Patent Description:
In an already known production line for producing sausage-shaped products, like sausages, a filling tube is provided for feeding a packaging material or tubular casing, respectively, with, for example, sausage meat, wherein the tubular casing is closed at one end facing in the filling direction by a first clip. After the filling operation is concluded, the tube-like casing is finally closed by a second clip. If the sausage is later to be hung up on a smoking rod formed by a rod-like or rod-shaped element, for example for the purposes of smoking or storage, a suspension loop is fed thereto in such a way that, when the first or second clip is attached, it is embraced by the respective clip and is thus secured to the sausage.

After the filling process, the sausages can be subjected to further processing, for example in a smoking chamber. For that purpose, the sausages have to be transported to the end of the conveyor and there taken over by an automatic hanging line, in which the sausages are hung up on a rod-like element, such as a smoking rod, at their loops one after another in such a way that, as far as possible, they do not touch each other. Afterwards, the smoking rods are transported to a further storage frame which has rollers for transporting the smoking rods into a smoking chamber. A robotic device may be provided for removing the smoking rods discharged one after the other from the automatic hanging line and inserting said smoking rods into the storage frame.

From <CIT>, a system for producing and handling sausage-like products is known. The system includes a production line for producing sausage-like products and for storing them on rod-like elements, a control unit for controlling the production line, a robotic device and a storage frame into which the sausage-like products hung up at the rod-like elements are to be moved by the robotic device. The system further includes an automatic hanging line, where the sausage-like products are placed in regular intervals at a rod-like element, and a release line for transferring the rod-like elements from a first transfer point close to the hanging line to a second transfer point where the rod-like elements are removed from the release signalled by the robotic device. A further system for producing and handling sausage-like products is known from Chinese patent application <CIT>.

For an efficient operation of the hanging line and the robotic device, it is advantageous that the production of the sausages, and thus, the operation of the hanging line is coordinated with the provision of a storage frame to be filled, and the operation of the robotic device accordingly. In the case of interruptions of the production process, e.g. during refilling casing material or suspension loops, a continuous discharge of smoking rods from the hanging line is not possible, whereby also the robotic device has to be stopped. Moreover, during removing a storage frame filled with smoking rods and positioning an empty storage frame to be filled, the continuous discharge of smoking rods from the hanging line has to be stopped, since the robotic device, in this time, may not remove a smoking rod from the hanging line and insert said smoking rod into a storage frame.

Thus, it is an object of the present invention to overcome the above-mentioned disadvantages and to increase the efficiency of a production line for producing sausage-shaped products and the further treatment of the sausage-shaped products.

According to the present invention, there is provided a transfer device for transferring rod-like or rod-shaped elements for storing sausage-shaped products, in particular sausages, in a transfer direction from a first transfer point to a second transfer point. The transfer device comprises a first guidance and a second guidance spaced apart and extending at least substantially parallel to each other, each having a first end and a second end, wherein, in the area of the first end of the guidances, the first transfer point is defined and, in the area of the second end of the guidances, the second transfer point is defined. In the inventive transfer device, a buffering region is provided between the first transfer point and the second transfer point of the guidances for temporarily buffering at least one rod-like element after being removed from the first transfer point. The buffering region includes several predetermined buffering positions. Furthermore, at least one, preferably a pair of gripping units is provided with the gripping unit being linearly movable along at least one of the guidances, for transferring a rod-like element along said guidance from the first transfer point to the buffering region and/or to the second transfer point. Moreover, a control unit is provided being configured to control the at least one gripping unit, and being adapted to move the at least one gripping unit in specific movement pattern for moving the rod-like elements positioned in the buffering region towards the second transfer point according to said specific pattern.

Providing a buffering region between the first and second transfer points for temporarily buffering at least one rod-like element after its removal from the first transfer point, enables a more flexible handling of the rod-like element positioned in the first transfer point as well as that positioned in the second transfer point. In particular, if there is a jamming at the second transfer point, feeding of rod-like elements to the first transfer point must not be interrupted. Moreover, different operating speeds of the devices being arranged in front of the first transfer point and behind the second transfer point can be balanced.

