Ice cream stick insertion device for ice cream products and method for inserting a stick into ice cream products

A method for inserting a stick into an ice cream product with a stick pusher comprising:

• said stick pusher including an actuator capable of making a linear and reciprocating movement,
• a control unit controlling said actuators movement,
• at least one sensor for measurement of at least one of:
• the stick's position in relation to the ice cream product's height, horizontal position in relation to the ice cream product's end point, and angle in relation to the ice cream product's end point, wherein the control unit is connected to the at least one sensor,
• pushing a first stick into an ice cream product to a first stick position by accelerating said stick pusher in a first direction from a starting position,
• deaccelerating said stick pusher to a speed equal to zero and moving said stick pusher back to said starting position,
• measuring at least one of:
• the first stick's position in relation to the ice cream product's height, first stick's horizontal position in relation to the ice cream product's end point, and first stick's angle in relation to the ice cream product's end point,
• pushing a second stick into an ice cream product by accelerating said stick pusher in said first direction from said starting position, wherein said pushing a second stick is based on said at least one of said measured:
• the first stick's position in relation to the ice cream product's height, first stick's horizontal position in relation to the ice cream product's end point, and first stick's angle in relation to the ice cream product's end point.