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WO2025165862A1 - Systèmes de chargement de volaille, effecteurs terminaux et procédés - Google Patents

Systèmes de chargement de volaille, effecteurs terminaux et procédés

Info

Publication number
WO2025165862A1
WO2025165862A1 PCT/US2025/013572 US2025013572W WO2025165862A1 WO 2025165862 A1 WO2025165862 A1 WO 2025165862A1 US 2025013572 W US2025013572 W US 2025013572W WO 2025165862 A1 WO2025165862 A1 WO 2025165862A1
Authority
WO
WIPO (PCT)
Prior art keywords
head
shroud
bird
end effector
torso
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.)
Pending
Application number
PCT/US2025/013572
Other languages
English (en)
Inventor
Matthew H. Erickson
Dominic OERTER
Nathan A. BLUM
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.)
Nova Tech Engineering Inc
Original Assignee
Nova Tech Engineering Inc
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 Nova Tech Engineering Inc filed Critical Nova Tech Engineering Inc
Publication of WO2025165862A1 publication Critical patent/WO2025165862A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K37/00—Constraining birds, e.g. wing clamps
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K45/00—Other aviculture appliances, e.g. devices for determining whether a bird is about to lay
    • A01K45/005—Harvesting or transport of poultry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
    • A61D3/00—Appliances for supporting or fettering animals for operative purposes

Definitions

  • Poultry loading apparatus end effectors for poultry loading systems, and related methods are described herein.
  • Poultry may be processed in systems in which the birds are held in carriers, cradles or supports (all of which are referred to below as carriers for simplicity below) to protect the birds from injury while safely transporting them to or through one or more apparatus/systems at which the birds are presented for, e.g., beak and/or claw treatments, inoculations, feeding, inspection, etc.
  • Carriers that may be used to transport poultry may be described in, e g., in US Patent Application Publication No. US 2023/0049744 and US Patent 5,651,731, both of which also describe illustrative examples of systems and/or apparatus in which carriers may be used to transport birds between and/or to or from processing locations.
  • the poultry loading systems, end effectors configured to retain and transport poultry in the poultry loading systems, and related methods described herein provide, in one or more embodiments, for the automated loading of birds into poultry carriers.
  • the poultry loading systems, end effectors, and methods described herein provide for the loading of birds into poultry carriers without requiring manual labor to locate the birds in the appropriate carrier.
  • One potential advantage of one or more embodiments of the systems, end effectors, and methods described herein include the rate at which birds can be loaded into poultry carriers, with the poultry loading systems, end effectors, and methods providing for relatively rapid loading of birds into carriers.
  • Another potential advantage of one or more embodiments of the poultry loading systems, end effectors, and methods described herein is the improvement in loading accuracy and/or repeatability provided by the equipment described herein.
  • the end effectors used to pick up and transfer a bird as well as the transfer of those birds into carriers are much more consistent and provide repeatable results that can enhance accurate loading of birds into the poultry carriers.
  • the positioning of the beaks of the birds loaded using the systems, end effectors, and methods described herein is typically much more consistent which, in turn, provides for more consistent results in such processing.
  • the consistency and repeatability offered by automated loading may also improve bird safety during processing.
  • mimicking the effect of a human thumb advancing the head of a bird ahead of the torso when loading the bird into a head/beak fixture while avoiding the inconsistency in that delivery when performed by humans.
  • mimicking the effect of a human thumb advancing the head of a bird ahead of the bird’s torso may be achieved by separately retaining and supporting the head of the bird from its torso.
  • that mimicking may be achieved by retaining and supporting the head of the ahead of its torso when moving the end effector along a delivery path and/or generally transverse to the bird’s superior-inferior axis.
  • the relative positioning between the head and the torso can be achieved by using an end effector in which the head support leads the torso cup as the end effector moves in the delivery path.
  • poultry loading systems, end effectors, and methods described herein may be used with birds of any age, they may be particularly useful when used with hatchlings, where “hatchlings” are defined as young birds (e.g., chickens, turkeys, ducks, geese, etc.) with an age of one week or less.
  • hatchlings are defined as young birds (e.g., chickens, turkeys, ducks, geese, etc.) with an age of one week or less.
  • an end effector for a poultry loading system that is configured to retain a bird during transport in the poultry loading system as described herein includes a torso portion and a head portion aligned along a superior-inferior axis; the head portion comprising a head cavity and a head support, wherein the head support is configured to contact the dorsal surface of a bird head retained on the end effector and the head cavity is positioned behind the dorsal surface of the bird head such that the head support is located between the head cavity and the dorsal surface of the bird head; the torso portion comprising a torso cup configured to cradle the dorsal surface of a bird torso of a bird retained on the end effector; and one or more torso openings located in the torso cup, the one or more torso openings in fluid communication with a vacuum port such that a vacuum drawn through the vacuum port is delivered to the one or more torso openings, wherein the vacuum
  • the end effector is mounted on a delivery apparatus configured to move the end effector to a delivery location along a delivery path, wherein the head support leads the torso cup as the end effector moves along the delivery path.
  • the end effector comprises a head shroud located proximate the head portion of the end effector, the head shroud configured to move between an extended configuration and a retracted configuration relative to the head support, wherein a leading edge of the head shroud is located further from the head support when the head shroud is in the extended configuration than when the head shroud is in the retracted configuration, wherein the head shroud is configured to restrict movement of a bird head of a bird retained on the head support about the superior-inferior axis when the head shroud is in the extended configuration.
  • the head shroud comprises a pair of lateral shroud portions located on opposing sides of the head support, wherein the pair of lateral shroud portions limit rotation of a bird head about the superior-inferior axis when the head shroud is in the extended configuration and, optionally, wherein the head shroud comprises a superior shroud portion extending between superior ends of the pair of lateral shroud portions, wherein the superior shroud portion limits rotation of a bird head of a bird retained on the end effector about a medial-lateral axis when the head shroud is in the extended configuration, wherein the medial-lateral axis is located proximate the head support and extends through a bird head of a bird retained on the head support, the medial-lateral axis also being oriented generally transverse to the superior-inferior axis.
  • the head shroud moves along a shroud axis when moving between the extended configuration and the retracted configuration, wherein the shroud axis extends through the head support and is generally transverse to the superior-inferior axis.
  • the end effector is mounted on a delivery apparatus configured to move the end effector to a delivery location along a delivery path, wherein the head support leads the torso cup as the end effector moves along the delivery path.
  • the head shroud is operatively attached to a shroud actuator configured to move the head shroud to the extended configuration and optionally configured to move the head shroud to its retracted configuration.
  • the end effector comprises a telescoping head shroud assembly located proximate the head support, the telescoping head shroud assembly comprising an inner shroud and an outer shroud; wherein the inner shroud is configured to move between an extended configuration and a retracted configuration relative to the head support, wherein a forward edge of the inner shroud is located forward of the head support when the inner shroud is in the extended configuration and, optionally, the forward edge of the inner shroud is located behind the head support when the inner shroud is in the retracted configuration, and wherein the inner shroud is configured to restrict movement of a bird head of a bird retained on the end effector relative to the head support about the superior-inferior axis when the inner shroud is in the extended configuration; and wherein the outer shroud is configured to move between a forward configuration and a rearward configuration relative to the head support and the inner shroud, wherein, when in the forward
  • the inner shroud comprises a pair of lateral shroud portions located on opposing sides of the head support, wherein the pair of lateral shroud portions limit rotation about the superior-inferior axis of a bird head of a bird retained on the end effector when the inner shroud is in the extended configuration and, optionally, wherein the inner shroud comprises a superior shroud portion extending between superior ends of the pair of lateral shroud portions, wherein the superior shroud portion limits rotation of a bird head of a bird retained on the end effector about a medial-lateral axis when the inner shroud is in the extended configuration, wherein the medial-lateral axis is located proximate the head support and extends through a bird head of a bird retained on the head support, the medial-lateral axis also being oriented generally transverse to the superior-inferior axis.
