阅读说明：本技术 从悬挂的半猪屠体切下前部端部 (Cutting the frontal end from a suspended hog carcass ) 是由 J·J·梅尔丁克 F·T·H·J·范德斯蒂恩 A·埃伯根 R·克雷恩巴格 于 2020-05-01 设计创作，主要内容包括：一种用于通过进行在第三肋骨和第四肋骨之间直至肩胛骨的第一切割、随后进行穿过屠体的其余部分的第二切割而分离半猪屠体的前部端部的系统和方法。第一切割使用常规刀片进行,第二切割使用剪刀刀片进行。(A system and method for separating the frontal end of a carcass of a semi-pig by making a first cut between the third and fourth ribs up to the scapula, followed by a second cut through the rest of the carcass. The first cut was made using a conventional blade and the second cut was made using a scissors blade.)

1. A method of handling a carcass part (10) of a half-pig freely hanging at least partly on a carrier (15) which is engaged with a leg part of the carcass part of the half-pig, the method comprising:

detecting the position of the ribs of the carcass part of the half pig,

identifying the positions of adjacent first and second target ribs, and based on the identified positions,

-cutting between the first target rib and the second target rib by means of a cutting device (70),

wherein the method further comprises the steps of:

-cutting through the spinal bone by means of a separating device (90) using the rib cut as a reference, while separating the frontal end from the middle part of the carcass part.

2. Method according to claim 1, wherein the adjacent first and second target ribs comprise a third and a fourth rib, wherein the cutting is performed up to the tip of the scapula (45) which results in the front end section being partially separated from the remaining ribs of the carcass part (10) of the half pig via gravity.

3. Method according to claim 1, wherein the adjacent first and second target ribs comprise a fourth and a fifth rib, the cutting resulting in the front end section being partially separated from the remaining ribs of the carcass part (10) of the hog house via gravity.

4. Method according to any one of the preceding claims, wherein the cutting device (70) comprises a robotic arm for performing the cutting up to the scapula (45) fully automatically.

5. Method according to any of the preceding claims, wherein detecting the position of the ribs of the carcass part of the half-pig is performed by a detection device (50).

6. The method according to claim 5, wherein the detection device (50) comprises one or more of the following components:

a laser scanner for scanning and generating three-dimensional image data of one and/or both sides of the carcass part of the half pig,

a digital imaging device for capturing three-dimensional image data of one and/or both sides of the carcass part of the half-pig, and

an X-ray device for capturing X-ray data indicative of the internal skeletal structure of the carcass part of the pig, including the position of the ribs and scapula of the carcass part.

7. The method according to any one of claims 5 or 6, further comprising processing the detected data using a processing unit connected to the detection device (50) to determine the positions of the first and second target ribs.

8. The method according to any one of the preceding claims, further comprising operating the cutting device (70) by the processing unit (60) to automatically cut between the first and second target ribs.

9. Method according to any one of the preceding claims, further comprising operating the separating device (90) by the processing unit to automatically cut the forward end off the middle part of the carcass part carcass by cutting through the spine bone using a rib cut as a reference.

10. The method according to any of the preceding claims, wherein the separation device (90) is selected from one or more of the following components:

-scissors, or

-sawing.

11. The method according to any of the preceding claims, wherein the cutting between the first and second target ribs by a cutting device (70) generates a rib cut, such as a rib cut between the first and second target ribs, such as a rib cut in a meat and/or rib cartilage section between the first and second target ribs.

12. A device for processing a carcass part (10) of a half-pig freely suspended at least partly on a carrier (15) which is engaged with a leg part of the carcass part of the half-pig, the device comprising:

a detection unit for detecting the position of the ribs of the carcass part of the pig,

identification means for identifying the position of adjacent first and second target ribs,

-a cutting device (70) for cutting between the first and second target ribs based on the identified position, the cutting resulting in a front end section being partially separated from the remaining ribs of the carcass part of the half pig via gravity, and

-a separating device (90) for cutting through the spinal bone using a rib cut as a reference, while separating the forward end from a middle part of the carcass part carcass.

13. The apparatus according to claim 12, wherein the cutting between the first and second target ribs by cutting means (70) generates a rib cut, such as a rib cut between the first and second target ribs, such as a rib cut in a meat and/or rib cartilage section between the first and second target ribs.

