Cutting system for cutting carcass parts while they are carried by carriers connected to and moved by an overhead conveyor system

Abstract

The invention relates to a cutting system (100) for cutting a carcass part (112) when the carcass part is carried by a carrier (108) connected to an overhanging conveying system (107) and moved (111) thereby. A detection device (101) is provided for determining a cutting position (105a) of an incoming carcass part. At least one cutting device (103) having an upwardly facing and downwardly facing surface structure is provided, as well as a moving mechanism (104) mechanically connected to at least one cutting device for controlling the position of at least one cutting device based on the determined cutting position, and a carcass displacement device arranged to initiate a displacement of the carcass part away from at least one cutting position when the carcass part or a resulting sub-part carried by the carrier is located between an upstream cutting edge and a downstream edge.

Description

Technical Field

[0001] The present invention relates to a cutting system and method for cutting carcass parts while they are carried by a carrier connected to and moved by an overhead conveyor system. Background Art

[0002] In existing cutting systems commonly used in slaughterhouses, a carcass part, such as half a beef carcass, carried by a carrier connected to and moved by an overhanging conveying system needs to be cut into smaller pieces. A common initial cut is to cut such a carcass part into two pieces, one of which remains on the carrier and the other falls, for example, onto a conveyor below. The cutting device applied is typically a circular rotary saw or band saw rotating around a vertical axis of rotation. Such a circular saw can 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 the use of a detection device that detects the cutting position on the incoming carcass part, and this is used as an input command for adjusting the vertical height position of the circular saw. After the carcass part has been cut into two pieces, and after the remaining piece carried by the carrier has passed the circular saw, the process is repeated, and when the circular saw is located between adjacent carcasses, the height of the circular saw is adjusted for the subsequently entering carcass part. To make this possible, the distance between adjacent carcass parts must be at least 750 mm, and probably around 1000 mm. This reduces the yield of the cutting process. Summary of the invention

[0003] Against the above background, an embodiment of the present invention aims to increase the yield of a cutting process of carcass parts conveyed by an overhang conveying system. The term carcass part can be understood, for example, as a front leg or a hind leg of any four-legged animal such as pork, beef, mutton, or it can be a half carcass of such a four-legged animal, wherein the carcass part is carried by a carrier. The term carcass part can be understood, for example, as a front leg or a hind leg of any four-legged animal such as pork, beef, mutton, or it can be a half carcass of such a four-legged animal, wherein the carcass part 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 may be seen as an object of embodiments of the present invention to provide a cutting system that solves the above mentioned problems or other problems.

[0005] To better address one or more of these problems, in a first aspect of the invention, there is provided a cutting system for cutting carcass parts while the carcass parts are carried by a carrier connected to and moved by an overhead conveyor system, the system comprising:

[0006] at least one detection device, such as a detection device for determining at least one cutting position of an incoming carcass part;

[0007] at least one cutting device, at least one cutting device having at least one upwardly and downwardly facing surface structure and an upstream cutting edge and a downstream edge, or at least one cutting device having an upwardly and downwardly facing surface structure and an upstream cutting edge and a downstream edge, or at least one cutting device having an upwardly and downwardly facing surface structure and an upstream cutting edge and a downstream edge;

[0008] a movement mechanism 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

[0009] • A carcass displacement device arranged to initiate a displacement of the carcass portion away from the at least one cutting position when a carcass portion or a generated sub-portion carried by the carrier is located between the upstream cutting edge and the downstream edge.

[0010] Since limitations on the height adjustment of at least one cutting device are no longer an obstacle when at least one cutting device is positioned between adjacent carcass parts, i.e. waiting until the carcass part or the produced sub-part has completely passed through the at least one cutting device, this means that the distance between adjacent entering carcass parts can be shortened, thereby increasing the output of the cutting process.

[0011] “Initiating displacement of a carcass part” may be understood as displacement of the entire carcass part or of one or more or all sub-parts of the entire carcass part.

[0012] “Between the upstream cutting edge and the downstream edge” may be understood as between positions corresponding to the upstream cutting edge and the downstream edge on the axis along the conveying direction.

