Apparatus and method for removing leaf lard from slaughtered animals

Abstract

A tool for removing leaf lard from an animal carcass includes a mandrel for winding the leaf lard therearound, the mandrel having a suction cavity with a round opening that engages a portion of the leaf lard, and a first air device located inside the mandrel for drawing air into the suction cavity and blowing air out of the suction cavity. The mandrel may also have at least one pusher device for releasing and pushing out the leaf lard wrapped around the mandrel, and at least one pusher element located inside and / or in front of the pusher device and directed beneath the leaf lard wrapped around the mandrel. The tool may be used in a method for releasing or removing leaf lard from an animal carcass. The tool may be part of a system for automatically releasing or removing leaf lard from an animal carcass, and the system may include a robotic arm, an identification system, and a control system.

Description

[Technical Field]

[0001] The present invention relates to an apparatus, method and system for releasing or removing layers of abdominal fat or leaf lard (fat) from slaughtered animals or parts thereof, such as pre-disemboweled pigs. [Background technology]

[0002] In many slaughterhouses, post-slaughter processing of animals such as pigs involves opening the carcass, removing the intestines, and removing the abdominal fat layer, also known as leaf lard, before, for example, cutting the carcass in half. Removal of leaf lard was initially done manually, but was an intensive and repetitive task. Handheld devices such as those described in U.S. Pat. No. 5,997,394 (Jarvis) and EP 1 029 454 A1 (BVS), and machine-controlled devices such as those described in U.S. Pat. No. 5,785,588 (Stork) have each contributed to gradually reducing the worker's workload.

[0003] More specifically, US 5,785,588 describes an apparatus for removing a layer of abdominal or leaf fat from a slaughtered animal or part thereof, such as a pig, whose abdominal cavity has been previously opened, which apparatus has a pulling device for peeling the layer of abdominal or leaf fat from the abdominal wall as well as a gripping element for gripping said layer, the gripping element including at least one suction opening. Preferably, the pulling element includes a rotatably drivable winding mandrel with a suction opening, which is guided during rotation to wind up the layer of abdominal or leaf fat gripped by the suction opening.

[0004] However, the described equipment does not meet the requirements in today's production, which has become more automated by including robots handling carcasses and carcass parts in an increasing number of slaughterhouses. Problems to be solved include, for example, the speed at which the leaf lard is released or removed, the quality of the removal, e.g., how much lard remains on the abdominal wall, how the leaf lard is handled as it is removed from the abdominal wall of the carcass, the difficulty of separating the leaf lard from the removal equipment, and also to make the equipment more stable to reduce the risk of the equipment failing in the process, for example, by not providing a rigid fixation of the leaf lard to the equipment. Summary of the Invention [Problem to be solved by the invention]

[0005] It may be seen as an object of the present invention to provide an apparatus, system, and method in the form of a tool that overcomes one or more of the problems set forth above. A further object of the present invention may be to provide an alternative to the prior art. [Means for solving the problem]

[0006] A first object of the present invention relates to a tool for freeing or removing leaf lard from at least a portion of an animal carcass, the tool comprising a winding mandrel configured to wind leaf lard around it, the mandrel comprising: a suction cavity inside the mandrel, the suction cavity having a round opening disposed on an outer surface of the mandrel and configured to engage a portion of the leaf lard; at least one first air device located inside the mandrel for alternately drawing air into the suction cavity and blowing air out of the suction cavity to draw the engaging portion of the leaf lard into the suction cavity and blowing the engaging portion of the leaf lard out of the suction cavity, respectively; It has the following characteristics.

[0007] By winding mandrel, it is meant that the mandrel in operation is rotatable about its own central longitudinal axis and when it engages the ends of the leaf lard located in the abdominal wall of a slaughtered and disemboweled animal, e.g., a half carcass, the leaf lard is wound or coiled around the rotating mandrel.

[0008] The mandrel has a suction cavity inside the mandrel and openings located on the outer surface of the mandrel that allow air to be sucked into the mandrel, thereby exerting pressure on the volume within the suction cavity and in front of the openings to create a drawing action, so that leaf flard close to and / or in contact with the mandrel is drawn towards and / or held firmly by the mandrel before and / or as it is wound onto the mandrel.

[0009] The opening of the suction cavity may be circular, such as circular or oval. A round opening of the suction cavity has the advantage that the leaf fried food does not get caught on the edges, as can happen for example with suction cavities that are straight and have sharp edges.

[0010] The border or edge forming the opening of the suction cavity may be slightly protruding so that better contact is established with the leaf lard when the mandrel engages the leaf lard.

