DK181422B1 - A robotic working tool and a robotic meat handling system for use in slaughterhouses - Google Patents
A robotic working tool and a robotic meat handling system for use in slaughterhouses Download PDFInfo
- Publication number
- DK181422B1 DK181422B1 DKPA202200097A DKPA202200097A DK181422B1 DK 181422 B1 DK181422 B1 DK 181422B1 DK PA202200097 A DKPA202200097 A DK PA202200097A DK PA202200097 A DKPA202200097 A DK PA202200097A DK 181422 B1 DK181422 B1 DK 181422B1
- Authority
- DK
- Denmark
- Prior art keywords
- controller
- vacuum
- processing means
- meat
- robotic
- Prior art date
Links
- 235000013372 meat Nutrition 0.000 title claims abstract description 43
- 235000013622 meat product Nutrition 0.000 claims abstract description 88
- 238000012856 packing Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims description 91
- 238000004891 communication Methods 0.000 claims description 55
- 239000012636 effector Substances 0.000 claims description 29
- 238000000034 method Methods 0.000 claims description 24
- 238000003384 imaging method Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 12
- 230000003213 activating effect Effects 0.000 claims description 7
- 230000014759 maintenance of location Effects 0.000 claims description 4
- 239000000725 suspension Substances 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000008570 general process Effects 0.000 claims 4
- 230000001276 controlling effect Effects 0.000 description 15
- 230000009471 action Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 235000015277 pork Nutrition 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 229920001296 polysiloxane Polymers 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 229920005570 flexible polymer Polymers 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0045—Manipulators used in the food industry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
- B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Food Science & Technology (AREA)
- Manipulator (AREA)
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 for collecting, lifting, and moving meat products.
Description
DK 181422 B1 1
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 for collecting, lifting, and moving meat products.
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, i.a., due to the particular surface texture and formability of the meat.
WO2008133974 discloses a vacuum gripping apparatus.
WO2019028242 discloses a pneumatically powered vacuum sorting system for manipulation of non-uniform objects.
WO2019040126 discloses a vacuum pick-up apparatus usable in a material handling system for grasping a non-uniform object.
WO2019114738 discloses a soft robotic gripper, in some embodiments comprising a vacuum source connected to a solenoid directional control valve.
WO2019191286 discloses a robotic gripper comprising a plurality of inflatable fingers having an elastomer body that receives pneumatic inflation and vacuum via a fluid port.
US20150205288 describes a robotic working tool/end effector.
However, the robotic working tool described herein has never been suggested.
The present invention relates to 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 using a robot, and to a related robotic meat handling system for collecting, lifting, and moving meat products.
DK 181422 B1 2
The robotic working tool of the invention provides a pick and place device for picking up and repositioning a flexible, pliable, and slippery, meat product carried by a support surface, typically an inlet conveyor.
Owing to the use of flexible silicone cups, the working tool of the invention offers the opportunity to attach to smooth, flexible and floppy meat products. Moreover, due to the use of a unique pneumatic control system, the working tool of the invention can perform an intelligent lift of meat products, so that the meat product is not dropped or inappropriately placed but can be held in many different positions.
