Device and method for positioning tools for linearly conveyed articles of the food processing industry while the tools are being moved, and assembly and method for automatically removing at least the wishbone

Abstract

The invention relates to a device for positioning tools for linearly conveyed articles (11) of the food processing industry while the tools are being moved, comprising a transport device (10) for transporting the articles (11) in a transport direction (10), said transport device forming a transport path and having a plurality of holding elements (13) designed to hold the articles; at least one processing station (14) which is situated along the transport path and has at least one processing tool (15) designed to process the articles; and a circulating positioning unit (16) designed to position the at least one processing tool (15), the circulating positioning unit (16) being designed to rotate the processing tool (15) such that the processing tool (15), in a respective working position, is designed to be advanced to the conveying path while being moved in the transport direction (12) in order to process the articles (11). The at least one processing tool (15) is mounted on the circulating positioning unit (16) by means of a transverse positioning unit (18), the transverse positioning unit (18) being designed to variably move the processing tool (15) transversely to the transport direction (12) relative to the circulating positioning unit (16) according to a control process.

Description

[0001] Device and method for the moving tool positioning of linearly conveyed articles of the food processing industry, as well as arrangement and method for the automatic removal of at least the fork leg.

[0002] The present invention relates to a device for the synchronous tool positioning of linearly conveyed articles of the food processing industry, comprising a transport device forming a transport path for transporting the articles in a transport direction with a plurality of holding elements provided for holding the articles, at least one processing station arranged along the transport path with at least one processing tool provided for processing the articles, a recirculating positioning unit provided for positioning the at least one processing tool, wherein the recirculating positioning unit is provided such that at least one processing tool can be moved cyclically in such a way that the at least one processing tool is provided to be brought to the transport path in a working position for processing the articles in each working position.

[0003] Furthermore, the invention relates to an arrangement designed and configured for the automatic removal of at least the fork leg from a poultry carcass, comprising such a device.

[0004] Furthermore, the invention relates to a method for the moving tool positioning of linearly conveyed articles in the food processing industry, comprising transporting the articles in a transport direction by means of a transport device forming a transport track, wherein the transport device comprises a plurality of holding elements designed to hold the articles, processing the articles with at least one processing station arranged along the transport track with at least one processing tool, and positioning the at least one processing tool with a rotating positioning unit by rotating it in such a way that the at least one processing tool is brought to the transport track in a working position for processing the articles in each working position.

[0005] Furthermore, the invention relates to a method for automatically removing at least the fork leg from a poultry carcass.

[0006] Such devices and methods are always used when articles are continuously conveyed along a processing line and processing of the articles is to be carried out during the conveying process. For this purpose, it is necessary to move the respective processing tools synchronously with the article being processed during the processing, so that the processing tool and the article do not move relative to each other in the transport direction, or only move negligibly.

[0007] Particularly in the field of automated processing of poultry carcasses, such devices, methods, and arrangements are used to process the carcasses with various tools or processing tools while they are being transported. In particular, such arrangements and methods are used for the automated removal of at least the foreleg from a poultry carcass.

[0008] As a rule, the machining tools are guided parallel to the conveyor line or transport track in the direction of transport. From the perspective of the items being machined, the machining tools are therefore stationary or essentially stationary with respect to the direction of transport. In such a working position, the machining tool moves along with the respective item, so that the items are machined during the transport process. After machining is complete, the machining tools are returned in a continuous loop against the direction of transport to be brought into a starting position for the next machining operation. From this starting position, the process begins again. Such devices and methods are known, for example, from document WO 2022 / 002386 A1.

[0009] It is therefore necessary to move one or more of the processing tools back and forth relative to the transport direction. Simultaneously, it is necessary to move them in a direction perpendicular to the transport direction towards the product being processed and, after processing is complete, to remove them from the product. To ensure precise processing, it is also advantageous if the processing tools are moved parallel or virtually parallel to the transport direction along with the items for as long as possible.

