Poultry processing system for mechanically extracting breast meat from a poultry carcass

Abstract

A poultry processing system and method for mechanically extracting breast meat from a poultry carcass (2), comprising a conveyor (3) for conveying the poultry carcass (2) on a mandrel (4) in a conveyance 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 for receiving the breast meat between the first and second jaw and a closed state for grasping the breast meat between the first and second jaw, wherein the breast meat grasper (10) is arranged to, while the poultry carcass (2) is being conveyed in the conveyance direction, grasp the breast meat between the first jaw (11) and the second jaw (12) and extract the breast meat from the poultry carcass (2).

Description

[0001] Title: Poultry processing system for mechanically extracting breast meat from a poultry carcass

[0002] FIELD

[0003] The invention generally relates to poultry processing systems and methods, particularly to poultry processing systems for harvesting breast meat as breast filets from poultry carcasses.

[0004] BACKGROUND

[0005] It is known to obtain breast fillets from poultry carcasses by conveying the poultry carcasses on mandrels through a breast meat extraction station. An example of a conventional breast meat extraction station is described in W02015065190, in which incisions are made along the keel bone of the carcass to detach a left and right breast fillet from the keel bone, and further to separate the left and right breast fillet from each other. The incisions further provide access for a breast fillet remover to enage the individual left and right fillets for extraction from the carcass.

[0006] SUMMARY

[0007] It is an object to propose an improved system and method of mechanically removing breast meat from a poultry carcass, particularly in an inline processing method or apparatus. It is also an object to provide a system and method for automatically extracting a left and right breast fillet from a poultry carcass, while the left and right breast fillets remain joined together. In a more general sense it is an object to overcome or ameliorate at least one of the disadvantages of the prior art, or at least provide alternative processes and structures that are more effective than the prior art and which can be provided and used relatively inexpensively. At any rate it is at the very least aimed to offering a useful choice and contribution to the existing art.

[0008] According to an aspect, a poultry processing system is provided for mechanically extracting breast meat from a poultry carcass. The system comprises a conveyor for conveying the poultry carcass on a mandrel in a conveyance direction. The system comprises a breast meat grasper comprising a first jaw and a second jaw, movable relative to each other between an open state for receiving the breast meat between the first and second jaw and a closed state for grasping the breast meat between the first and second jaw. The breast meat grasper is arranged to, while the poultry carcass is being conveyed in the conveyance direction, grasp the breast meat between the first jaw and the second jaw and extract the breast meat from the poultry carcass. The system may particularly be arranged to simultaneously grasp, with the breast meat grasper, a joined left and right breast fillet between the first jaw and the second jaw and extract the joined left and right breast fillets from the poultry carcass while the left and right breast fillets remain joined together. An extracted joined left and right breast fillet is sometimes referred to as a butterfly cut. The breast meat grasper may pull the breast meat off the poultry carcass, thereby effectively removing the breast meat with maximum yield.

[0009] Optionally, the grasper in the open state is configured to move the first jaw substantially in the conveyance direction to an engagement position ahead of the mandrel for engaging, with the first jaw, the breast meat, e.g. at a leading end, of the poultry carcass being conveyed on the mandrel. The grasper in the open state is further configured to move the second jaw substantially in the conveyance direction towards the first jaw at a higher velocity than the mandrel velocity for grasping the breast meat between the first jaw and the second jaw in the closed state. The first jaw may for example be moved in the conveyance direction ahead of the mandrel at a lower velocity than the mandrel velocity. The breast meat of the carcass, being conveyed at a higher velocity than the first jaw, may abut against the first jaw. While engaging the breast meat with the first jaw, the second jaw may be moved substantially in the conveyance direction, from an upstream position, towards the first jaw at a higher velocity than the conveyance velocity. The second jaw may accordingly catch-up with the first jaw. The breast meat may be clamped between the first jaw and the second jaw in the closed state.

[0010] Optionally, the grasper in the closed state is configured to move the first and second jaws grasping the breast meat and the mandrel away from each other for extracting the breast meat from the poultry carcass. While clamping the breast meat between the first jaw and the second jaw in the closed state, the first and second jaws can be moved together in a direction away from the poultry carcass, so as to pull-off the breast meat from the carcass, for example as joined left and right fillets. The first and second jaw may for example be jointly moved in a direction transverse to the conveyance direction. The first and second jaws grasping the breast meat may together move at a slower speed in the conveying direction than the mandrel velocity for extracting the breast meat from the poultry carcass. The first and second jaws grasping the breast meat may be halted for extracting the breast meat from the poultry carcass.

[0011] Optionally, the grasper in the closed state is configured to jointly accelerate the first jaw and the second jaw away from the mandrel, such as from a relatively low velocity to a relatively high velocity, for extracting the breast meat from the poultry carcass. The relative speed at which the first and second jaws are jointly moved away from the carcass may be increasing. This could improve the efficacy of the breast meat extraction. The grasper in the closed state may for example jointly accelerate the first jaw and the second jaw away from the mandrel from a velocity equal to the conveyance velocity of the conveyor to a velocity greater than the conveyance velocity. The grasper in the closed state may for example jointly move the first jaw and the second jaw from a zero initial velocity, with respect to a ground, to a greater velocity.

