A cutting system for cutting the carcass portions while the carcass portions are being carried by a carrier connected to and moved by the overhanging conveying system.

Abstract

The present invention relates to a cutting system (100) for cutting carcass portions (112) while the carcass portions are transported by a carrier (108) connected to and moved (111) by an overhanging conveying system (107). A detection device (101) is provided for determining a cutting position (105a) of an incoming carcass portion. The system includes at least one cutting device (103) having an upwardly and downwardly facing configuration, a moving mechanism (104) mechanically connected to the at least one cutting device for controlling the position of the at least one cutting device based on the determined cutting position, and a carcass displacement device arranged to initiate displacement of the carcass portion away from the at least one cutting position while the carcass portion or resulting sub-portion transported by the carrier is positioned between an upstream cutting end and a downstream cutting end.

Description

[Technical field]

[0001] The present invention relates to a cutting system and method for cutting carcass parts while they are being carried by a carrier connected to and moved by an overhang transport system. [Background technology]

[0002] In existing cutting systems commonly used in slaughterhouses, carcass parts, such as half beef carcasses, carried by a carrier connected to and moved on an overhanging conveying system, need to be cut into smaller pieces. A common first cut is to cut such a carcass part into two pieces, one piece remaining on the carrier and the other piece dropping, for example, onto an underlying conveyor. The applied cutting equipment is often a circular rotary saw or a band saw rotating about a vertical axis of rotation. Such circular saws may have a diameter of 750 mm, and the vertical cutting position of these circular saws depends on the size and shape of the incoming carcass. An example of such a cutting process is to utilize a detection device that detects the cutting position of the incoming carcass part, which is used as an input command when adjusting the vertical height position of the circular saw. After the carcass part has been cut into two pieces, the remaining pieces carried by the carrier have passed the circular saw, and the process is repeated, adjusting the height of the circular saw for the subsequent incoming carcass part while the circular saw is positioned between the adjacent carcasses. To allow this, the distance between adjacent carcass parts must be at least 750 mm, preferably around 1000 mm, which reduces the throughput of the cutting process. Summary of the Invention [Problem to be solved by the invention]

[0003] In the above background, an object of an embodiment of the present invention is to increase the throughput of a cutting process for carcass parts transported by an overhanging conveying system. The term carcass part may be understood as, by way of example, a front or rear leg of any four-legged animal, such as pork, beef, lamb, etc., or a half carcass of such a four-legged animal, the carcass part of which is carried by a carrier. The term carcass part may be understood as, by way of example, a front or rear leg of any four-legged animal, such as pork, beef, lamb, etc., or a half carcass of such a four-legged animal, the carcass part of which is carried by a carrier.

[0004] In general, the present invention preferably seeks to mitigate, alleviate or eliminate one or more of the above mentioned disadvantages of the prior art singly or in any combination. In particular, it can be seen as an object of embodiments of the present invention to provide a cutting system that overcomes the above mentioned or other problems. [Means for solving the problem]

[0005] To better address one or more of these concerns, in a first aspect of the present invention there is provided a cutting system for cutting carcass parts whilst they are carried by a carrier connected to and moved on an overhanging transport system, said system comprising: at least one detection device, such as one detection device for determining at least one cut position of the incoming carcass part; at least one cutting device having at least one upward and one downward surface structure and an upstream cutting end and a downstream end, or at least one cutting device having one upward and one downward surface structure and an upstream cutting end and a downstream end, or at least one cutting device having one upward surface structure and one downward surface structure and an upstream cutting end and a downstream end, a movement mechanism mechanically connected to the at least one cutting device for controlling a position of the at least one cutting device based on the determined cutting position; and a carcass displacement device arranged to initiate displacement of a carcass part away from said at least one cutting location while a carcass part or a resulting sub-part carried by the carrier is positioned between the upstream cutting end and the downstream end.

[0006] When the at least one cutting device is positioned between adjacent carcass parts, i.e. when waiting until a carcass part or resulting sub-part has completely passed the at least one cutting device, the limitation of adjusting the height of the at least one cutting device is no longer an obstacle meaning that the distance between adjacent incoming carcass parts can be shortened, thus increasing the throughput of the cutting process.