[0010] However, the moment of inertia of the machining tools opposes such movement, as high forces arise, particularly at the moment of a change in direction. This limits the maximum achievable frequency of the rotating motion of the machining tools, as this can lead to high mechanical loads on the entire assembly, high wear on bearings, and considerable vibrations.

[0011] In principle, the aforementioned forces can be reduced by ensuring that the movement of the machining tools is as uniform as possible, ideally approximating a circular or elliptical path. However, such a choice of movement sequence means that the machining tool is no longer, or only for a relatively short time, moved in the working position parallel to the transport direction, so that the positioning of the machining tool deviates from the desired ideal positioning.

[0012] It is therefore an object of the present invention to propose a device and a method that allows the precise positioning of linearly conveyed articles in the food processing industry at the highest possible conveying speeds. Furthermore, it is an object to minimize wear and unwanted machine vibrations.

[0013] Furthermore, the task is to propose a suitable arrangement and a method for the precise, automatic removal of at least the fork leg from a poultry carcass at the highest possible conveying speeds.

[0014] The problem is solved by a device with the aforementioned features in that the at least one machining tool is arranged on the rotary positioning unit by means of a transverse positioning unit, wherein the transverse positioning unit is designed and configured to move the at least one machining tool relative to the rotary positioning unit transversely to the transport direction in a control-variable manner.

[0015] This offers the advantage that the at least one processing tool can be positioned transversely to the transport direction using the transverse positioning unit. In this way, it is possible to move the at least one processing tool cyclically using the rotary positioning unit in such a way that it moves along with the articles in the transport direction, but it is no longer necessary to position it with high accuracy transversely to the transport direction, since fine positioning is now achieved using the transverse positioning unit according to the invention.

[0016] Therefore, the rotary motion performed by the rotary positioning unit, particularly in the working position, can deviate from exact parallel guidance to the transport direction without negatively impacting the precise positioning of the at least one machining tool. Advantageously, the movement of the rotary positioning unit can be designed to minimize the forces arising from inertia, thus ensuring smooth and vibration-free operation and reducing overall machine vibrations to a minimum.

[0017] A particular advantage here is that the transverse positioning unit, as an additional mass, only moves the inertial mass of at least one of the machining tools, thus significantly reducing the forces generated by inertia. A further advantage is that, due to the pre-positioning by the rotary positioning unit, the amplitude of movement required by the transverse positioning unit is comparatively small.

[0018] All this ensures maximum freedom from vibration at high transport speeds without any loss of positioning accuracy.

[0019] A preferred embodiment of the invention is characterized in that the transverse positioning unit is configured to move at least one machining tool translationally from a return position to a delivery position and vice versa. A further advantage is that the transverse positioning unit is configured to perform an active delivery movement. This makes it possible to move at least one machining tool from a waiting position, namely the return position, to a machining position interacting with the article, namely a delivery position. Advantageously, the movement component of the rotary positioning unit transverse to the transport direction can thus be selected to be smaller, since the active delivery transverse to the transport direction is effected by means of the transverse positioning unit.

[0020] A preferred embodiment of the invention is characterized in that the transverse positioning unit comprises an actuator configured to move the at least one machining tool by a predetermined distance between the return position and the feed position. Advantageously, the transverse positioning unit can be actively moved between the return position and the feed position by the predetermined distance by means of the actuator.

[0021] Such a movement over the predetermined path length includes both moving the at least one machining tool from the return position to the feed position and vice versa, as well as specifying intermediate positions, for example, to follow a predetermined path profile. In this way, it is possible to control the positioning of at least one machining tool, taking into account the movement of the rotary positioning unit, for example, to move the at least one machining tool parallel to the transport direction along with the part during machining. The actuator is preferably designed as an electromechanical actuator, for example, with an electrically driven threaded spindle.

[0022] Another advantageous embodiment of the invention is characterized in that the transverse positioning unit comprises at least one end stop means configured to limit the movement of the at least one machining tool in the feed position, wherein the position of the end stop means is controllably configured to adjust the feed position. This offers the advantage that the transverse positioning unit can be designed in a comparatively simple manner.

