[go: up one dir, main page]

WO2003096814A1 - Procede et dispositif pour la desinsertion des membres sur les carcasses d'animaux - Google Patents

Procede et dispositif pour la desinsertion des membres sur les carcasses d'animaux Download PDF

Info

Publication number
WO2003096814A1
WO2003096814A1 PCT/NZ2003/000091 NZ0300091W WO03096814A1 WO 2003096814 A1 WO2003096814 A1 WO 2003096814A1 NZ 0300091 W NZ0300091 W NZ 0300091W WO 03096814 A1 WO03096814 A1 WO 03096814A1
Authority
WO
WIPO (PCT)
Prior art keywords
hindquarter
section
knife
force
legs
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/NZ2003/000091
Other languages
English (en)
Inventor
Richard James Aimers
Andrew Robert Arnold
Richard Glenn Le Masurier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ROBOTIC TECHNOLOGIES Ltd
Scott Technology Ltd
Original Assignee
ROBOTIC TECHNOLOGIES Ltd
Scott Technology Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ROBOTIC TECHNOLOGIES Ltd, Scott Technology Ltd filed Critical ROBOTIC TECHNOLOGIES Ltd
Priority to AU2003228170A priority Critical patent/AU2003228170A1/en
Priority to NZ536588A priority patent/NZ536588A/en
Publication of WO2003096814A1 publication Critical patent/WO2003096814A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22B—SLAUGHTERING
    • A22B5/00—Accessories for use during or after slaughtering
    • A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
    • A22B5/0029—Cutting through or detaching portions of a carcass
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22B—SLAUGHTERING
    • A22B5/00—Accessories for use during or after slaughtering
    • A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
    • A22B5/0041—Electronic, robotic or computer assisted cutting, dividing or deboning carcasses
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22B—SLAUGHTERING
    • A22B5/00—Accessories for use during or after slaughtering
    • A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
    • A22B5/0058—Removing feet or hooves from carcasses

