Processing system for mechanically removing breast meat from poultry carcasses

Abstract

A poultry processing system and method for mechanically removing breast meat from poultry carcasses (2), the poultry processing system and method comprising: a conveyor (3) for conveying poultry carcasses (2) on mandrels (4) in a conveying direction; and a breast meat gripper (10) having a first jaw (11) and a second jaw (12), the first jaw (11) and the second jaw (12) being movable relative to each other between an open state for receiving 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 (10) being configured to grip the breast meat between the first jaw (11) and the second jaw (12) and remove the breast meat from the poultry carcasses (2) while the poultry carcasses (2) are conveyed in the conveying direction.

Description

[Technical Field]

[0001] FIELD OF THE INVENTION The present invention relates generally to poultry processing systems and methods, and more particularly to a processing system for recovering breast meat from poultry carcasses as breast fillets. [Background technology]

[0002] It is known to obtain pectoral fins from poultry carcasses by conveying the poultry carcasses on a mandrel through a breast meat harvesting station. An example of a conventional breast meat harvesting station is described in WO2015065190, in which an incision is made along the keel of the carcass to detach the left and right pectoral fins from the keel and further to separate the left and right pectoral fins from each other. The incision also provides an entrance for a pectoral fin remover to engage the individual left and right fins to harvest meat from the carcass. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2015 / 065190 Summary of the Invention [Problem to be solved by the invention]

[0004] Specifically, the object is to propose an improved system and method for mechanically removing breast meat from poultry carcasses in an in-line processing method or apparatus. It is also an object to provide a system and method for automatically removing left and right pectoral fins from a poultry carcass while the fins remain attached. More generally, the object is to overcome or ameliorate at least one of the shortcomings of the prior art, or at least to provide an alternative process and structure that is more effective and relatively inexpensive to provide and use than the prior art. In any event, it is at least intended to provide a useful alternative and contribution to the existing art. [Means for solving the problem]

[0005] According to one aspect, a processing system for mechanically removing breast meat from poultry carcasses is provided. The system includes a conveyor for transporting poultry carcasses on a mandrel in a conveying direction. The system also includes a breast meat gripper having a first jaw and a second jaw, the first jaw and the second jaw being movable relative to one another between an open state for receiving 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 configured to grip the breast meat between the first jaw and the second jaw and remove the breast meat from the poultry carcass while the poultry carcass is being transported in the conveying direction. The processing system may be specifically configured to simultaneously grasp the connected left and right pectoral fins between the first and second jaws using a breast meat grasper to remove the connected left and right pectoral fins from the poultry carcass while the left and right pectoral fins remain connected. The removed connected left and right pectoral fins are sometimes referred to as a butterfly cut. The breast meat grasper can pull the breast meat away from the poultry carcass, thereby effectively removing a maximum yield of breast meat.

[0006] Optionally, the gripper in the open state is configured to move the first jaw substantially in the conveying direction toward the mandrel to an engagement position in front of the mandrel to engage with a breast meat of a poultry carcass being transported on the mandrel, e.g., at its leading end, with the first jaw. The breast meat gripper in the open state is further configured to move the second jaw substantially in the conveying direction toward the first jaw at a speed greater than the speed of the mandrel to grip the breast meat between the first and second jaws in the closed state. The first jaw may, for example, be moved in the conveying direction toward the mandrel at a speed less than the speed of the mandrel. Breast meat of a carcass being transported at a speed greater 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 from an upstream position toward the first jaw substantially in the conveying direction at a speed greater than the conveying speed. The second jaw may accordingly catch up with the first jaw. The fillet may be clamped between the first and second jaws in a closed position.

[0007] Optionally, the breast meat gripper in the closed state is configured to move the first and second jaws gripping the breast meat and the mandrel away from each other to remove the breast meat from the poultry carcass. While gripping the breast meat between the first and second jaws in the closed state, the first and second jaws can be moved together away from the poultry carcass to peel the breast meat from the carcass, for example, as connected left and right fillets. The first and second jaws can be moved together, for example, transversely to the conveying direction. The first and second jaws gripping the breast meat can move together in the conveying direction at a speed slower than the speed of the mandrel to remove the breast meat from the poultry carcass. The first and second jaws gripping the breast meat can be stopped to remove the breast meat from the poultry carcass.

[0008] Optionally, the closed breast meat gripper is configured to jointly accelerate the first and second jaws away from the mandrel, e.g., from a relatively low speed to a relatively high speed, to remove breast meat from the poultry carcass. The relative speed at which the first and second jaws are moved together away from the carcass may be increased, which may improve the effectiveness of breast meat removal. For example, the closed breast meat gripper may jointly accelerate the first and second jaws away from the mandrel from a speed equal to the conveying speed of the conveyor to a speed faster than the conveying speed. For example, the closed breast meat gripper may jointly move the first and second jaws from an initial speed of zero relative to the ground to a faster speed.

[0009] Optionally, the gripper in the closed state is configured to jointly decelerate the first and second jaws, e.g., from a relatively high speed to a relatively low speed, and upon deceleration, e.g., while at the relatively low speed, transition from the closed state to the open state to release the harvested breast meat from the first and second jaws of the breast meat gripper, so that the harvested breast meat may be controllably deposited onto a dedicated conveyor for transporting the harvested breast meat away from the breast meat gripper, e.g., to a packaging station or further processing station.

