DK181536B1 - A gripping tool, a meat handling system, and a method for automatic suspension of meat items - Google Patents
A gripping tool, a meat handling system, and a method for automatic suspension of meat items Download PDFInfo
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- DK181536B1 DK181536B1 DKPA202200876A DKPA202200876A DK181536B1 DK 181536 B1 DK181536 B1 DK 181536B1 DK PA202200876 A DKPA202200876 A DK PA202200876A DK PA202200876 A DKPA202200876 A DK PA202200876A DK 181536 B1 DK181536 B1 DK 181536B1
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- Denmark
- Prior art keywords
- meat
- meat product
- gripping tool
- bony
- storage
- Prior art date
Links
- 235000013372 meat Nutrition 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 37
- 239000000725 suspension Substances 0.000 title abstract description 7
- 238000003860 storage Methods 0.000 claims abstract description 87
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 60
- 235000013622 meat product Nutrition 0.000 claims description 155
- 238000012545 processing Methods 0.000 claims description 71
- 230000003287 optical effect Effects 0.000 claims description 8
- 230000032258 transport Effects 0.000 description 51
- 230000004438 eyesight Effects 0.000 description 30
- 241000191291 Abies alba Species 0.000 description 11
- 235000004507 Abies alba Nutrition 0.000 description 11
- 230000004807 localization Effects 0.000 description 10
- 210000002414 leg Anatomy 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 235000015277 pork Nutrition 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000014759 maintenance of location Effects 0.000 description 4
- 241000275449 Diplectrum formosum Species 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 241000283707 Capra Species 0.000 description 2
- 235000019687 Lamb Nutrition 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 235000015278 beef Nutrition 0.000 description 2
- -1 e.g. Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 241000287828 Gallus gallus Species 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000004456 color vision Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 235000020991 processed meat Nutrition 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Food Science & Technology (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
This invention relates to systems and methods for automatic suspension of meat items, delivered on a conveyor belt, on a meat storage/transport rack, for use at abattoirs, and in particular at pig abattoirs. More specifically, the invention provides a gripping tool for mounting on an industrial robot, configured for gripping, moving and suspending a bone-containing meat item, and a meat handling system, configured for gripping, moving and suspending a bone-containing meat item on a meat storage/transport rack, and a method of automatically moving and suspending a bone-containing meat item on a meat storage/transport rack.
Description
DK 181536 B1 1
A GRIPPING TOOL, A MEAT HANDLING SYSTEM, AND A METHOD FOR
AUTOMATIC SUSPENSION OF MEAT ITEMS
This invention relates to systems and methods for automatic suspension of meat items, delivered on a conveyor belt, on a meat storage/transport rack, for use at abattoirs, and in particular at pig abattoirs.
More specifically, the invention provides a gripping tool for mounting on an industrial robot, configured for gripping, moving and suspending a bone-containing meat item, and a meat handling system, configured for gripping, moving and suspending a bone- containing meat item on a meat storage/transport rack, and a method of automatically moving and suspending a bone-containing meat item on a meat storage/transport rack.
At abattoirs, and in particular at pig abattoirs, it is common to suspend pieces of meat on a specific transporting means, 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, which rod is configured to be suspended from an overhanging rail or to be mounted on a stand, 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.
Thus, WO2021160486 describes systems and methods for automatic suspension of meat items, provided by a conveyor belt.
EP3545769 describes a system for loading smaller limb sections of an edible chicken carcass, such as a thigh section or an arm section, which system comprises a gripping tool that is aligned with the longitudinal direction of the tool base.
However, the gripping tool described herein, adapted to receiving relatively heavy bone-containing meat products, such as heavy bone-containing meat products originating from beef, pork, lamb or goat, wherein the protruding leg typically will appear in an angled position, have not previously been disclosed.
DK 181536 B1 2
The present invention provides a system and a process, by which one can avoid the manual hard work associated with suspending large and heavy meat pieces, e.g., on racks for storage and/or transport of goods.
At abattoirs, and when dealing with the processing of bone-containing meat items, e.g., bone in leg, a Serrano leg, a bone in fore-ends, or a bone in shoulder, and similar cuts, itis customary to sort these meat items into different weight classes, which necessitates division of the starting products into different product lines (waiting spaces) for storage and awaiting the further processing. When introduced at this sorting stage, the system and process of the present invention also optimises the production flow, as the use of robots eliminates the use of waiting spaces, storage, and transportation lines.
