Poultry processing system for mechanically extracting breast meat from poultry carcasses

Abstract

The present application relates to a poultry processing system and method for mechanically extracting breast meat from poultry carcasses, the system comprising: a conveyor (3) for conveying poultry carcasses (2) on a mandrel (4) in a conveying direction; a breast meat grasper (10) comprising a first jaw (11) and a second jaw (12) movable relative to each other between an open state in which breast meat is received between the first jaw and the second jaw, and a closed state in which the breast meat is grasped between the first jaw and the second jaw, the breast meat grabber (10) is arranged to grasp breast meat between the first jaw (11) and the second jaw (12) and to extract breast meat from the poultry carcass (2) when the poultry carcass (2) is being conveyed in the conveying direction.

Description

TECHNICAL FIELD

[0001] The present application relates generally to poultry processing systems and methods, and in particular to a poultry processing system for harvesting breast meat from a poultry carcass as a breast fillet. BACKGROUND

[0002] It is known to convey a poultry carcass on a spindle through a breast meat extraction station to obtain a breast fillet from the carcass. An example of a conventional breast meat extraction station is described in WO2015065190, in which a cut is made along the keel of the carcass to detach a left breast fillet and a right breast fillet from the keel and further to separate the left breast fillet and the right breast fillet from each other. The cut also provides access for a breast fillet remover to extract the left breast fillet and the right breast fillet from the carcass. SUMMARY

[0003] The present application aims to provide an improved system and method for mechanically removing breast meat from a poultry carcass, in particular in an in-line processing method or apparatus. The present application also aims to provide a system and method for automatically extracting a left breast fillet and a right breast fillet from a poultry carcass while keeping the left breast fillet and the right breast fillet connected together. More generally, the present application aims to overcome or ameliorate at least one of the disadvantages of the prior art, or to at least provide a useful alternative to the prior art which is more efficient and relatively less costly. In general terms, the present application aims to provide at least a useful alternative and contribution to the prior art.

[0004] According to an aspect, the present application provides a poultry processing system for mechanically extracting breast meat from a poultry carcass. The system comprises a conveyor for conveying the poultry carcass on a spindle in a conveying direction. The system comprises a breast meat gripper comprising a first jaw and a second jaw, the first jaw and the second jaw being movable relative to each other between an open state for receiving the breast meat between the first jaw and the second jaw and a closed state for gripping the breast meat between the first jaw and the second jaw. The breast meat gripper is arranged to grip the breast meat between the first jaw and the second jaw and to extract the breast meat from the poultry carcass when the poultry carcass is being conveyed in the conveying direction. The system can in particular be arranged to simultaneously grip a left breast fillet and a right breast fillet connected together between the first jaw and the second jaw with the breast meat gripper and to extract the left breast fillet and the right breast fillet from the poultry carcass while keeping the left breast fillet and the right breast fillet connected together. The extracted left breast fillet and right breast fillet connected together is sometimes referred to as a butterfly cut. The breast meat gripper can pull the breast meat away from the poultry carcass, effectively removing the breast meat, resulting in maximized yield.

[0005] Optionally, the gripper in the open state is configured to move the first jaw substantially in the conveying direction in front of the spindle to an engagement position to engage the breast meat, e.g. at the front end, of the poultry carcass being conveyed on the spindle with the first jaw. The gripper in the open state is further configured to move the second jaw substantially in the conveying direction, at a speed higher than the speed of the spindle, towards the first jaw to grip the breast meat between the first jaw and the second jaw in the closed state. For example, the first jaw can be moved in the conveying direction in front of the spindle at a speed lower than the speed of the spindle. The breast meat of the carcass being conveyed at a speed higher than the first jaw can be brought against the first jaw. The second jaw can be moved substantially in the conveying direction, from an upstream position, towards the first jaw at a speed higher than the conveying speed while engaging the breast meat with the first jaw. Thus, the second jaw can catch up with the first jaw. The breast meat can be clamped between the first jaw and the second jaw in the closed state.

[0006] Optionally, the gripper in the closed state is configured to move the first and second jaws gripping the breast meat away from each other with the spindle to extract the breast meat from the poultry carcass. The first and second jaws can be moved together in a direction away from the poultry carcass to release the breast meat from the carcass, e.g. in the form of a left and right breast piece connected together, while clamping the breast meat between the first and second jaws in the closed state. For example, the first and second jaws can be moved together in a direction transverse to the conveying direction. The first and second jaws gripping the breast meat can be moved together in the conveying direction at a speed slower than the speed of the spindle to extract the breast meat from the poultry carcass. The first and second jaws gripping the breast meat can be paused to extract the breast meat from the poultry carcass.

[0007] Optionally, the gripper in the closed state is configured to cause the first jaw and the second jaw to collectively accelerate away from the mandrel, such as from a relatively lower speed to a relatively higher speed, in order to extract the breast meat from the poultry carcass. The relative speed at which the first jaw and the second jaw collectively move away from the carcass can increase. This can improve the effectiveness of the breast meat extraction. For example, the gripper in the closed state can cause the first jaw and the second jaw to collectively accelerate from a speed equal to the conveying speed of the conveyor to a speed greater than the conveying speed, away from the mandrel. For example, the gripper in the closed state can cause the first jaw and the second jaw to collectively move from an initial speed of zero relative to the ground to a greater speed.

[0008] Optionally, the gripper in the closed state is configured to cause the first jaw and the second jaw to collectively decelerate, such as from the relatively higher speed to the relatively lower speed, and to move from the closed state to the open state while decelerating, such as when at the relatively lower speed, in order to release the extracted breast meat from the jaws of the gripper. Thus, the extracted breast meat can be controllably placed on a dedicated conveyor in order to transport the extracted breast meat away from the gripper, for example to a packaging station or another processing station.

