WO2023036753A1

WO2023036753A1 - System for automatic cutting and sealing of the rectum of a pig carcasses

Info

Publication number: WO2023036753A1
Application number: PCT/EP2022/074678
Authority: WO
Inventors: Jens P TEILMANN; Niels Toftelund MADSEN; Simon Nybo JOHANSEN
Original assignee: Teknologisk Institut
Priority date: 2021-09-13
Filing date: 2022-09-06
Publication date: 2023-03-16
Also published as: DK181104B1; DK202100875A1

Abstract

The present invention provides a cutting and handling tool, a system and a method for eviscerating the rectum of an animal carcass. More specifically, the invention provides an automatic cutting and handling tool, and a related system and method for the combined cutting and subsequent sealing of the rectum of a pig carcass, which cutting tool is capable of wrapping/folding the rectal opening within itself in order to conceal the rectal opening and avoid fecal contamination of the carcass.

Description

SYSTEM FOR AUTOMATIC CUTTING AND SEALING OF THE RECTUM OF A PIG CARCASSES

TECHNICAL FIELD

BACKGROUND ART

Various solutions have been developed for the slaughterhouse industry to cut and separate the rectum from the carcass. The primary objective for this procedure is to reduce the risk of faecal contamination normally connected to manual handling of the bung after being dropped. Furthermore, "bagging" of the bung in the mesentery effectively prevents leakage from the bung during removal of the intestines.

US4087886 describes a cutting tool for removing part of the rectum end of the intestine channel from an animal carcass.

W01989010060 describes a method for providing a cut around the anus of a hog to free the rectum from the carcass.

WO1992013458 describes a method for cutting free and removing the rectum of an animal to be slaughtered using a rotating tubular knife.

DK168936 describes a method for detaching and releasing the rectum of a pig carcass.

WO199609770 describes a process and apparatus for separating and bagging the rectum of a slaughtered animal carcass, using a plactic bag, that is first loaded over the gripping apparatus.

W02000018243 describes an apparatus for the processing/handling of the anus/rectum of slaughtered animals.

NL1013952 and NL1015137 describe rectum removing methods for animal carcasses.

W02008069662 describes a method and a device for separating the anus from a carcass.

W02013119106 describes a rectal cutting device for cutting 401 loose the rectum of a slaughtered animal. Moreover, W02008085049 describes a device for cutting out and removing the vent of a carcass of slaughtered poultry.

Finally, EP3335566 describes a vent cutter comprising a rotatable cutter with at least a forward cutting edge for cutting tissue around a vent of poultry.

However, the tool, the system or the method according to the present invention, directed to an automatic tool configured for cutting free the rectum of a carcass of a slaughtered pig, and for subsequently wrapping and/or folding the rectal opening within itself, which tool, furthermore, is mounted on a guiding installation, have not been disclosed.

BRIEF DESCRIPTION OF THE FIGURES

The present invention is further illustrated by reference to the accompanying drawing, in which:

Figs. 1A and IB show different embodiments of the system according to the invention;

Figs. 2A1-2A4 represent the tool base and the various tool parts in various angles;

Figs. 2A'-2F represent some of the variations in the Steps 1 to 7; and

Figs. 3A-3C illustrates the "rabbit toot principle" variation, which embodiment makes superfluous the rotating cutting member (5).

SUMMARY OF THE INVENTION

It is an object of the present invention to provide an automatic tool for the combined cutting and handling of the rectum opening (bung) of pigs. According to the present invention, the bung is mechanically grabbed, without use of vacuum, and pushed back into the mesentery, in which it is wrapped and secured, effectively preventing leakage from the bung during subsequent removal of the intestines. Moreover, this process is carried out without use of dedicated bagging means like plastic bags, but simply by bagging the rectum within itself.

Therefore, in its first aspect, the invention provides an automatic tool configured for cutting free the rectum of a carcass of a slaughtered pig, and for subsequently wrapping and/or folding the rectal opening within itself, which tool is mounted on a guiding installation, which cutting tool is as described in more details in the claims.

In another aspect the invention provides an automatic bung cutting and handling system, configured for cutting free and handling the rectum of the carcass of a slaughtered pig, which system is as described in more details in the claims. In a further aspect the invention provides a method configured for automatically cutting free the rectum of the carcass of a slaughtered pig, and capable of folding and wrapping the rectal opening within itself ("bung handling") in order to conceal the rectal opening and avoid fecal contamination of the carcass when it is later removed from the carcass. The method of the invention shall be accomplished by use of the system of the invention described above, and is defined by the characterising part of the claims.

Other objects of the invention will be apparent to the person skilled in the art from reading the following detailed description and accompanying drawings.

