Ice Cream Stick Insertion Device for Ice Cream Products and Method for Inserting a Stick into Ice Cream Products

Abstract

A stick insertion device (1) for inserting a stick (11) into an ice cream product (3) extruded from an extrusion jet (7) and having a height seen in the extrusion direction (9) of the extrusion jet (7), and at least one end surface (5) which is substantially parallel to the extrusion direction (9) and into which the stick (11) is inserted with orientation substantially perpendicular to the extrusion direction (9), wherein the stick insertion device (1) comprises: a stick pusher (15), capable of making a linear and reciprocating movement, an actuator (17) with a first and a secondary outer position, used to activate the stick pusher (15), a servo mechanism (19) for controlling the actuator's (17) movement, a control unit (21), connected to the servo mechanism (19), characterised in that the stick insertion device (1) comprises at least one sensor (23) for measurement of the stick's (11) position in relation to the ice cream product's (3) height, horizontal position in relation to the ice cream products (3) end surface (5) and angle (65) in relation to the ice cream products (3) end surface (5), that the control unit (21) is connected to the at least one sensor (23) and the servo mechanism (19), that the control unit (21) is configured to control the servo mechanism's (19) stroke length based on signals from the at least one sensor (23), and that the control unit (21) is configured to control the servo mechanism's (19) start time and end time for the insertion of the stick (11) based on signals from the aforementioned at least one sensor (23).

Claims

1. A stick insertion device (1) for inserting a stick (11) into an ice cream product (3) extruded from an extrusion jet (7) and having a height seen in the extrusion direction (9) of the extrusion jet (7), and at least one end point (5) which is substantially parallel to the extrusion direction (9) and into which the stick (11) is inserted with orientation substantially perpendicular to the extrusion direction (9), wherein the stick insertion device (1) comprises: a stick pusher (15), capable of making a linear and reciprocating movement, an actuator (17) with a first and a secondary outer position, used to activate the stick pusher (15), a servo mechanism (19) for controlling the actuator's (17) movement, a control unit (21), connected to the servo mechanism (19), wherein the stick insertion device (1) comprises at least one sensor (23) for measurement of the stick's (11) position in relation to the ice cream product's (3) height, horizontal position in relation to the ice cream product's (3) end point (5) and angle (65) in relation to the ice cream product's (3) end point (5), that the control unit (21) is connected to the at least one sensor (23) and the servo mechanism (19), that the control unit (21) is connected to the control of the servo mechanism's (19) stroke length based on signals from the at least one sensor (23), that the control unit (21) is connected to the control of the servo mechanism's (19) start time and end time for the insertion of the stick (11) based on signals from the aforementioned at least one sensor (23).

2. A stick insertion device (1) according to claim 1, wherein the at least one sensor (23) is designed as three single-point laser target units (31), wherein a first sensor (25) measuring distances perpendicular to the insertion direction of the stick (11) is arranged to measure the distance adjacent to said end point (5) of the ice cream product so that the height of the stick (11) in the ice cream product's (3) end point (5) is measured, a second sensor (27) measuring distances perpendicular to the insertion direction of the stick (11) is arranged to measure the distance at a greater distance from the end point (5) of the ice cream product (3) than the first sensor (25), thus allowing the angular position of the stick (11) to be determined from the measurements of the first (25) and second sensor (27), and a third sensor (29) measuring distances perpendicular to the insertion direction of the stick (11), said sensor (29) being positioned in an area where the outer surface of the stick is desired in the finished ice cream product (3) so that it is measured (11) if the stick is present in the measuring area after insertion of the stick (11) into the ice cream product (3).

3. A stick insertion device (1) according to claim 1, wherein the at least one sensor (23) is designed as a laser scanner (33).

4. A stick insertion device (1) according to claim 1, wherein the at least one sensor (23) is designed as a camera (35) constituting part of a visual system (37).

5. A stick insertion device (1) according to claim 1, wherein the actuator (17) is designed as a servo motor connected to the stick pusher (15) by a crank (41) and a connecting rod (43), wherein there are connecting rod guides (44) on both sides of the connecting rod (43).

