A parts kit configured for removing the internal organs of a quadrupedal slaughter animal, a method for removing the internal organs of a quadrupedal slaughter animal, and a robot equipped with such a parts kit.

Abstract

The parts kit configured for removing the internal organs of a four-legged slaughter animal includes the following: - A thick skirt cutting tool comprising two arms that are relatively movable relative to each other between a drilling entry state and a thick skirt cutting state, wherein at least one arm, preferably each arm, is: -A thick skirt cutting tool comprising a thick skirt cutting blade positioned inside the arm, thereby enabling the two arms to form an acute angle in a thick skirt cutting state, and cutting the thick skirt of a slaughter animal; and - A diaphragm cutting tool comprising two legs, each having a diaphragm cutting blade positioned near the end of the leg and configured to cut the diaphragm along at least a portion of the internal contour of the thoracic cavity, It is equipped with. The present invention further relates to a method for removing the internal organs of a quadrupedal animal.

Description

Technical Field

[0001] The present invention relates to a parts kit configured to remove the internal organs of a quadruped slaughter animal, particularly a pig, and a robot equipped with such a parts kit. Furthermore, the present invention relates to a method for removing the internal organs of a quadruped slaughter animal, particularly a pig.

Background Art

[0002] The removal of the internal organs of a quadruped carnivore such as a pig involves manual work performed by skilled employees at a meat processing plant. For example, a series of steps to remove the internal organs of a slaughtered animal may involve about eight skilled employees. An important part of the employees' training and skills is to prevent contamination, that is, to prevent the carcass from being contaminated during the process of removing the internal organs. If the carcass is contaminated, it needs to be purified before proceeding to the next slaughtering step. Purification is carried out by the employee cutting off the contaminated part so that the remaining part of the carcass consists only of clean meat without contamination.

[0003] Contamination of the carcass can occur through direct contact between the carcass and gastrointestinal contents or indirect contact through contaminated slaughter equipment or staff. An important cause of contamination is deliberately or accidentally cutting any of the gastrointestinal organs. For example, an employee may accidentally damage the small intestine and feces may spill onto the carcass. Also, when the internal organs of the stomach are not taken as a whole but are partially removed, it is necessary to make an incision to cut off the internal organs of the stomach. If there is even one cut on both sides like this, the contents of the gastrointestinal tract will spill onto the carcass and cause contamination. In particular, when removing the so-called white organs in the abdominal cavity and the so-called red organs in the thoracic cavity separately, it is necessary to cut the bile duct. Therefore, there is a high risk of bile spilling, which causes contamination. Also, since Salmonella bacteria may exist in the digestive tract or on the skin surface, there is a possibility that the carcass may be contaminated with Salmonella bacteria due to direct contamination or cross-contamination throughout the process of slaughtering.

[0004] In addition to the difficulty of finding and properly training suitable personnel willing to perform this heavy and skilled work, even the most experienced and well-trained individuals can sometimes make mistakes and perform inaccurate cuts, leading to carcass contamination.

[0005] Attempts have been made to automate parts of the visceration process, but this has proven to be an extremely difficult task due to the complexity and diversity of four-legged slaughter animals. However, further automation of the visceration process is desired because it would reduce the number of personnel required, leading to significant cost savings, especially on slaughter lines. Another important advantage is that heavy manual labor can be performed with mechanically driven tools, reducing the risk of contamination of valuable meat and ensuring more consistent quality of processed carcasses. Periodic cleaning, which is mandated in many slaughterhouses, would also become more reliable. Due to its repetitive nature, workers may sometimes mitigate periodic cleaning tasks or even skip the cleaning cycle entirely. Automated solutions would always clean according to the settings, ensuring optimal hygiene. Furthermore, using automated solutions could reduce the number of steps in the meat processing line.

[0006] European Patent Application EP0397703 is considered to be the closest prior art to the present invention. A tool is lowered into the abdominal cavity of a carcass, and once the tool reaches a predetermined position, the cutting element of the tool rotates around an axis. After the diaphragm has been cut, an additional tool pushes out the internal organs. It is disclosed: - A thick skirt cutting tool comprising two arms that are relatively movable relative to each other between a drilling entry state and a thick skirt cutting state, wherein at least one arm, preferably each arm, is: -A thick skirt cutting tool including a thick skirt cutting blade positioned inside the arm opposite the other arm, thereby causing the two arms to form an acute angle in a thick skirt cutting state, enabling the cutting of the thick skirt of a slaughter animal: and A diaphragm cutting tool comprising two legs, each having a diaphragm cutting blade positioned near the ends of the legs and configured to cut the diaphragm along at least a portion of the inner contour of the breast cavity.

[0007] The object of the present invention is to provide a kit and method for removing the internal organs of a quadrupedal slaughter animal that is improved compared to the prior art and avoids or mitigates at least one of the above-mentioned problems. [Overview of the project]

[0008] The parts kit according to the present invention is configured for removing the internal organs of four-legged slaughter animals, particularly pigs, and achieves the above objective by comprising the following configuration: - A thick skirt cutting tool comprising two arms that are relatively movable between a drilling entry state and a thick skirt cutting state, wherein at least one arm, preferably each arm, is: -A thick skirt cutting blade is positioned inside the arm opposite the other arm, thereby allowing the two arms to form an acute angle in the thick skirt cutting state, and enabling the thick skirt cutting of the slaughtered animal as the thick skirt cutting tool moves away from the head towards the rear end of the slaughtered animal, and - A diaphragm cutting tool comprising two legs, each leg having a diaphragm cutting blade positioned near the end of the leg, configured to cut the diaphragm along at least a portion of the medial contour of the thoracic cavity, Equipped with, Thick skirt cutting tool.