The provision of several predefined buffering positions allows an exact positioning of the rod-like elements to be treated, and thus, a reliable handling of said rod-like elements. Said gripping units allow a defined movement of the rod-like elements along the guidances.

For a further reliable handling of the rod-like elements, and for reducing the control amount, it is further preferred that the several predetermined buffering positions are arranged at substantially equal distances from each other in the transfer direction.

It has to be understood that said predetermined buffering positions may be arranged at equal distances from each other at any time. However, said equal distances may vary, e.g. dependent on the size of the sausage-shaped products, particularly on their diameter, such that said equal distances may be reduced in the case that the diameter of the sausage-shaped products is small, and that said equal distances may be enlarged corresponding to the enlarged diameter of the sausage-shaped products to be produced.

The buffering positions in the buffering region may be arranged subsequently in regular intervals. Alternatively, it is also possible that the distances between the buffering positions are not regular. The buffering positions may be arranged in groups, e.g. with the buffering positions in each group in equal distances, but with a different distance between the groups.

Naturally, it is also possible that the distances between the buffering positions of the rod-like elements in the buffering region may be varied. This option may be selected for an optimized transfer process, or in an accident case, in which a rod-like element different from the rod-like element actually be handled, has to be positioned in the second transfer point, e.g. for securing a continuous handling process. In such a case, the rod-like element actually handled by the gripping unit, may immediately be placed in the current position of the gripping unit, this position is registered, e.g. in the control unit, for a further transfer of this particular rod-like element at a later point of time.

For optimizing the transfer process, and particularly for shorten the transfer time of a rod-like element to the second transfer point, it is of advantage that the at least one predetermined buffering position is located closer to the second transfer point than to the first transfer point with respect to the transfer direction. In case that there are several predetermined buffering positions, these buffering positions or at least some of these buffering positions are arranged closer to the second transfer position.

In a preferred embodiment of the inventive transfer device, the at least one predetermined buffering position is formed by at least one first depression in the upper surface of the first guidance, and preferably a corresponding second depression is provided on the upper surface of the second guidance.

The rod-like element positioned in said buffering positon is secured in this position by said first depression, and is prevented from unintentionally being removed from this position. The provision of a second depression is not necessary, since the first depression can already secure the rod-like element in this position. However, a second depression, e.g. dependent on the size of the rod-like element or the size and number of sausage-shaped products stored thereon, may improve the positioning of the rod-like element and reduce the danger of being unintentionally removed from this position.

For further securing the rod-like element in the buffering position, in a further preferred embodiment of the inventive transfer device, the depression has a cross-sectional shape corresponding to the cross-sectional shape of the rod-like elements used.

According to the present invention, it is of advantage that each of the guidances includes a bar extending along the upper surface of the guidances and wherein preferably the bar includes the at least one depression. Said bar constitutes the surface on which the rod-like elements are moved from the first transfer point towards the second transfer point. This specific design allows to exchange the bars on the guidances, e.g. in adaption to the cross-sectional shape and/or the kind of material of the rod-like elements used, or in case of mechanical abrasion.

Alternatively to the provision of depressions for defining buffering positions, said buffering positions may be "virtual" positions, defined by physical elements detectable by corresponding sensors. Said "virtual" buffering positions may also be defined by their distances to a reference point, like the first, second or third transfer point, and a respective distance to each other. In such a case, the gripping units may be provided with respective sensors for detecting the position defining elements or for detecting a predefined distance.

Further alternatively, or additionally, the gripping units may be provided with optical sensors or cameras, which may detect a rod-like element positioned in the buffering region, together with its position relative to one of the first, second or third transfer point or to other rod-like elements in the buffering region. Based thereon, the control unit may control the gripping units for an optimized transfer of the rod-like elements.

Each of the gripping units has an engaging part for engaging one of the first end and second ends of the rod-like elements. This engaging part may further be designed as a replacement part, for adapting the gripping unit to the rod-like elements used, particularly to its cross-sectional shape.

