TECHNICAL FIELD

This invention relates to a packaging plant for automatically packing meat products, and to a method for operating an automatic meat packaging plant.

More specifically, the invention relates to a robotic packing system for use at slaughterhouses or in the meat packing industry for automatic packaging of meat products in waterproof foil, and subsequent placement of the wrapped meat product in cardboard boxes.

BACKGROUND ART

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 release liquid that tend to contaminate the packaging material, often cardboard, used for the purpose, and therefore must be wrapped in a liquid-stopping foil, often a plastic foil, before it can be finally packed in cardboard boxes.

Moisture in cardboard boxes basically is undesirable, especially for bacterial reasons. Therefore, processed meat products are usually wrapped individually (IWP: Individually Wrapped Product) using a dedicated film wrapping machine, before being packed in boxes. However, special care must be taken to make sure that released moisture does not subsequently seep into the packaging.

SUMMARY OF THE INVENTION

The present invention relates a robotic packing system and a related method, for use at slaughterhouses or in the meat packing industry, for automatic packaging of meat products in waterproof foil and subsequent placement of the wrapped meat product in cardboard boxes.

It is an advantage of the system of the invention is that it works automatically and that it is able to wrap the meat products individually in such a way that released moisture does not subsequently seep out from the wrapping and into the packaging.

Thus, in its first aspect, the invention relates to a robotic packing system (1) for use at slaughterhouses/abattoirs or in the meat packing industry for automatic packaging of meat products (10) in waterproof foil (5D) and subsequent placement of the wrapped meat product (10B) in cardboard boxes (8C).

In another aspect, the invention provides a method, for use at for use at slaughterhouses/abattoirs or in the meat packing industry, for automatic packaging of meat products (10) in waterproof foil (5D), and subsequent placement of the wrapped meat product (10B) in cardboard boxes (8C).

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.

DETAILED DISCLOSURE OF THE INVENTION

The system of the invention

In its first aspect, the invention relates to a robotic packing system (1) for use at slaughterhouses/abattoirs or in the meat packing industry for automatic packaging of meat products (10) in waterproof foil (5D) and subsequent placement of the wrapped meat product (10B) in cardboard boxes (8C).

The packing system of the invention may be characterised by comprising the following elements: a. a first combined imaging and picking station (3), which imaging station comprises one or more imaging devices (3A, 3B, etc.), is located at the supply end of the supply conveyor belt (5B) of a foil wrapping station (5), and within operational distance relative to the first receiving robot (4), and which imaging station is in communication with a processing means (9), and configured for recognition of the incoming transport box (2B), and for determination of the relative position of each of the meat products (10A) contained in the transport box (2B); b. a first receiving robot (4), located at an operational distance relative to the first combined imaging and picking station (3), which robot is in communication with the processing means (9), is mounted with a working tool (4A), and configured for picking up and collect the meat product (10) from the incoming transport box (2B) and moving it to the supply conveyor belt (5B) of the foil wrapping station (5); c. a foil wrapping station (5) comprising a foil wrapping machine (5A), a supply- (5B) and a discharge- (5C) conveyor belt, for receiving the unwrapped meat product (10A), and configured for wrapping the meat product in foil, and transporting the wrapped meat product (10B) to the second combined imaging and picking station (6); d. a second combined imaging and picking station (6) comprising one or more imaging devices (6A, 6B, etc.), located at the discharge end of the conveyor belt (5C) of the foil wrapping station (5), and within operational distance relative to the second delivering robot (7), which imaging station is in communication with a processing means (9), and configured for recognition of the wrapped meat product (10B), and for determination of the relative position of the wrapped meat product (10B) on the discharge conveyor belt (5C), for the second delivering robot (7) to pick up the wrapped meat product (10B); e. a second delivering robot (7), in communication with the processing means (9), mounted with a working tool (7A), and configured for picking up and collect the wrapped meat product (10B) from the second combined imaging and picking station

(6) located at the discharge conveyor belt (5C) of the foil wrapping station (5), for delivery of the wrapped meat product (10B) to a packing zone (8A); and f. a processing means (9), in function with the first imaging station (3), the second imaging station (6), the first receiving robot (4), and the second delivering robot