[0007] By "starting the displacement of a carcass part" it may be understood the displacement of the entire carcass part or one or more or all sub-parts of the entire carcass part.

[0008] "Between the upstream cutting end and the downstream end" can be understood as between axial positions along the conveying direction which correspond to the positions of the upstream cutting end and the downstream end.

[0009] In one embodiment, the carcass displacement device comprises at least one cutting device which at least partially contributes to displacing the carcass part away from the cutting position via the movement mechanism by means of controlling the height displacement of the at least one cutting device. In one embodiment, the step of controlling the height displacement of the at least one cutting device is performed after cutting the carcass part, for example into two pieces, or such two pieces are still partially connected together, and a repositioning of the at least one cutting device for a subsequent incoming carcass part is performed according to the determined cutting position for the subsequent carcass part, and the height displacement is performed such that an upwardly facing structure of the at least one cutting device acts temporarily as a support structure for the resulting first sub-piece, for example carried by a carrier, causing the first sub-piece to be temporarily lifted until the first sub-piece passes the at least one cutting device, or such that a downwardly facing structure in the at least one cutting device acts as a pusher for the second sub-piece, for example causing the second sub-piece to be removed from the carcass part or from another part of the carcass part. Thus, when cutting a carcass part into a first and a second sub-piece, the first sub-piece is then above the at least one cutting device while the height displacement is taking place. If the cutting line for the next adjacent carcass part is above this previous cutting line, then the at least one cutting device is moved upwards towards the new cutting line while the first sub-piece is above the cutting device to a new cutting position, so that the adjacent carcass part is in the correct position when it reaches the at least one cutting device. This means that the time during which the first sub-piece passes through the at least one cutting device can be used to adjust the height displacement of the at least one cutting device.

[0010] A displacement of the carcass part away from the at least one cutting position can thus be understood as when a height adjustment of the at least one cutting device occurs towards a new cutting position for the subsequent carcass part.

[0011] The carcass portion may have had a prior cut made, for example upstream, and the determined cut location includes identifying this prior cut location and cutting at the prior cut location.

[0012] Height displacement may be understood as the vertical height displacement of the carcass part or as a combination of vertical and side-wise displacement.

[0013] The at least one cutting device may include two or more cutting devices that may be jointly mounted to the moving mechanism, and the two or more cutting devices may be configured to perform different cutting operations.

[0014] In one embodiment, the carcass displacement device comprises a guide structure configured to apply a lateral guiding and / or pushing force to the carcass portion during cutting, so as to remove the cut carcass portion or the resulting sub-portion laterally from the at least one cutting device before the cut carcass portion or the resulting sub-portion carried by the carrier reaches the downstream edge of the at least one cutting device. The lateral pushing force can be understood as a force vector that may be oriented perpendicular to the conveying direction of the carcass portion (optionally having or consisting of a component oriented perpendicular to the conveying direction in a horizontal plane), or that may have an angle in the upstream direction (e.g. making a smallest angle with the upstream direction in the interval between 0 and 90 degrees, optionally having a component oriented perpendicular to the conveying direction in a horizontal plane) or that may have an angle in the downstream direction (e.g. making a smallest angle with the upstream direction in the interval between 90 and 180 degrees, optionally having a component oriented perpendicular to the conveying direction in a horizontal plane). Referring to the previous example, where the cutting line for the next adjacent carcass part is above the previous cutting line, the height displacement preferably does not occur until the cut carcass part is completely removed from at least one cutting device. Thus, in addition to a higher throughput, it is ensured that the cut carcass part or the resulting sub-part (e.g. said first sub-piece) does not fall off the carrier carrying the carcass part or the resulting sub-part, as may happen if the difference in height displacement between the two cutting lines is too large, for example due to a too large size difference between two adjacent carcass parts.

[0015] Displacement of the carcass part away from the at least one cutting position can therefore be understood as when the carcass part is pushed laterally away from the at least one cutting device (optionally in a direction having or consisting of a component oriented perpendicularly to the conveying direction in a horizontal plane) until the at least one cutting device is free to move, for example upwards or downwards.