The use of robots, rather than multiple, and long conveyors, also simplifies cleaning of the production lines.
While the process according to this invention allows for a varied and flexible suspension pattern, the process also ensures traceability of the processed meat items.
In its first aspect, the invention provides a gripping tool, for mounting on an industrial robot, which gripping tool is configured for gripping, moving and suspending a bone-containing meat product, and which gripping tool comprises the following essential elements: an actuator (27) operated clamping device (2), attached to a tool base (4), which clamping device (2) comprises two interlocking and simultaneously reacting grippers (2A, 2B), acting via an exchange means (2C), which grippers are configured for gripping and holding a bone embedded in the meat product; an actuator (37) operated displaceable rear support/backstop (3), attached to the tool base (4), which rear support/backstop (3) is configured for retention and lifting the meat product; and a fastening element (5), attached to the tool base (4), which fastening element (5) is configured for mounting the gripping tool (1) on an industrial robot (6).
In another aspect, the invention provides a meat handling system, configured for gripping, moving and suspending one or more bone-containing meat products from an inlet conveyor (9) to a means (11) for storage and/or transport of said bone-containing meat products, and which system comprises the following essential elements: the inlet conveyor (9), optionally in operation with a processing means (7), for transporting and providing the bone-containing meat product to an arrival area (9A); a sensor (10), installed at, or within operating distance of the arrival area (9A), in operation with the processing means (7), for detecting the arrival of the bone- containing meat product at the arrival area (9A);
DK 181536 B1 3 one or more, optionally interrelated, processing means (7), in operation with the inlet conveyor (9), the sensor (10), one or more industrial robots (6), and/or the means (11) for storage/transport of the bone-containing meat product, for determining the exact localisation of the arriving bone-containing meat product, and for determining the localisation of a gripping point on the bone-containing meat product; a gripping tool (1), for mounting on the one or more industrial robots (6), capable of picking, grabbing, clamping or holding the arriving bone-containing meat product while in motion, and lifting it up from the inlet conveyor (9), so it can finally be hung on the means (11) for storage/transport of the bone-containing meat product; the one or more industrial robots (6), in operation with the processing means (7), each robot mounted with the gripping tool (1); and the means (11) for storage/transport of the meat products, in operation with the processing means (7), which storage/transporting means (11) comprises a number of hooks (11A’, 11A”, etc.), with the tip facing upwards, for receiving the bone- containing meat product to be stored/transported, and which hooks are mounted on a vertical rod (11B), which rod is operatively connected to a means for turning the rod (12), in operation with the processing means (7), so as to bring a hook into a certain position for receiving the bone-containing meat product, delivered by the gripping tool (1), mounted on the one or more industrial robots (6), and which rod (11B) is suspended from an overhanging rail (13), and/or mounted on a stand (14).
In a third aspect, the invention provides a method of automatically moving and suspending one or more bone-containing meat products, arriving at an inlet conveyor (9), onto a means for storage and/or transportation (11) of said meat products, which means for storage and/or transport (11) comprises a number of hooks (11A’, 11A”, etc.), mounted on a vertical rod (11B), and which method comprises the subsequent steps of: (a) providing one or more bone-containing meat products, via an inlet conveyor (9), to an arrival area (9A); (bl) detecting the arrival of the bone-containing meat product on the inlet conveyor (9), using a sensor (10), installed at, or within operating distance of the arrival area (9A), which sensor (10) is in operation with the processing means (7); and/or (b2) detecting the arrival of the bone-containing meat product on the inlet conveyor (9), using a vision device (15), installed at, or within operating distance of the arrival area (9A), which vision device (15) is in operation with the processing means (7), and obtaining one or more images of the arriving bone-containing meat product, while the meat item is in motion, and transmission of the digitalized data to the processing means (7); and (c) determining the localisation of a gripping point on the bone-containing meat product using a processing means (7);
DK 181536 B1 4 (d) grabbing the bone-containing meat product, while in motion, by the gripping point, lifting it and hanging it on a hook (11A’, 11A”, etc.) mounted on a storage/transporting means (11), by use of a gripping tool (1), mounted on an industrial robot (6); (e) bringing the storage/transporting means (11) into position for receiving the next bone-containing meat product; (f) collecting the one or more bone-containing meat products on the means for storage/transport of meat items (11), and, when filled, removing it for further transport, storage, and/or processing; and (g) providing another storage/transporting means (11) and bringing it into position for receiving the next bone-containing meat product.
