• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a food production system, in particular a chocolate system, comprising at least one processing station and at least one industrial robot (2, 3) comprising at least one effector (4) having at least one receiving means for at least one product carrier (14) and comprises at least one manipulator (13) for transferring the at least one product carrier (14), wherein the industrial robot (2, 3) further comprises at least one control device and preferably at least one associated processing device, wherein the control device is adjusted or adjustable in such a way that the product carrier (14), preferably at and / or opposite a processing station and / or between two processing stations, can be shaken, spun, turned, rotated, displaced, raised, lowered, blown, suctioned, cleaned, stacked and / or stacked, emptied at beats, emptied, filled, tempered and / or, especially under sensor control, moved along a path which may be predetermined.
    公开号:DK201800011U1
    申请号:DK201800011U
    申请日:2018-01-25
    公开日:2018-02-09
    发明作者:Sebastian Lenssen；Benjamin Fuhr；Daniel Baldus；Christian Walter；Katharina Hilker
    申请人:Buehler Gmbh；
    IPC主号:
    专利说明:

    < 1 θ> DENMARK < 1 °> DK 2018 00011 Υ3
    < 12 > USE MODEL WRITING
    Patent and
    Trademark Office (51)
    Int.CI .: A 23 G 1/26 (2006.01)
    A 23 G 3/34 (2006.01)
    A 23 G 1/00 (2006.01) A 23 G 7/00 (2006.01)
    A 23 G 3/02 (2006.01) B 65 G 1/00 (2006.01) (21) Application number: BA 2018 00011 (22) Filing date: 2018-01-25 (24) Running day: 2016-06-21 (41) Aim . available: 2018-01-25 (45) Registration date: 2018-02-09 (45) Publication date: 2018-02-09 (30) Priority: 2015-07-01 EP 15174821.7 (86) International filing date: 2016-06-21 (86) International Application Number: PCT / EP2016 / 064249 (73) Model Owner: Bühler GMBH, Kölner Strasse 102-108, 51702 Bergneustadt, Germany (72) Generator: Sebastian Lenssen, Frankfurter Strasse 196,51147 Cologne, Germany Benjamin Fuhr, Zum Wiesental 6, 51580 Reichshof, Germany Daniel Baldus, Rosenweg 2, 51580 Reichshof, Germany Christian Walter, Grundstrasse 53, 9500 Wil, Germany Katharina Hilker, Beckwiehe 6, 32369 Rahden, Germany (74) Prosecutor: Zacco Denmark A / S, Arne Jacobsens Allé 15, 2300 København S, Denmark (54) Title: Food production system (56) Relevant publications:
    (57) Summary:
    The invention relates to a food preparation system (1), in particular a chocolate system, comprising at least one processing station and at least one industrial robot (2, 3) comprising at least one effector (4) having at least one receiving means for at least one product carrier (14) and comprises at least one manipulator (13) for transferring the at least one product carrier (14), the industrial robot (2, 3) further comprising at least one control device and preferably at least one associated processing device, wherein the control device is adjusted or adjustable in such a way that the product carrier (14), preferably at and / or opposite a processing station and / or between two processing stations, may be shaken, spun, turned, rotated, displaced, raised, lowered, blown, suctioned, cleaned, stacked and / or stacked, emptied at beats, emptied, filled, tempered and / or, especially under sensor control, moved along a path which may be predetermined.
    To be continued ...
    DK 2018 00011 Y3

    DK 2018 00011 Y3
    Food preparation system
    The invention relates to a food preparation system, in particular a chocolate system, having at least one processing station and having at least one industrial robot; a method of transporting at least one product carrier, in particular a mold, between two processing stations; application of an industrial robot and method of transforming a food preparation system.
    Molds, preferably of plastics (e.g., a blister pack or a transparent pack), metal or wood, of various sizes and with product-specific voids formed therein, are used for making confectionery, especially chocolate products. The molds are typically moved between the processing stations by means of a chain or an endless belt, such as e.g. disclosed in US 5180602 or DE 3740109.
    The chain pushes or pulls the molds. The molds could also be held loosely on a conveyor belt and included by frictional engagement. The molds herein are moved in cycles or in continuous operation, typically in a direction between individual machining stations.