In the inventive transfer device, it is of advantage that a control unit is provided, with the control unit being configured to control the at least one gripping unit such that a rod-shaped element located in the first transfer point is removed from the first transfer point before rod-shaped elements located in the buffering region are moved by the at least one gripping unit. Thereby, it is enabled that the transfer device is prepared for receiving a further rod-like element to be handled at the first transfer point.

In the inventive transfer device, it is further of advantage that a control unit is provided, with the control unit being configured to control the at least one gripping unit such that a rod-shaped element located in preferably the foremost predetermined buffering position of the buffering region, referred to the transfer direction, is transferred to the second transfer point before other rod-shaped elements located in the buffering region are moved by the at least one gripping unit. This ensures that at each time, a rod-like element is positioned in the second transfer point, which may be removed from the inventive transfer device by a further handling device, like automatically by a robotic device or manually by an operator.

According to the present invention, there is further provided a method for transferring rod-like elements for storing sausage-shaped products, in particular sausages, in a transfer device comprising a first transfer point, a second transfer point, a buffering region located between the first transfer point and the second transfer point, the buffering region including several predetermined buffering positions, at least one gripping unit for transferring a rod-like element in a transfer direction from the first transfer point to the buffering region and/or the second transfer point, and a control unit for controlling the at least one gripping unit, comprising the steps of: picking-up a rod-shaped element at the first transfer point by the gripping unit and transferring said rod-like element to the second transfer point if there is no rod-like element at the second transfer point, or moving the rod-shaped element to the buffering region if there is a rod-like element at the second transfer point, moving the gripping unit in specific movement pattern, and moving the rod-like elements positioned in the buffering region towards the second transfer point according to said specific pattern. Thereby, a continuous operation of the transfer device is ensured.

It has to be understood that a direct transfer of a rod-like element from the first transfer point to the second transfer point is only possible if there is no further rod-like element in the buffering region. Otherwise, the rod-like element picked-up in the first transfer point by the gripping unit, is transferred to the first free buffering position or one of the free buffering positions reached after leaving the first transfer point.

In the case that the buffering region has a plurality of predetermined buffering positions arranged in series and spaced apart in the transfer direction, the inventive method further comprises the step of moving a rod-shaped element picked-up at the first transfer point into the foremost free predetermined buffering position with respect to the transfer direction. The provision of a plurality of buffering positions increases the flexibility of the transfer device, and further ensures a continuous operation, e.g. also in case of irregularities in the production process.

In case that the buffering region has a plurality of predetermined buffering positions arranged in series and spaced apart in the transfer direction, the inventive method may further comprise the step of placing several rod-shaped elements in the predetermined buffering positions of the buffering region in such a way that the foremost predetermined buffering position, referred to the transfer direction, is occupied first by a rod-shaped element and subsequently the predetermined buffering positions upstream the foremost buffering position, referred to the transfer direction, are successively occupied by rod-shaped elements in the transfer direction. Thereby, the efficiency and reliability of the transfer device is increased.

In this case, the inventive method may also comprise the step of removing a rod-shaped element from the first transfer point before moving one of the rod-shaped elements located in the buffering region. This ensures, that the first transfer point is ready to receive a further rod-shaped element, at the earliest possible time point.

Furthermore, the method may comprise the step of transferring a rod-shaped element from the buffering region to the second transfer point before moving rod-shaped elements located in the buffering region. That means, providing a rod-like element in the second transfer point is prioritised, such that a continuous removal of rod-shaped elements from the transfer device is guaranteed.

The inventive method for transferring rod-like elements thereby provides all advantages explained in conjunction with the inventive transfer device for transferring rod-like elements.

In the following, further advantages and embodiments of the inventive methods and/or the inventive devices are described in conjunction with the attached drawings. Thereby, the expressions "left", "right", "below" and "above" are referred to the drawings in an orientation of the drawings which allows the normal reading of the reference numbers.

The system for handling rod-like elements R according to <FIG> comprises as main components a schematically shown production line <NUM> for producing sausage-shaped products S, like sausages, and storing them on rod-like elements R, like smoking rods, including a control unit <NUM> for controlling the production line <NUM>, a robotic device <NUM> having a control unit <NUM> for controlling the movement of robotic device <NUM>, and a storage frame <NUM>, into which the sausages S hung up at the rod-like elements R are to be moved.