[0009] Optionally, each of the first jaw and the second jaw is movable along a respective predetermined loop path, in particular along a circular path. For example, the loop path can be tangential to the conveying path of the conveyor. It will be understood that at the tangential point, the first jaw and the second jaw move substantially in the conveying direction. The loop path of the first jaw can be different from the loop path of the second jaw. Alternatively, the first jaw and the second jaw move along the same loop path, for example a circular path. It will be understood that the speed profile of the first jaw and the second jaw can vary along its associated loop path.

[0010] Optionally, the gripper in the closed state is configured to cause the first jaw and the second jaw to collectively move along a portion of a loop path. Optionally, the gripper in the open state is configured to cause the first jaw and the second jaw to move separately along a portion of a loop path, for example when moving from the open state to the closed state, and when moving from the closed state to the open state.

[0011] Optionally, the first jaw and the second jaw are associated with a rotatable wheel of the gripper, the rotatable wheel having an axis of rotation extending transverse to the conveying direction. Optionally, the first jaw and the second jaw are spring-biased towards each other into the closed state. Optionally, the first jaw is fixedly arranged relative to the rotatable wheel, and the second jaw is movably arranged relative to the rotatable wheel for movement relative to the first jaw. Optionally, the rotatable wheel is drivable at variable angular velocity about the axis of rotation.

[0012] Optionally, the system is arranged to drive the rotatable wheel about the axis of rotation, wherein the first jaw co-rotates with the rotatable wheel. Optionally, the system is arranged to decelerate the second jaw relative to the rotatable wheel when driving the rotatable wheel about the axis of rotation, so as to move the second jaw away from the first jaw to the open state, and to accelerate the second jaw relative to the rotatable wheel, so as to move the second jaw towards the first jaw to the closed state. The second jaw can be temporarily decelerated relative to the rotatable wheel, thereby tensioning a spring between the first jaw and the second jaw. When subsequently released, the second jaw can catch up with the first jaw to clamp the breast meat between the first jaw and the second jaw in the closed state.

[0013] Optionally, the rotatable wheel is driven at an angular velocity such that the first jaw at the engagement position moves in the conveying direction with a speed component that is lower than the spindle speed, so that the breast meat can engage with the first jaw. The second jaw can be rotated with an angular velocity such that the second jaw moves in the conveying direction with a speed component that is higher than the spindle speed, so as to grip the breast meat between the first jaw and the second jaw. After gripping the breast meat between the first jaw and the second jaw, the rotatable wheel can be driven at an angular velocity such that the first jaw and the second jaw move in the conveying direction with a speed component that is lower than the spindle speed, so as to pull the breast meat from the poultry carcass.

[0014] Optionally, the breast meat gripper comprises a plurality of first jaws and a plurality of second jaws. Each first jaw of the plurality of first jaws can be paired with a respective second jaw of the plurality of second jaws. Optionally, each first jaw is fixedly arranged relative to the rotatable wheel, and each second jaw is movably arranged relative to the rotatable wheel. Each second jaw can be movable relative to any other second jaw. Thus, each second jaw can be independently movable relative to the rotatable wheel, and, for example, relative to its associated first jaw.

[0015] Optionally, the first jaw is rotatable about the rotation axis at a first radius, and / or the second jaw is rotatable about the rotation axis at a second radius, wherein the second jaw is movably arranged relative to the first jaw for moving between the open state and the closed state.

[0016] Optionally, the first radius and the second radius are substantially equal. Optionally, the first radius and the second radius are different from each other. For example, the first radius can be larger than the second radius, or the second radius can be larger than the first radius.

[0017] Optionally, the first jaw and the second jaw are pivotally movable relative to each other about a pivot axis between the open state and the closed state. The pivot axis can coincide with the rotation axis. The pivot axis can also be at a radial distance from the rotation axis. The first jaw and the second jaw can be associated with a first radial arm and a second radial arm, respectively, which each extend substantially radially outward from the pivot axis. The second jaw can be moved towards the first jaw, for example by angular displacement of the second radial arm relative to the first radial arm about the pivot axis, from the open state to the closed state.

[0018] Optionally, the second jaw is associated with a cam, and the system comprises a cam track for cooperating with the cam, such that the second jaw is moved relative to the first jaw from the open state to the closed state and from the closed state to the open state by rotation of the wheel about the rotation axis.

[0019] Optionally, the first jaw and the second jaw in the closed state are configured to simultaneously grip two pieces of interconnected breast meat of the poultry carcass, and to extract the two pieces of interconnected breast meat from the poultry carcass while keeping the interconnection between the pieces of breast meat intact. Thereby, a so-called butterfly cut can be obtained.

[0020] Optionally, the system comprises a wishbone removal device for removing the wishbone of the poultry carcass from the breast meat. The wishbone removal device can be used in combination with the breast meat gripper as described herein. The wishbone removal device can be arranged upstream of the breast meat gripper with respect to the conveying direction. To facilitate gripping with the breast meat gripper, as a pre-treatment step, the breast meat can be detached from the wishbone. However, the wishbone removal device need not be used in combination with the breast meat gripper as described herein. It will be understood that the wishbone removal device can be used with other various breast meat extractors. Thus, the wishbone removal device as described herein can be regarded as a separate aspect of the present disclosure.