Definitions

  • This invention relates to a method for removing the hind legs from an animal carcass and an apparatus for performing the method.
  • the invention relates to the removal of the hind legs from the aitch bone of a sheep or cattle carcass using a combination of mechanical force and cutting with a robotically controlled knife.
  • Robotic machinery incorporating a cutting knife is well known in the meat processing industry.
  • many such robotically controlled knives are able to accurately follow a bone profile to efficiently remove the maximum amount of meat and fat from the bone.
  • Certain robots do this by continuously or intermittently measuring the force applied to the knife as it cuts through the animal carcass. An increase in force by a known amount will indicate contact between the knife and bone and the robot will then know to adjust the angle of cutting so as to follow the profile of the bone.
  • PCT/GB90/01511 (published as WO 91/04670) describes one such robotic cutting device where the sensing of force and torque is used to vary the cutting path for each carcass cutting operation.
  • the travel direction of the cutter is adjusted to maintain a substantially constant force so that when the cutter encounters bone the force on the knife increases and the cutting path is then adjusted. This is repeated in an iterative process to produce a cutting that avoids contact with bone.
  • the inventors for this application have now found that the exertion of a mechanical force to the legs of the hindquarter section of an animal carcass, in combination with cutting of tendons, to pull the legs from the aitch bone of the hindquarter section, where the cutting path is controlled by determining the size of the hindquarter section and by sensing the forces on the cutting knife and on the legs of the hindquarter section, is an efficient method for removing the legs from the hindquarter section.
  • a method of removing the hind legs from the aitch bone of a hindquarter section of an animal carcass including: a) holding the hindquarter section by, or in the region of, its rectal cavity; b) exerting a force on each leg of the hindquarter section to spread the legs apart from each other; c) sensing the location of at least one part of the hindquarter section and measuring at least one dimension of the hindquarter section to determine the size of the hindquarter section; d) cutting meat and tendons from the aitch bone using a knife connected to a robotic arm, where the movement and orientation of the knife is controlled by sensing the force on the knife and sensing the force applied to spread the legs apart from each other so that the meat and tendons are cut close to the bone without cutting the bone; and e) pulling each leg from the hindquarter section.
  • any location on the hindquarter section may be sensed for the purpose of part c), it is preferred that the location is the top of the aitch bone.
  • the dimension of the hindquarter section in part c) is preferably determined by measuring the distance the knife must travel to reach a location on the hindquarter section.
  • the dimension of the hindquarter section in part c) may be the length of one of the legs.
  • the force on the knife is sensed using a load cell or by servo torque sensing.
  • the force applied to spread the legs apart is preferred to be sensed by a pressure sensor on one or more pneumatic cylinders or by servo torque sensing.
  • the method of the invention preferably includes a computer processor to control the movement and orientation of the knife to form a cutting path.
  • information is inputted into the computer processor and used to determine a preferred cutting path, where the information includes at least one of: 1) the location of at least one part of the hindquarter section
  • the force on the knife and the force applied to spread the legs apart from each other are used in conjunction by the computer processor to determine the cutting path.
  • Any animal of suitable size and anatomy may be used in the invention, although preferred animals are sheep, cattle beast, deer, or goats.
  • an apparatus for removing the hind legs from the aitch bone of the hindquarter section of an animal carcass including: a) a holding means adapted for holding the hindquarter section in, or in the region of, its rectal cavity; b) a pair of spreader bars where, in use, each bar contacts a leg of the hindquarter section and where the spreader bars are capable of movement to spread apart the legs of the hindquarter section; c) a knife connected to a robotic arm for cutting meat and tendons from the aitch bone; d) a means for adjusting the movement and orientation of the knife; e) one or more sensors for sensing the force on the knife; and f) one or more sensors for sensing the force on the spreader bars.
  • the holding means includes a locator and a clamp where the locator inserts within the rectal cavity of the hindquarter section and the clamp firmly contacts the exterior of the hindquarter section to hold the section firmly to the locator. More preferably, the locator is expandable once inserted within the rectal cavity to assist holding of the hindquarter section.
  • Each spreader bar preferably has a pin attached near to its distal end and the size of each pin is suitable for insertion through a hock at the end of each leg.
  • the knife has an elongate blade which rotates about its longitudinal axis when in use.
  • the means for adjusting the movement and orientation of the knife is preferably a computer processor in communication with the robotic arm.
  • the knife has a flexible blade or the knife is flexibly connected to the robotic arm to assist movement of the knife without cutting into the bone of the hindquarter section.
  • the one or more sensors for sensing the force on the knife is a load cell or is a servo torque sensor.
  • the load cell may be located in the connection between the knife and the robotic arm.
  • the servo torque sensor is typically a servo motor connected to the robotic arm capable of sensing torque.
  • the one or more sensors for sensing the force on the spreader bars is a pressure sensor on one or more pneumatic cylinders or is a torque sensor.
  • Figure 1 is a perspective view of an apparatus of the invention.
  • Figure 2 is a perspective view of the apparatus of Figure 1 showing a hindquarter section before cutting.
  • Figure 3 is a perspective view of the apparatus of Figure 1 showing a hindquarter section after cutting.
  • Figure 4 is a perspective view o ⁇ an apparatus of the invention mounted on a supporting structure.
  • Figure 5 is a front view of the apparatus of Figure 4.
  • Figure 6 is a cross-sectional view taken along A-A of Figure 5.
  • the cutting knife is guided accurately along a cutting path to maximise the removal of high value meat with the legs and to minimise the loss of meat with the aitch bone.
