| 摘要 |
<p>The method involves automatically cleaning an end effector (16) with satisfaction of a cleaning criterion, where the end effector is coupled to a kinematic mechanism (14) for transferring portions (21) of food product. The end effector is automatically moved into an effective region of a cleaning device (34) for cleaning the end effector. The end effector is decoupled from the kinematic mechanism before a cleaning process. A replacement end effector (40) is coupled to the kinematic mechanism after decoupling the former end effector. An independent claim is also included for an apparatus for operating a robot.</p> |
