Device and method for positioning tools on linearly conveyed articles, and assembly for processing animal carcasses

Abstract

The invention relates to a device for positioning tools (10) on linearly conveyed articles, comprising a conveying device which forms a conveying path and is designed to continuously convey the articles in a conveying direction (F) and which has a plurality of evenly spaced receiving elements (14) designed to hold the articles; a tool unit (12) which is provided along the conveying path and has at least one tool (10) designed to process the articles; and a positioning unit (13) which is designed to position the tool unit (12). The invention is characterized in that the tool unit (12) is pivotally mounted so as to rotate such that, in a respective working position, the at least one tool (10) is designed to be advanced to the conveying path while being moved in the conveying direction (F) in order to process the articles. The invention further relates to a corresponding method, to an assembly, and to a method for processing animal carcasses.

Description

[0001] Nordic Machine Construction Rud. Baader GmbH + Co. KG, Geniner Straße 249, 23560

[0002] Lübeck

[0003] Device and method for positioning tools on linearly conveyed articles, as well as arrangement for processing slaughter carcasses

[0004] The present invention relates to a device for positioning tools on linearly conveyed articles, comprising a conveying device forming a conveying path and configured for continuously conveying the articles in a conveying direction with a plurality of uniformly spaced receiving elements configured for holding the articles, a tool unit arranged along the conveying path with at least one tool configured for machining the articles and a positioning unit configured for positioning the tool unit.

[0005] The invention further relates to an arrangement for processing slaughtered animal carcasses.

[0006] Furthermore, the invention relates to a method for positioning tools on linearly conveyed articles, comprising the steps of: Continuously conveying the articles in a conveying direction along a conveying path by means of a conveying device with a plurality of uniformly spaced receiving elements designed to hold the articles, wherein a tool unit with at least one tool designed to process the articles and a positioning unit designed to position the tool unit is arranged along the conveying path.

[0007] Such devices, arrangements, and methods are always used when items are continuously conveyed for processing and processing is to be carried out during the conveying process. For this purpose, it is necessary to move the respective processing tools along with the item being processed, so that the tool and the item do not move relative to each other in the conveying direction, or move at a reduced relative speed. Particularly in the area of ​​automated processing of poultry carcasses, such devices, arrangements, and methods are used to process the poultry carcasses with various tools while they are being transported in the conveying direction.

[0008] To position the respective tools for processing the articles in a working position, it is necessary to move them towards the conveyor line using a recurring infeed motion. After processing is complete, the tools leave the working position by being moved away from the conveyor line using a return motion.

[0009] A disadvantage is that high accelerations typically occur, particularly during the transition between the feed and return movements. These accelerations are associated with correspondingly high forces, resulting in significant mechanical stress. This leads not only to increased mechanical wear but also to undesirable, strong vibrations. To keep these forces within acceptable limits, the frequency of the feed and return movements is restricted to an upper value, which also sets an upper limit for the maximum travel speed of the items along the conveyor. Consequently, this results in an upper limit for the maximum number of items that can be processed per unit of time.

[0010] It is therefore an object of the present invention to propose a device that ensures reliable and precise positioning of tools on linearly conveyed articles at the highest possible article throughput rates. It is also an object of the invention to propose such a device that is as low in vibration and wear as possible overall.

[0011] Furthermore, the task includes proposing a suitable arrangement for processing slaughtered animal carcasses. Additionally, the task includes proposing a suitable procedure.

[0012] The problem is solved by a device with the aforementioned features in that the tool unit is arranged to pivot around its circumference such that the at least one tool, moving in the conveying direction, can be brought to the conveyor in a specific working position for processing the articles. This offers the advantage that the at least one tool is brought to the conveyor in its working position without changing the direction of its rotation. This avoids the high acceleration forces that would otherwise occur when moving the tool towards and away from the conveyor. Advantageously, this ensures low-vibration movement of the at least one tool while simultaneously guaranteeing its precise positioning.Advantageously, this allows for high speeds in the feed and return movements, enabling correspondingly high conveying speeds to achieve high throughput rates. The forces caused by the moment of inertia of the at least one tool are significantly lower due to the consistent direction of the rotation, resulting in a considerable reduction in mechanical wear. Preferably, the tool unit is arranged to pivot around its circumference in such a way that the orientation or direction of the pivoting movement is always maintained.