  • the cutting operation penetrates sufficiently to sever tendons and membranes without penetrating so deeply as to cut bone chips or other unwanted material into the leg meat.
  • the invention uses both pre-emptive and corrective adjustments to establish an accurate and efficient cutting path.
  • Pre-emptive adjustments are enabled by taking measurements at specific locations on the hindquarter section and are used to predict likely bone size and shape. The measurements are used to calculate a cutting path that closely matches the bone structure of the hindquarter section being worked. At certain segments of the cutting operation, load sensing is used to detect the exact location of a bone surface, and to immediately correct the cut path. Corrective adjustment alone is accurate but slow. Pre-emptive adjustment is fast but less accurate. The best results are therefore obtained with a combination of both methods.
  • itch bone is intended to mean that part of the hindquarter section remaining after the legs have been removed and includes the pelvic bone and the tail bone.
  • the dimension of the hindquarter section measured may be the distance the knife must travel to reach a location on the hindquarter section, or may be the length of one of the legs, or may be any other suitable dimension.
  • the location of the hindquarter section sensed may be, although is not limited to, the top of the aitch bone.
  • Movement of the knife means movement from one 3-dimensional location to another, whereas orientation of the knife means rotation about the longitudinal axis of the knife.
  • the force on the knife as it moves through a cutting path is typically in the range of 10 to 50 kN.
  • the force on the spreader bars when spreading the legs of the hindquarter section apart is typically in the range of 5 to 600 kN.
  • Any animal may be suited for application of this invention where it is desirable to remove legs from a hindquarter section of the animal.
  • Such animals include, but are not limited to, sheep, cattle beasts, deer, and goats.
  • the invention is also suited to lambs. A lamb is a sheep under approximately 1 year old.
  • the leg removal apparatus (1) has a pair of spreader bars (2) each of which has a pin (3) located near the distal ends of the spreader bars (2).
  • Each pin (3) is of a suitable length and diameter to insert into the hocks (4) of the legs (5) of a hindquarter section (6) (as shown in Figure 2).
  • Each spreader bar (2) is connected to an arm (7) and link (18).
  • the arm (7) and link (18) are pivotable about axles (21) and (8).
  • Force is applied to each arm (7) by a gas cylinder (22) and to each link (18) by a gas cylinder (19).
  • a linear transducer (20) associated with each cylinder (19) in combination with pressure sensors (not shown), measures the force and position of the spreader bars (2) and the force being exerted on them when a leg removal operation is in progress.
  • the leg removal apparatus (1) has a locator (10) for fixturing (locating and clamping) the hindquarter section (6), on the apparatus (1).
  • the locator (10) is shaped to fit and may be expandable to assist with a firm hold on the hindquarter section (6).
  • the hindquarter section (6) is clamped to the locator (10) by a primary clamp (11) and a secondary clamp (13).
  • Figure 2 shows a hindquarter section (6) loaded and clamped onto the apparatus (1).
  • Pins (3) on the spreader bars (2) are shown inserted into the hocks (4) of the legs (5). Force is applied through the arms (7) and links (18) to tension the legs (5).
  • a knife (14) is connected via a toolholder (23) to a robotically controlled articulated arm (16).
  • a command program is executed in a computer processor (not shown) to control the sequence of operations of the apparatus (1).
  • the sequence includes measuring operations, leg manipulations, and cutting operations.
  • the high value legs (5) are separated from the low value aitch bone (9) (as shown in Figure 3).
  • the legs (5) are manipulated to assist the cutting operations, and to assist pulling of the legs (5) free from the aitch bone (9).
  • Measurements of dimensions and forces are taken both before and during the cutting operations. Measurements are made using linear transducers attached to air cylinders (such as transducer (20) attached to cylinder (19)), pressure sensors (not shown), force sensors in the toolholder (23), and torque sensing in the robotic arm (16).
  • linear transducers attached to air cylinders such as transducer (20) attached to cylinder (19)
  • pressure sensors not shown
  • force sensors in the toolholder 23
  • the computer processor contains a core program for taking measurements and controlling leg manipulation and knife cutting.
  • the core program is altered for each individual hindquarter section.
  • Figures 4 to 6 show the leg removal apparatus (1) and robotically controlled arm (16) mounted in a supporting structure (15).
  • the operator of the apparatus (1) places the hocks of the hindquarter section onto the pins (3) of the spreader bars (2).
  • the hindquarter section (6) is then fixed in position using the locator (10) and clamps (11) and (13).
  • the spreader bars (2) move apart to allow the knife (14) to move between the legs (5).
  • the pressure on the spreader bars (2) is sensed and measured and the pressure controlled so that a light force is applied to the legs (5) making the meat taut and therefore easier to cut.
  • the knife (14) moves towards the hindquarter section (6) until the torque in the servo motor on the robot controlling the knife (14) reaches a predetermined level indicating that the knife (14) has contacted the hindquarter section (6).
  • a measurement is taken and is used by the computer processor to determine part of the cutting path.
  • a cut is made around the top left side of the aitch bone and down onto the top of the socket of the leg joint.
  • a measurement is taken and one tendon is cut. The measurement is used to determine the optimum cutting path for the remainder of the cutting operation.
  • the torque in the servo motors of the arm (16) is monitored and used to control the movement of the knife (14) so that the tip of the knife (14) follows very closely to the front of the socket. This enables the knife (14) to cut the front group of tendons through to the bone of the hindquarter section (6).
  • the length of the legs (5) is determined from the geometry of the apparatus (1), particularly the location of the spreader bars (2) when the hindquarter section (6) is fixed in place via feedback from the transducers (20) on the cylinders (19) that control the spreader bars (2).
  • the spreader bars (2) are then driven to a position determined by adding a set distance to the length of the legs (5) thereby stretching the remaining tendons to provide a gap between the ball and socket of the leg joint through which the knife (14) can pass.
  • the knife (14) cuts any meat, fat or sinew over the top of the socket and then the knife

