• 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:
    A stick slider is disclosed for firing a stick in an ice cream product extruded from an extrusion nozzle having a height seen in the extrusion direction of the extrusion nozzle as well as at least one end surface substantially parallel to the extrusion direction and wherein the stick is inserted with orientation substantially viewed perpendicular to the direction of extrusion. The slider is distinctive in that it comprises - at least one sensor for measuring the position of the stick relative to the height of the ice cream product, horizontal position relative to the end surface of the ice cream product, and angle with respect to the end cream of the ice cream product, the controller being connected to the at least one sensor and servomechanism, that the control unit is adapted for controlling the stroke length of the servo mechanism based on signals from the at least one sensor; A method is described for inserting a stick into an ice cream product with a stick slider.
    公开号:DK201870428A1
    申请号:DKP201870428
    申请日:2018-06-21
    公开日:2019-07-26
    发明作者:Wittrup Jensen Klaus
    申请人:Gram Equipment A/S；
    IPC主号:
    专利说明:

    Stickers for ice cream products and method of inserting a stick into ice cream products
    FIELD OF THE INVENTION
    The present invention relates to a stick slider for firing a stick in an ice cream product extruded from an extrusion nozzle having a height seen in the extrusion direction of the extrusion nozzle, and at least one end surface substantially parallel to the extrusion direction into which the stick is inserted. with orientation substantially perpendicular to the direction of extrusion, the sticker comprising:
    - a stick pushbutton capable of linear and reciprocating motion,
    - an actuator having a first and a second outer position used for activating the stick pusher,
    - a servo mechanism for controlling actuator movement,
    - a control unit connected to the servo mechanism.
    The present invention further relates to a method of inserting a stick into an ice cream product extruded from an extrusion nozzle having a height seen in the extrusion direction of the extrusion nozzle, and at least one end surface substantially parallel to the extrusion direction. and wherein the stick is inserted with orientation substantially perpendicular to the direction of extrusion, the sticker comprising
    - a stick pushbutton capable of linear and reciprocating motion,
    - an actuator,
    - a servo mechanism for activating the actuator, and
    - at least one sensor.
    BACKGROUND OF THE INVENTION
    Plywood sliders are known for ice cream products that are pneumatically driven. These pindi sliders do not include sensors for monitoring the insertion of the stick. Furthermore, the stroke length cannot be varied in these products. Thus, the depth of deposit cannot be varied and corrected in these peg sliders. The angle of the ice stick can with these pindi
    GB 2018 70428 A1 sliders are only varied by tilting the entire slider relative to the ice cream product. This is a manual process that requires specialized knowledge and experience of manual intervention by means of an adjusting screw by an operator which must thus be present during production.
    Furthermore, from WO2014 / 161894, pulleys with linear servo actuator are known. These sliders do not include sensors for monitoring the insertion of the stick. Thus, the speed and timing of the insertion of the stick is not monitored and varied. Thus, it is not possible to adjust the deposit process.
    Thus, no stickers are known which can autonomously monitor the insertion of the stick and make adjustments to the insertion of the stick.
    The disadvantages of the known sliders are that:
    - waste is generated due to products being manufactured out of tolerance
    - waste is generated due to further processing of non-tolerant products
    - operators must be trained in the use and manual adjustment of the pods
    - no alerts can be generated to the operator if the system is operating out of tolerance
    - no damaged pins can be defective
    - the further processing process cannot be adapted to the actual stick position in the product.
    The object of the invention
    It is the object of the present invention to provide a stick slider which addresses these drawbacks.
    Furthermore, the object of the present invention is to provide a method of inserting a stick into a ice cream product which removes these disadvantages with a stick slider.
    DK 2018 70428 A1
    Description of the Invention
    This is achieved in accordance with the present invention with a peg slider of the type specified initially, which is characterized in that the peg slider comprises
    - at least one sensor for measuring the position of the stick relative to the height of the ice cream product, horizontal position relative to the end surface of the ice cream product and angle with respect to the end surface of the ice cream product, that the control unit is connected to the at least one sensor and the servo mechanism, that the control unit is adapted to control the servomechanism stroke based on signals from the at least one sensor, that the control unit is arranged to control the start time of the servo mechanism and the end time for insertion of the stick based on signals from said at least one sensor.