6. A method of inserting a stick (11) into an ice cream product (2) which is extruded from an extrusion jet (7) and having a height in the extrusion direction (9) of the extrusion jet, and at least one end point (5), by means of a stick insertion device (1), which is substantially parallel to the extrusion direction (9) and into which the stick (11) is inserted with its orientation substantially perpendicular to the extrusion direction (9), with a stick insertion device that (1) comprises a stick pusher (15), which can make a linear and reciprocating movement, an actuator (17), a servo mechanism (19) for activating the actuator (17), a control unit (21), connected to the servo mechanism (19), and at least one sensor (23), wherein the method comprises the following steps: monitoring of the insertion length of the stick (11) with the at least one sensor (23), monitoring of the angle setting of the stick (11) with the at least one sensor (23), monitoring of the speed of the stick (11) with the at least one sensor (23) or the servo mechanism (19), adjustment of the speed of the stick pusher (15) over time to open the desired angle setting of the stick (11) in the ice cream product (3) as a result of the signals from the at least one sensor (23) and/or the servo mechanism (19) control of the servo mechanism's (19) stroke length as a result of signals from the at least one sensor (23) and/or the servo mechanism (19), control of the servo mechanism's (19) start time and end time for insertion of the stick (11) based on measurements of the height position of the stick (11) in the end point of the ice cream product (3), the height being measured in the extrusion direction (9).

7. Method according to claim 6, wherein the method comprises the following steps: triggering a warning to an operator if control of the servo mechanism (19) cannot be adjusted within a predetermined tolerance interval.

8. Method according to claim 6, wherein the method comprises the following steps: the stick's (11) end position in relation to the ice cream product (3) is stored in the control unit (21) memory after insertion of the stick (11).

9. Method according to claim 8, wherein the method comprises the following steps: the use of data for the stick's (11) end position to the separation of products outside the predetermined tolerance areas.

10. Method according to claim 8, wherein the method comprises the following steps: use of data for the stick's (11) end position in a subsequent preparatory step for the ice cream product (3) for the optimisation of the preparatory process.

Description

DESCRIPTION OF THE DRAWINGS

[0079] The invention will now be explained in more detail with reference to the accompanying drawings, in which

[0080] FIG. 1 shows a stick insertion device according to the invention, seen in perspective,

[0081] FIG. 2 shows a stick insertion device according to the invention, seen in perspective,

[0082] FIG. 3 shows a stick insertion device according to the invention, seen from one side,

[0083] FIG. 4 shows a stick insertion device according to the invention, seen from above

[0084] FIG. 5 shows a stick insertion device according to the invention, seen from one side,

[0085] FIG. 6 shows a stick insertion device according to the invention, seen from one side,

[0086] FIG. 7 shows a sketch of a stick insertion device according to the invention, seen from one side,

[0087] FIG. 8 shows a sketch of a time-position curve for a stick insertion device according to the invention, and

[0088] FIG. 9 shows a sketch of an ice cream product with stick.

LIST OF REFERENCES

[0089] 1. Stick insertion device

[0090] 3. Ice cream product

[0091] 5. End point, ice cream product

[0092] 7. Extrusion jet

[0093] 9. Extrusion direction

[0094] 11. Stick

[0095] 13. Outer end, stick

[0096] 15. Stick pusher

[0097] 17. Actuator

[0098] 19. Servo mechanism

[0099] 21. Control unit

[0100] 23. Sensor

[0101] 25. First sensor

[0102] 27. Second sensor

[0103] 29. Third sensor

[0104] 31. Single-point laser target unit

[0105] 33. Laser scanner

[0106] 35. Camera

[0107] 37. Visual system

[0108] 39. Insertion direction

[0109] 41. Crank

[0110] 43. Connection rod

[0111] 44. Connecting rod shank

[0112] 45. Tray

[0113] 47. First ramp-up interval

[0114] 49. First max-speed interval

[0115] 51. First ramp-down interval

[0116] 53. First pause interval

[0117] 55. Second ramp-up interval

[0118] 57. Second max-speed interval

[0119] 59. Third ramp-down interval

[0120] 61. Second pause interval

[0121] 63. Depth, insertion depth

[0122] 65. Angle

[0123] 67. Screening

[0124] In describing the figures, identical or similar elements will be designated by the same reference designators in the various figures. Consequently there will be no explanation for all details in connection with each figure/embodiment.

DETAILED DESCRIPTION OF THE INVENTION

[0125] FIG. 1. shows a stick insertion device 1 according to the invention. The stick insertion device 1 is calculated to insert a stick 11 in an ice cream product 3. The stick is inserted into an end point 5 of the ice cream product 3. The stick insertion device comprises a stick pusher 15. The stick pusher can make a linear and reciprocating movement.

[0126] The stick insertion device also comprises an actuator 17. The actuator is used to activate the stick pusher 15. A servo mechanism 19 controls the actuator's movement. The servo mechanism 19 is connected to a control unit 21. Furthermore, the stick insertion device comprises at least three sensors: a first sensor 25, a second sensor 27 and a third sensor 29. In FIG. 1, 23 describes a group of sensors.

