A skinning device for removing skin from animal carcasses being transported by a transport means.

Abstract

The present invention relates to a system and method for skinning and / or de-fatting animal carcasses while they are being transported by an overhanging rail system having a plurality of shackles for hanging the carcasses, comprising: sensing an incoming animal carcass with a sensing device; and using sensing data obtained from the sensing device by a control unit as control data for controlling the movement of a first device when skinning and / or de-fatting the carcass with the first device, wherein the controlled movement includes setting the first device to an initial angular position and engaging the skin and / or fat of the incoming animal carcass in an engagement position; and moving the first device along the carcass in a movement direction that includes a movement direction perpendicular to the conveying direction while following the contour of the surface of the carcass, and simultaneously adapting the angular position of the first device to the shape of the carcass to ensure partial removal of the skin and / or fat.

Description

Technical Field

[0001] The present invention relates to a skinning device for transporting with a conveying means to remove the skin or fat layer from the carcass of an animal, and a method of using such a skinning device.

Background Art

[0002] A skinning device for removing the skin and fat layer from the carcass of an animal, particularly pork, is one of the problems in the meat processing field.

[0003] Regarding a skinner for a skinning device rotatably attached to a rotating mechanism for automatically removing the skin from the carcass of an animal while the carcass of the animal is conveyed by an overhang rail system and pulled horizontally, as disclosed in European Patent No. 14780522.0, considerable development has been made in this field over the past few decades. During the skinning process, the rotating mechanism rotates the skinning device from a first angular position where the skinning device engages the skin of the incoming carcass to a second angular position where the carcass lies on the skinning machine and is pulled horizontally by the overhang rail system. As a result, only the skin on one side of the carcass is removed.

[0004] Although this skinner is an improvement over prior art skinners, in addition to the skin that remains unremoved, a considerable portion of the skin that cannot be removed, particularly the skin with little exposure, remains. Therefore, this skin needs to be removed manually by the operator. This not only reduces the processing capacity of the skinning process but also endangers the safety of the skinning operation because there are relatively many manual operations required to complete the skinning process.

[0005] The inventor of the present invention recognized the need for an improved skinning process that provides a higher processing capacity and significantly reduces manual labor, and as a result, devised the present invention.

Summary of the Invention

[0006] An object of embodiments of the present invention is to provide an improved dederming process that enhances the processing capacity of the dederming process and eliminates, or at least reduces, the need for manual intervention. A further object of embodiments of the present invention is to provide a dederming apparatus. In general, the present invention preferably aims to mitigate, alleviate, or eliminate one or more of the aforementioned drawbacks of the prior art, either individually or in any combination. In particular, an object of embodiments of the present invention is considered to be to provide a skinning system that solves the aforementioned problems or other problems.

[0007] To better address one or more of these concerns, a first aspect of the present invention provides a skinning and / or defatting system for removing skin and / or fat from an animal carcass while it is being transported by an overhang rail system comprising a plurality of shackles for suspending the carcass, A first apparatus for deskinning and / or defatting a carcass, comprising: a first motor-driven tooth roll; a first support structure enclosing at least a portion of the first tooth roll; and a first cutting blade positioned between the support structure and the tooth roll; A sensing device that detects incoming carcasses, A control unit that receives sensing data from a sensing device, The first device includes a moving mechanism controlled by a control unit based on received sensing data, configured to move the first device in a controlled manner, Controlled movement is The first device is set to an initial angular position, and the skin and / or fat of the incoming carcass is engaged in an engagement position in which the skin and / or fat layer is pulled between the first support structure and the first tooth roll, A deskinning and / or fat removal system is provided, which includes moving a first device in a moving direction including a moving direction perpendicular to the conveying direction along the animal carcass, while aligning the outer shape of the carcass surface and the angular position of the first device with the shape of the carcass, so that the skin and / or fat portions are reliably pulled between a first support structure and a first tooth roll, thereby simultaneously causing partial removal of the skin and / or fat from the animal carcass.

[0008] The fact that the first automated device moves relative to the carcass during deskinning and / or fat removal facilitates access to less exposed or "hard-to-reach" areas of the carcass surface, ensuring that the entire deskinning area covered by the first device is removed. The fact that the carcass is suspended by the shackling means that it can be partially, or preferably completely, suspended freely so that the entire surface of the carcass is exposed, meaning that the outer surfaces of the carcass (top, bottom, inside, and outside) can be fully accessed. As a result, the deskinning process may be repeated several times in different areas until the entire skin and / or fat is removed. This can be done, for example, by adjusting the relative angular position between the first device and the carcass, for example, by rotating the shackle or rotating the position of the first device.