[0010] Optionally, each of the first jaw and the second jaw is movable along a respective predefined circuit, specifically a circular path. The circuit may, for example, be tangent to the conveyor's transport path. It should be understood that at the tangent, the first jaw and the second jaw move substantially in the transport direction. The circuit of the first jaw may be different from the circuit of the second jaw. Alternatively, the first jaw and the second jaw are moved along the same circuit, e.g., a circular path. It should be understood that the velocity profiles of the first jaw and the second jaw may vary along their associated circuit.

[0011] Optionally, the fillet gripper in the closed state is configured to move the first jaw and the second jaw together along a segment of a circular path. Optionally, the fillet gripper in the open state is configured to move the first jaw and the second jaw separately along a segment of a circular path, for example while transitioning from the open state to the closed state, or vice versa.

[0012] Optionally, the first jaw and the second jaw are associated with a rotatable wheel of the fillet grasper having an axis of rotation extending transverse to the conveying direction. Optionally, the first jaw and the second jaw are spring-biased relative to each other to close. Optionally, the first jaw is fixedly arranged relative to the rotatable wheel, and the second jaw is movably arranged relative to the rotatable wheel so as to be moved relative to the first jaw. Optionally, the rotatable wheel is drivable about the axis of rotation at a variable angular velocity.

[0013] Optionally, the processing system is configured to drive the rotatable wheel about a rotational axis with the first jaw co-rotating with the rotatable wheel. Optionally, while driving the rotatable wheel about the rotational axis, the processing system is configured to delay the second jaw relative to the rotatable wheel to move the second jaw away from the first jaw and transition to an open state, and to promote the second jaw relative to the rotatable wheel to move the second jaw toward the first jaw and transition to a closed state. The second jaw may be temporarily delayed relative to the rotatable wheel, thereby stretching a spring between the first and second jaws. When later released, the second jaw can catch up with the first jaw to clamp the fillet between the first and second jaws in the closed state.

[0014] Optionally, the rotatable wheel is driven at an angular velocity such that the first jaw in the engaged position moves with a velocity component in the conveying direction that is less than the velocity of the mandrel so that the breast meat can engage with the first jaw. The second jaw may be rotationally moved at an angular velocity such that the second jaw moves with a velocity component in the conveying direction that is greater than the velocity of the mandrel to grip the breast meat between the first and second jaws. In gripping the breast meat between the first and second jaws, the rotatable wheel may be driven at an angular velocity such that the first and second jaws move with a velocity component in the conveying direction that is less than the velocity of the mandrel to separate the breast meat from the poultry carcass.

[0015] Optionally, the fillet grasper includes 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 corresponding second jaw of the plurality of second jaws. Optionally, each first jaw is fixedly disposed relative to the rotatable wheel, and each second jaw is movably disposed relative to the rotatable wheel. Each second jaw may be movable relative to any other second jaw. Thus, each second jaw may be independently movable relative to the rotatable wheel and, for example, its associated first jaw.

[0016] Optionally, the first jaw is rotatable about an axis of rotation at a first radius and / or the second jaw is rotatable about an axis of rotation at a second radius, the second jaw being movably arranged relative to the first jaw to be moved between an open state and a closed state.

[0017] 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 may be larger than the second radius, or vice versa.

[0018] Optionally, the first jaw and the second jaw are pivotally movable relative to each other about a pivot axis between an open state and a closed state. The pivot axis may coincide with the axis of rotation. The pivot axis may also be a radial distance from the axis of rotation. The first jaw and the second jaw may be associated with first and second radial arms, respectively, that extend generally radially outward from the pivot axis. The second jaw may be moved toward the first jaw, for example, to transition from an open state to a closed state, by angularly displacing the second radial arm about the pivot axis relative to the first radial arm.

[0019] Optionally, the second jaw is associated with a cam, and the system comprises a cam track for cooperating with the cam such that rotation of the wheel about the axis of rotation moves the second jaw from an open state to a closed state and from a closed state to an open state relative to the first jaw.

[0020] Optionally, the first jaw and the second jaw in the closed state are configured to simultaneously grasp two interconnected pectoral fins of the poultry carcass and remove meat from the poultry carcass while leaving the interconnection between the pectoral fins intact, thereby obtaining a so-called butterfly cut.

[0021] Optionally, the processing system includes a wishbone removal device for removing the wishbone of the poultry carcass from the breast meat. The wishbone removal device may be used in conjunction with the breast meat grippers described herein. The wishbone removal device may be located upstream of the breast meat grippers relative to the conveying direction. As a pre-processing step, the breast meat may be separated from the wishbone to facilitate gripping by the breast meat grippers. However, the wishbone removal device does not have to be used in conjunction with the breast meat grippers described herein. It should be understood that the wishbone removal device may also be used with various other breast meat extractors. Thus, the wishbone removal device described herein may be considered an independent aspect of the present disclosure.

