Method and system for deboning the leg portion of a carcass of a quadruped slaughtered animal, for removing meat from the bones of the leg portion of a carcass

Abstract

A method and system for removing meat from the bone of a carcass leg portion, comprising the steps of: a) holding the leg portion by a support device, b) moving the meat removal device: into a pre-cut, c) then away from the support device along the bone to a first end position so that the meat is removed from the bone, d) then away from the bone, forcing the meat away from the bone and further cutting the meat from the bone, e) then towards the support device, f) and then towards the bone, g) and then again along the bone away from the support device to a second end position, which second end position is farther from the support device than the first end position so that more meat is removed from the bone.

Description

Technical Field

[0001] The invention relates to a method for deboning a leg portion of a carcass of a four-legged slaughtered animal, for removing meat from the bones of the leg portion of the carcass. The invention also relates to a system for deboning a leg portion of a carcass of a four-legged slaughtered animal, for removing meat from the bones of the leg portion of the carcass. Background Art

[0002] EP 898 894 A2 relates to a semi-automatic pig thigh deboning machine and a deboning process.

[0003] EP 2 110 021 A1 relates to a method and an apparatus for deboning arm parts or leg parts of slaughtered domestic animals, in particular pig leg parts. Summary of the invention

[0004] It is an object of the present invention to provide an improved system and method for deboning a carcass leg portion.

[0005] Another object of the present invention is to provide a system and method for deboning a carcass leg portion which has improved ergonomics for the operator of the system and which has improved efficiency.

[0006] In a first aspect, the present invention provides a method of deboning a leg portion of a carcass of a quadruped slaughtered animal, for removing meat from bones of a leg portion of a carcass, as defined hereinafter.

[0007] The method comprises the following steps:

[0008] a) holding the leg part by means of a support device, either by the lower end of the bone or by a lower part of the leg such as the foot,

[0009] b) moving the meat removal device into a pre-cut, which is a cut formed along the circumference of the bone at or at least close to the lower end of the bone in order to sever the muscle fibers, towards the bone to a first starting position of the meat removal device,

[0010] c) performing a first meat removal movement by means of the meat removal device from a first starting position in a meat removal direction away from the support device along the bone to a first end position, so that the meat is removed from the bone,

[0011] d) moving the meat removal device away from the bone, wherein meat in contact with the meat removal device is forced away from the bone and further severed from the bone,

[0012] e) moving the meat removal device in a repositioning direction towards the support device,

[0013] f) moving the meat removal device towards the bone to a second starting position,

[0014] g) performing a second meat removal movement with the aid of the meat removal device from a second starting position in the meat removal direction away from the support device along the bone to a second end position, the second end position being further from the support device than the first end position so that further meat is removed from the bone.

[0015] The effect of the method according to the invention is that, due to the execution of specific subsequent method steps of the method according to the invention, a very effective and robust method for deboning a carcass leg part is provided. The deboning process, i.e. at least steps b) to g), is carried out in an automated manner, making the operation process very user-friendly. The subdivision of the deboning of the leg part in successive iterations results in a more robust deboning process, in which the meat is reliably and effectively removed from the bone. The movement of the meat removal device away from the bone after the meat removal movement can contribute to the effective cutting of the meat from the bone. By means of the successive cycles or iterations, which comprise a movement in the meat removal direction and a subsequent movement away from the bone, the muscle membrane is gradually cut off from the bone, preventing or at least significantly reducing ruptures, which contributes to significantly more effective removal of the meat from the bone. In this way, one or more of the above-mentioned purposes have been achieved.

[0016] In an embodiment of the method and system according to the invention, the carcass leg part is a carcass leg part of a pig, cow, goat, sheep or camel slaughter animal. The effects mentioned by the invention are most prominent in the embodiment for deboning a pig carcass leg part, wherein the bone is a femur, humerus, ischium or tibia, preferably a femur or humerus. In particular, the humerus and femur have relatively irregular contours, which complicates the deboning process, in particular manual deboning.

[0017] For step a), the leg can be suspended from a support device by the lower end of the bone or by a lower part of the leg, such as the foot. The support device can be part of an overhead conveyor system or part connected to a rotary conveyor. In particular in the case of a humerus or a femur, the bone is held, preferably suspended, by the lower end of the bone. In this way, any forces acting on the bone during deboning are transmitted within the bone itself and not via any connection points.

[0018] In an embodiment, the method comprises, before step b), preferably before step a), forming an incision along the circumference of the bone at or at least close to the lower end of the bone in order to sever the muscle fibers. The system according to the invention can be arranged in or along a processing line, the processing line also having an upstream cutting station having a cutter for forming the pre-cut in an automated manner.

[0019] For step c), the first meat removal movement away from the support means in the meat removal direction may follow a straight path away from the support means, preferably downwards. The carcass leg may be held by the support means in such a way that the bone can move relative to the support means, such as pivot, or swing in the case where the bone is to be suspended. The support means is preferably arranged to at least prevent a translational movement of the bone away from the support in the meat removal direction.

[0020] In an embodiment, during at least a part of step d), a force in the meat removal direction is acted on the meat by the meat removal device. The effect of still acting said force on the meat during at least a part of the movement of the meat removal device away from the bone is that the cutting and removal of the meat from the bone is further improved. To this end, during step d), the movement of the meat removal device may be partly in the meat removal direction. In this way, during said movement away from the bone during step d), an even more effective cutting of meat further away may be achieved. During steps c) and g), such movement in the meat removal direction may be effectively provided by force control or pressure control of the movement of the meat removal device in the meat removal direction. During step d) or at least during a part of step d), the movement in the meat removal direction may be provided partly in the same way.