14. The apparatus of any one of claims 12 to 13, wherein the detection unit (50) comprises one or more of the following components:

a laser scanner for scanning and generating three-dimensional image data of one and/or both sides of the carcass part of the half pig,

a digital imaging device for capturing three-dimensional image data of one and/or both sides of the carcass part of the half-pig, and

an X-ray device for capturing X-ray data indicative of the internal skeletal structure of the carcass part of the pig, including the position of the ribs and scapula of the carcass part.

Technical Field

The invention relates to deboning carcass parts of four-legged slaughter animals suspended on a carrier of an overhead carcass transport system. More particularly, the invention relates to splitting a carcass half to separate the forward end from the suspended carcass half.

Background

It is known to transport a carcass part of a slaughtered animal suspended on a carrier which engages in a hole in the leg section of the carcass part. The carcass part may be a carcass half that has been eviscerated and cleaned. The carrier used may be of the hook and loop type, having two opposite carrier ends facing away from each other and coupled together with a cross bar. The cross-bar has a suspension arrangement that cooperates with the overhead transport conveyor system. Another type of carrier may be a variant of Euro Hook (Euro Hook), having a pointed end and a carrier section shaped like a carrier for fishing. The euro-hook also has a suspension arrangement cooperating with the overhead transport conveyor system, similar to the suspension arrangement for the hook rack. The single carrier may conform to DIN5047 (carrier for meat and other food products; sliding carrier for tubular rails).

Traditionally, the carcass of a pig is split into an anterior end, a mid-section and a posterior end (or hind leg) before further deboning and other processing. The splitting into three parts can be carried out on a processing table in which the carcass halves are placed horizontally, or the splitting into three parts can be carried out while the carcasses are still suspended, in a stationary or moving state. The cutting itself is done using a saw-type rotating blade. This has some conceivable disadvantages. First, excess meat and bone debris is produced, which reduces the quality of the product(s) produced. Second, a cut on a rib section will cut through the rib, and a cut across the scapula will cut away a piece of scapula, leaving a sharp bone end that is detrimental to consumer acceptance. Third, since the saw-type rotary blade performs a straight cut, the cut between the rear leg and the middle section leaves a large amount of high-quality meat on the middle section.

The reference JP2013031916(a) describes a carcass splitting device having a forward body splitting section and a rearward body splitting section arranged in series along a track.

Disclosure of Invention

Embodiments of the invention preferably seek to mitigate, alleviate or eliminate one or more of the above mentioned disadvantages singly or in any combination. In particular, it may be seen as an object of an embodiment of the invention to provide a method for processing a carcass part of a hog carcass that is at least partly freely suspended on a carrier, wherein the carrier is engaged with the hind leg of the carcass part of the hog.

According to an embodiment, a method of handling a carcass part of a pig at least partly freely suspended on a carrier, which carrier is engaged with a leg part of the carcass part of the pig, is provided, the method comprising:

detecting the position of the ribs of the carcass part of the half pig,

identifying the positions of adjacent first and second target ribs, and based on the identified positions,

cutting between the first target rib and the second target rib by the cutting device (such as thereby generating a rib cut, such as generating a rib cut between the first target rib and the second target rib, such as generating a rib cut in a meat and/or rib cartilage section between the first target rib and the second target rib).

Wherein, the method also comprises the following steps:

the front end is cut through the spinal bone with the separating device using the rib cut as a reference, while the middle part of the carcass part is separated from the carcass front.

A possible advantage of the present invention may be that the invention makes it easier, requires less precision in initiating a cut through the spine, is more rapid, is more certain to be able to successfully, and/or is more efficient to have a separation device, such as a scissors or a rotary knife or a rotary saw, placed in a position where the separation device can make a cut through the spinal bone, such as by moving the separation device in a direction toward and through the spinal bone from the side of the spinal bone where the rib cut exists. A possible reason for this is that (due to the gravitational stretching of the carcass part of the pig freely hanging at least partly on the carrier engaging with the leg part of the carcass part) a relatively large split between the ribs of the carcass is created, which in turn actually creates a target for the separating means (such as enabling the cut created in the first step, such as the obtained rib cut, to be utilized as a mark in the second step), which may enable a cutting to be performed more easily, less accurately when initiating a cut through the spine, more quickly, more certainly, successfully, than for example from the back (spine) side of the carcass and/or from the front (rib) side with the separating means before a cut is made between the first target rib and the second target rib by the cutting means, And/or more efficiently cut through the spine.

