DK181389B1

DK181389B1 - A robotic working tool, a robotic meat handling system and a method for handling meat products for use in slaughterhouses

Info

Publication number: DK181389B1
Application number: DKPA202101038A
Authority: DK
Inventors: Nybo Johansen Simon; Podzimski Morgan Marc
Original assignee: Teknologisk Inst
Priority date: 2021-11-02
Filing date: 2021-11-02
Publication date: 2023-09-26
Also published as: DK202101038A1

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 181389 B1 1

A ROBOTIC WORKING TOOL, A ROBOTIC MEAT HANDLING SYSTEM

AND A METHOD FOR HANDLING MEAT PRODUCTS

FOR USE IN SLAUGHTERHOUSES

TECHNICAL FIELD

BACKGROUND ART

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

JP2017214108 and JP2018203371 both relate to food storage methods and discloses scooping-up means for mounting on a robot.

However, the robotic working tool described herein has never been suggested.

SUMMARY OF THE INVENTION

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.

More specifically, 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 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.

Thus, in its first aspect, the invention provides a robotic working tool/end effector (1), for mounting on an industrial robot (5) for use in slaughterhouses or in the meat packing industry, for handling one or more meat products, which robotic working tool (1) is characterised by comprising the following elements:

DK 181389 B1 2 a. a scooping means (2), for collecting, lifting, and moving a meat product in question, which scooping means (2) comprises: al. a reciprocating belt support (2A), configured for supporting the meat product, which reciprocating 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. A flexible and rotatably mounted belt/sheet (2C), configured for collecting/picking up the meat product, which flexible belt (2C) is wound on an outer periphery of the reciprocating belt support (2A) and formed into a round/endless belt via an assembly point (2C"), and which assembly point (2C') is attached to the tool base/an instrument base (4); b. a reciprocating product orientation adjustment rail (3), configured for positioning/aligning the meat product in an orientation parallel to the front edge of the reciprocating belt support (2A), which adjustment rail (3) is connected to an actuator (3A) mounted on the tool base/an instrument base (4), and which actuator (3A) is in communication/operation with the processing means/controller (6); and c. a tool/instrument base (4) with connecting means /fastening element (4A) configured for linking the individual tool elements together, and for mounting the working tool on a robot.

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 of one or more incoming meat products, which meat handling system comprises the following essential elements: i. a robotic working tool (1), configured for collecting, lifting, and moving a meat product in question, and for mounting on an industrial robot (5), and which working tool is in communication/operation with the 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 robotic working tool (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 robotic 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;

DK 181389 B1 3 which robotic meat handling system is characterised in that the robotic working tool according to step i is the robotic working tool/end effector according to any one of claims 1-4.

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 one or more meat products to be manipulated by on an inlet conveyor (7); ii. collecting an incoming meat product 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 in question, and which robotic working tool (1) is mounting on an industrial robot (5); iii. picking up, lifting, and moving the collected meat product by the robotic working tool (1), by the action of the industrial robot (5), in communication/operation with the processing means/controller (6); and iv. moving the meat product to a desired end location; which method for handling meat products is characterised in that the robotic working tool (1) used in steps ii-iii is the robotic working tool according to any one of claims 1-4.

Other objects of the invention will be apparent to the person skilled in the art from reading the following detailed description and accompanying drawings.

Any combination of two or more of the embodiments described herein is considered within the scope of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention is further illustrated by reference to the accompanying drawing, in which:

Figs. 1A-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 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);

DK 181389 B1 4

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 (approaching the meat product) position with the scooping means (2) in a retracted position with regard to the reciprocating product orientation adjustment rail (3);

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, 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 is folded over or under itself; and

Fig. 6 illustrates the essential elements of the system of the invention.

DETAILED DISCLOSURE 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 (5) for use in slaughterhouses or in the meat packing industry, for handling one or more meat products, typically for automatically moving meat products 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 a meat product in question, which scooping means (2) comprises:

DK 181389 B1 al. A reciprocating belt support (2A), configured for supporting the meat product, which reciprocating 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 5 means/controller (6); a2. a flexible and rotatably mounted belt/sheet (2C), configured for collecting/picking up the meat product, which flexible belt (2C) is wound on an outer periphery of the reciprocating belt support (2A) and formed into a round/endless belt via an assembly point (2C"), and which assembly point (2C') is attached to the tool base/an instrument base (4); b. a reciprocating product orientation adjustment rail (3), configured for positioning/aligning the meat product in an orientation parallel to the front edge of the reciprocating belt support (2A), which adjustment rail (3) is connected to an actuator (3A) mounted on the tool base/an instrument base (4), and which actuator (3A) is in communication/operation with the processing means/controller (6); and c. a tool /instrument base (4) with connecting means /fastening element (4A) configured for linking the individual tool elements together, and for mounting the working tool on a robot.

