DK180734B1 - Automatic supply and discharge of meat transporting racks - Google Patents

Automatic supply and discharge of meat transporting racks Download PDF

Info

Publication number
DK180734B1
DK180734B1 DKPA202000710A DKPA202000710A DK180734B1 DK 180734 B1 DK180734 B1 DK 180734B1 DK PA202000710 A DKPA202000710 A DK PA202000710A DK PA202000710 A DKPA202000710 A DK PA202000710A DK 180734 B1 DK180734 B1 DK 180734B1
Authority
DK
Denmark
Prior art keywords
meat
transport rack
zone
transport
rack
Prior art date
Application number
DKPA202000710A
Other languages
Danish (da)
Inventor
Thaarup Klaus
Damgaard Peter
Ali Hussein
Original Assignee
Teknologisk Inst
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Teknologisk Inst filed Critical Teknologisk Inst
Priority to DKPA202000710A priority Critical patent/DK180734B1/en
Publication of DK202000710A1 publication Critical patent/DK202000710A1/en
Application granted granted Critical
Publication of DK180734B1 publication Critical patent/DK180734B1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C15/00—Apparatus for hanging-up meat or sausages
    • A22C15/003—Hooks or the like specially adapted for meat or hams or part of carcasses

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Food Science & Technology (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

This invention relates to a machine for automatic handling (supply and redistribution) of meat transporting racks intended for conveying meat items in slaughterhouses. Moreover, the invention relates to a system for automatic loading of meat items on a meat transporting rack, and to a method for automatic loading of meat items on a meat transporting rack.