[0011] The at least one first air device located inside the mandrel may be at least one tube located inside the mandrel from the proximal end to the suction cavity and may be connected to a compressor / pump located outside the proximal end of the mandrel. The compressor may create a vacuum in the first air device by drawing air through the suction cavity. The drawing of air through the suction cavity may be performed before and / or as the mandrel engages the leaf foil, and a vacuum may also be created during at least a portion of the winding of the leaf foil around the mandrel. The compressor may blow air into the first air device, which may be forced out of the suction cavity through the cavity opening, creating a zone of increased pressure around the opening and thereby blowing the mandrel-engaged portion of the leaf foil from the mandrel. This allows the compressed air to help free the leaf lard from the suction cavity and also provides a lifting effect between the leaf lard and the mandrel, in which case the leaf lard around the mandrel may inflate like a balloon, so that the leaf lard comes off the mandrel very easily and no sticking effect is observed.

[0012] The tools are at least one extrusion device configured to release and extrude the leaf lard wrapped around the mandrel; and / or At least one extrusion element located inside and / or in front of the extrusion device and configured to be directed underneath the leaf lard wrapped around the mandrel. It further has:

[0013] The extrusion device may be a ring-shaped device that is pushable from the proximal end of the mandrel toward the front end of the mandrel as the leaf lard wrapped around the mandrel is extruded. The advantage of this is that the pushing effect facilitates rapid removal of the leaf lard from the mandrel, compared to unwinding the leaf lard before removal or allowing gravity to cause the leaf lard to move away from the mandrel. A piston may be located at the proximal end of the mandrel, connected to the extrusion device, and controlled by a control system that controls the piston and tool for releasing or removing the leaf lard in the process of releasing or removing the leaf lard from the animal carcass.

[0014] The at least one extrusion element may be located, for example, inside and / or at the front of the extrusion device relative to the mandrel. The at least one extrusion element may be connected to a first ring, and the first ring may be located inside a second ring, which together with the extrusion element forms a ring-shaped extrusion device. As the leaf lard wrapped around the mandrel is to be extruded from the mandrel, the at least one extrusion element may be moved from the base end of the mandrel toward the front end. The at least one extrusion element may be moved from the base end of the mandrel toward the front end of the mandrel so that the extrusion device together with the at least one extrusion element presses as a unit on the leaf lard wrapped around the mandrel. The at least one extrusion element may have any configuration, such as protruding into the area closest to the mandrel, which allows it to be directed beneath the leaf lard wrapped around the mandrel, improving the process of extruding the leaf lard from the mandrel.

[0015] A second aspect of the present invention relates to another possibility for solving the above-mentioned problem. This aspect relates to a tool for removing leaf lard from at least a portion of an animal carcass, the tool having a winding mandrel configured to wind the leaf lard, the tool comprising: at least one extrusion device configured to release and extrude the leaf lard wrapped around the mandrel; at least one extrusion element located inside the extrusion device and configured to be directed downwardly against the leaf lard wrapped around the mandrel; It further has:

[0016] A tool described as a second aspect of the present invention comprises: a suction cavity located inside the mandrel and having a circular opening disposed on the outer surface of the mandrel and configured to engage a portion of the leaf lard; and / or at least one first air device located inside the mandrel for alternately drawing air into the suction cavity and blowing air out of the suction cavity to draw the engaging portion of the leaf lard into the suction cavity and blow the engaging portion of the leaf lard out of the suction cavity, respectively; It further has:

[0017] The features of the first and second aspects may be similar in structure and function and may each be combined with one or more features of the present invention as described below.

[0018] For both the first and second aspects of the present invention, the tool may include at least one extrusion device that is or is connected to the outer ring, and at least one extrusion element that is connected to the inner ring and can slide or rotate inside the outer ring. The advantage of this is that the extrusion element can be positioned closely against the mandrel and rotate with the mandrel during winding and unwinding, and can be connected to the extrusion device so that the extrusion element moves with the extrusion device when the extrusion device is directed in the opposite direction from the proximal end of the mandrel toward the front end of the mandrel. Therefore, it is not necessary to stop the rotation of the mandrel before starting the extrusion operation. Furthermore, the secure connection between the extrusion device and the extrusion element also ensures that the leaf flair is located in the area surrounding the mandrel and not on the wrong side of the proximal end of the mandrel, and is not pinched between the mandrel and the extrusion device.

[0019] The tool may further include a clamping mechanism positioned within the suction cavity and capable of gripping at least a portion of the leaf lard sucked into the suction cavity. The clamping mechanism may be ring-shaped or have a configuration similar to the opening of the suction cavity and may be positioned inside the suction cavity, preferably adjacent to the opening. The clamping mechanism may function by movement, such as linear movement, from an open position in which gripping is not performed to a closed position in which gripping of the leaf lard sucked into the suction cavity can be performed. An advantage of such a clamping mechanism is the secure retention of the leaf lard while wrapping it around the mandrel and tearing it from the carcass abdominal wall. The clamping mechanism may also secure the leaf lard to the mandrel until it is transported to a predetermined location, such as a collection container optionally located near the location where the leaf lard is removed from the abdominal wall.