[0022] Optionally, the conveying direction extends in a horizontal plane, the mandrel includes a plane of symmetry for being aligned with the keel of the poultry carcass in use to convey the poultry carcass on the mandrel, and the processing system is configured to convey the poultry carcass on the mandrel along the wishbone removal device with the plane of symmetry oriented vertically, the wishbone removal device comprising a knife blade movable in the horizontal conveying direction in synchronization with the mandrel and further movable in or parallel to the plane of symmetry to make a cut along the wishbone. The mandrel may extend longitudinally from a proximal end where the mandrel rests on the conveyor to a distal end. In use, poultry carcasses may be conveyed on the mandrel with the longitudinal direction aligned with the head-to-tail axis of the poultry carcass.

[0023] Optionally, the wishbone removal device comprises a scraper blade movable in the conveying direction in synchronization with the mandrel, the scraper blade being movable relative to the mandrel in or parallel to the plane of symmetry to scrape over the wishbone. The poultry carcass may first be cut with a knife blade and then scraped with the scraper blade to effectively remove the wishbone from the breast meat.

[0024] Optionally, the scraper blade includes a scraper cutting edge having a pair of notches, such as a slot. The notches may be configured to scrape around each arm of the wishbone. The notches may be symmetrical. The meat adhering to the wishbone may already be cut by the knife blade, and therefore the notches may be configured to prevent the scraper blade from engaging the wishbone during scraping. Thus, the notches may be configured to keep the scraper cutting edge spaced apart from the wishbone during scraping. This reduces the risk of the scraper blade crushing the wishbone and introducing bone fragments into the fillet meat. Specifically, if the knife blade has already separated the fillet meat from the wishbone, the scraper blade may refrain from engaging the wishbone during scraping. Alternatively, the notches may be configured to allow the scraper cutting edge to engage the wishbone at the notches so that the scraper cutting edge scrapes across the wishbone. Thus, the wishbone arm may be engagedly received by the notch while scraping over the wishbone, which can increase fillet yield and may be beneficial even if, for example, a knife blade is omitted from the processing system.

[0025] Optionally, the processing system comprises a sensor, in particular an image sensor such as an X-ray sensor, for detecting a wishbone fracture of the poultry carcass wishbone. Optionally, the processing system comprises a wishbone remover configured to remove the wishbone from the poultry carcass when a wishbone fracture is detected for the poultry carcass wishbone. If no wishbone fracture is detected, the wishbone may be intact. In that case, the wishbone remover does not need to be activated and the wishbone can remain. Optionally, the processing system is configured to refrain from activating the wishbone removal device when a wishbone fracture is detected for the poultry carcass. Optionally, the processing system is configured to refrain from using a breast meat grasper to remove breast meat from the poultry carcass when a wishbone fracture is detected for the poultry carcass. Thus, the processing system may refrain from removing the wishbone from the breast meat using the wishbone removal device when a wishbone fracture is detected for the poultry carcass. A broken wishbone may increase the risk of bone fragments being present in the slaughtered poultry meat, particularly when using wishbone removal devices. Therefore, it may be desirable to refrain from removing the wishbone from the breast meat and / or to refrain from slaughtering the breast meat and / or to remove the wishbone entirely.

[0026] Optionally, the processing system comprises a transverse cutting knife for making a transverse preliminary cut of the poultry carcass between the breast meat and the back meat portion of the carcass, the transverse cutting knife being arranged upstream of the breast meat gripper in relation to the conveying direction. The transverse cutting knife may be arranged upstream or downstream of the wishbone removal device in relation to the conveying direction.

[0027] According to one aspect, a method for mechanically removing breast meat from a poultry carcass is provided, the method including: conveying a poultry carcass on a mandrel in a conveying direction by, for example, a processing system as described herein; gripping the breast meat between a first jaw and a second jaw of the processing system by moving a first jaw and a second jaw relative to one another from an open state in which the breast meat is received between the first jaw and the second jaw and a closed state in which the breast meat is gripped between the first jaw and the second jaw while conveying the poultry carcass in the conveying direction; and removing the breast meat from the poultry carcass by moving the first jaw and the second jaw jointly relative to, specifically away from, the poultry carcass while conveying the poultry carcass in the conveying direction and while gripping the breast meat between the first jaw and the second jaw.

[0028] Optionally, the method includes moving a first jaw in the open position substantially in the conveying direction to an engagement position forward of the mandrel to engage a breast of a poultry carcass being conveyed on the mandrel with the first jaw, and moving the second jaw toward the first jaw substantially in the conveying direction at a speed greater than the speed of the mandrel to grasp the breast between the first and second jaws in the closed position. The first jaw may, for example, be moved in the conveying direction forward of the mandrel at a speed less than the speed of the mandrel. A breast of a carcass conveyed at a speed greater than the first jaw may abut against the first jaw.

[0029] Optionally, the method includes moving the first jaw, the second jaw and the mandrel away from each other to remove breast meat from the poultry carcass.

[0030] Optionally, the method includes accelerating the first jaw and the second jaw jointly in a direction away from the mandrel from a relatively low speed to a relatively high speed in the closed state to remove breast meat from the poultry carcass.

[0031] Optionally, the method includes jointly decelerating the first jaw and the second jaw from a relatively high speed to a relatively low speed in the closed state, and transitioning from the closed state to an open state while at the relatively low speed to release the removed breast meat from the jaws of the breast meat grasper.

[0032] Optionally, the method comprises moving each of the first and second jaws along a respective predefined circuitous path, in particular a circular path.

