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1. 发明申请

WO2015168511A2 ROBOTIC CARCASS PROCESSING METHOD AND SYSTEM 审中-公开
标题翻译：机器人处理方法与系统
公开(公告)号：WO2015168511A2
公开(公告)日：2015-11-05
申请号：PCT/US2015/028725
申请日：2015-05-01
申请人： JARVIS PRODUCTS CORPORATION
发明人： DRISCOLL, Daniel
IPC分类号： A22C17/00 , G06F19/00
CPC分类号： A22B5/0041 , A01K5/0241 , A22B5/202 , A22B5/208
摘要： A robotic carcass processing system uses a pair of robotic arms having multiple axes of motion, a saw mounted thereon, and a control ler. The controller moves the saw in Cartesian space via inverse kinematics with interpolation control over the multiple axes of the robotic arm to synchronously move the saw relative to a carcass on an assembly l ine. The control ler also determines when one of the robotic arms has moved its saw out of a defined space to indicate that space is clear and to permit the other robotic arm to enter that space. A sensor on the assembly l ine identifies location of the absence of a supported carcass, a supported carcass that requires special handl ing, or weight or length of a carcass. The control ler sends a signal to the robotic arms to either effect a standard cut or to modify the standard cut at the identified location or carcass.
摘要翻译：机器人胎体处理系统使用一对具有多个运动轴的机器人臂，安装在其上的锯和控制器。控制器通过反相运动学在笛卡尔空间中移动锯，并通过机器人手臂的多个轴线进行插补控制，以使锯相对于组件上的胎体同步移动。控制器还确定何时其中一个机器人臂将其锯从已定义的空间移动，以指示该空间是清晰的并且允许另一个机器人手臂进入该空间。组件上的传感器识别不存在被支撑的胎体的位置，需要特殊处理的支撑的胎体，或胎体的重量或长度。控制器将信号发送到机器人臂，以实现标准切割或修改在识别位置或屠体处的标准切口。

2. 发明申请

WO2015168511A3 ROBOTIC CARCASS PROCESSING METHOD AND SYSTEM 审中-公开
标题翻译：机器人卡车加工方法与系统
公开(公告)号：WO2015168511A3
公开(公告)日：2016-01-14
申请号：PCT/US2015028725
申请日：2015-05-01
申请人： JARVIS PRODUCTS
发明人： DRISCOLL DANIEL
IPC分类号： A22B5/20 , A22B5/18
CPC分类号： A22B5/0041 , A01K5/0241 , A22B5/202 , A22B5/208
摘要： A robotic carcass processing system uses a pair of robotic arms having multiple axes of motion, a saw mounted thereon, and a control ler. The controller moves the saw in Cartesian space via inverse kinematics with interpolation control over the multiple axes of the robotic arm to synchronously move the saw relative to a carcass on an assembly l ine. The control ler also determines when one of the robotic arms has moved its saw out of a defined space to indicate that space is clear and to permit the other robotic arm to enter that space. A sensor on the assembly l ine identifies location of the absence of a supported carcass, a supported carcass that requires special handl ing, or weight or length of a carcass. The control ler sends a signal to the robotic arms to either effect a standard cut or to modify the standard cut at the identified location or carcass.
摘要翻译：机器人胎体处理系统使用一对具有多个运动轴的机器人臂，安装在其上的锯和控制器。控制器通过反相运动学在笛卡尔空间中移动锯，通过在机器臂的多个轴上进行插值控制，以使锯相对于组件上的胎体同步移动。控制器还确定何时其中一个机器人臂将其锯从已定义的空间移动，以指示该空间是清晰的并且允许另一个机器人手臂进入该空间。组件上的传感器识别不存在被支撑的胎体的位置，需要特殊处理的支撑的胎体，或胎体的重量或长度。控制器将信号发送到机器人臂，以实现标准切割或修改在识别位置或屠体处的标准切口。