[0013] In one embodiment, the carcass displacement device comprises the at least one cutting device, which at least partially contributes to the displacement of the carcass part away from the cutting position by means of controlling the height displacement of the at least one cutting device via a moving mechanism. In one embodiment, the step of controlling the height displacement of the at least one cutting device is performed so that after the carcass part has been cut into, for example, two pieces or so that the two pieces are still partially connected together, a repositioning of the at least one cutting device is performed for the subsequently entering carcass part according to the determined cutting position for the subsequent carcass part, wherein the height displacement is performed so that the upwardly facing surface structure of the at least one cutting device temporarily serves as a support structure, for example for the first sub-piece produced and carried by the carrier, so that it temporarily lifts the first sub-piece until it passes the at least one cutting device, or so that the downwardly facing surface structure of the at least one cutting device serves as a pusher for the second sub-piece, such as to remove the second sub-piece from the carcass part or another part of the carcass part. Thus, in the case of the cutting of the carcass part into the first sub-piece and the second sub-piece, the first sub-piece rests on the at least one cutting device when the height displacement is performed. If the cutting line for the next adjacent carcass part is above this previous cutting line, the at least one cutting device is moved upwards to a new cutting position towards the new cutting line when the first sub-piece rests thereon, so that when the adjacent carcass part reaches the at least one cutting device, the at least one cutting device is in the correct position. This means that the time when the first sub-piece passes the at least one cutting device can be used to adjust the height displacement of the at least one cutting device.

[0014] A displacement of a carcass part away from at least one cutting position may therefore be understood as occurring when a height adjustment of at least one cutting device takes place towards a new cutting position for a subsequent carcass part.

[0015] The carcass part may have a pre-cut, which may, for example, have been done on the upstream side, and wherein the determined cutting position comprises identifying the pre-cutting position and cutting at the pre-cutting position.

[0016] Height displacement may be understood as a vertical height displacement of the carcass part, or a combination of vertical and lateral displacement.

[0017] The at least one cutting device may include two or more cutting devices that may be commonly mounted on the moving mechanism, wherein the two or more cutting devices may be configured to perform different cutting operations.

[0018] In one embodiment, the carcass displacement device comprises a guiding structure configured to laterally guide the carcass part and / or the lateral thrust on the carcass part during cutting so as to laterally remove the cut carcass part or the resulting sub-part carried by the carrier from the at least one cutting device before the cut carcass part or the resulting sub-part carried by the carrier reaches the downstream edge of the at least one cutting device. The lateral thrust can be understood as a force vector which can be directed perpendicularly to the conveying direction of the carcass part (and optionally includes or consists of a component directed perpendicularly to the conveying direction in the horizontal plane), or has an angle in the upstream direction (such as forming a minimum angle with the upstream direction in the interval [0; 90 degrees] and optionally including a component directed perpendicularly to the conveying direction in the horizontal plane) or has an angle in the downstream direction (such as forming a minimum angle with the upstream direction in the interval [90; 180 degrees] and optionally including a component directed perpendicularly to the conveying direction in the horizontal plane). With reference to the previous example, in which the cutting line for the next adjacent carcass part is above the preceding cutting line, the height shift preferably does not take place until the cut carcass part has been completely removed from the at least one cutting device. Thus, in addition to a higher yield, it is ensured that the cut carcass part or the resulting sub-portion (e.g. the first sub-piece) does not fall from the carrier carrying it, which could happen if the height shift difference between two cutting lines is too large, for example due to a large size difference between two adjacent carcass parts.

[0019] The displacement of the carcass portion away from the at least one cutting position can therefore be understood as meaning that at least one cutting device is free to move, for example upwards or downwards, when the carcass portion has been pushed laterally from the at least one cutting device (optionally in a direction including or consisting of a component pointing in a horizontal plane perpendicular to the conveying direction).

[0020] In one embodiment, at least one cutting device comprises a circular rotary cutting saw or blade positioned such that the upward facing side of the circular rotary cutting saw defines an upward facing surface structure and the downward facing side of the circular rotary cutting saw defines a downward facing surface structure. One of the advantages of using a circular saw is that the amount of sawdust generated during the cutting process is minimized. A circular saw with a diameter of 750 mm (500 mm to 650 mm in some cases) is typically used to cut a hanging carcass into two smaller pieces, but the diameter should not be interpreted as these diameter values. In prior art systems using such a circular rotary cutting saw, the distance between adjacent carcasses must correspond to at least 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 mm to 100 mm or even less, since these limitations of waiting until the cut carcass portion has completely passed through at least one cutting device are no longer a limitation.