[0016] In one embodiment, the at least one cutting device has a circular rotary cutting saw or blade positioned such that the upward facing side of the circular rotary cutting saw defines an upward facing configuration and the downward facing side of the circular rotary cutting saw defines a downward facing configuration. One advantage of using a circular saw is that the amount of sawdust formed from the cutting process is minimal. It is common to use circular saws having a diameter of 750 mm, in some cases 500-650 mm, to cut the suspended carcass into two smaller pieces, but the diameter should not be interpreted to these diameter values. In prior art systems using such circular rotary cutting saws, the distance between adjacent carcasses must at least correspond to this diameter distance, for example at least 750 mm, before a height adjustment is made. However, according to the present invention, this distance can be reduced to, for example, 50-100 mm or even less, since these limitations of waiting until the cut carcass parts have completely passed through at least one cutting device are no longer a constraint.

[0017] The movement mechanism, in one embodiment, comprises a mechanical structure connected to the at least one cutting device, for example a servo-driven motor or an electric motor, capable of moving the at least one cutting device upwards / downwards. As an example, in an embodiment in which the at least one cutting device comprises a circular saw, the movement mechanism may be mechanically connected to a drive shaft mechanism that drives a rotational motion to the at least one cutting device.

[0018] In one embodiment, the circular rotary cut-off saw rotates about a vertical axis of rotation. In another embodiment, the circular rotary cut-off saw rotates about an axis of rotation that is angled relative to the vertical axis. This or these angular positions may be adjusted manually, for example by an operator.

[0019] In yet another embodiment, the axis of rotation is adjustable based on the determined cutting position, such that the angular position can then be adjusted, e.g. automatically by the movement mechanism, thus improving the yield of the cut.

[0020] The at least one cutting device, in alternative embodiments, may comprise at least one cutting device of any kind, such as a scissors cutter, or a band saw, depending on the application and type of carcass part, with an upper side of the scissors cutter or band saw defining an upward facing configuration and a lower side defining a downward facing configuration.

[0021] In one embodiment, the detection device comprises: a three-dimensional (3D) sensor for capturing a three-dimensional profile of the carcass part; a light source, such as a laser light source, for illuminating the carcass portion where cutting is desired, and a sensor (e.g., a digital camera) for capturing reflected light from the carcass portion, where the light source may, by way of example, be operated by an operator to direct the light source to a cutting location based on visual detection; A color sensor, such as a red-green-blue (RGB) sensor, to capture the color differences of the surface of the carcass part; or X-ray equipment for capturing X-ray images of carcass parts It has one or more of the following.

[0022] The operation of height displacement of at least one cutting device can be considered a semi-automatic process if the light source is operated by an operator, for example by pointing a laser pen or the like at the cutting location, but generally, the operation can be considered an automatic process if there is no operator involved in the process.

[0023] In one embodiment, the system further comprises a positioning structure configured to interact with the carcass portions as they are moved and to adjust the angular position of the carcass portions so that they have a predetermined angular position as they are cut, and thus by selecting such a predetermined optimum angular position it is possible to optimize the cut to achieve maximum yield.

[0024] In one embodiment, the system further comprises an engagement device or one or more engagement devices for engaging the carcass portion to maintain the carcass portion in a stationary position relative to the carrier while the cut is being made. Thus, maintaining the carcass portion in a stationary position not only improves yield but also enhances the quality of the cut. The engagement device may be further configured to adjust the angular position of the carcass portion, for example via a relative speed differential between the carrier and the engagement structure.

[0025] In one embodiment, the movement mechanism comprises a robotic system having at least one manipulating arm, and at least one cutting device, such as a circular rotary cutting saw, is attached to the at least one manipulating arm, and height displacement of the at least one cutting device is performed by the at least one manipulating arm.

[0026] In one embodiment, the engagement device comprises at least one suction device configured to engage the carcass part by suction while the cut is being made, the suction device being attached to at least the manipulating arm. Thus, a simple solution is provided in which the carcass part remains stationary while the cut is being made, and then the suction force is released, e.g. the suction force is stopped temporarily, e.g. automatically by a vacuum source connected to the suction device, and the process is then repeated with the subsequent carcass part.

