WO2021160486A1 - Automatic suspension of meat items - Google Patents

Automatic suspension of meat items Download PDF

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Publication number
WO2021160486A1
WO2021160486A1 PCT/EP2021/052518 EP2021052518W WO2021160486A1 WO 2021160486 A1 WO2021160486 A1 WO 2021160486A1 EP 2021052518 W EP2021052518 W EP 2021052518W WO 2021160486 A1 WO2021160486 A1 WO 2021160486A1
Authority
WO
WIPO (PCT)
Prior art keywords
bone
storage
containing meat
gripping tool
meat items
Prior art date
Application number
PCT/EP2021/052518
Other languages
French (fr)
Inventor
Klaus Thaarup
Kurt Hansen
Mikkel BOCK
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 EP21703419.8A priority Critical patent/EP4102978A1/en
Publication of WO2021160486A1 publication Critical patent/WO2021160486A1/en

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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
    • A22C15/001—Specially adapted for hanging or conveying several sausages or strips of meat
    • 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
    • A22C15/003—Hooks or the like specially adapted for meat or hams or part of carcasses
    • A22C15/005—Hangers with more hooks penetrating the piece of meat
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22B—SLAUGHTERING
    • A22B7/00—Slaughterhouse arrangements
    • A22B7/001—Conveying arrangements
    • A22B7/002—Devices for hanging animal carcasses while being conveyed or stored, e.g. gambrels, hooks
    • 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
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C17/00—Other devices for processing meat or bones
    • A22C17/0093—Handling, transporting or packaging pieces of meat
    • 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
    • B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
    • B65G17/30—Details; Auxiliary devices
    • B65G17/48—Controlling attitudes of load-carriers during movement
    • B65G17/485—Controlling attitudes of load-carriers during movement the load carriers being suspended
    • 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
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

  • This invention relates to systems and methods for automatic suspension of meat items, provided by a conveyor belt, on a meat storage/transport rack, for use at abattoirs, and in particular at pig abattoirs.
  • the invention provides a gripping tool for mounting on an industrial robot, configured for moving and suspending a bone-containing meat item, and a meat handling system, configured for 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.
  • 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.
  • DK153079 B describes a system, involving a main conveyor/in-let conveyor and two auxiliary conveyors, for supplying a robot with mirrored meat items, in order to simplify the movement pattern of the robot involved in the system, thereby reducing the overall off-loading time.
  • GB 2281547 A and EP 1558510 B1 describe a conveying arrangement that lifts the meat pieces onto a hook positioned on the transporting means.
  • US 6082797 describes a gripping tool assembly disposed on a robot for gripping and moving objects between a pick-up zone and a drop-off zone.
  • EP3090971 B1 describes a method for picking up sausage products from a storage structure for loading onto a conveyor, by use of a specific tool mounted on a robot.
  • NL1020411 C2 describes a lifting device for lifting the transporting means (the "Christmas tree") in a direction perpendicular to the floor.
  • 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.
  • 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 invention provides a gripping tool, for mounting on an industrial robot.
  • the invention provides a meat handling system, configured for moving and suspending one or more workpieces from an inlet conveyor to a means for storage and/or transport of said workpieces.
  • the invention provides a method of automatically moving and suspending one or more workpieces, arriving on an inlet conveyor belt, onto a means for storage and/or transportation of said meat items.
  • Fig. 1 shows the essential elements of a gripping tool (1) of the invention:
  • Fig. 2A shows another view of the essential elements of the gripping tool (1) of the invention, in this view the gripping tool is in its contracted form:
  • Fig. 2B shows the same view of the essential elements of the gripping tool (1) of the invention, but in this view the gripping tool is in its outstretched form:
  • Fig. 3 shows some of the elements of the meat handling system of the invention:
  • the gripping tool (1) of the invention an industrial robot (7), means for storage/transport of the workpieces/"Christmas tree” (8), workpieces (9), hook mounted on a means for storage/transport (15), overhanging rail for suspension of the means for storage/transport (18), and stand for holding the means for storage/transport (19);
  • Fig. 4 represents another way of illustrating some of the elements of the meat handling system of the invention:
  • the gripping tool (1) of the invention an industrial robot (7), means for storage/transport of the workpieces/"Christmas tree” (8), inlet conveyor belt (10), processing means/PC (11), arrival/reception area (12), sensor (13), hook mounted on a means for storage/transport (15), vertical rod of the means for storage/transport (16), means for turning the rod (17), overhanging rail for suspension of the means for storage/transport (18), and stand for holding the means for storage/transport (19); and
  • Fig. 5 represents other elements of the meat handling system of the invention: Vision device/ camera (20), light source (21) for illumination the workpiece while arriving at the reception area (12), on an inlet conveyor (10), and a processing means/PC (11). DETAILED DISCLOSURE OF THE INVENTION
  • the gripping tool (1) of the invention for mounting on an industrial robot (7), and configured for moving and suspending a bone-containing meat item (9), may be characterised by comprising the following elements: an actuator operated clamping device (2), configured for gripping a bone embedded in the workpiece (9); a rear support/backstop (3); one or more actuators (4), operatively connecting the clamping device (2) and the rear support (3); and a fastening element (5) for mounting the gripping tool to an industrial robot (7).
  • the gripping tool (1) of the invention further comprises a, fixed or movable, spacer bar (6) for securing uniform gripping positions on the shank or leg of the workpiece.
  • the spacer bar (6) is movable, and operated by an actuator (6A).
