阅读说明：本技术 从连续的多个动物腿连续地收获周围的肉的方法和设备 (Method and apparatus for continuously harvesting surrounding meat from a continuous plurality of animal legs ) 是由 大卫·斯科特·哈森布鲁克 德克·科内利斯·斯图克 朱尔·弗劳瑞斯·范登伯格 于 2018-01-30 设计创作，主要内容包括：用于从具有由关节连接的第一动物骨骼和第二动物骨骼以及中间接合处的连续的多个动物腿连续地收获周围的肉的方法和设备(1)。所述方法通过输送通道连续地输送动物腿,并且确定中间接合处的位置。基于所确定的中间接合处的位置,调整中间接合处和切割工具相对于彼此的位置,并在与中间接合处的位置相对应的位置处进行组织切割。确定中间接合处位置的步骤以非接触方式进行中间接合处,并且不会中断动物腿的连续输送。(Method and apparatus (1) for continuously harvesting surrounding meat from a continuous plurality of animal legs having first and second animal bones joined by joints and an intermediate junction. The method continuously transports the animal's legs through the transport path and determines the position of the intermediate junction. Based on the determined position of the intermediate junction, the position of the intermediate junction and the cutting tool relative to each other is adjusted and a tissue cut is made at a position corresponding to the position of the intermediate junction. The step of determining the position of the intermediate joint performs the intermediate joint in a non-contact manner and without interrupting the continuous feeding of the animal's legs.)

1. A method of continuously harvesting surrounding meat from a continuous plurality of animal legs having first and second animal bones joined by joints and an intermediate junction, the method comprising:

-continuously conveying the animal legs through a conveying channel;

-determining the position of the intermediate joint;

-adjusting the position of the intermediate joint and the cutting tool relative to each other based on the determined position of the intermediate joint; and

-performing a tissue cut at a position corresponding to the position of the intermediate junction,

wherein the step of determining the position of the intermediate junction is performed without interrupting the continuous transport of the animal leg.

2. The method of claim 1, wherein the determining of the position of the intermediate joint is performed in a contactless manner.

3. A method according to claim 1 or 2, wherein the contactless determination of the position of the intermediate joint is performed using electromagnetic radiation.

4. A method of harvesting surrounding meat from an animal leg having first and second animal bones joined by a joint and a medial junction, the method comprising:

-determining the position of the intermediate junction using electromagnetic radiation; and

-optionally making a tissue cut at a position corresponding to the position of the intermediate junction.

5. The method of claim 3 or 4, wherein the electromagnetic radiation comprises X-rays.

6. The method of any one of claims 1 to 5, wherein the position of the intermediate junction is adjusted to align with the cutting tool.

7. The method of any one of claims 1 to 6, wherein the animal leg is continuously moved through a conveyor channel, and wherein the determination of the position of the intermediate junction is performed while shielding the conveyor channel from electromagnetic radiation.

8. The method of one of the claims 1 to 7, wherein the continuous conveyance of the animal legs comprises suspending each animal leg by an overhead conveyor on a tie moving through a conveyance path, wherein the ties are aligned with each other on a common level prior to the step of determining the position of the intermediate joint in a non-contact manner, and wherein the level of each tie is individually adjusted based on the determined position of the intermediate joint to align all intermediate joints on a common level.

9. The method of claim 8, wherein prior to the step of contactlessly determining the position of the intermediate joint, the tie downs are reset to a predetermined standard height to become aligned with each other at a common level.

10. The method of one of the claims 1 to 9, wherein the cutting of tissue at a location corresponding to the location of the intermediate junction comprises grasping the surrounding meat, removing the suspended bone from the grasped surrounding meat, thereby tensioning and exposing tissue for cutting.

11. The method of claim 10, wherein the step of cutting tissue corresponding to the location of the intermediate junction is repeated on at least two sides of the circumference of the animal's leg.

12. Apparatus arranged to perform the steps of any one of claims 1 to 11.

13. Apparatus for harvesting surrounding meat from an animal leg having first and second animal bones joined by a joint and a medial junction, comprising:

a determination unit arranged for determining the position of the intermediate junction using electromagnetic radiation.

14. The apparatus of claim 13, further comprising:

-a cutting tool arranged for cutting tissue at a position corresponding to the position of the intermediate junction; and

-an adjuster arranged for adjusting the position of the intermediate joint and the cutting tool relative to each other.

15. The apparatus of claim 13 or 14, wherein the determination unit comprises an X-ray detection unit.

16. The apparatus of claim 15, wherein the X-ray detection unit comprises a housing arranged to enable the animal leg to pass through the housing and to prevent X-ray radiation from exiting the housing.

17. The apparatus of claim 16, wherein the enclosure includes a door to allow the animal's legs to enter and exit the enclosure.

18. The apparatus of claim 17, wherein the door is a swing door.

19. The apparatus of any one of claims 13 to 18, comprising a conveyor system arranged for continuously conveying the animal leg through a conveying path past the determining unit and the cutting tool.