As shown in <FIG>, the system for producing and handling sausage-shaped products S further comprises a treatment station <NUM>, in which any possible treatment to the sausages S can be executed before they are stored in storage frame <NUM>. A possible treatment may be splashing the sausage-shaped products S with a smoking fluid or a flavoring fluid. Alternatively, additional treatment stations may belong to the system. If no treatment is necessary to the sausage-shaped products S between production and storage in storage frame <NUM>, no treatment station needs to be integrated into the system.

Storage frame <NUM> is positioned in an operating range <NUM> of robotic device <NUM> which is illustrated by broken lined circle <NUM>. Inside storage frame <NUM>, tray rails or shelf rails <NUM> e.g. in the form of horizontally aligned bars are arranged for positioning rod-like elements R thereon.

Robotic device <NUM>, which may be a so called joined-arm robot, is positioned in the center of its operating range <NUM> to reach all units <NUM>, <NUM>, <NUM> and stations peripherally arranged inside operating range <NUM> by its pivotally attached arms <NUM>, <NUM>. At front end of arm <NUM>, a gripping unit <NUM> is arranged for gripping the smoking rods R with the sausages S hanging thereon inside production line <NUM> and moving it to storage frame <NUM>. Control unit <NUM> for controlling the movement of robotic device <NUM> is accommodated in the housing of robotic device <NUM>.

Production line <NUM> for producing sausages S comprises a sausage production device <NUM>, like a clipping machine, and an automatic hanging line <NUM>. At least automatic hanging line <NUM> is peripherally arranged inside operating range <NUM>. In production line <NUM> sausage-shaped S are produced in a known manner by filling e.g. sausage meat through a filling pipe into a tubular casing and closing the casing by said clipping machine attaching and closing clips at both ends. A flexible suspension loop is fed to one of the closing clips to be attached together with said clip to the respective end of the sausages S. Thereafter, sausages S will be placed in regular intervals at rod-like element R in automatic hanging line <NUM>.

The system for handling rod-like elements or smoking rods R further includes a transfer device <NUM>. Transfer device <NUM> is connected with its rear side to production line <NUM> for receiving rod-like elements R with sausage-shaped products S thereon when discharged from hanging line <NUM>. On transfer device <NUM>, the rod-like elements R are moved away from hanging line <NUM> towards the front end of transfer device <NUM> in a transfer direction T.

As can be seen in <FIG> and <FIG>, transfer device <NUM> comprises two guidances <NUM>, <NUM>. The at least approximately horizontally arranged guidances <NUM>, <NUM> are straight, spaced apart to each other and extend at least substantially parallel to each other. Each guidance <NUM>, <NUM> is supported on posts <NUM> arranged on each end G<NUM>, G<NUM> of the guidances <NUM>, <NUM>. Rod-like elements R have a central axis A, first end E<NUM> and a second end E<NUM>. First and second ends E<NUM>, E<NUM> of rod-like elements R are supported by guidances <NUM>, <NUM>.

Posts <NUM> may be of equal length. However, in <FIG>, posts <NUM> supporting the front end of guidances <NUM>, <NUM> exceed guidances <NUM>, <NUM>. Posts <NUM> may be used for mounting security devices thereon, like protecting grids. Guidances <NUM>, <NUM> may height-adjustably be supported by columns <NUM>, for adjusting transfer device <NUM> to production line <NUM>. In <FIG>, posts <NUM> have been omitted for clarity reasons. However, they are present for supporting guidances <NUM>, <NUM>.

