DK169375B1

DK169375B1 - Method and plant for cutting mid-split pig carcasses

Info

Publication number: DK169375B1
Application number: DK33082A
Authority: DK
Inventors: Niels Erik Hansen
Original assignee: Slagteriernes Forskningsinst
Priority date: 1982-01-26
Filing date: 1982-01-26
Publication date: 1994-10-17
Also published as: DK33082A

Description

DK 169375 B1 i I forbindelse med opskæring af midtflækkede svineslagtekroppe i slagterier har der været foreslået forskellige midler til styring af opskæringen med henblik på opnåelse af høj produktionskapacitet, indstilling af snitplacering efter de aktuelle markedsforhold og lettelse af de manuelle operationer.DK 169375 B1 In connection with the cutting of mid-split pig carcasses in slaughterhouses, various means have been proposed to control the cutting in order to achieve high production capacity, adjust the cut position according to the current market conditions and facilitate the manual operations.

5 Fra de danske patentansøgninger nr. 4273/75 og 3612/77 er det således kendt at foretage opmåling på hver enkelt slagtekrop af visse for snitplaceringen betydende størrelser, såsom vægt, kropslængde og -omkreds og spæktykkelse på forud bestemte steder, og at føre de opmålte data til en datamat, som på basis af den således modtagne information giver anvisning til en operatør om, hvordan opskæringen skal 10 foretages, enten ved på en talindikator at give oplysning om snitafstande i relation til forud bestemte punkter på kroppen eller ved direkte på denne at markere snitbeliggenheden, fx med lysstriber. De nævnte målinger kræver mange manuelle operationer.Thus, from Danish patent applications Nos. 4273/75 and 3612/77, it is known to make measurements on each carcass of certain sizes significant for the incision placement, such as weight, body length and circumference and thickness at predetermined locations, and to conduct the measurements. measured data to a computer which, on the basis of the information thus received, gives instructions to an operator on how the cutting should be made, either by providing on a numerical indicator information about cut distances in relation to predetermined points on the body or by directly on it to mark the cut location, for example with light stripes. The mentioned measurements require many manual operations.

Fra beskrivelsen til USA patent nr. 3 916 484 kendes et halvautomatisk 15 opskæringsapparat. En slagter markerer beliggenhed af opskæringssnittene på hver enkelt slagtekrop med streger, der så afføles på en detektor, som fører data vedrørende snitbeliggenheden til en hukommelse. De således lagrede data anvendes til at styre skæreredskaber, som automatisk foretager den ønskede opskæring.From the specification of U.S. Patent No. 3,916,484, a semi-automatic cutting apparatus is known. A butcher marks the location of the cutting sections on each carcass with strokes then sensed on a detector which transfers data on the cut location to a memory. The data thus stored is used to control cutting tools which automatically make the desired cutting.

Opfindelsen angår en fremgangsmåde ved opskæring af midtflækkede svineslagte-20 kroppe, ved hvilken kroppene automatisk føres gennem en eller flere stationer med automatisk styrede skæreorganer. Opfindelsen har til formål at angive en sådan fremgangsmåde, som kan udføres fuldautomatisk under behørig hensyntagen til individuelle kriterier for hver enkelt slagtekrop, og som også muliggør tilpasning efter andre faktorer, fx varierende markedsforhold.BACKGROUND OF THE INVENTION 1. Field of the Invention This invention relates to a method of cutting mid-split pig slaughtered bodies, wherein the bodies are automatically passed through one or more stations with automatically controlled cutting means. The invention has for its object to provide such a method, which can be carried out fully automatically taking due account of individual criteria for each carcass, and which also allows adaptation to other factors, for example varying market conditions.

25 Opfindelsen er baseret på den erkendelse, at de forskellige ønskede snitplaceringer alle kan fastlægges med tilstrækkelig præcision i forhold til punkter på slagtekroppen, som er tilgængelige for opmåling ved hjælp af automatisk måleudstyr. I overensstemmelse hermed opnås det tilsigtede formål ved, at fremgangsmåden udføres som angivet i krav l’s kendetegnende del. Også ilægningen i fixturen kan foretages automatisk, fx 30 ved hjælp af organer, der på i og for sig kendt måde overfører slagtekroppen fra en DK 169375 B1 2 hængetransportørs hængejem til såkaldte vendejem, som igen overfører kroppen til fixturen.The invention is based on the realization that the various desired cut locations can all be determined with sufficient precision with respect to points on the carcass that are available for measurement by automatic measuring equipment. Accordingly, the intended purpose is achieved by carrying out the method as set forth in claim 1. The insertion into the fixture can also be done automatically, for example by means of means which in a known manner transfer the carcass from a hanging conveyor's hinge to so-called turning items, which in turn transfer the body to the fixture.

For at den ønskede opskæring af kroppene skal kunne foregå med den fornødne præcision, er det nødvendigt, at hver krop bringes til at indtage og fastholdes i en 5 uforandret stilling i sin fixtur. Rygsøjlehvirvleme danner punkter, som er let tilgængelige for automatiske måleorganer. Fremgangsmåden kan hensigtsmæssigt udføres som angivet i krav 2's kendetegnende del.In order for the desired cutting of the bodies to take place with the required precision, it is necessary that each body is taken to occupy and maintained in a 5 unchanged position in its fixture. The vertebral vertebrae form points that are easily accessible to automatic measuring means. The process may conveniently be performed as set forth in the characterizing portion of claim 2.

I en midtflækket svineslagtekrop, hvis rygsøjle ligger i ét plan, vil der langs rygsøjlen være en kant, som det har vist sig forholdsvis let at styre en føler efter. Dette forhold 10 udnyttes ved den i krav 3 angivne udførelse af fremgangsmåden til stedbestemmelse af rygsøjlehvivleme ved angivelse af mellemrummenes koordinator i xy-planet.In a mid-spotted pig carcass, whose spine is in one plane, there will be an edge along the spine, which has proved relatively easy to control a sensor. This ratio 10 is utilized in the embodiment of the spine vertebrae location determined in claim 3 by specifying the space coordinator in the xy plane.

Opfindelsen angår også et anlæg til udøvelse af den angivne fremgangsmåde, indeholdende en eller flere arbejdsstationer samt organer til at føre midtflækkede svineslagtekroppe gennem disse stationer. Det ejendommelige ved anlægget ifølge 15 opfindelsen er angivet i krav 4's kendetegnende del.The invention also relates to a system for carrying out the method according to the invention, containing one or more workstations and means for passing mid-split pig carcasses through these stations. The peculiarity of the plant according to the invention is given in the characterizing part of claim 4.

