Method and system for boning the shank portion of a quadrupedal carnivore to remove meat from the bones of the shank portion

Abstract

The method and system for removing meat from the bone of a carcass leg comprises the following steps: a) holding the leg with a support device; b) moving the meat removal device to a pre-cut; c) then moving away from the support device along the bone to a first end position so that meat is removed from the bone; d) then moving away from the bone and forcing the meat off the bone to further sever the meat from the bone; e) then moving towards the support device; f) then moving towards the bone; and g) then again moving away from the support device along the bone to a second end position further away from the support device than the first end position so that more meat is removed from the bone.

Description

Technical Field

[0001] The present invention relates to a method for boning a loin leg portion for removing meat from the bone of the loin leg portion of a four-legged carnivorous animal. The present invention also relates to a loin leg boning system for removing meat from the bone of the loin leg portion of a four-legged carnivorous animal.

Background Art

[0002] EP898894A2 relates to a semi-automatic pig thigh boning device and a boning process.

[0003] EP2110021A1 relates to a method and apparatus for boning the arm or leg portion of a meat-processed livestock, particularly a pig leg.

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to provide an improved system and method for boning a loin leg portion.

[0005] A further object of the present invention is to provide an ergonomically improved loin leg boning system and method for an operator of an improved efficiency system.

Means for Solving the Problems

[0006] In a first aspect, as defined in claim 1, the present invention provides a method for boning a loin leg portion for removing meat from the bone of the loin leg portion of a four-legged carnivorous animal. The method comprises the following steps, namely, a) holding the leg portion by a support device, by the lower end of the bone, or by a lower portion of the leg such as the foot; b) moving the meat removal device to a first starting position towards the bone and to a pre - cut, the pre - cut being a cut made along the circumference of the bone at or at least in the vicinity of the lower end of the bone so as to cut the muscle fibers c) performing a first meat removal operation from the first starting position along the bone in a meat removal direction away from the support device to a first end position so that the meat is removed from the bone by the meat removal device d) moving the meat removal device away from the bone, the meat in contact with the meat removal device being forced away from the bone and further cutting the meat from the bone e) moving the meat removal device in a re - positioning direction towards the support device f) moving the meat removal device to a second starting position towards the bone g) performing a second meat removal operation from the second starting position along the bone in a meat removal direction away from the support device to a second end position further away from the support device than the first end position so that further meat is removed from the bone by the meat removal device.

[0007] The effect of the method according to the present invention is that a very efficient and robust method for boning the leg meat part is provided for the execution of certain subsequent method steps of the method according to the present invention. The boning process, i.e., at least steps b) - g), is carried out in an automated manner and causes a very operator - friendly process. Sub - dividing the boning of the leg continuously and repeatedly results in a more robust boning process in which the meat is reliably and efficiently removed from the bone. Moving the meat removal device away from the bone after the meat removal operation can contribute to effectively cutting the meat from the bone. By means of said continuous cycle or repetition having a movement in the meat removal direction and a subsequent movement away from the bone, the fascia is gradually cut from the bone and breakage is prevented or at least significantly reduced, which contributes to removing the meat from the bone much more effectively. In this way, one or more of the said objectives are achieved.

[0008] In one embodiment of the method and system according to the present invention, the shank meat part is from a pig, cow, goat, sheep or a carnivorous animal of the camel family. The mentioned effects of the present invention are most prominent in embodiments where the bone is the femur, humerus, hip bone or tibia, preferably the femur or humerus, for boning the pig shank meat part. In particular, the humerus and femur have a relatively irregular outer shape that complicates the boning process, especially manual boning.

[0009] For step a), the leg can be suspended from the support device by the lower end of the bone or by a further lower part of the leg such as the foot. The support device may be part of an overhead conveying system or part connected to a carousel. In particular, in the case of the humerus or femur, the bone is held, preferably suspended, by the lower end of the bone. In this way, any force exerted on the bone during boning is transmitted inside the bone itself and not through any joints.

[0010] In one embodiment, the method has a precut along the circumference of the bone at or near the lower end of the bone so as to cut the muscle fibers, preferably before step b) and more preferably before step a). The system according to the present invention can be provided in or along a processing line having an upstream cutting station with a cutter for performing the precut in an automated manner.

[0011] For step c), the first meat removal operation in the meat removal direction away from the support device can follow a straight path away from the support device, preferably downward. The shank meat part can be held by the support device such that the bone moves, such as by pivoting with respect to the support device, or sways if the bone is suspended. The support device is preferably arranged to at least prevent the translational movement of the bone in the meat removal direction away from the support.

