PIECE OF MEAT

Background of the invention

The invention relates to a meat cutting tool comprising drive means arranged for rotating a circular cutting blade. The invention also relates to a meat cutting station comprising an articulated robot and a meat cutting tool, a method for cutting a piece of meat by means of a meat cutting tool and use of a meat cutting tool or a meat cutting station for cutting bones in a piece of meat.

Description of the Related Art

In abattoirs, slaughterhouses and similar facilities it is known to cut meat by means of knifes. But cutting my means of a knife is difficult to automate and knives are not particularly suited for cutting bones inside the meat. Thus, it is also known to use circular rotating cutting blades to cut meat and particularly meat in which bones have to be cut. From the Korean patent application KR 20220116872 A it is known to provide a stationary table-mounted chicken cutting tool in which a spear is displaced up and down during the cutting process to protect a user - manually placing chickens in the cutter - from the rotating cutting blade. However, such a cutting process is complex, labor intensive and time consuming.

When automating the cutting of meat passing on a conveyer by means of an articulated robot handling a circular rotating blade it is difficult to ensure that the meat is cut all the way through and that only the meat is cut. Furthermore, when cutting meat containing bones, where only the part of the meat containing the bones needs to be cut, this has to be done either manually - which often leads to an unprecise and inconsistent result - or by means of a robot which then requires expensive X-ray equipment to determine the exact location of the bones in the meat. Thus, from the international patent applications WO 2022/003176 Al and WO 2014/025250 Al it is known to use a cutting tool comprising a rotating cutting blade and some kind of guide arrangement to cut meat. However, these solutions are complex and cause problems regarding cutting efficiency and other.

An object of the invention is therefore to provide for an advantageous technique for cutting meat alleviating the above-mentioned problems.

The invention

The invention provides for a meat cutting tool comprising a cutting tool support structure and a circular cutting blade connected to the cutting tool support structure, wherein the circular cutting blade is arranged to rotate around a rotational axis. The meat cutting tool also comprises a guide spear connected to the cutting tool support structure at a first longitudinal end of the guide spear so that the guide spear is overlapping the circular cutting blade as seen in the direction of the rotational axis, wherein the guide spear is extending along a part of the periphery of the circular cutting blade perpendicularly to a rotational axis of the circular cutting blade, and wherein a second longitudinal end of the guide spear taper off, and wherein the circular cutting blade and the guide spear are connected to the cutting tool support structure so that the circular cutting blade and the guide spear are maintained in a mutually fixed position during use of the meat cutting tool. The meat cutting tool further comprises drive means arranged for rotating the circular cutting blade around the rotational axis so that the periphery of the circular cutting blade is moving towards the first longitudinal end at the guide spear.

Forming the meat cutting tool with a guide spear extending along a part of the periphery of a circular cutting blade is advantageous in that since the free end of the guide spear comes to a point or an edge, the guide spear can be used to penetrate the meat or to lift the meat off e.g., a conveyer surface (i.e., slide under the meat). And making the drive means rotate the circular cutting blade so that the blade pulls the meat towards the first longitudinal end of the guide spear - at the guide spear - is advantageous in that the meat between the blade and the spear hereby is forced in between the blade and the spear, thus increasing the chance of cutting the meat all way through while at the same time the blade rotation aids in driving the spear forward. The chance of cutting the meat correctly all way through is further increased by the guide spear overlapping and extending along a part of the periphery of the circular cutting blade in that this in itself will generate a cutting effect between the guide spear and the circular cutting blade. Thus, when meat resting on a surface (such as on a belt conveyer) needs to be cut all the way through the spear can be slid in under the meat - due to the free end tapering off - and the meat cutting tool will cut the meat all the way through without risking damage to the underlying surface or other. And when e.g. only an upper bone part of a piece of meat needs to be cut through, without cutting the lower meat part, the spear can be used to penetrate the meat below the bones and while the blade cuts the bones and the upper meat part - and thereby generates a forward pull - the guide spear will be guided along the underside of the bones inside the piece of meat to provide a more precise cut that will leave more of the underlying meat untouched while the guide spear at the same time will act a backing or fixed support for the blade so that the bones are cut faster and more efficiently. This makes the present invention superior to the tools presented in e.g., the international patent applications WO 2022/003176 Al and WO 2014/025250 Al in that according to the present invention the circular cutting blade is rotated so that the blade pulls the meat towards the intersection between the guide spear and the blade whereby the meat is cut more efficiently and the risk of pushing the meat and thereby displacing it during the cutting process is reduced thereby ensuring a more efficient and precise cutting process.

