Method and system for deboning of a carcass leg part of a four-legged slaughter animal, for removing meat from a bone of the carcass leg part

A method and system of removing meat from a bone of a carcass leg part, includes the subsequent steps of: a) holding, by a support device, of the leg part, b) moving a meat removing device: into a pre-cut, c) then away from the support device along the bone to a first end position so that meat is removed from the bone, d) then away from the bone, forcing meat away from the bone and severing further meat from the bone, e) then towards the support device, f) and then towards the bone, g) and then again away from the support device along the bone to a second end position distanced further from the support device than the first end position so that further meat is removed from the bone.

TECHNICAL FIELD

The invention relates to a method of deboning of a carcass leg part of a four-legged slaughter animal, for removing meat from a bone of the carcass leg part. The invention also relates to a system for deboning a carcass leg part of a four-legged slaughter animal, for removing meat from a bone of the carcass leg part.

BACKGROUND

EP 2 110 021 A1 relates to a method and apparatus for deboning an arm or leg part of a slaughtered domestic animal, in particular a pig leg part.

SUMMARY

It is an object of the present invention to provide an improved system and method for deboning a carcass leg part.

It is a further object of the present invention to provide a system and method for deboning a carcass leg part which has improved ergonomics for an operator of the system which system has an improved efficiency.

In a first aspect, the present invention provides a method of deboning of a carcass leg part of a four-legged slaughter animal, for removing meat from a bone of the carcass leg part.

The method comprising the subsequent steps of:a) holding, by a support device, of the leg part by the lower end of the bone, or by a still lower part of the leg such as a foot,b) moving a meat removing device into a pre-cut, towards the bone, to a first starting position of the meat removing device, which pre-cut is a cut made along the circumference of the bone at, or at least near, a lower end of the bone so as to sever muscle fibers,c) executing by means of the meat removing device a first meat removing movement from the first starting position in a meat removing direction away from the support device along the bone to a first end position so that meat is removed from the bone,d) moving the meat removing device away from the bone, wherein meat which is in contact with the meat removing device is forced away from the bone and severs further meat from the bone,e) moving the meat removing device in a reposition direction towards the support device,f) moving the meat removing device towards the bone to a second starting position,g) executing by means of the meat removing device a second meat removing movement from the second starting position in the meat removing direction away from the support device along the bone to a second end position distanced further from the support device than the first end position so that further meat is removed from the bone.

An effect of the method according to the present invention is that because of the execution of the specific subsequent method steps of the method according to the invention, a very efficient and robust carcass leg part deboning method has been provided. The deboning process, i.e. at least steps b) to g), take place in an automated manner, leading to a very operator-friendly process. The subdivision of the deboning of the leg part in successive iterations leads to a more robust process of deboning in which meat is removed reliably and efficiently from the bone. The moving away from the bone of the meat removing device after a meat removing movement may contribute in the effective severing of meat from the bone. By said successive cycles, or, iterations comprising a movement in the meat removing direction and the subsequent moving away from the bone, muscle membranes are gradually severed from the bone, preventing or at least significantly reducing rupture, which contributes to a significantly more effective removing of meat from the bone. This way, one or more of the above objects has been achieved.

In an embodiment of the method and system according to the invention, the carcass leg part is of a porcine, bovine, caprine, ovine or camelid slaughter animal. The mentioned effects of the present invention are most prominent in an embodiment, for deboning a pork carcass leg part, wherein the bone is a femur, humerus, aitch bone or shank, preferably a femur or humerus bone. In particular the humerus and femur bones have a relatively irregular profile which makes the deboning process, in particular manual deboning, complex.

For the purpose of step a), the leg may be suspended by the lower end of the bone, or by a still lower part of the leg such as a foot, from the support device. The support device may be a part of an overhead transport system or a part connected to a carrousel. In particular, in case of a humerus or femur bone the bone is held, preferably suspended, by the lower end of the bone. This way, any forces exerted on the bone while deboning are transferred within the bone itself and are not transferred through any joint.