DETAILED DISCLOSURE OF THE INVENTION

The cutting and handling tool of the invention

In its first aspect, the invention provides an automatic bung cutting and handling tool (2), configured for automatically cutting free the rectum of the carcass of a slaughtered pig. The tool of the invention also is able to implement "bung handling", i.e. capable of wrapping/folding the rectal opening within itself in order to constrict the rectal opening and avoid fecal contamination of the carcass.

The automatic tool of the invention is a combined cutting and handling tool configured to cut the rectum from the carcass, and to wrap and fold the rectal opening into itself, and the cutting and handling tool (2) shall be mounted on a guiding installation (9) configured to hold and position the cutting and handling tool (2) for proper penetration of the rectal orifice.

The cutting and handling tool (2) of the invention may be characterised by comprising the following essential elements: a. a slidable centering mandrel (3) comprising a plug (3') placed in the free end of the mandrel, and configured for locating and penetrating the rectal opening of the carcas, which centering mandrel (3) is connected to, and in operation with, an actuator (3A) configured for reciprocating the movement of the slidable centering mandrel (3); b. a slidable inner tube (4) arranged coaxially around the mandrel (3), and configured for clamping and sealing the rectum in interaction with the centering mandrel (3), which slidable inner tube (4) is connected to, and in operation with, an actuator (4A) configured for reciprocating the movement of the slidable inner tube (4); c. a slidable, cylindric, rotable cutting member (5) arranged coaxially around the inner tube (4), and configured for cutting free the rectum of the carcass, which cutting member (5) is connected to, and in operation with, an actuator (5A) for reciprocating the movement of the cutting member (5), and a motor (5C) configured for rotating the cutting member (5); and d. a curved knife blade (6), placed near the periphery of the slidable cylindric rotatable cutting member, and configured for assisting the cutting member (5) in cutting the rectum free for ligaments and similar connective tissues, which knife blade (6) is connected to, and in operation with, an actuator (6A) for reciprocating the movement of the knife blade (6).

The combined cutting and handling tool (2) of the invention shall be positioned to target the center of the rectum opening/bung of a vertically hanging, stationary carcass, or the tool may be following a vertically hanging carcass conveyed at line speed.

The cutting and handling tool (2) of the invention shall be mounted on a guiding installation (9) configured to hold and position the cutting tool (2) for proper penetration of the rectal orifice.

The cutting and handling tool (2) can be either a dedicated machine mounted on a sliding means (9A), or it may be mounted on a robotic installation/arm (9B).

During processing, the cutting and handling tool (2) may be fully synchronised to aim for the carcass midline, by following the slaughter line speed on the dressing line. This may be accomplished by use of an actuated arm for pushing the tool, angled and configured to be pushed forward, by either the gambrel midpoint, or the dropfinger pushing the gambrel holding the carcass. When the process is completed, the arm may be retracted, and the carcass continues on the processing line, and another hydraulic cylinder quickly pulls back the tool to its starting position, where the arm for pushing the tool is activated again to center the tool for the next carcass on the line.

From experience with bunghandling tools used on pigs and sheep, the distance from the gambrel hanging point of the carcass hind legs, to the center of the anus is fairly constant irrespective of carcass size variations. This allows the use of a constant tool angling, together with the tool being held in a pressure shock absorbing tilt fitting/bracket point, thus allowing the point tip of the slidable centering mandrel to enter the rectum, and to align the tool to the carcass for carrying out the subsequent cutting and bung handling process.

Alternatively the center and spatial position of the rectum may be located by a 2D/3D camera sensor set up (imaging device) (10), giving the coordinates to a robotic arm (9B) which can bring the cutting and handling tool (2) to the starting position, and moving it parallel to the processing line during the cutting and subsequent bung handling process.

The instrument base

In another embodiment, the cutting tool of the invention may further be characterised by comprising an instrument base (7) configured for assembling and fixing the individual tool elements, and for mounting the cutting and handling tool (2) on a running/guiding installation (9).

The centering mandrel

The slidable centering mandrel (3) for use according to the invention shall be configured for locating and penetrating the rectal opening of the carcas, and the centering mandrel (3) shall be connected to, and in operation with, an actuator (3A), that may be hydraulic, pneumatic or electrically powered, configured for reciprocating the movement of the slidable centering mandrel (3).

The actuator (3A) may, e.g., be a hydraulic, pneumatic or electrically powered linear actuator, and may be operably linked to the centering mandrel (3) through the plug rod (3"").

The centering mandrel (3) may have a generally conical shaped head having a rounded nose (3'), the head being mounted on a shaft (3""), the head being inserted in use through the anus into the rectum without piercing the anal canal walls, the head of the mandrel (3) having a back face defining a shoulder (3") so that after the head has been inserted to a sufficient depth into the rectum, the sphincter muscle tissues constrict around the shaft behind the shoulder (3"').