[0012] In one embodiment, during at least part of step d), a force in the meat removal direction is exerted on the meat by the meat removal device. The effect of still exerting said force on the meat during at least part of the movement of the meat removal device away from the bone is that the cutting and removal of meat from the bone is further improved. For this purpose, during step d), the movement of the meat removal device can be partly in the meat removal direction. In this way, during said movement away from the bone during step d), a more effective cutting of further meat can be achieved. Such a movement in the meat removal direction can be effectively provided by the force or pressure control of the movement of the meat removal device in the meat removal direction during step c) and during step g). During step d) or at least during part of step d), the partial movement in the meat removal direction can be provided in the same way.

[0013] In one embodiment, during at least step d), the meat in contact with the meat removal device is engaged by the meat removal device by one or more engagement elements. Preferably, the one or more engagement elements are: an outer edge of the meat removal device whose outer edge faces away from the bone; an inner edge of the meat removal device whose inner edge faces the bone and projects in the meat removal direction from the meat removal device; one or more through holes; one or more protrusions; and a surface area having an increased roughness, having one or more of them. The provision of such engagement elements can thus, for example, have an outer edge as described above, which may be designed such that the meat can bulge around said edge during at least step c) (and step g)) and step d), increasing the effect of forcing the meat away from the bone during step d). In the case of such engagement elements, the said provision of a force in the meat removal direction during step d) can be an additional advantage.

[0014] In embodiments having a surface area with one or more engagement elements having an increased roughness, the region may be an outer region of the meat removal device that is outside an inner region closer to the bone. By "region having an increased roughness", it is understood in this regard that such a region, such as the outer region, has a higher roughness than another region of the meat removal device, such as the inner region. With such a specific surface finish, in such an inner region closer to the bone, less resistance is exerted on the meat by the meat removal device compared to such an outer region that is further away from the bone during use, and it can be achieved that the meat is very effectively removed from the bone.

[0015] In one embodiment, the meat removal device has three, preferably four, meat removal plates, and each meat removal plate may have a meat removal section curved to follow at least a part of the cross-sectional outer shape of the bone during use. Each of the plates is movable between a non-operating position and an operating position, preferably rotatable about a pivot axis, and during the meat removal operation at least three of the plates are placed in the operating position, and during the movement away from the bone at least three of the plates are moved towards the non-operating position. During the movement in the repositioning direction, the plate is preferably in the non-operating position or at least not in the operating position. Preferably, the pivot axes are parallel such that the movement of at least three of the plates from their respective passive positions to the operating position is in a parallel plane. Thus, in that sense, at least three meat removal plates are parallel to each other.

[0016] In one embodiment, the meat removal device has two such meat removal plates, which may be sufficient, for example, for the boning of a spoon-shaped bone.

[0017] An embodiment of a meat removal device having three such meat removal plates is very suitable for the boning of pork hip bones or tibias.

[0018] An embodiment of a meat removal device having four such meat removal plates is very suitable for the boning of the femur or humerus. The effect of the present invention is most prominent in the latter embodiment of the boning of the femur or humerus. The meaty leg portions having said bones are processed in very large quantities and due to their irregular shapes, the boning can be more complicated. Thus, the boning of such bones according to the present invention causes a relatively high increase in efficiency, and the provision of said four such meat removal plates increases the reliability and degree of cutting meat from the bone.

[0019] In one embodiment, the support device has a support plate and the method preferably comprises, for step a), placing the pre-cut support plate at the lower end of the bone to hold, preferably hang, the leg by the lower end of the bone, the support plate preferably having slots configured to hold the leg therein by the lower end of the bone. The slots are dimensioned such that the joint portion of the bone at the lower end of the bone, such as the knee or elbow joint portion, cannot pass through the slots.

[0020] In an embodiment of the method where the bone is the humerus, the method may comprise removing the scapula from the humerus prior to step b).

[0021] In one embodiment, the second starting position is further away from the support device than the first starting position, which means the meat removal direction.

[0022] In one embodiment, steps d), e), f), and g) are performed for at least one additional cycle, preferably at least two additional cycles, and for the performance of step g) between the additional cycles, the second end position is each time further away from the support device than the second end position of the preceding performance of step g). By doing so, the meat removal device thus preferably moves further gradually in the meat removal direction, which is preferably downward, thereby removing the meat from the bone in a highly controlled and robust manner.

[0023] In one embodiment, for step c), the meat removal device is moved in the meat removal direction by a drive unit such as a pneumatic cylinder by applying a predetermined force or force profile to the meat removal device.

[0024] In one embodiment, during the meat removal operation of the meat removal device in the meat removal direction, the force in the meat removal direction exerted on the leg meat by the meat removal device is reduced when the meat removal device reaches the neck of the bone. This is particularly advantageous in the humerus or femur. The meat removal device can be force-controlled laterally with respect to the meat removal direction. Thus, the force in the direction of the bone caused by the meat removal plate of the meat removal device is temporarily reduced, which can further assist in passing through the neck of the bone. In an embodiment of the meat removal device having four meat removal plates, while the meat removal device passes through the neck of the bone, the fourth meat removal plate is at least in the operating position, and as a result, at least during the passage of the neck, this fourth scraper helps to effectively remove the meat from the bone.