[0021] In an embodiment, the meat that comes into contact with the meat removal device at least during step d) is engaged by one or more engagement elements on the meat removal device, preferably, wherein the one or more engagement elements include one or more of the following: an outer edge of the meat removal device, which faces away from the bone; an inner edge of the meat removal device, which faces the bone and protrudes from the meat removal device in the meat removal direction; one or more through holes; one or more protrusions; and a surface area with increased roughness. The provision of such an engagement element increases the effectiveness of forcing the meat away from the bone during step d), and the engagement element may therefore include, for example, the mentioned outer edge, which may be designed so that the meat may protrude around the edge at least during step c) (and step g)) and step d). In the case of such an engagement element, the provision of a force in the meat removal direction during step d) may still have the additional advantage.

[0022] In an embodiment, wherein one or more engagement elements comprise a surface area with increased roughness, said area may be an outer area on the meat removal device, outside an inner area closer to the bone. In this respect, "area with increased roughness" is understood as said area, such as said outer area, having a higher roughness than another area on the meat removal device, such as said inner area. By means of such a specific surface finish, a very efficient removal of meat from the bone may be achieved, wherein, in use, less resistance is exerted on the meat by the meat removal device in such inner area closer to the bone than in such outer area further away from the bone.

[0023] In an embodiment, the meat removal device comprises three meat removal plates, preferably four meat removal plates, wherein each individual meat removal plate may have a curved meat removal section so as to follow at least a portion of the cross-sectional profile of the bone in use, wherein each of the plates is movable between a non-working position and a working position, preferably pivotable about a pivot axis, wherein during the meat removal movement at least three of the plates are placed in the working position, and wherein during the movement away from the bone those at least three plates move towards the non-working position. During the movement in the repositioning direction the plates are preferably in the non-working position, or at least not in the working position. Preferably, the pivot axes are parallel so that the movement of the at least three plates from the respective non-working position to the working position is in parallel planes. Thus in this sense the at least three meat removal plates are parallel to each other.

[0024] In an embodiment, the meat removal device comprises two such meat removal plates, which may be sufficient for deboning of, for example, spoon bones.

[0025] An embodiment of the meat removal device having three such meat removal plates is well suited for deboning trotters or tibiae.

[0026] An embodiment of a meat removal device having four such meat removal plates is very suitable for deboning a femur or a humerus. The effect of the invention is most prominent in the latter embodiment for deboning a femur or a humerus. The carcass leg portion having such bones is processed in a very large volume and may be more complicated to debon due to the irregular contour of the carcass leg portion. Therefore, deboning of such a bone according to the invention results in a relatively high increase in efficiency, wherein the provision of the four such meat removal plates increases the reliability and degree of severing of the meat from the bone.

[0027] In an embodiment, the support device comprises a support plate, wherein, for step a), the method preferably comprises positioning the support plate in the pre-cut for holding the leg, preferably hanging the leg, by the lower end of the bone, the support plate preferably having a slot configured to hold the leg in the slot by the lower end of the bone. The size of the slot is designed so that a bone joint portion at the lower end of the bone, such as a knee joint portion or an elbow joint portion, cannot pass through the slot.

[0028] In an embodiment of the method, wherein the bone is a humerus, the method may comprise removing a scapula (shoulder blade) from the humerus prior to step b).

[0029] In an embodiment, the second starting position is further from the supporting device than the first starting position, which also means further from the supporting device in the meat removal direction.

[0030] In an embodiment, steps d), e), f) and g) are performed for at least one further cycle, preferably for at least two further cycles, wherein, for performing step g) during the further cycles, the second end position is each time further from the support means than the second end position of the previously performed step g). By doing so, the meat removal device is thus gradually moved further in the meat removal direction, which is preferably downwards, thereby removing meat from the bone in a highly controlled and robust manner.

[0031] In an embodiment, for the purpose of step c), the meat removal device is moved in the meat removal direction by means of applying a predetermined force or force distribution on the meat removal device by means of a drive unit, such as a pneumatic cylinder.

[0032] In an embodiment, during the meat removal movement of the meat removal device in the meat removal direction, when the meat removal device reaches the neck of the bone, the force in the meat removal direction acting on the meat of the leg by the meat removal device is reduced. This is particularly advantageous for the humerus or the femur. The meat removal device can be force-controlled in a direction transverse to the meat removal direction. Therefore, the force in the bone direction caused by the meat removal plate of the meat removal device can be temporarily reduced, which further assists in passing the neck of the bone. In an embodiment of the meat removal device with four meat removal plates, when the meat removal device passes the neck of the bone, the fourth meat removal plate can be placed at least in the working position of the fourth meat removal plate, so that the fourth scraper effectively assists in removing meat from the bone at least during the process of passing the neck.

[0033] In an embodiment, for step c) and / or step g), the respective first meat removal movement and / or second meat removal movement is performed for a respective predetermined time, meaning that the duration of the respective meat removal movement is set to a predetermined value.

[0034] Corresponding embodiments also apply to the system according to the second aspect of the invention described below. The system is in particular arranged to implement the method according to the first aspect of the invention and its embodiments described above.

[0035] In a second aspect, the present invention provides a system for deboning a carcass leg portion of a quadruped slaughtered animal as defined hereinafter, for removing meat from bones of a carcass leg portion, preferably in accordance with the method according to the first aspect of the invention.