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Processing Of Meat And Fish (AREA)

Abstract

L'invention concerne un procédé de désinsertion des membres arrière (5) sur le quartier arrière (6) d'une carcasse d'animal, et un dispositif (1) correspondant. On retire lesdits membres (5) de la culotte, sur la carcasse, en utilisant une combinaison de forces mécaniques. Le trajet de découpe est déterminé par détection de l'emplacement d'au moins une partie du quartier arrière (6) et la mesure d'au moins une dimension de ce quartier (6), ce qui donne la taille dudit quartier. On découpe la viande et les tendons au moyen d'un couteau robotisé (14) tout en contrôlant par détection la force exercée sur le couteau (14) et la force exercée sur les barreaux écarteurs (2) qui permettent d'écarter les membres (5) du quartier arrière (6).
PCT/NZ2003/000091 2002-05-15 2003-05-14 Procede et dispositif pour la desinsertion des membres sur les carcasses d'animaux Ceased WO2003096814A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU2003228170A AU2003228170A1 (en) 2002-05-15 2003-05-14 Animal carcass leg removal method and apparatus
NZ536588A NZ536588A (en) 2002-05-15 2003-05-14 Animal carcass leg removal method and apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NZ51901902 2002-05-15
NZNZ519019 2002-05-15

Publications (1)

Publication Number Publication Date
WO2003096814A1 true WO2003096814A1 (fr) 2003-11-27

Family

ID=29546533

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NZ2003/000091 Ceased WO2003096814A1 (fr) 2002-05-15 2003-05-14 Procede et dispositif pour la desinsertion des membres sur les carcasses d'animaux

Country Status (2)

Country Link
AU (1) AU2003228170A1 (fr)
WO (1) WO2003096814A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006102897A3 (fr) * 2005-03-30 2006-12-28 Slagteriernes Forskningsinst Procede, appareil et couteau pour la decoupe automatique d'une bajoue d'une carcasse
CN109452341A (zh) * 2018-11-30 2019-03-12 周俊杰 一种生猪吊挂自动加工系统
CN110353019A (zh) * 2019-07-22 2019-10-22 王和勤 猪蹄切割机
EP3659441A1 (fr) * 2016-10-28 2020-06-03 Jarvis Products Corporation Système et procédé de fendage de boeuf

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4639975A (en) * 1984-05-29 1987-02-03 Stork Pmt B.V. Device for separating the legs from a carcass portion of slaughtered poultry
WO1991004670A1 (fr) * 1989-10-03 1991-04-18 University Of Bristol Methode de tranchage robotise
US5176564A (en) * 1992-01-22 1993-01-05 Hazenbroek Jacobus E Mid-wing cutter
US5188559A (en) * 1991-09-16 1993-02-23 Hazenbroek Jacobus E Method and apparatus for separating the legs from the back of a poultry carcass
US5205779A (en) * 1991-09-04 1993-04-27 Texas Beef Group Method and apparatus for automatically segmenting animal carcasses
WO1997021352A1 (fr) * 1995-12-13 1997-06-19 Filar Limited Perfectionnements concernant le desossage de la volaille
US6004199A (en) * 1997-01-21 1999-12-21 Nordischer Maschinenbau Rud. Baader Gmbh & Co. Kg Apparatus and method for separating legs from poultry carcasses
NZ331567A (en) * 1999-08-25 2000-01-28 Mirinz Food Tech & Res Ltd Carcass clamp for holding hind legs of sheep during aitch boning
WO2001067873A1 (fr) * 2000-03-16 2001-09-20 Koorosh Khodabandehloo Appareil de decoupage de carcasses de viande

