EP0802733A1 - Cadre de maintien pour carcasse d'animal, et procede d'habillage - Google Patents
Cadre de maintien pour carcasse d'animal, et procede d'habillageInfo
- Publication number
- EP0802733A1 EP0802733A1 EP94921133A EP94921133A EP0802733A1 EP 0802733 A1 EP0802733 A1 EP 0802733A1 EP 94921133 A EP94921133 A EP 94921133A EP 94921133 A EP94921133 A EP 94921133A EP 0802733 A1 EP0802733 A1 EP 0802733A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- carcass
- cutting
- cutting tool
- support frame
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Classifications
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/06—Slaughtering stands or spreaders for cattle
Definitions
- the invention comprises an animal carcass support frame and dressing method.
- the present invention provides a frame which supports a carcass and which presents it in a uniform way.
- the frame of the invention may be used to present a carcass uniformly to different machines along a processing chain or in different ways to a stationary dressing machine, such as a robotic arm equipped with various tools for example.
- the frame may hold the carcass to present it to each set of tools at a processing station so that a number of operations can be carried out at the same station.
- the frame of the invention allows for the orientation or position of the carcass to be determined or maintained or altered with respect to the frame and hence with respect to other devices or objects.
- the invention also provides a carcass dressing method using an industrial robot.
- an animal carcass support frame for holding and positioning an animal carcass during operations thereon, comprising
- a front frame part comprising means to suspend the carcass in an inverted position from the front hocks of the carcass and a neck support part to support the inverted carcass below the neck or shoulders,
- a rear rame part comprising means to suspend the rear hocks of the carcass
- the rear frame part is pivotally mounted to the front frame part along a substantially horizontal axis for pivotal movement to raise and lower the rear frame part relative to the front frame part.
- the invention comprises an animal carcass support frame as described together with an industrial robot comprising a robotic arm equipped with a cutting tool for dressing the carcass and programmed to carry out dressing operations on the carcass.
- the robot is programmed to carry out at least the front Y-cut down the front legs and chest of the carcass.
- the invention also comprises a cutting tool for equipping to a robotic arm of an industrial robot, the cutting tool being manipulatable and operable under control of the industrial robot, comprising two parallel adjacent cutting blades reciprocally movable in the same plane each beside the other and a motor which drives the cutting blades, the cutting blades and motor being formed as a unit attachable to the robot arm, and means to attach the cutting tool to the robot arm.
- the invention comprises a method of dressing a carcass comprising suspending the carcass in an inverted position from the front and rear hocks of the carcass, and carrying out dressing operations on the carcass by an industrial robot comprising a robotic arm equipped with a cutting tool for dressing the carcass.
- Fig. 1 is a perspective view of a preferred form of frame of the invention
- Figs 2A and 2B show the preferred form frame of Fig. 1 in a forward position
- Figs 3A and 3B show the preferred form frame in an intermediate position
- Figs 4A and 4B show the preferred form frame in a rear position
- Fig. 5 shows a robotic arm of an industrial robot making a front Y-cut on a carcass suspended in inverted position
- the frame includes a front part which comprises a top transverse member 1 to which the carcass's front hocks are held by suitable clamps or spikes for exam; e, or other means for holding the front hocks of the carcass.
- a front part which comprises a top transverse member 1 to which the carcass's front hocks are held by suitable clamps or spikes for exam; e, or other means for holding the front hocks of the carcass.
- the neck support member 3 is carried by vertical members 4a and 4b telescopically mounted in the members 2a and 2b and controlled by hydraulic rams or similar to raise and lower the neck support part 3.
- a rear frame part comprises a top transverse member 5 to which the carcass's rear hocks are held, again by suitable clamps or spikes or similar, which is pivotally connected to the front freune part at pivot points 7. Movement of the rear frame part is controlled by the hydraulic or pneumatic ram 8.
- the front hocks of a carcass are first attached to the top transverse member 1 and the rear hocks of a carcass are attached to the top transverse member 5.