[0021] In one embodiment, the moving mechanism may include a mechanical structure that is connected to the at least one cutting device and may, for example, include a servo drive motor or an electric motor to move the at least one cutting device up / down. As an example, in an embodiment where the at least one cutting device includes a circular saw, the moving mechanism may be mechanically connected to a drive shaft mechanism that drives the at least one cutting device to rotate and move.

[0022] In one embodiment, the circular rotary cutting saw rotates around a vertical rotation axis. In another embodiment, the circular rotary cutting saw rotates around a rotation axis that is angled relative to the vertical axis. This angular position or these angular positions can be manually adjusted, for example, by an operator.

[0023] In yet another embodiment, the axis of rotation can be adjusted based on the determined cutting position. Thus, the angular position can now be adjusted automatically, for example by moving the mechanism, thereby further increasing the cutting yield.

[0024] In another embodiment, the at least one cutting device may include a scissors cutter or at least one cutting device of any type such as a band saw, depending on the application and type of carcass part, wherein the upper side of the scissors cutter or band saw defines an upward facing surface structure and the downward facing side defines a downward facing surface structure.

[0025] In one embodiment, the detection device includes one or more of the following:

[0026] Three-dimensional (3D) sensors for capturing the 3D profile of the carcass part; or

[0027] a light source, such as a laser light source, for illuminating the carcass part where the cut is to be made, and a sensor (e.g. a digital camera) for capturing reflected light from the carcass part, wherein the light source can be operated by an operator who directs the light source towards the cutting location based on visual detection, for example; or

[0028] a color sensor, such as a red, green, and blue (RGB) sensor, for capturing color differences on the surface of the carcass part; or

[0029] X-ray equipment used to capture X-ray images of carcass parts.

[0030] In case the light source is operated by an operator, for example by pointing a laser pen or the like to the cutting location, the operation of the height displacement of at least one cutting device can be considered a semi-automatic process, while generally in case there is no operator intervention in the process, the operation can be considered an automatic process.

[0031] In one embodiment, the system further comprises a positioning structure configured to interact with the carcass parts as they are moved and adjust their angular position so that when the carcass parts are cut, the carcass parts have a predetermined angular position. Thus, by selecting such a predetermined and optimal angular position, the cutting can be optimized to achieve maximum yield.

[0032] In one embodiment, the system further comprises an engagement device or one or more engagement devices for engaging with the carcass part to hold the carcass part in a stationary position relative to the carrier while cutting is taking place. Thus, holding the carcass part in a stationary position will not only increase the yield, but also improve the quality of the cut. The engagement device may also be configured to adjust the angular position of the carcass part, for example via a relative speed difference between the carrier and the engagement structure.

[0033] In one embodiment, the moving mechanism comprises a robotic system having at least one manipulator arm, and wherein at least one cutting device, such as a circular rotary cutting saw, is attached to the at least one manipulator arm, and wherein height displacement of the at least one cutting device is performed by the at least one manipulator arm.

[0034] In one embodiment, the engaging means comprises at least one suction device configured to engage with the carcass part by means of a suction force while cutting is taking place, and wherein the suction device is attached to at least one manipulator arm. Thus, a simple solution is provided to hold the carcass part stationary while cutting is taking place, subsequently releasing the suction force, e.g. temporarily switching off the suction force, e.g. automatically switching off the suction force by means of a vacuum source connected to the suction device, and then repeating the process on a subsequent carcass part.

[0035] In one embodiment, at least one cutting device and suction device are attached to different manipulator arms. However, in another alternative, a single manipulator may carry both at least one cutting device and suction device.

[0036] The upstream cutting edge can be understood as the first contact point at which the cutting process starts, and the downstream edge can be understood as the second point at which the carcass part or the cut sub-part will leave the at least one cutting device, as in the prior art systems without "external" forces (such as lateral push, upward lifting as mentioned above). This means that if, for example, the at least one cutting device comprises a circular rotary cutting saw, the distance between the first point and the second point will correspond to the diameter of the circular rotary cutting saw. Similarly, if, for example, the at least one cutting device comprises a band saw, the distance between the first point and the second point will correspond to the width of the band saw.

