Trimming assembly and method of use

Abstract

The present invention relates to a trimming assembly comprising an adjustable arm, a cutting assembly having cutting utensil and a depth gauge, the cutting assembly connected to a distal end of the adjustable arm, and a sensing arrangement adapted to determine the fat height and meat height of at least one node of a meat material. The present invention alleviates and / or addresses some of the shortcomings of the present meat trimming apparatus or approaches.

Description

TITLETrimming assembly and method of useFIELD OF THE INVENTION

[0001] The present invention relates to the food industry. Particularly, the present invention relates to the the meat industry. More particularly, the present invention relates to a cutting or trimming assembly for meat.BACKGROUND TO THE INVENTION

[0002] Any reference to background art herein is not to be construed as an admission that such art constitutes common general knowledge in Australia or elsewhere.

[0003] Meat has formed an important part of the diet. In this regard, a balanced and healthy diet typically requires meat in one or more serves daily.

[0004] Presently, the meat industry has relied upon manual cutting for the cutting and processing of meat products. In this regard, large pieces of meat are required to be reduced to smaller pieces of various shapes and sizes suitable for sale and consumption. Manual cutting and processing of meat products is time consuming, labour intensive and thus expensive. Manual cutting is also prone to human error and lacks consistency in size and shape.

[0005] In many instances, a specific amount of fat relative to meat is desirable to provide a suitable meat product. In these situations, manual cutting and processing lacks the accuracy to provide the desired relative amount of meat and fat. As such, inefficiencies in cutting and quality of the resulting meat product is compromised.

[0006] It would be advantageous to address one or more of the above issues and / or to provide the consumer with a commercial alternative to the presently available solutions.SUMMARY OF THE INVENTION

[0007] In a first aspect, although it need not be the only or indeed the broadest aspect, the invention resides in a trimming assembly comprising: an adjustable arm; a cutting assembly having cutting utensil and a depth gauge, the cutting assembly connected to a distal end of the adjustable arm; and a sensing arrangement adapted to determine the fat height and meat height of at least one node of a meat material.

[0008] In one embodiment, the sensing arrangement comprises one or more ultrasonic sensor(s) adapted to determine the meat height of the meat material and / or one or more laser sensor(s) adapted to determine the fat height of the meat material.

[0009] In embodiments, the depth gauge is adjustable. The depth gauge is suitably vertically adjustable relative to the cutting utensil. The depth gauge and the cutting utensil may be arranged to form a gap.

[0010] In an embodiment, the depth gauge comprises an adjustment mechanism and a motor adapted to set the gap between the depth gauge and the cutting utensil. In an embodiment, the adjustment mechanism comprises a leadscrew arrangement. In one embodiment, the depth gauge is a motorized depth gauge. In an embodiment, the depth gauge is a controllable motorized depth gauge.

[0011] In one embodiment, the gap is suitably between about 0 mm to about50 mm, between about 0 mm and about 40 mm, between about 0 mm and about30 mm, between about 0 mm to about 25 mm, between about 0 mm and about20 mm, between about 0 mm to about 15 mm, between about 0 mm and about10 mm, or between about 0 mm and about 5 mm.

[0012] In certain embodiments, the cutting utensil suitably comprises a blade or cutting edge. In an embodiment, the cutting utensil comprises a blade. In an embodiment, the cutting utensil is a rotary cutting utensil. In embodiments, the blade comprises or is a rotary blade.

[0013] In embodiments, the adjustable arm comprises one or more arm members. In an embodiment, the adjustable arm comprises three (3) arm members: a first arm member, a second arm member and a third arm member. In one embodiment, the first arm member is suitably connected to a base at an end thereof and connected to the second arm member at an opposing end thereof. In a particular embodiment, the first arm is rotatable relative to the base and / or the second arm. In an embodiment, the second arm is connected to the third arm. In embodiments, the third arm is rotatable relative to the second arm. In one embodiment, the base is adapted to be fixed or secured to a surface.

[0014] In one embodiment, the trimming assembly further comprises a feed conveyor adapted to move one or more meat materials from one end thereof to another end thereof. In one embodiment, the feed conveyor is provided with a surface adapted to maintain a meat material to prevent movement thereof. In an embodiment, the feed conveyor may be provided with ridges or the like that provide friction to deter movement of the meat material. In an embodiment, the feed conveyor comprises protrusions adapted to engage the meat material to deter movement thereof.

[0015] In an embodiment, the trimming assembly further comprises a fat removal device.

