Method of loosening abdominal fat or leaf lard from an abdominal wall of a slaughtered animal, and leaf lard puller therefor

Abstract

Method of loosening abdominal fat or leaf lard, comprising the steps of: - engaging the leaf lard with gripping means of a leaf lard puller; - driving a drive to cause a pulling of the leaf lard to thereby loosen said leaf lard; - determining a torque or torque related parameter of said drive during pulling; - ending said pulling when the torque or torque related parameter drops below a predetermined threshold, for instance to thereby prevent the leaf lard tearing or disengaging from the carcass; and - disengaging the leaf lard from the leaf lard puller, for instance such that the loosened leaf lard remains attached to the carcass. The invention further relates to a leaf lard puller, comprising: gripping means configured to engage a leaf lard; a drive configured to drive the gripping means; a sensor configured to determine a torque or torque related parameter of said drive; and a controller configured to control the drive in dependence on the torque or torque related value determined by the sensor.

Description

[0001] Title: Method of loosening abdominal fat or leaf lard from an abdominal wall of a slaughtered animal, and leaf lard puller therefor

[0002] Descri ption:

[0003] The present invention relates to a method of loosening abdominal fat or leaf lard from an abdominal wall of a slaughtered animal, as well as to a leaf lard puller therefor.

[0004] In a slaughtering process performed in a slaughterhouse, the carcass is opened after slaughtering, followed by a step of removing of the intestines and of the abdominal fat or leaf lard, before cutting the carcass halves into sections. Removing the abdominal fat or leaf lard was initially performed manually, which was very labour intensive and concerned repetitive work. In order to meet increasing demands on automation and processing speed, methods for loosing abdominal fat or leaf lard, and leaf lard pullers therefor, have been developed in the past.

[0005] International patent application WO 2022 / 106383 A1 , in the name of the same Applicant, is considered to define the closest prior art, and discloses a leaf lard puller and method for removing leaf lard from slaughter animals. This prior art leaf lard puller comprises a mandrel configured to wind a leaf lard around it. It describes that the leaf lard may be pulled off of the carcass, or may only be loosened and left connected to the abdominal wall. The connection between the leaf lard and the abdominal wall may be as little as possible to secure the leaf lard stays connected e.g. until a predetermined time where the leaf lard may be removed e.g. removed by hand. An advantage of leaving the leaf lard connected to the abdominal wall can be that it can be cooled in a regular cooler when still connected to the carcass, allowing for easy harvesting of cooled whole leaf lard, for instance when the carcass leaves the cooler. This way the leaf lards can be handled in an individual manner allowing for better quality and higher value. Also, in applicable cases, it can allow a veterinarian to control the carcass and leaf lard together such that there is no doubt that the leaf lard is from the carcass under inspection. In addition, leaving the leaf lard connected can be helpful for determining a total yield of a specific slaughtered animal.

[0006] In practice, it is easy to pull the leaf lard completely off the carcass such that it is no longer connected to said carcass, as this simply requires pulling of the leaf lard, more in particular by turning the mandrel of the leaf lard puller, until the leaf lard disengages from the carcass. This is also how the prior art device of the Applicant, as described in WO 2022 / 106383 A1 , is mainly used in practice.

[0007] As described above, there are some benefits in leaving the loosened leaf lard connected to the carcass, and therefor some slaughterhouses can have a preference to do so. Unfortunately, it appeared to be quite difficult to loosen leaf lards and leave them connected to the abdominal wall - in a reliable and repeatable manner - such that the leaf lard is on the one hand not accidentally completely disengaged, and the leaf lard is on the other hand left connected in only a limited degree, such that it may be removed by hand easily later in the process. Leaving the leaf lard connected appears to be a delicate balance between pulling the leaf lard sufficiently far to allow it to be easily removed by hand on the one hand, and not pulling the leaf lard too far and thereby completely disengage it from the carcass on the other hand.

[0008] An objective of the present invention is to provide a method of loosening abdominal fat or leaf lard from an abdominal wall of a slaughtered animal and / or a leaf lard puller therefor, that is improved relative to the prior art and wherein at least one of the above stated problems is obviated or alleviated.