  • the inner shroud moves along a shroud axis when moving between the extended configuration and the retracted configuration, wherein the shroud axis extends through the head support and is generally transverse to the superior-inferior axis and, optionally wherein the outer shroud moves along the shroud axis when moving between the forward configuration and the rearward configuration.
  • the end effector is mounted on a delivery apparatus configured to move the end effector to a delivery location along a delivery path, wherein the head support leads the torso cup as the end effector moves along the delivery path, and wherein the shroud axis is generally aligned with the delivery path.
  • the telescoping head shroud assembly is operatively attached to a shroud actuator configured to move the outer shroud to the forward configuration, and optionally configured to move the outer shroud to its rearward configuration.
  • the head support is located on a superior end of the torso portion, and wherein the end effector comprises a posterior support located on a posterior end of the torso portion, the posterior support configured to cradle a posterior end of a torso of a bird retained on the end effector.
  • the end effector comprises a manifold, wherein the vacuum port, the one or more torso openings, and the head cavity are all in fluid communication through the manifold.
  • the head support comprises an arcuate head support configured to generally conform to the dorsal surface of a bird head.
  • one or more embodiments of a poultry loading system as described herein include: a head/beak fixture comprising a beak receiving passage extending into the head/beak fixture from an opening on a first side of the head/beak fixture; an end effector configured to retain a bird during transport in the poultry loading system.
  • the end effector comprising a torso portion and a head portion aligned along a superior-inferior axis, wherein; the head portion comprises a head cavity and a head support, wherein the head support is configured to contact the dorsal surface of a bird head retained on the end effector and the head cavity is positioned behind the dorsal surface of the bird head such that the head support is located between the head cavity and the dorsal surface of the bird head, the torso portion defining a torso cup configured to cradle the dorsal surface of a bird torso of a bird retained on the end effector, and one or more torso openings located in the torso cup, the one or more torso openings in fluid communication with a vacuum port such that a vacuum drawn through the vacuum port is delivered to the one or more torso openings, wherein the vacuum is configured to retain the dorsal surface of a bird torso in the torso cup, wherein the head cavity is in fluid communication
  • the poultry loading system further comprises a delivery apparatus configured to move the end effector to a delivery position along a delivery path relative to the head/beak fixture, wherein the delivery apparatus is configured, when moving the end effector to the delivery position, to move the end effector towards the beak receiving passage to position at least a portion of a beak of a bird retained on the end effector in the beak receiving passage.
  • the delivery path extends through the beak receiving passage and, optionally, the delivery path and the superior-inferior axis are generally transverse to each other.
  • the head support leads the torso cup as the end effector moves along the delivery path.
  • the end effector comprises a head shroud located proximate the head portion of the end effector, the head shroud configured to move between an extended configuration and a retracted configuration relative to the head portion of the end effector, wherein a leading edge of the head shroud is located further from the head support when the head shroud is in the extended configuration than when the head shroud is in the retracted configuration, wherein the head shroud is configured to restrict movement of a bird head of a bird retained on the head portion about the superior-inferior axis when the head shroud is in the extended configuration.
  • the head shroud comprises a pair of lateral shroud portions located on opposing sides of the head support, wherein the pair of lateral shroud portions limit rotation of a bird head about the superior-inferior axis when the head shroud is in the extended configuration and, optionally, wherein the head shroud comprises a superior shroud portion extending between superior ends of the pair of lateral shroud portions, wherein the superior shroud portion limits rotation of a bird head of a bird retained on the end effector about a medial-lateral axis when the head shroud is in the extended configuration, wherein the medial-lateral axis is located proximate the head support and extends through a bird head of a bird retained on the head support, the medial-lateral axis also being oriented generally transverse to the superior-inferior axis.
  • the head shroud moves along a shroud axis when moving between the extended configuration and the retracted configuration, wherein the shroud axis extends through the head support, is generally aligned with the delivery path, and is generally transverse to the superior-inferior axis.
  • the head shroud is operatively attached to a shroud actuator configured to move the head shroud to the extended configuration and optionally configured to move the head shroud to its retracted configuration.
  • the end effector comprises a telescoping head shroud assembly located proximate the head support, the telescoping head shroud assembly comprising an inner shroud and an outer shroud; wherein the inner shroud is configured to move between an extended configuration and a retracted configuration relative to the head support, wherein a forward edge of the inner shroud is located forward of the head support when the inner shroud is in the extended configuration and optionally wherein the forward edge of the inner shroud is located behind the head support when the inner shroud is in the retracted configuration, and wherein the inner shroud is configured to restrict movement of a bird head of a bird retained on the end effector relative to the head support about the superior-inferior axis when the inner shroud is in the extended configuration; and wherein the outer shroud is configured to move between a forward configuration and a rearward configuration relative to the head support and the inner shroud, wherein, when in the forward configuration
  • the inner shroud comprises a pair of lateral shroud portions located on opposing sides of the head support, wherein the pair of lateral shroud portions limit rotation about the superior-inferior axis of a bird head of a bird retained on the end effector when the inner shroud is in the extended configuration and, optionally, wherein the inner shroud comprises a superior shroud portion extending between superior ends of the pair of lateral shroud portions, wherein the superior shroud portion limits rotation of a bird head of a bird retained on the end effector about a medial-lateral axis when the inner shroud is in the extended configuration, wherein the medial-lateral axis is located proximate the head support and extends through a bird head of a bird retained on the head support, the medial-lateral axis also being oriented generally transverse to the superiorinferior axis and generally transverse to the delivery path.
  • the inner shroud moves along a shroud axis when moving between the extended configuration and the retracted configuration, wherein the shroud axis extends through the head support, is generally aligned with the delivery path, and is generally transverse to the superior-inferior axis and, optionally wherein the outer shroud moves along the shroud axis when moving between the forward configuration and the rearward configuration.
  • the telescoping head shroud assembly is operatively attached to a shroud actuator configured to move the outer shroud to the forward configuration, and optionally configured to move the outer shroud to its rearward configuration.
  • the head support is located on a superior end of the torso portion, and wherein the end effector comprises a posterior support located on a posterior end of the torso portion, the posterior support configured to cradle a posterior end of a torso of a bird retained on the end effector.
  • the end effector comprises a manifold, wherein the vacuum port, the one or more torso openings, and the head cavity are all in fluid communication through the manifold.
  • the head/beak fixture comprises a head clamp apparatus attached to the head/beak fixture, the head clamp apparatus comprising an open configuration in which the beak of a bird can be moved into the beak receiving passage and a closed configuration in which the head of a bird is retained by the head clamp apparatus.
  • the poultry loading system comprises a container defining a pickup position, the container comprising an open top and a bottom, wherein the container defines an elongated space proximate the bottom that is configured to receive a bird and restrict the bird from rotating in the container about a container axis extending through the open top and the bottom of the container.
  • the poultry loading system comprises a bird orientation detection system configured to detect an orientation of the bird in the container.
  • the poultry loading system comprises a container rotator configured to rotate the container such that a bird in the pickup position is facing in a selected direction when the bird is not facing in the selected direction, wherein, optionally, the container rotator is configured to rotate the container about the container axis when rotating the container such that a bird in the pickup position is facing in the selected direction.
  • the end effector is configured to pass through the open top of the container to reach a bird located in the bottom of the container.
  • the head support is located on a superior end of the torso portion, and wherein the end effector comprises a posterior support located on a posterior end of the torso portion, the posterior support configured to cradle a posterior end of a torso of a bird retained on the end effector.
  • the head support comprises an arcuate head support configured to generally conform to the dorsal surface of a bird head.
