Gripping device for gripping blocks of food to be sliced, slicing device for blocks of food, method

Abstract

The invention relates to a gripping device (20) for gripping blocks of food (2) to be sliced, the gripping device (20) comprising a product-detecting device (1), the product-detecting device (1) having at least one ejector (3), characterized in that the product-detecting device (1) comprises a flowmeter (4) operatively connected to the ejector (3). The invention further relates to a slicing device for blocks of food (2), the slicing device comprising at least one gripping device (20). The invention further relates to a corresponding product-detecting device (1) and to a corresponding method.

Description

State of the art

[0001] The present invention relates to a gripper device for gripping food bars to be cut open, wherein the gripper device comprises a product recognition device, wherein the product recognition device has at least one ejector.

[0002] Such gripping devices are known from the prior art and are used in particular in slicing devices to grip and secure food bars, for example, sausage, ham, meat, and cheese bars. Such slicing devices are also referred to as "slicers" or "high-performance slicers".

[0003] To determine when a food bar needs to be cut, a gripping mechanism is typically brought into contact with or penetrates the food bar. This requires a way to detect when the gripping device is positioned close enough to the food bar so that the gripping mechanism can be triggered at the correct moment. The food bar can then be cut open.

[0004] Such a gripper arrangement is known, for example, from EP 2 532 495 A1, which forms the basis for the preamble of claim 1. Typically, the food bar is detected by means of a torque that increases during mechanical contact between the gripper device and the food bar. However, such and similar gripper devices and methods have the disadvantage that a comparatively large force acts on the food bar before it is detected. This can lead to food bars being damaged or even destroyed. Furthermore, it can cause soft and / or light food bars to be pushed aside. Another disadvantage of such methods and machines is that (especially soft) food bars cannot always be detected even after optimization of the process parameters, which can significantly disrupt the cutting process.

[0005] Another gripper for use in a cutting machine is also known from publication WO 2012 / 041 491 A1, which is based on the use of negative pressure by means of a deformable membrane. Disclosure of the invention

[0006] It is an object of the present invention to provide a gripping device that enables reliable and fast gripping of food bars to be cut open.

[0007] The object of the present invention is achieved by a gripper device for gripping food bars to be cut open, wherein the gripper device comprises a product recognition device, wherein the product recognition device has at least one ejector, characterized in that the product recognition device comprises a flow meter operatively connected to the ejector.

[0008] According to the invention, this makes it possible to precisely recognize or detect different types of food bars, for example, both hard and soft food bars. The invention allows product recognition (i.e., the detection of a food bar to be cut open) to be carried out with the aid of an ejector, which is part of a product recognition device, and a flow meter. For this purpose, the ejector is specifically linked to the flow meter. According to the invention, even soft food bars can be reliably recognized and subsequently secured and cut open.According to the invention, the switching time for gripping a food bar can be advantageously reduced, for example, to less than 50 milliseconds, which offers a significant advantage over devices known from the prior art and enables the quick and cost-effective cutting of food bars of varying composition. The functional connection particularly includes a fluid connection, such that the product detection device particularly comprises a flow meter in fluid communication with the ejector.

[0009] Advantageous embodiments and further developments of the invention can be found in the dependent claims and in the description with reference to the drawings.

[0010] According to the invention, the flow meter is designed to detect a volume flow caused by a movement of the ejector, in particular relative to a guiding component of the gripper device.

[0011] According to a preferred embodiment of the present invention, this makes it possible for the flow meter to be configured for detecting a volumetric flow of at least one fluid and / or fluid mixtures, in particular at least one gas and / or gas mixtures, preferably air. Typically, the gripper device (or a part of the gripper device) first approaches a food bar to be cut. According to one embodiment of the invention, when the ejector of the gripper device comes into contact with the food bar, the relative movement between the ejector and the food bar is mechanically stopped, and the ejector instead moves (together with the food bar) relative to other components of the gripper device (for example, relative to a guide component of the gripper device in which the ejector may be movably arranged).According to one embodiment of the invention, the relative movement of the ejector with respect to other components of the gripper device, particularly after mechanical contact has been established between the ejector and the food bar, generates a volume flow which can be measured or detected by the flow meter (or volume flow meter).

[0012] According to the invention, it is provided that the movement of the ejector can be measured using the detected volume flow.