  • the clamping device (2) is operated by an actuator (2A), performing opening or closing of the gripping jaws of the clamping device (2).
  • the rear support/backstop (3) is adjustable by a means for adjusting the length of the rear support/backstop (3A).
  • the one or more actuators (4) operatively connecting the clamping device (2) and the rear support (3), consists of at least two actuators, one (4A) being a fast-acting actuator, and another (4B) being an actuator with adjustable sensitivity, e.g. a moderately or slow acting actuator.
  • This embodiment provides for an adaptive, positional rear support, with a suitable gripping power.
  • the one or more of the actuators (2A, 4A, 4B, 6A, etc.) are electrically powered mechanical actuators, or operated by compressed air, or by hydraulic.
  • the one or more actuators (4) operatively connecting the clamping device (2) and the rear support (3), includes an electrical linear actuator.
  • An electrical linear actuator may be characterized by having a dual activity, and may, alternatively, replace the use of the two actuators, i.e. the fast-acting actuator (4A) and the slow-acting actuator (4B), because an electrical actuator is capable of quickly adapting its grip to the overall size of the meat item (9), e.g. as determined by a sensor system (13), followed by a more slowly closing and holding the meat-item (9) without any squeezing of the workpiece, with damaging consequences.
  • the meat handling system i.e. the fast-acting actuator (4A) and the slow-acting actuator (4B)
  • the invention in another aspect, relates to a meat handling system, configured for moving and suspending one or more workpieces (9) from an inlet conveyor belt (10) to a means for storage and/or transport (8) of said workpieces (9).
  • the meat handling system of the invention may be characterised by comprising the following elements: an inlet conveyor belt (10), optionally in operation with the processing means (11), for transporting and providing the workpiece (9) to an arrival area (12); a sensor (13), installed at, or within operating distance of the arrival area (13), in operation with the processing means (11), for detecting the arrival of the workpieces (9) at the arrival area (12); one or more, optionally interrelated, processing means (11), in operation with the inlet conveyor belt (10), the sensor (13), the one or more industrial robots (7), and/or the storage/transporting means (8), for determining the exact localisation of the arriving workpiece (9), for determining the localisation of a suitable gripping point (14) on the workpiece (9); a gripping tool (1), for mounting on the industrial robot (7), capable of picking, grabbing, clamping or holding the arriving workpiece (9) while in motion, and lifting it up from the conveyor belt (10), so it can finally be hung on the means for storage/transport (8); one or more industrial robot
  • the senor (13) is a mechanical or an optical sensor, or a vision device/camera (20), or any combination hereof.
  • the invention provides a method for automatically moving and suspending one or more workpieces (9), arriving at an inlet conveyor belt (10), onto a means for storage and/or transportation (8) of said meat items (9), which means for storage and/or transport (8) comprises a number of hooks (15), mounted on a vertical rod (16).
  • the arrival of the workpieces (9) in step (bl), on the inlet conveyor belt (10) is detected using a mechanical or an optical sensor (13), installed at, or within operating distance of the arrival area (12), which sensor (13) is in operation with the processing means (11).
  • the arrival of the workpieces (9) in step (b2), on the inlet conveyor belt (10) is detected using a vision device (20), installed at, or within operating distance of the arrival area (12), which vision device (20) is in operation with the processing means (11), and obtaining one or more images of the arriving workpieces (9), while the meat item is in motion, and transmission of the digitalized data to the processing means (11).
  • a vision device (20) installed at, or within operating distance of the arrival area (12), which vision device (20) is in operation with the processing means (11), and obtaining one or more images of the arriving workpieces (9), while the meat item is in motion, and transmission of the digitalized data to the processing means (11).
  • the means for storage/transport of meat items (8) in step (e), is provided using a rail, suspended in the ceiling.
  • the means for storage/transport of meat items (8) in step (e) is provided using a carousel.
  • the meat items or workpieces (9) to be processed according to the present invention may be any piece of meat, and of any animal origin, e.g. beef, pork, lamb and goat, but may in particular be pork fore-end, ham, pork belly, pork loin, pork backs, and/or pork middles.
  • 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.
  • 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
  • the inlet conveyor belt (10) for use according to the invention, for transporting and providing workpieces (9) to an arrival area (12), may be any conveyor belt conventionally used in abattoirs.
  • the workpieces (9) for processing according to the invention may arrive on the conveyor (10) 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 workpieces (9) arrive in a fixed, orderly, pattern, right- and left-sides alternating.
  • the inlet conveyor (10) for use according to the invention is equipped with an encoder, allowing it to be in operation with the processing means (11), so the speed of the conveyor may be adapted to suit the need of the remaining processes.
  • encoders 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.
  • the sensor (13) for use according to the invention installed at, or within operating distance of the arrival area, may be any sensor that is able to determine the position of the arriving workpieces (9) on the inlet conveyor belt (10).
  • the senor may be a simple mechanical or optical sensor, capable of detecting e.g. the front edge of the arriving workpiece (9), thus allowing the robot (7) to position the gripper in the exact position, calculated by the processor (11).
  • the senor 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 item (9) on the conveyor belt (10), and to determine the nature of the arriving workpiece, e.g. whether it represents a right-side or left-side meat item.
  • the senor preferably is an optical sensor, and preferably a vision device/camera (20), installed at, or within operating distance of the arrival area, for obtaining at least one image of the meat item (9) while it is being transported along the conveyor (10), for digitalization of the obtained image, and transmission of the digitalized data to a processing means (11).