  • one or more embodiments of a method of handling a bird during transport in a poultry loading system includes: advancing an end effector into contact with a dorsal surface of a bird in a pickup position, the end effector comprising a torso portion and a head portion aligned along a superior-inferior axis, the torso portion comprising a torso cup configured to cradle the dorsal surface of the bird and the head portion comprising a head support; retaining the dorsal surface of a bird torso in contact with the torso cup, wherein the retaining comprises drawing a vacuum through a torso opening in the torso cup; retaining the dorsal surface of the head of the bird in contact with the head support, wherein the retaining comprises drawing a vacuum through a head cavity positioned behind the head support; and moving the bird retained on the end effector from the pickup position to a delivery position after retaining the dorsal surface of the bird torso in contact
  • moving the bird to the delivery position comprises moving a beak of the bird towards a first side of a head/beak fixture and into a beak receiving passage in the head/beak fixture, and optionally wherein at least a portion of the beak of the bird is exposed proximate an opening of the beak receiving passage on a second side of the head/beak fixture, wherein the second side is opposite the first side.
  • moving the bird retained on the end effector to the delivery position comprises advancing the end effector along a delivery path such that the head support leads the torso cup as the end effector moves in the delivery path.
  • moving the bird retained on the end effector to the delivery position comprises advancing the end effector along a delivery path such that a beak of the bird is located ahead of a ventral surface of the torso of the bird when moving the end effector along the delivery path.
  • the end effector comprises a head shroud located proximate the head portion of the end effector, the head shroud movable between an extended configuration and a retracted configuration relative to the head portion of the end effector, wherein a leading edge of the head shroud is located further from the bird contact surface when the head shroud is in the extended configuration than when the head shroud is in the retracted configuration, wherein the method comprises moving the head shroud from the retracted configuration to the extended configuration before advancing the end effector into contact with the dorsal surface of the bird in the pickup position, wherein, optionally, the head shroud moves along the delivery path when moving from the extended configuration to the retracted configuration.
  • the end effector comprises a telescoping head shroud assembly located proximate the head portion of the end effector, the telescoping head shroud assembly comprising an inner shroud and an outer shroud;
  • the inner shroud is configured to move between an extended configuration and a retracted configuration relative to the head support, wherein a forward edge of the inner shroud is located forward of the head support when the inner shroud is in the extended configuration and, optionally, the forward edge of the inner shroud is located behind the head support when the inner shroud is in the retracted configuration;
  • the outer shroud is configured to move between a forward configuration and a rearward configuration relative to the head portion of the end effector and the inner shroud, wherein, in the forward configuration, a front edge of the outer shroud is located further from the bird contact surface then when the outer shroud is in the rearward configuration, the front edge also being located further
  • the method comprises releasing the bird from the end effector after moving the bird to the delivery position.
  • drawing a vacuum through the torso opening and drawing a vacuum through the head support comprises drawing a vacuum through a vacuum port on the end effector, the vacuum port in fluid communication with the torso opening and the head cavity.
  • the pickup position is defined within a container, and the method comprises placing the bird in the container such that the bird is located in a bottom of the container, wherein advancing the end effector into contact with the dorsal surface of the bird in the pickup position comprises advancing the end effector into the container through an open top located above the bottom.
  • the container defines an elongated space proximate the bottom that is configured to restrict the bird from rotating in the container about a container axis extending through the open top and the bottom of the container; and wherein, optionally, the method comprises rotating the container about the container axis before advancing the end effector into contact with the dorsal surface of the bird in the pickup position when needed to align the bird such that the head support contacts the head of the bird and the torso cup contacts the torso of the bird when advancing the end effector into contact with a dorsal surface of the bird in the pickup position.
  • the method comprises determining an orientation of the bird in the container before rotating the container such that the head support contacts the head of the bird and the torso cup contacts the torso of the bird when advancing the end effector into contact with a dorsal surface of the bird in the pickup position.
  • the method comprises orienting the container such that the bottom of the container is canted to form an angle with a horizontal plane, wherein the angle is greater than 0 degrees, 10 degrees or more, 15 degrees or more, 20 degrees or more, 25 degrees or more, or 30 degrees or more; and, optionally, wherein the angle is less than 90 degrees, 60 degrees or less, or 45 degrees or less.
  • the head support is located on a superior end of the torso portion, and wherein the end effector comprises a posterior support located on a posterior end of the torso portion, the posterior support configured to cradle a posterior end of a torso of a bird retained on the end effector.
  • the head support comprises an arcuate head support configured to generally conform to the dorsal surface of a bird head.
  • the method comprises drawing the vacuum through the head cavity before contacting the dorsal surface of the bird in the pickup position.
  • the method comprises drawing the vacuum through the head cavity after contacting the dorsal surface of the bird in the pickup position.
  • relational terms such as above, below, top, bottom, etc. are (unless otherwise specified in this description and/or the claims) used only to facilitate description of the various features of the loading systems, end effectors, and methods described herein and should not be construed to require any specific orientation unless otherwise specified or required for proper operation (e.g., where gravitational force is used to achieve a desired result).
  • the terms “aligned with” and “generally aligned with” as used in connection with various components, axes, directions of travel, etc. includes both parallel and generally parallel arrangements.
  • axes (or other components, features, etc.), paths (e g., a delivery path, etc.), and/or other components/features/etc. may be “aligned with” or “generally aligned with” each other when the axes, paths and/or other components, features, etc. are perfectly parallel with each other or nearly parallel, e.g., the axes, paths, and/or other components/features/etc. may form an angle with each other that is greater than zero degrees (0°) but about ten degrees (10°) or less.
  • any such angular measurement is made using a tangent to the curved path relative to a straight line axis.
  • FIG. l is a perspective view of one illustrative embodiment of a poultry loading system using one illustrative embodiment of end effectors as described herein.
  • FIG. 2 is a top view of the poultry loading system of FIG. 1.
  • FIG. 3 is side view of one illustrative embodiment of an isolated delivery apparatus and end effector of the poultry loading system depicted in FIGS. 1-2 positioned to deliver a bird to a carrier as described herein.
  • FIG. 4 is perspective view of the illustrative embodiment of an end effector that may be used in one or more embodiments of poultry loading systems as described herein.
  • FIG. 5 is a front view of the end effector depicted in FIG. 4.
  • FIG. 6 is side view of the end effector of FIGS. 4-5.
  • FIGS. 7-9 depict disassembled components of the end effector of FIGS. 4-6, with FIG. 7 being a perspective view of a rear component, FIG. 8 being a front view of the rear component of FIG. 7, and FIG. 9 being a rear perspective view of a front component.
  • FIGS. 10-13 depicts another illustrative embodiment of an end effector that may be used in one or more embodiments of the poultry loading systems described herein, with FIG. 10 being a front perspective view, FIG. 11 being a rear perspective view, FIG. 12 being a front view, and FIG. 13 being a side view.
  • FIG. 14 is a cross-sectional view of the end effector of FIGS. 10-13 taken along line 14-14 in FIG. 12 with the end effector including an optional head shroud assembly not depicted in FIGS. 10-13.
  • FIG. 15 is an enlarged side view of the end effector of FIGS. 4-6 having a bird located therein, the end effector including an optional head shroud not depicted in FIGS. 4-6 (with the head shroud being partially transparent to expose components and the bird that would otherwise be obscured by the head shroud).
  • the end effector is positioned to deliver the bird to one illustrative embodiment of a head/beak fixture of one illustrative embodiment of a bird carrier as described herein.
  • FIGS. 16-17 depict the end effector and head/beak fixture of FIG. 15 after advancement of the end effector end of the bird retained thereon towards the head/beak fixture, with FIG. 16 being a side view and FIG. 17 being a top view.
  • the head/beak fixture includes components of one illustrative embodiment of a head clamp assembly that are not present in the view of FIG. 15.
  • FIGS. 18-19 depict the end effector and head/beak fixture of FIGS. 15-17 after further advancement of the end effector and the bird retained thereon such that the head and beak of the bird are fully seated in a beak receiving passage of the head/beak fixture, with FIG. 18 being a side view and FIG. 19 being a top view.
  • FIGS. 20-22 depict one illustrative embodiment of an end effector including a telescoping shroud assembly as described herein with the telescoping shroud assembly in its extended/forward configuration, FIG. 20 being a front perspective view, FIG. 21 being a side view with the outer shroud in a forward configuration, and FIG. 22 being a side view of the inner shroud in its extended configuration (and the outer shroud removed).