Furthermore, connecting the circular cutting blade and the guide spear to the cutting tool support structure so that the circular cutting blade and the guide spear are maintained in a mutually fixed position during use of the meat cutting tool for cutting meat is advantageous in that a fixed overlap is hereby maintained between the circular cutting blade and the guide spear during the cutting process thereby increasing the chance of completely and correctly cutting skin, meat, bones and other passing in between the circular cutting blade and the guide spear. Furthermore, maintaining the circular cutting blade and the guide spear in a mutually fixed position during use of the meat cutting tool is advantageous in that this ensures a simple and inexpensive meat cutting tool. However, it should be understood, that maintaining the circular cutting blade and the guide spear mutually fixed during the cutting process does not exclude that their mutual position can be adjusted between cutting processes e.g., to adjust the size of the overlap, to adjust the meat cutting tool to a subsequent specific meat cutting task or other.

It should be emphasised that the term “taper off is to be understood as the second longitudinal end of the guide spear progressively becomes smaller toward the free end so that the second longitudinal end ends of in a pointy edge or tip either at the middle of the second longitudinal end, at the edge of the second longitudinal end or somewhere therebetween.

Furthermore, in this context the term “drive means’" is to be understood as any kind of driver suited for driving the rotation of a circular cutting blade. I.e., the term comprises any kind of electrical motor, pneumatic motor, hydraulic motor, internal combustion engine or other.

In an aspect of the invention, the guide spear is extending is extending between 10% and 300%, preferably between 30% and 200% and most preferred between 50% and 150% of the radius of the circular cutting blade from a plane defined by the rotational axis of the circular cutting blade and the point at which the circular cutting blade is overlapping the guide spear the most as seen in the direction of the rotational axis of the circular cutting blade.

If the blade is extending too little in front of the point where the blade overlaps the spear it is difficult to slide the spear in under a piece of meat before the blade engages the meat and it is more difficult to use the spear as a guide for the blade when cutting bones inside an upper meat part while leaving the lower meat part uncut. And if the blade is extending too far in front of the blade the risk of the spear displacing the meat before the blade engages the meat increases both when sliding the spear under the meat and when penetrating the meat by means of the spear. Thus, the present length ranges are advantageous in relation to functionality.

In an aspect of the invention, the largest cross-sectional extent of the guide spear is between 5 and 50 mm, preferably between 10 and 40 mm, and most preferred between 15 and 35 mm.

If the guide spear is too thick it is difficult to slide the spear in under the meat and it is difficult to penetrate the meat without deforming and/or displacing the meat. However, it the spear is too thin the risk of the spear flexing so that the rotating blade hits the spear increases and the risk of the spear being permanently deformed increases. Thus, the present thickness ranges present an advantageous relationship between functionality and durability.

In an aspect of the invention, the guide spear is formed as a cylindrical rod.

Forming the guide spear as a cylindrical rod - either hollow or solid - is advantageous in that the cylindrical shape provides a great resistance in relation to bending moments in relation to cross sectional area and therefore makes it particularly suited in relation to guide spears.

In an aspect of the invention, the diameter of the cylindrical rod is substantially constant.

Forming the diameter of the cylindrical rod substantially constant is advantageous in that this simplifies manufacturing and reduces friction or resistances when sliding the spear in under a piece of meat and when penetrating the meat. In an aspect of the invention, the guide spear is connected to the cutting tool support structure so that the shortest distance between the rotational axis of the circular cutting blade and the guide spear is smaller than the radius of the circular cutting blade.

Arranging the guide spear in relation to the blade so that the shortest distance between the rotational axis of the circular cutting blade and the guide spear is smaller than the radius of the circular cutting blade is advantageous in that an overlap is hereby formed between the blade and the spear - as seen in the direction of the rotational axis of the circular cutting blade - which will increase the chance of cutting anything forced in between the spear and the blade all the way trough.

In an aspect of the invention, the guide spear is connected to the cutting tool support structure so that at the shortest distance between the rotational axis of the circular cutting blade and the guide spear the guide spear is extending further from the rotational axis than the radius of the circular cutting blade.

Making if the guide spear extend further from the rotational axis of the circular cutting blade than the outer edge of the circular cutting blade, at the area where there is also the shortest distance between the rotational axis of the circular cutting blade and the guide spear, is advantageous in that this means that the spear always will protect any underlying surface or meat from being cut by the blade when the spear is used for lifting the meat of an underlying surface or for guiding the tool through a piece of meat.