[0013] According to a preferred embodiment of the present invention, this makes it possible to infer the relative movement of the ejector upon contact with a food bar from the detected volume flow (or, conversely, to determine the relative movement of the ejector using the detected volume flow), thus confirming the presence of mechanical contact between the ejector and the food bar. This makes it possible, in particular, to detect contact between the food bar and the ejector even with relatively small forces acting upon it. This leads, in particular, to reliable detection of the food bars and simultaneously enables high process speeds.In particular, this makes it possible for even soft food bars to be only slightly deformed (because only a small force is needed for the detection of the food bar) and yet still be reliably detectable.

[0014] According to a preferred embodiment of the present invention, the ejector is provided to be part of the gripper device, in particular part of a gripping mechanism of the gripper device.

[0015] According to a preferred embodiment of the present invention, this makes it possible for the ejector itself to have a mechanism (for example, a pneumatic or mechanical one) which, after detection of the contact between the ejector and the food bar, is at least part of a gripping mechanism by means of which the food bar is gripped (or secured / held).

[0016] According to a preferred embodiment of the present invention, a means for evaluating a measured variable of the flow meter and for controlling a gripping mechanism of the gripper device is provided.

[0017] According to a preferred embodiment of the present invention, it is provided that - with the aid of the means - the gripping mechanism of the gripper device is designed to grip the food bar, in particular when a definable threshold value of the measured quantity is exceeded.

[0018] According to a preferred embodiment of the present invention, this makes it possible to evaluate the measured volumetric flow rate using means for evaluating a measured value from the flow meter and for controlling a gripping mechanism. In particular, it is possible to compare the measured volumetric flow rate with a definable threshold value using means for evaluating a measured value from the flow meter and for controlling a gripping mechanism. This makes it possible for a gripping mechanism of the gripping device to be activated and to grasp or hold the detected food bar when the threshold value is exceeded.In particular, it is possible that the means for evaluating a measured value of the flow meter and for controlling a gripping mechanism includes a control element by means of which the gripping mechanism can be controlled and activated and optionally also deactivated.

[0019] According to the invention, the movement of the ejector is caused by contact with a food bar, wherein the ejector is designed such that the ejector reduces a volume in the event of contact with the food bar, the reduction of the volume at least partially causing the volume flow.

[0020] According to a preferred embodiment of the present invention, this advantageously allows the ejector, as soon as it comes into contact with a food bar to be cut, to be moved relative to other components of the gripper device and thereby introduced / moved into a volume (for example, relative to guiding components of the gripper device, which may be designed in particular to guide the ejector), which is thereby reduced in size. This makes it possible to at least partially displace a fluid or fluid mixture (for example, air) located in the volume. Advantageously, this makes it possible to initiate a volume flow that can be detected / measured using the flow meter.

[0021] According to a preferred embodiment of the present invention, the flow meter is provided to be arranged at least partially on and / or in a supply line of the volume.

[0022] According to a preferred embodiment of the present invention, this makes it advantageously possible for an operative connection or a functional relationship to exist between the ejector and the flow meter.

[0023] Another object of the present invention is a cutting device for food bars, wherein the cutting device comprises at least one product feed for feeding the food bars and a gripper device according to one embodiment of the present invention.

[0024] The cutting device according to the invention has, compared to the prior art, all the advantages already explained in connection with the gripper device according to the invention described above. In particular, it is advantageously possible for the cutting device to include a product feed by means of which the food bars can be introduced into the cutting device, so that the gripper device can subsequently grip the food bars to be cut.

[0025] Furthermore, a product recognition device for a gripper device for gripping food bars to be cut is disclosed, wherein the product recognition device has at least one ejector, characterized in that the product recognition device comprises a flow meter operatively connected to the ejector.

[0026] The product recognition device has, compared to the prior art, the advantages already explained in connection with the gripper device according to the invention described above.

[0027] Furthermore, another object of the present invention is a method for gripping a food bar to be cut open by means of a gripper device for food bars to be cut open according to the invention, wherein the gripper device comprises a product recognition device, wherein the product recognition device has at least one ejector, characterized in that the product recognition device comprises a flow meter in operative connection with the ejector.

[0028] The method according to the invention has, compared to the prior art, all the advantages already explained in connection with the gripper device described above. In particular, the invention makes it possible to detect food bars to be cut open in a particularly fast and cost-effective manner, while keeping the force acting on the food bars during detection or subsequent cutting comparatively low.

[0029] According to a preferred embodiment of the present invention, it is provided that a volume flow caused by a movement of the ejector, in particular relative to a guiding component of the gripper device, is detected using the flow meter.

[0030] According to a preferred embodiment of the present invention, it is provided that a means for evaluating a measured variable of the flow meter and for controlling a gripping mechanism of the gripper device is provided, wherein the gripper device performs at least a partial relative movement in the direction of the food bar, in particular with the aid of a means for driving, wherein the relative movement is stopped as a result of a detection of an exceedance of a definable threshold value by the measured variable.