[0020] The clamping mechanism may be mechanically or pneumatically controlled. When pneumatically controlled, a pressure chamber may be located below the clamping mechanism in the suction cavity. By filling the pressure chamber with air, the clamping mechanism is pushed toward the suction port to close the suction cavity, and when the pressure chamber is empty, the clamping mechanism is no longer pushed toward the suction port and returns to its open position in the suction cavity.

[0021] The tool mandrel may have a generally conical shape with a larger base circumference and a smaller front circumference, with the suction cavity located closer to the front end of the mandrel than the base end, such as in the front quarter of the mandrel. The front end of the mandrel is the free portion, and the base end of the mandrel is the portion where the tool may interface with holding and control components such as a robotic arm and compressor / pump. An advantage of the conical shape of the mandrel is that leaf flard wrapped around the mandrel can be pushed off the mandrel due to the smaller dimensions of the front end.

[0022] The mandrel may have an inward curvature on the surface adjacent the opening of the suction cavity in a direction toward the base of the mandrel. The length, depth, and location of such inward curvature may be designed to accommodate the shape and size of the abdominal wall and ribs of the animal carcass on which the tool will be used. The inward curvature may follow the anatomical features of the abdominal wall during at least a portion of the process of wrapping the leaf lard around the mandrel. An advantage of the inward curvature is closer contact between the mandrel and the leaf lard being wrapped around the mandrel. The closer the contact, the better the contact, thereby reducing the risk that the leaf lard will not wrap around the mandrel.

[0023] The mandrel may have a surface deflection opposite the location of the inward curvature. Such deflection may be designed to accommodate the shape and size of the abdominal wall and ribs of the animal carcass on which the tool will be used. The deflection may conform to the anatomical features of the abdominal wall during at least a portion of the process of wrapping the leaf lard around the mandrel. An advantage of the deflection is closer contact between the mandrel and the leaf lard being wrapped around the mandrel. The closer the contact, the better the contact, thereby reducing the risk that the leaf lard will not be wrapped around the mandrel.

[0024] The mandrel may have engagement members, such as spikes, on its outer surface configured to engage with the leaf lard. The engagement members may be more or less randomly located on the mandrel surface, or may be located in a pattern, such as a row along the length of the mandrel. Each engagement member may be pointed, generally straight, or curved, e.g., with a curved tip toward the front end of the mandrel. An advantage of the engagement members is that a stronger grip is formed between the mandrel and the leaf lard for removal from the animal carcass. An advantage of bending the tip toward the front end of the mandrel is that when the leaf lard wrapped around the mandrel is to be removed from the mandrel, e.g., by being pushed off the mandrel, this operation is made easier.

[0025] The mandrel may further have surface openings, such as openings between the engaging members and / or openings at the tips of the engaging members. These openings may be connected to an air device so that air is sucked from the outside into the engaging members before and while the mandrel contacts the leaf lard to be wrapped around the mandrel. Suction can be continued for at least a portion of the time while the leaf lard is being wrapped around the mandrel. In this function, the advantage of the engaging members is that the grip between the mandrel and the leaf lard is increased, thereby reducing the risk of the leaf lard not being wound around the mandrel. The openings may also be used to blow air from the inside of the mandrel out of the openings during the process of removing the leaf lard from the mandrel. This slightly lifts the leaf lard wrapped around the mandrel, greatly facilitating removal, for example, when an extrusion device and / or extrusion element is used to release and push the leaf lard.

[0026] The mandrel may also have at least one rail recess located along its length. The rail recess may be a recess or lane within a portion of the mandrel surface having a bottom and sides along each edge of the bottom. The bottom of the rail recess may be substantially parallel to the entire surface of the mandrel, thereby providing a substantially equal height for the sides along the length of the rail recess. However, the bottom of the rail recess may be substantially parallel to the longitudinal axis of the mandrel, thereby providing a reduced height for the sides of the rail recess from the base end of the mandrel toward the front end of the mandrel. Preferably, the rail recess guides the extrusion element along the mandrel, for example, to enhance the ability of the extrusion element to be directed downwardly through the leaf lamination wrapped around the mandrel. The mandrel may have at least two recesses, each spaced approximately 90 degrees from the centerline of the suction cavity opening, the centerlines being parallel to the centerline or central axis of the mandrel from the base end to the front end. Thus, the mandrel may have rail recesses on either side of the mandrel, e.g., opposite the suction cavity, with the advantage that the extrusion elements are easily directed underneath the leaf lard wrapped around the mandrel and the position of the extrusion elements is stabilized during extrusion of the leaf lard from the mandrel.

