WO2022268569A1 - Outil de travail robotique et système robotisé de manipulation de viande destiné à être utilisé dans des abattoirs - Google Patents

Outil de travail robotique et système robotisé de manipulation de viande destiné à être utilisé dans des abattoirs Download PDF

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Publication number
WO2022268569A1
WO2022268569A1 PCT/EP2022/066134 EP2022066134W WO2022268569A1 WO 2022268569 A1 WO2022268569 A1 WO 2022268569A1 EP 2022066134 W EP2022066134 W EP 2022066134W WO 2022268569 A1 WO2022268569 A1 WO 2022268569A1
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WO
WIPO (PCT)
Prior art keywords
meat
working tool
belt
robotic
meat product
Prior art date
Application number
PCT/EP2022/066134
Other languages
English (en)
Inventor
Simon Nybo JOHANSEN
Marc Podzimski MORGAN
Original Assignee
Teknologisk Institut
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Teknologisk Institut filed Critical Teknologisk Institut
Priority to EP22733089.1A priority Critical patent/EP4359176A1/fr
Publication of WO2022268569A1 publication Critical patent/WO2022268569A1/fr

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Classifications

    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • 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
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported

Definitions

  • 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.
  • JP2017214108 and JP2018203371 both relate to food storage methods and discloses scooping-up means for mounting on a robot.
  • 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.
  • the invention provides a pick and place device for picking up and repositioning a flexible, pliable, and slippery, meat products carried by a support surface, typically an inlet conveyor.
  • the meat handling tool described herein also ensure that the meat product (8) is positioned and aligned in an orientation parallel to the front edge of the belt support (2A), so that the meat product is unloaded correctly and thus effectively handled.
  • the invention provides a robotic working tool/end effector (1), for mounting on a robot (5) for use in slaughterhouses or in the meat packing industry, for handling meat products (8)
  • working tool (1) comprises the following elements: a. a scooping means (2), for collecting, lifting, and moving the meat product (8) in question, which scooping means (2) comprises: al. a reciprocating belt support (2A), configured for supporting the meat product (8), which belt support (2A) is mounted on, and attached to, an actuator (2B), which actuator (2B) is attached to a tool base/an instrument base (4), and which actuator (2B) is in communication/operation with a processing means (6); a2.
  • the invention provides a robotic meat handling system, for use in slaughterhouses or in the meat packing industry, for collecting, lifting, and moving incoming meat products (8)
  • meat handling system comprises the following essential elements: i. a robotic working tool/end effector (1), configured for collecting, lifting, and moving the meat product (8) in question, and for mounting on an industrial robot (5), and which working tool is in communication/operation with a processing means/controller (6); ii. an industrial robot/manipulator (5), for manipulating the robotic working tool (1), which industrial robot is in communication/operation with a processing means/controller (6); iii.
  • a processing means/controller (6) configured for computing, controlling, activating, and/or moving the working tool/end effector (1) of the invention and the industrial robot/manipulator (5) for use according to the invention, which processing means is in communication/operation with the working tool (1), and the industrial robot (5); and iv. an inlet conveyor (7) for providing the meat product to be manipulated by the robotic meat handling system of the invention.
  • 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 meat products (8) to be manipulated by on an inlet conveyor (7); ii.
  • a robotic working tool (1) configured, in communication/operation with a processing means/controller (6), for collecting, lifting, and moving the meat product (8) in question, and which working tool (1) is mounting on an industrial robot (5); iii. picking up, lifting, and moving the collected meat product (8) by the robotic working tool (1), by the action of an industrial robot (5), in communication/operation with a processing means/ controller (6); and iv. moving the meat product (8) to a desired end location.
  • Figs. 1A-1D show the working tool (1) of the invention viewed from three different angles;
  • Figs. 2A-2C shows an alternative embodiment of the working tool (1) of the invention further comprising a device for wrapping the meat product (8) in a liquid-stopping foil so that the wrapped meat product (8A) can be safely packed into a cardboard box without the risk of releasing liquid that can contaminate the packaging material;