[0016] In an embodiment, the trimming assembly further comprises a control unit. In one embodiment, the control unit is in communication with the cutting assembly, adjustable arm and sensing arrangement. In embodiments, the control unit is adapted to receive meat height (MH) and fat height (FH). In some embodiments, the control unit is adapted to receive the MH and FH of at least one node of the meat material. In an embodiment, the control unit is adapted to determine the cutting path of through the meat material based on the MH and FH of at least one node to provide the desired depth of fat and / or desired fat to meat ratio. In embodiments, the control unit is adapted to control the orientation of thecutting utensil at the nodes and the change in orientation during the transition between nodes. In embodiments, the control unit is also adapted to determine the cutting angle of the cutting utensil of the cutting assembly.

[0017] In a second aspect, the invention resides in a method of determining a cutting path in a meat material comprising: obtaining a plurality of meat height and fat height parameters of the meat material at a plurality of nodes; determining cutting depths at each of the plurality of nodes to remove a desired amount of fat from the meat material; and determining the cutting path through the meat material to remove a desired amount of fat from the meat material; to thereby determine the cutting path in the meat material.

[0018] The method may be performed using the trimming assembly as mentioned hereinabove.

[0019] The various features and embodiments of the present invention referred to in the individual sections above and in the description which follows apply, as appropriate, to other sections, mutatis mutandis. Consequently, features specified in one section may be combined with features specified in other sections as appropriate.

[0020] Further features and advantages of the present invention will become apparent from the following detailed description.BRIEF DESCRIPTION OF THE DRAWINGS

[0021] To assist in understanding the invention and to enable a person skilled in the art to put the invention into practical effect, embodiments of the invention will be described by way of example only with reference to the accompanying drawings, in which:FIG 1 shows an embodiment of the present trimming assembly;FIG 2 shows an enlarged view of an embodiment of the cutting assembly;FIG 3 shows an embodiment of a depth gauge and a meat material;FIG 4 shows an enlarged view of an embodiment of a cutting assembly and a meat material;FIG 5 shows the gap between depth gauge and the cutting utensil;FIG 6 shows an embodiment of the cutting assembly;FIG 7 shows an embodiment of the meat material and the nodes and cutpath thereof;FIG 8 shows an illustration of how the cut path is calculated;FIG 9 shows the separation path and assembly control to achieve removable of variable fat thickness;FIG 10 shows an embodiment of the trimming assembly relative to the meat material;FIG 11 shows an illustration of the controlled blade heigh and restraining guide;FIG 12 shows an illustration of path generation and cutting assembly positions at nodes;FIG 13 shows an illustration of the path generation for longitudinal trimming;FIG 14 shows an illustration of the trimming assembly integrated with path generation;FIG 15 shows an example of manual removal of fat;FIG 16 shows an example of removal fat utilizing the present trimming assembly;FIG 17 shows examples of damage to meat material during manual removal of fat; andFIG 18 shows an example of set up of a trimming assembly.DETAILED DESCRIPTION OF THE INVENTION

[0022] Embodiments of the present invention reside primarily in an trimming assembly. Accordingly, the assembly, system or method steps have been illustrated in the drawings, showing only those specific details that are necessary for understanding the embodiments of the present invention, but so as not to obscure the disclosure with excessive detail that will be readily apparent to those of ordinary skill in the art having the benefit of the present description.

[0023] In this specification, adjectives such as first and second, upper and lower, and the like may be used solely to distinguish one element or action from another element or action without necessarily requiring or implying any actual such relationship or order.

[0024] Words such as “comprises” or “includes” are intended to define a nonexclusive inclusion, such that an assembly, system or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed, including elements that are inherent to such a assembly, system or method.

[0025] As used herein, the term ‘about’ means the amount is nominally the number following the term ‘about’, but the actual amount may vary from this precise number to an unimportant degree.

[0026] The present invention is predicated on the finding that the present trimming assembly can be utilized to achieve a desired fat to meat ratio. The present trimming assembly can also be utilized to reduce a meat product to various shapes and sizes.

[0027] Shown in FIG 1 is an embodiment of a trimming assembly. The trimming assembly 100 comprises an adjustable arm 110, a cutting assembly 120 and a sensing arrangement 130. The trimming assembly 100 is utilized for reducing meat products 1000 to various shapes and sizes and / or to remove or retain the desired amount of fat relative to meat.