In an embodiment, the method comprises, prior to step b), preferably prior to step a), making the pre-cut along the circumference of the bone at, or at least near, a lower end of the bone, so as to sever muscle fibers. The system according to the invention may be provided in or along a processing line also having an upstream cutting station having a cutter for making said pre-cut in an automated manner.

For the purpose of step c), the first meat removing movement in the meat removing direction away from the support device may follow a straight path, preferably downwards, away from the support device. The carcass leg may be held by the support device in such a manner that the bone may move, such as pivot, or swing in case that the bone would be suspended, with respect to the support device. The support device is preferably arranged to at least block a translation movement of the bone in the meat removing direction away from the support.

In an embodiment, during at least a part of step d), a force in the meat removing direction is exerted on the meat by the meat removing device. An effect of still exerting said force on the meat during at least a part of the movement of the meat removing device away from the bone is that the severing and removal of the meat from the bone is further improved. For this purpose, during step d), the movement of the meat removing device may be partially in the meat removing direction. This way, an even more effective severing of further meat may be achieved during said moving away from the bone during step d). Such a movement in the meat removing direction may effectively be provided for by a force, or, pressure control of the movement of the meat removing device in the meat removing direction, during the step c) and during step g). The movement partially in the meat removing directing during the step d) or at least during a part of step d) may be provided for in the same manner.

In an embodiment, meat which is in contact with the meat removing device at least during step d) is engaged by one or more engaging elements on the meat removing device, preferably wherein the one or more engaging elements comprise one or more of: an outer edge of the meat removing device which outer edge faces away from the bone; an inner edge of the meat removing device which inner edge faces the bone and protrudes from the meat removing device in the meat removing direction; one or more through holes; one or more protrusions; and a surface region having an increased roughness. The provision of such engaging elements, which may thus comprise an outer edge as mentioned, for example, which outer edge may have been designed such that meat may bulge about said edge at least during steps c) (and step g)) and step d), increases the effectiveness of the forcing away from the bone of meat during step d). In case of such engaging element, said provision of a force in the meat removing direction during step d) may still be of additional advantage.

In an embodiment wherein the one or more engaging elements comprise a surface region having an increased roughness, said region may be an outer region on the meat removing device, outside an inner region more close to the bone. By ‘region having an increased roughness’ is understood in this regard that said region, such as said outer region, has a higher roughness compared to another region on the meat removing device, such as said inner region. By such a specific surface finish a very effective removing of meat from the bone may be achieved wherein in such an inner region closer to the bone less resistance is exerted on the meat by the meat removing device compared to such an outer region further from the bone in use.

In an embodiment, the meat removing device comprises three, preferably four, meat removing plates, wherein each respective meat removing plate may have a curved meat removing section so as to follow at least a part of a cross-sectional contour of the bone in use, wherein each of the plates is movable, preferably pivotable about a pivot axis, between an inactive position and an active position, wherein during a meat removing movement at least three of the plates are put in the active position and wherein during a movement away from the bone those at least three plates are moved towards the inactive position. During a movement in the reposition direction the plates are preferably in the inactive position, or at least not in the active position. Preferably the pivot axes are parallel so that the movement of the at least three plates from the respective passive to the active positions is in parallel planes. So in that sense the at least three meat removing plates are mutually parallel.

In an embodiment, the meat removing device comprises two of such meat removing plates, which may be sufficient for the purpose of deboning of a spoon bone, for example.

An embodiment of the meat removing device having three such meat removing plates is very suitable for deboning a pork aitch bone or shank bone.

An embodiment of the meat removing device having four such meat removing plates is very suitable for deboning a femur or humerus bone. The effects of the present invention are most prominent in this latter embodiment, for deboning a femur or humerus bone. Carcass leg parts having said bones are processed in very high volumes and may be more complex to debone because of their irregular profile. Therefore, the deboning of such bones in accordance with the present invention leads to a relatively high increase in efficiency, wherein said provision of four of such meat removing plates increases the reliability and degree of severing of the meat from the bone.