  • Fig. 3 shows yet an alternative embodiment of the working tool (1) of the invention, wherein the reciprocating product orientation adjustment rail (3) is mounted with a meat product clamping device (3B);
  • Figs. 4A-4D represent a sequence of positions that the scooping means (2), the reciprocating product orientation adjustment rail (3), and the assembly point (2C') of the flexible and rotatably mounted belt/sheet (2C), respectively, of the working tool (1) of the invention, occupies during a typical meat handling process:
  • Fig. 4A The working tool (1) of the invention in a ready to receive and pick-up
  • FIG. 4B The scooping means (2) has been advanced, whereby the flexible and rotatably mounted belt/sheet (2C) has rotated about the reciprocating belt support (2A) due to the flexible and rotatably mounted belt/sheet (2C) being fixed to the tool base/instrument base (4) at the assembly point (2C');
  • Fig. 4C The product orientation adjustment rail (3) is being protracted by the action of its actuator (3A) to accommodate for the incoming meat product (8), thereby aligning the incoming meat product with the front of the scooping means (2);
  • Fig. 4D The product orientation adjustment rail (3) may be further protracted, or it may keep its position, while the scooping means (2) has been retracted (thereby causing the rotatably mounted belt/sheet (2C) to rotate again, only this time "backwards") for liberating the meat product and deliver it at the desired destination;
  • Fig. 5 illustrates the principle of wrapping a meat product in foil in such a way that foil (8A') protruding from the ends of the wrapped meat product (8) is folded over or under itself;
  • Fig. 6 illustrates the essential elements of the system of the invention.
  • the invention provides a robotic working tool (1), for mounting on a robot (5) for use in slaughterhouses or in the meat packing industry, for handling meat products (8), typically for automatically moving meat products (8) between a source location, often an inlet conveyor (7) and an end destination.
  • the working tool of the invention may be characterised by comprising the following elements: a. a scooping means (2), for collecting, lifting, and moving the meat product (8) in question, which scooping means (2) comprises: al. a reciprocating belt support (2A), configured for supporting the meat product (8), which belt support (2A) is mounted on, and attached to, an actuator (2B), which actuator (2B) is attached to a tool base/an instrument base (4), and which actuator (2B) is in communication/operation with a processing means/controller (6); a2.
  • a scooping means (2) for collecting, lifting, and moving the meat product (8) in question
  • which scooping means (2) comprises: al. a reciprocating belt support (2A), configured for supporting the meat product (8), which belt support (2A) is mounted on, and attached to, an actuator (2B), which actuator (2B) is attached to a tool base/an instrument base (4), and which actuator (2B) is in communication/operation with a processing means/controller (6); a2.
  • the scooping means of the invention comprises a reciprocating belt support (2A).
  • the belt support (2A) of the invention may be regarded as having a front end and a rear end, the front end facing away from the actuator attachment point (2F) and pointing in the direction of the meat product to be picked-up, and the rear end placed near the actuator attachment point (2F).
  • the belt support (2A) for use according to the invention may consist of a solid, preferably thin, plate, e.g., made from metal, that may in addition be shaped (at the front end) in order to obtain an optimal stability/weight ratio.
  • the belt support (2A) for use according to the invention may be made as a network of threads, e.g., threads made of metal.
  • the belt support (2A) for use according to the invention may consist of supporting rods (2A2) mounted on two side-bearing rods (2A1), all made from metal (see Fig. ID).
  • these rods may be rotatable mounted in the side-bearing rods.
  • the reciprocating belt support (2A) further comprises one or two axles (2D1, 2D2), mounted at one or on both ends of the belt support (2A), i.e., terminally positioner end shafts, mounted on the rear end and/or the front end of the belt support (2A).
  • Such axles may facilitate the rotation of the flexible belt (2C) around the belt support (2A), thus increasing speed, reduce wear, improve durability and longevity of the flexible belt (2C).
  • the reciprocating belt support (2A) comprises one axle (2D1), mounted at the rear end of the belt support (2A).
  • the one or two axles (2D1, 2D2), mounted on the belt support (2A), additionally comprise ball bearings, for better performance.
  • the reciprocating belt support (2A) further comprises a belt tensioner (2E), e.g., a set of compression springs, for keeping the flexible belt (2C) tightened during the process.
  • the belt support (2A) of the invention at its rear end, shall be mounted on, and attached to, an actuator (2B), configured to perform the reciprocating motion of the belt support.