Ved den i krav 5 angivne udformning af anlægget opnås, at de to halvparter af en midtflækket slagtekrop følges ad gennem og bearbejdes sideløbende i alle arbejdsstationer.In the design of the plant as claimed in claim 5, it is achieved that the two halves of a mid-speckled carcass are followed through and processed simultaneously in all workstations.

En pladsbesparende og konstruktivt enkel udformning af anlægget er angivet i krav 20 6.A space-saving and constructively simple design of the system is given in claim 20 6.

Ved den i krav 7 angivne udformning opnås, at slagtekroppenes egenvægt som følge af deres hældning medvirker til at fastholde kroppene i uændret stilling.In the embodiment of claim 7, it is achieved that the weight of the carcass as a result of their inclination helps to keep the bodies in unchanged position.

Ved at anlægget er udformet som angivet i krav 8 opnås, at rygsøjlehvirvleme danner områder, som er let tilgængelige for automatiske måleorganer, og at rygsøjlens 25 beliggenhed kan bestemmes alene ved koordinater i et xy-plan.By the arrangement being designed as claimed in claim 8, it is achieved that the spine vertebrae form areas which are readily accessible to automatic measuring means and that the position of the spine 25 can be determined only by coordinates in an xy plane.

3 DK 169375 B13 DK 169375 B1

Opskæringen kan foretages ved, at skæreorganer bevæges i forhold til stationære slagtekroppe eller ved, at slagtekroppene bevæges i forhold til stationære skæreorganer eller ved, at både skæreorganeme og slagtekroppene bevæges. Den her foretrukne udførelse med bevægelige fixturer er angivet i krav 9.The cutting can be done by moving cutting means relative to stationary carcasses, or by moving carcasses relative to stationary cutting bodies, or by moving both cutting means and carcasses. The preferred embodiment with movable fixtures is set forth in claim 9.

5 I krav 10 er nærmere angivet den udformning, der fører til den ovenfor omtalte skråstilling af slagtekroppene og det foretrukne værdiområde for hældningen i forhold til lodret.In claim 10, the configuration leading to the above-mentioned inclination of the carcasses and the preferred range of inclination relative to the vertical is specified.

I krav 11 er angivet en udformning af fixtureme, som ved forholdsvis enkle midler, nemlig understøtningsorganer, der danner anlægsflademe og er forskydelige samt for 10 nogles vedkommende yderligere svingbare, gør det muligt at placere slagtekroppene i den ønskede stilling.Claim 11 discloses a design of the fixtures which, by relatively simple means, namely supporting members, which form the abutment surfaces and are slidable and, for some, further pivotal, allow the carcasses to be placed in the desired position.

Midler til fastholdelse af slagtekroppene i den ønskede stilling i fixtureme er angivet i krav 12 og 13, og forskellige enkeltheder ved forholdsvis simple og billige opmålingsorganer, som er i stand til at tilvejebringe de til styring af skæreredskabeme 15 nødvendige informationer om rygsøjlens beliggenhed, er angivet i krav 14-20.Means for retaining the carcasses in the desired position in the fixtures are set forth in claims 12 and 13, and various details of relatively simple and inexpensive surveying means capable of providing the information needed to control the cutting tools 15 are provided. in claims 14-20.

Når der anvendes stationære, men indstillelige båndsave som angivet i krav 21's indledning, kan de nødvendige indstillingsmuligheder opnås ved, at disse båndsave er således bevægelige, som angivet i samme kravs kendetegnende del.When stationary but adjustable band saws are used as set forth in the preamble of claim 21, the necessary adjustment options can be obtained by the fact that these band saws are thus movable as indicated in the characterizing part of the same claim.

De i opskæringsstationen eller -stationerne afskårne kropsdele kan eventuelt dirigeres 20 ned på forskellige transportører, men det er også muligt at udnytte den lagrede viden om kropsdelene og deres position i fixturen til automatisk styring af efterfølgende forarbejdningsprocesser. Med dette formål for øje kan der således opnås automatisk positionering af afskårne kropsdele.The body parts cut at the cutting station or stations may optionally be routed down to different conveyors, but it is also possible to utilize the stored knowledge of the body parts and their position in the fixture for automatic control of subsequent processing processes. For this purpose, automatic positioning of cut body parts can thus be achieved.

Efter at slagtekroppen er anbragt i fixturen i det omhandlede anlæg, kan der i en 25 station udføres flere af de fra slagtelinier kendte operationer på slagtekroppe, fx klassificering, mærkning og afskæring. De kritiske skæreoperationer udføres imidlertid i anlægget ifølge opfindelsen på opskæringsstationeme i overensstemmelse med den på målestationen fundne position af den fikserede slagtekrop. På grand af slagtekroppens varierende størrelse og form foretrækkes det, at de andre operationer 4 DK 169375 Bl foretages, efter at der i opmålingsstationen er tilvejebragt viden om den pågældende slagtekrop.After the carcass is placed in the fixture of the plant concerned, in a station 25 several of the operations known from the carcasses on carcasses can be carried out, for example classification, marking and cutting. However, the critical cutting operations are carried out in the system according to the invention at the cutting stations in accordance with the position of the fixed carcass found at the measuring station. Due to the varying size and shape of the carcass, it is preferable that the other operations be performed after knowledge of the carcass in question has been obtained at the surveying station.

Den lagrede viden om kropsdelene og deres position i fixturen kan i overensstemmelse hermed anvendes til automatisk styring af fx måle- eller 5 mærkningsorganer, som arbejder på slagtekroppen, medens den befinder sig på én af stationerne i fixturen. Fx kan der på opmålingsstationen findes organer til klassificering af slagtekroppen, fx en indstikssonde, der måler elektrisk ledningsevne eller farverefleksion gennem slagtekroppen, og som videregiver signalet til en datamat, hvori målingen omdannes til et kødkvalitetsmål (fx farve, fedtprocent og/eller 10 marmorering m.v.). Datamaten kan videregive disse kødkvalitetsmål til den datamat, der styrer opskæringsværktøjeme, således at deres position kan indstilles i afhængighed af kødkvalitet og markedsbehov, eller således at værktøjerne kan forblive inoperative i de tilfælde, hvor slagtekroppen er uegnet til de mulige opskæringsformer i anlægget.Accordingly, the stored knowledge of the body parts and their position in the fixture can be used for automatic control of, for example, measuring or marking devices operating on the carcass while at one of the stations in the fixture. For example, at the metering station there may be means for classifying the carcass, for example, a probe that measures electrical conductivity or color reflection through the carcass, and which transmits the signal to a computer in which the measurement is converted to a meat quality measure (e.g., color, fat percentage and / or 10 marbles). ). The computer may pass these meat quality targets to the computer that controls the cutting tools so that their position can be adjusted according to meat quality and market needs, or so that the tools may remain inoperative in cases where the carcass is unsuitable for the possible cutting forms in the plant.

