METHOD AND DEVICE FOR POSITIONING AND/OR HANDLING CARCASSES AND/OR CARCASS PARTS DURING THE SLAUGHTER OF ANIMALS ON AN INDUSTRIAL SCALE

Abstract

The present invention relates to a device for automatically positioning and/or handling a carcass and/or carcass part during the slaughter of animals on an industrial scale and to a device for cutting a carcass and/or carcass part during the slaughter of animals on an industrial scale. The invention also relates to a method for automatically positioning and/or handling a carcass and/or carcass part of a slaughtered animal during the slaughter of animals on an industrial scale as well as a method for automatically cutting a carcass and/or carcass part of a slaughtered animal during the slaughter of animals on an industrial scale.

Claims

1.-25. (canceled)

26. A device for automatically positioning and/or handling and/or transporting a stunned animal or a carcass and/or a carcass part of a slaughtered animal during a slaughter process of animals on an industrial scale, comprising: a controlled first robotic manipulator with at least four axis; at least one suction element and/or at least one mechanical meat gripper for contacting a surface of the stunned animal or carcass and/or carcass part; an extractor connected to the at least one suction element for performing a suction effect in the suction element and/or an actuator connected to the at least one meat gripper for making the meat gripper gripping a part of the stunned animal, the carcass or the carcass part, and at least one controller for controlling the robotic manipulator, the extractor and/or the actuator.

27. The device according to claim 26, further comprising at least one detector for monitoring the position of a stunned animal, a carcass or a carcass part of a slaughtered animal for obtaining information related to the position of at least a part of the stunned animal, the carcass or the carcass part.

28. The device according to claim 26, further comprising a processor for processing information obtained by the at least one detector, the processor being capable of communicating with at least one of: the first robotic manipulator, the extractor, the actuator, the controller and the at least one detector.

29. The device according to claim 26, wherein the first controlled robotic manipulator comprises at least a 5-axis robotic manipulator.

30. The device according to claim 26, comprising at least two suction elements and/or mechanical meat grippers, such as at least two suction elements, or at least two mechanical meat grippers, or at least one suction element and at least one mechanical meat gripper.

31. The device according to claim 26, wherein the at least one suction element comprises at least one flexible cup or at least a flexible rim to contact the surface of the stunned animal or carcass or carcass part.

32. The device according to claim 26, further comprising a suction element carrying frame holding the at least one suction element, which suction element carrying frame is attached to the first robotic manipulator.

33. The device according to claim 26, wherein the device also comprises a cleaning tool for cleaning the suction elements and/or the meat grippers.

34. A transporting system for transporting stunned animals, carcasses and/or carcass parts during the slaughtering process of animals on an industrial scale, where the transporting system comprises at least one positioning and/or handling device according to claim 26.

35. The transporting system according to claim 34, wherein the transporting system further comprises an overhead conveyor system for carrying stunned animals or carcasses and/or carcass parts suspended from the hind legs on moveable hooks connected to the overhead conveyor system.

36. The transporting system according to claim 34, wherein the transporting system further comprises a conveyor belt.

37. A cutting device for automatically cutting a carcass and/or carcass part of a slaughtered animal during the slaughtering process of animals on an industrial scale, the cutting device comprising: a positioning and/or handling and/or transporting device or a transporting system both according to claim 34, and at least one cutting blade.

38. The cutting device according to claim 37, wherein the at least one cutting blade are carried by a controlled cutting blade drive.

39. The cutting device according to claim 38, wherein the controlled cutting blade drive is a second robotic manipulator.

40. The cutting device according to claim 39, wherein the second controlled robotic manipulator comprises at least a 1-axis robotic manipulator.

41. A cutting assembly of a cutting device according to claim 37, the assembly further comprising a transporting system for carrying the carcasses and/or carcass parts.

42. The cutting assembly according to claim 41, wherein the transporting system comprises an overhead conveyor system with moveable hooks for carrying carcasses and/or carcass parts suspended from the hind legs.

43. A method for automatically positioning and/or handling and/or transporting a stunned animal or a carcass and/or a carcass part of a slaughtered animal during the slaughtering process of animals on an industrial scale, comprising the steps: a) providing a stunned animal or a carcass and/or a carcass part of a slaughtered animal; b) bringing at least one suction element and/or at least one mechanical meat gripper in contact with a surface of the stunned animal or carcass and/or carcass part, where the at least one suction element and/or at least one mechanical meat gripper is controlled by at least one robotic manipulator with at least four axis; and c1) activating an extractor for locking the at least one suction element to the surface of the stunned animal or of the carcass and/or carcass part by creating an under pressure in the at least one suction element and/or c2) activating an actuator for locking the at least one mechanical meat gripper to the surface of the stunned animal or of the carcass and/or carcass part, d) hereby positioning and/or handling the stunned animal or the carcass and/or the carcass part.

44. The method according to claim 43, wherein step d) further comprising the step of pulling or pressing or lifting the stunned animal or the carcass and/or the carcass part.