[0009] The diaphragm is the thoracic diaphragm that extends across the bottom of the thoracic cavity. The cavity below the diaphragm is called the abdominal cavity. Consequently, it is understood that the medial contour of the thoracic cavity followed by the diaphragmatic cutting tool corresponds to the medial contour of the thoracic or abdominal cavity at the level of the diaphragm.

[0010] The parts kit according to the present invention allows for the continuous removal of the thick skirt using a thick skirt cutting tool during movement toward the posterior end, i.e., the tail end, after perforating the diaphragm, and the cutting of the diaphragm using a diaphragm cutting tool during movement toward the head (and outward). In this way, physically demanding work that is usually performed by multiple specialists can be automated, saving personnel, and consequently reducing the risk of contamination of valuable meat and maintaining more consistent quality of processed carcasses. Such automated operations are also generally more hygienic than manual operations, as periodic cleaning is usually more rigorous. It also reduces the number of processing steps in the slaughter line. When the slaughtered animal is suspended upside down, i.e., suspended by its posterior end with its head facing downward, the thick skirt portion is cut with the thick skirt cutting tool during upward movement, and the diaphragm is cut with the diaphragm cutting tool during downward (and outward) movement.

[0011] The component kit according to the present invention specifies an assembly of a thick skirt cutting tool and a diaphragm cutting tool, each cutting tool being applicable independently and protected in that state. However, when they are applied in combination, the combination yields a more advantageous synergistic effect.

[0012] The fact that the arms of a thick skirt cutting tool are movable relative to each other means that both legs are movable relative to a common reference point, and that one leg is fixed relative to a common reference point while the other is movable relative to this common reference point.

[0013] While it is conceivable that only one arm of the thick skirt cutting tool constitutes a thick skirt cutting blade, it is preferable that each arm of the thick skirt cutting tool constitutes a thick skirt cutting blade. In this case, the two thick skirt cutting blades form an acute angle when cutting a thick skirt.

[0014] The given contour may be any internal contour of the thoracic cavity and / or abdominal cavity. The given contour may also fit entirely within the external contour of the diaphragm. Alternatively, the width of the given contour may be widened, cutting open the diaphragmatic muscle (also known as the external skirt). Thus, in addition to cutting the diaphragm, the diaphragmatic cutting tool may also cut the external skirt, or the flesh near or surrounding the diaphragm.

[0015] This invention differs from at least the disclosure of European Patent Application EP0397703, because the thick skirt of the slaughtered animal is cut when the thick skirt cutting tool is moved away from the head towards the rear end of the slaughtered animal. In this way, a clean automated solution is provided that ensures hygienic conditions optimized for the removal of internal organs from quadrupedal slaughtered animals. Furthermore, it can also reduce the number of steps in the slaughtering line. Cutting the thick skirt when the thick skirt cutting tool is moved from the head towards the rear end of the slaughtered animal facilitates the removal of the internal organ package.

[0016] In a preferred embodiment, the two legs of the diaphragm cutting tool are relatively movable between an entry state in which the legs are separated by a first offset and a diaphragm cutting state in which the legs are further separated from the entry state to conform to a predetermined contour. Note that the legs movable relative to each other encompass both situations in which both legs are movable with respect to a common reference, and situations in which one leg is fixed with respect to the common reference and the other is movable with respect to this common reference.

[0017] According to a preferred embodiment of the parts kit, at least one of the thick skirt cutting tool and the diaphragm cutting tool comprises a diaphragm piercer, which is configured to pierce the diaphragm of the slaughtered animal as the diaphragm piercer is moved from the posterior end toward the head of the slaughtered animal.

[0018] According to a more preferred embodiment of the parts kit, the diaphragm puncture is located at the end of the arm of a thick skirt cutting tool, and the entry state of the thick skirt cutting tool defines the diaphragm puncture state. If necessary, both arms of the thick skirt cutting tool can also be positioned, with diaphragm punctures at the ends of each arm. The advantage of positioning the diaphragm puncture or puncture at the end of the arm of the thick skirt cutting tool extending from it is that, after puncturing the diaphragm, the thick skirt cutting tool can be moved in the opposite direction, positioning the puncture at the rear end of the tool, thereby reducing the risk of the dragging puncture damaging meat, organs, etc., within the carcass.

[0019] According to a more preferred embodiment of the parts kit, in the entry state of the thick skirt cutting tool, the two arms position the diaphragm piercer at a first distance of 25 mm to 150 mm, preferably 50 mm to 100 mm, more preferably 60 mm to 80 mm, thereby positioning the diaphragm piercing on the opposite side of the sagittal plane of the slaughtered animal.

[0020] In a more preferred embodiment of the parts kit, in the thick skirt cutting state of the thick skirt cutting tool, the arms are substantially closed, thereby defining a V-shape with the thick skirt cutting blades of the two arms. Preferably, the arms are fully closed, i.e., both arms are in approximate contact with each other. Alternatively, the arms can be positioned at a second distance from each other that is smaller than a first distance, thereby defining a V-shape with the thick skirt cutting blades of the two arms. When the arms are closed, this second distance is 0 mm.

[0021] According to a more preferred embodiment of the parts kit, in the entry state of the diaphragm cutting tool, the first offset is 25 mm or more and 150 mm or less, preferably 50 mm or more and 100 mm or less, and more preferably 60 mm or more and 80 mm or less.

[0022] According to a further preferred embodiment of the parts kit, the parts kit comprises one or more of the following: - A diaphragm perforator of a thick skirt cutting tool, - A thick skirt cutting edge of a thick skirt cutting tool, and - A diaphragm cutting edge of a diaphragm cutting tool, One or more covers configured to selectively cover further comprises.

