| 摘要 |
<p>A method and an apparatus (1) are disclosed for controlling the extraction offrozen moulded products (8), such as edible ice cream products, from a mould table (6) with a plurality of freezing pockets (5) by filling a pre-product to be frozen into the freezing pockets in the mould table, converting the pre-product into frozen moulded products by exposing the freezing pockets to a cooling medium, gripping one or more of the frozen moulded products by means of an extraction system (10) being driven by a driving arrangement comprising, for instance, one or more servo motors, extracting the one or more frozen moulded products from the freezing pockets while measuring one or more torque or force values exerted by the driving arrangement, and feeding back the one or more measured torque or force values for controlling one or more operational parameters of the freezing apparatus.</p> |