  • a vision device/camera (20) installed at, or within operating distance of the arrival area, for obtaining at least one image of the meat item (9) while it is being transported along the conveyor (10), for digitalization of the obtained image, and transmission of the digitalized data to a processing means (11).
  • Such equipment will allow for determination of the essential features relating to the position of such arriving workpieces (9), incl. e.g. determination of left- or a right-side meat cuts, determination of the angle arriving workpiece (9), and finally determine the localisation of a suitable gripping point (14) on the arriving meat item (9).
  • the senor (13) for use according to the invention comprises a mechanical or an optical sensor, and/or a vision device/camera (20), or any combination hereof.
  • the vision device/camera (20) for use according to the invention may be any commercially available vision system. Vision systems essentially comes in three main categories:
  • ID 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
  • 3D vision systems typically comprise multiple cameras and/or one or more laser displacement sensors.
  • the vision device/camera (20) for use according to the invention may be any commercially available ID, 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.
  • the meat handling system of the invention preferably comprises one or more lights sources (21), set up to illuminate the workpieces (9) while is it being transported along the inlet conveyor belt (10), and for illuminating the meat item while an image is taken by the vision device (20).
  • the processing means includes
  • the processing means (11) for use according to the invention shall be able to recognise and optionally identify the incoming workpieces (9), and to guide the robot (7) used according to the invention to deliver the workpieces (9) accurately on the storage/transport means (8).
  • the processing means (11) 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 belt (10) used according to the invention; the sensor (13) used according to the invention; the images obtained by the vision device (20) used according to the invention; the robot(s) used according to the invention; the storage/transporting means (8) used according to the invention; and the processing means (11) may in addition be in communication with one or more other, optionally interrelated or inter-connected, processors (11), 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.
  • 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 processor (11) 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 the form of a product ID with concomitant information about e.g. the origin of the meat product and/or weight.
  • the processor (11) determines and adjusts (in communication with the encoder) the speed by which the inlet conveyor belt (10) transports the incoming workpieces (9).
  • the processor (11) receives a signal from the sensor (13), determines the position/localisation of the arriving workpieces (9) to be processed, and calculates the localisation of a suitable gripping point (14) on the workpiece (9).
  • the processor (11) communicates with, and provides instruction to the industrial robot (7), for the robot to perform a desired task, e.g. grab a workpieces (9) with the gripping tool (1), lift the workpieces (9) with the gripping tool, direct the gripping point (14) to a hook (15) mounted on the means for storage/transport (8), and fit the piece of meat onto the hook by perforating the meat.
  • a desired task e.g. grab a workpieces (9) with the gripping tool (1), lift the workpieces (9) with the gripping tool, direct the gripping point (14) to a hook (15) mounted on the means for storage/transport (8), and fit the piece of meat onto the hook by perforating the meat.
  • the processor (11) communicates with the means for storage/transport (8), for and provides instructions for the storage rack (8) for bringing it into a fixed position for receiving the workpieces (9), or for the turning means (17) to rotate the rod (16), or for bringing it into a position for receiving the next workpiece (9), delivered by the gripping tool (1), mounted on the industrial robot (7).
  • the processor (11) 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 (11) may be able to sort the incoming workpieces (9) according to e.g. weight.
  • the processor (11) performs a sorting of the incoming workpieces (9) according to their weight and distributes workpieces (9) of different weight, or belonging to different weight classes, to different storage/transport means (8).
  • the industrial robot The industrial robot
  • the industrial robot (7) for use according to the invention shall be controlled by a processor (11) used according to the invention, and the robot (7) shall be equipped with the gripping tool (1) of the invention.
  • the robot (7) used according to the invention should deliver the workpieces (9) accurately on the storage/transport means (8).
  • the robot (7) 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).
  • 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
  • Industrial robots suited for use according to the present invention would in particular be a 4-6 axis robot.
  • the means for storage/transport (8) (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 (15), each with the tip facing upwards, for receiving the workpieces (9) to be stored/transported, and which hooks are mounted on a vertical rod (16), which rod is operatively connected to a means for turning the rod (17), in operation with the processing means (11), so as to place a hook in a certain position for receiving the meat item, and which rod is suspended from an overhanging rail (18), and/or mounted on a stand (19).
  • the robot (7) used according to the invention should deliver the workpieces (9) accurately on the storage/transport means (8).
  • the means for storage/transport (8) could hold essentially any number of hooks
  • the means for turning the vertical rod (16) of the means for storage/transport (Christmas tree) (8) may e.g. be a mechanical device, positioned underneath the rod
  • the vertical rod of (16) may be driven by a servomotor, in operation with, and controlled by the processing means (11).
  • the turning device (16) may be attached to the vertical rod (16) of the means for storage/transport (8) 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).
  • the industrial robot (7) used according to the invention may be able to place the workpieces (9) in any place and in any position on the storage/transport means (8), it may be desired to have the storage/transport means (8) move and/or rotate itself so as to speed up the overall suspension process.
  • the means for turning the vertical rod (17), in communication with, and guided by, the processing means (11), performs a rotation of 90° each time a new workpiece (9) is being presented by the robot (7), allowing the robot to aim for the same point each time the meat item shall be hung onto the Christmas tree.
  • the means for turning the vertical rod (17), or the stand (19) for holding the means for storage/transport (8) is capable of lifting the storage/transport means (8) 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 invention in another aspect, relates to a method for automatically moving and suspending one or more workpieces/meat items (9), arriving on an inlet conveyor belt (10), on a means for storage and/or transportation (8) of said meat items.