[0027] In one embodiment, the at least one cutting device and the suction device are mounted on different manipulator arms, however, in another alternative, a single manipulator may support both the at least one cutting device and the suction device.

[0028] The upstream cutting edge can be understood as the first contact point where the cutting process starts, and the downstream edge can be understood as the second point where the carcass part or cut sub-part leaves the at least one cutting device, as in prior art systems where there is no "external" force (pushing sideways and lifting upwards as mentioned above). This means that if the at least one cutting device comprises, for example, a circular rotary cutting saw, the distance between the first and second points corresponds to the diameter of the circular rotary cutting saw. Similarly, if the at least one cutting device comprises, for example, a band saw, the distance between this first and second point corresponds to the width of the band saw.

[0029] In a second aspect of the invention, there is provided a carcass cutting system having a plurality of carriers with gambrel carriers, each gambrel having a first end region arranged to carry a first carcass part and an opposite end arranged to carry a second carcass part, and cutting of the first carcass part and the second carcass part is carried out simultaneously using two cutting systems according to the invention, such as using two cutting systems according to the first aspect. Thus, by carrying out two such cutting processes in parallel, throughput is further increased. As an example, two of said robotic systems may be positioned on opposite sides of the gambrel, such that the cutting process is continued by each robotic system while the gambrel is moved past the robotic systems.

[0030] In a third aspect of the invention, there is provided a method for cutting carcass parts whilst they are being carried by a carrier connected to and moved on an overhanging conveying system, the cutting being carried out using at least one cutting device, such as a cutting device having at least one upward and / or downward facing surface structure (or having one upward and one downward facing surface structure, or one upward facing surface structure and one downward facing surface structure), optionally having an upstream cutting end and a downstream end, the method comprising: determining, by a detection device, at least one cut location, such as a cut location on an incoming carcass portion; controlling the position of at least one cutting device based on the determined cutting position; Initiating displacement of the carcass portion away from the at least one cutting location while the carcass portion or resulting sub-part carried by the carrier is positioned between the upstream cutting end and the downstream cutting end.

[0031] In one embodiment, the carcass part is free hanging or partially free hanging. The carcass part is, for example, beef, lamb, pork, or a half carcass of any kind of four-legged animal. The cut location may be between adjacent ribs, such as between the second and third, between the third or fourth, between the fourth and fifth, and / or a front cut causing the front to define a second sub-piece, optionally followed by a mid-cut after the front cut where a mid-cut defines the second sub-piece.

[0032] In one embodiment, the angular position of the carcass portion is adjusted such that the longitudinal axis of the carcass portion forms an angle with respect to the vertical axis when the carcass portion is cut. This angular position is defined based on the position of the cut with the aim of maximizing the yield of the cut. This angular position may be parallel to the movement or any angular position with respect to the direction of movement, for example perpendicular to the direction of movement, 45 degrees with respect to the direction of movement, and any angular position therebetween. This angular position may be in an interval of 0 degrees to 90 degrees with respect to the direction of movement, for example 0 degrees to 45 degrees or 45 degrees to 90 degrees.

[0033] The cut location may include or be selected from a single point location, a straight or curved profile, or a 3D profile, for example extending partially from one location to another on the carcass portion, e.g. via a laser or light source, or the cut location may be a point location, i.e. a single coordinate location.

[0034] In general, the various aspects of the invention can be combined and combined in any manner possible within the scope of the invention. These and other aspects, features and / or advantages of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter. [Brief description of the drawings]