3. 发明申请

WO1984003816A1 METHOD FOR TREATING A CARCASS OR SEMI-CARCASS OF MEAT AND DEVICE FOR IMPLEMENTING SUCH METHOD 审中-公开
标题翻译：用于处理肉类或半肉块的方法和用于实施这种方法的装置
公开(公告)号：WO1984003816A1
公开(公告)日：1984-10-11
申请号：PCT/FR1984000084
申请日：1984-03-29
申请人： CHIRON S.A. , CHIRON, Gabriel , SOULLARD, Marcel , FRADIN, Maurice
发明人： CHIRON S.A.
IPC分类号： A22C17/02
CPC分类号： A22B5/205 , A22B5/202 , A22C17/02
摘要： A moving frame (10) comprises a clamping means (25) and a rigidification bar (33) provided with grippers (35) and mounted on a rotary plate (29). A jack (43) enables to vary the spacing between the uprights (11 and 12) and to place the half carcass (1) in an extended position. After holding the semi-carcass (1) in a vertical position, the moving frame (10) is placed in a horizontal position by actuation of the pinion (47) cooperating with the toothed sector (46). In this position, the muscles are successively cut off from the carcass and the skeleton is left hanging from the moving frame (10).
摘要翻译：移动框架（10）包括夹持装置（25）和设置有夹具（35）并安装在旋转板（29）上的刚性杆（33）。千斤顶（43）能够改变立柱（11和12）之间的间距并将半胎体（1）放置在延伸位置。在将半胎体（1）保持在垂直位置之后，通过与齿形部分（46）协作的小齿轮（47）的致动将移动框架（10）放置在水平位置。在这个位置上，肌肉依次从胎体上切下，骨架从运动框架（10）悬挂下来。

4. 发明申请

WO2003028469A1 CONTROL MEANS FOR AN APPARATUS FOR THE SPLITTING ALONG THE SYMMETRICAL PLANE OF SLAUGHTERED ANIMALS AND METHOD AND APPARATUS 审中-公开
标题翻译：用于在动物对数平面上分割的装置的控制手段和方法和装置
公开(公告)号：WO2003028469A1
公开(公告)日：2003-04-10
申请号：PCT/DK2001/000640
申请日：2001-10-03
申请人： SFK-DANFOTECH A/S , KROGH, Knud
发明人： KROGH, Knud
IPC分类号： A22B5/20
CPC分类号： A22B5/202
摘要： Control means (1) for an apparatus for the splitting along the symmetrical plane of slaughtered animals, said apparatus comprising saw blade/splitting knives or saws (5) for the implementation of the symmerical splitting, said control means (1) comprising at least two and substantially identical control elements, a first control element (2) and a second control element (3), said first control element (2) and said second control element (3) being disposed substantially opposite each other, and where each control element (2, 3) comprises a surface (20) for engagement against the spinal column (9) wich comprises spinous processes (4) wholly or partly laid free by a first cutting means. It is hereby achieved that the spinous processes stand immovable, so that the saw blade can engage with the centre of these and carry out a clean cutting of the spinous processes.
摘要翻译：用于沿屠宰动物的对称平面分裂的装置的控制装置（1），所述装置包括用于实现同步分裂的锯片/分割刀或锯（5），所述控制装置（1）包括至少两个和基本上相同的控制元件，第一控制元件（2）和第二控制元件（3），所述第一控制元件（2）和所述第二控制元件（3）基本上彼此相对设置，并且其中每个控制元件 2,3）包括用于与脊柱（9）接合的表面（20），其包括由第一切割装置完全或部分地放置的棘突（4）。因此，实现棘突不固定，使得锯片可以与其中心接合并且执行棘突的清洁切割。