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:
Figs. 1A-1B illustrate an example of the gripping tool according to the invention viewed from above;
Fig. 2 illustrates a side-view of the gripping tool of the invention;
Fig. 3 illustrates the gripping tool of the invention viewed from below; and
Fig. 4 illustrates the essential elements of the meat handling system of the invention.
The gripping tool
The gripping tool (1) of the invention is for mounting on an industrial robot (6) and shall be configured for gripping, moving, and suspending a bone-containing meat product.
The gripping tool of the invention may be characterised by comprising the following essential elements: an actuator (2) operated clamping device (2), attached to a tool base (4), which clamping device (2) comprises two interlocking and simultaneously reacting grippers (2A, 2B), acting via an exchange means (2C), which grippers are configured for gripping and holding a bone embedded in the meat product;
DK 181536 B1 an actuator (3) operated displaceable rear support/backstop (3), attached to the tool base (4), which rear support/backstop (3) is configured for retention and lifting the meat product; and a fastening element (5), attached to the tool base (4), which fastening element 5 (5) is configured for mounting the gripping tool (1) on an industrial robot (6).
The actuator operated clamping device
The actuator operated clamping device (2) for use according to the invention comprises a pair (two) of interlocking and simultaneously reacting bone grippers (2A, 2B), acting via an exchange means (2C) that comprises a turning point (2®), around which turning point the two interlocking and simultaneously reacting grippers (2A, 2B) can turn.
In the context of this invention, the exchange means (2C) may be represented by a mechanical link capable of transmitting the force from the actuator (2) to the two bone grippers (2A, 2B).
The two interlocking and simultaneously reacting grippers (2A, 2B) shall be configured for gripping a bone embedded in the meat product. Essentially, the grippers may be of any form, but U-formed or V-formed gripping devices, capable of squeezing around a pig shank, have proven to work well.
The two interlocking and simultaneously reacting grippers (2A, 2B) shall be made from a robust and food-grade accepted material, e.g., stainless steel.
The design of the gripping tool of the invention must of course be adapted to the dimensions of the bone-containing workpiece in question. When manipulating, e.g., pork fore-ends, from which the foreleg typically emanates at an angle of about 45° relative to the grip-end. Therefore, the gripping tool of the invention may be further characterised in that the clamping device (2) is not aligned with the longitudinal direction of the tool base (4) but is oriented at an angle (a”) that facilitates an effective gripping and retention of the bone embedded in the meat product.
In one embodiment, the angle (a°) between the orientation of the clamping device (2) and the longitudinal direction of the tool base (4) is between about 30 and about 75°, e.g., of from about 40 to about 50°, or of about 45°.
Also, the size of the gripping tool of the invention should reasonably fit to the meat product in question, e.g., by adjusting the length of the gripping tool.
In another embodiment, the gripping tool of the invention may be characterised in that the distance (x) from the centre of the longitudinal direction of the gripping tool (1) to the turning point (2®) of the clamping device (2) is of from about 60 to about 120 mm, e.g., of from about 70 to about 100 mm, or of about 80 mm.
DK 181536 B1 6
Finally, in a third embodiment, the gripping tool of the invention may be characterised in that the distance (y) from the location of the rear support/backstop (3) to the (theoretical) gripping point (z) of the clamping device (2A, 2B) is from about 150 to about 350 mm, e.g., of from about 200 to about 300 mm, or of about 250 mm.
Actuators for use according to the invention are commercially available. The actuator (2") operating the clamping device (2) may be any available pneumatic, electric, or hydraulic actuator.
In one embodiment, the actuator (27) for use according to the invention, operating the clamping device (2), is an electrically driven actuator.
The actuator operated displaceable rear support/backstop
The gripping tool of the invention also comprises an actuator (3) operated displaceable rear support/backstop (3), attached to the tool base (4), and this rear support/backstop (3) shall be configured for retention and lifting the meat product.
The displaceable rear support/backstop (3) of the invention shall be configured for grasping and holding the meat product in question.
Essentially, the support/backstop (3) may be of any form, including a flat design, a U-formed or V-formed design, that can push, grab, and hold the workpiece in question. Also, the rear support/backstop shall be made from a robust and food-grade accepted material, e.g., stainless steel.
Actuators for use according to the invention are commercially available.