[0028] FIGs 2 to 6 show embodiment(s) of the cutting assembly in various views. The cutting assembly 120 comprises a cutting utensil 121 and a depth gauge 122. The cutting assembly 120 is connected and / or attached to or adjacent a distal end of the adjustable arm 110. The depth gauge restrains thefat as it is cut. The depth gauge 122 suitably comprises an annular structure or has an aperture that is adapted to allow the cutting utensil 121 therethrough. In one embodiment, the depth gauge is a motorized depth gauge. In an embodiment, the depth gauge is a controllable motorized depth gauge (mentioned in more detail hereinafter). The aperture is suitably sized and dimensioned to receive or allow the cutting utensil therein or therethrough. The depth gauge 122 is suitably vertically displaceable relative to the cutting utensil 121. The depth gauge 122 is suitably adapted to provide a vertical gap between the cutting utensil. It will be appreciated that this gap is important to ensure that the appropriate amount of fat is removed.

[0029] The sensing arrangement 130 is adapted to determine fat height (FH) and meat height (MH) of at least one node of at least one meat material. The sensing arrangement includes one or more ultrasonic sensor(s) and / or one or more laser sensor(s). The ultrasonic sensor may determine the profile of the fat to meat interface at the specified nodes. Alternatively, a control unit (mentioned in more detail hereinafter) may determine the profile of the fat to meat interface at specified nodes. The ultrasonic sonic sensor suitably obtains data relating to MH at each node. The laser sensor suitably obtains data relating to FH at each node.

[0030] Shown in FIG 2 is an enlarged view of the cutting assembly 120. As mentioned above, the cutting assembly 120 comprises a cutting utensil 121 and a depth gauge 122. The cutting assembly 120 further comprises a motor 123 that can adjust the gap (G) between the depth gauge 122 and the cutting utensil 121. The motor 123 suitably adjusts the height of the depth gauge 122 and thus the gap between the gap gauge 122 and the cutting utensil 121. The depth gauge 122, cutting utensil 121 and the gap (G) can be adjusted to remove the desired amount of material (such as fat) from the meat material. In one embodiment the gap is calculated from the distance between the lower end of the cutting utensil to the lower end of the depth gauge. The cutting assembly further comprises a laser depth gauge 124. The laser depth gauge 124 is adapted to determine the position of the meat material and also the desired depth thereof. In one embodiment, the depth gauge is adapted to remove thedesired amount of fat. In an embodiment, the depth gauge is adapted to remove a uniform layer of fat. Alternatively, in another embodiment, the depth gauge is adapted to leave a uniform layer of meat and fat (that is the meat height plus fat height is substantially consistent). That is, the trimming assembly may be adapted to remove a consistent layer from the meat material; or, alternatively, the trimming assembly may be adapted to leave a consistent height of meat and fat; or, alternatively, the trimming assembly may be utilized to provide a variable removal of fat.

[0031] The gap may suitably be any distance. In this regard, in one embodiment, the gap is suitably between about 0 mm to about 50 mm, between about 0 mm and about 40 mm, between about 0 mm and about 30 mm, between about 0 mm and about 25 mm, between about 0 mm and about 20 mm, between about 0 mm to about 15 mm, between about 0 mm and about 10 mm, or between about 0 mm and about 5 mm. Multiple passes on the same meat material may be utilized to remove the desired fat level if the desired fat level is large.

[0032] The positioning resolution of the depth gauge is within 0.25mm at a range of change higher than 10mm per second. This can be controlled by a control unit.

[0033] The cutting utensil 121 suitably comprises a blade or cutting edge. In an embodiment, the cutting utensil comprises a blade. In an embodiment, the cutting utensil is a rotary cutting utensil. In embodiments, the blade is a rotary blade.

[0034] In an embodiment, the depth gauge 122 comprises an adjustment mechanism and a motor 123 is adapted to set the gap between the depth gauge and the cutting utensil. The adjustment mechanism is adapted to displace the depth gauge 122 from the cutting utensil 121. In an embodiment, the adjustment mechanism comprises a leadscrew arrangement 125. The leadscrew arrangement 125, motor 123 and laser depth gauge 124 suitably sets the gap from the control unit. In an embodiment, the adjustment mechanism comprises piston, ram or moving plate.