[0021] Optionally, the conveying direction extends in a horizontal plane, wherein the mandrel comprises a symmetry plane for aligning with the keel of the poultry carcass when the poultry carcass is conveyed on the mandrel for use, wherein the system is arranged to convey the poultry carcass on the mandrel along the wishbone removal device in the symmetry plane in a vertical direction, and wherein the wishbone removal device comprises a small knife blade that is movable in synchronism with the mandrel in the horizontal conveying direction, and that is further movable in or parallel to the symmetry plane for cutting along the wishbone. The mandrel can extend in a longitudinal direction from a proximal end to a distal end, the position at which the mandrel is mounted to the conveyor. When in use, the poultry carcass can be conveyed on the mandrel with the longitudinal direction aligned with the cranial-caudal axis of the poultry carcass.

[0022] Optionally, the wishbone removal device comprises a scraper blade that is movable in synchronism with the mandrel in the conveying direction, wherein the scraper blade is movable in or parallel to the symmetry plane with respect to the mandrel for scraping the wishbone. The poultry carcass can be cut with the small knife blade first, and subsequently scraped with the scraper blade, to effectively remove the wishbone from the breast meat.

[0023] Optionally, the scraper blade comprises a scraper blade edge having a cut-out such as a pair of slots. The cut-out can be configured to scrape around the respective arm portions of the wishbone. The cut-out can be symmetrical. The meat attached to the wishbone can have been cut by the knife blade, and therefore the cut-out can be configured such that the scraper blade does not engage the wishbone when scraping. Therefore, the cut-out can be configured such that the scraper blade edge is kept spaced from the wishbone when scraping. This can reduce the risk of the scraper blade snapping off the wishbone and bringing bone fragments into the breast meat. In particular, the scraper blade can be prevented from engaging the wishbone when scraping when the breast meat has been detached from the wishbone by the knife blade. Alternatively, the cut-out can be configured such that the scraper blade edge engages the wishbone at the cut-out in order to scrape over the wishbone. Therefore, the arm portions of the wishbone can be accommodated by the cut-out when scraping over the wishbone. This can increase the yield of breast meat. This can also be beneficial in the case that the knife blade is omitted from the system, for example.

[0024] Optionally, the system comprises a sensor, in particular an image sensor such as an X-ray sensor, for sensing a wishbone breakage of the poultry carcass wishbone. Optionally, the system comprises a wishbone remover configured to remove the wishbone from the poultry carcass in case a wishbone breakage is sensed for the poultry carcass wishbone. In case no wishbone breakage is sensed, the wishbone can be intact. In this case, the wishbone remover need not be actuated, and the wishbone can remain. Optionally, the system is arranged to avoid actuating the wishbone removal device in case a wishbone breakage has been sensed for the poultry carcass. Optionally, the system is arranged to avoid extracting the breast meat from the poultry carcass with the breast meat gripper in case a wishbone breakage has been sensed for the poultry carcass. Therefore, the system can avoid removing the wishbone from the breast meat with the wishbone removal device in case a wishbone breakage has been sensed. A broken wishbone can increase the risk of bone fragments occurring in the extracted poultry meat, in particular when using a wishbone removal device. Therefore, it can be desirable to avoid removing the wishbone from the breast meat, and / or to avoid extracting the breast meat, and / or to avoid completely removing the wishbone.

[0025] Optionally, the system comprises a transversal cut knife for pre-cutting the poultry carcass transversally between the breast meat of the carcass and a back meat portion of the carcass, wherein the transversal cut knife is arranged upstream of the breast meat gripping device with respect to the conveying direction. The transversal cut knife can be arranged upstream or downstream of the wishbone removal device with respect to the conveying direction.

[0026] According to an aspect, a method for mechanically extracting breast meat from a poultry carcass is provided. The method comprises: conveying the poultry carcass on a mandrel in a conveying direction by, for example, an automated processing system as described herein; while conveying the poultry carcass in the conveying direction, gripping the breast meat between first and second jaws of the automated processing system by moving the first and second jaws relative to each other between an open state in which the breast meat is received between the first and second jaws and a closed state in which the breast meat is gripped between the first and second jaws; while conveying the poultry carcass in the conveying direction and while the breast meat is gripped between the first and second jaws, extracting the breast meat from the poultry carcass by moving the first and second jaws collectively relative to the poultry carcass, in particular away from the poultry carcass.

[0027] Optionally, the method comprises: in the open state, moving the first jaw substantially in front of the mandrel in the conveying direction to an engagement position and engaging the breast meat of the poultry carcass being conveyed on the mandrel with the first jaw; and moving the second jaw substantially in the conveying direction at a speed higher than the speed of the mandrel towards the first jaw in order to grip the breast meat between the first and second jaws in the closed state. For example, the first jaw can be moved in front of the mandrel in the conveying direction at a speed lower than the speed of the mandrel. The breast meat of the carcass being conveyed at a speed higher than the first jaw can be abutted against the first jaw.

[0028] Optionally, the method comprises: moving the first and second jaws and the mandrel away from each other in order to extract the breast meat from the poultry carcass.

[0029] Optionally, the method comprises: in the closed state, accelerating the first and second jaws collectively from a relatively lower speed to a relatively higher speed away from the mandrel in order to extract the breast meat from the poultry carcass.

[0030] Optionally, the method comprises: in the closed state, decelerating the first and second jaws collectively from a relatively higher speed to a relatively lower speed and, while at the relatively lower speed, moving from the closed state to the open state in order to release the extracted breast meat from the jaws of the gripper.

[0031] Optionally, the method comprises: moving each of the first and second jaws along a respective predetermined looped path, in particular along a circular path.

[0032] Optionally, the method comprises, in the closed condition, jointly moving the first jaw and the second jaw along a portion of a circular path.