The centering mandrel (3) for use according to the invention may be of any convenient material, e.g. a plastic material, polyoxymethylene (POM) or stainless steel, allowing good cleaning properties in the washing process between carcasses.

Initial testing with various carcass sizes from app. 15 to 70 kg have shown a good grib with an outer mandrel diameter of 31 mm.

The inner tube

The slidable inner tube (4) for use according to the invention shall be configured for clamping and sealing the rectum in interaction with the centering mandrel (3), and the slidable inner tube (4) shall be connected to, and in operation with, an actuator (4A) configured for reciprocating the movement of the slidable inner tube (4).

The actuator (4A) for the inner tube (4) may, e.g., be a hydraulic, pneumatic or electrically powered linear actuator. In one embodikment, the linear actuator (4A) is driven by an electric stepper motor (4B).

The inner tube (4) for use according to the invention may be of any convenient material, e.g. stainless steel, allowing good cleaning properties in the washing process between carcasses.

Initial testing with various carcass sizes from app. 15 to 70 kg have shown a good grib with an inner tube diameter of 32 mm, and outer diameter of 35mm, with the end of the tube edge slightly rounded not to damage the bung. The inner tube (4) may be generally annular in shape so as to clamp the constricted sphincter muscle tissues against the shoulder (3") around substantially the entire periphery of the shoulder.

The size of the inner tube (4) may range from very small or to very large carcasses or anuses, as need be.

The rotatable cutting member

The slidable, cylindric, rotable cutting member (5) for use according to the invention shall be configured for cutting free the rectum of the carcass, and the cutting member (5) shall be connected to, and in operation with, an actuator (5A) for reciprocating the movement of the cutting member (5), and a motor (5C) configured for rotating the cutting member (5), e.g., via a Worm gear (5B').

The actuator (5A) may, e.g., be a hydraulic, pneumatic or electrically powered linear actuator. In one embodiment, the linear actuator (5A) is driven by an electric stepper motor (5B).

The rotable cutting member (5) for use according to the invention may be manufactured from e.g. stainless steel, having a surface allowing for good cleaning properties during the washing processes. The cutting edge angled, e.g., 30°, from the outside in, to ensure the sharp edge does not get caught on bone.

Various size tools for very small or large carcasses or anuses could be applied if need arise and various other tools component dimensions should be adapted accordingly, should they deem necessary. Succesfull initial testing has been carried out with various carcass sizes from approx. 20 to approx. 70 kg using a cutting member with a outer diameter of, e.g., 53 mm.

The knife blade

The curved arrow pointed knife blade (6) for use according to the invention shall be configured for assisting the cutting member (5) in cutting the rectum free for ligaments and similar connective tissues, and the knife blade (6) shall be connected to, and in operation with, an actuator (6A) for reciprocating the movement of the knife blade (6).

The actuator (6A) may, e.g., be a linear actuator, that may be a hydraulic, a pneumatic or an electric cylinder.

The system of the invention

In another aspect, the invention provides an automatic bung cutting and handling system, configured for automatically cutting free the rectum of the carcass of a slaughtered pig. The system of the invention also is able to implement "bung handling", i.e. capable of wrapping/folding the rectal opening within itself in order to constrict the rectal opening and avoid fecal contamination of the carcass.

The combined cutting and bung handling system of the invention may be characterised by comprising the following essential elements: i. an automatic cutting and handling tool (2) configured for cutting free the rectum of the carcass, and for wrapping/folding the rectal opening within itself, which cutting and handling tool (2) is mounted on a guiding installation (9), and which cutting and handling tool (2) is as described above and comprises the following essential elements: a. a slidable centering mandrel (3) configured for locating and penetrating the rectal opening of the carcas, which centering mandrel (3) is connected to, and in operation with, an actuator (3A) configured for reciprocating the movement of the slidable centering mandrel (3); b. a slidable inner tube (4) arranged coaxially around the mandrel (3), and configured for clamping and sealing the rectum in interaction with the centering mandrel (3), which slidable inner tube (4) is connected to, and in operation with, an actuator (4A) configured for reciprocating the movement of the slidable inner tube (4); c. a cylindric, rotable cutting member (5) arranged coaxially around the inner tube (4) and configured for cutting free the rectum of the carcass, which cutting member (5) is connected to, and in operation with, an actuator (5A) for reciprocating the movement of the cutting member (5), and a motor (5C) configured for rotating the cutting member (5); and d. a curved knife blade (6), configured for assisting the cutting member (5) in cutting the rectum free for ligaments and similar connective tissues, which knife blade (6) is connected to, and in operation with, an actuator (6A) for reciprocating the movement of the knife blade (6); and ii. an imaging device (10), in operation with the processing means (11), configured for recording images of the carcass and the rectal opening of the carcass for identifying and locating the position of the rectum on the carcass, and for providing and transmitting data to the processing means (11) intended for direction determination, for distance measurement, and/or for spatial measurements; and iii. a processing means (11), in communication with the cutting and handling tool (2), the imaging device (10), and, optionally, a central server/database (12), which processing means (11) is configured for recording and processing data provided by the imaging device (10).