    Typically, the ice cream product will be cut from the extrusion nozzle after the stick is inserted. Alternatively, the ice cream product may be cut from the extrusion die before or while the stick is inserted.
    The at least one sensor may be a sensor that scans the entire ice stick. Alternatively, the at least one sensor may be made up of several single sensors, each measuring a single point or part of the stick.
    The actuator has a first and a second outer position. During insertion of the stick, the actuator will not reach the outer positions. That is, the stroke length is less than the maximum stroke length. Thus, there is the opportunity to increase stroke length when an adjustment is needed.
    As a servo mechanism, in the present patent application, a mechanism of feedback is referred to. The actuation of the servo mechanism can be of any type, for example electrical, pneumatic or hydraulic.
    According to a further embodiment, the stick slider according to the invention is characterized in that the at least one sensor is designed as three single-point laser measuring units, whereby a first sensor measuring distances perpendicular to the insertion direction of the stick is arranged to measure the distance in the immediate vicinity of the said end face of ice cream
    DK 2018 70428 A1 product, so that the height of the stick in the ice cream end surface is measured, another sensor measuring distances perpendicular to the insertion direction of the stick is arranged so that it measures the distance at a greater distance from the ice cream product end surface than the first sensor, so the angle position can be of the stick is determined from the measurements of the first and second sensors, and a third sensor, which measures distances perpendicular to the insertion direction of the stick, which is positioned in an area where the outside of the stick is desired in the finished ice cream product, so that the stick is measured present in the measurement area after insertion of the stick into the ice cream product.
    Typically, the first sensor will measure at a distance of 1 mm to 5 mm from the end surface, preferably 2 mm to 4 mm from the end surface. The second sensor will typically measure at a distance of 30 mm to 50 mm from the end surface, preferably 35 mm to 45 mm from the end surface.
    Calibration measurements can be made on the surface of a product tray with any of the sensors. The product tray is the item that holds the ice cream product or on which the ice cream product rests. When there is no ice stick in the measuring area of the sensor or sensors, the distance to the product tray surface can be measured with the sensor or sensors.
    The third sensor is used to monitor the depth of the stick in the ice cream product and to keep the depth of deposit within a tolerance range. This is achieved by measuring whether the stick is present in the measurement range of the third sensor after the stick is shot in the ice cream product.
    If the stick is present, the stroke length of the servomechanism, and thus the stroke of the stick pushbutton, is adjusted so that the stick is pushed further in for the next ice cream product. A typical value would be 0.1 mm longer stroke.
    On the other hand, if the third sensor measures that there is no stick present in the measuring area after insertion of the stick, the stroke of the servo mechanism will be reduced. A typical value for reducing stroke will be 0.1 mm. Thus, the stroke length of the next ice cream product will be reduced.
    DK 2018 70428 A1
    This adjustment of the stroke length between each insertion of a stick in an ice cream product will ensure that the insertion depth is maintained within a tolerance range within the desired insertion depth. This happens fully automatically in production. Thus, no manual intervention from the operator is necessary.
    According to a further embodiment, the sticker according to the invention is characterized in that the at least one sensor is designed as a laser scanner.
    According to a further embodiment, the sticker according to the invention is characterized in that the at least one sensor is designed as a camera which is part of a vision system.
    According to a further embodiment, the sticker according to the invention is characterized in that the at least one sensor is designed as a combination of a camera and one or more rangefinders.
    According to a further embodiment, the stick slider according to the invention is characterized in that the actuator is designed as a servo motor, which is connected to the stick pusher with a crank and a connecting rod, where there are connecting rod bearings on both sides of the connecting rod.
    The crank may be made as a disc.
    A further aspect of the invention is a method of the type mentioned initially, characterized in that the method comprises the following steps:
    monitoring the insertion length of the stick with the at least one sensor,
    - monitoring the angle position of the stick with the at least one sensor,
    - monitoring the speed of the stick with the at least one sensor or servo mechanism,
    adjusting the speed of the stick disc scrubber over time to achieve the desired angular position of the stick in the ice cream product as a result of signals from the at least one sensor and / or the servo mechanism,
    controlling the stroke length of the servo mechanism due to signals from the at least one sensor and / or the servo mechanism,
    DK 2018 70428 A1
    - controlling the start time of the servo mechanism and the end time of insertion of the stick based on measurements of the height of the stick in the end face of the ice cream product where the height is measured in the direction of extrusion.