[0013] A preferred embodiment of the invention is characterized in that the positioning unit is arranged on at least one pivot arm that is pivotable about an axis of rotation. The device according to the invention thus advantageously has a particularly simple design that is both cost-effective and possesses the required mechanical strength while maintaining a low weight. The lower the weight, the lower the overall moment of inertia, which can cause any vibrations. Preferably, the positioning unit is arranged on two pivot arms, each of which is pivotable about axes of rotation spaced apart from each other parallel to the conveying direction.

[0014] A preferred embodiment of the invention is characterized in that the axis of rotation of the at least one swivel arm is arranged laterally away from the conveyor track. This ensures that the articles are conveyed along the conveyor track without collisions, while the tool unit is swiveled towards and away from the conveyor track by means of the positioning unit. This allows the articles to be completely clear of the respective processing tools in the waiting position, while enabling interaction between the respective processing tool and the article to be processed in the working position.

[0015] Another advantageous embodiment of the invention is characterized in that the at least one swivel arm is arranged to be driven by means of a drive unit. Advantageously, the swivel arm is thus arranged to be actively driven.

[0016] According to another preferred embodiment, the drive unit is mechanically coupled to a drive train of the conveyor. This offers the advantage that the drive unit is forcibly synchronized with the drive train of the conveyor. This ensures that the positioning unit is moved into its working position at the same time every time, depending on the position of the items along the conveyor. This synchronization is always maintained, particularly regardless of the conveyor speed. This offers the advantage that variations in the conveyor speed have the same effect on the movement speed of the positioning unit. Thus, the aforementioned synchronization is always guaranteed, especially when the conveyor starts and stops.

[0017] A further advantageous embodiment of the invention is characterized in that the drive unit is mechanically coupled to the drive train via a coupling element, wherein the coupling element comprises an adjusting device for setting the basic position of the swivel arm relative to the respective positions of the receiving elements. This offers the advantage that the basic position of the swivel arm can be adjusted by means of the adjusting device. Thus, it is possible to set, by means of the adjusting device, at what point in time or when the positioning device reaches the working position. In other words, the adjusting device is therefore designed to set when the tool unit is moved towards the conveyor to be in a position in which the articles can be processed. The adjusting device is therefore designed to set a lead or lag with respect to the respective conveying position of the articles.Advantageously, this allows the timing of when the tool unit hits the articles to be optimally adapted to the respective processing operation to be carried out.

[0018] According to a further preferred embodiment of the invention, the adjusting device comprises two coupling elements that are rotatably and detachably connected to one another. A first coupling element is rotatably connected to the drive train, and a second coupling element is connected to the axis of rotation of the swivel arm. The adjusting device is thus designed to mechanically couple the axis of rotation of the swivel arm to the drive train via the coupling elements. For this purpose, the coupling elements are rotatably connected to one another. By releasing the coupling elements, the two coupling elements can be rotated relative to each other by a preload angle. In this way, the position of the tool unit with respect to the conveyor path can be set and adjusted to achieve the desired alignment with the respective drive train position, which determines the position of the articles along the conveyor path.The synchronization of the tool unit's feed and return movements relative to the conveyor track can thus be easily and conveniently adjusted to the respective positions of the items. Once adjusted, the coupling elements are reconnected in a rotationally fixed manner, ensuring that the selected setting is maintained during operation.

[0019] A preferred embodiment of the invention is characterized in that the adjusting device includes an adjusting element designed and configured to preset the angular position of the second coupling element relative to the first coupling element. The adjusting element according to the invention offers the advantage that the angular position is conveniently adjustable. Preferably, the adjusting element is self-locking, meaning it retains a selected position even when external forces are applied. In this way, the angular position can be set extremely precisely and—even with external forces present—without the need for counter-holding.

[0020] According to a further preferred embodiment of the invention, the adjusting element comprises an adjusting rod arranged eccentrically to the axis of rotation of the coupling elements at a first mounting point on the first coupling element. The adjusting rod has a free end at a second mounting point and is configured to adjust the angular position by varying the distance between the first and second mounting points. In other words, the adjusting rod serves as an adjustment aid. By changing the effective length of the adjusting rod, the angular position can be precisely adjusted conveniently and without significant effort. For example, the adjusting rod is designed as a threaded rod whose effective length is adjustable by rotating it relative to the mounting points. In this case, the threaded rod is preferably screwed into threaded receptacles at the mounting point.It is also possible that an adjusting nut is arranged on the adjusting rod, the position of which along the adjusting rod can be adjusted by turning the nut in such a way that the angular position of the coupling elements relative to each other can be adjusted.