  • FIGS. 23-25 depict the end effector of FIGS. 20-22 with the telescoping shroud assembly in its retracted/rearward configuration
  • FIG. 23 being a front perspective view
  • FIG. 24 being a side view with the outer shroud in a rearward configuration
  • FIG. 25 being a side view of the inner shroud in its retracted configuration (and the outer shroud removed).
  • FIG. 26 depicts the end effector of FIGS. 20-25 mounted on a portion of one illustrative embodiment of a delivery apparatus of a poultry loading machine as described herein.
  • FIG. 27 depicts the apparatus of FIG. 27 with a portion of the delivery apparatus removed to expose a force-limiting portion of the delivery apparatus.
  • FIG. 28 is side view of the illustrative embodiment of an isolated delivery apparatus and end effector of the poultry loading system depicted in FIG. 3 along with one illustrative embodiment of a container defining a pickup position configured to receive and retain a bird as described herein.
  • FIG. 29 depicts the end effector of FIG. 28 after insertion into the container to contact a bird located in the pickup position defined by the container.
  • FIG. 30 is a top view of one illustrative embodiment of a container having a bird located therein that may be used in connection with one or more embodiments of the poultry loading systems and end effectors described herein.
  • FIG. 31 is a side view of the container and bird of FIG. 30.
  • FIG. 32 is a side view of the container and bird of FIGS. 30-31 after rotation of the container relative to a horizontal axis.
  • the poultry loading systems described herein may be used with any suitable poultry processing system such as, e.g., the poultry processing systems disclosed in International Publication WO 2021/150842 titled HATCHLING SUPPORTS, HATCHLING SUPPORT SYSTEMS, AND METHODS; International Publication WO 2023/075843 titled POULTRY CRADLE UNLOADING SYSTEMS AND METHODS); etc.
  • Such poultry processing systems typically include one or more processing stations configured to perform one or more processes on birds retained in carriers.
  • processes and/or processing stations that may be used in one or more embodiments of the hatchling support systems described herein may be described in, for example, US Patent 5,195,925 (METHOD AND APPARATUS FOR DECLAWING POULTRY); US Patent 5,651,731 (METHOD AND APPARATUS FOR DEBEAKING POULTRY); US Patent 7,232,450 (APPARATUS AND METHOD FOR UPPER AND LOWER BEAK TREATMENT); US Patent 8,499,721 (APPARATUS AND METHOD FOR NASAL DELIVERY OF COMPOSITIONS TO BIRDS); US Patent 7,363,881 (BEAK TREATMENT WITH TONGUE PROTECTION); US Patent 9,775,695 (FOURTH TOE PROCESSING SYSTEMS AND METHODS); US Patent Application Publication US 2019/0133734 (POULTRY INJECTION APPARATUS WITH ROTATING
  • FIGS. 1-3 one illustrative embodiment of a poultry loading system 10 used to deliver birds (typically hatchlings) to a bird carrier 5 of a poultry processing system is depicted.
  • the poultry loading system 10 includes a set of delivery apparatus 12 carrying end effectors 20 configured to deliver birds to carriers 5 mounted on a platform 2.
  • the poultry loading system 10 may include a vacuum source 13 used to pull air through one or more embodiments of the end effectors of poultry loading systems as described herein.
  • delivery apparatus 12 are in the form of sliding arms that can rotate about one axis and move the end effectors 20 in translation along a second axis
  • the delivery apparatus used in the poultry loading systems and methods described herein may take any suitable form, including, but not limited to: apparatus designed to move the end effectors in only translational motion, apparatus designed to move the end effectors in only rotational motion, apparatus designed to move the end effectors in a combination of translational and rotational motion, robotic or other articulated arms having multiple degrees of freedom, etc.
  • Each carrier 5 includes a head/beak fixture 6 configured to receive and retain the head and beak of a bird delivered using the end effector 20 and delivery apparatus 12.
  • a group 4 of the carriers 5 is located on a platform 2 and the platform 2 rotates about a platform axis 3 to bring the carriers 5 into position relative to the delivery apparatus 12 and end effectors 20 such that birds can be delivered to the carriers 5.
  • the reverse could be true - i.e., the group 4 of carriers 5 may be stationary while the delivery apparatus 12 and end effectors 20 move.
  • the carriers 5 may be transported using any suitable apparatus or system including the rotating platform 2 as depicted in FIGS. 1-3, one example of which is described in, e.g., International Publication WO 2021/150842 titled HATCHLING SUPPORTS, HATCHLING SUPPORT SYSTEMS, AND METHODS.
  • the carriers 5 and delivery apparatus 12/end effectors 20 may be moved relative to each other using, e.g., linear transport systems, hybrid linear/rotary transport systems, etc. (see, e.g., the bird carrier transport system described in International Publication WO 2023/075843 titled POULTRY CRADLE UNLOADING SYSTEMS AND METHODS).
  • the carriers 5 depicted in the illustrative embodiment of FIGS. 1-3 may be similar to those described in International Publication WO 2021/150842 titled HATCHLING SUPPORTS, HATCHLING SUPPORT SYSTEMS, AND METHODS (with the carriers being described as “hatchling supports 50” that include “head holders 60” corresponding to the carriers 5 and head/beak fixtures 6 described herein).
  • the poultry loading systems described herein may, however, be used with any suitable poultry carriers such as, e.g., the poultry carriers described in International Publication WO 2023/075842 titled POULTRY CRADLES AND METHODS OF RESTRAINING POULTRY; the poultry cradles described in International Publication WO 2023/075842 titled POULTRY CRADLES AND METHODS OF RESTRAINING POULTRY; etc.
  • any suitable poultry carriers such as, e.g., the poultry carriers described in International Publication WO 2023/075842 titled POULTRY CRADLES AND METHODS OF RESTRAINING POULTRY; the poultry cradles described in International Publication WO 2023/075842 titled POULTRY CRADLES AND METHODS OF RESTRAINING POULTRY; etc.
  • the number of delivery apparatus 12/end effectors 20 (and associated of carriers 5) provided in connection with any poultry processing system as described herein may vary depending on the timing required for processing birds at any processing stations in the processing systems, etc. In other words, in one or more embodiments of the poultry loading systems described herein, only one delivery apparatus 12/end effector 20 may be provided while in other systems, two, three, four (as depicted in FIGS. 1-2) or more delivery apparatus 12/end effectors 20 may be provided. Further, although the number of delivery apparatus 12/end effectors 20 and carriers 5 may be the same in any given poultry loading system, the numbers of delivery apparatus 12/end effectors 20 and carriers 5 may be different in alternative embodiments.
  • the end effector 20 may be provided on the end of the delivery apparatus 12 such that the end effector 20 to retain a bird during transport in the poultry loading systems as described herein.
  • end effector 20 includes a torso portion 30 and a head portion 40.
  • the torso portion 30 and the head portion 40 are aligned along a superior-inferior axis 20-1 that generally corresponds to the superior-inferior axis of a bird retained on the end effector 20.
  • the superior-inferior axis 20-1 passes just in front of the leading edge of the head portion 40.
  • the torso portion 30 defines a torso cup 32 configured to cradle the dorsal surface of the torso of a bird retained on the end effector 20.
  • the torso portion 30 also includes torso openings 34 in the torso cup 32.
  • the torso openings 34 are in fluid communication with a vacuum port 26 on the backside of the end effector 20 such that a vacuum drawn through the vacuum port 26 is delivered to the torso openings 34 in the torso cup 32, with the vacuum being used to retain the dorsal surface of a bird torso in the torso cup 32 during transport of the bird.
  • the term “vacuum” is used to describe the removal of air through the vacuum port 26 with the air removal resulting in an area of lower pressure in the torso openings to assist in retaining a bird torso in the torso cup 32 through suction. Those lower pressures are developed because the passage of air through the torso openings 34 is limited by the presence of the dorsal surface of the bird in the torso cup 32.
  • a plurality of torso openings 34 are provided in torso cup 32. It should, however, be understood that in one or more embodiments, any number of torso openings may be provided in a torso cup of an end effector as described herein.