The area of the first end G<NUM> of each guidance <NUM>, <NUM> extends into production line <NUM> such that a rod-like element R can be transferred to the guidances <NUM>, <NUM>. The area of the first end G<NUM> of the guidances <NUM>, <NUM> defines a first transfer point <NUM> between production line <NUM> and transfer device <NUM>. Rod-like element R is moved from the first transfer point <NUM> to the area of the second end G<NUM> in transfer direction T, in which the rod-like element R is transferred to robotic device <NUM>. The transfer point between transfer device <NUM> and robotic device <NUM> in the area of the second end G<NUM> of the guidances <NUM>, <NUM> is the second transfer point <NUM>. Robotic device <NUM> removes a rod-like element R with sausage-shaped products S stored thereon, from second transfer point <NUM>, and inserts said rod-like element into a storage frame <NUM>.

For the movement of the rod-like element R from the first transfer point <NUM> to the second transfer point <NUM>, at least one gripping unit <NUM> is used. According to the shown embodiment, two gripping units <NUM> are provided, each gripping unit <NUM> is linearly moveable along the correspondence guidance <NUM>, <NUM> via a transmission device <NUM>, which, amongst others, may include sprocket wheels, chains and drive elements, like a servo motor.

For controlling the movement of gripping units <NUM>, transfer device <NUM> is provided with a control unit CU.

Each gripping unit <NUM> comprises an engaging part <NUM> being vertically movable relative to the corresponding guidance <NUM>. The vertical direction is indicated with arrow V in <FIG> and <FIG>. Due to the possible vertical movement, rod-like element R can be engaged and gripped or picked-up by each gripping unit <NUM>. In particular, engaging part <NUM> has a recess <NUM> for accommodating a rod-like element R. The rod-like element R is gripped by the respective recess <NUM> of gripping units <NUM> in the section of the first and second end E<NUM>, E<NUM>.

The shown recess <NUM> has a part circular shape that corresponds to the circular cross-section of the gripped rod-like element R. But, the cross-section of the rod-like element R can also be e.g. triangular or rectangular (not shown). To adapt gripping unit <NUM> to the corresponding cross-section of the rod-like element R, engaging part <NUM> with recess <NUM> is replaceable.

Each gripping unit <NUM> is moveable between the second transfer point <NUM> for the robotic device <NUM> and a third transfer point <NUM>. Third transfer point <NUM> is defined by the position of gripping units <NUM> as shown in <FIG>. This is (according to <FIG>) the leftmost position of gripping units <NUM>, or the position closest to first ends G<NUM> of guidances <NUM>, <NUM>.

For moving the rod-like elements R from the first transfer point <NUM> to the third transfer point <NUM>, two sliders <NUM> are provided being polygonal and plate-like. Each slider <NUM> is linearly movable along the corresponding guidance <NUM>.

Each slider <NUM> comprises on its right end (according to <FIG>) a hook <NUM> being able to engage and pull rod-like element R. In particular, sliders <NUM> engage the rod-like elements R in the section of the first end E<NUM> and the second end E<NUM>, respectively.

As can be seen in <FIG> and <FIG>, second transfer point <NUM> is defined by a pair of first and second depressions D<NUM>, D<NUM>, with each depression D<NUM>, D<NUM> arranged on one of guidances <NUM>, <NUM> in the region of their second end G<NUM>. Also third transfer point <NUM> is formed by a pair of depressions D<NUM>, D<NUM>, each on one of guidances <NUM>, <NUM>. Said depressions D<NUM>, D<NUM> prevent a rod-like element R from unintentionally moving out of these positions, e.g. by a possible pendulous movement of the sausage-shaped products S suspended on said rod-like element R.

As further can be seen in <FIG> and <FIG>, between the second and third transfer points <NUM>, <NUM>, further depressions D<NUM>, D<NUM> are arranged on guidances <NUM>, <NUM>. In particular, ten depressions D<NUM>, D<NUM> are arranged pairwise with depressions D<NUM> opposite to depressions D<NUM> in a line at least approximately perpendicular to transfer direction T. Said pairs of depressions D<NUM>, D<NUM> form five buffering positions BP of a buffering region BR on guidances <NUM>, <NUM>, in the region of their second ends G<NUM>. Depending on the length of guidances <NUM>, <NUM>, more than five buffering positions BP may be provided. Naturally, it is also possible to provide less than five buffering positions BP, like a single buffering position BP or two.

