Cutting system and method for opening the abdomen and chest of an animal carcass such as a pig carcass

Abstract

The present invention relates to a method and cutting system for cutting the abdomen and thorax of an animal carcass, the system comprising a first cutting device, a guide pin, and at least one pressure device. The first cutting device is capable of cutting the abdomen and thorax along the ventral side of the animal carcass. The guide pin is movable along the inside of the carcass abdominal wall and is capable of applying a first force to the inside of the carcass abdomen. The pressure device is capable of applying a second force to the outside of the carcass abdomen, thorax, and / or neck. The first and second forces act in a cutting zone.

Description

Technical Field

[0001] The present invention relates to a cutting system and method for incising the abdomen and chest of an animal carcass such as a pig carcass. The cutting system may also cut the throat of the carcass.

Background Art

[0002] For example, when incising the abdomen and chest of a carcass at a slaughterhouse, such as when making an abdominal or chest incision of a pig carcass suspended by its hind legs, an abdominal cutter equipped with a knife is directed at the abdominal wall of the carcass and cuts from the pubis towards the throat of the carcass.

[0003] A system for incising the abdomen and chest is described in WO 2014 / 025250. The document discloses a slaughtering instrument with a partially protected rotary cutting blade, and its shield is provided with protruding guide pins. An additional slaughtering instrument is a dividing blade for cutting the pubis of the carcass. The dividing blade is attached to a shield that partially covers the rotary cutting blade.

[0004] The force exerted by the abdominal cutter on the suspended carcass destabilizes the suspended carcass, making it difficult for the system operating the abdominal cutter to perform a linear cut towards the throat at the abdominal, chest, and / or ventral part of the neck. This problem can be partially solved by a system arranged along a part of the dorsal part of the carcass to stabilize the carcass. However, this dorsal stabilization system stabilizes the carcass only with respect to the force that pushes the carcass towards the dorsal stabilization system among the forces acting on the carcass. While the abdomen and chest of the carcass are being incised, forces act on the carcass, and these forces not only push the carcass towards the dorsal stabilization system to stabilize it, but rather, situations also occur where the carcass is shaken and destabilized. In this situation, if the abdomen and / or chest of the carcass are cut non-linearly, for example, the carcass is divided asymmetrically, i.e., off-center. Such non-linear cuts and asymmetric divisions reduce the quality of the cut products.

Summary of the Invention

[0005] The present invention provides a cutting system for incising the abdomen and chest of an animal carcass, and solves the above-described problems by providing a cutting system capable of stabilizing the carcass during the cutting process in which the carcass can be suspended with its head downward. Using this system, a linear cut can be achieved, thereby improving the quality of the products produced. Preferably, the linear and symmetric cut extends from the pubis to the pharynx and / or, if sticking is applied during slaughter and the sticking position is accurate, from the pubis to the sticking hole over its entire length. "Symmetric" means that such a cut divides the ventral part of the carcass into two symmetric parts. The linear and symmetric cut also provides the following advantages. That is, since the manual work of the operator is reduced, the red meat located in the chest region can be more easily removed, the meat loss can be reduced during the cleaning of the sticking hole by cutting the meat from around the sticking hole, and the operation of the back saw for dividing the dorsal part of the carcass in subsequent processing can be improved.

[0006] The cutting system described herein may be used to incise the abdomen and chest of a moving animal carcass. As an example of such movement, the case where the carcass is conveyed in a conveying system while being suspended by its hind legs can be exemplified. In such a situation, preferably, the carcass and the cutting system move together in the conveying direction of the carcass at the same speed. This synchronous movement makes it difficult to stabilize the carcass while incising the chest and abdomen of the carcass.

[0007] One aspect of the present invention relates to a cutting system for incising the abdomen and chest of an animal carcass such as a pig carcass, and the system includes at least a) a first cutting device capable of incising the abdomen and chest along the ventral side of the animal carcass; b) at least one guide pin disposed adjacent to the cutting region of the first cutting device and movable along the inside of the carcass abdominal wall, and applying a first force in a direction at least toward the cutting region of the first cutting device against the inside of the carcass abdomen during the operation of the first cutting device; c) During the operation of the first cutting device, at least one pressing device arranged relative to the first cutting device is configured to apply a second force to the outside of the abdomen and / or chest and / or neck of the carcass in at least the opposite direction of the first direction, and the first and second forces act in the processing area.

[0008] By having the first and second forces acting in the processing area, these forces bring about the effects of local pressing and tension in the processing area, i.e., the cutting area on the carcass. The carcass can be conveyed by a conveyor during cutting, but due to the effects of the first and second forces, at least the processing area of the carcass is stabilized. The local pressing and pulling effects preferably cancel each other out by having local effects in the processing area. As a result, due to this effect, linear cutting can be carried out along the ventral side of the carcass as a whole, including linear cutting in the neck and throat areas. In this system, at least one pressing device may be understood as a steering device that preferably steers the cutting system to perform cutting at the midline of the carcass.

