Processing station, device and method for automatically removing a wishbone from a poultry carcass
Patent Information
- Application Number
- PCT/EP2025/054778
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-02-21
- Publication Date
- 2026-08-27
Smart Images
Figure EP2025054778_27082026_PF_FP_ABST
Abstract
Description
[0001] Baader Poultry Holding GmbH, Roggenhorster Straße 9c, 23556 Lübeck, Germany
[0002] Processing station, device and method for automatically removing a foreleg from a poultry carcass
[0003] Description
[0004] The invention 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 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 movable relative to it, at least one drive means for the frame frame, and at least one processing tool arranged in the frame frame and movable together with and / or relative to it transversely to the transport direction T of the carriage.
[0005] The invention also relates to a device for the linearly conveyed tool positioning of poultry carcasses, comprising a transport device forming a transport track 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 track, wherein the processing station is designed and configured 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 fillets and outer fillets, and a slide, frame, which is movable back and forth linearly along guide rods along the transport direction T of the poultry carcasses to be processed.which is arranged on the carriage in at least one stage transverse to the direction of movement T of the carriage along the transport direction T relative to it, comprises at least one drive means for the frame, as well as at least one machining tool arranged in the frame and movable together with it, and drive means for driving the transport device and for driving the carriage.
[0006] 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 path 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; removing the fork leg from the poultry carcass or parts thereof by means of a processing tool comprising a knife arrangement.wherein each machining tool, by means of a slide, moves synchronously with the transport saddles of the transport device in transport direction T from a starting position to an end position in a working cycle and, in a return cycle, moves back from the end position to the starting position in the opposite direction of transport T.
[0007] Such processing stations, devices, and 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. Several boundary conditions must be considered for the rapid and efficient cutting and removal of the wishbone from the poultry carcass. Firstly, the poultry carcasses must be conveyed quickly in the direction of transport T. Secondly, among other things,The processing tools are transported back and forth along the transport direction T in synchronization with the poultry carcasses. This is achieved by the carriage, which moves linearly back and forth along the transport direction T and on which each processing tool is mounted. For maximum yield, i.e., the maximum amount of meat obtained, and high efficiency in meat extraction, i.e., the fastest possible processing (removal of the fork leg with as little residual meat on the fork leg as possible) in the shortest possible cycle times, the drive technology of the carriage carrying the processing tools and moving along the transport device T, on the one hand, and of the transport device carrying the poultry carcasses, on the other hand, is of particular importance.In previously known solutions, a central drive unit is provided, designed and configured to power the transport device that moves the poultry carcasses. This drive unit comprises a drive with a mechanical coupling to the carriage, such that both the transport device and the carriage can be driven and are driven by a common mechanical drive unit. This rigid, drive-related coupling of the transport device and the carriage of the processing station limits the performance in terms of processing time and the reduction of the cycle time for removing the fork leg.
[0008] A particular disadvantage of this known drive solution is that increasing the drive speed of the transport device leads to increased vibrations within the device, which has a particularly detrimental effect on the work results. With a mechanical drive solution for the carriage via the common drive of the transport device and its coupling to the carriage, the carriage is moved to its two end positions virtually undamped, which both intensifies the vibrations and delays the reversal of the carriage's movement. As a result, the known drive solution, due to mechanical limitations and dynamic vibrations, restricts the performance of the device and leads to unsatisfactory work results.
[0009] The invention is therefore based on the objective of proposing a machining station that ensures fast and precise movement of the slide. A further objective is to create a device for synchronous tool positioning that enables improved yield efficiency and higher performance for removing the fork legs. A further objective is to propose a corresponding method. This objective is achieved by a machining station of the type mentioned above in that the drive means for the slide is designed and configured exclusively for driving the slide and includes at least one servo drive. The slide supports the frame. At least one pair of guide rails is arranged on the frame, each designed and configured for the releasable mounting and fixing of a machining tool.Preferably, three pairs of guide rails are arranged on the frame, each containing an interchangeable processing tool. As mentioned, the frame is equipped with a drive mechanism for lateral movement towards and away from the poultry carcasses. The carriage also has its own drive mechanism for longitudinal movement along the transport direction T, which is designed and configured independently of any other drive mechanisms, particularly the drive mechanism of a possible transport device for moving the poultry carcasses along the transport route. This allows for the optimization of the performance of both components: the transport direction, which can already be operated at high speed, and the carriage, which, thanks to its individual drive, can be better adapted to high speeds.The inventive design of the drive element as a servo drive allows the carriage to be moved back and forth between its end positions at increased speed with virtually no vibration. Furthermore, the servo drive enables damping at the end positions due to adaptive movement, allowing the carriage to be controlled and moved back and forth at high speeds without impact. In other words, the servo drive enables precise and rapid positioning movements. Moreover, the servo drive provides damping during changes in the direction of movement, particularly when the carriage is oscillating. This improves the performance of the processing station for removing the fork leg, which has previously been the limiting factor in poultry processing, leading to an improvement in the work result.
