U.S. patent application number 13/939472 was filed with the patent office on 2013-11-07 for method for cleaning installation processing foodstuffs.
The applicant listed for this patent is Jurgen Lohrke GmbH. Invention is credited to Martin LOHRKE.
Application Number | 20130291897 13/939472 |
Document ID | / |
Family ID | 42167515 |
Filed Date | 2013-11-07 |
United States Patent
Application |
20130291897 |
Kind Code |
A1 |
LOHRKE; Martin |
November 7, 2013 |
METHOD FOR CLEANING INSTALLATION PROCESSING FOODSTUFFS
Abstract
A cleaning system for an installation processing foodstuffs,
with a guide path and with a robot arm which is displaceable along
the guide path and on which at least one nozzle for discharging a
cleaning agent onto the installation, is attached in a manner such
that the at least one nozzle may be moved in a targeted manner to
individual points of the installation for its cleaning, by way of
displacing and moving the robot arm.
Inventors: |
LOHRKE; Martin; (Bad
Schwartau, DE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Jurgen Lohrke GmbH |
Lubeck |
|
DE |
|
|
Family ID: |
42167515 |
Appl. No.: |
13/939472 |
Filed: |
July 11, 2013 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
12706854 |
Feb 17, 2010 |
8528576 |
|
|
13939472 |
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Current U.S.
Class: |
134/18 ;
134/34 |
Current CPC
Class: |
B67C 3/005 20130101;
B08B 3/024 20130101; B05B 13/0431 20130101; B67C 2003/221 20130101;
B25J 18/025 20130101; B25J 5/02 20130101 |
Class at
Publication: |
134/18 ;
134/34 |
International
Class: |
B08B 3/02 20060101
B08B003/02 |
Foreign Application Data
Date |
Code |
Application Number |
Feb 17, 2009 |
DE |
10 2009 009 244.7 |
Claims
1. A cleaning method for cleaning an installation processing
foodstuffs, with which a nozzle for discharging a cleaning agent is
moved by way of a robot arm (16) displaceable on a guide path (4),
to the points of the installation (2) to be cleaned, and there the
cleaning agent is discharged out of the nozzle onto the
installation (2).
2. A cleaning method according to claim 1, with which, for cleaning
the robot arm (16), this is displaced along the guide path (4) into
a cleaning station, in which it is cleaned from the outside by way
of cleaning nozzles.
3. A cleaning method according to claim 1, with which the robot arm
(16) is applied for handling tasks, processing tasks or monitoring
tasks in the installation, in the times in which it does not carry
out cleaning tasks.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a Divisional of U.S. patent application
Ser. No. 12/706,854, filed Feb. 17, 2010, which is based on German
Patent Application No. 10 2009 009 244.7 filed Feb. 17, 2009, and
the disclosures of which are incorporated herein by reference.
BACKGROUND OF THE INVENTION
[0002] The present invention relates to a cleaning system for an
installation processing foodstuffs, for example for a filling
installation or packaging installation for foodstuffs, as well as
to an associated cleaning method.
[0003] Installations in the foodstuffs industry, be they for
processing foodstuffs, for filling and packaging foodstuffs, need
to be regularly cleaned or disinfected. Nowadays, it is usual to
install cleaning-in-place systems for this, for example in drinks
bottling installations, which may automatically clean the
installations. For this, it is necessary to attach spray nozzles on
all installation parts to be cleaned, the nozzles being capable of
spraying cleaning agents or disinfectants, be they in liquid form
or as a foam or gel, onto the installation parts to be cleaned.
These nozzles distributed over the complete installation, require
an extensive pipework system. For reasons of hygiene, when
designing the installations, one seeks to design these from the
very start in a manner such that there are as few as possible
locations, at which contamination may accumulate. Contrary to this
is the extensive pipework, which is required for the cleaning
system itself
[0004] With regard to the above set of problems, it is the object
of the present invention to provide an improved cleaning system or
a cleaning method for installations processing foodstuffs, which
may be integrated into the installation in a simpler manner and
with a reduced compromising of the hygienic machine design.