In an aspect of the invention, the guide spear comprises a groove extending in a longitudinal direction of the guide spear between the first longitudinal end and the second longitudinal end of the guide spear and wherein the circular cutting blade is connected to the cutting tool support structure so that a part of the periphery of the circular cutting blade is extending into the groove.

Forming the spear with a groove and making a part of the periphery of the blade extend into this groove is advantageous in that this increases the chance of cutting meat and bones all the way through and it increases the safety when operating the meat cutting tool.

In an aspect of the invention, the circular cutting blade is extending between 1% and 90%, preferably between 3% and 70% and most preferred between 5% and 50% of the cross-sectional extent of the guide spear at the groove, into the groove.

If the circular cutting blade is extending too little into the groove the risk of the meat not being cut all the way through increases. However, if the circular cutting blade is extending too much into the groove, the deep groove might weaken the spear and the pull effect of the blade is reduced. Thus, the present depth ranges present an advantageous relationship between functionality and durability.

In an aspect of the invention, the groove is between 2% and 200%, preferably between 5% and 150% and most preferred between 10% and 100% wider that the width of the circular cutting blade extending into the groove.

If the grove is too wide in relation to the width of the blade the risk of the meat not being cut all the way through increases. However, if the groove is too narrow the risk of the blade hitting the spear increases. Thus, the present width ranges present an advantageous relationship between functionality and durability.

In an aspect of the invention, the groove is formed as a slit extending all the way through the guide spear. Making the groove extend all the way through the spear is advantageous in that this reduces meat build-up in the groove and simplifies cleaning.

In an aspect of the invention, the guide spear is substantially straight.

Forming the guide spear substantially straight is advantageous in that this simplifies manufacturing and reduces friction or resistances when sliding the spear in under a piece of meat and when penetrating the meat.

In an aspect of the invention, the radius of the circular cutting blade is bigger than the extent of the guide spear in the direction towards the first longitudinal end from a plane defined by the rotational axis of the circular cutting blade and the point at which the circular cutting blade is overlapping the guide spear the most as seen in the direction of the rotational axis of the circular cutting blade.

If the free end of the guide spear is extending beyond the radius of the circular cutting blade, the guide spear will have to penetrate the meat relatively deep before the circular cutting blade engages the meat and aid in pulling the meat towards the guide spear. This could increase the risk of the guide spear displacing the meat before the circular cutting blade engages the meat and it is therefore advantageous to form the free end of the guide spear extending from the plane defined by the rotational axis of the circular cutting blade and the point at which the circular cutting blade is overlapping the guide spear the most, shorter than the radius of the circular cutting blade to ensure that the free end of the guide spear is relatively close to the intersection between the guide spear and the circular cutting blade.

Furthermore, the invention provides for a meat cutting station comprising an articulated robot, and a meat cutting tool according to any of the previously discussed meat cutting tools connected to the articulated robot. The meat cutting station also comprises conveying means arranged for conveying a piece of meat to the articulated robot, detection means arranged for detecting characteristics of the piece of meat, and control means arranged to control the articulated robot during cutting of the piece of meat by means of the meat cutting tool in response to input from the detection means.

Using the meat cutting tool in an automated meat cutting station where the meat cutting tool is handled by an articulated robot is advantageous in that even though the meat pieces are not identical or even positioned identical that guide spear on the meat cutting tool enables more precise cutting of the meat, while at the same time ensuring that the meat is fully cut where needed. Furthermore, providing the meat cutting station with conveying means arranged for conveying meat to the articulated robot and providing control means enabling that the articulated robot is operated in response to input from detection means detecting characteristics of the meat is advantageous in that the meat cutting hereby can be fully automated in a simple and efficient manner.

It should be emphasised that the term “articulated robot” is in this context is a robot with rotary joints and is also often referred to as an industrial robot - i.e., a robot having everything from simple two-jointed structures to systems with 10 or more interacting joints, where the motion is driven typically by electric motors.

Furthermore, in this context the term “conveying means” is to be understood as any kind of conveyer suited for conveying a piece of meat. I.e., the term comprises any kind of belt conveyer, chain conveyer, belt line, endless conveyer, roller conveyer or other.

Also, in this context the term “detection means” is to be understood as any kind of detector suited for detecting characteristics of the piece of meat. I.e., the term comprises any kind of laser scanner, proximity sensor, ultrasound sensor or scanner, photo optic sensor, a sonar or radar system, X-ray system or other or any combination thereof.