Description

DK 180734 B1 1
AUTOMATIC SUPPLY AND DISCHARGE OF MEAT TRANSPORTING RACKS
TECHNICAL FIELD This invention relates to a machine for automatic handling (supply and redistribution) of meat transporting racks intended for conveying meat items in slaughterhouses. Moreover, the invention relates to a system for automatic loading of meat items on a meat transporting rack, and to a method for automatic loading of meat items on a meat transporting rack.
BACKGROUND ART At abattoirs, and in particular at pig abattoirs, it is common to suspend pieces of meat on a specific transporting means (transport unit/transport rack/haulage vehicle), usually termed a “Christmas tree”, for internal or external transport and/or storage. This Christmas tree essentially consists of a number of hooks, mounted on a vertical rod in rows of four hooks extending in four (perpendicular) directions, which rod is configured to be suspended from an overhanging rail, while also being able to turn around a joint in its head piece, and makes up a means for collecting and transporting the meat items (storage/transport rack).
The meat items usually hung onto such Christmas trees may e.g. be fore-ends and bellies of pork, but also meat containing a bone or a shank, e.g. bone in leg, a Serrano leg, a bone in fore-ends, or a bone in shoulder, and similar cuts. Such meat items typically weigh of about 5 to 15 kg, and it takes very hard labour, and a lot of repetitive work, for manually processing these meat cuts. Therefore, steps to relieve this hard work has been taken.
GB2281547 and EP1558510 describe conveying arrangements that lifts the meat pieces onto a hook positioned on a Christmas tree.
However, the machine, systems and methods described herein have never been disclosed.
SUMMARY OF THE INVENTION This present invention relates to a machine for automatic handling (supply and discharge) of meat transporting racks ("Christmas tree”), that is intended for conveying meat items in slaughterhouses, to a system for automatic loading of meat items on the transporting means, and to a method for automatic loading of meat items on the transporting means.
DK 180734 B1 2 At abattoirs there is increasing focus on the possibility of automating heavy and labour-intensive tasks, and to speed up the overall slaughterhouse processes. Therefore, in its first aspect, the invention provides a station for automatic handling of meat transporting racks, which handling station is described in more details below. In its second aspect, the invention provides a system for automatic loading of meat items on a meat transporting rack, which system is described in more details below. In a further aspect, the invention provides a method for automatic loading of meat items on a meat transporting rack, which method is described in more details below. Other objects of the invention will be apparent to the person skilled in the art from reading the following detailed description and accompanying drawings. Any combination of two or more of the embodiments described herein is considered within the scope of the present invention.
BRIEF DESCRIPTION OF THE DRAWINGS The present invention is further illustrated by reference to the accompanying drawing, in which: Fig. 1 shows an overview of some elements of the automatic handling station of the invention; Fig. 2 shows an overview of an automatic loading system of the invention; Fig. 3 shows an overview of some elements of the automatic handling station of the invention; Fig. 4 shows an overview of some elements of the automatic handling station of the invention; Fig. 5 shows an overview of some elements of the automatic handling station of the invention; Fig. 6A shows an overview of some elements of the automatic handling station of the invention; Fig. 6B illustrates the spearhead/fixation crown (7D) of the invention; and Figs. 7A-7D show subsequent stages of the "pre-rotation process” according to the method of the invention.
DETAILED DISCLOSURE OF THE INVENTION Machine for automatic handling of meat transporting racks In its first aspect, the invention provides a station for automatic handling of meat transporting racks. The handling station of the invention (1) may also be referred
DK 180734 B1 3 to as a receiving station, a receiving station, or as a receiving tower. Meat transport racks (2) may also be referred to as transporting means/transport unit/haulage vehicle/"Christmas tree”. The handling station (1) of the invention may be characterised by comprising the following essential elements: a. a first fixation zone (5), for fixation of a meat transport rack (2) while hanging from an overhanging rail of a transport rack conveying rail system (3), characterised in that the first fixation zone (5) comprises: al. an upper gripper (5A) holding a right- (5A1) and a left- (5A2) gripping claw, which right- and left gripping claws both hold a hook-catching means (5A1' and 5A2%); and a2. a lower gripper (5B); b. a second fixation zone (6), for fixation of a transport rack (2) while hanging from an overhanging rail of the transport rack conveying rail system (3), which second fixation zone (5) comprises: bl. an upper gripper (6A); c. a carriage/slide (5C) mounted on a sledding rail (5D) configured to travel between, and for bringing a meat transport rack (2) from or to, said first (5) and second (6) fixation zones; and d. a rotation-, fixation- and elevation means /raising-/lowering device (7), comprising a swivel and lifting arm (7B), and a supporting means (7C), which supporting means ends in a spearhead /fixation crown (7D), which rotation-, fixation- and elevation means/raising-/lowering device (7) is configured for turning from side to side, and for being raised/lowered, and being capable of rotating the spearhead (7D).
The first fixation zone (5) of the invention is designed for receiving and retaining an incoming transport rack (2), and to prepare it for being transferred to the second fixation zone (6). As the transport rack (2) is hanging from the overhanging rail of the transport rack conveying rail system (3) only in a hook, it may swing back and forth, so it is important that it is maintained in a fixed/locked position, that allows it to be caught by the lower supporting means (7C) of the second fixation zone. This is accomplished by the two grippers (5A, 5B) of the first fixation zone (5), each gripper holding two (i.e. a right- and a left-) gripping claws.
Moreover, the upper gripper (5A) of this first fixation zone (5) also secures capturing and pre-rotating the incoming transport rack (2). This is accomplished by two hook-catching means (5A1' and 5A2"), mounted on each of the two gripping claws (5A1 and 5A2). These hook-catching means may also be termed "vertical fingers”, as they, in one embodiment, appear as (on the two gripping claws (5A1 and 5A2)) upright placed rods (5A1' and 5A2").
DK 180734 B1 4 Loading of meat takes place while the transport rack (2) is positioned the in the second fixation zone (6). Here it is also important, that the transport rack (2) remains clamped/fixed while it is being loaded. This is accomplished by the upper gripper (6A) of this second fixation zone (6), and by the lower supporting means (7C) of the second fixation zone (6). Moreover, the vertical rod (2A), that is basically rotatable via its pivotal point (2D), shall be placed in a fixed positioned for receival of meat items. This is accomplished i.a. by use of the spearhead/fixation crown (7D), and by the action of the rotation-, fixation- and elevation means /raising-/lowering device/actuator (7) of the invention.
The spearhead/fixation crown (7D) for use according to the invention basically represents a four-pointed crown (see Fig. 6B), that can be raised/lowered by action of the actuator of the rotation-, fixation- and elevation means/raising-/lowering device (7), and thus fit in between the four spikes mounted in the lower row of the vertical rod (2A).
The handling station (1) of the invention also comprises a carriage/slide (5C) mounted on a sledding rail (5D) configured to travel between, and for bringing a transport rack (2) from or to, said first (5) and second (6) fixation zones. This element secures that the transport rack (2) remains in a tight grip while the rotation-, fixation- and elevation means/raising-/lowering device/actuator (7) follows and attach to/connects with the transport rack (2).
Finally, the handling station (1) of the invention comprises a rotation-, fixation- and elevation means/raising-/lowering device (7), comprising a swivel and lifting arm (7B), and a supporting means (7C), which supporting means ends in a spearhead/fixation crown (7D).
During action (i.e. initiation of the loading process), the lowered elevation means/raising-/lowering device (7) travels the turning distance (7B’) and raises the elevation distance (7C'), thus aligning the position of the lower support means of the second gripping zone (7C) to the position of the transport rack (2), and binging it in a position for following and subsequently entering up the lower opening (2C) of the vertical rod (2A) of the meat transport rack (2), thereby holding the transport rack (2) and preventing it from turning. When accomplished, the carriage/slide (5C) mounted on the sledding rail (5D) is delivered to, and positioned, in the second fixation zone (6), where after the meat transport rack (2) is ready for being loaded.