[0010] A preferred embodiment is characterized by the fact that the drive mechanism for the carriage further comprises a drive chain and a connecting rod. These components allow the drive power of the servo drive to be optimally, and in particular smoothly and directly, transmitted to the carriage. Drive belts or other comparable drive components can also be used instead of the drive chain. The connecting rod, preferably a simple, rigid connecting rod, can also be replaced by a connecting rod assembly or other transfer structures that convert the rotary motion of the drive chain into a linear motion of the carriage.
[0011] Advantageously, at least the servo drive and the drive chain are arranged on a stationary support frame. The support frame is, for example, a flat plate construction that is fixed and immovable, for instance, on the frame / housing of a device for moving tool positioning, such that the carriage is movable relative to the support frame. Other designs for forming the support frame can also be used. Alternatively, a servo drive can also be arranged directly on the carriage, driving a gear or the like that rolls in a rack or similar gear fixed to the frame / housing of the device for moving tool positioning. In other embodiments, a wheel can also be driven by means of the servo drive arranged on the carriage.The wheel is operatively connected to a connecting rod, one free end of which is preferably located on the outer circumference of the wheel and the opposite end is fixed to the frame / housing of the device for moving tool positioning. Other drive concepts with a servo drive assigned to the slide or the frame / housing of the device for moving tool positioning are also possible.
[0012] Advantageously, the drive chain is endlessly guided around at least two deflection elements and designed and configured to be driven continuously. Preferably, at least one of the deflection elements is designed as a gear. Particularly preferred are both deflection elements gears, which are also mounted on the support frame. The servo drive is operatively connected to one of the gears. However, any other suitable deflection element can also be used. The bearing can be located directly on the support frame. Optionally, the deflection elements can also be arranged indirectly on the support frame, for example, via frame or support structures.
[0013] An advantageous embodiment is characterized in that a transmission module rotating with the drive chain is associated with the drive chain. The connecting rod is arranged with one free end on this transmission module, while the opposite free end of the connecting rod is connected to the slide. Due to the connection of the slide to the drive chain via the connecting rod on the one hand, and the guidance of the slide on the guide rods on the other, the slide with the rotating drive chain is positively guided and movable, namely oscillating between the two end positions. The transmission module can be an element connecting the drive chain or an element associated with the drive chain.
[0014] A tensioning element is particularly preferred for the drive chain, in addition to at least two deflection elements. This keeps the drive chain under tension, ensuring smooth and low-backlash operation. Optionally, multiple tensioning elements or tensioning structures can also be used.
[0015] In a simple and preferred embodiment, the clamping element is a gear under spring tension. Advantageously, the clamping element is tensioned by a spring element arranged on the support frame. The spring element is preferably connected indirectly to the gear. The gear is, for example, mounted on one side of the support frame via a lever arm and a pivot pin. On the opposite side of the support frame, one end of the spring element is also connected to the pivot pin via a lever arm, while the other end of the spring element is directly attached to the support frame. Optionally, the clamping element can also be formed by clamping shoes, clamping bodies, the spring elements themselves, or the like.
[0016] Advantageously, the spring force of the spring element is adjustable. This adjustability can be achieved by replacing the spring element, by adjusting the position of the connection of the spring element to the support frame and / or the pivot bolt, or by other adjusting mechanisms.
[0017] The problem is also solved by a device for synchronous tool positioning with the aforementioned features, by assigning separate drive means to the transport unit on the one hand and the slide on the other. By separating the drive means, the influence of the transport unit's drive means on the slide can be eliminated, as can the influence of the slide's drive means on the transport unit. This results in smoother and less vibration-prone operation of both the transport unit and the slide. Furthermore, the respective drive speeds, especially the slide's drive speed, can be individually increased and adapted to the high speed of the transport unit through this decoupling, thus improving overall performance.