Even further, in this context the term "control means” is to be understood as any kind of controller suited for controlling an articulated robot in response to input from detection means. I.e., the term includes any kind of discrete controller, programmable logic controller (PLC), computer, hardwired circuit or other.

In an aspect of the invention, the meat cutting station further comprises fixation means arranged for fixating the piece of meat at the articulated robot.

Providing the meat cutting station with fixation means is advantageous in that the meat hereby can be fixated when the meat cutting tool engages the piece of meat, thus ensuring a faster and more precise cut.

In this context the term "fixation means” is to be understood as any kind of fixator suited for fixating the piece of meat at the articulated robot. I.e., the term comprises any kind of gripping device, pressing device, clamping device or other. Furthermore, it should be emphasized that the fixation means could be arranged for fixating the piece of meat in relation to the articulated robot, in relation to the underlying conveying means, in relation to another fix point and/or other and/or the fixation means could be form part of the articulated robot, the conveying means, and/or other.

In an aspect of the invention, the detection means comprises position detection means arranged for detecting a position of the piece of meat and/or bone detection means arranged for detecting the location of bones in the piece of meat.

Making the detection means comprise position detection means is advantageous in that by detecting the position of the piece of meat it is ensured that the meat cutting station does not attempt to engage the meat until it is fully within reach of the articulated robot, and it ensures a more precise cut when the meat cutting station knows the position of the meat. And making the detection means comprise bone detection means is advantageous in that it hereby is possible for the robot to engage the meat more precisely and thereby enable a more precise cut in which more of the underlying meat is uncut when cutting the bones in the upper part of the meat.

Even further, the invention provides for a method for cutting a piece of meat by way of a meat cutting tool. The method comprises the steps of:

• engaging the piece of meat by means of a second longitudinal end of a guide spear of the meat cutting tool, wherein the guide spear is connected to a cutting tool support structure of the meat cutting tool at a first longitudinal end of the guide spear, and wherein the second longitudinal end of the guide spear taper off,

• moving the cutting tool support structure comprising the guide spear forward to engage the piece of meat by means of a circular cutting blade of the meat cutting tool, wherein the circular cutting blade is connected to the cutting tool support structure so that the guide spear is overlapping the circular cutting blade as seen in the direction of a rotational axis of the circular cutting blade, wherein the guide spear is extending along a part of the periphery of the circular cutting blade perpendicularly to a rotational axis of the circular cutting blade, and

• rotating the circular cutting blade so that the piece of meat is pulled towards the first longitudinal end at the guide spear by means of the circular cutting blade while cutting the piece of meat.

First engaging the meat by means of the guide spear - either by sliding the spear in under the meat or by penetrating the meat - before engaging the meat by means of the rotating blade is advantageous in that this enables better and more precise cutting of the meat and rotating the circular cutting blade so that the piece of meat is pulled towards the first longitudinal end of the guide spear - at the guide spear - is advantageous in that this will reduce the force needed to move the meat cutting tool through the meat during the cutting process and it enables a better and more precise cut.

In an aspect of the invention, the piece of meat is cut while being transported on conveying means.

Cutting the meat while it is being transported is advantageous in that this ensures an efficient and continuous cutting process.

In an aspect of the invention, the method further comprises the step of fixating the piece of meat before engaging the piece of meat by means of the second longitudinal end of the guide spear.

Fixating the piece of meat before engaging the piece of meat by means of the guide spear is advantageous in that this prevents the meat from being displaced by the spear when it engages the meat - thereby ensuring a more efficient and precise cutting process.

In an aspect of the invention, the method further comprises the step of detecting a location of a bone in the piece of meat before engaging the piece of meat by means of the second longitudinal end of the guide spear.

Detecting the location of bones in the meat before cutting it is advantageous in that it hereby is possible to cut the meat more precisely and/or efficiently.

In an aspect of the invention the previously discussed method is a method for cutting a piece of meat by way of a meat cutting tool according to any of the previously discussed meat cutting tools or a meat cutting station according to any of the previously discussed meat cutting stations. Hereby is achieved an advantageous embodiment of the invention.

The invention also relates to use of a meat cutting tool according to any of the previously discussed meat cutting tools or a meat cutting station according to any of the previously discussed meat cutting stations for cutting bones in a piece of meat.

Hereby is achieved an advantageous embodiment of the invention.