    The method can be used with any embodiment of the stick slider according to the invention.
    Monitoring can essentially be done continuously from start time to end time for insertion of the stick. Alternatively, monitoring can be done at discrete times or at intervals.
    The speed of the stick push is time dependent. The time course of the velocity can be described by the following intervals, but is not limited to the said intervals or the outlined course. For the start time of inserting the stick, there will be a ramp-up interval where the speed of the stick pusher increases. Then there will be a range at maximum speed. Maximum speed here means the maximum speed during the concrete insertion of the stick, not the maximum speed of the stick pushbutton that the actuator can produce. Subsequently, there will be a ramp-down interval where the speed decreases. At the time the stick reaches the desired end position, the speed is zero. Subsequently, the sticker will move in the opposite direction until the end of the insertion of the stick. The speed will increase again in a ramp-up return interval. Subsequently, there will be an interval of maximum speed. At the time the stick pusher reaches the starting position, the speed will be zero. This time is the end time of the shooting. Subsequently, there may be a waiting period until the start time of insertion of the next stick.
    In a further aspect of the invention, the method may further comprise the following step:
    - triggering an alert to an operator if the servo mechanism control cannot be adjusted within a predetermined tolerance interval.
    DK 2018 70428 A1
    The warning may be a lamp. Alternatively, the warning may be an audible signal. Alternatively, the warning may be an on-screen display message. Alternatively, the warning can be sent via SMS. The different types of warnings can also be used in combination.
    In a further aspect of the invention, the method may further comprise the following steps:
    - the end position of the stick relative to the food product is stored in a memory in the controller after insertion of the stick.
    In a further aspect of the invention, the method may further comprise the following steps:
    - using data for the end position of the stick to sort products outside a predetermined tolerance range.
    In a further aspect of the invention, the method may further comprise the following steps:
    - using data for the stick's final position in a subsequent processing step of the ice cream product to optimize the processing process.
    For example, optimizing the processing process may be adjusting the grippers to the exact position of the stick in subsequent processing steps. For example, during the dip in liquid chocolate.
    In a further aspect of the invention, the method may further comprise the following steps:
    - detecting damaged pins as a result of signals from the at least one sensor and / or the servo mechanism.
    In a further aspect of the invention, the method may further comprise the following steps:
    - the removal of non-tolerance ice cream products.
    In a further aspect of the invention, the method may further comprise the following steps:
    DK 2018 70428 A1
    - removal of ice cream products with damaged sticks.
    drawing Description
    The invention will then be explained in more detail with reference to the accompanying drawing, in which
    FIG. 1 is a perspective view of a stick slider according to the invention,
    FIG. 2 is a perspective view of a stick slider according to the invention,
    FIG. 3 is a side view of a stick slider according to the invention,
    FIG. 4 is a plan view of a sticker according to the invention
    FIG. 5 is a side view of a sticker according to the invention,
    FIG. 6 is a side view of a stick slider according to the invention,
    FIG. 7 is a side elevational view of a sticker according to the invention;
    FIG. 8 is a sketch of a time-position curve for a stick slider according to the invention; and
    FIG. 9 shows a sketch of an ice cream product with a stick.
    List of referral names
    I. Plywood sliders
    3. Ice cream product
    5. End face, ice cream product
    7. Extrusion nozzle
    9. Extrusion direction
    II. The stick
    13. Outer end, the stick
    15. Stick pushers
    17. Actuator
    19. Servomechanism
    21. Control Unit
    23. Sensor
    25. First sensor
    27. Second sensor
    29. Third sensor
    31. Single-point laser measuring device
    DK 2018 70428 A1
    33. Laser Scanner
    35. Camera
    37. Vision system
    39. Direction of deposit
    41. Crank
    43. Plej Istang
    44. Connecting rod bearings
    45. Tray
    47. First ramp-up interval
    49. First top speed range
    51. First ramp-down interval
    53. First Waiting Interval
    55. Second ramp-up interval
    57. Second top speed range
    59. Third ramp-down interval
    61. Second Waiting Interval
    63. Depth, Depth of Depth
    65. Angle
    67. Foreclosure
    In the description of the figures, identical or similar elements will be denoted by the same reference numerals in the various figures. Thus, no explanation will be given for all the details of each figure / embodiment.
