Clamping module for clamping a poultry carcass when removing a wishbone from the poultry carcass, and processing tool and processing station for automatically removing a wishbone, and device for concurrent tool positioning with a clamping module, and method for removing a wishbone

Abstract

The invention relates to a clamping module (10) designed and configured to clamp a poultry carcass (11) when a wishbone (12) is removed from the poultry carcass (11), characterized by a clamping mechanism (13), which is designed and configured to be movable from an open waiting position into a clamping position in contact with the outside of the poultry carcass (11) and back, and an actuating mechanism (14) which is designed and configured to move the clamping mechanism (13). The invention further relates to a processing tool (41) having a clamping module (10) of this type, to a processing station (55) having at least one processing tool (41) of this type, to a device (63) for concurrent tool positioning of linearly conveyed poultry carcasses (11) with a processing station of this type, and to a corresponding method.

Description

[0001] Baader Poultry Holding GmbH, Roggenhorster Straße 9c, 23556 Lübeck, Germany

[0002] Clamping module for clamping a poultry carcass when removing a fork leg from the poultry carcass, as well as processing tool and processing station for automatically removing a fork leg, as well as device for moving tool positioning with a clamping module and method for removing a fork leg.

[0003] Description

[0004] The invention relates to a clamping module designed and configured for clamping a poultry carcass when removing a fork leg from the poultry carcass.

[0005] Furthermore, the invention relates to a processing tool designed and configured for automatically removing a fork leg from a poultry carcass or parts thereof, comprising at least the fork leg, a keel bone, tendons and / or ligaments connected to the fork leg, as well as inner and outer fillets, comprising an interchangeable frame with an upper frame part and a lower frame part, a knife arrangement arranged between the two frame parts, wherein the knife arrangement comprises several knives designed and configured for cutting out the fork leg from the poultry carcass, at least one counter body designed and configured for immersion in the abdominal cavity of the poultry carcass during the cutting out of the fork leg, and an actuator, wherein the actuator is designed and configured to move the knives relative to the counter body from a retracted waiting position to an extended cutting position and back again.as well as a control device that is connected to the actuator of the knife assembly for controlling the knives.

[0006] The invention further relates to a processing station, designed and equipped for the automatic removal of a fork leg from a poultry carcass or parts thereof, comprising at least the fork leg, a keel leg, tendons and / or ligaments connected to the fork leg, as well as inner and outer fillets, comprising a carriage movable back and forth linearly along guide rods along the transport direction T of the poultry carcasses to be processed, at least one drive means for the carriage, a frame which is arranged on the carriage in at least one stage transversely to the direction of movement T of the carriage along the transport direction T and is movable relative to it, at least one drive means for the frame, and at least one pair of guide rails, each designed and equipped for the releasable receiving and fixing of a processing tool and associated with the frame.as well as at least one machining tool arranged in the frame and movable together with it.

[0007] The invention also relates to a device for the moving tool positioning of linearly conveyed poultry carcasses, comprising a transport device forming a transport route for transporting the poultry carcasses in the transport direction T with a plurality of transport saddles designed to hold the poultry carcasses as receiving elements, and at least one processing station arranged along the transport route.

[0008] Furthermore, the invention relates to a method for automatically removing a fork leg from a poultry carcass or parts thereof comprising at least the fork leg, a keel leg, tendons and / or ligaments connected to the fork leg, as well as inner and outer fillets, comprising the steps of: conveying the poultry carcasses or parts thereof along a transport route in the transport direction T by means of a transport device, wherein the poultry carcasses or parts thereof are held and guided on transport saddles as receiving elements during transport, and removing the fork leg from the poultry carcass or parts thereof by means of a processing tool comprising a knife arrangement.

[0009] Such processing tools, workstations, and devices, as well as methods, are used in the poultry processing industry to cut out wishbones from a poultry carcass or a part thereof, for example, a breast half, the so-called front half. In addition to the bony framework, which includes at least the keel bone and the wishbone, such carcasses or front halves also contain tendons and / or ligaments that connect the wishbone to the carcass, as well as the meat to be obtained, namely inner fillets and the outer fillets covering the inner fillets. The wishbone is surrounded by the meat. For maximum yield, i.e., the maximum amount of meat obtained, the wishbone must be cut out of the poultry carcass or front half as precisely as possible, meaning without any meat remaining on the wishbone and without any residual connections to the poultry carcass.In other words, the knives must, on the one hand, cut as close and precisely as possible along the fork leg, and on the other hand, precisely define the area to be cut out in order to gently remove the cut-out fork leg from the poultry carcass or the front half.

[0010] Several boundary conditions must be considered for the precise and efficient cutting and removal of the fork leg from the poultry carcass. Firstly, the processing tools must be transported synchronously with the poultry carcasses in the transport direction T. This is facilitated by the carriage, which moves linearly back and forth along the transport direction T and on which the processing tool(s) are mounted. Secondly, the processing tools must be positioned precisely relative to the poultry carcasses being processed when cutting out the fork leg. This is supported, on the one hand, by the at least one-stage movement of the frame attached to the carriage transversely to the transport direction T, through which at least the counter-positioning body penetrates the abdominal cavity of the poultry carcass and thereby aligns the carcass with respect to the processing tool and, in particular, with respect to the knife arrangement.On the other hand, the exact position of the poultry carcass is supported by the counter-support body positioned within the abdominal cavity, particularly during the removal of the fork leg. However, due to the high speeds at which the poultry carcasses are continuously transported in the direction of travel T, and the resulting very short cycle times in which the processing tools must engage and disengage from the carcasses, the processing results when removing the fork legs are sometimes unsatisfactory. This can lead to changes in the position of the carcasses on the transport saddles, despite the counter-support bodies positioned within the carcasses.

