EP3897168A1 - Dispositif de coupe permettant de découper une bande, sensiblement en forme de v, de produits carnés alimentés dans une direction de transport t ainsi que procédé et dispositif permettant l'élimination d'une bande, sensiblement en forme de v, de produits carnés alimentés dans une direction de transport t avec un tel dispositif de coupe - Google Patents

Dispositif de coupe permettant de découper une bande, sensiblement en forme de v, de produits carnés alimentés dans une direction de transport t ainsi que procédé et dispositif permettant l'élimination d'une bande, sensiblement en forme de v, de produits carnés alimentés dans une direction de transport t avec un tel dispositif de coupe

Info

Publication number
EP3897168A1
EP3897168A1 EP19717299.2A EP19717299A EP3897168A1 EP 3897168 A1 EP3897168 A1 EP 3897168A1 EP 19717299 A EP19717299 A EP 19717299A EP 3897168 A1 EP3897168 A1 EP 3897168A1
Authority
EP
European Patent Office
Prior art keywords
knife
cutting device
adjusting
transport direction
cutting
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
EP19717299.2A
Other languages
German (de)
English (en)
Inventor
Stefan Giesler
Torsten Rusko
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.)
Nordischer Maschinenbau Rud Baader GmbH and Co KG
Original Assignee
Nordischer Maschinenbau Rud Baader GmbH and Co KG
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 Nordischer Maschinenbau Rud Baader GmbH and Co KG filed Critical Nordischer Maschinenbau Rud Baader GmbH and Co KG
Publication of EP3897168A1 publication Critical patent/EP3897168A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D3/00—Cutting work characterised by the nature of the cut made; Apparatus therefor
    • B26D3/06—Grooving involving removal of material from the surface of the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/26—Means for mounting or adjusting the cutting member; Means for adjusting the stroke of the cutting member
    • B26D7/2628—Means for adjusting the position of the cutting member
    • B26D7/2635—Means for adjusting the position of the cutting member for circular cutters
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
    • A22C25/14—Beheading, eviscerating, or cleaning fish
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
    • A22C25/16—Removing fish-bones; Filleting fish
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0045—Manipulators used in the food industry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0055—Cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
    • B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
    • B26D1/12—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis
    • B26D1/14—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter
    • B26D1/24—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter coacting with another disc cutter
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/007—Control means comprising cameras, vision or image processing systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/08—Means for actuating the cutting member to effect the cut
    • B26D5/086—Electric, magnetic, piezoelectric, electro-magnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
    • B26D7/0625—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form by endless conveyors, e.g. belts
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
    • A22C25/08—Holding, guiding, or conveying fish before, during or after its preparation ; Devices for sizing fish; Automatically adapting conveyors or processing machines to the measured size
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
    • A22C25/18—Cutting fish into portions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D2210/00—Machines or methods used for cutting special materials
    • B26D2210/02—Machines or methods used for cutting special materials for cutting food products, e.g. food slicers

