Equipment for skinning, rind removal or trimming of meat, includes industrial robot with arm manipulating meat for cutting, and sensor system to guide cutting tool

摘要

A device arranges the meat for an industrial robot with a manipulator arm. A sensor system determines the surface co-ordinates of the part to be separated. A cutting tool separates the part from the meat. The sensor system measures spacing between a given null point and a measurement point on the surface. It includes a transmitter, receiver and display. There are three transmitters and receivers, operating with acoustic or optical signals. The cutting tool is for skinning or rind removal and is fixed to the manipulator arm. A knife is used, or a rotary blade in annular- or disc shape. A conveyor belt is included. A plate with clamps, holds the meat for cutting. Its color differs from that of the meat. In a variant, a robot grip removes the meat from the conveyor, offering it up to fixed cutting equipment. An independent claim is included for the corresponding method.