15 Endvidere kan disse kødkvalitetsmål bruges i forbindelse med detajlmarkedsføringen af de enkelte udskæringer eller dele heraf.15 Furthermore, these meat quality objectives can be used in connection with the retail marketing of the individual cuts or parts thereof.

På grundlag af den målte kødkvalitet og den lagrede viden om kropsdele og deres position i fixturen vil det på tilsvarende måde være muligt at styre fx klassificeringsstempelaggregater, som findes i opmålings- eller opskæringsstationeme.On the basis of the measured meat quality and the stored knowledge of body parts and their position in the fixture, it will also be possible to control, for example, classification piston assemblies which are found in the measuring or cutting stations.

20 Opfindelsen kan forklares nærmere i det følgende under henvisning til tegningen, hvor fig. 1 skematisk viser en udførelsesform af anlægget ifølge opfindelsen, set fra oven, fig. 2 og 3 samme set i retning af pilene henholdsvis Π-ΙΙ og ΠΙ-ΙΙΙ i fig. 1, fig. 4 en fixtur, set forfra, 25 fig. 5 et snit efter linie V-V i fig. 4, fig. 6 en føler, set i retning vinkelret på det xy-plan, hvori den skal bevæge sig, fig. 7 og 8 samme set i retning af pilene henholdsvis VII-VII og VIII-VIII i fig. 6, og fig.9 en graf, der i xy-planet repræsenterer følerens bevægelser under affølingen 30 af en rygsøjle samt de af føleren frembragte impulser, der angiver beliggenheden af mellem ram mellem rygsøjlehvirvleme.BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic top view of an embodiment of the system according to the invention; FIG. 2 and 3 are the same in the direction of the arrows Π-ΙΙ and ΠΙ-ΙΙΙ in fig. 1, FIG. 4 is a front view of a fixture; FIG. 5 is a section along line V-V of FIG. 4, FIG. 6 shows a sensor, viewed in the direction perpendicular to the xy plane in which it is to move; FIG. 7 and 8 are the same in the direction of the arrows VII-VII and VIII-VIII respectively in FIG. 6, and Fig. 9 is a graph representing in the xy plane the movements of the sensor during sensing 30 of a spine as well as the impulses produced by the sensor indicating the location of the inter-frame between the vertebral vertebrae.

5 DK 169375 B15 DK 169375 B1

Det i fig. 1-3 viste anlæg består i store træk af en karrusel 10, der er drejeligt lejret på en lodret aksel 11, som rager op fra en sokkel 12, og et antal stationer 13,14,15 og 16, hvor midtflækkede svineslagtekroppe 17 kan underkastes forskellige operationer, fastholdt i fixturer 18 på karrusellen.The FIG. 1 to 3 are largely comprised of a carousel 10 pivotally mounted on a vertical shaft 11 projecting from a base 12 and a plurality of stations 13,14,15 and 16 where mid-pork pig carcasses 17 may be subjected to various operations, maintained in fixtures 18 on the carousel.

5 Karrusellen 10 har en rørformet midterstolpe 19, der er drejeligt lejret på akslen 11 ved hjælp af lejer, hvoraf kun det ene 20 ses på tegningen (fig. 3). På den nederste del af stolpen 19 er fastgjort et fodstykke 21, der fx kan udgøres af eller være forbundet med et tandhjul, som kan drives af et eller flere ikke viste, mindre tandhjul til drejning af karrusellen. Uge over fodstykket er der til stolpen 19 fastgjort en nedre, 10 polygonformet bæreskive 22, der til reduktion af inertien er udført som en hul konstruktion med indvendige afstivningsvægge, og til den øvre ende af stolpen 19 er fastgjort en øvre, cirkulær bæreskive 23, der har noget mindre diameter end den nedre og er udført massiv.5 The carousel 10 has a tubular center post 19 that is pivotally mounted on the shaft 11 by means of bearings, only one of which 20 is shown in the drawing (Fig. 3). On the lower part of the post 19 is attached a foot piece 21, which may, for example, comprise or be connected to a gear which can be driven by one or more smaller gears for turning the carousel. A week above the footpiece, a lower, 10 polygon-shaped support plate 22 is attached to the post 19, which is designed to reduce the inertia as a hollow structure with internal stiffening walls, and to the upper end of the post 19 is attached an upper, circular support plate 23 which has somewhat smaller diameter than the lower one and is made massive.