  • step (bl) the arrival of a workpieces (9) on the inlet conveyor belt (10) is detected using a mechanical or an optical sensor (13), installed at, or within operating distance of the arrival area (12), which sensor (13) is in operation with the processing means (11).
  • step b2) the arrival of the workpieces (9) on the inlet conveyor belt (10) is detected using a vision device/camera (20), installed at, or within operating distance of the arrival area (12), which vision device/camera (20) is in operation with the processing means (11), and obtaining one or more images of the arriving workpiece (9), while the meat item is in motion, and transmission of the digitalized data to the processing means (11).
  • a vision device/camera (20) installed at, or within operating distance of the arrival area (12), which vision device/camera (20) is in operation with the processing means (11), and obtaining one or more images of the arriving workpiece (9), while the meat item is in motion, and transmission of the digitalized data to the processing means (11).
  • the means for storage/transport of meat items (8) 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).
  • the storage/transport means (8) may also be moved around using a carousel.
  • the means for storage/transport of meat items (8) is provided using a rail conveyor, suspended in the ceiling.
  • the means for storage/transport of meat items (8) is provided using a carousel.
  • the storage/transport means (8) When the storage/transport means (8) 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 (7).
  • 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 for turning the rod (17), allowing the robot to aim for the same point each time the meat item shall be hung onto the Christmas tree.
  • the means for turning the vertical rod (17), in communication with the processing means (11), performs a rotation of 90° each time a new workpiece (9) is being presented by the robot (7).
  • this loaded storage/transporting means shall be removed, allowing for the arrival of the next storage/transport means (8).
  • 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 (8) may then be removed from the processing area for further transport, storage, and/or processing by conventional means.
  • Spacer bar 6A Actuator for the spacer bar

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

Abstract

This invention relates to systems and methods for automatic suspension of meat items, provided by 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 moving and suspending a bone-containing meat item, and a meat handling system, configured for 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

AUTOMATIC SUSPENSION OF MEAT ITEMS
TECHNICAL FIELD
This invention relates to systems and methods for automatic suspension of meat items, provided by 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 moving and suspending a bone-containing meat item, and a meat handling system, configured for 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.
BACKGROUND ART
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, DK153079 B describes a system, involving a main conveyor/in-let conveyor and two auxiliary conveyors, for supplying a robot with mirrored meat items, in order to simplify the movement pattern of the robot involved in the system, thereby reducing the overall off-loading time.
GB 2281547 A and EP 1558510 B1 describe a conveying arrangement that lifts the meat pieces onto a hook positioned on the transporting means.
US 6082797 describes a gripping tool assembly disposed on a robot for gripping and moving objects between a pick-up zone and a drop-off zone.
EP3090971 B1 describes a method for picking up sausage products from a storage structure for loading onto a conveyor, by use of a specific tool mounted on a robot. NL1020411 C2 describes a lifting device for lifting the transporting means (the "Christmas tree") in a direction perpendicular to the floor.
However, the gripping tool and loading method described herein have not previously been disclosed.
SUMMARY OF THE INVENTION
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, it is 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.
Different cuts of meat may necessitate the use of different tools.
In its first aspect, the invention provides a gripping tool, for mounting on an industrial robot.
In another aspect, the invention provides a meat handling system, configured for moving and suspending one or more workpieces from an inlet conveyor to a means for storage and/or transport of said workpieces.
In a third aspect, the invention provides a method of automatically moving and suspending one or more workpieces, arriving on an inlet conveyor belt, onto a means for storage and/or transportation of said meat items.
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:
Fig. 1 shows the essential elements of a gripping tool (1) of the invention: The clamping device (2), the actuator for operating the clamping device (2A), the rear support/backstop (3), the means for adjusting the length of the rear support/backstop (3A), two actuators (4; 4A, 4B), and the fastening element (5);
Fig. 2A shows another view of the essential elements of the gripping tool (1) of the invention, in this view the gripping tool is in its contracted form: The clamping device
(2), the actuator for operating the clamping device (2A), the rear support/backstop (3), the means for adjusting the length of the rear support/backstop (3A), two actuators (4A, 4B), the fastening element (5), the spacer bar (6), the actuator (6A) for the spacer bar;
Fig. 2B shows the same view of the essential elements of the gripping tool (1) of the invention, but in this view the gripping tool is in its outstretched form: The clamping device (2), the actuator for operating the clamping device (2A), the rear support/backstop
(3), the means for adjusting the length of the rear support/backstop (3A), two actuators (4A, 4B), the fastening element (5), the spacer bar (6), the actuator (6A) for the spacer bar;
Fig. 3 shows some of the elements of the meat handling system of the invention: The gripping tool (1) of the invention, an industrial robot (7), means for storage/transport of the workpieces/"Christmas tree" (8), workpieces (9), hook mounted on a means for storage/transport (15), overhanging rail for suspension of the means for storage/transport (18), and stand for holding the means for storage/transport (19);
Fig. 4 represents another way of illustrating some of the elements of the meat handling system of the invention: The gripping tool (1) of the invention, an industrial robot (7), means for storage/transport of the workpieces/"Christmas tree" (8), inlet conveyor belt (10), processing means/PC (11), arrival/reception area (12), sensor (13), hook mounted on a means for storage/transport (15), vertical rod of the means for storage/transport (16), means for turning the rod (17), overhanging rail for suspension of the means for storage/transport (18), and stand for holding the means for storage/transport (19); and
Fig. 5 represents other elements of the meat handling system of the invention: Vision device/ camera (20), light source (21) for illumination the workpiece while arriving at the reception area (12), on an inlet conveyor (10), and a processing means/PC (11). DETAILED DISCLOSURE OF THE INVENTION
The gripping tool
The gripping tool (1) of the invention, for mounting on an industrial robot (7), and configured for moving and suspending a bone-containing meat item (9), may be characterised by comprising the following elements: an actuator operated clamping device (2), configured for gripping a bone embedded in the workpiece (9); a rear support/backstop (3); one or more actuators (4), operatively connecting the clamping device (2) and the rear support (3); and a fastening element (5) for mounting the gripping tool to an industrial robot (7).