In another embodiment, the system of the invention further comprises: iv. a central server/database (12), configured for storing and providing data relating to the processing, which central server/database (12) is in communication with the processing means (11).

Data relating to the processing may e.g. be collected from the processing line, and may relate to parameters that can lead to adjustment in the processing recipe of the individual carcass. Such data may e.g. be information on the animal breed, age, sex, the live weight, or weight on the gambrel after pelting, or may relate to physical dimensions, e.g. lengths as recorded by sensor systems.

The automatic cutting tool

The automatic cutting and handling tool (2) for use in the system of the invention is as described above.

The imaging device

The imaging device (10) for use according to the invention shall be in operation with the processing means (11), and shall be configured for recording images, e.g., two- or three-dimensional images, of the carcass and the rectal opening of the carcass for identifying and locating the position of the rectum on the carcass, and for providing and transmitting data to the processing means (11) intended for direction determination, for distance measurement, and/or for spatial measurements.

The imaging devices (10) for use according to the invention may be a traditional or an adaptive imaging system, based on the use of artificial intelligence (Al).

The imaging device (10) for use according to the invention may be considered as part of a machine imaging system. Machine imaging systems typically comprise a 2D- or 3D-camera with a lens, an image sensor, an imaging processing means, and communication means.

In one embodiment, the imaging device (10) for use according to the invention is a three-dimensional (3D) imaging system. 3D-imaging systems typically comprise multiple cameras or one or more laser displacement sensors. Commercially available 3D scanners or range cameras include the time-of-flight camera, the structured light camera, stereo camera or 3D camera, e.g. the Sick 3D ruler.

In another embodiment, the imaging device for use according to the invention is a LIDAR-based 3D-camera, that illuminates the target with laser light, and measures the reflection with a sensor.

In further embodiments, the system of the invention may be supplemented with additional sensors configured for measuring, determining and/or detecting various properties or events, e.g. distance sensors, positions sensors, X-ray sensors, ultra sound sensors, infrared sensors, radar sensors, etc. The single components of the imaging device (10) for use according to the invention are commercially available.

Optionally the imaging system for use according to the invention also include lighting means.

The processing means

The system of the invention shall comprise one or more processing means/CPU/PLC (11).

The processing means/CPU/PLC (11) for use according to the invention shall be in communication with the automatic cutting and handling tool (2), the imaging device (10), and, optionally, a central server/database (12), and the processing means (11) shall be configured for recording and processing data provided by the imaging device (10).

In one embodiment of the invention, the processing means/CPU/PLC (11), in cooperation with the robotic installation (9B), shall be configured to process robot information including posture information of the robot main body.

In another embodiment, the processing means/CPU/PLC (11) for use according to the invention may be any commercially available industrial processor/PC.

In a third embodiment, the processing means (11) for use according to the invention is a processor/PC for the processing of image data.

In a fourth embidiment, the processing means (11) for use according to the invention is a processor/PC for controlling a robotic installation (9B).

In a fifth embodiment, the processing means (11) for use according to the invention may represent a server unit capable of storing and communicating data relating to the carcas in question, e.g. data collected earlier in the process from the processing line.

In a further embodiment, the processing means (11) for use according to the invention is a PLC capable of receiving data from from the central server/database (12). This PLC may in particular be used for receiving data pertaining to the processed carcasses, for controlling the automatic cutting and handling tool (2) of the invention, for controlling the guiding installation (9), e.g. with respect to the order of the process, duration times, speeds and movements.

The central server

The system of the invention may further comprise a central server/database (12) configured for receiving and storing data pertaining to the processing of carcasses, which server/database (12) is in communication with the processing means (11).

In certain embodiments, the central server/database (12) may be used for controlling the automatic cutting and handling tool (2) of the invention, for controlling the guiding installation (9) of the invention, e.g. with respect to the order of the process, duration times, speed and movements.

The method of the invention

In a further aspect, the invention provides a method configured for automatically cutting free the rectum of the carcass of a pig carcass, and capable of folding and wrapping the rectal opening within itself ("bung handling") in order to constrict the rectal opening and avoid fecal contamination of the carcass.

The method of the invention shall be accomplished by use of the cutting tool or system of the invention described above.