[0037] In a second aspect of the invention, a carcass cutting system is provided, the carcass cutting system having a plurality of carriers, the plurality of carriers comprising a meat hook carrier, each meat hook having a first end region and an opposite end, the first end region being arranged to carry a first carcass part, the opposite end being arranged to carry a second carcass part, wherein the cutting of the first carcass part and the second carcass part is performed simultaneously with two cutting systems according to the invention, such as with two cutting systems according to the first aspect. Thus, by running the two cutting processes in parallel, the yield is further increased. As an example, two of the robotic systems may be placed on opposite sides of the meat hook, wherein the cutting process is continued by the respective robotic system as the meat hook is moved past the robotic system.

[0038] In a third aspect of the invention, there is provided a method for cutting carcass parts when the carcass parts are carried by a carrier connected to and moved by an overhung conveying system, wherein the cutting is performed using at least one cutting device, such as a cutting device having at least one surface structure facing upwards and / or facing downwards (or having surface structures facing upwards and facing downwards, or having surface structures facing upwards and surface structures facing downwards), and optionally having an upstream cutting edge and a downstream edge, the method comprising:

[0039] Determining at least one cutting position of the incoming carcass part, such as the cutting position, by means of a detection device;

[0040] controlling the position of at least one cutting device based on the determined cutting position; and

[0041] • Initiating a displacement of the carcass part away from at least one cutting position when the carcass part or the resulting sub-part carried by the carrier is located between the upstream cutting edge and the downstream edge.

[0042] In one embodiment, the carcass part is free-hanging, or partially free-hanging. The carcass part is, for example, half a carcass of beef, pork, lamb, or any type of four-legged animal. As an example, the cutting position can be between adjacent ribs, such as between the second rib and the third rib, between the third rib or the fourth rib, between the fourth rib and the fifth rib, and / or at the front end, resulting in the front end defining the second sub-piece, and an optional subsequent middle cut, so that the middle cut defines the second sub-piece after the front end cut.

[0043] In one embodiment, the angular position of the carcass portion is adjusted so that when the carcass portion is cut, the longitudinal axis of the carcass portion forms an angle with respect to the vertical axis. The angular position is defined based on the position of the cut, with the aim of maximizing the yield of the cut. The angular position can be parallel to the movement, or any angular position relative to the direction of movement, such as perpendicular to the direction of movement, 45 degrees relative to the direction of movement, and any angular position therebetween. The angular position can be within the interval [0°; 90°] relative to the direction of movement, such as [0°; 45°] or [45°; 90°].

[0044] The cutting position includes or is selected from: a single point position, a straight line profile or a curved profile or a 3D profile, for example extending from one position on the carcass part to another via a laser or light source, or the cutting position can be a point position, i.e. a single coordinate position.

[0045] In general, the various aspects of the invention may be combined and coupled in any possible way within the scope of the invention. These and other aspects, features and / or advantages of the invention will become apparent with reference to the embodiments described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0047] Figure 1a to Figure 1c diagrammatically depicts an embodiment of a cutting system according to the invention for cutting a carcass part into two smaller pieces while the carcass part is carried by a carrier;

[0048] Figure 2 a-d depict a timeline sequence of one embodiment of FIG. 1 , wherein the system further comprises an engagement structure for engaging with and stabilizing an underside of the carcass portion;

[0049] Figure 3 A half carcass section and two different cutting positions are shown;

[0050] Figure 4 Graphically illustrates the combination Figure 3The cuts discussed, where additional intermediate cutting steps may be performed;

[0051] Figure 5 Another embodiment of a cutting system according to the present invention is shown;

[0052] Figure 6 It is shown that the Figure 5 A perspective view of the cutting system discussed;

[0053] Figure 7 shows a schematic top view of an embodiment of a cutting system according to the invention for cutting carcass parts while they are carried by a carrier connected to and moved by an overhead conveyor system;

[0054] Figure 8 A flow chart showing a method for cutting a carcass part into smaller pieces according to the present invention; and

[0055] Fig. 9 Shown as Figure 3 The half carcass section is shown in FIG. 1 and is also shown with a dotted line. Figure 3 Also shown are the first cutting position and the second cutting position. DETAILED DESCRIPTION

[0056] Figure 1a to Figure 1c An embodiment of a cutting system 100 according to the present invention is graphically depicted, which cutting system 100 is used to cut a carcass part 112 when the carcass part is carried by a carrier 108, the carrier 108 is connected to a suspended conveying system 107 and is moved by the suspended conveying system 107 in the direction indicated by the arrow 111, wherein the system includes a detection device 101, at least one cutting device 103, a moving mechanism 104 and a carcass shifting device 130.