[0005] BRIEF SUMMARY OF THE INVENTION
[0006] The above object is achieved by a cleaning system with the
features specified in the claims, as well as by a cleaning method
with the features specified in the claims. Preferred embodiments
are to be deduced from the associated dependent claims, the
subsequent description and the attached figures.
[0007] The essential idea of the present invention is not to
envisage the cleaning of the installation with a multitude of
fixedly installed nozzles at all locations to be cleaned, but
rather to apply a reduced number of moving nozzles, which may be
displaced in a targeted manner to the locations of the
installation, which are to be cleaned. For this, one envisages
arranging a guide path, on which a robot arm is mounted in a
displaceable manner. The guide path thus forms a rail, along which
the robot arm may be moved. The robot arm itself, at its freely
movable end, carries at least one nozzle for discharging a cleaning
agent. This may be a cleaning agent or a disinfectant, be it in
liquid form or as a foam, gel, water or steam, or another medium
required for cleaning the installation. The robot arm itself
permits a movability of the nozzle relative to the articulation
point on the guide path, so that the robot gives the movement of
the nozzle yet further degrees of freedom beyond the movability
along the guide path. The number of degrees of freedom of the robot
arm and its exact geometric design, as well as the exact
arrangement of the guide path are selected such that the at least
one nozzle may be moved to all locations of the installation which
are to be cleaned, by way of displacing and moving the robot arm,
in order there to then discharge the cleaning agent in a precise
manner.
[0008] The complete fixed pipework for a cleaning system or
disinfection system on the installation becomes superfluous on
account of this design according to the present invention. This
significantly simplifies the construction of the installation and
improves the hygienic design of the installation, since no
additional locations at which contamination may accumulate, are
created by way of the cleaning system. Moreover, the system
according to the present invention permits a very flexible cleaning
of the installation, since the cleaning process may be changed and
adapted to differing demands by way of a simple change of the
control of the displacement and movement system of the robot. Thus,
spray angles of the nozzle and likewise, may be easily changed, in
order to be able to optimally adapt cleaning functions, without
having to carry out conversion measures on the installation.
[0009] The robot arm preferably comprises at least two and further
preferably six degrees of freedom for the movement of the nozzle.
Thereby, it is the case of degrees of freedom with respect to the
articulation point on the guide path. The movability along the
guide path then forms an additional degree of freedom. The robot
arm may be designed as an articulated arm robot similarly to a
common industrial robot. However, one may also apply other robot
arms. For example, it may also be the case of a pendulum arm robot
or a cylindrical coordinate robot. A portal system would also be
conceivable. The number of required degrees of freedom and the
exact design principle depends significantly on the construction of
the installation to be cleaned. The robot arm and the guide path
need to be arranged such that all points to be cleaned may be moved
to. The nozzle is preferably arranged at the free outer end of the
robot, so that it has an as large as possible movement ability.
[0010] Usefully, the guide path is attached above the installation
to be cleaned and the robot is guided in a suspended manner on the
guide path. This construction hardly compromises the installation
to be cleaned. Moreover, the accessibility of the installation from
all sides is not restricted by the cleaning system. The guide path
itself and the robot arm are less easily contaminated. However, it
would also be basically possible to arrange the guide path
laterally of, or below the installation to be cleaned, and to guide
the robot on the guide path, as the case may be, accordingly in a
standing or laterally suspended manner. It is also conceivable for
the guide path to change its vertical position relative to the
installation during its course, i.e. to be guided laterally or
below the installation in some regions of the installation, and
above the installation in other installation regions.
[0011] The guide path preferably runs at least along the outer
contour of the installation, in particular along the complete outer
contour, so that the robot arm and the nozzle may be moved up to
the installation from all sides.