[0021] Another advantageous embodiment of the invention is characterized in that the drive unit comprises an electric motor. This offers the advantage that the rotary axis is driven by an electric motor, so that there is no rigid coupling to the drive of the conveyor device and thus maximum freedom in driving the rotary axis of the swivel arm. This allows for a largely unrestricted movement sequence of the tool unit.

[0022] A further advantageous embodiment of the invention is characterized in that the electric motor is electrically connected to a control unit, which is configured to control the speed of the electric motor based on a predetermined speed profile depending on the respective position of the mounting elements. This offers the advantage that the speed of the electric motor, and thus the movement of the tool unit, can be variably predetermined. A predetermined speed profile within the meaning of the present application refers in particular to the specification of speeds that vary within one revolution of the tool unit or of the at least one swivel arm. For example, it is thus possible to select a higher instantaneous speed during the return of the tool unit to and from the standby position, thereby reducing the overall time required for the return.Before reaching the working position, the instantaneous speed is reduced to such an extent that the relative movement between the tool unit and the conveyed items is minimized upon reaching the working position. It is also possible to select a tool unit that leads or lags behind the conveying speed. Specifying such a speed profile, which in particular includes adjusting the instantaneous speed within a revolution, therefore offers maximum flexibility in defining the motion sequence of the positioning or tool unit.

[0023] A preferred embodiment of the invention is characterized in that the drive unit is synchronized with the drive train such that the tool unit is in its working position when passing at least one of the receiving elements. This ensures that the machining tools regularly engage with the respective articles. Synchronization is achieved, for example, by adjusting the rotational speed profile to the conveying speed of the conveyor. It is also possible to detect the passage or imminent passage of one of the articles on the conveyor track using sensors and, based on this, to control the drive unit accordingly, synchronized with the drive train.

[0024] A preferred embodiment of the invention is characterized in that the tool unit comprises a number n of tools arranged side by side, wherein the distance between the tools corresponds to the distance between the holding elements and the length of the swivel arm corresponds to the product of the distance between the tools and their number n divided by the factor 2TT. This offers the advantage that the number n tools can process n items simultaneously in the working position. Preferably, the conveying device is also designed to transport the items a total of n items in the conveying direction within one revolution of the at least one swivel arm. If, for example, the tool unit comprises three processing tools, each arranged at a distance d from one another, the length of the swivel arm is selected to be 3d / 2TT. In the working position, three items can thus be processed simultaneously.

[0025] Another advantageous embodiment of the invention is characterized in that a counterweight is arranged on the swivel arm on the side opposite the positioning unit with respect to the axis of rotation. The counterweight advantageously serves to compensate for the dead weight of the swivel arm and / or the tool unit. In this way, any otherwise possible imbalance is reduced, resulting in overall low-vibration operation of the device according to the invention. Furthermore, mechanical loads on bearings and other components are reduced, and wear is minimized. Moreover, high rotational speeds are possible due to the avoidance of vibrations, which has a positive effect on the overall throughput of the device according to the invention.

[0026] According to another preferred embodiment, the distance of the counterweight to the axis of rotation is adjustable. This makes it possible to easily and conveniently adapt the position of the counterweight to different masses of the tool unit, for example during a tool change, without having to replace the counterweight itself.

[0027] Furthermore, the problem is solved by a suitable arrangement designed for processing carcasses, comprising a device with the aforementioned features, wherein the articles are carcasses.

[0028] The advantages mentioned in connection with the device according to the invention also apply analogously to the arrangement according to the invention.

[0029] A further advantageous embodiment of the invention is characterized in that the carcasses are poultry carcasses, the receiving elements for holding each poultry carcass are arranged with its neck end facing the tool unit, and the at least one tool is designed as a fork leg removal unit. The aforementioned advantages of the device according to the invention are particularly beneficial when processing the aforementioned poultry carcasses. Especially when removing the fork leg, it is necessary that the tools are moved towards the poultry carcasses by means of an active approach movement in order to support the punching motion required for removing the fork leg.After the processing operation, the tools must be quickly moved out of the conveying path to avoid an unwanted collision between the poultry carcasses remaining on the receiving elements and the tools.