Definitions

  • Cutting device for cutting a substantially V-shaped strip from meat products fed in the transport direction T and a method and device for removing a substantially V-shaped strip from meat products fed in the transport direction T with such a strip
  • the invention relates to a cutting device, designed and set up for cutting a substantially V-shaped strip of meat products fed in the transport direction T, with a knife carrier to which two knife units are assigned, each knife unit having a circular knife and a drive for rotating the circular knife around one
  • the center of rotation axis Mi, M2 comprises, the two circular knives being positioned essentially in a V-shape to each other in a position enclosing an angle a, and the size of the angle a being adjustable by an adjustable arrangement of the knife units on the knife carrier.
  • the invention also relates to a device for removing essentially V-shaped strips from meat products fed in the transport direction T, comprising a transport conveyor for transporting the meat products to be processed in the transport direction T, means for recognizing specific characteristics of the
  • Meat products a cutting device for cutting a substantially V-shaped strip from the meat product, and a control device for controlling the cutting device as a function of the determined characteristics.
  • the invention further relates to a method for removing essentially V-shaped strips from fed in the transport direction T.
  • Meat products in particular with a device according to claim 14, with the steps of: transporting the meat products in the transport direction T by means of a transport conveyor, recognizing specific characteristics of the meat products by means for recognizing the specific characteristics of the meat products, cutting a substantially V-shaped strip from the meat product by means of a two Circular knife having cutting device, wherein the two circular knives are set in a position enclosing an angle a substantially V-shaped to each other and the size of the angle a is set depending on the characteristics, the cutting device when cutting the V-shaped
  • Control device is controlled.
  • Such cutting devices and devices are used in the food processing industry in processes in which a preferably V-shaped strip is to be cut out of a meat product.
  • cutting devices are used to cut product strips, e.g. cut from a fish fillet lying on a transport surface or a transport conveyor.
  • Cutting device There is a possibility that the meat product will be stationary while the cutting device is e.g. is moved as a handheld device over the meat product. Usually and preferably, however, the meat product lies on top of one
  • Transport conveyor by means of which the meat product is transported in transport direction T, namely along a transport path on which the cutting device is placed in a stationary manner (in transport direction) so that the cutting device can be brought into operative connection with the meat product.
  • a transport conveyor for example and usually a circulating conveyor belt on which the meat products lie, preferably flat products such as e.g. Fish fillets or the like.
  • flat products such as e.g. Fish fillets or the like.
  • the determination of characteristics means that e.g. Strips of fat, strips of dark meat, bones or
  • Bone strips or other undesirable strips for example meat with blood stains or the like, for example with regard to size, position, course and orientation in the meat product, can be recognized and determined.
  • the determination is usually carried out, for example, by means of a camera, X-ray device, sensors, measuring arms or the like, the collected data / information being processed and evaluated by the control device in order to individually control the cutting device accordingly on the basis of the determined characteristics or depending on the determined characteristics , especially during the execution of the cut.
  • the cutting device is therefore of central importance in removing the undesired V-shaped strips.
  • Circular knives arranged one behind the other offset from one another in the transport direction T.
  • the circular knives lie with their axes of rotation in
  • the point of contact B of the circular knives varies with regard to its position / location and an asymmetrical V results from different settings / adjustments of the circular knives.
  • the point of contact B of the circular knives is the point at which the two circular knives positioned in a V-shape to one another or the planes E 1 , E 2 spanned by the circular knives intersect. It is therefore not an actual point of contact, but rather the point of the smallest distance.
  • the independent pivoting of the two circular knives is difficult to reproduce, so that the result of the adjustment depends on the respective operator.
  • Another disadvantage of the known cutting device is that drives for adjusting the knife carrier and the knife units are arranged on the knife carrier itself, which ultimately means that additional masses have to be moved along with them.
  • the invention is therefore based on the object of creating a compact cutting device which ensures symmetrical and precise cutting of the products.
  • the task is also to propose a corresponding device and a method.