The actuator (3’) operating the rear support/backstop (3) may be any available pneumatic, electric, or hydraulic actuator.
In one embodiment, the actuator (37) for use according to the invention is an electrically driven actuator.
The tool base/body and fastening element
To be in a functional state, the gripping tool according to the invention must include a tool base/tool body (4) that allows the individual elements of the tool to be within a mutually operable distance.
This also apply to the fastening element (5) that shall be attached to the tool base (4), and which fastening element (5) shall be configured for mounting the gripping tool (1) on an industrial robot (6).
The meat handling system
In another aspect, the invention relates to a meat handling system, configured for gripping, moving and suspending one or more meat products from an inlet conveyor (9) to a means (11) for storage and/or transport of said workpieces.
DK 181536 B1 7
The meat handling system of the invention may be characterised by comprising the following elements: the inlet conveyor (9), optionally in operation with a processing means (7), for transporting and providing the meat product to an arrival area (9A); a sensor (10), installed at, or within operating distance of the arrival area (9A), in operation with the processing means (7), for detecting the arrival of the meat product at the arrival area (9A); one or more, optionally interrelated, processing means (7), in operation with the inlet conveyor (9), the sensor (10), one or more industrial robots (6), and/or the means (11) for storage/transporting of the bone-containing meat product, for determining the exact localisation of the arriving meat product, for determining the localisation of a gripping point on the meat product; a gripping tool (1), for mounting on the one or more industrial robots (6), capable of picking, grabbing, clamping or holding the arriving meat product while in motion, and lifting it up from the inlet conveyor (9), so it can finally be hung on the means (11) for storage/transport of the bone-containing meat product; one or more industrial robots (6), in operation with the processing means (7), each robot mounted with the gripping tool (1); and the means (11) for storage/transport of the meat products, in operation with the processing means (7), which storage/transporting means (11) comprises a number of hooks (11A', 11A”, etc.), with the tip facing upwards, for receiving the meat product to be stored/transported, and which hooks are mounted on a vertical rod (11B), which rod is operatively connected to a means (12) for turning the vertical rod (11B), in operation with the processing means (7), so as to bring a hook into a certain position for receiving the meat product, delivered by the gripping tool (1), mounted on the one or more industrial robots (6), and which rod (11B) is suspended from an overhanging rail (13), and/or mounted on a stand (14); which meat handling system is characterised in that the gripping tool (1) is the gripping tool of the invention.
In one embodiment, the sensor (10) is a mechanical or an optical sensor, or a vision means/vision device/camera (15), or any combination hereof.
The method of the invention
In a third aspect, the invention provides a method for automatically moving and suspending one or more meat products, arriving at an inlet conveyor (9), onto a means for storage and/or transportation (11) of said meat products, which means for storage and/or transport (11) comprises a number of hooks (11A', 11A”, etc.), mounted on a vertical rod (11B).
DK 181536 B1 8
The method of the invention may be characterised by comprising the subsequent steps of: (a) providing one or more meat products, via an inlet conveyor belt (9), to an arrival area (9A); (bl) detecting the arrival of the meat product on the inlet conveyor (9), using a sensor (10), installed at, or within operating distance of the arrival area (9A), which sensor (10) is in operation with the processing means (7); and/or (b2) detecting the arrival of the meat product on the inlet conveyor (9), using a vision device (15), installed at, or within operating distance of the arrival area (9A), which vision device (15) is in operation with the processing means (7), and obtaining one or more images of the arriving meat product, while the meat product is in motion, and transmission of the digitalized data to the processing means (7); and (c) determining the localisation of a suitable gripping point on the meat product using a processing means (7); (d) grabbing the meat product, while in motion, by the gripping point, lifting it and hanging it on a hook (11A’, 11A”, etc.) mounted on a storage/transporting means (11), by use of gripping tool (1), mounted on an industrial robot (6); (e) bringing the storage/transporting means (11) into position for receiving the next arriving meat product; (f) collecting the one or more meat products on the means for storage/transport of meat products, and, when filled, removing it for further transport, storage, and/or processing; and (g) providing another storage/transporting means (11) and bringing it into position for receiving the next meat product; which method is characterised in that the gripping tool used in step (d) is the gripping tool of the invention.
In one embodiment, the arrival of the meat product in step (b1), on the inlet conveyor (9) is detected using a mechanical or an optical sensor (10), installed at, or within operating distance of the arrival area (9A), which sensor (10) is in operation with the processing means (7).