45. The method according to claim 43, wherein during processing step b) plural suction elements and/or plural mechanical meat grippers at various locations are brought in contact with the surface of the stunned animal or the carcass and/or the carcass part; and that during processing step c) the suction elements and/or mechanical meat grippers are locked in their relative mutual positions of contact with the surface of the stunned animal, the carcass and/or the carcass part.

46. The method according to claim 43, wherein before bringing the at least one suction element and/or the at least one mechanical meat gripper in contact with a surface of the stunned animal, the carcass and/or the carcass part according to processing step b) at least one position of the stunned animal or the carcass and/or carcass part contacted by the at least one suction element and/or meat gripper is automatically detected and the resulting position information is used to the control the movement of the at least one suction element and/or meat gripper.

47. A method for automatically cutting a carcass and/or carcass part of a slaughtered animal during the slaughter of animals on an industrial scale, comprising the steps: positioning a carcass and/or carcass part according to claim 43; and cutting a positioned carcass and/or carcass part with a cutting knife.

48. The cutting method according to claim 47, wherein the carcass and/or carcass part is cut with a rotating cutting blade.

49. The cutting method according to claim 47, wherein at least one suction element and/or at least one mechanical meat gripper is in contact with a surface area of a part of the carcass and/or carcass part which is to be cut off.

50. The cutting method according to claim 49, wherein the at least one suction element and/or mechanical meat gripper is in contact with the surface area of a part of the carcass and/or carcass part which is to be cut off at least until the cut has been performed, and optionally until the cut off part is positioned in a predetermined location such as on a conveyor belt.

Description

[0076] The present invention will be further elucidated with reference to the non-limitative embodiments in the following figures. Herein:

[0077] FIG. 1 shows a perspective view on a positioning device according the present invention;

[0078] FIG. 2 a detailed perspective view on a suction element for contacting a surface of the carcass and/or carcass part as part of positioning device according the present invention;

[0079] FIG. 3 a detailed perspective view on an alternative embodiment of a suction element as shown in FIG. 2,

[0080] FIG. 4 a schematic view on a positioning device according the present invention including a cutting device operation on a hanging pig carcass;

[0081] FIG. 5 a detailed perspective view on a suction element contacting a pig carcass in combination with a loin puller; and

[0082] FIG. 6 illustrates communication between items in a possible setup of a system according to the invention.

[0083] FIG. 1 shows a positioning device 1 for positioning a carcass of a slaughtered animal (not show here) comprising a robotic manipulator 2 in the form of a robot arm; having at least four, such as six degrees of freedom. The robotic manipulator 2 holds a carrying frame 3 that holds a suction element 4. A duct 5 is on one side coupled to the suction element 4 which duct 5 on the opposite side connect to an extractor (extraction system) 6 that is here represented schematically.

[0084] FIG. 2 shows the suction element 4 in more detail. A rim 7 of the suction element is embodied as a highly flexible outer border to adapt to the shape of a carcass part to be contacted such that the suction element 4 may be gas-tight connect onto the meat surface. Via apertures 8 in the suction element 4 gas may be sucked out of the suction element 4, to—when in contact with the meat surface—create an under pressure in the internal volume 9 of the suction element 4. In the suction element 4 are spikes 10 fixed to control the position of the suction element 4 towards the meat surface contacted.

[0085] FIG. 3 shows a perspective view on an alternative embodiment of a suction element 10 having two separate compartments 11, 12. The compartments 11, 12 of the suction element 10 are integrated in a frame 13, with two hinged moveable frame parts 14, 15.

[0086] In FIG. 4 a positioning device 20, with robotic manipulator 21, carrying frame 22 and suction element 23 is cooperating with a meat cutter 24. The suction element 23 gripping the shoulder of a pig carcass 25 that is hanging with its hind leg 26 on a hook 27 of an overhead transport system 28. The positioning device 20 controls the position of the carcass 25 to enable the controlled meat cutter 24 to cut a part off the carcass 25 with rotating knives 29. After cutting off a carcass part (shoulder) this part is still gripped by the positioning device 20 enabling a controlled further removal of the loosened carcass part. The first robotic manipulator 21 is shown positioned on the floor, but may also be hanging as the second robotic manipulator, here illustrated by the meat cutter 24. A conveyor, such as a conveyor belt, may be located below and/or beside the system, and below a height above the floor, where the cutting is performed.

[0087] FIG. 5 shows an alternative operation on a hanging pig carcass 30 than shown in FIG. 4. Here again robotic manipulator 21, carrying frame 22 and suction element 23 are fixating the position of the hanging pig carcass 30 but now in cooperation with a spine extractor 31. Also the spine extractor 31 is a positioning device according the present invention as it comprises a suction element 32 held by a frame 33 that is moved by a robotic manipulator 34.

[0088] FIG. 6 shows communication between items in a possible setup of a cutting system according to the invention. Most of the items are also illustrated in FIG. 4. Indicated is a controller 36 and CPU or processor 35 receiving data from or being in communication with [0089] at least one upstream computer/controller/detector/processor 37, suitable to communication information obtained upstream or information based on information obtained upstream, such as information related to a carcass or carcass part to be handled in the system, [0090] a transport system 28, such as an overhead transport system, [0091] a detector 38, such as a vision system, [0092] a cutting blade drive 39, such as a second robotic manipulator, [0093] a cutting blade 29, such as a knife or a saw, [0094] at least one extraction system 6 for a suction element 23 or at least one mechanical meat gripper 40, [0095] a first robotic manipulator for controlling at least one suction element 23 or at least one meat gripper 40 [0096] optionally, a conveyor belt 41.