[0033] Optionally, the method comprises that the first jaw and the second jaw are associated with a rotatable wheel of the gripper, the rotatable wheel having an axis of rotation extending transversely to the conveying direction, wherein the method comprises moving the first jaw and the second jaw by driving the wheel in rotation around the axis of rotation.

[0034] Optionally, the method comprises rotating the first jaw around the axis of rotation with a first radius by driving the wheel in rotation around the axis of rotation, and / or comprises rotating the second jaw around the axis of rotation with a second radius by driving the wheel in rotation around the axis of rotation, and moving the second jaw relative to the first jaw between the open condition and the closed condition.

[0035] Optionally, the first radius and the second radius are substantially equal.

[0036] Optionally, the method comprises pivotally moving the first jaw and the second jaw relative to each other between the open condition and the closed condition around a pivot axis. The pivot axis can coincide with the axis of rotation. The pivot axis can also be at a distance from the axis of rotation.

[0037] Optionally, the method comprises that the second jaw is associated with a cam and is provided with a cam track to cooperate with the cam, wherein the method comprises moving the second jaw relative to the first jaw from the open condition to the closed condition and from the closed condition to the open condition by driving the wheel in rotation around the axis of rotation.

[0038] Optionally, the method comprises simultaneously gripping, with the first jaw and the second jaw, two interconnected pieces of breast meat of the poultry carcass, and extracting the two interconnected pieces of breast meat from the poultry carcass while keeping the interconnection between the pieces of breast meat intact.

[0039] Optionally, the method comprises, prior to gripping the breast meat, removing a wishbone of the poultry carcass from the breast meat by a wishbone removal device.

[0040] Optionally, the method comprises making a preparatory cut with a small knife blade of the wishbone removal device to detach the breast meat from the wishbone.

[0041] Optionally, the making of the preliminary cut comprises: conveying the poultry carcass over the mandrel in a horizontal conveying direction past the wishbone removal device, with the keel of the poultry carcass aligned with a symmetry plane of the mandrel that is vertically oriented; moving a small knife blade in the conveying direction in synchronism with the mandrel and positioning the small knife blade such that the small knife blade extends in a plane that is transverse to the symmetry plane of the mandrel; and while moving in synchronism with the mandrel, inserting the small knife blade into the poultry carcass between the wishbone and the breast meat so as to detach the breast meat from the wishbone by moving the small knife blade in a cutting direction relative to the mandrel within the symmetry plane from a retracted state to an extended state.

[0042] Optionally, the method comprises: after making the preliminary cut, scraping the wishbone removal breast meat with a scraper blade of the wishbone removal device.

[0043] Optionally, the scraping comprises: moving the scraper blade in the conveying direction in synchronism with the mandrel and positioning the small knife blade such that the small knife blade extends in a plane that is transverse to the symmetry plane of the mandrel; and while moving in synchronism with the mandrel, scraping with the scraper blade over the wishbone by moving the scraper blade in a scraping direction within the symmetry plane from a retracted state to an extended state, wherein the scraper blade is tilted towards the scraping direction.

[0044] Optionally, the scraper blade comprises a scraper blade edge having a first recess and a second recess, and wherein the method comprises: when scraping, engaging a first arm portion and a second arm portion of the wishbone with the first recess and the second recess, respectively.

[0045] It will be understood that any of the aspects, features and options described herein can be combined. In particular, it will be understood that any of the aspects, features and options described with respect to the automated processing system equally apply to the method, and any of the aspects, features and options described with respect to the method equally apply to the automated processing system. BRIEF DESCRIPTION OF DRAWINGS

[0046] Embodiments of the present application will now be described in detail in the following detailed description with reference to the drawings, in which: Figure 1 An automated poultry processing system is schematically illustrated; Figures 2A to 2D A breast meat gripper of an automated poultry processing system is schematically illustrated; Figure 3 An example of a breast meat gripper is schematically illustrated; Figure 4A A wishbone removal device of an automated poultry processing system is schematically illustrated; Figure 4B An example of a doctor blade is shown; Figure 5 A transversal cutting device of an automatic poultry processing system is schematically shown; Figure 6 An example layout of an automatic poultry processing system is shown. DETAILED DESCRIPTION

[0047] Figure 1 An example of an automatic processing system 1 for extracting breast meat from poultry carcasses 2 is shown. The system 1 comprises a conveyor 3 for conveying a poultry carcass 2 on a mandrel 4. Here, the poultry carcass 2 is a front half of a poultry carcass, in particular a wingless and skinned front half of a poultry carcass. In the present example, the wishbone of the poultry carcass is removed from the breast meat. It will be understood that this particular pre-treatment of the poultry carcass is not essential and can be applied as desired.

[0048] In the present example, the conveyor 3 is shown to convey three poultry carcasses 2.1-2.3, but it will be understood that any number of poultry carcasses can be conveyed by the conveyor 3. In the present example, the poultry carcasses 2 are conveyed in a conveying direction indicated by the arrow, here in a horizontal plane. Here, the conveyor 3 is an overhead conveyor.

[0049] The mandrel 4 is inserted into the thorax of the poultry carcass 2 and supports the poultry carcass 4 during the conveying. The mandrel 4 is mounted at a proximal end to the conveyor 3 and extends in a longitudinal direction towards a free distal end. The mandrel 4 is configured to support the poultry carcass 2 with a cranio-caudal axis of the poultry carcass 2 aligned with the longitudinal direction of the mandrel 4. Here, the mandrel 4 is oriented such that its longitudinal direction is aligned with the conveying direction of the conveyor 3 and thus also the cranio-caudal axis of the poultry carcass 2 is aligned with the conveying direction of the conveyor 3. It will be understood that the cranio-caudal axis of the poultry axis of the poultry carcass extends through a head end and a tail end of the carcass 2. The thorax of the poultry carcass 2 is here oriented downwards. Further, in the present example, the cranial end, i.e. the head end, of the poultry carcass 2 is led first and the caudal end, i.e. the tail end, of the poultry carcass 2 is followed second.