[0009] In an embodiment, the present invention relates to a cutting system in which the pressing device is movable in at least the directions of the first and second forces. The pressing device may be fixed relative to the first cutting device.

[0010] The pressing device is configured to contact the outside of the carcass skin on the ventral side of the carcass while incising the abdomen and chest of the carcass.

[0011] Preferably, at least one, for example two, pressing devices act on the skin side of the carcass with pressure or reaction force at a position extremely close to the guide pins located inside the abdominal wall. Due to the forces applied by the guide pins and at least one pressing device, a local pressing and pulling effect is obtained, and the abdominal skin is lifted into the cutting area from the inside and the outside. By lifting the skin in this way, the risk of damaging the intestine is reduced compared to when the skin is not lifted. This reduction in the risk of intestine damage is also achieved when the angle between the guide pins and the abdominal wall is changed during cutting.

[0012] Changing the orientation of the cutting system in the vertical plane and continuing to cut the carcass along the ventral side at the correct position with the first cutting device can cause this angle change.

[0013] The support surface of the pressing device and the guide pin are preferably arranged close to each other during operation so that local pressing and tension are brought about. The guide pin is preferably arranged across a predetermined cutting line, and the support surface is preferably arranged near above or near below the guide pin, or on both sides of the cutting line, for example horizontally with respect to the guide pin. Preferably, the number of support surfaces is an even number, for example 2 or 4. The support surfaces are preferably arranged in mirror symmetry specified with respect to a vertical line such as a predetermined cutting line.

[0014] At least one support surface may be positioned on the skin surface within the range of the distance from the tip of the guide pin, and the distance corresponds to less than the radius of the first cutting device if the first cutting device is circular. The distance between the guide pin and the support surface may be 20 cm or less, for example 15 cm or less, for example 10 cm or less, or about 5 cm.

[0015] Local pressing and tension may be achieved when at least one guide pin and at least one support surface are arranged as described elsewhere in this document. With local pressing and pulling, the abdominal wall can be pressed or deformed in an S shape with respect to the guide pin and the support surface. Local pressing and pulling can also be achieved, for example, when the first and second forces are applied within substantially a single horizontal line.

[0016] In a cutting system, the pressing device may be movable or fixed. Both have their respective advantages. Regarding a movable pressing device, the force applied to the outside of the carcass skin may be adjusted by a pressure regulator according to different instructions, such as the position along the cutting line when cutting the abdominal wall along the abdomen. The movable pressing device may be located in a retracted position, for example, during the cleaning process. Thereby, the total outer volume to be processed in the cleaning process executed in the cabinet connected to the cutting system can be reduced. In such a system, for example, there are at least two cutting systems as described herein. If one system is in operation, at least the other cutting system is in the cleaning process.

[0017] In a cutting system where the pressing device is fixed, the system can be simplified compared to a cutting device with a movable pressing device. Thereby, the manufacturing cost when manufacturing the system is reduced. The fixed pressing device is considered to be easy to clean and highly reliable when compared with a system with a movable pressing device, and the system is also less likely to fail, so it may be implemented in an abattoir.

[0018] "With the first force" means applying the first force to the inside of the carcass abdomen in the direction towards the cutting area of at least the first cutting device, and "with the second force" means applying the second force to the outside of the carcass abdomen and / or chest and / or neck abdomen. The second force is at least in the opposite direction to the first force. Preferably, the second force applied by the support surface presses the carcass abdominal wall towards at least one guide pin during the cutting of the abdominal wall, whereby relatively local pressing and tension are brought about on the abdominal wall in the area of the guide pin and the support surface.

[0019] The pressing device applies a second force to the outside of the carcass and can function as a counterhold or backstop against the pressure applied by the guide pin when at least one guide pin is directed inside the abdominal wall along the abdomen of the carcass. The guide pin creates a distance between the abdominal wall and the intestine when applying the first force, whereby the first cutting device can cut open the abdominal wall in the abdominal region and preferably can cut without damaging the intestine. During this process, if the guide pin applies an excessive force inside the abdominal wall, a tensile effect appears on the carcass. As a result, the carcass becomes unstable and irregular cutting occurs. By means of a pressing device that applies a second force to the skin side of the abdominal wall, the carcass can be stabilized and the cutting along the abdomen is performed linearly.

[0020] In an embodiment, the pressing device comprises at least one, for example two or more, support surfaces, and the support surfaces are configured to apply a second force to the outside of the skin of the carcass. In a system comprising at least two support surfaces, these support surfaces may be arranged symmetrically with respect to the guide pin. Preferably, the support surfaces may be arranged on one side of the cutting line during operation of the system and may be arranged symmetrically in front of the cutting device forming the cutting line. When using the term "each side of the cutting line" to describe the position of the support surface, the term means that the support surface is arranged on each side of the location where the cutting line will be formed by the cutting device, that is, at least two support surfaces are spaced apart from each other.