The method of the invention may be characterised by comprising the following subsequent steps: i. providing the pig carcass to be processed, and centering the cutting and handling tool (2) relative to the carcass midline; ii. ejecting a centering mandrel (3) from the cutting and handling tool (2) by action of a linear actuator (3A), so that the tip of the plug (3') enters the rectum, past the anus, so that the plug-base (3"') is positioned inside the rectum, just behind the the spincter/closing muscle; iii. joining the centering mandrel (3) and a coaxially arranged inner tube (4), by gently retracting the plug rod (3""), using the linear actuator (3A), against the inner tube (4), or by simultaneously ejecting the inner tube (4) by action of a linear actuator (4A), thereby forcing the surrounding tissue of the rectum to become pinched between the walls of the inner tube (4') and the plug collar (3"); iv. severing the ligament muscle through a punch-cut by pushing forward a pointed half-circular knife (6), actuated by a hydraulic cylinder (6A); v. cutting free a 360 degree perimeter around the rectum using a cylindric rotary cutting member (5), arranged coaxially around the inner tube (4), that is moved forward to a the desired depth by action of a linear actuator (5A); vi. advancing the linear actuator (4A) of the inner tube (4), thereby pushing forward the still sealed rectum opening/bung inside the carcass; vii. releasing the clamped rectum by pushing the mandrel (3) forward; and viii. when released, the inner tube (4) and the mandrel (3) are returned to their starting position, leaving the rectum opening/bung protected inside the mesentery.

In another embodiment, the method of the invention may be performed using an alternative Step 4B. According to this embodiment, in Step v, two or more blades (6'), arranged slightly overlapping each other in a circle, and is moved forward to a the desired depth by action of a linear actuator (5A), is used for cutting free a 360 degree perimeter around the rectum. In further embodiments, the method of the invention is characterized by comprising the subsequent steps 1-7, described below.

During processing, the cutting and handling tool (2) may be fully synchronised, aiming for the carcass midline, by following the slaughter line speed on the dressing line. This may be accomplished by use of an actuated arm for pushing the tool, angled and configured to be pushed forward, by either the gambrel midpoint, or the dropfinger pushing the gambrel holding the carcass. When the process is completed, the arm may be retracted, and the carcass continues on the processing line, and another hydraulic cylinder quickly pulls back the tool to its starting position, where the arm for pushing the tool is activated again to center the tool for the next carcass on the line.

From experience with bunghandling tools used on pigs and sheep, the distance from the gambrel hanging point of the carcass hind legs, to the center of the anus is fairly constant irrespective of carcass size variations. This allows the use of a constant tool angling, together with the tool being held in a pressure shock absorbing tilt fitting/bracket point, thus allowing the point tip of the slidable centering mandrel to enter the rectum, and to align the tool to the carcass and carry for carrying out the subsequent cutting and bung handling process.

Alternatively the center and spatial position of the rectum may be located by use of a vision device, e.g. a 2D/3D camera sensor set up, transmitting the coordinates to a robot (9B), that can bring the cutting and handling tool (2) to the starting position, and moving it parallel to the processing line during the cutting and subsequent bung handling process.

1 (Fiqs. 2A1-2A4)

Once centered relative to the rectum/bung, as described above, the centering mandrel (3) is ejected from the cutting and handling tool (2) by action of the linear actuator (3A), and the tip of the plug (3') enters the rectum past the anus, so that the plug-base (3"') is positioned inside the rectum, just behind the the spincter/closing muscle.

The centering mandrel (3) and the inner tube (4) are then joined by gently retracting the plug rod (3"") by use of the linear actuator (3A), against the inner tube (4) or by simultaneously ejecting the inner tube (4) by action of the linear actuator (4A), thereby forcing the surrounding tissue of the rectum to become pinched between the walls of the inner tube (4') and the plug collar (3").

This process allows for a firm grip of the rectum, while effectively sealing the rectal tissue to prevent fecal leakage during the further processing steps. Once sealed, it is possible to further raise and retract the spincter and the rectum tissue away from the carcass by gently pulling and stretching the tissue towards the cutting and handling tool (2) by retraction the linear actuator (4A).

Investigations have shown, both in manual and automatic proceses, that severing the ligament muscle is critical for a good and hygienic process.

For this purpose, a pointed half-circular knife (6), actuated by a hydraulic cylinder (6A), is pushed forward to sever the ligament muscle through a punch-cut.

The arrow pointed, part circular shape of the knife (6) is adapted to accommodate the V-shape of the pelvic cavity. The knife depth is adjusted by action of the linear actuator (6A) so as to to stab just sufficiently deep to sever ligaments from muscle tissue without causing any damage to the intestines (rectum).

The linear actuator (6A) may be hydraulic or electrically driven.

Following this process, the knife blade (6) is withdrawn by retraction of the linear actuator (6A).