[0127] The first sensor 25 measures a distance perpendicular to the stick's 11 insertion direction 39. The distance is measured in the immediate vicinity of the end point 5 of the ice cream product 3. Thus, the height of the stick in the end point 5 of the ice cream product 3 can be measured.

[0128] The second sensor 27 measures a distance perpendicular to the stick's 11 insertion direction 39 at a greater distance than from the ice cream product's 3 end point 5 than the first sensor 25. The angular position of the pin can thus be determined from the measurements from the first sensor 25 and second sensor 27.

[0129] The third sensor 29 measures a distance perpendicular to the stick insertion direction. 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.

[0130] The ice cream product is extruded from an extrusion jet 7 in the extrusion direction 9.

[0131] The ice cream product 3 is placed on a tray 45.

[0132] The third sensor is used to monitor the depth 63 of the stick in the ice cream product, and to hold the insertion jet 63 within the tolerance interval. This is achieved by measuring whether the stick is within the measuring area of the third sensor 29 after the stick 11 has been inserted into the ice cream product 3.

[0133] If the stick is in position, the stroke of the servo mechanism 19 and hence the stroke length of the stick pusher 15 is adjusted, so that the stick 11 for the next ice cream product 3 is inserted further in. A typical value would be a 0.1 mm longer stroke length.

[0134] If, on the other hand, the third sensor 29 measures that there is no stick in the measuring area after insertion of the stick, the stroke length of the servo mechanism 19 will be reduced. A typical value for reduction of the stroke length would be 0.1 mm. The stroke length of the next ice cream product will thus be reduced.

[0135] 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 is a fully automated part of the production. Subsequently no manual intervention by an operator is required.

[0136] FIG. 2 shows a stick insertion device 1 according to the description of the invention with an actuator 17, a servo mechanism 19 and a control unit 21. A screen 67 screens off part of the stick insertion device against outside influence.

[0137] FIG. 3 shows the same design of the stick insertion device 1, as seen in FIG. 2. The at least one sensor 23 is designed as three single-point laser target units 31 (only two are visible in FIG. 2).

[0138] FIG. 4 shows the same embodiment of the stick insertion device 1, as seen in FIGS. 2 and 3, but seen from above.

[0139] FIG. 5 shows a further embodiment of the stick insertion device 1 according to the description of the invention, but seen from the side. The at least one sensor 23 is designed as a camera 35, that constitutes part of a visual system 37. The camera and visual system can simultaneously dictate the insertion depth and angle setting for the stick. Furthermore, by means of the visual system and the camera, broken or erroneous sticks can be identified.

[0140] FIG. 6 shows a further embodiment of the stick insertion device 1 according to the description of the invention, seen from the side. The at least one sensor 23 is designed as a laser scanner 33. The laser scanner can simultaneously measure the stick insertion depth and angle setting in the ice cream product 3.

[0141] FIG. 7 shows a sketch of a stick insertion device 1 according to the description of the invention. The stick insertion device comprises an actuator 17, designed as a servo motor. The actuator rotates. It is connected to the stick pusher 15 with a crank 41 and a connecting rod 43. There are connecting rod guides 44 on both sides of the connecting rod 43. The crank is designed as a circular disc.

[0142] FIG. 8 shows an example of a time-position curve for a stick pusher. It can be seen how the speed of the stick pusher can vary over time. In the Y-axis the position of the stick pusher is shown, and consequently the stick marked with X. In the X-axis time is shown marked with T.

[0143] At the start time “S” the stick pusher is 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.

[0144] The stick pusher is then advanced at the desired top speed in a first peak speed interval 49.

[0145] Thereafter the speed is reduced in a first ramp-down interval 51.

[0146] Then there is a first waiting interval 53, where the stick pusher stands still. The first waiting interval can be zero seconds. That is to say the waiting period can be skipped.

[0147] Subsequently there will be another ramp-up interval 55, where the speed increases in the opposite direction of the insertion direction 39.

[0148] Thereafter there is a second top speed interval 57, where the stick pusher moves at desired top speed opposite to the insertion direction.

[0149] Then the stick pusher speed decreases in a third ramp-down interval 59, until the stick pusher comes to a standstill.

[0150] Finally there is another waiting interval 61, where the stick pusher stands still until the final time “E”, or until the next stick insertion starts.

[0151] FIG. 9 shows a sketch of an ice cream product 3 with stick 11.

[0152] 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 described as the insertion depth.

[0153] Furthermore, the sketch shows the angle 65 of the stick 11 relative to the ice cream product 3. This angle is determined when the stick angle is measured.