[0025] In one embodiment, for step c) and / or step g), each of the first and / or second meat removal operations is performed for a predetermined time, which means that the duration of each meat removal operation is set to a predetermined value.

[0026] The corresponding embodiments are also applicable to the system described below according to the second aspect of the present invention. The system is particularly arranged to implement the above-described method according to the first aspect of the present invention and its embodiments.

[0027] In a second aspect, the present invention provides a system as defined in claim 11 for boning the limb foot portion for removing meat from the bones of the limb foot portion of a four-legged carnivore, preferably according to the method according to the first aspect of the present invention.

[0028] The system comprises a support device configured to hold the limb by the lower end of the bone or by a further lower portion of the limb such as the foot A meat removal device for removing meat from bones, and When using the system, continuously, Move the meat removal device to a first starting position towards the bone and to a pre-cut, which causes a cut to be made along the circumference of the bone at or near the lower end of the bone so as to cut the muscle fibers. Cause the execution of a first meat removal operation from the first starting position in a meat removal direction away from the support device along the bone to a first end position so that the meat is removed from the bone by the meat removal device. Move the meat removal device away from the bone, causing the meat in contact with the meat removal device to be forcibly separated from the bone, thereby causing further cutting of the meat from the bone. Cause the meat removal device to be moved in a repositioning direction towards the support device. Cause the meat removal device to be moved to a second starting position towards the bone. A control unit configured to cause the execution of a second meat removal operation from the second starting position in a meat removal direction away from the support device along the bone to a second end position further away from the support device than the first end position so that further meat is removed from the bone by the meat removal device.

[0029] In one embodiment, the meat removal device has at least three, preferably from three to eight, more preferably four, five or six, and even more preferably four meat removal plates, each being movable between a non-operating position and an operating position, preferably rotatable about a pivot axis, the plate in the operating position being closer to the bone during use, the bone being at least between the plates in the operating position and extending at least substantially orthogonally to the plane of the plates during use. During the movement of the meat removal device towards the bone, at least three meat removal plates are brought into the operating position so as to capture the bone between the respective meat removal sections of the at least three meat removal plates, each meat removal plate preferably having a meat removal section curved so as to follow at least a part of the cross-sectional profile of the bone during use. As already mentioned above, preferably, the pivot axes are parallel such that the movement of the at least three plates from their respective passive positions to the operating position is in a plane parallel thereto. Thus, in that sense, at least three meat removal plates are parallel to each other.

[0030] In one embodiment, the meat removal device has four meat removal plates in the form of two pairs of meat removal plates, preferably at least one pair of meat removal plates being operated jointly.

[0031] In another embodiment, the meat removal device has four meat removal plates in the form of a pair of meat removal plates operated jointly and two further meat removal plates each operable, operable meaning movable between an operating position and a passive position.

[0032] In one embodiment, at least two of the at least three meat removal plates have one or more engagement elements, and preferably, the one or more engagement elements are: an outer edge of the meat removal device whose outer edge faces away from the bone; an inner edge of the meat removal device that faces the bone and protrudes in the meat removal direction from the meat removal device; one or more through holes; one or more protrusions; and a surface area having an increased roughness. The engagement element contacts the meat during the meat removal operation in use, so that as a result of the movement of the meat removal device away from the bone during the subsequent movement of the meat removal device away from the bone, the meat is forcibly separated from the bone and further cuts the meat from the bone.

[0033] In one embodiment, the control system is configured to reduce the force in the meat removal direction exerted on the meat of the leg by the meat removal device when the meat removal device reaches the neck of the bone for performing the meat removal operation.

[0034] The corresponding embodiment is also applicable to the method described above according to the first aspect of the present invention. The effects of the system according to the present invention are similar to the effects of the method according to the present invention described above.

[0035] Generally speaking, the present invention is a system and method configured to remove meat from the bone of a shank meat leg, comprising the following steps, namely, a) holding the leg by a support device; b) moving the meat removal device to a pre-cut; c) then, moving away from the support device along the bone to a first end position so that the meat is removed from the bone; d) then, moving away from the bone, forcibly separating the meat from the bone, and further cutting the meat from the bone; e) then, moving towards the support device; f) then, moving towards the bone. g) Next, again, a step of separating the bone along the bone away from the support device to a second end position further away from the support device than the first end position so that further meat is removed from the bone, and a system and method having the same.

Brief Description of the Drawings

[0036] Hereinafter, embodiments of the present invention will be shown, and the present invention will be described with reference to the attached schematic drawings in which the same reference numerals indicate the same or similar elements.