Figures

The invention will be described in the following with reference to the figures in which fig. 1 illustrates a meat cutting tool having a pointy spear, as seen from the side, fig. 2 illustrates a meat cutting tool having a cylindrical spear, as seen from the front, fig. 3 illustrates a meat cutting tool, as seen in isometric view, fig. 4 illustrates a meat cutting tool having a spear extending along one side of the blade, as seen from the front, fig. 5 illustrates a meat cutting tool having spears extending along both sides of the blade, as seen from the front, fig. 6 illustrates a meat cutting tool having a sloping free end, as seen from the side, and fig. 7 illustrates a meat cutting station, as seen from the side.

Detailed description of related art

Fig. 1 illustrates a meat cutting tool 1 having a pointy guide spear 3, as seen from the side.

In this embodiment the meat cutting tool 1 comprises a guide spear 3 and a circular cutting blade 7 both connected to the same cutting tool support structure 2 so that the circular cutting blade 7 and the guide spear 3 are maintained in a mutually fixed position at all times. However, in another embodiment the meat cutting tool 1 could comprise adjustment means (not shown) for adjusting the position of the circular cutting blade 7 in relation to the guide spear 3 and/or the position of guide spear 3 the circular cutting blade 7 in relation to the circular cutting blade 7 between meat cutting processes - i.e., when the meat cutting tool 1 is not in use.

In this embodiment the cutting tool support structure 2 is formed by the blade housing and the structure to which the guide spear 3 is attached but in another embodiment the cutting tool support structure 2 could comprise fewer parts such at s single lattice structure, a guard or shield structure or other or the cutting tool support structure 2 could comprise further interconnected parts such as further shields, further guards, further equipment or other but as a minimum the cutting tool support structure 2 comprises a part suspending the guide spear 3 and the circular cutting blade 7.

In this embodiment a first longitudinal end 4 of the guide spear 3 is connected to the cutting tool support structure 2 and a second longitudinal end 5 of the guide spear 3 is extending freely into the air in front of the bottom of the circular cutting blade 7.

In this embodiment the guide spear 3 is connected to the cutting tool support structure 2 so that the guide spear 3 overlaps the circular cutting blade 7 when viewed in the direction disclosed in fig. 1 - i.e., in the direction of the rotational axis 9 of the circular cutting blade 7. Thus, in this embodiment the shortest distance between the rotational axis 9 of the circular cutting blade 7 and the guide spear 3 is smaller than the radius R of the circular cutting blade 7. And in this embodiment the guide spear 3 is also connected to the cutting tool support structure 2 so that at the shortest distance between the rotational axis 9 of the circular cutting blade 7 and the guide spear 3, the guide spear 3 is extending further from the rotational axis 9 than the outer edge (i.e., the radius R) of the circular cutting blade 7 so that when the guide spear 3 is moving over an underlying surface or through a piece of meat anything below the spear 3 will not come into contact with the rotating blade 3 hereby forming a safer and more precise meat cutting tool 1.

In this embodiment the guide spear 3 comprises a longitudinal groove 6 (see fig. 3) and the circular cutting blade 7 is suspended in the cutting tool support structure 2 so that a bottom part of the periphery of the circular cutting blade 7 is extending into the groove 6.

In this embodiment the guide spear 3 is extending around 98% of the radius R of the circular cutting blade 7 forward (in the direction towards the first longitudinal end 4) from a plane 8 defined by the rotational axis 9 of the circular cutting blade 7 and the point at which the circular cutting blade 7 is extending the deepest into the groove 6 (i.e., overlapping the most with the guide spear 3). I.e., in this embodiment a straight tangent line through the front edge of the circular cutting blade 7 and through the tip of the guide spear 3 would be almost parallel with the abovementioned plane 8. However, in another embodiment the guide spear 3 could be extending further from the plane 8 - such as 130%, 160%, 190%, 240% or even more of the radius R of the circular cutting blade 7 or the guide spear 3 could be extending less from the plane 8 - such as 90%, 70%, 40% or even less of the radius R of the circular cutting blade 7 e.g., depending on the specific use, the specific guide spear 3 design or material, a desired tool precision or other. In this embodiment the guide spear 3 is straight between the first longitudinal end 4 and the second longitudinal end 5 of the guide spear 3. However, in another embodiment the guide spear 3 could comprise some form of curvature in the longitudinal direction particularly at the second longitudinal end 5 or at the part of the spear 3 extending between the plane 8 and the cutting tool support structure 2.

In this embodiment the meat cutting tool 1 is further provided with drive means 18 (see fig. 2) in the form of an electric motor arranged for driving the rotation of the circular cutting blade 7 so that the periphery of the circular cutting blade 7 is moving towards the first longitudinal end 4 inside the groove 6 as indicated by the arrow on fig. 1 (i.e., counterclockwise when seen from the side shown in fig. 1).