[0097] The controller 36 and CPU or processor 35 may be integrated in one item. In some systems the upstream computer/controller/detector/processor 37 and/or transport system 28 may not be present, and/or the cutting blade 29 and cutting blade drive 39 may be replaced with other tools for handling positioned carcasses or carcass parts.

EMBODIMENTS

[0098] Embodiment 1. Device for automatically positioning and/or handling a carcass and/or carcass part of a slaughtered animal during the slaughter of animals on an industrial scale, comprising: [0099] a controlled robotic manipulator; [0100] at least one suction element for contacting a surface of the carcass and/or carcass part; [0101] a suction element carrying frame holding the at least one suction element, which suction element carrying frame is attached to the robotic manipulator; and [0102] an extractor connected to the at least one suction element.

[0103] Embodiment 2. Positioning device according to embodiment 1, characterised in that the positioning device comprises at least two suction elements for contacting a surface of the carcass and/or carcass part.

[0104] Embodiment 3. Positioning device according to embodiment 1 or 2, characterised in that the at least one suction element comprises at least one flexible cup.

[0105] Embodiment 4. Positioning device according to any of the preceding embodiments, characterised in that the suction element carrying frame is provided with plural mutual moveable suction element holding arms.

[0106] Embodiment 5. Positioning device according to embodiment 4, characterised in that the suction element holding arms are mutually resiliently attached to the suction element carrying frame.

[0107] Embodiment 6. Positioning device according to any of the preceding embodiments, characterised in that the device also includes at least one detector for monitoring the position of a carcass or carcass part of a slaughtered animal.

[0108] Embodiment 7. Positioning device according to any of the preceding embodiments, characterised in that the device also comprises a cleaning tool for cleaning the suction elements.

[0109] Embodiment 8. Positioning device according to any of the preceding embodiments, characterised in that the device also comprises a mechanical meat gripper.

[0110] Embodiment 9. Transporting system for transporting carcasses and/or carcass parts during the slaughter of animals on an industrial scale, including a positioning device according to any of the preceding Embodiments.

[0111] Embodiment 10. Transporting system according to embodiment 9, characterised in that the transporting system comprises an overhead conveyor system carrying carcasses and/or carcass parts suspended from the hind legs on moveable hooks.

[0112] Embodiment 11. Transporting system according to embodiment 9 or 10, characterised in that the transporting system comprises a conveyor belt.

[0113] Embodiment 12. Cutting device for automatically cutting a carcass and/or carcass part of a slaughtered animal during the slaughter of animals on an industrial scale, comprising a positioning device according one of the embodiments 1-8 and at least one cutting blade carried by a controlled cutting blade drive.

[0114] Embodiment 13. Cutting device according to embodiment 12, characterised in that the controlled cutting blade drive is a second robotic manipulator.

[0115] Embodiment 14. Cutting assembly of a cutting device according to embodiment 12 or 13, the assembly further comprising a transporting system for carrying the carcasses and/or carcass parts.

[0116] Embodiment 15. Cutting assembly according to any of the embodiments 12-14, characterised in that the transporting system comprises an overhead conveyor system with moveable hooks for carrying carcasses and/or carcass parts suspended from the hind legs.

[0117] Embodiment 16. Method for automatically positioning and/or handling a carcass and/or carcass part of a slaughtered animal during the slaughter of animals on an industrial scale, comprising the steps: [0118] a) providing a carcass and/or carcass part of a slaughtered animal; [0119] b) bringing the at least one suction element in contact with a surface of the carcass and/or carcass part; and [0120] c) locking the at least one suction element to the surface of the carcass and/or carcass part by creating an under pressure in the at least one suction element.

[0121] Embodiment 17. Method according to embodiment 16, characterised in that during processing step b) plural suction elements at various locations are brought in contact with the surface of the carcass and/or carcass part; and that during processing step c) the suction elements are locked in their relative mutual positions of contact with the surface of the carcass and/or carcass part.

[0122] Embodiment 18. Method according to embodiment 16 or 17, characterised in that before bringing the at least one suction element in contact with a surface of the carcass and/or carcass part according processing step b) the at least one position of the carcass and/or carcass part contacted by the at least one suction element is automatically detected and the resulting position information is used to the control of the movement of the at least one suction element.

[0123] Embodiment 19. Method for automatically cutting a carcass and/or carcass part of a slaughtered animal during the slaughter of animals on an industrial scale, comprising the steps: [0124] positioning a carcass and/or carcass part according to any of the embodiments 14-16; and [0125] cutting a positioned carcass and/or carcass part with a cutting knife.

[0126] Embodiment 20. Cutting method according to embodiment 19, characterised in that the carcass and/or carcass part is cut with a with a rotating cutting blade.