[0027] At least one pusher element may be at least partially located within at least one rail recess and configured to penetrate under and / or push on the leaf plates wrapped around the mandrel. Such a pusher element may be angled toward the mandrel surface in a direction toward the front end of the mandrel. This allows the pusher element to be higher at its end closer to the base end of the mandrel and lower at its end closer to the front end of the mandrel. The angle of the pusher element may be, for example, approximately 45 degrees. An advantage of an angled pusher element is that it can be easily directed under the leaf plates wrapped around the mandrel. This advantage is further enhanced when the angled pusher element is disposed within the rail recess, as described above.

[0028] If the bottom of the rail recess is substantially parallel to the entire surface of the rail recess of the mandrel, at least one rail recess may be located along the mandrel surface, preferably in an area where there is no inward curvature or deflection, if one or both of the inward curvature and deflection are present.

[0029] The surface of the mandrel may be substantially symmetrical about a plane that bisects the mandrel along its length and also bisects the suction opening of the suction cavity.

[0030] A further aspect of the present invention relates to a system for automatically releasing or removing leaf lard from at least a portion of an animal carcass, the system comprising: at least one robotic arm including at least one tool as described herein; an identification system configured to identify the location of the portion of the animal carcass and / or the location of leaf lard that is to be removed or partially removed from the portion of the animal carcass; a processing system configured to receive and process information of at least the location of the animal, the location of the animal part, and / or the location of leaf lard connected to at least a portion of the animal carcass; a control system in communication with at least the processing system and the at least one robotic arm, the control system controlling the at least one robotic arm having a tool for releasing or removing the leaf lard; engaging leaf lard located on the abdominal wall of at least a portion of the animal carcass; winding the mandrel so that the leaf lard is wrapped around the mandrel, thereby freeing a major portion of the leaf lard from the abdominal wall or removing the leaf lard from the abdominal wall of the carcass; The tool is removed from the leaf lard, leaving the leaf lard attached to a small portion of the abdominal wall or directing the released leaf lard toward a predetermined area. Control system and may have

[0031] The system may be an automated robotic system, each component of which is preferably adapted to function in a slaughterhouse, where the carcass or half-carcass after disembowelment and evisceration may be further directed to an overhead conveyor where it is transported head-down, suspended by its hind legs. The leaf lard on the abdominal wall may be released or removed from the half-carcass suspended in a head-down position, such as by using the system described herein.

[0032] The at least one robotic arm may be a robotic arm having at least three degrees of freedom and individually controllable by the control system based on information received by the processing system.

[0033] The identification system may include a vision system, e.g., multiple cameras, positioned to identify the location of the portion of the animal carcass and / or the location of the leaf lard to be removed or partially removed from the portion of the animal carcass. The identification system may also be capable of controlling the appropriate removal of the mandrel from the leaf lard wrapped thereon, leaving the leaf lard attached to the abdominal wall, if predetermined, or delivering the leaf lard to a predetermined location.

[0034] A processing system, such as a processor, is preferably configured to receive and process a plurality of pieces of information, e.g., received from an identification system, of at least the location of the animal, the location of the animal parts, and / or the location of leaf lard connected to at least a portion of the animal carcass, and the processing system is preferably capable of processing this information in connection with determining the most optimal solution for connecting the mandrel of the tool to the leaf lard, determining a solution for wrapping the leaf lard around the mandrel, and releasing the mandrel from the leaf lard.

[0035] Preferably, a control system, such as a controller, is in communication with at least the processing system. However, the processing system and the control system may be a single system having both functions. The control system controls at least one robotic arm according to an optimal solution determined by the processing system. The control system controls the at least one robotic arm to perform the method described herein for releasing or removing leaf lard from the abdominal wall of an animal carcass.

[0036] The system may have at least two robotic arms, each having at least one tool as described herein. The robotic arms are controlled by a control system to drive the mandrels at least partially in opposite directions to release or remove leaf lard from, for example, two half carcasses, such as two carcasses taken from a single animal, e.g., left and right halves from an animal. For example, two robotic arms working on two halves from a single animal may work simultaneously in symmetrical steps, but one robotic arm may lead the step such that its tool engages the leaf lard of the other half carcass before the tool of the other robotic arm engages the leaf lard of the other half carcass.

[0037] In the system, at least one robotic arm may each have two tools of the type described herein.

[0038] Another aspect of the invention relates to a method for freeing or removing leaf lard from at least a portion of an animal carcass using a tool as described herein, the method comprising: a) contacting a mandrel of a tool with one end of leaf lard located on at least a portion of an animal carcass; b) wrapping the mandrel and simultaneously moving the mandrel along the leaf lard so that the leaf lard is released from the carcass portion and wrapped around the mandrel until at least a major portion of the leaf lard or the entire portion of the leaf lard is wrapped around the mandrel; c) disengaging the mandrel from the leaf lard wrapped around it; The method includes at least the steps of:

[0039] The method is preferably an automated method for liberating or removing leaf lard from at least a portion of an animal carcass, in which the method may be performed by a system as described herein.