Thus, in its first aspect, the invention provides a robotic working tool/end effector (1), for mounting on an industrial robot/manipulator (7) for use in slaughterhouses or in the meat packing industry for handling a meat product (9), which working tool (1) comprises the following elements: a. two or more suction cups (2.1, 2.2, etc.), configured for gripping and holding the meat product (9) in question, each of which suction cups suction cups is attached to an instrument base (6) via a resilient/shock-absorbing suspension suction cup holder (2.1A, 2.2A, etc.), and each of which suction cups is connected to a suction device/vacuum system (4); b. one or more actuators (3), in communication with a general processing means/controller (5), configured for guiding and controlling and directing each of the two or more suction cups (2) to its desired position; c. the vacuum control system/suction control device (4), which vacuum control system is configured for providing a vacuum within each of the two or more suction cups (2.1, 2.2, etc.), and for controlling the suction and retention of the meat product (9) in question, which vacuum control system comprises: - a vacuum supply device (4A), in communication with the auxiliary control system/processing means/controller (5'), useful for establishing and maintaining a sufficient vacuum level; - a vacuum sensor (4B), in communication with auxiliary control system/processing means/controller (5'), suitable for monitoring the specific pressure in each individual suction cup (2.1, 2.2, etc.); and - a solenoid/magnetic valve (4C), in communication with auxiliary control system/processing means/controller (5'), capable of opening/closing of the vacuum supply to each individual suction cup (2.1, 2.2, etc.) as calculated and/or determined by the auxiliary control system/processing means/controller (5'); d. the general processing means/controller (5), in communication with each of the one or more actuators (3) and with the auxiliary control system/processing means/controller (5'), configured for controlling the vacuum control system (4), and, optionally, for computing, controlling, activating, and/or moving the working tool/end
DK 181422 B1 3 effector (1) of the invention and the industrial robot/manipulator (7) for use according to the invention, which processing means is in communication/operation with the working tool (1), and the industrial robot/manipulator (7); and e. the tool /instrument base (6) with a connecting means /fastening element (6A) configured for connecting the individual tool elements, and for mounting the working tool on the industrial robot/manipulator (7); and which working tool is characterised by further comprising an auxiliary control system /processing means/controller (5'), in communication with the vacuum supply device (4A), the vacuum sensor (4B), and the solenoid/magnetic valve (4C), and in communication with, and configured for receiving input from, the general processing means/controller (5), and configured to control or regulate the vacuum supply device (4A) for supply of vacuum within each of the two or more suction cups (2.1, 2.2, etc.), the vacuum sensor (4B) for adjusting the level of vacuum, and the solenoid/magnetic valve (4C) for opening/closing of the vacuum supply.
In another aspect, the invention provides a robotic meat handling system, for use in slaughterhouses or in the meat packing industry, for collecting, lifting, and moving an incoming meat product (9), which meat handling system comprises the following essential elements: i. the robotic working tool /end effector (1) according to any one of claims 1-3, comprising an auxiliary control system/processing means/controller (5'), which working tool/end effector is configured for collecting, lifting, and moving the meat product (9) in question, and for mounting on an industrial robot/ manipulator (7), and which working tool is in communication/operation with a general processing means/controller (5); ii. a vision means/imaging device (8), in communication and operation with the general processing means/controller (5), which vision means/imaging device (8) is configured for taking one or more pictures for determining the location of objects in the camera's field of view of the meat product (9) in question; iii. the industrial robot/manipulator (7), for manipulating the robotic working tool (1), which industrial robot is in communication/operation with the general processing means/controller (5); and which system may be characterised by further comprising iv. the general processing means/controller (5), configured for computing, controlling, activating, and/or moving the working tool/end effector (1) of the invention, and in communication/operation with auxiliary control system/processing means/controller (5'), and the industrial robot/manipulator (7) for use according to the invention, which processing means is in communication/operation with the working tool (1), and the industrial robot/manipulator (7).
DK 181422 B1 4
Finally, the present invention provides a method for handling meat products, for use at for use at slaughterhouses or abattoirs or in the meat packing industry, which method comprises the subsequent steps of: i. supplying a meat product (9) to be handled/manipulated; ii. collecting the supplied meat product (9) by manipulation of a robotic working tool/end effector (1), configured, in communication/operation with a processing means/controller (5), for collecting, lifting, and moving the meat product (9) in question, and which working tool (1) is mounting on an industrial robot/manipulator (7); iii. picking up, lifting, and moving the collected meat product (9) by the robotic working tool (1), by the action of the industrial robot/manipulator (7), in communication/operation with the processing means/controller (5); and iv. moving the meat product (9) to a desired end location; and which method is characterised in that the robotic working tool/end effector (1) used in step ii is the robotic working tool/end effector (1) according to any one of claims 1-3.