In an embodiment, the support device comprises a supporting plate, wherein the method preferably comprises, for the purpose of step a), positioning the supporting plate in the pre-cut, for holding, preferably suspending, the leg by its lower end of the bone, the supporting plate preferably having a slot configured to hold therein the leg by the lower end of the bone. The slot is dimensioned such that a joint part of the bone at the lower end of the bone, such as a knee or elbow joint part, cannot pass through the slot.

In an embodiment of the method wherein the bone is a humerus bone, the method may comprise before step b), removing the shoulder blade (scapula) from the humerus bone.

In an embodiment, the second starting position is distanced further from the support device, that means in the meat removing direction, than the first starting position.

In an embodiment steps d), e), f), and g) execute at least one further cycle, preferably at least two further cycles, wherein for the purpose of the execution of step g) during a further cycle, the second end position is each time distanced further from the support device than the second end position of a preceding execution of step g). By doing so, the meat removing device thus gradually moves further in the meat removing direction, which is preferably downward, thereby removing meat from the bone in a highly controlled and robust manner.

In an embodiment, for the purpose of step c), the meat removing device is moved, by a drive unit such as a pneumatic cylinder, in the meat removing direction, by means of applying a predetermined force or force profile on the meat removing device.

In an embodiment, during a meat removing movement of the meat removing device in the meat removing direction, a force in the meat removing direction exerted by the meat removing device on the meat of the leg is reduced when the meat removing device reaches a neck of the bone. This is in particular of advantage with a humerus or femur bone. The meat removing device may be force controlled in a direction transverse to the meat removing direction. Thus, a force in the direction of the bone caused by the meat removing plates of the meat removing device may temporarily be reduced, which further assists in passing the neck of the bone. In an embodiment of the meat removing device having four meat removing plates, a fourth meat removing plate may at least be put in the active position thereof while the meat removing device passes the neck of the bone, so that this fourth scraper at least during the passing of the neck, assists in effectively removing meat from the bone.

In an embodiment, for the purpose of step c) and/or step g), the respective first and/or second meat removing movements are executed for a respective predetermined time, meaning that the duration of an individual meat removing movement is set at a predetermined value.

Corresponding embodiments are also applicable for the below described system according to a second aspect of the present invention. The system is in particular arranged for carrying out the above-described method and embodiments thereof according to the first aspect of the invention.

In a second aspect, the invention provides a system, for deboning a carcass leg part of a four-legged slaughter animal, for removing meat from a bone of the carcass leg part, preferably in accordance with a method according to the first aspect of the present invention.

The system comprises:a support device, configured for holding the leg part by the lower end of the bone, or by a still lower part of the leg such as a foot,a meat removing device for removing meat from the bone, anda control unit configured for in use of the system, successively:causing the meat removing device to be moved into a pre-cut, towards the bone, to a first starting position, which pre-cut is a cut made along the circumference of the bone at, or at least near, a lower end of the bone so as to sever muscle fibers,causing the execution by means of the meat removing device of a first meat removing movement from the first starting position in a meat removing direction away from the support device along the bone to a first end position so that meat is removed from the bone,causing the meat removing device to be moved away from the bone, wherein meat which is in contact with the meat removing device is forced away from the bone and, thereby, severs further meat from the bone,causing the meat removing device to be moved in a reposition direction towards the support device,causing the meat removing device to be moved towards the bone to a second starting position, andcausing the execution by means of the meat removing device of a second meat removing movement from the second starting position in the meat removing direction away from the support device along the bone to a second end position distanced further from the support device than the first end position so that further meat is removed from the bone.

In an embodiment, the meat removing device comprises at least three, preferably three up to and including eight, further preferably four, five or six, still further preferably four, meat removing plates, each movable, preferably pivotable about a pivot axis, between an inactive position and an active position, the plates in the active position being closer to the bone in use, the plates being positioned such that in use the bone is in between the plates at least in the active position, extending at least substantially perpendicular to a plane of the plates. During a movement of the meat removing device towards the bone, at least three of the meat removing plates are brought in the active position so as to capture the bone in between respective meat removing sections of those at least three meat removing plates, wherein each respective meat removing plate preferably has a curved meat removing section so as to follow at least a part of a cross-sectional contour of the bone in use. As already mentioned above, preferably the pivot axes are parallel so that the movement of the at least three plates from the respective passive to the active positions is in parallel planes. So in that sense the at least three meat removing plates are mutually parallel.