[0050] The system 1 comprises a breast meat gripper 10. The breast meat gripper 10 is arranged to grip breast meat 20 of poultry carcasses 2 and to extract the breast meat from the poultry carcasses 2 when the poultry carcasses 2 are conveyed by a conveyor 3 in a conveying direction. Hence, here the breast meat gripper 10 is an in-line breast meat gripper. The breast meat gripper 10 comprises first jaws 11 and second jaws 12. In the present example, the breast meat gripper 10 comprises a plurality of first jaws and a plurality of second jaws, in particular three first jaws 11.1-11.3 and three second jaws 12.1-12.3. It will be understood that the system can comprise other numbers of first jaws 11 and second jaws 12. Each first jaw 11 cooperates with a respective one of the second jaws 12 to clamp breast meat 20 between the first jaw 11 and the second jaw 12.

[0051] In the present example, the first jaws 11 are fixedly mounted to a rotatable wheel 15 via first radial arms 13. The rotatable wheel 15 is rotatably driven about a rotation axis 16 which is oriented transverse to the conveying direction of the conveyor 3. The second jaws 12 are also rotatable about the rotation axis 16. In a rotation direction about the rotation axis 16, the first jaws 11 lead and the second jaws 12 trail. Here, the rotation direction is such that the first and second jaws at a position closest to the poultry carcasses 2 move in the conveying direction of the conveyor 3. The second jaws 12 are movable relative to the first jaws 11 to move from an open state to a closed state. In the open state, the first jaws 11 and the second jaws 12 are separated to receive breast meat 20 of a poultry carcass 2 between the first jaws 11 and the second jaws 12. In the closed state, the first jaws 11 and the second jaws 12 are closed together to clamp the received breast meat 20 between the first jaws 11 and the second jaws 12. The second jaws 12 are associated with second radial arms 14.

[0052] In the present example, a first pair of first jaw 11.1 and second jaw 12.1 and a second pair of first jaw 11.2 and second jaw 12.2 are shown in the closed state. A third pair of first jaw 11.3 and second jaw 12.3 is shown in the open state. In Figure 1 In the example of Fig. 2, the second pair of first jaw 11.2 and second jaw 12.2 is shown to grip breast meat 20 of a second poultry carcass 2.2. The first pair of first jaw 11.1 and second jaw 12.1 is shown to hold breast meat 20 of a first poultry carcass 2.1 which has been extracted from the first carcass 2.1. The third pair of first jaw 11.3 and second jaw 12.3 is shown to have placed the previously extracted breast meat 20 on the dedicated breast meat conveyor 8.

[0053] Figures 2A to 2DThe breast meat grabber 10 is shown in a corresponding orientation relative to the mandrel 4, which supports the poultry carcass 2 on the conveyor 3 in the conveying direction. In the present example, the breast meat has been stripped from the wishbone in a preceding step. As a result, the breast meat is more easily grabbed by the grabber 10. Figure 2A The first jaw 11.1 is shown guiding the second jaw 12.1 in rotation around the rotation axis 16. In the open state, the first jaw 11.1 moves substantially in front of the poultry carcass 2 in the conveying direction. The first jaw 11.1 is moved in front of the poultry carcass 2 to an engagement position, as depicted in Figure 2B The first jaw 11.1 is moved in front of the poultry carcass 2 to an engagement position, as depicted in Figure 2A The first jaw 11.1 is moved in front of the poultry carcass 2 to an engagement position, as depicted in Figure 2B The second jaw 12.1 is moved from the open state shown in

[0054] In the closed state shown in Figure 2B When the breast meat is grabbed between the first jaw 11.1 and the second jaw 12.1, the rotation of the first jaw 11.1 and the second jaw 12.1 around the rotation axis 16 can be temporarily paused in the closed state shown in

[0055] When the breast meat 20 is grabbed, the first jaw 11.1 and the second jaw 12.1 are moved jointly away from the poultry carcass 2. By accelerating the first jaw 11.1 and the second jaw 12.1 in rotation around the rotation axis 16, the first jaw 11.1 and the second jaw 12.1 are accelerated in particular from the engagement position shown in Figure 2B via the position shown in Figure 2C to the position shown in Figure 2D away from the carcass 2. As the first jaw 11.1 is accelerated, the other first jaws 11.2 and 11.3 fixed to the rotatable wheel 15 in the present example are also accelerated. Here, the second first jaw 11.2 is accelerated substantially in front of the subsequent carcass 2.2 in the conveying direction toFigure 2D The engagement position of the second first jaw 11.2 is shown in Fig. 10. Thus, as Figure 2D The orientation of the breast meat gripper 10 is shown in Fig. 11 substantially corresponds to the position as Figure 2B The orientation of the breast meat gripper 10 is shown in Fig. 11 substantially corresponds to the position as