[0018] Advantageously, the two drive means for the transport device and the carriage operate independently of each other and are designed and configured to be separately controllable.
[0019] The device preferably includes a detection means designed and configured to detect the speed of the transport device. For example, sensor means can be used to determine the actual speed of the transport device and thus of the poultry carcasses. These sensor means or other measuring components can, for example, be assigned to the drive means to record its electrical characteristics, or to a conveyor chain of the transport device, optionally by using proximity indicators.
[0020] Advantageously, the device includes a control unit designed and configured to control the transport device and / or at least the carriage and the machining tool of the machining station. Particularly preferably, the detection means is connected to the control unit in such a way that the two drive means for the transport device on the one hand and the carriage on the other hand can be driven synchronously. Knowing the actual speed of the transport device, the speed of the carriage can be synchronized by means of the control unit.
[0021] The processing station is preferably designed and configured according to one or more of claims 1 to 10. The advantages resulting therefrom, in particular from the use of the servo drive for the slide, have already been described above in connection with the processing station, and therefore reference is made to the corresponding passages to avoid repetition. An advantageous embodiment is characterized in that the processing tool 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, is designed and configured and includes 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,The tool is designed and configured for cutting out the fork leg from the poultry carcass, comprising at least one counter-support body designed and configured for immersion into the abdominal cavity of the poultry carcass during fork leg removal, and an actuator, wherein the actuator is designed and configured to move the knives relative to the counter-support body from a retracted waiting position to an extended cutting position and back, and a control device connected to the actuator of the knife assembly for controlling the knives. This processing tool enables precise and efficient removal of fork legs from poultry carcasses at high transport and drive speeds.
[0022] Advantageously, the knife assembly is associated with a clamping module designed and configured to clamp a poultry carcass when a fork leg is removed from the carcass. This module includes a clamping mechanism that is movable from an open waiting position to a clamping position resting against 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, even at high transport and drive speeds, by the combination of the counter-support body located on the inside of the carcass and the clamping mechanism located on the outside. 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 can therefore be easily integrated into existing systems to improve processing quality.
[0023] Yield efficiency. Advantageously, the clamping module is designed and configured to interact with the knife assembly, with the clamping module's actuating mechanism being connected to the control unit for moving the clamping mechanism. In the claimed processing tool, the operative connection between the knife assembly on the one hand and the clamping module on the other is particularly evident. The control unit allows for optimal control of the actuation sequence of the knife assembly on the one hand and the clamping module on the other, 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.
[0024] The problem is also solved by a method with the steps mentioned at the outset, whereby the transport device on the one hand and the slide of the machining tool on the other hand are driven independently of each other along the transport direction T. The resulting advantages have already been described above, particularly in connection with the device for moving tool positioning, and therefore, to avoid repetition, reference is made to the relevant passages.
[0025] Preferably, a frame supporting each processing tool and arranged 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.
[0026] 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 and a cover knife with cutting edges lying in a substantially horizontal cutting plane 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.Particularly preferred is the following procedure: before moving the frame into the working position and cutting out the fork leg, a counter-support body of the knife assembly is first inserted into the abdominal cavity of the poultry carcass. Then, clamping jaws of the clamping module are moved from the outside against the poultry carcass above the knife assembly. Finally, the knives of the knife assembly are moved from a retracted waiting position to an extended cutting position within the supported and centered poultry carcass to cut out the fork leg. This ensures that the poultry carcass is supported and aligned in an optimized position.
[0027] The poultry carcass is particularly advantageously secured from the outside by means of a clamping module when removing the fork leg from the poultry carcass.
[0028] 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 leg bone and, when retracting the knives, remove it from the poultry carcass in a yield-efficient manner.
[0029] Advantageously, the poultry carcass is supported internally by the counter-support body during clamping and cutting, 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 the cutting and removal of the fork leg, allowing for quick and precise harvesting of the fork legs, particularly with high yield efficiency.