In an embodiment, the meat removing device comprises four meat removing plates in the form of two pairs of meat removing plates, preferably wherein the meat removing plates of at least one pair are operated jointly.

In another embodiment, the meat removing device comprises four meat removing plates in the form of one pair of meat removing plates being operated jointly, and two individually operable further meat removing plates, wherein operable means movable between the active and passive position thereof.

In an embodiment, at least two of the at least three meat removing plates comprises one or more engaging elements, preferably wherein the one or more engaging elements comprise one or more of: an outer edge of the meat removing device which outer edge faces away from the bone; an inner edge of the meat removing device which inner edge faces the bone and protrudes from the meat removing device in the meat removing direction; one or more through holes; one or more protrusions; and a surface region of increased roughness, which engaging elements in use are in contact with the meat during a meat removing movement, so that as a result meat is forced away from the bone and severs further meat from the bone as a result of the moving away from the bone of the meat removing device during the subsequent movement of the meat removing device away from the bone.

In an embodiment the control system is configured, for the purpose of the execution of a meat removing movement, to cause a reduction of a force in the meat removing direction exerted by the meat removing device on the meat of the leg when the meat removing device reaches a neck of the bone.

Corresponding embodiments are also applicable for the above described method according to the first aspect of the present invention. Effects of the system according to the present invention are analogue to the effects of the method according to the invention as described above.

In general terms the present invention relates to a system configured for, and method of, removing meat from a bone of a carcass leg part, comprising the subsequent steps of:a) holding, by a support device, of the leg part,b) moving a meat removing device: into a pre-cut,c) then away from the support device along the bone to a first end position so that meat is removed from the bone,d) then away from the bone, forcing meat away from the bone and severing further meat from the bone,e) then towards the support device,f) and then towards the bone,g) and then again away from the support device along the bone to a second end position distanced further from the support device than the first end position so that further meat is removed from the bone.

DESCRIPTION OF EMBODIMENTS

FIGS.1to6show a system1for deboning a carcass leg part2of a four-legged slaughter animal. The system is arranged for removing meat from a humerus bone4of the carcass leg part2. The leg part2is only shown inFIG.3. The system has a support device6configured for holding the leg part2by the lower end8of the bone, or by a still lower part of the leg such as a foot10. The support device6has a supporting plate12for suspending the leg part2by the lower end8of the bone. For that purpose, the supporting plate12has a slot14, which supporting plate is positioned in a pre-cut in the leg part2. The pre-cut is a cut made along the circumference of the bone4at, or at least near, a lower end8of the bone so as to sever muscle fibers. In the view ofFIG.3the pre-cut thus has been made at the vertical position along the bone of the supporting plate12. The system1may be provided on a transport device such as a carrousel, as part of or at least along a processing line for processing such carcass leg parts. The leg part2may have been transferred from a shackle of an overhead conveyor to the support device6. A cutting station may have been provided upstream of the system1for the purpose of making the pre-cut in an automated manner.

The system1further has a meat removing device16for removing meat from the bone4. The meat removing device16is movable in a vertical direction in the view of the figures from and to the support device, and is to that end connected to a drive unit in the form of a pneumatic cylinder17and guided by vertical guide bars19aand19b. Instead of the use of pneumatic cylinder17, a spindle may be used, for example.