[0012] The system according to the present invention is not limited
to the cleaning of an individual installation, but rather it is
also possible to arrange the guide path along several installations
to be cleaned. These may be installations which have an
interrelationship with one another, or however installations which
are independent of one another, but which are cleaned by one and
the same cleaning robot. Thus, for example, it is possible in a
filling operation with several filling lanes, to provide a single
cleaning robot, which cleans the lanes in an alternating manner,
whilst the other filling installations are in normal operation. For
this, the robot arm is merely displaced along the guide path to the
installation which is to be cleaned at that time. The cleaning
system according to the present invention is thereby not limited to
the cleaning of installations, but also further objects or the room
in which the cleaning system is located, may be cleaned. The guide
path needs only to be arranged in a suitable manner, such that the
robot arm may reach all regions to be cleaned. This way the
investment costs may be reduced, since the number of required robot
arms is reduced. Thereby, one should understand that the system
according to the present invention is not limited to the
arrangement of a robot arm, but it is also conceivable to provide
several robot arms on the system, in order to be able to carry out
the cleaning more rapidly.
[0013] It is necessary to provide the guide path with branches in
more complex systems. Thus, at least one branch may be present in
the guide path, wherein a diverter or rotary plate for direction
change is arranged at the branch point. The robot arm may be
rotated on the spot with the rotary plate. One may thus achieve
very small bending radii. A portion of the guide path with the
robot arm positioned at this location is rotated on the spot, on
the rotary plate. As a whole, the guide path may be constructed in
a modular manner. This means that standard sections with straight
lines or radii may be provided, which may be suitably combined with
one another depending on the place of application, in order to form
a guide path which is suited to the respective installation.
Alternatively, individual part portions with special shapes or
radii of curvature may also be manufactured. The modular
construction however has the advantage that the number of
individual parts which are to be manufactured for the guide path
may be reduced to a few standard parts.
[0014] According to a further preferred embodiment of the present
invention, a cleaning station is provided in the system, to which
the guide path leads and at which cleaning nozzles are arranged for
the outer cleaning of the robot arm. This permits the robot arm to
be displaced along the guide path into the cleaning station and to
be cleaned there from the outside with the cleaning nozzles
installed in a fixed manner, with suitable cleaning media and
disinfecting media. The robot arm itself is preferably provided
with a protective casing or protective jacket, for example of a
sealed plastic film, so that on the one hand a contamination of the
mechanical parts of the robot arm is prevented, and on the other
hand one prevents contamination getting into the installation from
the robot arm. Such a protective jacket may be easily cleaned by
way of spraying.
[0015] The guide path is preferably formed of at least one round
profile, further preferably of two round profiles running parallel
to one another. Such round profiles, for example of stainless
steel, are available as standard parts such as tubes or solid
material. Moreover, they may be easily bent into the desired radii
and have a smooth, easily cleaned surface, on which it is difficult
for contamination to accumulate. Preferably, the rail or the guide
path is formed of two round profiles or tubes, which are arranged
parallel to one another. Such an arrangement permits an improved
guiding of the robot arm, since a swinging or a rotation about the
longitudinal axis of the guide path may be prevented. The two round
profiles are preferably firmly connected to one another via
transverse webs. The transverse webs are further preferably
arranged at regular distances to one another, so that they may
simultaneously serve for path detection or position detection on
displacing the robot along the guide path, since the number of
passed webs may be simply counted by way of a suitable detection
system, in order thus to determine the covered path distance and
thus the position of the robot arm. Additionally or alternatively,
the position detection may also be effected via other path
measurement systems or recording systems, for example the
revolutions of a drive wheel or guide wheel rolling on the guide
path may also be counted.
[0016] Further preferably, a fluid conduit for the supply of the
cleaning agent may be formed in the inside of the guide path. This
is possible in a particularly favorable manner if the guide path
comprises at least one tubular profile, since this tube may then
simultaneously lead the cleaning medium in its inside. The number
of individual parts and the material expense may be reduced in this
manner.
[0017] In a further preferred embodiment of the present invention,
the cleaning agent supply to the robot arm is effected via a
flexible tubing conduit, which connects the robot arm to a central
connection for the supply of the cleaning agent. Thus, for example,
with a tubular contour of the guide path, the central connection
may be arranged essentially in the middle of the path, and the
flexible tubing extends from there roughly radially to the robot
arm on the guide path. With a movement of the robot arm, the
flexible tubing then revolves around the central connection. A
rotating connection or rotation coupling is preferably provided in
this, so that the movement of the robot arm along the guide path is
not limited by this flexible tubing feed. The electrical energy
supply of a drive on the robot arm may also be effected via a
suitable cable, which extends similarly to the flexible tubing
conduit. Data or control leads may thus be laid. Data signals or
control signals could however also be effected in a wireless manner
via radio. The electrical energy supply may moreover also be
realized via electrical rails along the guide path.