[0011] The invention is therefore based on the objective of proposing a constructive solution that ensures the efficient removal of the fork legs at high speeds or short cycle times. A further objective is to propose a corresponding method. This objective is achieved by a previously unknown clamping module of the type mentioned above, characterized by a clamping mechanism that is designed and configured to move from an open waiting position to a clamping position resting on the outside of the poultry carcass and back again, as well as an actuating mechanism designed and configured to move the clamping mechanism. The clamping module provides additional stability for the poultry carcasses mounted on the transport saddles.The poultry carcass is reliably held in the optimal position by the combination of the counter-support body, which rests against the inside of the carcass, and the clamping mechanism, which rests against the outside of the carcass. This allows the knives of the knife assembly to precisely and efficiently cut and remove the fork leg, even at high speeds or short cycle times. The clamping module is a separate unit and therefore particularly suitable for retrofitting into existing systems to improve processing quality and yield efficiency.

[0012] Preferably, the actuating mechanism comprises an actuator and a transmission module, wherein the actuator is designed and configured to perform a linear movement, and the transmission module is designed and configured to transmit the linear movement of the actuator to the clamping mechanism. This design ensures fast and precise opening and closing of the clamping mechanism for optimal use, particularly with short cycle times. The actuator can optionally also be designed and configured to perform a pivoting movement or a superimposed positioning movement.

[0013] Advantageously, the actuator is a pneumatic cylinder designed and configured as a one-way cylinder. The pneumatic cylinder can also be a two-way cylinder or any other linear actuator. With both the one-way and two-way cylinders, a particularly fast opening and closing movement of the clamping mechanism is achievable. Instead of the pneumatic cylinder, the actuator can also include a cam drive or similar device.

[0014] The pneumatic cylinder is advantageously mounted in a support body of the clamping module. This support body ensures, firstly, that the pneumatic cylinder can execute an optimized, linear positioning movement. Secondly, the support body provides a stable connection to adjacent components, such as a tool changer frame.

[0015] A preferred embodiment is characterized by a transmission module comprising a Y-shaped guide body connected to the actuator at one free end. The compact Y-shaped guide body ensures virtually backlash-free transmission of the linear motion to the clamping mechanism, thereby improving the precision of cutting the fork leg free due to the reliable alignment and stable positioning of the poultry carcass. Optionally, the transmission module could also be a simple stop or similar element acting on the clamping mechanism.

[0016] Advantageously, the Y-shaped guide body comprises a connecting arm that links the guide body to the actuator, and two V-shaped side arms extending from the connecting arm, which establish a functional connection to the clamping mechanism. This design ensures a direct and therefore stable transmission of the pneumatic cylinder's positioning movement to the clamping mechanism.

[0017] Elongated holes are preferably formed in both side arms of the Y-shaped guide body. These elongated holes ensure a simple and reliable connection between the pneumatic cylinder and the clamping mechanism. The elongated holes also allow for controlled and reproducible movement of the clamping mechanism in a particularly simple manner.

[0018] An advantageous embodiment is characterized in that the clamping mechanism comprises a bearing body and two clamping jaws rotatably mounted on the bearing body. The bearing body can be a simple block on which the two clamping jaws are pivotably mounted about a pivot axis D. However, the bearing body can also assume any other shape or configuration. The two clamping jaws, which can also be designed as clamping arms, tongs, or the like, allow for the simple application of a reliable and quickly applied and released clamping force to fix and release the poultry carcass in short work cycles. In other embodiments, the clamping bodies can also be designed and configured to move linearly towards and away from each other.

[0019] The facing inner surfaces of the clamping jaws can be flat, shaped, and / or have a textured surface. Preferably, the facing inner surfaces of the two clamping jaws are adapted, at least in sections, to the contour of the poultry carcass to be clamped from the outside, resulting in a particularly reliable fixation, especially through force and form fit.

[0020] In an advantageous embodiment, both clamping jaws each comprise a longer clamping section extending from the bearing body towards the poultry carcass to be clamped, and a shorter actuation section extending from the bearing body in the opposite direction to the clamping section. The absolute length of the respective sections is variable.

[0021] Preferably, however, the clamping section is larger in relation to the actuating section, so that a reliable clamping force can be applied with the clamping sections due to the leverage effect.

[0022] A preferred embodiment is characterized in that a guide pin is arranged in the area of ​​each actuating section, which is guided in the respective elongated hole of the side arm of the guide body. This ensures a simple and stable transmission of the linear movement of the pneumatic cylinder to the two clamping jaws. Because the two elongated holes are formed in the single, central guide body, and the guide pins of both actuating sections are guided in the elongated holes of the same guide body, synchronous execution of the clamping movement of both clamping jaws from the waiting position to the clamping position and back is guaranteed.

[0023] The guide pins are preferably detachably mounted on the actuating section. This makes these wear parts easy to replace. However, the guide pins can also be integrally formed with the actuating sections. Optionally, the guide pins are adjustable on the actuating sections. A suitable design is characterized by the fact that the two clamping jaws are pre-tensioned relative to each other by means of a spring element, such that the clamping jaws are held in the clamping position by the spring element. The spring element assists the pneumatic cylinder, particularly in holding the clamping jaws in the clamping position, to ensure secure positioning and fixation. The release of the poultry carcass when the clamping jaws open then occurs against the spring force of the spring element.A simple coil spring is particularly preferred, with its free ends positioned on a clamping jaw in the area of ​​the clamping sections. However, other springs and spring packs, as well as other components that exert a spring force, can also be used.