Also depressions D<NUM>, D<NUM> which form buffering positions BP of buffering region BR, have a shape corresponding to the cross-sectional shape of the rod-like elements R to be treated. In the embodiment of <FIG> and <FIG>, depressions D<NUM>, D<NUM> have a part circular shape that corresponds to the circular cross-section of rod-like elements R.

Depressions D<NUM>, D<NUM> are generally provided in the upper surface of guidances <NUM>, <NUM>. In the embodiment of <FIG> and <FIG>, a bar 72a is arranged on top guidances <NUM>, <NUM> to form the upper surface of said guidances <NUM>, <NUM>. Accordingly, depressions D<NUM>, D<NUM> are formed in bar 72a.

Bars 72a may be provided as replacement parts, e.g. in case of abrasion, or to be replaced by bars having depressions of different shape, in adaption to rod-like elements R having a corresponding different cross-sectional shape.

In production line <NUM> sausage-shaped products S are produced by filling e.g. sausage meat through a filling pipe into a tubular casing and closing the casing by a clipping machine attaching and closing clips at both ends. A flexible suspension loop is fed to one of the closing clips to be attached together with said clip to the respective end of the sausage-shaped products S. Thereafter, sausage-shaped products S are placed in regular intervals on a rod-like element R in automatic hanging line <NUM>.

For discharging rod-like elements R with sausage-shaped products S thereon, sliders <NUM> are moved to the first end G<NUM> of guidances <NUM>, <NUM>, that means to the right side (according to <FIG>). By moving sliders <NUM> towards the first end G<NUM> of guidances <NUM>, <NUM>, hooks provided at the ends of sliders <NUM> engage the rod-like element R in the first transfer point <NUM>.

Afterwards, sliders <NUM> are moved in transfer direction T towards the second end G<NUM> of guidances <NUM>, <NUM> (which is the left side according to <FIG>), whereby the gripped rod-like element R with the stored sausages S is moved away from production line <NUM>. In the third transfer point <NUM>, the rod-like element R is released from sliders <NUM> and gripped by gripping units <NUM>.

To grip rod-like element R, gripping units <NUM> are moved thereto, or they are already positioned in third transfer point <NUM>. Engaging parts <NUM> of gripping units <NUM> are moved from a lifted position into a lowered position in which engaging parts <NUM> engage first and second ends E<NUM>, E<NUM> of rod-like element R.

Thereafter, gripping units <NUM> are moved in transfer direction T towards second end G<NUM> of guidances <NUM>, <NUM>, and rod-like element R is positioned in one of buffering positions BP in buffering region BR.

Depending on the filling degree of buffering region BR and whether a smoking rod R is positioned in second transfer position <NUM>, the rod-like element R in the front most buffering position BP is moved into the second transfer position <NUM> when empty. Alternatively, in the case that the front most buffering position BP is empty, a rod-like element R from one of the subsequent buffering positions may be moved into the front most buffering position BP.

After positioning a rod-like element R in the second transfer position <NUM>, robotic device may remove said rod-like element R and insert said rod-like element R into storage frame <NUM>.

In the case of a continuous production of sausage-shaped products S, rod-like elements R filled with sausage-shaped products S, may be removed from hanging line <NUM> in regular intervals. Accordingly, after a predefined number of rod-like elements R are positioned in buffering region BR, robotic device <NUM> may remove said rod-like elements R in said regular intervals, whereby the filing degree of buffering region BR remains substantially constant.

During irregularities in the production process, the number of rod-like elements R filled with sausage-shaped products S by hanging line <NUM> may decrease. Due to the number of rod-like elements R in buffering region BR, robotic device <NUM> may continuously remove rod-like elements R from buffering region BR, at least in a defined extend. The delay in production may be balanced during the next exchange of a filled storage frame <NUM>, or by an at least temporary increased production rate of production line <NUM>, if possible.

For ensuring that at each time, a rod-like element R is positioned in the second transfer point <NUM>, or at least in the front most buffering position BP, the movement of gripping units <NUM> is controlled accordingly, by control unit CU. It is also possible that transfer device <NUM>, in case that it is not provided with an own control unit, is controlled by the control unit <NUM> of production line <NUM> or by the control unit <NUM> of robotic device <NUM>.