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.
The present invention is further illustrated by reference to the accompanying drawing, in which:
Fig. 1 shows some essential components of the working tool of the invention;
Fig. 2 illustrates the pneumatic suction device/vacuum system (4) of the invention; and
Fig. 3 illustrates the essential elements of the robotic meat handling system of the invention.
The working tool of the invention
In its first aspect, the invention provides a robotic working tool (1), for mounting on an industrial robot/manipulator (7) for use in slaughterhouses or in the meat packing industry, for handling meat products (9), typically for automatically moving meat products (9) between a source location, often a stack of meat products or a box of meat products, or arriving on an inlet conveyor (10), and an end destination.
DK 181422 B1
The working tool of the invention may be characterised by comprising the following essential elements: a. two or more suction cups (2.1, 2.2, etc.), configured for gripping and holding the meat product (9) in question, each of which suction cups suction cups is 5 attached to the instrument base (6) via a resilient/shock-absorbing suspension suction cup holder (2.1A, 2.2A, etc.), and each of which suction cups is connected to a suction device/vacuum system (4); b. one or more actuators (3), in communication with the general processing means/controller (5), configured for guiding and controlling and directing each of the two or more suction cups (2) to its desired position; c. a vacuum control system/suction control device (4), which vacuum control system is configured for providing a vacuum within each of the two or more suction cups (2.1, 2.2, etc.), and for controlling the suction and retention of the meat product (9) in question, which vacuum control system comprises: - an auxiliary control system /processing means/controller (5'), in communication with the vacuum supply device (4A), the vacuum sensor (4B), and the solenoid/magnetic valve (4C), and in communication with, and configured for receiving input from, the general processing means/controller (5), and configured to control or regulate the vacuum supply device (4A) for supply of vacuum within each of the two or more suction cups (2.1, 2.2, etc.), the vacuum sensor (4B) for adjusting the level of vacuum, and the solenoid/magnetic valve (4C) for opening/closing of the vacuum supply; - a vacuum supply device (4A), in communication with the auxiliary control system/processing means/controller (5'), useful for establishing and maintaining a sufficient vacuum level; - a vacuum sensor (4B), in communication with auxiliary control system/processing means/controller (5'), suitable for monitoring the specific pressure in each individual suction cup (2.1, 2.2, etc.); and - a solenoid/magnetic valve (4C), in communication with auxiliary control system/processing means/controller (5'), capable of opening/closing of the vacuum supply to each individual suction cup (2.1, 2.2, etc.) as calculated and/or determined by the auxiliary control system/processing means/controller (5'); d. a general processing means/controller (5), in communication with each of the one or more actuators (3) and with the auxiliary control system/processing means/controller (5'), configured for controlling the vacuum control system (4), and, optionally, for computing, controlling, activating, and/or moving the working tool/end effector (1) of the invention and the industrial robot/manipulator (7) for use according to
DK 181422 B1 6 the invention, which processing means is in communication/operation with the working tool (1), and the industrial robot/manipulator (7); and e. a tool/instrument base (6) with connecting means /fastening element (6A) configured for connecting the individual tool elements, and for mounting the working tool on an industrial robot/manipulator (7).
The suction cups
For gripping the meat products contemplated according to the present invention, the working tool/gripper (1) of the invention shall be equipped with two or more suction cups (2), for gripping and holding the meat product (9).
In one embodiment, the working tool/gripper comprises four suction cups (2.1, 2.2, 2.3, 2.4).
The two or more suction cups for use according to the invention shall be made from a soft and flexible polymer material, approved for use in the food industry, e.g., an
FDA approved silicone material.
Moreover, each of the two or more suction cups for use according to the invention shall be configured so that a sufficient vacuum can be established inside the suction cup, for fastening and retaining the meat product (9). This is accomplished by a suitable connection from each individual suction cup to the vacuum supply source (4A) for use according to the invention.
