CUTTING DEVICE FOR SPLITTING AN ANIMAL CARCASS IN HALF AND ROBOT INCORPORATING SUCH CUTTING DEVICE

Abstract

The present invention relates, according to a first aspect, to a tool for cutting in half a carcass of a slaughtered animal, preferably of a bovine animal, in a fully automated manner. The cutting tool of the present invention incorporates in the cutting tool itself two different guiding mechanisms: an inner follower mechanism of the carcass capable of following the inner side of the carcass during the cutting process, and an outer follower mechanism of the carcass capable of following the outer side of the carcass during the cutting process, which substantially improve the accuracy of the cutting process and eliminate any type of manual action when cutting or guiding the part.

It also relates, according to a second aspect, to a robot comprising said cutting tool.

Claims

1. A cutting tool for cutting a meat piece carcass into two halves, wherein the carcasses are suspended hanging from their legs, wherein the cutting tool is made to be coupled to a robot, and wherein the cutting tool by comprises: a frame, configured to be connected to a robot arm, a cutting unit configured for cutting the carcass in two halves by means of a longitudinal cut, an actuating unit configured for actuating the cutting unit, a guiding unit configured for guiding the carcass during a cutting process, comprising: an inner follower mechanism of the inner side of the carcass, configured to follow the inner side of the carcass during the cutting process, and an outer follower mechanism of the outer side of the carcass, configured to follow the outer side of the carcass during the cutting process.

2. A cutting tool according to claim 1, wherein the inner follower mechanism of the carcass comprises at least the following elements: an arm articulated at its upper end to a point on the frame, a first actuating unit configured for actuating the articulated arm, an inner side support, which is articulatedly fastened at the lower end of the articulated arm, a second actuating unit configured for rotating the inner side support, one or more inner side rollers connected to the inner side support, where the one or more inner side rollers is (are) configured to guide the ventral part of the carcass.

3. A cutting tool according to claim 1, wherein the outer follower mechanism of the carcass comprises at least the following elements: an upper tilting arm for supporting one or more upper outer side rollers, where the upper tilting arm tilts with respect to a common articulation axis disposed at a point of the frame, one or more upper outer side rollers for upper guidance of the dorsal part of the carcass, wherein one or more upper outer side rollers is/are disposed at the free end of the upper tilting arm, a third actuating unit configured for rotating the upper tilting arm, a lower tilting arm for supporting one or more lower outer side rollers, wherein the lower tilting arm tilts with respect to the same common articulation axis of the frame, one or more lower outer side rollers for lower guidance of the dorsal part of the carcass, wherein one or more lower outer side rollers is (are) disposed at the free end of the lower tilting arm, a fourth actuation unit configured for rotating the lower tilting arm.

4. A cutting tool according to claims 2 and 3, wherein one or more elements of the outer carcass guiding mechanism and one or more elements of the inner carcass guiding mechanism are disposed on either side of the frame, to allow the cutting unit to pass through.

5. A cutting tool according to claim 2, wherein the inner side support comprises an extended portion extending in a direction opposite to where the one or more inner side rollers are disposed.

6. A cutting tool according to claim 1, wherein the cutting unit is disposed on the front of the frame and the actuating configured for actuating the cutting unit is disposed on the rear of the frame.

7. A cutting tool according to claim 1, wherein the cutting unit comprises a motorized saw disc.

8. A cutting tool according to claim 1, wherein the actuating unit comprises a motor for rotating the saw disc, a coupling and a transmission for transmitting movement and force from the motor to the motorized saw disc.

9. A cutting tool according to claim 3, wherein the articulation axis common to the upper and lower tilting arms is disposed in a lower part of the frame and the upper and lower tilting arms are disposed in the articulation axis, so that one arm rotates on the inside and the other on the outside.

10. A cutting tool according to claim 2, wherein the articulated arm has two parts spaced apart from each other by a certain distance through which the cutting unit pass.

11. A cutting tool according to claim 2, wherein four inner-side rollers are provided, arranged in pairs, wherein two inner-side rollers are disposed at the same height and the other two inner-side rollers are disposed at a different height on the inner-side support by respective fixing points.