In one embodiment, the gripping tool (1) of the invention further comprises a, fixed or movable, spacer bar (6) for securing uniform gripping positions on the shank or leg of the workpiece.
In another embodiment, the spacer bar (6) is movable, and operated by an actuator (6A).
In a third embodiment, the clamping device (2) is operated by an actuator (2A), performing opening or closing of the gripping jaws of the clamping device (2).
In a fourth embodiment, the rear support/backstop (3) is adjustable by a means for adjusting the length of the rear support/backstop (3A).
In a sixth embodiment, the one or more actuators (4), operatively connecting the clamping device (2) and the rear support (3), consists of at least two actuators, one (4A) being a fast-acting actuator, and another (4B) being an actuator with adjustable sensitivity, e.g. a moderately or slow acting actuator. This embodiment provides for an adaptive, positional rear support, with a suitable gripping power.
In a seventh embodiment, the one or more of the actuators (2A, 4A, 4B, 6A, etc.) are electrically powered mechanical actuators, or operated by compressed air, or by hydraulic.
In an eight embodiment, the one or more actuators (4), operatively connecting the clamping device (2) and the rear support (3), includes an electrical linear actuator.
An electrical linear actuator may be characterized by having a dual activity, and may, alternatively, replace the use of the two actuators, i.e. the fast-acting actuator (4A) and the slow-acting actuator (4B), because an electrical actuator is capable of quickly adapting its grip to the overall size of the meat item (9), e.g. as determined by a sensor system (13), followed by a more slowly closing and holding the meat-item (9) without any squeezing of the workpiece, with damaging consequences. The meat handling system
In another aspect, the invention relates to a meat handling system, configured for moving and suspending one or more workpieces (9) from an inlet conveyor belt (10) to a means for storage and/or transport (8) of said workpieces (9).
The meat handling system of the invention may be characterised by comprising the following elements: an inlet conveyor belt (10), optionally in operation with the processing means (11), for transporting and providing the workpiece (9) to an arrival area (12); a sensor (13), installed at, or within operating distance of the arrival area (13), in operation with the processing means (11), for detecting the arrival of the workpieces (9) at the arrival area (12); one or more, optionally interrelated, processing means (11), in operation with the inlet conveyor belt (10), the sensor (13), the one or more industrial robots (7), and/or the storage/transporting means (8), for determining the exact localisation of the arriving workpiece (9), for determining the localisation of a suitable gripping point (14) on the workpiece (9); a gripping tool (1), for mounting on the industrial robot (7), capable of picking, grabbing, clamping or holding the arriving workpiece (9) while in motion, and lifting it up from the conveyor belt (10), so it can finally be hung on the means for storage/transport (8); one or more industrial robots (7), in operation with the processing means (11), each robot mounted with the gripping tool of the invention; and a means for storage/transport (8) of workpieces, in operation with the processing means (11), which storage/transporting means comprises a number of hooks (15), with the tip facing upwards, for receiving the workpiece (9) to be stored/transported, and which hooks are mounted on a vertical rod (16), which rod is operatively connected to a means for turning the rod (17), in operation with the processing means (11), so as to bring a hook into a certain position for receiving the workpiece (9), delivered by the gripping tool (1), mounted on the industrial robot (7), and which rod (16) is suspended from an overhanging rail (18), and/or mounted on a stand (19).
In one embodiment, the sensor (13) is a mechanical or an optical sensor, or a vision device/camera (20), 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 workpieces (9), arriving at an inlet conveyor belt (10), onto a means for storage and/or transportation (8) of said meat items (9), which means for storage and/or transport (8) comprises a number of hooks (15), mounted on a vertical rod (16).
The method of the invention may be characterised by comprising the subsequent steps of:
(a) providing one or more workpieces (9), via an inlet conveyor belt (10), to an arrival area (12);
(bl) detecting the arrival of the workpieces (9) on the inlet conveyor belt (10), using a sensor (13), installed at, or within operating distance of the arrival area (12), which sensor (13) is in operation with the processing means (11); and/or
(b2) detecting the arrival of the workpieces (9) on the inlet conveyor belt (10), using a vision device (20), installed at, or within operating distance of the arrival area (12), which vision device (20) is in operation with the processing means (11), and obtaining one or more images of the arriving workpieces (9), while the meat item is in motion, and transmission of the digitalized data to the processing means (11); and
(c) determining the localisation of a suitable gripping point (14) on the workpieces (9) using a processing means (11);
(d) grabbing the workpieces (9), while in motion, by a gripping point (14), lifting it and hanging it on a hook (15) mounted on a storage/transporting means (8), by use of gripping tool (1), mounted on an industrial robot (7);
(e) bringing the storage/transporting means (8) into position for receiving the next workpieces (9);
(f) collecting the one or more workpieces (9) on the means for storage/transport of meat items (8), and, when filled, removing it for further transport, storage, and/or processing; and
(g) providing another storage/transporting means (8) and bringing it into position for receiving the next workpiece (9).