[0009] Preferably, in order to ensure proper stability of the carcass during the deskinning and / or defatting process, support means such as any type of structure are provided on the opposite side of the carcass.

[0010] Furthermore, the fact that fewer or no personnel are needed makes the skinning and / or fat removal process more economical, and accidents become negligible.

[0011] According to the present invention, the term "animal carcass" may also be understood as a portion of an animal carcass, such as a slaughtered pig, a half-carcass of a pig, a leg portion, ham, a shoulder portion, or other parts of a slaughtered four-legged animal.

[0012] In one embodiment, the control unit is further configured to control the rotational speed of the first motor-driven tooth roll, including setting the rotational speed of the first motor-driven tooth roll to an initial rotational speed, and then gradually adapting the rotational speed to the position on the carcass, for example, by increasing the rotational speed, decreasing the rotational speed, or keeping the rotational speed constant. Lowering the initial speed of the first motor-driven tooth roll facilitates the initial capture of the skin, ensuring that the subsequent deskinning and / or defatting of the carcass is carried out reliably. In one embodiment, the control unit is further configured to adjust the rotational speed according to the position of the first device. In this way, the subsequent movement of the first device can be increased, and thus the processing capacity of the deskinning and / or defatting process may be increased.

[0013] In one embodiment, the system further includes a support structure located on the opposite side of the carcass from the first device to provide a force opposite to the pressing force supplied by the first device during deskinning and / or defatting. In this way, complete stability of the carcass is ensured during deskinning, and the deskinning and / or defatting process is improved.

[0014] In one embodiment, the system further comprises a second device for deskinning and / or defatting a carcass, which includes a second motor-driven tooth roll, a second support structure enclosing at least a portion of the second tooth roll, and a second cutting blade positioned between the support structure and the second tooth roll, wherein a moving mechanism is further configured to move the first and second devices while simultaneously deskinning and / or defatting different areas on the carcass, and the internal distance between the first and second deskinning devices is such that the carcass is clamped between the deskinning devices. Thus, not only is the processing capacity of the deskinning and / or defatting process improved, but the stability of the carcass is ensured while the deskinning and / or defatting process is increased. The second device may therefore be considered the support structure.

[0015] In one embodiment, the first apparatus and support structure move at substantially the same horizontal speed as the carcass transport speed, along with a suitable moving mechanism. If the support structure constitutes a second apparatus, the first and second apparatuses move parallel to the movement of the carcass at the same horizontal speed during the deskinning and / or defatting process, and after one movement is completed, such as moving the carcass from top to bottom, they move away from the carcass and return to the starting position, and the deskinning and / or defatting process is repeated for the next carcass.

[0016] In one embodiment, the moving mechanism comprises at least one operating arm, which may be a robotic arm operated by a robotic system capable of moving along, for example, three degrees of freedom, and even up to six degrees of freedom, and the control unit may be part of the robotic system. In another embodiment, the moving mechanism comprises a rail structure on which a device for skinning and / or fat removal is slidably mounted. Thus, the moving mechanism can be understood as any kind of moving means capable of performing the controlled movement of the first device.

[0017] In one embodiment, the control unit is further configured to utilize data indicating which parts of the skin and / or fat to remove. This may be based on customer orders, for example, leaving the central portion of a particular batch of carcasses skinned and the rest skinned, or skinning and / or removing fat only from the lower part of the carcass, or only from one side of the carcass. This may also be determined based on incoming carcass information, which is preferably tracked and / or traced at all times, so that different or additional control data may be triggered when controlling the first and / or second devices for particular carcasses having certain features that can be captured by any type of sensor, such as image, color, quality, size, etc.

[0018] A second aspect of the present invention provides a method for deskinning and / or defatting an animal carcass while it is being transported by an overhang rail system comprising a plurality of shackles for suspending the carcass, The incoming animal carcasses are detected by a sensor, The control unit uses sensing data obtained from the sensing device as control data when controlling the movement of the first device while the first device is deskinning and / or defatting the carcass. Controlled movement is The first device is set to an initial angular position, and the skin and / or fat of the incoming animal carcass are engaged in the engagement position, This includes moving the first device in a direction of movement that includes a direction of movement perpendicular to the conveying direction along the carcass, while following the outer shape of the surface of the carcass, and simultaneously adjusting the angular position of the first device to conform to the shape of the carcass so as to ensure partial removal of skin and / or fat, A method for skinning and / or defatting is provided for removing skin and / or fat from an animal carcass.