[0035] The adjustable arm 110 suitably comprises one or more arm members. In the embodiment shown, the adjustable arm 110 comprises three (3) arm members: a first arm member 112, a second arm member 113 and a third arm member 114. The first arm member 112 is suitably connected to a base 111 at an end thereof and connected to the second arm member 113 at an opposing end thereof. The first arm 112 is suitably rotatable relative to the base 111 and / or the second arm 113. The second arm 113 is connected to the third arm 114. The third arm 114 is rotatable relative to the second arm 113. It will be appreciated that the adjustable arm 110 is able to provide multiple degrees of freedom to provide different cutting paths and depths to provide the desired meat product. The adjustable arm 110 also suitably allows the angle of the cutting assembly 120 to be adjusted. This allows for the angle of cut to be varied. The base 111 is suitably adapted to be fixed or secured to a surface.

[0036] In one embodiment, the trimming assembly 100 further comprises a feed conveyor 140 adapted to move one or more meat materials from one end thereof to another end thereof. In one embodiment, the feed conveyor 140 is provided with a surface adapted to maintain a meat material to prevent movement thereof. In an embodiment, the feed conveyor 140 may be provided with ridges or the like that provide friction to deter movement of the meat material. In an embodiment, the feed conveyor comprises protrusions adapted to engage the meat material to deter movement thereof.

[0037] In one embodiment, the trimming assembly 100 further comprises a control unit in communication with the cutting assembly 120, adjustable arm 110 and sensing arrangement 130. The control unit is suitably adapted to receive MH and FH from the sensing arrangement 130 or adapted to determine the MH and FH of the meat material. The control unit is adapted to receive the MH and FH of at least one node of the meat material. The control unit is also adapted to determine the cutting path of through the meat material based on the MH and FH of at least one node to provide the desired depth of fat and / or desired fat to meat ratio. The control unit may also be adapted to control the orientation of the cutting utensil at the nodes and the change in orientation during the transitionbetween nodes. The control unit is also adapted to determine the cutting angle of the cutting utensil of the cutting assembly.

[0038] In an embodiment, the trimming assembly further comprises a fat removal device. The fat removal device assists in removing fat that has been removed by the cutting assembly. In one embodiment, the fat removal device is a mechanical fat removal device. In an embodiment, the fat removal device comprises a vacuum. In embodiments, the fat removal device is a vacuum conveying fat removal device.

[0039] In an embodiment, the trimming assembly further comprises an emergency stop button 150 adapted to stop operation of the trimming assembly.

[0040] In an embodiment, the trimming assembly further comprises a cover 160. In one embodiment, the cover is complete. The cover prevents extraneous material from interacting with the components thereof.

[0041] In use, a meat material is placed on the feed conveyor 140 which is adapted move one or more meat materials from one end thereof to another end thereof. Alternatively, a meat material is simply placed below the trimming assembly to be reduced to the desired dimensions and / or properties. The sensing arrangement senses the meat materials 3D surface profile and FH over the meat material relative to the feed conveyor top belt. In one embodiment, the sensor arrangement comprises an ultrasonic sensor positioned below the meat material to provide measurements of MH of the meat material at nodes thereof along the length thereof as it traverses the feed conveyor towards the cutting assembly.

[0042] In the embodiment where the trimming assembly comprises a feed conveyor, a meat material is placed on the feed conveyor to be moved along to the cutting assembly. As the meat material is moved, the fat height (FH) and meat height (MH) parameters are measured by the sensing arrangement. This information is communicated to the control unit which utilizes this measurement information to drive the cutting assembly and adjustable arm (and thus cutting path) along a path within the fat to leave the desired amount of fat. The amount of fat remaining or the amount of fat (fat thickness, FT) removed may beselected by a user. In one embodiment, the control unit is adapted to determine the cutting path.

[0043] The cut path determination utilizes the FH, MH and FT parameters to determine the cut path trajectories for the cutting assembly and gap (G) to restrain the fat between the cutting utensil and depth gauge whilst moving the cutting assembly. Furthermore, the adjustable arm provides multiple degrees of freedom that allows for the angle of the cutting path to be accommodated. The cutting utensil and depth gauge can be utilized to vary the depth gauge position above the blade to control the gap to achieve the desired FT. This can be used to achieve a fixed thickness removed over the varying shape profile of the meat material or a varying thickness to leave a uniform fat layer above the meat height. In this regard, the control unit can calculate the amount of fat to be removed to achieve the uniform fat layer above the meat.

[0044] The depth gauge restrains the fat being removed with the position of the depth gauge being set above the cutting utensil by the motor that is controlled by the control unit. The laser position sensor suitably provides the position of the depth gauge and the lead screw arrangement that positions the depth gauge.