[0035] Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings. [Figure 1a] FIG. 2 shows an embodiment of a cutting system according to the invention for cutting a carcass portion into two smaller pieces while the carcass portion is being carried by a carrier. [Figure 1b] FIG. 2 shows an embodiment of a cutting system according to the invention for cutting a carcass portion into two smaller pieces while the carcass portion is being carried by a carrier. [Figure 1c] FIG. 2 shows an embodiment of a cutting system according to the invention for cutting a carcass portion into two smaller pieces while the carcass portion is being carried by a carrier. [Diagram 2] FIG. 2 illustrates a chronological sequence of an embodiment of FIG. 1 where the system further includes engagement structure for engaging and stabilizing the underside of the carcass portion. [Diagram 3] FIG. 1 shows a half carcass section and two different cutting locations. [Figure 4] FIG. 4 shows the cuts described in relation to FIG. 3 in which an intermediate cut step may further be performed. [Diagram 5] FIG. 13 illustrates another embodiment of a cutting system according to the present invention. [Figure 6] FIG. 6 is a perspective view of the cutting system described in relation to FIG. 5 according to the present invention. [Figure 7] 1 is a schematic top view of one embodiment of a cutting system according to the present invention for cutting carcass portions while they are being carried by a carrier connected to and moved by an overhanging transport system; FIG. [Figure 8] FIG. 2 shows a flow chart of a method according to the invention for cutting a carcass part into smaller pieces. [Figure 9] FIG. 4 shows a half carcass portion as seen in FIG. 3, and further illustrates (in dashed lines) the first and second cut locations also shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] 1a to 1c illustrate one embodiment of a cutting system 100 according to the invention for cutting carcass parts 112 while they are being transported by a carrier 108 connected to an overhanging conveying system 107 and moved in the direction indicated by the arrow 111, said system comprising a detection device 101, at least one cutting device 103, a moving mechanism 104 and a carcass displacement device 130.

[0037] As shown in this embodiment, the carcass portion is cut into two smaller pieces 114a, 114b. However, the invention should not be construed as being limited to such a separation into two pieces. The cut may be a partial cut where no such clear separation is made, such that the upper and lower portions are partially attached together, as an example.

[0038] FIG. 1a shows a situation in which a carcass 112 is transported by a carrier 108 which is connected to an overhanging transport system 107 and moved towards at least one cutting device 103 having an upward and downward facing structure.

[0039] The detection device 101 is configured to determine at least one cut location 105a of the incoming carcass part, which may be a single point location or, for example, a two-dimensional or three-dimensional cut profile, a curved profile or a linear profile. The detection device may comprise, but is not limited to, a three-dimensional (3D) sensor for capturing a three-dimensional profile of the carcass part, or a light source, such as a laser light source, for illuminating the carcass part where cutting is desired, and a sensor for capturing reflected light from the carcass part, or a color sensor, such as a red-green-blue (RGB) sensor, for capturing color differences of the surface of the carcass part, or an X-ray device for capturing an X-ray image of the carcass part identifying the cut location. The detection device may also comprise a manually operated laser pen or similar means, where an operator uses a laser to indicate a point of interest on the carcass part, and a reflected light point or line, indicated by a dotted line, is captured by the sensor. Other types of detection devices well known to those skilled in the art may be used.

[0040] The moving mechanism 104 is mechanically connected to the at least one cutting device and configured to control a position of the at least one cutting device based on the determined cutting position 105a.

[0041] The carcass displacement device is arranged to initiate displacement of the carcass portion away from the at least one cutting position while the carcass portion or resulting sub-portion carried by the carrier is positioned between the upstream cutting end and the downstream end. In the embodiment shown here, the carcass displacement device has at least one cutting device which is a rotating circular cutting saw, which at least partially contributes to displacing the carcass portion away from the cutting position via the movement mechanism by means of controlling the height displacement 115 of the at least one cutting device. The rotating circular cutting saw rotates around a rotation axis which, as shown here, can be a vertical rotation axis as an example. The movement mechanism 104 is mechanically connected with the at least one cutting device for controlling the position of the at least one cutting device based on the determined cutting position.