In another embodiment, the arrival of the meat product in step (b2), on the inlet conveying belt (9) is detected using a vision device (15), installed at, or within operating distance of the arrival area (9A), which vision device (15) is in operation with the processing means (7), and obtaining one or more images of the arriving meat product, while the meat item is in motion, and transmission of the digitalized data to the processing means (7).
In a third embodiment, the means for storage/transport of meat items (11) in step (e), is provided using a rail, suspended in the ceiling.
DK 181536 B1 9
In a fourth embodiment, the means for storage/transport of meat items (11) in step (e), is provided using a carousel.
Starting materials
The meat product or workpiece to be processed according to the present invention may be any bone-containing piece of meat, and of any animal origin including beef, pork, lamb and goat.
The bone-containing meat product contemplated according to the present invention may in particular 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.
The workpieces may appear in mirror forms, e.g., represent right- or left-side meat items of the slaughtered animal, that may need to be turned or handled/manipulated accordingly.
For effectively gripping the bone-containing meat product, the gripper should be aimed at a suitable gripping point that may depend on the particular meat product in question. Often, the desired gripping point consists of an area which is located towards the end of the bone coming out from the bone-containing meat product.
Upon arrival, each meat item may, or may not, have an accompanying product
ID attached, which ID may provide descriptive information about, e.g., the origin of the meat product, weight, etc.
The inlet conveyor
The inlet conveyor (9) for use according to the invention, for transporting and providing meat products to an arrival area (9A), may be any conveyor or conveying belt conventionally used in abattoirs.
The meat products for processing according to the invention may arrive on the conveyor (9) in any position or in any order, with its meat-side or its rind-side pointing upwards or down. In some abattoirs or in some processes, the meat products arrive in a fixed, orderly, pattern, right- and left-sides alternating.
Optionally, the inlet conveyor (9) for use according to the invention is equipped with an encoder, allowing it to be in operation with the processing means (7), 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.
DK 181536 B1 10
The sensor
The sensor (10) for use according to the invention, installed at, or within operating distance of the arrival area (9A), may be any sensor that is able to determine the position of the arriving meat product on the inlet conveyor (9).
If the meat product to be processed arrive in a predictable manner, as described above, e.g. with a certain/fixed distance to the edge of the conveyor belt, e.g. in consequence of a prior mechanical process for aligning the meat product, the sensor may be a simple mechanical or optical sensor, capable of detecting e.g. the front edge of the arriving meat product, thus allowing the industrial robot (6) to position the gripper in the exact position, calculated by the processor (7).
If, on the other hand, the meat product to be processed do not arrive in a predictable manner, and right- and left-side workpieces arrive in a random order, the sensor must be able to determine its exact position, not only the position of the front edge, but also the lateral placement of the arriving meat product on the conveying belt (9), and to determine the nature of the arriving workpiece, 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 (15), installed at, or within operating distance of the arrival area, for obtaining at least one image of the meat product while it is being transported along the conveying belt (9), for digitalization of the obtained image, and transmission of the digitalized data to a processing means (7). Such equipment will allow for determination of the essential features relating to the position of such arriving meat product, incl., e.g., determination of left- or right-side meat cuts, determination of the angle arriving meat product, and finally determine the localisation of a suitable gripping point on the arriving meat product.
In a further embodiment, the sensor (10) for use according to the invention comprises a mechanical or an optical sensor, and/or a vision device/camera (15), or any combination hereof.
The vision device/camera (15) for use according to the invention may be any commercially available vision system. Vision systems essentially comes in three main categories: 1D vision analyses a digital signal one line at a time instead of looking at a whole picture at once, and is accomplished by use of a line-scanner; 2D vision is looking at the whole picture, and may be accomplished by use of an industrial camera; and 3D vision systems typically comprise multiple cameras and/or one or more laser displacement sensors.
DK 181536 B1 11
The vision device/camera (15) for use according to the invention may be any commercially available 1D, 2D or 3D camera, 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.
Lighting devices
In case the vision device (15) is a colour vision device (colour camera), and for illuminating the meat product as an image is taken by the vision devise, the meat handling system of the invention preferably comprises one or more lights sources, set up to illuminate the meat product while is it being transported along the inlet conveyor (9), and for illuminating the meat item while an image is taken by the vision device (15).