[0033] Optionally, the method includes moving the first jaw and the second jaw together along a segment of a circular path in the closed state.

[0034] Optionally, the method includes the first jaw and the second jaw being associated with a rotatable wheel of the fillet gripper having an axis of rotation extending transverse to the conveying direction, the method including moving the first jaw and the second jaw by driving the wheel in rotation about the axis of rotation.

[0035] Optionally, the method includes rotating the first jaw about the axis of rotation at a first radius by driving a wheel to rotate about the axis of rotation, and / or rotating the second jaw about the axis of rotation at a second radius by driving a wheel to rotate about the axis of rotation, and moving the second jaw between an open state and a closed state relative to the first jaw.

[0036] Optionally, the first radius and the second radius are substantially equal.

[0037] Optionally, the method includes pivotally moving the first jaw and the second jaw relative to one another about a pivot axis between the open and closed positions. The pivot axis may coincide with the axis of rotation. The pivot axis may also be a distance from the axis of rotation.

[0038] Optionally, the method includes the second jaw being associated with a cam and a cam track being provided to cooperate with the cam, and the method includes moving the second jaw from an open state to a closed state and from a closed state to an open state relative to the first jaw by driving the wheel to rotate about the axis of rotation.

[0039] Optionally, the method includes simultaneously grasping two interconnected pectoral fins of a poultry carcass with the first jaw and the second jaw, and removing meat from the two interconnected pectoral fins from the poultry carcass while leaving the interconnection between the pectoral fins intact.

[0040] Optionally, the method includes removing a wishbone of the poultry carcass from the breast meat with a wishbone removal device before gripping the breast meat.

[0041] Optionally, the method includes making a preliminary cut with a knife blade of the wishbone removal device to separate the fillet meat from the wishbone.

[0042] Optionally, making the preliminary cut includes conveying the poultry carcass on the mandrel in a horizontal conveying direction through the wishbone removal device with the keel of the poultry carcass aligned with the vertically oriented plane of symmetry of the mandrel, moving a knife blade in the conveying direction in synchronization with the mandrel to position the knife blade so that it extends in a cross-section relative to the plane of symmetry of the mandrel, and inserting the knife blade into the poultry carcass between the wishbone and the breast meat to separate the breast meat from the wishbone by moving the knife blade in a cutting direction in the plane of symmetry relative to the mandrel from a retracted state to an extended state while moving in synchronization with the mandrel.

[0043] Optionally, the method includes scraping the fillet meat completely off the wishbone with a scraper blade of the wishbone removal device after making the preliminary cut.

[0044] Optionally, the scraping includes moving a scraper blade in the conveying direction in synchronism with the mandrel to position the knife blade so that the knife blade extends in a transverse plane relative to the plane of symmetry of the mandrel, and scraping across the wishbone with the scraper blade by moving the scraper blade from a retracted state to an extended state in the scraper direction in the plane of symmetry relative to the mandrel while moving in synchronism with the mandrel, with the scraper blade being inclined in the scraping direction.

[0045] Optionally, the scraper blade comprises a scraper cutting edge having a first recess and a second recess, and the method includes engaging the first arm and second arm of the wishbone with the first recess and second recess, respectively, during scraping.

[0046] It is to be understood that any of the aspects, features, and options described herein may be combined, and it is to be particularly understood that any aspect, feature, and option described in terms of the present processing system equally applies to the present method, and vice versa.

[0047] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. [Brief explanation of the drawings]

[0048] [Figure 1] FIG. 1 is a schematic diagram of an automated processing system. [Figure 2A] FIG. 1 is a schematic diagram of a fillet grasper of an automated processing system. [Figure 2B] FIG. 1 is a schematic diagram of a fillet grasper of the automated processing system. [Figure 2C] FIG. 1 is a schematic diagram of a fillet grasper of an automated processing system. [Figure 2D] FIG. 1 is a schematic diagram of a fillet grasper of the automated processing system. [Figure 3] FIG. 1 is a schematic diagram illustrating an example of a fillet grasper. [Figure 4A] 1 is a schematic diagram of a wishbone removal device of an automated processing system. FIG. [Figure 4B] FIG. 10 is a diagram showing an example of a scraper blade. [Figure 5] 1 shows a schematic diagram of a transverse cutting device of an automated processing system. [Figure 6] FIG. 1 illustrates an exemplary layout of an automated processing system. DETAILED DESCRIPTION OF THE INVENTION

[0049] FIG. 1 shows an example of an automated processing system 1 for removing breast meat from poultry carcasses 2. System 1 includes a conveyor 3 for transporting poultry carcasses 2 on mandrels 4. Here, poultry carcasses 2 are front halves of poultry carcasses, specifically wingless, skinless front halves of poultry carcasses. In this example, the wishbone of the poultry carcass has been removed from the breast meat. It should be understood that such specific pre-treatment of the poultry carcass is not required and may be applied as desired.

[0050] Conveyor 3 in this example is shown carrying three poultry carcasses 2.1-2.3, but it should be understood that any number of poultry carcasses may be carried by conveyor 3. In this example, poultry carcasses 2 are carried in a conveying direction indicated by the arrow, which here lies in a horizontal plane. Here, conveyor 3 is an overhead conveyor.

