device and method for removing bone meat scapula and meat and bone boning system including the devic

专利摘要:
DEVICE AND METHOD FOR THE REMOVAL OF MEAT SCOPULA WITH I (BONE AND MEAT BONING SYSTEM WITH BONE INCLUDING THE DEVICE This is a bone scapula bone removal device that includes: a bottom retainer that is configured to be in contact with a lower side of the boned meat in such a way that the lower side of the boned meat is raised and moved in a horizontal direction: a supporting member to bend the boned meat in cooperation with the bottom retainer of such that an end of the scapula, and a mandrel unit attached to a robotic arm and which grips the tip part of the scapula in cooperation with the robotic arm.The mandrel unit includes: a base member attached to the robotic arm; handle member, and a locking member supported by the base member such that the locking member can be advanced or retracted in the direction of or against the side plate part, the locking member tightening the scapula in c o Operation with the side plate part.
公开号:BR112014022535B1
申请号:R112014022535-4
申请日:2013-02-28
公开日:2020-06-30
发明作者:Akira Taniguchi；Hiroyuki SAKURAYAMA；Osamu Goto；Masaru TOKUMOTO；Hiroaki MURANAMI
申请人:Mayekawa Mfg. Co., Ltd.；
IPC主号:

专利说明:

[0001] [0001] The present invention relates to a scapula removal device and a scapula removal method for the removal of a bone-in meat scapula that includes an arm part of a cattle carcass and a boning system. bone-in meat that includes the device. BACKGROUND
[0002] [0002] A carcass of cattle such as a pig, a cow, or a sheep is served as meat. A method for boning meat with bone (hereinafter "work") of a part of the arm of the cattle carcass has approximately a pre-processing step, an incision step and a meat separation step. In the pre-processing stage, an iliac bone and the like are removed. In the incision making step, an incision is made along a forearm bone and an upper arm bone of the work in the case where the work is the arm part and an incision is made along a lower thigh bone and a thigh bone of the work in the event that the work is the thigh part. In the meat separation stage, the meat is removed from the work bones.
[0003] [0003] The present inventors propose a boning system in which the incision step and the meat separation step are performed automatically.
[0004] [0004] For example, in the boning system revealed in Patent Document 1, the work in which the incision of the forearm bone is performed manually in the pre-processing step is supplied. The stocked work is suspended from a clamp manually and sent to a robotic arm that performs the incision making step.
[0005] [0005] A cutting tool is attached to the robotic arm and the cutting tool performs the incision with a predetermined course using the robotic arm. The length of the work is measured using a photoelectric sensor previously and the course of the incision is determined based on the measurement result. During the incision step, the work is held by a work holding mechanism while it is suspended by the clamp.
[0006] [0006] Furthermore, in the meat separation stage of the boning system, the work is elevated while it is rotated in a state in which a cutter is in contact with the work and the forearm bone and the upper arm bone are, therefore, removed from work. The amount of work lift is also determined based on the result of the work length measurement.
[0007] [0007] Then, a scapula is removed from work. Specifically, after the job, from which the forearm bone and arm bone have been removed, is transferred to a belt conveyor, the job is rested in a predetermined position by a V-shaped guide. Subsequently, the incision is made is performed along the scapula of the job. After the incision is made, the work is transported again by the belt conveyor. When the job reaches a predetermined transport position, the belt conveyor is stopped and the job scapula is carved and removed by a cutter mandrel and a U-shaped cutter. Citation List Patent Literature Patent Document 1: Patent application open for public inspection No. .: JP 2008-99574 SUMMARY Technique Problem
[0008] [0008] In the boning system described in Patent Document 1, according to the last half of the meat separation step, that is, a scapular removal step, the work is transported by means of a belt conveyor. In addition to improving a boning system's processing ability, it is preferable to remove the scapula from suspended work.