For the purpose of removing meat from the bone4, the meat removing device16comprises four mutually parallel, that is, the planes of the plates are mutually parallel, meat removing plates in the form of a first pair of meat removing plates22a,22band a second pair of meat removing plates24a,24b, which are in particular clearly shown inFIGS.5and6. The plates22aand22bare pivotable about a respective pivot axis23aand23b, while the plates24aand24bare pivotable about a respective pivot axis25aand25b. The pivot axes23a,band25a,bextend mutually parallel. Each of the plates22a,band24a,bis pivotable between an inactive position and an active position thereof. In the active position, shown inFIGS.6and2, the plates are closer to the bone4in use than in the inactive position thereof, shown inFIGS.5and1,3and4. AsFIG.6shows, in the active position the four plates are positioned such that the bone4is in between the plates and extends at least substantially perpendicular to a plane28of the plates. During a movement of the meat removing device6towards the bone4, the meat removing plates are brought in the active position so as to capture the bone4in between respective meat removing sections26a,band27a,b, respectively, of the meat removing plates22a,band24a,b. AsFIGS.5and6show, the meat removing section of each of the meat removing plates is curved so as to follow at least a part of a cross-sectional contour of the bone4in use.

The pair of plates22a,22bare operated by means of respective pneumatic cylinders28aand28bwhich are independently controlled so that they can independently extend and retract under the influence of a varied pneumatic pressure so as to pivot the respective plates22aand22bbetween the inactive and the active positions thereof. In another embodiment, the plates22aand22bmay be operated jointly. Instead of the use of pneumatic cylinders, solenoids, electromagnetic actuators, spindles, cam/followers, lever mechanisms may be used. The smaller plates24a,24bare operated jointly to move between the passive and active position thereof by a shared lever mechanism actuated by a single pneumatic cylinder. Instead of the use of pneumatic cylinders and/or lever mechanisms, solenoids, electromagnetic actuators, spindles, cam/followers, may be used, for example. Operating the plates by means of pneumatic cylinders also provides for a spring load on the plates at least in the active position so that the plates may more easily follow the irregular contour of the bone in use as will be explained below. The provision of one or more pressure sensors (not shown) in the pneumatic circuit may further assist in reliably letting the meat removing device follow the contour of the bone, for which purpose a pressure exerted on the meat or bone in the active position of the meat removing plates may be reduced if a sudden pressure rise is detected by the one or more pressure sensors. Further, the control system may be configured to be self-learning for the purpose of deboning the same bone of multiple carcass parts which are successively processed. A force profile on the meat removing plates, such as for the purpose of a movement in the meat removing direction38as will be discussed below, may be adapted based on information obtained, by suitable sensors such as pressure sensors, during a similar movement during the deboning of one or more preceding bones.

The meat removing plates22a,22beach comprise engaging elements formed by respective outer edges34a,34bof the meat removing device facing away from the bone. As in particularFIG.1shows, the outer edges are bent downwards. During use, the engaging elements in the form of the edges34a,34bare in contact with the meat during a meat removing movement as will be further explained below. Instead of said outer edges34a,34b, the engaging elements may comprise an inner edge of the meat removing device which inner edge faces the bone and protrudes from the meat removing device in the meat removing direction; one or more through holes; one or more protrusions; and/or a surface region having an increased roughness. Such a surface region having an increased roughness may be a region with an increased roughness located on an outer, bottom side of the meat removing plates22a,22b, compared to a more inward located region having a relatively lower roughness on an inner bottom side. This way, meat may slide outwards along the bottom side of the meat removing plates relatively close to the bone and may be engaged further outwards by the surface region having the increased roughness.

In use, for the purpose of removing meat from the bone4of the carcass leg part2, the system1is operated in accordance with the following method100(FIG.7). For the purpose of executing said method, the system has a control unit20. The control unit is operatively connected to the meat removing device16, and in particular, to the pneumatic cylinders17,28a,28b,32. The control unit20is configured for in use of the system executing the following method steps:a) holding, by the support device6, of the leg part2by the lower end8of the bone4. A cutting station may have been provided upstream of the system1for the purpose of making a pre-cut in an automated manner.b) then the meat removing device16is moved into the pre-cut, towards the bone4, to a first starting position36. For this purpose the meat removing plates22a,band24a,bare moved from their inactive position (FIG.5) into the active position (FIGS.6and1and2). In this regard it is noted that a height position of the meat removing device with respect to the support device6is indicated in the figures as being a certain starting or end position.c) then, the meat removing device16performs a first meat removing movement from the first starting position36(FIG.2) in a meat removing direction38away from the support device6(so it is moved downwards in the view of the figures) along the bone4to a first end position40(FIG.3) so that meat5is removed from the bone4as also shown inFIG.3.