For holding and positioning the two or more suction cups (2.1, 2.2, etc.), each of these suction cups must be attached to a resilient and shock-absorbing suction cup holder (2.1A, 2.2A, etc.).
The resilient and shock-absorbing suction cup holder for use according to the invention may be made from any convenient material. In one embodiment the cup holder comprises an exposed spring mechanism, e.g., a coil spring made from stainless steel, encircling a metal rod.
In addition, the suction cups (2) and the associated suction cup holders (2A) are slidably attached to the instrument base (6) via a system of actuators (3) that ensures that each of the two or more suction cups can be displaced and positioned correctly, e.g., as determined and/or calculated using a vision means/imaging device (8) in cooperation with a general processing means/controller (5).
In one embodiment, the working tool/gripper (1) of the invention comprises four opposing suction cups (2.1, 2.2, 2.3, 2.4), diametrically placed in the working tool, and is connected and can be operated by three actuators (3), that ensure that the suction cups (2) can be moved and occupy the most optional location on the meat product (9), i.e., one actuator operating two corner suction cups, the other actuator operating the
DK 181422 B1 7 other two corner suction cups, and the third actuator operating the displacement of each of the two sets of suction cups relative to each other.
The actuators
For guiding and controlling and direction of each of the two or more suction cups (2) to its desired position, the working tool/gripper (1) of the invention shall comprise one or more actuators (3).
The actuators (3) for use according to the invention shall be controlled and guided by a processing means/controller (5) working in cooperation with a vision means/imaging device (8).
In one embodiment, the working tool/gripper (1) of the invention comprises three electrically driven actuators (3), one actuator operating two corner suction cups, the other actuator operating the other two corner suction cups, and the third actuator operating the displacement of each of the two sets of suction cups relative to each other.
The actuator (3) for use according to the invention may in particular be driven by an electric motor (3B) and operated via a worm gear/angular gear/transmission gear (3A), for transmission of rotation from the motor (3B) to each of the individual actuators (3).
The vacuum control system
A unique feature of the working tool/gripper (1) of the invention is a pneumatically powered vacuum system (4) configured primarily for providing a vacuum within each of the two or more suction cups (2), but for controlling the suction and retention of the meat product (9), thus ensuring an intelligent collection, lifting and placement of the meat product (9).
For this purpose, the vacuum control system of the invention shall comprise its own auxiliary control system/processing means/controller (5'), which system, however, is in (one-way or two-way) communication with the main processor (5) of the system.
Therefore, the vacuum control system (4) of the invention shall be in communication with the processing means/controller (5) via an auxiliary control system (5), and shall comprise: - an auxiliary control system/processing means/controller (5'), in communication with the vacuum supply device (4A), the vacuum sensor (4B), and the solenoid/magnetic valve (4C), and in communication with, and configured for receiving input from, the general processing means/controller (5), and configured to control or regulate the vacuum supply device (4A) for supply of vacuum within each of the two or more suction cups (2.1, 2.2, etc.), the vacuum sensor (4B) for adjusting the level of
DK 181422 B1 8 vacuum, and the solenoid/magnetic valve (4C) for opening/closing of the vacuum supply; - a vacuum supply device (4A), in communication with the auxiliary control system/processing means/controller (5'), useful for establishing and maintaining a sufficient vacuum level; - a vacuum sensor (4B), in communication with auxiliary control system/processing means/controller (5'), suitable for monitoring the specific pressure in each individual suction cup (2.1, 2.2, etc.); and - a solenoid/magnetic valve (4C), in communication with auxiliary control system/processing means/controller (5'), capable of opening/closing of the vacuum supply to each individual suction cup (2.1, 2.2, etc.) as calculated and/or determined by the auxiliary control system/processing means/controller (5').
The vacuum supply device (4A) for use according to the invention shall be able to provide a vacuum within each of the suction cups (2) that is sufficient for lifting and holding the meat product.