A cylindric rotary cutter (5), just large enough to surround the inner tube (4), but not larger than necessary, is then moved forward by action of the linear actuator (5A), to cut free in a 360 degree perimeter around the rectum, while being pushed forward, by the linear actuator (5A), to a set depth, or depths optimized for the specific carcass type in question, sufficient for just releasing the upper part of the rectum from surrounding tissue. The cutting may be variable in rotation and protrusion speed, and rotation direction during the cutting the cutting.

When the desired set end point/cutting depth is reached, the rotory cutter (5) remains in place for stabilisation of the subsequent steps.

It is noted that significant carcass size and weight variations between batches or between individually slaughtered pigs may occur. It may, therefore, be helpful to have several sets of cutting tools, that may be selected by recipie based on collected data achieved from the server/database (12), where dimensions critical to the carcass size can be varied (e.g. 2-4 sizes as carcass weights on the line may vary from 12 -100 kg).

This change of tools can be achieved by use of conventional tool changing means, e.g. by installing a fast tool exchanger, or by presenting a selection of tools using the revolver principle.

Alternatively, Step 4A is exchanged for Step 4B. Alternative step 4B (Fiqs. 3A-3E)

While the rotary cutter principle described in step 4A is indeed feasible, especially after applying tool changing means as described above, the cutting process may, alternatively, be accomplished by a set of unidirectionally pointed blades (6'), similar to the knife blade (6) described in Step 3, above, thus making superfluous the use of the rotary cutter (5) described in Step 4A, and the dedicated cutting blade (6) described in Step 3.

In this embodiment, two or more blades (6') may be arranged slightly overlapping each other in a circle, e.g. with a number of 2-6 blades, e.g. 2-5 blades or 2-4 blades, positioned according to a "rabbit-tooth-principle".

Moreover, the blades (6') for use according to this embodiment may be of different sizes. In one embodiment, the set of unidirectional pointed blades (6') includes four blades, among which blades two blades have a larger diameter than the remaining two blades.

Finally, the unidirectional pointed blades (6') shall be activated by an actuator device (6"), configured to advance and retract the blades, as well as a diameter adjusting device (6"'), configured to adjust and and change the diameter og the cutting device.

By employing this alternative arrangement, it is possible to place the blades in a variable diameter circle, thereby overcoming the need for various sizes of rotary cutters. Also, by rotating the unidirectional pointed blades (6') during entry of the rectum, the blades will cut ligaments and similar connective tissues both on their entry into, and exit from, the rectum, and the cutting device may be activated by the worm gear motor (6A), and may create a rotational or oscillating movement of the blades.

Moreover, following this embodiment, it is possible to eliminate the rotary cutter (5) and the motor (5C) driving this cutter. Finally, it provides for a simpler cleaning process due to a simpler hygienic design.

When grabbing, sealing, retracting, and cutting has been accomplished as described above, the still sealed rectum opening/bung is then pushed forward inside the carcass, by advancing the linear actuator (4A) of the inner tube (4).

The purpose of this forward movement is to push the closed rectum opening/bung further into the rectum, thus inverting the rectum and placing it in a protected state inside the mesentery. Enveloping the bung in the mesentery help minimizing the risk of contaminating the carcass when the bung and pluck set is later manually or automatically removed through opening the belly in the subsequent steps on the processing line. Inverting and placing the rectum opening/bung in the mesentery is known from the pig slaughtering industry, where it has improved the overall carcass hygienic quality, and in some cases provided for higher line speeds, this manual process being a limiting factor of the speed of the processing line.

Once the clamped centering mandrel (3) and inner tube (4) have reached the set end-position (as described in step 5), or immediately prior to the end-position, the mandrel (3) is moved forward (away from the tube (4) to release the clamped rectum. The release process may be repeated very fast (release/retract) to relax the muscle to secure that the anus and rectum can be released ful*ly from the mandrel (3), and left protected in "lower" position, inside the mesentery, and thus not pulled backwards. After releasing the rectum, both the inner tube (4) and the mandrel (3) start their return to the starting position (cf. Fig. 2A1-2A4), leaving the rectum opening/bung protected inside the mesentery.

On their return, immediately after the rectum has been released and the inner tube (4) and mandrel (3) have been retracted a short distance, they are retracted completely into the inner tube (4). Once the inner tube (4), now completely covering the mandrel (3), is retracted far enough to be fully covered by the rotary cutter (5), that is still kept positioned after drilling, the rotary cutter (5), now covering both the end of the inner tube (4) and containing the mandrel (3), is also retracted to the starting position along with the tube (4) and mandrel (3).

The retraction modes, i.e. the multiple layers of covering those parts of the tool that have been exposed to the bung contents of feacal material, minimizes the risk of the tool parts contaminating the carcass on their way out.