De øvre bæreskive 23 har på undersiden fire par konsoller 24 beliggende med 90°'s 15 vinkelmellemrum, og hvert konsolpar bærer en skråtstillet, i et aksialplan beliggende, pneumatisk cylinder 25.1 samme aksialplaner er anbragt dermed parallelle cylindre 26 i den nedre bæreskive 22. De ydre ender af stempelstængeme i hvert par i samme aksialplan beliggende cylindre er fast forbundet med en dobbeltfixtur bestående af to side om side beliggende og med hinanden fast forbundne fixturer 18 til optagelse og 20 fastholdelse af hver sin halvpart 17 af en midtflækket svineslagtekrop. Symmetrisk beliggende på begge sider af hver dobbeltfixturs cylinderpar 25, 26 er anbragt et par føringer, der hver består af en med den ene fixtur drejeligt forbundet stang 27, der er forskydeligt lejret i en med bæreskiven 22 eller 23 drejeligt forbundet muffe 28. Kun de øverste føringer ses i fig. 1. Af mufferne 28 ses kun de ydre ender, og drejefor-25 bindelseme er ikke vist. Konstruktionen er således dimensioneret, at fixtureme danner en vinkel på ca. 15° med lodret. Ved aktivering af cylindrene kan dobbeltfixtureme bringes til at bevæge sig i retning vinkelret på sig selv fra den viste tilbagetrukne stilling eller hvilestilling til en ikke vist fremskudt stilling eller arbejdsstilling.The upper support disk 23 has on the underside four pairs of brackets 24 located at 90 ° at 15 angular intervals, and each console pair carries an inclined, in an axial plane, pneumatic cylinder 25.1, the same axial planes are arranged thus parallel cylinders 26 in the lower support disk 22. The outer ends of the piston rods in each pair of cylinders located in the same axial plane are firmly connected to a double fixture consisting of two side-by-side and interconnected fixtures 18 for receiving and retaining each half 17 of a mid-spotted pig carcass. Symmetrically located on both sides of each double-fixture cylinder pair 25, 26 are arranged a pair of guides, each consisting of a rod 27, which is pivotally connected to one fixture, which is displaceably mounted in a sleeve 28 pivotally connected to the bearing disc 22 or 23. the upper guides are shown in fig. 1. Of the sleeves 28, only the outer ends are seen and the pivot joints are not shown. The structure is dimensioned such that the fixtures form an angle of approx. 15 ° with vertical. By activating the cylinders, the double fixtures can be made to move in a direction perpendicular to themselves from the retracted or resting position shown to an extended or working position not shown.

Fixtureme 18 er kun vist skematisk i fig. 1-3. I fig. 5 og 6 er en enkelt fixtur vist 30 mere detaljeret. Den er opbygget på en ramme 31 bestående af to hule længdedragere 32 og 33 med kvadratisk tværsnit, hvoraf den yderste 33, dvs. den, der er længst fra den anden fixtur i dobbeltfixturen, er bøjet i en stump vinkel for at muliggøre DK 169375 B1 6 reduktion af karruseldiameteren, og seks tværdragere 34. I de mellemliggende tværdragere er der udformet langsgående slidser 35 og 29, og i hver af disse slidser er forskydeligt anbragt en understøtning henholdsvis 36 og 30 bestående af en pladeformet del, der udadtil begrænses af en lige kantflade 37 og indadtil begrænses 5 af en kvartcirkelformet kantflade 38.The fixtures 18 are only shown schematically in FIG. 1-3. In FIG. 5 and 6, a single fixture is shown in more detail. It is built on a frame 31 consisting of two hollow longitudinal supports 32 and 33 of square cross-section, the outermost 33, i.e. the one furthest from the second fixture of the double fixture is bent at a blunt angle to allow for the reduction of the carousel diameter, and six transverse supports 34. In the intermediate transverse longitudinal slots 35 and 29 are formed, and in each of these slots, a support 36 and 30, respectively, consisting of a plate-shaped portion, which is externally limited by a straight edge surface 37 and inwardly 5, is constrained by a quarter-circular edge surface 38.

De tre understøtninger 36 er beliggende på den indre halvdel af rammerne 18, dvs. den til venstre for midten i fig. 5 og 6 liggende, og de tre andre understøtninger 30, på den ydre halvdel af rammen, dvs. den til højre for midten i fig. 5 og 6 liggende.The three supports 36 are located on the inner half of the frames 18, i.e. the one to the left of the center of FIG. 5 and 6, and the other three supports 30, on the outer half of the frame, i.e. the one to the right of the center of FIG. 5 and 6 lying down.

På de to længdedragere 32 og 33 er fastgjort pladeformede sidestykker henholdsvis 10 39 og 40, hvoraf det inderste 39 er noget bredere end det yderste 40. Ud for hver ydre understøtning 30 er der på sidestykket 40 fastgjort en pneumatisk cylinder 41, hvis stempelstang er forbundet med en stang 42, der er fastgjort til understøtningen 30 og går gennem slidsen 29 i den pågældende tværdrager 34. Ved aktivering af cylindrene 41 kan de ydre understøtninger 30 således bevæges frem og tilbage på deres 15 tværdragere 34.Attached to the two longitudinal supports 32 and 33 are plate-shaped side pieces 10 39 and 40, respectively, the inner 39 of which is slightly wider than the outer 40. Next to each outer support 30, a pneumatic cylinder 41, the piston rod of which is connected, is attached. with a rod 42 attached to the support 30 and passing through the slot 29 in the respective transverse carrier 34. Thus, by activating the cylinders 41, the outer supports 30 can be moved back and forth on their transverse supports 34.

De indre understøtninger 36 kan på samme måde bevæges frem og tilbage ved hjælp af cylindre 43, der er fastgjort til sidestykket 39, og hvis stempelstang er forbundet med en stang 44, der igen er forbundet med den tilhørende understøtning. Denne sidtnævnte forbindelse er for den nederste understøtnings vedkommende fast, ligesom 20 det er tilfældet med de ydre understøtninger, men er for de to øverste understøtningers vedkommende en drejeforbindelse, hvis omdrejningsakse er markeret ved 45. Med stangen 44 for disse understøtninger er på ikke nærmere vist måde fast forbundet med en Z-formet konsol 46, der bærer en pneumatisk cylinder 47, på enden af hvis stempelstang er anbragt et kamorgan 48 med en opadvendt skrå kamflade 49.In the same way, the inner supports 36 can be moved back and forth by means of cylinders 43 which are attached to the side piece 39 and whose piston rod is connected to a rod 44 which in turn is connected to the associated support. This latter connection is fixed for the lower support, as is the case for the outer supports, but is for the two upper supports a pivot whose axis of rotation is marked at 45. The rod 44 for these supports is not shown in detail. in a manner fixedly connected to a Z-shaped bracket 46, carrying a pneumatic cylinder 47, at the end of whose piston rod is mounted a cam member 48 with an upwardly inclined cam surface 49.

25 På denne kamflade hviler den nedre ende af en stang 50, som på ikke nærmere vist måde er således anbragt, at den er forskydelig i sin længderetning, og hvis øvre ende, der ikke ses på tegningen, ligger an mod underkanten af understøtningen 36. Når cylinderen 47's stempel skydes frem, vil kamfladen 49 løfte stangen 50, hvorved understøtningen 36 vil blive drejet i urvisemes retning - fig. 5 - om aksen 45.On this cam surface rests the lower end of a rod 50, which is not positioned in such a way that it is slidable in its longitudinal direction and whose upper end, not seen in the drawing, abuts the lower edge of the support 36. As the piston 47 of the cylinder 47 is pushed forward, the cam surface 49 will lift the rod 50, thereby supporting the support 36 in the clockwise direction - FIG. 5 - about the axis 45.

