BR112016025461A2 - ?métodos para controle de um sistema de processamento robótico de carcaça e para processamento de uma carcaça suspensa, e, sistema para processamento robótico controlado de carcaça? - Google Patents
?métodos para controle de um sistema de processamento robótico de carcaça e para processamento de uma carcaça suspensa, e, sistema para processamento robótico controlado de carcaça?Info
- Publication number
- BR112016025461A2 BR112016025461A2 BR112016025461A BR112016025461A BR112016025461A2 BR 112016025461 A2 BR112016025461 A2 BR 112016025461A2 BR 112016025461 A BR112016025461 A BR 112016025461A BR 112016025461 A BR112016025461 A BR 112016025461A BR 112016025461 A2 BR112016025461 A2 BR 112016025461A2
- Authority
- BR
- Brazil
- Prior art keywords
- robotic
- carcass
- processing system
- housing
- saw
- Prior art date
Links
- 238000000034 method Methods 0.000 title 1
Classifications
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
- A22B5/0041—Electronic, robotic or computer assisted cutting, dividing or deboning carcasses
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
- A01K5/0225—Gravity replenishment from a reserve, e.g. a hopper
- A01K5/0241—Gravity replenishment from a reserve, e.g. a hopper dispensing by means of stirring mechanisms or agitators operated by the animal
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/20—Splitting instruments
- A22B5/202—Guides or devices for holding the carcass during the splitting operation
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/20—Splitting instruments
- A22B5/203—Meat or bone saws for splitting carcasses
- A22B5/208—Band saws
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Environmental Sciences (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Birds (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Processing Of Meat And Fish (AREA)
- Manipulator (AREA)
Abstract
um sistema de processamento robótico de carcaça usa um par de braços robóticos tendo múltiplos eixos geométricos de movimento, uma serra montada nos mesmos, e a controlador. o controlador move a serra no espaço cartesiano através de cinemática inversa com controle de interpolação sobre os múltiplos eixos geométricos do braço robótico para mover de maneira síncrona a serra com relação a uma carcaça em uma linha de montagem. o controlador também determina quando um dos braços robóticos move a sua serra de um espaço definido para indicar que o espaço está liberado e para permitir que o outro braço robótico entre naquele espaço. um sensor na linha de montagem identifica a localização da ausência de uma carcaça suportada, uma carcaça suportada que requer manipulação especial, ou peso ou comprimento de uma carcaça. o controlador envia um sinal para os braços robóticos tanto para efetuar um corte padrão quanto para modificar o corte padrão na localização identificada ou carcaça.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461987024P | 2014-05-01 | 2014-05-01 | |
PCT/US2015/028725 WO2015168511A2 (en) | 2014-05-01 | 2015-05-01 | Robotic carcass processing method and system |
Publications (1)
Publication Number | Publication Date |
---|---|
BR112016025461A2 true BR112016025461A2 (pt) | 2017-08-15 |
Family
ID=54359497
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112016025461A BR112016025461A2 (pt) | 2014-05-01 | 2015-05-01 | ?métodos para controle de um sistema de processamento robótico de carcaça e para processamento de uma carcaça suspensa, e, sistema para processamento robótico controlado de carcaça? |
Country Status (12)
Country | Link |
---|---|
US (1) | US10028514B2 (pt) |
EP (1) | EP3136869A4 (pt) |
JP (1) | JP2017518044A (pt) |
CN (1) | CN106231910A (pt) |
AU (1) | AU2015252988B2 (pt) |
BR (1) | BR112016025461A2 (pt) |
CA (2) | CA3019818A1 (pt) |
NZ (1) | NZ725166A (pt) |
PH (1) | PH12016502023A1 (pt) |
RU (2) | RU2671469C2 (pt) |
WO (1) | WO2015168511A2 (pt) |
ZA (1) | ZA201607069B (pt) |