[0056] Figure 3 A further example of a breast meat gripper 10 is shown. The breast meat gripper 10 comprises a first jaw 11 and a second jaw 12. In the present example, the breast meat gripper 10 comprises a plurality of first jaws and a plurality of second jaws, in particular three first jaws 11.1-11.3 and three second jaws 12.1-12.3. It will be understood that the system can comprise other numbers of first jaws 11 and second jaws 12. Each first jaw 11 cooperates with a respective one of the second jaws 12 to grip the breast meat 20 between the first jaw 11 and the second jaw 12. In the present example, the first jaw 11 is fixedly mounted to a rotatable wheel 15 via a first radial arm 13. The rotatable wheel 15 is rotatably driven about a rotation axis 16 which is oriented transversely to the conveying direction of the conveyor 3. The second jaw 12 is also rotatable about the rotation axis 16. In the present example, the second jaw 12 is attached to a second radial arm 14. The second radial arm 14 is pivotable relative to the wheel 15 about a pivot axis 17 (17.1, 17.2 and 17.3). Here, the pivot axis 17 is radially offset relative to the rotation axis 16. The radial arm 14 further has a cam 18 (18.1, 18.2 and 18.3) attached thereto. The cam 18 travels along a cam track 19. Here, the cam track 19 is stationary. The second radial arms 14.1, 14.2 and 14.3 can be biased. In the present example, the second radial arm 14 is biased against the cam track 19. Thus, here, the jaws 11 and 12 are biased to an open position. The jaws 11 and 12 are closed by the cam 18 pushing the jaws towards each other.

[0057] Figure 4A A keel bone removal device 30 of the automatic poultry processing system 1 is schematically shown, the keel bone removal device 30 being configured to remove the keel bone of the poultry carcass 2 from the breast meat. The keel bone removal device 30 can be arranged upstream of the breast meat gripper 10 relative to the conveying direction of the conveyor 3. The poultry carcass 2 is conveyed along the keel bone removal device 30 with the cranio-caudal axis being vertically oriented, in particular with the cranial end facing downwards and the caudal end facing upwards.

[0058] The wishbone removal apparatus 30 comprises a small knife blade 31 which is movably held by a small knife blade holder 32. The small knife blade 31 and the small knife blade holder 32 are movable in synchronization with the conveyor 3 in the conveying direction. For example, the small knife blade 31 and the small knife blade holder 32 can be arranged on the disc conveyor 7. When synchronized with the conveyor 3, the small knife blade 31 is movable from a retracted position to an extended position in order to penetrate the poultry carcass, in particular to make a cut along the wishbone. The small knife blade 31 is in particular moved along a linear path from the retracted position to the extended position. The path can be inclined with respect to the cranio-caudal axis of the carcass in order to follow the wishbone profile. Here, the small knife blade 31 is stabbed into the carcass 2 between the wishbone and the breast meat in order to detach the breast meat from the wishbone. The small knife blade 31 can be actuated by a cam and an associated cam track of the small knife disc conveyor 7, for example.

[0059] After the cut with the small knife blade 31, the poultry carcass 2 is subjected to an optional spatula blade 33 of the wishbone removal apparatus 30. The spatula blade 33 is movably held by a spatula blade holder 34. Like the small knife blade 31 and the small knife blade holder 31, the spatula blade 33 and the spatula blade holder 34 are moved in synchronization with the conveyor 3. For example, the spatula blade 33 and the spatula blade holder 34 can be arranged on a spatula disc conveyor 9, for example separate from or integrated with the small knife disc conveyor 7. When synchronized with the conveyor 3, the spatula blade 33 is movable from a retracted position to an extended position in order to scrape along the wishbone. The spatula blade 33 is in particular moved along a linear path from the retracted position to the extended position. The path can be inclined with respect to the cranio-caudal axis of the carcass in order to follow the wishbone profile. The spatula blade 33 is inclined with respect to the path of the spatula blade 33 in order to push the breast meat outwardly from the carcass 2. The spatula blade 33 can be actuated by a cam and an associated cam track of the spatula disc conveyor 9, for example. Figure 4B An example of a plan view of the spatula blade 33 is shown. In the present example, the spatula blade 33 has a cutout 35 which is shaped to accommodate the wishbone. The cutout 35 allows to scrape breast meat from around the wishbone.

[0060] Figure 5A transversal cutting device 40 is shown for transversally pre-cutting the poultry carcass 2 between the breast meat 20.2 of the carcass and the back meat portion 21.2 of the carcass. Here, the transversal cutting device comprises two transversal cutting knives 41 and 42 arranged on opposite lateral sides of the conveyor 3 for cutting along the respective flank of the poultry carcass that is transported parallel to the head-tail axis of the poultry carcass. The knives 41 and 42 are here rotating disc knives that can separate the breast meat from the back meat to facilitate the extraction of the breast meat at a later stage. It will be understood that the transversal cutting knives 41 and 42 are optional. The knives 41 and 42 can preferably be arranged upstream of the breast meat gripper 10 with respect to the conveying direction. The transversal cutting knives 41 and 42 can preferably be arranged upstream of the wishbone removal device 30 with respect to the conveying direction, but can also be arranged downstream of the wishbone removal device 30, e.g. between the wishbone removal device 30 and the breast meat gripper 10.

[0061] Figure 6 An example of a layout of the automated processing system 1 is schematically shown, which example comprises the wishbone removal device 30 and the breast meat gripper 10, wherein the conveyor 3 is configured to convey the poultry carcass along the wishbone removal device 30 and the breast meat gripper 10. In the present example, the wishbone removal device 30 comprises two disc conveyors 7 and 9, e.g. rotating drums, namely a knife disc conveyor 7 and a scraper disc conveyor 9.

[0062] The system 1 can optionally comprise a sensor, such as an X-ray sensor 51, for sensing whether the wishbone of the poultry carcass is broken. In case the wishbone is detected to be broken with the X-ray sensor, the wishbone can be completely removed from the poultry carcass by the wishbone remover 50 of the system 1. In addition, the system can refrain from actuating the wishbone removal device 30 for that particular poultry carcass. In addition, the system can refrain from actuating the wishbone gripper 10 for that particular poultry carcass. In case the wishbone is intact, the system 1 can refrain from removing the wishbone and leave the wishbone attached to the carcass. The wishbone can be removed from the breast meat with the breast meat removal device 30 and the breast meat can be extracted with the breast meat gripper 10 at a subsequent processing stage.