(7), and configured of processing data obtained from the first (3) and/or second (6) imaging station, and of manipulating the first receiving robot (4), and/or the second delivering robot (7); which system is further characterised in that: the foil wrapping machine (5A) of element c is configured for wrapping the meat product using a substantially rectangular sheet of foil (5D), that may be delivered from a foil roll (5E), which foil roll has a width greater than the length of the piece of meat (10) to be wrapped, whereby, after wrapping, the ends of the wrapping foil (10B') projects from the piece of wrapped meat (10B); and the packing zone (8A) of element e comprises air nozzle means (8B) configured for blowing an air stream emanating from below the conveyed meat product (10B), so that the ends of the wrapping foil (10B') projecting from the wrapped meat product (10B) is blown upwards while the wrapped meat product (10B), by the action of the second delivering robot (7), is being immersed into the cardboard box (8C); so that the wrapping foil (10B') projecting from the wrapped meat product (10B) places itself/packs itself on top of the wrapped meat product (10B) in the cardboard box (8C), so as to secure that liquid originating from the meat product (10) remains within the foil wrapping.

In another embodiment, the system of the invention may be characterised by further comprising the following element: an inlet conveyor belt (2), optionally in communication with the processing means (9), for supply of meat products (10A), arriving in a transport box (2B) and delivery to a first combined imaging and picking station (3). In a third embodiment, the system of the invention may be characterised by further comprising the following element: an out-let conveyor belt (8), optionally in communication with the processing means (9), comprising a packing zone (8A), for receipt of the wrapped meat product (10B) and placement/wrapping of the wrapped meat product (10B) into cardboard boxes (8C) for further redistribution.

In a yet further embodiment, the system of the invention further comprises one or more sensors (11A, 11B, etc.), in communication with the processing means (9), and placed within operational distance of the inlet conveyor belt (2), and/or the supplyconveyor belt (5B), and/or the discharge-conveyor belt (5C), and/or the out-let conveyor belt (8), for tracking the incoming meat products (10), including unwrapped meat products (10A), and/or plastic transport boxes (2B), and/or wrapped meat products (10B), and/or cardboard boxes (8C).

The inlet/out-let conveyor belts

The inlet conveyor belt (2) for use according to the invention is for supply of meat products (10A), usually arriving in regular transport boxes (2B), to the first vision/imaging station (3).

The out-let conveyor belt (8) for use according to the invention is for receipt of the wrapped meat product (10B) and placement/wrapping of the wrapped meat product (10B) into cardboard boxes (8C) for further redistribution.

According to the present invention, the out-let conveyor belt (8) comprises a packing zone (8A), which packing zone further comprises air nozzle means (8B), configured for blowing an air stream emanating from below the conveyed meat product (10B), so that the ends of the wrapping foil (10B') projecting from the wrapped meat product (10B) is blown upwards while the wrapped meat product (10B), by the action of the second delivering robot (7), is being immersed into the cardboard box (8C).

All conveyor belts for use according to the invention may be equipped with one or more position sensors (11), and/or encoders, which may in particular be a rotary encoder, in communication with, and receiving operational guidance from, the processing means (9). This ensures that the system can perform various functions, like controlling (determine and adjust) the speed of the conveyor belt and/or synchronization with the first (4) and/or the second (7) robot.

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.

In another embodiment, the system of the invention further comprises one or more sensors (11A, 11B, etc.), placed within operational distance of the inlet conveyor belt (2), and/or the supply-conveyor belt (5B), and/or the discharge-conveyor belt (5C), and/or the out-let conveyor belt (8).

Often, when using food approved transport boxes (2B), e.g., SFK-boxes, these in-let boxes come with build-in identification providers/ID tags/transponder, e.g., an RFID chip, that is able to identify the particular box and, by reference to a central database (12), its content, e.g., product type. For reading and translating this information, an identification reader/RFID-reader may be placed within operational distance of the in-let conveying belt (2). Such sensors (11) will be able to pace the incoming boxes (2B) into the first combined vision/imaging and picking station/zone (3), where the system will know, by reference to reference to the central database (12), what type of product it is.

Also, the foil wrapping station (5) may be supplied with sensors (11), e.g., diffuse photo sensors, in order to pace the incoming products towards to the foil wrapping machine (5A).

Moreover, another sensor (11), e.g., a diffuse photo sensor, may be positioned along the discharge conveyor belt (5C), to transmit a signal to the processing means (9), that allows for operating the discharge conveyor belt (5C), e.g., in communication with an encoder operating the discharge conveyor belt (5C).

Yet another sensor (11), e.g., a diffuse photo sensor, may be positioned with operational distance of the out-let conveyor belt (8), for proper pacing of the outgoing boxes.