[0009] [0009] The present invention has been achieved in view of the above circumstances and an objective of the same is to provide a scapula removal device and a scapula removal method for the removal of a scapula from a suspended bone meat and a boning system bone-in meat that includes the device. Solution to the Problem
[0010] [0010] To achieve the above objectives, in accordance with an aspect of the present invention, a scapula removal device is provided for removing a scapula from bone-in meat that includes an arm part of a cattle carcass in a state where the bony meat is suspended, which includes: a bottom retainer that is configured to be in contact with a lower side of the bony meat such that the lower side of the bony meat is raised and moved in a horizontal direction ; a supporting member for driving a part of the bony meat positioned above the bottom retainer in a direction opposite to a direction of movement of the bottom retainer in the horizontal direction and that curves the bony meat in cooperation with the bottom retainer of such so that one end of the scapula on one side of the forearm bone protrudes; a robotic arm; a mandrel unit attached to the robotic arm and which grips the tip part of the scapula in cooperation with the robotic arm; wherein the mandrel unit includes: a base member attached to the robotic arm; a handle member including two longitudinal plate parts protruding from the base member parallel to each other and a continuous side plate part with tips of the longitudinal plate parts; and a locking member sustained in such a way that the locking member can be advanced or retracted towards or against the side plate part, the locking member tightening the scapula in cooperation with the side plate part.
[0011] [0011] According to the above scapula removal device from bone-in meat, the scapula can be removed from bone-in meat in a state where the bone-in meat is suspended.
[0012] [0012] Preferably, the boned meat is suspended from a clamp that rotates around a continuous mat and the scapula removal device additionally includes a movement mechanism to move the bottom retainer and the support member in sync with the movement of the clamp.
[0013] [0013] According to the above configuration, the scapula can be removed from the bone meat that is transported with the movement of the clamp. Consequently, when the bone scapula removal device is applied to a boning system, the scapula can be removed without impairing the boning system's processing ability.
[0014] [0014] Preferably, the bone scapula removal device additionally includes a left / right position adjustment mechanism to adjust a position of the bottom retainer in a direction of movement of the clamp according to a right side or left of bone-in meat.
[0015] [0015] According to the above configuration, the boned meat is suitably curved according to the left or right side of the boned meat and one end of the scapula is exposed. As a result, the mandrel unit securely tightens the scapula and the scapula can be removed.
[0016] [0016] Preferably, the bottom retainer includes a curved V-shaped bottom plate and a side plate fixed to a side edge of the bottom plate along the continuous belt.
[0017] [0017] According to the configuration above, it is possible to bend the meat with bone and expose the end of the scapula with a simple configuration. As a result, the mandrel unit securely tightens the scapula and the scapula can be removed.
[0018] [0018] Preferably, the bone-in-scapula removal device additionally includes, in a case where the bone-in meat includes ribs that cover an end part of the scapula and are cut open, a cleaner to sweep the ribs to expose the end part.
[0019] [0019] According to the configuration above, the cleaner scans the ribs and therefore the scapula end is exposed. As a result, the mandrel unit securely tightens the scapula and the scapula can be removed.
[0020] [0020] Preferably, a side edge on the tip side of the longitudinal plate part and a side edge of the side plate part are formed according to the blades.
[0021] [0021] According to the above configuration, the blades are provided in a handle member and the handle member can perform an incision around the scapula. As a result, the mandrel unit securely tightens the scapula and the scapula can be removed.
[0022] [0022] To achieve the above objectives, in accordance with an aspect of the present invention, a bone-in meat boning system is provided that includes any of the scapula removal devices.