In this embodiment the meat cutting tool 1 is provided with a circular cutting blade 7 having a smooth sharp outer edge but in another embodiment the circular cutting blade 7 could at least partly be provided with a serrated edge.

Fig. 2 illustrates a meat cutting tool 1 having a cylindrical guide spear 3, as seen from the front.

In this embodiment the largest cross-sectional extent of the guide spear 3 is 30 mm and since the guide spear 3 in this embodiment is formed as a cylindrical rod having a constant diameter D, the diameter D of the entire guide spear 3 is in this embodiment 30 mm. However, in another embodiment some or all of the guide spear 3 could be provided with another cross-sectional shape - such as oval, square, triangular or other, the shape and/or the largest cross-sectional extent of the guide spear 3 could vary along the longitudinal extent of the guide spear 3 and/or the largest cross-sectional extent of the guide spear 3 could be bigger - such as 33 mm, 38 mm, 45 mm or even more or the largest cross-sectional extent of the guide spear 3 could be smaller - such as 26 mm, 22 mm, 17 mm or even smaller e.g. depending on the specific use, the size of the circular cutting blade 7, the material the guide spear 3 is made of or other.

In this embodiment the guide spear 3 is made fully of stainless steel but in another embodiment the guide spear 3 could also or instead be made of steel, plastic, ceramic or other or any combination thereof and/or the guide spear 3 could comprise a coating or an outer layer e.g., of thermoplastic fluoropolymer, another type of polymer, a metal or other e.g., to reduce friction, to increase strength, to increase durability or other.

In this embodiment the guide spear 3 is fully solid because this simplifies manufacturing and prevents any meat build-up or germ formation inside the guide spear 3 but in another embodiment the guide spear 3 could be at least partly hollow e.g., to increase stiffness or to reduce weight.

Fig. 3 illustrates a meat cutting tool 1, as seen in isometric view.

In this embodiment the circular cutting blade 7 is extending around 15% of the cross- sectional extent of the guide spear 3 at the groove 6 into the groove 6 but in another embodiment the circular cutting blade 7 could extend less into the groove 6 - such as 12%, 8%, 4% or even less of the cross-sectional extent of the guide spear 3 - or the circular cutting blade 7 could extend deeper into the groove 6 - such as 20%, 30%, 60% or even more of the cross-sectional extent of the guide spear 3. However, it is advantageous that the circular cutting blade 7 is not extending all the way through the guide spear 3 in that the circular cutting blade 7 then would damage the meat or the underlying surface underneath the guide spear 3 when cutting a piece of meat.

In this embodiment the groove 6 is around 20% wider that the width W (see fig. 2) of the widest part of the circular cutting blade 7 extending into the groove 6 but in another embodiment the groove 6 could be narrower - such as 17%, 13%, 8% or even less wider that the width W (see fig. 2) of the widest part of the circular cutting blade 7 extending into the groove 6 to ensure at cutting effect between the circular cutting blade 7 and the groove 6 - or the groove 6 could be wider - such as 30%, 50%, 90% or even more wider that the width W (see fig. 2) of the widest part of the circular cutting blade 7 extending into the groove 6 e.g. depending of the specific circular cutting blade 7, the stiffness of the guide spear 3, the specific meat to be cut or other.

Fig. 4 illustrates a meat cutting tool 1 having a guide spear 3 extending along one side of the blade 7, as seen from the front.

In this embodiment the guide spear 3 is connected to the cutting tool support structure 2 so that the guide spear 3 is extending along only one side of the circular cutting blade 7 at the bottom part of the periphery of the circular cutting blade 7, perpendicularly to the rotational axis 9 of the circular cutting blade 7, and in this embodiment the guide spear 3 is formed with a cross-section having four sides where the free second longitudinal end 5 of the guide spear 3 taper off to form a pointy edge with a slightly rounded tip around the middle of the spear 3.

Fig. 5 illustrates a meat cutting tool 1 having guide spears 3 extending along both sides of the blade 7, as seen from the front.

In this embodiment the meat cutting tool 1 comprises guide spears 3 arranged at both sides of the circular cutting blade 7 wherein both these guide spears 3 are connected to the cutting tool support structure 2 so that the guide spears 3 are extending along the circular cutting blade 7 at the bottom part of the periphery of the circular cutting blade 7 perpendicularly to the rotational axis 9 of the circular cutting blade 7. I.e., in this embodiment a slit or groove is formed between the guide spears 3 into which the circular cutting blade 7 extends. However, in another embodiment the two guide spears 3 could be interconnected at other places that at the cutting tool support structure 2 to form a stronger and stiffer guide spear construction.