In one embodiment, the arrival of the workpieces (9) in step (bl), on the inlet conveyor belt (10) is detected using a mechanical or an optical sensor (13), installed at, or within operating distance of the arrival area (12), which sensor (13) is in operation with the processing means (11).
In another embodiment, the arrival of the workpieces (9) in step (b2), on the inlet conveyor belt (10) is detected using a vision device (20), installed at, or within operating distance of the arrival area (12), which vision device (20) is in operation with the processing means (11), and obtaining one or more images of the arriving workpieces (9), while the meat item is in motion, and transmission of the digitalized data to the processing means (11).
In a third embodiment, the means for storage/transport of meat items (8) in step (e), is provided using a rail, suspended in the ceiling. In a fourth embodiment, the means for storage/transport of meat items (8) in step (e), is provided using a carousel.
Starting materials
The meat items or workpieces (9) to be processed according to the present invention may be any piece of meat, and of any animal origin, e.g. beef, pork, lamb and goat, but may in particular be pork fore-end, ham, pork belly, pork loin, pork backs, and/or pork middles. 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.
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 belt (10) for use according to the invention, for transporting and providing workpieces (9) to an arrival area (12), may be any conveyor belt conventionally used in abattoirs.
The workpieces (9) for processing according to the invention may arrive on the conveyor (10) 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 workpieces (9) arrive in a fixed, orderly, pattern, right- and left-sides alternating.
Optionally, the inlet conveyor (10) for use according to the invention is equipped with an encoder, allowing it to be in operation with the processing means (11), 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.
The sensor
The sensor (13) for use according to the invention, installed at, or within operating distance of the arrival area, may be any sensor that is able to determine the position of the arriving workpieces (9) on the inlet conveyor belt (10).
If the workpieces (9) 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 workpieces (9), the sensor may be a simple mechanical or optical sensor, capable of detecting e.g. the front edge of the arriving workpiece (9), thus allowing the robot (7) to position the gripper in the exact position, calculated by the processor (11).
If, on the other hand, the workpieces (9) 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 item (9) on the conveyor belt (10), 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 (20), installed at, or within operating distance of the arrival area, for obtaining at least one image of the meat item (9) while it is being transported along the conveyor (10), for digitalization of the obtained image, and transmission of the digitalized data to a processing means (11). Such equipment will allow for determination of the essential features relating to the position of such arriving workpieces (9), incl. e.g. determination of left- or a right-side meat cuts, determination of the angle arriving workpiece (9), and finally determine the localisation of a suitable gripping point (14) on the arriving meat item (9).
In a further embodiment, the sensor (13) for use according to the invention comprises a mechanical or an optical sensor, and/or a vision device/camera (20), or any combination hereof.
The vision device/camera (20) for use according to the invention may be any commercially available vision system. Vision systems essentially comes in three main categories:
ID 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.
The vision device/camera (20) for use according to the invention may be any commercially available ID, 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 is a colour vision device (colour camera), and for illuminating the workpieces (9) as an image is taken by the vision devise (20), the meat handling system of the invention preferably comprises one or more lights sources (21), set up to illuminate the workpieces (9) while is it being transported along the inlet conveyor belt (10), and for illuminating the meat item while an image is taken by the vision device (20).
The processing means
Based on inputs from the sensor (13) and/or the vision device/camera (20), the processing means (11) for use according to the invention shall be able to recognise and optionally identify the incoming workpieces (9), and to guide the robot (7) used according to the invention to deliver the workpieces (9) accurately on the storage/transport means (8).
The processing means (11) 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 belt (10) used according to the invention; the sensor (13) used according to the invention; the images obtained by the vision device (20) used according to the invention; the robot(s) used according to the invention; the storage/transporting means (8) used according to the invention; and the processing means (11) may in addition be in communication with one or more other, optionally interrelated or inter-connected, processors (11), 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 processor (11) 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 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 (11). In one embodiment, the processor (11) determines and adjusts (in communication with the encoder) the speed by which the inlet conveyor belt (10) transports the incoming workpieces (9).
In another embodiment, the processor (11) receives a signal from the sensor (13), determines the position/localisation of the arriving workpieces (9) to be processed, and calculates the localisation of a suitable gripping point (14) on the workpiece (9).
In a third embodiment, the processor (11) communicates with, and provides instruction to the industrial robot (7), for the robot to perform a desired task, e.g. grab a workpieces (9) with the gripping tool (1), lift the workpieces (9) with the gripping tool, direct the gripping point (14) to a hook (15) mounted on the means for storage/transport (8), and fit the piece of meat onto the hook by perforating the meat.
In a fourth embodiment, the processor (11) communicates with the means for storage/transport (8), for and provides instructions for the storage rack (8) for bringing it into a fixed position for receiving the workpieces (9), or for the turning means (17) to rotate the rod (16), or for bringing it into a position for receiving the next workpiece (9), delivered by the gripping tool (1), mounted on the industrial robot (7).
The processor (11) 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 (11) may be able to sort the incoming workpieces (9) according to e.g. weight.
In a fifth embodiment, the processor (11) performs a sorting of the incoming workpieces (9) according to their weight and distributes workpieces (9) of different weight, or belonging to different weight classes, to different storage/transport means (8).
The industrial robot
The industrial robot (7) for use according to the invention shall be controlled by a processor (11) used according to the invention, and the robot (7) shall be equipped with the gripping tool (1) of the invention.