[0036] The system includes:

[0037] - a support device configured to hold a leg portion by the lower end of the bone or by a lower portion of the leg such as the foot,

[0038] - a meat removal device for removing meat from bones, and

[0039] - a control unit configured to use the system to successively:

[0040] - moving the meat removal device into a pre-cut, which is a cut made along the circumference of the bone at or at least close to the lower end of the bone in order to sever the muscle fibers, towards the bone, to a first starting position,

[0041] - performing a first meat removal movement by means of the meat removal device from a first starting position in a meat removal direction away from the support device along the bone to a first end position so that the meat is removed from the bone,

[0042] - moving the meat removal device away from the bone, wherein meat in contact with the meat removal device is forced away from the bone and, thereby, further severing the meat from the bone,

[0043] - moving the meat removal device in a repositioning direction towards the support device,

[0044] - moving the meat removal device towards the bone to a second starting position, and

[0045] - performing a second meat removal movement with the aid of the meat removal device from a second starting position in the meat removal direction away from the support device along the bone to a second end position which is further from the support device than the first end position so that further meat is removed from the bone.

[0046] In an embodiment, the meat removal device comprises at least three meat removal plates, preferably three to eight and including eight meat removal plates, further preferably four, five or six meat removal plates, further preferably four meat removal plates, each plate being movable between a non-working position and a working position, preferably being pivotable about a pivot axis between the non-working position and the working position, the plate in the working position being closer to the bone in use, the plates being positioned so that in use the bone is at least between the plates in the working position and extends at least substantially perpendicular to the plane of the plates. During the movement of the meat removal device towards the bone, at least three of the meat removal plates are brought into the working position so as to capture the bone between the respective meat removal sections of those at least three meat removal plates, wherein each respective meat removal plate preferably has a meat removal section that is curved so as to follow at least a part of the cross-sectional profile of the bone in use. As already mentioned above, preferably the pivot axes are parallel so that the movement of the at least three plates from the respective non-working position to the working position is in parallel planes. In this sense, therefore, the at least three meat removal plates are mutually parallel.

[0047] In an embodiment, the meat removal device comprises four meat removal plates in the form of two pairs of meat removal plates, preferably wherein at least one pair of meat removal plates are operated jointly.

[0048] In another embodiment, the meat removal device includes four meat removal plates, which are in the form of a pair of meat removal plates that can be operated jointly and two additional meat removal plates that can be operated individually, wherein the operable mechanism can be moved between a working position and a non-working position of the operable mechanism.

[0049] In an embodiment, at least two of the at least three meat removal plates comprise one or more engaging elements, preferably wherein the one or more engaging elements comprise one or more of: an outer edge of the meat removal device, which faces away from the bone; an inner edge of the meat removal device, which faces the bone and protrudes from the meat removal device in the meat removal direction; one or more through holes; one or more protrusions; and a surface area of ​​increased roughness, wherein the engaging elements contact the meat during use, causing the meat to be forced away from the bone during the meat removal movement and, during subsequent movement of the meat removal device away from the bone, further cutting off the meat from the bone as a result of the movement of the meat removal device away from the bone.

[0050] In an embodiment, in order to perform the meat removal movement, the control system is configured to reduce the force in the meat removal direction acting on the meat of the leg by the meat removal device when the meat removal device reaches the neck of the bone.

[0051] The corresponding embodiments also apply to the method according to the first aspect of the present invention described above. The effects of the system according to the present invention are similar to the effects of the method according to the present invention as described above.

[0052] In general, the present invention relates to a system and method configured to remove meat from bones in a leg portion of a carcass, comprising the following steps:

[0053] a) holding the leg portion by means of a supporting device,

[0054] b) Move the meat removal device: into the pre-cut,

[0055] c) then following the bone away from the supporting means to a first end position so that the meat is removed from the bone,

[0056] d) then moving away from the bone, forcing the meat away from the bone and further severing the meat from the bone,

[0057] e) then towards the supporting device,

[0058] f) and then towards the bone,

[0059] g) and then again along the bone away from the supporting means to a second end position which is further from the supporting means than the first end position so that further meat is removed from the bone. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The invention is described hereinafter with reference to the accompanying schematic drawings, in which embodiments of the invention are shown and in which like reference numerals denote like or similar elements.

[0061] Figure 1 shows a front view of an embodiment of a device according to the invention,

[0062] Figure 2 Shows Figure 1 A side view of the device in another operating state,

[0063] Figure 3 Shows Figure 1 A side view of the device in another operating state,

[0064] Figure 4 Shows Figure 1 A side view of the device in yet another operating state,

[0065] Figure 5 Shows Figure 1 Bottom view of the device,

[0066] Figure 6 Shows Figure 2 Bottom view of the device,

[0067] Figure 7 An embodiment of the method according to the invention is shown,

[0068] Figure 8 A 3D (top down stereo) view showing a further embodiment of the device according to the invention, and

[0069] Figures 9 to 14 Shows Figure 8 The devices are under different operating conditions and viewing angles. DETAILED DESCRIPTION

[0070] Figures 1 to 6 A system 1 for deboning a carcass leg portion 2 of a four-legged slaughtered animal is shown. The system is arranged to remove meat from the humerus 4 of the carcass leg portion 2. The leg portion 2 is only Figure 3 . The system has a support device 6, which is configured to hold the leg part 2 by the lower end 8 of the bone or by a lower part of the leg such as the foot 10. The support device 6 has a support plate 12, which is used to suspend the leg part 2 by the lower end 8 of the bone. For this purpose, the support plate 12 has a groove 14, which is positioned in a pre-cut in the leg part 2. The pre-cut is an incision formed along the circumference of the bone 4 at the lower end 8 of the bone or at least close to the lower end 8 of the bone in order to cut the muscle fibers. Figure 3 The pre-cut has thus been formed at a vertical position of the bone along the support plate 12 in the view of FIG. 1 . The system 1 can be arranged on a conveying device, such as a carrousel, as part of or at least along a processing line for processing such a carcass leg portion. The leg portion 2 can be transferred from the hook of the overhead conveyor to the support device 6. In order to form the pre-cut in an automated manner, a cutting station can be arranged upstream of the system 1.