[0012] Optionally, the grasper in the closed state is configured to jointly decelerate the first jaw and the second jaw, such as from the relatively high velocity to the relatively low velocity, and to, when decelerated, such as while at the relatively low velocity, move from the closed state to the open state for releasing the extracted breast meat from the jaws of the grasper. The extracted breast meat may hence be controllably laid down on a dedicated conveyor for transporting the extracted breast meat away from the grasper, e.g. to a packaging station or a further processing station.

[0013] Optionally, each of the first jaw and the second jaw is movable along a respective predefined cyclic path, particularly a circular path. The cyclic path may for example be tangent to the conveyance path of the conveyor. It will be appreciated that at the tangent, the first jaw and the second jaw move substantially in the conveyance direction. The cyclic path for the first jaw may differ from the cyclic path of the second jaw. Alternatively, the first and second jaws are moved along the same cyclic path, e.g. a circular path. It will be appreciated that the velocity profile of the first jaw and the second jaw may vary along their associated cyclic paths.

[0014] Optionally, the grasper in the closed state is configured to jointly move the first jaw and the second jaw along a section of a cyclic path. Optionally, grasper in the open state is configured to separately move the first jaw and the second jaw along a section of a circular path, for example while moving from the open state the closed state and vice versa.

[0015] Optionally, the first jaw and the second jaw are associated with a rotatable wheel of the grasper having a rotation axis that extends transverse to the conveyance direction. Optionally, the first jaw and the second jaw are spring-biased to 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 being moved relative to the first jaw. Optionally, the rotatable wheel is drivable about the rotation axis at a variable angular velocity.

[0016] Optionally, the system is arranged to drive the rotatable wheel about the rotation axis, with the first jaw corotating with the rotatable wheel. Optionally, The system is arranged to, while driving the rotatable wheel about the rotation axis, retarding the second jaw relative to the rotatable wheel so as to move the second jaw away from the first jaw to the open state, and to advance 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 may be temporarily slowed down 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 and second jaw in the closed state.

[0017] Optionally, the rotatable wheel is driven at such angular velocity that the first jaw at the engagement position moves with a velocity component in the conveying direction that is lower than the mandrel velocity, such that the breast meat can engage the first jaw. The second jaw can be rotationally moved at such angular velocity that the second jaw moves with a velocity component in the conveying direction that is higher than the mandrel velocity for grasping the breast meat between the first jaw and the second jaw. Upon grasping the breast meat between the first and second jaws, the rotatable wheel can be driven at such angular velocity that the first and second jaws move with a velocity component in the conveying direction that is lower than the mandrel velocity for pulling the breast meat from the poultry carcass.

[0018] Optionally, the breast meat grasper comprises a plurality of first jaws and a plurality of second jaws. Each first jaw of the plurality of first jaws may be paired with a respective one 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 may be movable relative to any other second jaw. Hence, each second jaw may be independently movable relative to the rotatable wheel, and, e.g. its associated first jaw.

[0019] 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 to be moved between the open state and the closed state.

[0020] Optionally, the first radius and the second radius are substantially equal. Optionally, the first radius and the second radius differ from each other. For example, the first radius may be greater than the second radius, or vice versa.

[0021] Optionally, the first jaw and the second jaw are pivotally movable relative to each other between the open state and the closed state about a pivot axis. The pivot axis may coincide with the rotation axis. The pivot axis may also be at a radial distance from the rotation axis. The first jaw and the second jaw may be associated with respectively a first radial arm and a second radial arm that each extend generally radially outward from the pivot axis. The second jaw can be moved towards the first jaw, e.g. to transit from the open state to the closed state, by angularly displacing of the second radial arm relative to the first radial arm about the pivot axis.

[0022] 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 vice versa, by rotation of the wheel about the rotation axis.

[0023] Optionally, the first jaw and the second jaw in the closed state are configured to grasp two interconnected breast filets of the poultry carcass simultaneously and extract the two interconnected breast filets from the poultry carcass while leaving the interconnection between the breast filets intact. Hence, a so-called butterfly cut can be obtained. Optionally, the system comprises a wishbone clearing device for clearing a wishbone of the poultry carcass from the breast meat. The wishbone clearing device may be used in conjunction with the breast meat grasper as described herein. The wishbone clearing device may be arranged, with respect to the conveyance direction, upstream of the breast meat grasper. To facilitate the grasping with the breast meat grasper, as a preprocessing step, the breast meat may be detached from the wishbone. The wishbone clearing device, however, need not be used in used in conjunction with the breast meat grasper as described herein. It will be appreciated that the wishbone clearing device may be used with various other breast meat extractors. Hence, the wishbone clearing device as described herein may be considered as an independent aspect of the present disclosure.

[0024] Optionally, the conveyance direction extends in a horizontal plane, wherein the mandrel includes a plane of symmetry for, in use when conveying the poultry carcass thereon, being aligned with a keel bone of the poultry carcass, wherein the system is arranged for conveying the poultry carcass on the mandrel along the wishbone clearing device with the plane of symmetry in a vertical orientation, and wherein the wishbone clearing device comprises a knife blade which is movable in synchrony with the mandrel in the horizontal conveyance direction, and which is further movable in, or parallel to, the plane of symmetry for cutting along the wishbone. The mandrel may extend in a longitudinal direction from a proximal end, where the mandrel mounts to the conveyor, to a distal end. In use, the poultry carcass may be conveyed on the mandrel with the longitudinal direction aligned with a craniocaudal axis of the poultry carcass.