[0023] For example, this includes a pneumatic cylinder configured to move at least one machining tool transversely to the transport direction. The desired positioning accuracy is achieved by the aforementioned end stop, which limits the movement of the pneumatic cylinder in the feed position. The end stop can, for example, be a mechanical stop, preferably designed and configured to be positionally adjustable by means of a self-locking, electrically driven mechanism.

[0024] According to another preferred embodiment, the transverse positioning unit is designed as a linear drive. The use of such a linear drive offers the advantage that the positioning of the at least one machining tool by means of the transverse positioning unit exhibits maximum control variability. Thus, not only can the respective end positions be approached with variable control using such a linear drive, but also any intermediate positions. Furthermore, it is possible to execute predefined speed and / or acceleration profiles as a guideline for the movement sequence.

[0025] Another advantageous embodiment of the invention is characterized in that several of the machining tools are arranged on a transverse positioning unit. This advantageously reduces the overall complexity of the design and the overall weight, which has a beneficial effect on reducing the forces involved. Such an arrangement of several machining tools on one of the transverse positioning units is particularly advantageous when machining articles of similar size.

[0026] If, for example, articles of different sizes are to be processed, it is advantageous to arrange or mount the processing tools on the transverse positioning unit by means of a separate spring element, so that each of the processing tools is driven by the transverse positioning unit transversely to the transport direction, but can perform different movements or movement amplitudes in the transverse direction.

[0027] A particularly advantageous feature here is the aforementioned mounting using spring elements in combination with the aforementioned end stop means, so that each of the machining tools, despite their common arrangement on the transverse positioning unit, can be positioned individually and independently of the other machining tools. The spring elements are designed, for example, as compression or leaf springs. However, the spring elements can also be formed by other means that generate a spring return force, for example, by pneumatic cylinders. According to an alternative advantageous embodiment—not shown in the drawing—each of the machining tools is assigned a separate transverse positioning unit and one of the end stop means. In this way, each of the machining tools can be positioned independently of one another. The respective end stops are...Delivery positions are determined by the positions of the respective final striking devices.

[0028] A preferred embodiment of the invention is characterized in that each of the machining tools is arranged on the rotary positioning unit via one of the transverse positioning units. In this way, each of the machining tools can be positioned individually, independently of the other machining tools.

[0029] According to a further preferred embodiment of the invention, the device according to the invention comprises a control unit configured to control the transverse positioning unit such that, in the working position, it moves the at least one processing tool transversely to the transport direction. In other words, the control unit is configured to coordinate the movement of the transverse positioning unit with that of the rotary positioning unit such that, on the one hand, the at least one processing tool is positioned while moving with the articles, and on the other hand, the necessary movement transversely to the transport direction is effected to bring the at least one processing tool into the desired position in the working position or to hold it in this position while moving with the holding elements.

[0030] Another advantageous embodiment of the invention is characterized in that the control unit is designed to control the movement transverse to the transport direction based on the size of the articles and predetermined delivery path lengths that depend on the article size. The control unit is advantageously configured to optimally adapt the delivery path lengths to the article size for automated processing. For this purpose, the control unit includes, for example, the necessary sensors to detect the article sizes. Based on the detected article sizes, the control unit then determines the required delivery path lengths. This can be done algorithmically or by means of self-learning systems. According to a further preferred embodiment, the rotary positioning unit is arranged on a pivot arm that can be pivoted about a pivot axis.Mounting the rotary positioning unit on such a swivel arm offers the advantage that the unit moves along a circular path. The forces resulting from inertia are advantageously constant during this movement, thus avoiding significantly higher forces that would otherwise occur.

[0031] The uniform rotation of the rotary positioning unit minimizes vibrations and forces acting on potential bearings. The fact that such a circular movement of the rotary positioning unit also means that the at least one machining tool moves parallel to the transport direction only for a brief moment can be compensated for by the transverse positioning unit according to the invention. This allows, for example, the at least one machining tool to be guided as parallel to the respective article as possible during processing by superimposing the movements of the rotary positioning unit and the transverse positioning unit.