The meat removing device is moved in the meat removing direction by means of applying a predetermined force or force profile on the meat removing device16. The force or force profile may be dependent on the particular carcass leg part to be deboned.

d) Then, the meat removing device16is moved away from the bone, for which purpose the meat removing plates are moved from the active position to the passive position by means of applying a force on the meat removing plates by the (double-acting) cylinders28a,band32. This outward movement, transverse to the meat removing direction38and thus in essence transverse to a direction of extension of the bone4, results in meat5which is in contact with the meat removing device16being forced away from the bone4and severs further meat from the bone4. The downward extending outer edges34a,34bengaging the meat5during this method step significantly contribute to said forcing away of meat from the bone thereby severing further meat from the bone.

During this step of moving away from the bone, a force in the meat removing direction38is, i.e. remains to be, exerted on the meat5by the meat removing device16. This may be achieved by maintaining a downward force, by the cylinder17, on the meat removing device16during this step. The movement of the meat removing device16away from the bone is thus partially in the meat removing direction38, so partially downwards in the view of the figures. This further contributes to the effective forcing away of meat from the bone.

e) Then, the meat removing device16is moved in a reposition direction42, upwards in the view of the figures, towards the support device6.

f) Then, the meat removing device16is moved towards the bone4to a second starting position44, i.e. the second starting position44is at the height indicated inFIG.3. The second starting position44may be at the same, uppermost, level of the first starting position36, or may be in between the first starting position36and the first end position40asFIG.3shows. It is noted thatFIG.3only shows the height of the second starting position and not the meat removing device in that position.

g) Then, by means of the meat removing device16, a second meat removing movement is made from the second starting position44in the meat removing direction38away from the support device6along the bone4to a second end position46distanced further from the support device6than the first end position44asFIG.4shows, so that further meat is removed from the bone4.

In an embodiment of the method, which may be dependent on the specific carcass leg part to be deboned, steps d), e), f), and g) are executed at least one further cycle (indicated by ‘y’ inFIG.7), wherein for the purpose of the execution of step g) during a further cycle, the second end position is each time distanced further from the support device than the second end position of a preceding execution of step g). By doing so, the meat removing device thus gradually moves further downward during successive iterations, or, cycles, thereby removing meat from the bone in a highly controlled and robust manner.

The control system20is configured, for the purpose of the execution of a meat removing movement of a step c) or g), to cause a reduction of a force in the meat removing direction38exerted by the meat removing device16on the meat of the leg when the meat removing device reaches a neck47of the bone4.

Also, for the purpose of step c) and/or step g), the respective first and/or second meat removing movements are executed for a respective predetermined time.

FIGS.8to14show a system200, being another embodiment of a system according to the invention, for deboning a carcass leg part2of a four-legged slaughter animal. The system200is similar to the system1described above. Components of system200with the same or at least a similar function as components of system1are identified by a reference sign corresponding to that ofFIGS.1-7, to which200has been added. For the purpose of describing the function of the system200, the above description of system1applies in an analogue manner.

The system has a support device206configured for holding the leg part2by the lower end8of the bone, or by a still lower part of the leg such as a foot10. The support device206is very similar to the support device6, seeFIG.5. It also has a supporting plate212having a slot214for suspending the leg part2by the lower end8of the bone, the supporting plate212in use being positioned in a pre-cut in the leg part2in the same manner as shown inFIG.3.

The system200further has a meat removing device216for removing meat from the bone4. The meat removing device216is designed slightly different from meat removing device16, but it is, like device16, movable in a vertical direction in the view of the figures from and to the support device206, and is to that end connected to a drive unit in the form of a pneumatic cylinder217and guided by vertical guide bars219aand219b.