The reciprocating belt support

For supporting the meat product during pick-up, lifting, and moving, 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.

Alternatively, for reducing weight of the working tool and for reducing the friction between support and belt, the belt support (2A) for use according to the invention may be made as a network of threads, e.g., threads made of metal.

Finally, for optimal reduction of the friction between support and belt, 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. 1D). For optimal friction, these rods may be rotatable mounted in the side-bearing rods.

In one embodiment, 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.,

DK 181389 B1 6 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).

In another embodiment, the reciprocating belt support (2A) comprises one axle (2D1), mounted at the rear end of the belt support (2A).

In a further embodiment, the one or two axles (2D1, 2D2), mounted on the belt support (2A), additionally comprise ball bearings, for better performance.

In an even further embodiment, 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.

Moreover, 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.

Moreover, 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).

Finally, in order for the equipment to perform the intended operations, the actuator (2B) for use according to the invention shall be in communication or in operation with the processing means/controller (6).

After processing meat products, the operation is usually completed by wrapping and packing the processed meat product in a suitable packing material. In this respect consideration must be given to the fact that pieces of meat may release liquid that tend to contaminate the packaging 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.

Therefore, in one embodiment, the robotic working tool (1) of the invention further comprises a device for wrapping the meat product 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.

According to this embodiment, the reciprocating belt support (2A) further comprises a device for wrapping the meat product 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).

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

DK 181389 B1 7 package, either by lifting the foil end up over the packaging, or by sliding the foil end down below the packaging. The foil capturing and folding device/rotatable antenna (2G), that is connected to the motor/rotary cylinder/antenna rotating device (2H), shall, in turn, be attached to the reciprocating belt support (2A), so that it is maintained within an operable distance from the meat product to be wrapped (8A) when the robotic working tool/end effector (1) of the invention performs its action on the meat product.

When in action, and the scooping means (2) is advancing and inserted below the, yet only partly wrapped, meat product (8A) to be lifted (cf. Figs. 4B and 5), the foil capturing and folding devices/rotatable antennas (2G), that is mounted on the protracting scooping means (2), becomes activated by the motor/rotary cylinder/antenna rotating device (2H) so that the two protruding and advancing antennas (2G) either enters below the wrapping foil (BA) protruding the ends of the wrapped meat product (8A), or pass above the wrapping foil (8A"), and finalise its wrapping action by being rotated by the motor/rotary cylinder/antenna rotating device (2H) to fold the protruding wrapping foil (8A") over or underneath the meat product, so that it is finally being securely wrapped into the wrapping foil.

The motor/rotary cylinder/antenna rotating device (2H) may in particular be hydraulic or electrically powered.

Flexible and rotatably mounted belt/sheet

For collecting and picking up the incoming meat product, 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.

In one embodiment, 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.

DK 181389 B1 8

Reciprocating product orientation adjustment rail

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 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.

For performing its reciprocating function, 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.

Moreover, the adjustment rail (3) shall be mounted on the tool base (4) to ensure that the meat product can be effectively manipulated.

Finally, in order for the equipment to perform the intended operations, the actuator (3A) for use according to the invention shall be in communication or in operation with the processing means/controller (6).

In another embodiment, 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.

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 (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

The system of the invention may be applied to various meat products, 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 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 (5), e.g., a 25 kg payload robot, have shown that the system of the invention can effectively handle meat objects ranging from about 100 g to about 10 kg, e.g., of from about 500 g to about 5 kg.

DK 181389 B1 9

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 one or more incoming meat products.

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 a meat product 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 the 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 robotic working tool (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 in question for the robotic working tool (1); which robotic meat handling system is characterised in that the robotic working tool according to step i is the robotic working tool/end effector according to 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 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. In one embodiment, a free-arm (6-axis) robot, is used.

The processing means

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,

DK 181389 B1 10 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 (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

For providing the meat product to be manipulated by the robotic meat handling system (1) of the invention, the system of the invention also includes an inlet conveyor belt (2).