[0025] Optionally, the wishbone clearing device comprises a scraper blade movable in synchrony with mandrel in the conveyance direction, wherein the scraper blade is movable relative to the mandrel in or parallel to the plane of symmetry for scraping over the wishbone. The poultry carcass may first be cut with the knife blade, and subsequently be scraped with the scraper blade for effectively clearing the wishbone from the breast meat.

[0026] Optionally, the scraper blade comprises a scraper edge having a cutout, such as pair of slots. The cutout may be configured for scraping around respective arms of the wishbone. The cutout may be symmetric. The meat attached to the wishbone may have already been cut by the knife blade, and, hence, the cutout may be configured such that the scraper blade does not engage the wishbone while scraping. The cutout may be hence be configured such that the scraper edge remains spaced apart from the wishbone while scraping. This may reduce the risk of fracturing the wishbone with the scraper blade and introducing bone fragments into the breast meat. Particularly when breast meat has already been detached from the wishbone by the knife blade, the scraper blade may refrain from engaging the wishbone while scraping. The cutout may alternatively be configured such that the scraper edge does engage the wishbone at the cutout, for scraping therewith over the wishbone. Hence, the arms of the wishbone may be engagingly accommodated by the cutout while scraping over the wishbone. This may increase yield of breast meat. It may also be beneficial, for example, in case the knife blade is omitted from the system.

[0027] Optionally, the system comprises a sensor, particularly an image sensor such as an X-ray sensor, for sensing a wishbone fracture of the poultry carcass wishbone. Optionally, the system comprises a wishbone remover configured for removing the wishbone from the poultry carcass in case a wishbone fracture is sensed for the poultry carcass wishbone. In case no wishbone fracture is sensed, the wishbone may be intact. In that case, the wishbone remover need not be activated, and the wishbone can remain. Optionally, the system is arranged to refrain from activating the wishbone clearing device in case a wishbone fracture has been sensed for the poultry carcass. Optionally, the system is arranged to refrain from extracting the breast meat from the poultry carcass with the breast meat grasper in case a wishbone fracture has been sensed for the poultry carcass. Hence, the system may refrain from clearing the wishbone from breast meat with the wishbone clearing device in case a wishbone fracture has been sensed. A fractured wishbone may increase the risk of bone fragments present in extracted poultry meat, particularly when using a wishbone clearing device. It may therefore be desired to refrain from clearing the wishbone from breast meat and / or extracting the breast meat and / or remove the wishbone entirely.

[0028] Optionally, the system comprises a lateral cutting knife for making a preparatory cut laterally of the poultry carcass between the breast meat and a back meat portion of the carcass, the lateral cutting knife being arranged, with respect to the conveyance direction, upstream of the breast meat grabbing device. The lateral cutting knife may be arranged, with respect to the conveyance direction, upstream or downstream of the wishbone clearing device.

[0029] According to an aspect, a method for mechanically extracting breast meat from a poultry carcass is provided. The method comprises by an automatic processing system, for example as described herein, conveying the poultry carcass on a mandrel in a conveyance direction; grasping, while conveying the poultry carcass in the conveyance direction, the breast between a first jaw and a second jaw of the automatic processing system, by moving the first jaw and the second jaw relative to each other from an open state in which the breast meat is received between the first and second jaw and a closed state in which the breast meat is grasped between the first jaw and the second jaw; extracting, while conveying the poultry carcass in the conveyance direction and while grasping the breast meat between the first jaw and the second jaw, the breast meat from the poultry carcass by jointly moving the first and second jaw relative to the poultry carcass, particularly away from the poultry carcass. Optionally, the method comprises in the open state moving the first jaw substantially in the conveyance direction to an engagement position ahead of the mandrel 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 conveyance direction towards the first jaw at a higher velocity than the mandrel velocity so as to grasp the breast meat between the first jaw and the second jaw in the closed state. The first jaw may for example be moved in the conveyance direction ahead of the mandrel at a lower velocity than the mandrel velocity. The breast meat of the carcass, being conveyed at a higher velocity than the first jaw, may abut against the first jaw.

[0030] Optionally, the method comprises moving the first and second jaws and the mandrel away from each other for extracting the breast meat from the poultry carcass.

[0031] Optionally, the method comprises in the closed state jointly accelerating the first jaw and the second jaw away from the mandrel from a relatively low velocity to a relatively high velocity for extracting the breast meat from the poultry carcass.

[0032] Optionally, the method comprises in the closed state jointly decelerating the first jaw and the second jaw from the relatively high velocity to the relatively low velocity, and, while at the relatively low velocity, moving from the closed state to the open state for releasing the extracted breast meat from the jaws of the grasper.

[0033] Optionally, the method comprises moving each of the first jaw and the second jaw along a respective predefined cyclic path, particularly along a circular path.

[0034] Optionally, the method comprises in the closed state jointly moving the first jaw and the second jaw along a section of a circular path.

[0035] Optionally, the method comprises the first jaw and the second jaw being associated with a rotatable wheel of the grasper having a rotation axis that extends transverse to the conveyance direction, wherein the method includes by driving the wheel in rotation about the rotation axis moving the first jaw and the second jaw.

[0036] Optionally, the method comprises by driving the wheel in rotation about the rotation axis, rotating the first jaw about the rotation axis at a first radius, and / or comprising, by driving the wheel in rotation about the rotation axis, rotating the second jaw about the rotation axis at a second radius and moving the second jaw relative to the first jaw between the open state and the closed state.