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

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Figure 8

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Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Mode for Carrying Out the Invention

[0037] Figures 1 to 6 show a system 1 for boning the muscle leg part 2 of a four - legged carnivore. The system is arranged to remove the meat from the humerus 4 of the muscle leg part 2. The leg part 2 is only shown in Figure 3. The system has a support device 6 configured to hold the leg part 2 by the lower end 8 of the bone or by a further lower part of the leg such as the foot 10. The support device 6 has a support plate 12 for hanging the leg part 2 by the lower end 8 of the bone. For this purpose, the support plate 12 has a slot 14 and the support plate is arranged in a pre - cut of the leg part 2. The pre - cut is a cut made along the circumference of the bone 4 at or at least in the vicinity of the lower end 8 of the bone so as to cut the muscle fibers. In the view of Figure 3, the pre - cut is thus made at the vertical position of the support plate 12 along the bone. The system 1 may be provided on a conveying device such as a carousel as part of or at least along a processing line for processing such muscle leg parts. The leg part 2 may be transferred from a shackle of an overhead conveyor to the support device 6. A cutting station may be provided upstream of the system 1 to perform the pre - cut in an automated manner.

[0038] The system 1 further has a meat removal device 16 for removing the meat from the bone 4. The meat removal device 16 is movable in a direction perpendicular to the view of the figure with respect to the support device and for this purpose is connected to a drive unit in the form of a pneumatic cylinder 17 and is guided by vertical guide bars 19a and 19b. Instead of using the pneumatic cylinder 17, for example, a spindle may be used.

[0039] To remove the meat from the bone 4, the meat removal device 16 has four mutually parallel meat removal plates in the form of a first pair of meat removal plates 22a, 22b and a second pair of meat removal plates 24a, 24b, which are clearly shown in FIGS. 5 and 6 in particular, that is, the planes of the plates are parallel to each other. The plates 22a, 22b are rotatable about their respective pivot axes 23a, 23b, and the plates 24a, 24b are rotatable about their respective pivot axes 25a, 25b. The pivot axes 23a,b and the pivot axes 25a,b extend parallel to each other. Each of the plates 22a,b and 24a,b is rotatable between a non-operating position and an operating position. In the operating position shown in FIGS. 6 and 2, the plates are closer to the bone 4 in use than in the non-operating position shown in FIGS. 5, 1, 3 and 4. As shown in FIG. 6, in the operating position, the four plates are arranged such that the bone 4 is between the plates and extends at least substantially perpendicular to the plane 28 of the plates. During the movement of the meat removal device 6 towards the bone 4, the meat removal plates are brought into the operating position so as to capture the bone 4 respectively between the meat removal sections 26a,b and 27a,b of the meat removal plates 22a,b and 24a,b. As shown in FIGS. 5 and 6, each meat removal section of the meat removal plates is curved so as to follow at least part of the cross-sectional outer shape of the bone 4 in use.

[0040] The pair of plates 22a, 22b are each controlled independently by respective pneumatic cylinders 28a, 28b that can expand and contract independently under the influence of changing air pressure to pivot each plate 22a, 22b between a non-operating position and an operating position. In another embodiment, plates 22a and 22b may be operated jointly. Instead of using pneumatic cylinders, solenoids, electromagnetic actuators, spindles, cam / followers, lever mechanisms may be used. The smaller plates 24a, 24b are jointly operated to move between a passive position and an operating position by a shared lever mechanism actuated by a single pneumatic cylinder. Instead of using pneumatic cylinders and / or lever mechanisms, for example, solenoids, electromagnetic actuators, spindles, cam / followers may be used. Operating the plate by a pneumatic cylinder also applies a spring load to the plate, at least in the operating position, so that the plate can more easily conform to the irregular outer shape of the bone during use, as described below. Providing one or more pressure sensors (not shown) in the pneumatic circuit can further assist in ensuring that the meat removal device conforms to the outer shape of the bone, so that if a sudden pressure increase is detected by one or more pressure sensors, the pressure exerted on the meat or bone at the operating position of the meat removal plate can be reduced. Further, the control system may be configured to learn for the deboning of the same bone of a plurality of meat portions processed continuously. The force profile at the meat removal plate, such as for movement in the meat removal direction 38 as discussed below, may be applied based on information obtained by a suitable sensor such as a pressure sensor during a similar movement during the deboning of one or more preceding bones.

[0041] The meat removal plates 22a, 22b each have an engagement element formed by respective outer edges 34a, 34b of the meat removal device facing away from the bone. In particular, as shown in FIG. 1, the outer edges are bent downward. In use, the engagement elements in the form of edges 34a, 34b are in contact with the meat during the meat removal operation, as will be further described below. Instead of the outer edges 34a, 34b, the engagement element may be an inner edge of the meat removal device where the inner edge faces the bone and projects in the meat removal direction from the meat removal device; one or more through holes; one or more protrusions; and / or a surface area having an increased roughness. Such a surface area having an increased roughness may be an area having an increased roughness positioned on the outer bottom side of the meat removal plates 22a, 22b compared to an area positioned more inwardly having a relatively low roughness on the inner bottom side. In this way, the meat can slide outward along the bottom side of the meat removal plate relatively close to the bone and be further engaged outward by the surface area having an increased roughness.

