SYSTEM FOR LOADING A DISHWASHER, GRIPPER SYSTEM FOR A LOADING ARRANGEMENT FOR LOADING A DISHWASHER, AND ALSO DISHWASHER

Abstract

A system for loading a warewasher, which is embodied as a commercial conveyor warewasher. The loading system includes a gripping system having at least one parallel gripper (1), wherein the at least one parallel gripper (1) includes at least two clamping jaws (2, 3), between which a gripping region of the parallel gripper (1) is defined, wherein at least one of the at least two clamping jaws (2, 3) is segmented such that the at least one clamping jaw (2) is preferably automatically and/or self-adjustable at least in regions to a surface contour of a piece of washware to be gripped by the at least one parallel gripper (1).

Claims

1. System for loading a warewasher, which is embodied as a commercial conveyor warewasher, wherein the system comprises a loading arrangement for automatic loading of the conveyor warewasher with washware, wherein the loading arrangement comprises a gripping system having at least one parallel gripper (1), wherein the at least one parallel gripper (1) comprises at least two clamping jaws (2, 3), between which a gripping region of the parallel gripper (1) is defined, wherein at least one of the at least two clamping jaws (2, 3) is segmented such that the at least one clamping jaw (2) is automatically and/or self-adjustable at least in regions to a surface contour of a piece of washware to be gripped by the at least one parallel gripper (1).

2. System according to claim 1, wherein the at least one segmented clamping jaw (2) of the at least one parallel gripper (1) is divided into at least two segments (2.1, 2.2), which can be moved relative to one another, wherein each segment (2.1, 2.2) is connected via an articulation region (4) to an adjacent segment (2.2, 2.1), such that the segments (2.1, 2.2) of the at least segmented clamping jaw (2) can be moved as needed in the direction of the gripping region and/or in the opposite direction.

3. System according to claim 1, wherein the at least one parallel gripper (1) comprises a gripper housing (5), in which, at least in regions, a drive for at least one of the at least two clamping jaws (2, 3) is received or receivable, wherein a carriage element (6), which can be moved relative to the gripper housing (5), is assigned to the drive, wherein the at least one segmented clamping jaw (2) is movable with the carriage element (6) relative to the gripper housing (4), and wherein the parallel gripper (1) comprises at least one clamping jaw (3), configured as a gripping finger, which is rigidly connected to the gripper housing (5).

4. System according to claim 3, wherein the parallel gripper (1) comprises at least two clamping jaws (3), which are configured as gripping fingers and are each rigidly connected to the gripper housing (4) and which are arranged side-by-side on a line that is perpendicular to the direction of movement of the carriage element (6).

5. System according to claim 1, wherein the at least one parallel gripper (1) comprises a gripper housing (5), in which, at least in regions, a drive for at least one of the at least two clamping jaws (2, 3) is received or receivable, wherein a carriage element (6), which can be moved relative to the gripper housing (5), is assigned to the drive, wherein the at least one segmented clamping jaw (2) is rigidly connected to the housing, and wherein at least one further clamping jaw (3) of the parallel gripper (1) is movable with the carriage element (6) relative to the gripper housing (5).

6. System according to claim 5, wherein the parallel gripper (1) comprises at least two further clamping jaws (3), which are configured as gripping fingers, and which are respectively moveable with the carriage element (6) relative to the gripper housing (5), wherein the at least two further clamping jaws (3), which are configured as gripping fingers, are arranged side-by-side on a line that is perpendicular to the direction of movement of the carriage element (6).

7. System according to claim 1, wherein the at least one segmented clamping jaw (2) is embodied as an angle gripper with a gripping finger, wherein the gripping finger of the angle gripper is pivotable, if necessary, into the gripping region of the parallel gripper (1) and is pivotable out of the gripping region of the parallel gripper (1).

8. System according to claim 7, wherein the gripping finger of the angular gripper comprises a plurality of segments (2.1, 2.2) which can be pivoted relative to one another over a respective articulated region.

9. System according to claim 1, wherein the at least one segmented clamping jaw (2) comprises a region, which is pretensioned in the direction of the gripping region of the parallel gripper (1) and pushes against the pretensioning of the washware (10, 11) when gripping a piece of washware, wherein the pretensioned region of the segmented clamping jaw (2) has, at least in regions, a convex shaping with respect to the gripping region of the parallel gripper (1).