[0024] The problem is also solved by a machining tool of the type mentioned above, characterized in that a clamping module according to one or more of claims 1 to 13 is associated with the blade assembly, wherein the clamping module is designed and configured to interact with the blade assembly. The resulting advantages have already been described in connection with the clamping module, and therefore, to avoid repetition, reference is made to the corresponding passages. In the claimed machining tool, the functional connection between the blade assembly on the one hand and the clamping module on the other hand is particularly evident.

[0025] Preferably, the actuation mechanism of the clamping module is connected to the control unit for moving the clamping mechanism. This allows the actuation sequence of the knife assembly on the one hand and the clamping module on the other to be optimally controlled, such that the knife assembly can only be moved from the waiting position to the cutting position when the poultry carcass is held in the desired position from the outside by the clamping module.

[0026] Advantageously, the actuator for moving the blades of the cutting assembly is a pneumatic cylinder designed and configured as a two-way cylinder. The pneumatic cylinder can also be a simple one-way cylinder or any other linear actuator. The two-way cylinder enables particularly fast movement of the blades of the cutting assembly from the standby position to the cutting position and back. A further advantageous embodiment is characterized by the clamping module being detachably mounted on the exchange frame above the blade assembly with its support body. Preferably, the support body is located on the upper frame part of the exchange frame, and more preferably, it is detachably connected to it. This allows the clamping module to be quickly and easily detached from the exchange frame, i.e., replaced. Furthermore, this design also enables the quick and complete replacement of the machining tool, including the clamping module.The machining tool is thus designed and set up as an exchange module.

[0027] Particularly preferred are guide elements assigned to the interchangeable frame on opposite sides, designed and configured to guide the machining tool within the frame of a machining station. For example, guide rails can be formed or arranged on both sides of the interchangeable frame, interacting with corresponding components on the frame of the machining station. Instead of guide rails, other guide elements, such as guide lugs or the like, can also be arranged or formed on the interchangeable frame.

[0028] An advantageous embodiment is characterized in that the counter-bearing body is shaped such that, within the abdominal cavity of the poultry carcass, it serves as a counter-bearing for both the knives of the knife assembly, which cut into the carcass, and the clamping jaws of the clamping module, which rest against the outside of the carcass. The clamping jaws engage the carcass from the outside above the knives. The knives penetrate the carcass below the clamping jaws. The counter-bearing body positioned within the abdominal cavity preferably has a size and / or shape such that it extends at least partially within the abdominal cavity into the area between the clamping jaws and into the area of ​​the knives. This effectively prevents displacement, indentation, and / or other deformation of the carcass during the cutting process.

[0029] The problem is also solved by a processing station of the type mentioned above, characterized in that each processing tool is designed and configured according to one or more of claims 14 to 19. The resulting advantages have already been described in connection with the processing tool, and therefore, to avoid repetition, reference is made to the relevant passages.

[0030] Advantageously, the frame comprises three pairs of guide rails, each holding an interchangeable machining tool. The machining tools, as interchangeable modules, are positioned between the guide rails and can be extended or re-inserted from the frame transversely to the transport direction T. The number of guide rail pairs, and thus the number of machining tools, can vary. Using the preferred three machining tools allows for particularly efficient completion of a work cycle.

[0031] Particularly preferably, the frame is arranged in multiple stages transversely to the direction of movement of the carriage along the transport direction T, allowing it to be moved relative to the carriage. This preferred movement transversely to the direction of movement of the carriage is particularly advantageous for overcoming the majority of the distance between the processing tool and the poultry carcass from the waiting position to the working position in a first positioning step, for example, approximately 250 to 400 mm, while in a second positioning step, the distance is individually adjusted, particularly to accommodate different sizes of poultry carcasses, for example, approximately 5 to 20 mm. The positioning movement can also be performed in one stage, three or more stages, continuously, or in increments.

[0032] A preferred design is characterized by the fact that each processing tool is assigned its own drive mechanism, such that each processing tool is designed and configured to be movable separately transversely to the direction of movement of the carriage along the transport direction T relative to the carriage and / or the frame. This design enables optimized and individualized adjustment of the distance and positioning of the processing tool to the poultry carcass in the working position.

[0033] Advantageously, the drive system for the carriage and / or the drive system for the frame includes at least one servo drive. This enables precise and rapid positioning movements. Furthermore, the servo drive provides damping during changes in the direction of movement, particularly when the carriage is oscillating. Optionally, other actuators can be used instead of or in addition to the servo drive for the carriage.

[0034] It is also advantageous for the drive means for the machining tools to include a servo drive, with the advantages described above.

[0035] The problem is also solved by a device for the synchronous tool positioning of linearly conveyed poultry carcasses, characterized in that at least one processing station is designed and configured according to one or more of claims 20 to 25. The resulting advantages have already been described in detail above, and therefore, to avoid repetition, reference is made to the relevant passages.

[0036] The task is also solved by a procedure with the steps mentioned at the beginning, whereby the poultry carcass is additionally fixed from the outside by means of a clamping module when the fork leg is removed from the poultry carcass.

[0037] Because the poultry carcass is supported and fixed from the inside by the counter-support body and, according to the invention, additionally from the outside by the clamping module, the knives of the knife arrangement can quickly and precisely cut out the fork leg and, when retracting the knives, remove it from the poultry carcass in a yield-efficient manner.

[0038] Preferably, each processing tool, by means of a slide, moves synchronously with the transport saddles of the transport device in the transport direction T from an initial position to an end position during a working cycle, and simultaneously moves back from the end position to the initial position in the opposite direction of transport T during a return cycle. This oscillating movement of the slide provides each processing tool with sufficient time to remove the fork leg without any relative velocity to the poultry carcass.

[0039] Advantageously, a frame supporting each processing tool and mounted on the slide is moved transversely to the transport direction T during the work cycle, from a waiting position towards the transport saddles to a working position and back to the waiting position. This ensures that a functional connection to the poultry carcass is established safely and reliably within a single work cycle for removing the fork leg from the carcass.