Fig. 6 illustrates a meat cutting tool 1 having a sloping free end, as seen from the side.

In figs. 1-3 and 7, the free second longitudinal end 5 of the guide spear 3 taper off to form a pointy cone with a slightly rounded tip to make the tip more durable, thus making this design more suited when penetrating the meat by means of the guide spear 3. However, in fig. 6 the free second longitudinal end 5 of the guide spear 3 taper off from the upper side to form an edge at the bottom of the second longitudinal end 5 which is advantageous when the guide spear 3 is slid in under a piece of meat 13. However, a multitude of tapering second longitudinal ends 5 of the guide spear 3 are feasible - such as a centered transversal edge as disclosed in figs. 4 and 5, a pyramid shaped second longitudinal end 5, a curving and tapering second longitudinal end 5 or other e.g., depending on the specific use, on the cross-sectional shape of the guide spear, the material the guide spear is made of or other.

In the embodiment disclosed in figs. 1-3 and 7 the groove 6 is not extending all the way through the guide spear 3 to make the guide spear 3 more stiff but in this embodiment the groove 6 is formed as a slit extending all the way through the guide spear 3 to prevent meat build-up in the groove 6 and to make the groove easier to clean.

In this embodiment the meat cutting tool 1 is used for cutting a piece of meat 13 being transported on conveying means 12 in the form of a belt conveyer. In this embodiment the guide spear 3 is slid in under the meat 13 to lift it free of the underlying surface and thereby ensure that the circular cutting blade 7 does not cut into the conveying means 12. In this embodiment the meat cutting tool 1 is handled manually by an operator (not shown) but in another embodiment this operation could be automated e.g., by means of a robot. Both during manual and automated operation the piece of meat 13 could be transported by the conveying means 12 in a transport direction while the meat cutting tool 1 is engaging and cutting the piece of meat 13 - i.e., the piece of meat 13 is in motion during the cutting process - and the meat cutting tool 1 could be moved in the opposite direction of the transport direction during the cutting process to speed up the cutting process or the meat cutting tool 1 could be moved in the same direction as the transport direction during the cutting process to better control the meat cutting process. Or in another embodiment the meat cutting tool 1 could be stationary while the piece of meat 13 in being cut by the meat cutting tool 1 and while the piece of meat 13 is transported past and trough the meat cutting tool 1 by the conveying means 12 to provide a more simple meat cutting process.

Fig. 7 illustrates a meat cutting station 10, as seen from the side.

In this embodiment the meat cutting tool 1 is used in a meat cutting station 10 in that the meat cutting tool 1 is connected to an articulated robot 11 in the form of a traditional industrial robot.

In this embodiment the meat cutting station 10 also comprises conveying means 12 in the form of an endless belt conveyer which is arranged for conveying a piece of meat 13 to the articulated robot 11. In the embodiment the conveying means 12 are arranged to transport the meat 13 towards the articulated robot 11 but in another embodiment the articulated robot 11 would be arranged alongside the conveying means 12 and the conveying means 12 would transport the meat 13 past the articulated robot 11.

In this embodiment detection means 14 are arranged above the conveying means 12 for detecting characteristics of the piece of meat 13 and in this embodiment these characteristics include the position of the piece of meat 13 detected by position detection means 19 in the form of an optical sensor and the location of at least some of the bones 17 in the piece of meat 13 which are detected by bone detection means 20, in this embodiment in the form of an ultrasonic scanner. The detections made by the detection means 14 are transferred to control means 15 and the operation of the articulated robot 11 holding the meat cutting tool 1 is then controlled at least in part by the control means 15 in response to these detections during cutting of the piece of meat 13. However, in another embodiment the detection means 14 would only comprise position detection means 19 or bone detection means 20 or the detection means 14 could also or instead comprise a force sensor - e.g., in the form of a strain gauge arrangement - on the meat cutting tool lor the articulated robot 11 to detect if the guide spear 3 is hitting a bone 17, a scanner arranged to detect the size, type and/or shape of the meat or other types of sensors and/or detectors or any combination thereof.