The robot (7) used according to the invention should deliver the workpieces (9) accurately on the storage/transport means (8).
The robot (7) 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 storaae/transport
The means for storage/transport (8) (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 (15), each with the tip facing upwards, for receiving the workpieces (9) to be stored/transported, and which hooks are mounted on a vertical rod (16), which rod is operatively connected to a means for turning the rod (17), in operation with the processing means (11), so as to place a hook in a certain position for receiving the meat item, and which rod is suspended from an overhanging rail (18), and/or mounted on a stand (19).
The robot (7) used according to the invention should deliver the workpieces (9) accurately on the storage/transport means (8).
The means for storage/transport (8) could hold essentially any number of hooks
(15), 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. 5.
The means for turning the vertical rod (16) of the means for storage/transport (Christmas tree) (8) may e.g. be a mechanical device, positioned underneath the rod
(16). The vertical rod of (16) may be driven by a servomotor, in operation with, and controlled by the processing means (11). The turning device (16) may be attached to the vertical rod (16) of the means for storage/transport (8) 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 (7) used according to the invention may be able to place the workpieces (9) in any place and in any position on the storage/transport means (8), it may be desired to have the storage/transport means (8) move and/or rotate itself so as to speed up the overall suspension process.
In one embodiment, the means for turning the vertical rod (17), in communication with, and guided by, the processing means (11), performs a rotation of 90° each time a new workpiece (9) is being presented by the robot (7), 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 (17), or the stand (19) for holding the means for storage/transport (8), is capable of lifting the storage/transport means (8) 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 workpieces/meat items (9), arriving on an inlet conveyor belt (10), on a means for storage and/or transportation (8) of said meat items.
The method of the invention may be characterised by comprising the subsequent steps of:
(a) providing one or more workpieces (9), via a carrier/conveyor (10), to an arrival area (12);
(bl) detecting the arrival of a workpieces (9) on the inlet conveyor belt (10), using a sensor (13), installed at, or within operating distance of the arrival area (12), which sensor (13) is in operation with the processing means (11); and/or
(b2) detecting the arrival of the workpieces (9) on the inlet conveyor belt (10), using a vision device/ camera (20), installed at, or within operating distance of the arrival area (12), which vision device/camera (20) is in operation with the processing means (11), and obtaining one or more images of the arriving workpieces (9), while the meat item is in motion, and transmission of the digitalized data to the processing means (11); and
(c) determining the localisation of a suitable gripping point (14) on the workpiece in question (9) using a processing means (11);
(d) grabbing the workpiece in question (9), while in motion, by the gripping point (14), lifting it and hanging it on a hook (15) mounted on a storage/transporting means (8), by use of a gripping tool (1) mounted on an industrial robot (7);
(e) bringing the storage/transporting means (8) into position for receiving the next workpiece (9);
(f) collecting the one or more workpieces (9) on the means for storage/transport of meat items (8), and, when filled, removing it for further transport, storage, and/or processing; and
(g) providing another storage/transporting means (8) and bringing it into position for receiving the next workpiece (9).
In one embodiment, in step (bl), the arrival of a workpieces (9) on the inlet conveyor belt (10) is detected using a mechanical or an optical sensor (13), installed at, or within operating distance of the arrival area (12), which sensor (13) is in operation with the processing means (11).
In another embodiment, in step b2), the arrival of the workpieces (9) on the inlet conveyor belt (10) is detected using a vision device/camera (20), installed at, or within operating distance of the arrival area (12), which vision device/camera (20) is in operation with the processing means (11), and obtaining one or more images of the arriving workpiece (9), while the meat item is in motion, and transmission of the digitalized data to the processing means (11).
The means for storage/transport of meat items (8), 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 (8) may also be moved around using a carousel.
In one embodiment, the means for storage/transport of meat items (8) is provided using a rail conveyor, suspended in the ceiling.
In another embodiment, the means for storage/transport of meat items (8) is provided using a carousel.
When the storage/transport means (8) 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 (7).
After having delivered the first workpiece (9) onto the storage/transport means (8), 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 for turning the rod (17), 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 (11), performs a rotation of 90° each time a new workpiece (9) is being presented by the robot (7).
After having filled one storage/transport means (8), this loaded storage/transporting means shall be removed, allowing for the arrival of the next storage/transport means (8). 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 (8) may then be removed from the processing area for further transport, storage, and/or processing by conventional means. List of reference signs
1. Gripping tool
2. Clamping device
2A. Actuator for operating the clamping device 3. Rear support/backstop
3A. Means for adjusting the length of the rear support/backstop
4. Actuator(s)
5. Fastening element
6. Spacer bar 6A. Actuator for the spacer bar
7. Industrial robot
8. Means for storage/transport of the workpieces/"Christmas tree"
9. Workpiece/bone-containing meat item
10. Inlet conveyor belt 11. Processing means/PC
12. Arrival/reception area
13. Sensor
14. Gripping point
15. Hook mounted on a means for storage/transport 16. Vertical rod of the means for storage/transport
17. Means for turning the rod
18. Overhanging rail for suspension of the means for storage/transport
19. Stand for holding the means for storage/transport
20. Vision device/ camera
21. Light source

Claims

1. A gripping tool (1) for mounting on an industrial robot (7), which gripping tool is configured for moving and suspending a bone-containing meat item (9), and which gripping tool comprises: an actuator operated clamping device (2), configured for gripping the bone embedded in the bone-containing meat item (9); a rear support/backstop (3); one or more actuators (4), operatively connecting the clamping device (2) and the rear support (3); and a fastening element (5) for mounting the gripping tool to an industrial robot (7).