    Chain and belt conveyors are typically arranged such that they can be fixed spatially between treatment stations which are also installed spatially fixed. This is advantageous in the case of large systems in which the production sequence is firmly predefined and which rarely needs to be transformed.
    Food preparation systems are often general systems with different treatment stations or sections. The known systems are often adapted for particular applications, e.g. for pre-filled chocolates or bars, to enable high throughput speeds with high precision. The conversion
    DK 2018 00011 Y3
    - 2 from one product to another product is typically complex, in some cases even impossible.
    This can be problematic when relatively small batches need to be manufactured or when a new product needs to be introduced. In this case, the transformation is so complex that it is associated with great financial risk.
    A food preparation system in which sections of the production line can be filled by transfer installations, such as robots or pneumatic pick-and-place devices, in which the foods placed in the product carriers are transferred between sections which are mechanically independent of each other, is known from EP0940086.
    More transport vehicle system can be obtained in which dedicated drive moves modularly can transport tracks. rebuilt with production sequence.
    Also combined with this system, for the flexibility of a transport trolley with a longitudinal track element, which to form a shell track modified
    Small, flexible systems that are easy to handle and meet high hygiene standards are a necessity for high-quality food manufacturers, especially chocolate products, which produce small quantities of seasonal products and small quantities for marketing tests, or who will try industrial production.
    The object is therefore to provide a food preparation system, in particular a chocolate system, and a similar method, which system and method overcomes the disadvantages of the prior art and enables high flexibility and user-friendly automated production.
    DK 2018 00011 Y3
    - 3 The object is achieved by the features of the independent claims. Advantageous further developments are presented in the following description, in the figures and in the dependent utility model requirements.
    The object is initially achieved with a food production system, especially a chocolate system, with at least one processing station and with at least one industrial robot. The industrial robot comprises at least one effector with at least one container for at least one product carrier and at least one manipulator for transferring the at least one product carrier.
    The industrial robot further comprises at least one control installation and preferably at least one associated processing installation.
    The control installation is set or adjustable so that the product carrier, preferably at one and / or relative to a processing station and / or between two processing stations, can and / or is turned and / or and / or raised and / or and / or sucked and / or shaken and / or spun rotated and / or sheared lowered and / or blown cleaned and / or stacked and / or stacked and / or emptied by impact and / or emptied and / or filled and / or tempered and / or moved, especially with sensor control, along a predetermined path using the industrial robot.
    multifunctional multiple and of the control installation
    Preferably, the industrial robot comprises, in particular, a machining installation which is set or adjustable so that a plurality of machining steps listed above can be performed serially or in parallel.
    In particular, the industrial robot can carry out machining steps that are otherwise taken over by the processing stations.
    DK 2018 00011 Y3
    - 4 The industrial robot can be equipped and controlled so that the product carrier can be shaken. In this case, the food which is placed in the product carrier, for example chocolate, which is still liquid and has been dosed, is distributed. uniform in molds in the product carrier, filled gas escapes the dosed mass, and / or finished or partially finished products are released from the product carrier. The industrial robot may have a shaking device or may generate the shaking motion by movement of the manipulator and the effector.
    The industrial robot may be equipped and controlled so that the product carrier can be spun. In this case, the food which is placed in the product carrier, for example chocolate, which is still liquid and has been dosed, is distributed. uniform on the walls of the molds, forming a hollow body or shell. The industrial robot may have a spinning device or may generate the spinning motion by movement of the manipulator and the effector.
    The industrial robot can be equipped and controlled so that the product carrier can be turned. Excess food can in this case e.g. run out of molds and / or finished or partially finished products may fall out of the product carrier. The industrial robot may have a reversing device or the reversing movement may be generated by movement of the manipulator and the effector.
    The industrial robot may be equipped and controlled so that the product carrier can be rotated. The direction of completion with respect to molds on the product carrier may e.g. thus changing. The product carrier can, e.g. when not in use, is also transported upside down by the industrial robot. The industrial robot may have a rotary device or the rotary motion may or may not
    DK 2018 00011 Y3
    - 5 is generated by movement of the manipulator and the effector.
    The industrial robot may be equipped and controlled so that the product carrier can be displaced. Thus, the product carrier can be moved together with or in relation to components of the processing station, e.g. so that the mold can be moved along the molding nozzle as the chocolate mass is molded, or can be moved away from the molding nozzle. The industrial robot may have a displacement device or the displacement movement may be generated by movement of the manipulator and the effector.