The processing means
Based on inputs from the sensor (10) and/or the vision device/camera (15), the processing means (7) for use according to the invention shall be able to recognise and optionally identify the incoming meat product, and to guide the industrial robot (6) used according to the invention to deliver the meat product accurately on the storage/transport means (11).
The processing means (7) 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: the inlet conveyor (9) used according to the invention; the sensor (10) used according to the invention; the images obtained by the vision device (15) used according to the invention; the robot(s) (6) used according to the invention; the storage/transporting means (11) used according to the invention; and the processing means (7) may in addition be in communication with one or more other, optionally interrelated or inter-connected, processors, used according to the invention.
Processing is the mechanism for extracting information from a digital image and may take place externally in a PC-based system, or internally in a standalone vision system. Processing is performed by software and consists of several steps. First, an image is acquired from the sensor. Next, the software locates the specific features, runs measurements, and compares these to the specification. Finally, a decision is made, and the results are communicated.
Since vision systems often use a variety of off-the-shelf components, these items must coordinate and connect to other machine elements quickly and easily.
Typically, this is done by either discrete I/O signal or by data sent over a serial connection to a device that is logging information or using it.
The processing means (7) for use according to the invention shall analyse the transmitted data and take the necessary action in respect of any measurement results.
The processor may also receive data from outside the system of the invention, e.g., in
DK 181536 B1 12 the form of a product ID with concomitant information about, e.g., the origin of the meat product and/or weight.
Often, information about the weight of a given piece of meat is available from the supplied product ID. Alternatively, a weighing station may be introduced prior to the system of the invention, allowing determination of weight, and capable of transmitting data regarding the weight found to the processor (7).
In one embodiment, the processor (7) determines and adjusts (in communication with the encoder) the speed by which the inlet conveyor (9) transports the incoming meat products.
In another embodiment, the processor (7) receives a signal from the sensor (10), determines the position/localisation of the arriving meat product to be processed, and calculates the localisation of a suitable gripping point on the meat product.
In a third embodiment, the processor (7) communicates with, and provides instruction to the industrial robot (6), for the robot to perform a desired task, e.g. grab a meat product with the gripping tool (1), lift the meat product with the gripping tool, direct the gripping point to a hook (11A’, 11A”, etc.) mounted on the means for storage/transport (11), and fit the piece of meat onto the hook by perforating the meat.
In a fourth embodiment, the processor (7) communicates with the means for storage/transport (11), for and provides instructions for the storage rack (11) for bringing it into a fixed position for receiving the meat product (8), or for the turning means (12) to rotate the rod (11B), or for bringing it into a position for receiving the next meat product, delivered by the gripping tool (1), mounted on the industrial robot (6).
The processing means (7) for use according to the invention is able to communicate with devices outside the system, and to receive data from here, e.g., information derived from a concomitant product ID, or a weight as determined on a separate weighing station. By taking such information into account, the processor (7) may be able to sort the incoming meat product according to, e.g., weight.
In a fifth embodiment, the processing means (7) performs a sorting of the incoming meat product according to their weight and distributes meat product of different weight, or belonging to different weight classes, to different storage/transport means (11).
The industrial robot
The industrial robot (6) for use according to the invention shall be controlled by a processing means (7) used according to the invention, and the robot (6) shall be equipped with the gripping tool (1) of the invention.
DK 181536 B1 13
The robot (6) used according to the invention should deliver the meat product accurately on the storage/transport means (11).
The robot (6) 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 would in particular be a 4-6 axis robot.
The means for storage/transport
The means for storage/transport (11) (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 (11A', 11A”, etc.), each with the tip facing upwards, for receiving the meat product to be stored/transported, and which hooks are mounted on a vertical rod (11B), which rod is operatively connected to a means (12) for turning the rod (11B), in operation with the processing means (7), so as to place a hook in a certain position for receiving the meat item, and which rod is suspended from an overhanging rail (13), and/or mounted on a stand (14).
The robot (6) used according to the invention should deliver the meat product accurately on the storage/transport means (11).
The means for storage/transport (11) could hold essentially any number of hooks (11A', 11A”, etc.), but the industry norm currently is 4 x 5 hooks per Christmas tree, and the hooks preferably are aligned, both in the horizontal level, but also vertically, as illustrated on Fig. 4.
