DK181226B1

DK181226B1 - A robotic meat handling system and method for use in slaughterhouses

Info

Publication number: DK181226B1
Application number: DKPA202100872A
Authority: DK
Inventors: Thaarup Klaus; Ali Hussein; Podzimski Morgan Marc; Heegaard Henrik
Original assignee: Teknologisk Inst
Priority date: 2021-09-09
Filing date: 2021-09-09
Publication date: 2023-05-12
Also published as: WO2023036752A1; DK202100872A1

Abstract

This invention relates to a robotic working tool, for mounting on an industrial robot for use in slaughterhouses or in the meat packing industry, for handling meat products, and to a related robotic meat handling system, e.g., for collecting, lifting, and/or moving meat products.

Description

DK 181226 B1 1

TECHNICAL FIELD

BACKGROUND ART

Automation is gaining ground in various industries, and robotic grippers are widely used to grab and manipulate target objects. Different articles or products may require different handling techniques, and meat products can be difficult to grasp with a conventional gripper, e.g., due to the surface texture and formability of the meat.

US6082797 discloses a gripping tool assembly disposed on the wrist section of a robot for gripping and moving various objects between a pick-up zone and a drop-off zone.

WO2020126893 discloses a method for automatic suspension of meat items, provided by a conveyor belt, on a meat storage/transport rack, for use at abattoirs.

However, the robotic meat handling system comprising the robotic working tool described herein has never been suggested.

SUMMARY OF THE INVENTION

The present invention relates to a robotic meat handling system comprising a robotic working tool, for mounting on an industrial robot for use in slaughterhouses or in the meat packing industry, for automatically moving meat products between a source location and an end destination, and to a related robotic meat handling system, e.g., for collecting, lifting, and/or moving meat products.

While much of the work undertaken in slaughterhouses represents hard manual work, the working tool of the present invention allows automatic execution of various processes, allowing relief of the slaughterhouse worker.

Another object of the invention is to provide a working tool which can be used both for hanging and dismantling meat products on/from a storage rack, i.e., a dual action robotic working tool.

Thus, in its first aspect, the invention provides a robotic meat handling system configured for use in slaughterhouses or in the meat packing industry for

DK 181226 B1 2 handling meat products (9), which meat handling system is as defined in the characterising portion of claim 1.

In another aspect, the invention provides a method for automatically removing one or more bone-containing meat products (9) by using a robotic meat handling system of the invention, and which method is defined in the characterising portion of claim 3.

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:

Figs. 1A-1B show the robotic working tool/end effector (1) of the invention viewed from two different angles;

Figs. 2A-2B show some essential elements of a gripper (2) for use according to the invention; and

Figs. 3A-3D illustrate some essential elements of the meat handling system (10) of the invention.

DETAILED DISCLOSURE OF THE INVENTION

The meat handling system of the invention

In its first aspect, the invention provides a robotic meat handling system for use in slaughterhouses or in the meat packing industry for handling meat products (9), e.g., configured for collecting, lifting, and/or moving the meat products (9).

The robotic meat handling system (10) of the invention comprises the following essential elements: an industrial robot/ manipulator (8), in communication with, and controlled by, a processing means/controller (11), which industrial robot holds and is capable of manipulating a robotic working tool/end effector (1); a processing means/controller (11), in communication with the industrial robot/manipulator (8) and with a gripping means (2) and a first sensing means (6) of the robotic working tool (1), which processor is configured for manipulating the industrial robot/manipulator (8) and the robotic working tool/end effector (1), and, optionally, in communication with a conveying means (12), and/or with a means (15) for rotating a

DK 181226 B1 3 means for storage/transport of meat products/meat transport rack (14), and/or with a vision means/imaging device (16); a conveying means (12), optionally in communication with, and controlled by, the processing means/controller (11), configured for conveying the incoming or outgoing meat product (9); and a means for storage/transport of meat products/meat transport rack (14), optionally in communication with, and controlled by, the processing means/controller (11), configured for receipt or provision of the meat product (9) to be handled; and the robotic meat handling system is characterised by further comprising: the robotic working tool /end effector (1) comprising the gripping means (2) and the first sensing means (6), which gripping- and sensing means both are in communication with, and controlled by, the processing means/controller (11), and are connected to the industrial robot/manipulator (8) via a connecting means/fastening element (7), and which working tool is configured for handling the meat product/workpiece (9) in question.

The robotic working tool for use in the meat handling system of the invention shall in particular be the robotic working tool (1) of the invention.