20. Use of electromagnetic radiation, such as X-ray radiation, for determining the position of a mid-joint of an animal leg having a first and a second animal bone articulated by joints and a surrounding meat, for determining the position of a cut made in said surrounding meat.

21. Cutting station for cutting meat on poultry legs hanging from a tie, the cutting station being arranged for cutting the legs at a position adjustable in height relative to the tie, wherein the cutting station comprises an inclined guide for guiding the tie forward and upward or downward, and the cutting station further comprises a moving unit for moving the knife in a forward and/or backward direction.

22. A joint support unit comprising:

-a plurality of joint supports, each joint support comprising a first arm and a second arm, the arms being movable relative to each other from an open position to a closed position, the arms being movably mounted to a movable carrier;

-a guide which remains fixed in position when the joint support passes through it;

at least one of the arms comprises a cam arranged to contact the guide such that, after contact with the cam, the guide moves the cam as the cam passes the guide such that the arm is moved into the closed position;

each arm comprises a respective clamp arranged such that the clamps of the joint support can together grip an animal part, such as a poultry leg.

23. The joint support unit of claim 22, wherein the movement of the two arms of the joint support is coupled such that the two arms open and close simultaneously.

24. The joint support unit of claim 22 or 23, wherein the arms are biased to the open extended position, such as by a resilient element such as a spring.

25. A joint support according to claim 22, 23 or 24, wherein a pressure plate is mounted on at least one arm of the joint support.

26. The joint support of any one of claims 22-25, wherein the guide is biased in its position such that if the cam applies excessive force to the guide, the guide will move out of position against the biasing force.

27. Joint support unit according to any of claims 22-26, mounted to a J-cutter unit for holding a poultry leg, for example by means of a joint such as an ankle joint or a knee joint.

28. The joint support unit of claim 27, wherein the clamp is aligned with a knife of the J-cutter unit, for example such that the clamp is directly above the knife.

29. The device according to any of claims 13-19, comprising a joint support unit according to any of claims 22-28.

Technical Field

The present invention generally relates to harvesting surrounding meat from elongated first and second animal bones articulated by an intermediate junction. More specifically, the invention includes detecting the location and extent of a first animal bone and a second animal bone located within surrounding meat as part of such harvesting in order to determine the location of the intermediate junction.

Background

It is well known that the legs of animals differ from each other and therefore it is necessary to measure the length of each animal's leg individually in order to obtain information about the position of the middle joint, such as the knee joint in a poultry leg. The methods and devices developed to date are somewhat cumbersome, require an interrupted or slowed process, and are not always completely accurate.

Summary of The Invention

It is therefore an object of the present invention to propose (and embodiments of the present invention seek to provide) an improved method and apparatus for continuously harvesting surrounding meat from a continuous plurality of animal legs. In a more general sense, therefore, it is an object of the present invention to overcome or reduce at least one of the disadvantages of the prior art. It is a further object of the invention to provide an alternative solution which is less cumbersome in assembly and operation and which can be made relatively inexpensively. Alternatively, it is an object of the invention to at least provide a useful alternative.

To this end, the invention provides a method and related apparatus for continuously harvesting surrounding meat from a continuous plurality of animal legs having first and second animal bones articulated by joints and an intermediate junction, as defined by one or more of the appended claims.

According to one aspect, a method is provided for continuously harvesting surrounding meat from a continuous plurality of animal legs having first and second animal bones joined by joints and an intermediate junction. The method comprises continuously transporting the animal's legs through a transport path. The method includes determining a position of the intermediate joint. The method includes adjusting a position of the intermediate joint and the cutting tool relative to each other based on the determined position of the intermediate joint. The method includes making a tissue cut at a location corresponding to a location of the intermediate junction. The step of determining the position of the intermediate junction is performed without interrupting the continuous transport of the animal's legs. Determining the position of the intermediate joint and adjusting the position of the intermediate joint and the cutting tool relative to each other provides the following advantages: the animal leg can be accurately cut according to the intermediate junction. Determining the position of the intermediate joint without interrupting the continuous transport of the animal's legs provides the following advantages: the meat harvesting process is not affected, e.g. not slowed down or introduced with possible contamination.

Optionally, the determination of the position of the intermediate joint is performed in a contactless manner.

More specifically, the invention may include (as part of such harvesting) non-contact detection of the position and extent of at least a portion of the first and second animal bones within the surrounding meat in order to locate the exact position of the intermediate junction.

Optionally, the non-contact determination of the position of the intermediate junction is performed using electromagnetic radiation. Optionally, the electromagnetic radiation comprises X-rays. Optionally, ultrasonic waves are used for contactless determination of the position of the intermediate joint. Non-contact sensing means for scanning animal parts, such as poultry legs including knee joints, may include magnetic resonance, X-ray, Magnetic Resonance Imaging (MRI), Computed Tomography (CT), infrared radiation, visible light, ultraviolet radiation, radio waves, microwaves and ultrasound, among others. The invention will be explained by an example using X-rays. Thus, when in this specification reference is made to "electromagnetic radiation", this is to be understood as not excluding any of the above or other alternatives.

Optionally, the position of the intermediate junction is adjusted to align with the cutting tool. Optionally, the position of the cutting tool is adjusted to align with the intermediate junction.