[0009] Said objective is achieved with the method of loosening abdominal fat or leaf lard from an abdominal wall of a slaughtered animal according to claim 1 of the present invention, said method comprising the steps of:

[0010] - engaging the abdominal fat or leaf lard with gripping means of a leaf lard puller;

[0011] - driving a drive to cause a pulling of the abdominal fat or leaf lard to thereby loosen said abdominal fat or leaf lard from the carcass;

[0012] - determining a torque or torque related parameter of said drive during pulling of the abdominal fat or leaf lard;

[0013] - ending said pulling of the abdominal fat or leaf lard when the torque or torque related parameter drops below a predetermined threshold, for instance to thereby prevent the abdominal fat or leaf lard tearing or disengaging from the carcass; and

[0014] - disengaging the abdominal fat or leaf lard from the leaf lard puller, for instance such that the loosened abdominal fat or leaf lard remains attached to the carcass. The Applicant has recognized that pulling abdominal fat or leaf lard appears to follow a specific force versus time profile. By determining a torque or torque related parameter during pulling of the abdominal fat or leaf lard, a high level of control is obtained, even allowing prevention of the abdominal fat or leaf lard tearing or disengaging from the carcass. More in particular, determining the torque or torque related parameter during pulling of the abdominal fat or leaf lard allows actively ending of said pulling of the abdominal fat or leaf lard when the torque or torque related parameter drops below a predetermined threshold, for instance to thereby prevent the abdominal fat or leaf lard tearing or disengaging from the carcass.

[0015] The torque related parameter may be a force, or even a power consumption of a drive that drives the pulling of the leaf lard puller.

[0016] It is remarked that, also in use cases wherein leaf lard is to be completely removed from the carcass, the torque or torque related parameter may also be effectively used to recognize when the leaf lard is disengaged. This would allow the leaf lard puller to be actively withdrawn immediately after disengagement from the carcass. In this way, the cycle time of the leaf lard puller may be minimized, also in cases wherein the leaf lard is completely removed.

[0017] According to a preferred embodiment, the method comprises:

[0018] - prior to the step of ending said pulling of the abdominal fat or leaf lard when the torque or torque related parameter drops below a predetermined threshold, determining if the step of engaging the abdominal fat or leaf lard with gripping means of a leaf lard puller has resulted in a secure engagement of the gripping means with the abdominal fat or leaf lard; and

[0019] - wherein the step of ending said pulling of the abdominal fat or leaf lard when the torque or torque related parameter drops below a predetermined threshold is only executed if the secure engagement of the gripping means with the abdominal fat or leaf lard has been determined. In this way, a risk of false-positive determinations of the torque or torque related parameter dropping below a predetermined threshold is reduced.

[0020] According to a further preferred embodiment of the method, the step of engaging the abdominal fat or leaf lard with gripping means of a leaf lard puller has resulted in a secure engagement of the gripping means with the abdominal fat or leaf lard comprises categorizing the engagement as secure only when a predetermined length of abdominal fat or leaf lard has been pulled and loosened from the carcass. This predetermined length of pulled and loosened abdominal fat or leaf lard may be determined in various ways. For example, it may be required that a time period lapses after engaging the abdominal fat or leaf lard with the gripping means before the step of ending said pulling may be executed. The length of pulled and loosened abdominal fat or leaf lard may also be determined via the position of the gripping means, or via a distance the gripping means have travelled since engagement with the abdominal fat or leaf lard. In case the gripping means are arranged on a mandrel, a number of revolutions of said mandrel after engaging the abdominal fat or leaf lard may be used to determine the length of pulled and loosened abdominal fat or leaf lard. Of course, the number of revolutions is dependent on the size of the mandrel, and more in particular of the diameter of said mandrel.

[0021] According to an even further preferred embodiment, the step of engaging the abdominal fat or leaf lard with the gripping means of the leaf lard puller comprises the step of engaging the abdominal fat or leaf lard with a rotatably drivable mandrel of said leaf lard puller; and the step of pulling the abdominal fat or leaf lard to thereby loosen it from the carcass comprises the step of rotating the mandrel in a first rotation direction and thereby winding the abdominal fat or leaf lard around said mandrel. A mandrel that is rotatably drivable has proven to be a very effective way to engage and remove abdominal fat or leaf lard from the abdominal wall.