[0023] These covers are understood to serve the role of preventing the perforator and cutting edges from contacting the entire thickness of the meat when not needed. Most importantly, when moving the kit from the outside of the meat to the diaphragm and starting the viscera removal process, the covers function to protect the stomach and intestines. The upper part of the cover is obtuse angled. This obtuse angled part allows the cover to gently push the viscera away from the tool without cutting the viscera.

[0024] According to a further preferred embodiment of the parts kit, one or more covers are rotatable between a shielded state and an exposed state, where: - In the shielded state, one or more covers shield at least one of the diaphragm perforator of the thick skirt cutting tool, the thick skirt cutting edge of the thick skirt cutting tool, and the diaphragm cutting edge of the diaphragm cutting tool to protect the intestines and / or other parts of the digestive system within the abdominal cavity of the slaughtered animal, and - In the exposed state, the cover is rotated away from the diaphragm perforator of the thick skirt cutting tool and the diaphragm cutting edge of the diaphragm cutting tool, thereby exposing them for perforation and cutting.

[0025] According to a further preferred embodiment of the parts kit, one or more covers comprise at least two covers, and each cover is in the following positions: - One of both arms of the thick skirt cutting tool, and / or - One of both legs of the diaphragm cutting tool, is arranged at.

[0026] According to a more preferred embodiment of the parts kit, one or more covers have an external shape configured to automatically bias the cover from a shielded state to an exposed state when the cover slides against the diaphragm of the slaughtered animal.

[0027] A more preferred embodiment of the component kit further comprises actuators configured to actively rotate one or more covers between a shielded state and an exposed state.

[0028] According to a more preferred embodiment of the parts kit, the actuator is an actuated cylinder.

[0029] According to a more preferred embodiment of the parts kit, the outer surface of each arm of the thick skirt cutting tool defines a guide surface configured to guide the perforated diaphragm toward the diaphragm cutting edge of the diaphragm cutting tool.

[0030] According to a more preferred embodiment of the parts kit, the parts kit comprises a drive unit configured to drive the arm of a thick-skirt cutting tool. The drive unit configured to drive the arm of the thick-skirt cutting tool may be a position-controlled drive unit.

[0031] According to a more preferred embodiment of the component kit, the drive unit is a rotary drive unit that drives an eccentric drive mechanism, which converts the rotational motion of the drive unit into a reciprocating motion of the arms of the thick skirt cutting tool, and the force acting on the ends of the arms of the thick skirt cutting tool increases as the ends move closer to each other. In this way, the drive unit can use a simple and reliable rotary drive while providing force optimization for cutting the thick skirt of the slaughter animal with the thick skirt cutting blade 8. A particular advantage of this force optimization is that the risk of the thick skirt slipping through the thick skirt cutting blade without being completely cut is minimized. More preferably, the force acting on the ends of the thick skirt cutting tool is maximized when the spread distance between the ends is minimized.

[0032] According to a more preferred embodiment of the parts kit, each leg of the diaphragm cutting tool further comprises a guide configured to guide the lungs of a slaughtered animal. The diaphragm piercer comprises a pointed cutting blade extending outward from the longitudinal side of the arm toward the end of the arm.

[0033] In a more preferred embodiment of the component kit, the component kit further comprises a drive unit configured to drive the legs of the diaphragm cutting tool. Preferably, the further drive unit configured to drive the legs of the diaphragm cutting tool may be a piston with a rod in a cylinder such as a pneumatic cylinder or a hydraulic cylinder. Preferably, the further drive unit is a double-acting cylinder, for example, a double-acting pneumatic cylinder or a hydraulic cylinder. A double-acting cylinder is a piston with a rod in a cylinder system that can be actively controlled to extend the rod out of the cylinder or retract it inward. Alternatively, the further drive unit may be a servo motor and / or composed of an elastic member.

[0034] According to a more preferred embodiment of the parts kit, the parts kit further comprises a base, and the thick skirt cutting tool and the diaphragm cutting tool are movably positioned relative to the base and relative to each other.

[0035] According to a more preferred embodiment of the parts kit, the arms of the thick skirt cutting tool and the legs of the diaphragm cutting tool are movable in parallel or coincident planes.

[0036] According to a more preferred embodiment of the parts kit, the thick skirt cutting edge of the thick skirt cutting tool extends substantially laterally with respect to the diaphragm cutting edge of the diaphragm cutting tool.

[0037] The present invention further relates to a robot with a multi-jointed arm, which has a robot head that holds a base equipped with an assembly of a thick skirt cutting tool and a diaphragm cutting tool.

[0038] The present invention further relates to a method for removing the internal organs of a four-legged slaughter animal, particularly a pig, and the following steps: - A step of simultaneously moving a thick skirt cutting tool and a diaphragm cutting tool from the rear end of the slaughtered animal toward the head. - Steps to perforate the diaphragm of the slaughtered animal, - A step of moving the thick skirt cutting tool backward toward the rear end, thereby cutting the thick skirt of the slaughtered animal, - The step of moving the diaphragm cutting tool further toward the head of the slaughtered animal, thereby cutting the diaphragm along the internal contour of the thoracic cavity of the slaughtered animal. Includes.

[0039] According to a preferred embodiment of this method, the step of perforating the diaphragm of a slaughtered animal is performed by a diaphragm perforator of a thick-skirt cutting tool.

[0040] According to a more preferred embodiment of this method, during the step of perforating the diaphragm of the slaughtered animal, the diaphragm perforator of the thick skirt cutting tool extends beyond the end of the diaphragm cutting tool.