  • the actuator (2B) may be powered by a servo motor, optionally connected to the actuator via a worm gear, for optimal adaption to the set-up.
  • the actuator (2B) for use according to the invention shall be attached to the tool base (4) in order to be operatively connected to the performing robot (5).
  • the actuator (2B) for use according to the invention shall be in communication or in operation with the processing means/controller (6).
  • the operation is usually completed by wrapping and packing the processed meat product in a suitable packing material.
  • a suitable packing material often cardboard, used for the purpose, and therefore should be wrapped in a liquid-stopping foil, often a plastic foil, before it can be finally packed into cardboard boxes.
  • the robotic working tool (1) of the invention further comprises a device for wrapping the meat product (8) in a liquid-stopping foil so that the wrapped meat product (8A) can be safely packed into a cardboard box without the risk of releasing liquid that can contaminate the packaging material.
  • the reciprocating belt support (2A) further comprises a device for wrapping the meat product (8) in a liquid-stopping foil, which device comprises a foil capturing and folding device/rotatable antenna (2G), that is eccentrically connected to, and activated by, a motor/rotary cylinder/antenna rotating device (2H).
  • a device for wrapping the meat product (8) in a liquid-stopping foil which device comprises a foil capturing and folding device/rotatable antenna (2G), that is eccentrically connected to, and activated by, a motor/rotary cylinder/antenna rotating device (2H).
  • the antenna Since the antenna is eccentrically connected to the motor, it is able to grip and steer/tilt the wrapping - via a rotating movement - to seal the meat product inside the package, either by lifting the foil end up over the packaging, or by sliding the foil end down below the packaging.
  • the motor/rotary cylinder/antenna rotating device (2H) may in particular be hydraulic or electrically powered.
  • the scooping means of the invention also comprises a flexible belt or sheet (2C), that shall be wound on the outer periphery of the belt support (2A) and thus formed into a round/endless belt via an assembly point (2C') ⁇
  • This setup will ensure that the belt (2C) is rotatably mounted on the belt support (2A) and attached to the assembly point (2C'), so that the belt (2C) is in firm connection with the instrument base (4).
  • This setup allows the flexible belt (2C) to be rotated synchronously with, and relative to the longitudinal movement of the belt support (2A).
  • the flexible belt (2C) for use according to the invention may be made from any suitable material, e.g., a material having a low slip resistance securing minimal friction between support and belt, e.g., a flat belt made of a synthetic resin.
  • the flexible belt (2C) for use according to the invention can also be present in different dimensions, lengthwise and width wise, and in terms of thickness.
  • the flexible belt (2C) for use according to the invention may have a width in the range of from about 100 to about 1000 mm, e.g., of from about 200 to about 750 mm, or from about 400 to about 500 mm, e.g., of about 440 mm.
  • the scooping means (2) of the invention also shall comprise a reciprocating product orientation adjustment rail (3).
  • This adjustment rail ensures that the meat product (8) is placed in a preferred position on the belt support (2A), i.e., in an orientation parallel to the front edge of the belt support (2A) and ensures that the meat product is unloaded correctly and thus effectively handled.
  • the adjustment rail (3) shall be connected to an actuator (3A).
  • the actuator (3A) may, e.g., be powered by a spindle actuator equipped with an encoder/potentiometer.
  • the adjustment rail (3) shall be mounted on the tool base (4) to ensure that the meat product (8) can be effectively manipulated.
  • the actuator (3A) for use according to the invention shall be in communication or in operation with the processing means/controller (6).
  • the scooping means (2) of the invention may additionally comprise a meat product clamping device/fixing device/squeezer (3B), i.e., a clamping plate configured for holding the meat item during transport and unloading, and, if necessary, for delivery of the meat product (7) upside down.
  • a meat product clamping device/fixing device/squeezer 3B
  • a clamping plate configured for holding the meat item during transport and unloading, and, if necessary, for delivery of the meat product (7) upside down.
  • 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 (4), to which base the individual elements shall be firmly connected, along with a connecting means or fastening element (4A) for attachment o the industrial robot (5) for use according to the invention.
  • the meat products are identical to The meat products.