    The industrial robot may be equipped and controlled so that the product carrier can be raised and / or lowered. Thus, the product carrier can be moved e.g. in a vertical direction towards the treatment station, e.g. against a lance for piercing or a piston for forming, and moved away again. The industrial robot may have a raising and / or lowering device or the raising and / or lowering movement may be generated by movement of the manipulator and the effector.
    The industrial robot may be equipped and controlled so that the product carrier can be blown and / or sucked. A cooled product carrier can be blown off with dry air, e.g. to avoid condensation, or dust or product residue may be sucked away from the product carrier. Hot or cold air can also be supplied so that the product carrier and / or product can be tempered in a similar manner. For this purpose, the industrial robot may have a device for generating a gas flow and / or a vacuum or connector for such a device.
    The industrial robot can be equipped and controlled so that the product carrier can be cleaned. Filled product carriers
    DK 2018 00011 Y3
    - 6 may thus be imparted to a defined surface or product residues may be removed. For this purpose, the industrial robot may have a roller and / or a scraper.
    The industrial robot can be equipped and controlled so that the product carrier can be stacked and / or stacked. The product carriers can be taken over by the robot and can also be delivered again; temporarily, at least the industrial robot can preferably hold, take over and / or deliver a whole stack of product carriers. For this purpose, the industrial robot may have a stacking and / or stacking device.
    The industrial robot can be equipped and controlled so that the product carrier can be emptied by impact. Products and / or product residues can be removed from the product carrier in this way. For this purpose, the industrial robot may have a stroke-emptying device.
    The industrial robot may be equipped and controlled so that the product carrier The product carrier can be detergent, emptied and / or filled, filled with a product or one and / or the product or detergent can again be discharged therefrom. A partially filled product carrier can be filled further. For this purpose, the industrial robot may have a suction device, a filling station, a feeding device, a supply line and / or a discharge line.
    The industrial robot can be equipped and controlled so that the product carrier can be tempered. Thus, the product carrier and / or product can be brought to a desired temperature, heated or cooled and / or maintained at a desired temperature. For this purpose, the industrial robot may have a tempering device by means of which a temperature equalization is effected by e.g. convection and / or conduction.
    DK 2018 00011 Y3
    - 7 The industrial robot may be equipped and controlled so that the product carrier can be moved, especially with sensor control, along a predetermined path. In order for the partially finished product e.g. can be decorated, the product carrier's repositioning path, e.g. on a molding machine, could be freely programmed so that the decorating agents can reach the product in the desired way. The industrial robot may have a decorating device, or the movement along a predetermined path can be generated by movement of the manipulator and the effector.
    In particular, the industrial robot comprises at least one sensor by which it can be defective if a product carrier is present and / or whether a product is present in the product carrier.
    The processing station is preferably a molding heater, a cooling station, a casting station, a shell forming station, an opening forming station, a filling station, a cover station, a decorating station, a forming station, a stacking and / or stacking station, a spraying station, an application station, an insertion station, a packaging station and / or an application station, in particular a film application station.
    The machining installation is preferably a shaking installation, a spinning installation, a reversing installation, a displacement installation, a raising and / or lowering installation, a rotating installation, a scraping installation, a rolling installation, a blowing installation and / or a suction installation.
    The machining steps already mentioned at the outset may be carried out therewith.
    The treatment stations are preferably at least partially mechanically independent of each other, where
    DK 2018 00011 Y3
    - 8 treatment stations in particular can be put into operation in a mutually independent manner.
    The flexibility of the system is increased here, as the treatment stations can be retroactively supplemented and / or replaced. Thus, it is e.g. a possibility that a system with only a few processing stations is initially put into operation and additional processing stations are later added to the system.
    The industrial robot can preferably be repositioned. Alternatively, the industrial robot can be anchored firmly, especially directly or by means of a frame, in a spatial position, for example on the floor, on the wall and / or in the ceiling.
    The system preferably has at least one cooling station, which is particularly centrally located and in particular can be operated from more than one side.