[0041] According to a more preferred embodiment of this method, the thick skirt cutting tool comprises two arms that are movable relative to each other, where, -During the step of moving the thick skirt cutting tool from the rear end of the slaughtered animal toward the head, the arms are spaced apart, and - The arms are substantially closed during the step of moving the thick skirt cutting tool backward toward the rear end to cut the thick skirt of the slaughter animal, thereby defining a V-shape with the thick skirt cutting blades positioned on the two arms.

[0042] The parts kit according to the present invention allows for the perforation of the diaphragm, followed by the continuous removal of the thick skirt with a thick skirt cutting tool during a posterior-oriented movement, and the cutting of the diaphragm with a diaphragm cutting tool during a head-oriented (and lateral) movement, so that the method can perform the step of simultaneously removing the so-called white organs and red organs from a slaughtered animal. More specifically, the white organs and red organs can be removed as a package, i.e., while remaining connected to each other.

[0043] According to a more preferred embodiment of the present method, the method further includes the step of using at least one of a thick skirt cutting tool and a diaphragm cutting tool from the parts kit of the present invention.

[0044] The various embodiments and features described and presented herein can be applied individually as far as possible. These individual embodiments, in particular thick skirt cutting tools and diaphragm cutting tools, as well as the embodiments and features described in the attached dependent claims, such as the drive mechanism for the thick skirt cutting tool, may be inventions of their own relating to different problems than those in the prior art.

[0045] In the following description, preferred embodiments of the present invention will be further described with reference to the drawings. [Brief explanation of the drawing]

[0046] [Figure 1] Figure 1 is a perspective view of a parts kit configured for removing the internal organs of a quadrupedal slaughter animal, particularly a pig, and includes a thick skirt cutting tool and a diaphragm cutting tool. [Figure 2] Figure 2 is a perspective view of the thick skirt cutting tool shown in Figure 1. [Figure 3] Figure 3 is a perspective view of the diaphragm cutting tool shown in Figure 1. [Figure 4] Figure 4 shows a front view and a side view illustrating the sequential steps of a method for removing the internal organs of a quadrupedal slaughter animal, particularly a pig. [Figure 5] Figure 5 shows a front view and a side view illustrating the sequential steps of a method for removing the internal organs of a quadrupedal slaughter animal, particularly a pig. [Figure 6] Figure 6 shows a front view and a side view illustrating the sequential steps of a method for removing the internal organs of a quadrupedal slaughter animal, particularly a pig. [Figure 7] Figure 7 shows a front view and a side view illustrating the sequential steps of a method for removing the internal organs of a quadrupedal slaughter animal, particularly a pig. [Figure 8] Figure 8 shows a front view and a side view illustrating the sequential steps of a method for removing the internal organs of a quadrupedal slaughter animal, particularly a pig. [Figure 9] Figure 9 shows a front view and a side view illustrating the sequential steps of a method for removing the internal organs of a quadrupedal slaughter animal, particularly a pig. [Figure 10] Figure 10 shows a front view and a side view illustrating the sequential steps of a method for removing the internal organs of a quadrupedal slaughter animal, particularly a pig. [Figure 11] Figure 11 is a front view of the parts kit that conforms to Figure 4. [Figure 12] Figure 12 is a front view of the parts kit that conforms to Figure 8. [Figure 13] Figure 13 shows a robot holding the parts kit from Figure 1. [Figure 14] Figure 14 is a perspective view of a diaphragm cutting tool showing the mechanism that drives the cover. [Figure 15] Figure 15 is a perspective view of a thick-walled skirt cutting tool and the drive mechanism configured to drive its arm. [Figure 16] Figure 16 shows the force at the end of the arm of a thick-skirt cutting tool with respect to the relevant angle of the drive unit. [Figure 17] Figure 17 shows the spread distance of the end of the arm of a thick skirt cutting tool relative to the relevant angle of the drive unit. [Modes for carrying out the invention]

[0047] Preferred embodiments of a parts kit 1 configured for removing the internal organs of a quadrupedal slaughter animal 2, particularly a pig 3, will be described in more detail with reference to the figures. Figure 1 shows a perspective view of the parts kit 1, which includes a thick skirt cutting tool 4 and a diaphragm cutting tool 5. Figures 2 and 3 show detailed perspective views of the thick skirt cutting tool 4 and the diaphragm cutting tool 5, respectively. Note that Figures 2 and 3 are scaled differently so that the diaphragm cutting tool 5 in Figure 3 can be shown in more detail.

[0048] In Figure 1, the parts kit 1 further comprises a base 6, and the thick skirt cutting tool 4 and the diaphragm cutting tool 5 are arranged relative to the base 6 so as to be movable relative to each other. The base 6 is mountable to an articulated arm equipped with a robot head. Thus, the parts kit 1 can be part of a robot 27, which has an articulated arm 28 equipped with a robot head 29 that holds the base 6 with the assembly of the thick skirt cutting tool 4 and the diaphragm cutting tool 5 (Figure 13).

[0049] A thick skirt cutting tool 4 is shown in more detail in Figure 2. It comprises two arms 7 that are movable relative to each other between a drilling entry state (Figure 6) and a thick skirt cutting state (Figure 8). At least one arm 7, preferably each arm 7, is equipped with a thick skirt cutting blade 8, which is positioned on the inner surface 9 of the arm 7 opposite the other arm 7 (Figure 8) so that when the thick skirt cutting tool 4 is moved away from the head 10 toward the rear end 11 of the slaughter animal 2, the two arms 7 form an acute angle in the thick skirt cutting state, allowing the thick skirt (not shown) of the slaughter animal 2 to be cut.

[0050] The diaphragm cutting tool 5 is shown in detail in Figure 3. It comprises two legs 12, each leg 12 having a diaphragm cutting blade 13 positioned near the end 14 of the leg 12 and configured to cut the diaphragm 15 along at least a portion of the internal contour of the thoracic cavity 16.