[0030] Furthermore, the task is solved by the aforementioned method in that, in the conveying direction, at least one tool is brought into a working position for processing the articles by means of a circular pivoting movement of the tool unit.

[0031] The advantages achievable with the present invention have already been described in detail in connection with the device and arrangement according to the invention. To avoid repetition, we also refer to the advantages mentioned therein in connection with the inventive knife method, which apply equally to the method claims, which are essentially analogous to those of the device and arrangement. Therefore, only selected aspects of the method according to the invention will be addressed separately below. A preferred embodiment of the invention is characterized by pivoting the positioning unit by means of at least one pivot arm that is pivotable about an axis of rotation.

[0032] According to a further preferred embodiment of the invention, the axis of rotation of the at least one swivel arm is arranged at a later distance from the conveyor line.

[0033] Another advantageous embodiment of the invention is characterized by driving the at least one swivel arm by means of a drive unit.

[0034] According to another preferred embodiment, the drive unit is mechanically coupled to a drive train of the conveyor system.

[0035] Another advantageous embodiment of the invention is characterized by the drive unit with the drive train which is mechanically coupled via a coupling element, wherein the coupling element comprises an adjusting device for setting the basic position of the swivel arm relative to the respective positions of the receiving elements.

[0036] According to a further preferred embodiment of the invention, the drive unit comprises an electric motor.

[0037] According to a further preferred embodiment, the electric motor is electrically connected to a control device and the speed of the electric motor is controlled by the control device on the basis of a predetermined speed profile depending on the respective position of the receiving elements.

[0038] Another advantageous embodiment of the invention is characterized by the drive unit being synchronized with the drive train in such a way that the tool unit is in the working position when passing at least one of the receiving elements.

[0039] According to a further preferred embodiment of the invention, the tool unit comprises a number n of tools arranged side by side, wherein the distance between the tools corresponds to the distance between the receiving elements and the length of the swivel arm corresponds to the product of the distance between the tools and their number n divided by the factor 2TT.

[0040] According to a further preferred embodiment of the invention, a counterweight is arranged on the swivel arm on the side opposite the positioning unit with respect to the axis of rotation.

[0041] Another advantageous embodiment of the invention is characterized by adjusting the distance of the counterweight to the axis of rotation.

[0042] Another advantageous embodiment of the invention is characterized by a method according to one of the aforementioned claims, wherein the articles are carcasses of slaughtered animals.

[0043] Another advantageous embodiment of the invention is characterized in that the carcasses are poultry carcasses, the receiving elements for holding each of the poultry carcasses are arranged with its neck side pointing towards the tool unit, and the removal of the fork leg from the poultry carcass is carried out with the at least one tool which is designed as a fork leg removal unit.

[0044] Further preferred and / or advantageous features and embodiments of the invention will become apparent from the dependent claims and the description. Particularly preferred embodiments are explained in more detail with reference to the accompanying drawing. The drawing shows:

[0045] Fig. 1 shows a perspective view of the device according to the invention,

[0046] Fig. 2 shows the device shown in Fig. 1 in side view,

[0047] Fig. 3 shows a perspective view of the device with a view to a first embodiment of the drive unit,

[0048] Fig. 4 is a perspective first detailed view of the device and

[0049] Fig. 5 shows a second perspective detail view of the device.

[0050] The present invention will now be explained in more detail, primarily with reference to the device according to the invention. All descriptions of the device apply analogously to the method according to the invention, so that only selected aspects of the method will be explicitly addressed.

[0051] The present invention relates to a device designed and configured for positioning tools 10 on linearly conveyed articles. In the drawing, these tools 10 are shown by way of example as wishbone removal tools, also known as wishbone removers or wishbone harvesters. Such wishbone removal tools are well known, so a more detailed description is omitted. However, the present invention is not limited to tools 10 designed as wishbone removal tools, but is fundamentally suitable for any type of tool that needs to be brought into contact with linearly conveyed articles for machining.

[0052] Not explicitly shown in the drawing is a conveyor system and the articles conveyed by it. The conveyor system forms a conveying path along which the articles are continuously conveyed in a conveying direction F. The conveying path runs parallel to a component carrier 11 of the tools 10 shown in Figures 1 to 3.