[0040] In this method, the leaf lard may be released and left attached to the abdominal wall. The connection between the leaf lard and the abdominal wall may be minimized, for example, so that the leaf lard remains attached until a predetermined time, at which point the leaf lard may be removed, for example, by hand. The advantage of leaving the leaf lard attached to the abdominal wall is that when a veterinarian has control of the carcass, there is no doubt that the leaf lard is from the carcass under inspection. Leaf lard attached to the abdominal wall can be removed after inspection.

[0041] When the mandrel of the tool contacts one end of the leaf lard located on at least a portion of the animal carcass, this may be at the lower end of the leaf lard of the half carcass hanging by its hind legs.

[0042] In this method, a mandrel of the tool is brought into contact with an end of a leaf lard located on at least a portion of an animal carcass. Preferably, this contact and engagement is performed at an end of the leaf lard near the diaphragm, where the leaf lard may be pointed, before removal from the carcass. It is not necessary to separate the end of the leaf lard from the abdominal wall before the mandrel is brought into contact with the leaf lard.

[0043] As the mandrel is wound and moved along the leaf lard, the leaf lard is wrapped around the mandrel until it is released from the abdominal wall of the carcass part and at least a major portion or the entire leaf lard is wrapped around the mandrel. Thus, if the leaf lard is to remain on the carcass, the major portion of the leaf lard will be wrapped around the mandrel. If the leaf lard is to be removed from the carcass, it is preferred that the entire leaf lard be wrapped around the mandrel, or at least the entire leaf lard be released from the abdominal wall so that it can be removed from the abdominal wall.

[0044] For example, when releasing or removing leaf lard from a carcass half suspended by its hind legs, the tool may be moved upward from the inclined end of the leaf lard where the mandrel engages the leaf lard. The mandrel position may be, for example, at an angle of approximately 45 degrees to the horizontal at the start of the mandrel engagement with the leaf lard, with the front end of the mandrel pointing downward. This angle may be smaller during the winding process, for example, at a stop position of 40 to 15 degrees to the horizontal, with the front end of the mandrel still pointing downward, at which point the mandrel is removed from the carcass with or without the leaf lard wrapped around it. While moving the mandrel along the leaf lard exerts some stress on the leaf lard, causing it to release from the belly wall, the primary force that releases the leaf lard from the belly wall is provided by the winding of the mandrel.

[0045] Disengaging the mandrel from the leaf lard wrapped therearound may include two possibilities: The mandrel may be removed from the leaf lard wrapped therearound, such as when the leaf lard remains connected to the abdominal wall after disengagement; alternatively, the leaf lard may be removed from the mandrel, such as when the leaf lard is removed from the abdominal wall and positioned elsewhere, such as at a preselected location.

[0046] During step a), the method may include securing the leaf lard to the mandrel by suction and / or gripping, such as by suction, a small leaf lard portion into a suction cavity of the mandrel and / or gripping the small leaf lard portion in the suction cavity of the mandrel. The suction is caused by drawing air using a first air device and / or a second air device. A force caused by the vacuum in the first air device can pull the leaf lard portion toward and / or into the suction cavity. When the leaf lard portion is in the suction cavity, the second air device can actuate a clamping mechanism, causing it to enter a closed position that grips the leaf lard in the suction cavity, thereby forming a strong connection between the mandrel and the leaf lard.

[0047] The method may include blowing air into the suction cavity during the disengagement of step c) to release the leaf lard from the inside, such as by releasing the leaf lard from the clamping mechanism. Blowing air into the suction cavity may be performed by blowing air using a first air device. The lift-off process may also be performed when air is directed beneath the leaf lard, i.e., between the surface of the mandrel and the leaf lard wrapped therearound. This lifting air may be air directed using a first air device.

[0048] The lift-off process may be further enhanced if openings are present in the mandrel surface between the engaging members and / or located at the tips of the engaging members, where air may be blown through such openings to increase the lift-off process or may be the only process for air lift-off of the leaf lard. A third air device may be located inside the mandrel and allow air to be blown through the openings. Such a third air device may also be used to draw air into the mandrel from the outside, using the openings to increase the connection between the leaf lard and the mandrel.

[0049] The method may further include extruding the wrapped leaf lard from the mandrel during step c), in which case the extrusion device is directed from the proximal end of the mandrel to the forward end of the mandrel, with the extrusion device pushing over the leaf lard. If the leaf lard remains connected to the abdominal wall, the mandrel may not move during this extrusion process, such as the entire tool, or may be directed in a direction opposite to the forward direction of the extrusion device as it pushes the leaf lard. If the leaf lard is to be removed from the abdominal wall, the tool may be moved toward a predetermined position before and / or while the extrusion device is directed forward, i.e., from the proximal end of the mandrel toward the forward end of the mandrel. The extrusion device is returned to the proximal end of the mandrel when the forward movement is completed.