In another embodiment, the handling station (1) of the invention comprises a deployment zone/buffer zone/magazine (4), configured to receive and accumulate the meat transport rack (2) arriving via the meat rack in-let conveyor (3A), before it is again released and put into the conveying loop by a feed/bring mechanism (4A).
The handling station (1) of the invention shall be configured for communication with, and for being operated by, the processing means (10). This implies that the handling station (1) of the invention may further comprise one or more sensors (12), and/or one
DK 180734 B1 or more vision devices (13), for obtaining information, e.g. about the stage of incoming meat transport racks (2) or of incoming meat items (16), and for providing guidance to the processing means (10). 5 The meat transporting rack The meat transport rack (2) (in jargon often referred to as a “Christmas tree”) for use according to the invention essentially represents a rack/stand, holding a number of hooks (2B), each with its tip facing upwards, for receiving the meat item (16) to be stored/transported, and which hooks are mounted on a vertical rod (2A). Also, the vertical rod (2A) is rotatable via a pivotal point (2D), located below the suspension hook (2E).
In slaughterhouses/abattoirs, these transport rack (2) remains in circulation on an overhanging rail system in long transport rack conveying rail systems (3). Part of such meat rack conveying systems may be designated “in-let transport rack conveyors” (3A), i.e. the part of the circle, where the transport rack (2) is being returned to the handling station (1) of the invention.
In some instances, the meat transport rack (2) arrive via a deployment zone/buffer zone/magazine (4), configured to receive and accumulate the meat transport rack (2), before it is again released and put into the conveying loop by a feed/bring mechanism (4A) before it is again released and put into the conveying loop by a feed/bring mechanism (4A).
The automatic loading system In another aspect, the invention provides a system for automatic loading of meat items on a meat transporting rack ("Christmas tree”).
The automatic meat loading system (1) of the invention may be characterised by comprising the following elements: A. a handling station (1) as described in claim 1, in communication with the processing means (10); B. a transport rack conveying rail system (3), comprising a transport rack in- let conveyor (3A), in communication with the processing means (10), for circulation of meat transport racks (2); C. an industrial robot (8), in communication with the processing means (10), for manipulation of the meat items (16); D. a meat conveying belt/carrier (9), in communication with the processing means (10), for supply of meat items (16); E. a processing means (10); and
DK 180734 B1 6 F. one or more sensors (12) and/or vision devices (13), in communication with the processing means (10), for tracking incoming meat items (16).
Element A of the system of the invention designates the handling station/receiving station/receiving tower (1) as described above.
Element B of the system of the invention represents a transport rack conveying rail system (3), which rail system comprising a transport rack in-let conveyor (3A), for supply of meat transport racks (2).
In slaughterhouses/abattoirs, meat transport racks (2) remains in circulation on an overhanging rail in long transport rack conveying rail systems (3). In the context of this invention, the part of the circle, where the empty meat transport rack (2) is being returned to the handling station (1) of the invention is designated "in-let conveyor” (3A).
For tracking e.g. the circulation of meat transport racks (2), and in particular for tracking the incoming (empty) meat transport rack arriving via the in-let conveyor, the transport rack conveying rail system (3), and the transport rack in-let conveyor (3A) of the invention shall be in communication with the processing means (10).
Element C of the system of the invention describes an industrial robot (8). The industrial robot (8) for use according to the invention shall be controlled by a processor (10) used according to the invention, and the robot (8) may be equipped with the gripping tool (15) of the invention.
The robot (8) used according to the invention should deliver the meat products (16) accurately on the transport rack (2).
The robot (8) for use according to the invention may be any commercially available industrial robot. Industrial robots may be classified based on their coordinate systems, i.e. based on reachable coordinates of a point on the end-effector, and include Cartesian robots (when arms of a robot move in the XYZ rectangular coordinate system), Cylindrical robots (when arms of a robot move in one angular and two linear directions), Spherical robots (the arms move in two angular and one linear direction), SCARA robots (Selective Compliance Arm for Robotic Assembly; have two parallel revolute joints providing compliance in a selected plane), and Articulated robots (also known as the anthropomorphic robot, the robot arm has 3 revolute joints).
Industrial robots suited for use according to the present invention may in particular be a 4-6 axis robot.
Element D of the system of the invention represents a meat conveying belt/carrier (9), in communication with the processing means (10), for supply of meat items (16). In contrast to the transport rack conveying system (3) described above, that is essentially a long overhanging rail system, the meat conveying belt/carrier (9) for use according to the system of the invention is a belt, on which the meat items (16) are typically lying while
DK 180734 B1 7 being transported in one, typically linear direction, for transporting and supplying the workpieces (16) in question.
Optionally, the meat conveying belt (9) is equipped with an encoder, allowing it to be in operation with the processing means (10), so the speed of the conveyor may be adapted to suit the need of the remaining processes.
There are four widely used methods of applying encoders to conveyors: motor mount, roller shaft mount, belt/chain driven and surface mount. Any type of encoder may be employed according to the invention.
Element E of the system of the invention represents a processing means (10), as described in more details below.
Element F of the system of the invention represents one or more sensors (12) and/or vision devices (13), as described in more details below.
In another embodiment, the handling station (1) of the invention comprises a deployment zone/buffer zone/magazine (4), configured to receive and accumulate the meat transport rack (2) arriving via the meat rack in-let conveyor (3A), before it is again released and put into the conveying loop by a feed/bring mechanism (4A).
In a further embodiment, the system of the invention may additionally comprise the use of a gripping tool (15), mounted on the industrial robot (8), i.e. an end-of-arm tool that is suited for the intended task.
Examples of gripping tools frequently used in abattoirs include tools capable of picking, grabbing, clamping or holding a piece of meat of a given size. Examples of useful tools include a pricker, a tip, a wrench, tongs or clamping tool, a grab, a vacuum gripper, etc.
As described above (Element D), the system of the invention comprises the use of a meat conveying belt/carrier (9), for supply of meat items (16) for the industrial robot (8) to pick up for further processing (loading). The space where the meat products (16) are within reach of the robot (8), and while they are still being supported by the conveying belt/carrier (9), may be termed a meat product arrival area or a meat product pick-up area (11).
In an even further embodiment, the system of the invention may be characterized by including a meat product arrival/pick-up area (11).
The processing means The processing means (10) for use according to the invention may be any commercially available processor/PC capable of receiving and processing of data obtained from one or more of the following components: The handling station/receiving station/receiving tower (1) used according to the invention; The transport rack conveying system (3); The rotation-, fixation- and elevation means/raising-/lowering device/actuator
DK 180734 B1 8 (7); The industrial robot (8); The meat conveying belt/carrier (9); The one or more sensor(s) (12); The vision device (13); and/or, optionally, the deployment zone/buffer zone/magazine (4); and the processing means (10) may in addition be in communication with one or more other, optionally interrelated or inter-connected, processors, used according to the invention.