[0051] The mandrel 4 is inserted into the breast cavity of the poultry carcass 2 to support the poultry carcass 2 during transport. The mandrel 4 rests on the conveyor 3 at its proximal end and extends longitudinally to its free distal end. The mandrel 4 is configured to support the poultry carcass 2 with the head-to-tail 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 therefore the head-to-tail axis of the poultry carcass 2, is aligned with the conveyor 3 transport direction. It should be understood that the head-to-tail axis of the poultry carcass extends through the head and tail ends of the carcass 2. The breast of the poultry carcass 2 is oriented downward here. Also, in this example, the cranial end, i.e., head end, of the poultry carcass 2 is leading, and the caudal end, i.e., tail end, of the poultry carcass 2 is trailing.

[0052] The system 1 includes a breast meat gripper 10. The breast meat gripper 10 is configured to grip breast meats 20 of poultry carcasses 2 and extract breast meat from the poultry carcasses 2 while the poultry carcasses 2 are being conveyed in a conveying direction by the conveyor 3. Thus, here, the breast meat gripper 10 is an in-line breast meat gripper. The breast meat gripper 10 includes a first jaw 11 and a second jaw 12. In this example, the breast meat gripper 10 includes a plurality of first jaws and a plurality of second jaws, specifically, three first jaws 11.1 to 11.3 and three second jaws 12.1 to 12.3. It should be understood that the system may include 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 a fillet 20 between the first jaw 11 and the second jaw 12 .

[0053] In this example, the first jaw 11 is fixedly attached 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. The first jaw 11 leads and the second jaw 12 follows in the direction of rotation about the rotation axis 16, where the direction of rotation is such that the first jaw and the second jaw at their closest positions to the poultry carcass 2 move in the conveying direction of the conveyor 3. The second jaw 12 is movable relative to the first jaw 11 to transition from an open state to a closed state. In the open state, the first jaw 11 and the second jaw 12 move apart to receive the breast meat 20 of the poultry carcass 2 between the first jaw 11 and the second jaw 12. In the closed position, the first jaw 11 and the second jaw 12 are close together to clamp a received fillet 20 between the first jaw 11 and the second jaw 12. The second jaw 12 is associated with a second radial arm 14.

[0054] In this 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 a closed position. A third pair of first jaw 11.3 and second jaw 12.3 are shown in an open position. In the example of FIG. 1, the second pair of first jaw 11.2 and second jaw 12.2 are shown grasping breast meat 20 of a second poultry carcass 2.2. The first pair of first jaw 11.1 and second jaw 12.1 are shown holding breast meat 20 of the first poultry carcass 2.1 that has been removed from the first carcass 2.1. The third pair of first jaw 11.3 and second jaw 12.3 are shown having lowered the previously removed breast meat 20 onto a dedicated breast meat conveyor 8.

[0055] 2A-2D show the orientation of the breast meat grippers 10 relative to the mandrel 4 supporting the poultry carcass 2 conveyed in the conveying direction by the conveyor 3. In this example, the breast meat has already been removed from the wishbone in a previous step, making it easier for the breast meat grippers 10 to grasp. FIG. 2A shows that the first jaw 11.1 rotates about the rotation axis 16 to lead the second jaw 12.1. In the open state, the first jaw 11.1 is moved substantially in the conveying direction toward the front of the poultry carcass 2. As depicted in FIG. 2B, the first jaw 11.1 is moved toward the front of the poultry carcass 2 to an engagement position. The first jaw 11.1 is moved in the conveying direction at a slower speed than the carcass 2, in particular, to allow the first jaw 11.1 to engage the leading side of the carcass 2 in the engagement position. The fillets catch up with and come into contact with the first jaw 11.1. The second jaw 12.1 is moved substantially in the conveying direction of the conveyor 3 from the open state shown in Figure 2A to the closed state shown in Figure 2B. The second jaw 12.1 is moved around the axis of rotation 16 towards the first jaw 11.1 at a higher angular velocity than the first jaw 11.1. The first jaw 11.1 and the second jaw 12.1 may be spring-loaded, for example, in the closed state, where the movement of the second jaw 12.1 relative to the first jaw is powered by preloading the spring.

[0056] 2B, rotation of the first jaw 11.1 and the second jaw 12.1 about the rotation axis 16 may be temporarily paused while gripping the breast meat between the first jaw 11.1 and the second jaw 12.1. Thus, by continuing to transport the poultry carcass 2 in the conveying direction by the conveyor 3, the breast meat 20 may be partially torn off from the poultry carcass. Also, while the first jaw 11.1 and the second jaw 12.1 grip the breast meat 20, the other first jaw 11.3 and the second jaw 12.3 are transitioned to an open state to controllably release the previously removed breast fillet onto a dedicated breast meat conveyor.

[0057] While gripping the breast meat 20, the first jaw 11.1 and the second jaw 12.1 are moved together in a direction away from the poultry carcass 2. Specifically, the first jaw 11.1 and the second jaw 12.1 are accelerated in a direction away from the carcass 2 by accelerating the first jaw 11.1 and the second jaw 12.1, which rotate about the rotation axis 16, from the engagement position shown in FIG. 2B to the position shown in FIG. 2D via the position shown in FIG. 2C. When the first jaw 11.1 is accelerated, the other first jaws 11.2, 11.3, which in this example are fixed to the rotatable wheel 15, are also accelerated. Here, the second first jaw 11.2 is accelerated in a direction substantially in the conveying direction, forward of the next carcass 2.2, to the engagement position of the second first jaw 11.2 shown in FIG. 2D. Thus, the orientation of the breast grasper 10 shown in Figure 2D essentially corresponds to the position shown in Figure 2B.