[0042] FIG. 1b depicts a situation where the circular saw 103 has made a horizontal (or angular) cut through the carcass parts, i.e. into a first carcass part 114a and a second carcass part 114b, still attached to the carrier 108. The controlling includes repositioning the circular saw 103 for a subsequent cut, either at the current time or around the current time (either a little earlier or a little later), based on image data, in this case the cutting line 105b in FIG. 1b for the subsequent carcass part. As depicted here, the cutting line 105b is above the cutting line 105a shown in FIG. 1a, meaning that the movement mechanism 104 adjusts the height position of at least one cutting device upwards, as indicated by the arrow 115b. In this case, this upward displacement is performed by causing the upward facing structure of the circular saw to act as a temporary support surface while the first sub-piece 114a passes through the circular saw. This saves valuable time and allows the circular saw to reposition for the subsequent carcass part, as shown in Figure 1c, while the first sub-section passes through it. Thus, distance d1 110 can be significantly shorter compared to distance d2 106, i.e., the separation distance d1>d2 between adjacent carcass parts in the prior art systems, which was necessary to give the circular saw the space required to adjust its height position, is no longer necessary.

[0043] As depicted in this embodiment, the circular saw rotates about axis 113, however, in one embodiment, the controlling may further include the moving mechanism 104 adjusting the axis of rotation based on the determined cutting position such that the new axis of rotation forms an angle with axis 113, which may only be adjusted temporarily during the cut.

[0044] It should be noted that the at least one cutting device should not be construed as being limited to a circular saw, and other at least one cutting device well known to those skilled in the art, such as a scissors cutter, a band saw cutter, etc., can be used as well.

[0045] Figure 2 shows a chronological sequence of one embodiment of Figure 1, where the system 100 further has positioning structures 210, 211 for interacting with the underside of the carcass portion 112, in this case below the determined cutting position, in order to adjust its angular position relative to the carrier 108 while the cut is being made, as shown in Figures 2c and 2d.

[0046] The angular adjustment may be parallel to the direction of movement of the carcass part or at any angular position relative to the direction of movement, for example perpendicular to the direction of movement, 45 degrees to the direction of movement, and any angular position in between. One way to achieve such angular adjustment of the carcass part is when the engagement structure and the carrier move relative to each other with different accelerations, which can be seen in Figures 2c and 2d, until a predetermined angular position is obtained for cutting. The height adjustment of the at least one cutting device described in connection with Figure 1 also applies here.

[0047] FIG. 3 shows a half carcass portion 312 and two different cutting positions: a first cutting position 305a which causes the front end portion 320 to be removed first, and a second cutting position 305b which causes the mid portion 321 to be subsequently removed leaving the leg portion 322 remaining on a carrier (not shown).

[0048] This is illustrated in FIG. 4, where an additional intermediate cutting step may be performed, namely the flank cut 431, in which the tenderloin 430 and tailbone 432 are also removed.

[0049] 5 shows another embodiment of a cutting system 500 according to the invention, the moving mechanism comprising robotic systems 504a,b. Two robotic systems 540a, 540b are shown here, positioned opposite each other so that two carcass parts 512a,b are cut simultaneously. The two carcass parts are carried by gambrels 534 at opposite ends 508a,b, which are moved in the direction indicated by arrow 511 by an overhanging transport system (not shown).

[0050] This embodiment should not be construed as being limited to using two robotic systems, and of course a single robotic system could be used if the incoming carcass parts are carried by a single carrier.

[0051] Each of the two robotic systems 540a,b has a first manipulating arm 530a,b supporting a circular saw 503a,b, the height displacement of the circular saw 503a,b being performed by the at least one manipulating arm.

[0052] Each of the robotic systems 540a,b further has a second operating arm 531a,b supporting a suction device 510 (see enlarged view) which acts as an engagement device to engage the underside of the carcass parts 504a,b by suction force, e.g. via pipes 532, 522 connected to a vacuum device (not shown), ensuring that the carcass parts 512a,b are in a stationary position relative to the carrier while the cutting is being performed.

[0053] The vacuum source may be activated by a control unit (not shown) to release suction after the cut is completed and activate suction for a subsequent carcass part (not shown here).

[0054] The robotic system and manipulator arm shown herein may have 5-7 degrees of freedom in one embodiment.

[0055] Figure 6 shows a perspective view of a cutting system 600 according to the invention as described in relation to figure 5, moving carcass parts in a moving direction 611, only one side of such a robot pair is shown. Three carcass parts cut into two pieces 611 are also shown.