[0071] The system 1 also has a meat removal device 16 for removing meat from the bones 4. The meat removal device 16 can be moved from and to the support device in the vertical direction in the perspective of the drawing and, for this purpose, is connected to a drive unit in the form of a pneumatic cylinder 17 and is guided by vertical guide rods 19a and 19b. Instead of using a pneumatic cylinder 17, for example, a spindle can be used.

[0072] In order to remove meat from the bones 4, the meat removal device 16 includes four mutually parallel meat removal plates, which are mutually parallel, that is, the planes of the plates are parallel to each other, and the four mutually parallel meat removal plates are in the form of a first pair of meat removal plates 22a, 22b and a second pair of meat removal plates 24a, 24b. The first pair of meat removal plates 22a, 22b and the second pair of meat removal plates 24a, 24b are arranged at Figure 5 and Figure 6 2 is particularly clearly shown in FIG. The plates 22a and 22b can be pivoted about respective pivot axes 23a and 23b, while the plates 24a and 24b can be pivoted about respective pivot axes 25a and 25b. The pivot axes 23a, 23b and 25a, 25b extend parallel to each other. Each of the plates 22a, 22b and 24a, 24b can be pivoted between a non-operating position and an operating position of the plates 22a, 22b and 24a, 24b. Figure 6 and Figure 2 The working position shown in Figure 5 and Figure 1 , Figure 3 and Figure 4 In use, the plate is closer to the bone 4 than in the inoperative position shown in FIG. Figure 6 As shown, in the working position, the four plates are positioned so that the bone 4 extends between the plates and at least substantially perpendicular to the plane 28 of the plates. During the movement of the meat removal device 6 towards the bone 4, the meat removal plate is brought into the working position so as to capture the bone 4 between the corresponding meat removal sections 26a, 26b and 27a, 27b of the meat removal plates 22a, 22b and 24a, 24b, respectively. Figure 5 and Figure 6 It is shown that the meat removal section of each of the meat removal plates is curved so as to follow at least a portion of the cross-sectional profile of the bone 4 in use.

[0073] The pair of plates 22a, 22b are operated by means of respective pneumatic cylinders 28a and 28b, which are independently controlled so that the pneumatic cylinders 28a and 28b can be independently extended and retracted under the influence of varying pneumatic pressure, thereby pivoting the respective plates 22a and 22b between the inoperative position and the operative position of the plates 22a and 22b. In another embodiment, the plates 22a and 22b can be operated jointly. Instead of using pneumatic cylinders, solenoid valves, electromagnetic actuators, spindles, cams / followers, lever mechanisms can be used. The smaller plates 24a, 24b are jointly operated to move between the inoperative position (passive active position) and the operative position of the plates 24a, 24b by a common lever mechanism, which is actuated by a single pneumatic cylinder. Instead of using pneumatic cylinders and / or lever mechanisms, for example, solenoid valves, electromagnetic actuators, spindles, cams / followers can be used. The plates are operated by means of pneumatic cylinders and also provide a spring load on the plates, at least in the working position, so that the plates can more easily follow the irregular contours of the bones in use, as will be explained below. The provision of one or more pressure sensors (not shown) in the pneumatic circuit can further assist in allowing the meat removal device to follow the contour of the bone reliably, for which purpose the pressure acting on the meat or bone in the working position of the meat removal plate can be reduced if a sudden pressure increase is detected by one or more pressure sensors. In addition, in order to debon the same bones of multiple carcass parts processed successively, the control system can be configured to be self-learning. The force distribution on the meat removal plate, such as for movement in the meat removal direction 38 as will be discussed below, can be adjusted based on information obtained by suitable sensors, such as pressure sensors, during similar movements during the deboning of one or more preceding bones.

[0074] The meat removal plates 22a, 22b each comprise an engagement element which is formed by a respective outer edge 34a, 34b of the meat removal device facing away from the bone. Figure 1As shown, the outer edge is bent downward. During use, the engaging element in the form of the edge 34a, 34b contacts the meat during the meat removal movement, which will be explained further below. Instead of the outer edge 34a, 34b, the engaging element may include: an inner edge of the meat removal device, which inner edge faces the bone and protrudes from the meat removal device in the meat removal direction; one or more through holes; one or more protrusions; and / or a surface area with increased roughness. Such a surface area with increased roughness may be an area with increased roughness located on the outer bottom side of the meat removal plate 22a, 22b, compared to an area with relatively lower roughness located more inwardly on the inner bottom side of the meat removal plate 22a, 22b. In this way, the meat can slide outwardly along the bottom side of the meat removal plate relatively close to the bone and can be further engaged outwardly by the surface area with increased roughness.