[0053] The conveying device comprises a plurality of receiving elements 14, designed to hold the articles, as shown in Figure 3. In the case of processing poultry carcasses using chip-type harvesting tools, these receiving elements are, for example, designed as saddle elements on which the poultry carcasses are fixed and conveyed along the conveyor path. The receiving elements 14 are preferably arranged at uniform intervals from one another. A tool unit 12 is arranged along the conveyor path. This unit comprises at least one of the tools 10 designed to process the articles. Three of the tools 10 are shown in the drawing by way of example. The device also preferably includes a positioning unit 13 designed to position the tool unit 12.According to the invention, the tool unit 12 is arranged to pivot around its circumference such that the at least one tool 10, moving in the conveying direction F, is positioned to move towards the conveyor in a specific working position for processing the articles. The working position is shown schematically in Figure 3. The positioning unit 13 is in a position where the tools 10 have been moved towards the conveyor in order to process the articles in the area of ​​the receiving elements 14, on which the articles (not shown in the drawing) are located.

[0054] Preferably, the positioning unit 13 is arranged on at least one pivot arm 16 that is pivotable about a rotary axis 15. The drawing shows an exemplary embodiment of the invention with two of the pivot arms 16. In principle, the number of pivot arms 16 can vary between one and a plurality. In particular, with an increasing number of tools 10 of the tool unit 12, it is advantageous to increase the number of pivot arms 16.

[0055] As already described at the beginning, the axis of rotation 15 of the at least one swivel arm 16 is preferably arranged laterally spaced from the conveyor section. Furthermore, the at least one swivel arm 16 is preferably configured to be driven by means of a drive unit 17.

[0056] The drive unit 17 is preferably mechanically coupled to a drive train 18 of the conveyor, as shown in Figures 3 to 5. In the drawing, the drive train 18 is simplified to a sprocket only, while for the sake of clarity, all other components of the drive train 18 of the conveyor are not shown.

[0057] Advantageously, the drive unit 17 is mechanically coupled to the drive train 18, as shown in Figures 3 to 5, via a coupling element 19. The coupling element 19 comprises an adjusting device 20 for setting the basic position of the swivel arm relative to the respective positions of the receiving elements 14. Preferably, the adjusting device 20 comprises two coupling elements 21 and 22 that can be connected to each other in a rotationally fixed manner, as shown schematically in Figure 5. A first coupling element 21 is connected to the drive train 19 in a rotating manner, while a second coupling element 22 is connected to the axis of rotation 15 of the swivel arm 16 in the same way. As shown in Figures 3 and 4, this connection between the second coupling element 22 and the axis of rotation 15 of the swivel arm 16 is, for example, provided by means of a toothed belt drive.A rotating toothed belt 27 drives the drive wheels 23, 24, which are each rotationally connected to the respective axes of rotation 15. A corresponding toothed belt pulley 25 is rotationally connected to the coupling element 21 or the drive train 19. The toothed belt 27 is further preferably pre-tensioned against spring force by means of a toothed belt tensioner 28.

[0058] The aforementioned toothed belt drive represents only one exemplary embodiment of the mechanical connection of the first and second coupling elements 21, 22. The present invention, however, is not limited to the coupling described above; rather, this connection can also be achieved by direct engagement of gears or in any other manner.

[0059] As shown in the detailed view in Fig. 5, the adjusting device 20 preferably comprises an adjusting element 26 which is designed and configured to preset the angular position of the second coupling element 22 relative to the first coupling element 21. The adjusting element 26 is formed, for example, by a threaded rod with an adjusting nut.

[0060] As can be seen in Fig. 5, the adjusting element 26 preferably comprises an adjusting rod 29. This adjusting rod 29 is arranged eccentrically to an axis on the first coupling element 22 at a first mounting point 30 and is arranged with its free end at a second mounting point 31. The adjusting rod 29 is thus configured to adjust the angular position of the coupling elements 21, 22 relative to each other by changing the distance between the first mounting point 30 and the second mounting point 31.

[0061] A second advantageous embodiment, shown in Figures 1 and 2, is characterized in that the drive unit 17 comprises an electric motor 32.

[0062] Preferably, the electric motor 32 is electrically connected to a control unit (not shown in the drawing). This control unit is configured to control the speed of the electric motor 32 based on a predetermined speed profile, depending on the respective position of the receiving elements 14. Particularly preferably, the drive unit 17 is synchronized with the drive train 18 such that the tool unit 12 is in its working position when passing at least one of the receiving elements 14.