[0030] A preferred embodiment is characterized in that, by moving the frame from the working position back to the waiting position, the knife assembly with the knives in their cutting position and the counter-support, together with the clamping module, is withdrawn from the abdominal cavity of the poultry carcass, thereby removing the fork leg from the poultry carcass. Only then, after the fork leg has been completely removed from the poultry carcass, are the knives of the knife assembly moved from their cutting position back to the waiting position. As a result, the fork leg, removed from the poultry carcass, hangs freely on the counter-support, which was withdrawn with the frame, and can be easily removed. The method is particularly preferably carried out with a device according to one or more of claims 11 to 19.The resulting advantages have already been described in connection with the device, therefore reference is made to the relevant passages to avoid repetition.
[0031] Further expedient and / or advantageous features and further developments of the processing station according to the invention, as well as of 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
[0032] Fig. 1 shows a schematic representation of a processing station according to the invention in a perspective view from an oblique angle above and behind,
[0033] Fig. 2 shows the processing station according to Figure 1 in a perspective view from an oblique angle above and from the front,
[0034] Fig. 3 shows the processing station according to Figure 1 in a perspective view from a low angle and from behind,
[0035] Fig. 4 shows a schematic representation of the processing station as seen in the transport direction T, with a poultry carcass positioned in front of the processing tool.
[0036] Fig. 5 shows a schematic representation of the device for moving tool positioning in a top view with a machining station comprising three machining tools,
[0037] Fig. 6 is a schematic representation of a section of the device according to Figure 5 in a perspective view from an oblique angle above and behind,
[0038] Fig. 7 is a schematic representation of a single machining tool of the machining station according to Figures 5 and 6, Fig. 8 is a schematic representation of the drive means for the slide in a perspective view from below and behind, and
[0039] Fig. 9 is a schematic representation of the drive mechanism according to Figure 8 in a perspective view from below and in front.
[0040] The invention relates to a processing station for automatically removing a fork leg from a poultry carcass, a device for the moving tool positioning of such a processing station with respect to poultry carcasses, and a method for automatically removing a fork leg from a poultry carcass.
[0041] The preferred embodiment shown in the drawing depicts a processing station 10 for automatically removing a fork leg 11 from a poultry carcass 12 or parts thereof, which still comprises at least the fork leg 11, a keel bone, tendons and / or ligaments connected to the fork leg 11, as well as inner and outer fillets. This processing station 10 comprises a slide 14 that is linearly movable back and forth along guide rods 13 in the transport direction T of the poultry carcasses 12 to be processed, at least one drive means 15 for the slide 14, a frame 16 that is arranged on the slide 14 in at least one stage transversely to the direction of movement T of the slide 14 along the transport direction T and is movable relative to it, at least one drive means 17 for the frame 16, and at least one processing tool 18 arranged in the frame 16 and movable together with it.
[0042] According to the invention, this processing station 10 is characterized in that the drive means 15 for the slide 14 is designed and set up exclusively for driving the slide 14 and comprises at least one servo drive 19.
[0043] 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 processing station 10 described above.
[0044] In the preferred embodiment, the frame 16 is associated with three pairs 20 guide rails 21, 22, in each of which a machining tool 18 is arranged interchangeably. The machining tool 18 is guided and fixed in the guide rails 21, 22 by guide means 23, so that the machining tools 18 follow the movements of the frame 16. The frame 16 is arranged in multiple stages transversely to the direction of movement of the slide 14 along the transport direction T relative to it. Optionally, each machining tool 18 is assigned its own drive means, such that each machining tool 18 is designed and configured to be separately movable transversely to the direction of movement of the slide 14 along the transport direction T relative to it and / or to the frame 16. According to the invention, the drive means 15 for the slide 14 is the servo drive 19.The drive means 17 for the frame 16 also preferably comprises at least one servo drive. The same applies to the drive means for the machining tools 18.