2. The gripping tool of claim 1, which tool further comprises a, fixed or movable, spacer bar (6) for securing uniform gripping positions on the shank or leg of the workpiece.
3. The gripping tool of claim 1, wherein the clamping device (2) is operated by an actuator (2A), performing opening or closing of the gripping jaws of the clamping device (2).
4. The gripping tool of claim 1, wherein the rear support/backstop (3) is adjustable by a means for adjusting the length of the rear support/backstop (3A).
5. The gripping tool of claim 1, wherein the one or more actuators (4), operatively connecting the clamping device (2) and the rear support (3), consists of two actuators, one (4A) being a fast-acting actuator, and the other (4B) being an actuator with adjustable sensitivity, e.g. a moderately or slow acting actuator.
6. A meat handling system, configured for moving and suspending one or more bone-containing meat items (9) from an inlet conveyor belt (10) to a means for storage and/or transport (8) of said bone-containing meat items (9), which system comprises: an inlet conveyor belt (10), optionally in operation with the processing means (11), for transporting and providing the bone-containing meat items (9) to an arrival area (12); a sensor (13), installed at, or within operating distance of the arrival area (12), in operation with the processing means (11), for detecting the arrival of the bone- containing meat items (9) at the arrival area (12); one or more, optionally interrelated, processing means (11), in operation with the inlet conveyor belt (10), the sensor (13), the one or more industrial robots (7), and/or the storage/transporting means (8), for determining the exact localisation of the arriving bone-containing meat items (9), for determining the localisation of a suitable gripping point (14) on the bone-containing meat items (9); a gripping tool (1), for mounting on the industrial robot (7), capable of picking, grabbing, clamping or holding the arriving bone-containing meat items (9) while in motion, and lifting it up from the conveyor belt (10), so it can finally be hung on the means for storage/transport (8); one or more industrial robots (7), in operation with the processing means (11), each robot mounted with the gripping tool of the invention; and a means for storage/transport (8) of workpieces, in operation with the processing means (11), which storage/transporting means comprises a number of hooks (15), with the tip facing upwards, for receiving the bone-containing meat items (9) to be stored/transported, and which hooks are mounted on a vertical rod (16), which rod is operatively connected to a means for turning the rod (17), in operation with the processing means (11), so as to bring a hook into a certain position for receiving the bone-containing meat items (9), delivered by the gripping tool (1), mounted on the industrial robot (7), and which rod (16) is suspended from an overhanging rail (18), and/or mounted on a stand (19); which meat handling system is characterised in that the gripping tool (1) is the gripping tool according to any one of claims 1-5.
7. The meat handling system of claim 6, wherein the sensor (13) is a mechanical or an optical sensor, or a vision device/camera (20), or any combination hereof.
8. A method of automatically moving and suspending one or more bone- containing meat items (9), arriving at an inlet conveyor belt (10), onto a means for storage and/or transportation (8) of said meat items (9), which means for storage and/or transport (8) comprises a number of hooks (15), mounted on a vertical rod (16), and which method comprises the subsequent steps of:
(a) providing one or more bone-containing meat items (9), via an inlet conveyor belt (10), to an arrival area (12);
(bl) detecting the arrival of the bone-containing meat items (9) on the inlet conveyor belt (10), using a sensor (13), installed at, or within operating distance of the arrival area (13), which sensor (13) is in operation with the processing means (11); and/or (b2) detecting the arrival of the bone-containing meat items (9) on the inlet conveyor belt (10), using a vision device (20), installed at, or within operating distance of the arrival area (12), which vision device (20) is in operation with the processing means (11), and obtaining one or more images of the arriving bone-containing meat items (9), while the meat item is in motion, and transmission of the digitalized data to the processing means (11); and
(c) determining the localisation of a suitable gripping point (14) on the bone- containing meat items (9) using a processing means (11);
(d) grabbing the bone-containing meat items (9), while in motion, by a gripping point (14), lifting it and hanging it on a hook (15) mounted on a storage/transporting means (8), by use of a gripping tool (1), mounted on an industrial robot (7);
(e) bringing the storage/transporting means (8) into position for receiving the next bone-containing meat items (9);
(f) collecting the one or more bone-containing meat items (9) on the means for storage/transport of meat items (8), and, when filled, removing it for further transport, storage, and/or processing; and
(g) providing another storage/transporting means (8) and bringing it into position for receiving the next bone-containing meat item (9); characterised in that the gripping tool used in step (d) is the gripping tool according to claims 1-5.
9. The method of claim 8, wherein, in step (bl), the arrival of the bone- containing meat items (9) on the inlet conveyor belt (10) is detected using a mechanical or an optical sensor (13), installed at, or within operating distance of the arrival area (12), which sensor (13) is in operation with the processing means (11).
10. The method of claim 8, wherein, in step (b2) the arrival of the bone- containing meat items (9) on the inlet conveyor belt (10) is detected using a vision device (20), installed at, or within operating distance of the arrival area (12), which vision device (20) is in operation with the processing means (11), and obtaining one or more images of the arriving bone-containing meat items (9), while the meat item is in motion, and transmission of the digitalized data to the processing means (11).
PCT/EP2021/052518 2020-02-13 2021-02-03 Automatic suspension of meat items WO2021160486A1 (en)

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CN117086912B (en) * 2023-09-05 2024-04-12 武汉理工大学 3D vision industrial robot

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