  • the system of the invention may be applied to various meat products (8), normally processed at slaughterhouses or in the meat packing industry, in particular to meat products that are flexible, pliable, and very slippery.
  • meat products (8) contemplated according to the invention include, e.g., pork belly, pork middle, pork neck, back-rib, fore-ends, shoulders, ham and leg.
  • the invention provides a robotic meat handling system, for use in slaughterhouses or in the meat packing industry, for collecting, lifting, and moving incoming meat products (8).
  • the meat handling system of the invention may be characterised by comprising the following essential elements: i. a robotic working tool (1), configured for collecting, lifting, and moving the meat product (8) in question, and configured for being mounted on an industrial robot (5), and which working tool is in communication or operation with the processing means/controller (6); ii. an industrial robot/manipulator (5), configured for performing the intended tasks, and which robot (5) is in communication/operation with a processing means/controller (6); iii.
  • a processing means/controller (6) in communication/operation with the working tool (1), and the industrial robot (5), and configured for computing, controlling, activating, and/or moving the working tool/end effector (1) of the invention and the industrial robot/manipulator (5) for use according to the invention; and iv. an inlet conveyor (7), configured to convey and present the meat product (8) in question for the robotic working tool (1).
  • 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 industrial robot The industrial robot
  • the robot for use according to the invention may be any commercially available industrial robot, e.g., gantry robots, free-arm (6-axis) robots, palletizing (4-axis) robots, flex-pickers, etc.
  • a free-arm (6-axis) robot is used.
  • the processing means includes
  • the processing means/controller/processor/PC (6) 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.
  • PLC programmable logic controller
  • the processing means/controller (6) for use according to the invention shall be in function with the working tool (1) of the invention, and the industrial robot (5), for use according to the invention.
  • the inlet conveyor The inlet conveyor
  • the system of the invention also includes an inlet conveyor belt (2).
  • the meat items 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 (8).
  • Arrival of the meat product (8) may be detected and communicated to the processing means (6) 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 (8).
  • the meat items (8) will arrive substantially in a line at a certain distance to the edge of the inlet conveyor belt (2). 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.
  • the meat items (8) 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 item on the conveyor belt (2) 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 (2), directs the incoming meat products substantially into a row.
  • Another way of doing corrective action on the incoming meat products (8) may include the use of a vision device, in communication/operation with the in the processing means/controller (6) for use according to the invention, and configured to identify the location of the incoming meat product (8) on the conveyor belt (2), and for the meat handling system of the invention to direct the working tool (1) of the invention to the incoming meat product (8) for capturing and moving the meat product to the desired destination.
  • a vision device in communication/operation with the in the processing means/controller (6) for use according to the invention, and configured to identify the location of the incoming meat product (8) on the conveyor belt (2), and for the meat handling system of the invention to direct the working tool (1) of the invention to the incoming meat product (8) for capturing and moving the meat product to the desired destination.
  • 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.
  • the vision device for use according to the invention also include lighting means.
  • 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).
  • a monochrome camera e.g., 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).
  • RGB colour camera
  • 3C/depth camera e.g., a time-of-flight camera or a stereo camera system
  • the invention provides a method for handling meat products, for use in slaughterhouses or in the meat packing industry, for collecting, lifting, and moving incoming meat products (8).
  • the meat handling method of the invention may be characterised by comprising the following subsequent steps of: i. supplying meat products (8) to be manipulated by on an inlet conveyor (7); ii. collecting the incoming meat product (8) by manipulation of a robotic working tool (1), configured, in communication/operation with a processing means/controller (6), for collecting, lifting, and moving the meat product (8) in question, and which working tool (1) is mounting on an industrial robot (5); iii. picking up, lifting, and moving the collected meat product (8) by the robotic working tool (1), by the action of an industrial robot (5), in communication/operation with a processing means/ controller (6); and iv. moving the meat product (8) to a desired end location.