[0032] A further advantageous embodiment of the invention is characterized in that the pivot axis is arranged at a distance from the transport path transversely to the transport direction. This makes it possible for the at least one processing tool to be arranged to be carried along with the articles and, at the same time, for the at least one processing tool to be arranged to be returned around the transport path without collision.

[0033] According to another preferred embodiment, the swivel arm is driven in a continuous rotation by means of a drive mechanism. This continuous rotation avoids the high forces that would otherwise arise from accelerating or decelerating the entire mass. This results in smooth operation and thus reduces unwanted vibrations to a minimum.

[0034] A preferred embodiment of the invention is characterized in that the rotary positioning unit comprises a longitudinal slide arranged to be movable relative to a stationary support element, which is driven by means of a drive in such a manner that the longitudinal slide, on the one hand, moves with the holding elements in the transport direction from an initial position to an end position in a working cycle and, on the other hand, moves back from the end position to the initial position in the opposite direction of transport in a return cycle, and a transverse slide arranged to be movable transversely to the transport direction, wherein at least the transverse slide is guided by a cam guide and is arranged such that the transverse slide brings the machining tool, moving in the transport direction, to the transport path in the working position.This offers the advantage that, by means of the cam track, the movement path of the rotary positioning unit is already set up in such a way that at least one machining tool is positioned at least a short distance perpendicular to the transport direction and brought into the desired delivery position by means of the rotary positioning unit. This makes it possible to design the maximum required delivery path of the transverse positioning unit to be correspondingly shorter.

[0035] According to a further preferred embodiment of the invention, the drive is a servo motor. The drive using the servo motor offers the advantage that the rotational speed of the rotary positioning unit, and in particular the speed profile during a rotation, can be variably adjusted. For example, it is possible to reduce the drive speed at the moment of a reversal of the direction of movement of the rotary positioning unit in order to minimize the forces arising from inertia.

[0036] According to another preferred embodiment, the transverse positioning unit is driven by a servo motor. Driving the transverse positioning unit with such a servo motor offers comparable advantages, as already mentioned in connection with the rotary positioning unit. For example, the movement of the at least one machining tool transverse to the transport direction can be controlled with a high degree of variability using such a drive. Furthermore, the use of the servo motor makes it possible to precisely define and control the instantaneous speed and position of the transverse positioning unit at any time. This makes it possible—within the limits of the mechanical design—to move the at least one machining tool along a multitude of possible predefined path curves.

[0037] Furthermore, the problem is solved by the aforementioned arrangement, wherein the poultry carcasses constitute the articles and the at least one processing tool is designed and configured to detach the fork leg from the poultry carcass. The processing tool comprises, for example, a knife arrangement configured to cut the fork leg free from the poultry carcass. Such processing tools are well known in the prior art. However, the high cutting precision when detaching the fork leg, as well as high throughput rates, are only achieved in conjunction with the device according to the invention for positioning the at least one processing tool.

[0038] Furthermore, the task is solved by the aforementioned method by variable-control movement of the at least one machining tool relative to the rotary positioning unit transversely to the transport direction by means of a transverse positioning unit, wherein the at least one machining tool is arranged on the rotary positioning unit by means of the transverse positioning unit.

[0039] 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 refer to the advantages already mentioned in connection with the methods according to the invention, which apply in the same way to the method claims, which are essentially analogous to those for the device and the arrangement. Therefore, only selected aspects of the method according to the invention will be addressed separately below.

[0040] A preferred embodiment of the invention is characterized by translational movement of the at least one machining tool from a return position to a feed position and vice versa by means of the transverse positioning unit.

[0041] According to a further preferred embodiment of the invention, by moving the transverse positioning unit by means of an actuator which is set up, the at least one machining tool is moved by a predetermined distance between the return position and the feed position.

[0042] Another advantageous embodiment of the invention is characterized by limiting the movement of the at least one machining tool in the feed position by means of an end stop, wherein the position of the end stop is variably controlled for setting the feed position. According to a further preferred embodiment, the transverse positioning unit is moved linearly.