The gripping means

In one embodiment, the robotic working tool of the invention may be characterised as comprising a parallel gripping device (3), via which device the upper and lower grippers, respectively, are operatively connected to the tool base (5), and thereby able to exert a parallel displacement of the gripping jaws/blades (2A, 2B).

This parallel displacement is brought about by use of an upper parallel gripping device (3A) and a lower parallel gripping device (3B), respectively.

In order to align the gripping means (2) of the invention with the meat product/workpiece (9) to be manipulated, the (first) gripper sensing means (6) is preferably connected to the upper gripper (2A) via a sensor fitting/sensor mounting (6C) configured for mounting the (first) gripper sensing means (6) on the upper gripper (2A).

In the working tool of the invention, the grippers (2A, 2B) are composed of one or more gripping jaws/blades (2A’, 2B’). In one embodiment, the grippers for use according to the invention are composed of from 2-10 interconnected gripping jaws/blades, e.g., composed of from 3-7 interconnected gripping jaws/blades, or composed of 5 interconnected gripping jaws/blades.

On the side facing and grabbing the meat product, the gripping jaw/blade (2A’ or 2B’) for use according to the invention shall possess an appropriate number of equally mounted or opposite mounted tooths or notches (2B'%) for effective retention of the meat product/workpiece (9).

DK 181226 B1 4

It is off course important that the workpiece is not damaged during handling.

Moreover, the meat products subjected to the processes of this invention may be described as flexible, pliable, and slippery, which are qualities that make special needs for a gentle handling. Experiments with the tool of the present invention have shown that it can effectively solve the desired tasks in a gentle way when using oppositely mounted tooths or notches.

Therefore, in one embodiment, the gripping device (2) of the invention is composed of a number of alternating gripping jaws/blades (2A’, 2B’), wherein part of the gripping jaws/blades holds an appropriate number of equally mounted tooths or notches (2B’*), and the remaining part of the gripping jaws/blades holds an appropriate number of oppositely mounted tooths or notches (2B™*).

The upper and lower grippers (2A, 2B) of the invention may be characterised by having a front end (2F), pointing towards the meat item to be handled, and a rear end (2G), pointing towards the connecting fitting (2E) connecting the gripper (2) to the parallel gripping device (3).

Experiments with the gripping tool of the invention have also shown the need for a gentle gripper, that do not spoil the meat product upon approaching the product. If the tip of the gripper is too pointed, there is a risk that the tip will perforate the workpiece.

Therefore, the gripping jaws/blades (2A', 2B’) should be interconnected at the front end (2F) of the gripper (2A or 2B) via a protective round bar (2C) bridging the respective gripping blades (2A’, 2B").

Moreover, the gripping jaws/blades (2A’, 2B’) may be interconnected at the rear end (2G) by suitable assembly fittings (2D), e.g., by being welded together using suitable space bars.

The sensing means of the gripping tool

For determining the orientation of the meat product/workpiece (9) in question, the robotic working tool/end effector (1) of the invention also comprises a first sensing means (6).

The first sensing means (6) for use according to the invention is particularly suited for use in the meat removal process, and it shall be configured for determining the orientation of the meat product/workpiece (9) upon approach of the working tool/end effector (1) during dismantling of the meat product/workpiece (9).

As the working tool/end effector of the invention may form part of a robotic meat handling system (10) that may, optionally, include an additional (second) conveyor sensing means (13), the first sensing means (6) of the gripping tool may also be named the first sensing means or the gripper sensing means.

DK 181226 B1

The (first) gripper sensing means (6) for use according to the invention comprises a sensor/colour sensing camera (6A), capable of communicating with the processing means/controller/processor/PC (11). The sensor (6A) shall recognise the surface of the incoming meat product (9) and shall be able to distinguish between a 5 front and a back side of the meat product. The front side may in particular be the skin side, and the back side may represent the meat side.

Ideally, the sensor should measure the object from a position perpendicular to the object. Therefore, in an arrangement as shown in Fig. 1A, the sensor opening/lens (6A) should be placed underneath the sensor (6A).

The working tool (1) is easily soiled during operation. Therefore, in one embodiment, the sensor (6A) shall be placed at the end of an actuator (6B) allowing the sensor to be pushed and retracted. In another embodiment, the sensor is retracted and kept within a shield housing (not shown).

In order to secure that the sensor (6A) approaches the meat product/workpiece (9) to be manipulated in a correct angle, i.e., positioned perpendicular to the object, the sensor (6A) and the actuator (6B) should be interconnected via a sensor fitting/sensor mounting (6C), firmly placed and positioned relative to the upper gripper (2A).

The sensor (6A) for use according to the invention typically comprises a colour camera with a lens.