[0057] As shown in this embodiment, the carcass portion is cut into two smaller pieces 114a, 114b. However, the present invention should not be interpreted as being limited to this separation into two pieces. As an example, the cut can be a partial cut, in which no such obvious separation occurs, so that the upper and lower parts are partially attached together.

[0058] Figure 1a A situation is depicted in which a carcass 112 is carried by a carrier 118 that is coupled to an overhang conveying system 107 and moves toward at least one cutting device 103 having upwardly and downwardly facing surface structures.

[0059] The detection device 101 is configured to determine at least one cutting position 105a of the incoming carcass part, but this can be a single point position or a cutting profile, curved profile or straight profile, for example in 2D or 3D. The detection device may include, but is not limited to: a three-dimensional (3D) sensor for capturing the 3D profile of the carcass part; or a light source, such as a laser light source, for illuminating the place on the carcass part where the cut is required, and a sensor for capturing reflected light from the carcass part; or a color sensor red green blue (RGB) sensor for capturing color differences on the surface of the carcass part; or an X-ray device for capturing an X-ray image of the carcass part and identifying the cutting position. The detection device may also include a manually operated laser pointer, or similar device, in which an operator points a laser to a point of interest on the carcass part, and in which the reflected light point or light represented by the dotted line is captured by the sensor. Other types of detection devices known to those skilled in the art may be used.

[0060] The moving mechanism 104 is mechanically connected to the at least one cutting device and is configured to control the position of the at least one cutting device based on the determined cutting position 105a.

[0061] A carcass displacement device is arranged to initiate a displacement of the carcass portion away from the at least one cutting position when the carcass portion or the resulting sub-portion carried by the carrier is located between the upstream cutting edge and the downstream edge. In the embodiment shown here, the carcass displacement device comprises at least one cutting device, the at least one cutting device being a rotary circular cutting saw, which at least partially contributes to the displacement of the carcass portion away from the cutting position by means of controlling the height displacement 115 of the at least one cutting device via a moving mechanism. The rotary circular cutting saw rotates around a rotation axis, which, as shown here, can be, for example, a vertical rotation axis. The moving mechanism 104 is 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.

[0062] Figure 1b The following situation is depicted, in which the circular saw 103 has just performed a horizontal (or angled) cut through the carcass part, i.e. into a first carcass part 114a and a second carcass part 114b, the first carcass part 114a still being attached to the carrier 108. The control comprises, at this moment, or about this moment (shortly before or shortly after), repositioning the circular saw 103 for a subsequent cut based on the image data, in which case Figure 1b The cutting line 105b in the figure is used for the subsequent carcass part. As depicted here, the cutting line 105b in Figure 1a105a, which means that the moving mechanism 104 will adjust the height position of at least one cutting device upwards as indicated by arrow 115b. In this case, this upward displacement is performed when the first sub-block 114a passes the circular saw, so that the upwardly facing surface structure of the circular saw is used as a temporary support surface. This results in saving valuable time and Figure 1c As shown in FIG, the circular saw is repositioned for the subsequent carcass portion as the first sub-block passes through the saw. Thus, the distance d1 110 can be significantly shortened compared to the distance d2 106, i.e., the spacing distance d1>d2 between adjacent carcass portions in the prior art system, which was required in the prior art system to provide the circular saw with the space required to adjust its height position, is no longer required.

[0063] As depicted in this embodiment, the circular saw rotates about axis 113, but in one embodiment, the control may also include moving mechanism 104 to further adjust the rotation axis based on the determined cutting position so that a new rotation axis is formed and angled relative to axis 113, which new rotation axis can only be temporarily adjusted during cutting.

[0064] It should be noted that the at least one cutting device should not be construed as being limited to a circular saw, and at least one other cutting device known to those skilled in the art, such as a scissors cutter, a band saw cutter, etc., may also be used.