A control program included in control unit CU may control the movement of gripping units <NUM> such that the rod-like elements R in the buffering region BR are subsequently moved towards the second transfer point <NUM>.

Moreover, the control unit CU of transfer device <NUM> may be programmed such that a rod-like element R is moved into second transfer position <NUM> immediately after robotic device <NUM> has removed a rod-like element R therefrom, to ensure that at each time, a rod-like element is in the second transfer position <NUM>.

Accordingly, the control unit CU of transfer device <NUM> may be programmed such that a rod-like element R positioned in the first transfer point <NUM> is removed therefrom immediately after being positioned in the first transfer point <NUM>, to ensure that a rod-like element R filled with sausage-shaped products S by hanging line <NUM> may be removed from hanging line <NUM> without any delay, to guarantee a continuous production process.

Additionally, the control unit CU of transfer device <NUM> may be programmed such that the rod-like elements R in the buffering region BR are moved from one buffering position BP to a next buffering position BP in transfer direction T, such that the length of the movement path of the gripping units <NUM> is optimized. An aim of an optimization may be the shortest possible movement path, the shortest possible operation time, or an optimal distribution of the rod-like elements R in the buffering region BR to ensure an efficient transport of the rod-like elements R from or to one of the first, second or third transfer position <NUM>, <NUM>, <NUM>. The control unit CU may provide specific movement pattern for the gripping units <NUM>.

Sensors may be provided along the guidances <NUM>, <NUM> for estimating the positions of the rod-like elements R positioned thereon. Based on the sensor data, the control unit CU of the transfer device <NUM> may control the movement of gripping units <NUM>, in accordance with the desired result.

Alternatively, or additionally, also gripping units <NUM> may be provided with sensors or counters, for estimating the number and position of the rod-like elements R just moved, in order to be able to compute the next operation, in accordance with the desired result.

Depressions D<NUM>, D<NUM> are provided in the upper surface of guidances <NUM>, <NUM> on which rod-like elements R slide while being moved from the first transfer point <NUM> towards the second transfer point <NUM>.

In the embodiment according to <FIG> and <FIG>, rod-like elements R have a circular cross-sectional shape. Accordingly, depressions D<NUM>, D<NUM> have a corresponding part circular shape, the diameter of which matches the diameter of the cross-section of rod-like elements R.

Claim 1:
A transfer device (<NUM>) for transferring rod-like elements (R) for storing sausage-shaped products (S), in particular sausages, in a transfer direction (T) from a first transfer point (<NUM>) to a second transfer point (<NUM>), comprising:
a first guidance (<NUM>) and a second guidance (<NUM>) spaced apart and extending at least substantially parallel to each other, each having a first end (G<NUM>) and a second end (G<NUM>), wherein, in the area of the first end (G<NUM>) of the guidances (<NUM>, <NUM>), the first transfer point (<NUM>) is defined and, in the area of the second end (G<NUM>) of the guidances (<NUM>, <NUM>), the second transfer point (<NUM>) is defined, a buffering region (BR) provided between the first transfer point (<NUM>) and the second transfer point (<NUM>) of the guidances (<NUM>, <NUM>) for temporarily buffering at least one rod-like element (R) after being removed from the first transfer point (<NUM>),
wherein at least one, preferably a pair of gripping units (<NUM>) is provided with the gripping unit (<NUM>) being linearly movable along at least one of the guidances (<NUM>, <NUM>), for transferring a rod-like element (R) along said guidance (<NUM>, <NUM>) from the first transfer point (<NUM>) to the buffering region (BR) and/or to the second transfer point (<NUM>); and
wherein a control unit (CU) is provided being configured to control the at least one gripping unit (<NUM>), characterized in that the buffering region (BR) includes several predetermined buffering positions (BP) and in that the control unit (CU) is adapted to move the at least one gripping unit (<NUM>) in specific movement pattern for moving the rod-like elements (R) positioned in the buffering region (BR) towards the second transfer point (<NUM>) according to said specific pattern.