Optionally, and in a further embodiment, the (first) sensing gripper means (6) of the invention may also include lighting means (17).

The connecting means

For the working tool (1) of the invention to work as an end-of-arm tool or a robotic end effector, the working tool must comprise a connecting means/fastening element (7) configured for attachment of the working tool (1) to an industrial robot/manipulator (8) for use according to the invention.

In one embodiment, the connecting means/fastening element (7) for use according to the invention shall be mounted on the tool base (5).

In another embodiment, the connecting means/fastening element (7) for use according to the invention is removably mounted on the distal end of the robotic arm.

The meat products

The system of the invention may be applied to various meat products (9), normally processed at slaughterhouses or in the meat packing industry.

In one embodiment, meat products (9) contemplated according to the invention include, e.g., pork loin, loin side, bags and fillet.

DK 181226 B1 6

The industrial robot

The robot (8) for use according to the invention may be any commercially available industrial robot, comprising a robotic arm having multiple axes of motion, and the robotic working tool/end effector (1) of the invention mounted to the robotic arm.

Useable equipment includes e.g., a gantry robot, a free-arm (6-axis) robot, a palletizing (4-axis) robot, a flex-picker, etc.

In one embodiment, a free-arm (6-axis) robot, is used.

The processing means

The processing means/controller/processor/PC (11) may be any commercially available programmable logic controller (PLC) or digital computer, configured for computing, controlling, activation and/or moving, i.a., the working tool of the invention, and the robot/manipulator for use according to the invention. If two or more processing means are employed, these processors may be in inter-communication with each other.

The processing means/controller (11) for use according to the invention shall be in function with the working tool (1) of the invention, including the first sensing means (6), and the industrial robot (8), for use according to the invention.

Moreover, in another embodiment, the processing means/controller (11) for use according to the invention may be in communication and in operation with the second sensing means/conveyor sensing means (13), and/or with the vision means/imaging device (16), and/or with the means (15) configured for rotating the storage means (14), and/or with the second sensing means/conveyor sensing means (13), and/or with the means (15) for rotating the storage means (14).

In one embodiment, the industrial robot (8) and the robotic working tool (1) of the invention may be operated using a standing/permanent robot program which is executed by the processing means (11). According to this embodiment, the robotic arm carrying the working tool of the invention may be directed towards five different points, e.g., a hook/spike (14B') on the upper row on the vertical rod (14A) of the storage/transport of meat items (14), followed by a hook/spike (14B”) on the second row on the vertical rod (14A), etc., or vice versa.

The conveying means

For supply or discharge of the meat product (9) to be manipulated by the robotic meat handling system of the invention, the system of the invention also includes a conveying means (12). The conveying means for use according to the invention shall be configured for transporting and providing the incoming or outgoing meat product (9)

DK 181226 B1 7 to the processing area and may comprise one or more conveying belts conventionally used in abattoirs.

Normally, when processing pork products in pig slaughterhouses, the meat products (9) for processing according to the invention arrive on a supply conveyor, running with a general, factory set, pace-speed. Also, at some abattoirs, the meat product (9) arrives on the conveyor belt (12) with its rind-side (9A) pointing upwards, and its meat-side (9B) pointing down, and, when processing, e.g., pork loin, it may arrive with its backside pointing towards the griping tool (1). Finally, the meat product (9) for processing according to the invention arrives on a straight line, with a certain/fixed distance to the edge of the conveyor belt.

In such cases, where the meat products (9) arrive in a fixed, ordered, pattern, the meat handling process may be controlled by means of a pace/tempo-controlled (clock) control of the handling process.

Alternatively, the conveying means (12) may be equipped with an encoder, configured for communication with the processing means (11), so the speed of the conveyor may be adapted to suit the needs of the remaining handling process.

In yet another embodiment, the conveying means (12) for use according to the invention is equipped with a second sensing means (13) configured for determination of the physical position of the incoming meat products (9) on the conveying belt (12), which sensor may be a simple mechanical or optical sensor, capable of detecting e.g. the front edge of the arriving meat item (9), thus allowing the industrial robot (8) to position the working tool (1) in the exact position, calculated by the processor (11).

However, in other processes, the meat products may arrive in an unpredictable order, and need to be turned or handled/manipulated accordingly, e.g., by help of a vision means/imaging device (16), configured for determining the orientation of the incoming meat product (9), e.g., whether it is having its meat-side up or rind-side up, or it is having its backside pointing towards or away from the working tool (1).