[0021] The number of support surfaces may be any number, for example, an even number, which can facilitate the application of equal forces to each side of the cutting line realized by the first cutting device. During the incision operation of the carcass abdomen by the system, the support surface may be in front of, on the line of, and / or behind the guide pin. In a preferred embodiment, the support surface is in front of the guide pin and the first cutting device. At least two support surfaces are spaced apart from each other and are arranged on each side of the cutting line to be formed by the first cutting device, applying a second force to the skin surface to prevent rotation or torsion of the carcass and, for example, prevent the carcass from swaying in the ventral-dorsal direction. In a preferred embodiment, the line between the two symmetrically arranged support surfaces forms a triangle together with the lines from each of the guide pins.

[0022] In principle, what is described here as two support surfaces is a support surface that extends across the cutting line that has been formed or is to be formed. Thereby, the support surface can be constructed as one support surface when supporting the carcass on each side of the cutting line before and after the cutting is made.

[0023] In an embodiment, at least one pressurizing device includes at least one support surface configured to apply a second force to the outside of the carcass skin, and the support surface may be one or more sliding plates or one or more rollers. The support surface may be configured to have both a function of pushing towards the skin surface and a function of sliding on the skin surface simultaneously, thereby becoming a sliding plate. However, the support surface may also be configured to have both a function of pushing towards the skin surface and a function of rolling on the skin surface simultaneously, thereby becoming a roller.

[0024] In a preferred embodiment, the support surface is one roller on each side of the cutting line. The roller is preferably offset with respect to the cutting device and / or the guide pin, but may also be described as one roller on each side of the cutting device and / or one roller on each side of the guide pin. The one roller on each side of the cutting line or the cutting device may be two independent rollers or may be one diabolo with one protruding circular part on each side of a common central part. To improve the stability when the system is directed towards the carcass, only one roller may be used as a whole, but it is preferable to have at least one roller on each side of the cutting line. Such two rollers are preferably parallel to each other and arranged substantially parallel to the central axis about which the rollers rotate. However, during operation, the rollers operate independently of each other following the skin surface, whereby they are temporarily slightly offset from each other by having different central axes but are generally parallel.

[0025] Also, two rollers, i.e., a total of four rollers, may be used on each side of the cutting line. Such two rollers may be parallel to each other and substantially parallel to the central axis. When there are two rollers on each side of the cutting line, these two rollers may have the same central axis throughout the process and may also function independently to follow the skin surface.

[0026] The roller-type support surface can easily overcome the unevenness in or on the skin surface of the carcass, and thus is public because it does not stop at points on the skin such as puncture holes.

[0027] The at least one guide pin and the at least one pressing device are preferably arranged relative to each other such that a first force and a second force interact when the tool is operating in the abdominal region of the carcass. The at least one pressing device does not need to be arranged close to the guide pin, but for technical reasons, it is preferable to keep the at least one pressing device close to the guide pin. The force applied inside the abdomen should be perceivable and / or visible on the outer skin side of the carcass.

[0028] In an embodiment, the system further comprises a pressure adjustment device connected to a pressurizing device and configured to adjust the pressure acting on the outer skin surface of the carcass by a support surface. The pressure adjustment device may be a spring or may be a cylinder such as an air cylinder, for example. The cylinder may be controlled by a controller. This controller, as described elsewhere in this document, is connected to one or more elements or sensors within a communication system in order to obtain information regarding one or more elements selected from the group consisting of the position of at least one pressurizing device, the position of at least one support surface, the position of a guide pin, and the outer shape of the skin surface located between at least two support surfaces, and may also receive information from these. The pressure adjustment device is controlled to apply a second pressure to the skin surface, and the applied force may be adjusted according to the location on the carcass where the cutting process is being performed, i.e., whether it is the abdominal region, the chest region, or the neck region and / or the head region. The second force is adjusted to reflect whether it is applied to an area where abdominal fat is present, an area where ribs / sternum are present, or only to the neck region, respectively. Due to the difference in the composition of the carcass between the relatively soft abdominal region, the relatively hard chest region, and the neck region where it is difficult to perform symmetric cutting, the type of operation varies depending on these regions.

[0029] The system may further comprise a position adjustment device configured to adjust the position of the pressurizing device and, for example, adjust the position of the support surface on the outside of the carcass skin in the forward position. Also, the position adjustment device may move the support surface away from the outside of the carcass skin surface so that the support surface is in the retracted position. The retracted position may be a partially retracted position or a fully retracted position. When fully retracted, the support surface is positioned as far away from the carcass skin surface as possible, which is the position of the movable support surface when the system is used for pubic cutting, as described elsewhere in this document. Also, the retracted position may be the position of the support surface during the cleaning process, as described elsewhere in this document.

[0030] The pressure adjustment device and the position adjustment device may be different devices that operate independently but cooperate with each other, or may be integrated into a single device including both functions, that is, a single common device.

[0031] In an embodiment, the mutual distance between the support surfaces, for example, the horizontal or vertical distance determined in relation to the position during cutting, may be adjustable. The position adjustment device may control the distance between the support surfaces in three-dimensional xyz to obtain the accuracy of positioning between the support surfaces, positioning of the support surfaces relative to the guide pins, and positioning of the support surfaces relative to the dimensions of the carcass to be processed.