  • a single torso opening 34 may be provided in the torso cup 32 if such a single opening is sufficient (in terms of size and/or shape) to retain the dorsal surface of a bird torso in the torso cup 32.
  • end effector 20 of FIGS. 4-9 also includes optional lateral supports 36 which may be helpful in retaining a bird torso in the torso cup 32.
  • the head portion 40 of the depicted illustrative embodiment of end effector 20 includes a head cavity 44 and a head support 42 located forward of the head cavity 44.
  • the head cavity 44 is positioned behind the dorsal surface of such a bird head such that the head support is located between the head cavity and the dorsal surface of the bird head.
  • the head support 42 may be in the form of an arcuate head support as depicted in connection with the illustrative embodiment of end effector 20.
  • An arcuate head support may provide for better sealing of the head support to the dorsal surface of the head of a bird because the arcuate head support is configured to generally conform to the dorsal surface of a bird head of a bird retained on the end effector 20. That conformance may assist in forming a seal with the dorsal surface of the bird head, thereby improving the holding power of any vacuum being drawn through the head cavity 44 and head support 42.
  • the head cavity 44 is in fluid communication with the vacuum port 26 of the end effector 20 such that a vacuum drawn through the vacuum port 26 is also delivered to the head cavity 44.
  • a vacuum drawn through the vacuum port 26 is also delivered to the head cavity 44.
  • end effector 20 also includes a neck support 46 positioned proximate the junction between the torso portion 30 and the head portion 40 of the end effector 20.
  • the neck support 46 may be positioned proximate the base of the skull of a bird retained on the end effector 20 where it may assist with proper positioning of the bird as well as maintaining retention of the bird on the end effector 20.
  • the head support 42 includes a pair of arcuate side edges 42-1 and 42-2 connected across the top of the head portion 40 by edge 42-3.
  • the arcuate side edges 42-1 and 42-2 may be selected to provide a seal against the head of a bird positioned on the end effector that is sufficient to limit airflow through the junction between the edges 42-1, 42-2, and 42-3 such that a sufficiently low air pressure can be developed in the head cavity 44 of the end effector 20.
  • end effector 20 may be provided in a two-piece format including a rear portion 22 and a front portion 24.
  • Rear portion 22 includes vacuum port 26 as well as a manifold behind the torso portion 30 and the head portion 40 to promote airflow from both the head cavity 44 and the torso openings 34 of torso cup 32 to aid in retaining a bird on the end effector 20.
  • FIGS. 10-14 Another illustrative embodiment of an end effector 120 is depicted in various views provided in FIGS. 10-14.
  • the end effector 120 may also be provided on the end of a delivery apparatus (not shown) such that the end effector 120 retains a bird during transport in a poultry loading system as described herein.
  • end effector 120 also includes a torso portion 130 and a head portion 140.
  • the torso portion 130 and the head portion 140 are aligned along a superior-inferior axis 120-1 that generally corresponds to the superior-inferior axis of a bird retained on the end effector 120.
  • the superior-inferior axis 120-1 passes just in front of the leading edge of the head portion 140.
  • the torso portion 130 of end effector 120 also defines a torso cup 132 configured to cradle the dorsal surface of the torso of a bird retained on the end effector 120.
  • Torso openings 134 are provided in torso cup 132.
  • the torso openings 134 are in fluid communication with a vacuum port 126 on the backside of the end effector 120. A vacuum drawn through the vacuum port 126 is delivered to the torso openings 134 in the torso cup 132, with the vacuum being used to retain the dorsal surface of a bird torso in the torso cup 132 during transport of the bird.
  • a plurality of torso openings 134 are provided in the torso cup 132. It should be understood, however, that in one or more embodiments any number of torso openings may be provided in the torso cup 132 with the only limitation being that the number and/or size of any such torso openings be sufficient to retain a bird torso in position in the torso cup 132 when the vacuum is pulled through vacuum port 126.
  • the head portion 140 of the depicted illustrative embodiment of end effector 120 includes a head cavity 144 and a head support 42 located forward of the head cavity 144.
  • the head support 142 may be in the form of an arcuate head support that is configured to contact the dorsal surface of a bird head of a bird retained on the end effector 120.
  • the head cavity 144 is positioned behind the dorsal surface of the head of such a bird such that the head support 142 is located between the head cavity 144 and the dorsal surface of the bird head.
  • the end effector 120 may be described as having a manifold including the head cavity 144 as well as a torso cavity 124 located behind the torso cup 132 of the end effector 120.
  • the vacuum port 126 opens into the manifold such that air pulled through the vacuum port 126 comes from both the torso cavity 124 as well as the head cavity 144 to provide suction needed to retain the dorsal surface of a bird head on the head support 142 as well as to retain the dorsal surface of a bird torso in the torso cup 132.
  • the manifold of the end effector may be described as being in fluid communication with the vacuum port 126, torso openings 134 and the head cavity 144.
  • end effector 120 also includes a neck support 146 position proximate the junction between the torso portion 130 and the head portion 140.
  • the neck support 146 may, in one or more embodiments, be positioned proximate the base of the skull of a bird retained on the end effector 120 where it may assist with proper positioning and retention of the bird on the end effector 120.
  • head support 142 is in the form of an arcuate head support that, as discussed herein, may provide for better sealing of the head support to the dorsal surface of the head of a bird because the arcuate head support is configured to generally conform to the dorsal surface of a bird head of a bird retained on the end effector 120. That conformance may assist in forming a seal with the dorsal surface of the bird head, thereby improving the holding power of any vacuum being drawn through the head cavity 144 and head support 142.
  • an arcuate head support includes a pair of arcuate side edges 142-1 and 142-2 connected across the top of the head support 42 by a top edge 142-3.
  • the arcuate side edges 142-1 and 142-2 may be selected and shaped to enhance any seal on the dorsal surface of the head of a bird positioned on the end effector 120 that is sufficient to limit airflow through the junction between the edges 142-1, 142-2, and 142-3 such that a sufficiently low air pressure can be developed in the head cavity 144 of the end effector 120 to retain the bird head in position thereon.
  • the head support 142 (including edges 142-1, 142-2, and 142-3) may be described as being positioned ahead of the torso cup 132 relative to a superiorinferior axis 120-1 positioned at the edge 142-3 of the end effector 120. As such, when the end effector 120 is moved in a direction generally transverse to the superior-inferior axis 120- 1, the head support may be described as leading the torso cup 132.
  • such positioning of the head support 142 relative to the torso cup 132 may facilitate proper insertion of a bird head and beak into a head/beak fixture using the end effector 120 by, for example, mimicking the effect a human thumb advancing the head of a bird ahead of the torso when loading the bird into a head/beak fixture.
  • the depicted illustrative embodiment of end effector 120 also includes a posterior support located on a posterior and of the torso portion 130 of the end effector 120.
  • the posterior support 136 is configured to cradle the posterior (sometimes referred to as the caudal) and of a torso of a bird retained on the end effector 120.
  • the head portion 140 and its corresponding head support 142 are located on the superior and of the torso portion 130. Supporting the posterior/caudal end of the torso of a bird may assist in loading the bird by further constraining movement of the bird’s torso and also potentially supporting at least a portion of the weight of the bird retained on the end effector.
  • FIGS. 15-19 depict the interaction between an end effector and a head/beak fixture in one illustrative embodiment of a poultry loading system as described herein.
  • a representation of a bird retained on the end effector 20 is provided. It should be noted that the portion of the torso of the bird that appears below the torso portion 30 of the end effector 20 is an artifact of the CAD system used to generate these figures and is not representative of actual use of the poultry loading system depicted therein.
  • the head/beak fixture 6 may be used alone as depicted in FIGS. 15-19 or with other components used to support other anatomical features of a bird having its head/beak retained in the head/beak fixture 6 that may or may not include other components may be described in, e.g., U.S. Patent No. 5,651,731 titled METHOD AND APPARATUS FOR DEBEAKING POULTRY; U.S. Patent No. 7,232,450 titled APPARATUS AND METHOD FOR UPPER AND LOWER BEAK TREATMENT; U.S.