The first and the second combined imaging and picking station

In the context of this application, a vision/imaging station/zone represents a combination of hardware and software capable of providing operational guidance to other devices based on the capture and processing of images, and usually rely on digital sensors protected inside an imaging device, especially an industrial camera, with specialised optics to acguire images, so that computer hardware and software can process, analyse and measure various characteristics for decision making.

A vision system typically comprises lighting, a camera with a lens, an image sensor, a vision processing means, and communication means. The lens captures the image and presents it to the sensor in the form of light. The sensor in a machine vision camera converts this light into a digital image, which is then sent to the processor for analysis. Lighting illuminates the part to be inspected and allows its features to stand out so they can be clearly seen by camera.

Processing may be accomplished by conventional processors, e.g., in a PCbased system, or in a standalone vision system, and is performed by software and may consist of several steps. First, an image is acguired from the sensor. In some cases, pre- processing may be required to optimize the image and ensure that all the necessary features stand out. 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.

The system of the invention comprises a first combined vision/imaging and picking station/zone (3), comprising one or more imaging devices (3A, 3B, etc.), located at an operational distance relative to the inlet conveyor belt (2) and the first receiving robot (4), and a second combined vision/imaging and picking station/zone (6), comprising one or more imaging devices (6A, 6B, etc.), located at an operational distance relative to the discharge conveyor belt (5C) of the foil wrapping station (5).

These imaging stations shall be in communication with the processing means (9), and shall be configured for recognition of i.a. the incoming transport box (2B), and for determination of the relative position of each of the meat products (10A) contained in the transport box (2B), for the first receiving robot (4) to pick up the wrapped meat product (10B), and/or for determination of the relative position of the wrapped meat product (10B) for the second delivering robot (7) to pick up the wrapped meat product (10B).

The vision hardware components for use according to the invention, such as sensors and processors, are commercially available, and machine vision systems can be assembled from single components, or purchased as an integrated system, with all components in a single device.

The first (receiving) robot and the second (delivering) robot

The system of the invention comprises a first receiving robot/manipulator (4), located at an operational distance relative to the first vision/imaging station (3), mounted with a working tool (4A), and configured for picking up and collect the incoming meat product (10) from the transport box (2B) and moving it to the supply conveyor belt (5B) of the foil wrapping station (5), and a second delivering robot/manipulator (7), mounted with a working tool (7A), and configured for picking up and collect the wrapped meat product (10B) from the discharge conveyor belt (5C) of the foil wrapping station (5) and moving it to the out-let conveyor belt (8).

Both robots, i.e., the first and the second robot, shall be in communication with the processing means (9), which processing means in turn is in operation with the one or more imaging devices/cameras (3A, 3B, 6A, 6B, etc.) and configured for receiving and computing data obtained from these devices.

The robot for use according to the invention may be any available industrial robot, e.g., gantry robots, free-arm robots, 6-axis robots, palletizing robots, flex-pickers, etc. In one embodiment, 6-axis, free-arm, robots, are used. The foil wraooinq station

The system of the invention comprises a foil wrapping station (5) comprising a foil wrapping machine (5A), a supply- (5B) and a discharge- (5C) conveyor belt, for receiving the unwrapped meat product (10A), and configured for wrapping the meat product in foil, and transporting the wrapped meat product (10B) to the second vision/imaging station (6).

According to the invention, the foil wrapping machine (5A) shall be configured for wrapping the meat product using a substantially rectangular piece of foil (5D), that may be fed from a foil roll (5E), which foil roll has a width greater than the length of the piece of meat (10) to be wrapped, whereby, after wrapping, the ends of the wrapping foil projects from the piece of wrapped meat (10B).

Also, according to the invention, the packing zone (8A) of element g comprises an air nozzle (8B) configured for blowing an air stream emanating from below the conveyed meat product (10B) so that the ends of the wrapping foil projecting from the wrapped meat (10B) is blown upwards while the wrapped meat product (10B) is being moved from the out-let conveyor belt (8) and into the cardboard box (8C).

When these actions have been accomplished, the foil places itself/packs itself in the cardboard box (8C) so that any liquid originating from the meat product (10) remains within the wrapping.

Foil wrapping machines (5A) or individual firm wrapping machines (IWP) are commercially available from, e.g., Marel, Denmark (Film Wrapper, Aranea), or from Frontmatec, Denmark (FWAL-150; FWAL-250).

The processing means

For automating processes, and guiding robots, etc., the system of the invention shall comprise one or more processing means (9). If two or more processing means are employed, these processors may be in inter-communication with each other.