5. 发明申请

WO1989005584A1 AUTOMATIC ANIMAL PROCESSING 审中-公开
标题翻译：自动动物加工
公开(公告)号：WO1989005584A1
公开(公告)日：1989-06-29
申请号：PCT/AU1988000496
申请日：1988-12-22
申请人： COMMONWEALTH SCIENTIFIC AND INDUSTRIAL RESEARCH & , AUSTRALIAN MEAT AND LIVE-STOCK RESEARCH AND ... , RANKIN, Russel, James , DE CHASTEL, David, John , WESCOMBE, Graeme, Leslie , KERR, David, Teal , BOYCE, Phillip, Rodney , WHITE, Raymond, Malcolm , TRITCHLER, Robert, William , BUHOT, John, William
发明人： COMMONWEALTH SCIENTIFIC AND INDUSTRIAL RESEARCH & , AUSTRALIAN MEAT AND LIVE-STOCK RESEARCH AND ...
IPC分类号： A22B05/00
CPC分类号： A22B5/0023 , A22B5/0005 , A22B5/0029 , A22B5/202 , A22B5/205 , A22B5/206
摘要： An apparatus for automatically processing an animal carcass (8). Suspension means (122, 123) suspends the carcass (8) in an inverted position with the spine inclined upwardly towards the neck (11) with the spine located beneath the carcass (8) and so that the diaphragm (119) is approximately vertical. A cutting assembly (130) moves into the abdominal cavity adjacent to the diaphragm (119), and a cutting means (28) cuts the diaphragm (119) around the periphery. A brisket shearing means (21) cuts the brisket (20) with a shearing action along the brisket (20) from the abdomen and towards the neck end of the brisket (20). The reaction member (188) is pivotally movable relative to the brisket (20) about a rear end to generally follow the contours of the brisket (20). Head holding means (12) locates and clamps the head (10) against movement, and stretching means (15) stretches the neck of the carcass (8) so as to spread the atlas joint, and a cutting blade (156) moves along the line of the jaw (9) and through the atlas joint so as to sever the head (10). Splitting support means (81) is movable lengthwise along the carcass (82), an opposed pair of rolling or sliding spine tracking means (86) carried by the splitting support means (81) straddles, locates and restrains the spine against lateral movement while cutting means (87, 200) splits the carcass (82) at the tracking means (86).
摘要翻译：一种用于自动处理动物体（8）的装置。悬挂装置（122,123）将胎体（8）悬挂在倒置的位置，其中脊柱向上朝向颈部（11）倾斜，脊柱位于胎体（8）下方，并且使得隔膜（119）大致垂直。切割组件（130）移动到与隔膜（119）相邻的腹腔中，并且切割装置（28）围绕周边切割隔膜（119）。一个横臂剪切手段（21）用沿着腹部的手臂（20）和横臂（20）的颈部端部的剪切动作（20）切割胸部（20）。反作用构件（188）可围绕后端相对于横臂（20）枢转运动，以大致跟随横臂（20）的轮廓。头部保持装置（12）定位并夹紧头部（10）以防止运动，并且拉伸装置（15）使胎体（8）的颈部伸展以扩展图集，并且切割刀片（156）沿着（9）的线，并通过地图集，以便切断头部（10）。分割支撑装置（81）可沿着胎体（82）纵向移动，由分离支撑装置（81）承载的相对的一对滚动或滑动脊柱跟踪装置（86）跨越，定位并限制脊柱横向移动同时切割装置（87,200）在跟踪装置（86）处分割胎体（82）。