[0045] The sensing arrangement is adapted to determine the measurements of FH and MH of one or more node(s) over the profile of the meat material. The FH and MH of each node is measured by the sensing arrangement. FH(m,n) and MH(m,n) where m is the node position across the width and n is the position along the length is measured (FIG 7). Together with the desired (FT) to be removed or retained, the position through which the cutting utensil has to pass at each node is calculated and the path trajectory is determined. This is assisted with the adjustable arm, depth gauge and cutting assembly. The FH, MH and FT are utilized by the control unit to determine the cut path and the cut angle at each node. The control unit subsequently determines the cut path from one node to the adjacent node to achieve the desired meat material.

[0046] It will be appreciated that the present invention allows for a uniform fat thickness of fat to be removed from the meat material. Alternatively, the cuttingpath can be determined to remove a non-uniform thickness of fat to retain the desired amount of fat on the meat material.

[0047] The present invention performs measurements of the profile utilizing the sensing arrangement and the control unit determines the slicing path for fat removal. This calculates the position of the blade along the cutting path and the depth gauges distance above the cutting utensil. The present trimming assembly may be utilized for removing uniform or non-uniform layers of fat. The present trimming assembly when used in removing uniform or non-uniform layers of fat.

[0048] Testing indicates that the present trimming assembly provides little to no damage when cutting a meat material, ensures high quality of the resultant meat material, conforms to the specification and alleviates the problem of over trimming. It is envisaged that the depth gauge also avoids the requirement of pulling the meat material in the trimming procedure. Additionally, it is postulated that significant efficiencies and cost savings can be achieved.

[0049] In one embodiment, the present invention resides in a method of determining a cutting path in a meat material comprising: obtaining a plurality of meat height and fat height parameters of the meat material at a plurality of nodes; determining cutting depths at each of the plurality of nodes to remove a desired amount of fat from the meat material; and determining the cutting path through the meat material to remove a desired amount of fat from the meat material; to thereby determine the cutting path in the meat material.

[0050] The method may be performed using the trimming assembly as mentioned hereinabove.

[0051] A meat material was prepared according to the following steps:1. Overall striploin dimensions and laser measurement of the fat height were obtained at specific points on the striploin at specific nodes;2. Ultrasonic probe measurements provide the profile of the fat-meat interface at the specified nodes;3. The cut path was determined by the control unit and determines the separation width, the position of the cutting utensil at the start of the motion, at the end of cut, and the points the cutting utensil must pass at each node;4. The determined cutting paths compensate for the surface of the fat cover on the striploin main eye muscle both across the width and longitudinally;5. The trimming with the cutting utensil passing along the length or width of the striploin removes a fixed thickness along each separation path, adjusting to the top fat profile, or leaves a fat cover thickness on the lean meat that is compatible with the user specified thickness of fat to be left on the striploin. The specified accuracy for fat cover thickness removed or left on is about ±1 mm.6. Cutting utensil angle adjustments and pressure of the tool into the striploin may also be controlled during the separation process as both angle and pressure on the fat, influence the cut path being followed.7. Control of the gap (G) is achieved by controlling the position of the depth gauge above the cutting utensil, whilst the cutting utensil is being driven into the fat at an optimum angle (a) and pressure (P) as applied;8. The gap (G) between the cutting utensil is controlled for the removal of the variable thickness of fat along the path of the separation, but in discrete steps. The response time in changing the gap (G) is compatible with expected cutting speed; and9. The trimming cycle falls within a 15 second cycle, including the controlled movement of the restrainer, as the blade is moved by the robot along the separation path removing variable fat thicknesses.

[0052] Control of G against two passes gives an approximate total width of 120 mm - 150 mm over the eye muscle, longitudinally. The trimming assembly has successfully used the measurements of meat height (MH) and fat height(FH) for a given striploin to define the trimming path in practical runs. Values of FH(m,n) and MH(m,n), at nodes (m, n), where m (from 1 to 4) refers to slot positions on the meat plate (Figure 8), and n the nodes at 50 mm spacing (Figure 8). FH is included at all nodes along slots 1 to 4 and slots 2 and 3 for MH.

[0053] The method for path generation and control ensures the cutting utensil of the trimming assembly to travel through specific positions using the measurements and the reference locations defined in the control unit referenced to the base (Figure 9).