7 DK 169375 B1 Når cylinderen 47's stempel atter trækkes tilbage, går understøtningen 36 tilbage til den viste stilling, enten under indflydelse af tyngdekraften eller under påvirkning af en ikke vist tilbageføringsfjeder.7 DK 169375 B1 When the piston of the cylinder 47 is retracted again, the support 36 returns to the position shown, either under the influence of gravity or under the influence of a return spring (not shown).

Mellem de to øverste tværdragere 34 er der anbragt en midterbro 51, som bærer en 5 tap 52 til fastholdelse af halvpartens bagben. Understøtningerne 36 er endvidere udformet med ikke viste kanaler, der udmunder i åbninger 53 i den krumme inderkantflade 38 og er tilsluttet en ikke vist vakuumkilde til fastholdelse af halvkroppene ved sugning.Between the two upper transverse supports 34 is arranged a middle bridge 51, which carries a pin 52 for holding the hind legs of the half. The supports 36 are further provided with channels not shown, which open into openings 53 in the curved inner edge surface 38 and are connected to a vacuum source not shown for retaining the half-bodies by suction.

Når en dobbeltfixtur 18, 18 efter en 90°'s drejning af karmsellen 10 ankommer til 10 station 13, er den tom og parat til at modtage de to halvparter 17 - fig. 2 - af en midtflækket svineslagtekrop. På station 13 foregår ikke alene ilægning, men også opretning og fiksering af halvkroppene i de to fixturer.When a double fixture 18, 18 after a 90 ° rotation of the frame cell 10 arrives at 10 station 13, it is empty and ready to receive the two halves 17 - FIG. 2 - of a mid-stained pig carcass. At station 13, not only loading, but also aligning and fixing the half-bodies in the two fixtures.

Svineslagtekroppene føres til anlægget af en konventionel transportør bestående af en glideskinne, hvoipå er ophængt et antal hængejem ved hjælp af kroge, der kan glide 15 på skinnen og trækkes frem af en kæde, der løber parallelt med skinnen og har dropfingre, som kan bringes til anlæg mod krogene. Slagtekroppene hænger i bagbenene, som er hægtet på hver sin ende af hængejemene.The pig carcasses are brought to the facility by a conventional conveyor consisting of a slide rail, upon which a number of hinges are suspended by means of hooks which can slide 15 on the rail and are pulled out by a chain running parallel to the rail and having drop fingers which can be brought abutment against the hooks. The carcasses hang in the hind legs, which are fastened on each end of the hammocks.

På station 13 er i forlængelse af transportøren anbragt en "grisevender" 54, der er af almindelig kendt art og ikke skal beskrives detaljeret her. Under transporten på 20 transportøren hænger de to halvparter af kroppen endnu sammen ved trynen. lige før de ankommer til grisevenderen, skæres denne forbindelse over af en i bevægelsesbanen anbragt kniv. I grisevenderen hægtes bagbenene af hængejemet og overføres til hvert sit vendejem, som under indflydelse af halvkroppenes vægt udfører en svingningsbevægelse på ca. 90°, hvorved halvkroppene bliver orienteret med 25 sværsiden vendende mod fixtureme. Vendejemene bevæges derefter ind mod fixtureme, og halvkroppene hægtes af vendejemene og overføres til holdetappene 52 på fixtureme, som på dette tidspunkt er bragt i arbejdsstilling ved aktivering af deres cylindre 25 og 26, hvorefter vendejemene befriet for kroppene vender tilbage til deres udgangsstilling parat til modtagelse af en ny slagtekrop.At station 13, a "pig turret" 54, which is of a generally known nature and is not to be described in detail herein, is provided by the carrier. During the transport of the 20 conveyor, the two half parts of the body are still connected to the trunk. just before arriving at the pig feeder, this compound is cut by a knife placed in the path of movement. In the pig tire, the hind legs of the hammock are hooked and transferred to each turnbuckle which, under the influence of the half-body weight, performs a swinging motion of approx. 90 °, whereby the half-bodies are oriented with the sword side facing the fixtures. The turnbuckles are then moved toward the fixtures and the half-bodies are hooked by the turnbuckles and transferred to the holding pins 52 of the fixtures, which are at this time brought into working position by actuation of their cylinders 25 and 26, after which the turnbuckles freed of the bodies return to their initial position ready to receive. of a new carcass.

DK 169375 B1 8DK 169375 B1 8

Positioneringen af en halvkrop i fixturen tilvejebringes ved, at de ydre cylindre 41 først aktiveres og fører deres understøtninger 30 frem til anlæg mod faste stop, der fx kan være enderne af slidserne 29, og at de indre cylindre 47 derpå aktiveres til fremføring af deres understøtninger 36, indtil disse møder en forud bestemt modstand 5 fra den halve slagtekrop 17, hvis rygside de støder imod, hvorefter de to øverste understøtninger svinges om deres omdrejningsakser 45 til anlæg mod faste, ikke viste stop ved aktivering af cylindrene 47. Ved denne svingning rettes rygraden op i ét plan. Derefter føres vakuum til de kanaler, der udmunder i åbningerne 53, hvorved halvkroppene fastholdes i den oprettede stilling.The positioning of a half-body in the fixture is provided by first activating outer cylinders 41 and guiding their supports 30 to abutment fixed stops, which may be, for example, the ends of slots 29, and then activating inner cylinders 47 to advance their supports. 36 until they meet a predetermined resistance 5 from the half carcass 17, the back of which they encounter, after which the two upper supports are pivoted about their axis of rotation 45 for abutting fixed, unstressed stops when the cylinders 47 are actuated. the backbone up in one plane. Then, vacuum is applied to the channels which open in the openings 53, thereby retaining the half-bodies in the created position.

10 Efter at de to halvparter er blevet positioneret i de to fixturer, og disse af cylindrene 25 og 26 er trukket tilbage til deres hvilestilling, drejes karrusellen 10 90°, hvorved fixtureme med de positionerede halvkroppe bringes hen til station 14. Fixtureme bringes i deres arbejdsstilling ved aktivering af cylindrene 25, 26, hvorefter der kan foretages en samtidig opmåling af de to halvparter.After the two halves have been positioned in the two fixtures, and those of the cylinders 25 and 26 are retracted to their resting position, the carousel 10 is turned 90 °, bringing the fixtures with the positioned half-bodies to station 14. The fixtures are brought into their working position by activating the cylinders 25, 26, after which a simultaneous measurement of the two halves can be made.