  • Circular knives are offset-free in relation to the transport direction T, i.e. lie next to one another at a distance of zero when viewed in the transport direction T, such that the circular knives hit the meat product to be processed synchronously and at the same time.
  • Exclusively synchronous means that the two knife units are directly or indirectly coupled to one another or are in operative connection, so that the same and uniform adjustment of both knife units is always ensured in terms of time and manipulated variable. The adjustment of a knife unit inevitably leads to
  • Adjustment of the other knife unit and vice versa does not necessarily mean that the adjustment is symmetrical, e.g. to a vertical
  • each knife unit is arranged on a separate adjusting body for the synchronous pivoting of the two knife units, each adjusting body having an arched adjusting rail with a toothing and the two adjusting bodies with their arched adjusting rails with the respective toothing facing each other on the knife carrier.
  • Arc-shaped adjusting rails arranged a common drive pinion which is in operative connection with both adjusting rails, a drive being assigned to the drive pinion.
  • the drive pinion With the drive, the drive pinion can be driven in both directions, so that the setting of the angle a for symmetrical cuts can be realized precisely and synchronously.
  • the synchronization of the adjustment of the knife units is inevitably established by the common, central drive pinion.
  • the two adjusting bodies and thus the knife units have a common pivoting center axis S.
  • the common pivoting center axis S as an imaginary pivot axis, the contact point B of the circular knives is reliably and compulsorily held in the constant position, namely on the
  • Runway are guided, the tracks are arranged on the knife carrier.
  • a safe and precise setting of the angle a is guaranteed by this design.
  • the radius of the arcuate tracks corresponds to the radius of the arcuate adjusting rails. This geometric adaptation ensures the precise and synchronous pivoting of the two knife units in a particularly simple and safe manner.
  • the bearing bodies advantageously comprise four roller elements for each adjusting body, two of which roller elements are guided on the upper side and two roller elements are guided on the lower side of the curved track. This ensures safe and wobble-free mounting / guiding of the adjusting body on the knife carrier for precise
  • the point of contact B of the two circular knives is constant with regard to its position, regardless of the size of the angle a.
  • the point of contact B of the two circular knives lies on the pivoting center axis S of the arcuate adjusting rails and the center axis of the arcuate tracks. This further enhances the advantages already described.
  • Guide rollers are provided which are arranged on the knife carrier and bear against the adjusting bodies or the adjusting rails on the side opposite the toothing. With “close” is next to the contact of the guide rollers on the
  • Adjusting rails also means guiding the guide rollers with a small distance between them and the adjusting rails.
  • the circular knives can particularly advantageously be driven independently of one another by means of their drives. This means that both the cutting speeds and the directions of rotation of the two circular knives can be varied individually.
  • the knife carrier is attached to a robot mechanics which has several axes of movement, such that the knife carrier can be rotated about a vertically directed axis of rotation D and / or vertically perpendicular to the
  • Transport plane E is designed to be movable up and down and / or horizontally back and forth transversely to transport direction T parallel to transport plane E.
  • Robot mechanics can e.g. serve a robotic arm. Other mechanics, such as So-called delta robots or the like can also be used.
  • the cutting device according to the invention that is to say the combination of the cutting device with a robotic mechanism, allows individual cuts to be carried out easily and precisely, so that symmetrical V-cuts are guaranteed in a reproducible manner.
  • the robot mechanics also has a shaft for driving the drive pinion, the drive for the drive pinion being assigned to the shaft.
  • all (positioning) drives are fixed to the frame, ie not on the knife carrier itself, so that less mass has to be moved.
  • the object is also achieved by a device of the type mentioned at the outset in that the cutting device is designed and set up according to one or more of claims 1 to 13.
  • the object is also achieved by a method with the aforementioned steps in that the two circular knives hit the meat product transported in the transport direction T at the same time, in such a way that the meat product is cut simultaneously by both circular knives, and that the size of the angle is set a is done exclusively by synchronously adjusting both circular knives.
  • FIG. 1 shows a schematic representation of a cutting device in a perspective view obliquely from above and from the front
  • FIG. 1 shows a front view of the cutting device according to FIG. 1 viewed in the transport direction T with a steep inclination of the circular knives (small angle a),
  • FIG. 3 shows a front view of the cutting device according to FIG. 1, viewed in the transport direction T, with the circular knives positioned flat (large angle ⁇ ),