[0023] [0023] In order to achieve the above objectives, in accordance with an aspect of the present invention, a method of scapula removal is provided to remove a bone-in-meat scapula that includes an arm part of a cattle carcass, in a that the bone-in meat is suspended, which includes the steps of: raising a lower side of the bone-in meat and moving the lower side of the bone-in meat in a horizontal direction while placing a bottom retainer in contact with the lower side of the meat with bone from below; propel a part of the bony meat positioned above the bottom retainer in a direction opposite to a direction of movement of the bottom retainer in the horizontal direction using a supporting member and bend the bony meat in such a way that one end of the scapula located on a side of forearm bone protrudes; attaching a mandrel unit to a robotic arm, the mandrel unit including: a base member attached to the robotic arm; a handle member including two longitudinal plate parts projecting from the base member parallel to each other and a continuous side plate part with tips of the longitudinal plate parts; and a locking member supported in such a way that the locking member can be advanced or retracted in the direction of or against the side plate part, the locking member tightening the scapula in cooperation with the side plate part; and operating the robotic arm to squeeze one end of the scapula between the side plate part and the locking member. Advantageous Effects
[0024] [0024] In accordance with the present invention, a scapula removal device and a scapula removal device are provided for removing the scapula from the suspended bone-in meat and the meat-on-bone boning system includes the device. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] [0025] Figure 1 is a view showing schematically the entire configuration of a bone-in boning system of an embodiment of the present invention;
[0026] [0026] Figure 2 is a flowchart showing the processing procedures for a method for boning performed by the boning system of Figure 1;
[0027] [0027] Figure 3 is a view to explain a pig's arm and thigh part;
[0028] [0028] Figure 4 is a view to explain a pre-processing step in Figure 2;
[0029] [0029] Figure 5 is a view to explain the pre-processing step in Figure 2;
[0030] [0030] Figure 6 is a view to explain the size of a job after the pre-processing step in Figure 2;
[0031] [0031] Figure 7 is a plan view showing schematically the configuration of a left / right determination station together with a part of a suspension station;
[0032] [0032] Figure 8 is a plan view showing schematically the configuration of the left / right determination station;
[0033] [0033] Figure 9 is a side view to explain the arrangement of a photoelectric sensor;
[0034] [0034] Figure 10 is a perspective view showing schematically a part around a tip of a movement regulation bar;
[0035] [0035] Figure 11 is a view to explain the operation of a clamp arm;
[0036] [0036] Figure 12 (a) is a view to explain the work posture during left / right determination and Figure 12 (b) is a view to explain the work posture when a hooking member is stuck;
[0037] [0037] Figure 13 is a side view showing schematically a robotic arm;
[0038] [0038] Figure 14 is a side view showing schematically a hooking unit;
[0039] [0039] Figure 15 is a schematic cross-sectional view of the hooking unit;
[0040] [0040] Figure 16 is a view to explain a mechanism for turning the hooking member;
[0041] [0041] Figure 17 (a) shows the disposition of the hooking member when the hooking member is attached to the work, and Figure 17 (b) shows the disposition of the hooking member when the work is removed;
[0042] [0042] Figures 18 (a) and 18 (b) are seen in perspective from the tip side of the hooking member when viewed from different directions;
[0043] [0043] Figure 19 is a view to explain the disposition of the work and the hooking member when the hooking member is stuck in the work;
[0044] [0044] Figure 20 is a plan view showing schematically a part of the suspension station;
[0045] [0045] Figure 21 is a side view showing schematically a part of the suspension station;
[0046] [0046] Figure 22 is a front view showing schematically a part of the suspension station;
[0047] [0047] Figure 23 is a front view showing schematically a part of the suspension station;
[0048] [0048] Figure 24 is a view showing schematically a part of the suspension station together with the work;
[0049] [0049] Figure 25 is a side view showing schematically the state of the work that is transported in the suspension station;
[0050] [0050] Figure 26 is a view to explain the method for boning performed by the boning system;
[0051] [0051] Figure 27 is a half cross-sectional view showing schematically a clamp device for transporting the work;
[0052] [0052] Figure 28 is a top view schematically showing the clamp device of Figure 27;
[0053] [0053] Figure 29 is a cross-sectional view along a line XXIX-XXIX of Figure 27;
[0054] [0054] Figure 30 (a) is a plan view showing schematically a left job W and a clamp immediately after the job is suspended from the clamp, and Figure 30 (b) is a plan view showing a job schematically right W and the clamp immediately after the job is suspended from the clamp;
[0055] [0055] Figure 31 is a view to explain the operation of a first clip turning device;
[0056] [0056] Figure 32 is a view to explain the operation of the first clip turning device;
[0057] [0057] Figure 33 is a view to explain the operation of a second clip turning device;
[0058] [0058] Figure 34 is a view to explain the operation of the second clip turning device;
[0059] [0059] Figure 35 is a view to explain the operation of each of the third to fifth clamp turning devices;