15 Opmålingen af en halvkrop foretages ved hjælp af en føler 55, som på almindelig kendt, ikke nærmere vist måde er således anbragt på en konsol 56, at den er bevægelig langs de to koordinatakser i et plan, der er parallelt med det ved opretningen tilvejebragte rygsøjleplan. Opmålingen af den anden halvkrop foretages ved hjælp af en anden føler, der er indrettet og arbejder på samme måde som føleren 20 55 ovenfor. Følerens funktion og konstruktion skal beskrives nærmere i det følgende under henvisning til fig. 6-8.The measurement of a half-body is carried out by means of a sensor 55 which, in the known manner, is not shown in a manner so arranged on a bracket 56 that it is movable along the two coordinate axes in a plane parallel to that provided by the alignment. rygsøjleplan. The second half-body is measured by another sensor which is arranged and operates in the same manner as the sensor 20 55 above. The function and construction of the sensor will be described in more detail below with reference to fig. 6-8.

Føleren bæres af en stang 57, hvis bevægelser i planet parallelt med rygsøjleplanet er styret af en ikke vist datamat. På enden af stangen er der fastgjort en kugle 58, som griber således ind i en kuglefatning i nærheden af den ene ende af en kasseformet 25 slæde 59, at denne kan dreje sig i alle retninger i forhold til stangen 57. Et stykke fra kuglefatningen har slæden 59 en tværgående udboring, hvori er forskydeligt anbragt en giidestang 60, som ved den ene ende bærer en drejeligt lejret styresko 61. Den anden ende af giidestangen 60 er gevindskåret og påskruet en møtrik 62, og mellem to mellemlægsskiver 63 er anbragt en trykskruefjeder 64, der påvirker styreskoen 61 30 i retning ind mod slæden 59. Mellem den inderste mellemlægsskive 63 og slæden 59 er anbragt en trykmålecelle 64a, der til datamaten afgiver et signal, som afhænger af spændingen i fjederen 64.The sensor is supported by a rod 57 whose movements in the plane parallel to the spine plane are controlled by a computer not shown. At the end of the rod is mounted a ball 58 which engages in a ball bearing near one end of a box-shaped carriage 59 so that it can rotate in all directions relative to the rod 57. A portion of the ball bearing has the carriage 59 is a transverse bore in which is slidably disposed a guide rod 60 which carries at one end a pivotally mounted guide shoe 61. The other end of the guide rod 60 is threaded and screwed a nut 62, and between two intermediate washers 63 is provided a pressure screw spring 64 affecting the guide shoe 61 30 in the direction of the carriage 59. A pressure measuring cell 64a is provided between the innermost spacer 63 and the carriage 59 which gives a signal to the computer which depends on the tension of the spring 64.

9 DK 169375 B1 På samme side af slæden 59 som styreskoen 61 er der anbragt en transor 65 med en på ikke nærmere vist måde fjederbelastet følenål 66, hvis bevægelser af transoren omsættes til elektriske signaler Opmålingsprocessen begynder med, at et på føleren anbragt søgeorgan under styring af datamaten skanderer et begrænset område, hvori 5 halvpartens første halshvirvel vides at være beliggende, og via datamaten styrer føleren hen til denne halshvirvel, således at styreskoen 61 under påvirkning af fjederen 64 bringes til at presse mod den ved slagtekroppens midtflækning tilvejebragte snitflade ved de første halshvirvler.9 DK 169375 B1 On the same side of the carriage 59 as the control shoe 61, a transor 65 is provided with a spring-loaded sensor needle 66 not shown, whose movements of the transducer are converted into electrical signals. The measurement process begins with a search means placed on the sensor under control. of the computer scans a restricted area in which the first half of the cervical vertebra is known to be located, and via the computer the sensor directs to this cervical vertebra, so that the guiding shoe 61, under the influence of the spring 64, is pressed against the cut surface provided at the center of the carcass at the first cervical vertebrae.

Derefter bringes føleren til at bevæge sig med konstant hastighed langs x-aksen, som 10 er en linie parallel med dobbetlfixturens symmetrilinie. Under denne bevægelse holdes følerens styresko 61 i anlæg mod ovennævnte snitflade ved indstilling af følerens position langs y-aksen, der er en på x-aksen vinkelret linie, som er parallel med rygsøjleplanet. Indstillingen styres således af datamaten på basis af signalet fra trykmålecellen 64a, at styreskoen 61 presser mod rygsøjlens snitflade med en konstant 15 kraft.Then, the sensor is moved at a constant speed along the x-axis, which is a line parallel to the symmetry line of the double fixture. During this movement, the sensor guide shoes 61 are held in contact with the cut surface above by adjusting the position of the sensor along the y-axis, which is a line perpendicular to the x-axis parallel to the spine plane. The setting is controlled by the computer on the basis of the signal from the pressure measuring cell 64a that the guide shoe 61 presses against the intersection of the spine with a constant force.

På denne måde vil føleren bringes til at følge rygraden således, at følenålen 66 afføler rygsøjlen. Hver gang følenålen falder ned i et mellemrum mellem ryghvirvlerne, frembringer transoren 65 et kraftigt signal. Transorsignaleme føres til datamaten og lagres sammen med de tilhørende x,y-værdier. I fig. 9 er vist et eksempel på 20 transorsignaler, der fås ved følerens bevægelse langs x-aksen. De tydelige nedadgående spidser markerer ryghvirvelmellemrummene.In this way, the sensor will be caused to follow the backbone such that the sensor 66 senses the spine. Each time the needle falls into a space between the vertebrae, the transducer 65 produces a strong signal. The transducer signals are fed to the computer and stored together with the corresponding x, y values. In FIG. 9 is an example of 20 transducer signals obtained by moving the sensor along the x-axis. The distinct downward tips mark the vertebral spaces.