[0037] Optionally, the first radius and the second radius are substantially equal.

[0038] Optionally, the method comprises pivotally moving the first jaw and the second jaw relative to each other between the open state and the closed state about a pivot axis. The pivot axis may coincide with the rotation axis. The pivot axis may also be at a distance from the rotation axis.

[0039] Optionally, the method comprises the second jaw being associated with a cam and a cam track being provided for cooperating with the cam, wherein method comprises, by driving the wheel in rotation about the rotation axis, moving the second jaw relative to the first jaw, from the open state to the closed state and vice versa.

[0040] Optionally, the method comprises with the first jaw and the second jaw grasping two interconnected breast filets of the poultry carcass simultaneously and extracting the two interconnected breast filets from the poultry carcass while leaving the interconnection between the breast filets intact.

[0041] Optionally, the method comprises, prior to grasping the breast meat, clearing a wishbone of the poultry carcass from the breast meat by a wishbone clearing device. Optionally, the method comprises making a preparatory cut with a knife blade of the wishbone clearing device to detach the breast meat from the wishbone.

[0042] Optionally, the making of the preparatory cut includes conveying the poultry carcass on the mandrel, with a keel bone of the poultry carcass aligned with a vertically oriented symmetry plane of the mandrel, in a horizontal conveyance direction past the wishbone clearing device, moving a knife blade in the conveyance direction in synchrony with the mandrel, and positioning the knife blade such that the knife blade extends in a plane transverse to the symmetry plane of the mandrel; and while moving in synchrony with the mandrel, inserting the knife blade in the poultry carcass between the wishbone and the breast meat for detaching the breast meat from the wishbone by moving the knife blade relative to the mandrel in a cut direction within the symmetry plane from a retracted state to an extended state.

[0043] Optionally, the method comprises after making the preparatory cut, scraping the wishbone clear of breast meat with a scraper blade of the wishbone clearing device.

[0044] Optionally, the scraping includes: moving the scraper blade in the conveyance direction in synchrony with the mandrel, and positioning the knife blade such that the knife blade extends in a plane transverse to the symmetry plane of the mandrel; and while moving in synchrony with the mandrel, scraping with the scraper blade over the wishbone by moving the scraper blade relative to the mandrel in a scraper direction within the symmetry plane from a retracted state to an extended state with the scraper blade being inclined to the scrape direction.

[0045] Optionally, the scraper blade comprises a scraper edge with a first indentation and a second indentation, and wherein the method includes, while scraping, engaging a first arm and a second arm of the wishbone with respectively the first indentation and the second indentation. It will be appreciated that any of the aspects, features and options described herein can be combined. It will particularly be appreciated that any of the aspects, features and options described in view of the automatic processing system apply equally to the method , and vice versa.

[0046] BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings in which:

[0048] Figure 1 schematically shows an automatic poultry processing system;

[0049] Figures 2A-2D schematically shows a breast meat grasper of the automatic poultry processing system;

[0050] Figure 3 schematically shows an example of a breast meat grasper;

[0051] Figure 4A schematically shows a wishbone clearing device of the automatic poultry processing system;

[0052] Figure 4B shows an example of a scraper blade;

[0053] Figure 5 schematically shows a laterally cutting device of the automatic poultry processing system;

[0054] Figure 6 shows an exemplary layout of the automatic poultry processing system.

[0055] DETAILED DESCRIPTION

[0056] Figure 1 shows an example of an automatic processing system 1 for extracting breast meat from a poultry carcass 2. The system 1 comprises a conveyor 3 for conveying the poultry carcass 2 on a mandrel 4. Here the poultry carcass 2 is a poultry carcass front half, particularly a wingless and deskinned poultry carcass front half. In this example, a wishbone of the poultry carcass is cleared from breast meat. It will be appreciated that such particular preprocessing of the poultry carcass is not required and may be applied as desired. The conveyor 3 in this example is shown to convey three poultry carcass 2.1-2.3, but it will be appreciated that any number poultry carcasses can be conveyed by the conveyor 3. The poultry carcass 2 is in this example conveyed in a conveyance direction indicated by the arrow, here being in horizontal plane. Here, the conveyor 3 is an overhead conveyor.

[0057] The mandrel 4 is inserted into a breast cavity of the poultry carcass 2, and supports the poultry carcass 4 during conveyance. The mandrel 4 mounts to the conveyor 3 at a proximal end and extends in longitudinal direction to a free distal end. The mandrel 4 is configured for supporting the poultry carcass 2 with a craniocaudal 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, and hence, also the craniocaudal axis of the poultry carcass 2, is aligned with the conveyance direction of the conveyor 3. It will be appreciated that the craniocaudal axis of a poultry axis of the poultry carcass extends through a head end and a tail end of the carcass 2. A breast of the poultry carcass 2 is here oriented downward. Also, in this example, the cranial end, i.e. the head end, of the poultry carcass 2 is leading and the caudal end, i.e. the tail end, of the poultry carcass 2 is trailing.