In this embodiment the meat cutting station 10 further comprises fixation means 16 arranged for fixating the piece of meat 13 when it arrives at the articulated robot 11. In this embodiment the conveying means 12 stop while the meat 13 is being cut and the fixation means 16 are in this case stationary and arranged to engage the meat 13 when conveying of the meat 13 has stopped. However, in another embodiment the meat 13 would be cut on the fly while being transported by the conveying means 12 and in such a case the fixation means 16 would be arranged to move with the meat 13 either by its own displacement means - such as a motor, a pneumatic cylinder, an actuator or other - or by being mounted on a guide which would allow it to be pulled along with the conveying means 12 and then return to an initial position after the meat 13 had been cut. Or in another embodiment the fixation means 16 could be arranged on the articulated robot 11.

In this embodiment the piece of meat 13 is cut by means of the meat cutting tool 1 by the following method: First the piece of meat 13 is engaged by means of the tapering second longitudinal end 5 of the guide spear 3 either by sliding the guide spear 3 in under the piece of meat 13 or by penetrating the piece of meat 13. The meat cutting tool 1 is then moved forward toward the meat 13 so that the rotating circular cutting blade 7 also engages the piece of meat 13 and thereby cuts the meat 13. Since the drive means 18 of the meat cutting tool 1 is arranged to rotate the circular cutting blade 7 so that the piece of meat 13 is pulled towards the first longitudinal end 4 of the guide spear 3 - at the guide spear 3 - (as seen by the arrow in fig. 1) the circular cutting blade 7 will aid in drawing the guide spear 3 and the circular cutting blade 7 further forward through the meat 13 while cutting the piece of meat 13 and since the circular cutting blade 7 is overlapping the guide spear 3 - in this case by extending into the groove 6 - the meat 13 passing between the circular cutting blade 7 and the guide spear 3 will be fully cut. While the meat cutting tool 1 is moved through the meat 13, the guide spear 3 is used as a guide - i.e., when the guide spear 3 is slid under the meat 13 the guide spear 3 will continually lift the meat 13 of the underlying surface and ensure that the meat 13 is fully cut without risking that the circular cutting blade 7 damage the underlying surface. And if the guide spear 3 is penetrating the meat 13 the guide spear 3 will e.g., guide the meat cutting tool 1 along the underside of bones 17 in the meat 13 and at the same time act as a backing or fixed support for the rotating circular cutting blade 7 thereby ensuring that the bones 17 are fully cut fast and efficiently.

In the embodiment disclosed in fig. 7 the cutting process is automated in a meat cutting station 10 but in another embodiment the meat cutting tool 1 could be handled manually by an operator during the meat cutting process. If the meat cutting tool 1 is used for manually cutting meat 13, the meat cutting tool 1 could comprise further handles, guards or other making the meat cutting tool 1 more suited for manual operation. Both during automated and manually handling of the meat cutting tool 1, the meat cutting method could further comprises the step of fixating the piece of meat 13 before engaging the piece of meat 13 by means of the second longitudinal end 5 of the guide spear 3 to prevent the meat cutting tool 1 from displacing the meat 13 when engaging the meat 13 or at least reduce any displacement of the meat 13.

And both during automated and manually handling of the meat cutting tool 1, the meat cutting method could further comprises the step of detecting a location of one or more bones 17 in the piece of meat 13 before engaging the piece of meat 13 by means of the second longitudinal end 5 of the guide spear 3 e.g. to better guide the meat cutting tool 1 through the meat 13 and/or to find the best penetration point for the guide spear 3.

It should be noted that any reference to orientation throughout this document - such as up, down, side, vertical, horizontal etc. - refers to the orientation during normal operation of the meat cutting station 10 and the meat cutting tool 1 - i.e., when the meat cutting station 10 and the meat cutting tool 1 are fully assembled and operational in an abattoir, a slaughterhouse and similar facilities.

The invention has been exemplified above with reference to specific examples of guide spears 3, circular cutting blades 7, articulated robots 11 and other. However, it should be understood that the invention is not limited to the particular examples described above but may be designed and altered in a multitude of varieties within the scope of the invention as specified in the claims.

List

1. Meat cutting tool

2. Cutting tool support structure

3. Guide spear

4. First longitudinal end of guide spear

5. Second longitudinal end of guide spear

6. Groove

7. Circular cutting blade

8. Plane

9. Rotational axis of circular cutting blade

10. Meat cutting station

11. Arti cul ated rob ot

12. Conveying means

13. Piece of meat

14. Detection means

15. Control means

16. Fixation means

17. Bone in piece of meat

18. Drive means

19. Position detection means

20. Bone detection means

R. Radius of circular cutting blade

D. Diameter of cylindrical rod

W. Width of circular cutting blade