[0045] The drive element 15 for the carriage 14 further comprises a drive chain 24 and a connecting rod 25. The servo drive 19 and the drive chain 24 are arranged on a stationary support frame 26. The support frame 26 is plate-shaped. On a (rear) side 27 of the support frame 26, two gears 28, 29 are mounted as deflection elements for the drive chain 24. One of the gears 28 is operatively connected to the servo drive 19 located on the (front) side 30 of the support frame 26. The drive chain 24 is guided endlessly around the two gears 28, 29 as deflection and / or drive elements and is designed and configured to be driven continuously. A transmission module 31, which rotates with the drive chain 24, is associated with the drive chain 24.The transmission module 31 is a clamp or the like associated with at least one chain link of the drive chain 24, on which the connecting rod 25 is arranged with a free end 32, while the opposite free end 33 of the connecting rod 25 is connected to the slide 14. In the embodiment shown, the connecting rod 25 is a rigid, cylindrical profile which is detachably attached at its free end 33 to a flange 35 on the slide 14 by means of a connecting sleeve 34. The free end 32 of the connecting rod 25 is detachably attached to the transmission module 31 by means of a connecting sleeve 36.
[0046] In addition to the two gears 28 and 29 acting as deflection elements, the drive chain 24 is equipped with a tensioning element. The tensioning element is designed as a gear 37 and is spring-loaded. For this purpose, the gear 37 is mounted on the support frame 26 via a spring element 38. The gear 37 is preferably rotatably mounted on a lever arm 39, which in turn is mounted on a pivot pin 40. The pivot pin 40 is located on the (rear) side 27 of the support frame 26. On the opposite (front) side 30 of the support frame 26, the spring element 38 is also connected to the pivot pin 40 at one end 41 via a lever arm 42, while the other end 43 of the spring element 38 is directly attached to the support frame 26. The spring force of the spring element 38 is adjustable.
[0047] The processing station 10 can be used as an independent component. Preferably, however, the processing station is part of a device 44 for the synchronous tool positioning of linearly conveyed poultry carcasses 12. This device 44 comprises a transport device 45 forming a transport path for transporting the poultry carcasses 12 in the transport direction T, with a plurality of transport saddles 46 designed as receiving elements for holding the poultry carcasses 12, and at least one processing station 10 arranged along the transport path, wherein the processing station 10 is used for automatically removing a fork leg 11 from a fork leg 11, a keel leg,The device 44 comprises a poultry carcass 12 or parts thereof, comprising tendons and / or ligaments connected to the fork leg 11, as well as inner and outer fillets, and a carriage 14 movable back and forth linearly along guide rods 13 along the transport direction T of the poultry carcasses 12 to be processed, a frame 16 which is arranged on the carriage 14 in at least one stage transversely to the direction of movement T of the carriage 14 along the transport direction T relative to it, at least one drive means 17 for the frame 16, and at least one processing tool 18 arranged in the frame 16 and movable together with it, as well as drive means for driving the transport device 45 and for driving the carriage 14. According to the invention, this device 44 is characterized by being solved bythat the transport device 45 on the one hand and the slide 14 on the other hand are each assigned a separate drive means 47 and 15, respectively. The two drive means 57, 15 for the transport device 45 and the slide 14 operate independently of each other and are designed and configured to be controlled separately. For this purpose, the device 44 includes a control device 57, which is designed and configured to control the transport device 45 and / or at least the slide 14 and the machining tool 18 of the machining station 10. In the illustrated embodiment, the device 44 further includes a detection means, which is designed and configured to detect the speed of the transport device 45. The detection means is connected to the control device 57 such that the two drive means 47, 15 can be driven synchronously.
[0048] The processing station 10 is particularly preferably designed and configured according to one or more of claims 1 to 10. The processing tool 18 of the processing station 10 is designed and configured for automatically removing a fork leg 11 from a poultry carcass 12 or parts thereof, which comprises at least the fork leg 11, a keel bone, tendons and / or ligaments connected to the fork leg 11, as well as inner and outer fillets. The tool comprises an interchangeable frame 48 with an upper frame part 49 and a lower frame part 50, and a knife assembly 51 arranged between the two frame parts 49 and 50. The knife assembly 51 comprises several knives 52, 53, 54, designed and configured for cutting out the fork leg 11 from the poultry carcass 12, at least one counter-positioning body 55, designed and configured for immersing itself in the abdominal cavity of the poultry carcass 12 during the cutting out of the fork leg 11, and an actuator 56.The actuator 56 is designed and configured to move the knives 52, 53, 54 relative to the counter-position body 55 from a retracted waiting position to an extended cutting position and back. Furthermore, the machining tool 18 includes a control device, preferably the control device 57, which is also connected to the actuator 56 of the knife arrangement 51 for controlling the knives 52, 53, 54.