The vacuum sensor (4B) for use according to the invention shall be capable of monitoring the specific pressure in each individual suction cup (2.1, 2.2, etc.) and shall be configured to provide feed-back to the auxiliary control system/processing means/controller (5'), thus allowing this control system to regulate the specific suction within each individual suction cup.
Finally, the solenoid/magnetic valve (4C) for use according to the invention is an electromechanically operated valve that can open/close the vacuum supply to each individual suction cup (2.1, 2.2, etc.), as determined by the auxiliary control system/processing means/controller (5').
After the general processing means/controller (5) has received a signal from the vision means/imaging device (8) about the current location and orientation of the meat product (9) in question, and the robot (7) has brought the tool (1) into position to grip/hold the meat product (9), the general processing means/controller (5) notifies the auxiliary processor (5') to open all solenoid/magnetic valve (4C) so that a vacuum can be channeled into each of the individual suction cups (2) of the gripping tool.
Next, a local process circuit starts, where the auxiliary processor (5'), using input from the vacuum sensor (4B), tries to keep the suction as low as possible by regulating/adjusting the solenoid/magnetic valve (4C).
If a suction cup (2) loses its grip on the meat product (9) so that the pressure in the suction cup (2) drops, this is detected by the vacuum sensor (4B), which instructs the auxiliary processor (5') to close the suction by activating (closing) of the solenoid/magnetic valve (4C).
DK 181422 B1 9
The processing means
For collecting and computing data obtained from the individual elements of the system of the invention, the system of the invention shall comprise one or more, optionally inter-related or inter-connected, processing means/controller (5). If two or more processing means are employed, these processors may be in inter-communication with one or more of the other processing means,
The processing means/controller (5) for use according to the invention may be any commercially available computation device, processor, controller, GPU, CPU, PLC, and/or PC.
In one embodiment, the processing means/controller (5) for use according to the invention, or one or more individual processors hereof, is in communication with, and/or configured for processing digitalized data obtained by other components of the system of the invention, e.g., each of the one or more actuators (3) and the vacuum control system (4), i.e., for controlling the vacuum supply device (4A), the vacuum sensor(4B), and the solenoid/magnetic valve (4C).
However, in another embodiment, i.e., when the processing means/controller (5) for use according to the invention, or one or more individual processors hereof, also is used in the robotic meat handling system of the invention, it may also be in communication with the industrial robot/manipulator (7), and thus be configured for computing, controlling, activating, and/or moving the working tool/end effector (1) of the invention and the industrial robot/manipulator (7).
In a further embodiment, the processing means/controller (5) also is in communication with an inlet conveyor (10), and determines and adjusts, e.g., in communication with an encoder, the speed by which the inlet conveyor (10) transports the incoming meat product (9), in order to synchronise the inlet conveyor with the processes performed by the robotic carcass processing system of the invention.
The tool/instrument base
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 tool base or instrument base (6), to which base the individual elements shall be firmly connected, along with a connecting means or fastening element (6A) for attachment of the industrial robot/manipulator (7) for use according to the invention.
The system of the invention
In another aspect, the invention provides a robotic meat handling system, for use in slaughterhouses or in the meat packing industry, for collecting, lifting, and moving supplied meat products (9).
DK 181422 B1 10
The meat handling system of the invention may be characterised by comprising the following essential elements: i. a robotic working tool/end effector (1), comprising an auxiliary control system/processing means/controller (5'), which working tool/end effector is configured for collecting, lifting, and moving the meat product (9) in question, and for mounting on an industrial robot/manipulator (7), and which working tool is in communication/operation with the general processing means/controller (5); ii. a vision means/imaging device (8), in communication and operation with a general processing means/controller (5), which vision means/imaging device (8) is configured for taking one or more pictures for determining the location of objects in the camera's field of view of the meat product (9) in question; iii. an industrial robot/manipulator (7), for manipulating the robotic working tool (1), which industrial robot is in communication/operation with a general processing means/controller (5); and iv. a general processing means/controller (5), configured for computing, controlling, activating, and/or moving the working tool/end effector (1) of the invention, and in communication/operation with auxiliary control system/processing means/controller (5'), and the industrial robot/manipulator (7) for use according to the invention, which processing means is in communication/operation with the working tool (1), and the industrial robot/manipulator (7).
