WO1996002145A1 - Cadre de maintien pour carcasse d'animal, et procede d'habillage - Google Patents

Cadre de maintien pour carcasse d'animal, et procede d'habillage Download PDF

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Publication number
WO1996002145A1
WO1996002145A1 PCT/NZ1994/000072 NZ9400072W WO9602145A1 WO 1996002145 A1 WO1996002145 A1 WO 1996002145A1 NZ 9400072 W NZ9400072 W NZ 9400072W WO 9602145 A1 WO9602145 A1 WO 9602145A1
Authority
WO
WIPO (PCT)
Prior art keywords
carcass
cutting
cutting tool
support frame
frame
Prior art date
Application number
PCT/NZ1994/000072
Other languages
English (en)
Inventor
Denis Malone
Greg Brooking
Richard Wong
Malcolm Geoffrey Taylor
Rod Francis Mackay
Original Assignee
New Zealand Meat Research & Development Council
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 New Zealand Meat Research & Development Council filed Critical New Zealand Meat Research & Development Council
Priority to AU71968/94A priority Critical patent/AU705999B2/en
Priority to EP94921133A priority patent/EP0802733A4/fr
Priority to PCT/NZ1994/000072 priority patent/WO1996002145A1/fr
Publication of WO1996002145A1 publication Critical patent/WO1996002145A1/fr

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.

Abstract

Cadre de maintien pour carcasse d'animal, destiné à porter et à positionner la carcasse d'un animal pendant que celle-ci subit des opérations, et adapté pour suspendre la carcasse à l'envers par les jarrets avant et arrière. Ce cadre comporte un dispositif adapté pour faire monter et/ou descendre les parties avant et arrière de la carcasse. On a mis au point un système d'habillage comportant ce cadre ainsi qu'un robot industriel possédant un bras robotique équipé d'un outil de découpage servant à habiller la carcasse, et programmé pour effectuer des opérations d'habillage de la carcasse. On a également prévu un outil de découpage destiné à équiper le bras robotique d'un robot industriel et à être manipulé par celui-ci.
PCT/NZ1994/000072 1994-07-20 1994-07-20 Cadre de maintien pour carcasse d'animal, et procede d'habillage WO1996002145A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU71968/94A AU705999B2 (en) 1994-07-20 1994-07-20 A method of dressing a carcass
EP94921133A EP0802733A4 (fr) 1994-07-20 1994-07-20 Cadre de maintien pour carcasse d'animal, et procede d'habillage
PCT/NZ1994/000072 WO1996002145A1 (fr) 1994-07-20 1994-07-20 Cadre de maintien pour carcasse d'animal, et procede d'habillage

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 (1)

Publication Number Publication Date
WO1996002145A1 true WO1996002145A1 (fr) 1996-02-01

Family

ID=19916322

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NZ1994/000072 WO1996002145A1 (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)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001067873A1 (fr) * 2000-03-16 2001-09-20 Koorosh Khodabandehloo Appareil de decoupage de carcasses de viande
WO2002009525A3 (en) * 2000-07-28 2002-04-25 Gojko Culjak Machine for removing skin and fur of slaughtered animals by scraping
WO2002069721A1 (fr) * 2001-03-05 2002-09-12 Robotic Solutions Plc Procede et dispositif de decoupage de carcasses d'oiseaux

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU5864460A (en) * 1960-03-22 1960-09-22 The Universal Flaymaster Equipment Company Limited A mechanical cutting or flaying tool
US3176397A (en) * 1962-02-22 1965-04-06 Schmid & Wezel Skinning devices
AU7126981A (en) * 1980-06-02 1981-12-10 Schmid & Wezel Gmbh & Co. Cutting tool for the skinning of slaughter animals
WO1989005584A1 (fr) * 1987-12-23 1989-06-29 Commonwealth Scientific And Industrial Research Or Traitement automatique d'animaux
US4901400A (en) * 1989-01-27 1990-02-20 Karubian Ralph K De-hiding tool
EP0438982A2 (fr) * 1989-12-13 1991-07-31 Jarvis Products Corporation Lame motorisée à dépouiller avec système d'entraînement amovible et avec moteur pneumatique à haut rendement
AU7620791A (en) * 1987-12-23 1991-08-01 Australian Meat & Livestock Research & Development Corporation Automatic animal head removal

Family Cites Families (4)

* Cited by examiner, † Cited by third party
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
GB8922259D0 (en) * 1989-10-03 1989-11-15 Univ Bristol Robotic cutting
NZ243184A (en) * 1991-06-18 1994-10-26 Commw Scient Ind Res Org Process for eviscerating an animal carcass; viscera pushed from carcass between hind legs

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU5864460A (en) * 1960-03-22 1960-09-22 The Universal Flaymaster Equipment Company Limited A mechanical cutting or flaying tool
US3176397A (en) * 1962-02-22 1965-04-06 Schmid & Wezel Skinning devices
AU1014066A (en) * 1966-08-24 1968-02-29 WALTER WEZEL Actual Inventors ( ) WALTER WEZEL and KURT SCHUMANN Mechanically driven cutting apparatus for skinning slaughtered cattle
AU7126981A (en) * 1980-06-02 1981-12-10 Schmid & Wezel Gmbh & Co. Cutting tool for the skinning of slaughter animals
WO1989005584A1 (fr) * 1987-12-23 1989-06-29 Commonwealth Scientific And Industrial Research Or Traitement automatique d'animaux
AU7620791A (en) * 1987-12-23 1991-08-01 Australian Meat & Livestock Research & Development Corporation Automatic animal head removal
US4901400A (en) * 1989-01-27 1990-02-20 Karubian Ralph K De-hiding tool
EP0438982A2 (fr) * 1989-12-13 1991-07-31 Jarvis Products Corporation Lame motorisée à dépouiller avec système d'entraînement amovible et avec moteur pneumatique à haut rendement
EP0577148A2 (fr) * 1989-12-13 1994-01-05 Jarvis Products Corporation Moteur pneumatique pour lame motorisée à dépouiller

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP0802733A4 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001067873A1 (fr) * 2000-03-16 2001-09-20 Koorosh Khodabandehloo Appareil de decoupage de carcasses de viande
WO2002009525A3 (en) * 2000-07-28 2002-04-25 Gojko Culjak Machine for removing skin and fur of slaughtered animals by scraping
WO2002069721A1 (fr) * 2001-03-05 2002-09-12 Robotic Solutions Plc Procede et dispositif de decoupage de carcasses d'oiseaux

Also Published As

Publication number Publication date
AU7196894A (en) 1996-02-16
EP0802733A4 (fr) 1998-04-15
EP0802733A1 (fr) 1997-10-29
AU705999B2 (en) 1999-06-03

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