[0075] In use, to remove meat from the bones 4 of the carcass leg portion 2, the system 1 is operated according to the following method 100 ( Figure 7 ) operation. To perform the method, the system has a control unit 20. The control unit is operatively connected to the meat removal device 16, and in particular to the pneumatic cylinders 17, 28a, 28b, 32. The control unit 20 is configured to perform the following method steps in use of the system:

[0076] a) The leg part 2 is held by the lower end 8 of the bone 4 by means of the supporting means 6. In order to form the pre-cut in an automated manner, a cutting station can be arranged upstream of the system 1 .

[0077] b) The meat removal device 16 is then moved into the pre-cut, towards the bone 4, to a first starting position 36. For this purpose, the meat removal plates 22a, 22b and 24a, 24b are moved from their inoperative positions ( Figure 5 )Move to the working position( Figure 6 and Figure 1 and Figure 2 ). In this respect it is noted that the height position of the meat removal device relative to the support device 6 is indicated in the figures as a specific starting position or end position.

[0078] c) The meat removal device 16 then performs a first meat removal movement, from the first starting position 36 ( Figure 2 ) moves in the meat removal direction 38 away from the support device 6 (so it moves downwards in the view of the drawing) along the bone 4 to a first end position 40 ( Figure 3 ), so that the meat 5 is removed from the bone 4, and also Figure 3 Shown in.

[0079] The meat removal device is moved in the meat removal direction by means of applying a predetermined force or force distribution on the meat removal device 16. The force or force distribution may depend on the specific carcass leg part to be deboned.

[0080] d) The meat removal device 16 is then moved away from the bone, for which purpose the meat removal plates are moved from the operative position to the inoperative position by means of a force exerted on the meat removal plates by means of the (double-acting) cylinders 28a, 28b and 32. This outward movement is transverse to the meat removal direction 38 and thus substantially transverse to the extension direction of the bone 4, resulting in the meat 5 in contact with the meat removal device 16 being forced away from the bone 4 and further severing the meat from the bone 4. The downwardly extending outer edges 34a, 34b engaging with the meat 5 during this method step significantly contribute to said forcing away of the meat from the bone, thereby further severing the meat from the bone.

[0081] During this step of moving away from the bone, a force in the meat removal direction 38 acts on the meat 5 by the meat removal device 16, i.e. remains acting on the meat 5. This can be achieved by maintaining a downward force on the meat removal device 16 by the cylinder 17 during this step. The movement of the meat removal device 16 away from the bone is therefore partly in the meat removal direction 38 and therefore partly downward in the vision of the accompanying drawing. This further contributes to effectively forcing the meat away from the bone.

[0082] e) The meat removal device 16 is then moved in the repositioning direction 42 towards the support device 6 , upwards in the perspective of the drawing.

[0083] f) Then, the meat removal device 16 is moved towards the bone 4 to the second starting position 44, i.e. Figure 3 The second starting position 44 may be at the same highest level as the first starting position 36, or may be between the first starting position 36 and the first ending position 40, such as Figure 3 It should be noted that Figure 3 Only the height of the second starting position is shown, but the meat removal device is not shown in this position.

[0084] g) Then, with the aid of the meat removal device 16, a second meat removal movement is performed from a second starting position 44 in the meat removal direction 38 away from the support device 6 along the bone 4 to a second end position 46, such as Figure 4 It is shown that the second end position 46 is further away from the support device 6 than the first end position 44 , so that further meat is removed from the bone 4 .

[0085] In an embodiment of the method, the method may be performed, depending on the specific carcass leg part to be deboned, steps d), e), f) and g) are performed with at least one additional cycle (in Figure 7In the embodiment of the present invention, the second end position is located further from the support means than the second end position of the previously performed step g) in order to perform step g) during a further cycle. By doing so, the meat removal device is thus gradually moved further downwards during successive iterations or cycles, thereby removing meat from the bone in a highly controlled and robust manner.

[0086] In order to perform the meat removal movement of step c) or g), the control system 20 is configured to reduce the force in the meat removal direction 38 acting on the meat of the leg by the meat removal device 16 when the meat removal device reaches the neck 47 of the bone 4.

[0087] Furthermore, for step c) and / or step g), the respective first meat removal movement and / or the second meat removal movement is performed for a respective predetermined time.

[0088] Figures 8 to 14 A system 200 is shown, which is another embodiment of a system according to the invention for deboning a leg portion 2 of a carcass of a quadruped slaughtered animal. The system 200 is similar to the system 1 described above. Components of the system 200 having the same or at least similar functions as those of the components of the system 1 are represented by corresponding Figures 1 to 7 200, with the addition of reference numeral 200. To describe the functionality of system 200, the above description of system 1 applies in a similar manner.

[0089] The system has a support device 206 configured to hold the leg portion 2 by the lower end 8 of the bone or by a lower portion of the leg such as the foot 10. The support device 206 is very similar to the support device 6, see Figure 5 The support device 206 also has a support plate 212 having a slot 214 for suspending the leg portion 2 through the lower end 8 of the bone, the support plate 212 being used to be connected to the leg portion 2 as in Figure 3 The same manner as shown in FIG. 2 is positioned in the pre-cut in the leg portion 2.

[0090] The system 200 also has a meat removal device 216 for removing meat from the bones 4. The meat removal device 216 is designed slightly differently from the meat removal device 16, but like the device 16, it can be moved from and to the support device 206 in the vertical direction in the perspective of the drawing and, for this purpose, is connected to a drive unit in the form of a pneumatic cylinder 217 and is guided by vertical guide rods 219a and 219b.