12. A cutting tool according to claim 3, wherein four outer-side rollers, arranged in pairs, are provided, wherein each pair of rollers is disposed at the same height, and wherein the pair of upper rollers is disposed at a point near the free end of the upper tilting arm and the pair of lower rollers is disposed at a point near the free end of the lower tilting arm.

13. A cutting tool according to claim 1, wherein it further includes a laser or optical artificial vision system, configured to provide, before the cutting process is carried out, specific measurements or coordinates of the anatomy of each carcass, to position and adjust the movements and force of the different parts of the cutting tool.

14. A cutting tool according to claim 1, further comprising at the top of the cutting tool a fixing flange for fixing the cutting tool to a free end of a robot arm, and wherein the fixing flange is disposed inclined with respect to the longitudinal axis of the frame of the cutting tool.

15. A robot, comprising a support base on which one or more articulated arms are disposed, wherein the robot comprises, mounted at a free end of an articulated arm, a cutting tool comprising: a frame connected to one of said articulated arms, a cutting unit configured for cutting the carcass in two halves by means of a longitudinal cut, an actuating unit configured for actuating the cutting unit, a guiding unit configured for guiding the carcass during a cutting process, comprising: an inner follower mechanism of the inner side of the carcass, configured to follow the inner side of the carcass during the cutting process, and an outer follower mechanism of the outer side of the carcass, configured to follow the outer side of the carcass during the cutting process, and wherein the articulated arm presents a spatial movement of its free end with six degrees of freedom.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to better understand the description made, a set of drawings has been provided which, schematically and solely by way of non-limiting example, represent a practical example of embodiment of this invention.

[0059] FIG. 1 shows a perspective view of the robot object of the invention where the cutting tool is mounted at its free end, and where the carcass has not been depicted.

[0060] FIG. 2 shows a perspective view of the cutting tool of FIG. 1 and wherein a small part of the robot arm is illustrated.

[0061] FIG. 3 shows another view in a different perspective of the cutting tool of FIG. 1.

[0062] FIGS. 4 to 7 show, respectively, different side elevation views of the robot with the cutting tool of FIGS. 1 to 3 at different times in the process of cutting the carcass.

[0063] FIG. 8 shows a schematic of the structure and movements of the internal follower mechanism of the carcass.

[0064] FIG. 9 shows a schematic of the structure and movements of the outer follower mechanism of the carcass.

[0065] FIG. 10 shows a perspective view of the outer follower mechanism of the carcass object of the present invention in a specific position of the two tilting arms.

[0066] FIG. 11 shows a side elevation view of the outer follower mechanism of the carcass object of the present invention in a specific position of the two tilting arms.

[0067] FIG. 12 shows a side elevation view of the inner side follower mechanism of the carcass object of the present invention.

[0068] FIG. 13 shows a front elevation view of the inner side follower mechanism of the carcass object of the present invention.

DESCRIPTION OF A PREFERRED EMBODIMENT

[0069] A preferred embodiment of the cutting tool 1 and the robot is described below with reference to FIGS. 1 to 13.

[0070] FIG. 1 shows a preferred practical embodiment of the robot 20, with the cutting tool 1 disposed at the upper free end of the robot arm. The robot 20 is placed on a bench (not shown in FIG. 1) that allows the robot to settle in a specific fixed position and at a required height according to the specific characteristics of the factory where it is installed. The robot 20 has a flat base 25 and arms 21, 22 articulated by the action of one or more servomotors 23, 24, which allow the cutting tool 1 to be positioned and displaced in the desired spatial positions (x.sub.i, y.sub.i, z.sub.i, ?.sub.i, ?.sub.i, ?.sub.i). The cutting tool 1 is removably mountable at the free end of the upper robot arm 22 of the robot 20, thus allowing an attachment that is stable and easy to assemble/disassemble. With this advantageous configuration in a robot arm, the cutting tool 1 is able to be positioned, in an automated way, at any point in three-dimensional space.