For the purpose of removing meat from the bone4, the meat removing device216comprises four mutually parallel, that is, the planes of the plates are mutually parallel, meat removing plates in the form of a first pair of meat removing plates222a,222bwhich are highly similar to meat removing plates22aand22b. The plates222aand222bare pivotable about a respective pivot axis223aand223b. Other than device16, the meat removing device216does not have a second pair of meat removing plates. Instead, it has one single back meat removing plate224which is translatable, by means of a pneumatic cylinder232in a plane parallel to the plates222aand222bas can be derived fromFIG.10. The device216also has an extra front meat removing plate229, pivotable about a pivot axis233by means of a pneumatic cylinder231. Each of the plates222a,222band229are pivotable between an inactive position and an active position thereof, while plate224is translatable between an inactive position and an active position thereof.FIGS.9-12and14show the plates222aand222bin the active position while inFIG.8they are in their passive position. Back meat removing plate224is shown in the active position thereof in any of theFIGS.8-14.FIGS.12-14show the extra front plate229in the active position while inFIGS.8-11it is in the passive position thereof. In the active position, the plates are closer to the bone4in use than in the inactive position thereof. During a movement of the meat removing device216towards the bone4, meat removing plates222aand222bare brought in the active position so as to capture the bone4in between respective meat removing sections226aand226brespectively, of the meat removing plates222aand222b. Said meat removing sections are curved, in a similar manner as plates22aand22b, so as to follow at least a part of a cross-sectional contour of the bone4in use. During a movement of the meat removing device216towards the bone4, also the back meat removing plate224and/or the extra front meat removing plate229may be brought in the active position to assist in a meat removing step.

The pair of plates222a,222bare operated by means of respective pneumatic cylinders228aand228bwhich are independently controlled so that they can independently extend and retract under the influence of a varied pneumatic pressure so as to pivot the respective plates222aand222bbetween the inactive and the active positions thereof. In another embodiment, the plates222aand222bmay be operated jointly. Instead of the use of pneumatic cylinders, solenoids, electromagnetic actuators, spindles, cam/followers, lever mechanisms may be used. Operating the plates by means of pneumatic cylinders also provides for a spring load on the plates at least in the active position so that the plates may more easily follow the irregular contour of the bone in use as will be explained below. The provision of one or more pressure sensors (not shown) in the pneumatic circuit may further assist in reliably letting the meat removing device follow the contour of the bone, for which purpose a pressure exerted on the meat or bone in the active position of the meat removing plates may be reduced if a sudden pressure rise is detected by the one or more pressure sensors. Further, the control system may be configured to be self-learning for the purpose of deboning the same bone of multiple carcass parts which are successively processed. A force profile on the meat removing plates, such as for the purpose of a movement in the meat removing direction38as will be discussed below, may be adapted based on information obtained, by suitable sensors such as pressure sensors, during a similar movement during the deboning of one or more preceding bones.

The meat removing plates222a,222beach comprise engaging elements formed by respective outer edges234a,234bof the meat removing device facing away from the bone, similar to plates22aand22b. Instead of said outer edges the engaging elements may comprise an inner edge of the meat removing device which inner edge faces the bone and protrudes from the meat removing device in the meat removing direction; one or more through holes; one or more protrusions; and/or a surface region having an increased roughness. Such a surface region having an increased roughness may be a region with an increased roughness located on an outer, bottom side of the meat removing plates222a,222b, compared to a more inward located region having a relatively lower roughness on an inner bottom side. This way, meat may slide outwards along the bottom side of the meat removing plates relatively close to the bone and may be engaged further outwards by the surface region having the increased roughness.

In use, for the purpose of removing meat from the bone4of the carcass leg part2, the system200is operated in accordance with a method similar to method100as represented inFIG.7. That is, the method of system200also follows successive method steps which may be referred to as method steps a to g. For the purpose of executing said method, the system has a control unit220, only very schematically shown inFIG.14. The control unit is operatively connected to the meat removing device216, and in particular to the pneumatic cylinders217,228a,228b,231and232. The control unit220is configured for in use of the system executing the following method steps:a) holding, by a support device206, of the leg part2by the lower end8of the bone4, in the same manner as shown inFIG.5. A cutting station may have been provided upstream of the system200for the purpose of making a pre-cut in an automated manner.b) then the meat removing device216is moved into the pre-cut, towards the bone4, to a first starting position36. For this purpose, the meat removing plates222a,222bare moved from their inactive position (FIG.8) into the active position (FIG.9). Also, and preferably only after that the plates222aand222bare moved into their active positions, the back plate224is moved from the inactive position into the active position.c) then, the meat removing device216performs a first meat removing movement from the first starting position36in a meat removing direction38away from the support device206(so it is moved downwards in the view of the figures) along the bone4to a first end position in the same manner as device16moves to a first end position40, so that meat5is removed from the bone4.