[0091] In order to remove meat from the bones 4, the meat removal device 216 includes four mutually parallel meat removal plates, which are mutually parallel, i.e. the planes of the plates are parallel to each other, and the four mutually parallel meat removal plates are in the form of a first pair of meat removal plates 222a, 222b, which are highly similar to the meat removal plates 22a and 22b. The plates 222a and 222b can be pivoted around corresponding pivot axes 223a and 223b. In contrast to the device 16, the meat removal device 216 does not have a second pair of meat removal plates. Instead, the meat removal device 216 has a single back meat removal plate 224, which can be translated in a plane parallel to the plates 222a and 222b by means of a pneumatic cylinder 232, as can be seen from Fig.10 The device 216 also has an additional front meat removal plate 229, which can be pivoted about a pivot axis 233 by means of a pneumatic cylinder 231. Each of the plates 222a, 222b and 229 can be pivoted between a non-operating position and an operating position of the plates 222a, 222b and 229, while the plate 224 can be translated between a non-operating position and an operating position of the plate 224. Figures 9 to 12 and Fig.14 The plates 222a and 222b are shown in the working position, while Figure 8 The middle plates 222a and 222b are in a non-operating position. Figures 8 to 14 In either of the figures, the back meat removal plate 224 is shown in the working position of the back meat removal plate 224. Figure 12 to Figure 14 The additional front plate 229 is shown in the working position, while Figures 8 to 11 2, the additional front plate 229 is in the inoperative position of the additional front plate 229. In the operative position, the plate is closer to the bone 4 in use than in its inoperative position. During the movement of the meat removal device 216 towards the bone 4, the meat removal plates 222a and 222b are brought into the operative position so as to capture the bone 4 between the corresponding meat removal sections 226a and 226b of the meat removal plates 222a and 222b, respectively. The meat removal sections are bent in a similar manner to the plates 22a and 22b so as to follow at least a part of the cross-sectional profile of the bone 4 in use. During the movement of the meat removal device 216 towards the bone 4, the back meat removal plate 224 and / or the additional front meat removal plate 229 can also be brought into the operative position to assist the meat removal step.

[0092] The pair of plates 222a, 222b are operated by means of respective pneumatic cylinders 228a and 228b, which are independently controlled so that the pneumatic cylinders 228a and 228b can be independently extended and retracted under the influence of varying pneumatic pressures, thereby causing the respective plates 222a and 222b to pivot between a non-operating position and an operating position of the plates 222a and 222b. In another embodiment, the plates 222a and 222b can be operated jointly. Instead of using pneumatic cylinders, solenoid valves, electromagnetic actuators, spindles, cam / followers, lever mechanisms can be used. Operating the plates by means of pneumatic cylinders also provides a spring load on the plates at least in the operating position so that the plates can more easily follow the irregular contours of the bone during use, as will be explained below. The provision of one or more pressure sensors (not shown) in the pneumatic circuit may further assist in allowing the meat removal device to reliably follow the contour of the bone, for which purpose the pressure acting on the meat or bone at the working position of the meat removal plate may be reduced if a sudden pressure increase is detected by the one or more pressure sensors. In addition, in order to debon the same bones of multiple carcass parts processed successively, the control system may be configured to be self-learning. The force distribution on the meat removal plate, such as for movement in the meat removal direction 38 as will be discussed below, may be adjusted based on information obtained by suitable sensors, such as pressure sensors, during similar movements during the deboning of one or more preceding bones.

[0093] Similar to plates 22a and 22b, meat removal plates 222a, 222b each include an engagement element formed by a respective outer edge 234a, 234b of the meat removal device facing away from the bone. Instead of the outer edge, the engagement element may include: an inner edge of the meat removal device, which faces the bone and protrudes from the meat removal device in the meat removal direction; one or more through holes; one or more protrusions; and / or a surface area with increased roughness. Such a surface area with increased roughness may be an area with increased roughness located on the outer bottom side of the meat removal plates 222a, 222b, compared to an area with relatively lower roughness located more inwardly on the inner bottom side of the meat removal plates 222a, 222b. In this way, the meat can slide outwardly along the bottom side of the meat removal plate relatively close to the bone and can be further engaged outwardly by the surface area with increased roughness.

[0094] In use, to remove meat from the bones 4 of the carcass leg portion 2, the system 200 is operated in accordance with Figure 7 The method 100 shown in FIG. 2 is similar to the method operation of the system 200. That is, the method of the system 200 also follows a series of method steps which can be referred to as method steps a to g. In order to perform the method, the system has a control unit 220, which is only Fig.14 The control unit 220 is operatively connected to the meat removal device 216 and in particular to the pneumatic cylinders 217, 228a, 228b, 231 and 232. The control unit 220 is configured to perform the following method steps in use of the system:

[0095] a) by supporting device 206, so as to Figure 5 In the same manner as shown in FIG. 2 , the leg portion 2 is held by the lower end 8 of the bone 4. In order to form the pre-cut in an automated manner, a cutting station can be arranged upstream of the system 200.

[0096] b) The meat removal device 216 is then moved into the pre-cut, towards the bone 4, to the first starting position 36. For this purpose, the meat removal plates 222a, 222b are moved from their inoperative position ( Figure 8 )Move to the working position( Fig. 9 ). Moreover, and preferably, the back plate 224 is moved from the non-operating position to the operating position only after the plates 222a and 222b are moved to the operating positions of the plates 222a and 222b.