[0042] In use, to remove the meat from the bone 4 of the shank portion 2, the system 1 is operated according to the following method 100 (FIG. 7). To carry out the method, the system has a control unit 20. The control unit is operatively connected to the meat removal device 16, in particular to the pneumatic cylinders 17, 28a, 28b, 32. The control unit 20 is configured to carry out the following method steps during use of the system, namely, a) Holding the shank 2 by the lower end 8 of the bone 4 by means of the support device 6. The cutting station may be provided upstream of the system 1 for performing a pre-cut in an automated manner. b) Next, the meat removal device 16 is moved to a first starting position 36 towards the bone 4 for the pre-cut. For this purpose, the meat removal plates 22a, b and 24a, b are moved from the non-operating position (FIG. 5) to the operating position (FIGS. 6, 1, 2). It should be noted in this regard that the height position of the meat removal device relative to the support device 6 is shown in the figure as being at a certain starting or ending position. c) Next, as also shown in FIG. 3, the meat removal device 16 performs a first meat removal operation from a first starting position 36 (FIG. 2) to a first end position 40 (FIG. 3) in a meat removal direction 38 (so as to be moved downward in the view of the figure) away from the support device 6 along the bone 4, and the meat 5 is removed from the bone 4.

[0043] The meat removal device is moved in the meat removal direction by applying a predetermined force or force profile to the meat removal device 16. The force or force profile may depend on the specific muscle leg part to be boned. d) Next, the meat removal device 16 is moved away from the bone, and for this purpose, the meat removal plate is moved from the operating position to the passive position by applying a force to the meat removal plate by means of (double-acting) cylinders 28a, b, 32. This outward movement, transversely with respect to the meat removal direction 38 and thus substantially transversely with respect to the extension direction of the bone 4, causes the meat 5 in contact with the meat removal device 16 to be forced away from the bone 4 and causes further cutting of the meat from the bone 4. The downwardly extending outer edges 34a, 34b that engage the meat 5 during this method step contribute significantly to forcing the said meat away from the bone, thereby causing further cutting of the meat from the bone.

[0044] During this step of moving away from the bone, the force in the meat removal direction 38 is exerted by the meat removal device 16 on the meat 5, i.e., remains exerted. This can be achieved by maintaining a downward force on the meat removal device 16 by means of the cylinder 17 during this step. The movement of the meat removal device 16 away from the bone is thus partially in the meat removal direction 38 and thus partially downward in the view of the figure. This also contributes to effectively forcing the meat away from the bone. e) Next, the meat removal device 16 is moved in a repositioning direction 42, upward in the view of the figure, towards the support device 6. f) Next, the meat removal device 16 is moved towards the bone 4 to a second starting position 44, i.e., the second starting position 44 is at the height shown in FIG. 3. The second starting position 44 may be at the same top level as the first starting position 36, or may be between the first starting position 36 and the first end position 40 as shown in FIG. 3. It should be noted that FIG. 3 shows only the height of the second starting position and does not show the meat removal device at that position. g) Next, by the meat removal device 16, a second meat removal operation is performed from the second starting position 44 along the bone 4 in a meat removal direction 38 away from the support device 6 to a second end position 46 further away from the support device 6 than the first end position 44 as shown in FIG. 4, as a result of which more meat is removed from the bone 4.

[0045] In an embodiment of the method that may depend on the specific branch meat leg to be boned, steps d), e), f), and g) are performed in at least one additional cycle (indicated by "y" in FIG. 7), and for the execution of step g) during the additional cycle, the second end position is moved further away from the support device each time than the second end position of the preceding execution of step g). By doing so, the meat removal device thus moves gradually further downwards during successive repetitions, i.e., cycles, thereby removing meat from the bone in a highly controlled and robust manner.

[0046] The control system 20 is configured to cause a reduction in the force in the meat removal direction 38 exerted on the meat of the leg by the meat removal device 16 when the meat removal device reaches the neck 47 of the bone 4 for the execution of the meat removal operation in step c) or g).

[0047] Also, for step c) and / or step g), each first and / or second meat removal operation is performed for a predetermined time respectively.

[0048] Figures 8 to 14 show a system 200 for boning the leg meat portion 2 of a four-legged carnivore, which is another embodiment of the system according to the present invention. The system 200 is similar to the system 1 described above. The components of the system 200 that are identical or have at least a similar function to the components of the system 1 are identified by reference numerals corresponding to those in Figures 1 to 7 with 200 added. To explain the function of the system 200, the above description of the system 1 is applied in a similar manner.