[0060] [0060] Figure 36 is a view to explain the operation of the third clip turning device;
[0061] [0061] Figure 37 is a view to explain the operation of the fourth clip turning device;
[0062] [0062] Figure 38 is a view to explain the operation of the fifth clip turning device;
[0063] [0063] Figure 39 is a view to explain the operation of the fifth clip turning device;
[0064] [0064] Figure 40 is a view to explain the configuration of an X-ray imaging station;
[0065] [0065] Figure 41 is a view to explain the configuration of the X-ray imaging station;
[0066] [0066] Figure 42 (a) is a side view of a filter, and Figure 42 (b) is a front view of the filter;
[0067] [0067] Figure 43 is a view to explain the configuration of a drive mechanism for a protection box;
[0068] [0068] Figure 44 is a view to explain the movement of the protection box;
[0069] [0069] Figure 45 is a view showing target positions A to L in the work whose coordinates must be determined based on an X-ray image;
[0070] [0070] Figure 46 is a view showing schematically a round blade cutter device that performs a second step of making a forearm incision;
[0071] [0071] Figure 47 is a perspective view showing schematically a cutter tool for a first incision making station;
[0072] [0072] Figure 48 (a) is a plan view of the cutter tool, and Figure 48 (b) is a cross-sectional view of the cutter tool;
[0073] [0073] Figure 49 is a front view showing schematically a support device for the first incision making station, in which Figure 49 (a) shows an operating state and Figure 49 (b) shows a waiting state ;
[0074] [0074] Figure 50 is a side view showing schematically the part of the support device;
[0075] [0075] Figure 51 is a plan view showing schematically a part of the support device;
[0076] [0076] Figure 52 is a front view showing schematically the support device in the operating state together with the work;
[0077] [0077] Figure 53 is a side view showing schematically a scapular removal station;
[0078] [0078] Figure 54 is a front view showing schematically an upper side support member, a lower side support member, a bottom retainer and a guide plate together with the work and is also a view explain the movement of the bottom retainer;
[0079] [0079] Figure 55 (a) includes a top view and a front view of the bottom retainer and Figure 55 (b) includes a top view, a front view and a side view of the upper side support member;
[0080] [0080] Figure 56 includes a top view and a front view of the guide plate;
[0081] [0081] Figure 57 is a view for the upward and downward explanation of the bottom retainer;
[0082] [0082] Figure 58 is a view to explain a wiper oscillation;
[0083] [0083] Figure 59 (a) is a side view schematically showing a mandrel unit and Figure 59 (b) is a plan view showing schematically a handle member and a lock member of the mandrel unit;
[0084] [0084] Figure 60 is a view to explain a state in which the grip member and the lock member grip the scapula;
[0085] [0085] Figure 61 is a side view showing schematically a third forearm bone incision station and a work discharge station;
[0086] [0086] Figure 62 is a plan view showing a lower side support member and a retaining member;
[0087] [0087] Figure 63 (a) is a plan view showing schematically the upstream side of a transfer separation station and Figure 63 (b) is a side view schematically showing a guide bar, a plate guide and a stationary blade of the transfer separation station;
[0088] [0088] Figure 64 is a front view showing schematically the upstream side of the transfer separation station together with the work;
[0089] [0089] Figure 65 is a plan view showing schematically the downstream side of the transfer separation station;
[0090] [0090] Figure 66 is a front view showing schematically the downstream side of the transfer separation station;
[0091] [0091] Figure 67 is a plan view showing schematically the downstream side of the transfer separation station;
[0092] [0092] Figure 68 is a view to explain the separation of the forearm bone from the work at the transfer separation station;
[0093] [0093] Figure 69 is a view to explain the operation of an orientation adjustment bar;
[0094] [0094] Figure 70 (a) is a plan view showing schematically a final separation station and Figure 70 (b) is a side view schematically showing the final separation station;
[0095] [0095] Figure 71 is a front view showing schematically a separation device at the final separation station;
[0096] [0096] Figure 72 is a plan view showing a meat separator together with an air cylinder;
[0097] [0097] Figure 73 is a plan view showing schematically a pressing device of the transfer separation station according to another embodiment of the present invention;
[0098] [0098] Figure 74 is a side view showing schematically the pressing device of Figure 73;
[0099] [0099] Figure 75 is a front view showing schematically the pressing device of Figure 73 together with the work;
[0100] [00100] Figure 76 is a plan view showing schematically the downstream side of the transfer separation station;
[0101] [00101] Figure 77 is a view to explain a method for boning performed by a boning system of another modality;
[0102] [00102] Figure 78 is a schematic diagram for the explanation of an olecranon fossa of an upper arm bone; and
[0103] [00103] Figure 79 is a flow chart that schematically shows the operating procedures in a transfer separation step. DETAILED DESCRIPTION
[0104] [00104] The present invention will be described in detail using the modalities shown in the drawings. However, it is noted that the scope of the present invention is not limited only to the dimensions, materials, formats and relative dispositions of components described in the modalities, except when specifically stated otherwise.