[0022] According to an even further preferred embodiment, the predetermined threshold value is an absolute predetermined value.

[0023] According to an even further preferred embodiment, said absolute predetermined threshold value is a torque in the range of 1-60 Nm, preferably in the range of 1-40 Nm, more preferably in the range of 2-20 Nm, and most preferably in the range of 5-10 Nm, or a torque-related parameter corresponding to these preferred torque ranges. It is noted that these values correspond to the torque exerted by the leaf lard puller to the abdominal fat or leaf lard. Due to internal friction of the mandrel, a drive that drives said mandrel will have to apply a greater torque to compensate for any internal friction losses. The skilled person will understand that it is possible to determine the torque delivered by the drive, and compensate this value for (an estimate or predetermined value of) any losses to determine what the torque is that is exerted by the leaf lard puller to the abdominal fat or leaf lard. Furthermore, if the predetermined threshold value is based on a torque-related parameter, such as a force, the skilled person will be able to determine forces corresponding to the preferred torque ranges mentioned above.

[0024] According to an even further preferred embodiment, the method further comprises the steps of: determining a maximum value of the torque or torque related parameter during pulling of the abdominal fat or leaf lard; and determining the predetermined threshold as the maximum value minus a predetermined drop value. The Applicant has recognized that the force versus time diagram during pulling of abdominal fat or leaf lard first gradually increases, and successively shows a relatively steep drop, before the abdominal fat or leaf lard is fully torn loose from the abdominal wall. In order to find the right balance between pulling the leaf lard sufficiently far to allow it to be easily removed by hand on the one hand, and not pulling the leaf lard too far and thereby completely disengage it from the carcass on the other hand, it is key to stop at the right time after passing the maximum value of the torque or torque related parameter, i.e. not too soon, and definitely not too late. This “right time” is related to a predetermined drop value of the torque or torque related parameter.

[0025] According to a first alternative, the predetermined drop value is an absolute value of the torque in the range of 2-20 Nm, preferably in the range of 3-15 Nm, more preferably in the range of 4-10 Nm, and most preferably in the range of 5-8 Nm, or a torque-related parameter drop value corresponding to these preferred torque ranges. Controlling the timing of ending of said pulling based on an absolute value allows for an easy control. If the predetermined drop value is based on a torque-related parameter, such as a force, the skilled person will be able to determine forces corresponding to the preferred ranges of the predetermined drop values mentioned above.

[0026] According to a second alternative, the predetermined drop value is a relative value in the range of 20-70% of the maximum value, preferably in the range of 25-60% of the maximum value, more preferably in the range of 30-50% of the maximum value, and most preferably in the range of 35-45% of the maximum value. By making the predetermined drop value a relative value of the maximum value, as determined during pulling, it is possible to further improve the “right time” of ending of said pulling of the abdominal fat or leaf lard for individual slaughtering animals. After all, the abdominal fat or leaf lard of different individual slaughtering animals may show differences in required pulling torque, or torque related parameter such as pulling force. The predetermined drop value being a relative value thus allows for a more reliable and more consistent determination of the delicate balance between pulling the leaf lard sufficiently far to allow it to be easily removed by hand on the one hand, and not pulling the leaf lard too far and thereby completely disengage it from the carcass on the other hand, for individual slaughtering animals.

[0027] According to an even further preferred embodiment, the step of disengaging the abdominal fat or leaf lard from the leaf lard puller comprises the step of rotating the mandrel in a second rotation direction, that is opposite to the first rotation direction, and thereby unwinding the abdominal fat or leaf lard from said mandrel. If it is desired to leave the abdominal fat or leaf lard connected to the abdominal wall, it will be necessary to remove the abdominal fat or leaf lard from the mandrel. This removal of the lard from the mandrel may be facilitated by rotating the mandrel in a second rotation direction, that is opposite to the first rotation direction, and thereby unwinding the abdominal fat or leaf lard from said mandrel.

[0028] Although the invention may be applied to different types of slaughtering animals, the slaughter animal is, according to an even further preferred embodiment a cow, a pig or a hog, and preferably a pig or a hog.