[0049] The system has a support device 206 configured to hold the leg portion 2 by the lower end portion 8 of the bone or by a further lower portion of the leg such as the foot 10. The support device 206, referring to Figure 5, is very similar to the support device 6. It also has a support plate 212 having a slot 214 for suspending the leg portion 2 by the lower end portion 8 of the bone, and the support plate 212 is arranged in the pre-cut of the leg portion 2 in the same way as shown in Figure 3 during use.

[0050] The system 200 further has a meat removal device 216 for removing meat from the bone 4. The meat removal device 216 is designed somewhat differently from the meat removal device 16, but like the device 16, it is movable vertically with respect to the support device 206 in the view of the figure, and for this purpose, it is connected to a drive unit in the form of a pneumatic cylinder 217 and is guided by vertical guide bars 219a and 219b.

[0051] To remove the meat from the bone 4, the meat removal device 216 has four mutually parallel meat removal plates in the form of a first pair of meat removal plates 222a, 222b that are very similar to the meat removal plates 22a, 22b, i.e., the planes of said plates are parallel to each other. The plates 222a, 222b are rotatable about their respective pivot axes 223a, 223b. Outside of the device 16, the meat removal device 216 does not have a second pair of meat removal plates. Instead, it has a single rear meat removal plate 224 that is translatable by a pneumatic cylinder 232 in a plane parallel to the plates 222a and 222b as can be derived from FIG. 10. The device 216 also has an additional front meat removal plate 229 that is rotatable about a pivot axis 233 by a pneumatic cylinder 231. Each of the plates 222a, 222b, and 229 is rotatable between a non-operating position and an operating position, while the plate 224 is translatable between a non-operating position and an operating position. FIGS. 9 - 12 and 14 show the plates 222a and 222b in the operating position, while in FIG. 8 they are in the passive position. The rear meat removal plate 224 is shown in the operating position in each of FIGS. 8 - 14. FIGS. 12 - 14 show the additional front plate 229 in the operating position, while in FIGS. 8 - 11 it is in the passive position. In the operating position, said plates are closer to the bone 4 during use than in the non-operating position. During the movement of the meat removal device 216 towards the bone 4, the meat removal plates 222a and 222b are brought to the operating position to capture the bone 4 respectively between the respective meat removal sections 226a and 226b of the meat removal plates 222a and 222b. Said meat removal sections are curved to follow at least a part of the cross-sectional outer shape of the bone 4 during use, similar to the plates 22a and 22b. During the movement of the meat removal device 216 towards the bone 4, the rear meat removal plate 224 and / or the additional front meat removal plate 229 can also be brought to the operating position to assist in the meat removal step.

[0052] A pair of plates 222a, 222b are each operated by respective pneumatic cylinders 228a, 228b which are independently controlled so as to be able to expand and contract independently under the influence of varying air pressure so as to pivot each plate 222a, 222b between a non-operating position and an operating position. In another embodiment, plates 222a and 222b may be operated jointly. Instead of using pneumatic cylinders, solenoids, electromagnetic actuators, spindles, cam / followers, lever mechanisms may be used. Operating the plates by pneumatic cylinders also applies a spring load to the plates at least in the operating position so that the plates can easily conform to the irregular outer shape of the bone during use, as will be explained below. Providing one or more pressure sensors (not shown) in the pneumatic circuit can further assist in ensuring that the meat removal device conforms to the outer shape of the bone, and for that purpose, if a sudden pressure increase is detected by one or more pressure sensors, the pressure exerted on the meat or bone at the operating position of the meat removal plate can be reduced. Further, the control system may be configured to self-learn for the deboning of the same bone of a plurality of meat portions processed continuously. The force profile at the meat removal plate, such as for movement in the meat removal direction 38 as discussed below, may be applied based on information obtained by suitable sensors such as pressure sensors during a similar movement during the deboning of one or more preceding bones.

[0053] The meat removal plates 222a, 222b each have an engagement element formed by the respective outer edges 234a, 234b of the meat removal device facing away from the bone, similar to the plates 22a, 22b. Instead of the outer edge, the engagement element may have an inner edge of the meat removal device where the inner edge faces the bone and projects in the meat removal direction from the meat removal device; one or more through holes; one or more protrusions; and / or a surface area having an increased roughness. Such a surface area having an increased roughness may be an area having an increased roughness positioned on the outer bottom side of the meat removal plates 222a, 222b compared to an area positioned more inwardly having a relatively low roughness on the inner bottom side. In this way, the meat can slide outward along the bottom side of the meat removal plate relatively close to the bone and be further engaged outward by the surface area having an increased roughness.