[0032] In an embodiment, the system is connected to a controller capable of controlling at least the pressure adjustment device and / or the position adjustment device.

[0033] The pressure adjustment device controls the pressurizing device such that the pressurizing device functions as a counter holder against the guide pins when the first cutting device cuts into the abdominal skin, and / or the pressurizing device functions as a pressing device that presses against the outside of the carcass skin, whereby the pressure adjustment device controls the pressurizing device so as to eliminate or reduce the twisting of the carcass when the pressurizing device passes along the chest of the carcass. The system described herein operates as follows. When the pressurizing device is used as a pressing device and moves along the chest of the carcass, the carcass is pushed toward one or more guides located at the dorsal part of the carcass, whereby the carcass is stabilized and proper cutting is performed through the sternum.

[0034] In an embodiment, the system may further include a second cutting device configured to sever or divide the pubic bone of a carcass. The second cutting device may be a linear knife and may be configured to be fixed to a second cutter holder. The second cutter holder holds the second cutting device at a position fixed relative to the first cutting device and at least one guide pin. The second cutting device may be referred to as a pre-cutter. During operation, the second cutting device is inserted into the carcass at the groin directly above the pubic bone, then moved downward to cut the pubic bone, and then the second cutting device is removed from the carcass again.

[0035] In an embodiment, the system includes a controller or control device connectable to such devices for receiving information and controlling one or more devices within the system. The search for information is performed by a sensor within the system, such as, for example, a 3D vision system. The system includes a camera that scans while focusing on relevant parts of the carcass to be handled and positioned, for example, performing a 3D scan of at least the abdominal wall to be cut. The control device receives information from one or more sensors, such as a 3D vision system or other devices within the system, and performs calculations including a cutting path calculation based on the received information and calculation results, and controls one or more elements within the system, such as a manipulator like a robot arm that controls, for example, a cutting system or at least its tool.

[0036] In another embodiment, the system further includes at least one robot or robot arm operable in three dimensions, indicated by XYZ or the like, such as a Cartesian coordinate system. The at least one robot or robot arm has at least three degrees of freedom, preferably six degrees of freedom, such as, for example, four degrees of freedom, five degrees of freedom, six degrees of freedom, or seven degrees of freedom. The at least one robot or robot arm is preferably controlled by a control device.

[0037] During operation of the system, the carcass may be scanned by several sensors, and the acquired information such as image data can be converted into the precise movement of both at least one robot or robotic arm and the cutting device to achieve a linear cutting line extending from the pubic bone through the abdominal wall to at least the end of the sternum. When the carcass is sufficiently stable, the cutting line is positioned at a location where the sternum is evenly bisected.

[0038] The system described herein includes a pre-cutter and a ventral-thoracotomy device. These, in one operating cycle, cut the pubic bone of a pig that can be suspended on a conveyor, cut the abdominal wall, and cut the sternum, thereby ensuring that the two abdominal halves and the sternal half of the pig are evenly divided.

[0039] An embodiment of the system may include a cabinet with a cleaning device. Inside the cabinet, a tool that includes at least a first cutting device, at least one guide pin, and at least one pressing device moves when the tool is not in operation. Inside the cabinet, the tool is cleaned. Two tools may be arranged in the system, in which case one tool can be arranged outside the cabinet and the other tool can be arranged inside the cabinet with the cleaning device. Thereby, one tool can incise the abdominal and thoracic parts of the carcass, and the other tool can be cleaned. When processing the next carcass in the line, the positions of the two tools may be reversed, whereby each tool can be reliably cleaned between once being used and the next use. A system with two tools and a cabinet for cleaning is particularly suitable when combined with a robot or robotic arm for moving the tool along the ventral side of the carcass, such as in a slaughterhouse.

[0040] One form of the present invention relates to a method for incising the abdomen and chest of an animal carcass such as a pig carcass, the method comprising at least the following steps. a) Move a guide pin behind the abdominal wall at the pubic bone of the carcass and position the guide pin so as to apply a first force by which the guide pin pushes the abdominal skin outwardly of the carcass. b) While maintaining at least the first force, move the guide pin along the inside of the secondary wall, and at the same time, apply a second force to the outside of the carcass skin in at least the opposite direction to the first force. c) Cut the abdominal wall of the carcass with a first cutting device having a cutting area. The first and second forces act in the processing area.

[0041] For example, like inside the leaf guard of the carcass at the pubis, before the guide pin can move behind the abdominal wall, the carcass is incised by a pubis cutter or a precutter, and when the pubis cutter retracts, there remains room for the guide pin. In an embodiment of the method, before step a), another pre-cutting step (step aa)) is included, and the pubis of the pig carcass is divided by a second cutting device.

