According to the invention, the forming of a pretzel from dough can be improved by a method comprising the following steps: firstly a first branch of the dough string is taken and laid crossed over the second branch of the dough string, in the next step the second branch is taken and turned against the transformation region of the U-bend to the first branch and beyond the same up to more than 180° and with the end region to the transformation region of the U-bend thereof displaced and then placed thereupon, then the end of the first original U branch is taken again and led over the original second U branch and laid on the U bend displaced towards the other side relative to the second U branch.
The invention relates to a method for positioning of a tool at a work piece, wherein the tool is moved with a definite TCP proximate to the work piece to a first preliminary position in front of the work piece, points on at least one contour line of the work piece are detected at least once as measurement points by sensors, the distance from each of the measurement points to the corresponding contour line is determined in CAD data of the work piece, the distances so determined are minimized, and after reaching predetermined minimum distances the tool is moved to a working position on the work piece defined thereby. The invention further relates to a corresponding device with sensors for surveying of measurement points on a contour line of the work piece, comprising a determination apparatus for determining the distance of each detected measurement point to the corresponding contour line in CAD data of the work piece for minimization of the so determined distances, and comprising a control apparatus for moving the tool to a so calculated working position with distances from measurement points to corrected points of the contour line of the work piece calculated from CAD data falling below predetermined tolerances.
G05B 19/402 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
B62D 65/06 - Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor
patents