    Detailed description of the invention
    Fig. 1 shows a stick slider 1 according to the invention. The stick slider 1 is intended to insert into a stick 11 of an ice cream product 3. The stick is slid into an end surface 5 of the ice cream product 3. The stick slider comprises a stick pushbutton 15. The stick pushbutton can make a linear and reciprocating motion. The pusher slider further comprises an actuator 17. The actuator is used to actuate the pusher pusher 15. A servo mechanism 19 controls the movement of the actuator. The servo mechanism 19 is connected to a control unit 21. Furthermore, the stick slider comprises at least three sensors: a first sensor 25, a second sensor 27 and a third sensor 29.1. 1 represents 23 a group of sensors.
    DK 2018 70428 A1
    The first sensor 25 measures a distance perpendicular to the insertion direction 39 of the stick 11. The distance is immediately measured near the end face 5 of the ice cream product 3. Thus, the height position of the stick in the end face 5 of the ice cream product 3 can be measured.
    The second sensor 27 measures a distance perpendicular to the insertion direction 39 of the stick 11 at a greater distance from the end face 5 of the ice cream product 3 than the first sensor 25. Thus, the angle of the stick can be determined from the measurements of first sensor 25 and second sensor 27.
    The third sensor 29 measures a distance perpendicular to the insertion direction of the pin. The third sensor is located immediately where the outer end 13 of the stick is desired after insertion of the stick into the ice cream product.
    The ice cream product is extruded by an extrusion nozzle 7 in the extrusion direction 9.
    The ice cream product 3 is picked up on a tray 45.
    The third sensor is used to monitor the depth 63 of the stick in the ice cream product and to keep the insertion depth 63 within a tolerance range. This is achieved by measuring whether the stick is present in the measurement range of the third sensor 29 after the stick 11 is shot in the ice cream product 3.
    If the stick is present, the stroke of the servomechanism 19, and thus the stroke of the stick pushbutton 15, is adjusted so that the stick 11 is pushed further in by the next ice cream product 3. A typical value would be 0.1 mm longer stroke.
    On the other hand, if the third sensor 29 measures that there is no stick present in the measuring area after insertion of the stick, the stroke length of the servo mechanism 19 will be reduced. A typical value for reducing stroke will be 0.1 mm. Thus, the stroke length of the next ice cream product will be reduced.
    This adjustment of the stroke between each individual insertion of a stick in an ice cream product will ensure that the insertion depth is maintained within a tolerance range before
    DK 2018 70428 A1 for the desired deposit depth. This happens fully automatically in production. Thus, no manual intervention from the operator is necessary.
    FIG. 2 shows a stick slide 1 according to the invention with an actuator 17, a servo mechanism 19 and a control unit 21. A cover 67 protects parts of the stick slide against external influence.
    FIG. 3 shows the same embodiment of the slider 1 as seen in FIG. 2. The at least one sensor 23 is designed as three single-point laser measuring unit 31 (only two are seen in Fig. 2).
    FIG. 4 shows the same embodiment of the slider 1 as seen in FIG. 2 and 3, but seen from above.
    FIG. 5 shows a further embodiment of the stick slider 1 according to the invention, but viewed from the side. The at least one sensor 23 is designed as a camera 35 which is part of a vision system 37. The camera and vision system can simultaneously determine the insertion depth and angle position of the stick. Furthermore, using the vision system and the camera can identify broken or erroneous sticks.
    FIG. 6 is a side view of a further embodiment of the stick slider 1 according to the invention. The at least one sensor 23 is designed as laser scanner 33. The laser scanner can simultaneously measure the insertion depth and angle position of the ice cream product 3.
    FIG. 7 shows a sketch of a sticker 1 according to the invention. The pusher slider comprises an actuator 17 designed as a servo motor. The actuator is rotating. It is connected to the stick pusher 15 with a crank pin 41 and a connecting rod 43. There are connecting rod bearings 44 on both sides of the connecting rod 43. The crank is designed as a circular disc.