[0071] FIGS. 2 and 3 show in detail the cutting tool 1 of FIG. 1 at two different angles. The frame 3 can be seen extending in an upper longitudinal direction and also in a lower vertical direction. Also shown is the motorized saw disk 5 for cutting the carcass 30 in two halves, arranged in a front position of the frame 3, and the motor 4 of rotation of the motorized saw disk 5, arranged in a rear position of the frame 3. Also shown is the fixing flange 2, located at the top of the cutting tool 1, which is inclined (by 30 degrees approximately) with respect to the longitudinal axis X of the frame 3 of the cutting tool 1. FIG. 2 also illustrates a part of the robot arm 20 where the fixing flange 2 of the cutting tool 1 is fixed.

[0072] FIGS. 2 and 3 also show a possible configuration of the inner follower mechanism of the carcass 30, which is formed by the following elements: [0073] an articulated arm 8, formed by two parts that are disposed on both sides of the frame 3, where both parts are articulated by the same axis of articulation ea1 disposed on the upper part of the frame 3, [0074] a first pneumatic cylinder 7 for actuating the articulated arm 8, [0075] an inner roller support 10, formed by two wings 10, 10, spaced apart, which are disposed on each side of the frame 3, articulated by an articulation axis ea disposed at the lower end of the two parts of the articulated arm 8, and in this case the inner roller support 10 also incorporates an extended portion 13 extending in the opposite direction to the inner side rollers 12a, 12b, [0076] a second pneumatic cylinder 11 for rotation of the inner roller support 10, and [0077] four inner side rollers: two upper rollers 12a right, 12a left, and two lower rollers 12b right, 12b left, connected to different heights of the inner side support 10 in an area of the support 10 opposite to where the extended portion 13 extends, and where each pair of left rollers 12a left, 12b left and 12a right, 12b right is fastened to a different wing 10, 10 of the inner side support 10.

[0078] The movement, in a schematic way, of the inner follower mechanism of the carcass 30 is depicted in FIG. 8, where the first pneumatic cylinder 7 (with its respective flow regulators) that actuates the articulated arm 8, and shows the arm 8 articulated above on an articulation axis ea1 and on whose lower part the support 10 articulated on the lower part of the arm 8 by the articulation axis ea2 is fixed. The second pneumatic cylinder 11 (with respective flow regulators) that actuates the support 10 is disposed in said second axis of articulation ea2. Two of the upper and lower rollers of the support 10 are shown.

[0079] The lower part of the inner follower mechanism of the carcass 30 is shown in detail in FIGS. 12 and 13. FIGS. 12 to 13 show a possible geometry with a possible configuration of the four inner rollers 12a left, 12b left, 12a right, 12b right, without this configuration being limiting. FIG. 12 shows that the extended portion 13 presents a slight upward inclination and ends in the form of a tip. FIG. 13 shows the two wings 10, 10 of the inner roller support 10 and the two double rollers 12a left, 12b left and 12a right, 12b right fixed at four different fixing points on these two wings 10, 10. The four inner rollers 12a left, 12b left, 12a right, 12b right have a taper that decreases in the inward direction. FIG. 13 shows the fixing point pfa to the right upper roller support 12a right and the fixing point pfb to the right lower roller support 12b right, as well as the articulation axis ea2 of the support 10.

[0080] Also shown in FIGS. 2 and 3 is the outer follower mechanism of the carcass 30 formed by the following elements: [0081] an upper tilting arm 14 for supporting two upper outer side rollers 16 right, 16 left, wherein the first upper tilting arm 14 tilts with respect to a common articulation axis disposed at a lower point of the frame 3, [0082] two upper outer side rollers 16 right, 16 left for the upper guidance of the dorsal part of the carcass 30, wherein the two upper outer side rollers 16 right, 16 left are disposed at respective fixing points at the free end of the upper tilting arm 14, [0083] a third pneumatic cylinder 17 for rotation of the upper tilting arm 14, [0084] another lower tilting arm 18 for supporting two lower outer side rollers 20 right, 20 left, wherein the lower tilting arm 18 tilts with respect to the same common articulation axis 15 of the frame 3, [0085] two lower outer side rollers 20 right, 20 left for the lower guidance of the dorsal part of the carcass, wherein said lower outer side rollers 20 right, 20 left are disposed at respective fixing points at the free end of the lower tilting arm 18, and [0086] a fourth pneumatic cylinder 21 for rotation of the lower tilting arm 18.