Based on inputs from e.g. a sensor (12) and/or a vision device/camera (13), the processing means (10) for use according to the invention may be able to recognise incoming workpieces (16), and to guide the industrial robot (8) used according to the invention to pick-up and deliver the specific workpiece (16) accurately on a hook (2B) mounted on the vertical rod (2A) of the transport rack (2).
In another embodiment, the processor (10) used according to the invention receives a signal from a sensor (12) and/or from a vision device (13), determines the position/localisation of the arriving workpieces (16) to be picked-up, and calculates the localisation of a suitable gripping point on the workpiece (16).
In a third embodiment, the processor (10) used according to the invention communicates with, and provides instruction to the industrial robot (8), for the robot to perform a desired task, e.g. grab a workpieces (16) with the gripping tool (15), lift the workpieces (16) with the gripping tool, direct the gripping point to a hook (2B) mounted on the vertical rod (2A) of the meat transport rack (2), and fit the piece of meat onto the hook, e.g. by perforating the meat.
In a fourth embodiment, the processor (10) used according to the invention communicates with the rotation-, fization- and elevation means/raising-/lowering device/actuator (7), and provides instructions for bringing the transport rack (2) into position for receiving the workpieces (16), or for the servomotor (7A) to rotate the vertical rod (2A), or for bringing it into a position for receiving the next workpiece (16), delivered by the gripping tool (15), mounted on the industrial robot (8).
In a fifth embodiment, the processor (10) used according to the invention communicates with the feed/bring mechanism (4A) of the deployment zone/buffer zone/magazine (4), and initiates the release of a meat transport rack (2) from the deployment zone/buffer zone/magazine (4) and activates its entry into the first fixation zone (5).
In a sixth embodiment, the processor (10) used according to the invention communicates, and is in operation, with an encoder, mounted on the meat conveying belt (9), and is configured for e.g. calculating the speed of the conveyor belt (9), for determining the position of the traveling meat object (16), and/or for adapting the speed of the conveyor to suit the need of the remaining processes.
DK 180734 B1 9 The sensing means The automatic loading system of the invention comprises one or more sensors (12) and/or vision devices (13), in communication with the processing means (10).
Sensing means are used for tracking e.g. incoming products, where the system needs to know the position/location of each meat item. This may be accomplished by use Of sensors and/or machine vision devices, As defined herein, a sensor is a device, module, or subsystem, whose purpose is to detect events, or changes in its environment, and send the information to other electronics, and in particular the processing device (10) used according to the invention.
The sensor (12) for use according to the invention may be a mechanical (electro-mechanical) sensor or an optically based sensor, e.g. a force/torque sensor, a light beam or electro-magnetic sensor.
Like sensors, vision devises/cameras (13) can determine positions or locations of specific subjects, but vision devises also may determine e.g. the character or the structure of a given object.
Based on inputs from e.g. a sensor (12) and/or a vision device/camera (13), the processing means (10) for use according to the invention may be able to recognise incoming workpieces (16), and to guide the industrial robot (8) used according to the invention to deliver the workpieces (16) accurately on the transport rack (2).
A sensor (12) for use according to the invention, may e.g. be installed at, or within operating distance of the meat product arrival/pick-up area (11), and may e.g. be a sensor that is able to determine the position of the arriving meat item (16) on the meat conveying belt/carrier (9).
The method for automatic loading In another aspect, the invention provides a method for automatic loading of meat items on a meat transporting rack.
The loading process implies the use of the handling station (1) of the invention.
In the loading process of the invention, empty meat transport racks ("Christmas trees”) (2) arrive on the in-let conveyor (3A) and are brought to the handling station/receiving station/receiving tower (1) of the invention.
The loading process of the invention comprises the following subsequent steps: i. an empty meat transport rack ("Christmas tree”) (2) arrives on an in-let transport rack conveyor (3A), hanging from an overhanging rail (of a transport rack conveying rail system (3) in a suspension hook (2E), which transport rack (2) holds rows of four hooks (2B) extending in four (essentially perpendicular) directions from a vertical rod (2A), and which vertical rod (2A) is able to turn around a pivotal point (2D);
DK 180734 B1 10 ii. via a pre-rotation process, the incoming (empty) meat transport rack (2) is conveyed, by the action of the feed/bring mechanism (4A), to the first gripping zone (5), where two grippers (5A and 5B) stand ready in an open (stand-by) receiving position, wherein the left gripper (5A”) of the upper gripper (5A) is in an extended, activated state
(i.e. in a stopping position), ready for catching and stopping the vertical rod (2A) of the incoming transport rack (2), during which pre-rotation process:
ii-A. the transport rack (2) is first guided, in an arc-like path, towards a right gripping claw (5A1) of the upper gripper (5A), during which process a vertical finger (5A1") mounted on the right gripping claw (5A1) of the upper gripper (5A) catches an incoming hook (2B') extending from the vertical rod (2A) of rotatable transport rack (2) (see Fig. 7A);
ii-B. next, the transport rack (2) is guided towards a left gripping claw (5A2) of the upper gripper (5A), where a vertical finger (5A2") of left gripping claw (5A2) of upper gripper (5A) catches the second arriving hook (2B”) extending from the vertical rod (2A)
of rotatable transport rack (2) (see Fig. 7B);
ii-C. when the transport rack (2) arrives at, and touches, the left gripping claw (5A2) of the upper gripper (5A) (see Fig. 7C), the right gripping claw (5A1) of the upper gripper (5A) closes (see Fig. 7D);
ii-D. simultaneously with, or subsequently to step ii-C, the lower gripper (5B) of the first gripping zone (5) closes around the vertical rod (2A) of the meat transport rack (2), and the now fixed transport rack (2) remains on hold for further processing;
iii. the fixed meat transport rack (2) is transferred, while still hanging from the overhanging rail, via the carriage/slide (5C) mounted on the sledding rail (5D) to the second gripping zone (6);
iv. taking off from its stand-by position (see step viii), and simultaneously with process of step iii, a lowered elevation means/raising-/lowering device (7) travels the turning distance (7B’) and raises an elevation distance (7C’), thus aligning the position of the lower support means of the second gripping zone (7C) to the position of the meat transport rack (2), and binging it in a position for following and subsequently entering up the lower opening (2C) of the vertical rod of the transport rack (2), thereby holding the transporting means (2) and preventing it from turning;
v. when supported by the lower support means (7C), the upper gripper of second gripping zone (6A) closes around the vertical rod of the meat transport rack (2);
vi. the upper gripper (5A) and the lower gripper (5B) of first gripping zone opens,
and the carriage/slide (5C) mounted on the sledding rail (5D) returns to the open (stand- by) receiving position of step ii; and
DK 180734 B1 11 vii. after being supported and fixed by the lower support means of the second gripping zone (7C), and the upper gripper of second gripping zone (6A) in steps iv and v, the meat transport rack (2) is ready for loading of meat.
In the context of this invention, loading of the transport rack (2) according to step vii may take place by any conventional means, e.g. using the conveying arrangements that lifts the meat pieces onto a hook positioned on the Christmas tree described in e.g.
GB2281547 and/or EP1558510. In a further embodiment, loading of the transporting rack (2) according to step vii may be accomplished by performing the subsequent steps of: vii-A. providing one or more meat items (16), via a meat conveying belt (9), to a meat product arrival/pick-up area (11); vii-B1. detecting the arrival of the meat item on the meat conveying belt (9) using a sensor (12), installed at, or within operating distance of the meat product arrival/pick-up area (11), which sensor (12) is in operation with the processing means (10); and/or vii-B2. detecting the arrival of the meat items on the meat conveying belt (9), using a vision device (13), installed at, or within operating distance of the meat product arrival/pick-up area (11), which vision device (13) is in operation with the processing means (10), and obtaining one or more images of the arriving meat item (16), while the meat item is in motion, and transmission of the digitalized data to the processing means (10); and vii-C. determining the localisation of a suitable gripping point on the meat item using the processing means (10); vii-D. grabbing the meat item, while in motion, by the gripping point, lifting it and hanging it on a hook (2B) mounted on a meat transport rack (2), by use of a gripping tool mounted on the industrial robot (8); vii-E. bringing the meat transport rack (2) into position (e.g. by rotating the lower supporting means (7C)) for receiving the next meat item (16); and vii-F. reiteration of steps vii-A to vii-E for collecting all of the meat items (16) in question on the meat transport rack (2). When loaded, the method of the invention continues with the following process steps: viii. when loaded, the meat transport rack (2) is released from the lower support means of second gripping zone (7C) by lowering the elevation means (7) (elevation distance 7C/), where after the elevation means (7) turns the distance (7B’) to return to its initial stand- by position (see step iv); and