    Particularly in the production of pre-filled chocolate products, semi-finished products must first be cooled before the semi-finished products can be further processed. Thus, a suitable cooling station, which is used several times during a manufacturing procedure, is preferably centrally located, that is, between the treatment stations, so that the roads on which the industrial robot moves are small. Furthermore, because the cooling station can be operated from more than one side, a cooling station can be provided, wherein a side e.g. serves as a delivery site, and the other serves as a removal site for an industrial robot.
    The industrial robot is preferably equipment with one installation for identification, especially with one indicator reader for reading one indicator, there is attached to one product carrier and or to one
    treatment station.
    DK 2018 00011 Y3
    - 9 For example, different product carriers can thus be used simultaneously for different products, where the control installation or an additional unit is designed on a product carrier and processing / machining.
    identifying similar self can be in similar way, performs one
    Furthermore, by virtue of the identification of the treatment station, it is also possible to replace treatment stations and to place them respectively according to the product or process where the system, e.g. because of the identification, able to learn where each processing unit is positioned.
    The control installation is programmable and is especially program that enables a processing sequence.
    preferably computer equipped with a computer optimized transfer and
    Here different programs for different products can eg. are included in the control installation, where the programs respectively allow processing of different products or enable different processes to be performed. Furthermore, by optimizing the transfer and processing sequences, it is possible to increase the system's capacity and processing rate to a maximum.
    The invention further relates to a method of transporting at least one product carrier, in particular a mold, between two processing stations in a food preparation system, in particular chocolate products.
    In particular, the system may be preliminary. The advantages, connection with the system, the method according to the invention.
    a system as described which has been mentioned therein also applies to
    DK 2018 00011 Y3
    - ίο At least one product carrier, especially one form, is carried by an industrial robot.
    The product carrier is shaken and / or spun and / or reversed and / or and / or rotated lowered and / or and / or displaced blown and / or and / or raised suction and / or cleaned and / or stacked and / or stacked and / or emptied at impact and / or emptied and / or filled and / or tempered and / or preferably moved here at one and / or relative to a processing station and / or between two processing stations, especially with sensor control, along a predetermined path of the industrial robot.
    The product carrier is removed processing station processing station processing stations further further from a transferred to a conveyed between transferred to a preferably and / or and / or and / or industrial robot and / or taken over by an industrial robot and / or transferred to a further system and / or taken over by a further system of the industrial robot.
    Using the industrial robot, the product carrier passes through the steps of a production process with machining steps at and / or between processing stations, or it is withdrawn from the production process or introduced into the production process.
    In a processing station, the product carrier is preferably heated, a food mass is molded, at least one shell is formed, at least one opening is formed in at least one shell, at least one is filled, at least one lid is formed, at least one finished product is decorated and / or printed, at least one mold is formed, at least one mold is sprayed and / or at least one product is packaged.
    DK 2018 00011 Y3
    ii The industrial robot preferably detects, at least by means of a sensor, the position of at least one processing station. In particular, the industrial robot determines by means of a process unit an optimized process sequence.
    A flexible arrangement of the machining stations is thus possible, since the industrial robot itself can determine the position and the position does not have to be pre-programmed in the control installation.
    The invention further relates to the use of one of the industrial robots comprising at least one effector having at least one container for at least one product carrier and at least one manipulator for transferring the at least one product carrier, into a food production system, in particular a chocolate system, with at least one processing station .
    The industrial robot further comprises control installation and preferably at least machining installation.
    at least one an affiliate
    The control installation can be adjusted so that the product carrier, preferably at one and / or relative to a processing station and / or between two processing stations, can be shaken and / or spun and / or turned and / or rotated and / or raised and / or raised by the industrial robot. and / or lowered and / or lowered and / or sucked and / or cleaned and / or stacked and / or stacked and / or emptied by blows and / or emptied and / or filled and / or tempered and / or moved, especially with sensor control , along a predetermined path.
    Thus, the use of an industrial robot has the same advantages as the system of the production mentioned in the introduction.
    DK 2018 00011 Y3
    The invention further relates to a method of transforming a food preparation system, in particular a chocolate system, with at least one processing station.
    The process according to the invention herein comprises the following steps:
    Disassembly of the existing transport device for transporting product carriers, especially between treatment stations, is carried out in a first step.