[0019] In one embodiment, the carcass has a pre-cut on the upper side of the carcass that defines an engagement position, and the direction of movement perpendicular to the conveying direction is downward from the pre-cut.

[0020] In one embodiment, a second device for deskinning and / or defatting is provided for partial deskinning and / or defatting of the carcass, simultaneously with the partial deskinning and / or defatting of the first device, and controlled movement is further provided simultaneously with the first device. The second skinning device is set to its initial angular position, and the skin and / or fat of the incoming animal carcass are engaged in the engagement position. The method includes positioning the second dederning device angularly along the carcass's outline and moving the second dederning device in a direction of movement including a direction of movement perpendicular to the carcass's transport direction, while simultaneously aligning it with the carcass's surface outline, to ensure partial removal of the skin and / or fat. The movement of the first and second skinning devices is continued while ensuring that the internal distance between the first and second skinning devices allows the meat to be clamped between the skinning devices during skinning and / or fat removal. In one embodiment, the engagement position of the second device is at the same height level as the engagement position of the first device. In another embodiment, the engagement position of the second device is at a height level different from that of the first device.

[0021] In one embodiment, following the first movement of the first and second devices, skinning and / or fat removal movement is performed on the meat at another angular position on the meat.

[0022] Generally, the various aspects of the present invention can be combined or joined in any manner possible within the scope of the present invention. These and other aspects, features and / or advantages of the present invention will become apparent by reference to the embodiments described below.

[0023] Hereinafter, embodiments of the present invention will be described as an example with reference to the drawings.

Brief Description of the Drawings

[0024] [Figure 1] A diagram showing an embodiment of a skinning and / or fat removal system according to the present invention for removing skin and / or fat from animal meat during conveyance by an overhang rail system. [Figure 2] Another embodiment of FIG. 1 further provided with a second device for skinning and / or fat removal of the meat. [Figure 3] Showing a frame structure, another embodiment of the system according to the present invention. [Figure 4] Showing a frame structure, another embodiment of the system according to the present invention. [Figure 5] An embodiment of an operating arm equipped with a device for skinning and / or fat removal.

Embodiments for Carrying Out the Invention

[0025] Figure 1 shows an embodiment of the deskinning and / or fat removal system 100 according to the present invention for removing the skin and / or fat from an animal carcass 110 during transport by an overhang rail system equipped with multiple shackles 11 for suspending the carcass. The system comprises a first device for deskinning and / or fat removal from the carcass 110, a sensing device (S_D) 105, a control unit (C_U) 106, and a moving mechanism (M_M) 107.

[0026] The first device comprises a first motor-driven tooth roll 102, a first support structure 103 surrounding at least a portion of the first tooth roll, and a first cutting blade 104 positioned between the support structure and the tooth roll.

[0027] The sensing device 105 is configured to detect incoming animal carcasses, and may consist of any type of sensor, such as a camera, laser sensor, or mechanical sensor.

[0028] The control unit 106 is configured to receive and utilize sensing data from the sensing device and to control the moving mechanism 107 in order to move the first device in a controlled manner.

[0029] As illustrated here, the controlled movement involves setting the first device 101 to an initial angular position and engaging the skin and / or fat of the incoming animal carcass at engagement position 108, where the skin and / or fat layer 140 is drawn between the first support structure and the first tooth roll via the rotational movement 112 of the first tooth roll. This engagement position may be, for example, a 360-degree precut on the upper side of the carcass 110 adjacent to the shackle 111.

[0030] The controlled movement further involves moving the first device in a movement direction including a movement direction 112 perpendicular to the conveying direction 113 along the animal carcass, as illustrated in t1-t4, while aligning the outer shape of the carcass surface and the angular position of the first device with the shape of the carcass, so as to ensure that the skin and / or fat portions are pulled between the first support structure and the first tooth roll, causing simultaneous partial removal of the skin and / or fat from the animal carcass.

[0031] In one embodiment, the control unit is further configured to control the rotational speed of the first motor-driven tooth roll 102, which includes setting the rotational speed to an initial speed and then gradually adjusting the rotational speed. The control unit may also be configured to adjust the rotational speed according to the position of the first device.

[0032] In the embodiment shown herein, the system 100 further comprises a support structure 109 located on the opposite side of the carcass 110 from the first device to provide a force opposite to the pressing force supplied by the first device during deskinning and / or defatting.