  • the working tool (1) of the invention may occupy different positions, depending on the specific step in the process.
  • a typical meat handling process from the arrival of the meat item (8) to its delivery at the desired location, involves the following steps: a. the working tool (1) of the invention in a ready to receive and pick-up (approaching the meat product) position with the scooping means (2) in a retracted position with regard to the reciprocating product orientation adjustment rail (3) (See, e.g., Fig. 3A); b. the scooping means (2) has been advanced, whereby the flexible and rotatably mounted belt/sheet (2C) has rotated about the reciprocating belt support (2A) due to the flexible and rotatably mounted belt/sheet (2C) being fixed to the tool base/instrument base (4) at the assembly point (2 C') (See, e.g., Fig. 3B); c.
  • the product orientation adjustment rail (3) is being protracted by the action of its actuator (3A) to accommodate for the incoming meat product (8), thereby aligning the incoming meat product with the front of the scooping means (2) (See, e.g., Fig. 3C); and d. the product orientation adjustment rail (3) may be further protracted, or it may keep its position, while the scooping means (2) has been retracted (thereby causing the rotatably mounted belt/sheet (2C) to rotate again, only this time “backwards”) for liberating the meat product and deliver it at the desired destination (See, e.g., Fig. 3D).
  • the method of the invention may involve additional process steps.
  • Fig. 1A shows one view of the working tool (1) of the invention: Scooping means (2); Reciprocating belt support (2A); Actuator (2B) for belt support (2A); Servo motor (2B') for actuator (2B); Worm gear (2B") connecting the servo motor (2B') with the actuator (2B); Flexible and rotatably mounted belt/sheet (2C); Assembly point (2C') of the flexible and rotatably mounted belt/sheet (2C); Rear axle (2D1) for facilitating rotation of the flexible belt (2C) around the belt support (2A); Front axle (2D2) for facilitating rotation of the flexible belt (2C) around the belt support (2A); Belt tensioner/impression cylinder/hydraulic cylinder (2E); Actuator attachment point (2F); Reciprocating product orientation adjustment rail (3); Actuator (3A) for the adjustment rail (3); Servo motor (3A') for actuator (3A); Tool base/instrument base (4); Connecting means/fastening element (4A) for the working tool (1);
  • Fig. IB shows another view of the working tool (1) of the invention:
  • Fig. 1C shows yet another view of the working tool (1) of the invention: Scooping means (2); Assembly point (2C') of the flexible and rotatably mounted belt/sheet (2C); Rear axle (2D1) for facilitating rotation of the flexible belt (2C) around the belt support (2A); Belt tensioner/impression cylinder/hydraulic cylinder (2E); Reciprocating product orientation adjustment rail (3); Tool base/instrument base (4); Connecting means/fastening element (4A) for the working tool (1);
  • Fig. ID shows an example of the reciprocating belt support (2A) for use according to the invention: Side-bearing rods (2A1); Supporting rods (2A2); Rear axle (2D1) for facilitating rotation of the flexible belt around the belt support; Belt tensioner/impression cylinder/hydraulic cylinder (2E);
  • Fig. 2A shows one view of an alternative embodiment of the working tool (1) of the invention that is further comprising a device for wrapping the meat product (8) in a liquid stopping foil so that the wrapped meat product (8A) can be safely packed into a cardboard box: Scooping means (2); Rear axle (2D1) for facilitating rotation of the flexible belt around the belt support; Belt tensioner/impression cylinder/hydraulic cylinder (2E); Foil capturing and folding device/ rotatable antenna (2G); Motor/rotary cylinder/antenna rotating device (2H); Reciprocating product orientation adjustment rail (3); Connecting means/fastening element (4A) for the working tool;
  • Fig. 2B shows one view of an alternative embodiment of the working tool (1) of the invention that is further comprising a device for wrapping the meat product (8) in a liquid stopping foil so that the wrapped meat product (8A) can be safely packed into a cardboard box: Scooping means (2); Flexible and rotatably mounted belt/sheet (2C); Foil capturing and folding device/ rotatable antenna (2G); Motor/ rotary cylinder/antenna rotating device (2H); Reciprocating product orientation adjustment rail (3); Connecting means/fastening element (4A) for the working tool;
  • Fig. 2C shows the principle of the rotatable antenna (2G) eccentrically positioned relative to the motor/rotary cylinder (2H), which enables the antenna to collect and swing the foil end for sealing the meat product (8A) inside the wrapping.