    Installation of at least one industrial robot comprising at least one effector with at least one container for at least one product carrier and at least one manipulator for transferring the at least one product carrier is performed in another step, wherein the industrial robot further comprises at least one control installation and preferably at least one associated processing installation.
    The control installation can here be adjusted in such a way that the product carrier, preferably at or in relation to a processing station, can be shaken, spun, turned, rotated, displaced, raised, lowered, blown, sucked, cleaned, stacked and / or stacked, emptied by beats, emptied, filled, tempered and / or moved, especially with sensor control, along a predetermined path.
    It is thus possible to equip an already existing system with an industrial robot. The system thus transformed has the same advantages as the system according to the invention and is particularly suitable for carrying out the method according to the invention.
    The invention is then described by means of a preferred embodiment together with the drawing, in which:
    DK 2018 00011 Y3
    f ig. 1 shows a plan view of a preferred oneproviding a system according to the invention; f ig. 2 shows a perspective view offigure 1; the system in f ig. 3 shows a further perspectivethe system of Figure 1; view of f ig. 4 shows a third perspectivethe system of Figure 1; and view of f ig. 5 shows a perspective page viewin Figure 1. of the system
    A system 1 for producing chocolate pralines is shown in Figures 1 to 5, the system 1 comprises two industrial robots 2 and 3. The industrial robots 2 and 3 are designed as robot arms 13 with a gripping part 4 and are spatially fixed. A product carrier 14 in the form of a mold 14 can be gripped by the gripping portion 4 (where only one product carrier is provided with a reference number for the sake of clarity). The industrial robot 2 or 3 also enables handling of the product carrier 14, so that the product carrier 14 can be moved or rotated in different directions or around different axes respectively.
    A plurality of processing stations 5-12 are located within range of the industrial robot 2 or 3. The processing stations are a shell forming station 5, a casting station 6, a molding heater 7, a stacking and stacking station 8, a forming station 9, a decorating station 10, a filling station. 11 and a cooling station 12.
    The cooling station 12 is centrally located and can in each case be operated by an industrial robot 2 or 3 from a
    DK 2018 00011 Y3
    - 14 respectively page. The product carriers 14 can e.g. after a processing step is pushed into the cooling station 12 by the industrial robot 2 and can be removed on the opposite side of the industrial robot 3, optionally when the product carrier 14 and / or the (semi-finished) products contained therein have reached a predetermined temperature or when a predetermined temperature tempering time is reached.
    The cooling station 12 may have a plurality of cooling zones, so that the corresponding cooling / tempering can occur after a processing step, without the need for an additional cooling station.
    Due to the free arrangement of the treatment stations 5-12, the latter can be placed as needed. The treatment stations may also be arranged in a different way, or additional treatment stations may be added, or treatment stations which are not necessary may be removed depending on the product.
    In this embodiment, a product carrier 14 of the industrial robot 3 is moved from the stacking and stacking station 8 to the mold heater 7. The product carrier 14 is then transported by the industrial robot 2, after heating, to the molding station 6, where the chocolate is molded to form shells. The product carrier 14 is subsequently transported by the industrial robot 2 to the shell-forming station 5, where the shell is formed by moving the product carrier 14 relative to a piston (not shown) and then to the cooling station 12. When the product carrier 14 is transported from the molding station 6 to the shell-forming station 5, the industrial robot also 2 also move the product carrier 14 and at least partially perform the formation of the shells.
    Once the shells have cooled, the product carrier 14 is removed from the cooling station by the industrial robot 3 and
    DK 2018 00011 Y3
    - 15 is transported to the filling station 11 where the shells are filled and the product carrier 14 is subsequently moved back to the cooling station 12.
    A lid may furthermore be secured at a lid station or at the filling station 11. Filling station 11 may also be a one-shot station where a shell and a filling are delivered simultaneously.
    Once the finished pralines have cooled, the product carrier 14 can be transported by the industrial robot 3 to the decorating station 10, where the pralines are decorated.
    The pralines are removed from the product carrier 14 by the forming station 9 and further processed, e.g. packaged. The packaging can also be carried out by means of a processing station arranged for this purpose and operated by the industrial robot 2 or 3. At the forming station 9, the industrial robot 3 can rotate the product carrier 14 and optionally move the latter in such a way that the finished pralines are removed from the product carrier 14 .