DK 180734 B1 12 ix. the upper gripper (6A) of the second gripping zone (6) opens to release the now loaded meat transport rack (2) and withdraws from transporting means to allow it to continue downstream the overhanging rail.
In another embodiment, the method of the invention comprises the following, optional step: i-A. the empty meat transport rack ("Christmas tree”) (2) of step i arrives via a deployment zone/buffer zone (4) allowing the accumulation of transport rack (2) prior to entering the loading method. When the handling station (1) is ready for receiving the next meat transport rack (2), this is released from the buffer zone (4), optionally by use of a feed/bring mechanism (4A).
The feed/bring mechanism (4A) of the invention may optionally be in communication with, and activated by, the processing means (10).
DETAILED DESCRIPTION OF THE DRAWINGS The present invention is further illustrated by reference to the accompanying drawing, in which: Fig. 1 shows an overview of some elements of the automatic handling station of the invention: Meat transport rack/transporting means/transport unit/haulage vehicle/"Christmas tree” (2); Vertical rod of the transporting means (2A); Hook mounted on the vertical rod (2B); Lower opening of the vertical rod of the transporting means (2C); Meat transport conveying system (3); In-let meat rack conveyor (3A); Deployment zone/buffer zone/magazine (4); Feed/bring mechanism (4A); First fixation zone (5); Upper gripper of the first fixation zone (5A); Left gripping claw of upper gripper/rack stopper (5A); Lower gripper of the first fixation zone (5B); Carriage/slide (5C); Sledding rail (5D); Second fixation zone (6); Upper gripper of the second fixation zone (6A); Rotation-, fixation- and elevation means/raising-/lowering device/actuator (7); Servomotor (7A); Swivel- and lifting arm (7B); Movement/turning distance of the swivel- and lifting arm (7B); Lower supporting means of the second fixation zone (7C); Spearhead/fixation crown (7D); Rotation of the lower supporting means and spearhead (7D”); Fig. 2 shows an overview of an automatic loading system of the invention: Automatic handling station/receiving station/receiving tower (1); Transport rack conveying system (3); In-let meat rack conveyor (3A); Industrial robot (8); Meat conveying belt/carrier (9); Processing means (10); Meat product arrival/pick-up area (11); Sensor (12); Vision device/camera (13); Meat item/meat product/workpiece (16); Fig. 3 shows an overview of some elements of the automatic handling station of the invention: Meat transport rack/transporting means/transport unit/haulage vehicle/"Christmas tree” (2); Transport rack conveying system (3); Carriage/slide (5C);
DK 180734 B1 13 Sledding rail (5D); Second fixation zone (6); Upper gripper of the second fixation zone (6A); Rotation-, fixation- and elevation means/raising-/lowering device/actuator (7); Servomotor (7A); Swivel- and lifting arm (7B); Lower supporting means of the second fixation zone (7C); Spearhead/fixation crown (7D); Rotation of the lower supporting means and spearhead (7D);
Fig. 4 shows an overview of some elements of the automatic handling station of the invention: Vertical rod of the transporting means (2a); Hook mounted on the vertical rod (2B); Turning point of the vertical rod (2D); Suspension hook (2E); First fixation zone (5); Upper gripper of the first fixation zone (5A); Left gripping claw of upper gripper/rack stopper (5A"); Lower gripper of the first fixation zone (5B); Carriage/slide (5C); Sledding rail (5D);
Fig. 5 shows an overview of some elements of the automatic handling station of the invention: Meat transport rack/transporting means/transport unit/haulage vehicle/"Christmas tree” (2); Transport rack conveying system (3); Deployment zone/buffer zone/magazine (4); Feed/bring mechanism (4A); Carriage/slide (5C); Sledding rail (5D); Rotation-, fixation- and elevation means/raising-/lowering device/actuator (7); Servomotor (7A); Swivel- and lifting arm (7B); Movement/turning distance of the swivel- and lifting arm (7B"); Lower supporting means of the second fixation zone (7C); Elevation distance of the lower support means (7C"); Spearhead/fixation crown
(7D);
Fig. 6A shows an overview of some elements of the automatic handling station of the invention: In-let meat rack conveyor (3A); Carriage/slide (5C); Sledding rail (5D); Second fixation zone (6); Upper gripper of the second fixation zone (6A); Rotation-, fixation- and elevation means/raising-/lowering device/actuator (7); Lower supporting means of the second fixation zone (7C); Spearhead/fixation crown (7D); Rotation of the lower supporting means (7C) and spearhead (7D");
Fig. 6B illustrates the spearhead/fixation crown (7D) of the invention;
Figs. 7A-7D show subsequent stages of the "pre-rotation process” according to the method of the invention (see steps ii-A-D), wherein:
Fig. 7A shows the upper gripper (5A) of the first fixation zone (5) being ready for receiving the next transport rack (2), suspended on the in-let transport rack conveyor (3A) by the suspension hook (2E): The vertical finger (5A1") of right gripping claw (5A1) of upper gripper (right hook-catching means) catches the first arriving hook (2B”) on the upper row of the incoming transport rack (2), while this rack travels in direction (2F);
Fig. 7B illustrates next stage of the pre-rotation process, where the transport rack (2) has travelled slightly further, and the second arriving hook (2B”) is about to reach, and be caught by, the vertical finger (5A2") of left gripping claw (5A2) of upper gripper (left hook-catching means) catches the incoming;
DK 180734 B1 14 Fig. 7C illustrates the stage where the vertical rod (2A) of the incoming transport rack (2) is being stopped by the left gripping claw of upper gripper (5A2) (i.e. rack stopping means), and the transport rack (2) is ready for being locked; Fig. 7D illustrates the stage where the transport rack (2) has been locked by closing of the right gripping claw of upper gripper (5A1) and left gripping claw of upper gripper (5A2); Fig. 7E illustrates a different view of the stage where the transport rack (2) has been locked by closing of the right gripping claw of upper gripper (5A1) and left gripping claw of upper gripper (5A2).
List of reference signs This is a listing of various elements relating to the present invention and shown in the appended figures. Alternative/synonymous designations are separated by slashes.
1 Automatic transport rack handling station/receiving station/receiving tower 2 Meat transport rack/transporting means/transport unit/haulage vehicle/"Christmas tree” 2A Vertical rod of the transporting means 2B Hook mounted on the vertical rod 2B' Fist arriving hook 2B” Second arriving hook 2C Lower tap of the vertical rod of the transporting means 2D Turning point/pivotal point of the vertical rod 2E Suspension hook of transporting rack 2F Direction of conveyed meat transport rack 3 Transport rack conveying rail system 3A In-let transport rack conveyor 4 Deployment zone/buffer zone/magazine 4A Feed/bring mechanism 5 First fixation zone 5A Upper gripper of the first fixation zone 5A1 Right gripping claw of upper gripper/ 5A1' Vertical finger of right gripping claw of upper gripper/right hook-catching means 5A2 Left gripping claw of upper gripper/rack stopping means 5A2' Vertical finger of left gripping claw of upper gripper/left hook-catching means 5B Lower gripper of the first fixation zone 5C Carriage/slide
DK 180734 B1 15 5D Sledding rail 6 Second fixation zone 6A Upper gripper of the second fixation zone 7 Rotation-, fixation- and elevation means/raising-/lowering device/actuator 7A Servomotor 7B Swivel- and lifting arm 7B" Movement/turning distance of the swivel- and lifting arm 7C Lower supporting means of the second fixation zone 7C’ Elevation distance of the lower support means 7D Spearhead/fixation crown 7D' Rotation of the lower supporting means and spearhead 8 Industrial robot 9 Meat conveying belt/carrier 10 Processing means 11 Meat product arrival area/meat product pick-up area 12 Sensor 13 Vision device/camera 15 Gripping tool/end-of-arm gripping tool 16 Meat item/meat product/workpiece