The means for turning the vertical rod (11A', 11A”, etc.) of the means for storage/transport (Christmas tree) (11) may, e.g., be a mechanical device, positioned underneath the rod (11B). The vertical rod (11B) may be driven by a servomotor, in operation with, and controlled by the processing means (7). The turning device (12) may be attached to the vertical rod (11B) of the means for storage/transport (11) by a hollow pipe holding a number of open slot holes that fit the number of — vertically mounted — hooks on the Christmas tree (the number illustrated in the figures being four).
While the industrial robot (6) used according to the invention may be able to place the meat products in any place and in any position on the storage/transport means
DK 181536 B1 14 (11), it may be desired to have the storage/transport means (11) move and/or rotate itself to speed up the overall suspension process.
In one embodiment, the means for turning the vertical rod (11B), in communication with, and guided by, the processing means (7), performs a rotation of 90° each time a new meat product is being presented by the robot (6), allowing the robot to aim for the same point each time the meat item shall be hung onto the
Christmas tree.
For the same reason (to speed up the overall process), it is also desired that the means for turning the vertical rod (11B), or the stand (14) for holding the means for storage/transport (11), is capable of lifting the storage/transport means (11) up or down, allowing the robot to aim for the same point each time the meat item shall be hung onto the Christmas tree.
The method of the invention
In another aspect, the invention relates to a method for automatically moving and suspending one or more meat products/workpieces, arriving on an inlet conveyor (9), on a means for storage and/or transportation (11) of said meat items.
The method of the invention may be characterised by comprising the subsequent steps of: (a) providing one or more meat products, via an inlet conveyor (9), to an arrival area (9A); (bl) detecting the arrival of a meat product of the arrival area (9A), which sensor (10) is in operation with the processing means (7); and/or (b2) detecting the arrival of the meat product on the inlet conveyor (9), using a vision device/camera (15), installed at, or within operating distance of the arrival area (9A), which vision device/camera (15) is in operation with the processing means (7), and obtaining one or more images of the arriving meat product, while the meat item is in motion, and transmission of the digitalized data to the processing means (7); and (c) determining the localisation of a suitable gripping point on the meat product in question using a processing means (7); (d) grabbing the meat product in question, while in motion, by the gripping point, lifting it and hanging it on a hook (11A’, 11A”, etc.) mounted on a storage/transporting means (11), by use of a gripping tool (1) mounted on an industrial robot (6); (e) bringing the storage/transporting means (11) into position for receiving the next meat product;
DK 181536 B1 15 (f) collecting the one or more meat products on the means (11) for storage/transport of meat products, and, when filled, removing it for further transport, storage, and/or processing; and (g) providing another storage/transporting means (11) and bringing it into position for receiving the next meat product.
In one embodiment, in step (bl), the arrival of a meat product on the inlet conveyor (9) is detected using a mechanical or an optical sensor (10), installed at, or within operating distance of the arrival area (9A), which sensor (10) is in operation with the processing means (7).
In another embodiment, in step b2), the arrival of the meat product on the inlet conveying belt (9) is detected using a vision device/camera (15), installed at, or within operating distance of the arrival area (9A), which vision device/camera (15) is in operation with the processing means (7), and obtaining one or more images of the arriving meat product, while the meat item is in motion, and transmission of the digitalized data to the processing means (7).
The means (11) for storage/transport of meat products, i.e., the “Christmas tree”, usually is transported hanging in a sliding rack, transport rail, or a conveyor/overhead rail, mounted in the ceiling (as depicted in Fig. 1). However, the storage/transport means (11) may also be moved around using a carousel.
In one embodiment, the means (11) for storage/transport of meat products is provided using a rail conveyor, suspended in the ceiling.
In another embodiment, the means (11) for storage/transport of meat products is provided using a carousel.
When the storage/transport means (11) has arrived, it may, advantageously, whether by turning, lifting or lowering, or by a combination of these actions, be positioned so that the subject can be accessed by the gripping tool (1), mounted on the robotic arm of the robot (6).
After having delivered the first workpiece onto the storage/transport means (11), the storage/transporting means may be brought into position for receiving the next meat item. This may be accomplished by rotation, or by lifting or lowering, or by a combination of these actions, and may involve the action of the means (12) for turning the rod (11B), allowing the robot to aim for the same point each time the meat item shall be hung onto the Christmas tree.
In one embodiment, the means for turning the vertical rod (17), in communication with the processing means (7), performs a rotation of 90° each time a new workpiece is being presented by the robot (6).
