Cutting device for splitting an animal carcass in half and robot incorporating such cutting device

A robot, comprising a support base on which one or more articulated arms are disposed, wherein the robot comprises, mounted at a free end of an articulated arm, a cutting tool comprising:

• a frame connected to one of said articulated arms,
• a cutting unit configured for cutting the carcase in two halves by means of a longitudinal cut,
• an actuating unit configured for actuating the cutting unit, and
• a guiding unit configured for guiding the carcase during a cutting process, comprising:
• an inner follower mechanism of the inner side of the carcase, configured to follow the inner side of the carcase during the cutting process, and
• an outer follower mechanism of the outer side of the carcase, configured to follow the outer side of the carcase during the cutting process,
• wherein the articulated arm presents a spatial movement of its free end with six degrees of freedom, and
• wherein the inner follower mechanism of the carcase comprises at least the following elements:
• an arm articulated at its upper end to a point on the frame,
• a first actuating unit configured for actuating the articulated arm,
• an inner side support, which is articulatedly fastened at the lower end of the articulated arm,
• a second actuating unit configured for rotating the inner side support, and
• one or more inner side rollers connected to the inner side support, where the one or more inner side rollers are configured to guide the ventral part of the carcase.

A cutting tool for cutting a meat piece carcase into two halves, wherein the carcases are suspended hanging from their legs, wherein the cutting tool is made to be coupled to a robot, and wherein the cutting tool comprises:

• a frame, configured to be connected to a robot arm,
• a cutting unit configured for cutting the carcase in two halves by means of a longitudinal cut,
• an actuating unit configured for actuating the cutting unit, and
• a guiding unit configured for guiding the carcase during a cutting process, comprising:
• an inner follower mechanism of the inner side of the carcase, configured to follow the inner side of the carcase during the cutting process, and
• an outer follower mechanism of the outer side of the carcase, configured to follow the outer side of the carcase during the cutting process,
• wherein the outer follower mechanism of the carcase comprises at least the following elements:
• an upper tilting arm for supporting one or more upper outer side rollers, where the upper tilting arm tilts with respect to a common articulation axis disposed at a point of the frame,
• one or more upper outer side rollers for upper guidance of the dorsal part of the carcase, wherein one or more upper outer side rollers is/are disposed at the free end of the upper tilting arm,
• a third actuating unit configured for rotating the upper tilting arm,
• a lower tilting arm for supporting one or more lower outer side rollers, wherein the lower tilting arm tilts with respect to the same common articulation axis of the frame,
• one or more lower outer side rollers for lower guidance of the dorsal part of the carcase, wherein one or more lower outer side rollers are disposed at the free end of the lower tilting arm,
• a fourth actuating unit configured for rotating the lower tilting arm.