[0063] More preferably, the tool unit 12 comprises a number n of tools 10 arranged side by side. The distance between the tools preferably corresponds to the distance between each adjacent holding element 14. The length of the swivel arm 16 is selected such that it corresponds to the product of the distance between the tools 10 and their number n divided by the factor 2TT.

[0064] Preferably, a counterweight (not shown in the drawing) is arranged on the swivel arm 16 on the side opposite the positioning unit 13 with respect to the axis of rotation 15. More preferably, the distance of the counterweight to the axis of rotation 15 is adjustable.

[0065] The invention also includes the aforementioned arrangement, which is designed and equipped for processing carcasses of slaughtered animals, wherein it comprises the previously described device according to the invention and the articles are carcasses of slaughtered animals.

[0066] In particular, the carcasses are poultry carcasses. The holding elements 14 are each configured to hold one of the poultry carcasses with its neck end facing the tool unit 12. The at least one tool 10 is preferably designed as a fork leg removal unit.

[0067] Unless the method according to the invention is already evident from the above descriptions of the device and arrangement, the following aspects are additionally pointed out:

[0068] The process comprises at least the following steps: continuous conveying of the articles in a conveying direction F along a conveying path by means of a conveying device with a plurality of uniformly spaced receiving elements 14 designed to hold the articles, and bringing the at least one tool 10 into a working position for processing the articles by means of a rotating pivoting movement of the tool unit 12 in the conveying direction.

[0069] Preferably, the at least one swivel arm 16 is driven by means of the drive unit 17. For this purpose, the drive unit 17 is preferably mechanically coupled to the drive train 18 of the conveyor device.

[0070] Alternatively, the drive unit 17 is driven by the electric motor 32 and is therefore not mechanically coupled to the drive train 18 of the conveyor system. The speed of the electric motor is set or controlled by the control unit (not shown in the drawing) based on a predefined speed profile depending on the respective position of the receiving elements 14.

Claims

1. Device for positioning tools (10) on linearly conveyed Articles comprising a conveying device forming a conveying path and configured for the continuous conveying of the articles in a conveying direction (F) with a plurality of uniformly spaced receiving elements (14) configured for holding the articles, a tool unit (12) arranged along the conveying path with at least one tool (10) configured for processing the articles, a positioning unit (13) configured for positioning the tool unit (12), characterized in that the tool unit (12) is arranged to be pivotably movable around its circumference in such a way that the at least one tool (10) is configured to move along the conveying path in a working position for processing the articles in the conveying direction (F).

2. Device according to claim 1, characterized in that the positioning unit (13) is arranged on at least one pivoting arm (16) which is arranged to pivot about a rotational axis (15).

3. Device according to claim 2, characterized in that the axis of rotation (15) of the at least one pivot arm (16) is arranged laterally spaced from the conveying path.

4. Device according to one of claims 2 to 3, characterized in that the at least one swivel arm (16) is arranged to be driven by means of a drive unit (17).

5. Device according to claim 4, characterized in that the drive unit (17) is mechanically coupled to a drive train (18) of the conveying device.

6. Device according to claim 5, characterized in that the drive unit (17) is mechanically coupled to the drive train (18) via a coupling element (19), wherein the coupling element (19) comprises an adjusting device (20) for adjusting the basic position of the swivel arm relative to the respective positions of the receiving elements (14).

7. Device according to claim 6, characterized in that the adjusting device (20) comprises two coupling elements (21, 22) that can be connected to each other in a rotationally fixed and detachable manner, wherein a first coupling element (21) is connected to the drive train (18) in a rotating manner and a second coupling element (22) is connected to the axis of rotation (15) of the swivel arm (16).

8. Device according to claim 7, characterized in that the adjusting device (20) comprises an actuating element (26) which is designed and configured to preset the angular position of the second coupling element (22) relative to the first coupling element (21).

9. Device according to claim 8, characterized in that the adjusting element (26) comprises an adjusting rod (29) arranged eccentrically to an axis of the coupling elements (21, 22) on the first coupling element (21) at a first mounting point (30), the adjusting rod being arranged with a free end at a second mounting point (30) and configured for adjustment to adjust the angular position to determine the distance between the first fixing point (29) and the second fixing point (30).