[0018] According to a further preferred embodiment of the present
invention, a docking station is arranged on the guide path, said
docking station comprising connection couplings for at least one
fluid conduit and preferably at least one electrical connection,
wherein the robot arm comprises corresponding connection couplings,
which on reaching the docking station may come into engagement with
the connection couplings of the docking station. The corresponding
connection couplings of the robot arm are preferably arranged on or
in the base of the robot arm, which is guided in a displaceable
manner on the guide path. The docking station and the corresponding
connection couplings permit the robot arm with its connection
couplings to be able dock onto the connection couplings of the
docking station when the robot arm has reached the docking station
on the guide path, so that there, a connection of the fluid conduit
between the docking station and the robot arm, and, as the case may
be, also electrical connections may be created. In this manner, the
supply of the cleaning agents may be effected by the fluid conduit
from the docking station into the robot arm. Thus, one may make do
without the supply by way of a flexible tubing conduit to a central
point. Instead, suitable docking stations are then arranged
preferably at all points of the guide path, at which cleaning tasks
are to be carried out by the robot arm, in order to be able to
ensure the supply of a cleaning agent to the robot arm at these
locations. The robot arm then leads from docking station to docking
station, in order there in each case to dock on and carry out a
cleaning procedure at a special point or region of the
installation. The electricity supply of the robot arm may likewise
be effected via the docking station or as described above, for
example via electric rails along the guide path. If the electricity
supply is effected via the docking station, it may be useful to
provide the robot arm with an energy storage device, for example a
battery, which permits the robot arm to be able to move from one
docking station to the next with its own propulsion. The signal
transmission for sensor signals or control signals is effected in
this case preferably via radio, but could however also be realized
via electrical contacts on the docking station.
[0019] It is also possible to reduce the cleaning agent supply and
the electrical connections of the robot arm in a combination of a
central supply and a type of docking station. If the guide path is
designed such that several installations for example in a large
hall may be cleaned with one robot arm, then it is conceivable for
a docking station to be provided in the region of each
installation, to which docking station the robot then couples,
wherein this docking station together with the robot may be moved
over a certain region of the guide path, in which then the cleaning
agent supply and, as the case may be, the electric energy supply
are effected via flexible tubing conduits or cables from a central
point. If the robot then moves further to the next installation, it
decouples from the docking station, moves to the next installation
and then couples again to a respective docking station. In this
manner, one may clean very large installations without any problem
by way of one or a few robot arms with the previously described
design. The individual installations or installation parts need to
only be connected to one another via suitable guide paths, so that
the robot arm may move between the individual installations.
[0020] Preferably, the robot arm comprises a displacement unit,
which is guided on the guide path and has a drive for displacing
the robot arm along the guide path. The displacement unit forms the
base of the robot arm, which holds the robot arm on the guide path.
The displacement unit preferably comprises several guide rollers or
drive rollers, wherein it is sufficient to drive one roller.
Preferably, the drive roller rolls on the guide path with a
friction fit. However, it is also conceivable to provide a
toothing, via which a drive pinion engages with the guide path with
a positive fit. Preferably, an electrical drive motor is arranged
in the displacement unit, which drives one or more drive
rollers.
[0021] The robot arm itself is preferably formed of two limbs,
wherein a first limb extends proceeding from the guide path, and
the second limb is preferably pivotably articulated on the end of
the first limb, which is distant to the guide path. In the case of
a guide path arranged at the top, the first limb extends preferably
perpendicularly downwards from the guide path, and the second limb
extends transversely to this direction, wherein it is preferably
pivotable by 180.degree. relative to the longitudinal axis of the
first limb. This means that the limb may fold perpendicularly to
the top and may be pivoted beyond an alignment of 90.degree. to the
first limb up to a position, in which it points essentially
downwards. However, one does not need to provide a pivot range of
precisely 180.degree., but a smaller pivot range is also
conceivable, wherein the pivot movement is preferably effected in a
plane, which extends parallel to the longitudinal axis of the first
limb.
