the parallel gripper (1) the distance between opposing second projections (5,6) preferably between 70 mm and 20 mm. [7] System according to one of claims 1 to 6 in combination with claim 4, wherein the clamping jaws (2) have at least two and preferably exactly three first projections (3, 4) extending in a first direction perpendicular to the direction of movement (L), and wherein the clamping jaws (2) furthermore each have at least two and preferably exactly three second projections (5, 6) extending in a second direction perpendicular to the direction of movement (L), wherein the second direction is opposite to the first direction. [8] System according to claim 7, wherein the parallel gripper (1) or at least parts thereof is rotatably mounted about an axis of rotation parallel to the direction of movement (L) such that, optionally or as required, the first projections (3, 4) of the clamping jaws (2) or the second projections (5, 6) of the clamping jaws (2) define the gripping area pointing in the direction of a part of the dishwashing material (10) to be gripped. [9] System according to claim 7 or 8, wherein in an open position of the parallel gripper (1) the distance between two opposing first projections (3, 4) is greater than the distance between two opposing second projections (5, 6). [10] System according to any one of claims 1 to 9, wherein the clamping jaws (2) of the parallel gripper (1) are at least partially covered by an elastic material. [11] System according to one of claims 1 to 10, wherein the parallel gripper (1) has a total of three clamping jaws (2) which are movable relative to each other and relative to a dishwashing part (10) to be gripped by the gripper system, wherein a movement of the three clamping jaws (2) is synchronized. [12] System according to one of claims 1 to 11, wherein the clamping jaws (2) of the parallel gripper (1) are designed to grip a part of the dishwashing material (10) to be gripped by friction and / or form locking. [13] System according to one of claims 1 to 12, wherein the electromotive drive of the parallel gripper (1) is designed with a self-locking mechanism such that the electromotive drive fixes a relative distance between the clamping jaws (2) in a stress-free state. [14] System according to one of claims 1 to 13, wherein the clamping jaws (2) of the parallel gripper (1) are identical to each other. [15] Transport dishwasher with at least one transport device, preferably in the form of at least one conveyor belt, wherein the transport dishwasher is provided at its inlet area with at least one system according to one of claims 1 to 14 for preferably automatically placing items to be washed into the transport device of the transport dishwasher.

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