[0043] Another advantageous embodiment of the invention is characterized by synchronous movement of several of the machining tools with the transverse positioning unit.

[0044] According to a further preferred embodiment of the invention, this includes separately moving each of the machining tools over one of the transverse positioning units arranged on the rotary positioning unit.

[0045] A preferred embodiment of the invention is characterized by controlling the transverse positioning unit by means of a control device such that, in the working position, it moves the at least one machining tool transversely to the transport direction.

[0046] Another advantageous embodiment of the invention is characterized by controlling the movement transversely to the transport direction on the basis of predetermined delivery path lengths that depend on the size of the articles.

[0047] According to a further preferred embodiment of the invention, the rotary positioning unit is moved on a circular path by being arranged on a pivot arm that can be pivoted about a pivot axis.

[0048] According to another preferred embodiment, the pivot axis is arranged at a distance from the transport path transversely to the transport direction. A preferred further development of the invention is characterized by the pivot arm being driven in a circular motion by means of a drive mechanism.

[0049] A further advantageous embodiment of the invention is characterized in that the rotary positioning unit comprises a longitudinal slide arranged to be movable relative to a stationary support element, which is driven by means of a drive in such a way that the longitudinal slide, on the one hand, moves with the holding elements in the transport direction from an initial position to an end position in a working cycle and, on the other hand, moves back from the end position to the initial position in the opposite direction of transport in a return cycle, and a transverse slide is arranged to be movable transversely to the transport direction, wherein at least the transverse slide is guided by a cam guide in such a way that the transverse slide brings the machining tool, moving in the transport direction, to the transport path in the working position.

[0050] According to a further preferred embodiment of the invention, the drive is a servo motor.

[0051] According to another preferred embodiment, the transverse positioning unit is driven by a servomotor.

[0052] The task is also solved by the aforementioned method, wherein the poultry carcasses form the articles and at least one processing tool is designed and set up to detach the fork leg from the poultry carcass.

[0053] 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:

[0054] Fig. 1 shows a perspective view of an embodiment of the arrangement according to the invention without a transport device.

[0055] Fig. 2 shows a side view of the arrangement according to the invention with transport device,

[0056] Fig. 3 shows a schematic representation of the transverse positioning units and

[0057] Fig. 4 shows a perspective view of the embodiment shown in Fig. 2.

[0058] The present invention will now be explained in detail with reference to the aforementioned drawing. For clarity, Figures 1 and 2 show exemplary embodiments of the arrangement according to the invention. The device and the corresponding methods according to the invention are also explained with reference to these figures. However, the device and the method according to the invention for synchronous tool positioning are not limited to the specific details of the arrangement and the method shown here for automatically removing the fork leg from poultry carcasses.

[0059] As mentioned at the outset, Figure 1 shows a perspective view of an embodiment of the arrangement according to the invention. The transport device 10 and the articles 11 are not shown in Figure 1. The device according to the invention is designed and configured for synchronous tool positioning. The articles 10 – not shown in Figure 1 – are conveyed linearly in a transport direction 12. The articles are preferably those from the food processing industry, in particular poultry or poultry parts. In principle, the present invention is suitable for processing all articles 10 from the food processing industry where processing during conveying or transport is required.

[0060] As shown in Figure 2, the transport device 10 forms a transport track configured for transporting the articles 11 in the transport direction 12. The transport device 10 comprises a plurality of holding elements 13 configured for holding the articles 11. At least one processing station 14 is arranged along the transport track, comprising at least one processing tool 15 configured for processing the articles 11. Figure 1 shows an example of such a processing station 14 with three processing tools 15. The number of processing tools 15 at one of the processing stations 14 is arbitrarily selectable. The processing tools shown here are those for removing the fork leg from poultry carcasses.