[0049] A clamping module 58 is associated with the knife assembly 51. The clamping module 58 is designed and configured for clamping a poultry carcass 12 when a fork leg 11 is removed from the carcass 12. The clamping module 58 comprises a clamping mechanism 59, which is designed and configured to move from an open waiting position to a clamping position resting against the outside of the poultry carcass 12 and back again, and an actuating mechanism 60, which is designed and configured for moving the clamping mechanism 59. The clamping module 58 is designed and configured to interact with the knife assembly 51, with the actuating mechanism 60 of the clamping module 58 being connected to the control device 57 for moving the clamping mechanism 59.
[0050] The procedure is explained in more detail below using the drawing as an example:
[0051] The method serves for the automatic removal of a fork leg 11 from a poultry carcass 12 or parts thereof, which still comprises at least the fork leg 11, a keel bone, tendons and / or ligaments connected to the fork leg 11, as well as inner and outer fillets. The poultry carcasses 12 or parts thereof are conveyed along a transport path in the transport direction T by means of a transport device 45. During the preferably continuous transport, the poultry carcasses 12 or parts thereof are held and guided on transport saddles 46 as receiving elements. The poultry carcasses 12 pass a processing station 10 with at least one processing tool 18 comprising a knife assembly 51. The fork leg 11 is removed from the poultry carcass 12 or parts thereof by means of this processing tool 18 or the knife assembly 51.For this purpose, each machining tool 18 runs synchronously with the transport saddles 46 of the transport device 45 in transport direction T from a starting position to an end position by means of a slide 14 on the one hand in a working cycle and on the other hand runs back from the end position to the starting position in the opposite direction of transport T in a return cycle.
[0052] According to the invention, this method is characterized in that the transport device 45 and the slide 14 of the processing tool 18 are driven independently of each other along the transport direction T. The transport device 45 is driven by the drive means 47. The slide 14 is driven from the processing station 10 by the drive means 15. Both drive means 47 and 15 can be controlled by the control device 57. During the working cycle, i.e., in the phase in which the slide 14 is moved at the same speed as the transport saddles 46 with the poultry carcasses 12 on them, a frame 16, which carries each processing tool 18 and is arranged on the slide 14, is moved transversely to the transport direction T from a waiting position towards the transport saddles 46 to a working position and back to the waiting position.By moving the frame 16 into the working position prior to cutting out the fork leg 11, a counter-position body 55 of the knife assembly 51 is first inserted into the abdominal cavity of the poultry carcass 12. To remove the fork leg 11, three knives 52, 53, 54 of the knife assembly 51 then penetrate the poultry carcass 12 or parts thereof, such that two side knives 52, 53 with first cutting edges lying in a substantially vertically oriented cutting plane, and a cover knife with cutting edges lying in a substantially horizontally oriented cutting plane, cut out the fork leg 11 from three sides.
[0053] Before the knives 52, 53, 54 are moved from the waiting position to the cutting position, clamping jaws 61, 62 of a clamping module 58 are moved from the outside against the poultry carcass 12 above the knife assembly 51. The knives 52, 53, 54 of the knife assembly 51 are then moved, preferably synchronously with the cutting of the fork leg 11, into the poultry carcass 12, which is thus supported and centered, from the retracted waiting position to the extended cutting position. During clamping and cutting, the poultry carcass 12 is supported from the inside by the counter-support body 55, both at the level of the knives 52, 53, 54 of the knife assembly 51 and at the level of the clamping jaws 61, 62 of the clamping module 58.By moving the frame 16 from the working position back to the waiting position, the knife assembly 51 with the knives 52, 53, 54 in their cutting position and the counter body 55 together with the clamping module 58 is withdrawn from the abdominal cavity of the poultry carcass 12, thereby removing the fork leg 11 from the poultry carcass 12.
[0054] The method is particularly preferably carried out with a device 44 according to one or more of claims 11 to 16.