[0058] The system 1 comprises a breast meat grasper 10. The breast meat grasper 10 is arranged for grasping breast meat 20 of the poultry carcass 2, and extract the breast meat from the poultry carcass 2, while the poultry carcass 2 is being conveyed in the conveyance direction by the conveyor 3. Hence, here, the breast meat grasper 10 is an in-line breast meat grasper. The breast meat grasper 10 comprising a first jaw 11 and a second jaw 12. In this example, the breast meat grasper 10 comprises a plurality of first jaws and second jaws, particularly three first jaws 11.1-11.3 and three second jaws 12.1-12.3. It will be appreciated that the system may comprises other numbers of first jaws 11 and second jaws 12. Each first jaw 11 cooperates with a respective one second jaw 12 of the second jaws to clamp breast meat 20 therebetween.

[0059] In this 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 directed transverse to the conveyance direction of the conveyor 3. The second jaw 12 is also rotatable about the rotation axis 16. In the rotation direction about the rotation axis 16, the first jaw 11 leads and the second jaw 12 trails. Here the rotation direction is such that the first and second jaws at the location closest to the poultry carcasses 2 move in the conveyance direction of the conveyor 3. The second jaw 12 is movable relative to the first jaw 11 to move from an open state to closed state. In the open state, the first jaw 11 and the second jaw 12 are apart to receive breast meat 20 of the poultry carcass 2 therebetween. In the closed state, the first jaw 11 and the second jaw 12 are close together to clamp the received breast meat 20 between the first jaw 11 and the second jaw 12. The second jaw 12 is associated with a second radial arm 14.

[0060] In this example, a first pair of first and second jaws 11.1,12.1 and a second pair of first and second jaws 11.2.12.2 are shown in the closed state. A third pair of first and second jaws 11.3.12.3 is shown in the open state. In the example of figure 1, the second pair of first and second jaws 11.2,12.2 is shown to grasp the breast meat 20 of the second poultry carcass 2.2. The first pair of first and second jaws 11.1,12.1 is shown to hold breast meat 20 of the first poultry carcass 2.1, having been extracted from the first carcass 2.1. The third pair of first and second jaws 11.3,12.3 is shown to have deposited a previously extracted breast meat 20 on a dedicated breast meat conveyor 8.

[0061] Figures 2A-2D show respective orientations of the breast meat grasper 10 relative to a mandrel 4 supporting a poultry carcass 2 thereon conveyed by the conveyor 3 in the conveyance direction. In this example, the breast meat has already been pealed away from the wishbone in a preceding step. Thereby, the breast meat is easier to grab by the grasper 10. Figure 2A shows the first jaw 11.1 to lead the second jaw 12.1 in rotation about the rotation axis 16. In the open state, the first jaw 11.1 is moved substantially in the conveyance direction ahead of the poultry carcass 2. The first jaw 11.1 is moved ahead of the poultry carcass 2 to an engagement position, depicted in figure 2B. The first jaw 11.1 is particularly moved a at a lower velocity in the conveyance direction, compared to the carcass 2, to enable the first jaw 11.1 to engage a leading side of carcass 2 in the engagement position. The breast meat catches up with the first jaw 11.1 and abuts against the first jaw 11.1. From the open state shown in figure 2A, the second jaw 12.1 is moved to the closed state shown in figure 2B, substantially in the conveyance direction of the conveyor 3. The second jaw 12.1 is moved at a higher angular speed about the rotation axis 16, compared to the first jaw 11.1, towards the first jaw 11.1. The first jaw 11.1 and the second jaw 12.1 may for example be spring-biased in the closed state by a spring, wherein the motion of the second jaw 12.1 relative to the first jaw is powered by a preloading of the spring.

[0062] In the closed state shown in figure 2B, while grasping the breast meat between the first jaw 11.1 and the second jaw 12.1, rotation of the first 11.1 and the second jaw 12.1 about the rotation axis 16 may be paused temporarily. Hence, the breast meat 20 may be partly pulled off the poultry carcass by continuing the conveyance of the poultry carcass 2 with the conveyor 3 in the conveyance direction. Also, while the first jaw 11.1 and the second jaw 12.1 grasp breast meat 20, another first jaw 11.3 and second jaw 12.3 are moved to the open state to release a previously extracted breast fillet in a controllable manner on a dedicated breast meat conveyor conveyor.

[0063] While grasping the breast meat 20, the first jaw 11.1 and the second jaw 12.1 are jointly moved away from the poultry carcass 2. The first jaw 11.1 and the second jaw 12.1 are particularly accelerated away from the carcass 2, by accelerating the first jaw 11.1 and the second jaw 12.1 in rotation about the rotation axis 16, from the engagement position shown in figure 2B, via the position shown in figure 2C, to the position shown in figure 2D. As the first jaw 11.1 is accelerated, the other first jaws 11.2, 11.3, being in this example fixed to the rotatable wheel 15, are also accelerated. Here, the second first jaw 11.2 is accelerated substantially in the conveyance direction ahead of a subsequent carcass 2.2, to the engagement position of the second first jaw 11.2 shown in figure 2D. Hence, the orientation of the breast meat grasper 10 as shown in figure 2D essentially corresponds to the position as shown in figure 2B.