[0031] According to a preferred embodiment of the present invention, this advantageously makes it possible for the gripper device (or at least a part of the gripper device) to be moved towards the food bar, for example, in a search operation (i.e., there is a relative movement between the food bar and the gripper device). For this purpose, a drive means may be provided, which is associated with or arranged on the gripper device or the food bar, and the relative movement between the gripper device and the food bar is carried out with the aid of the drive means.In particular, it is possible that the approach (relative movement) is stopped by means of the means for evaluating a measured value of the flow meter and for controlling a gripping mechanism of the gripper device as soon as the measured value of the flow meter exceeds a definable threshold and the means for evaluating a measured value of the flow meter and for controlling a gripping mechanism of the gripper device and / or the flow meter detects this exceedance.

[0032] According to a preferred embodiment of the present invention, it is provided that the gripping mechanism of the gripper device grips the food bar as a result of the detection of the exceedance of the definable threshold value by the measured quantity.

[0033] According to a preferred embodiment of the present invention, this advantageously makes it possible for the gripping mechanism to be activated and to grasp the food bar after it has been determined, by means of the means for evaluating a measured value of the flow meter and for controlling a gripping mechanism, that the measured value of the flow meter exceeds a definable threshold value. In particular, it is possible for the gripping mechanism of the gripper device to grasp the food bar after and / or while the movement of the gripper device towards the food bar is stopped.

[0034] Further details, features, and advantages of the invention will become apparent from the drawings and from the following description of preferred embodiments with reference to the drawings. The drawings merely illustrate exemplary embodiments of the invention, which do not limit the essential concept of the invention. Brief description of the drawings

[0035] Figure 1 schematically shows a gripper device according to an exemplary embodiment of the present invention. Embodiments of the invention

[0036] In Figure 1A gripper device 20 according to an exemplary embodiment of the present invention is shown schematically. The gripper device 20 is designed for gripping food bars 2 to be cut as part of a cutting device or cutting machine for food bars 2 (also called a "slicer" or "high-performance slicer"). The gripper device 20 comprises a product recognition device 1, wherein the product recognition device 1 has an ejector 3. It is also conceivable that the product recognition device 1 has a plurality of ejectors 3. Furthermore, the product recognition device 1 comprises a flow meter 4, which is operatively connected to the ejector 3. In order to fix or grip a food bar 2 to be cut, the gripper device 20 is first moved towards the food bar 2 (or...The food bar 2 is moved towards the gripper device 20, in particular by a drive means which is associated with or arranged on the gripper device 20 or the food bar 2. This process is represented by the arrow 2, which symbolizes the relative movement between the food bar 2 and the gripper device 20. As soon as there is mechanical contact between the food bar 2 and the ejector 3 of the gripper device 20 (or the product recognition device 1 of the gripper device 20), the ejector 3 is moved or pushed into the volume 6 by the food bar 2 (since the food bar 2 and the gripper device 20 continue to move towards each other).This requires that the ejector 3 is at least partially extended, meaning that the ejector 3 can be moved into the volume 6. As soon as the ejector 3 is moved into the volume 6, air is displaced from the shrinking volume 6, or an air movement from the volume 6 is initiated through the supply line 7 (i.e., a volume flow 10). The volume flow 10 is schematically represented in Figure 2 by the dashed arrows 10. This initiated volume flow 10 is subsequently detected by the flow meter 4. In particular, the flow meter 4 takes measurements continuously or at a defined measurement frequency during the process. A means 5 for evaluating a measured value from the flow meter 4 and for controlling a gripping mechanism 8 of the gripper device 20 evaluates the measured volume flow 10 and, in particular, detects whether a threshold value is exceeded.This threshold value can be set and is configurable. It is particularly adaptable / selectable / optimizable for different types of food bars 2. If the means 5, used to evaluate a measurement from the flow meter 4 and to control a gripping mechanism 8 of the gripper device 20, detects that the measurement from the flow meter 4 exceeds the threshold value, the relative movement between the food bar 2 and the gripper device 20 is stopped or continued in a controlled manner for an adjustable time and / or distance (particularly with the aid of or by means of the means 5). Thus, the food bar 2 and the gripper device 20 are either not moved towards each other, or their movement is controlled and adjustable.Furthermore, the means 5 for evaluating a measured value from the flow meter 4 and for controlling a gripping mechanism 8 initiates a gripping process when the threshold value is exceeded and / or the defined follow-up movement is completed. During this gripping process, the gripping mechanism 8 of the gripper device 20 is activated, and the food bar 2 is thus gripped and secured. The gripping mechanism 8 can, for example, comprise clamps, grippers, and / or means for penetrating the food bar 2, which penetrate the food bar 2 or are moved towards it during the gripping process. Other gripping mechanisms 8 are also possible. For example, the gripping mechanism 8 can be designed as a pneumatic gripping mechanism 8, and the food bar 2 can be secured by generating a vacuum. After the food bar 2 has been gripped, the gripping mechanism 8 is activated.Once the food bar 2 is fixed in place, the actual cutting process can begin. According to the invention, it is advantageously possible that, by means of product recognition 1 and a flow meter 4 (or volumetric flow meter), food bars 2 can be detected with a comparatively very low force (exerted by the ejector 3). This particularly means that the cutting process can be carried out more quickly and that even soft food bars 2 can be reliably detected without damage or slippage.