[0087] As can be seen in the embodiment of FIGS. 2 and 3, the first pneumatic cylinder 7 is disposed in an advanced position with respect to the articulated arm 8, which is advantageous for the stability of all the components of the cutting tool 1.

[0088] FIG. 9 shows schematically the movement of the outer follower mechanism of the carcass 30, wherein the third pneumatic cylinder 17 (with its respective flow regulators) that actuates the upper tilting arm joint 14 and the fourth pneumatic cylinder 21 (with its respective flow regulators) that actuates the lower tilting arm joint 18 are seen. FIG. 9 also shows how both tilting arms 14 and 18 tilt with respect to a same axis of articulation 15.

[0089] FIGS. 10 and 11 show in detail the outer follower mechanism of the carcass 30, wherein the two tilting arms (upper 14 and lower 18) and the two pneumatic or electric cylinders 17 and 21 and also the common articulation axis 15 are observed. FIG. 10 also shows the geometry of the upper outer side rollers 16 and lower rollers 20. In this possible specific embodiment of the invention, the two lower outer side rollers 20 have a larger diameter compared to the two upper outer side rollers 16 and the separation between the left and right rollers of the lower outer side double roller 20 is greater than the separation between the left and right rollers of the upper outer side double roller 16. The common articulation axis 15 is disposed at one end of each tilting arm 14, 18, where one of the arms 14, 18 rotates on the inside and the other on the outside.

[0090] FIGS. 4 to 7 show a possible robot 20 with a preferred embodiment of the cutting tool 1 at different times of the cutting process of a beef carcass 30. In said FIGS. 4 to 7 a part of the bench 19 on which the base 25 of the robot 20 is mounted has been represented.

[0091] As long as the cutting process takes place, the carcass 30 remains hanging from its two legs in an upside-down position, and it is the cutting tool 1 and the robot arm that approach said carcass 30 and cut it in half, from top to bottom. Generally, the carcasses 30 to be cut circulate through a carousel (not shown in the figures), where there is a space between each carcass 30.

[0092] At a time prior to the start of the cutting process, an artificial vision device and other complementary mechanisms (not shown in the accompanying figures) determine, by means of an analysis prior to the cutting process of the carcass 30, to cut different specific values of the anatomy of the carcass 30 of the meat product to be cut. From these measured values a processor outputs the different parameters relating to the positions and/or the speeds and/or accelerations of the cutting tool 1 and of the robot 20 (that is, of its different joints and of the forces of the different cylinders), both in its initial starting position of the cut and during the cutting process.

[0093] At a first moment of the cutting process, as shown in FIG. 4, the cutting tool 1 approaches the carcass 30. In this first approach position the arm 8 is in a substantially horizontal position so that it can pass to the top of the carcass 30. In a second position, shown in FIG. 5 below, the arm 8 is positioned along the back of the carcass 30 and rotates until it reaches the substantially vertical position (shown in FIG. 6). As shown in FIG. 6, when the cutting by the motorized saw 5 has already started, the arm 8 is held in this substantially vertical position face down during the entire longitudinal cutting of the carcass 30. Finally in FIG. 7, which is a final moment of descent where the entire carcass 30 has already been cut into two half-carcasses (not shown), it is seen how the arm 8 is kept in this same substantially vertical position face down and the rollers of the inner and outer side next to each other. FIGS. 6 and 7 show different positions of the two tilting arms 14, 18 of the outer follower mechanism, since when following the irregular surface of the back of the carcass 30 they gradually adapt to the different curvatures and irregularities of the surface of the animal.

[0094] Although reference has been made to a specific embodiment of the invention, it is clear to a person skilled in the art that the cutting tool and robot provided with said cutting tool described above are subject to numerous variations and modifications, and that all the details mentioned may be replaced by others technically equivalent, without departing from the scope of protection defined by the attached claims.