[0063] In this document, the application has been described in relation to particular examples thereof which are in connection with embodiments of the application. However, it will be evident that various modifications and changes can be made without departing from the essence of the application. For the purpose of clarity and a concise description features are described herein as part of the same or different embodiments, but it is contemplated that the application can be practiced with all or a combination of these features in different embodiments.

[0064] However, other modifications, changes and alternatives are also possible. The specification, drawings and examples should therefore be considered in a descriptive sense and not a restrictive sense.

[0065] For the purposes of clarity and brevity, features described herein are described as part of the same or different embodiments, however, it will be understood that the scope of the present application can include embodiments having combinations of all or part of the described features.

[0066] In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of elements or steps other than those listed in a claim. Further, the word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The mere fact that different features are recited in mutually different claims does not indicate that these different claims cannot be combined.

Claims

1. A poultry processing system for mechanically extracting breast meat from poultry carcasses, comprising: A conveyor for conveying the poultry carcass on a mandrel in a conveying direction; A breast meat gripper includes a first clamp and a second clamp, the first clamp and the second clamp being movable relative to each other between an open state and a closed state. The open state is for receiving the breast meat between the first clamp and the second clamp, and the closed state is for gripping the breast meat between the first clamp and the second clamp. The breast meat gripper is arranged to grip the breast meat between the first clamp and the second clamp when the poultry carcass is being conveyed in the conveying direction, and to extract the breast meat from the poultry carcass.

2. The system according to claim 1, wherein, In the open state, the gripper is configured to move the first clamp substantially in the conveying direction to an engagement position in front of the mandrel in order to engage the breast meat of the poultry carcass being conveyed on the mandrel with the first clamp, and is configured to move the second clamp substantially in the conveying direction toward the first clamp at a speed higher than the speed of the mandrel in order to grip the breast meat between the first clamp and the second clamp in the closed state.

3. The system according to claim 1 or claim 2, wherein, In the closed state, the gripper is configured to move the first and second clamps gripping the breast meat away from the spindle in order to extract the breast meat from the poultry carcass.

4. The system according to any one of the preceding claims, wherein, In the closed state, the gripper is configured to accelerate the first and second clamps together from a relatively low speed to a relatively high speed away from the spindle in order to extract the breast meat from the poultry carcass.

5. The system according to claim 4, wherein, The gripper in the closed state is configured to decelerate the first and second clamps together from the relatively high speed to the relatively low speed, and is configured to move from the closed state to the open state when at the relatively low speed, so as to release the extracted breast meat from the gripper's clamps.

6. The system according to any one of the preceding claims, wherein, Each of the first clamp and the second clamp is capable of moving along a corresponding predetermined loop path, particularly along a circular path.

7. The system according to any one of the preceding claims, wherein, In the closed state, the gripper is configured to cause the first clamp and the second clamp to move together along a portion of the loop path.

8. The system according to any one of the preceding claims, wherein, The first clamp and the second clamp are associated with a rotatable wheel having a rotation axis extending transversely to the conveying direction.

9. The system according to claim 8, wherein, The first clamp is rotatable about the axis of rotation with a first radius, and / or the second clamp is rotatable about the axis of rotation with a second radius and is movably arranged relative to the first clamp to move between the open state and the closed state.

10. The system according to claim 9, wherein, The first radius and the second radius are substantially equal.

11. The system according to claim 9 or claim 10, wherein, The first clamp and the second clamp are pivotally movable relative to each other about a pivot axis between the open state and the closed state.

12. The system according to any one of claims 8 to 11, wherein, The system is arranged to drive the rotatable wheel about the axis of rotation, the first clamp rotating together with the rotatable wheel, and is arranged to slow down the second clamp relative to the rotatable wheel when the rotatable wheel is driven about the axis of rotation, so as to move the second clamp away from the first clamp to the open state, and the system is arranged to advance the second clamp relative to the rotatable wheel, so as to move the second clamp toward the first clamp to the closed state.

13. The system according to any one of the preceding claims, wherein, In the closed state, the first and second clamps are configured to simultaneously grip two interconnected breast meat slices of the poultry carcass, and extract the two interconnected breast meat slices from the poultry carcass while keeping the interconnection between the breast meat slices intact.

14. The system according to any one of the preceding claims, comprising: A fork bone removal device for removing fork bones from the breast meat of a poultry carcass, wherein the fork bone removal device is arranged upstream of the breast meat gripper relative to the conveying direction.

15. The system according to claim 14, wherein, The conveying direction extends in a horizontal plane, and the mandrel includes a plane of symmetry for alignment with the keel of the poultry carcass when used in conveying the poultry carcass on the mandrel, wherein the system is arranged to convey the poultry carcass on the mandrel in a vertical direction along the plane of symmetry using the fork bone removal device, and wherein the fork bone removal device includes a blade that is movable synchronously with the mandrel in the horizontal conveying direction, and the blade is also movable in or parallel to the plane of symmetry to cut along the fork bone.

16. The system according to claim 15, wherein, The fork removal device includes a scraper blade capable of moving synchronously with the mandrel in the conveying direction, wherein the scraper blade is movable relative to the mandrel in or parallel to the plane of symmetry in order to scrape over the fork.

17. The system according to claim 16, wherein, The scraper blade includes a scraper cutting edge having a pair of slots configured to engage with the corresponding arm portion of the fork bone.