[0029] The invention further relates to a leaf lard puller, comprising:

[0030] - gripping means configured to engage abdominal fat or a leaf lard of a slaughter animal;

[0031] - a drive configured to drive the gripping means;

[0032] - a sensor configured to determine a torque or torque related parameter of said drive; and

[0033] - a controller configured to control the drive in dependence on the torque or torque related value determined by the sensor.

[0034] Various types of gripping means may be applied. For example, the gripping means may comprise one or more than one belt conveyor that is configured to pull the leaf lard. For example, a single belt conveyor may comprise a textured or roughened belt surface, of two belt conveyors may be exposed at an offset in parallel to each other and configured to pull the leaf lard into said offset in between the belt conveyors. However, according to a preferred embodiment the gripping means comprise a rotatably drivable mandrel, and the drive is configured to rotatably drive said mandrel.

[0035] According to a further preferred embodiment of the leaf lard puller, the drive is a servo motor. Servo motors are known in the art as actuators, such as rotary actuators, that provide feedback such as position feedback, force feedback, torque feedback, etc.

[0036] According to an even further preferred embodiment of the leaf lard puller, the controller is configured to control the drive to end pulling of the abdominal fat or leaf lard when the torque or torque related parameter drops below a predetermined threshold.

[0037] According to an even further preferred embodiment of the leaf lard puller, the controller is configured to perform the method according to the invention, and more in particular to control the drive in order to perform related method steps according to the invention.

[0038] According to an even further preferred embodiment, the leaf lard puller is attached to a multi-axial controllable articulated arm of a robot. The robot allows the leaf lard puller to approach the leaf lard from a desired angle, after which the leaf lard puller can engage the abdominal fat or leaf lard and perform the method according to the invention.

[0039] The various aspects and features described and shown in the specification can be applied, individually, wherever possible. These individual aspects, and in particular the aspects and features described in the attached dependent claims, may be an invention in its own right that is related to a different problem relative to the prior art.

[0040] In the following description preferred embodiments of the present invention are further elucidated with reference to the drawing, in which:

[0041] Figure 1 is a perspective view of a leaf lard removal robot for removing abdominal fat or leaf lard in a slaughterhouse;

[0042] Figure 2 is a detailed perspective view of a leaf lard puller of the leaf lard removal robot of Figure 1 ; and

[0043] Figure 3 shows diagrams wherein it is shown how the torque of the mandrel and a rotation angle of the mandrel of the leaf lard puller develop over time during use of the leaf lard puller of Figure 2. The leaf lard removal robot 1 for removing abdominal fat or leaf lard in a slaughtering line in a slaughterhouse shown in Fig. 1 comprises two articulated robot arms 2. More in particular, both arms 2 of this robot 1 are multi-axial controllable, allowing the arms 2 to move the leaf lard puller 3 in such a way that it approaches the abdominal fat or leaf lard from a desired angle.

[0044] A single leaf lard puller 3 of the leaf lard removal robot 1 of Fig. 1 is shown in greater detail in Fig. 2. The leaf lard puller 3 as such is also described in the international patent application WO 2022 / 106383 A1 , that defines the closest prior art. This known leaf lard puller 3 comprises a longitudinal mandrel 4 with a base end 5 and a front end 6, and has a suction cavity 7 with an opening 8. Inside the opening 8 a clamping mechanism 9 is positioned. At the base end 5 of the mandrel 4 a pushing device 10 is located encircling the mandrel 4. Illustrated is a piston 11 capable of directing the pushing device 10 from the base end 5 towards the front end 6. An outer surface 13 of the mandrel 4 comprises engaging members 12 that are illustrated as pointed spikes which are askew and with the tips of the spikes pointing towards the front end 6 of the mandrel 4. The clamping mechanism 9 and engaging members 12 each define gripping means 14. The mandrel 4 itself is conically shaped with a larger perimeter at the base end 5 than at the front end 6.

[0045] The leaf lard puller 3 according to the invention comprises: gripping means 14 configured to engage abdominal fat or a leaf lard of a slaughter animal, a drive 15 configured to drive the gripping means, a sensor 16 configured to determine a torque or torque related parameter, and a controller 17 configured to control the drive 15 in dependence on the torque or torque related value determined by the sensor 16.

[0046] The sensor 16 that is configured to determine the torque or torque related parameter may also be integrated with the drive 15. For example, the drive 15 may be a servo drive, and the power consumed by said servo drive may be used to determine the torque or the torque related parameter.