  • FIG. 4 shows a top view of the cutting device according to FIG. 1,
  • FIG. 5 shows a view from below of the cutting device according to FIG. 1
  • FIG. 6 shows a side view of the cutting device according to FIG. 1, and
  • FIG. 7 shows the cutting device according to FIG. 1, arranged on a robot mechanism.
  • the cutting device shown in the drawing is used to remove dark meat strips (so-called dark meat) from skinned fish fillets e.g. with pink salmon or tuna.
  • the cutting device according to the invention is used in the same way, however, to remove strips of fat or strips of bone or strips of meat or other undesired strips of product from others
  • Meat products such as Poultry or the like.
  • the illustrated cutting device 10 is designed and set up for cutting a substantially V-shaped strip 50 from meat products 1 1 fed in the transport direction T and has a knife carrier 12, the two
  • Knife units 13, 14 are assigned, each knife unit 13, 14 a
  • Circular knife 15, 16 includes a rotation center axis M 1 , M 2 , the two Circular knives 15, 16 are set up in a position enclosing an angle a, essentially in a V-shape, and the size of the angle a can be adjusted by an adjustable arrangement of the knife units 13, 14 on the knife carrier 12.
  • this cutting device 10 is characterized in that the offset V of the two rotational center axes M 1 , M 2 from one another in the transport direction T is equal to zero and the two knife units 13, 14 are designed and set up exclusively synchronously with one another.
  • the offset-free arrangement of the two rotational center axes M 1 , M 2 can be seen in particular from FIG. In their basic position, the two axes of rotation M 1 , M 2 lie next to one another on one axis, this axis being ideally oriented transversely to the transport direction T. With the synchronous adjustability of the two knife units 13, 14 comes to
  • Blade unit 13, 14 is adjustable.
  • the two circular knives 15, 16 are particularly preferably always and in every position (see in particular FIGS. 2 and 3) symmetrically to the axis of rotation D of the
  • the axis of rotation D forms the bisector for the angle a.
  • the two circular knives 15, 16 can also be aligned asymmetrically to the axis of rotation D. Ie a 1 is not equal to a 2 .
  • the knife carrier 12 is a flat profile 19 with a carrier plate 20.
  • the knife units 3, 14 arranged on the knife carrier 12, namely preferably detachably fastened, each comprise a circular knife 15, 16 and a drive 17, 18 each Drives 17, 18 for the circular knives 15, 16 can, for example, air motors or
  • the angle ⁇ can be set, preferably between 170 degrees and 45 degrees and particularly preferably between 160 degrees and 85 degrees.
  • the adjustment is preferably implemented continuously.
  • the diameter of the circular knives 15, 16 is selected to be as small as possible in order to reduce the influence of moving and / or rotating the meat product 11 when the circular knives 15, 16 are pivoted in the meat product 11.
  • Each knife unit 13, 14 is optionally available for the synchronous pivoting of both
  • Knife units 13, 14 arranged on a separate adjusting body 21, 22, each adjusting body 21, 22 having an arcuate adjusting rail 23, 24 with a toothing 25, 26 and the two adjusting bodies 21, 22 with their curved adjusting rails 23,
  • the knife carrier 12 is sandwiched between the two adjusting bodies 21, 22.
  • the knife units 13, 14 are detachable, e.g. fastened to the adjusting body 21, 22 by means of screws.
  • Adjusting rails 23, 24 with the teeth 25, 26 can also be different
  • Adjusting mechanisms e.g. Gear constructions or levers or the like are used.
  • a common drive pinion 27 is arranged for adjusting rails 23, 24 and is in operative connection with both adjusting rails 23, 24, with a drive 28 being assigned to the drive pinion 27.
  • the drive 28 can be connected directly to the drive pinion 27, or indirectly e.g. via a toothed belt or gear ratio. In a preferred development, which is described further below, the drive 28 is connected to the drive pinion 27 via a shaft 29 for power transmission.
  • Adjusting rails 23, 24 are releasably attached to the adjusting body 21, 22, e.g. by means of screws 30. This makes it easy to replace the
  • the two adjusting bodies 21, 22 and thus the knife units 13, 14 have a common pivoting center axis S.
  • the pivoting center axis S can be seen in particular in FIGS. 2 and 3.
  • the adjustment of the circular knives 15, 16 takes place synchronously through the common pivoting center axis S.
  • the pivot center axis S coincides with the point of contact B of the two circular knives 15, 16. In other words, the contact point B of the circular knives 15, 16 lies on the
  • Pivot center axis S The point of contact B of the two circular knives 15, 16 is the point of the smallest distance that just barely prevents the two circular knives 15, 16 from colliding.
  • Pivot center axis S and point of contact B are in terms of their
  • the position / location is constant regardless of the position of the circular knives 15, 16 and thus independent of the size of the angle ⁇ and, in the embodiment shown, lie on the axis of rotation D of the cutting device 10 (see in particular FIGS. 2 and 3).
  • the adjusting bodies 21, 22 are mounted on the knife carrier 12.
