• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    There is provided a system and a process for picking up and transporting a casing of indefinite length into relationship with a device, such as a device for measuring the diameter of the casing. The process comprises the steps: i) placing the casing on a support; ii) directing an actuated arm equipped with a finger towards the casing; iii) move the actuated arm away from the support and activate rollers to coil the casing onto the finger; and iv) moving the finger with the casing to a device, such as a device for measuring the diameter thereof, and decoiling the casing to transfer it to the device.
    公开号:DK201870828A1
    申请号:DKP201870828
    申请日:2018-12-19
    公开日:2020-08-03
    发明作者:Pedersen Jan
    申请人:Proxima Centauri Aps；
    IPC主号:
    专利说明:

    l DK 2018 70828 A1 System and process for picking and transporting a casing
    FIELD OF THE INVENTION The present invention relates to a system for the automated picking up and transporting of a casing of indefinite length into relationship with a device for further processing, such as for measuring the diameter or tubing of the casing.
    BACKGROUND OF THE INVENTION In slaughterhouses, carcasses are examined and processed based on measurement of individual carcasses. To determine the quality and/or to cut the carcass into valuable parts of meat, the examination and processing devices are controlled relative to the location of anatomical parts of the carcass. Intestines from the animals are processed in a similar way, and e.g. natural casings are of major interest. The first phase in the processing of a natural casing involves cleaning the casing immediately after the slaughtering of the animal, to avoid any risk of microbial growth and fermentation. The second phase involves carrying out the scraping of the inner wall of the casing, that is to say removing a so-called mucous layer from it, and the scraping of the outer part of the casing which has a protective membrane, in order to preserve only the muscular central part composed of two planes of smooth white fibres. The third phase involves carrying out the calibration of the casing as a function of its diameter. In fact, a casing varies in diameter and quality over its entire length, these two parameters themselves varying with the age, breed, feeding method and rearing system of the animals. The calibration operation is carried out, in a known way, by inflating the casing with water or air in order to measure its diameter. The fourth phase in the processing of the casing involves packaging the latter according to its size and quality, this packaging in predetermined lengths being carried out in the form of cured, dry or briny hanks or by folding on a support, such as a rigid tube or an elongate support of flexible synthetic material.
    , DK 2018 70828 A1 These four successive phases in the processing of the casing are carried out independently of one another and empirically, the quality of the end result being governed essentially by the experience of the particular operator.
    The object of the present invention is to overcome intervention of an operator between the second and third phases by providing a process and a system for carrying out this step. Another object of the present invention is to reduce costs associated with this process by providing a method and system for automated handling of the casings.
    SUMMARY OF THE INVENTION The present invention ensures that a casing can be transported after it has been cleaned to a site, where its diameter can be measured.
    The present invention therefore provides a system for use in picking up and transporting a casing of indefinite length into relationship with a device for further processing, such as for measuring the diameter of the casing, said apparatus comprising: . a support for placing the casing to be transported, where this support has a roughness and flexibility preventing the casing from sliding away from the support when the finger interacts with the casing, and the support is able to absorb a deformation from the finger allowing the finger to slide in between the layers of the casing . an actuated arm, such as a robot arm, and equipped with a finger fitting the interior of the casing, 25 . actuatable rollers to be arranged around the finger for coiling the casing onto the finger when the finger has engaged with the casing, said rollers configured to hold a portion of the casing by pressing the rollers against the outer face of a part of the casing mounted on the finger and held between the rollers; . a camera for detecting the casing when placed on the support; 30 . a control unit receiving image information from the camera, said control unit programmed to direct the finger to the casing when placed on the support, and subsequently move the finger with the casing to the rollers and activate the rollers to coil the casing onto the finger, before moving the finger with the casing e.g. to a device for measuring the diameter thereof, and finally decoiling the casing to transfer it e.g. to a device for measuring the diameter thereof.
    2 DK 2018 70828 A1 The support may be coated with a fabric and may be made of a spongy material so as to allow the picking of the finger without the finger damaging the casing with holes. In an embodiment of the present invention the support is in a dark color so as to give optimal background contrast relative to the casing. Alternatively, the support is made from or covered with a light reflecting material, which is suitable for being irradiated with an infrared irradiating device, which will also provide a good contrast between the casing and the support so as to enable the camera to localize the position of the casing.
    The rollers may be provided in a separate device or mounted on the actuated arm so as to be movable onto the outer surface of the casing, when the finger is engaged with the casing, said rollers is when activated ensuring that the entire casing is coiled onto the finger. Preferably, the rollers are conical in shape.
    In another aspect the present invention provides a process for transporting a casing of indefinite length into relationship with a device for measuring the diameter of the casing, said process comprising the steps: i) placing the casing on the support; ii) directing an actuated arm, such as a robot arm, equipped with a finger towards the casing and thereby picking up a portion thereof; iii) activate rollers to coil the casing onto the finger; and iv) moving the finger with the casing to a device, such as a device for measuring the diameter thereof, and decoiling the casing to transfer it to the device for measuring the diameter thereof.
    BRIEF DESCRIPTION OF THE DRAWING Figure 1 shows a side view of the apparatus of the present invention.