[0056] FIG. 7 shows a schematic top view of one embodiment of a cutting system according to the invention for cutting carcass parts 712 while they are carried by a carrier 708 and connected to an overhanging transport system for movement, showing at least one cutting device 703, which in this embodiment comprises a circular rotary cutting saw 703, for example as described in relation to the embodiment shown in FIG. 1, although the at least one cutting device may also comprise a band saw or any type of cutting device suitable for use within the food industry.

[0057] The dotted lines 740, 741 indicate the upstream cutting edge and downstream (cutting) edge of the circular rotary cut-off saw 703. In the case of a bandsaw for example, this is the distance between the front cutting edge and the downstream edge of the bandsaw, i.e. the width of the bandsaw, which typically rotates about a horizontal axis of rotation.

[0058] Additionally, a carcass displacement device is shown, as depicted herein, having guide structures 742, 743 for guiding the carcass portions in the indicated paths.

[0059] The carcass displacement device can also be considered to be any kind of guide system, for example an overhanging conveying system, capable of providing a lateral displacement or pushing force 711 (which can also be seen as the direction of movement of the carcass part 712a), as indicated by arrow 711.

[0060] The carcass displacement device is positioned to initiate displacement of the carcass portion 712a away from at least one cutting location while the carcass portion 712a carried by the carrier 708 is positioned between the upstream cutting end 740 and the downstream end 741, as shown here. As illustrated here, this occurs as the carcass portion is "pushed" or moved away from the cutting location shown in Figures 7a,b before it reaches the downstream end 741.

[0061] In FIG. 7c, carcass part 712a is completely "released" from the at least one cutting device 703, meaning that the height displacement can now be adjusted before the next incoming carcass part 712b reaches the at least one cutting device 703.

[0062] FIG. 8 shows a flow chart of a method according to the invention for cutting carcass parts.

[0063] In step (S1) 810, the carcass portions are placed on carriers, such as hooks, in a freely hanging or partially freely hanging manner and attached to an overhanging conveying system that moves the carcass portions in a travel direction towards at least one cutting device.

[0064] In step (S2) 802, the cut location of the incoming carcass part is determined using a detection device. This can be done using any type of sensor, including but not limited to a line scanner where the exterior surface is scanned and a three-dimensional profile is generated, a color sensor such as an RGB sensor, an X-ray device that captures X-ray data of the carcass part, a laser line that can be directed to the cut location where the sensor detects reflected light, or an RGB sensor.

[0065] In step (S3) 803, the position of at least one cutting device is controlled based on the determined cutting position.

[0066] In step (S4) 804, displacement of the carcass portion away from at least one cutting location is initiated while the carcass portion or resulting sub-portion carried by the carrier is positioned between the upstream cutting end and the downstream end.

[0067] This can be done, by way of example, via a height displacement of the at least one cutting device as described in connection with FIG. 1 or via a lateral displacement as described in connection with FIG.

[0068] Figure 9 shows a half carcass portion 312 as seen in Figure 3, and further shows (in dashed lines) the first cut location 305a and the second cut location 305b also shown in Figure 3. Additionally, Figure 9 shows alternative cut locations shown in full outline, more specifically alternative first cut location 335a and alternative second cut location 335b.

[0069] According to one embodiment, an (alternative) first cut location 337 is provided separating the front end portion 320 from the remainder of the half carcass portion 312 through the scapula, such as for the purpose of providing (enabling or facilitating) a (US-style) butt / picnic cut.

[0070] While the invention has been illustrated and described in detail in the drawings and the foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive, and the invention is not limited to the disclosed embodiments. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Claims

1. A cutting system (100) for cutting a carcass portion (112) while the carcass portion is being transported by a carrier (108) connected to and moved (111) by an overhanging conveying system (107), comprising: a detection device (101) for determining at least one cutting position (105a) of an incoming carcass part; At least one cutting device (103) having upward and downward facing configurations, and an upstream cutting end and a downstream end; a movement mechanism (104) mechanically connected to the at least one cutting device for controlling a position of the at least one cutting device based on the determined cutting position; and a carcass displacement device (130) arranged to initiate displacement of the carcass portion away from at least one cutting location while the carcass portion or resulting sub-portion carried by the carrier is positioned between the upstream cutting end and the downstream end; A cutting system having

2. said at least one cutting device contributes at least in part to displacing the carcass parts away from said cutting position via said movement mechanism by means of controlling a height displacement (115) of said at least one cutting device; The cutting system of claim 1 .