The position of the middle joint on a single leg can be used as a reference position. All legs may be aligned (e.g., for cutting) with reference positions of all legs adjusted to the same height position (e.g., relative to the cutting tool). It is also possible to define the reference position as a position along the length of the leg. The reference position may for example be chosen at 20% or 50% or 80% of the distance between the middle joint of the leg and the suspension point or any other suitable position. The reference position may for example be chosen at 120% or 150% or 180% of the distance between the middle joint of the leg and the suspension point. The reference point on the leg to be aligned can be determined by the position of the intermediate joint and the length of the respective leg.

Optionally, the animal leg is continuously moved through the conveyor passage and the determination of the position of the intermediate junction is made while shielding the conveyor passage from electromagnetic radiation. The location of the intermediate junction may be determined at a portion of the conveyor passage surrounded by the shield to allow electromagnetic radiation to reach the animal's leg within the shield while preventing the electromagnetic radiation from extending outside the shield.

Optionally, the continuous transport of the animal legs comprises suspending each animal leg by an overhead conveyor from a tie moving through the transport path. Optionally, the tethers are aligned with one another at a common level prior to the step of contactlessly determining the position of the intermediate joint. Alternatively, the determination of the intermediate joint position is made without aligning the tie-down on a common level beforehand. The position of the intermediate joint can be determined relative to the ends of the animal's legs. The location of the intermediate junction may be determined relative to the contact point of the leg with the tie down. The position of the intermediate joint may be determined relative to the tie, for example taking into account information representative of the position of the contact point of the leg relative to the tie when determining the position of the intermediate joint.

The level of each tie down may be individually adjusted based on the determined position of the intermediate joint to align all of the intermediate joints on a common level.

Optionally, the tie downs are reset to a predetermined standard height to become aligned with each other at a common level, e.g. prior to the step of determining the position of the intermediate joint in a contactless manner. Optionally, the standard height is selected at the center, e.g., in the middle, of the adjustment range of the height adjustment of the tie.

Optionally, cutting the tissue at a location corresponding to the location of the intermediate junction includes grasping surrounding meat, removing the suspended bone from the grasped surrounding meat, thereby tensioning and exposing the tissue for cutting.

Optionally, the step of cutting tissue corresponding to the location of the middle joint is repeated on at least two sides of the circumference of the animal's leg.

According to an aspect, an apparatus arranged for performing the steps of the method is provided.

According to an aspect, a cutting station for cutting meat on poultry legs hanging from a tie is provided, the cutting station being arranged for cutting the legs at a position adjustable in height relative to the tie. The cutting station includes inclined guides for guiding the tie forward and up or down. The cutting station further comprises a moving unit for moving the knife in a forward and/or backward direction, e.g. horizontally. Thus, the point of intersection between the trajectory of the leg depending from the tie and the trajectory of the knife can be moved, for example, horizontally forward and/or backward, which results in cutting the leg at a selectable height relative to the tie. According to one aspect, a joint support unit is provided. The joint support unit includes a plurality of joint supports. Each joint support includes a first arm and a second arm. The arms are movable relative to each other from an open position to a closed position. The arm is movably (e.g. pivotably) mounted to a movable carrier, e.g. a movable, e.g. rotatable, frame. The arm may for example be pivotally connected to the shaft of a rotatable J-cutter. The joint support unit further comprises a guide. When the joint support passes the guide, the position of the guide is maintained, e.g. angularly fixed. At least one of the arms includes a cam (such as a roller). The cam is arranged to contact the guide such that upon contact with the cam, the guide moves the cam as the cam passes the guide such that the arm pivots into the closed position. Each arm comprises a respective clamp arranged such that the clamps of the joint support together can grip an animal part, such as a poultry leg.

The joint support unit may be accommodated in a device as described hereinbefore.

Optionally, the two arm movements (such as pivotable movements) of the joint support are coupled such that the two arms open and close simultaneously. Optionally, additionally, the arm includes meshing gear teeth. Optionally, the arms are biased to the open extended position, such as by a resilient element such as a spring.

Optionally, a pressure plate is mounted on at least one arm of the joint support. The pressure plate may be pivotally connected to the arm. The pressure plate may be biased, in use, towards an object held relative to the clamp. Optionally, in addition, the joint support comprises a resilient element (such as a spring).

Optionally, the guide is biased in its position (e.g., spring-loaded) such that if the cam exerts excessive force on the guide, the guide will move out of position against the biasing force.

Optionally, a joint support unit is mounted on the J-cutter unit for holding the poultry leg, for example by means of a joint such as an ankle joint or a knee joint. Optionally, the joint support unit is mounted to a turntable (e.g., of a J-cutter unit).

Optionally, the clamp is aligned with the knife of the J-cutter unit, e.g., such that the clamp is directly above the knife. Thus, the knife always cuts the leg at the desired location just behind (and not touching) the bone.

It will be appreciated that any aspects, features and options described in view of the method are equally applicable to the apparatus, and vice versa. It will also be apparent that any one or more of the above-described aspects, features and options may be combined.