In the context of this invention, the conveying means (12), including the inlet conveying means/conveying belt (12A) and the supporting inlet or sorting conveying belt (12B) for supporting/securing the incoming meat product (9), together with the means for storage/transport of meat items/meat transport rack/transport unit/haulage vehicle/"Christmas tree” (14), may be regarded as the working area/arrival area of the system of the invention (12C).

In a further embodiment, for use in a method for suspension of incoming meat products, the conveying means (12) of the invention comprise an inlet conveyor belt (12A) followed by a supporting inlet or sorting conveyor belt (12B) configured for supporting and securing, or for sorting and redistribution, of the incoming meat product during processing by the working tool (1).

DK 181226 B1 8

According to this embodiment, the two conveying belts (12A, 12B) may be placed in different heights and angles, and the meat products (9) are collected by the working tool (1) between the two conveying belts (12A, 12B). The horizontal distance between these two conveying belts (12A, 12B) should be slightly wider than the width of the working tool (1), in order that the tool can be placed and operate in between the two conveying belts.

In such a line up, the two conveying belts, i.e., the inlet conveyor belt (12A) and the supporting inlet or sorting conveyor belt (12B), should run at the same speed, allowing safe and gentle handling of the meat product.

Finally, in a yet further embodiment, the conveying means (12) may be configured to include one or more acceleration conveyor belts. By allowing, e.g., the inlet conveyor belt (12A) and the supporting conveyor belt (12B), to be able to drive at varying speeds, the conveying means (12) for use according to the invention may be able to catch up with the speed of the general supply conveyor, running with a general, factory set, pace-speed.

In this way, the meat handling system (10) of the invention can make efficient use of time and may prevent downtime while the transporting means (14) is being replaced.

The sensing means of the conveyor

In addition to the (first) gripper sensing means (6) forming part of the working tool (1) of the invention, the conveying means (12) of the meat handling system (10) of the invention optionally may include a (second) conveyor sensing means (13), configured for determination of the physical position of the incoming meat product (9) on the conveying belt (12), and/or, optionally, the orientation of the incoming meat product (9), e.g., meat-side up or rind-side up.

This (second) conveyor sensing means (13) for use according to the invention, shall be installed within operating distance of the incoming meat product (9), and shall be able to determine the position of the arriving meat product (9) on the inlet conveyor belt (124).

If the meat products (9) to be processed according to the invention arrive in a predictable manner, e.g., with a certain/fixed distance to the edge of the conveyor belt, the sensor may be a simple mechanical or optical sensor, capable of detecting, e.g., the front edge of the arriving meat product (9), thus allowing the robot (8) to position the working tool (1) in the exact position, calculated by the processor (11).

If, on the other hand, the meat products (9) to be processed do not arrive in a predictable manner, and right- and left-side work pieces arrive in a random order, the sensor should be able to determine its exact position, not only the position of the front

DK 181226 B1 9 edge, but also the lateral placement of the arriving meat item on the conveyor belt (12), and be able to determine the nature of the arriving work piece, e.g. whether it represents a right-side or left-side meat item.

In such cases, the sensor preferably is an optical sensor, and preferably a vision device/camera, installed at, or within operating distance of the arrival area, configured for obtaining at least one image of the meat item while it is being transported along the conveyor (12), configured for digitalization of the obtained image, and transmission of the digitalized data to the processing means (11). Such equipment will allow for a determination of the essential features relating to the position of such arriving work pieces, incl., e.g., determination of a left- or a right-side meat cut and determine the localisation of a suitable gripping area on the arriving meat product (9).

Therefore, the second sensor (13) for use according to the invention may comprise a mechanical or an optical sensor, and/or a vision device/camera, or any combination hereof.

The vision means

In addition to the first sensing means/gripper sensing means (6), the second sensing means/conveyor sensing means (13), that may in particular represent mechanical or optical sensors and/or colour sensing cameras, the robotic meat handling system of the invention (10) may also include a vision means/imaging device (16).

The vision means/imaging device/camera (16) for use according to the invention may be any commercially available vision system, incl., e.g., an RGB (colour) camera, an infra-red (IR) camera, or an RGB-IR camera, a 3D (range) camera, or an RGB-3D camera.

Moreover, the vision means/imaging device (16) for use according to the invention may be considered as part of a machine imaging system. Machine imaging systems typically comprise a 3D-camera with a lens, an image sensor, an imaging processing means, and communication means.

In further embodiments, the system of the invention comprises two or more cameras, e.g., three cameras, one directed forward and two directed to the sides.

Moreover, the vision means/imaging device (16) for use according to the invention may be a three-dimensional (3D) imaging system. 3D-imaging systems typically comprise multiple cameras or one or more laser displacement sensors.

