Abstract: A tool (1) for connection and disconnection of a cargo item (8), in which the tool (1) comprises a suspension (2) and a lifting hook (4), and in which the lifting hook (4) is rotatably connected, about its suspension axis (40), to the suspension (2), wherein the lifting hook (4) is connected to an actuator (22, 28, 32, 70) via a transmission (44, 46, 48, 50, 54, 60), the actuator (22, 28, 32, 70) being arranged to allow it to rotate the lifting hook (4) about the suspension axis (40).

Abstract: A tool (1) for connection and disconnection of a cargo item (8), in which the tool (1) comprises a suspension (2) and a lifting hook (4), and in which the lifting hook (4) is rotatably connected, about its suspension axis (40), to the suspension (2), wherein the lifting hook (4) is connected to an actuator (22, 28, 32, 70) via a transmission (44, 46, 48, 50, 54, 60), the actuator (22, 28, 32, 70) being arranged to allow it to rotate the lifting hook (4) about the suspension axis (40).

Abstract: A method and a device for detecting fodder waste/loss within a fish enclosure (1), where a sound transmitter (4) and a hydrophone (6) are disposed as an upwardly directed echo sounder close to the bottom of the enclosure (1). Sound echoes from objects situated above the sound transmitter (4), are picked up by the hydrophone (6). A measuring unit (8) separates signals from the hydrophone (6) into various frequency bands close to the transmitted sound frequency. The distance and amount of the objects are determined in a way similar to the one used in echo sounders. Sinking objects will cause rejected sounds having frequencies slightly higher than the transmitted frequency, so called Doppler effect, and the frequency difference is a measure of the sinking speed of the object.

Abstract: A pipe tractor is adapted to run internally in channels and pipes in that the pipe tractor's end pieces are counterrotating and provided with resilient arms to which are attached inclined wheels resting against the inner surface of the pipe, wherein lateral force acting on the wheels gives propulsion to the pipe tractor when the end pieces rotate.

Abstract: A method for mechanical gutting of fish and device for execution of the method are disclosed, whereby the inner organs are removed via the fish's oral cavity (mouth) without opening the fish's abdomen. The inner organs are extracted with the aid of a vacuum. A tool is inserted into the fish through the oral cavity and removes the kidneys of the fish (blood ribbon) and the membrane which covers the kidneys. The tools of the device are connected to suitable drive systems of known types and are generally located concentrically about a straight center line and arranged so as to be moveable linearly along and rotatably about this line.

Abstract: Method and machine for pelleting dry pellets from the mass (11) containing thermo-hardening substances, particularly for use as fish feed, where the mass is first compressed and then heated to a thermo-hardening temperature and finally cooled. The bi-products from heating, such as fat, other liquids or gas, are drained off in or near the heating zone (6) and are brought in contact with and thereby returned to the thermo-hardened mass after this has been cooled.

Abstract: A method for feeding fish raised in a pisciculture environment wherein fish feed is conducted to the fish pen or enclosure carried by a stream of water. To give the feed increased buoyancy after it is introduced into the enclosure, the stream of water is oversaturated with gas, such that gas bubbles penetrate into and/or adhere to the fish feed.

Abstract: A swivel-jointed robot arm consisting of a plurality of interconnected, rigid links (5,6,7,8) linked together in the fashion of chain links, wherein the links (5,7) are joined to the same intermediate link (6) and adjacent, abutting ends of the links (5,7) are mutually pivotally connected; whereas the flexible robot arm's innermost end link (5) is pivotally supported (1) in relation to a preceding robot arm member (14) having a protruding drive shaft (13) for turning the jointed robot arm about its own axis, and is arranged to be driven by a drive means (16,17,18) in controlled outward swinging movements about said pivotal support (1), while at the same time the inner end of the next successive link (6), which is joined to said end link (5), is pivotally connected to the drive shaft (13) for transmitting a corresponding outward swinging motion to the following links (7,8).

Abstract: A means for counterbalancing a mass (9) in mechanisms such as a robot arm (1), wherein the robot arm (1) has a fixed support point (2) and is attached to one end of a spring (3) for counterbalancing arm loading. The other, remote point of attachment (6) for the spring (3) is movable in relation to the fixed support point (2) for the arm (1), so that the distance between said remote point of attachment (6) for the spring (3) and the fixed support point (2) for the robot arm (1) can be varied for altering the geometry of the system, according to the weight of the mass, the tool (9), attached to the end of the robot arm (1), whereby the robot arm (1) can be counterbalanced in all positions and can be adjusted to different masses without reducing the dynamic properties of the robot arm (1).

Abstract: A device for robot manipulators having a multiply articulated manipulator arm (7, 8, 10) rotatably mounted in a swivelling socket (1), wherein all the servo-cylinders (46) are placed in the base (1) and wherein a mechanical power transmission mechanism is disposed between the tool holder (11) and each of the parts of the manipulator arm (7, 8, 10) respectively and the associated servo-cylinder (46). The linear movement of the individual servo-cylinders (46) is converted into a substantially proportional rotary movement over the whole working range of the servo-cylinder (46). Said power transmission mechanisms are so designed that when one or more of them is in action and the portions of the manipulator arm (7, 8, 10) are moved in relation to one another, the other power transmission mechanisms are not influenced as a result of these movements.

Abstract: The system produces signals indicative of the oxygen content of water within a plurality of tanks. Based thereon, a required food amount is calculated in a control unit. The control unit causes food to be released from storage silos. The food is weighed and passed through a distribution device to the tanks. The control unit receives a signal indicative of the food weight and controls the distribution device based thereon to ensure that the proper amount of food is passed to the appropriate tank.

Abstract: A flexible robot arm according to the present invention is composed of a number of mutually connected rigid links and operatively adapted to perform controlled bending movements driven by robot drive means. Said successive links of the arm are both interlinked as chain links and hinged to each other between interlinked link ends, preferably by means of universal joints. In addition pairs of arm links which are interlinked with the same intermediate link, are pivotably adjoined at their adjacent extreme ends. One of the terminal ends of the arm is connected with the drive means in such a manner that controlled angular tilts may be imparted to the first link of the arm, corresponding tilts being transferred to the successive arm links by means of the above hinge and pivotable connections between the individual links of the arm. Further the connection between the robot arm and the drive means may be arranged in such a way that the arm may be rotated independently of the bending of the same.