10. System according to claim 1, wherein the at least one segmented clamping jaw (2) of the at least one parallel gripper (1) is configured such that, by fluid exposure at least one segment of the segmented clamping jaw (2) is movable, as needed, in the direction of the gripping region and/or in the opposite direction.

11. System according to claim 1, wherein the clamping jaws (2, 3) of the parallel gripper (1) are coated with an elastic material, at least in regions.

12. System according to claim 1, wherein the clamping jaws (2, 3) of the parallel gripper (1) are configured in order to grip a piece of washware (10, 11) to be gripped via frictional and/or positive locking.

13. System according to claim 1, wherein an electromotive drive is assigned to the parallel gripper (1) in order to manipulate at least one of the at least two clamping jaws (2, 3) as needed, wherein the electromotive drive is equipped with a self-inhibition mechanism such that the electromotive drive fixes a relative distance of the clamping jaws (2, 3) to one another in a voltage-free state.

14. Gripper system, for a loading arrangement for automatic loading of a warewasher with washware, wherein the gripper system comprises a parallel gripper (1) having at least two clamping jaws (2, 3) that can be moved relative to one another, wherein at least one of the clamping jaws (2, 3) is embodied as a single finger angle gripper.

15. A conveyor warewasher having at least one conveyor apparatus, wherein the conveyor warewasher is equipped at its inlet area with at least one system according to claim 1 for automatic placement of the washware into the conveyor apparatus of the conveyor warewasher.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Exemplary embodiments of the solution according to the invention are described in more detail in the following with reference to the accompanying drawings.

[0088] The following are shown:

[0089] FIG. 1 schematically and in an isometric view, a first exemplary embodiment of a gripping system for a loading assembly for automatic loading of a warewasher, namely in a state in which the parallel gripper of the gripping system is moved to grip a plate placed on a tray from the side of the plate;

[0090] FIG. 2 schematically and in an isometric view, the gripping system according to FIG. 1, namely in a state in which the parallel gripper of the gripping system has gripped the plate;

[0091] FIG. 3 schematically and in a sectional view, the gripping system according to FIG. 2;

[0092] FIG. 4 schematically and in an isometric view, the first exemplary embodiment of the gripping system according to the invention, in a state in which a bowl set upon a tray is to be gripped by the parallel gripper of the gripping system and the parallel gripper is moved towards the bowl from above;

[0093] FIG. 5 schematically and in an isometric view, the gripping system according to FIG. 4, namely in a state in which the parallel gripper of the gripping system has gripped the bowl;

[0094] FIG. 6 schematically and in a side view, the gripping system according to FIG. 5;

[0095] FIG. 7 schematically and in an isometric view, a second exemplary embodiment of the gripping system according to the invention, namely in a state in which the parallel gripper of the gripping system is approached from the side by a plate placed on a tray;

[0096] FIG. 8 schematically and in a partially sectioned view, the gripping system according to FIG. 7, namely in a state in which the parallel gripper of the gripping system has gripped the plate;

[0097] FIG. 9 schematically and in an isometric view, the second exemplary embodiment of the gripping system according to the invention, namely in a state in which the parallel gripper of the gripping system is moved from above towards a bowl set upon a tray;

[0098] FIG. 10 schematically and in a partially sectioned view, the gripping system according to FIG. 9, namely in a state in which the parallel gripper of the gripping system has gripped the bowl;

[0099] FIG. 11 schematically and in an isometric view, a third exemplary embodiment of the gripping system according to the invention, namely in a state in which the parallel gripper of the gripping system is moved from above towards a bowl set upon a tray; and

[0100] FIG. 12 schematically and in an isometric view, the third exemplary embodiment of the gripping system according to the invention, namely in a state in which the parallel gripper of the gripping system is moved from the side towards a plate set upon a tray.

DETAILED DESCRIPTION

[0101] Referring now to the illustrations in FIG. 1 to FIG. 12, various embodiments of the parallel gripper 1 associated with the gripping system of the loading assembly will be described.