The meat removing device is moved in the meat removing direction by means of applying a predetermined force or force profile on the meat removing device216. The force or force profile may be dependent on the particular carcass leg part to be deboned.

d) Then, the meat removing device216is moved away from the bone, for which purpose the meat removing plates222a,222band224are moved from the active position to the passive position by means of applying a force on the meat removing plates by the (double-acting) cylinders228a,228band232. This outward movement, transverse to the meat removing direction38and thus in essence transverse to a direction of extension of the bone4, results in meat5which is in contact with the meat removing device216being forced away from the bone4and severs further meat from the bone4. The downward extending outer edges234a,234bengaging the meat5during this method step significantly contribute to said forcing away of meat from the bone thereby severing further meat from the bone.

During this step of moving away from the bone, a force in the meat removing direction38is, i.e. remains to be, exerted on the meat5by the meat removing device216. This may be achieved by maintaining a downward force, by the cylinder217, on the meat removing device216during this step. The movement of the meat removing device216away from the bone is thus partially in the meat removing direction38, so partially downwards in the view of the figures. This further contributes to the effective forcing away of meat from the bone.

e) Then, the meat removing device216is moved in a reposition direction42, upwards in the view of the figures, towards the support device206.

f) Then, the meat removing device216is moved towards the bone4to a second starting position44which may be at the height indicated inFIG.13. The second starting position44may be at the same, uppermost, level of the first starting position36, or may be in between the first starting position36and the first end position40asFIG.13shows. The different heights shown inFIG.13do not per se relate to any positions of any of the meat removing plates also shown inFIG.13.

g) Then, by means of the meat removing device216, a second meat removing movement is made from the second starting position44in the meat removing direction38away from the support device6along the bone4to a second end position46distanced further from the support device206than the first end position44asFIG.13shows, so that further meat is removed from the bone4.

In an embodiment of the method, which may be dependent on the specific carcass leg part to be deboned, steps d), e), f), and g) are executed at least one further cycle (indicated by ‘y’ inFIG.7), wherein for the purpose of the execution of step g) during a further cycle, the second end position is each time distanced further from the support device than the second end position of a preceding execution of step g). By doing so, the meat removing device thus gradually moves further downward during successive iterations, or, cycles, thereby removing meat from the bone in a highly controlled and robust manner.

The control system220is configured, for the purpose of the execution of a meat removing movement of a step c) or g), to cause a reduction of a force in the meat removing direction38exerted by the meat removing device216, preferably at least by plates222aand222bthereof, on the meat of the leg when the meat removing device reaches a neck47of the bone4. Also, a force in the direction of the bone by meat removing plates222aand222bmay temporarily be reduced, which further assists in passing the neck of the bone.

Also, for the purpose of step c) and/or step g), the respective first and/or second meat removing movements are executed for a respective predetermined time.

During a meat removing movement of step g, which may be the second meat removing movement or a meat removing movement of a further cycle as described above, the extra front meat removing plate229is moved towards the bone, to the active position thereof, or, if the plate229is already in the active position, it is kept in the active position. For example, when the control system220reduces a force by plates222aand222bas mentioned above, the plate229partially takes over the meat removing action by plates222aand222b.

When the meat removing operation is finalized, all plates may be moved to their inactive positions and the bone4may be removed from the system200.

Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. The foregoing description provides embodiments of the invention by way of example only. The scope of the present invention is defined by the appended claims. One or more of the objects of the invention are achieved by the appended claims.