[0054] In use, to remove the meat from the bone 4 of the shank portion 2, the system 200 is operated in a manner similar to method 100 as represented in FIG. 7. That is, the method of the system 200 also follows consecutive method steps that may be referred to as method steps a - g. To execute the method, the system has a control unit 220 shown only very schematically in FIG. 14. The control unit is operably connected to the meat removal device 216, in particular to the pneumatic cylinders 217, 228a, 228b, 231 and 232. The control unit 220 is configured to execute the following method steps during use of the system, that is, a) Hold the leg 2 by the lower end 8 of the bone 4 in the same way as shown in FIG. 5 by the support device 206. The cutting station may be provided upstream of the system 200 to perform a pre - cut in an automated manner. b) Next, the meat removal device 216 is moved to a first starting position 36 towards the bone 4 for the pre - cut. For this, the meat removal plates 222a, 222b are moved from the non - operating position (FIG. 8) to the operating position (FIG. 9). Also, preferably, the rear plate 224 is moved from the non - operating position to the operating position only after the plates 222a, 222b have been moved to their operating positions. c) Next, the meat removal device 216 performs a first meat removal operation from the first starting position 36 to the first end position in the meat removal direction 38 (so as to be moved downward in the view of the figure) away from the support device 206 along the bone 4 in the same way as the device 16 moves to the first end position 40, and as a result, the meat 5 is removed from the bone 4.

[0055] The meat removal device is moved in the meat removal direction by applying a predetermined force or force profile to the meat removal device 216. The force or force profile may depend on the specific meat leg part to be boned. d) Next, the meat removal device 216 is moved away from the bone, and for this purpose, the meat removal plates 222a, 222b and 224 are moved from the operating position to the passive position by applying a force to the meat removal plates by the (double-acting) cylinders 228a, 228b and 232. This outward movement, transversely with respect to the meat removal direction 38 and thus essentially transversely with respect to the extending direction of the bone 4, forces the meat 5 in contact with the meat removal device 216 to move away from the bone 4 and causes further cutting of the meat from the bone 4. The downwardly extending outer edges 234a, 234b that engage the meat 5 during this method step contribute significantly to forcing the said meat away from the bone, thereby cutting further meat from the bone.

[0056] During this step of moving away from the bone, the force in the meat removal direction 38 is exerted on the meat 5 by the meat removal device 216, i.e., remains exerted. This can be achieved by the cylinder 217 maintaining a downward force on the meat removal device 216 during this step. The movement of the meat removal device 216 away from the bone is thus partly in the meat removal direction 38 and thus partly downward in the view of the figure. This also contributes to effectively forcing the meat away from the bone. e) Next, the meat removal device 216 is moved in the repositioning direction 42, upward in the view of the figure, towards the support device 206. f) Next, the meat removal device 216 is moved towards the bone 4 to a second starting position 44, which may be at the height shown in FIG. 13. The second starting position 44 may be at the same top level as the first starting position 36, or may be between the first starting position 36 and the first end position 40 as shown in FIG. 13. The different heights shown in FIG. 13 are not related to any position of any of the meat removal plates also shown in FIG. 13. g) Next, by the meat removal device 216, a second meat removal operation is performed from the second starting position 44 along the bone 4 in a meat removal direction 38 away from the support device 6 to a second end position 46 further away from the support device 206 than the first end position 44 as shown in FIG. 13, as a result of which more meat is removed from the bone 4.

[0057] In embodiments of the method that may depend on the particular limb meat portion to be boned, steps d), e), f), and g) are performed in at least one additional cycle (indicated by "y" in FIG. 7), and for the execution of step g) between additional cycles, the second end position is each time further away from the support device than the second end position of the preceding execution of step g). By doing so, the meat removal device thus moves gradually further downward between successive repetitions, i.e., cycles, thereby removing meat from the bone in a highly controlled and robust manner.

[0058] The control system 220 is configured to cause a reduction in the force in the meat removal direction 38 exerted on the leg meat by the meat removal device 216, preferably at least by the plates 222a and 222b, when the meat removal device reaches the neck 47 of the bone 4 for the execution of the meat removal operation in step c) or g). Also, the force in the direction of the bone by the meat removal plates 222a and 222b may be temporarily reduced, which further helps to pass through the neck of the bone.

[0059] Also, for step c) and / or step g), each first and / or second meat removal operation is performed for a respective predetermined time.

[0060] During the meat removal operation of step g), which may be the second meat removal operation or a further cycle of meat removal operations as described above, the additional front meat removal plate 229 is moved towards the bone to the operating position or, if the plate 229 is already in the operating position, maintained in the operating position. For example, when the control system 220 reduces the forces by plates 222a and 222b as described above, the plate 229 partially takes over the meat removal action by plates 222a and 222b.

[0061] When the meat removal operation is completed, all plates can be moved to the non-operating position and the bone 4 can be removed from the system 200.

[0062] Other variations to the disclosed embodiments can be understood and achieved by those skilled in the art when implementing the invention defined in the claims from a study of the drawings, the disclosure, and the appended claims. The foregoing description provides, by way of example only, embodiments of the present invention. The scope of the present invention is defined by the appended claims. One or more objects of the present invention are achieved by the appended claims.