[0050] The method may further include, during step d), extruding the wrapped leaf lard from the mandrel, wherein at least one extrusion element, together with the extrusion device, is moved from the base end of the mandrel to the front end of the mandrel to perform a lifting process of the wrapped leaf lard. The extrusion element preferably has an inclined design, in which case, as the extrusion device and extrusion element move forward, i.e., from the base end of the mandrel to the front end of the mandrel, a small leading size portion can be directed downwards of the wrapped leaf lard. As the inclined extrusion element moves forward, it moves further downwards of the wrapped leaf lard, thereby allowing the extrusion device to press against the leaf lard with greater force and lifting the leaf lard from the mandrel so that the leaf lard does not get stuck between the extrusion device and the mandrel.

[0051] The method may be an automated method carried out by a system described elsewhere herein for releasing or removing leaf lard from at least a portion of an animal carcass. [Brief explanation of the drawings]

[0052] [Figure 1] FIG. 1 is a first perspective view of a tool for removing or releasing leaf lard. [Figure 2] FIG. 10 is a second perspective view of a tool for removing or releasing leaf lard. [Figure 3] FIG. 10 is a third perspective view of a tool for removing or releasing leaf lard. [Figure 4] FIG. 1 is a front perspective view of a tool for removing or releasing leaf lard. [Figure 5] 1 is a longitudinal section through a tool for removing or releasing leaf lard, showing the clamping mechanism in a closed position. [Figure 6] 1 is an enlarged partial longitudinal section through a tool for removing or releasing leaf lard, showing the clamping mechanism in an open position; [Figure 7] 10 shows the position of the leaf lard aspirated into the suction cavity when the clamping mechanism is in the open position. [Figure 8] 1 shows possible positions of the tool when engaged with the leaf lard. DETAILED DESCRIPTION OF THE INVENTION

[0053] FIG. 1 shows a tool 1 for removing or releasing leaf flard. A longitudinal mandrel 2, having a proximal end 3 and a forward end 4, has a suction cavity 5 with an opening 6. A clamping mechanism 18 is located inside the opening. A pusher 7 is positioned at the proximal end 3 of the mandrel so as to surround the mandrel 2. A portion of a piston 8 is shown which can move the pusher 7 from the proximal end 3 to the forward end 4. A surface 9 of the mandrel 2 is shown along with an engaging member 10. The mandrel 2 is conical in shape, with a larger circumference at the proximal end 3 than at the forward end 4. The engaging member 10 is shown as a pointed spike with an angled tip that points toward the forward end 4 of the mandrel 2. The position of the pusher element 11 inside the ring-shaped portion of the pusher element 15 is also shown.

[0054] FIG. 2 shows a second side view of a tool for removing or releasing leaf ladle. The tool 1 is viewed from the side relative to the position shown in FIG. 1. The mandrel 2 has a suction cavity 5 with an opening 6, which is closed by a clamping mechanism 18. A pusher 7 is located at the base end 3. Inside the pusher 7 is a pusher element 11, a portion of which is located within a rail recess 12 extending from the base end 3 to the front end 4 of the mandrel 2 in an area where the suction port 6 is not located. A piston 8 can move the pusher 7 and the pusher element 11 from the base end 3 to the front end 4 of the mandrel 2, where the inclined pusher element 11 is guided within and by the rail recess 12 so that it can be directed beneath the leaf ladle (not shown) wrapped around the mandrel 2. Also shown is an inward curvature 13 of the mandrel 2, located near the opening 6 of the suction cavity 5. The inward curvature 13 is located in the longitudinal direction of the opening 6 towards the proximal end 3 of the mandrel 2. On the other side of the mandrel 2, directly opposite the inward curvature 13, a deflection 14 is shown. Also shown is the suction opening 6, which has a generally tapered design and protrudes slightly beyond the general boundaries of the illustrated mandrel 2.

[0055] Figure 3 shows a third side view of the tool for removing or releasing leaf lard. The features are as described in connection with Figures 1 and 2. In this view, the focus is on the extrusion device 7 and the extrusion element 11. The extrusion device 7 surrounds the ring-shaped portion 15 of the extrusion element 11. The ring-shaped portion 15 of the extrusion element 11 can rotate inside the ring-shaped extrusion device 7 during rotation of the mandrel 2. This allows the ring-shaped portion 15 of the extrusion device 77 to rotate with the mandrel 2 while the extrusion element 11 of the extrusion device 7 does not rotate during rotation of the mandrel 2.