[0061] The processing station 14 further comprises a rotary positioning unit 16 designed for positioning the at least one processing tool 15. The rotary positioning unit 16 is configured to move the at least one processing tool 15 in a circular motion such that, moving in the transport direction 12, it can be brought to the transport path in a working position for processing the articles 11. Figure 2 shows the arrangement according to the invention, which is designed and configured for automatically removing at least the fork leg from a poultry carcass 17. Particularly visible are the holding elements 13 of the transport device 10 by means of which the articles 10, in the form of the poultry carcasses 17, are transported.

[0062] Figure 1 shows that the machining tools 15 are arranged on the rotary positioning unit 16 by means of a transverse positioning unit 18. The transverse positioning unit 18 is designed and configured to move each of the machining tools 15 relative to the rotary positioning unit 16 transversely to the transport direction 12 in a controllable manner. The transverse direction to the transport direction 12 preferably denotes a direction that is perpendicular to the transport direction 12. However, it is also possible that the transverse positioning unit 18 is arranged at an angle to the perpendicular to the transport direction 12, so that it does not move each of the machining tools 15 exclusively perpendicular to the transport direction 12, but at least to a certain extent also in or against the transport direction 12.

[0063] The transverse positioning unit 18 is designed to allow each of the machining tools 15 to be positioned controllably, and thus moved and controlled transversely to the transport direction 12. The transverse positioning unit 18 is preferably configured to move the at least one machining tool 14 translationally from a return position – as shown in Figures 1 and 2 – to a feed position and vice versa.

[0064] Preferably, the transverse positioning unit 18 comprises an actuator (not shown in detail in the drawing) configured to move the at least one machining tool 15 by a predetermined distance between the return position and the feed position. The actuator is preferably designed as an electromechanical actuator, for example with an electrically driven threaded spindle.

[0065] As shown in the schematic representation of Figure 3, the device according to the invention comprises at least one end stop 19 configured to limit the movement of the at least one machining tool 15 in the feed position. The position of the respective end stop 19 is controllably configured. The end stop 19 is formed, for example, by a mechanical stop 20. This is designed and configured, for example, to be positionally adjustable by means of a self-locking, electrically driven mechanism 21. Alternatively, the transverse positioning unit 18 is designed as a linear drive.

[0066] As shown in Figures 1 and 3, several of the machining tools 15 are preferably arranged on one of the transverse positioning units. More preferably, as shown in Figure 3, the machining tools 15 are each mounted on the transverse positioning unit 18 by means of a separate spring element 22. This allows each of the machining tools 15 to be driven and moved transversely to the transport direction 12 by means of the transverse positioning unit 18, while at the same time allowing different sized movements in the transverse direction.

[0067] According to a further advantageous embodiment of the invention, each of the processing tools 15 is arranged on the rotary positioning unit 16 via one of the transverse positioning units 18, as shown by way of example in Figure 1. The transverse positioning unit 15 or units 15 are preferably controlled by means of a control device (not shown in the drawing). More preferably, the control device is configured to control the movement transverse to the transport direction 12 based on predetermined delivery path lengths that depend on the size of the articles 11.

[0068] The rotary positioning unit 16 is preferably arranged on a pivot arm 23 that can be pivoted about a pivot axis. As shown in Figure 1, it is advantageous if the rotary positioning unit 16 is arranged on at least two such pivot arms 23. Preferably, the pivot axis is arranged at a distance from the transport path transversely to the transport direction 12. Furthermore, preferably, the pivot arm 23 or both pivot arms 23 are driven in a rotary motion by means of a drive 24. The drive comprises, for example, an electric motor or a servo motor.

[0069] As an alternative to the arrangement of the rotary positioning unit 16 on one or more of the pivot arms 23 shown in Figure 1, the rotary positioning unit 16 – as partially shown in Figure 4 – comprises further elements, namely a longitudinal slide 25 arranged to be movable relative to a stationary support element, which is driven by the drive 24 in an oscillating manner such that the longitudinal slide 25 moves, on the one hand, in a working cycle, along with the holding elements 13 in the transport direction 12 from an initial position to an end position, and on the other hand, in a return cycle, moves back from the end position to the initial position in the opposite direction of transport 12. The rotary positioning unit 16 further comprises a transverse slide 26 arranged to be movable on the longitudinal slide 25 transversely to the transport direction 12.At least the cross slide 26 is guided by a cam track such that the cross slide moves the machining tool 15 in the transport direction 12, always in the working position, towards the transport path. Preferably, the transverse positioning unit 18 is driven by a servo motor.