[0047] The Applicant has recognized that the torque versus time diagram during pulling of abdominal fat or leaf lard first gradually increases, and successively shows a relatively steep drop, before the abdominal fat or leaf lard is fully torn apart from the abdominal wall. Fig. 3 shows with the continuous line TM how the torque value that is being exerted by the leaf lard puller 3, more in particular by the mandrel 4, to the abdominal fat or leaf lard, develops over time. The x-axis of this diagram represents the Time. The dashed line RM represents a rotation angle of the mandrel 4.

[0048] In order to find the best balance between pulling the leaf lard sufficiently far to allow it to be easily removed by hand on the one hand, and not pulling the leaf lard too far and thereby completely disengage it from the carcass on the other hand, it is key to stop at the optimal time after passing the maximum value of the torque or torque related parameter, i.e. not too soon, and definitely not too late. This “optimal time” is related to a predetermined drop value TM.drop of the torque or torque related parameter.

[0049] In Figure 3, it is shown that, when then mandrel 4 is rotatably driven in a first rotation direction, the rotation angle of the mandrel 4, as represented by the dashed line RM, gradually increases over time. As the mandrel 4 rotates, it pulls the abdominal fat or leaf lard that has been engaged by the gripping means 14 of the leaf lard puller 3, and winds said abdominal fat or leaf lard around the circumference of the mandrel 4. This winding of the loosened abdominal fat or leaf lard results in an increasing torque of the mandrel 4, as represented by the continuous line TM. This continuous line TM shows an irregular pattern that gradually increases over time. The torque of the mandrel TM reaches a maximum value at TM.max. After reaching this maximum value, the torque starts to drop. As soon as a predetermined drop TM.drop is determined, the pulling of the abdominal fat or leaf lard is ended at TpuLL.en . This is the optimal timing to stop pulling on the leaf lard and thereby to prevent the abdominal fat or leaf lard tearing or disengaging from the carcass, while it is still loose enough to allow a human operator to remove said abdominal fat or leaf lard in a later stage by hand. Please note that the dashed line RM now gradually starts to descend, which represents a decrease of the rotation angle of the mandrel 4 when the mandrel 4 is rotated in a second rotation direction, opposite to the first rotation direction, to thereby unwind the abdominal fat or leaf lard from said mandrel 4.

[0050] As mentioned above, and as can be seen by the erratic continuous line TM in Figure 3, the torque TM behaves rather irregular. In order to reduce a risk of falsepositive determinations of the torque or torque related parameter dropping below a predetermined threshold, it may be desired according to a preferred embodiment, to only allow the step of ending the pulling of the abdominal fat or leaf lard when the torque or torque related parameter drops below a predetermined threshold to be executed when the torque TM has entered a predetermined window W that represents a window wherein a secure engagement of the gripping means 14 with the abdominal fat or leaf lard is guaranteed. In this respect, the method preferably comprises, prior to the step of ending said pulling of the abdominal fat or leaf lard when the torque or torque related parameter drops below a predetermined threshold, the step of determining if the step of engaging the abdominal fat or leaf lard with gripping means of a leaf lard puller has resulted in a secure engagement of the gripping means 14 with the abdominal fat or leaf lard. The window W represents a window wherein it is guaranteed that a predetermined length of abdominal fat or leaf lard has been pulled and loosened from the carcass. As discussed above, such a predetermined length of loosened abdominal fat or leaf lard may be determined in various ways.

[0051] The above-described embodiment is intended only to illustrate the invention and not to limit in any way the scope of the invention. Accordingly, it should be understood that where features mentioned in the appended claims are followed by reference signs, such signs are included solely for the purpose of enhancing the intelligibility of the claims and are in no way limiting on the scope of the claims. The scope of protection is defined solely by the following claims.

Claims

CLAIMS1 . Method of loosening abdominal fat or leaf lard from an abdominal wall of a slaughtered animal, comprising the steps of:- engaging the abdominal fat or leaf lard with gripping means of a leaf lard puller;- driving a drive to cause a pulling of the abdominal fat or leaf lard to thereby loosen said abdominal fat or leaf lard from the carcass;- determining a torque or torque related parameter of said drive during pulling of the abdominal fat or leaf lard;- ending said pulling of the abdominal fat or leaf lard when the torque or torque related parameter drops below a predetermined threshold, for instance to thereby prevent the abdominal fat or leaf lard tearing or disengaging from the carcass; and- disengaging the abdominal fat or leaf lard from the leaf lard puller, for instance such that the loosened abdominal fat or leaf lard remains attached to the carcass.