Claims (9)

DK 180734 B1 1 PatentkravDK 180734 B1 1 Patent claim 1. En station til automatisk håndtering af kødtransportstativer, hvilken håndteringsstation består af følgende elementer: a. en første fikseringszone (5), til fastgørelse af et kødtransportstativ (2) mens det hænger fra en overhængende skinne i et transportstativ-transportskinnesystem (3), kendetegnet ved, at den første fikseringszone (5) omfatter: al. en øvre griber (5A) der holder en højre- (5A1) og en venstre- (5A2) gribeklo, hvilke højre og venstre gribekløer begge har et krog-fangemiddel (5A1 'og 5A2'); og a2. en nedre griber (5B); b. en anden fikseringszone (6), til fastgørelse af kødtransportstativet (2) mens det hænger fra den overhængende skinne af transportstativ-transportskinnesystemet (3), hvilken anden fikseringszone (6) omfatter: bl. en øvre griber (6A); c. en vogn/slæde (5C) monteret på en slædeskinne (5D) konfigureret til at bevæge sig mellem, og til at bringe kødtransportstativet (2) fra eller til, den nævnte første (5) og anden (6) fikseringszone; og d. en rotations-, fikserings- og elevationsorgan/hæve- /sænkeindretning (7), omfattende en drejelig og løftende arm (7B) og et støtteorgan (7C), hvilket støtteorgan ender i en spydspids /fikserings krone (7D), hvilket rotations-, fikserings- og elevationsorgan/hæve-/sænkeindretning (7) er konfigureret til at dreje fra side til side, og til at blive hævet/sænket og være i stand til at rotere spydspidsen/fikseringskronen (7D).A station for automatically handling meat transport racks, which handling station consists of the following elements: a. A first fixing zone (5), for attaching a meat transport rack (2) while hanging from an overhanging rail in a transport rack-transport rail system (3), characterized in that the first fixation zone (5) comprises: al. an upper gripper (5A) holding a right (5A1) and a left (5A2) gripping claw, which right and left gripping claws both having a hook catcher (5A1 'and 5A2'); and a2. a lower gripper (5B); b. a second fixing zone (6), for attaching the meat transport rack (2) while hanging from the overhanging rail of the transport rack-transport rail system (3), which second fixing zone (6) comprises: i.a. an upper gripper (6A); c. a carriage / carriage (5C) mounted on a carriage rail (5D) configured to move between, and to bring the meat transport rack (2) from or to, said first (5) and second (6) fixing zones; and d. a rotating, fixing and elevating means / raising / lowering device (7), comprising a rotatable and lifting arm (7B) and a support means (7C), said support means ending in a spearhead / fixing crown (7D), which rotation, fixing and elevating means / raising / lowering device (7) is configured to rotate from side to side, and to be raised / lowered and to be able to rotate the spearhead / fixing crown (7D). 2. Den automatiske håndteringsstation ifølge krav 1, hvilken station desuden omfatter en indsættelseszone/bufferzone/magasin (4), som er konfigureret til at modtage og akkumulere kødtransportstativet (2) som ankommer via transportstativets indløbs-transportør (3A), før den igen frigøres og anbringes i en transportløkke ved hjælp af en fremførings-/tilvejebringelsesmekanisme (4A).The automatic handling station according to claim 1, further comprising an insertion zone / buffer zone / magazine (4) configured to receive and accumulate the meat transport rack (2) arriving via the inlet conveyor (3A) of the transport rack before it is released again. and placed in a transport loop by means of a conveying / providing mechanism (4A). 3. Et system til automatisk lastning af kødvarer på et kødtransportstativ, hvilket system består af følgende elementer: A. en håndteringsstation (1) ifølge krav 1, i kommunikation med et procesbehandlingsmiddel (10) til modtagelse, indlæsning og omfordeling af kødtransportstativet (2);A system for automatically loading meat products on a meat transport rack, which system consists of the following elements: A. a handling station (1) according to claim 1, in communication with a process processing means (10) for receiving, loading and redistributing the meat transport rack (2) ; DK 180734 B1 2 B. et transportstativ-transportskinnesystem (3), omfattende en transportstativ-indløbstransportør (3A) i kommunikation med procesbehandlingsmidlet (10) til cirkulation af kødtransportstativet (2); C. en industriel robot (8), i kommunikation med behandlingsmidlet (10), til manipulation af kødemner (16); D. et kød-transportbælte (9), i kommunikation med procesbehandlingsmidlet (10), til levering af kødemner (16); E. et procesbehandlingsmiddel (10); og F. en eller flere sensorer (12) og/eller billedgenkendelsesanordning (13), i kommunikation med procesbehandlingsmidlet (10) til sporing af indkommende kødemner (16).180734 B1 2 B. a transport rack-conveyor rail system (3), comprising a transport rack-inlet conveyor (3A) in communication with the process processing means (10) for circulating the meat transport rack (2); C. an industrial robot (8), in communication with the processing means (10), for manipulating blanks (16); D. a meat conveyor belt (9), in communication with the process processing means (10), for delivering meat blanks (16); E. a process treatment agent (10); and F. one or more sensors (12) and / or image recognition device (13), in communication with the process processing means (10) for detecting incoming meat items (16). 4. Det automatiske kødpåfyldningssystem ifølge krav 3, hvilket system yderligere omfatter en indsættelseszone/bufferzone/magasin (4), som er konfigureret til at modtage og akkumulere kødtransportstativet (2), der ankommer via transportstativets indløbs-transportør (3A), før den igen frigøres og anbringes i transportløkken ved hjælp af en fremførings-/tilvejebringelsesmekanisme (4A).The automatic meat filling system according to claim 3, further comprising an insertion zone / buffer zone / magazine (4) configured to receive and accumulate the meat transport rack (2) arriving via the inlet conveyor (3A) of the transport rack before it again released and placed in the transport loop by means of a feed / provision mechanism (4A). 5. Det automatiske kødpåfyldningssystem ifølge krav 3, hvilket system desuden omfatter anvendelse af et gribeværktøj (15), som er monteret på den industrielle robot (8), dvs. et arm-til-arm-værktøj, der er egnet til den tilsigtede opgave.The automatic meat filling system according to claim 3, which system further comprises the use of a gripping tool (15) mounted on the industrial robot (8), i.e. an arm-to-arm tool suitable for the intended task. 6. Det automatiske kødpåfyldningssystem ifølge krav 3, hvilket system yderligere inkluderer et kødprodukt ankomst-/afhentningsområde (11).The automatic meat filling system according to claim 3, which system further includes a meat product arrival / collection area (11). 7. En fremgangsmåde til automatisk lastning af kødartikler på et kødtransportstativ, hvilken fremgangsmåde indebærer anvendelse af håndteringsstationen ifølge krav 1-2, og hvilken automatisk lastningsmetode omfatter følgende efterfølgende trin: i. et tomt kødtransportstativ ("juletræ") (2) ankommer på en transportstativ- indløbstransportør (3A), som hænger fra en overhængende skinne i et transportstativ- transportskinnesystem (3) i en ophængningskrog (2E), hvilket kødtransportstativ (2) har rækker med fire kroge (2B) der strækker sig i fire (i det væsentlige vinkelrette) retninger fra en lodret stang (2A), og hvilken lodrette stang (2A) er i stand til at dreje rundt om et omdrejningspunkt (2D); ii. via en præ-rotationsproces føres det indkommende (tomme) kødtransportstativ (2), ved hjælp af fremførings-/tilvejebringelsesmekanismen (4A), til den første gribezone (5), hvor to gribere (5A og 5B) stå klar i en åben (stand-by)A method of automatically loading meat articles on a meat transport rack, which method comprises using the handling station according to claims 1-2, and which automatic loading method comprises the following subsequent steps: i. An empty meat transport rack ("Christmas tree") (2) arrives at a transport rack inlet conveyor (3A) which hangs from an overhanging rail in a transport rack transport rail system (3) in a suspension hook (2E), which meat transport rack (2) has rows of four hooks (2B) extending in four (substantially) perpendicular) directions from a vertical rod (2A), and which vertical rod (2A) is capable of rotating about a pivot point (2D); ii. via a pre-rotation process, the incoming (empty) meat transport rack (2) is conveyed, by means of the conveying / providing mechanism (4A), to the first gripping zone (5), where two grippers (5A and 5B) are ready in an open (stand -town) DK 180734 B1 3 modtageposition, hvor den venstre griber (5A') på den øvre griber (5A) er i en udstrakt, aktiveret tilstand (dvs. i en stop-position), klar til at fange og stoppe den lodrette stang (2A) på det indgående kødtransportstativ (2), under hvilken præ-rotationsprocessen: ii-A. kødtransportstativet (2) føres først, i en buelignende sti, mod en højre gribeklo (5A1) på den øvre griber (5A), under hvilken proces en lodret finger (5A1') som er monteret på den højre gribeklo (5A1) på den øvre griber (5A), fanger en indgående krog (2B') som strækker sig fra den lodrette stang (2A) på det drejelige kødtransportstativ (2); ii-B. derefter føres kødtransportstativet (2) mod en venstre gribeklo (5A2) på den øvre griber (5A), hvor en lodret finger (5A2') på den venstre gribeklo (5A2) på den øvre griber (5A) fanger den anden ankommende krog (2B") som strækker sig fra den lodrette stang (2A) på det drejelige kødtransportstativ (2);DK 180734 B1 3 receiving position, where the