[0058] FIG. 3 shows another example of a breast meat gripper 10. The breast meat gripper 10 includes a first jaw 11 and a second jaw 12. In this example, the breast meat gripper 10 includes multiple first jaws and multiple second jaws, specifically, three first jaws 11.1-11.3 and three second jaws 12.1-12.3. It should be understood that other numbers of first jaws 11 and second jaws 12 may be included in the system. Each first jaw 11 cooperates with a corresponding one of the second jaws 12 to clamp a breast meat 20 between the first jaw 11 and the second jaw 12. In this example, the first jaws 11 are fixedly attached to a rotatable wheel 15 via first radial arms 13. The rotatable wheel 15 is driven to rotate 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 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), where the pivot axis 17 is radially offset from the rotation axis 16. The radial arm 14 further has cam wheels 18 (18.1, 18.2, 18.3) attached to the radial arm 14. The cam wheel 18 runs along a cam track 19, where 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 arm 14 is biased against the cam track 19. Thus, the jaws 11, 12 are now biased to an open position. The jaws 11, 12 are closed by a cam wheel 18 which pushes the jaws towards each other.

[0059] 4A shows a schematic diagram of a wishbone removal device 30 of the automated processing system 1 configured to remove the wishbone of a poultry carcass 2 from the breast meat. The wishbone removal device 30 may be located upstream of the breast meat grippers 10 with respect to the conveying direction of the conveyor 3. The poultry carcasses 2 are conveyed along the wishbone removal device 30 with their head-to-tail axes oriented vertically, specifically with the cranial end pointing downwards and the caudal end pointing upwards.

[0060] The wishbone removal device 30 includes a knife blade 31, which is movably held by a knife blade holder 32. The knife blade 31 and the knife blade holder 32 are movable in the conveying direction in synchronization with the conveyor 3. The knife blade 31 and the knife blade holder 32 may be mounted, for example, on the carousel 7. While synchronized with the conveyor 3, the knife blade 31 is movable from a retracted position to an extended position to penetrate the poultry carcass and, in particular, cut along the wishbone. The knife blade 31 is moved from the retracted position to the extended position along a path, for example, a linear path. The path may be inclined with respect to the head-to-tail axis of the carcass in order to follow the contour of the wishbone. The knife blade 31 then pierces the carcass 2 between the wishbone and the breast meat, separating the breast meat from the wishbone. The knife blade 31 may be actuated, for example, by a cam and an associated cam track on the knife carousel 7.

[0061] After the cut is made by the knife blade 31, the poultry carcass 2 is subjected to an optional scraper blade 33 of the wishbone removal device 30. The scraper blade 33 is movably held by a scraper blade holder 34. Like the knife blade 31 and the knife blade holder 32, the scraper blade 33 and the scraper blade holder 34 are moved in synchronization with the conveyor 3. For example, the scraper blade 33 and the scraper blade holder 34 may be provided in a scraper carousel 9, e.g., separate from the knife carousel 7 or integral with the knife carousel 7. While being synchronized with the conveyor 3, the scraper blade 33 is movable from a retracted position to an extended position to scrape along the wishbone. The scraper blade 33 is specifically moved from the retracted position to the extended position along a path, e.g., a linear path, which may be inclined relative to the head-to-tail axis of the carcass in order to follow the contour of the wishbone. The scraper blades 33 are angled relative to their paths to push the fillets outward from the carcass 2. The scraper blades 33 may be actuated by a cam and associated cam track, for example, on the scraper carousel 9. Figure 4B shows an example of a top view of the scraper blades 33. In this example, the scraper blades 33 have a notch 35 shaped to receive the wishbone. The notch 35 allows the fillets to be scraped from around the wishbone.

[0062] FIG. 5 shows a transverse cutting device 40 for making a preliminary transverse cut of the poultry carcass 2 between the breast meat 20.2 and the back meat 21.2 of the carcass. Here, the transverse cutting device comprises two transverse cutting knives 41, 42 arranged on either side of the conveyor 3 for making a cut along each flank of the poultry carcass conveyed along a direction parallel to the head-to-tail axis of the poultry carcass. The knives 41, 42, here rotating disk knives, can separate the breast meat from the back meat to facilitate subsequent removal of the breast meat. It should be understood that the transverse cutting knives 41, 42 are optional. The knives 41, 42 may preferably be arranged upstream of the breast meat gripper 10 relative to the conveying direction. The transverse cutting knives 41, 42 may preferably be arranged upstream of the wishbone removal device 30 in relation to the conveying direction, but the transverse cutting knives 41, 42 may also be arranged downstream of the wishbone removal device 30, for example between the wishbone removal device 30 and the fillet gripper 10.

[0063] 6 shows a schematic diagram of an example of the layout of an automated processing system 1 including a wishbone removal device 30 and a breast meat gripper 10, with a conveyor 3 configured to transport poultry carcasses along the wishbone removal device 30 and the breast meat gripper 10. The wishbone removal device 30 in this example includes two carousels 7, 9, e.g., rotating drums, namely a knife carousel 7 and a scraper carousel 9.