In another embodiment, the meat handling system of the invention may be characterised by further comprising an inlet conveyor (10), configured for providing the meat product (9) to be manipulated by the robotic meat handling system of the invention.
The robotic working tool (1) for use in the meat handling system of the invention shall in particular be the robotic working tool (1) of the invention.
The vision means
The vision means/imaging device (8) for use according to the invention shall be configured for taking one or more pictures for determining, i.e., the exact location, and optionally other essential features of objects in the camera's field of view, and shall be in communication with, and provide (digitalised) data to the processing means/controller (5), which data, eventually, shall be submitted to the industrial robot/manipulator (7) for manipulation of the working tool/end effector (1).
A vision device for use according to the invention typically comprises a camera with a lens, an image sensor, a vision processing means, and communication means. Optionally the vision device for use according to the invention also include lighting means.
DK 181422 B1 11
The cameras for use according to the invention may be any suitable camera/area- scan camera, e.g., a monochrome camera, a colour camera (RGB), multispectral camera (e.g., including both visible and infrared wavelengths), or a 3C/depth camera (e.g., a time-of-flight camera or a stereo camera system).
Lighting means
As a starting point, the robotic meat handling system 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 (8A), set up to illuminate the meat product (9) while images are taken by the vision means/imaging device (8).
Therefore, in one embodiment, the robotic meat handling system (of the invention additionally comprises one or more lighting means (8A) configured for illuminating the meat product (9) in question.
The industrial robot
The industrial robot/ manipulator (7) for use according to the invention for manipulating the robotic working tool (1) may be any commercially available industrial robot, e.g., gantry robots, free-arm (6-axis) robots, palletizing (4-axis) robots, flex- pickers, etc. In one embodiment, a free-arm (6-axis) robot, is used.
Experiments with working tool (1) of the invention mounted on a typical industrial robot (7), e.g., a 25 kg payload robot, have shown that the system of the invention can effectively handle meat objects (9) ranging from about 100 g to about 10 kg, e.g., of from about 500 g to about 5 kg.
The processing means
The processing means/controller (5) for use according to the invention may be any commercially available computation device, processor, controller, GPU, CPU, PLC, and/or PC, 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 (5) for use according to the invention shall be in function with the working tool (1) of the invention, and the industrial robot/manipulator (7), for use according to the invention.
DK 181422 B1 12
The inlet conveyor
For providing the meat product (9) to be manipulated by the robotic meat handling system (1) of the invention, the system of the invention may optionally comprise an inlet conveyor belt (10).
Normally, the meat products arrive in one layer, and with a certain distance (of more than e.g., 5 mm, 10 mm, or an even larger distance) to the next arriving piece of meat (9). Arrival of the meat product (9) may be detected and communicated to the processing means/controller (5) using a light beam, e.g., emitted by a laser diode, so that the system may initiate and direct the working tool of the invention to work on the incoming meat product (9).
Depending on the processing line in question, the meat products (9) will arrive substantially in a line at a certain distance to the edge of the inlet conveyor belt (10). In these cases, no need for further manipulation of the incoming meat products is required for the meat handling system to capture and move the meat product.
For some processing lines, however, the meat product (9) may not arrive in a proper line, so there may be a need for some corrective actions, before the robotic meat handling system can capture the meat product on the conveyor belt (10) and move the meat product to its destination.
One way of doing such corrective action may include the use of an adjustment rail that, due to the forward movement of the conveyor belt (10), directs the incoming meat products substantially into a row.
Another way of doing corrective action on the incoming meat products (9) may include the use of a vision means/imaging device (8), as described above, in communication/operation with the in the processing means/controller (5) for use according to the invention, and configured to identify the location of the incoming meat product (9) on the conveyor belt (10), and for the meat handling system of the invention to direct the working tool (1) of the invention to the incoming meat product (9) for capturing and moving the meat product to the desired destination.