  • FIG. 1 Another illustrative embodiment bird carrier including a head/beak fixture that could be used in one or more embodiments of the poultry loading systems described herein is described in US Patent 9,808,328 (POULTRY CARRIERS AND METHODS OF RESTRAINING POULTRY).
  • Other suitable structures for head/beak fixtures are also possible.
  • the head/beak fixture 6 depicted in FIGS. 15-19 includes a first side 6-1 facing the end effector 20 and a second side 6-2 facing away from the end effector 20.
  • the head/beak fixture 6 also includes a beak receiving passage 7 extending into the head/beak fixture 6 from an opening 7-2 on the first side 6-1 of the head/beak fixture 6.
  • the beak receiving passage 7 extends through the head/beak fixture 6 to an opening 7-3 on the second side 6-2 of the head/beak fixture 6.
  • the beak receiving passage 7 extends through the head/beak fixture 6 such that at least a portion of the beak of a bird retained in the head/beak fixture extends through the opening 7-3 and is exposed proximate the second side 6-2 of the head/beak fixture.
  • beak receiving passage 7 of the head/beak fixture 6 defines a delivery position for the poultry loading system such that placement of the head H and beak B of a bird in the head/beak fixture 6 constitutes delivery of the bird to the delivery position. As depicted in FIGS.
  • the head age and beak B of the bird when in the delivery position in the beak receiving passage 7, are positioned such that a portion of the beak B of the bird is located within the beak receiving passage 7 and a portion of the beak B of the bird is exposed outside of the beak receiving passage on the second side 6-2 of the head/beak fixture 6.
  • FIGS. 16-17 and 19 depict one illustrative embodiment of head clamps 6-6 that may be used to retain the head of a bird in the beak receiving passage 7 after delivery into the beak receiving passage 7 by the end effector 20 as described herein.
  • Head clamps such as those depicted in FIGS. 16-17 and 19 are found in at least some of the carrier references identified above and will not be described further herein.
  • the beak receiving passage 7 defines a passageway axis 7-1 extending through the beak receiving passage 7.
  • the passageway axis 7-1 may be generally transverse to the superior-inferior axis 20-1 defined by the end effector 20.
  • the end effector 20, having a bird retained thereon such that the head H of the bird is retained on the head support 42 with the beak B of the bird facing the beak receiving passage 7 of the head/beak fixture 6, is advanced or moved towards the first side 6-1 of the head/beak fixture 6 such that the beak B of the bird moves into the beak receiving passage 7 and, further, such that at least a portion of the beak B of the bird is located within the beak receiving passage 7.
  • the end effectors having a bird retained thereon, may be moved to a delivery position which, as discussed herein, may be defined by the beak receiving passage 7 of a head/beak fixture 6. Movement of the end effectors to the delivery position may involve advancing the end effectors along a delivery path such that the beak B of the bird retained on the end effector leads the torso of the bird when moving the end effector in the delivery path.
  • the delivery path may be defined by the arrow D.
  • the delivery path P may be aligned with the passageway axis 7-1 but that is not necessarily required in all embodiments.
  • the delivery path P although represented by an arrow, may or may not require movement of the end effectors along a straight line.
  • the end effector may follow a curved path when moving a bird to the delivery position.
  • the delivery path P may, in one or more embodiments, be described as aligned with or generally aligned with the passageway axis 7-1 of a head/beak fixture 6 in poultry loading systems and methods that involve delivery of a bird to a head/beak fixture 6 having a beak receiving passage 7 as described herein.
  • FIGS. 15-19 Another optional feature that may be provided in one or more embodiments of the poultry loading systems and end effectors used in the poultry loading systems is the head shroud 50 depicted in FIGS. 15-19.
  • the head shroud 50 is located proximate the head support 42 of the end effector 20 and is configured to restrict movement of a bird head H retained on the head support 42 of the end effector 20.
  • the head shroud 50 may be described as being configured to restrict movement of the bird head H about the superior-inferior axis 20-1.
  • head shroud 50 may, in one or more embodiments, be opaque such that the vision of a bird having its head H located within the head shroud 50 may be obscured by the head shroud 50.
  • the head shroud 50 is configured to move between an extended configuration and a retracted configuration relative to the head portion 40 of the end effector 20.
  • the head shroud 50 is in its extended configuration in FIGS. 15 and 17 and its retracted configuration in FIGS. 18 and 19.
  • the head shroud 50 includes a leading edge 52 that is located further from the head support 42 when the head shroud 50 is in its extended configuration than when the head shroud 50 is in its retracted configuration.
  • the head shroud 50 may be described as including a pair of lateral shroud portions 50-1 and 50-2 located on opposing sides of the head support 42 along a medial-lateral axis 40-1 where the medial-lateral axis 40-1 is located proximate the head support 42 and extends through a bird head H of a bird retained on the head support 42.
  • the medial lateral axis 40-1 may also intersect the superiorinferior axis 20-1 as described herein in connection with end effectors 20.
  • the lateral shroud portions 50-1 and 50-2 limit rotation of a bird head about the superior inferior axis 20-1 when the head shroud 50 is in its extended configuration.
  • head shroud 50 also includes a superior shroud portion 50-3 extending between the superior ends of the lateral shroud portions 50-1 and 50-2 (where the superior ends of the lateral shroud portions 50-1 and 50-2 are located above the bird head H).
  • the superior shroud portion 50-3 may limit rotation of a bird head H retained on the end effector 20 about the medial lateral axis 40- 1 when the head shroud 50 is in its extended configuration.
  • the head shroud 50 may be described as moving along a shroud axis when moving between its extended and retracted configurations.
  • the shroud axis may, for example, be represented by the passageway axis 7-1 of a head/beak fixture the defines the delivery position in a poultry loading system as described herein.
  • the shroud axis may be generally aligned with the delivery path along which an end effector is moved as described herein.
  • One or more embodiments of the end effectors used in one or more embodiments of poultry loading systems as described herein may include features configured to bias the position of the head shroud 50 in its extended configuration as seen in, e.g., FIG. 15.
  • Those features may include, for example, springs, pistons, elastomeric elements, magnets, etc. Movement of the head shroud 50 from its extended configuration to its retracted configuration as seen in, e.g., FIG. 19 may be caused by contact with the head/beak fixture 6 or other structures at the delivery position.
  • the forward edge 52 of the head shroud 50 contacts the arms 6-6 of the head clamp on the head/beak fixture 6, with that contact moving the head shroud 50 relative to the head support 42 as the end effector 20 is advanced towards the head/beak fixture 6. Release and removal of the end effector 20 from the bird after the bird is in position in the head/beak fixture 6, may allow the head shroud 50 to return to its extended configuration as seen in, e.g., FIG. 15.
  • the depicted embodiment involves biasing features to move the head shroud 50 between its extended and retracted configurations
  • one or more alternative embodiments may include active structures used to drive the head shroud between its extended and retracted configurations.
  • the bird is released from the end effector 20 after the bird has been moved into the delivery position as seen in FIGS. 18-19.
  • Release of the bird from the end effector 20 may or may not involve disconnection, diversion, and/or of the vacuum provided by a vacuum source.
  • the delivery position is defined by a head/beak fixture having a head clamp or other structure/ structures (see, e.g., arms 6-6 on head/beak fixture 6) configured to retain the bird in the delivery position, complete cessation or disconnection of the vacuum may not be required.
  • FIGS. 20-25 depict an alternative version of an end effector 120 that includes a telescoping head shroud assembly 150 located proximate the head support 142 of the end effector 120.
  • the telescoping head shroud assembly 150 includes an inner shroud 153 and an outer shroud 151.
  • the inner shroud 153 is configured to move between an extended configuration and a retracted configuration relative to the head support 142.
  • the forward edge 154 of the inner shroud 153 is located forward of the head support 142.
  • the forward edge 154 of the inner shroud 153 is located behind the head support 142.
  • the inner shroud 153 is configured to restrict movement of a bird head of a bird retained on the end effector 120 relative to the head support 142 about a superior-inferior axis (see, axis 120-1 in FIGS. 24-25) when the inner shroud 153 is in its extended configuration as depicted in FIGS. 20 and 22.