Efter følerens gennemløb langs rygsøjlen findes der i datamatens hukommelse data over rygsøjlens forløb og position og placeringen af hvirvelmellemrummene i forhold til fixturen, dvs. en skematisk afbildning af den målte rygsøjledel. Datamaten er 25 således programmeret, at målingerne korrigeres, inden de lagres. Fx vil der ved manglende mellemrumssignal fra følenålen indsættes et signal på det sted, hvor man på grundlag af foregående og følgende målinger måtte forvente det.After passing the sensor along the spine, data is stored in the computer's memory about the course and position of the spine and the position of the vertebral spaces relative to the fixture, ie. a schematic representation of the measured spine portion. The computer is programmed such that the measurements are corrected before being stored. For example, in the absence of a gap signal from the needle, a signal will be inserted at the location where one would expect it based on the previous and following measurements.

På station 15, som halvparterne efter afslutning af opmålingsprocessen og tilbagetrækning af dobbeltfixturen til hvilestilling føres frem til ved en ny 90° 's 30 drejning af karrusellen 10, foretages der ved hjælp af de opnåede opmålingsdata samt eventuelt markedsdata en firedeling af hver halvpart ved udførelse af et halssnit, et DK 169375 B1 10 forendesnit og et skinkesnit. Disse snit udføres af to sæt båndsave 67, som er anbragt på hver sin del af en dobbeltkonsol 68 og er indstillelige under styring fra datamaten.At station 15, which after the completion of the measurement process and withdrawal of the double fixture for rest position is brought forward by a new 90 ° turn of the carousel 10, the measurement data obtained as well as possible market data, a quadrupling of each half is performed. of a neck cut, a front cut and a ham cut. These cuts are performed by two sets of band saws 67, which are disposed on each part of a dual bracket 68 and are adjustable under control of the computer.

Hver sav 67 har en klinge 69, der løber over tre miler 70, hvoraf den nærmest konsollen beliggende drives af en motor 71. De to andre miler er således beliggende, 5 at klingestrækningen mellem dem er parallel med rygsøjleplanet. På denne strækning er klingen kantstillet og således beliggende i et på rygsøjleplanet vinkelret plan. Hver sav er anbragt på en slæde 72, som dels er forskydelig i et lodret plan og langs en med rygsøjleplanet parallel linie, dels er drejelig om en på rygsøjleplanet vinkelret akse.Each saw 67 has a blade 69 running over three miles 70, of which the closest console is driven by a motor 71. Thus, the other two miles are located 5 that the blade distance between them is parallel to the spine plane. On this stretch, the blade is angular and thus located in a plane perpendicular to the spine plane. Each saw is positioned on a carriage 72 which is partly displaceable in a vertical plane and along a line parallel to the spine plane and partly rotatable about an axis perpendicular to the spine plane.

10 Ved forskydning og drejning af savene 67 styret af de i datamaten lagrede data, indstilles de til udførelse af korrekt beliggende snit, der foretages ved, at dobbeltfixturens cylindre 25 og 26 aktiveres, så at dobbeltfixturen bevæges udad mod savene, indtil halvkroppene er skåret igennem. Under savene er der anbragt et transportbånd 73, som fx hoved og forende kan falde ned på. Dette transportbånd 15 ender i en sådan afstand fra et andet i forlængelse deraf liggende transportbånd 74, at forendestykkeme passerer hen over mellemrammet, medens hovedstykkerne falder ned på et underliggende tredje transportbånd 75, der står vinkelret på de to første.10 By displacing and rotating the saws 67, controlled by the data stored in the computer, they are set to perform correctly located incisions made by activating the double fixture cylinders 25 and 26 so that the double fixture is moved outwards towards the saws until the half-bodies are cut through . Underneath the saws is a conveyor belt 73 which, for example, head and front can fall down. This conveyor belt 15 terminates at such a distance from a second conveyor belt 74 which extends beyond the intermediate frame while the head pieces fall onto an underlying third conveyor belt 75 perpendicular to the first two.

Oven på hver del af dobbeltkonsollen 68 er der anbragt et aggregat 76 til afsavning af bagtåen. Dette aggregat har en ramme 77, hvori er anbragt en pneumatisk cylinder 20 78, og som kan hæves og sænkes ved hjælp af en lodretstående cylinder 79. Disse bevægelser styres af to føringer 82.On each part of the double bracket 68, an assembly 76 is provided for sawing the rear toe. This assembly has a frame 77 in which is mounted a pneumatic cylinder 20 78, which can be raised and lowered by a vertical cylinder 79. These movements are controlled by two guides 82.

På rammen 77 er endvidere på ikke nærmere vist måde flydende ophængt en båndsav 80, der drives af en motor 81, og som forneden bærer et positioneringsorgan 83. På enden af cylindren 78's stempelstang er der anbragt en gribeklo 84, som efter den 25 beskrevne firedeling føres frem og griber om halvkroppens bagben. Gribekloens lukkebevægelse styres af en ikke vist udsparing i fixtureme.Further, on a frame 77, a belt saw 80 driven by a motor 81 and not carrying a positioning member 83 is suspended in liquid form, not shown below. On the end of the piston rod of the cylinder 78, a gripper claw 84 is placed, which after the quadruple described 25 is brought forward and grips the hindquarters of the half-body. The closing movement of the gripper claw is controlled by a not shown recess in the fixtures.

DK 169375 B1 11 Når gribekloen derefter trækkes tilbage af cylinderen 78, støder skinken under knæledet imod positioneringsorganet 83, hvorved bagbenet positioneres i forhold til saven 80, som umiddelbart efter skærer bagtåen af. Derpå føres bagtåen og skinken via en ikke vist sliske ned på et ikke vist transportbånd, hvor de kan separeres på 5 samme måde som tidligere beskrevet for hoved og forende.When the gripper claw is then retracted by the cylinder 78, the ham below the knee joint bears against the positioning member 83, thereby positioning the hind leg relative to the saw 80, which immediately cuts off the back toe. Then, the back toe and the ham are passed down on a conveyor belt (not shown), where they can be separated in the same way as previously described for head and front end.