    FIG. 8 shows an example of a time-position curve for a stick pushbutton. It is seen how the speed of the stick pusher can be varied over time. The y-axis shows the position of the stick pushbutton and thus the stick is marked with “X”. On the x-axis, time is indicated by “T”.
    DK 2018 70428 A1
    At the start time "S" the stick pushbutton stands still. In a first ramp-up interval 47, the speed of the stick pusher increases in the insertion direction until the desired top speed is achieved.
    Subsequently, the stick pusher is advanced at the desired top speed in a first top speed interval 49.
    Subsequently, the velocity is reduced in a first ramp-down interval 51.
    Subsequently, there is a first waiting interval 53 at which the stick pushbutton is stationary. The first wait interval can be zero seconds. That is, the waiting period can be skipped.
    Subsequently, there will be another ramp-up interval 55 where the velocity increases in the opposite direction of the insertion direction 39.
    Subsequently, there is another peak velocity interval 57, with the stick pushing moving at the desired peak velocity opposite the insertion direction.
    Subsequently, the stick pushing speed is reduced in a third ramp-down interval 59 until the stick pushing is stationary.
    Finally, there is another waiting interval 61 where the stick pusher is stationary until the end time "E", or until the next stick push is started.
    FIG. 9 shows a sketch of an ice cream product 3 with stick 11.
    The sketch shows what is understood by the depth 63 of the stick 11 in the ice cream product 3. The depth 63 is also referred to as the depth of deposit.
    Further, the sketch shows the angle 65 of the stick 11 relative to the ice cream product 3. It is this angle that is determined when the angle of the stick position is measured.
    权利要求:
    Claims (10)
    [1]
    patent claims
    A stick slider for firing a stick in an ice cream product extruded from an extrusion nozzle having a height seen in the extrusion direction of the extrusion nozzle, and at least one end surface substantially parallel to the extrusion direction in which the stick is inserted with orientation substantially perpendicular to the extrusion direction, the sticker comprising:
    - a stick pushbutton capable of linear and reciprocating motion,
    - an actuator having a first and a second outer position used for activating the stick pusher,
    - a servo mechanism for controlling actuator movement,
    - a control unit connected to the servo mechanism, characterized in that the pindi slider comprises
    - at least one sensor for measuring the position of the stick relative to the height of the ice cream product, horizontal position relative to the end surface of the ice cream product and angle with respect to the end surface of the ice cream product, that the control unit is connected to the at least one sensor and the servo mechanism, that the control unit is adapted to control the servomechanism stroke based on signals from the at least one sensor, that the control unit is arranged to control the start time of the servo mechanism and the end time for insertion of the stick based on signals from said at least one sensor.
    [2]
    A stick slider according to claim 1, characterized in that the at least one sensor is designed as three single-point laser measuring units, wherein a first sensor measuring distances perpendicular to the insertion direction of the stick is arranged to measure the distance in the immediate vicinity of said end surface. of the ice cream product so that the height of the stick is measured at the end face of the ice cream product, another sensor measuring distances perpendicular to the insertion direction of the stick is arranged to measure the distance at a greater distance from the end face of the ice cream product than the position of the stick can be determined from the measurements of the first and second sensors,
    DK 2018 70428 A1 and a third sensor measuring distances perpendicular to the insertion direction of the stick, which is positioned in an area where the exterior of the stick is desired in the finished ice cream product, so that it is measured if the stick is present in the measuring area after the insertion of the stick in the ice cream product.
    [3]
    A stick slider according to claim 1, characterized in that the at least one sensor is designed as a laser scanner.
    [4]
    A stick slider according to claim 1, characterized in that the at least one sensor is designed as a camera which is part of a vision system.
    [5]
    A stick slider according to any one of the preceding claims, characterized in that the actuator is designed as a servo motor, which is connected to the stick pusher with a crank and a connecting rod, where there are connecting rod bearings on both sides of the connecting rod.