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 particular to meat products that are flexible, pliable, and very slippery.
Examples of meat products (9) contemplated according to the invention include, e.g., pork belly, pork middle, pork neck, back-rib, fore-ends, shoulders, ham and leg.
Experiments with working tool (1) of the invention mounted on a typical industrial robot (7), e.g., a 25 kg payload robot, have shown that the system of the
DK 181422 B1 13 invention can effectively handle meat objects (9) ranging from about 100 g to about 10 kg, e.g., of from about 500 g to about 5 kg.
The method of the invention
In a further aspect, the invention provides a method for handling meat products, for use in slaughterhouses or in the meat packing industry, for collecting, lifting, and moving supplied meat products (9), whether a stack of meat products or a box of meat products, or arriving on an inlet conveyor (10).
The meat handling method of the invention may be characterised by comprising the following subsequent steps of: i. supplying meat product (9) to be handled/manipulated; ii. collecting the supplied meat product (9) by manipulation of a robotic working tool (1), configured, in communication/operation with a processing means/controller (5), for collecting, lifting, and moving the meat product (9) in question, and which working tool (1) is mounting on an industrial robot/manipulator (7); iii. picking up, lifting, and moving the collected meat product (9) by the robotic working tool (1), by the action of an industrial robot/manipulator (7), in communication/operation with a processing means/controller (5); and iv. moving the meat product (9) to a desired end location.
The method of the invention may involve additional process steps.
The present invention is further illustrated by reference to the accompanying drawing, in which:
Fig. 1 shows some essential components of the working tool of the invention:
Suction cup no. 1 (2.1); Cup holder for suction cup no. 2.1 (2.1A); Suction cup no. 2 (2.2); Cup holder for suction cup no. 2.2 (2.2A); Suction cup no. 3 (2.3); Cup holder for suction cup no. 2.3 (2.3A); Actuator (3); Pneumatic suction device/vacuum system (4);
Auxiliary control system/processing means/controller (57); Instrument base (6);
Connecting means/fastening element (6A) for connection to the industrial robot/manipulator (7);
Fig. 2 illustrates the pneumatic suction device/vacuum system (4) of the invention:
Vacuum supply/manifold (4A), for distribution of the vacuum to each of the one- more suction cups; Connection to vacuum-provider (4A’); Vacuum supply for suction cup no. 2.1 (4.1A); Vacuum sensor for suction cup no. 2.1 (4.1B); Solenoid/magnet valve for suction cup no. 2.1 (4.1C); Vacuum supply for suction cup no. 2.2 (4.2A); Vacuum sensor
DK 181422 B1 14 for suction cup no. 2.2 (4.2B); Solenocid/magnet valve for suction cup no. 2.3 (4.30);
Auxiliary control system/processing means/controller (57); and
Fig. 3 illustrates the essential elements of the robotic meat handling system of the invention:
Robotic working tool/end effector/gripping means/meat handling tool of the invention (1); General processing means/controller (5); Industrial robot/manipulator/robotic arm (7); Vision means/imaging device (8); Meat product (9);
Inlet conveyor (10).