[0040] In a preferred embodiment, three knives of the knife assembly penetrate the poultry carcass or parts thereof to remove the fork leg, such that two side knives with first cutting edges lying in a substantially vertical cutting plane Sv, and a cover knife with cutting edges lying in a substantially horizontal cutting plane SH, cut the fork leg free from three sides. This, in combination with the clamping force exerted on the poultry carcass from the outside by the clamping module, ensures precise and efficient removal of the fork leg.

[0041] Particularly preferred is the movement of the frame into the working position, in order to first free the fork leg, of which a counter-positioning body of the knife arrangement is first inserted into the abdominal cavity of the poultry carcass, before clamping jaws of the clamping module above the knife arrangement are moved from the outside against the poultry carcass, in order then to move the knives of the knife arrangement from a retracted waiting position to an extended cutting position into the poultry carcass thus supported and centered, in order to free the fork leg.

[0042] Advantageously, during clamping and cutting, the poultry carcasses are supported from the inside by the counter-support body, both at the level of the knives of the knife assembly and at the level of the clamping jaws of the clamping module. This ensures that the poultry carcass is held in the optimal position, stable and true to shape, during cutting and removal of the fork leg, allowing for quick and precise harvesting of the fork legs, thus maximizing yield.

[0043] Advantageously, by moving the frame from the working position back to the standby position, the knife assembly, with the knives in their cutting position and the counter-support, along with the clamping module, is withdrawn from the abdominal cavity of the poultry carcass, thus removing the fork leg from the carcass. Only then, after the fork leg has been completely removed from the carcass, are the knives of the knife assembly moved from their cutting position back to the standby position. This leaves the fork leg, now removed from the carcass, hanging freely on the counter-support, which has been withdrawn with the frame, and allows for easy removal.

[0044] A particularly convenient and simple method is to remove the fork leg, which is then hanging from the counter-support body, by means of an airflow. For this purpose, for example, one or more nozzles can be positioned above the machining tool and directed with the nozzle opening towards the counter-support body.

[0045] Preferably, the clamping jaws of the clamping module are opened before the fork leg is removed from the yoke support body. The opening of the clamping jaws can occur, for example, when the frame is moved back into the waiting position or in parallel with moving the knives back into their waiting position.

[0046] The method is particularly preferably carried out with a device according to claim 26.

[0047] Further expedient and / or advantageous features and further developments of the clamping module according to the invention, as well as of the processing tool, the processing station, the device for the synchronous tool positioning of linearly conveyed poultry carcasses, and preferred process steps of the method according to the invention, will become apparent from the dependent claims and the description. A particularly preferred embodiment of the invention is explained in more detail with reference to the accompanying drawing. The drawing shows in

[0048] Fig. 1a shows a schematic representation of a clamping module according to the invention in a perspective view from an oblique angle above and from the front,

[0049] Fig. 1b shows a schematic representation of the clamping module according to the invention as shown in Figure 1 with the clamping jaws open in a top view.

[0050] Fig. 1c shows a schematic representation of the clamping module according to the invention as shown in Figure 1 with closed clamping jaws in a top view.

[0051] Fig. 2 is a schematic representation of a machining tool according to the invention in side view with a clamping module according to Figure 1. Fig. 3 is a schematic representation of the machining tool according to Figure 2 in perspective view from obliquely above and from the front.

[0052] Fig. 4 is a schematic representation of the machining tool according to Figure 2 in top view with a clamping module according to Figure 1,

[0053] Fig. 5 shows a schematic representation of a processing station with a poultry carcass positioned in front of the processing tool.

[0054] Fig. 6 shows a schematic representation of a processing station according to the invention in a perspective view from an oblique angle above and behind,

[0055] Fig. 7 shows a schematic representation of a processing station according to the invention in a perspective view from an oblique angle above and from the front,

[0056] Fig. 8 shows a schematic representation of a section of a processing station in a perspective view from an oblique angle above and from the front, and

[0057] Fig. 9 shows a schematic representation of a device according to the invention for the moving tool positioning of linearly conveyed poultry carcasses in a perspective view from obliquely above and in front.

[0058] The invention relates to a clamping module for clamping poultry carcasses or parts thereof, as well as a processing tool, a processing station, and a device for the synchronous tool positioning of linearly conveyed poultry carcasses with such a clamping module, and a method for automatically removing a fork leg from a poultry carcass. However, the invention can also be used analogously for processing other products of the poultry processing industry.

[0059] The preferred embodiment shown in the drawing depicts a clamping module 10, designed and configured for clamping a poultry carcass 11 when removing a fork leg 12 from the poultry carcass 11. According to the invention, this clamping module 10 is characterized in that it comprises a clamping mechanism 13, which is designed and configured to move from an open waiting position into a clamping position adjacent to the outside of the poultry carcass 11 and back, as well as an actuating mechanism 14, which is designed and configured to move the clamping mechanism 13.

[0060] The features and further developments described below represent preferred embodiments, either individually or in combination. It is expressly pointed out that features summarized in the claims and / or the description, or described in a common embodiment, can also functionally and independently further develop the clamping module 10 described above.

[0061] The actuating mechanism 14 comprises an actuator 15 and a transmission module 16. The actuator 15 is a pneumatic cylinder 17 designed as a one-way cylinder for exerting a linear movement. For this purpose, the pneumatic cylinder 17 is connected to a compressed air unit via lines. The transmission module 16 is designed and configured to transmit the linear movement of the pneumatic cylinder 17 to the clamping mechanism 13. The pneumatic cylinder 17 itself is mounted with its housing 18 in a support body 19 of the clamping module 10. The support body 19 is designed in two parts. The two parts are detachably connected to each other and form a recess 20 for receiving the pneumatic cylinder 17. At least one part of the support body 19 is designed and configured for attaching the clamping module 10 to an interchangeable frame or the like of a machining tool.