[0022] The first limb which extends preferably in the vertical
direction, is preferably designed in a telescopic manner, so that
the vertical distance of the nozzle to the guide path may be
changed by way of retracting and extending the perpendicular limb.
The second limb may also be designed in a telescopic manner.
[0023] Further preferably, at least one of the limbs is rotatable
about its axis. Particularly preferably, both limbs are rotatable
about their axis.
[0024] The second limb at its free end which is distant to the
first limb preferably carries a nozzle holder with the nozzle.
Thereby, the nozzle holder is preferably arranged in a rotatable
manner. Particularly preferably, the nozzle holder extends at the
end of the second limb perpendicular to this and is rotatable about
its longitudinal axis. The actual nozzle thereby is preferably
directed in a direction parallel to the second limb, so that the
jet direction of the nozzle may be rotated by 360.degree. by way of
rotating the nozzle holder.
[0025] The cleaning agent supply in the robot arm is effected
either by way of a flexible tubing conduit laid on the outside of
the robot, wherein this is then preferably arranged within a
protective jacket of the robot inasmuch as this is provided.
Alternatively, it is also possible to let the cleaning agent supply
run through the inside of the robot arm. Combinations of both
systems are also possible. Thus, it is particularly preferable for
the cleaning agent supply along the first telescopic limb to be
effected through a spiral flexible tubing, wherein this spiral
flexible tubing then runs out into the second limb. This run-out is
preferably arranged in a section of the second limb, which is
proximal to the first limb. The further cleaning agent supply to
the nozzle is then effected through the inside of the second limb,
so that this as a whole may be designed relatively thin and slim,
so that it may also penetrate into restricted free spaces in the
installation for its cleaning
[0026] Particularly preferably, the cleaning agent supply in the
second limb is effected through a tube situated in the inside of
the second limb. This tube may then simultaneously serve for
transmitting a rotational movement onto the nozzle holder. Thus, as
a whole, a very slim design of the second limb may be achieved by
two tubes arranged concentrically in one another. Thereby, the
outer tube may preferably rotate about its longitudinal axis, so
that the nozzle or the nozzle holder may be rotated about the
longitudinal axis of the second limb. Moreover, in the case that
the nozzle holder extends normally to this longitudinal axis, a
rotation of the nozzle holder about its longitudinal axis extending
transversely to the longitudinal axis of the second limb is
possible by way of a rotation of the inner tube via a bevel
gearing.
[0027] With a further preferred embodiment of the present
invention, the robot arm comprises a tool receiver, which
preferably is arranged at the free end of the robot arm, and into
which a nozzle holder with the nozzle is received in an
exchangeable manner. This permits a simple nozzle change, since the
nozzle may be removed from the tool receiver and be replaced by a
different nozzle. Such an exchange of the nozzle holder may
preferably be effected in an automatic manner. For this, an
exchange system may be provided in the cleaning system, on which
the various nozzle holders may be kept ready and to which the robot
arm may be moved for nozzle change, wherein the robot arm then lays
down a nozzle holder and picks up a different nozzle holder. The
tool receiver then is preferably provided with a coupling device
which is actuated in an automatic or remote-controlled manner, for
gripping and releasing the nozzle holders.
[0028] Further preferably, the robot arm comprises a tool receiver,
which is designed for receiving processing tools and/or handling
tools and/or sensors. Preferably, this is the same tool receiver
which also serves for receiving different nozzle holders. This
permits the robot arm to also be able to carry out different
processing tasks or handling tasks, so that a universal application
of the robot arm in the installation is possible. Thus, the robot
arm, in a packaging installation, may for example serve for
inserting the products into a packaging when for example they are
not participating in the cleaning procedures. Idle times of the
robot arm, in which this is not used, are avoided in this manner.
However, it is to be understood that corresponding handling devices
or processing devices may also be arranged in a fixed manner on the
robot arm simultaneously to a nozzle holder, so that an exchange of
the individual tools or nozzle holders is not necessary, but these
are constantly carried along with the robot arm.