[0033] After removing the skin and / or fat portion 140, the first device 101 moves away from the carcass 110 (t5) and returns to its original position, and the process is repeated for, for example, the next carcass.

[0034] Figure 2 shows another embodiment of Figure 1, in which a second device 201 for deskinning and / or defatting the carcass is additionally provided, which is preferably identical to the first device 101, and which comprises a second motor-driven tooth roll, a second support structure enclosing at least a portion of the second tooth roll, and a second cutting blade positioned between the support structure and the second tooth roll. In this embodiment, the moving mechanism 107 is further configured to move the first device 101 and the second device 102 while simultaneously deskinning and / or defatting different areas of the carcass, and the internal distance between the first deskinning device and the second deskinning device is such that the carcass is clamped between the deskinning devices during movement.

[0035] Furthermore, as shown here, the height levels may be similar, and the starting positions may be the same or similar height levels. In such cases, the height levels during the movement from t1 to t6 (which is of course a continuous movement and represents different points in time) are similar.

[0036] However, these starting positions are not necessarily the same, and therefore the illustration shown herein, which assumes the first and second devices are at similar height levels during deskinning and / or fat removal, is not applicable.

[0037] In Figures 1 and 2, the direction of movement of the deskinning and / or fat removal device further includes the same horizontal movement component as the direction of carcass transport.

[0038] Figures 3 to 5 show another embodiment of the system according to the present invention, showing a frame structure, and an overhang rail system 322 mounted on the frame structure, showing a single shackle 323, and two pairs 440, 441 of first and second dederning devices, where the first pair 440 is 101a, 102a, where a first movement such as one “stroke” as depicted in Figure 2 occurs, and the other pair 441 is 101b, 102b, where subsequent strokes occur at different positions on the carcass, which can be reached, for example, via a 90-degree rotational movement of the shackle suspending the carcass.

[0039] As previously described in relation to Figures 1 and 2, the devices 101 and 202 are mounted on a sliding operating arm 321 attached to a rail structure 442 so that the skinning and / or fat removal devices 101 and 102 can follow the movement of the carcass during skinning. The operating arm may also be a robotic arm to which the devices 101 and 102 are mounted, and the robotic arm is operated by a robotic system.

[0040] As shown here, the internal height position of pairing device 440 is different from that of pairing device 441 because different skin and / or fat portions are removed. If the carcass is a portion of the carcass such as ham, the skin removed from one side may be in a different position than the skin on the opposite side of the ham.

[0041] Figure 5 is a diagram showing the operating arm shown in Figures 3 and 4 in more detail, and more clearly shows a device for dederming and / or fat removal comprising a motor-driven tooth roll 102, a support structure 103 surrounding at least a portion of the first tooth roll, and a cutting blade 104 positioned between the support structure and the tooth roll.

[0042] The moving mechanism consists of a rotary device 510 for operating the angle adjustment of the devices 101 / 102 for skinning and fat removal, which can be electrically or pneumatically driven, and the angular positions of devices 101 and 201 are adjusted simultaneously via the adjustment of the cylinder 510.

[0043] The moving mechanism may also include an actuator 321, which, like the rotating mechanism, may be electrically or pneumatically driven, allowing the operating arm to follow the outer surface of the carcass during deskinning and / or fat removal.

[0044] As already mentioned, the movement mechanism can be configured to create a robotic arm capable of moving with 3 degrees of freedom, or even up to 6 degrees of freedom.

[0045] Although the present invention has been illustrated and described in detail in the drawings and the foregoing description, such drawings and descriptions are illustrative and not limiting. The present invention is not limited to the disclosed embodiments. Other variations of the disclosed embodiments can be understood and realized by those skilled in the art by examining the drawings, disclosure and appended claims when carrying out the claimed invention. In the claims, the word “including” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude plurals. The mere fact that certain means are described in different dependent claims does not mean that combinations of these means cannot be used advantageously.