Normally, 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. Arrival of the meat product 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.

Depending on the processing line in question, the meat items 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.

For some processing lines, however, the meat items 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 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 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 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. Optionally the vision device for use according to the invention also include lighting means.

DK 181389 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).

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 incoming meat products.

The meat handling method of the invention may be characterised by comprising the following subsequent steps of: i. supplying one or more meat products to be manipulated by on an inlet conveyor (7); ii. collecting an incoming meat product 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 in question, and which robotic working tool (1) is mounting on an industrial robot (5); iii. picking up, lifting and moving the collected meat product by the robotic working tool (1), by the action of the industrial robot (5), in communication/operation with the processing means/controller (6); and iv. moving the meat product to a desired end location; which method for handling meat products is characterised in that the robotic working tool (1) used in steps ii-iii is the robotic working tool according to the invention.

During the method of the invention, 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 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.qg.,

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 (2C’) (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, thereby aligning the incoming meat product with the front of the scooping means (2) (See, e.g., Fig. 3C); and

DK 181389 B1 12 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.

DETAILED DESCRIPTION OF THE DRAWINGS

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. 1B shows another 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); 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); Connecting means/fastening element (4A) for the working tool (1);

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. 1D 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

DK 181389 B1 13 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 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 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

DK 181389 B1 14 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 product orientation adjustment rail (3); Actuator (3A) for the adjustment

DK 181389 B1 15 rail (3); Servo motor (3A) for actuator (3A); Tool base/instrument base (4); Connecting means/fastening element (4A) for the working tool (1);

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).

List of reference signs

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

Alternative/synonymous designations are separated by slashes. 1 Robotic working tool/end effector/meat handling tool 2 Scooping means 2A Reciprocating belt support 2A1 Side-bearing rods 2A2 Supporting rods 2B Actuator for belt support (2A) 2B' Servo motor for actuator (2B) 2B” Worm gear connecting the servo motor (2B') with the actuator (2B) 2C Flexible and rotatably mounted belt/sheet 2C' Assembly point of the flexible and rotatably mounted belt/sheet (2C) 2D1 Rear axle for facilitating rotation of the flexible belt (2C) around the belt support (2A) 2D2 Front axle for facilitating rotation of the flexible belt (2C) around the belt support (2A) 2E Belt tensioner/impression cylinder/hydraulic cylinder 2F Actuator attachment point 2G Foil capturing and folding device/rotatable antenna, located eccentrically relative to the motor/rotary cylinder (2H) 2H Motor/rotary cylinder/antenna rotating device, driving the eccentrically mounted rotatable antenna (2G) 3 Reciprocating product orientation adjustment rail 3A Actuator for adjustment rail (3) 3A" Servo motor for actuator (3A) 3B Meat product clamping device/fixing device/squeezer 4 Tool base/instrument base

DK 181389 B1 16 4A Connecting means/fastening element for the working tool (1)

Industrial robot/manipulator 6 Processing means/controller/processor/PC 7 Inlet conveyor 5 8A Wrapped meat product 8A’ Wrapping foil protruding the ends of the wrapped meat product (8A) 9 Vision device/imaging station

Claims

DK 181389 B1 17 PatentkravDK 181389 B1 17 Patent claim

1. Et robot-arbejdsværktøj (1), til montering på en industrirobot (5) til brug på slagterier eller i kødpakkeindustrien, til håndtering af et eller flere kødprodukter, hvilket robot-arbejdsværktøj (1) er kendetegnet ved at omfatte følgende elementer:1. A robot work tool (1), for mounting on an industrial robot (5) for use in slaughterhouses or in the meat packing industry, for handling one or more meat products, which robot work tool (1) is characterized by including the following elements:

a. en opsamleanordning (2) til opsamling, løft og flytning af det pågældende kødprodukt, hvilken opsamleanordning (2) omfatter:a. a collection device (2) for collecting, lifting and moving the meat product in question, which collection device (2) includes:

al. en frem- og tilbagegående bæltestøtte (2A), som er konfigureret til at understøtte kødproduktet, hvilken frem- og tilbagegående bæltestøtte (2A) er monteret på, og fastgjort til, en aktuator (2B), hvilken aktuator (2B) er fastgjort til en værktøjs- instrumentbase (4), og hvilken aktuator (2B) er i kommunikation/drift med et proces-behandlingsmiddel/styreenhed (6); og a2. et fleksibelt og drejeligt monteret bælte/ark (2C), som er konfigureret til at opsamle kødproduktet, hvilket fleksible bælte (2C) er udspændt på den ydre periferi af den frem- og tilbagegående bæltestøtte (2A) og formet til et rundt/endeløst bælte via et samlingspunkt (2C'), og hvilket samlingspunkt (2C') er fastgjort til værktøjs-instrumentbasen (4);eel. a reciprocating belt support (2A) configured to support the meat product, which reciprocating belt support (2A) is mounted on, and attached to, an actuator (2B), which actuator (2B) is attached to a tool instrument base (4) and which actuator (2B) is in communication/operation with a process processing means/control unit (6); and a2. a flexible and rotatably mounted belt/sheet (2C) configured to collect the meat product, which flexible belt (2C) is stretched on the outer periphery of the reciprocating belt support (2A) and formed into a round/endless belt via an assembly point (2C') and which assembly point (2C') is attached to the tool-instrument base (4);

b. en frem- og tilbagegående produkt-orienterings-justeringsskinne (3), som er konfigureret til positionering/justering af kødproduktet i en orientering parallel med forkanten af den frem- og tilbagegående bæltestøtte (2A), hvilken justeringsskinne (3) er forbundet med en aktuator (3A), som er monteret på værktøjs-instrumentbasen (4), og hvilken aktuator (3A) er i kommunikation/drift med proces- behandlingsmidlet/styreenheden (6); og c. værktøjs-/instrumentbasen (4) med en forbindelsesanordning /et fastgørelseselement (4A), som er konfigureret til at forbinde de enkelte værktøjselementer, og til montering af arbejdsværktøjet på en robot.b. a reciprocating product orientation adjustment rail (3) configured to position/align the meat product in an orientation parallel to the leading edge of the reciprocating belt support (2A) to which the adjustment rail (3) is connected an actuator (3A) which is mounted on the tool-instrument base (4) and which actuator (3A) is in communication/operation with the process processing means/control unit (6); and c. the tool/instrument base (4) with a connecting device/fastener (4A) configured to connect the individual tool elements and for mounting the work tool on a robot.

2. Robot-arbejdsværktøjet ifølge krav 1, hvori den frem- og tilbagegående bæltestøtte (2A) yderligere omfatter en indretning til indpakning af kødproduktet i en væskestoppende folie, hvilken indretning omfatter en folieindfangnings- og foldeanordning/roterbar antenne (2G), der er forbundet til og aktiveret af en motor/roterende cylinder/antenne roterende enhed (2H).2. The robot work tool according to claim 1, wherein the reciprocating belt support (2A) further comprises a device for wrapping the meat product in a liquid-stopping foil, which device comprises a foil capture and folding device/rotatable antenna (2G) connected to and actuated by a motor/rotating cylinder/antenna rotating assembly (2H).

3. Robot-arbejdsværktøjet ifølge krav 1, hvor den frem- og tilbagegående bæltestøtte (2A) yderligere omfatter en eller to aksler (2D1, 2D2), som er monteret ved den ene eller på begge ender af den frem- og tilbagegående bæltestøtte (2A), for at lette rotation af det fleksible bælte (2C) omkring den frem- og tilbagegående remstøtte (2A), hvilke aksler eventuelt omfatter kuglelejer.3. The robot work tool according to claim 1, wherein the reciprocating belt support (2A) further comprises one or two shafts (2D1, 2D2) which are mounted at one or both ends of the reciprocating belt support (2A ), to facilitate rotation of the flexible belt (2C) around the reciprocating belt support (2A), which shafts may include ball bearings.

DK 181389 B1 18DK 181389 B1 18

4. Robot-arbejdsværktøjet ifølge krav 1, hvor den frem- og tilbagegående bæltestøtte (2A) yderligere omfatter en bæltestrammer til at holde det fleksible bælte (2C) spændt.The robot work tool according to claim 1, wherein the reciprocating belt support (2A) further comprises a belt tensioner for keeping the flexible belt (2C) taut.