After having filled one storage/transport means (11), this loaded storage/transporting means shall be removed, allowing for the arrival of the next
DK 181536 B1 16 storage/transport means (11). The storage/transporting means may be removed by lifting it off the conveyor rail or carousel, optionally using a specially adapted lift or robot.
The loaded storage/transport means (11) may then be removed from the processing area for further transport, storage, and/or processing by conventional means.
The present invention is further illustrated by reference to the accompanying drawing, in which:
Fig. 1A illustrates an example of the gripping tool according to the invention viewed from above: Actuator (2) for the clamping device; First gripper (2A) of the clamping device; Second gripper (2B) of the clamping device; Exchange means/device (2C) of the clamping device; Rear support/backstop (3); Actuator (37) for rear support/backstop (3);
Motor (3”) for actuator (37); Tool base (4); Fastening element (5) for attachment to the industrial robot (6);
Fig. 1B illustrates the gripping tool according to the invention viewed from above:
The angle (a°) between the orientation of the clamping device (2) and the longitudinal direction of the tool base (4); The distance (x) from the centre of the longitudinal direction of the gripping tool (1) to the turning point (2®) of the clamping device (2);
The distance (y) from the location of the rear support/backstop (3) to the gripping point (z) of the clamping device (2A, 2B);
Fig. 2 illustrates a side-view of the gripping tool of the invention: Actuator (2”) for the clamping device; First gripper (2A) of the clamping device; Second gripper (2B) of the clamping device; Exchange means/device (2C) of the clamping device; Rear support/backstop (3); Actuator (3) for rear support/backstop (3); Motor (3”) for actuator (3); Tool base (4); Fastening element (5) for attachment to the industrial robot (6);
Fig. 3 illustrates the gripping tool of the invention viewed from below: Actuator (27) for the clamping device; First gripper (2A) of the clamping device; Second gripper (2B) of the clamping device; Exchange means/device (2C) of the clamping device; Rear support/backstop (3); Actuator (3) for rear support/backstop (3); Motor (3”) for actuator (3); Tool base (4); Fastening element (5) for attachment to the industrial robot (6); and
Fig. 4 illustrates the essential elements of the meat handling system of the invention: Gripping tool (1); Industrial robot (6); Processing means/processor/PC (7);
Inlet conveying means/conveying belt/carrier (9); Arrival area of the inlet conveying means (9A); Sensor (10) for detecting the arriving meat product; Hooks for holding the meat product (11A’, 11A”); Vertical rod (11B) of the storage means; Means (12) for
DK 181536 B1 17 turning the rod (11B); Overhanging rail (13) for carrying the storage means (11); Stand (14) for supporting the storage means (11).
List of reference signs 1 Gripping tool 2 Clamping device 2 Actuator for clamping device (2) 2A First gripper of clamping device (2) 2B Second gripper of clamping device (2) 2C Exchange means/device for executing the grabbing of the bone in the meat product 20 Turning point of the clamping device (2) 3 Rear support/backstop 3 Actuator for rear support/backstop (3) 3” Motor for actuator (3) 4 Tool base/body 5 Fastening element 6 Industrial robot 7 Processing means/processor/PC 9 Inlet conveying means/conveying belt/carrier 9A Arrival area of the inlet conveying means 10 Sensor for detecting the arriving meat product 11 Means for storage/transport of meat products 11A', 11A”, …
Hooks for holding the meat product 11B Vertical rod of the storage means (11) 12 Means for turning the rod (11B) 13 Overhanging rail for carrying the storage means (11) 14 Stand for supporting the storage means (11) 15 Vision means/vision device/camera
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DKPA202200876A DK181536B1 (en) | 2022-09-27 | 2022-09-27 | A gripping tool, a meat handling system, and a method for automatic suspension of meat items |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DKPA202200876A DK181536B1 (en) | 2022-09-27 | 2022-09-27 | A gripping tool, a meat handling system, and a method for automatic suspension of meat items |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| DK202200876A1 DK202200876A1 (en) | 2024-04-10 |
| DK181536B1 true DK181536B1 (en) | 2024-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DKPA202200876A DK181536B1 (en) | 2022-09-27 | 2022-09-27 | A gripping tool, a meat handling system, and a method for automatic suspension of meat items |
Country Status (1)
| Country | Link |
|---|---|
| DK (1) | DK181536B1 (en) |
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- 2022-09-27 DK DKPA202200876A patent/DK181536B1/en active IP Right Grant
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| DK202200876A1 (en) | 2024-04-10 |
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