Commercially available 3D scanners or range cameras include the time-of-flight camera, the structure light camera, stereo camera or 3D camera, e.g., the Sick 3D ruler.

In another embodiment, the imaging device for use according to the invention is a LIDAR-based 3D-camera, that illuminates the target with laser light, and measures the reflection with a sensor.

DK 181226 B1 10

In further embodiments, the system of the invention may be supplemented with additional sensors configured for measuring, determining and/or detecting various properties or events, e.g., distance sensors, positions sensors, X-ray sensors, ultra- sound sensors, infrared sensors, radar sensors, etc.

The individual component of the vision means/imaging device (16) for use according to the invention are commercially available.

Optionally the imaging system for use according to the invention also include lighting means (17).

Lighting means

As a starting point, the robotic meat handling system (10) of the invention may be able to work as intended when performed in a standard factory light.

However, and in particular when employing imaging devices, the system of the invention preferably comprises one or more lights sources (17), set up to illuminate the meat product (9) while being monitored by the sensing means (6, 13), and/or images are taken by the vision device (16).

Therefore, in one embodiment, the robotic meat handling system (10) of the invention additionally comprises one or more lights sources (17) configured for illuminating the meat product in question.

Means for storage/transport of meat items

Before processing the meat products, or once the meat products have been processed, they are usually stored and conveyed on a special structure, in the sector referred to as "framework", "rack" or “stand”, in jargon often referred to as a "Christmas tree”.

The means for storage/transport of meat items (14) for use according to the invention essentially represents a rack/stand, holding a number of hooks (14B), each with its tip facing upwards, for receiving the meat product/workpiece (9) to be stored/transported, and which hooks are mounted in, usually, five rows on a vertical rod (14A). Also, the vertical rod (14A) is rotatable via a pivotal point (14”), located below the suspension hook (14).

Moreover, slaughterhouses/abattoirs, this means (14) for storage/transport of meat items is usually configured to be suspended from an overhanging rail (14C) for collecting and transporting the meat items.

The means for rotating the storage/transport means

Finally, to allow the robotic working tool (1) to access the hooks (14B) for hanging or taking off the meat product/workpiece (9), the robotic meat handling system

DK 181226 B1 11 (10) of the invention should comprise a means (15) for rotating the storage/transport means (14).

The means (15) for rotating the storage/transport means (14) for use according to the invention may be a top-hung means (15A) or a bottom-mounted means (15B).

In one embodiment, the means (15) for rotating the storage/transport means (14) is a top-hung means is described in, e.g., W02020201501.

In another embodiment, the means (15) for rotating the storage/transport means (14) is a bottom-set means (15B), comprising a spearhead/fixation crown (15B”) configured for gripping, turning, and holding the means for storage/transport of meat items (14), which spearhead/fixation crown (15B') may be connected to a means for turning the storage/transport of meat items (14), e.g., a motor.

Methods for automatic removal of meat products

In another aspect, the invention provides a method for automatically removal of one or more bone-containing meat products (9) by using the robotic meat handling system of the invention, which meat products are hanging on a means for storage/transport of meat items/meat transport rack (14) of said meat items.

The method of the invention for automatically suspension of meat products may be characterised by comprising the steps of: i. provision of the means for storage/transport of meat products/meat transport rack (14), fully loaded with said meat products (9); ii. positioning a pre-selected hook/spike (14B), mounted on a vertical rod (14A) of the means for storage/transport of the meat products/meat transport rack (14), e.g., selected from the upper row of spikes (14B’), making it accessible for engagement with a robotic working tool/end effector (1) comprising a gripping means (2), a first sensing means (6), and connected to an industrial robot/manipulator (8) via a connecting means/fastening element (7); iii. approaching the meat product (9) hanging on the pre-selected hook/spike (14B) with the working tool/end effector (1), and subjecting the meat product (9) to the action of the first sensing means (6), configured to determine the orientation of the meat product (9) performed by a processing means (11); iv. dismantling the selected meat product (9), lifting it off its hook (14B) and placing it on a conveying means (12), with due care to the desired orientation of the meat product (9), by means of the robotic working tool/end effector (1) of the invention, configured for discharge of the meat products (9); v. removal of all meat products (9), one by one, e.g., from said upper row of spikes (14B’), by means of the robotic working tool/end effector (1) mounted on said industrial robot/manipulator (8), and by rotating the means for storage/transport of

DK 181226 B1 12 meat products/meat transport rack (14) and making it accessible for engagement with said robotic working tool/end effector (1); vi. removal of all meat items (9), one by one, from all rows, by repetition of steps ii-v, by means of the robotic working tool (1), until the means for storage/transport of meat products/meat transport rack (14) has been emptied for meat products (9); vii. withdrawal of the robotic working tool/end effector (1) from the means for storage/transport of meat products/meat transport rack (14), and replacement of the now unloaded means for storage/transport of meat products/meat transport rack (14) for a new fully loaded storage/transport means (14); and viii. repetition of steps i-vii.