[0062] The transmission module 16 comprises a Y-shaped guide body 21, which is connected to a free end 22 of the pneumatic cylinder 17. More precisely, the guide body 21 is detachably attached at one end to a piston rod 23 of the pneumatic cylinder 17. The Y-shaped guide body 21 also includes a connecting arm 24, which connects it to the piston rod 23. Furthermore, the guide body 21 includes two V-shaped side arms 25, 26 extending from the connecting arm 24, which form a functional connection to the clamping mechanism 13. The guide body 21 is mirror-symmetrical with respect to its central axis M. Both side arms 25, 26 of the Y-shaped guide body 21 have elongated slots 27, 28. These elongated slots 27, 28 serve as guides and control cams, respectively.

[0063] The clamping mechanism 13 comprises a bearing body 29 and two clamping jaws 30, 31 rotatably mounted on the bearing body 29. The clamping jaws 30, 31 are rotatable about a pivot axis Di, D2. The facing inner surfaces 32, 33 of the two clamping jaws 30, 31 are adapted, at least partially, to the contour of the poultry carcass 11 to be clamped from the outside. Each of the two clamping jaws 30, 31 comprises a longer clamping section 34, 35 extending from the bearing body 29 towards the poultry carcass 11 to be clamped, and a shorter actuation section 36, 37 extending from the bearing body 29 in the opposite direction to the clamping section 34, 35. The sections adapted to the contour of the poultry carcass 11 are formed in the area of ​​the clamping sections 34, 35.

[0064] In the area of ​​each of the two actuating sections 36, 37, a guide pin 38, 39 is arranged, which is guided in the respective elongated hole 27, 28 of the side arm 25, 26 of the guide body 21. The guide pins 38, 39 are detachably mounted on the actuating section 36, 37. When the position of the guide body 21 is changed, the elongated holes 27, 28 force the guide pins 38, 39 into a changed position, which necessarily leads to the movement of the clamping jaws 30, 31 about the axes of rotation Di and D2. The two end faces of the elongated holes 27, 28 limit the adjustment travel and form the end positions of the clamping jaws 30, 31, namely the waiting position and the clamping position. The two clamping jaws 30, 31 are pre-tensioned to each other by means of a spring element 40, such that the clamping jaws 30, 31 are basically held in the clamping position by means of the spring element 40.

[0065] The clamping module 10 is a separate unit and can be used, among other things, as a retrofit kit. Preferably, however, the clamping module 10 is part of a processing tool 41, designed and configured for the automatic removal of a fork leg 12 from a poultry carcass 11 or parts thereof, comprising at least the fork leg 12, a keel bone, tendons and / or ligaments connected to the fork leg 12, as well as inner and outer fillets, comprising an interchangeable frame 42 with an upper frame part 43 and a lower frame part 44, a knife assembly 45 arranged between the two frame parts 43, 44, wherein the knife assembly 45 comprises several knives 46, 47, 48, designed and configured for cutting out the fork leg 12 from the poultry carcass 11, at least one counter-position body 49, designed and configured for immersion into the abdominal cavity of the poultry carcass 11 during the cutting out of the fork leg 12, and an actuator 50.wherein the actuator 50 is designed and configured to move the knives 46, 47, 48 relative to the counter-position body 49 from a retracted waiting position to an extended cutting position and back, and a control device 51 which is connected to the actuator 50 of the knife arrangement 45 for controlling the knives 46, 47, 48.

[0066] According to the invention, a clamping module 10 according to one or more of claims 1 to 13 is associated with the knife arrangement 45, wherein the clamping module 10 is designed and configured to interact with the knife arrangement 45.

[0067] The control unit 51 is designed and configured to control the knife assembly 45 and the clamping module 10. Accordingly, the actuating mechanism 14 of the clamping module 10 for moving the clamping mechanism 13 is connected to the control unit 51. The actuator 50 for moving the knives 46, 47, 48 of the knife assembly 45 is a pneumatic cylinder 52, designed and configured as a two-way cylinder. The pneumatic cylinder 52 is connected to a compressed air unit via lines. The knife assembly 45, with the counter-bearing body 49 and the pneumatic cylinder 52, is detachably connected to the lower frame part 44. The clamping module 10 is detachably arranged above the knife assembly 45 with its support body 19 on the interchangeable frame 42, in the illustrated embodiment on the upper frame part 43.The counter bearing body 49 is shaped in such a way that it serves as a counter bearing within the abdominal cavity of the poultry carcass 11 for both the knives 46, 47, 48 of the knife arrangement 45 which cut into the poultry carcass 11 and the clamping jaws 30, 31 of the clamping module 10 which lie on the outside of the poultry carcass 11.

[0068] The processing tool 41 can be designed as an independent unit. Guide means 53 are assigned to the interchangeable frame 42 on opposite sides, which are designed and configured to guide the processing tool 41 within a frame 54 of a processing station 55. Preferably, the processing tool 41 is part of a processing station 55, designed and configured for automatically removing a fork leg 12 from a poultry carcass 11 or parts thereof, which comprises at least the fork leg 12, a keel bone, tendons and / or ligaments connected to the fork leg 12, as well as inner and outer fillets.The processing station 55 comprises a carriage 57 which can be moved back and forth linearly along guide rods 56 along the transport direction T of the poultry carcasses 11 to be processed, at least one drive means 58 for the carriage 57, a frame 54 which is arranged on the carriage 57 in at least one stage transversely to the direction of movement T of the carriage 57 along the transport direction T and is movable relative to it, at least one drive means 59 for the frame 54, at least one pair 60 guide rails 61, 62, each designed and configured for the releasable receiving and fixing of a processing tool 41 and assigned to the frame 54, and at least one processing tool 41 arranged in the frame 54 and movable together with it.