[0102] All embodiments have in common that the gripping system of the loading assembly comprises a parallel gripper 1, wherein at least one clamping jaw 2, 3 of the parallel gripper 1 is configured as a segmented clamping jaw 2, which allows this clamping jaw 2 to be at least partially adjustable to a surface contour of a washware piece 10, 11 to be gripped by the parallel gripper 1.

[0103] In detail, in the embodiments of the solution according to the invention as shown in the drawings, it is provided that the at least one segmented clamping jaw 2 of the parallel gripper 1 is divided into at least two and preferably more than two segments 2.1, 2.2, which can be moved and in particular pivoted relative to one another, wherein each segment 2.1, 2.2 is connected via an articulation region 4, in particular a rotational articulation region, to an adjacent segment 2.2, 2.1, such that the segments 2.1, 2.2 of the segmented clamping jaw 2 can be moved and in particular pivoted as needed in the direction of the gripping region and/or in the opposite direction

[0104] The embodiment of the parallel gripper 1 shown in FIG. 1 to FIG. 6 is characterized in that the parallel gripper 1 comprises a gripper housing 5, in which, at least in regions, a drive is received or receivable for at least one of the at least two clamping jaws 2, 3 of the parallel gripper 1.

[0105] Here, the drive is assigned to a carriage element 6 that can be moved and in particular slid relative to the gripper housing 5, wherein the segmented clamping jaw 2 with the carriage element 6 can be moved and in particular slid relative to the gripper housing 5.

[0106] The other (non-segmented) clamping jaw 3 of the parallel gripper 1 is configured as a gripping finger, which is rigidly connected to the gripper housing 5 of the parallel gripper 1.

[0107] On the one hand, by appropriately actuating the carriage element 6 of the parallel gripper 1, the feasible gripping region of the parallel gripper 1 can be varied. On the other hand, by configuring the clamping jaw, which can be movable with the carriage element 6, as a segmented clamping jaw 2, it is possible that in the gripped state, this clamping jaw 2 is automatically and/or self-adjustable, at least in regions, to a surface contour of a piece of washware 10, 11 gripped by the parallel gripper 1.

[0108] On the one hand, the parallel gripper 1 is suitable for manipulating flat dishes, for example plates 10 or saucers (cf. FIG. 1 through FIG. 3), while the rim of bowls 11, cups, or other pots may also be gripped due to a 90° rotation of the parallel gripper 1, as indicated in FIG. 4 through FIG. 6.

[0109] The second design variant shown in FIG. 7 to FIG. 10 is characterized in that the (non-segmented) gripping finger 3 of the parallel gripper 1 is movable and in particular slidable with the carriage element 6 relative to the gripper housing 5, whereas on the other hand the segmented clamping jaw 2 is rigidly connected to the gripper housing 5.

[0110] In this embodiment, a large variety of types of washware can also be safely manipulated. In detail, FIG. 7 and FIG. 8 show how flat washware, in particular plates 10, can be manipulated in the second embodiment, while FIG. 9 and FIG. 10 show that other types of washware, in particular bowls 11, cups, etc. can be manipulated with one and the same parallel gripper 1.

[0111] The further design variant shown in FIG. 11 and FIG. 12 is characterized in that a total of two non-segmented clamping jaws 3 are each provided in the form of a gripping finger, wherein these two gripping fingers are movable and in particular slidable with the carriage element 6 relative to the gripper housing 5. In particular, the two further clamping jaws 3 configured as gripping fingers are arranged side-by-side on a line extending perpendicular to the direction of movement of the carriage element 6

[0112] The invention is not limited to the design variants shown in the drawings, but results when all of the features disclosed herein are considered together.

[0113] In this context, it is also conceivable, in particular, that corresponding rigid or flexible/segmented clamping jaws 2, 3 are arranged on opposite sides of the gripper housing 5 in order to be able to realize different gripping regions in this way.

[0114] The invention further relates to a conveyor warewasher, not shown in the drawings, having at least one conveyor apparatus, preferably in the form of at least one conveyor belt, wherein the conveyor warewasher is equipped with at least one loading area at its inlet area for preferably automatic placement of the washware into the conveyor apparatus of the conveyor warewasher. The loading system comprises at least one parallel gripper 1 of the aforementioned type.