[0042] Since it is important to reduce the risk of cutting the intestine for the first force applied to the inside of the abdominal wall, it may be the minimum required to create a short distance, for example, a few millimeters, between the inside of the abdominal wall and the intestine. The intestine is soft and may be filled with moisture and partially decomposed feed, but the intestine may also move when the carcass is processed, such as when moving the guide pin along the inside of the abdominal wall, and the distance caused by the first force between the intestine and the abdominal wall cannot be visually recognized. Preferably, the risk of cutting the intestine should be reduced as much as possible. Preferably, it should be zero, thereby ensuring a distance to guarantee that the cutting device does not reach the intestine when cutting the abdominal wall between the inside of the abdominal wall and the intestine.

[0043] The second force applied to the outside of the carcass skin functions as a stabilizing force to stabilize the carcass. For example, when the carcass is suspended by the hind legs, the second force can reduce or eliminate the rotation and / or swinging of the carcass. The second force applied to the carcass may be changed during the cutting process in order to achieve stabilization of the position of the carcass. The first cutting device applies a force to the carcass during cutting, and a part of this force acts in the same direction as the second force applied from the pressing device. The amount of the force applied by the first cutting device and acting in the same direction as the second force is different when cutting the abdominal region and when cutting the chest region, and the second force applied by the pressing device is preferably adjusted in relation to the force applied by the first cutting device so as to continue to stabilize the carcass throughout the cutting process.

[0044] In an embodiment, the method further comprises the following steps. d) When the guide pin reaches the chest region, the second force increases while the cutting device cuts the sternum.

[0045] The cutting in step d) is preferably carried out up to the end of the sternum or the stab hole in the neck of the carcass. The stab hole is formed during slaughter if the slaughter process includes stabbing. If the animal is slaughtered without making a stab hole in the neck, or if the stab hole is not in the proper position and is located outside the defined cutting line, the cutting is carried out up to a predetermined position along the neck of the carcass.

[0046] In an embodiment, the method is an automatic method, and the sensor is used to determine the position of the carcass and / or to determine at least one position selected from the group of the whole carcass, the position of the hind legs, the region of the pubis, the abdominal region, the chest region, the region of the forelimbs, and the region of the head. The scanning or data collection by the sensor may be performed by an automatic scanning device that scans the whole carcass, such as a 3D scan of the outside of the carcass by at least one vision system, at least one X-ray system, and / or at least one ultrasonic system.

[0047] The animal carcasses according to the described method may in particular be derived from animals for human consumption and / or animal feed, for example selected from the group of pigs, swine, goats, sheep, cattle, deer, red meat, slaughtered four-legged animals, and preferably are porcine animals such as pigs (pig).

[0048] In an embodiment of the method, the animal carcass is suspended in a position where the hind legs are above and the head is below. This may be a slaughterhouse where the animals are transported by an overhead conveyor.

[0049] The embodiments described in connection with the system and their details may be combined with the method, and the same applies to the embodiments described with respect to the method. The method may be carried out with the system described herein.

Brief Description of the Drawings

[0050]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 5C

Figure 5D

Figure 6A

Figure 6B

Figure 6C

Figure 6D

Figure 6E

Figure 6F

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0051] Figure 1 illustrates a cutting system 1 according to the present invention. A first cutting device 2 and a guide pin 3 are shown. The first cutting device 2 can incise the abdomen and chest along the ventral side of an animal carcass. The guide pin 3 is disposed adjacent to the cutting area of the first cutting device 2. The guide pin 3 is movable along the inside of the animal abdominal wall, and can apply a first force to the inside of the carcass abdomen in a direction substantially perpendicular to the moving direction of the guide pin 3 during the operation of the first cutting device 2, that is, in the direction towards the cutting area of the first cutting device 2. Arrow 11 indicates the direction of the vector of the first force applied by the guide pin 3 when it is located inside the abdominal wall. Also, a pressing device 4 is shown. The pressing device 4 is disposed at least in front of the cutting area of the first cutting device 2 during the operation of the first cutting device 2. The pressing device 4 can apply a second force to the outside of the carcass abdomen and chest by means of a support surface 6, and the second force is at least in the opposite direction to the first force. Arrow 12 indicates the direction of the vector of the second force applied by the pressing guide 4 towards the skin side of the carcass. In the present embodiment, the pressing device 4 is movable at least in the directions of the first and second forces, that is, in the directions indicated by arrows 11 and 12. Here, the pressing device is shown in a state in the advanced position corresponding to the position during the cutting process. A pressure adjusting device 5 is connected to the pressing device 4 and is configured to adjust the pressure applied to the carcass by the support surface 6. Also, a second cutting device 7 is shown, and the second cutting device 7 is configured to cut the pubis before the guide pin 3 moves behind the abdominal wall of the carcass. The second cutting device 7 is protected by a shield 14, and the guide pin 3 may be connected to the shield 14. The dashed line surrounds the part of the tool of the cutting system 1, and this tool may be positioned inside the cabinet 10, thereby being in a washed state. The pressing device 4 is movable, and here it is shown in a state in the protruding position corresponding to the position of the fixed pressing device. Arrow 13 indicates the moving direction of the tool during the operation of incising the abdomen and chest of the carcass, and thereby arrow 13 also indicates the cutting direction of the cutting performed by the first cutting device 2 and the second cutting device 7.