    DETAILED DESCRIPTION OF THE INVENTION With reference to Figure 1 there is shown the system of the present invention, which includes a flexible support with a rough surface (1) for placing the casing (2) to be transported. The system comprises an actuated arm (3) movable in 3D, and equipped with a finger (4) fitting the interior of the casing (2). Actuatable rollers (not shown) can be
    2 DK 2018 70828 A1 arranged around the finger (4) for coiling the casing (2) onto the finger (4) when the finger has engaged with the casing (2). The rollers are configured to hold a portion of the casing (2) by pressing the rollers against the outer face of a part of the casing (2) mounted on the finger (4) and held between the rollers.
    In order to detect the position of the casing (2) onthe support (1) a camera (5) is used, which is in communication with a control unit that receive image information from the camera (5). The control unit is programmed to direct the finger (4) to the casing (2) when placed on the support (1), and subsequently move the finger with the casing onto the rollers and activate the rollers to coil the casing onto the finger, before moving the finger with the casing (2) e.g. to a device for measuring thediameter thereof, and finally decoiling the casing (2) to transfer it e.g. to a device for measuring the diameter thereof.
    权利要求:
    Claims (10)
    [1] 1. A system for use in picking up and transporting a casing of indefinite length into relationship with a device, such as a device for measuring the diameter or tubing of the casing, said apparatus comprising: o a support for placing the casing to be picked up, o an actuated arm, such as a robot arm, equipped with a finger fitting the interior of the casing, o actuatable rollers to be arranged around the finger for coiling the casing onto the finger when the finger has engaged with the casing, said rollers configured to hold a portion of the casing by pressing the rollers against the outer face of a part of the casing mounted on the finger and held between the rollers; o a camera for detecting the casing when placed on the support; o a control unit receiving image information from the camera, said control unit programmed to direct the finger to the casing when placed on the support, and subsequently move the finger and activate the rollers to coil the casing onto the finger, before moving the finger with the casing to a device, such as a device for measuring the diameter thereof, and finally decoiling the casing to transfer it to such device.
    [2] 2. The system according to claim 1, wherein the support has a surface preventing the casing from sliding away from the support when the finger interacts with the casing, said support made from a flexible material with a rough surface, preventing the casing from sliding away from the finger, and allowing the finger to move in between the two layers of the casing laying on the support.
    [3] 3. The system according to claim 1 or 2, wherein the support is coated with a fabric.
    [4] 4. The system according to any one of the claims 1-3, wherein the rollers are provided in a separate device or mounted on the actuated arm so as to be movable onto the outer surface of the casing, when the finger has engaged with the casing, said rollers when activated ensuring that the entire casing is coiled onto the finger.
    [5] 5. The system according to any one of the claims 1-4, wherein the support is dark so as to provide optimal background contrast relative to the casing.
    . DK 2018 70828 A1
    [6] 6. The system according to any one of the claims 1-4, wherein the support is made from or covered with a light reflecting material.
    [7] 7. The system according to any one of the claims 1-6, wherein an infrared irradiating device illuminates the support.
    [8] 8. The system according to any one of the preceding claims, wherein the rollers are conical.
    [9] 9. A process for picking and transporting a casing of indefinite length into relationship with a device, such as a device for measuring the diameter of the casing, said process comprising the steps: - placing the casing on a flexible support with a rough surface; - directing an actuated arm, such as a robot arm, equipped with a finger fitting the interior of the casing towards the casing, whereby the finger enages with the casing; - activate rollers to coil the casing onto the finger; - moving the finger with the casing to a device, such as a device for measuring the diameter thereof, and decoiling the casing to transfer it to such device.
    [10] 10. The process according to claim 9, wherein the rollers are provided in a separate device or mounted on the actuator so as to be movable onto the outer surface of the casing, when the finger has engaged with the casing, said rollers when activated ensuring that the entire casing is coiled onto the finger.
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    同族专利:
    公开号 | 公开日
    WO2020125892A1|2020-06-25|
    DK180200B1|2020-08-13|
    EP3897164A1|2021-10-27|
    US20210307341A1|2021-10-07|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    GB657183A|1949-02-07|1951-09-12|Walter David Kennedy|Improvements in or relating to means for feeding collapsible tubular members on to acore|
    DE1432502A1|1964-04-18|1969-02-13|Freudenberg Carl Fa|Device for gathering sausage casings|
    DE19619713C2|1996-05-15|1999-10-21|Handtmann Albert Maschf|Method and device for applying a sausage casing directly to a filling pipe|
    DE102012013031A1|2012-06-29|2014-04-24|Liebherr-Verzahntechnik Gmbh|Device for the automated detection and removal of workpieces|
    法律状态:
    2020-08-03| PAT| Application published|Effective date: 20200620 |
    2020-08-13| PME| Patent granted|Effective date: 20200813 |
    优先权:
    申请号 | 申请日 | 专利标题
    DKPA201870828A|DK180200B1|2018-12-19|2018-12-19|System and Process for Picking and Transporting a Casing|DKPA201870828A| DK180200B1|2018-12-19|2018-12-19|System and Process for Picking and Transporting a Casing|
    PCT/DK2019/050395| WO2020125892A1|2018-12-19|2019-12-16|System and process for picking up and transporting a casing|
    EP19832545.8A| EP3897164A1|2018-12-19|2019-12-16|System and process for picking up and transporting a casing|
    US17/349,036| US20210307341A1|2018-12-19|2021-06-16|System and Process for Picking Up and Transporting a Casing|
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