  • the outer shroud 151 is configured to move between a forward configuration and a rearward configuration relative to the head support 142 and the inner shroud 153.
  • the front edge 152 of the outer shroud 151 is located further from the head support 142 then when the outer shroud 151 is in its rearward configuration as seen in FIGS. 23-24.
  • the front edge 152 of the outer shroud 151 is located behind the head support 142 of the end effector 120 when the outer shroud 151 is in its rearward configuration.
  • the forward edge 154 of the inner shroud 153 may be located between the front edge 152 of the outer shroud 151 and the head support 142 when the inner shroud 153 is in its extended configuration and the outer shroud 151 is in its forward configuration. This arrangement is seen in, for example, FIG. 20.
  • the forward edge 154 of the inner shroud 153 and the front edge 152 of the outer shroud 151 may both be located behind the head support 142 when the inner shroud 153 is in its retracted configuration and outer shroud 151 is in its rearward configuration. This arrangement is seen in, for example, FIG. 23.
  • the components of the telescoping head shroud assembly 150 may be described as moving along a shroud axis when moving between their two configurations.
  • the shroud axis may, for example, be represented by the passageway axis of a head/beak fixture the defines the delivery position in a poultry loading system as described herein.
  • the shroud axis may be generally aligned with the delivery path along which an end effector 120 is moved as described herein.
  • the inner shroud 153 may be described as including a pair of lateral shroud portions similar to those discussed above in connection with head shroud 50, with the lateral shroud portions of the inner shroud being located on opposing sides of the head support 142 along a medial-lateral axis where the medial-lateral axis is located proximate the head support 142 and extends through a bird head H of a bird retained on the head support 142.
  • a medial lateral axis may also intersect the superior-inferior axis 120-1 as described herein in connection with end effectors.
  • the lateral shroud portions of the inner shroud limit rotation of a bird head about the superior inferior axis 120-1 when the inner shroud 153 is in its extended configuration.
  • inner shroud 153 also includes a superior shroud portion extending between the superior ends of the lateral shroud portions of the inner shroud 153.
  • the superior shroud portion of the inner shroud 153 may limit rotation of a bird head H retained on the end effector 120 about the medial lateral axis when the inner shroud 153 is in its extended configuration.
  • One or more embodiments of the end effectors used in one or more embodiments of poultry loading systems as described herein may include features configured to bias the position of the components of the telescoping head shroud assembly 150 in its extended configuration as seen in, e.g., FIG. 20. Movement of the components of the telescoping head shroud assembly 150 from their extended/forward configurations to their retracted/rearward configurations as seen in, e.g., FIG. 23 may, in one or more embodiments, be caused by contact with a head/beak fixture or other structures at the delivery position.
  • FIG. 26 depicts the end effector 120 and telescoping head shroud assembly 150 of FIGS. 20-25 mounted on a portion of one illustrative embodiment of a delivery apparatus that could be used in one or more embodiments of a poultry loading machine as described herein.
  • the illustrative embodiment of the delivery apparatus and end effector depicted in FIG. 26 includes a shroud actuator 180 operably connected to the telescoping shroud assembly 150 and configured to move the components of the telescoping shroud assembly 150 between their extended/forward configurations and retracted/rearward configurations (those components are in their extended/forward configurations in FIG. 26).
  • the depicted shroud actuator 180 is in the form of a pneumatic double-action cylinder having ports 182 but many other mechanisms could be used to move the telescoping shroud assembly, for example, hydraulic double-action cylinders, pneumatic or hydraulic single-action cylinders, spring mechanisms, solenoids, motors, magnetic drivers, etc.
  • the shroud actuator 180 can be used to actively move the telescoping shroud assembly 150 to its fully extended/forward configuration and/or to hold the telescoping shroud assembly 150 in its fully extended/forward configuration. Also depicted in FIGS. 26- 27 is a spring 156 that may be used to bias the outer shroud and/or the inner shroud of the telescoping head shroud assembly 150 to their extended/forward configurations in the absence of any force provided by the shroud actuator 180.
  • coil spring 156 is used in the illustrative embodiment, it will be understood that any suitable biasing structures/components could be used in place of the coil spring 156 including, but not limited to, leaf springs, hydraulic/pneumatic pistons, elastomeric elements, magnets, etc.
  • the shroud actuator 180 may be disabled (i.e., configured such that no force is provided by the actuator 180) as the end effector 120 carrying a bird approaches a delivery position.
  • the shroud actuator 180 may be disabled when the leading edge of the outer shroud is close to and/or in contact with structures at the delivery position.
  • the actuator 180 may be disabled when the leading edge 52 of the shroud 50 reaches and/or contacts the arms 6-6 of the head clamp on the head/beak fixture 6.
  • the position of the shroud 50 will be maintained as the end effector 20 is advanced towards the head/beak fixture 6 along delivery path P.
  • the shroud actuator 180 may be used to draw the head shroud 50 away from contact with the arms 6-6 of the illustrative embodiment of a head clamp assembly used in connection with head/beak fixture 6 such that closure of the arms 6-6 is not inhibited by contact with the head shroud 50.
  • FIG. 18 depicts the shroud 50 as withdrawn by a shroud actuator as described herein.
  • FIG. 23 depicts the telescoping head shroud assembly 150 as withdrawn by a shroud actuator as described herein.
  • the shroud actuator 180 used in one or more embodiments of a delivery apparatus as described herein may also be used to maintain the head shroud 50 in its extended configuration or a telescoping head shroud assembly 150 in its extended/forward configuration during pickup of a bird in a pickup position as described herein (see, e.g., FIG. 29 and its associated discussion).
  • FIG. 27 depicts the apparatus of FIG. 27 with a portion of the delivery apparatus removed to expose an optional force-limiting portion of the delivery apparatus.
  • the delivery apparatus as depicted in FIGS. 26-27 includes a delivery arm 170 including a biasing element 174 contained within a housing 172 (which is removed in FIG. 27).
  • the delivery arm 170 includes telescoping components 171 and 173 along with biasing element 174 mounted on the outside of component 173.
  • outer component 173 is configured to move along inner component 171 with that movement being biased in a forward direction by biasing element 174.
  • 26-27 is capable of limiting the force exerted on a bird being delivered to a delivery position such as, e.g., the head/beak fixture 6 depicted in FIGS. 15-19.
  • biasing element 174 reduces the force that is exerted on the bird.
  • a coil spring 174 and telescoping assembly are used in the illustrative embodiment, it will be understood that any suitable biasing structures/components could be used in place of the depicted structures including, but not limited to, biasing elements in the form of leaf springs, hydraulic/pneumatic pistons, elastomeric elements, magnets, etc. and suitable supporting structures for those biasing elements.
  • FIG. 28 Another illustrative embodiment of a poultry loading system that may be used to transfer birds from a pickup position to a delivery position is depicted in FIG. 28 where end effector 20 is mounted on delivery apparatus 12 as part of a poultry loading system 10. As also described herein, the poultry loading system 10 is configured to deliver birds using the end effector 22 a carrier 5.
  • Carrier 5 in the depicted illustrative embodiment includes a head/beak fixture 6, examples of which are described herein.
  • a pickup position 60 that, in the depicted illustrative embodiment is defined by a container 62.
  • the delivery apparatus 12 is configured to advance the end effector 20 into the container to retrieve or pick up a bird located therein.
  • the container 62 includes an open top 63 and a bottom 64, with a container axis 62-1 extending through the open top 63 and bottom 64 of the container 62.
  • the end effector 20 passes or is advanced through the open top 63 towards the bottom 64 of the container 62 to reach and pick up a bird located in the container 62.
  • the end effector 20 is advanced into contact with the dorsal surface of a bird in the pickup position to retrieve or pickup a bird for transport to a delivery position as described herein.
  • the poultry loading systems and methods described herein may involve advancing an end effector into contact with a dorsal surface of a bird in a pickup position.