[0052] FIG. 2 shows the tool of the cutting system 1 with the pressing device 4 in the retracted position. The reference signs are synonymous with those described in relation to FIG. 1.

[0053] FIG. 3 is a perspective view of the tool of the cutting system 1. The support surface 5 of the pressing device 4 is symmetrically arranged on each side of the guide pin 3 and, in this embodiment, is arranged offset with respect to the guide pin 3. The reference signs are synonymous with those described in relation to FIG. 1.

[0054] FIG. 4 shows the tool of the cutting system 1 as seen from above. The pressing device 4 is symmetrically arranged on each side of the first cutting device 2 and the guide pin 3. Each pressing device 4 is configured to have two support surfaces 6 in this embodiment. When the guide pin 3 is moving behind the abdominal wall of the carcass, it applies a force mainly in the direction indicated by arrow 11 to the inside of the abdominal wall, while the support surface 6 located outside the skin of the carcass applies a force mainly in the direction indicated by arrow 12 to the skin surface. The pressing device 4 does not necessarily have to be symmetrically arranged with respect to the first cutting device 2 and the guide pin 3. The pressure guide may first be arranged on one side of the first cutting device 2 and may also be configured to have support surfaces 6 arranged symmetrically or asymmetrically on each side of the guide pin 3. The reference signs are synonymous with those described in relation to FIG. 1.

[0055] Figures 5A - 5D illustrate the relative positions of the guide pins and the support surfaces at the ventral part of the carcass. In each of these drawings, the ventral region 17 of the carcass is shown. This region 17 has already been cut along the cutting line 15 (solid line) (the cutting device is not shown) and is to be further cut along the calculated cutting line 16 (dashed line). The arrow 13 indicates the cutting direction. Several examples of the relative positions of the guide pins 3 inside the carcass and the support device / surface 6 are illustrated. Figure 5A illustrates two support devices / support surfaces 6 arranged in front of the guide pin 3 with respect to the cutting direction. Figure 5B illustrates the support devices / surfaces 6 on each side of the guide pin 3. Figure 5C illustrates two support devices / surfaces 6 arranged behind the guide pin 3 with respect to the cutting direction. The guide pin 3 shown in Figure 5D comprises two guide heads arranged adjacent to each other. Various designs are possible for the guide pin 3 and the support device / surface 6, and the same applies to their relative positional relationships.

[0056] Figures 6A - 6F show the process of incising the abdomen and chest of the pig carcass 18 by the cutting system 1 according to the present invention in six steps. The pig carcass 18 is suspended by its hind legs. For the sake of simplicity of the drawings, the guide along the dorsal part of the pig carcass is not shown, but such a guide should preferably be provided. The robot arm, vision system, control system, etc. are also not shown, but they may be provided in the system.

[0057] In Figure 6A, the cutting system has a second cutting device 7 in the form of a pre - cutter or pubic cutter, and the second cutting device 7 is directed towards the pig carcass 18. Both the guide pin 3 and the pressing device 4 are in the retracted position.

[0058] In Figure 6B, the pubic bone is cut by the second cutting device 7 inside the carcass 18. Both the guide pin 3 and the pressing device 4 are still in the retracted position.

[0059] In FIG. 6C, the second cutting device 7 is in the retracted position, and both the guide pin 3 and the pressing device 4 are moving toward the forward position. As a result, the guide pin 3 is in a position ready to move inside the abdominal wall of the pig carcass 18 at the position where the pig carcass 18 is incised by the second cutting device 7, and the support surface 6 of the pressing device 4 is in a position ready to be positioned on the outer skin of the pig carcass 18.

[0060] In FIG. 6D, the first cutting device 2 incises the abdominal region of the pig carcass 18 by dividing the abdominal wall. The guide pin 3 is located inside the pig carcass 18 behind the abdominal wall, and the pressing device 4 The pressing device 4 having the support surface 6 is positioned on the outer skin of the pig carcass 18. Thereby, the suspended pig carcass 18 is stabilized.

[0061] In FIG. 6E, the cutting process continues along the ventral side of the pig carcass 18, and the first cutting device 2 reaches the chest region of the pig carcass 18.

[0062] In FIG. 6F, the first cutting device is cutting the sternum in the chest region of the pig carcass 18. Meanwhile, the guide pin 3 is still inside the pig carcass, the support surface of the pressing device 4 is positioned on the outer skin surface of the pig carcass 18, and the carcass 18 is pressed and stabilized. After the cutting is completed, the tool 9 may move inside the cabinet 10, and in the cabinet 10, the tool 9 can be cleaned before performing an incision on the next carcass. While one tool 9 is being cleaned, a similar tool may move outside the cabinet 10 and perform an incision on another carcass.