[0070] The invention also relates to the arrangement mentioned at the outset, wherein the poultry carcasses 17 form the articles 11 and the at least one processing tool 15 is designed and configured to release or remove the fork leg from the poultry carcass 17.

Claims

1. Device for moving tool positioning of linearly conveyed articles (11) of the food processing industry, comprising a transport device (10) forming a transport route for transporting the articles (11) in a transport direction (10) with a plurality of holding elements (13) provided for holding the articles, and at least one processing station arranged along the transport route (14) comprising at least one processing tool (15) equipped for processing the articles, a rotary positioning unit (16) equipped for positioning the at least one processing tool (15), wherein the rotary positioning unit (16) is equipped such that at least one processing tool (15) is moved in a rotary motion such that the at least one processing tool (15) is equipped to be brought to the transport path in a working position for processing the articles (11) in each working position, characterized in that the at least one processing tool (15) is arranged on the rotary positioning unit (16) by means of a transverse positioning unit (18), wherein the transverse positioning unit (18) is designed and equipped to move the at least one processing tool (15) relative to the rotary positioning unit (16) transversely to the transport direction (12) in a controllable manner.

2. Device according to claim 1, characterized in that the transverse positioning unit (18) is configured such that at least one machining tool (15) to move translationally from a return position to a delivery position and vice versa.

3. Device according to claim 2, characterized in that the transverse positioning unit (18) comprises an actuator which is configured to move at least one machining tool (15) by a predetermined distance between the return position and the feed position.

4. Device according to one of claims 2 or 3, characterized in that the transverse positioning unit (18) comprises at least one end stop means (19) configured to limit the movement of the at least one processing tool (15) in the feed position, wherein the position of the end stop means (19) is configured to be controllably variable for setting the feed position.

5. Device according to one of claims 1 to 4, characterized in that the transverse positioning unit (18) is designed as a linear drive.

6. Device according to one of claims 1 to 5, characterized in that several of the machining tools (15) are arranged on a transverse positioning unit (18).

7. Device according to one of claims 1 to 5, characterized in that each of the machining tools (15) is arranged on the rotary positioning unit (16) via one of the transverse positioning units (18).

8. Device according to one of claims 1 to 7 further comprising a control device configured to control the transverse positioning unit (18) in such a way that, in the working position, it moves the at least one machining tool (15) transversely to the transport direction (12).

9. Device according to claim 8, characterized in that the control device is configured to adjust the size of the articles (11) depending on the size of the articles. To control movement perpendicular to the transport direction (12) on the basis of predefined delivery path lengths that depend on the article size.

10. Device according to one of claims 1 to 9, characterized in that the rotary positioning unit (16) is arranged on a pivoting arm (23) which can be pivoted about a pivot axis.

11. Device according to claim 10, characterized in that the pivot axis is arranged at a distance from the transport path transversely to the transport direction (12).

12. Device according to one of claims 10 or 11, characterized in that the swivel arm (23) is driven in a circular motion by means of a drive (24).

13. Device according to one of claims 1 to 9, characterized in that the rotary positioning unit (16) comprises a longitudinal slide arranged to be movable relative to a stationary support element, which is driven by means of a drive (24) in an oscillating manner such that the longitudinal slide moves from an initial position to an end position in the transport direction (12) in a working cycle with the holding elements (13) and moves back from the end position to the initial position in the opposite direction of transport (12) in a return cycle, and a transverse slide is arranged to be movable transversely to the transport direction (12) thereon, wherein at least the transverse slide is guided by a cam guide and is arranged such that the transverse slide brings the machining tool (15) to the transport path in the working position in the transport direction (12).