- the freune is then used to position the carcass as desired.
- the rear frame part may be elevated by the ram 8 to the position shown in Figs 2A and 2B to aid the draining of blood from the neck cut and sticking.
- the rear frame part may then be dropped to the position shown in Fig. 3A and 3B so that the stomach contents do not drain out of the oesophagus.
- the rear frame part may be raised to the in __-ne'.-,ate position shown in Figs. 4A and 4B so that the carcass brisket region is horizontal.
- the front Y- cut may be carried out (see Fig. 5), the brisket flaps pulled back and the neck, shoulders and forelegs cleared. In this position further operations may be carried out including hock removal, belly operations, rear Y cutting and splitting of the brisket flap.
- Fig. 5 shows the preferred form frame together with an industrial robot comprising a robotic arm 10.
- the robotic arm is shown as a roof or ceiling mounted robotic arm or the arm 10 may be mounted from a beam above, but the robot may be of any suitable type such as a robot which stands on the floor, comprising two or more robot arms for example.
- the robot is used to make the dressing cuts in the carcass.
- the frame of the invention positions each carcass in a substantially identical position when compared to conventional means of suspending a carcass from a moving processing chain for example.
- the point at which the robot starts a cut such as the front Y-cut shown in Fig. 5, is always in a similar spatial position.
- Fig. 5 shows the preferred form frame together with an industrial robot comprising a robotic arm 10.
- the robotic arm is shown as a roof or ceiling mounted robotic arm or the arm 10 may be mounted from a beam above, but the robot may be of any suitable type such as a robot which stands on the floor, comprising two or more robot arms for example.
- FIG. 5 shows the robotic arm 10 mounting a cutting tool 11 on the end thereof comprising cutting blades 12 making the front Y-cut down the front legs and chest of the carcass.
- the robot may be programmed to make other dressing cuts and Fig. 5 shows the robot arm making the front Y-cut by way of example.
- the tool comprises two parallel adjacent cutting blades 13 and a motor within the cutting tool body unit 14 which drives the cutting blades 13.
- the motor may be connected to the cutting blades through a gearbox within the cutting tool body unit 14.
- the motor is controlled by the robot.
- the cutting blades 13 reciprocate back and forth together in a cutting action.
- the cutting blades move with a rotary reciprocal action as indicated by the arrows in Fig. 6. This has been found most effective for cutting through the pelt of an animal carcass.
- the cutting blades 13 are cranked as shown, comprising a first cutting edge portion 13a and a second cutting edge portion 13b which has shark tooth shaped teeth.
- the shark tooth teeth point back towards the first blade portion 13a as shown.
- the robot having the cutting tool of Fig. 6 mounted to the end of the robotic arm inserts the cutting tool through an initial puncture made through the pelt of the carcass.
- the robot then energises the motor to cause the cutting blades 13 to operate, and the robot arm moves the cutting tool upwardly to make for example the front Y-cut as shown in Fig. 5.
- the motor is an air motor but it could alternatively be an electric or hydraulic motor for example.