[0063] FIG. 7 shows the tools of the cutting system 1 similar to that described in relation to FIG. 1. In this embodiment, the support surface 6 includes at least one roller. In the side view of this tool, only one roller as the support surface 6 is shown, and the second roller is positioned on the other side of the cutting line of the cutting device 2. The pressing device 4, together with the pressure adjusting device 5, determines the pressure and / or position of the roller. The pressure adjusting device 5 is shown as a cylinder. The second cutting device 7 configured to cut the pubic bone is also shown.

[0064] FIG. 8 shows an embodiment similar to FIG. 7. Two rollers as the support surface 6 are shown, and the two rollers are separated on each side of the cutting device 2 and the guide pin 3. The size of the roller is for the convenience of illustration and may be smaller or larger compared to the cutting device 2 and / or the guide pin 3. It should be noted that various changes and modifications within the scope of the gist of the present invention will be apparent to those skilled in the art from the detailed description. Therefore, the detailed description and specific examples are shown as embodiments of the present invention, while being shown for the purpose of illustration only.

[0065] 1. A cutting system (1) for incising the chest and abdomen of an animal carcass such as a pig carcass, the system comprising at least a) a first cutting device (2) capable of incising the abdomen and chest along the ventral side of the animal carcass; b) at least one guide pin (3) arranged adjacent to the cutting area of the first cutting device (2), which is movable along the inside of the carcass abdominal wall and can apply a first force to the inside of the carcass abdomen in a direction at least towards the cutting area of the first cutting device during the operation of the first cutting device (2); c) at least one pressing device (4) arranged relative to the first cutting device (2) so as to apply a second force to the outside of the carcass abdomen and / or chest and / or neck in a direction opposite to at least the first force during the operation of the first cutting device (2); d) The pressing device (4) is movable in at least the directions of the first and second forces.

[0066] 2. A cutting system (1) for incising the chest and abdomen of an animal carcass such as a pig carcass, the system comprising at least a) a first cutting device (2) capable of incising the abdomen and chest along the ventral side of the animal carcass; b) At least one guide pin (3) arranged adjacent to the cutting area of the first cutting device (2), which is movable along the inner side of the abdominal skin and sternum of the carcass, and can apply a first force to the inner side of the carcass abdomen in a direction at least towards the cutting area of the first cutting device during the operation of the first cutting device (2). c) At least one pressing device (4) arranged relative to the first cutting device (2) such that during the operation of the first cutting device (2), a second force is applied to the outside of the carcass abdomen and / or chest and / or neck in a direction opposite to at least the first force. d) The pressing device (4) is fixed relative to the first cutting device (2).

[0067] 3. The system according to claim 1 or 2, comprising at least one support surface (6) configured to apply a second force to the outside of the skin of the carcass, the support surface (6) being a sliding plate or a roller.

[0068] 4. The system according to claim 3, wherein at least two support surfaces (6) are arranged symmetrically with respect to the guide pin (3), arranged on one side of the cutting line during the operation of the first cutting device (2), and / or spaced apart.

[0069] 5. The system according to any of the preceding claims, further comprising a pressure adjustment device (5) connected to the pressing device (4) and configured to adjust the pressure applied to the carcass by the support surface (6). and / or The system further comprises a position adjustment device (8) configured to adjust the position of the pressing device and the position of the support surface (6) on the carcass skin.

[0070] 6. The system according to claim 5, wherein the pressure adjustment device (5) and the position adjustment device (8) are a single common device.

[0071] 7. The system according to claim 5 or claim 6, wherein the system (1) is connected to a controller for controlling at least the pressure regulating device (5) and / or the position regulating device (8), and / or the system comprises a robot or a robot arm.

[0072] 8. The system according to any one of claims 5 to 7, wherein the pressure regulating device (5) controls the pressurizing device (4) such that it acts as a counter-holder for the guide pin (3) when the first cutting device (2) is cutting the abdominal skin, and / or the pressure regulating device (5) controls the pressurizing device (4) such that it acts as a pressing device when the pressurizing device (4) is passing along the chest of the carcass.

[0073] 9. The system according to any one of the preceding claims, wherein the system (1) further comprises a second cutting device (7) configured to sever the pubic bone of the carcass.

[0074] 10. The system according to any one of the preceding claims, wherein at least one cutting device (2), at least one guide pin (3), and at least one pressurizing device (4) constitute a tool (9), and the system (1) may comprise at least one or two tools, and further comprises a cabinet (10) for cleaning at least one tool.

[0075] 11. A method for incising the abdomen and chest of an animal carcass such as a pig carcass, the method comprising at least, a) moving the guide pin (3) behind the abdominal wall at the pubic bone of the carcass and positioning the guide pin (3) such that the guide pin (3) exerts at least a first force pressing the abdominal skin outwardly of the carcass, b) moving the guide pin (3) along the inner side of the abdominal wall while maintaining at least the first force, and simultaneously applying at least a second force opposite to the first force to the outer side of the carcass skin, c) cutting the carcass abdominal wall with a first cutting device (2) having a cutting area located within the skin area on which the first force and the second force act. The method comprises the steps.