[0037] It is conceivable that several gripping devices 20 or gripping mechanisms 8 are present for gripping a food bar 2. It is also conceivable that several gripping devices 20 are present in a cutting device and that several food bars 2 can be detected and fixed (simultaneously or sequentially). In this regard, it is possible that a cutting device comprises several tracks with several gripping devices 20. Reference symbol list

[0038] 1 Product recognition device 2 Food bar 3 Ejector 4 Flow meter 5 Medium 6 Volume 7 Supply line 8 Gripping mechanism 9 Guide component 10 Volume flow 20 Gripper device

Claims

1. Gripper device (20) for gripping food bars (2) to be cut, wherein the gripper device (20) comprises a product detection device (1), wherein the product detection device (1) has at least one ejector (3), characterized in that the product detection device (1) comprises a flow meter (4) operatively connected to the ejector (3), wherein the flow meter (4) is designed to detect a volume flow (10) caused by a movement of the ejector (3), wherein a movement of the ejector (3) can be measured with the aid of the detected volume flow (10), wherein the movement of the ejector (3) is caused by contact with a food bar (2), wherein the ejector (3) is designed such that, in the event of contact with the food bar (2), the ejector (3) reduces a volume (6), wherein the reduction in volume (6) at least partially causes the volume flow (10).

2. Gripper device (20) according to claim 1, wherein the flow meter (4) is designed to detect a volume flow (10) caused by a movement of the ejector (3) relative to a guide component (9) of the gripper device (20).

3. Gripper device (20) according to one of the preceding claims, wherein the ejector (3) is part of the gripper device (20), in particular part of a gripping mechanism (8) of the gripper device (20).

4. Gripper device (20) according to one of the preceding claims, wherein a means (5) is provided for evaluating a measured variable of the flow meter (4) and for controlling a gripping mechanism (8) of the gripper device (20).

5. Gripper device (20) according to claim 4, wherein - with the aid of the means (5) - the gripping mechanism (8) of the gripper device (20) is designed to grip the food bar (2), in particular when a definable threshold value of the measured variable is exceeded.

6. Gripper device (20) according to one of the preceding claims, wherein the flow meter (4) is arranged at least partially on and / or in a supply line (7) of the volume (6).

7. Cutting device for food bars (2), wherein the cutting device comprises at least one product feed for feeding the food bars (2) and a gripper device (20) according to one of claims 1 to 6.

8. Method for gripping a food bar (2) to be cut by means of a gripper device (20) according to one of claims 1 to 6, wherein the gripper device (20) comprises the product recognition device (1), wherein the product recognition device (1) has at least the ejector (3), characterized in that the product recognition device (1) comprises the flow meter (4) operatively connected to the ejector (3).

9. Method for gripping a food bar (2) to be cut according to claim 8, wherein the flow meter (4) is used to detect a volume flow (10) caused by a movement of the ejector (3), in particular relative to a guide component (9) of the gripper device (20).

10. Method for gripping a food bar (2) to be cut according to one of claims 8 or 9, wherein a means (5) for evaluating a measured variable of the flow meter (4) and for controlling a gripping mechanism (8) of the gripper device (20) is provided, wherein the gripper device (20) performs at least a partial relative movement in the direction of the food bar (2), in particular with the aid of a means for driving, wherein the relative movement is stopped as a result of detection of an exceedance of a definable threshold value by the measured variable, or is continued in a controlled manner via adjustable parameters, for example time or distance.

11. Method for gripping a food bar (2) to be cut, according to claim 10, wherein the gripping mechanism (8) of the gripper device (20) grips the food bar (2) as a result of the detection of the exceeding of the definable threshold value and the expiry of the thereby adjustable follow-up distance by the measured variable.

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