[0064] The automated processing system 1 may optionally include a sensor, such as an X-ray sensor 51, to sense whether the wishbone of a poultry carcass has been fractured. If a fractured wishbone is detected by the X-ray sensor, the wishbone may be completely removed from the poultry carcass by the wishbone remover 50 of the system 1. The system may also refrain from activating the wishbone removal device 30 for that particular poultry carcass. The system may also refrain from activating the wishbone grasper 10 for that particular poultry carcass. If the wishbone is intact, the system 1 may refrain from removing the wishbone and leave it attached to the carcass. The wishbone may be removed from the breast meat by the breast meat removal device 30, and the breast meat may be harvested by the breast meat grasper 10 at a later processing stage.

[0065] The invention is described herein with reference to specific examples of embodiments of the invention. However, it will be apparent that various modifications and changes may be made thereto without departing from the essence of the invention. Although features are described herein as part of the same or separate embodiments for purposes of clarity and conciseness of description, alternative embodiments having all or partial combinations of the features described in those separate embodiments are also contemplated.

[0066] However, other modifications, variations, and alternatives are also possible. The specification, drawings, and examples are therefore to be regarded in an illustrative rather than a restrictive sense.

[0067] Although features are described herein as part of the same or separate embodiments for purposes of clarity and concise description, it should be understood that the scope of the present invention may include embodiments having all or any combination of the described features.

[0068] 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 being restricted to "only one" but are instead 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 advantage.

Claims

1. 1. A processing system for mechanically removing breast meat from a poultry carcass, comprising: a conveyor for conveying the poultry carcasses on the mandrel in a conveying direction; a breast meat grasper comprising a first jaw and a second jaw, the first jaw and the second jaw being movable relative to one another between an open state for receiving the breast meat between the first jaw and the second jaw and a closed state for grasping the breast meat between the first jaw and the second jaw; the breast meat gripper is configured to grasp the breast meat between the first jaw and the second jaw and remove the breast meat from the poultry carcass while the poultry carcass is being conveyed in the conveying direction.

2. 2. The processing system of claim 1, wherein the fillet gripper in the open state is configured to move the first jaw substantially in the conveying direction to an engagement position forward of the mandrel to engage the fillet of the poultry carcass being conveyed on the mandrel, and is configured to move the second jaw substantially in the conveying direction toward the first jaw at a speed greater than the speed of the mandrel to grasp the fillet between the first jaw and the second jaw in the closed state.

3. 3. The processing system of claim 1 or 2, wherein the breast meat gripper in the closed state is configured to move the first and second jaws gripping the breast meat and the mandrel away from each other to remove the breast meat from the poultry carcass.

4. 4. The processing system of claim 1, wherein the breast meat gripper in the closed state is configured to collectively accelerate the first jaw and the second jaw away from the mandrel from a relatively low speed to a relatively high speed to remove the breast meat from the poultry carcass.

5. 5. The processing system of claim 4, wherein the fillet grasper in the closed state is configured to collectively decelerate the first jaw and the second jaw from the relatively high speed to the relatively low speed, and is configured to transition from the closed state to the open state while at the relatively low speed to release the removed fillet from the first jaw and the second jaw of the fillet grasper.

6. 6. The processing system according to claim 1, wherein each of the first and second jaws is movable along a respective predefined circuitous path, in particular a circular path.

7. 7. The processing system of claim 1, wherein the fillet gripper in the closed state is configured to move the first jaw and the second jaw together along a section of a circular path.

8. 8. The processing system of claim 1, wherein the first jaw and the second jaw are associated with a rotatable wheel having an axis of rotation extending transversely to the conveying direction.

9. 9. The processing system of claim 8, wherein the first jaw is rotatable about the axis of rotation at a first radius and / or the second jaw is rotatable about the axis of rotation at a second radius and is movably disposed relative to the first jaw to move between the open and closed states.

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

11. 11. The processing system of claim 9 or 10, wherein the first jaw and the second jaw are pivotally movable relative to one another about a pivot axis between the open state and the closed state.

12. 12. The processing system of claim 8, wherein the processing system is configured to drive the wheel about the axis of rotation with the first jaw co-rotating with the wheel, and while driving the wheel about the axis of rotation, to delay the second jaw relative to the wheel to move the second jaw away from the first jaw and transition to the open state, and to promote the second jaw relative to the wheel to move the second jaw towards the first jaw and transition to the closed state.

13. 13. The processing system of claim 1, wherein the first jaw and the second jaw in the closed state are configured to simultaneously grasp two interconnected pectoral fins of the poultry carcass and remove meat from the poultry carcass while leaving the interconnection between the pectoral fins intact.

14. 14. The processing system of claim 1, further comprising a wishbone removal device for removing wishbone of the poultry carcass from the breast meat, the wishbone removal device being arranged upstream of the breast meat grippers relative to the conveying direction.

15. 15. The processing system of claim 14, wherein the conveying direction extends in a horizontal plane, the mandrel includes a plane of symmetry for aligning with the keel of the poultry carcass when in use to convey the poultry carcass on the mandrel, the processing system being configured to convey the poultry carcass on the mandrel along the wishbone removal device with the plane of symmetry oriented vertically, the wishbone removal device comprising a knife blade movable in the horizontal conveying direction in synchronization with the mandrel and further movable in or parallel to the plane of symmetry to make cuts along the wishbone.