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4639975A (en) * 1984-05-29 1987-02-03 Stork Pmt B.V. Device for separating the legs from a carcass portion of slaughtered poultry
WO1991004670A1 (fr) * 1989-10-03 1991-04-18 University Of Bristol Methode de tranchage robotise
US5205779A (en) * 1991-09-04 1993-04-27 Texas Beef Group Method and apparatus for automatically segmenting animal carcasses
US5188559A (en) * 1991-09-16 1993-02-23 Hazenbroek Jacobus E Method and apparatus for separating the legs from the back of a poultry carcass
US5176564A (en) * 1992-01-22 1993-01-05 Hazenbroek Jacobus E Mid-wing cutter
WO1997021352A1 (fr) * 1995-12-13 1997-06-19 Filar Limited Perfectionnements concernant le desossage de la volaille
US6004199A (en) * 1997-01-21 1999-12-21 Nordischer Maschinenbau Rud. Baader Gmbh & Co. Kg Apparatus and method for separating legs from poultry carcasses
NZ331567A (en) * 1999-08-25 2000-01-28 Mirinz Food Tech & Res Ltd Carcass clamp for holding hind legs of sheep during aitch boning
WO2001067873A1 (fr) * 2000-03-16 2001-09-20 Koorosh Khodabandehloo Appareil de decoupage de carcasses de viande

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006102897A3 (fr) * 2005-03-30 2006-12-28 Slagteriernes Forskningsinst Procede, appareil et couteau pour la decoupe automatique d'une bajoue d'une carcasse
EP3659441A1 (fr) * 2016-10-28 2020-06-03 Jarvis Products Corporation Système et procédé de fendage de boeuf
CN109452341A (zh) * 2018-11-30 2019-03-12 周俊杰 一种生猪吊挂自动加工系统
CN109452341B (zh) * 2018-11-30 2021-02-09 厦门银祥集团有限公司 一种生猪吊挂自动加工系统
CN110353019A (zh) * 2019-07-22 2019-10-22 王和勤 猪蹄切割机
CN110353019B (zh) * 2019-07-22 2021-06-01 南京幸庄科技创新产业园管理有限公司 猪蹄切割机

Also Published As

Publication number Publication date
AU2003228170A1 (en) 2003-12-02

Similar Documents

Publication Publication Date Title
CN102421297B (zh) 畜体切割方法和设备
AU2019384619B2 (en) Method and device for positioning and/or handling carcasses and/or carcass parts during the slaughter of animals on an industrial scale
US4667371A (en) Method and apparatus for mechanically excluding the breastbone of livestock carcasses
US7285040B2 (en) Method for de-rinding and trimming a piece of meat or a piece of slaughtered animal
WO1998042196A1 (fr) Dispositif et procede pour enlever les cotes
Aly et al. Robotics and sensing technologies in red meat processing: A review
US5542879A (en) Method and apparatus for detaching the meat from the bones of the extremities of animals
EP3399862B1 (fr) Dispositif et procédé de désossage, pour example des côtes, de milieux d'animaux abattus
JP6977061B2 (ja) 骨付き肉の全長測定装置及び骨付き肉の全長測定方法
WO2003096814A1 (fr) Procede et dispositif pour la desinsertion des membres sur les carcasses d'animaux
NZ536588A (en) Animal carcass leg removal method and apparatus
JP5588122B2 (ja) 食肉動物類の除骨方法及び除骨装置
WO2024191939A1 (fr) Systèmes de traitement automatisé de poisson
WO1997021352A1 (fr) Perfectionnements concernant le desossage de la volaille
AU2016236189B2 (en) Tool for removal of meat pieces such as tenderloin from a carcass
EP1832174B1 (fr) Dispositif et procédé pour effectuer un processus de traitement sur une carcasse
DK179135B1 (en) Apparatus and method for releasing the skin from an animal body of a furred animal
EP1527689B1 (fr) Procédé et appareil permettant le faconnage de la carcasse d'un animal
KR20250145880A (ko) 동물용 이분절개장치
WO2005053412A1 (fr) Procede et dispositif pour detacher un os d'une carcasse
AU633050B2 (en) A method and means for opening animal carcasses
AU2013203852B2 (en) Improvements in Removing a Pelt from an Animal Carcass
EP0832563B1 (fr) Procédé de désossement mécanisé d'un quartier avant
Khodabandehloo et al. Capabilities and potential of robotics
KR20250068336A (ko) 동물용 절단장치

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NI NO NZ OM PH PL PT RO RU SC SD SE SG SI SK SL TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 536588

Country of ref document: NZ

122 Ep: pct application non-entry in european phase
WWP Wipo information: published in national office

Ref document number: 536588

Country of ref document: NZ

WWG Wipo information: grant in national office

Ref document number: 536588

Country of ref document: NZ

NENP Non-entry into the national phase

Ref country code: JP

WWW Wipo information: withdrawn in national office

Country of ref document: JP