Families Citing this family (20)
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US10493544B2 (en) * | 2016-02-05 | 2019-12-03 | Textron Innovations, Inc. | System and method for cutting composite materials |
US9955702B1 (en) * | 2016-10-28 | 2018-05-01 | Jarvis Products Corporation | Beef splitting method and system |
NL2018150B1 (en) | 2017-01-10 | 2018-07-25 | Humboldt Bv | Method and device for processing carcasses of livestock along the spine |
AT524501B1 (de) * | 2017-01-10 | 2023-10-15 | Humboldt Bv | Verfahren und Vorrichtung zur Verarbeitung von Kadavern von Vieh entlang der Wirbelsäule |
CN106804685A (zh) * | 2017-01-19 | 2017-06-09 | 大连理工大学 | 一种机器人智能家畜剖切的装置及方法 |
ES2702423A1 (es) * | 2017-08-31 | 2019-02-28 | Aira Robotics S L | Dispositivo de corte frontal y dorsal de una carcasa de cerdo |
CN107455432A (zh) * | 2017-08-31 | 2017-12-12 | 自贡市大安区庙坝镇肉牛养殖协会 | 一种肉牛胴体自动劈半机 |
CN108747422A (zh) * | 2018-05-29 | 2018-11-06 | 苏州库迅机器人有限公司 | 机器人夹持锯切装置 |
US11785956B2 (en) | 2018-11-22 | 2023-10-17 | Humboldt B.V. | Method and device for positioning and/or handling carcasses and/or carcass parts during the slaughter of animals on an industrial scale |
DK180199B1 (en) | 2018-12-17 | 2020-08-13 | Teknologisk Inst | Cellular meat production |
CN109673707A (zh) * | 2019-02-15 | 2019-04-26 | 青岛建华食品机械制造有限公司 | 全自动劈半机器人系统及其控制方法 |
CN110226617A (zh) * | 2019-07-08 | 2019-09-13 | 浙江浙华智能科技有限公司 | 一种羊胴体夹持机构 |
CN110447690B (zh) * | 2019-07-15 | 2024-02-06 | 大连大华中天科技有限公司 | 一种猪腹剖切机器人系统 |
WO2021198237A1 (en) * | 2020-03-31 | 2021-10-07 | Marel Red Meat Slaughtering B.V. | A bung driller with a bung holder |
BR112022023599A2 (pt) * | 2020-06-09 | 2022-12-20 | Marel Meat Bv | Um sistema de corte e um método para cortar partes da carcaça enquanto as partes da carcaça são transportadas por transportadores conectados e movidos por um sistema de transporte suspenso |
CN111758762A (zh) * | 2020-06-17 | 2020-10-13 | 安徽聚丰畜禽开发有限公司 | 一种屠宰场流水线用猪肉劈半锯 |
CN111685157A (zh) * | 2020-07-21 | 2020-09-22 | 武汉轻工大学 | 一种家禽机器人自动掏膛系统 |
ES2926000A1 (es) * | 2021-04-09 | 2022-10-20 | Aira Robotics S L | Dispositivo de corte por la mitad de una carcasa de animal y robot que incorpora dicho dispositivo de corte |
CN113575651A (zh) * | 2021-07-28 | 2021-11-02 | 福建傲农生物科技集团股份有限公司 | 一种牲畜屠宰用开腹装置 |
CN115176833A (zh) * | 2022-07-13 | 2022-10-14 | 山东华誉机械设备有限公司 | 一种肉类切割加工设备 |
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FR2535944A1 (fr) * | 1982-11-15 | 1984-05-18 | Schlumberger Cie N | Machine automatique a fendre les animaux de boucherie, notamment les porcs |
US4653150A (en) * | 1986-05-27 | 1987-03-31 | Geo. A. Hormel & Co. | Carcass splitting apparatus |
US5334084A (en) * | 1991-09-04 | 1994-08-02 | Texas Beef Group | Method and apparatus for automatically trimming fatty tissue from animal carcasses |
US5205779A (en) * | 1991-09-04 | 1993-04-27 | Texas Beef Group | Method and apparatus for automatically segmenting animal carcasses |
DK171036B1 (da) * | 1993-04-26 | 1996-04-29 | Slagteriernes Forskningsinst | Fremgangsmåde og apparat til fiksering af opskårne, ved bagbenene ophængte slagtekroppe på slagtesvin |
US5372540A (en) * | 1993-07-13 | 1994-12-13 | The Laitram Corporation | Robot cutting system |
US6027405A (en) * | 1998-11-13 | 2000-02-22 | Hormel Foods, Llc | Carcass splitting apparatus |
US6126536A (en) | 1999-07-01 | 2000-10-03 | Jarvis Products Corporation | Automated saw for splitting carcasses |
US6244951B1 (en) * | 2000-04-28 | 2001-06-12 | Hormel Foods, Llc | Hog carcass configurer |
US6623348B1 (en) | 2000-07-06 | 2003-09-23 | O'neill Richard V. | Method and apparatus for slaughtering and processing animals |
US6442451B1 (en) | 2000-12-28 | 2002-08-27 | Robotic Workspace Technologies, Inc. | Versatile robot control system |
US6845295B2 (en) | 2002-03-07 | 2005-01-18 | Fanuc Robotics America, Inc. | Method of controlling a robot through a singularity |