Claims

1. A method for boning the shank portion of a quadrupedal carnivore, comprising the following steps: a) holding the shank by a support device at the lower end of the bone or at a lower portion of the leg such as the foot; b) moving the meat removal device towards a first starting position towards the bone to a pre-cut, the pre-cut being a cut made along the circumference of the bone at or near the lower end of the bone so as to cut the muscle fibers; c) performing a first meat removal operation by the meat removal device from the first starting position along the bone in a meat removal direction away from the support device to a first end position such that the meat is removed from the bone; d) moving the meat removal device away from the bone such that the meat in contact with the meat removal device is forcibly separated from the bone and further meat is cut from the bone; e) moving the meat removal device in a repositioning direction towards the support device; f) moving the meat removal device towards a second starting position towards the bone; g) performing a second meat removal operation by the meat removal device from the second starting position along the bone in a meat removal direction away from the support device to a second end position further away from the support device than the first end position such that further meat is removed from the bone.

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

3. During at least part of step d), the movement of the meat removal device is at least partially in the meat removal direction. The method according to claim 1 or claim 2.

4. During at least step d), the meat in contact with the meat removal device is engaged by one or more engagement elements of the meat removal device. The method according to any one of claims 1 to 3.

5. The meat removing device has three meat removing plates, each meat removing plate having a meat removing section curved to follow at least a part of the cross-sectional outer shape of the bone in use, each of said plates being movable between a non-operating position and an operating position, during the meat removing operation at least three of said plates being placed in the operating position and during movement away from the bone at least three of said plates being moved towards the non-operating position. The method according to any one of claims 1 to 4.

6. The second starting position is further away from the support device than the first starting position. The method according to any one of claims 1 to 5.

7. For steps d), e), f), and g), at least one further cycle is executed, and for the execution of step g) during the further cycle, the second end position is moved further away from the support device each time than the second end position of the preceding execution of step g). The method according to any one of claims 1 to 6.

8. For step c), the meat removing device is moved in the meat removing direction by a drive unit by applying a predetermined force or force profile to the meat removing device. The method according to any one of claims 1 to 7.

9. During the meat removing operation of the meat removing device in the meat removing direction, the force in the meat removing direction exerted on the leg meat by the meat removing device is reduced when the meat removing device reaches the neck of the bone. The method according to claim 7.

10. For step c) and / or step g), each first and / or second meat removing operation is performed for a predetermined time respectively. The method according to any one of claims 1 to 9.

11. A system for boning the muscle leg portion to remove meat from the bone of the muscle leg portion of a four-legged carnivore, said system comprising: A support device configured to hold the leg portion by the lower end of the bone or by a further lower portion of the leg such as the foot; A meat removal device for removing meat from the bone; and During use of said system, continuously: Moving the meat removal device to a first starting position towards the bone to a pre-cut, the pre-cut causing a cut to be made along the circumference of the bone at or near the lower end of the bone so as to cut the muscle fibers; Causing the meat removal device to perform a first meat removal operation from the first starting position to a first end position in a meat removal direction away from the support device along the bone, such that the meat is removed from the bone by the meat removal device; Moving the meat removal device away from the bone, causing the meat in contact with the meat removal device to be forcibly separated from the bone and causing further cutting of the meat from the bone; Causing the meat removal device to move in a repositioning direction towards the support device; Causing the meat removal device to move to a second starting position towards the bone; Causing the meat removal device to perform a second meat removal operation from the second starting position to a second end position further away from the support device than the first end position in a meat removal direction away from the support device along the bone, such that further meat is removed from the bone by the meat removal device, a system having a control unit configured as such. Claim 12 The meat removal device has at least three meat removal plates, each being movable between a non-operating position and an operating position, the plate in the operating position being closer to the bone during use, the bone being between at least the plates in the operating position during use and extending at least substantially orthogonally to the plane of the plates, and during movement of the meat removal device towards the bone, at least three meat removal plates being arranged to be brought to the operating position so as to capture the bone between the meat removal sections of each of the at least three meat removal plates, each meat removal plate having a meat removal section curved to follow at least a part of the cross-sectional outer shape of the bone during use. The system according to claim 11.

13. The meat removal device has four meat removal plates in the form of a pair of meat removal plates operable together and two further meat removal plates each operable. The system according to claim 12.

14. At least two of the at least three meat removal plates have one or more engagement elements. The engagement elements contact the meat during the meat removal operation during use, so that as a result of the movement of the meat removal device away from the bone during the subsequent movement of the meat removal device away from the bone, the meat is forcibly separated from the bone and further meat is cut from the bone. The system according to any one of claims 11 to 13.

15. The control unit is configured to reduce the force in the meat removal direction exerted on the meat of the leg by the meat removal device when the meat removal device reaches the neck of the bone for performing the meat removal operation. The system according to any one of claims 11 to 14.

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