2. Method according to claim 1 , wherein:- prior to the step of ending said pulling of the abdominal fat or leaf lard when the torque or torque related parameter drops below a predetermined threshold, determining if the step of engaging the abdominal fat or leaf lard with gripping means of a leaf lard puller has resulted in a secure engagement of the gripping means with the abdominal fat or leaf lard; and- wherein the step of ending said pulling of the abdominal fat or leaf lard when the torque or torque related parameter drops below a predetermined threshold is only executed if the secure engagement of the gripping means with the abdominal fat or leaf lard has been determined.

3. Method according to claim 2, wherein:- the step of engaging the abdominal fat or leaf lard with gripping means of a leaf lard puller has resulted in a secure engagement of the gripping means with the abdominal fat or leaf lard comprises categorizing the engagement as secure onlywhen a predetermined length of abdominal fat or leaf lard has been pulled and loosened from the carcass.

4. Method according to any of the foregoing claims, wherein:- the step of engaging the abdominal fat or leaf lard with the gripping means of the leaf lard puller comprises the step of engaging the abdominal fat or leaf lard with a rotatably drivable mandrel of said leaf lard puller; and- the step of pulling the abdominal fat or leaf lard to thereby loosen it from the carcass comprises the step of rotating the mandrel in a first rotation direction and thereby winding the abdominal fat or leaf lard around said mandrel.

5. Method according to any of the foregoing claims, wherein the predetermined threshold value is an absolute predetermined value.

6. Method according to claim 5, wherein said absolute predetermined threshold value is a torque in the range of 1-60 Nm, preferably in the range of 1-40 Nm, more preferably in the range of 2-20 Nm, and most preferably in the range of 5- 10 Nm, or a torque-related parameter corresponding to these preferred torque ranges.

7. Method according to any of claims 1-4, further comprising the steps of:- determining a maximum value of the torque or torque related parameter during pulling of the abdominal fat or leaf lard; and- determining the predetermined threshold as the maximum value minus a predetermined drop value.

8. Method according to claim 7, wherein the predetermined drop value is an absolute value of the torque in the range of 2-20 Nm, preferably in the range of 3-15 Nm, more preferably in the range of 4-10 Nm, and most preferably in the range of 5-8 Nm, or a torque-related parameter drop value corresponding to these preferred torque ranges.

9. Method according to claim 7, wherein the predetermined drop value is a relative value in the range of 20-70% of the maximum value, preferably in the range of 25-60% of the maximum value, more preferably in the range of 30-50% of the maximum value, and most preferably in the range of 35-45% of the maximum value.

10. Method according to any of claims 4-9, wherein the step of disengaging the abdominal fat or leaf lard from the leaf lard puller comprises the step of rotating the mandrel in a second rotation direction, that is opposite to the first rotation direction, and thereby unwinding the abdominal fat or leaf lard from said mandrel.

11. Leaf lard puller, comprising:- gripping means configured to engage abdominal fat or a leaf lard of a slaughter animal;- a drive configured to drive the gripping means;- a sensor configured to determine a torque or torque related parameter of said drive; and- a controller configured to control the drive in dependence on the torque or torque related value determined by the sensor.

12. Leaf lard puller according to claim 11 , wherein:- the gripping means comprise a rotatably drivable mandrel; and- the drive is configured to rotatably drive said mandrel.

13. Leaf lard puller according to claim 11 or 12, wherein the drive is a servo motor.

14. Leaf lard puller according to any of claims 11-13, wherein the controller is configured to control the drive to end pulling of the abdominal fat or leaf lard when the torque or torque related parameter drops below a predetermined threshold.

15. Leaf lard puller according to any of claims 11-14, wherein at least one of:- the controller is configured to perform the method according to any of the claims 1 - 10; and- the leaf lard puller is attached to a multi-axial controllable articulated arm of a robot.

Images