[0064] Figure 3 shows another example of a breast meat grasper 10. The breast meat grasper 10 comprises a first jaw 11 and a second jaw 12. In this example, the breast meat grasper 10 comprises a plurality of first jaws and second jaws, particularly three first jaws 11.1-11.3 and three second jaws 12.1-12.3. It will be appreciated that the system may comprises other numbers of first jaws 11 and second jaws 12. Each first jaw 11 cooperates with a respective one second jaw 12 of the second jaws to clamp breast meat 20 therebetween. In this 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 directed transverse to the conveyance direction of the conveyor 3. The second jaw 12 is also rotatable about the rotation axis 16. In this 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, 17.3). Here, the pivot axis 17 is radially offset relative to the rotation axis 16. The radial arm 14 further has attached thereto a cam wheel 18 (18.1, 18.2, 18.3). The cam wheel 18 runs along a cam track 19. Here the cam track 19 is stationary. The second radial arms 14.1, 14.2, 14.3 can be biased. In this example, the second radial arms 14 are biased against the cam track 19. Hence, here the jaws 11, 12 are biased to the open position. The jaws 11, 12 are closed by the cam wheel 18 pushing the jaws towards each other.

[0065] Figure 4A schematically shows a wishbone clearing device 30 of the automatic poultry processing system 1, configured for clearing a wishbone of the poultry carcass 2 from breast meat. The wishbone clearing device 30 may be provided upstream of the breast meat grasper 10, with respect to the conveyance direction of the conveyor 3. The poultry carcass 2 is conveyed along the wishbone clearing device 30, with the craniocaudal axis vertically oriented, particularly with the cranial end facing downward and the caudal end facing upward.

[0066] The wishbone clearing device 30 includes a knife blade 31, which knife blade 31 is movably held by a knife blade holder 32. The knife blade 31 and knife blade holder 32 are movable in synchrony with the conveyor 3 in the conveyance direction. The knife blade 31 and knife blade holder 32 may for example be provided on a carrousel 7. While synchronized with the conveyor 3, the knife blade 31 is movable from a retracted position to an extended position for penetrating the poultry carcass, particularly to cut along the wishbone. The knife blade 31 is particularly moved from the retracted position to the extended position along a, e.g. linear, path. The path an be at an incline with respect to the craniocaudal axis of the carcass to follow the wishbone contour. The knife blade 31, here stabs the carcass 2 between the wishbone and the breast meat, to detach the breast meat from the wishbone. The knife blade 31 may be actuated by means of a cam and associated cam track, e.g. of a knife carousel 7.

[0067] After having provided the cut with the knife blade 31, the poultry carcass 2 is subjected to an optional scraper blade 33 of the wishbone clearing device 30. The scraper blade 33 is movably held by a scraper blade holder 34. Like the knife blade 31 and knife blade holder 31, the scraper blade 33 and scraper blade holder 34 are moved in synchrony with the conveyor 3. The scraper blade 33 and scraper blade holder 34 may for example be provided on a scraper carrousel 9, e.g. separate from the knife carousel 7 or integrated with the knife carousel 7. While synchronized with the conveyor 3, the scraper blade 33 is movable from a retracted position to an extended position for scraping along the wishbone. The scraper blade 33 is particularly moved from the retracted position to the extended position along a, e.g. linear, path. The path can be at an incline with respect to the craniocaudal axis of the carcass to follow the wishbone contour. The scraper blade 3 is inclined with respect to the path of the scraper blade 3 to push breast meat outward from the carcass 2. The scraper blade 33 may be actuated by means of a cam and associated cam track, e.g. of the scraper carousel 9. Figure 4B shows an example of a plan view of a scraper blade 33. In this example, the scraper blade 33 has cutouts 35 shaped to accommodate the wishbone. The cutouts 35 allow to scrape the breast meat away from around the wishbone.

[0068] Figure 5 shows a lateral cutting device 40, for making a preparatory cut laterally of the poultry carcass 2 between the breast meat 20.2 of the carcass and a back meat portion 21.2 of the carcass. Here, the lateral cutting device comprises two lateral cutting knives 41, 42, arranged on opposing lateral sides of the conveyor 3, for cutting along a respective flank of the poultry carcass conveyed along parallel to the craniocaudal axis of the poultry carcass. The knives 41, 42, here rotating disc knives, can separate breast meat from back meat to facilitate extraction of the breast meat at a later stage. It will be appreciated that the lateral cutting knives 41, 42 are optional. The knives 41, 42 can preferably be arranged, with respect to the conveyance direction, upstream of the breast meat grasper 10. The lateral cutting knives 41, 42 may preferably be arranged, with respect to the conveyance direction, upstream of the wishbone clearing device 30, but they can also be provided downstream thereof, e.g. between the wishbone clearing device 30 and te the breast meat grasper 10. Figure 6 schematically shows an example of a layout of the automatic processing system 1, including the wishbone clearing device 30 and the breast meat grasper 10, wherein the conveyor 3 is configured for conveying poultry carcasses along the wishbone clearing device 30 and the breast meat grasper 10. The wishbone clearing device 30 in this example includes two carousels 7, 9, e.g. rotating drums, namely a knife carousel 7 and a scraper carousel 9.

[0069] The system 1 may optionally comprise a sensor, such as an X-ray sensor 51, for sensing whether or not the wishbone of the poultry carcass is fractured. In case a wishbone fracture is detected with the X-ray sensor, the wishbone may be removed from the poultry carcass entirely by a wishbone remover 50 of the system 1. Also, the system may refrain from activating the wishbone clearing device 30 for that particular poultry carcass. Also, the system may refrain from activating the wishbone grasper 10 for that particular poultry carcass. In case the wishbone is intact, the system 1 may refrain from removing the wishbone and leave the wishbone attached to the carcass. The wishbone can be cleared from breast meat with the breast meat clearing device 30 and breast meat can be extracted with the breast meat grasper 10 at later processing stages.