In step i of the method of the invention for automatic removal of meat products/workpieces (9), the storage/transport means (14), fully loaded with meat products (9), is advanced by the conveying means (12) for arrival at the working area/arrival area of the system of the invention (12C), where it is available for processing with the robotic working tool (1) of the invention.

In step ii of the method of the invention for automatic removal of meat products/workpieces (9), the fully loaded storage/transport means (14) is brought into a position intended for engagement with the robotic working tool (1) of the invention.

Often, the disassembly method of the invention will begin focusing on removal of the meat products (9) hanging on the top row of spikes (14B'), but may, off course start with any spike on any row of spikes.

In step iii of the method of the invention for automatic removal of meat products/workpieces (9), the robotic working tool (1) of the invention is brought into position for engaging with the intended spike, as determined in step ii.

When approaching the meat product (9), the first sensing means (6) included in the working tool (1) is ejected by means of the actuator (6B) for activating the sensor (6A), and the orientation of the meat product (9) is determined by the sensor (6A) in cooperation with the processing means (11).

In step iv of the method of the invention for automatic removal of meat products/workpieces (9), the meat product (9) in question is grabbed by the gripping means (2) and lifted off the hook (14B) and moved and placed on the conveying means (12), where it is placed as desired, based on information about its orientation obtained from the processing means (11) as described in step iii.

In step v of the method of the invention for automatic removal of meat products/workpieces (9), all meat products (9) are removed from the selected row of spikes by use of the robotic working tool (1) of the invention, that processes each hook, followed by a 90-degrees rotation of the storage/transport means (14).

DK 181226 B1 13

In step vi of the method of the invention for automatic removal of meat products/workpieces (9), all meat products (9) are removed from the entire storage/transport means (14) by use of the by use of the robotic working tool (1) of the invention, that, in addition to processing each hook on each row, processes each hook on all rows, until the storage/transport means (14) is empty for meat products.

In step vii of the method of the invention for automatic removal of meat products/workpieces (9), the robotic working tool (1) is retracted from the storage/transport means (14), and the empty storage/transport means (14) is substituted for a new, fully loaded, storage/transport means (14).

Finally, in step viii of the method of the invention for automatic removal of meat products/workpieces (9), the method of the invention for automatic removal of meat products/workpieces (9) continues with repetition of steps i-vii.

The methods of the invention may involve additional process steps.

DETAILED DESCRIPTION OF THE DRAWINGS

Fig. 1A shows one view of the working tool (1) of the invention: Upper gripper (2A);

Lower gripper (2B); Upper parallel gripping device (3A); Lower parallel gripping device (3B); Actuator (4A) for upper gripper (2A); Actuator (4B) for lower gripper (2B); Tool base (5); Sensor/colour sensing camera (6A); Sensor opening/lens (6A); Actuator (6B) for sensor (6A); Sensor fitting/sensor mounting (6C), for mounting the first sensing means (6) on the upper gripper (2A); Connecting means/fastening element (7), mounted on the tool base (5);

Fig. 1B shows another view of the working tool (1) of the invention: Gripping means (2); Connecting fitting (2E) for connecting the gripping means (2) to the parallel gripping device (3); Parallel gripping devices (3); Actuators (4); First sensing means (6);

Sensor/colour sensing camera (6A); Actuator (6B) for sensor (6A); Sensor fitting/sensor mounting (6C) for mounting the first sensing means (6) on the upper gripper (2A);

Connecting means/fastening element (7);

Fig. 2A shows some essential elements of a (lower) gripper for use according to the invention: First lower gripping jaw/gripping blade (2B'), second lower gripping jaw/gripping blade (2B”), third lower gripping jaw/gripping blade (2B'”), etc.; Gripping tooth (2B*) on the blade (2B’) of the lower gripper (2B); Protective round bar (2C) bridging the gripping blades (2A’, 2B’, 2B’, ect.); Assembly fitting (2D); Connecting fitting (2E) for connecting the gripping means (2) to the parallel gripping device (3);

DK 181226 B1 14

Fig. 2B shows other essential elements of a (lower) gripper for use according to the invention: Lower gripper (2B); Gripping tooth (2B'%) on the blade (2B') of the lower gripper (2B); Protective round bar (2C) bridging the gripping blades (2A’, 2B"); Connecting fitting (2E) for connecting the gripping means (2) to the parallel gripping device (3); Front end of gripper (2F); Rear end of gripper (2G);