[0069] This machining station 55 is characterized according to the invention in that each machining tool 41 is designed and configured according to one or more of claims 14 to 19.

[0070] In the preferred embodiment, the frame 54 comprises three pairs 60 guide rails 61, 62, in each of which a machining tool 41 is arranged interchangeably. The machining tool 41 is guided and fixed in the guide rails 61, 62 by its guide means 53, so that the machining tools 41 follow the movements of the frame 54. The frame 54 is arranged in multiple stages transversely to the direction of movement of the slide 57 along the transport direction T relative to the slide 57 so as to be movable.

[0071] Optionally, each machining tool 41 is assigned its own drive means, such that each machining tool 41 is designed and configured to be movable separately transversely to the direction of movement of the slide 57 along the transport direction T relative to the slide and / or to the frame 54. The drive means 58 for the slide 57 and / or the drive means 59 for the frame 54 comprises at least one servo drive. The same applies to the drive means for the machining tools 41. The machining station 55 can be designed as an independent unit.Preferably, the processing station 55 is part of a device 63 for the moving tool positioning of linearly conveyed poultry carcasses 11, comprising a transport device 64 forming a transport path for transporting the poultry carcasses 11 in the transport direction T with a plurality of transport saddles 65 as receiving elements for holding the poultry carcasses 11, and at least one processing station 55 arranged along the transport path.

[0072] According to the invention, this device 63 is characterized in that at least one processing station 55 is designed and configured according to one or more of claims 20 to 25.

[0073] A drive element 66 is assigned to the transport device 64 and is connected to the control device 51. Preferably, a central control device 51 is provided, which is designed and configured to control at least the transport device 64, the slide 57, the frame 54, the machining tool 41, the knife assembly 45, and the clamping jaws 30, 31. The drive elements 58 and 66 for the slide 57 and the transport device 64 can also be formed by a common drive.

[0074] The following describes in detail the method for automatically removing a fork leg 12 from a poultry carcass 11 or parts thereof, which still comprises at least the fork leg 12, a keel bone, tendons and / or ligaments connected to the fork leg, as well as inner and outer fillets. The poultry carcasses 11 or parts thereof are conveyed along a transport path in the transport direction T by means of a transport device 64. During the preferably continuous transport, the poultry carcasses 11 or parts thereof are held and guided on transport saddles 65 as receiving elements. The poultry carcasses 11 pass a processing station 55 with at least one processing tool 41 comprising a knife arrangement 45. The fork leg 12 is removed from the poultry carcass 11 or parts thereof by means of this processing tool 41 or the knife arrangement 45.

[0075] According to the invention, when the fork leg 12 is removed from the carcass, the poultry carcass 11 is additionally secured externally by means of a clamping module 10. As described above, the poultry carcasses 11 are continuously transported past the processing tools 41 in the transport direction T. Each processing tool 41 moves synchronously with the transport saddles 65 of the transport device 64 in the transport direction T from a starting position to an end position by means of a slide 57 in one working cycle. In other words, the processing tools 41 follow the poultry carcasses 11 at the same speed along a defined section of the path. During this working cycle, the fork legs 12 are removed. After the fork legs 12 have been removed, each processing tool 41 moves back from the end position to the starting position in the opposite direction of transport T by means of the slide 57 in a return cycle.The sled 57 therefore makes an oscillating movement along the transport direction T.

[0076] To engage the processing tools 41 with the poultry carcasses 11, a frame 54, supporting each processing tool 41 and mounted on the carriage 57, is moved transversely to the transport direction T during the work cycle from a waiting position towards the transport saddles 65 to a working position and back to the waiting position. In the working position of the frame 54, and thus of the processing tool 41, the knives 46, 47, 48 of the knife assembly 45 are used. To remove the fork leg 12, three knives 46, 47, 48 of the knife assembly 45 penetrate the poultry carcass 11 or parts thereof, such that two side knives 46, 47 with first cutting edges lying in a substantially vertical cutting plane, and a cover knife 48 with cutting edges lying in a substantially horizontal cutting plane, cut free the fork leg 12 from three sides.

[0077] By moving the frame 54 into the working position prior to cutting out the fork leg 12, a counter-support body 49 of the knife assembly 45 is first inserted into the abdominal cavity of the poultry carcass 12. Then, clamping jaws 30, 31 of the clamping module 10 are moved from the outside against the poultry carcass 11 above the knife assembly 45. Only then are the knives 46, 47, 48 of the knife assembly 45 moved from a retracted waiting position to an extended cutting position into the poultry carcass 11, which is thus supported and centered, in order to cut out the fork leg 12. Thus, during clamping and cutting, the poultry carcass 11 is supported from the inside by the counter-support body both at the level of the knives 46, 47, 48 of the knife assembly 45 and at the level of the clamping jaws 30, 31 of the clamping module 10.

[0078] By moving the frame 54 from the working position back to the waiting position, the knife assembly 45 with the knives 46, 47, 48 in their cutting position and the counter support 49, together with the clamping module 10, are withdrawn from the abdominal cavity of the poultry carcass 11, thereby removing the fork leg 12 from the poultry carcass 11. Only after the fork leg 12 has been completely removed from the poultry carcass 11 are the knives 46, 47, 48 of the knife assembly 45 moved from their cutting position back to the waiting position. The removed fork leg 12 then hangs freely from the counter support 49, which is then removed by means of an airflow. Before the fork leg 12 is removed from the counter support 49, however, the clamping jaws 30, 31 of the clamping module 10 are opened.