[0054] Figure 10 illustrates the configuration for the cutting utensil in a manner that allows the sensing steps to be used to define the paths for a uniform fat layer being left on the striploin. To remove a uniform layer, the path of the cutting utensil follows the profile of the striploin with the cutting utensil below the fat at the specified fat thickness and with the dept gauge above the cutting utensil by the same distance.

[0055] Based on the trimming assembly and cutting utensil options available, with the intended enhancement, the thickness control range achieved is 20 mm with a cutting utensil diameter of 120 mm, allowing a strip of 60 to 80 mm width to be separated. Fat trimming by the trimming assembly as illustrated in Figure 11 bottom right, with G adjusted as the tool is driven along the trim corridors 2 and 3 are achieved and considered important to the process. Trim corridors 1 and 4 have no deterministic MH values and are thus left for hand trimming.

[0056] The blade angle a (Figure 11) causes a change in the width (W) of the fat strip being removed. Changing G alters the thickness of fat being removed, requiring the restraining guide to remain in contact with the fat top, and the changes in height (H) maintaining the blade position on the trimming path. The tool angle and orientation for the trials are optimized based on practical trimming trials.Path Generation

[0057] Path generation utilizes:FT (fat cover thickness) defined by user as fat to be left on the striploin (e.g., 6 mm, 8 mm, 10 mm, 12 mm, etc.). FT is the fat thickness at each node as the difference between FH and MH.RPm,n (Robot point) defines the location of grid nodes m, n for measuring FH and MH. Figures 12 and 13, marked byOffsets of 70 mm (in -ve x relative to the last node along each slot) for the start of trimming to begin at a safe distance from the end face of the striploin, and a 50 mm in the +x direction at the other end away from the node at the start of the slot.

[0058] The determination of paths requires the laser sensor (measuring FH at each node) and ultrasonic data (measuring MH at each node). With the trimming assembly referenced in the base, the Blade Tip Position (BTP) is determined in the robot workspace at each node. In addition, the OD measurement taken at each node on the fat defines the offset between the BTP and the top surface of the striploin fat at each node (Figure 12).

[0059] The first location along the trimming corridor is BTPSM (Blade Tip Position at Start) shown in Figure 13, with M denoting the corridor number (see Figure 11 bottom right) and N the position index along the corridor for each point the blade tip is to pass, as calculated. The path for each longitudinal pass is to use the RP values along adjacent slots at nodes m and (m-1) (Figure 13). The number of trimming corridors may be increased depending on the rotary blade diameter. The scheme as described here will use a width (W) of 60 - 80 mm with the bade diameter assumed at 120 mm. There are also different designs of blade angle and diameter.

[0060] BTPSM position is calculated using the RPm.n and RPm-i,n with offset of 70 mm in the negative x direction to clear the end face of the striploin. Note, the last nodes along a slot at which measurements are taken at 50 mm within the body of the striploin (although this need not be necessary). The distance of outer diameter or outer dimension (ODZ), the average of the measured distances by the OD sensor at nodes (m,n) and (m-1,n), Figure 12, gives the vertical offset that places the blade tip (BPTSM) aligned, in the x, y plane, with the top of the faton striploin. The offset FT as input by user defines the vertical change in BTP, applied in the negative z direction taking the difference from the fat thickness FTM.N as averaged at nodes (m,n) and (m-1,n).This leaves the desired thickness FT behind along the trim path from the start when the blade is driven into the fat along +x direction (Figure 13).

[0061] With reference to Figure 13 the following defines the positions of the blade tip for a trimming pass along a trimming corridor:BTPSM is the start position of the trimming path in robot frame of reference. This is defined using the coordinate values of the robot at nodes (m,n) and (m-1,n). The coordinate values for BTPSM are offset by ODM.N, the average of the OD value at (m,n) and (m-1,n) nodes in the negative z direction and offset in the negative x direction by 70 mm. i.e.,BTPSM (X) = Average[RPm,n (x), RPm-i,n (x)] - 70{this gives the position of the blade away from the back face of the striploin}BTPSM (y) = Average[RPm,n (y), RPm-i,n (y)]BTPSM (Z) = Average[RPm,n (z), RPm-i,n (z)] - ODM - Average[ FTm.n, FTm-1,n]+FTC.The angular alignments of the blade at the start positions, and along the trim corridor has been considered as follows: a: was fixed to avoid collision between the body of the tool and the striploin.P: which may be changed to compensate for fat profile of the striploin was set during set up at the optimum angle.