Fig. 3A illustrates the essential elements of the system of the invention: Robotic working tool/end effector/meat handling tool (1); Industrial robot/manipulator (8); Meat product/workpiece (9); Processing means/controller/processor/PC (11); Conveying means (12); Second sensing means/conveyor sensing means (13); Means for storage/transport of meat items/meat transport rack/transport unit/haulage vehicle/"Christmas tree” (14), and Overhanging rail (14C) for suspension of the means for storage/transport (14);

Fig. 3B illustrates an alternative embodiment the system of the invention, and shows the working area (12C) of the system of the invention: Robotic working tool/end effector/meat handling tool (1); Industrial robot/manipulator (8); Meat product/workpiece (9); Processing means/controller/processor/PC (11); Inlet conveying belt (12A), for supply of meat product/workpiece (9); Supporting inlet conveying belt (12B) to support/secure the incoming meat product; Second sensing means/conveyor sensing means (13) for determination of the physical position and/or the orientation of the arriving meat product (9); Means for storage/transport of meat items/meat transport rack/transport unit/haulage vehicle/"Christmas tree” (14); Suspension hook (147); Pivotal point (14”) of suspension hook (14); Vertical rod (14A) of the meat transport rack (14);

Hook (14B) mounted on the vertical rod (14A); Upper row of hooks (14B'); Second row of hooks (14B”); Means (15) for rotating the storage means (14); Vision means/imaging device (16) for determining the orientation of the meat product (9); Lighting means (17);

Fig. 3C illustrates the function of the means (15) for rotating the storage means (14): Vertical rod (14A) of the meat transport rack (14); Fifth row of hooks (14B”””); Bottom- mounted means (15B) for rotating the storage means (14); and Spearhead/fixation crown (15B"), configured for rotating the storage means (15B); and

Fig. 3D illustrates yet an alternative embodiment the system of the invention, showing the working area (12C) of the system of the invention: Robotic working tool/end effector/meat handling tool of the invention (1); Industrial robot/ manipulator (8); Meat product/workpiece (9); Conveying means (12), configured for supply or discharge of meat products (9); Inlet conveying means/conveying belt (12A); Supporting inlet or sorting conveying belt for supporting/securing the incoming meat product (12B); Working area/arrival area (12C) of the system of the invention; and Means for storage/transport of meat items/meat transport rack/transport unit/haulage vehicle/"Christmas tree” (14).

DK 181226 B1 15

List of reference signs

This is a listing of various elements relating to the present invention.

Alternative/synonymous designations are separated by slashes. 1 Robotic working tool/end effector/meat handling tool of the invention 2 Gripping means 2A Upper gripper 2A’ Upper gripping jaw/gripping blade 2B Lower gripper 2B’ Lower gripping jaw/gripping blade 2B’* Gripping tooth on the blade (2B’) of the lower gripper (2B) 2C Protective round bar bridging the gripping blades (2A’, 2B’) 2D Assembly fitting 2E Connecting fitting, configured for connecting the gripper gripping means (2) to the parallel gripping device (3) 2F Front end of gripper 2G Rear end of gripper 3 Parallel gripping devices 3A Upper parallel gripping device 3B Lower parallel gripping device 4 Actuators 4A Actuator for activating the upper gripper (2A) 4B Actuator for activating the lower gripper (2B) 5 Tool base 6 First sensing means/gripper sensing means 6A Sensor/colour sensing camera of first sensing means (6) 6A’ Sensor opening/lens of first sensing means (6) 6B Actuator for activating the sensor (6A) 6C Sensor fitting/sensor mounting, configured for mounting the sensing means (6) on the upper gripper (2A) 7 Connecting means/fastening element mounted on the tool base (5) 8 Industrial robot/manipulator 9 Meat product/workpiece 9A Rind-side of the product (9) 9B Meat-side of the product (9) 10 Robotic meat handling system of the invention 11 Processing means/controller/processor/PC 12 Conveying means, configured for supply or discharge of meat products (9)