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Manipulator (AREA)
Abstract
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/NZ1994/000072 WO1996002145A1 (fr) | 1994-07-20 | 1994-07-20 | Cadre de maintien pour carcasse d'animal, et procede d'habillage |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0802733A1 true EP0802733A1 (fr) | 1997-10-29 |
EP0802733A4 EP0802733A4 (fr) | 1998-04-15 |
Family
ID=19916322
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP94921133A Ceased EP0802733A4 (fr) | 1994-07-20 | 1994-07-20 | Cadre de maintien pour carcasse d'animal, et procede d'habillage |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0802733A4 (fr) |
AU (1) | AU705999B2 (fr) |
WO (1) | WO1996002145A1 (fr) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB0006236D0 (en) * | 2000-03-16 | 2000-05-03 | Khodabandehloo Koorosh | Meat carcass cutting apparatus |
HRP20000516A2 (en) * | 2000-07-28 | 2002-02-28 | Gojko Uljak | Machine for removing skin and fur of slaughtered animals by scraping |
GB0107308D0 (en) * | 2001-03-20 | 2001-05-16 | Khodabandehloo Koorosh | Apparatus for cutting bird carcasses |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3916484A (en) * | 1973-10-05 | 1975-11-04 | Raymond A Kennedy | Method and apparatus for automatic carcass cutting |
EP0274208A1 (fr) * | 1986-11-23 | 1988-07-13 | Otaki Abattoirs Limited | Dispositif et procédé pour supporter une carcasse pendant l'écorchement |
WO1991004670A1 (fr) * | 1989-10-03 | 1991-04-18 | University Of Bristol | Methode de tranchage robotise |
WO1992022210A1 (fr) * | 1991-06-18 | 1992-12-23 | Commonwealth Scientific & Industrial Research Organisation | Evisceration d'animaux |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1199156B (de) * | 1962-02-22 | 1965-08-19 | Schmid & Wezel | Geraet zum Abhaeuten von Schlachttieren |
DE3020878A1 (de) * | 1980-06-02 | 1982-01-14 | Schmid & Wezel, 7133 Maulbronn | Schneidgeraet zum abhaeuten von schlachttieren |
EP0508550B1 (fr) * | 1987-12-23 | 1995-07-05 | Commonwealth Scientific And Industrial Research Organisation | Enlèvement automatique de têtes d'animaux de boucherie |
AU627117B2 (en) * | 1987-12-23 | 1992-08-13 | Australian Meat & Livestock Research & Development Corporation | Automatic animal head removal |
US4901400A (en) * | 1989-01-27 | 1990-02-20 | Karubian Ralph K | De-hiding tool |
US5122092A (en) * | 1989-12-13 | 1992-06-16 | Jarvis Products Corporation | Power skinning knife with removable drive mechanism and high efficiency pneumatic motor |
-
1994
- 1994-07-20 EP EP94921133A patent/EP0802733A4/fr not_active Ceased
- 1994-07-20 AU AU71968/94A patent/AU705999B2/en not_active Ceased
- 1994-07-20 WO PCT/NZ1994/000072 patent/WO1996002145A1/fr not_active Application Discontinuation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3916484A (en) * | 1973-10-05 | 1975-11-04 | Raymond A Kennedy | Method and apparatus for automatic carcass cutting |
EP0274208A1 (fr) * | 1986-11-23 | 1988-07-13 | Otaki Abattoirs Limited | Dispositif et procédé pour supporter une carcasse pendant l'écorchement |
WO1991004670A1 (fr) * | 1989-10-03 | 1991-04-18 | University Of Bristol | Methode de tranchage robotise |
WO1992022210A1 (fr) * | 1991-06-18 | 1992-12-23 | Commonwealth Scientific & Industrial Research Organisation | Evisceration d'animaux |
Non-Patent Citations (2)
Title |
---|
DATABASE WPI Week 9727 Derwent Publications Ltd., London, GB; AN 97-296349 XP002037676 & NZ 247 687 A (NZ MEAT RES & DEV COUNCIL) , 24 April 1997 * |
See also references of WO9602145A1 * |
Also Published As
Publication number | Publication date |
---|---|
AU705999B2 (en) | 1999-06-03 |
EP0802733A4 (fr) | 1998-04-15 |
AU7196894A (en) | 1996-02-16 |
WO1996002145A1 (fr) | 1996-02-01 |
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Legal Events
Date | Code | Title | Description |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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17P | Request for examination filed |
Effective date: 19970212 |
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AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LI LU MC NL PT SE |
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A4 | Supplementary search report drawn up and despatched |
Effective date: 19980224 |
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AK | Designated contracting states |
Kind code of ref document: A4 Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LI LU MC NL PT SE |
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17Q | First examination report despatched |
Effective date: 19980810 |
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GRAG | Despatch of communication of intention to grant |
Free format text: ORIGINAL CODE: EPIDOS AGRA |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED |
|
18R | Application refused |
Effective date: 20010204 |