Claims

1. A skinning and / or defatting system for removing skin and / or fat from an animal carcass while it is being transported by an overhang rail system including multiple shackles for suspending the carcass, A first apparatus for deskinning and / or defatting a carcass, comprising: a first motor-driven tooth roll; a first support structure enclosing at least a portion of the first motor-driven tooth roll; and a first cutting blade positioned between the support structure and the tooth roll; A sensing device (F1) for sensing incoming animal carcasses, A control unit (F2) that receives sensing data from the aforementioned sensing device, The first device includes a moving mechanism (F3) configured to move the first device in a controlled manner and controlled by the control unit based on received sensing data, Controlled movement is The first device is set to an initial angular position, and the skin and / or fat of the incoming animal carcass is engaged in an engagement position in which the skin and / or fat layer is pulled between the first support structure and the first motor-driven tooth roll, The first device is moved along the animal carcass in a direction of movement including a direction of movement perpendicular to the conveying direction, while aligning the outer shape of the surface of the carcass and the angular position of the first device with the shape of the carcass, so that the skin and / or fat portion is reliably pulled between the first support structure and the first motor-driven tooth roll, thereby simultaneously causing partial removal of the skin and / or fat from the animal carcass. system.

2. The system according to claim 1, further comprising: the control unit being configured to control the rotational speed of the first motor-driven tooth roll, including setting the rotational speed of the first motor-driven tooth roll to an initial rotational speed, and then gradually adjusting the rotational speed.

3. The system according to claim 2, wherein the control unit is further configured to adjust the rotational speed according to the position of the first device.

4. The system according to any one of claims 1 to 3, further comprising a support structure located on the opposite side of the carcass from the first device to provide a force opposite to the pressing force supplied by the first device during the skinning and / or fat removal.

5. The second apparatus for deskinning and / or defatting the carcass further includes a second motor-driven tooth roll, a second support structure enclosing at least a portion of the second motor-driven tooth roll, and a second cutting blade positioned between the support structure and the second motor-driven tooth roll. The system according to any one of claims 1 to 4, wherein the moving mechanism is further configured to move the first and second devices while simultaneously deskinning and / or defatting different areas on the carcass, and the internal distance between the first and second devices is such that the carcass is clamped between the first and second devices.

6. The system according to claim 4, wherein during debarking, the support structure and / or the first device are advanced at substantially the same speed as the carcass transport speed.

7. The system according to claim 5, wherein during debarking, the support structure and / or the first and second devices are advanced at substantially the same speed as the carcass transport speed.

8. The system according to any one of claims 1 to 7, wherein the moving mechanism includes at least one operating arm.

9. The system according to any one of claims 1 to 8, wherein the moving mechanism includes a rail structure on which a device for peeling and / or removing fat is slidably mounted.

10. A method for skinning and / or defatting an animal carcass while it is being transported by an overhang rail system including multiple shackles for suspending the carcass, The incoming animal carcasses are detected by a sensor, When controlling the movement of the first device while the first device is deskinning and / or removing fat from the carcass, the control unit uses sensing data obtained from the sensing device as control data. The controlled movement is The first device is set to an initial angular position, and the skin and / or fat of the incoming animal carcass is engaged with the engagement position, The first device is moved along the carcass in a direction of movement that includes a direction of movement perpendicular to the conveying direction, while following the outer shape of the surface of the carcass, and at the same time, the angular position of the first device is adapted to the shape of the carcass to ensure partial removal of the skin and / or fat. method.

11. The method according to claim 10, wherein the carcass has a precut provided on the upper side of the carcass that defines the engagement position, and the direction of movement perpendicular to the conveying direction is downward from the precut.

12. Simultaneously with the partial deskinning and / or fat removal of the first device, a second device for deskinning and / or fat removal is provided for the partial deskinning and / or fat removal of the carcass. Simultaneously with the first device, the controlled movement further, The second device is set to an initial angular position, and the skin and / or fat of the incoming animal carcass are engaged in the engagement position, The method includes positioning the angular position of the second device along the outer shape of the carcass and moving the second device in a direction of movement that includes a direction of movement perpendicular to the conveying direction of the carcass, while aligning it with the outer shape of the surface of the carcass, to ensure partial removal of skin and / or fat. The method according to claim 10 or 11, wherein the movement of the first and second devices is continued such that the internal distance between the first and second devices is maintained so that the carcass is clamped between the first and second devices during the deskinning and / or defatting.

13. The method according to claim 12, wherein the engagement position of the second device is at the same height level as the engagement position of the first device.

14. The method according to claim 12, wherein the engagement position of the second device is at a different height level from the engagement position of the first device.

15. The method according to any one of claims 12 to 14, wherein, following a first movement of the first and second devices, subsequent movements of the first and second devices are made to perform deskinning and / or fat removal on the carcass at an angular position different from that of the carcass from which the skin and / or fat removal was performed by the first movement.

16. The method according to any one of claims 10 to 15, wherein the carcass is a four-legged slaughtered animal.

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