DK 181226 B1 16 12A Inlet conveying means/conveying belt 12B Supporting inlet or sorting conveying belt for supporting/securing the incoming meat product 12C Working area/arrival area of the system of the invention 13 Second sensing means/conveyor sensing means, for determination of the physical position and/or the orientation of the arriving meat product (9) 14 Means for storage/transport of meat items/meat transport rack/transport unit/haulage vehicle/"Christmas tree” 14 Suspension hook 14” Pivotal point of suspension hook (14) 14A Vertical rod of the meat transport rack (14) 14B > Hook/spike mounted on the vertical rod (14A) 14B' Upper row/top-row of hooks/spikes 14B” Second row of hooks/spikes 14B””” Fifth row/lower row of hooks/spikes 14C Overhanging rail for suspension of the means for storage/transport (14) 15 Means for rotating the storage means (14) 15A Top-hung means for rotating the storage means (14) 15B Bottom-mounted means for rotating the storage means (14) 15B' Spearhead/fixation crown, configured for rotating the storage means (15) 16 Vision means/imaging device, for determining the position of hooks on the means for storage/transport (14) the orientation of the meat product (9) hanging on the means for storage/transport (14) 17 Lighting means

Claims

DK 181226 B1 17 Patent claim

1. A meat handling robot system for use in slaughterhouses or in the meat packing industry for handling meat products (9), which meat handling system comprises the following elements: an industrial robot /manipulator (8) which is in communication with, and controlled by, a process processing means/ controller (11), which industrial robot possesses, and is able to manipulate, a robot work tool/end effector (1); the process processing means/controller (11) which is in communication with the industrial robot/manipulator (8) and with a gripping means (2) and a first sensing means (6) of the robot work tool/end effector (1), which process processing means is configured to operate the industrial robot/manipulator (8) and the robotic work tool/end effector (1) and, optionally, in communication with a transport means (12), and/or with a means (15) for rotating a device for storage/transport of meat products/meat transport rack (14) and/or with an image recognition device (16); the transport means (12), optionally in communication with, and controlled by, the processing means/controller (11), configured to transport the incoming or outgoing meat product (9); and the device for storing / transporting meat products / the meat transport rack (14), optionally in connection with, and controlled by, the process processing means / controller (11), configured for receiving or delivering the meat product (9) to be handled; and which meat handling robot system is characterized by further comprising: the robotic work tool/end effector (1) comprising the gripping means (2) and the first sensing means (6), which gripping and sensing means are both in communication with, and Controlled by , the process processing means/controller (11), and is connected to the industrial robot/manipulator (8) via a connecting means/fastener (7), and which robot work tool is configured to handle the meat product in question

(9).

2. The meat handling robot system according to claim 1, wherein the device for storing/transporting meat products (14) further comprises the means (15) for rotating the device for storing/transporting meat products/the meat transport rack (14).

3. Method for automatically removing one or more bony meat products (9) using the meat handling robot system according to any one of

DK 181226 B1 18 claims 1-2, which meat products hang on a device for storing/transporting meat products/meat transport rack (14), which method includes the following steps:

i. providing the device for storing/transporting meat products/meat transport rack (14) which is fully loaded with the meat products (9);

ii. placement of a preselected hook/spear (14B) mounted on a vertical bar (14A) mounted on the meat product storage/transportation device/meat transport rack (14) making it available for engagement with a robotic work tool/end -effector (1) which includes comprising a gripping means (2), a first sensing means (6) and which is connected to an industrial robot/manipulator (8) via a connecting means/fastening element (7);

iii. approaching the meat product (9) hanging on the preselected hook/skewer (14B) with the robotic work tool/end effector (1), and subjecting the meat product (9) to the action of the first sensing means (6) which is configured to determine the orientation of the meat product (9) performed by a processing means (11);

iv. detaching the selected meat product (9), lifting it from its hook (14B) and placing the meat product on a transport means (12), with due care relative to the desired orientation of the meat product (9), using a robotic work tool /an end effector (1) configured to discharge the meat products (9);

v. removing all meat products (9), one by one, by means of the robotic work tool/end effector (1) mounted on the industrial robot/manipulator (8), and by rotating the device for storing/transporting the meat product/ the meat transport rack (14) and making it available for engagement with the robotic work tool/end effector (1);

we. removing all meat products (9), one by one, from all rows, by repeating steps ii-v, using the robot work tool/end effector (1), until the meat product storage/transport device/meat transport rack (14 ) has been emptied of meat products (9);

we you. removing the robotic work tool/end effector (1) from the meat product storage/transport device/meat transport rack (14) and replacing the now unloaded meat product storage/transport device/meat transport rack (14) with a new, fully loaded one , means of storage/transport (14); and viii. repeating steps i-vii.

4. The method according to claim 3, where the arrival of the bony meat product (9) on the means of transport (12) in step (iv) is detected by means of a mechanical or an optical second sensor (13), installed at, or within operating distance from, one

DK 181226 B1 19 arrival area (12A), which other sensor (13) is in cooperation with the process processing means (11).