  • Fig. 3 shows an alternative embodiment of the working tool (1) of the invention, wherein the reciprocating product orientation adjustment rail (3) is mounted with a meat product clamping device (3B): Scooping means (2); Actuator (2B) for belt support (2A); Servo motor (2B') for actuator (2B); Worm gear (2B") connecting the servo motor (2B') with the actuator (2B); Assembly point (2C') of the flexible and rotatably mounted belt/sheet (2C); Rear axle (2D1) for facilitating rotation of the flexible belt (2C) around the belt support (2A); Belt tensioner/impression cylinder/hydraulic cylinder (2E); Reciprocating product orientation adjustment rail (3); Actuator (3A) for the adjustment rail (3); Servo motor (3A') for actuator (3A); Meat product clamping device/fixing device/squeezer (3B); Tool base/instrument base (4); Connecting means/fastening element (4A) for the working tool (1);
  • Fig. 4A represents one position that the scooping means (2), the reciprocating product orientation adjustment rail (3), and the assembly point (2C') of the flexible and rotatably mounted belt/sheet (2C), respectively, of the working tool (1) of the invention, may occupy during a typical meat handling process: Scooping means (2); Reciprocating belt support (2A); Actuator (2B) for belt support (2A); Servo motor (2B') for actuator (2B); Worm gear (2B") connecting the servo motor (2B') with the actuator (2B); Assembly point (2C') of the flexible and rotatably mounted belt/sheet (2C); Rear axle (2D1) for facilitating rotation of the flexible belt (2C) around the belt support (2A); Belt tensioner/impression cylinder/hydraulic cylinder (2E); Reciprocating product orientation adjustment rail (3); Actuator (3A) for the adjustment rail (3); Servo motor (3A') for actuator (3A); Tool base/instrument base (4); Connecting means/fastening element (4A) for the working tool (1);
  • Fig. 4B represents another position that the scooping means (2), the reciprocating product orientation adjustment rail (3), and the assembly point (2C') of the flexible and rotatably mounted belt/sheet (2C), respectively, of the working tool (1) of the invention, may occupy during a typical meat handling process: Scooping means (2); Reciprocating belt support (2A); Actuator (2B) for belt support (2A); Servo motor (2B') for actuator (2B); Worm gear (2B") connecting the servo motor (2B') with the actuator (2B); Assembly point (2C') of the flexible and rotatably mounted belt/sheet (2C); Rear axle (2D1) for facilitating rotation of the flexible belt (2C) around the belt support (2A); Belt tensioner/impression cylinder/hydraulic cylinder (2E); Reciprocating product orientation adjustment rail (3); Actuator (3A) for the adjustment rail (3); Servo motor (3A') for actuator (3A); Tool base/instrument base (4); Connecting means/fastening element (4A) for the working tool (1);
  • Fig. 4C represents yet another position that the scooping means (2), the reciprocating product orientation adjustment rail (3), and the assembly point (2C') of the flexible and rotatably mounted belt/sheet (2C), respectively, of the working tool (1) of the invention, may occupy during a typical meat handling process: Scooping means (2); Reciprocating belt support (2A); Actuator (2B) for belt support (2A); Servo motor (2B') for actuator (2B); Worm gear (2B") connecting the servo motor (2B') with the actuator (2B); Assembly point (2C') of the flexible and rotatably mounted belt/sheet (2C); Rear axle (2D1) for facilitating rotation of the flexible belt (2C) around the belt support (2A); Reciprocating product orientation adjustment rail (3); Actuator (3A) for the adjustment rail (3); Servo motor (3A') for actuator (3A); Tool base/instrument base (4); Connecting means/fastening element (4A) for the working tool (1);
  • Fig. 4D represents still another position that the scooping means (2), the reciprocating product orientation adjustment rail (3), and the assembly point (2C') of the flexible and rotatably mounted belt/sheet (2C), respectively, of the working tool (1) of the invention, may occupy during a typical meat handling process: Scooping means (2); Reciprocating belt support (2A); Actuator (2B) for belt support (2A); Servo motor (2B') for actuator (2B); Worm gear (2B") connecting the servo motor (2B') with the actuator (2B); Assembly point (2C') of the flexible and rotatably mounted belt/sheet (2C); Rear axle (2D1) for facilitating rotation of the flexible belt (2C) around the belt support (2A); Reciprocating product orientation adjustment rail (3); Actuator (3A) for the adjustment rail (3); Servo motor (3A') for actuator (3A); Tool base/instrument base (4); Connecting means/fastening element (4A) for the working tool (1);
  • Fig. 5 illustrates the principle of wrapping a meat product in foil in such a way that foil (8A') protruding from the ends of the wrapped meat product (8) is folded over or under itself;
  • Fig. 6 illustrates the essential elements of the system of the invention: Robotic working tool/end effector/meat handling tool (1); Industrial robot/manipulator (5); Processing means/controller/processor/PC (6); Inlet conveyor (7); Vision device/imaging station (9).