[0051] The two legs of the diaphragm cutting tool 5 are movable between an entry state (Figure 7) in which the legs 12 are separated by a first offset relative to each other, and a diaphragm cutting state (Figure 8) in which the legs 12 are further separated relative to the entry state so that the legs 12 can follow a predetermined contour. Note that the mobility of the legs 12 relative to each other includes both situations in which both legs 12 are movable relative to a common reference such as the base 6, and situations in which one leg 12 is fixed relative to a common reference such as the base 6, and the other is movable relative to this common reference. Figures 11 and 12 are front views of the parts kits corresponding to Figures 4 and 8, respectively. These larger drawings allow for a more detailed comparison of the states in Figures 4 and 8, and it can be seen that the legs 12 are further spread in Figure 12 (representing the state in Figure 8) compared to Figure 11 (representing the state in Figure 4).

[0052] At least one of the thick skirt cutting tool 4 and the diaphragm cutting tool 5 is equipped with a diaphragm piercer 19, which is configured to pierce the diaphragm 5 of the carcass 2 when it is moved from the rear end 11 toward the head 10. This movement corresponds to the movement from the state in Figure 5 toward the state in Figure 6, in which the diaphragm piercer 19 has already pierced the diaphragm 5.

[0053] In the illustrated embodiment, the diaphragm piercer 19 is positioned at the end 20 of each arm 7 of the thick skirt cutting tool 4, and the entry state of the thick skirt cutting tool 4 defines its diaphragm piercing state. The diaphragm piercer 19 is equipped with a pointed cutting blade 23 that extends outward in the longitudinal direction of the arm 7 relative to the end 20 of the arm 7.

[0054] In the state in which the thick skirt cutting tool 4 is inserted, the two arms 7 position the diaphragm piercer 19 at a first distance of 25 mm to 150 mm, preferably 50 mm to 100 mm, and more preferably 60 mm to 80 mm, thereby positioning the diaphragm piercer 19 on the opposite side of the sagittal plane of the carcass 2.

[0055] In the thick skirt cutting state of the thick skirt cutting tool 4 shown in the figure, the arms 7 are substantially closed, thereby defining a V-shape with the thick skirt cutting blades 8 of the two arms 7. Preferably, the arms 7 are completely closed, i.e., both arms 7 are in approximate contact with each other. However, alternatively, the arms 7 are positioned at a second distance from each other that is smaller than the first distance, thereby defining a V-shape with the thick skirt cutting blades 8 of the two arms. When the arms 7 are closed, this second distance is 0 mm.

[0056] In the entry state of the diaphragm cutting tool 5, the first offset is 25 mm or more and 150 mm or less, preferably 50 mm or more and 100 mm or less, and more preferably 60 mm or more and 80 mm or less.

[0057] The parts kit 1 further comprises one or more covers 21 configured to selectively cover one or more of the diaphragm piercer 19 of the thick skirt cutting tool 4, the thick skirt cutting blade 8 of the thick skirt cutting tool 4, and the diaphragm cutting blade 13 of the diaphragm cutting tool 5. One or more covers 21 are rotatable between a shielded state and an exposed state, where: -In the shielded state (shown in Figures 3, 4, and 5), one or more covers 21 shield at least one of the diaphragm piercer 19 of the thick skirt cutting tool 4, the thick skirt cutting blade 8 of the thick skirt cutting tool 4, and the diaphragm cutting blade 13 of the diaphragm cutting tool 5, thereby protecting the intestines and / or other parts of the digestive system within the abdominal cavity of the slaughtered animal 2, and -In the exposed state (shown in Figure 6-10), the cover 21 is rotated away from the diaphragm piercer 19 of the thick skirt cutting tool 4 and the diaphragm cutting blade 13 of the diaphragm cutting tool 5, thereby exposing them for piercing and cutting.

[0058] The one or more covers 21 preferably comprise at least two covers 21, each cover 21 positioned on one of the arms 7 of the thick skirt cutting tool 4 and / or on one of the legs 12 of the diaphragm cutting tool 5. The latter is the case in the preferred embodiment shown in the figure.

[0059] As is best seen in Figure 3, one or more covers 21 preferably have an external shape configured to automatically bias the cover 21 from a shielded state to an exposed state when the cover abuts against and slides against the diaphragm 5 of the slaughtered animal 2. This is shown in Figure 6.

[0060] The parts kit may also further include actuators 30 configured to actively swing one or more covers 21 between a shielded state and an exposed state. Figure 14 shows the diaphragm cutting tool of Figure 3, illustrating the internal mechanism of the left leg 12. The actuator 30 is preferably an actuated cylinder 31, more preferably a pneumatic cylinder. Input connectors 32 and output connectors 33 for a pneumatic source allow the actuator 30 to be actively extended and retracted.

[0061] In the embodiment shown in Figure 1, the arm 7 of the thick skirt cutting tool 4 and the leg portion 12 of the diaphragm cutting tool 5 are movable in parallel or coincident planes.

[0062] Preferably, as shown in Figure 3, the plate skirt cutting blade 8 of the plate skirt cutting tool 4 extends substantially laterally to the diaphragm cutting blade 13 of the diaphragm cutting tool 5. More specifically, the diaphragm cutting blade 13 is substantially oriented in a virtual plane parallel to or coinciding with the longitudinal direction of the leg portion 12. The plate skirt cutting blade 8 is oriented laterally, i.e., inward from one arm 7 of the plate skirt cutting tool 4 to the other arm 7 of the plate skirt cutting tool 4.