[0079] In the preferred embodiment, the method is carried out with the device 63 according to claim 26.

Claims

1. Clamping module (10), designed and configured for clamping a poultry carcass (11) when removing a fork leg (12) from the poultry carcass (11), characterized by a clamping mechanism (13) which is designed and configured to move from an open waiting position into a clamping position adjacent to the outside of the poultry carcass (11) and back, and by an actuating mechanism (14) which is designed and configured to move the clamping mechanism (13).

2. Clamping module (10) according to claim 1, characterized in that the actuating mechanism (14) comprises an actuator (15) and a transmission module (16), wherein the actuator (15) is designed and configured to perform a linear movement and the transmission module (16) is designed and configured to transmit the linear movement of the actuator (15) to the clamping mechanism (13).

3. Clamping module (10) according to claim 2, characterized in that the actuator (15) is a pneumatic cylinder (17) designed and configured as a 1-way cylinder.

4. Clamping module (10) according to claim 3, characterized in that the pneumatic cylinder (17) is mounted in a support body (19) of the clamping module (10).

5. Clamping module (10) according to one or more of claims 2 to 4, characterized in that the transmission module (16) comprises a Y-shaped guide body (21) which is connected to the actuator (15) at a free end (22).

6. Clamping module (10) according to claim 5, characterized in that the Y-shaped guide body (21) comprises a connecting arm (24) with which the guide body (21) is connected to the actuator (15), and two V-shaped side arms (25, 26) extending from the connecting arm (24) and diverging with which an operative connection to the clamping mechanism (13) is established.

7. Clamping module (10) according to claim 6, characterized in that elongated holes (27, 28) are formed in both side arms (24, 25) of the Y-shaped guide body (21).

8. Clamping module (10) according to one or more of claims 1 to 7, characterized in that the clamping mechanism (13) comprises a bearing body (29) and two clamping jaws (30, 31) rotatably mounted on the bearing body (29).

9. Clamping module (10) according to claim 8, characterized in that the mutually facing inner surfaces (32, 33) of the two clamping jaws (30, 31) are adapted at least section by section to the contour of the poultry carcass (11) to be clamped from the outside.

10. Clamping module (10) according to claim 8 or 9, characterized in that both clamping jaws (30, 31) each comprise a longer clamping section (34, 35) extending from the bearing body (29) in the direction of the poultry carcass (11) to be clamped, and a shorter actuating section (36, 37) extending from the bearing body (29) in the direction opposite to the clamping section (34, 35).

11. Clamping module (10) according to claim 10, characterized in that a guide pin (38, 39) is arranged in the area of ​​each actuating section (36, 37), which is guided in the respective elongated hole (27, 28) of the side arm (25, 26) of the guide body (21).

12. Clamping module (10) according to claim 11, characterized in that the guide pins (38, 39) are detachably mounted on the actuating section (36, 37).

13. Clamping module (10) according to one or more of claims 8 to 12, characterized in that the two clamping jaws (30, 31) are pre-tensioned relative to each other by means of a spring element (40) such that the clamping jaws (30, 31) are held in the clamping position by means of the spring element (40).

14. Processing tool (41), designed and configured for automatically removing a fork leg (12) from a poultry carcass (11) or parts thereof, comprising at least the fork leg (12), a keel bone, tendons and / or ligaments connected to the fork leg (12), and inner and outer fillets, comprising a frame (42) with an upper frame part (43) and a lower frame part (44), a knife assembly (45) arranged between the two frame parts (43, 44), wherein the knife assembly (45) comprises several knives (46, 47, 48) designed and configured for cutting out the fork leg (12) from the poultry carcass (11), and at least one counter body (49).The device comprises a blade assembly (45) designed and configured for immersion into the abdominal cavity of the poultry carcass (11) during the removal of the fork leg (12), and an actuator (50), wherein the actuator (50) is designed and configured to move the blades (45, 47, 48) relative to the counter-positioning body (49) from a retracted waiting position to an extended cutting position and back, and a control device (51) which is connected to the actuator (50) of the blade assembly (45) for controlling the blades (46, 47, 48), characterized in that a clamping module (10) according to one or more of claims 1 to 13 is associated with the blade assembly (45), wherein the clamping module (10) is designed and configured to interact with the blade assembly (45).

15. Machining tool (41) according to claim 14, characterized in that the actuating mechanism (14) of the clamping module (10) for moving the clamping mechanism (13) is connected to the control device (51).

16. Machining tool (41) according to claim 14 or 15, characterized in that the actuator (50) for moving the knives (46, 47, 48) of the knife arrangement (45) is a pneumatic cylinder (52) which is designed and configured as a 2-way cylinder.

17. Machining tool (41) according to one or more of claims 14 to 16, characterized in that the clamping module (10) is detachably arranged on the exchange frame (42) above the knife arrangement (45) with its support body (19).

18. Machining tool (41) according to one or more of claims 14 to 17, characterized in that guide means (53) are assigned to the exchange frame (42) on opposite sides, which are designed and configured to guide the machining tool (41) within a frame (54) of a machining station (55).

19. Machining tool (41) according to one or more of claims 14 to 18, characterized in that the counter-bearing body (49) is shaped in such a way that it serves as a counter-bearing within the abdominal cavity of the poultry carcass (11) both for the knives (46, 47, 48) of the knife arrangement (45) which cut into the poultry carcass (11) and for the clamping jaws (30, 31) of the clamping module (10) which lie against the outside of the poultry carcass (11).