[0065] Figure 2 1, wherein the system 100 further comprises positioning structures 210, 211 for interacting with the underside of the carcass portion 112, in this case below the determined cutting position, for adjusting the angular position of the carcass portion 112 so that, in the example Figure 2 c and Figure 2 When cutting is performed as shown in d, the carcass part 112 has a predetermined angular position relative to the carrier 108.

[0066] The angular adjustment can be parallel to the direction of movement of the carcass part, or any angular position relative to the direction of movement, such as perpendicular to the direction of movement, 45 degrees relative to the direction of movement, and any angular position therebetween. One way to achieve such angular adjustment of the carcass part is when the engagement structure and the carrier move relative to each other at different speeds (this can be achieved in Figure 2 c and Figure 2 d), until a predetermined angular position for cutting is obtained. The height adjustment of at least one cutting device discussed in conjunction with FIG. 1 also applies here.

[0067] Figure 3A half carcass portion 312 and two different cutting positions are shown, a first cutting position 305a which results in the front end portion 320 being removed first and a second cutting position 305b which results in the middle portion 321 being subsequently removed, leaving the remaining leg portion 322 on a carrier (not shown).

[0068] This is Figure 4 , an additional intermediate cutting step may be performed, namely a flank cut 431, wherein the tenderloin 430 and coccyx 432 are also removed.

[0069] Figure 5 Another embodiment of a cutting system 500 according to the invention is shown, wherein the moving mechanism comprises a robotic system 504a, 504b. The two robotic systems 540a and 540b shown here are positioned relative to each other so that two carcass parts 512a, 512b are cut simultaneously. The two carcass parts are carried by a gambrel 534 at its opposite ends 508a, 508b, wherein the gambrel is moved by a suspension conveyor system (not shown) in the direction indicated by arrow 511.

[0070] This embodiment should not be construed as limited to the use of two robotic systems, as a single robotic system may of course also be used, with the incoming carcass parts being carried by a single carrier.

[0071] Each of the two robot systems 504a, 504b comprises a first manipulator arm 530a, 530b which carries a circular saw 503a, 503b and wherein a height displacement of the circular saw 503a, 503b is performed by at least one manipulator arm.

[0072] Each of the robotic systems 540a, 540b also includes a second manipulator arm 531a, 531b, which carries a suction device 510 (see enlarged view), which is used as a coupling device to engage with the underside of the carcass parts 504a, 504b by means of a suction force of a pipe 532, 522 connected to a vacuum device (not shown), for example, wherein the suction device ensures that the carcass parts 512a, 512b are in a stationary position relative to the carrier when cutting is carried out.

[0073] The vacuum source can be operated by a control unit (not shown) to release the suction force after the cut is completed and to switch on the suction force for the subsequent carcass part (not shown here).

[0074] The robotic system and manipulator arm shown here may have 5 to 7 degrees of freedom in one embodiment.

[0075] Figure 6 It is shown that the Figure 5 A perspective view of the cutting system 600 discussed, moving carcass parts along a moving direction 611, wherein only one side of such a robot pair is shown. Also shown are three carcass parts which have been cut into two pieces 611.

[0076] Figure 7 A schematic top view of an embodiment of a cutting system according to the present invention is shown, which is used to cut a carcass part 712 when the carcass part is carried by a carrier and is connected to and moved by a suspended conveying system, and at least one cutting device 703 is shown, which cutting device 703 in this embodiment includes a circular rotary cutting saw 703, as discussed in conjunction with the embodiment shown in, for example, Figure 1, but the at least one cutting device may also include a band saw or any type of cutting device suitable for the food industry.

[0077] Dashed lines 740, 741 represent the upstream and downstream (cutting) edges of the circular rotary cutting saw 703. In the case of a band saw for example, this would be the distance between the front cutting edge and the downstream end of the band saw, i.e. the width of the band saw, where the band saw typically rotates about a horizontal axis of rotation.

[0078] Furthermore, a carcass displacement device is shown, which, as depicted here, comprises guide structures 742, 743 which guide the carcass parts in the path shown.

[0079] The carcass displacement device may also be considered as any type of guiding system, such as a suspended conveying system capable of providing a lateral displacement as indicated by arrow 711 or a thrust 711 (which may also be considered as a direction of movement of the carcass part 712a).