[0063] As is best seen in Figure 2, the arm 7 of the thick skirt cutting tool 4 has a curved design. The shape of the arm 7 allows the thick skirt cutting tool 4 to slide along the spine of the slaughter animal 3, thereby positioning the thick skirt cutting blade 8 of the thick skirt cutting tool 4 behind the aorta of the slaughter animal 2.

[0064] The outer side surfaces 17 of each arm 7 of the thick skirt cutting tool 4 preferably define guide surfaces 18 configured to guide the perforated diaphragm 5 toward the diaphragm cutting blade 13 of the diaphragm cutting tool 5.

[0065] The component kit 1 further includes a drive unit 34 configured to drive the arm 7 of the thick skirt cutting tool 4. This drive unit 34 is preferably a rotary drive unit, preferably a position-controlled rotary drive unit such as a servo motor. The rotational motion is converted into longitudinal motion using a drive mechanism 39. A pivot 35 is positioned eccentrically with respect to the drive shaft of the drive mechanism 34. This eccentric drive mechanism causes the pivot 35 to rotate around the axis of rotation of the drive shaft of the drive unit 34 as the rotary drive unit 34 rotates, thereby causing a rod 36 to reciprocate linearly. This linear reciprocating motion of the rod 36 causes a rotational reciprocating motion of the radial extension 37 of the arm 7, the rod 36 is rotatably connected via a further pivot 38.

[0066] The drive mechanism 39 not only enables the rotary drive unit 34, which is preferably embodied as a servo motor, to convert the rotational motion of the drive unit 34 into the reciprocating rotational motion of the arm 7, but also achieves further technical effects. After all, the circular orbit of the rotary pivot 35 results in sinusoidal motion, and as a result, the arm 7 of the thick skirt cutting tool 4 is displaced relatively quickly toward and away from each other when the ends 20 of the arm 7 are still relatively far from each other, while this displacement slows down as the ends 20 of the arm 7, and thus the thick skirt cutting blade 8, move closer to each other. Thus, even if the rotary drive unit 34 rotates at a constant speed, the speed of movement of the arm 7 is automatically controlled via the drive mechanism 39. More specifically, as the speed of movement of the arm 7 slows down, a certain angular displacement of the drive axis of the drive unit 34 means that the displacement of the end 20 of the arm is reduced. As a result, the force on the tip of the arm 20 increases, thereby providing additional force for cutting the thick skirt of the slaughter animal 2 with the thick skirt cutting blade 8. A comparison of Figures 16 and 17 illustrates this effect. Both Figures 16 and 17 show the angle setting (in degrees) of the drive unit 34, which is preferably embodied as a servo motor. In Figure 16, the relevant forces at the end 20 of the arm 7 of the thick-walled skirt cutting tool 4, i.e., where the diaphragm piercer 19 is located, are plotted. Figure 17 shows the spread distance between the ends 10 of the arm 7 of the thick-walled skirt cutting tool 4 against the relevant angle of the drive unit 34. As shown on the right side of Figures 16 and 17, a 90° angle of the drive unit 34 is associated with the minimum spread distance between the ends 10 of the arm 7 of the thick-walled skirt cutting tool 4, while the force diagram shows the maximum force at this 90° angle. Thus, the drive mechanism 39 results in the optimization of the force for cutting the thick skirt of the slaughter animal 2 with the thick-walled skirt cutting blade 8. Each leg 12 of the diaphragm cutting tool 5 may further include a guide 22 configured to guide the diaphragm to the diaphragm cutting blade 13 and to keep the lungs away from the diaphragm cutting blade 13 of the slaughter animal 2.

[0067] The component kit 1 preferably comprises a further drive mechanism (not shown) configured to drive the leg portion 12 of the diaphragm cutting tool 5. The further drive mechanism is preferably a force-controlled drive mechanism such as a cylinder, more preferably a pneumatic cylinder. Alternatively, the further drive mechanism comprises a position-controlled or resilient member.

[0068] The method for removing the internal organs of a quadrupedal slaughter animal 2, particularly a pig 3, will be described in more detail with reference to the sequential method steps shown in Figures 4 to 10. Figures 4 to 10 are side views of the pig 3 and the parts kit 1 used for the internal organ removal work, respectively. On the left side of these figures, the parts kit is also shown in a front view, illustrating the positional relationship between the arm 7 of the thick skirt cutting tool 4 and the leg 12 of the diaphragm cutting tool 5 in the corresponding step.

[0069] In Figure 4, the parts kit 1 is placed on a base 6. This base 6 can be placed on the robot head 29 of the articulated arm 28 of the robot 27, as shown in Figure 11. The movement of the parts kit 1 throughout the sequence of figures is performed by this (not shown) robot. The pig 3 is suspended from a hook 24 of an overhead transporter (not shown), hanging with its head 10 facing downwards. The carcass 25 has its ventral side 26 opened in a pre-slaughtering process.

[0070] In Figure 5, the parts kit 1 is introduced into the abdominal cavity of the slaughtered animal 2. By moving the arms 7 of the thick skirt cutting tool 4 and the legs 12 of the diaphragm cutting tool 5 toward each other, the size of the parts kit 1 can be temporarily reduced, making it easier to introduce it into the abdominal cavity. As can be seen from Figure 5, after the parts kit 1 has been introduced into the abdominal cavity, the arms 7 of the thick skirt cutting tool 4 and the legs 12 of the diaphragm cutting tool 5 are spread apart compared to the state shown in Figure 4.