20. Processing station (55), designed and equipped for the automatic removal of a fork leg (12) from a poultry carcass (11) or parts thereof, comprising at least the fork leg (12), a keel leg, tendons and / or ligaments connected to the fork leg (12), and inner and outer fillets, comprising a carriage (57) movable back and forth linearly along guide rods (56) along the transport direction T of the poultry carcasses (11) to be processed, at least one drive means (58) for the carriage (57), a frame (54) arranged on the carriage (57) in at least one stage transversely to the direction of movement T of the carriage (57) along the transport direction T relative to it, at least one drive means (59) for the frame (54), at least one pair (60) of guide rails (61, 62), each designed and equipped for the releasable receiving and fixing of a processing tool (41) and assigned to the frame (54),and at least one machining tool (41) arranged in the frame (54) and movable together with it, characterized in that each machining tool (41) is designed and configured according to one or more of claims 14 to 19.

21. Machining station (55) according to claim 20, characterized in that the frame (54) comprises three pairs (60) of guide rails (61, 62) in each of which a machining tool (41) is arranged interchangeably.

22. Processing station (55) according to claim 20 or 21, characterized in that the frame (54) is arranged in multiple stages transversely to the direction of movement of the carriage (57) along the transport direction T so as to be movable relative to it on the carriage (57).

23. Machining station (55) according to one or more of claims 20 to 22, characterized in that each machining tool (41) is assigned its own drive means () such that each machining tool (41) is designed and configured to be movable separately transversely to the direction of movement of the slide (57) along the transport direction T relative to the slide and / or to the frame (54).

24. Machining station (55) according to one or more of claims 20 to 23, characterized in that the drive means (58) for the slide and / or the drive means (59) for the frame (54) comprises at least one servo drive.

25. Machining station (55) according to claim 23 or 24, characterized in that the drive means for the machining tools (41) comprise a servo drive.

26. Device (63) for the moving tool positioning of linearly conveyed poultry carcasses (11), comprising a transport device (64) forming a transport path for transporting the poultry carcasses (11) in the transport direction T with a plurality of transport saddles (65) designed to hold the poultry carcasses (11) as receiving elements, and at least one processing station (55) arranged along the transport path, characterized in that at least one processing station (55) is designed and configured according to one or more of claims 20 to 25.

27. Method for automatically removing a fork leg (12) from a poultry carcass (11) or parts thereof, comprising at least the fork leg (12), a keel leg, tendons and / or ligaments connected to the fork leg (12), and inner and outer fillets, comprising the steps: Conveying the poultry carcasses (11) or parts thereof along a transport route in the direction of transport T by means of a transport device 0, - wherein the poultry carcasses (11) or parts thereof are held and guided on transport saddles (65) as receiving elements during transport, Removing the fork leg (12) from the poultry carcass (11) or parts thereof by means of a processing tool (41) comprising a knife arrangement (45), characterized in that the poultry carcass (11) is additionally fixed from the outside by means of a clamping module (10) when the fork leg (12) is removed from the poultry carcass (11).

28. Method according to claim 27, characterized in that each machining tool (45) is moved synchronously with the transport saddles () of the transport device () in the transport direction T from an initial position to an end position by means of a slide (57) on the one hand in a working cycle synchronously with the transport saddles () of the transport device () in the transport direction T and on the other hand in a return cycle from the end position to the initial position in the opposite direction to the transport direction T.

29. Method according to claim 28, characterized in that a frame (54) carrying each machining tool (41) and arranged on the slide (57) is moved during the work cycle transversely to the transport direction T from a waiting position towards the transport saddles to a working position and back to the waiting position.

30. Method according to one or more of claims 27 to 29, characterized in that, for removing the fork leg (12), three knives (46, 47, 48) of the knife arrangement (45) penetrate the poultry carcass (11) or parts thereof, such that two side knives (46, 47) with first cutting edges lying in a substantially vertically directed cutting plane and a cover knife (48) with cutting edges lying in a substantially horizontal cutting plane cut the fork leg (12) free from three sides.

31. Method according to claim 29 or 30, characterized in that, by moving the frame (54) into the working position prior to cutting out the fork leg (12), a counter-positioning body (49) of the knife assembly (45) is first inserted into the abdominal cavity of the poultry carcass (11), before clamping jaws (30, 31) of the clamping module (10) are moved from the outside against the poultry carcass (11) above the knife assembly (45), in order to then move the knives (46, 47, 48) of the knife assembly (45) from a retracted waiting position to an extended cutting position into the poultry carcass (11) thus supported and centered, in order to cut out the fork leg (12).

32. Method according to claim 31, characterized in that the poultry carcass (11) is supported from the inside by the counter-position body (49) during clamping and cutting, both at the level of the knives (46, 47, 48) of the knife arrangement (45) and at the level of the clamping jaws (30, 31) of the clamping module (10).

33. Method according to claim 31 or 32, characterized in that by moving the frame (54) from the working position back to the waiting position, the knife arrangement (45) with the knives (46, 47, 48) in their cutting position and the counter body (49) together with the clamping module (10) are withdrawn from the abdominal cavity of the poultry carcass (11), thereby removing the fork leg (12) from the poultry carcass (11).

34. A method according to one or more of claims 29 to 31, characterized in that the knives (46, 47, 48) of the knife arrangement (45) are moved from their cutting position back to the waiting position after the fork leg (12) has been completely removed from the poultry carcass (11).

35. A method according to claim 34, characterized in that the fork leg (12), which is then hanging from the counter body (49), is removed from the counter body (49) by means of an airflow.

36. Method according to claim 35, characterized in that the clamping jaws (30, 31) of the clamping module (10) are opened before the fork leg (12) is removed from the yoke support body (49).

37. Method according to one or more of claims 27 to 36, characterized in that it is carried out with a device (63) according to claim 26.

Images