[0062] The intermediate positions BTPM.N are generated in the same way as follows (note M is the corridor number for the trim path as Figure 4):For corridor NBTPM.N (X) = Average[RPm,n (x), RPm-i.n (x)]BTPM.N (y) = Average[RPm,n (y), RPm-i,n (y)]BTPM.N (Z) = Average[RPm,n (z), RPm-i,n (z)] - ODN - Average[ FTm.n, FTm-1,n]+FTC.Then for N-1:BTPM-I,N (X) = Average[RPm,n-i (x), RPm-i,n-i (x)]BTPM-I,N (y) = Average[RPm,n-i (y), RPm-i,n-i (y)]BTPM-I,N (Z) = Average[RPm,n (z), RPm-i,n (z)] - ODN - Average[ FTm,n-i, FTm-1,n-l]+FTC.And so on until the BTP positions for all and M and N have been calculated reaching:BTPi,i (x) = Average[RP2,i (x), RPi,i (x)]BTPi,i (y) = Average[RP2,i (y), Ri.i (y)]BTPi,i (z) = Average[RP2,i (z), RPi,i (z)] - ODN - Average[ FT2,1, FTi,i]+FTC.

[0063] The Blade Tip Position at the exit of the corridor BPTEM is has the same coordinate values in the tool frame of reference as BTPM , with an offset of 50mm in the positive x direction.

[0064] With the striploin correctly positioned, the path generation program as described above provides the first solution tested with the trimming tool integrated.

[0065] Note that G is adjusted with values corresponding to MH+FTC at each node along the corridor for uniform fat cover. Also, with the width of the strip covering an odd number of slots (i.e. , m being an odd number as a maximum when the measurement cycle ends), the path along corridor 1 is to use the RPi.n values for calculate the BTPI.N positions.

[0066] The path generation (Figure 14) defines the depth gauge as controlled by the control unit whilst the cutting utensil is moved along the length of the striploin separating fat of variable thickness.Comparison

[0067] Figure 15 shows the results of manual removal of fat. The red circles in Figure 15 highlight the ‘bluing’ effect (the meat being visible) and have been assigned a mm thickness (conservatively), given that the fat cover is meant to be 10mm.

[0068] As an estimation using the 8.3g weight for a 100 mm by 100mm area at 1 mm thickness of fat, and $15 per Kg, there is A$3.24 attributed to over trimming.

[0069] For comparison, the present trimming assembly was utilized for a 10 mm fat cover separation on a test striploin with the corresponding results in Figure 16.

[0070] The trimming assembly and measurement as in Figure 16 provides the following comparison:The manual process cannot effectively provide controlled fat trimming and in many if not most of the cases over trimming occurs.The extent of over trimming based on the observation under this milestone and the results, as the selection documented in this report, estimated losses of around A$3.24 per meat material if not more.

[0071] The trimming assembly provides control and based on the test example of Figure 16, negligible over trimming is observed.

[0072] Manual trimming of striploin top fat uses a standard knife for separating fat from striploin primals with the expectation of meeting a specification of uniform fat layer behind. This is considered an impossible task by many and reports claim over trimming is greater than 4 mm and, in some instances, the muscle tissue is penetrated (see Figure 17).

[0073] Over trimming in the manual process, with muscle exposures occurs, is a common observation, especially where corrective action is necessary, usually at the end of the striploin (See Figure 17).

[0074] Prior to the trials, observations of the manual trimming process were made for the present in a manner that allows assessment of controllable trimmertool performance. The primary focus has been to note the QA process when assessing each primal after trimming.Set up for the trial and testing prior to start.

[0075] Figure 18 shows the set up for the robot and the tool attached.

[0076] The robot program determines the TTp (Tool Tip) position (height) above the meat plate on which the striploin rests (Figure 18 left). Ultrasonic sensor (ultrasonic meat height -MH) measurements and laser sensor (Laser fat height - FH) values are used to calculate the TTp (Rep), which is the height of the blade tip at its lowest point above the plate on which the meat rests. The tool is fixed at a specific angle that avoids the physical part of its handle and blade drive hitting the striploin. The calculation of the TTp allows the desired fat thickness to be left on the meat against the fat cover specification input to the robot from the user. The depth gauge height above the tip of the blade is set to the thickness of the fat to be removed at each node. The depth gauge restrains the fat as it is cut. The movement of the tip of the rotating powered blade along a path between the nodes and the control of the gap (G) using the depth gauge, controls the thickness of the fat to be removed leaving the specified fat thickness on top of the striploin eye muscle.