[0029] As described, the robot may be applied for handling purposes
or processing purposes during the times in which it is not used for
cleaning tasks.
[0030] Moreover, the application of bio-monitoring is also
possible. For this, the robot arm then carries at least one sensor
which is suitable for preferably optically reading off certain
control points on the installation. This sensor may be attached on
the robot arm in a fixed manner or for example may also be designed
as an exchangeable tool, which is only received by the robot arm,
when the robot arm is applied for the bio-monitoring.
[0031] The present invention further relates to a cleaning method
for cleaning an installation processing foodstuffs. With regard to
the cleaning method, preferably a cleaning system according to the
preceding description is applied. For this reason, it is to be
understood that features which have been described above with
regard to the cleaning system, may likewise be used with the
subsequently described cleaning method.
[0032] With regard to the cleaning method according to the present
invention, a nozzle for discharging a cleaning agent is moved by
way of a robot arm displaceable on a guide path, to the points of
the installation which are to be cleaned. There, the cleaning agent
is then discharged out of the nozzle onto the installation. This
permits the precise cleaning of installation parts by way of
displacing and suitably placing the nozzle. This means that the
installation no longer needs to be sprayed with a cleaning agent in
a large-surfaced manner, but one may clean the regions which are
prone to contamination in a targeted manner. Also, individual
regions may be cleaned in a differently intense manner and also at
different time intervals. Here, the method according to the present
invention permits a very flexible design of the cleaning procedure.
Thus, the quantity of the required cleaning agent may be reduced.
Moreover, a complicated installation of a cleaning system within
the installation is no longer required.
[0033] Moreover, one preferably envisages the robot arm being
displaced along the guide path into a cleaning station, in which
one cleans from the outside by way of stationary cleaning nozzles.
This is effected preferably after the cleaning tasks carried out by
the robot arm, so that subsequently the robot itself is cleaned and
then is ready in a cleaned manner for the next application.
However, it is also conceivable to clean the robot arm directly
before a cleaning procedure, in order to prevent the installation
being contaminated by the robot itself on cleaning the
installation.
[0034] It is particularly preferable for the robot arm to be
applied for handling tasks, processing tasks or monitoring tasks or
other tasks in the installation, during the times in which it
carries out no cleaning tasks. Thus, a universal use of the robot
arm is achieved, which avoids standstill periods. For example, the
robot arm may be applied in order to insert goods or products into
packages in a packaging installation. Moreover, filled receptacles
may be taken from a conveyor belt and deposited onto pallets and
likewise. Moreover, the robot arm may also assume monitoring and
control tasks, for example may carry out a bio-monitoring within
the installation via suitable sensors attached on the robot arm, by
way of moving to individual points during operation and scanning or
reading out bio-indicators which are attached there, by way of a
sensor attached on the robot arm, for example a camera.
[0035] The cleaning system according to the preceding description
preferably comprises a control device which controls the complete
cleaning procedure. This control device may be linked to the usual
installation control or machine control of the installations to be
cleaned, so that the cleaning procedures may be carried out
automatically at certain points in time. Moreover, the machine
control may then also activate the robot arm at times in which the
robot arm is not applied for cleaning, in order to carry out the
mentioned other tasks.
[0036] Particularly preferably, the cleaning system according to
the present invention and the cleaning method are applied in an
installation for processing foodstuffs or in an installation for
packaging or filling foodstuffs, for example in a bottle filling
installation. Installations with such a cleaning system are
likewise the subject matter of the invention.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS
[0037] The foregoing summary, as well as the following detailed
description of the invention, will be better understood when read
in conjunction with the appended drawings. For the purpose of
illustrating the invention, there are shown in the drawings
embodiments which are presently preferred. It should be understood,
however, that the invention is not limited to the precise
arrangements and instrumentalities shown.