[0071] In the next step, the parts kit 1 is moved from the rear end 11 toward the head 10 of the slaughtered animal 2. This moves the parts kit 1 toward the head 10, i.e., downward in the figure, simultaneously with the thick skirt cutting tool 4 and the diaphragm cutting tool 5. From Figures 5 to 6, the parts kit is moving downward toward the head 10, thereby piercing the diaphragm 15 of the carcass 2. The step of piercing the diaphragm 15 of the carcass 2 is preferably performed by the diaphragm piercer 19 of the thick skirt cutting tool 4. In the illustrated embodiment, the diaphragm piercer 19 comprises a pointed cutting blade 23 extending longitudinally outward from the end 20 of the arm 7 of the thick skirt cutting tool 4. During the step of piercing the diaphragm 15 of the carcass 2, the diaphragm piercer 19 of the thick skirt cutting tool 4 in the illustrated embodiment extends beyond the end of the diaphragm cutting tool 5.

[0072] As can be seen in Figure 6, the cover 21 is open to expose the diaphragm piercer 19 of the thick skirt cutting tool 4 and / or the diaphragm cutting blade 13 of the diaphragm cutting tool 5. One or more covers 21 preferably have an external shape configured to automatically bias the cover 21 from a shielded state to an exposed state when the cover slides in contact with the diaphragm 5 of the carcass 2. Alternatively or additionally, the cover 21 may be actuated by an actuator (not shown).

[0073] In Figure 7, the arms 7 of the thick skirt cutting tool 4 are moving toward each other, so that one or more thick skirt cutting blades 8 positioned on the inner surface 9 of each arm 7 are in contact with the thick skirt of the slaughtered animal 2. One arm 7 is at an acute angle in the thick skirt cutting state and cuts the thick skirt of the slaughtered animal 2 as the thick skirt cutting tool 4 moves from the head 10 toward the rear end 11 of the slaughtered animal 2, i.e., upward in the illustrated embodiment.

[0074] In Figure 8, the thick skirt cutting tool 4 moves toward the posterior end 11 of the slaughter animal 2, i.e., upward along the spine of the slaughter animal 2, in order to cut the thick skirt. Thus, the thick skirt cutting tool 4 comprises two arms 7 that are movable relative to each other, where: -During the step of moving the thick skirt cutting tool 4 from the rear end 11 toward the head 10 of the slaughtered animal 2 (i.e., from Figure 5 toward Figure 6), the arms 7 are positioned at intervals; and - During the step of cutting the thick skirt of the slaughter animal 2 by moving the thick skirt cutting tool 4 backward toward the rear end 11 (i.e., from Figure 7 to Figure 8), the arm 7 is substantially closed, thereby defining a V-shape for the thick skirt cutting blades 8 positioned on the two arms 7 (Figure 7).

[0075] The shape of the thick, skirt-like cutting tool 4 may help to push the kidneys of the slaughtered animals 2 out of the abdominal cavity.

[0076] Referring to Figure 8, the diaphragm cutting tool 5 has already moved slightly toward the head 10 of the slaughtered animal 2, thereby moving along the diaphragm 15 toward the outside of the thoracic cavity 16 and cutting the diaphragm 15 along the inner contour of the thoracic cavity 16 of the slaughtered animal 2. In this way, the diaphragm cutting tool 5 moves obliquely downward with respect to the longitudinal direction of the carcass 2, and this oblique downward movement has at least a downward component, i.e., toward the head 10.

[0077] The parts kit 1 according to the present invention can perform the steps of simultaneously removing white and red organs from a slaughtered animal, as follows: the parts kit 1 according to the present invention can perforate the diaphragm 15, then continuously remove the thick skirt with the thick skirt cutting tool 4 during a movement directed toward the posterior end 11, i.e., an upward movement in the figure, and cut the diaphragm with the diaphragm cutting tool 5 during a movement directed toward (and outward) the head 10, i.e., a downward (and outward) movement in the figure.

[0078] The embodiments described above are for illustrative purposes only and do not limit the scope of the invention in any way. Therefore, if reference numerals are used after features described in the appended claims, these are solely for the purpose of improving the clarity of the claims and do not limit the scope of the claims. The scope of protection is defined solely by the following claims.

Claims

1. A parts kit configured for removing the internal organs of four-legged slaughter animals, particularly pigs, as follows: - A thick skirt cutting tool comprising two arms that are relatively movable between a drilling entry state and a thick skirt cutting state, wherein at least one arm, preferably each arm, is: - A thick skirt cutting tool comprising a thick skirt cutting blade positioned inside the arm facing the other arm, thereby enabling the two arms to form an acute angle in the thick skirt cutting state, and enabling the thick skirt cutting of the slaughtered animal as the thick skirt cutting tool moves away from the head toward the rear end of the slaughtered animal, and - A diaphragm cutting tool comprising two legs, each leg having a diaphragm cutting blade positioned near the end of the leg, configured to cut the diaphragm along at least a portion of the medial contour of the thoracic cavity, Equipped with, Parts kit.

2. The two legs of the diaphragm cutting tool are movable relative to each other between an entry state in which the legs are separated by a first offset and a diaphragm cutting state in which the legs are further separated from the entry state so that the legs can follow a predetermined contour. The parts kit according to claim 1.

3. At least one of the thick skirt cutting tool and the diaphragm cutting tool comprises a diaphragm piercer configured to pierce the diaphragm of the slaughtered animal when the diaphragm piercer is moved from the posterior end toward the head of the slaughtered animal. The parts kit according to claim 1 or 2.

4. The diaphragm perforator is positioned on the arms of the thick skirt cutting tool, preferably at the ends of each arm, and the entry state of the thick skirt cutting tool defines the diaphragm perforation state. The parts kit according to claim 3.

5. In the state in which the thick skirt cutting tool is inserted, the two arms position the diaphragm piercer at a first distance of 25 mm to 150 mm, preferably 50 mm to 100 mm, more preferably 60 mm to 80 mm, thereby positioning the diaphragm piercer on the opposite side from the sagittal plane of the slaughtered animal. The parts kit according to claim 4.