10. Device according to claim 4, characterized in that the drive unit (17) comprises an electric motor (32).

11. Device according to claim 10, characterized in that the electric motor (32) is electrically connected to a control device and the control device is configured to control the speed of the electric motor (32) on the basis of a predetermined speed profile depending on the respective position of the receiving elements (14).

12. Device according to one of claims 5 to 11, characterized in that the drive unit (17) is synchronized with the drive train (18) such that the tool unit (12) is in the working position when passing at least one of the receiving elements (14).

13. Device according to claim 12, characterized in that the tool unit (12) comprises a number n of the tools (10) arranged side by side, wherein the distance between the tools (10) corresponds to the distance between the receiving elements (14) and the length of the swivel arm (15) corresponds to the product of the distance between the tools (10) and their number n divided by the factor 2TT.

14. Device according to one of claims 1 to 13, characterized in that a counterweight is arranged on the swivel arm (16) on the side opposite the positioning unit (13) with respect to the axis of rotation (15).

15. Device according to claim 14, characterized in that the distance of the counterweight to the axis of rotation (15) is adjustable.

16. Arrangement for processing carcasses of slaughtered animals, comprising a device according to any one of claims 1 to 15, wherein the articles are carcasses of slaughtered animals.

17. Arrangement according to claim 16, wherein the carcasses are poultry carcasses, the receiving elements (14) are arranged to hold one of the poultry carcasses with its neck side facing the tool unit (12), and the at least one tool (10) is designed as a fork leg removal unit.

18. Method for positioning tools (10) on linearly conveyed articles, comprising the steps: Continuous conveying of the articles in a conveying direction (F) along a conveying path by means of a conveying device with a plurality of uniformly spaced receiving elements (14) designed to hold the articles, wherein a tool unit (12) with at least one tool (10) designed to process the articles and a positioning unit (13) designed to position the tool unit (12) is arranged along the conveying path, characterized by bringing the at least one tool (10) into a working position for processing the articles by means of a rotary pivoting movement of the tool unit (12) in the conveying direction (F).

19. Method according to claim 18, characterized by pivoting the positioning unit (13) by means of at least one pivoting arm (16) which is arranged to pivot about a rotational axis (15).

20. Method according to claim 19, characterized in that the axis of rotation (15) of the at least one pivot arm (16) is arranged laterally spaced from the conveying path.

21. Method according to one of claims 19 to 20, characterized by driving the at least one pivoting arm (16) by means of a drive unit (17).

22. Method according to claim 21, characterized in that the drive unit (17) is mechanically coupled to a drive train (18) of the conveying device.

23. Method according to claim 22, characterized in that the drive unit (17) is mechanically coupled to the drive train (18) via a coupling element (19), wherein the coupling element (19) comprises an adjusting device (20) for adjusting the basic position of the swivel arm relative to the respective positions of the receiving elements (14).

24. Method according to claim 21, characterized in that the drive unit (17) comprises an electric motor (32).

25. Method according to claim 24, characterized in that the electric motor (32) is electrically connected to a control device and the speed of the electric motor (32) is controlled on the basis of a predetermined speed profile depending on the respective position of the receiving elements (14) by means of the control device.

26. Device according to one of claims 21 to 25, characterized in that the drive unit (17) is synchronized with the drive train (18) such that the tool unit (12) is in the working position when passing at least one of the receiving elements (14).

27. Method according to claim 26, characterized in that the tool unit (12) comprises a number n of the tools (10) arranged side by side, wherein the distance between the tools (10) corresponds to the distance between the receiving elements (14) and the length of the swivel arm (16) corresponds to the product of the distance between the tools (10) and their number n divided by the factor 2TT.

28. Method according to one of claims 21 to 27, characterized in that a counterweight is arranged on the swivel arm (16) on the side opposite the positioning unit (13) with respect to the axis of rotation (15).

29. Method according to claim 28, characterized by adjusting the distance of the counterweight to the axis of rotation (15).

30. Method for processing carcasses of slaughtered animals, comprising a method according to any one of claims 18 to 29, wherein the articles are carcasses of slaughtered animals.

31. Method according to claim 30, wherein the carcasses are poultry carcasses, the receiving elements (14) are arranged to hold each of the poultry carcasses with its neck side facing the tool unit (12), and removal of the fork leg from the poultry carcass with the at least one tool (10) designed as a fork leg removal unit.

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