5. Et robot-kødhåndteringssystem, til brug på slagterier eller i kødpakningsindustrien, til opsamling, løftning og flytning af en eller flere indkommende kødprodukter, hvilket kødhåndteringssystem omfatter følgende væsentlige elementer:5. A robotic meat handling system, for use in slaughterhouses or in the meat packing industry, for picking up, lifting and moving one or more incoming meat products, which meat handling system includes the following essential elements:

i. et robot-arbejdsværktøj (1), som er konfigureret til opsamling, løft og flytning af det pågældende kødprodukt og til montering på en industrirobot/manipulator (5), og hvilket arbejdsværktøj er i kommunikation/drift med et proces- behandlingsmiddel/styreenhed (6);i. a robotic work tool (1) which is configured for picking up, lifting and moving the meat product in question and for mounting on an industrial robot/manipulator (5) and which work tool is in communication/operation with a process processing means/control unit (6);

ii. industrirobotten/manipulatoren (5) til manipulering af robot-arbejdsværktøjet (1), hvilken industrirobot er i kommunikation/drift med proces-behandlingsmidlet/ styreenheden (6);ii. the industrial robot/manipulator (5) for manipulating the robot work tool (1), which industrial robot is in communication/operation with the process processing means/control unit (6);

iii. proces-behandlingsmidlet/styreenheden (6), som er konfigureret til at beregne, styre, aktivere og/eller flytte robot-arbejdsværktøjet (1) ifølge opfindelsen og industrirobotten/manipulatoren (5) til brug ifølge opfindelsen, hvilket behandlingsmiddel er i kommunikation/drift med robot-arbejdsværktøjet (1) og industrirobotten/manipulatoren (5); og iv. en indløbs-transportør (7) til tilvejebringelse af kødproduktet, der skal manipuleres af robot-kødhåndteringssystemet ifølge opfindelsen; hvilket robot-kødhåndteringssystem er kendetegnet ved, at robot- arbejdsværktøjet ifølge trin i er robot-arbejdsværktøjet/ende-effektoren ifølge et hvilket som helst af kravene 1-4.iii. the process processing means/control unit (6) configured to calculate, control, activate and/or move the robotic work tool (1) according to the invention and the industrial robot/manipulator (5) for use according to the invention, which processing means is in communication/operation with the robot work tool (1) and the industrial robot/manipulator (5); and iv. an inlet conveyor (7) for providing the meat product to be manipulated by the robotic meat handling system according to the invention; which robotic meat handling system is characterized in that the robotic work tool of step i is the robotic work tool/end effector of any one of claims 1-4.

6. En metode til håndtering af kødprodukter, til brug på slagterier eller slagterier eller i kødpakkeindustrien, hvilken metode omfatter de efterfølgende trin:6. A method of handling meat products, for use in slaughterhouses or abattoirs or in the meatpacking industry, which method includes the following steps:

i. tilførsel af et eller flere af de kødprodukter der skal manipuleres af på en indløbs-transportør (7);i. supply of one or more of the meat products to be handled on an inlet conveyor (7);

ii. opsamling af det indkommende kødprodukt ved manipulation af et robot- arbejdsværktøj (1), som er konfigureret, i kommunikation/drift med et proces- behandlingsmiddel/styreenhed (6), til at indsamle, løfte og flytte det pågældende kødprodukt, og hvilket robot-arbejdsværktøj (1) er monteret på en industrirobot (5);ii. collection of the incoming meat product by manipulation of a robotic work tool (1) configured, in communication/operation with a process processing means/control unit (6), to collect, lift and move said meat product, and which robotic working tool (1) is mounted on an industrial robot (5);

iii. opsamling, løft og flytning af det opsamlede kødprodukt ved hjælp af robot- arbejdsværktøjet (1), ved påvirkning af industrirobotten (5), som er i kommunikation/drift med proces-behandlingsmidlet/styreenheden (6); og iv. flytning af kødproduktet til et ønsket slutsted;iii. collecting, lifting and moving the collected meat product by means of the robot work tool (1), by acting on the industrial robot (5) which is in communication/operation with the process processing means/control unit (6); and iv. moving the meat product to a desired final destination;

DK 181389 B1 19 hvilken fremgangsmåde til håndtering af kødprodukter er kendetegnet ved, at robot-arbejdsværktøjet (1), som er anvendt i trin ii-iii, er robot-arbejdsværktøjet ifølge et hvilket som helst af kravene 1-4.DK 181389 B1 19 which method for handling meat products is characterized in that the robot work tool (1), which is used in steps ii-iii, is the robot work tool according to any one of claims 1-4.