[0070] Herein, the invention is described with reference to specific examples of embodiments of the invention. It will, however, be evident that various modifications and changes may be made therein, without departing from the essence of the invention. For the purpose of clarity and a concise description features are described herein as part of the same or separate embodiments, however, alternative embodiments having combinations of all or some of the features described in these separate embodiments are also envisaged.

[0071] However, other modifications, variations, and alternatives are also possible. The specifications, drawings and examples are, accordingly, to be regarded in an illustrative sense rather than in a restrictive sense. For the purpose of clarity and a concise description features are described herein as part of the same or separate embodiments, however, it will be appreciated that the scope of the invention may include embodiments having combinations of all or some of the features described. 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 other features or steps than those listed in a claim. Furthermore, the words ‘a’ and ‘an’ shall not be construed as limited to ‘only one’, but instead are used to mean ‘at least one’, and do not exclude a plurality. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to an advantage.

Claims

Claims1. Poultry processing system for mechanically extracting breast meat from a poultry carcass, comprising a conveyor for conveying the poultry carcass on a mandrel in a conveyance direction; a breast meat grasper comprising a first jaw and a second jaw movable relative to each other between an open state for receiving the breast meat between the first and second jaw and a closed state for grasping the breast meat between the first and second jaw, wherein the breast meat grasper is arranged to, while the poultry carcass is being conveyed in the conveyance direction, grasp the breast meat between the first jaw and the second jaw and extract the breast meat from the poultry carcass.

2. System of claim 1, wherein the grasper in the open state is configured to move the first jaw substantially in the conveyance direction to an engagement position ahead of the mandrel for engaging, with the first jaw, the breast meat of the poultry carcass being conveyed on the mandrel, and to move the second jaw substantially in the conveyance direction towards the first jaw at a higher velocity than the mandrel velocity for grasping the breast meat between the first jaw and the second jaw in the closed state.

3. System of claim 1 or 2, wherein the grasper in the closed state is configured to move the first jaw and the second jaw grasping the breast meat and the mandrel away from each other for extracting the breast meat from the poultry carcass.

4. System of any preceding claim, wherein the grasper in the closed state is configured to jointly accelerate the first jaw and the second jaw away from the mandrel from a relatively low velocity to a relatively high velocity for extracting the breast meat from the poultry carcass.

5. System of claim 4, wherein the grasper in the closed state is configured to jointly decelerate the first jaw and the second jaw from the relatively high velocity to the relatively low velocity, and to, while at the relatively low velocity, move from the closed state to the open state for releasing the extracted breast meat from the jaws of the grasper.

6. System of any preceding claim, wherein each of the first jaw and the second jaw is movable along a respective predefined cyclic path, particularly a circular path.

7. System of any preceding claim, wherein the grasper in the closed state is configured to jointly move the first jaw and the second jaw along a section of a cyclic path.

8. System of any preceding claim, wherein the first jaw and the second jaw are associated with a rotatable wheel having a rotation axis that extends transverse to the conveyance direction.

9. System of claim 8, wherein the first jaw is rotatable about the rotation axis at a first radius, and / or wherein the second jaw is rotatable about the rotation axis at a second radius and movably arranged relative to the first jaw so as to move between the open state and the closed state.

10. System of claim 9, wherein the first radius and the second radius are substantially equal.

11. System of claim 9 or 10, wherein the first jaw and the second jaw are pivotally movable relative to each other between the open state and the closed state about a pivot axis.

12. System of any of claims 8-11, wherein the system is arranged to drive the rotatable wheel about the rotation axis, with the first jaw corotating with the rotatable wheel, and, while driving the rotatable wheel about the rotation axis, retarding the second jaw relative to the rotatable wheel so as to move the second jaw away from the first jaw to the open state, and to advance the second jaw relative to the rotatable wheel so as to move the second jaw towards the first jaw to the closed state.

13. System of any preceding claim, wherein the first jaw and the second jaw in the closed state are configured to grasp two interconnected breast filets of the poultry carcass simultaneously and extract the two interconnected breast filets from the poultry carcass while leaving the interconnection between the breast filets intact.

14. System of any preceding claim, comprising a wishbone clearing device for clearing a wishbone of the poultry carcass from the breast meat, the wishbone clearing device being arranged, with respect to the conveyance direction, upstream of the breast meat grabbing device.

15. System of claim 14, wherein the conveyance direction extends in a horizontal plane, and the mandrel includes a plane of symmetry for, in use when conveying the poultry carcass thereon, being aligned with a keel bone of the poultry carcass, wherein the system is arranged for conveying the poultry carcass on the mandrel along the wishbone clearing device with the plane of symmetry in a vertical orientation, and wherein the wishboneclearing device comprises a knife blade which is movable in synchrony with the mandrel in the horizontal conveyance direction, and which is further movable in or parallel to the plane of symmetry for cutting along the wishbone.

16. System of claim 15, wherein the wishbone clearing device comprises a scraper blade movable in synchrony with mandrel in the conveyance direction, wherein the scraper blade is movable relative to the mandrel in or parallel to the plane of symmetry for scraping over the wishbone.

17. System of claim 16, wherein the scraper blade comprises a scraper edge having a pair of slots so configured to engage respective limbs of the wishbone therewith.