EP1464227B1 (de) | 2003-04-04 | 2010-07-28 | Maja-Maschinenfabrik Hermann Schill GmbH & Co. KG | Vorrichtung zum Entschwarten oder Trimmen eines Fleischstücks oder eines Stücks Schlachttier |
JP4126027B2 (ja) * | 2004-04-16 | 2008-07-30 | 食肉生産技術研究組合 | 脊柱除去方法および脊柱除去装置 |
WO2007075837A2 (en) | 2005-12-19 | 2007-07-05 | Swift & Company | Guide for carcass backsaw and method of use |
WO2007080733A1 (ja) | 2006-01-13 | 2007-07-19 | Matsushita Electric Industrial Co., Ltd. | ロボットアームの制御装置及び制御方法、ロボット、及びプログラム |
DE102006019632B3 (de) * | 2006-04-25 | 2007-12-13 | Banss Schlacht- und Fördertechnik GmbH | Verfahren zur Durchführung von zumindest einem Bearbeitungsschritt an einem Schlachttier sowie Bearbeitungsstation |
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CA2642791C (en) | 2007-11-05 | 2013-10-15 | Cargill, Incorporated | Carcass intervention tracking and methods |
FR2923357A1 (fr) | 2007-11-12 | 2009-05-15 | Durand Internat Soc Par Action | Installation de fente robotisee de carcasses de porc ou analogue |
WO2010114397A1 (en) | 2009-04-03 | 2010-10-07 | Robotic Technologies Limited | Carcass cutting methods and apparatus |
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JP5788076B2 (ja) * | 2012-03-13 | 2015-09-30 | 株式会社前川製作所 | 骨付き食肉の肩甲骨除去装置及び方法、並びに、該装置を備える骨付き食肉の脱骨システム |
CN104363850B (zh) * | 2012-06-01 | 2017-08-18 | 直观外科手术操作公司 | 用于使用零空间避免操纵器臂之间碰撞的系统和方法 |
EP2890244A4 (en) * | 2012-08-31 | 2016-04-27 | Jarvis Products | STABILIZER OF CARCASS |
CN102940018A (zh) * | 2012-11-15 | 2013-02-27 | 南京卓润环保科技有限公司 | 畜禽屠宰自动劈半机器人系统 |
-
2015
- 2015-05-01 CN CN201580022044.7A patent/CN106231910A/zh active Pending
- 2015-05-01 CA CA3019818A patent/CA3019818A1/en not_active Abandoned
- 2015-05-01 NZ NZ725166A patent/NZ725166A/en not_active IP Right Cessation
- 2015-05-01 EP EP15786690.6A patent/EP3136869A4/en not_active Withdrawn
- 2015-05-01 US US14/719,862 patent/US10028514B2/en not_active Expired - Fee Related
- 2015-05-01 RU RU2016146103A patent/RU2671469C2/ru not_active IP Right Cessation
- 2015-05-01 BR BR112016025461A patent/BR112016025461A2/pt not_active Application Discontinuation
- 2015-05-01 AU AU2015252988A patent/AU2015252988B2/en not_active Expired - Fee Related
- 2015-05-01 RU RU2018130822A patent/RU2018130822A/ru not_active Application Discontinuation
- 2015-05-01 CA CA2945649A patent/CA2945649A1/en not_active Abandoned
- 2015-05-01 WO PCT/US2015/028725 patent/WO2015168511A2/en active Application Filing
- 2015-05-01 JP JP2016565407A patent/JP2017518044A/ja active Pending
-
2016
- 2016-10-11 PH PH12016502023A patent/PH12016502023A1/en unknown
- 2016-10-13 ZA ZA2016/07069A patent/ZA201607069B/en unknown
Also Published As
Publication number | Publication date |
---|---|
EP3136869A2 (en) | 2017-03-08 |
US10028514B2 (en) | 2018-07-24 |
ZA201607069B (en) | 2019-01-30 |
RU2016146103A3 (pt) | 2018-08-31 |
WO2015168511A3 (en) | 2016-01-14 |
JP2017518044A (ja) | 2017-07-06 |
AU2015252988A1 (en) | 2016-11-03 |
RU2671469C2 (ru) | 2018-10-31 |
PH12016502023A1 (en) | 2017-01-09 |
CA2945649A1 (en) | 2015-11-05 |
CN106231910A (zh) | 2016-12-14 |
EP3136869A4 (en) | 2018-02-21 |
NZ725166A (en) | 2018-05-25 |
RU2016146103A (ru) | 2018-06-01 |
RU2018130822A (ru) | 2018-10-02 |
WO2015168511A2 (en) | 2015-11-05 |
US20170049116A1 (en) | 2017-02-23 |
AU2015252988B2 (en) | 2019-01-31 |
CA3019818A1 (en) | 2015-11-05 |
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Legal Events
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B06U | Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette] | ||
B08F | Application dismissed because of non-payment of annual fees [chapter 8.6 patent gazette] |
Free format text: REFERENTE A 5A ANUIDADE. |
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B11B | Dismissal acc. art. 36, par 1 of ipl - no reply within 90 days to fullfil the necessary requirements | ||
B350 | Update of information on the portal [chapter 15.35 patent gazette] |