  • the actuating bodies 21, 22 have bearing bodies 31, 32 with which the actuating bodies 21, 22 are guided along an arcuate track 33, 34, the tracks 33, 34 being arranged on the knife carrier 12.
  • the arcuate ones are preferred
  • Raceways 33, 34 releasably attached to the knife carrier 12, for example by means of screws 35. Again, the knife carrier 12 is sandwiched between the raceways 33, 34.
  • the curvature of the arcuate tracks 33, 34 corresponds to the curvature of the arcuate adjusting rails 23, 24.
  • the curvature tracks St and L accordingly run parallel to one another. Starting from the pivoting center axis S, the radius of the adjusting rails 23, 24 is R St , while the radius of the tracks 33, 34 is starting from a center axis MR L , where R St > R L (see FIG.
  • the contact point B of the two circular knives 15, 16 lies both on the pivoting center axis S of the arcuate adjusting rails 23, 24 and also on the center axis M of the arcuate tracks 33, 34.
  • Each bearing body 31, 32 comprises four roller elements 36, 37 for each adjusting body 21, 22; 38, 39 of which two roller elements 36, 38 on top and two
  • Roller elements 37, 39 are guided on the underside of the arcuate raceways 33, 34.
  • the number and arrangement of the roller element 36, 37; 38, 39, the adjusting bodies 21, 22 are securely and precisely mounted and guided on the knife carrier 12.
  • the roller elements 36, 37; 38, 39 are preferably detachable, for example by means of screws Adjusting body 21, 22 attached.
  • Additional guide rollers 40, 41 are optionally provided.
  • the guide rollers 40, 41 are preferably arranged on the knife carrier 12, for example in the area of the carrier plate 20.
  • the guide rollers 40, 41 rest on the adjusting bodies 21, 22 or the adjusting rails 23, 24 on the side opposite the toothing 25, 26, with the guiding with a small distance between the guide rollers 40, 41 and the adjusting rails 23, 24 as Is referred to as "pending".
  • the number of roller elements 36 to 39 can also vary. For example, two roller elements can be guided on the upper side of the tracks 33, 34 and one roller element on the lower side of the tracks 33, 34 or vice versa. Instead of
  • Roller elements 36 to 39 can e.g. plain bearings can also be used.
  • Drive speed can also be selected differently. However, the drive speed for both circular knives 15, 16 is preferably chosen to be identical.
  • the cutting device 10 preferably has a suction unit (not explicitly shown) for suctioning the strips 50 cut from the meat product 11.
  • the suction unit includes, among other things a suction tube which is directed with the suction opening approximately at the point of contact B of the circular knives 15, 16, as well as a
  • Vacuum unit to which the suction tube is connected.
  • the knife carrier 12 is attached to a robot mechanism 42, which has several axes of movement, such that the knife carrier 12 can be rotated about a vertically directed axis of rotation D and / or vertically perpendicular to the
  • Transport plane E up and down (in the Y-direction e.g. according to Figures 2 and 3) and / or horizontally movable back and forth transversely to the transport direction T parallel to the
  • Transport plane E (in the X-direction e.g. according to Figures 2 to 5) is formed.
  • the robot mechanics 42 has several drives 43, 44, 45 for performing the
  • the robot mechanism 42 can also have the drive 28, by means of which the shaft 29 is driven for driving the drive pinion 27 for the adjustment movement of the knife units 13, 14.
  • the knife carrier 12 can also be arranged on serial control mimics or parallel kinematics, for example in order to realize an additional movement in the transport direction T (Z-direction).
  • the cutting device 10 can be used as an individual part.
  • the cutting device 10 is preferably in the manner described above, that is to say with or without robotic mechanics 42, but is part of a device 46 for
  • Cutting device 10 for cutting a substantially V-shaped strip 50 from the meat product 11, as well as a control device 49 for controlling the cutting device 10 as a function, that is to say on the basis of the determined
  • the device 46 is characterized according to the invention in that the
  • Cutting device 10 is designed and set up according to one or more of claims 1 to 13, ie in accordance with the description above
  • Cutting device 10 in different embodiments.
  • the transport conveyor 47 is preferably a rotating one
  • Conveyor belt Conveyor belt.
  • the conveyor belt is driven intermittently or preferably continuously by means of the drive (not shown).
  • the meat products 11 are aligned with their longitudinal extension in the transport direction T, such that the strips 50 to be removed, the strips 50 of dark meat to be removed run e.g. in the case of pink salmon or tuna, the length of the fillets, also roughly in the direction of transport T. In this orientation, the meat products 11 are fed to the cutting device 10.
  • In the transport direction T in front of the cutting device 10 is the means 48 for recognizing the specific
  • Determining characteristics means that, for example, fat strips, strips 50 with dark meat, bones or bone strips or other undesirable strips, for example meat with blood stains or the like, are recognized and determined, for example with regard to size, position and orientation in the meat product.