[0038] The invention is described hereinafter by way of example and
by way of the attached figures. There are shown in the
drawings:
[0039] FIG. 1 is a schematic perspective view of a filling
installation with a cleaning system according to a preferred
embodiment of the present invention;
[0040] FIG. 2 is a side elevation view of the installation
according to FIG. 1;
[0041] FIG. 3 is a magnified perspective view of a robot arm
according to FIGS. 1 and 2;
[0042] FIG. 4 is a cross-sectioned view of a rear end of a second
limb of the robot arm, the end being proximal to a first limb;
and
[0043] FIG. 5 is a cross-sectioned view of a front free end of the
second limb.
DETAILED DESCRIPTION OF THE INVENTION
[0044] Certain terminology is used in the following description for
convenience only and is not limiting. The words "lower," "upper,"
"top," "front" and "rear" designate directions in the drawings to
which reference is made. Unless specifically set forth herein, the
terms "a," "an" and "the" are not limited to one element, but
instead should be read as meaning "at least one." The terminology
includes the words noted above, derivatives thereof and words of
similar import.
[0045] Referring to the drawings in detail, wherein like numerals
indicate like elements throughout the several views, FIG. 1
schematically shows the entire view of an installation processing
foodstuffs, in the form of a bottler 2, on which the cleaning
system according to the present invention is attached. The cleaning
system according to the present invention preferably comprises a
guide path 4, which is arranged above the bottler 2 and travels
around this on its outer contour. Thus, the guide path 4 roughly
forms an oval, wherein additionally a middle web 6 is provided in
the middle and a tangential branch 8 at one side. The middle web 6
is connected via a rotary plate 10 to the surrounding oval. The
tangential branch 8 is connected to the oval via a diverter 12. The
guide path 4 itself is formed from two tubes 14 which are arranged
above one another and extend parallel to one another. A robot arm
16 is displaceable on this guide path 4. For this, the robot arm 16
with its base 18 which forms a displacement unit, is mounted on the
guide path 4.
[0046] Guide rollers 20 as well as a drive roller 22 are preferably
arranged on the base of the robot arm 16. The driver roller 22 is
driven via an electric motor 24. The rollers 20 and 22 are exposed
on one side of the base 18, and engage around the upper side and
the lower side of the pair of guide rollers 14 of the guide path 4.
The laterally open arrangement has the advantage that the rollers
20, 22 are easy to clean.
[0047] Proceeding from the base 18, a first limb 26 of the robot
arm extends perpendicularly downwardly. The first limb 26 in the
example shown here is designed in a triple telescopic manner. The
extension of the telescope is effected by its intrinsic weight. The
retraction is effected by way of a pull cable which is arranged in
the inside of the limb 26 and which may be rolled up in the base 18
by way of an electric motor.
[0048] A second limb 28 is attached on the first limb 26 at the
longitudinal end of the first limb 26, which is distant to the base
18. The second limb 28 is pivotable via a pivot drive 30 in the
direction of the arrow A, i.e. it pivots about a pivot axis, which
extends normally to the longitudinal axis X of the first limb 28,
wherein the longitudinal axis X as well as the longitudinal axis Y
of the second limb 28 run in a plane. Moreover, a rotation drive 32
is provided in the vicinity of the pivot drive 30, via which
rotation drive 32 the second limb 28 is rotatable about its
longitudinal axis Y. The limb 26 is also rotatably pivotable about
its longitudinal axis X, via a rotation drive arranged in the base
18.
[0049] The second limb 28 at its free end carries a tool receiver
34, in which a nozzle holder 36 is accommodated. Thereby, the
nozzle holder 36 extends in a direction at right angles to the
longitudinal axis Y of the second limb 28. The nozzle holder 36 is
rotatable about its own axis via a further rotation drive 32. For
this, a rotatable tube 37 is arranged in the inside of the second
limb 28 and at its front end rotatably drives the nozzle holder 36
via a bevel gear 39. The rotation drive 32 for the inner tube 37 is
arranged at its rear end which is proximal to the first limb 26, in
the vicinity of the pivot drive 30, and rotatingly drives the tube
37 via a gearwheel pair 35. This inner tube 37 simultaneously
serves for the supply of the cleaning agent to the nozzle in the
nozzle holder 36. For this, the cleaning agent is fed into the
second limb 28 or the inner tube 37, at the rear end, i.e. the end
which is proximal to the first limb 26. The cleaning agent feed is
effected along the first limb 26 via a spiral flexible tubing which
is not shown here. Alternatively, it would also be conceivable to
apply the cleaning agent into the inside of the first limb 26.