    [6]
    6. A method of inserting with a stick slider a stick in an ice cream product extruded from an extrusion nozzle having a height seen in the extrusion direction of the extrusion nozzle, and at least one end surface substantially parallel to the extrusion direction, into which the stick is inserted. oriented substantially perpendicular to the direction of extrusion, the stick slide comprising a stick pusher capable of making a linear and reciprocating motion, an actuator, an actuator mechanism for actuating the actuator, and at least one sensor, characterized in that the method comprises the following steps:
    monitoring the insertion length of the stick with the at least one sensor,
    - monitoring the angle position of the stick with the at least one sensor,
    - monitoring the speed of the stick with the at least one sensor or servo mechanism,
    - adjusting the speed of the stick scrubber over time to achieve the desired angular position of the stick in the ice cream product due to signals from the at least one sensor and / or the servo mechanism
    DK 2018 70428 A1
    controlling the stroke length of the servo mechanism due to signals from the at least one sensor and / or the servo mechanism,
    - controlling the start time of the servo mechanism and the end time of insertion of the stick based on measurements of the height of the stick in the end face of the ice cream product where the height is measured in the direction of extrusion.
    [7]
    Process according to claim 6, characterized in that the method comprises the following steps:
    - triggering an alert to an operator if the servo mechanism control cannot be adjusted within a predetermined tolerance interval.
    [8]
    Process according to claim 6 or 7, characterized in that the method comprises the following steps:
    - the end position of the stick relative to the ice cream product is stored in a memory in the controller after insertion of the stick.
    [9]
    Method according to claim 8, characterized in that the method comprises the following steps:
    - using data for the end position of the stick to sort products outside a predetermined tolerance range.
    [10]
    Process according to claim 8 or 9, characterized in that the method comprises the following steps:
    - using data for the stick's final position in a subsequent processing step of the ice cream product to optimize the processing process.
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    同族专利:
    公开号 | 公开日
    WO2019242827A1|2019-12-26|
    EP3809867A4|2022-03-09|
    DK179834B1|2019-07-26|
    US20210267229A1|2021-09-02|
    EP3809867A1|2021-04-28|
    CN112261876A|2021-01-22|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    GB724549A|1953-02-09|1955-02-23|Eskimo Pie Corp|Apparatus for making frozen confections|
    GB738185A|1953-02-09|1955-10-12|Eskimo Pie Corp|Method and apparatus for making ice cream confections|
    DE2017570A1|1970-04-13|1971-11-04|Polarmatic Corp., Austin, Tex. |Ice cream block stick inserter|
    NL1029303C2|2005-06-21|2010-07-27|C F S Weert B V|APPARATUS AND METHOD FOR MAKING CAST LOLLIES.|
    CN201004980Y|2007-02-14|2008-01-16|南京浦园机械制造有限公司|Highly effective bar-plugging carriage of the machine making ice cream|
    DK177927B1|2013-04-05|2015-01-12|Tetra Laval Holdings & Finance|Stick inserter with electromagnetic drive system|KR102232696B1|2020-08-27|2021-03-25|윤찬웅|Stick Feeder for Ice Bar Manufacturing System|
    法律状态:
    2019-07-26| PAT| Application published|Effective date: 20190726 |
    2019-07-26| PME| Patent granted|Effective date: 20190726 |
    优先权:
    申请号 | 申请日 | 专利标题
    DKPA201870428A|DK179834B1|2018-06-21|2018-06-21|PIN DISCS FOR ISCREME PRODUCTS AND PROCEDURE FOR INSERTING A PIND IN ISCREME PRODUCTS|DKPA201870428A| DK179834B1|2018-06-21|2018-06-21|PIN DISCS FOR ISCREME PRODUCTS AND PROCEDURE FOR INSERTING A PIND IN ISCREME PRODUCTS|
    PCT/DK2019/050199| WO2019242827A1|2018-06-21|2019-06-21|Ice cream stick insertion device for ice cream products and method for inserting a stick into ice cream products|
    US17/253,751| US20210267229A1|2018-06-21|2019-06-21|Ice Cream Stick Insertion Device for Ice Cream Products and Method for Inserting a Stick into Ice Cream Products|
    CN201980039277.6A| CN112261876A|2018-06-21|2019-06-21|Ice cream bar insertion device for ice cream products and method for inserting bars into ice cream products|
    EP19821723.4A| EP3809867A4|2018-06-21|2019-06-21|Ice cream stick insertion device for ice cream products and method for inserting a stick into ice cream products|
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