18. A method for mechanically extracting breast meat from poultry carcasses, comprising: The automated processing system as described in any one of the preceding claims The poultry carcass is conveyed on a mandrel in the conveying direction; When the poultry carcass is conveyed in the conveying direction, the breast meat is gripped between the first clamp and the second clamp by moving the first clamp and the second clamp of the automatic processing system relative to each other between an open state and a closed state, wherein, in the open state, the breast meat is received between the first clamp and the second clamp, and in the closed state, the breast meat is gripped between the first clamp and the second clamp. When the poultry carcass is conveyed in the conveying direction and when the breast meat is gripped between the first clamp and the second clamp, the breast meat is extracted from the poultry carcass by moving the first clamp and the second clamp together relative to the poultry carcass, particularly away from the poultry carcass.

19. The method of claim 18, comprising: In the open state, the first clamp is moved substantially in the conveying direction to an engagement position in front of the mandrel, and the breast meat of the poultry carcass being conveyed on the mandrel is engaged with the first clamp; And move the second clamp toward the first clamp at a speed higher than the spindle speed substantially in the transport direction so as to grip the breast meat between the first clamp and the second clamp in the closed state.

20. The method according to claim 18 or claim 19, comprising: The first and second clamps gripping the breast meat are moved away from the spindle to extract the breast meat from the poultry carcass.

21. The method according to any one of claims 18 to 20, comprising: Pause the first and second clamps gripping the breast meat, or move the first and second clamps gripping the breast meat at a speed slower than the speed of the spindle, in order to extract the breast meat from the poultry carcass.

22. The method according to any one of claims 18 to 21, comprising: In the closed state, the first and second clamps are accelerated together from a relatively low speed to a relatively high speed to move away from the mandrel in order to extract the breast meat from the poultry carcass.

23. The method of claim 22, comprising: In the closed state, the first and second clamps are decelerated together from the relatively high speed to the relatively low speed, and when at the relatively low speed, they move from the closed state to the open state in order to release the extracted breast meat from the clamps of the gripper.

24. The method according to any one of claims 18 to 23, comprising: Each of the first and second clamps is moved along a corresponding predetermined cyclic path, particularly along a circular path.

25. The method according to any one of claims 18 to 24, comprising: In the closed state, the first clamp and the second clamp move together along a portion of the circular path.

26. The method according to any one of claims 18 to 25, wherein, The first clamp and the second clamp are associated with a rotatable wheel of the gripper, the rotatable wheel having a rotation axis extending transversely to the conveying direction, wherein the method includes moving the first clamp and the second clamp by driving the wheel to rotate about the rotation axis.

27. The method of claim 26, comprising: The first clamp rotates about the axis of rotation by driving the wheel to rotate about the axis of rotation with a first radius, and / or includes: driving the wheel to rotate about the axis of rotation by driving the wheel to rotate about the axis of rotation with a second radius, and moving the second clamp relative to the first clamp between the open state and the closed state.

28. The method according to claim 27, wherein, The first radius and the second radius are substantially equal.

29. The method according to claim 27 or claim 28, comprising: The first clamp and the second clamp are pivotally moved relative to each other about a pivot axis between the open state and the closed state.

30. The method according to any one of claims 26 to 29, wherein, The second clamp is associated with a cam, and a cam track is provided to cooperate with the cam, wherein the method includes: moving the second clamp relative to the first clamp from the open state to the closed state by driving the wheel to rotate about the axis of rotation, and moving the second clamp relative to the first clamp from the closed state to the open state.

31. The method according to any one of claims 18 to 30, wherein, In the closed state, the first and second clamps are configured to simultaneously grip two interconnected breast meat slices of the poultry carcass, and extract the two interconnected breast meat slices from the poultry carcass while keeping the interconnection between the breast meat slices intact.

32. The method according to any one of claims 18 to 31, comprising: Before gripping the breast meat, the forked bones of the poultry carcass are removed from the breast meat using a forked bone removal device.

33. The method of claim 32, comprising: Preparatory cutting is performed using the blade of the fork bone removal device to remove the breast meat from the fork bone.

34. The method according to claim 33, wherein, The pre-cutting process includes: In the horizontal conveying direction, the poultry carcass is conveyed on the mandrel through the fork bone removal device, wherein the keel of the poultry carcass is aligned with the vertically oriented symmetrical plane of the mandrel; The blade is moved synchronously with the mandrel in the conveying direction, and the blade is positioned such that it extends in a plane transverse to the plane of symmetry of the mandrel; and When moving synchronously with the heart axis, the knife blade is inserted into the poultry carcass between the forked bone and the breast meat, so as to remove the breast meat from the forked bone by moving the knife blade from a retracted state to an extended state relative to the heart axis in the cutting direction within the plane of symmetry.

35. The method according to claim 33 or claim 34, comprising: After the preparatory cut is performed, the fork bone removal breast meat is scraped with the scraper blade of the fork bone removal device.

36. The method according to claim 35, wherein, The scraping includes: The scraper blade is moved synchronously with the mandrel in the conveying direction, and the small blade is positioned such that it extends in a plane transverse to the plane of symmetry of the mandrel; and When moving synchronously with the mandrel, the scraper blade is moved from a retracted state to an extended state relative to the mandrel in the scraping direction within the plane of symmetry, thereby scraping the forearm with the scraper blade, wherein the scraper blade is inclined in the scraping direction.

37. The method of claim 36, wherein, The scraper blade includes a scraper blade edge having a first slot and a second slot, and wherein the method includes: engaging a first arm portion and a second arm portion of the forked bone with the first slot and the second slot respectively when scraping.

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