[0080] The carcass displacement device, as shown here, is arranged to initiate displacement of the carcass portion away from the at least one cutting position when the carcass portion 712a carried by the carrier 708 is located between the upstream cutting edge 740 and the downstream edge 741. As illustrated here, it occurs that the carcass portion has moved away from the at least one cutting position before it reaches the downstream edge 741. Figure 7 The cutting positions shown in a, b are "pushed" or shifted.

[0081] exist Figure 7 In c, the carcass part 712a is completely “released” from the at least one cutting device 703, which means that the height displacement can now be adjusted before the next incoming carcass part 712b reaches the at least one cutting device 703.

[0082] Figure 8 A flow chart of a method for cutting carcass parts according to the invention is shown.

[0083] In step (S1) 810, the carcass parts are placed on a carrier such as a hook so that they are freely hanging or partially freely hanging and attached to a hanging conveying system which moves the carcass parts in a moving direction towards at least one cutting device.

[0084] In step (S2) 802, the cutting position of the incoming carcass part is determined using a detection device. This can be done using, but is not limited to, any type of sensor, a line scanner that scans the outer surface and generates, for example, a 3D profile, a color sensor such as an RGB sensor, an X-ray device for capturing X-ray data of the carcass part, a laser line or an RGB sensor that can be directed to the cutting position where the sensor detects reflected light.

[0085] In step (S3) 803, the position of at least one cutting device is controlled based on the determined cutting position.

[0086] In step (S4) 804, displacement of the carcass portion away from the at least one cutting position is initiated when the carcass portion or the resulting sub-portion carried by the carrier is located between the upstream cutting edge and the downstream edge.

[0087] As an example, this can be achieved via a height displacement of at least one cutting device as discussed in conjunction with FIG. 1 or via a combination of Figure 7 The lateral shift discussed is accomplished.

[0088] Fig. 9 It shows that Figure 3 The half carcass portion 312 is also shown with a dotted line Figure 3 The first cutting position 305a and the second cutting position 305b are also shown. Fig. 9 Alternative cutting positions are shown indicated by solid lines, more specifically, an alternative first cutting position 335a and an alternative second cutting position 335b.

[0089] According to one embodiment, a (alternative) first cutting location 337 is provided which separates the front end portion 320 from the remainder of the half carcass portion 312 through the shoulder blade, such as in order to (achieve or facilitate) provide a (American-style) butt cut / picnic cut.

[0090] Although the invention has been described and illustrated in detail in the drawings and the foregoing description, such description and illustration are to be considered illustrative or exemplary rather than restrictive; the invention is not limited to the disclosed embodiments. Other variations of the disclosed embodiments may be understood and implemented by a person skilled in the art in practicing the claimed invention by studying the drawings, the disclosure and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. The 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 carcass parts (112) when the carcass parts are carried by a carrier (108) connected to an overhead conveying system (107) and moved (111) by the overhead conveying system, the system comprising: Detection means (101) for determining at least one cutting position (105a) of an incoming carcass part; at least one cutting device (103) having upwardly and downwardly facing surface structures and an upstream cutting edge and a downstream edge; 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; as well as A carcass shifting device (130) arranged to initiate a shifting of the carcass portion away from the at least one cutting position when the carcass portion or the resulting sub-portion carried by the carrier is located between the upstream cutting edge and the downstream edge.

2. The system according to claim 1, wherein: The carcass displacement device comprises the at least one cutting device, which at least partially helps to displace the carcass part away from the cutting position by controlling the height displacement (115) of the at least one cutting device via the moving mechanism.

3. The system according to claim 2, wherein: Controlling the height shift (115) of the at least one cutting device is performed so that after the carcass portion is cut into two pieces, the at least one cutting device is repositioned for the subsequently entering carcass portion according to the determined cutting position (105b) for the subsequent carcass portion, wherein the height shift is performed so that an upward-facing surface structure of the at least one cutting device temporarily serves as a support structure for a first sub-piece produced and attached to a carrier, so that the upward-facing surface structure temporarily lifts the first sub-piece until the first sub-piece passes through the at least one cutting device, or so that a downward-facing surface structure of the at least one cutting device serves as a pusher for a second sub-piece, so that the second sub-piece is removed from the carcass portion.

4. The system according to claim 1, wherein: The carcass shifting device comprises a guiding structure, which is configured to laterally guide and / or push the carcass part during cutting so as to laterally remove the cut carcass part or the resulting sub-part carried by the carrier from the at least one cutting device before the cut carcass part or the resulting sub-part carried by the carrier reaches the downstream edge of the at least one cutting device.