  • the determination is usually carried out, for example, by means of a camera, X-ray device, sensors, measuring arms or the like, with the data / information collected using the
  • Control device 49 processed and evaluated to the
  • the robot mechanics 42 is preferably on a housing or a
  • all drives 43, 44, 45 and 28 for positioning the cutting device 10 on the one hand and for adjusting the knife units 13, 14 on the other hand are arranged fixed to the frame.
  • Control device 49 connected, which can optionally also include an evaluation unit and / or a memory unit.
  • the means 48 for recognizing the characteristics is also connected to the control device 49.
  • Transport conveyor 47 is connected to the control device 49.
  • the method serves to remove essentially V-shaped strips 50 from meat products 11 fed in the transport direction T.
  • the method is particularly preferably used to remove / cut out a strip 50 of dark meat from a fish fillet.
  • the procedure consists of the following steps:
  • the meat products 11 are conveyed by means of a transport conveyor 47 in
  • the meat products 11 lie flat on the transport conveyor 47 and are transported with their longitudinal extension in the transport direction T.
  • the meat products 11 are guided along under a means 48 for recognizing the specific characteristics of the meat products 11. With the means 48, the specific characteristics of the meat products 11 are determined.
  • a substantially V-shaped strip 50 is then made from the
  • Meat product 11 cut specifically by means of a cutting device 10 having two circular knives 15, 16, the two circular knives 15, 16 being set in a position enclosing an angle a substantially in a V-shape to one another and the size of the angle a depending on the characteristics is set.
  • the setting can be made before the cut and / or during the cut respectively.
  • the cutting device 10 is controlled by means of a control device 49 as a function of the determined characteristics.
  • the method is characterized in that the two
  • Circular knives 15, 16 simultaneously on the transported in transport direction T.
  • Meat product 11 hit in such a way that the cut of the meat product 11 takes place at the same time by both circular knives 15, 16, and that the setting of the size of the angle a takes place exclusively by synchronously adjusting both circular knives 15, 16.
  • the method is particularly preferably carried out with the device 46 according to claim 14, wherein a cutting device 10 according to one or more of the
  • Cutting device (10) according to claim 5, characterized in that the
  • the curvature of the arcuate raceways (33, 34) corresponds to the curvature of the arcuate adjusting rails (23, 24).
  • Cutting device (10) according to one or more of claims 2 to 9, characterized in that additional guide rollers (40, 41) are provided, which are arranged on the knife carrier (12) and on the adjusting bodies (21,
  • Cutting device (10) according to one or more of claims 1 to 10 characterized in that the circular knives (15, 16) can be driven independently of one another by means of their drives (17, 18). 12. Cutting device (10) according to one or more of claims 1 to 11, characterized in that the knife carrier (12) on one have, with which the adjusting bodies (21, 22) are guided along an arcuate track (33, 34), the tracks (33, 34) being arranged on the knife carrier (12). 6. Cutting device (10) according to claim 5, characterized in that the
  • the curvature of the arcuate raceways (33, 34) corresponds to the curvature of the arcuate adjusting rails (23, 24).
  • Cutting device (10) according to one or more of claims 2 to 9, characterized in that additional guide rollers (40, 41) are provided, which are arranged on the knife carrier (12) and on the adjusting bodies (21,
  • Cutting device (10) according to one or more of claims 1 to 10 characterized in that the circular knives (15, 16) can be driven independently of one another by means of their drives (17, 18).
  • Cutting device (10) according to one or more of claims 1 to 1 characterized in that the knife carrier (12) on one Robot mechanics (42) is attached, which has several axes of movement, such that the knife carrier (12) around a vertically directed
  • Axis of rotation D is designed to be rotatable and / or vertically perpendicular to the transport plane E up and down and / or horizontally back and forth movable transversely to the transport direction T parallel to the transport plane E.
  • Device (46) for removing substantially V-shaped strips (50) from meat products (11) fed in the transport direction T comprising a transport conveyor (47) for transporting the meat products to be processed
  • Meat products (11) in transport direction T means (48) for recognizing specific characteristics of the meat products (11), a cutting device (10) for cutting a substantially V-shaped strip (50) from the meat product (11), and a control device (49) for controlling the cutting device (10) as a function of the determined characteristics, because the cutting device (10) is designed and set up according to one or more of claims 1 to 13.
  • a method for removing essentially V-shaped strips (50) from meat products (11) fed in the transport direction T in particular with a device (46) according to claim 14, with the steps:

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Forests & Forestry (AREA)
  • Food Science & Technology (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Robotics (AREA)
  • Processing Of Meat And Fish (AREA)
  • Details Of Cutting Devices (AREA)
  • Nonmetal Cutting Devices (AREA)

Abstract

L'invention concerne un dispositif de coupe (10) conçu et agencé pour découper une bande (50), sensiblement en forme de V, de produits carnés (11) alimentés dans une direction de transport T, doté d'un porte-lames (12) auquel deux ensembles lames (13, 14) sont associés, chaque ensemble lame (13, 14) comprenant une lame circulaire (15, 16) et un entraînement (17, 18) pour entraîner en rotation la lame circulaire (15, 16) autour d'un axe central de rotation Mi, M2, les deux lames circulaires (15, 16) étant agencées sensiblement en forme de V à une position formant un angle a, et la grandeur de l'angle a étant réglable sur le porte-lames (12) par un agencement réglable des ensembles lames (13, 14), caractérisé par le fait que le décalage V des deux axes centraux de rotation Mi, M2 l'un par rapport à l'autre est égal à zéro dans une direction de transport T, et que les deux ensembles lames (13, 14) sont conçus et agencés de façon à pouvoir être réglables l'un par rapport à l'autre uniquement de façon synchrone. L'invention concerne en outre un dispositif correspondant et un procédé pour découper une bande (50), sensiblement en forme de V, de produits carnés (11) alimentés dans une direction de transport T.
EP19717299.2A 2019-04-09 2019-04-09 Dispositif de coupe permettant de découper une bande, sensiblement en forme de v, de produits carnés alimentés dans une direction de transport t ainsi que procédé et dispositif permettant l'élimination d'une bande, sensiblement en forme de v, de produits carnés alimentés dans une direction de transport t avec un tel dispositif de coupe Pending EP3897168A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2019/058971 WO2020207568A1 (fr) 2019-04-09 2019-04-09 Dispositif de coupe permettant de découper une bande, sensiblement en forme de v, de produits carnés alimentés dans une direction de transport t ainsi que procédé et dispositif permettant l'élimination d'une bande, sensiblement en forme de v, de produits carnés alimentés dans une direction de transport t avec un tel dispositif de coupe

Publications (1)

Publication Number Publication Date
EP3897168A1 true EP3897168A1 (fr) 2021-10-27

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EP19717299.2A Pending EP3897168A1 (fr) 2019-04-09 2019-04-09 Dispositif de coupe permettant de découper une bande, sensiblement en forme de v, de produits carnés alimentés dans une direction de transport t ainsi que procédé et dispositif permettant l'élimination d'une bande, sensiblement en forme de v, de produits carnés alimentés dans une direction de transport t avec un tel dispositif de coupe

Country Status (6)

Country Link
US (1) US11931915B2 (fr)
EP (1) EP3897168A1 (fr)
JP (1) JP7148729B2 (fr)
CN (1) CN113271782B (fr)
TW (1) TWI778346B (fr)
WO (1) WO2020207568A1 (fr)

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CN113618747B (zh) * 2021-07-13 2023-08-08 安徽工程大学 一种苹果采摘机器人末端执行机构
CN114986528B (zh) * 2022-05-05 2023-11-07 佳木斯大学 一种适用于5g的机器人结构

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CN113271782A (zh) 2021-08-17
TW202045014A (zh) 2020-12-16
JP7148729B2 (ja) 2022-10-05
CN113271782B (zh) 2023-05-05
US20220219349A1 (en) 2022-07-14
JP2022511852A (ja) 2022-02-01
US11931915B2 (en) 2024-03-19
TWI778346B (zh) 2022-09-21
WO2020207568A1 (fr) 2020-10-15

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