Claims
1. Processing station (10), designed and equipped for the automatic removal of a fork leg (11) from a poultry carcass (12) or parts thereof, comprising at least the fork leg (11), a keel leg, tendons and / or ligaments connected to the fork leg (11), as well as inner and outer fillets, comprising a carriage (14) movable back and forth linearly along guide rods (13) along the transport direction T of the poultry carcasses (12) to be processed, at least one drive means (15) for the carriage (14), a frame (16) which is arranged on the carriage (14) in at least one stage transversely to the direction of movement T of the carriage (14) along the transport direction T relative to it, at least one drive means (17) for the frame (16), and at least one processing tool (18) arranged in the frame (16) and movable together with and / or relative to it transversely to the transport direction T of the carriage (14),characterized in that the drive means (15) for the slide (14) is designed and configured exclusively for driving the slide (14) and comprises at least one servo drive (19).
2. Processing station (10) according to claim 1, characterized in that the drive means (15) for the slide (14) further comprises a drive chain (24) and a connecting rod (25).
3. Processing station (10) according to claim 2, characterized in that at least the servo drive (19) and the drive chain (24) are arranged on a stationary support frame (26).
4. Processing station (10) according to claim 2 or 3, characterized in that the drive chain (24) is guided endlessly around at least two deflection elements and is designed and configured to be driven continuously.
5. Machining station (10) according to claim 4, characterized in that at least one of the deflection elements is designed as a gear (28, 29) and the servo drive (19) is operatively connected to a gear (28).
6. Machining station (10) according to one or more of claims 2 to 5, characterized in that a transmission module (31) rotating with the drive chain (24) is assigned to the drive chain (24), on which the connecting rod (25) is arranged with a free end (32), while the opposite free end (33) of the connecting rod (25) is connected to the slide (14).
7. Processing station (10) according to one or more of claims 4 to 6, characterized in that a clamping element is assigned to the drive chain (24) in addition to the at least two deflection elements.
8. Machining station (10) according to claim 7, characterized in that the clamping element is a gear (37) which is under spring tension.
9. Machining station (10) according to claim 7 or 8, characterized in that the clamping element is tensioned via a spring element (38) which is arranged on the support frame (26).
10. Processing station (10) according to claim 9, characterized in that the spring force of the spring element (38) is adjustable.
11. Device (44) for the moving tool positioning of linearly conveyed poultry carcasses (12), comprising a transport device (45) forming a transport path for transporting the poultry carcasses (12) in the transport direction T with a plurality of transport saddles (46) designed to hold the poultry carcasses (12) as receiving elements, and at least one processing station (10) arranged along the transport path, wherein the processing station (10) is designed and configured for automatically removing a fork leg (11) from a poultry carcass (12) or parts thereof, which still comprises at least the fork leg (11), a keel leg, tendons and / or ligaments connected to the fork leg (11), and inner and outer fillets, and includes a slide (14) that is linearly movable back and forth along guide rods (13) in the transport direction T of the poultry carcasses (12) to be processed, and a frame (16).which is arranged at least in one stage transversely to the direction of movement T of the carriage (14) along the transport direction relative to it and movable on the carriage (14), comprises at least one drive means (17) for the frame (16), as well as at least one machining tool (18) arranged in the frame (16) and movable together with it, and drive means for driving the transport device (45) and for driving the carriage (14), characterized in that a separate drive means (47, 15) is assigned to the transport device (45) on the one hand and to the carriage (14) on the other hand.
12. Device (44) according to claim 11, characterized in that the two drive means (47, 15) for the transport device (45) and the slide (14) operate independently of each other and are designed and configured to be separately controllable.
13. Device (44) according to claim 11 or 12, characterized in that it comprises a detection means which is designed and configured to detect the speed of the transport device (45).
14. Device (44) according to one or more of claims 11 to 13, characterized in that it comprises a control device (57) which is designed and configured to control the transport device (45) and / or at least the slide (14) and the machining tool (18) of the machining station (10).
15. Device according to claim 14, characterized in that the detection means is connected to the control device (57) in such a way that the two drive means (47, 15) can be driven synchronously.
16. Device according to one or more of claims 11 to 15, characterized in that the processing station (10) is designed and set up according to one or more of claims 1 to 10.