5. A cutting system according to any one of the preceding claims, wherein: The at least one cutting device includes a circular rotary cutting saw positioned such that an upwardly facing side of the circular rotary cutting saw defines an upwardly facing surface structure and a downwardly facing side of the circular rotary cutting saw defines a downwardly facing surface structure.

6. The cutting system according to claim 5, wherein: The circular rotary cutting saw rotates about a rotation axis.

7. The cutting system according to claim 5, wherein: The circular rotary cutter saw rotates about a vertical rotation axis or a rotation axis that is at an angle to the vertical axis.

8. The cutting system according to any one of claims 1 to 4, wherein: The at least one cutting device includes a band saw positioned such that an upwardly facing side of the band saw defines an upwardly facing surface structure and a downwardly facing side of the band saw defines a downwardly facing surface structure.

9. The cutting system according to any one of claims 1 to 4, wherein: The detection device includes one or more of the following: a three-dimensional (3D) sensor for capturing the 3D profile of the carcass part; or a light source for illuminating the carcass part where the cut is to be made, and a sensor for capturing reflected light from the carcass part; or a colour sensor for capturing colour differences on the surface of the carcass part; or - X-ray equipment for capturing X-ray images of carcass parts.

10. The cutting system according to claim 9, wherein: The light source is a laser light source, and / or The color sensor is a red, green, and blue (RGB) sensor.

11. The cutting system according to any one of claims 1 to 4, further comprising a positioning structure, which is configured to interact with the carcass part when the carcass part is moved and adjust the angular position of the carcass part so that when the carcass part is cut, the carcass part has a predetermined angular position.

12. The cutting system according to any one of claims 1 to 4, wherein: The cutting system further comprises engaging means for engaging with the carcass part to hold the carcass part in a stationary position relative to the carrier while cutting is taking place.

13. The cutting system according to any one of claims 1 to 4, wherein: The moving mechanism (104) comprises a robotic system having at least one manipulator arm, and wherein the at least one cutting device (103) is attached to the at least one manipulator arm, and wherein the height displacement (115) of the at least one cutting device is performed by the at least one manipulator arm.

14. The cutting system of claim 12, wherein: The moving mechanism (104) comprises a robot system having at least one manipulator arm, wherein the at least one cutting device (103) is attached to the at least one manipulator arm, and wherein the height displacement (115) of the at least one cutting device is performed by the at least one manipulator arm; the engaging device comprises at least one suction device, wherein the at least one suction device is configured to engage with the carcass part by means of a suction force when cutting is performed, and wherein the suction device is attached to the at least one manipulator arm.

15. The cutting system of claim 14, wherein: The at least one cutting device and the suction device are attached to different manipulator arms.

16. A carcass cutting system, the carcass cutting system having a plurality of carriers, the plurality of carriers comprising meat hook carriers, each meat hook having a first end region and an opposite end, the first end region being arranged to carry a first carcass part, the opposite end being arranged to carry a second carcass part, wherein cutting of the first carcass part and the second carcass part is performed simultaneously using two cutting systems according to any one of the preceding claims.

17. A method for cutting carcass parts while they are carried by a carrier connected to and moved by an overhead conveying system, wherein the cutting is performed using at least one cutting device having upwardly and downwardly facing surface structures and an upstream cutting edge and a downstream edge, the method comprising: Determine the cutting position of the incoming carcass part by means of a detection device; controlling the position of the at least one cutting device based on the determined cutting position; and • Initiating a displacement of the carcass portion away from said at least one cutting position when the carcass portion or the resulting sub-portion carried by the carrier is located between said upstream cutting edge and said downstream edge.

18. The method according to claim 17, wherein: The carcass portion is a half carcass from a four-legged animal and wherein the cut location is between adjacent ribs and / or at the front end, resulting in the front end defining a sub-piece, which is a portion removed from the carcass portion.

19. The method according to claim 18, wherein: The four-legged animal is beef, mutton, pork, and / or The adjacent ribs are the second rib and the third rib, the third rib and the fourth rib, and the fourth rib and the fifth rib.

20. The method according to claim 18 or 19, wherein: The cutting position is at the front end, followed by a middle cut, such that the middle cut defines the sub-block after the front end cut.

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