[0056] FIG. 4 shows a front view of a tool for removing or releasing leaf lard. Shown is the front end 4 of the mandrel 2, looking from this point toward the proximal end 3 of the mandrel 2. Two rail recesses 12 are shown opposite each other on each longitudinal side of the mandrel 2, outside the area of ​​the opening 6 of the suction cavity (not shown). Engagement members 10 are shown and are located in a row along the length of the tapered mandrel 2. Push-out elements 11 are located in the rail recesses 12, and a ring-shaped portion 15 of a push-out device 7 and the push-out element 11 surround the proximal end of the mandrel 2, and the ring-shaped portion 15 of the push-out device 7 and the push-out element 11 together are controlled by a piston 8 so that the push-out device 7, the push-out element 11, and the ring-shaped portion 15 can move from the proximal end 3 toward the front end 4 and back again.

[0057] FIG. 5 shows a longitudinal section through a portion of tool 1 for removing or releasing leaf lard. Inside mandrel 2, first and second air devices 16, 17 are visible, located from base end 3 to suction cavity 5. First air device 16 is controlled to suck leaf lard into suction cavity 5 and blow leaf lard out of suction cavity 5. Second air device 17 controls the function of clamping mechanism 18, which is shown in a closed position. Air control is achieved by using second air device 17 to direct air into pressure chamber 26 toward suction cavity 5, forcing clamping mechanism 18, located inside suction cavity 5, toward opening 6 of suction cavity 5, thereby bringing clamping mechanism 18 to a closed position. Air from the suction of second air device 17 may be used to open clamping mechanism 18, or air flow toward the pressure chamber may be stopped.

[0058] Figure 6 shows an enlarged view of a portion of a longitudinal section through a tool for removing or releasing leaf lard, the features of which are as described in connection with Figure 5. In this view, clamping mechanism 18 is in an open position, where the top of clamping mechanism 18 is spaced away from suction port 6, allowing leaf lard to be sucked into suction cavity 5. Pressure chamber 26 is in its "small" or start position, as there is no air directed to pressure chamber 26 using second air device 17.

[0059] 7 illustrates the suction cavity 5 in an open position with the clamping mechanism 18 spaced away from the suction port 6, with a portion of the leaf lard 21 being sucked into the suction cavity 5. When the clamping mechanism 18 is moved towards the suction port 6 with the leaf lard 21 in this position, the leaf lard 21 is clamped inside the suction cavity 5. Also shown is the pressure chamber 26 in a starting position before air is introduced into the pressure chamber 26 using the second air device 17.

[0060] FIG. 8 illustrates a possible position of the tool when engaging the leaf lard. The illustration shows a portion of an animal carcass, including abdominal wall 19 with vertebral column 23, ribs 24 partially positioned behind leaf lard 21, abdominal wall 20 cut open, and leaf lard 21 positioned on abdominal wall 19. This illustration may simulate a portion of a pig carcass hanging by its hind legs, i.e., head down. Tool 1 as described herein is oriented toward leaf lard 21 with its front end partially pointing toward the ground. The suction cavity opening 6 is shown in dotted lines, indicating that it is positioned on the side of tool 1 facing toward leaf lard 21. Opening 6 engages leaf lard 21 at its pointed end 22, which is the lower portion of leaf lard 21 for the carcass portion hanging by its hind legs. Arrow 25 indicates the bending direction of the mandrel of tool 1 to wrap leaf lard 21 around the mandrel.

[0061] It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art from this detailed description.

Claims

1. A tool (1) for releasing or removing leaf lard (21) from at least a portion of an animal carcass, said tool having a winding mandrel (2) configured to wind leaf lard around said mandrel (2), said mandrel (2) comprising: a suction cavity (5) located inside the mandrel (1) and having a round opening (6) disposed on the outer surface of the mandrel (2) and configured to engage a portion of the leaf lard (21); at least one first air device (16) located inside the mandrel (2) for alternately sucking air into the suction cavity (5) and blowing air out of the suction cavity (5) through the round openings (6), thereby drawing the engaging portion of the leaf lard (21) into the suction cavity (5) and blowing the engaging portion of the leaf lard (21) out of the suction cavity (5), respectively; The tool (1) has

2. at least one extrusion device (7) configured to release and extrude the leaf lard (21) wrapped around the mandrel (2); At least one extrusion element (11) located inside and / or in front of the extrusion device (7) and configured to direct the leaf lard (21) wound around the mandrel (2) downward; and The tool (1) according to claim 1.