17. Device (44) according to one or more of claims 11 to 16, characterized in that the processing tool (18) is designed and configured for automatically removing a fork leg (11) from a poultry carcass (12) or parts thereof, comprising at least the fork leg (11), a keel bone, tendons and / or ligaments connected to the fork leg (11), as well as inner and outer fillets, and includes an interchangeable frame (48) with an upper frame part (49) and a lower frame part (50), a knife arrangement (51) arranged between the two frame parts (49, 50), wherein the knife arrangement (51) comprises several knives (52, 53, 54) designed and configured for cutting out the fork leg (11) from the poultry carcass (12), at least one counter-position body (55) designed and configured for immersion into the abdominal cavity of the poultry carcass (12) during the cutting out of the fork leg (11), and an actuator (56). includeswherein the actuator (56) is designed and configured to move the knives (52, 53, 54) relative to the counter-position body (55) from a retracted waiting position to an extended cutting position and back, and comprises a control device (57) which is connected to the actuator (56) of the knife assembly (51) for controlling the knives (52, 53, 54).
18. Device (44) according to claim 17, characterized in that a clamping module (58) is associated with the knife arrangement, which is designed and configured for clamping a poultry carcass (12) when removing a fork leg (11) from the poultry carcass (12) and comprises a clamping mechanism (59) which is designed and configured to move from an open waiting position into a clamping position adjacent to the outside of the poultry carcass (12) and back, as well as an actuating mechanism (60) which is designed and configured for moving the clamping mechanism (59).
19. Device (44) according to claim 18, characterized in that the clamping module (58) is designed and configured to interact with the knife arrangement (51), wherein the actuating mechanism (60) of the clamping module (10) is connected to the control device (57) for moving the clamping mechanism (59).
20. Method for automatically removing a furcula (11) from a poultry carcass (12) or parts thereof comprising at least the furcula (11), a keel bone, tendons and / or ligaments connected to the furcula (11), and inner and outer fillets, comprising the steps: Conveying the poultry carcasses (12) or parts thereof along a transport route in the direction of transport T by means of a transport device (45), - wherein the poultry carcasses (12) or parts thereof are held and guided on transport saddles (46) as receiving elements during transport, Removing the fork leg (11) from the poultry carcass (12) or parts thereof by means of a processing tool (18) comprising a knife arrangement (51), wherein - each machining tool (18) by means of a slide (14) moves synchronously with the transport saddles (46) of the transport device (45) in transport direction T from a starting position to an end position in a working cycle and in a return cycle moves back from the end position to the starting position in the opposite direction of transport T, characterized in that the transport device (45) on the one hand and the slide (14) of the machining tool (18) on the other hand are driven independently of each other along the transport direction T.
21. Method according to claim 20, characterized in that a frame (16) carrying each machining tool (18) and arranged on the slide (14) 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.
22. Method according to claim 20 or 21, characterized in that, for removing the fork leg (11), three knives (52, 53, 54) of the knife arrangement (51) penetrate the poultry carcass (12) or parts thereof, such that two side knives (52, 53) with first cutting edges lying in a substantially vertically directed cutting plane, and a cover knife (54) with cutting edges lying in a substantially horizontal cutting plane, cut free the fork leg (11) from three sides. - 23 - 23.Method according to claim 21 or 22, characterized in that, by moving the frame (16) into the working position before cutting out the fork leg (11), a counter-position body (55) of the knife arrangement (51) is first inserted into the abdominal cavity of the poultry carcass (12), before clamping jaws (61, 62) of the clamping module (58) are moved from the outside against the poultry carcass (12) above the knife arrangement (51), in order to then move the knives (52, 53, 54) of the knife arrangement (51) from a retracted waiting position to an extended cutting position into the poultry carcass (12) thus supported and centered, in order to cut out the fork leg (11).
24. Method according to one or more of claims 20 to 23, characterized in that the poultry carcass (12) is additionally fixed from the outside by means of a clamping module (58) when the fork leg (11) is removed from the poultry carcass (12).
25. Method according to claim 24, characterized in that the poultry carcass (12) is supported from the inside by the counter-position body (55) both at the level of the knives (52, 53, 54) of the knife arrangement (51) and at the level of clamping jaws (61, 62) of the clamping module (58) during clamping and cutting.
26. Method according to claim 24 or 25, characterized in that by moving the frame (16) from the working position back to the waiting position, the knife arrangement (51) with the knives (52, 53, 54) in their cutting position and the counter body (55) together with the clamping module (58) are withdrawn from the abdominal cavity of the poultry carcass (12), thereby removing the fork leg (11) from the poultry carcass (12).
27. Method according to one or more of claims 20 to 26, characterized in that it is carried out with a device (44) according to one or more of claims 11 to 19.