Landscapes

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

Abstract

La présente invention concerne un outil de travail robotique, pour le montage sur un robot industriel destiné à être utilisé dans des abattoirs ou dans l'industrie de conditionnement de la viande, pour manipuler des produits carnés, et un système de manipulation de viande robotisé associé pour collecter, lever et déplacer des produits carnés.
PCT/EP2022/066134 2021-06-21 2022-06-14 Outil de travail robotique et système robotisé de manipulation de viande destiné à être utilisé dans des abattoirs WO2022268569A1 (fr)

Priority Applications (1)

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EP22733089.1A EP4359176A1 (fr) 2021-06-21 2022-06-14 Outil de travail robotique et système robotisé de manipulation de viande destiné à être utilisé dans des abattoirs

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DKPA202100654 2021-06-21
DKPA202100654 2021-06-21

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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1986941A1 (fr) * 2006-02-15 2008-11-05 AEW Delford Systems Limited Dispositif de manutention preneur-placeur amélioré
WO2009043151A1 (fr) * 2007-10-04 2009-04-09 Axium Inc. Outil de déchargement de couche de produits sur une palette
JP2012250748A (ja) * 2011-06-06 2012-12-20 Baba Tekkosho:Kk スライス状物の容器収容装置
US8628131B2 (en) * 2011-08-02 2014-01-14 Multivac Sepp Haggenmueller Gmbh & Co. Kg Product gripper system
EP2743041A1 (fr) * 2012-12-17 2014-06-18 Weber Maschinenbau GmbH Breidenbach Préhenseur pour des portions de produits alimentaires doté d'un élément de surface flexible
US20150343645A1 (en) * 2014-05-30 2015-12-03 Kabushiki Kaisha Toshiba Conveying apparatus
JP2017214108A (ja) 2016-05-31 2017-12-07 古川機工株式会社 食品折畳み収容方法と食品折畳み収容装置
JP2018203371A (ja) 2017-06-09 2018-12-27 古川機工株式会社 食品収容方法と食品収容装置
WO2020058510A1 (fr) * 2018-09-21 2020-03-26 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Dispositif de manutention de bandes
WO2020126893A2 (fr) * 2018-12-17 2020-06-25 Teknologisk Institut Suspension automatique de pièces de viande

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1986941A1 (fr) * 2006-02-15 2008-11-05 AEW Delford Systems Limited Dispositif de manutention preneur-placeur amélioré
WO2009043151A1 (fr) * 2007-10-04 2009-04-09 Axium Inc. Outil de déchargement de couche de produits sur une palette
JP2012250748A (ja) * 2011-06-06 2012-12-20 Baba Tekkosho:Kk スライス状物の容器収容装置
US8628131B2 (en) * 2011-08-02 2014-01-14 Multivac Sepp Haggenmueller Gmbh & Co. Kg Product gripper system
EP2743041A1 (fr) * 2012-12-17 2014-06-18 Weber Maschinenbau GmbH Breidenbach Préhenseur pour des portions de produits alimentaires doté d'un élément de surface flexible
US20150343645A1 (en) * 2014-05-30 2015-12-03 Kabushiki Kaisha Toshiba Conveying apparatus
JP2017214108A (ja) 2016-05-31 2017-12-07 古川機工株式会社 食品折畳み収容方法と食品折畳み収容装置
JP2018203371A (ja) 2017-06-09 2018-12-27 古川機工株式会社 食品収容方法と食品収容装置
WO2020058510A1 (fr) * 2018-09-21 2020-03-26 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Dispositif de manutention de bandes
WO2020126893A2 (fr) * 2018-12-17 2020-06-25 Teknologisk Institut Suspension automatique de pièces de viande

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