3. A tool (1) for releasing or removing leaf lard (21) from at least a portion of an animal carcass, said tool (1) having a winding mandrel (2) configured to wind the leaf lard (21) therearound, said tool (1) comprising: at least one extrusion device (7) configured to release and extrude the leaf lard (21) wrapped around the mandrel (2); At least one extrusion element (11) located inside and / or in front of the extrusion device (7) and configured to direct the leaf lard (21) wound around the mandrel (2) downward; The tool (1) further comprises:

4. a suction cavity (5) located inside the mandrel (2), having a round opening (6) disposed on the outer surface of the mandrel (2) and configured to engage a portion of the leaf lard (21); at least one first air device (16) located inside the mandrel (2) for alternately sucking air into the suction cavity (5) and blowing air out of the suction cavity (5) through the round openings (6), thereby drawing the engaging portion of the leaf lard (21) into the suction cavity (5) and blowing the engaging portion of the leaf lard (21) out of the suction cavity (5), respectively; further comprising Tool (1) according to claim 3.

5. The apparatus further includes a clamping mechanism (18) located in the suction cavity (5) and capable of gripping at least a portion of the leaf lard sucked into the suction cavity (5). Tool (1) according to any one of claims 1, 2 and 4.

6. The mandrel (2) has an inward curvature (13) on its surface adjacent to the opening (6) of the suction cavity in the direction towards the proximal end (3) of the mandrel (2). Tool (1) according to claim 1 or 4.

7. The mandrel (2) has a surface deflection (14) opposite the location of the inward curvature (13). The tool (1) according to claim 6.

8. The mandrel (2) has an engaging member (10) on its outer surface configured to engage with the leaf lard (21). Tool (1) according to any one of claims 1 to 7.

9. The mandrel (2) has at least one rail recess (12) located along the length of the mandrel (2), each located approximately 90° away from a centerline of the opening (6) of the suction cavity (5), the centerline being parallel to a centerline of the mandrel (2) from the base end (3) to the front end (4). Tool (1) according to claim 2 or 4.

10. the at least one pushing element (11) is at least partially located in the at least one rail recess (12) and is configured to penetrate under and / or push on a leaf ladle (21) wrapped around the mandrel (2), optionally the pushing element (11) being inclined towards the surface of the mandrel in a direction towards the front end (4) of the mandrel (2); Tool (1) according to claim 9.

11. 1. A system for automatically releasing or removing leaf lard (21) from at least a portion of an animal carcass, the system comprising: a) at least one robot arm having at least one tool (1) according to any one of claims 1 to 10; b) an identification system configured to identify the location of the portion of the animal carcass and / or the location of the leaf lard to be removed from the portion of the animal carcass; c) a processing system configured to receive and process the location of the animal, the location of the animal part, and / or the location of leaf lard connected to at least a portion of the animal carcass; d) a control system in communication with at least the processing system and the at least one robotic arm, for controlling the at least one robotic arm having the tool (1) for releasing or removing leaf lard; a. engaging leaf lard located on the abdominal wall of at least a portion of an animal carcass; b. wrapping the mandrel so that the leaf lard is wrapped around the mandrel, thereby releasing a major portion of the leaf lard from the abdominal wall or removing the leaf lard from the abdominal wall of the animal carcass; c) removing the tool (1) from the leaf lard, leaving the leaf lard connected to the abdominal wall by a small portion, or directing the released leaf lard to a deposition area; The control system is configured as follows: The system has:

12. at least two robotic arms each having at least one tool (1) and / or at least one robotic arm each having two tools (1), said robotic arms being controlled by said control system to drive said mandrels (2) in similar or opposite directions to remove leaf lard from two half carcasses, said half carcasses being from similar animal parts or from left and right half carcass parts from an animal, The system of claim 11.

13. 10. A method for releasing or removing leaf lard from at least a part of an animal carcass with a tool (1) according to claim 2 or 4, said method comprising the steps of: a) contacting the mandrel (2) with one end of a leaf lard (21) located on at least a portion of an animal carcass; b) winding the mandrel (2) and simultaneously moving the mandrel (2) along the leaf lard (21) so that the leaf lard is released from the carcass part and wound around the mandrel (2) until at least a major part or the entire part of the leaf lard is wound around the mandrel (2); c) disengaging the mandrel (2) from the leaf lard wrapped around it; The method has the following features.

14. During step a), the leaf lard is fixed to the mandrel by suction and / or clamping, such as by sucking small leaf lard portions into the suction cavities (5) of the mandrel (2) and / or clamping small leaf lard portions in the suction cavities (5) of the mandrel (2), The method of claim 13.

15. During step c), the leaf lard wrapped around the mandrel (2) is extruded, the extrusion device (7) being moved from the base end (3) of the mandrel (2) to the front end (4) of the mandrel (2) so that the extrusion device (7) pushes on the leaf lard (21), and optionally the at least one extrusion element (11) is moved together with the extrusion device (7) from the base end (3) of the mandrel (2) to the front end (4) of the mandrel (2), thereby performing a lifting step of the leaf lard (21) wrapped around the mandrel (2).

15. The method of claim 13 or 14.

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