[0097] c) Then, in the same manner as the device 16 is moved to the first end position 40, the meat removal device 216 performs a first meat removal movement, moving from the first starting position 36 in the meat removal direction 38 away from the support device 206 (so that the meat moving device 216 is moving downward in the perspective of the accompanying drawing) along the bone 4 to the first end position, so that the meat 5 is removed from the bone 4.

[0098] The meat removal device is moved in the meat removal direction by means of applying a predetermined force or force distribution on the meat removal device 216. The force or force distribution may depend on the specific carcass leg portion to be deboned.

[0099] d) The meat removal device 216 is then moved away from the bone, for which purpose the meat removal plates 222a, 222b and 224 are moved from an operative position to an inoperative position by means of exerting a force on the meat removal plates by means of (double-acting) cylinders 228a, 228b and 232. This outward movement is transverse to the meat removal direction 38 and thus substantially transverse to the extension direction of the bone 4, resulting in the meat 5 in contact with the meat removal device 216 being forced away from the bone 4 and further severing the meat from the bone 4. The downwardly extending outer edges 234a, 234b, which engage with the meat 5 during this method step, significantly contribute to said forcing away of the meat from the bone, thereby further severing the meat from the bone.

[0100] During this step of moving away from the bone, a force in the meat removal direction 38 acts on the meat 5 by the meat removal device 216, i.e. remains acting on the meat 5. This can be achieved by maintaining a downward force on the meat removal device 216 by the cylinder 217 during this step. The movement of the meat removal device 216 away from the bone is therefore partly in the meat removal direction 38, and therefore partly downward in the perspective of the drawing. This further contributes to effectively forcing the meat away from the bone.

[0101] e) The meat removal device 216 is then moved in the repositioning direction 42 towards the support device 206, upwards in the perspective of the drawing.

[0102] f) Then, the meat removal device 216 is moved towards the bone 4 to the second starting position 44, which can be Fig.13 The second starting position 44 may be at the same highest level as the first starting position 36, or may be between the first starting position 36 and the first ending position 40, such as Fig.13 Shown. Fig.13 The different heights shown in Fig.13 It does not matter where any meat is removed from the plate shown.

[0103] g) Then, with the aid of the meat removal device 216, a second meat removal movement is performed from the second starting position 44 in the meat removal direction 38 away from the support device 6 along the bone 4 to a second end position 46, such as Fig.13 It is shown that the second end position 46 is further from the support device 206 than the first end position 44, so that further meat is removed from the bone 4.

[0104] In an embodiment of the method, the method may be performed, depending on the specific carcass leg part to be deboned, steps d), e), f) and g) are performed with at least one additional cycle (in Figure 7 In the embodiment of the present invention, the second end position is located further from the support means than the second end position of the previously performed step g) in order to perform step g) during a further cycle. By doing so, the meat removal device is thus gradually moved further downwards during successive iterations or cycles, thereby removing meat from the bone in a highly controlled and robust manner.

[0105] In order to perform the meat removal movement of step c) or g), the control system 220 is configured to reduce the force in the meat removal direction 38 acting on the meat of the leg by the meat removal device 216, preferably at least by the plates 222a and 222b of the meat removal device 216, when the meat removal device reaches the neck 47 of the bone 4. In addition, the force generated in the direction of the bone by the meat removal plates 222a and 222b can be temporarily reduced, which further assists in passing the neck of the bone.

[0106] Furthermore, for step c) and / or step g), the respective first meat removal movement and / or the second meat removal movement is performed for a respective predetermined time.

[0107] During the meat removal movement of step g, which may be the second meat removal movement as described above or another cyclic meat removal movement, the additional front meat removal plate 229 is moved toward the bone to its working position, or, if the plate 229 is already in the working position, the plate 229 remains in the working position. For example, the plate 229 partially takes over the meat removal action performed by the plates 222a and 222b when the control system 220 reduces the force generated by the plates 222a and 222b as mentioned above.

[0108] With the meat removal operation complete, all plates can be moved to the plates' inoperative position and the bone 4 can be removed from the system 200.

[0109] By studying the drawings, the disclosure and the appended claims, those skilled in the art can understand and implement other variations of the disclosed embodiments when practicing the claimed invention. The foregoing description provides embodiments of the present invention only by way of example. The scope of the present invention is defined by the appended claims. One or more purposes of the present invention are achieved by the appended claims.

Claims

1. A method for deboning a leg portion of a carcass of a four-legged slaughtered animal, for removing meat from the bones of the leg portion of the carcass, The method comprises the following steps: a) holding the leg part by means of a supporting device via the lower end of the bone or via a lower part of the leg, b) moving a meat removal device into a pre-cut, which is a cut formed along the circumference of the bone at or at least close to the lower end of the bone in order to sever muscle fibers, toward the bone to a first starting position of the meat removal device, c) performing a first meat removal movement by means of the meat removal device from the first starting position in a meat removal direction away from the support device along the bone to a first end position, so that meat is removed from the bone, d) moving the meat removal device away from the bone, wherein meat in contact with the meat removal device is forced away from the bone and further severed from the bone, e) moving the meat removal device in a repositioning direction towards the support device, f) moving the meat removal device towards the bone to a second starting position, g) performing a second meat removal movement with the aid of the meat removal device from the second starting position in a meat removal direction away from the support device along the bone to a second end position, which is further from the support device than the first end position, so that further meat is removed from the bone.

2. The method according to claim 1, wherein: The lower portion of the leg is the foot.

3. The method according to claim 1, wherein: During at least a part of step d), a force in the meat removal direction is acted on the meat by the meat removal device.