The processing means (9) for use according to the invention shall be in function with the first imaging and picking station (3), and/or the second imaging and picking station (6), and/or the first receiving robot (4), and/or the second delivering robot (7), and configured for manipulating these robots.

Also, the processing means (9) for use according to the invention shall receive and compute data obtained from the one or more imaging devices/cameras (3A, 3B, 6A, 6B, etc.).

The processing means/controller/PC for use according to the invention may be any commercially available processor/PC, configured for communicating with the imaging stations (3, 6), the one or more imaging devices (3A, 3B, 6A, 6B, etc.), and in operation with, and capable of manipulating, the robots used according to the invention (4, 7).

In another embodiment, the system of the invention further comprises one or more sensors (11A, 11B, etc.), placed within operational distance of the inlet conveyor belt (2) and/or the supply-conveyor belt (5B) and/or the discharge-conveyor belt (5C), and/or the out-let conveyor belt (8).

Working tools/end -effectors

A robotic end-effector is any object attached to the robot flange (wrist) that serves a function. This includes robotic grippers, robotic tool changers, robotic collision sensors, robotic rotary joints, robotic press tooling, compliance devices, robotic paint guns, material removal tools, robotic arc welding guns, robotic trans-guns, etc.

Robot end-effectors are also known as robotic peripherals, robotic accessories, robot tools, or robotic tools, end-of-arm tooling (EOA), or end-of-arm devices.

The working tool/end-effector for use according to the invention may be any commercially available working tool.

In one embodiment, the working tool/end-effector/end of arm tool of the first receiving robot (4) of the invention is the one illustrated in Fig. 5, which gripping tool may be characterised by comprising the following essential elements:

• a connection means (4A1), for connection of the working tool to the first receiving robot (4);

• a tool-base/fastening element/ connection unit (4A2);

• a coil spring for height adaptation, i.e., z-direction displacement (4A3);

• a vacuum/suction cup connector unit suspended in ball joint (4A4); and

• a suction cup (4A5).

In another embodiment, the working tool/end-effector (7A) of second delivering robot (7) for use according to the invention is the manipulatable pick- up/collecting/support means illustrated in Fig. 6, which gripping tool may be characterised by comprising the following essential elements:

• a pick-up/collecting/supporting plate (7A1), for picking up, supporting, and lifting a meat product (10);

• a linear aktuator (7A2) for advancing and retracting the supporting plate (7A1); and

• a tool base/fastening element/connection unit (7A3) for attachment to the second delivering robot (7).

In a third embodiment, the manipulatable pick-up/collecting/support means for use according to the invention further comprises a reciprocating product orientation adjustment rail (7A4), configured for positioning/aligning the meat product (10) in an orientation parallel to the front edge of the belt support (7A1), which adjustment rail (7A4) is connected to an actuator (7A2) mounted on a tool base/an instrument base, and which actuator (7A2), as illustrated in Figs. 6B1 and 6B2.

In a fourth embodiment, the manipulatable pick-up/collecting/support means for use according to the invention 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 (7A5), that is eccentrically connected to, and activated by, a motor/rotary cylinder/antenna rotating device (7A6).

The working tool/end -effector of the invention

The system of the invention may be equipped with conventional gripping tools. However, due to their physical properties, often being soft, flexible, shapeless, and slippery, meat products, whether unwrapped ort wrapped, generally are considered difficult to handle by standard gripping tools.

Therefore, the working tools/end-effectors for use according to the invention for picking up and collecting unwrapped or wrapped meat products should be carefully selected among gripping tools especially suited for handling meat objects.

The method of the invention

In another aspect, the invention relates to a method, for use at for use at slaughterhouses/abattoirs or in the meat packing industry, for automatic packaging of meat products (10) in waterproof foil (5D), and subsequent placement of the wrapped meat product (10B) in cardboard boxes (8C).