6. In the state in which the thick skirt cutting tool is cutting the thick skirt, the arms are substantially closed, thereby defining a V-shape with the thick skirt cutting blades of the two arms. The parts kit according to claim 5.

7. In the entry state of the diaphragm cutting tool, the first offset is 25 mm or more and 150 mm, preferably 50 mm or more and 100 mm, more preferably 60 mm or more and 80 mm. A parts kit according to any one of claims 1 to 6.

8. One or more of the following: - The diaphragm perforator of the cutting tool for the thick skirt, - The thick skirt cutting blade of the thick skirt cutting tool, and - The diaphragm cutting blade of the diaphragm cutting tool, Further comprising one or more covers configured to selectively cover, A parts kit according to any one of the preceding claims 1 to 7.

9. The one or more covers are rotatable between a shielded state and an exposed state, - In the shielded state, the one or more covers shield at least one of the diaphragm piercer of the thick skirt cutting tool, the thick skirt cutting blade of the thick skirt cutting tool, and the diaphragm cutting blade of the diaphragm cutting tool to protect the intestines and / or other parts of the digestive system within the abdominal cavity of the slaughtered animal, and - In the exposed state, the cover is rotated away from at least one of the diaphragm piercer of the thick skirt cutting tool, the thick skirt cutting blade of the thick skirt cutting tool, and the diaphragm cutting blade of the diaphragm cutting tool, thereby exposing them for piercing and cutting. The parts kit according to claim 8.

10. The aforementioned one or more covers comprises at least two covers, each cover positioned as follows: - One of both arms of the thick skirt cutting tool, and / or - One of the two legs of the diaphragm cutting tool, Located in The parts kit according to claim 8 or 9.

11. The one or more covers have an external shape configured to automatically bias the cover from the shielded state to the exposed state when the cover slides against the diaphragm of the slaughtered animal. The parts kit according to claim 9 or 10.

12. The system further includes actuators configured to actively rotate one or more covers between the shielded state and the exposed state. A parts kit according to any one of claims 9 to 11.

13. The actuator is an operable cylinder. The parts kit according to claim 12.

14. The outer surface of each arm of the thick skirt cutting tool defines a guide surface configured to guide the perforated diaphragm toward the diaphragm cutting blade of the diaphragm cutting tool. A parts kit according to any one of claims 1 to 13.

15. The drive device is configured to drive the arm of the thick skirt cutting tool, A parts kit according to any one of claims 1 to 14.

16. The drive device is a rotary drive device that drives an eccentric drive mechanism, the eccentric drive mechanism converts the rotational motion of the drive device into a reciprocating motion of the arm of the thick skirt cutting tool, and the force acting on the ends of the arm of the thick skirt cutting tool increases as the ends move closer to each other. The parts kit according to claim 15.

17. Each leg of the diaphragm cutting tool further comprises a guide configured to guide the lungs of the slaughtered animal. A parts kit according to any one of claims 1 to 16.

18. The device further comprises a drive device configured to drive the leg portion of the diaphragm cutting tool. The parts kit according to claim 17.

19. The thick skirt cutting tool and the diaphragm cutting tool are provided with a base, and are movably positioned relative to the base and relative to each other. A parts kit according to any one of claims 1 to 18.

20. The arm of the thick skirt cutting tool and the leg of the diaphragm cutting tool are movable in parallel or coincident planes. The parts kit according to claim 19.

21. The thick skirt cutting blade of the thick skirt cutting tool extends substantially laterally with respect to the diaphragm cutting blade of the diaphragm cutting tool. The parts kit according to claim 19 or 20.

22. A multi-joint arm comprising a robot head holding the base according to any one of claims 19 to 21, comprising the assembly of the thick skirt cutting tool and the diaphragm cutting tool, robot.

23. A method for removing the internal organs of a four-legged slaughtered animal, especially a pig, using the following steps: - A step of simultaneously moving a thick skirt cutting tool and a diaphragm cutting tool from the rear end of the slaughtered animal toward the head; - The step of perforating the diaphragm of the slaughtered animal; - The step of moving the thick skirt cutting tool backward toward the rear end, thereby cutting the thick skirt of the slaughtered animal; and - The step of moving the diaphragm cutting tool further toward the head of the slaughtered animal, thereby cutting the diaphragm along the internal contour of the thoracic cavity of the slaughtered animal, including, method.

24. The step of perforating the diaphragm of the slaughtered animal is performed by the diaphragm perforator of the thick skirt cutting tool. The method according to claim 23.

25. During the step of perforating the diaphragm of the slaughtered animal, the diaphragm perforator of the thick skirt cutting tool extends beyond the end of the diaphragm cutting tool. The method according to claim 24.

26. The thick skirt cutting tool has two arms that are movable relative to each other, and here: - The arms are positioned at intervals during the step of moving the thick skirt cutting tool from the rear end of the slaughtered animal toward the head; and - During the step of moving the thick skirt cutting tool backward toward the rear end, thereby cutting the thick skirt of the slaughter animal, the arms are substantially closed, thereby defining a V-shape with the thick skirt cutting blades positioned on the two arms. The method according to any one of claims 23 to 25.

27. The further step includes simultaneously removing white organs and red organs from the slaughtered animal. The method according to any one of claims 23 to 26.

28. The step further includes using a thick skirt cutting tool according to one of claims 1 to 21, The method according to any one or more of claims 23 to 27.

29. The step further includes using a diaphragm cutting tool according to one or more of the parts kits described in claims 1 to 21, The method according to any one of claims 23 to 28.

Images