4. The method according to claim 1, wherein: During at least a part of step d), the movement of the meat removal device is partly in the meat removal direction.

5. The method according to any one of claims 1 to 4, wherein: The meat which comes into contact with the meat removal device during at least step d) is engaged by one or more engagement elements on the meat removal device.

6. The method according to claim 5, wherein: The one or more engagement elements include one or more of: an outer edge of the meat removal device, the outer edge facing away from the bone; an inner edge of the meat removal device, the inner edge facing the bone and protruding from the meat removal device in the meat removal direction; one or more through holes; one or more protrusions; and a surface area with increased roughness.

7. The method according to any one of claims 1 to 4, wherein: The meat removal device comprises at least three meat removal plates, wherein each individual meat removal plate has a curved meat removal section so as to follow at least a portion of the cross-sectional profile of the bone during use, wherein each of the plates is movable between a non-working position and a working position, wherein during a meat removal movement at least three of the plates are placed in the working position, and wherein during a movement away from the bone the at least three plates move towards the non-working position.

8. The method according to claim 7, wherein: The meat removal device comprises four of the meat removal plates.

9. The method according to claim 7, wherein: Each of the plates is pivotable about a pivot axis between an inoperative position and an operative position.

10. The method according to any one of claims 1 to 4, wherein: The second starting position is farther from the supporting device than the first starting position.

11. The method according to any one of claims 1 to 4, wherein: Steps d), e), f) and g) are performed in at least one further cycle, wherein, for performing step g) during the further cycle, the second end position is each time further from the support device than the second end position of the previously performed step g).

12. The method according to any one of claims 1 to 4, wherein: In order to perform step c), the meat removal device is moved in the meat removal direction by means of a drive unit exerting a predetermined force or force distribution on the meat removal device.

13. The method according to claim 11, wherein: During the meat removing movement of the meat removing device in the meat removing direction, when the meat removing device reaches the neck of the bone, the force acting on the meat of the leg in the meat removing direction by the meat removing device decreases.

14. The method according to any one of claims 1 to 4, wherein: In order to carry out step c) and / or step g), the respective first meat removal movement and / or the second meat removal movement is carried out for a respective predetermined time.

15. A system for deboning a leg portion of a carcass of a quadruped slaughtered animal, for removing meat from bones of the leg portion of the carcass, The system comprises: - a supporting device configured to hold the leg portion by the lower end of the bone or by a lower part of the leg, - a meat removal device for removing meat from the bone, and - a control unit configured to use the system to successively: - moving the meat removal device into a pre-cut, which is a cut formed along the circumference of the bone at or at least close to the lower end of the bone so as to sever muscle fibers, toward the bone to a first starting position, - performing a first meat removal movement by means of the meat removal device from the first starting position in a meat removal direction away from the support device along the bone to a first end position so that meat is removed from the bone, - moving the meat removal device away from the bone, wherein meat in contact with the meat removal device is forced away from the bone and further cuts off the meat from the bone, - moving the meat removal device in a repositioning direction towards the support device, - moving the meat removal device towards the bone to a second starting position, and - performing a second meat removal movement with the aid of the meat removal device from the second starting position in the meat removal direction away from the support device along the bone to a second end position, which is further from the support device than the first end position, so that further meat is removed from the bone.

16. The system of claim 15, wherein: The system is used to remove meat from the bones of the carcass leg portion according to the method according to any one of claims 1-14.

17. The system of claim 15, wherein: The lower portion of the leg is the foot.

18. The system of claim 15, wherein: The meat removal device comprises at least three meat removal plates, each of which is movable between a non-working position and a working position, the plate in the working position being closer to the bone during use, the plates being positioned so that the bone is at least between the plates in the working position during use, the bone extending at least substantially perpendicular to the planes of the plates, and at least three of the meat removal plates being brought to the working position during movement of the meat removal device towards the bone so as to capture the bone between corresponding meat removal sections of the at least three meat removal plates, wherein each corresponding meat removal plate has a curved meat removal section so as to follow at least a portion of the cross-sectional profile of the bone during use.

19. The system of claim 18, wherein: The meat removal device comprises three to eight of the meat removal plates.

20. The system of claim 19, wherein: The meat removal device comprises four, five, six or eight of the meat removal plates.

21. The system of claim 20, wherein: The meat removal device comprises four of the meat removal plates.

22. The system of claim 18, wherein: Each of the plates is pivotable about a pivot axis between an inoperative position and an operative position.

23. The system of claim 18, wherein: The meat removal device comprises four meat removal plates in the form of a pair of jointly operable meat removal plates and two further individually operable meat removal plates.

24. The system according to any one of claims 15 to 23, wherein: At least two of the at least three meat removal plates include one or more engagement elements, During the meat removal movement, the engaging element comes into contact with the meat in use, so that the meat is thereby forced away from the bone, and during subsequent movement of the meat removal device away from the bone, the meat is further severed from the bone as a result of the movement of the meat removal device away from the bone.

25. The system of claim 24, wherein: The one or more engagement elements include one or more of: an outer edge of the meat removal device, the outer edge facing away from the bone; an inner edge of the meat removal device, the inner edge facing the bone and protruding from the meat removal device in the meat removal direction; one or more through holes; one or more protrusions; and a surface area with increased roughness.

26. The system according to any one of claims 15 to 23, wherein: In order to perform the meat removal movement, the control unit is configured to reduce the force in the meat removal direction acting on the meat of the leg by the meat removal device when the meat removal device reaches the neck of the bone.

Images