  • the end effectors include a torso portion and a head portion aligned along a superior inferior axis, a torso opening located in a torso cup of the torso portion and the head portion having a head cavity and a head support.
  • the method further includes drawing a vacuum through the torso opening to retain the dorsal surface of a bird torso in contact with the torso cup in the torso portion of the end effector and drawing a vacuum through the head cavity to retain the dorsal surface of the bird head in contact with the head support of the end effector.
  • the method may also involve moving the bird from the pickup position to a delivery position.
  • Moving the bird to the delivery position may include moving the beak of the bird towards a first side of a head/beak fixture and into a beak receiving passage in the head/beak fixture.
  • at least a portion of the beak of the bird may be exposed proximate an opening of the beak receiving passage on a second side of the head/beak fixture.
  • moving the bird retained on the end effector to the delivery position may involve advancing the end effector along a delivery path such that the head support of the end effector leads the torso cup as the end effector moves along the delivery path.
  • moving the bird retained on the end effector to the delivery position may involve advancing the end effector along a delivery path such that a beak of the bird is located ahead of a ventral surface of the torso of the bird along the delivery path.
  • the end effector 20 includes a head shroud 50 in its extended configuration as the end effector 20 is advanced towards the pickup position at the bottom 64 of the container 62.
  • the head shroud 50 may also facilitate proper pickup of a bird located in the pickup position at the bottom 64 of the container 62.
  • the head shroud 50 may assist in aligning the head of a bird located in the container 62 with the head support of the end effector 20.
  • the head shroud 50 (or a telescoping head shroud assembly if provided) of the end effector 20 be in its extended configuration before the end effector 20 reaches the pickup position.
  • the system and method may involve moving the head shroud 50 (or telescoping head shroud assembly) to the extended configuration to assist with proper pickup of a bird as described herein.
  • the pickup position may be configured to restrict a bird in the pickup position from rotating to face a different direction.
  • the container may preferably define an elongated space at the pickup position that is configured to restrict the bird from rotating in the container about the container axis.
  • the container 162 defines a container axis 162-1 extending through an open top 163 and bottom 164 of the container 162.
  • the shape of the container 162 is elongated such that a bird F located in the container 162 is restricted from rotating about container axis 162-1 when in the pickup position at the bottom 164 of the container 162.
  • the elongated space of the pickup position defined by container 162 is in the form of an oval, any suitable elongated space defining a major axis and a minor axis in which the major axis is longer than the minor axis may be sufficient so long as a bird F located in the elongated space is restricted from rotating to face a different direction.
  • Examples of potentially suitable alternative elongated spaces include rectangles, some triangles, some pentagons, rhombus, etc.
  • the container 162 defining the pickup position may be rotated about the container axis 162-1 to change the direction in which the bird F is facing.
  • the methods described herein may involve rotating the container 162 about the container axis 162-1 before advancing the end effector of a poultry loading system into contact with the dorsal surface of the bird F in the pickup position when needed to align the bird such that the head portion of the end effector contacts the head of the bird and the torso portion contacts the torso of the bird when advancing the end effector into contact with a dorsal surface of the bird in the pickup position.
  • the poultry loading systems and methods described herein may include apparatus configured to determine an orientation of the bird in a container before rotating the container.
  • apparatus may include vision systems configured to identify the shape and orientation of the bird in the pickup position.
  • Other apparatus may include pressure sensors in the bottom 164 of the container 162, with the pressure sensors identifying the position of the feet of the bird in the container 162.
  • the end effectors may be rotated to match the orientation of the bird in a pickup position. Such systems and methods may not require rotation of the container in which the bird is located.
  • One or more embodiments of the poultry loading systems and methods described herein may also involve techniques and apparatus configured to enhance pickup of the bird F located in a pickup position before contacting the dorsal surface of the bird with an end effector.
  • the bird in a pickup position may be tilted at an angle relative to a horizontal plane which may cause the bird to shift position in a manner that enhances pickup by an end effector as described herein.
  • the bird F is located in the pickup position at the bottom 164 of container 162 with the bottom 164 being generally aligned with a horizontal axis 101.
  • the horizontal axis 101 is defined by the direction of gravity (see axis G in FIG. 32), i.e., the horizontal plane is perpendicular to a gravitational force vector.
  • the container 162 has been tilted or canted relative to the horizontal axis 101 such that a plane 165 that is generally defined by the bottom 164 of the container 162 forms an angle a (alpha) with the horizontal axis 101.
  • Tilting or canting the container 162 in such a manner has the tendency to cause a bird F located in the pickup position at the bottom 164 of the container 162 to rotate their head and/or torso in a manner in response to the tilting/canting that enhances proper positioning of the end effector and the dorsal surface of the bird F during pickup of the bird F by the end effector.
  • the container/pickup position is tilted or canted to form an angle a (alpha) that is, at the lower end, greater than 0 degrees, 10 degrees or more, 15 degrees or more, 20 degrees or more, 25 degrees or more, or 30 degrees or more.
  • the upper end of the angle a (alpha) may be less than 90 degrees, 60 degrees or less, or 45 degrees or less. The specific angle or angles used may depend on a variety of factors including the species of the bird, age of the bird, size of the bird, etc.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Birds (AREA)
  • Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Zoology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Wood Science & Technology (AREA)
  • Engineering & Computer Science (AREA)
  • Processing Of Meat And Fish (AREA)

Abstract

L'invention concerne des systèmes de chargement transporteurs de volaille et des effecteurs terminaux destinés à être utilisés dans les systèmes de chargement de volaille conjointement avec des procédés pour le chargement automatisé de volatiles dans des transporteurs à l'aide des systèmes de chargement de volaille et des effecteurs terminaux, les effecteurs terminaux fonctionnant avec le vide pour retenir le volatile.
PCT/US2025/013572 2024-01-30 2025-01-29 Systèmes de chargement de volaille, effecteurs terminaux et procédés Pending WO2025165862A1 (fr)

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US202463626855P 2024-01-30 2024-01-30
US63/626,855 2024-01-30

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WO2025165862A1 true WO2025165862A1 (fr) 2025-08-07

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WO2021150842A2 (fr) 2020-01-24 2021-07-29 Nova-Tech Engineering, Llc Supports à oisillons, systèmes de supports à oisillons et procédés
WO2023075843A1 (fr) 2021-10-29 2023-05-04 Nova-Tech Engineering, Llc Systèmes et procédés de déchargement d'un berceau pour volaille
WO2023075844A1 (fr) * 2021-10-29 2023-05-04 Nova-Tech Engineering, Llc Système et procédé de traitement de bec de volaille
WO2023075842A1 (fr) 2021-10-29 2023-05-04 Nova-Tech Engineering, Llc Supports pour volaille et procédés de retenue de volaille

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5195925A (en) 1991-01-30 1993-03-23 Nova-Tech Engineering, Inc. Method and apparatus for declawing poultry
US5651731A (en) 1995-06-23 1997-07-29 Nova-Tech Engineering, Inc. Method and apparatus for debeaking poultry
US7232450B2 (en) 2003-01-17 2007-06-19 Nova-Tech Engineering, Inc. Apparatus and method for upper and lower beak treatment
US8499721B2 (en) 2003-11-06 2013-08-06 Nova-Tech Engineering, Inc. Apparatus and method for nasal delivery of compositions to birds
US20050101937A1 (en) 2003-11-06 2005-05-12 Nova-Tech Engineering, Inc. Apparatus and method for nasal delivery of compositions to birds
US7363881B2 (en) 2003-11-06 2008-04-29 Nova-Tech Engineering, Inc. Beak treatment with tongue protection
US9808328B2 (en) 2009-01-23 2017-11-07 Nova-Tech Engineering, Inc. Poultry carriers and methods of restraining poultry
US9775695B2 (en) 2009-01-23 2017-10-03 Nova-Tech Engineering, Inc. Fourth toe processing systems and methods
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WO2023075842A1 (fr) 2021-10-29 2023-05-04 Nova-Tech Engineering, Llc Supports pour volaille et procédés de retenue de volaille

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