The method of the invention may be characterised by comprising the subsequent steps of: i. supplying incoming, unwrapped, meat products (10A), arriving in boxes (2B), to a first combined imaging and picking station (3), which imaging station comprises one or more imaging devices (3A, 3B, etc.), is located at the supply end of a supply conveyor belt (5B) of a foil wrapping station (5), and within operational distance relative to a first receiving robot (4), and which imaging station is in communication with a processing means (9), and configured for recognition of the incoming transport box (2B), and for determination of the relative position of each of the meat products (10A) contained in the transport box (2B); ii. obtaining one or more images of the incoming, unwrapped, meat product (10A), located in the transport box (2B), by use of the one or more imaging devices (3A, 3B, etc.) of the first imaging station, for analysis and computation by the processing means (9), and for communication to a first receiving robot (4); iii. picking up and collect the unwrapped meat product (10A) from the transport box (2B), by manipulation of a first receiving robot (4), located at an operational distance relative to the first combined imaging and picking station (3), which robot is in communication with the processing means (9), is mounted with a working tool (4A), and configured for picking up and collect the unwrapped meat product (10A) from the incoming transport box (2B) and moving it to the supply conveyor belt (5B) of the foil wrapping station (5); iv. supplying the unwrapped meat product (10A) to a foil wrapping station (5), configured for receiving the unwrapped meat product (10A), wrapping the meat product in a foil (5D) using a foil wrapping machine (5A), configured for wrapping the meat product using a substantially rectangular sheet of foil (5D), which foil has a width greater than the length of the piece of meat (10) to be wrapped, whereby, after wrapping, the ends of the wrapping foil (10B') projects from the piece of wrapped meat (10B), v. moving the wrapped meat product (10B) to a second combined imaging and picking station (6), located within operational distance relative to the discharge end of the foil wrapping station (5); vi. obtaining one or more images of the wrapped meat product (10B), by use of the one or more imaging devices (6A, 6B, etc.) of the second imaging station (6), for analysis by the processing means (9), and for communication to a second delivering robot (7); vii. picking up and collect the wrapped meat product (10B) by manipulation of the second delivering robot (7), located within operational distance relative to the discharge end of the foil wrapping station (5), which robot (7) is in communication with the processing means (9), is mounted with a working tool (7A) configured for picking up and collect the wrapped meat product (10B) from discharge end of the foil wrapping station (5); and viii. delivering the wrapped meat product (10B) to a packing zone (8A) comprising air nozzle means (8B) configured for blowing an air stream emanating from below the wrapped meat product (10B), so that the ends of the wrapping foil (10B') projecting from the wrapped meat product (10B) is blown upwards while the wrapped meat product (10B), by the action of the second delivering robot (7), is being immersed into the cardboard box (8C), to ensure that liquid originating from the meat product (10) remains within the foil wrapping (10B) and do not contaminate the cardboard box (8C).

In another embodiment, the method of the invention additionally comprises the use of an inlet conveyor belt (2), optionally in communication with the processing means (9), for supply of meat products (10A), arriving in a transport box (2B) and delivery to a first combined imaging and picking station (3). In a third embodiment, the method of the invention additionally comprises the use of an out-let conveyor belt (8), optionally in communication with the processing means (9), comprising the packing zone (8A), for receipt of the wrapped meat product (10B) and placement/wrapping of the wrapped meat product (10B) into cardboard boxes (8C) for further redistribution.

In a fourth embodiment, the method of the invention additionally comprises the use of one or more sensors (11A, 11B, etc.), in communication with the processing means (9), and placed within operational distance of the inlet conveyor belt (2), and/or the supply-conveyor belt (5B), and/or the discharge-conveyor belt (5C), and/or the outlet conveyor belt (8), for tracking the incoming meat products (10), including unwrapped meat products (10A), and/or plastic transport boxes (2B), and/or wrapped meat products (10B), and/or cardboard boxes (8C).

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.

Examples of meat products (10) contemplated according to the invention include, e.g., pork belly, pork middle, pork neck, back-rib, fore-ends, shoulders, ham, and leg.

BRIEF DESCRIPTION OF THE DRAWINGS

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

Fig. 1 shows an example of the robotic packing system/packing station/packing plant of the invention: Inlet conveyor belt (2); Transport direction of inlet conveyor (2'); First picking station (2A); Plastic transport box/SKF box (2B); First combined vision/imaging and picking station/zone (3); First receiving robot/manipulator (4);Foil wrapping station (5); Second vision/imaging and picking station/zone (6); Second delivering robot/manipulator (7); Working tool/end -effector (7A); Out-let conveyor belt (8); Transport direction of out-let conveyor (8'); Packing station (8A); Cardboard boxes (8C); Processing means (9);

Fig. 2 shows an example of the robotic packing system/packing station/packing plant of the invention: First picking station (2A); First combined vision/imaging and picking station/zone (3); Imaging device/camera (3A); First receiving robot/manipulator (4); Working tool/end -effector (4A); Foil wrapping machine (5A); Supply conveyor belt (5B); Discharge conveyor belt (5C); Second vision/imaging and picking station/zone (6); Imaging device/ camera (6A); Second delivering robot/manipulator (7); Working tool/end- effector (7A); Out-let conveyor belt (8); Packing station (8A); Cardboard boxes (8C);