left gripper (5A ') on the upper gripper (5A) is in an extended, activated state (ie in a stop position), ready to catch and stop the vertical rod (2A) on the incoming meat transport rack (2), during which the pre-rotation process: ii-A. the meat transport rack (2) is first guided, in an arcuate path, towards a right gripping claw (5A1) on the upper gripper (5A), during which process a vertical finger (5A1 ') mounted on the right gripping claw (5A1) on the upper gripper (5A), catches an inward hook (2B ') extending from the vertical rod (2A) on the rotatable meat transport rack (2); ii-B. then the meat transport rack (2) is moved towards a left gripping claw (5A2) on the upper gripper (5A), where a vertical finger (5A2 ') on the left gripping claw (5A2) on the upper gripper (5A) catches the second arriving hook (2B ") extending from the vertical bar (2A) on the rotatable meat transport rack (2); ii-C. når kødtransportstativet (2) ankommer til, og berører, den venstre gribekloii-C. when the meat transport rack (2) arrives at, and touches, the left gripping claw (5A2) på den øvre griber (5A), lukker den højre gribeklo (5A1) på den øvre griber (5A);(5A2) on the upper gripper (5A), closes the right gripper claw (5A1) on the upper gripper (5A); ii-D. samtidigt med, eller efterfølgende trin ii-C, lukker den nedre griber (5B) i den første fikseringszone (5) sig omkring den lodrette stang (2A) på kødtransportstativet (2), og det nu fastgjorte kødtransportstativ (2) forbliver i venteposition indtil den videre behandling;ii-D. at the same time as, or subsequent steps ii-C, the lower gripper (5B) in the first fixing zone (5) closes around the vertical rod (2A) of the meat transport rack (2), and the now attached meat transport rack (2) remains in the waiting position until the further processing; iii. det fastgjorte kødtransportstativ (2) overføres, mens det stadig hænger fra den overhængende skinne, via vognen/slæden (5C) som er monteret på slædeskinnen (5D), til den anden fiseringszone (6A);iii. the attached meat transport rack (2) is transferred, while still hanging from the overhanging rail, via the carriage / carriage (5C) mounted on the carriage rail (5D), to the second fusing zone (6A); iv. med afsæt fra sin standby-position (se trin viii), og samtidig med processen i trin iii, bevæger en sænket rotations-, fikserings- og elevationsorgan/hæve- /sænkeindretning (7) sig drejeafstanden (7B') og hæver sig elevationsafstanden (7C'),iv. starting from its standby position (see step viii), and simultaneously with the process in step iii, a lowered rotating, fixing and elevating means / raising / lowering device (7) moves the turning distance (7B ') and raises the elevating distance ( 7C '), hvorved positionen af det nedre støtteorgan (7C) i den anden fikseringszone (6) justeres til positionen for kødtransportstativet (2), og bringer det i en position til at følge og derefter gå op i den nedre åbning (2C) på kødtransportstativets (2) lodrette stang, hvorved det holder kødtransportstativet (2) og forhindrer det i at dreje;thereby adjusting the position of the lower support member (7C) in the second fixing zone (6) to the position of the meat transport rack (2), bringing it into a position to follow and then ascending into the lower opening (2C) of the meat transport rack (2) vertical bar, thereby holding the meat transport rack (2) and preventing it from turning; v. mens understøttet af det nedre støtteorgan (7C), lukker den øvre griber i anden fiseringszone (6A) sig omkring den lodrette stang på kødtransportstativet (2);v. while supported by the lower support member (7C), the upper gripper in the second fusing zone (6A) closes around the vertical bar of the meat transport rack (2); vi. den øvre griber (5A) og den nedre griber (5B) på den første gribezone åbner, og vognen/slæden (5C) som er monteret på slædeskinnen (5D) vender tilbage til den åbne (stand-by) modtageposition i trin ii;we. the upper gripper (5A) and the lower gripper (5B) on the first gripping zone open, and the carriage / carriage (5C) mounted on the carriage rail (5D) returns to the open (stand-by) receiving position in step ii; vii. efter at være understøttet og fastgjort af det nedre støtteorgan (7C) i den anden fikseringszone (6), og den øvre griber (6A) i anden fiseringszone (6) i trin iv og v, er kødtransportstativet (2) klar til påfyldning af kød;we you. after being supported and secured by the lower support member (7C) in the second fixing zone (6) and the upper gripper (6A) in the second fixing zone (6) in steps iv and v, the meat transport rack (2) is ready for filling meat ; viii. når det er fyldt frigøres kødtransportstativet (2) fra det nedre støtteorgan (7C) i den anden fikseringszone (6) ved at sænke elevationsorganet (7)viii. when filled, the meat transport rack (2) is released from the lower support means (7C) in the second fixing zone (6) by lowering the lifting means (7) DK 180734 B1 4 (elevationsafstanden 7C'), hvorefter elevationsorganet (7) drejer afstanden (7B') for at vende tilbage til sin oprindelige standby-position (se trin iv); og ix. den øvre griber (6A) i den anden fikseringszone (6) åbner for at frigøre det nu fyldte kødtransportstativ (2) og trækker sig tilbage fra transportmidler for at tillade det at fortsætte nedstrøms den overhængende skinne.180734 B1 4 (elevation distance 7C '), after which the elevation means (7) rotates the distance (7B') to return to its original standby position (see step iv); and ix. the upper gripper (6A) in the second fixing zone (6) opens to release the now filled meat transport rack (2) and withdraws from means of transport to allow it to continue downstream of the overhanging rail. 8. Den automatiske lastningsfremgangsmåde ifølge krav 7, som yderligere omfatter følgende trin: i-A. det tomme kødtransportstativ (2) fra trin i ankommer via en indsættelseszone/bufferzone/magasin (4), der tillader akkumulering af transportstativer (2) inden indlæsningsmetoden.The automatic loading method according to claim 7, further comprising the steps of: i-A. the empty meat transport rack (2) from step i arrives via an insertion zone / buffer zone / magazine (4) which allows accumulation of transport racks (2) before the loading method. 9. Den automatiske lastningsfremgangsmåde ifølge krav 7, som yderligere omfatter de følgende trin: vii-A. tilvejebringelse af en eller flere kødemner (16), via et kødtransportbælte (9), til et kødprodukt ankomst-/opsamlingsområde (11); vii-B1. detektering af ankomsten af kødvaren til kødtransportbæltet (9) ved hjælp af en sensor (12), som er installeret ved eller inden for driftsafstand fra kødproduktets ankomst-/opsamlingsområde (11), hvilken sensor (12) er i drift med behandlingsmidlet (10); og/eller vii-B2. detektering af ankomsten af kødemnerne på kødtransportbæltet (9) ved hjælp af en billedgenkendelsesanordning (13), som er installeret på eller inden for driftsafstand fra kødproduktets ankomst-/opsamlingsområde (11), hvilken billedgenkendelsesanordning (13) er i drift med procesbehandlingsmidlet (10), og optager et eller flere billeder af det ankomne kødemne (16) mens kødemnet er i bevægelse, og transmitterer de digitaliserede data til procesbehandlingsmidlet (10); og vii-C. bestemmelse af placeringen af et passende gribepunkt på kødvaren ved anvendelse af procesbehandlingsmidlet (10); vii-D. gribe kødgenstanden, mens den er i bevægelse, ved gribepunktet, løfte den og hænge den på en krog (2B) som er monteret på kødtransportstativet (2) ved hjælp af et gribeværktøj som er monteret på en industriel robot (8); vii-E. at bringe kødtransportstativet (2) på plads (f.eks. ved at dreje det nedre støtteorgan (7C)) for at modtage det næste kødemne (16); og vii-F. gentagelse af trin vii-A til vii-E til opsamling af alle de pågældende kødemner (16) på kødtransportstativet (2).The automatic loading method according to claim 7, further comprising the steps of: vii-A. providing one or more meat items (16), via a meat conveyor belt (9), to a meat product arrival / collection area (11); vii-B1. detecting the arrival of the meat product to the meat conveyor belt (9) by means of a sensor (12) installed at or within operating distance of the arrival / collection area (11) of the meat product, which sensor (12) is in operation with the processing means (10); ; and / or vii-B2. detecting the arrival of the meat items on the meat conveyor belt (9) by means of an image recognition device (13) installed at or within operating distance from the arrival / collection area (11) of the meat product, which image recognition device (13) is in operation with the process processing means (10); , and captures one or more images of the incoming meat item (16) while the meat item is in motion, and transmits the digitized data to the process processing means (10); and vii-C. determining the location of an appropriate grip point on the meat product using the process treatment agent (10); vii-D. gripping the meat object while it is moving, at the gripping point, lifting it and hanging it on a hook (2B) mounted on the meat transport stand (2) by means of a gripping tool mounted on an industrial robot (8); vii-E. placing the meat transport rack (2) in place (eg by rotating the lower support member (7C)) to receive the next piece of meat (16); and vii-F. repeating steps vii-A to vii-E to collect all the relevant meat items (16) on the meat transport rack (2).
DKPA202000710A 2020-06-16 2020-06-16 Automatic supply and discharge of meat transporting racks DK180734B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DKPA202000710A DK180734B1 (en) 2020-06-16 2020-06-16 Automatic supply and discharge of meat transporting racks