    The empty product carrier 14 is subsequently transported, possibly after cleaning, by the industrial robot 3 to the stacking and stacking station 8.
    DK 2018 00011 Y3
    权利要求:
    Claims (6)
    [1]
    Use Model Requirements
    A food preparation system (1), in particular a chocolate system, having at least one processing station and having at least one industrial robot (
    [2]
    2
    [3]
    3) having an effector (
    [4]
    4) with at least one container for at least one product carrier (14) and at least one manipulator (13) for transferring the at least one product carrier (14), which is new in that the industrial robot (2, 3) further comprises at least one control installation and preferably at least one associated processing installation wherein the control installation is set or adjustable so that the product carrier (14), preferably at one and / or relative to a processing station and / or between two processing stations, can be shaken and / or spun and / or reversed and / or
    - rotated and / or displaced and / or raised and / or lowered and / or lowered and / or sucked and / or cleaned and / or stacked and / or stacked and / or emptied by impact and / or emptied and / or filled and / or tempered and / or
    - moving, especially with sensor control, along a predetermined path.
    The system of claim 1 which is new in that
    DK 2018 00011 Y3
    The treatment station is a mold heater (7), a cooling station (12), a molding station (6), a shell forming station (5), an opening forming station, a filling station (11), a lid station, a decorating station (10), a forming station (9), a stacking and / or stacking station (8), a spraying station, a printing station, an insertion station, a packaging station and / or an application station, in particular a film application station.
    System according to one of claims 1 and 2, which is new in that the machining installation is a shaking installation, a spinning installation, a reversing installation, a displacement installation, a raising and / or rotating installation, a rolling installation, and a suction installation.
    lowering installation, one scraping installation, one blower installation and / or
    The system according to at least one of claims 1 to 3, which is new in that the treatment stations are at least partially mechanically independent of each other, and wherein the treatment stations can in particular be operated in a mutually independent manner.
    [5]
    The system according to at least one of claims 1 to 4, which is new in that
    The industrial robot (2, 3) can be repositioned or fixed anchored, especially directly or by means of a frame, in a spatial position, for example on the floor, on the wall and / or in the ceiling.
    35 6.
    System according to at least one of claims 1 to 5, which is new in that
    DK 2018 00011 Y3
    - The 18 system has at least one central position.
    a cooling station (12) which can be operated in particular and in particular from more
    System according to at least one of claims 1 to 6, which is new in that the industrial robot (2, 3) is provided with an installation for identification, in particular with an indicator reader for reading an indicator attached to a product carrier (14) and / or to a treatment station.
    System according to at least one of claims 1 to 7, which is new in that the control installation is computer programmable and in particular is equipped with a computer program which enables an optimized transfer and processing sequence.
    one product carrier manufacturing system for one in particular
    Use of one of the industrial robots (2, 3) comprising at least one effector (4) having at least one container for at least one product carrier (14) and at least one manipulator (13) for transferring the at least A4) into a food, chocolate system , with at least one processing station, the industrial robot (2, 3) further comprising at least one control installation and preferably at least one associated processing installation, wherein the control installation can be adjusted in such a way that the product carrier (14), preferably at one and / or relative to a processing station and / or between two processing stations, may be shaken and / or spun and / or reversed and / or
    - rotated and / or
    DK 2018 00011 Y3
    - 19 is displaced and / or raised and / or lowered and / or lowered and / or
    5 - sucked and / or cleaned and / or stacked and / or stacked and / or emptied by blows and / or emptied and / or
    [6]
    10 - filled and / or tempered and / or
    - moving, especially with sensor control, along a predetermined path.
    one
    DK 2018 00011 Y3
    WO 2017/001234 PCT / EP2016 / 064249
    Fier.
    DK 2018 00011 Y3
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    引用文献:
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    US4657466A|1985-04-15|1987-04-14|Hershey Foods Corporation|Apparatus for moving strips using mechanical manipulator|
    US4755096A|1985-04-15|1988-07-05|Hershey Foods Corporation|Apparatus for moving strips using mechanical manipulator|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    EP15174821.7A|EP3111768B1|2015-07-01|2015-07-01|Production plant for food products|
    PCT/EP2016/064249|WO2017001234A1|2015-07-01|2016-06-21|System for producing foods|
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