Once the tool, i.e. the centering mandrel (3), the inner tube (4), the cylindric rotary cutter (5), and the knife blade (6), have returned to its original position relative to the instrument base (7), a suitable, fast washing cycle may take place, to clean and disinfect the tool between carcasses.

The washing of the tool parts in contact with the carcass part, may take place with alternating time temperature intervals, via approbiate placed pressure nozzles spraying luke warm, 40°C, 82°C, and 40°C in wash steps to sanitize and prevent protein build up. The washing may take place with a tool position and using a screening or cabinet or other similar shields preventing any splash of water onto the carcass. The tools to be washed may be actuated in their movements during washing to facilitate optimal presentation for cleaning. Species and variability

The process steps, the tools and their design and described usage is shown adequate to slaughter and processing of pigs. Some part of the process may after adaptation potentially also be useful for slaughter of other species.

Any combination of two or more of the embodiments described herein is considered within the scope of the present invention.

DETAILED DESCRIPTION OF THE FIGURES

Figs. 1A and IB show embodiments of the system according to the invention: The combined cutting and handling tool of the invention (2); Sliding means/sliding stand (9A); Imaging device (10); Processing means (11); Central server/database (12);

Figs. 2A1-2A4, represent the tool base and the various tool parts viewed from various angles;

Figs. 2A'-2F, represent some of the variations described in the Steps 1 to 7; and

Figs. 3A-3C illustrate the "rabbit tooth principle" variation, viewed from different angles, showing an embodiment involving a set of four unidirectional pointed blades (6'), which embodiment makes superfluous the rotating cutting member (5).

List of reference signs

This is a listing of various elements relating to the present invention.

Alternative/synonymous designations are separated by slashes:

1 The automatic cutting and bunghandling system of the invention

2 Combined cutting/handling tool of the invention

3 Centering mandrel/centring pin/conical plug rod

3' The tip of the centering mandrel/plug

3" Plug collar

3"' Plug base

3"" Plug rod

3A Linear actuator controlling movement of (3)

4 Inner tube/clamp for grabbing and clamping/sealing the anus, and retracting for cutting, and finally pushing it forward to be protected inside the mesentery

4' Fastening edge for clamping

4A Linear actuator for inner tube (4) 4B Motor driving the linear actuator (4A)

5 Cylindric rotable cutting member/rotationally driven cylinder knife

5' Cutting edge of the cylindric cutting member

5A Linear actuator for controlling movement of the rotable cutting member (5)

5B Motor driving the linear actuator (5A)

5C Motor driving the rotation of cutting member (5)

5C' Worm gear/hollow gear/transmission gear, for transmission of rotation from the motor (5C) to the rotable cutting member (5)

6 Knife blade/half-circular knife/cutting blade

6A Two-way worm gear motor

6' Unidirectionally pointed blades, arranged according to the "rabbit tooth" priniple

6" Actuator for the unidirectionally pointed blades (6')

6"' Diameter adjustment device

6A Linear actuator for knife blade (6)

7 Instrument base

7A Mounting/fitting for holding elements 3, 4 and 5 relative to the instrument base (7)

7B Mounting/fitting for holding elements 3, 4 and 5 relative to the instrument base (7)

8 Mounting bracket, for mounting the tool (1) on 9A or 9B respectively

9 Guiding/sliding installation

9A Sliding means/sliding stand/frame

9B Robotic installation/robotic arm

10 Imaging means

11 Processing means/CPU/PLC

12 Central server/database

Claims

1. An automatic cutting and handling tool (2), for use at abattoirs, configured for cutting free the rectum of a carcass of a slaughtered pig, and for wrapping and/or folding the rectal opening within itself, which cutting and handling tool (2) is mounted on a guiding installation (9), and which cutting and handling tool (2) comprises the following essential elements: a. a slidable centering mandrel (3) comprising a plug (3') placed in the free end of the mandrel, and configured for locating and penetrating the rectal opening of the carcas, which centering mandrel (3) is connected to, and in operation with, an actuator (3A) configured for reciprocating the movement of the slidable centering mandrel (3); b. a slidable inner tube (4) arranged coaxially around the mandrel (3), and configured for clamping and sealing the rectum in interaction with the centering mandrel (3), which slidable inner tube (4) is connected to, and in operation with, an actuator (4A) configured for reciprocating the movement of the slidable inner tube (4); c. a slidable, cylindric, rotable cutting member (5) arranged coaxially around the inner tube (4), and configured for cutting free the rectum of the carcass, which cutting member (5) is connected to, and in operation with, an actuator (5A) for reciprocating the movement of the cutting member (5), and a motor (5C) configured for rotating the cutting member (5); and d. a curved knife blade (6) placed near the periphery of the slidable cylindric rotatable cutting member, and configured for assisting the cutting member (5) in cutting the rectum free for ligaments and similar connective tissues, which knife blade (6) is connected to, and in operation with, an actuator (6A) for reciprocating the movement of the knife blade (6).