6. 发明申请

WO2002091837A2 CARCASS ALIGNMENT SYSTEM FOR CARCASS SPLITTER 审中-公开
标题翻译： CARCASS分配器的卡通对齐系统
公开(公告)号：WO2002091837A2
公开(公告)日：2002-11-21
申请号：PCT/US2002/014128
申请日：2002-05-01
申请人： JARVIS PRODUCTS CORPORATION
发明人： LOSEKE, Terry, O.
IPC分类号： A22B
CPC分类号： A22B5/202
摘要： A carcass alignment system for holding and positioning a carcass for splitting by an automated saw while the carcass is suspended and continuously moving along a carcass rail includes back rollers for contacting the back and upper sides of the carcass, guide rollers for contacting the backbone on the inner side of the carcass and guide sleds that slide along the sides of the backbone and preposition the backbone for the guide rollers. Two back rollers are specially shaped to match the expected shape of the carcass and provide primary positioning for the back of the carcass. Two other back rollers provide additional support for the back of the carcass and also contact the upper sides of the carcass.
摘要翻译：一种用于保持和定位胎体的胎体，用于在胎体悬挂并沿着胎体轨道连续移动时由自动锯分离的胎体包括用于接触胎体的后侧和上侧的后辊，用于接触胎体上的骨架的导辊胎体的内侧和导向滑架沿着骨架的侧面滑动，并且介绍导向辊的骨架。两个后辊特别成形以匹配胎体的预期形状，并为胎体的后部提供主要定位。另外两个后轮为胎体的背面提供额外的支撑，并且还与胎体的上侧接触。

7. 发明申请

WO1996034532A1 APPARATUS FOR THE SPLITTING OF THE SPINE OF A CARCASS INTO TWO HALVES ALONG THE SYMMETRICAL PLANE 审中-公开
标题翻译：将对手脊椎分解成对称平面中的两个倾斜的装置
公开(公告)号：WO1996034532A1
公开(公告)日：1996-11-07
申请号：PCT/DK1996000204
申请日：1996-05-02
申请人： DANFOTECH AALBORG A/S , CHRISTENSEN, Per , HVID, Niels
发明人： DANFOTECH AALBORG A/S
IPC分类号： A22B05/20
CPC分类号： A22B5/202 , A22B5/206
摘要： An apparatus for the splitting of the spine of a carcass into two halves comprises a meat axe with associated movement arrangement and support elements for the carcass which can follow the axe on the spine side and the belly side of the carcass below the cutting point. The meat axe with the movement arrangement and the support elements are mounted on a carriage which is displaceable in the vertical direction. For the carcass halves there are spreading elements which are arranged at a distance from, at and on each side of the axe over the working area of the axe, said spreading elements being mounted on and substantially immovable in relation to the carriage. The carriage is removably secured to a vertically displaceable holder. Cables and hoses are connected to the stationary part of the apparatus by means of separable connection. It is hereby achieved that a quick change can be made between a sawing method and a chopping method.
摘要翻译：用于将胎体的脊部分割成两半的装置包括具有相关联的运动装置的肉arrangement和用于胎体的支撑元件，其可以跟随在切割点下方的胎体侧面和胎体的胫骨上的斧头。具有移动装置的肉斧和支撑元件安装在可在垂直方向上移位的滑架上。对于胴体半部，存在布置元件，其布置在斧头的工作区域的远离轴承的每一侧并在其上方，所述扩展元件相对于托架安装在基本上不可移动的位置上。托架可拆卸地固定到可垂直移动的支架上。电缆和软管通过可分离连接连接到设备的固定部分。因此，可以在锯切方法和切割方法之间进行快速变化。

8. 发明申请

WO1994014325A1 PROCESS AND APPARATUS FOR PROCESSING AN ANIMAL CARCASS 审中-公开
标题翻译：用于处理动物卡的过程和装置
公开(公告)号：WO1994014325A1
公开(公告)日：1994-07-07
申请号：PCT/SE1993001079
申请日：1993-12-17
申请人： KÖTTFORSKNINGSINSTITUTET AB , GARDELL, Jan , HERLEVSEN, Steen
发明人： KÖTTFORSKNINGSINSTITUTET AB
IPC分类号： A22B05/00
CPC分类号： A22B5/0023 , A22B5/0005 , A22B5/0029 , A22B5/202
摘要： The invention relates to a process and an apparatus for individually processing a carcass. The inventive process is characterized in that the carcass, before each operation of the process, is taken to an ergonomically correct position. The apparatus according to the invention is characterized in that an essentially vertical supporting arm (36) is movably connected to a frame member (14) arranged in a base element (6), the upper end (38) of said supporting arm (36) supporting the carcass (S). The frame member (14) and the supporting arm (36) are connected to control means (18, 20, 32, 50) for turning the carcass (S) about the main axes (X, Y, Z) in a perpendicular system of coordinates.
摘要翻译：本发明涉及一种用于单独处理胎体的方法和装置。本发明的方法的特征在于，在该过程的每个操作之前，将胎体取为符合人体工程学的正确位置。根据本发明的装置的特征在于，基本上垂直的支撑臂（36）可移动地连接到布置在基座元件（6）中的框架构件（14），所述支撑臂（36）的上端（38）支持屠体（S）。框架构件（14）和支撑臂（36）连接到控制装置（18,20,32,40），用于将胎体（S）围绕主轴线（X，Y，Z）绕垂直系统坐标。