[0076] 12. A method according to the preceding method claim, wherein: d) when the guide pin (3) reaches the region having the sternum, a second force increases while the first cutting device (2) divides the sternum. The method further comprises the step of.

[0077] 13. A method according to any of the preceding method claims, wherein before step a), the pubis of the pig carcass is cut by the second cutting device (7).

[0078] 14. A method according to any of the preceding method claims, wherein the method is executed by a system according to any of claims 1 to 10, and / or the method is an automated method, and sensors are used to measure the position of the carcass and / or the position of the pubis.

[0079] 15. A method according to any of the preceding method claims, wherein the animal carcass is selected from the group consisting of pigs, swine, goats, sheep, cattle, deer, red meat, and slaughtered four-legged animals, and / or the animal carcass is suspended with the hind legs up and the head down.

Claims

1. A cutting system (1) for cutting open the abdomen and chest of an animal carcass such as a pig carcass, comprising: (a) a first cutting device (2) capable of cutting open the abdomen and chest along the ventral side of the animal carcass; (b) at least one guide pin (3) disposed adjacent to the cutting area of the first cutting device (2) and movable along the inside of the carcass abdominal wall, and applying at least a first force in a direction towards the cutting area of the first cutting device to the inside of the carcass abdomen during operation of the first cutting device (2); (c) at least one pressing device (4) disposed relative to the first cutting device (2) so as to apply a second force in a direction opposite to at least the first force to the outside of the carcass abdomen and / or chest and / or neck during operation of the first cutting device (2); at least comprising; the first and second forces act in a processing area; the at least one pressing device (4) comprises an arm extending from the lower side to the upper side of the guide pin (3) and at least two support surfaces (6) provided at the tip of the arm, the support surfaces (6) being configured to apply the second force to the outside of the skin of the carcass, and the distance between the guide pin and the support surface of the pressing device being less than 20 cm; cutting system (1).

2. The pressing device (4) is movable at least in the directions of the first and second forces, The system according to claim 1.

3. The pressing device (4) is fixed relative to the first cutting device (2), The system according to claim 1.

4. The support surface is a folding plate or a roller, The system according to any one of claims 1 to 3.

5. The at least two support surfaces are symmetrically arranged relative to the guide pin (3), and are arranged on both the left and right sides of the cutting line during operation of the first cutting device, and / or the at least two support surfaces are separated from each other, The system according to claim 4.

6. A pressure adjustment device (5) connected to the pressing device (4) and configured to adjust the pressure applied to the carcass by the support surface (6), and / or A position adjustment device (8) configured to adjust the position of the pressing device and the position of the support surface (6) on the carcass skin, further comprising, The system according to claim 1, 2, 4, or 5.

7. The pressure adjustment device (5) controls the pressurizing device (4) such that when the first cutting device (2) cuts within the abdominal skin, it functions as a counter-holder for the guide pin (3), and / or controls the pressurizing device (4) such that when the pressurizing device (4) passes along the chest of the carcass, it functions as a pressing device. The system according to claim 6.

8. The position adjustment device can control the distance of the support surface in three dimensions of x, y, and z. The system according to claim 6.

9. The system (1) further comprises a second cutting device (7) configured to divide the pubic bone of the carcass. The system according to any one of claims 1 to 8.

10. The at least one first cutting device (2), the at least one guide pin (3), and the at least one pressurizing device (4) constitute a tool (9), the system (1) comprises at least one or two tools (9), and further comprises a cabinet (10) for cleaning the at least one tool (9). The system according to any one of claims 1 to 9.

11. The first and second forces act on the cutting area on the carcass such that they bring about a local pushing and pulling effect in the cutting area, and the pushing and pulling effects cancel each other out to stabilize the cutting area. The system according to any one of claims 1 to 10.

12. The abdominal wall of the carcass is deformed into an S shape with respect to the guide pin and the support surface by local pushing and pulling. The system according to any one of claims 1 to 11.

13. A method for incising the abdomen and chest of an animal carcass such as a pig carcass, comprising: a) moving a guide pin (3) to the back side of the abdominal wall at the pubic bone of the carcass and positioning the guide pin (3) such that the guide pin (3) exerts at least a first force that pushes the abdominal skin to the outside of the carcass; b) moving the guide pin (3) along the inside of the abdominal wall while maintaining the at least first force, and at the same time applying at least a second force to the outside of the carcass skin by at least one pressurizing device (4), the first force and the second force opposite to the first force bringing about a local pushing and pulling effect; c) cutting the abdominal wall of the carcass with a first cutting device (2) having a cutting area located in the skin area where the first force and the second force act. The method comprises at least the steps. The at least one pressing device (4) comprises an arm extending from below the guide pin (3) to above, and at least two support surfaces (6) provided at the tip of the arm, the support surfaces (6) being configured to apply the second force to the outside of the carcass skin, and the distance between the guide pin and the support surface of the pressing device being less than 20 cm, Method. Claim 14 d) further comprising a step of increasing a second force while the first cutting device cuts the sternum when the guide pin (3) reaches the region including the sternum, The method according to claim 13.

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