2. The automatic cutting and handling tool of claim 1, which tool further comprises the following element: e. an instrument base (7) configured for assembling and fixing the individual tool elements, and for mounting the cutting and handling tool (2) on a running/guiding installation (9).

3. An automatic bung cutting and handling system (1), configured for cutting free and handling the rectum of the carcass of a slaughtered pig, which system comprises the following essential elements: i. an automatic cutting and handling tool (2) configured for cutting free the rectum of the carcass, and for wrapping/folding the rectal opening within itself, which cutting and handling tool (2) is mounted on a guiding installation (9), and which cutting and handling tool (2) comprises the following essential elements: a. a slidable centering mandrel (3), configured for locating and penetrating the rectal opening of the carcas, which centering mandrel (3) is connected to, and in operation with, an actuator (3A) configured for reciprocating the movement of the slidable centering mandrel (3); b. a slidable inner tube (4) arranged coaxially around the mandrel (3), and configured for clamping and sealing the rectum in interaction with the centering mandrel (3), which slidable inner tube (4) is connected to, and in operation with, an actuator (4A) configured for reciprocating the movement of the slidable inner tube (4); c. a slidable, cylindric, rotable cutting member (5) arranged coaxially around the inner tube (4), and configured for cutting free the rectum of the carcass, which cutting member (5) is connected to, and in operation with, an actuator (5A) for reciprocating the movement of the cutting member (5), and a motor (5C) configured for rotating the cutting member (5); and d. a curved knife blade (6), configured for assisting the cutting member (5) in cutting the rectum free for ligaments and similar connective tissues, which knife blade (6) is connected to, and in operation with, an actuator (6A) for reciprocating the movement of the knife blade (6); and ii. an imaging device (10), in operation with a processing means (11), configured for recording images of the backside and the rectal opening of the carcass for identifying and locating the position of the rectum on the carcass, and for providing and transmitting data to the processing means (11) intended for direction determination, for distance measurement, and/or for spatial measurements; and iii. a processing means (11), in communication with the automatic cutting and handling tool (2), the imaging device (10), and, optionally, a central server/database (12), which processing means (11) is configured for recording and processing data provided by the imaging device (10).

4. The cutting and handling system of claim 3, which system further comprises the following element: iv. a central server/database (12) configured for storing and providing data relating to the processing, which server/database (12) is in communication with the processing means (11).

5. The system of claim 1, wherein the guiding installation (9) allows for the cutting and handling tool (2) to accompany/follow the carcass while on the move on a conveyor belt, and which installation (9) is: 19 a sliding means/sliding stand (9A); or a robotic installation (9B).

6. A method for automatically cutting free the rectum of the carcass of a pig, and for subsequently wrapping/folding the rectal opening within itself, which cutting and handling method comprises the following subsequent steps: i. providing the pig carcass to be processed, and centering the cutting and handling tool (2) relative to the carcass midline; ii. ejecting a centering mandrel (3) from the cutting and handling tool (2) by action of a linear actuator (3A), so that the tip of the plug (3') enters the rectum, past the anus, so that the plug-base (3"') is positioned inside the rectum, just behind the the spincter/closing muscle; iii. joining the centering mandrel (3) and a coaxially arranged inner tube (4), by gently retracting the plug rod (3""), using the linear actuator (3A), against the inner tube (4), or by simultaneously ejecting the inner tube (4) by action of a linear actuator (4A), thereby forcing the surrounding tissue of the rectum to become pinched between the walls of the inner tube (4') and the plug collar (3"); iv. severing the ligament muscle through a punch-cut by pushing forward a pointed half-circular knife (6), actuated by a hydraulic cylinder (6A); v. cutting free a 360 degree perimeter around the rectum using a cylindric rotary cutting member (5), arranged coaxially around the inner tube (4), that is moved forward to a the desired depth by action of a linear actuator (5A); vi. advancing the linear actuator (4A) of the inner tube (4), thereby pushing forward the still sealed rectum opening/bung inside the carcass; vii. releasing the clamped rectum by pushing the mandrel (3) forward; viii. when released, the inner tube (4) and the mandrel (3) are returned to their starting position, leaving the rectum opening/bung protected inside the mesentery.

7. The method of claim 6, wherein, in Step v, two or more blades (6'), arranged slightly overlapping each other in a circle, is moved forward to a desired depth by the action of the linear actuator (5A), and is used for cutting free a 360 degree perimeter around the rectum.