Efter tilbagetrækning af dobbeltfixturen til hvilestilling drejes karrusellen igen 90°, så at halvparternes midterstykker, der stadig fastholdes i fixtureme, føres frem til station 16, hvor der sker en deling af midterstykkeme. Denne deling foretages af to båndsave 85, som er således anbragt på en konsol 86, at de dels kan forskydes i vandret retning, 10 dvs. på tværs af halvparternes længdeakse, dels kan drejes om akser, der står vinkelret på rygsøjleplanet. Indstilling af savene ved disse bevægelser styres af de i datamaten lagrede data. De delte midterstykker falder efter afbrydelse af vakuumet ned på et transportbånd 87, hvorefter dobbeltfixturen trækkes tilbage til hvilestilling og føres frem til station 13, igen ved 90°'s drejning af karmsellen for at modtage en ny 15 midtflækket svineslagtekrop.After the double fixture is retracted to the rest position, the carousel is rotated 90 ° again so that the center halves of the fixtures still retained in the fixtures are advanced to station 16, where the center pieces are split. This division is made by two band saws 85 which are arranged on a bracket 86 so that they can be partly displaced in the horizontal direction, ie. across the longitudinal axis of the hemisphere, in part can be rotated about axes perpendicular to the spine plane. Adjustment of the saws by these movements is controlled by the data stored in the computer. The split center pieces fall after vacuum is cut down on a conveyor belt 87, after which the double fixture is withdrawn to the rest position and advanced to station 13, again at 90 ° turn of the casing to receive a new mid-spotted pig carcass.

Claims

A method of cutting mid-split pig carcasses (17), wherein the bodies are automatically passed through one or more stations (13,16) with automatically controlled cutting means (67,80 and 85), characterized in that each carcass 5 (17) is placed in and retained in a fixture (18), and the position of the vertebral vertebrae in the body is automatically measured, and that the cutting means (67,80 and 85) of the subsequent station (s) are adjusted depending on these positions and possibly other parameters.

Method according to claim 1, characterized in that the half-bodies (17) 10 are arranged in each of their fixtures (18), that the spine is substantially in one plane and that the location of the vertebral vertebrae in that plane is measured and recorded.

Method according to claim 2, characterized in that the measurement of the location of the vertebral vertebrae is carried out by means of a sensor (55) which is movable 15. one with said plane substantially parallel to the xy plane and controlled along the spine and senses the spaces between the vertebral vertebrae.

System for carrying out the method according to claim 1, 2 or 3, comprising one or more workstations (13-16) and means for passing mid-split pig carcasses through these stations, characterized in that a first 20 station (13) forms a loading station with means for placing a carcass (17) supplied by a conveyor in a fixture (18) which serves as a transport means between stations (13-16) and arranged for holding the body on abutment surfaces (38), and that at a subsequent measuring station (14) there are means for measuring the position of spine vertebrae in the body held in the fixture, and that at one or 25 more subsequent cutting stations (15, and 16) there are cutting means (67,80 and 85). which can be set or controlled in dependence on signals emitted by the surveying means as well as any other parameters. 13 DK 169375 B1

Plant according to claim 4, characterized in that for each station (13-16) there is a double fixture (18) for receiving associated half carcasses (17) and that at the measuring station (14) there are two simultaneous sets of measuring means. (55), and that on the subsequent cutting station (s) (15 and 16) there are 5 two working sets of cutting means (67 and 84) operating simultaneously.

System according to claim 4 or 5, characterized in that each fixture (18) is arranged on a carousel (10), outside of which the workstations (13-16) are located at uniform angular intervals.

System according to claim 6, characterized in that the upper 10 faces (38) of the fixture (18) are located closer to the axis of rotation of the carousel than the lower contact surfaces of the fixture.

System according to claim 4, characterized in that each fixture (18) has positioning means (30 and 36), preferably including the abutment surfaces (38), for automatically positioning a half carcass (17) in such a position that the spine 15 comes to lie essentially in one plane.

System according to claim 8, characterized in that the fixtures (18) are arranged to be able to move substantially perpendicular to the vertebral plane between an internal resting position or an outer position.

System according to claim 8 or 9, characterized in that the spine plane intersects the axis of rotation of the carousel (10) at an angle of preferably 10 ° -20 °. 14 DK 169375 B1

System according to claim 8, 9 or 10, characterized in that each fixture (18) positioning means comprises a plurality of support means (30 and 36) which are arranged on both sides of a central plane so that they can be moved in and out. from this center plane, and whose inward-facing edge faces (38) forming abutment surfaces are curved, preferably approximately quarter-cylindrical, wherein there are stop means for limiting the inward movement of the support members located on a chest region to receive a half carcass (17) determined side of said median plane, and means for stopping the inward movement of said sub-thugs located on the other, for receiving 10 of the spine region of said semi-body definite side of said median plane when encountering a predetermined resistance from the body, as well as means (47-50) to then pivot two or more of these latter supporting members toward the mid plane about hence essentially parallel axes.

Installation according to any one of claims 4-11, characterized in that the fixtures 15 (18) are provided with means, preferably in the form of vacuum means (53), for retaining the carcasses (17).

12 DK 169375 B1

Installation according to claims 11 and 12, characterized in that one or more holes (53) which can be connected to a vacuum source are formed in the abutment surfaces (38) of the support means (30 and 36).

System according to any one of claims 8-13, characterized in that a measuring means (55) is included in the measuring means which is detectably movable in two axial directions in an xy plane which is substantially parallel to the spine plane and that means for controlling the sensor so that it moves along the spine or part thereof.

System according to claim 14, characterized in that apparatus is coupled to the control means for locating a first vertebra and to actuate the control means such that the sensor (55) begins its movement along the spine at this vertebra. 15 DK 169375 B1

System according to claim 14 or 15, characterized in that the sensor (55) is arranged to detect spacing between spine vertebrae and to produce for each such space a signal which is fed to a computer together with the associated xy data, which computer based on the signals thus received and optionally in dependence on other parameters controls the setting of the cutting means (67, 80 and 85) at the subsequent cutting station (s) (15 and 16).

System according to claim 16, characterized in that the sensor (55) is constituted by a transducer (65) connected to a spring-loaded or force-actuated sensing means (66) adapted to convert relative movements of the sensing means to electrical signals.

System according to claim 17, characterized in that the sensing means is carried by a wire (66).

Installation according to claim 17, characterized in that the sensing means is formed by a roller or a ball.

System according to any one of claims 14-19, characterized in that the sensor is arranged on a carriage (59) which has a guide shoe (61) intended for abutting the inward-facing vertebral edge surface (61) and which is resiliently actuated in one axial direction. in the xy plane for establishing such a plant, and that drive means for moving the sensor in the other axis are provided.

System according to any one of claims 9-20, in which the cutting means consist of 20 stationary but adjustable band saws (67,80 and 85), characterized in that the band saws (67,80 and 85) are translationally movable in a plane parallel to the spine plane. direction and pivot about axes which are substantially perpendicular to this plane.