According to an alternative aspect, the method may have the steps of:

detecting at least one characteristic property of the carcass part of the hog, including the position of the ribs of the carcass part,

identifying the positions of adjacent first and second target ribs, and based on the identified positions,

cutting between the first target rib and the second target rib by the cutting device.

Using this method, a better yield and better consistency of the obtained product is achieved, with less smearing in the incision and no sharp edges in the obtained product (ribs). This is because the spinal bones up to the carcass half part can be cut smoothly, instead of using, for example, a saw. The result is therefore a better yield and a better appearance of the final product.

It is to be understood, such as in an embodiment, that the rib cut is generated by a cut made by the cutting device between the first target rib and the second target rib, such as in a meat and/or rib cartilage section between the first target rib and the second target rib.

The adjacent first and second target ribs may comprise a third and a fourth rib, wherein the cutting is performed up to the tip of the scapula, the cutting resulting in the front end section being partly separated from the remaining ribs of the carcass part of the hog house via gravity. A possible advantage of this is that the scapula may function and be used as a natural stop for the cutting and/or incising device.

Alternatively, the adjacent first and second target ribs comprise a fourth and a fifth rib, the cutting resulting in the front end section being partly separated from the remaining ribs of the carcass part of the hog house via gravity.

In an embodiment, the step of detecting the position of the ribs of the carcass part of the half pig may be performed by a detection device.

In an embodiment, the step of detecting at least one characteristic property of the carcass part of the hog, including the position of the ribs of the carcass part of the hog, may be performed by a detection device.

In an embodiment, the detection device comprises one or more of the following components:

a laser scanner for scanning and generating three-dimensional image data of one and/or both sides of the carcass part of the half pig,

a digital imaging device for capturing three-dimensional image data of one and/or both sides of a carcass part of a half-pig, and

an X-ray device for capturing X-ray data indicative of an internal skeletal structure of the carcass part of the pig, the internal skeletal structure including the position of the ribs of the carcass part of the pig.

The method may further include processing the detected data using a processing unit connected to the detection device to determine the locations of the first and second target ribs.

The method may further comprise operating the cutting device by the processing unit to automatically cut a cartilage section between the first target rib and the second target rib.

Alternatively, one or more of the cuts may be performed manually by an operator located in a suitable position relative to the semi-carcass.

The method may comprise operating the separating device by the processing unit to automatically cut off the forward end from the middle part of the carcass part carcass by cutting through the spine bone using the rib cut as a reference.

In an embodiment, the separating apparatus may comprise a scissors or a saw.

In a second aspect of the invention, there is provided a device for processing a carcass part of a hog carcass that is at least partly freely suspended from a carrier, which carrier is engaged with a leg part of the carcass part of the hog carcass, the device comprising:

a detection unit for detecting the position of the ribs of the carcass part of the half pig,

identification means for identifying the position of adjacent first and second target ribs,

a cutting device for cutting between the first target rib and the second target rib based on the identified position, the cutting resulting in the front end section being partially separated from the remaining ribs of the carcass part of the hog by gravity, and

a separating device for cutting through the spinal bone using the rib cut as a reference, while separating the forward end from the middle part of the carcass part.

In the present application, a "detection unit" may be understood as being interchangeable with a "detection device", wherein the "detection device" is different from a "device for handling a carcass part of a hog carcass that is at least partly freely suspended on a carrier (such as a subunit of the device)".

According to an alternative aspect, there is provided a device for processing a carcass part of a pig at least partly freely suspended on a carrier, which carrier is engaged with a leg part of the carcass part of the pig, the device comprising:

a detection unit for detecting at least one characteristic property of the carcass part of the pig, including the position of the ribs of the carcass part of the pig,

identification means for identifying the position of the first target rib and the second target rib,

a cutting device for cutting between the first and second target ribs based on the identified position, the cutting resulting in the front end section being partially separated from the remaining ribs of the carcass part of the hog house via gravity.