18. Method for mechanically extracting breast meat from a poultry carcass, comprising, by an automatic processing system such as according to any preceding claim, conveying the poultry carcass on a mandrel in a conveyance direction; grasping, while conveying the poultry carcass in the conveyance direction, the breast meat between a first jaw and a second jaw of the automatic processing system, by moving the first jaw and the second jaw relative to each other from an open state in which the breast meat is received between the first and second jaw and a closed state in which the breast meat is grasped between the first jaw and the second jaw; extracting, while conveying the poultry carcass in the conveyance direction and while grasping the breast meat between the first jaw and the second jaw, the breast meat from the poultry carcass by jointly moving thefirst and second jaw relative to the poultry carcass, particularly away from the poultry carcass.

19. Method of claim 18, comprising in the open state moving the first jaw substantially in the conveyance direction to an engagement position ahead of the mandrel and engaging the breast meat of the poultry carcass being conveyed on the mandrel against the first jaw, and moving the second jaw substantially in the conveyance direction towards the first jaw at a higher velocity than the mandrel velocity so as to grasp the breast meat between the first jaw and the second jaw in the closed state.

20. Method of claim 18 or 19, comprising moving the first second jaws grasping the breast meat and the mandrel away from each other for extracting the breast meat from the poultry carcass.

21. Method of any of claims 18-20, comprising halting the first and second jaws grasping the breast meat, or moving the first and second jaws grasping the breast meat at a slower speed than the mandrel velocity for extracting the breast meat from the poultry carcass.

22. Method of any of claims 18-21, comprising in the closed state jointly accelerating the first jaw and the second jaw away from the mandrel from a relatively low velocity to a relatively high velocity for extracting the breast meat from the poultry carcass.

23. Method of claim 22, comprising in the closed state jointly decelerating the first jaw and the second jaw from the relatively high velocity to the relatively low velocity, and, while at the relatively low velocity, moving from the closed state to the open state for releasing the extracted breast meat from the jaws of the grasper.

24. Method of any of claims 18-23, comprising moving each of the first jaw and the second jaw along a respective predefined cyclic path, particularly along a circular path.

25. Method of any of claims 18-24, comprising in the closed state jointly moving the first jaw and the second jaw along a section of a circular path.

26. Method of any of claims 18-25, wherein the first jaw and the second jaw are associated with a rotatable wheel of the grasper having a rotation axis that extends transverse to the conveyance direction, wherein the method includes by driving the wheel in rotation about the rotation axis moving the first jaw and the second jaw.

27. Method of claim 26, comprising, by driving the wheel in rotation about the rotation axis, rotating the first jaw about the rotation axis at a first radius, and / or comprising, by driving the wheel in rotation about the rotation axis, rotating the second jaw about the rotation axis at a second radius and moving the second jaw relative to the first jaw between the open state and the closed state.

28. Method of claim 27, wherein the first radius and the second radius are substantially equal.

29. Method of claim 27 or 28, comprising pivotally moving the first jaw and the second jaw relative to each other between the open state and the closed state about a pivot axis.

30. Method of any of claims 26-29, wherein the second jaw is associated with a cam and wherein a cam track is provided for cooperating with the cam, wherein method comprises, by driving the wheel in rotation about the rotation axis, moving the second jaw relative to the first jaw, from the open state to the closed state and vice versa.

31. Method of any of claims 18-30, wherein the first jaw and the second jaw in the closed state are configured to grasp two interconnected breast filets of the poultry carcass simultaneously and extract the two interconnected breast filets from the poultry carcass while leaving the interconnection between the breast filets intact.

32. Method of any of claims 18-31, comprising, prior to grasping the breast meat, clearing a wishbone of the poultry carcass from the breast meat by a wishbone clearing device.

33. Method of claim 32, comprising making a preparatory cut with a knife blade of the wishbone clearing device to detach the breast meat from the wishbone.

34. Method of claim 33, wherein the making of the preparatory cut includes conveying the poultry carcass on the mandrel, with a keel bone of the poultry carcass aligned with a vertically oriented symmetry plane of the mandrel, in a horizontal conveyance direction past the wishbone clearing device, moving a knife blade in the conveyance direction in synchrony with the mandrel, and positioning the knife blade such that the knife blade extends in a plane transverse to the symmetry plane of the mandrel; andwhile moving in synchrony with the mandrel, inserting the knife blade in the poultry carcass between the wishbone and the breast meat for detaching the breast meat from the wishbone by moving the knife blade relative to the mandrel in a cut direction within the symmetry plane from a retracted state to an extended state.

35. Method of claim 33 or 34, comprising after making the preparatory cut, scraping the wishbone clear of breast meat with a scraper blade of the wishbone clearing device.

36. Method of claim 35, wherein the scraping includes: moving the scraper blade in the conveyance direction in synchrony with the mandrel, and positioning the knife blade such that the knife blade extends in a plane transverse to the symmetry plane of the mandrel; and while moving in synchrony with the mandrel, scraping with the scraper blade over the wishbone by moving the scraper blade relative to the mandrel in a scraper direction within the symmetry plane from a retracted state to an extended state with the scraper blade being inclined to the scrape direction.

37. Method of claim 36, wherein the scraper blade comprises a scraper edge with a first slot and a second slot, and wherein the method includes, while scraping, engaging a first limb and a second limb of the wishbone with respectively the first slot and the second slot.

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