14. Device according to one of claims 12 or 13, characterized in that the drive (24) is a servo motor.

15. Device according to one of claims 1 to 14, wherein the transverse positioning unit (18) is driven by a servomotor.

16. Arrangement designed and configured for the automatic removal of at least the fork leg from a poultry carcass (17) comprising a device according to any one of claims 1 to 15, wherein the poultry carcasses (17) form the articles (11) and the at least one processing tool (15) is designed and configured to detach the fork leg from the poultry carcass (17).

17. Method for the moving tool positioning of linearly conveyed articles (11) for the food processing industry, comprising Transporting the articles (11) by means of a transport device (10) forming a transport path in a transport direction (12), wherein the transport device (10) comprises a plurality of holding elements (13) provided for holding the articles, Processing the articles (11) with at least one processing station (14) arranged along the transport route, equipped with at least one processing tool (15), Positioning the at least one processing tool (15) with a rotary positioning unit (16) by rotating the latter such that the at least one processing tool (15) is brought to the transport path in a working position for processing the articles (11) in the transport direction (12), characterized by controllable movement of the at least one processing tool (15) relative to the rotary positioning unit (16) transversely to the transport direction (12). by means of a transverse positioning unit (18) , wherein the at least one machining tool (15) is arranged on the rotary positioning unit (16) by means of the transverse positioning unit (18).

18. Method according to claim 17, characterized by translational movement of the at least one machining tool (15) translationally from a return position to a feed position and vice versa by means of the transverse positioning unit (18).

19. Method according to claim 18, characterized by moving the transverse positioning unit (18) by means of an actuator which is configured to move at least one machining tool (15) by a predetermined distance between the return position and the feed position.

20. Method according to one of claims 18 or 19, characterized by limiting the movement of the at least one machining tool (15) in the feed position by means of an end stop means (19), wherein the position of the end stop means (19) is variably controlled for setting the feed position.

21. Method according to one of claims 17 to 20, characterized in that the transverse positioning unit (18) is moved linearly.

22. Method according to one of claims 17 to 20, characterized by synchronous movement of several of the machining tools (15) with the transverse positioning unit (18).

23. Method according to one of claims 17 to 21, characterized by separately moving each of the machining tools (15) over each of the transverse positioning units (18) arranged on the rotary positioning unit (16).

24. Method according to one of claims 17 to 23, characterized by controlling the transverse positioning unit (18) by means of a control device such that in the working position it moves the at least one machining tool (169) transversely to the transport direction (12).

25. Method according to claim 24, characterized by controlling the movement transverse to the transport direction (12) on the basis of article-size-dependent predetermined delivery path lengths depending on the size of the articles (11).

26. Method according to one of claims 17 to 25, characterized in that the rotary positioning unit (16) is moved on a circular path by being arranged on a pivot arm (23) which can be pivoted about a pivot axis.

27. Method according to claim 26, characterized in that the pivot axis is arranged at a distance from the transport path transversely to the transport direction (12).

28. Method according to one of claims 26 or 27, characterized by rotating the swivel arm (23) by means of a drive (24).

29. Method according to one of claims 17 to 25, characterized in that the rotary positioning unit (16) comprises a longitudinal slide arranged to be movable relative to a stationary support element, which is driven in an oscillating manner by means of a drive (24) such that the longitudinal slide, on the one hand, moves with the holding elements (13) in the transport direction (12) from an initial position to an end position in a working cycle and, on the other hand, moves back from the end position to the initial position in the opposite direction of transport (12) in a return cycle, as well as a a transverse slide arranged transversely to the transport direction (12) is formed, wherein at least the transverse slide is guided via a cam guide such that the transverse slide brings the machining tool (15) into the transport path in the working position in the transport direction (12).

30. Method according to claim 29, characterized in that the drive (24) is a servo motor.

31. Method according to one of claims 17 to 30, wherein the transverse positioning unit (18) is driven by a servomotor.

32. Method for automatically removing at least the fork leg from a poultry carcass (17) comprising a method according to any one of claims 17 to 31, wherein the poultry carcasses (17) form the articles (11) and the at least one processing tool (15) is designed and configured to detach the fork leg from the poultry carcass (17).

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