The cutting device may include any type of cutting blade that may be attached to a robotic arm in one embodiment to perform the cut fully automatically up to the scapula.

According to an embodiment, the cutting device comprises a mechanical arm for performing the cutting up to the scapula fully automatically.

According to an embodiment, the separating device comprises a mechanical arm for performing a fully automatic cutting of the front end off the middle part of the carcass part of the semi-carcass part by cutting through the spinal bone using the rib cut as a reference.

This cutting may also be semi-manual or fully manual, wherein the operator may be informed, for example via a fiducial marker, where to start the cutting.

The cutting device may further comprise a scissor cut for completely separating the frontal end section from the rest of the carcass half of the pig.

According to an embodiment, the cutting performed between the first target rib and the second target rib by the cutting means generates a rib cut, such as a rib cut between the first target rib and the second target rib, such as a rib cut in a meat and/or rib cartilage section between the first target rib and the second target rib.

Thus, a method and a device are provided which allow, inter alia, a fully automated separation of the suspended semi-carcasses into the front end section, the intermediate section and the back legs. Furthermore, even when the method is performed at least partially manually, the yield of each part is optimized by allowing an accurate cut along the muscle contour or along the ribs.

Drawings

Embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which,

fig. 1 is a schematic side view showing a semi-carcass suspended on an overhead transfer system according to an embodiment of the invention;

fig. 2 is a schematic side view showing the carcass half after a first cut has been made at the datum point between the 3 rd and 4 th ribs;

fig. 3 is a schematic side view showing the carcass half after a first cut has been made and ready for a second cut;

fig. 4 is a schematic side view showing the carcass half after the second cut has been made and the leading end has been separated from the rest of the carcass.

Detailed Description

With reference to fig. 1, advantageously, the eviscerated and cleaned, pig's half-carcasses 10 are suspended on a carrier 15 of an overhead transport system 20. The transport system is depicted as a simple single hook conveyor system but may be any type of overhead transport system suitable for carrying and transporting the carcass halves of pigs with any type of suitable carrier. There are several suitable known transport systems that may be used and are known to those skilled in the art.

The half-carcass 10 is suspended on the carrier 15 via the aperture 18 in the hind leg 25 of the carcass. The carcass halves have freely hanging forelegs 30. The carcass half has a spine section 35, which spine section 35 is visible after the entire carcass has been opened along the spine in a previous operation (not shown). Furthermore, several ribs are visible in the rib region 40.

To start processing the carcass part, at least one characteristic property of the carcass half 10 is detected, for example using a detection device 50. The detection device 50 may include one or more of the following components:

a laser scanner for scanning and generating three-dimensional image data of one and/or both sides of the carcass 10 of the half pig,

a digital imaging device for capturing three-dimensional image data of one and/or both sides of a carcass 10 of a half pig, an

An X-ray device for capturing X-ray data indicative of an internal skeletal structure of the carcass 10 of the half pig, the internal skeletal structure including the position of the ribs of the carcass of the half pig.

The acquired data, e.g. X-ray data, may then be processed by the control processing unit 60 to determine a reference point a, which is located on the edge of the pig adjacent to the ribs and thus not adjacent to the spine, as shown. As shown, the scapula 45 is embedded in the muscle mass of the pig adjacent to the spine and the first four ribs and marked with dashed lines.

The reference point a is located based on the identified position and this position is stored in the memory of the control and processing device 60 or this position is marked directly on the pig carcass. The marking may be done using a visible light beam (not shown) or a consumable dye (or any other form of indicator) to, for example, inform the operator where to start the first cut or to inform the automatic cutting device 70 that the automatic cutting device 70 may automatically perform this cut between the 3 rd and 4 th ribs, for example using a robotic arm.

The first cutting is thus performed by a cutting device 70 comprising a cutting blade 75, wherein the cutting blade 75 is configured for cutting through the costal cartilage section between the third and fourth ribs (or the fourth and fifth ribs) up to the scapula 45. The cutting results in the frontal end section 80 comprising the first to the third (or fourth) ribs being partially separated from the remaining ribs of the carcass 10 of the half pig via gravity. Fig. 2 shows the situation after the first cut has been made.