[0050] The complete robot arm 16 is encased by a protective jacket,
which however is not shown here. This protective jacket of plastic
film or tissue protects the robot arm from contamination and
ensures that the robot arm 16 may be held in a hygienically
immaculate condition.
[0051] For cleaning the installation 2, the robot arm 16 is
displaced along the guide path 4 such that by way of extending the
telescope of the first limb 26 and moving the second limb 28 about
the different axes, it may bring the nozzle of the nozzle holder 36
into those positions relative to the bottling installation 2, in
which the required regions or locations of the installation 2 which
require cleaning, may be cleaned in a targeted manner, by way of
them being sprayed with cleaning agent or disinfectant. Thus, the
robot arm 16 may travel successively to the locations of the
installation 2 which are to be cleaned, along the guide path 4. The
supply of energy and cleaning agent to the robot arm 16 is thereby
effected via cables or conduits from a central point in the inside
of the oval spanned by the guide path 4. These conduits are not
shown in the figures. A data communication to the robot arm 16 may
be effected via suitable leads, but may also be effected in a
wireless manner.
[0052] The robot arm 16 is displaced onto the rotary plate 10, in
order to be able to travel the middle web. This plate is then
rotated by 90.degree., wherein a part of the guide path 4, on which
the robot arm 16 is located at this moment, is likewise rotated by
90.degree., so that it extends in the direction of the middle web
and the robot arm may then move onto this.
[0053] The branch 8 leads to a maintenance and cleaning station for
the robot arm 16, which is not shown here. The robot arm 16 may be
moved to here, in order to clean it. Cleaning nozzles which are
installed in a fixed manner, may be arranged on the cleaning
station, and these may spray or rinse the robot arm 16. Moreover,
e.g. one may also provide a tool exchange station there, at which
the robot arm 16 may automatically exchange the nozzle holder 36
for another nozzle holder 36, handling tools or processing tools or
sensors, with which further processing tasks may be carried
out.
[0054] Instead of accomplishing the cleaning agent supply to the
robot arm 16 via a central flexible tubing conduit, one may also
arrange several docking stations 38 along the guide path, of which
only one is shown in the figure. These docking stations 38 comprise
connection couplings for a fluid conduit, and, as the case may be,
for electrical connections. The base 18 of the robot arm is then
provided with suitably fitting couplings, which are not shown here
and which may engage with the docking station 38 when the robot arm
16 is located along the guide path 4 at the position of a docking
location 38. Then a fluid connection to the robot arm 16, by way of
which the cleaning agent may be supplied, may be created at this
location via the docking station 38. These docking stations 38 are
arranged at all the points along the guide path 4, at which the
robot arm 16 must stop in order to carry out cleaning tasks. The
electrical energy supply may also be effected via the docking
location 38. A battery may be provided in the base, in order to
supply the electrical drive with energy during the displacement, in
order to permit a displacement of the robot arm 16 from docking
station 38 to docking station 38. The battery may then be charged
again at the docking station.
[0055] Additionally to the nozzle holder 36, one may yet arrange
sensors on the robot arm 16. Alternatively, these sensors may be
provided in a manner which is exchangeable with the nozzle holder
36, so that the nozzle holder 36 may be replaced by a sensor by way
of a tool change. The sensor may e.g. be used in order to travel to
certain locations or points in the filling installation 2 with the
help of the robot arm 16, and there, to carry out a bio-monitoring
by reading or scanning of indicator elements. The robot arm in this
manner may also be used even when it is not applied for cleaning
purposes. One may also provide an automatic bio-monitoring without
additional devices.
[0056] It will be appreciated by those skilled in the art that
changes could be made to the embodiments described above without
departing from the broad inventive concept thereof. It is
understood, therefore, that this invention is not limited to the
particular embodiments disclosed, but it is intended to cover
modifications within the spirit and scope of the present invention
as defined by the appended claims.
* * * * *