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DKPA202000710A DK180734B1 (en) 2020-06-16 2020-06-16 Automatic supply and discharge of meat transporting racks

Publications (2)

Publication Number Publication Date
DK202000710A1 DK202000710A1 (en) 2022-01-21
DK180734B1 true DK180734B1 (en) 2022-02-10

Family

ID=81214477

Family Applications (1)

Application Number Title Priority Date Filing Date
DKPA202000710A DK180734B1 (en) 2020-06-16 2020-06-16 Automatic supply and discharge of meat transporting racks

Country Status (1)

Country Link
DK (1) DK180734B1 (en)

Also Published As

Publication number Publication date
DK202000710A1 (en) 2022-01-21

Similar Documents

Publication Publication Date Title
DK180283B1 (en) Automatic suspension of meat items
CN109772718B (en) Parcel address recognition system, parcel address recognition method, parcel sorting system and parcel sorting method
CN106965180A (en) The mechanical arm grabbing device and method of bottle on streamline
CN110404786B (en) Automatic sorting line wrapping and loading system and method based on two-dimensional vision
CN111152197A (en) Robot gripper tracking and grabbing control method and system
WO2023036752A1 (en) A robotic working tool and a robotic meat handling system for use in slaughterhouses
JP5428922B2 (en) Apparatus and method for supplying workpiece to hanger line
JP6643921B2 (en) Sorting device and article removal method
CN111085993A (en) Robot system for performing cooperative work with human and robot control method
CN105479243B (en) Carrying device, conveyer and transport method
DK180734B1 (en) Automatic supply and discharge of meat transporting racks
DK180714B1 (en) Automatic suspension of meat items
JP5428921B2 (en) Work collection device and method from hanger line
DK181536B1 (en) A gripping tool, a meat handling system, and a method for automatic suspension of meat items
DK180410B1 (en) Automatic removal of meat items from a storage rack
EA045203B1 (en) SYSTEM AND METHOD FOR AUTOMATICALLY HANGING POULTRY ON A CARRIER CONVEYOR CARRIER
US20240109198A1 (en) Method for handling objects, and handling system
US20230337687A1 (en) System and method for automatically suspending poultry from a carrier of a conveyor
CN116918852A (en) System and method for automatically hanging poultry on a carrier of a carrying conveyor
CN216174311U (en) Article sorting and packaging system and sorting system
DK181422B1 (en) A robotic working tool and a robotic meat handling system for use in slaughterhouses
EP3945832B1 (en) Removal of abdominal fat from a slaughtered animal
EP4272568A1 (en) A method of controlling a robotic device for supplying a clipping machine with a supply of tubular packaging casing
JP3005273U (en) A device for hanging / removing suspended luggage from a hanging conveyor
JP2594567Y2 (en) Transfer line hanger claw detector

Legal Events

Date Code Title Description
PAT Application published

Effective date: 20211217

PME Patent granted

Effective date: 20220210

PBP Patent lapsed

Effective date: 20230616