Thereafter, as shown in fig. 3, the separating device 90 carrying the separating blade 95 makes a second cut to break the carcass connection between the fourth rib (or fifth rib) and the scapula and further across the spine 35 of the carcass part of the hog and to the back of the carcass part to separate the front end section 80 from the rest of the carcass 10 of the hog using the first cut as a reference. The scapula comprises cartilage (lunate), and with the method according to the invention, cutting of the scapula or cartilage is avoided when the second cut is made.

For example, the separating blade 95 may be scissors or any other cutting tool that makes a clean cut through the carcass without leaving meat and bone fragments. One articulated mechanical arm may be used for both the cutting device 70 and the separating device 90. The robotic arm changes the tool from the initial cutting blade 75 for the first cut to the subsequent separating blade 95 for the second cut and then back to the initial cutting blade 75 for the next cycle.

Finally, fig. 4 shows the situation when the front end section 80 has been completely separated from the rest of the pig's half-carcass 10 and is falling into a collecting device (not shown) for further processing.

The above description of possible embodiments of the invention should not be construed as limiting the scope of the invention. Factors such as cost, mechanical stability and weight of the components will determine which solution to choose for each situation.

Clause and subclause

Furthermore, a method of processing a carcass part of a hog being at least partially freely suspended on a carrier and a device for processing a carcass part of a hog being at least partially freely suspended on a carrier are proposed below according to the following clauses, which clauses can be combined with any of the preceding claims and/or with any of the appended claims:

1. a method of processing a carcass part of a hog carcass that is at least partly freely suspended from a carrier that engages with a leg part of the carcass part of the hog, the method comprising:

detecting at least one characteristic property of the carcass part of the hog, including the position of the ribs of the carcass part,

identifying the positions of adjacent first and second target ribs, and based on the identified positions,

cutting between the first target rib and the second target rib by the cutting device,

2. the method according to clause 1, wherein the adjacent first and second target ribs comprise a third rib and a fourth rib, wherein the cutting is performed up to the tip of the scapula, the cutting resulting in the front end section being partially separated from the remaining ribs of the carcass part of the hog house via gravity.

3. The method according to clause 1, wherein the adjacent first and second target ribs comprise a fourth rib and a fifth rib, the cutting causing the front end section to partially separate from the remaining ribs of the carcass part of the hog house via gravity.

4. The method according to any of the preceding clauses, wherein the method further comprises the steps of:

the front end is cut through the spinal bone with the separating device using the rib cut as a reference, while the middle part of the carcass part is separated from the carcass front.

5. Method according to any of the preceding clauses, wherein detecting at least one characteristic property of the carcass part of the hog, including the position of the ribs of the carcass part of the hog, is performed by a detection device.

6. The method of clause 5, wherein the detection device includes one or more of the following components:

a laser scanner for scanning and generating three-dimensional image data of one and/or both sides of the carcass part of the half pig,

a digital imaging device for capturing three-dimensional image data of one and/or both sides of a carcass part of a half-pig, and

an X-ray device for capturing X-ray data indicative of an internal skeletal structure of the carcass part of the pig, including the positions of the ribs and scapulae of the carcass part of the pig.

7. The method of clause 5 or 6, further comprising processing the detected data using a processing unit connected to the detection device to determine the locations of the first and second target ribs.

8. The method of any of clauses 2, 3, 5-7, further comprising operating, by the processing unit, a cutting device to automatically cut between the first target rib and the second target rib.

9. The method according to any of clauses 2, 3, 5 to 7, further comprising operating the separating device by the processing unit to automatically cut the leading end from the middle part of the carcass part of the semi-carcass part by cutting through the spinal bone using the rib cut as a reference.

10. The method of any one of the preceding clauses wherein the separation device is selected from one or more of the following components:

scissors, or

And (6) sawing.

11. A device for processing a carcass part of a hog carcass that is at least partly freely suspended from a carrier that engages with a leg part of the carcass part of the hog, the device comprising:

a detection unit for detecting at least one characteristic property of the carcass part of the pig, including the position of the ribs of the carcass part of the pig,

identification means for identifying the position of the adjacent first and second target ribs, an

A cutting device for cutting between the first and second target ribs based on the identified position, the cutting resulting in the front end section being partially separated from the remaining ribs of the carcass part of the hog house via gravity.