16. 16. The processing system of claim 15, wherein the wishbone removal device comprises a scraper blade movable in the conveying direction in synchronization with the mandrel, the scraper blade being movable relative to the mandrel in or parallel to the plane of symmetry to scrape across the wishbone.

17. 17. The processing system of claim 16, wherein the scraper blade comprises a scraper cutting edge having a pair of slots configured to engage respective limbs of the wishbone.

18. 18. A method for mechanically removing breast meat from poultry carcasses, comprising the steps of: conveying the poultry carcass on the mandrel in a conveying direction; gripping the breast meat between the first and second jaws of the processing system while conveying the poultry carcass in the conveying direction by moving a first jaw and a second jaw relative to one another from 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; and removing the breast meat from the poultry carcass by moving the first jaw and the second jaw in concert relative to, and particularly away from, the poultry carcass while conveying the poultry carcass in the conveying direction and while gripping the breast meat between the first jaw and the second jaw.

19. 19. The method of claim 18, comprising: in the open position, moving the first jaw substantially in the conveying direction to an engagement position forward of the mandrel to engage the fillet of the poultry carcass being conveyed on the mandrel against the first jaw; and in the closed position, moving the second jaw substantially in the conveying direction toward the first jaw at a speed greater than the speed of the mandrel to grasp the fillet between the first jaw and the second jaw.

20. 20. The method of claim 18 or 19, comprising moving the first and second jaws gripping the breast meat and the mandrel away from each other to remove the breast meat from the poultry carcass.

21. 21. The method of any one of claims 18 to 20, comprising stopping the first and second jaws gripping the breast meat or moving the first and second jaws gripping the breast meat at a speed slower than a speed of the mandrel to remove the breast meat from the poultry carcass.

22. 22. The method of any one of claims 18 to 21, including accelerating the first jaw and the second jaw in the closed position in a direction away from the mandrel from a relatively low speed to a relatively high speed to remove the breast meat from the poultry carcass.

23. 23. The method of claim 22, including the steps of: cooperatively decelerating the first jaw and the second jaw from the relatively high speed to the relatively low speed in the closed state; and transitioning from the closed state to the open state while at the relatively low speed to release the removed fillet from the first jaw and the second jaw of the fillet grasper.

24. 24. The method according to any one of claims 18 to 23, comprising moving each of the first and second jaws along a respective predefined circuitous path, in particular a circular path.

25. 25. The method of any one of claims 18 to 24, comprising moving the first jaw and the second jaw together in the closed state along a segment of a circular path.

26. 26. The method according to any one of claims 18 to 25, wherein the first jaw and the second jaw are associated with a rotatable wheel of the fillet gripper having an axis of rotation extending transverse to the conveying direction, the method comprising the step of driving the wheel in rotation about the axis of rotation, thereby moving the first jaw and the second jaw.

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

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

29. 29. The method of claim 27 or 28, comprising pivotally moving the first jaw and the second jaw relative to one another about a pivot axis between the open and closed positions.

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

31. 31. The method of any one of claims 18 to 30, wherein the first jaw and the second jaw in the closed state are configured to simultaneously grasp two interconnected pectoral fins of the poultry carcass and remove meat from the poultry carcass while leaving the interconnection between the pectoral fins intact.

32. 32. The method of any one of claims 18 to 31, including removing a wishbone of the poultry carcass from the breast meat with a wishbone removal device prior to gripping the breast meat.

33. 33. The method of claim 32, including making a preliminary cut with a knife blade of the wishbone removal device to separate the fillet meat from the wishbone.

34. the step of making the preliminary cut comprises: conveying the poultry carcass on the mandrel in a horizontal conveying direction past the wishbone removal device with the keel of the poultry carcass aligned with the vertically oriented plane of symmetry of the mandrel; moving the knife blade in the conveying direction synchronously with the mandrel to position the knife blade so that it extends in a plane transverse to the plane of symmetry of the mandrel; 34. The method of claim 33, comprising: inserting the knife blade into the poultry carcass between the wishbone and the breast meat to separate the breast meat from the wishbone by moving the knife blade in a cutting direction in the plane of symmetry relative to the mandrel from a retracted state to an extended state while moving synchronously with the mandrel.

35. 35. The method of claim 33 or 34, including the step of scraping the fillet meat completely off the wishbone with a scraper blade of the wishbone removal device after making the preliminary cut.

36. The scraping step comprises: moving the scraper blade in the conveying direction synchronously with the mandrel to position the knife blade so that the knife blade extends in a plane transverse to the plane of symmetry of the mandrel; 36. The method of claim 35, comprising: scraping across the wishbone with the scraper blade by moving the scraper blade from a retracted state to an extended state in a scraping direction in the plane of symmetry relative to the mandrel while moving synchronously with the mandrel, with the scraper blade tilted in the scraping direction.

37. 37. The method of claim 36, wherein the scraper blade comprises a scraper cutting edge having a first slot and a second slot, the method including the step of engaging first and second limbs of the wishbone with the first and second slots, respectively, during scraping.

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