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/gripping means/meat handling tool of the invention 2 Suction cups 2.1 Suction cup no. 1 2.2 Suction cup no. 2 2.3 Suction cup no. 3 2A Resilient/shock-absorbing suspension suction cup holders 2.1A Cup holder for suction cup no. 2.1 2.2A Cup holder for suction cup no. 2.2 2.3A Cup holder for suction cup no. 2.3 3 Actuators 3A Worm gear/angular gear 3.1A Worm gear for actuator 3.1 3B Electric motor 4 Pneumatic suction device/vacuum system 4A Vacuum supply/manifold, for distribution of the vacuum to each of the one-more suction cups (2.1, 2.2, etc.) 4A’ Connection to vacuum-provider 4,1A Vacuum supply for suction cup no. 2.1 4.2A Vacuum supply for suction cup no. 2.2 4.3A Vacuum supply for suction cup no. 2.3 4B Vacuum sensor
DK 181422 B1 15 4.1B Vacuum sensor for suction cup no. 2.1 4,2B Vacuum sensor for suction cup no. 2.2 4,3B Vacuum sensor for suction cup no. 2.3 4C Solenoid/magnet valve 4.1C Solenoid/magnet valve for suction cup no. 2.1 4.2C Solenoid/magnet valve for suction cup no. 2.2 4.3C Solenoid/magnet valve for suction cup no. 2.3 5 General processing means/controller 5’ Auxiliary control system/processing means/controller 6 Instrument base 6A Connecting means/fastening element for connection to the industrial robot/manipulator (7) 7 Industrial robot/manipulator/robotic arm 8 Vision means/imaging device 8A Lighting means 9 Meat product 10 Inlet conveyor
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DKPA202200097A DK181422B1 (en) | 2022-02-02 | 2022-02-02 | A robotic working tool and a robotic meat handling system for use in slaughterhouses |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DKPA202200097A DK181422B1 (en) | 2022-02-02 | 2022-02-02 | A robotic working tool and a robotic meat handling system for use in slaughterhouses |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| DK181422B1 true DK181422B1 (en) | 2023-11-06 |
| DK202200097A1 DK202200097A1 (en) | 2023-11-06 |
Family
ID=88651414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DKPA202200097A DK181422B1 (en) | 2022-02-02 | 2022-02-02 | A robotic working tool and a robotic meat handling system for use in slaughterhouses |
Country Status (1)
| Country | Link |
|---|---|
| DK (1) | DK181422B1 (en) |
-
2022
- 2022-02-02 DK DKPA202200097A patent/DK181422B1/en active IP Right Grant
Also Published As
| Publication number | Publication date |
|---|---|
| DK202200097A1 (en) | 2023-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11312581B2 (en) | Object grasp system and method | |
| US8315739B2 (en) | Determining the position of an object | |
| EP2578366A2 (en) | Robot apparatus, robot system, and method for producing a to-be-processed material | |
| DK180283B1 (en) | Automatic suspension of meat items | |
| EP3575043A3 (en) | Method and system for manipulating items | |
| JP2019051575A (en) | Gripping device and transport device | |
| US20090238670A1 (en) | Robot gripper for food products | |
| JPWO2021198053A5 (en) | ||
| GB2548959A (en) | Robotic gripping device system and method | |
| JP2005262369A (en) | Robot system | |
| JPH09239682A (en) | Work feeding method and device | |
| US20200282571A1 (en) | Gripping device, separating device and method for gripping bodies, and use of a gripping device | |
| DK181422B1 (en) | A robotic working tool and a robotic meat handling system for use in slaughterhouses | |
| DK202100872A1 (en) | A robotic working tool and a robotic meat handling system for use in slaughterhouses | |
| Simonton | Robotic end effector for handling greenhouse plant material | |
| KR101197125B1 (en) | Object picking system and object picking method | |
| EP3205457B1 (en) | Transfer method and transfer apparatus | |
| DK180714B1 (en) | Automatic suspension of meat items | |
| CN111278612B (en) | Component transfer device | |
| DK181536B1 (en) | A gripping tool, a meat handling system, and a method for automatic suspension of meat items | |
| DK181162B1 (en) | Robotic packing system and method for use at slaughterhouses | |
| DK181389B1 (en) | A robotic working tool, a robotic meat handling system and a method for handling meat products for use in slaughterhouses | |
| WO2019102575A1 (en) | Work machine and gripping position search method | |
| US20240109198A1 (en) | Method for handling objects, and handling system | |
| DK202000710A1 (en) | Automatic supply and discharge of meat transporting racks |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PAT | Application published |
Effective date: 20230803 |
|
| PME | Patent granted |
Effective date: 20231106 |