9. 发明申请

WO2017163454A1 鶏ボンジリの除骨装置审中-公开
标题翻译：鸡Bongey去除设备
公开(公告)号：WO2017163454A1
公开(公告)日：2017-09-28
申请号：PCT/JP2016/076738
申请日：2016-09-12
申请人：マトヤ技研工業株式会社
发明人：益留　福一
IPC分类号： A22C21/00
CPC分类号： A22C21/0069 , A22B5/0035 , A22B5/202 , A22C21/0046 , A22C21/0053
摘要：【課題】ボンジリ内にある尾骨の除去作業における労力を軽減し、安全かつ効率的にボンジリ内の除骨作業を行うことができる鶏ボンジリの除骨装置を提供する。【解決手段】円盤３ａの中心を支軸に円周方向に複数個配列した受け皿（ダイスカップ）２を水平方向に間欠的に一定速度で割り出し回転する回転搬送機構３と、この回転搬送機構３が停止した状態で、受け皿２に載置されたボンジリ１からボンジリ１内の尾骨１ａを打ち抜いて除去する打ち抜きパンチ機構のホルダー４と、除骨後のボンジリ１を、受け皿２を反転させることで装置外に搬出する処理肉払い出し機構のアーム５とから構成する。
摘要翻译：
A降低在除去内Bonjiri尾骨提供安全和有效地剔骨装置的工作劳动鸡Bonjiri能够在Bonjiri执行剔骨操作的。和用于在间歇恒定速度旋转分度平移磁盘3a的中心的旋转传送机构3具有多个在水平方向上沿周向设置支撑轴（骰子杯）2，旋转输送机构3 状态，但被停止，并且冲压机构的，用于通过从Bonjiri 1冲压Bonjiri 1的尾骨1A取出支架4安装在盘2中，Bonjiri 1剔骨之后，通过反转盘2 加工肉类支付机构的臂5用于将其从设备中运出。

10. 发明申请

WO2014036547A1 CARCASS STABILIZER 审中-公开
公开(公告)号：WO2014036547A1
公开(公告)日：2014-03-06
申请号：PCT/US2013/057798
申请日：2013-09-03
申请人： JARVIS PRODUCTS CORPORATION
发明人： BASSO, Harry, W., Jr. , WALLACE, Edward, R.
IPC分类号： A22C17/02
CPC分类号： A22C17/02 , A22B5/202 , A22B7/003
摘要： A carcass stabilizer for holding a carcass and preventing swinging motion parallel to a carcass rail has a pair of arms that open widely to grasp a swinging carcass as the carcass moves at a point below the suspension point of the carcass. The arms continuously move with the carcass as a carcass processing operation is performed and also preferably move down during the processing operation to exert a downward pull on the carcass and thereby straighten the centerline of the carcass and more accurately hold it in an aligned position.
摘要翻译：用于保持胎体并且防止平行于胎体轨道的摆动运动的胎体稳定器具有一对臂，当胎体在胎体的悬挂点下方移动时，该对臂被广泛地敞开以抓握摆动的胎体。当执行胎体处理操作时，臂与胎体连续移动，并且还优选在处理操作期间向下移动以向胎体施加向下的拉力，从而矫正胎体的中心线并且更精确地将其保持在对准位置。

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