Fig. 3 shows an example of the robotic packing system/packing station/packing plant of the invention: Inlet conveyor belt (2); First picking station (2A); First combined vision/imaging and picking station/zone (3); First receiving robot/manipulator (4); Working tool/end -effector (4A); Foil wrapping machine (5A); Supply conveyor belt (5B); Discharge conveyor belt (5C); Second vision/imaging and picking station/zone (6); Second delivering robot/manipulator (7); Working tool/end -effector (7A); Out-let conveyor belt (8); Packing station (8A); Cardboard boxes (8C);

Figs. 4A and 4B show a closer view of a part the robotic packing system/packing station/packing plant of the invention comprising the air nozzle means (A): Discharge conveyor belt (5C); Second delivering robot/manipulator (7); Working tool/end -effector (7A); Out-let conveyor belt (8); Packing station (8A); Air nozzle means (8B);

Fig. 5 shows an example of a working tool/end -effector (4A) of first receiving robot (4) for use according to the invention : Connection means (4A1); Tool-base/fastening element/connection unit (4A2); Coil spring for height adaptation, i.e., z-direction displacement (4A3); Vacuum/suction cup connector unit suspended in ball joint (4A4); suction cup (4A5); Connection to vacuum-provider (4A6);

Fig. 6A shows an example of a working tool/end -effector (7A) of second delivering robot (7) for use according to the invention:

• pick-up/collecting/supporting plate (7A1), for picking up, supporting, and lifting a meat product (10);

• linear aktuator (7A2) for advancing and retracting the supporting plate (7A1);

• tool base/fastening element/connection unit (7A3) for attachment to the second delivering robot (7); and

Fig. 6B1 and 6B2 show two views of another example of a working tool/end-effector (7A) of second delivering robot (7) for use according to the invention:

• pick-up/collecting/supporting plate (7A1), for picking up, supporting, and lifting a meat product (10);

• linear aktuator (7A2) for advancing and retracting the supporting plate (7A1);

• tool base/fastening element/connection unit (7A3) for attachment to the second delivering robot (7);

• a reciprocating product orientation adjustment rail (7A4);

• a foil capturing and folding device/ rotatable antenna (7A5); and

• a motor/rotary cylinder/antenna rotating device (7A6).

Figs. 7A and 7B illustrate the principle of wrapping a meat product in foil (5D) in such a way that foil protrudes from the ends of the wrapped meat product (10) and, by help of an air stream originating from the air nozzle means (8B), the foil ends (10B') are blown upwards, allowing any liquids to remain inside the wrapping while the product is later stored.

List of reference signs

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

Alternative/ synonymous designations are separated by slashes.

1 The robotic packing system/packing station/packing plant

2 Inlet conveyor belt

2' Transport direction of inlet conveyor

2A First picking station

2B Transport box/plastic transport box/SKF box

3 First vision/imaging station/zone 3A, 3B, etc.

Imaging devices/one or more cameras

4 First receiving robot/manipulator

4A Working tool/end-effector/end of arm tool of first receiving robot (4)

4A1 Connection means, for connection to the flange of the first receiving robot (4)

4A2 Tool base/fastening element/connection unit

4A3 Coil spring for height adaptation, i.e., z-direction displacement

4A4 Vacuum/suction cup connector unit suspended in ball joint

4A5 Suction cup

4A6 Connection to vacuum-provider

5 Foil wrapping station

5A Foil wrapping machine/IWP machine

5B Supply conveyor belt

5C Discharge conveyor belt

5D Foil/plastic foil

5E Foil roll

6 Second vision/imaging station/zone

6A, 6B, etc.

Imaging devices/one or more cameras

7 Second delivering robot/manipulator

7A Working tool/end-effector/end of arm tool of second delivering robot (7)

7A1 Pick-up/collecting/supporting plate

7A2 Linear aktuator

7A3 Tool base/fastening element/connection unit

7A4 Adjustment rail 7A5 Foil capturing and folding device/ rotatable antenna

7A6 Motor/rotary cylinder/antenna rotating device

8 Out-let conveyor belt

8' Transport direction of out-let conveyor

8A Packing station

8B Air nozzle means

8C Cardboard boxes

9 Processing means

10 Meat product/work piece

10A Unwrapped meat products

10B Wrapped meat product

10B' Wrapping foil protruding the ends of the wrapped meat product

11 Sensors/position sensing means/identification sensing means

11 A, 11B, etc.

12 Means for storing information/central database/server