3. Controlling the height displacement (115) of the at least one cutting device is performed such that after cutting the carcass part into two pieces, a repositioning of the at least one cutting device for a subsequent incoming carcass part is performed according to the determined cutting position (105b) for the subsequent carcass part, the height displacement being performed such that an upwardly facing structure of the at least one cutting device acts temporarily as a support structure for a first sub-portion resulting from being attached to a carrier, temporarily lifting the first sub-portion until it passes through the at least one cutting device, or a downwardly facing structure of the at least one cutting device acts as a pusher for a second sub-portion, causing the second sub-portion to be removed from the carcass part. The cutting system of claim 2 .

4. the carcass displacement device has a guide structure configured to laterally guide and / or push the carcass portion during cutting so as to laterally remove the cut carcass portion or resulting sub-portion carried by the carrier from the at least one cutting device before the cut carcass portion or resulting sub-portion carried by the carrier reaches a downstream end of the at least one cutting device, The cutting system of claim 1 .

5. the at least one cutting device has a circular rotary cut-off saw arranged such that an upwardly facing side of the circular rotary cut-off saw defines an upwardly facing configuration and a downwardly facing side of the circular rotary cut-off saw defines a downwardly facing configuration; A cutting system according to any one of claims 1 to 4.

6. the at least one cutting device having a band saw arranged such that an upwardly facing side of the band saw defines an upward-facing configuration and a downwardly facing side of the band saw defines a downward-facing configuration; A cutting system according to any one of claims 1 to 4.

7. The detection device includes: a three dimensional (3D) sensor for capturing a three dimensional profile of the carcass part; a light source such as a laser light source for irradiating the part of the carcass desired to be cut and a sensor for capturing reflected light from the part of the carcass; a color sensor, such as a red-green-blue (RGB) sensor, for capturing color differences on the surface of the carcass part; and an X-ray device for capturing an X-ray image of the carcass part; A cutting system according to any one of claims 1 to 6.

8. and further comprising a positioning structure configured to interact with the carcass portion as it is moved and to adjust the angular position of the carcass portion such that the carcass portion has a predetermined angular position as the carcass portion is cut. A cutting system according to any one of claims 1 to 7.

9. and further comprising an engagement device for engaging the carcass portion to maintain the carcass portion in a stationary position relative to the carrier while the cut is being made. A cutting system according to any one of claims 1 to 8.

10. the movement mechanism (104) comprises a robot system having at least one operating arm, the at least one cutting device (103) is attached to the at least one operating arm, and a height displacement (115) of the at least one cutting device is performed by the at least one operating arm, A cutting system according to any one of claims 1 to 9.

11. the engaging device comprises at least one suction device configured to engage the carcass portion by suction while the cut is being made, the suction device being attached to at least an operating arm; The cutting system of claim 9.

12. The at least one cutting device and the suction device are mounted on different operating arms. The cutting system of claim 11.

13. 13. A carcass cutting system having a plurality of carriers with gambrel carriers, each gambrel having a first end region arranged to carry a first carcass part and an opposite end arranged to carry a second carcass part, and cutting of the first carcass part and the second carcass part is performed simultaneously using two cutting systems according to any one of claims 1 to 12.

14. 1. A method for cutting carcass parts while they are being transported by a carrier connected to and moved by an overhanging transport system, the cutting being performed using at least one cutting device having an upward and downward facing configuration, comprising: - Determining the cutting position of the incoming carcass part by means of a detection device; - controlling a position of the at least one cutting device based on the determined cutting position; - Initiating displacement of a carcass part away from said at least one cutting location while the carcass part or resulting sub-part carried by the carrier is positioned between the upstream cutting end and the downstream end.

15. The carcass portion is a half carcass from a four-legged animal such as beef, lamb, pork, etc., and the cut location is between adjacent ribs, such as between the second and third, between the third or fourth, between the fourth and fifth, etc. The method of claim 14.

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