[0077] The fat cover on the striploin may be controlled for maximum thickness without over trimming as shown in Figure 18 top left. This is the area under which measurements of both US and OD can be used by the control unit to determine TTp points. For the trial, the process of trimming was defined as follows:Manual trimming on the two longitudinal edges of the striploin, performed on the processing line, leaving the central part of the striploin untouched for robotic trimming as Figure 18 (top middle).Each meat material was trimmed by the trimming assembly, keeping the meat material for the line supervisor and QA to check ready for packing.

[0078] The robot program was checked using several striploins to confirm that the robot passes through each node as defined by TTp. The checks used aruler to confirm the TTp point on the blade at each node over the plate after the sensing cycle. Figure 18 (right).

[0079] The above description of various embodiments of the present invention is provided for purposes of description to one of ordinary skill in the related art. It is not intended to be exhaustive or to limit the invention to a single disclosed embodiment.

[0080] As mentioned above, numerous alternatives and variations to the present invention will be apparent to those skilled in the art of the above teaching. Accordingly, while some alternative embodiments have been discussed specifically, other embodiments will be apparent or relatively easily developed by those of ordinary skill in the art. Accordingly, this invention is intended to embrace all alternatives, modifications and variations of the present invention that have been discussed herein, and other embodiments that fall within the spirit and scope of the above described invention.

Claims

CLAIMS1. A trimming assembly comprising: an adjustable arm; a cutting assembly having cutting utensil and a depth gauge, the cutting assembly connected to a distal end of the adjustable arm; and a sensing arrangement adapted to determine the fat height and meat height of at least one node of a meat material.

2. The trimming assembly of claim 1, wherein the sensing arrangement comprises one or more ultrasonic sensor(s) adapted to determine the meat height of the meat material and / or one or more laser sensor(s) adapted to determine the fat height of the meat material.

3. The trimming assembly of claim 1 or claim 2, wherein the depth gauge is vertically adjustable.

4. The trimming assembly of any one of the preceding claims, wherein the depth gauge comprises an adjustment mechanism and a motor adapted to set a gap between the depth gauge and the cutting utensil.

5. The trimming assembly of any one of the preceding claims, wherein the gap is between about 0 mm to about 50 mm, between about 0 mm and about 40 mm, between about 0 mm and about 30 mm, between about 0 mm to about 25 mm, between about 0 mm and about 20 mm, between about 0 mm to about 15 mm, between about 0 mm and about 10 mm, or between about 0 mm and about 5 mm.

6. The trimming assembly of any one of the preceding claims, wherein the cutting utensil suitably comprises a blade or cutting edge.

7. The trimming assembly of any one of the preceding claims, wherein the adjustable arm comprises one or more arm members.

8. The trimming assembly of any one of the preceding claims, wherein the adjustable arm comprises three (3) arm members: a first arm member connected to a second arm member and the second arm member connected to a third arm member.

9. The trimming assembly of claim 8, wherein the first arm is rotatable relative to a base and / or the second arm, and the third arm is rotatable relative to the second arm.

10. The trimming assembly of any one of the preceding claims further comprising a feed conveyor adapted to move one or more meat materials from one end thereof to another end thereof.

11. The trimming assembly of any one of the preceding claims further comprising a control unit in communication with the cutting assembly, adjustable arm and sensing arrangement.

12. The trimming assembly of claim 11, wherein the control unit is adapted to receive or calculate meat height (MH) and fat height (FH) for one or more nodes.

13. The trimming assembly of claim 11 or 12, wherein the control unit is adapted to determine the cutting path of through the meat material based on the MH and FH of at least one node to provide the desired depth of fat and / or desired fat to meat ratio.

14. The trimming assembly of any one of claim 11 to 13, wherein the control unit is adapted to control the orientation of the cutting utensil at the nodes and the change in orientation during the transition between nodes.

15. The trimming assembly of any one of claim 11 to 14, wherein the control unit is also adapted to determine the cutting angle of the cutting utensil of the cutting assembly.

16. A method of determining a cutting path in a meat material comprising: obtaining a plurality of meat height and fat height parameters of the meat material at a plurality of nodes;determining cutting depths at each of the plurality of nodes to remove a desired amount of fat from the meat material; and determining the cutting path through the meat material to remove a desired amount of fat from the meat material; to thereby determine the cutting path in the meat material.

Images