[0105] [00105] [Full boning system configuration]
[0106] [00106] Figure 1 shows the schematic configuration of a bone-in boning system (hereinafter also called a boning system) of a modality of the present invention.
[0107] [00107] The deboning system has a pre-processing station ST1, a left / right determination station ST2, a suspension station ST3, an X-ray imaging station ST4, a first ST5 incision station, a second ST6 incision making station, a ST7 scapula removal station, a ST8 forearm bone incision station, a ST9 work discharge station, a ST10 transfer separation station, a final separation station ST11 and an ST12 bone unloading station.
[0108] [00108] In addition, the boning system has a plurality of clamps 10 that carry a job W in a state where the job W is suspended from the clamp 10 and each clamp 10 rotates around a continuous belt 11. Specifically, the clamps 10 are coupled to a chain and the chain is rotated using sprockets 13 and 14 along the continuous belt 11. It is noted that, although not shown in the drawing, a plurality of belt conveyors are arranged along from the continuous conveyor 11 and the meat and bones separated from each other are separately transported outside the boning system.
[0109] [00109] The ST3 suspension station, the ST4 X-ray imaging station, the first ST5 incision station, the second ST6 incision station, the ST7 scapula removal station, the incision station forearm bone ST8, work discharge station ST9, transfer separation station ST10, final separation station ST11 and bone discharge station ST12 are provided in that order along continuous belt 11.
[0110] [00110] In addition, to rotate the clamp 10 by a predetermined angle, a first clamp rotating device 16, a second clamp rotating device 17, a third clamp rotating device 18, a fourth clamp rotating device 19 and a fifth clip turning device 20 are provided in that order along the continuous belt 11.
[0111] [00111] The first staple turning device 16 is positioned between the suspension station ST3 and the X-ray imaging station ST4 and the second staple turning device 17 is positioned between the scapula removal station ST7 and the station of incision of ST8 forearm bone incision.
[0112] [00112] The third staple turning device 18 is positioned between the forearm bone incision making station ST8 and the work unloading station ST9 and the fourth staple turning device 19 is positioned between the unloading station of the forearm. work station ST9 and the transfer separation station ST10. The fifth clip turning device 20 is positioned between the final separation station ST11 and the bone unloading station ST12.
[0113] [00113] Furthermore, the boning system has a control device 21 that controls the entire operation. The control device 21 is configured, for example, by a computer that includes a central processing unit, a memory, an external storage device, an input device and an output device. Preferably, the control device 21 is connected to all stations ST2 to ST12 except the pre-processing station ST and the first to fifth clamp turning devices 16, 17, 18, 19 and 20.
[0114] [00114] Furthermore, the boning system has a round blade cutter device 22 that is positioned between the X-ray imaging station ST4 and the first S5 incision station and is provided along the continuous belt. Boning method
[0115] [00115] Figure 2 is a flowchart that schematically shows the processing procedures of a method for boning meat with bone performed by the boning system.
[0116] [00116] The method for boning includes a pre-processing step S10, a left / right determination step S12, a suspension step S14, a first step of making a forearm bone incision S16, a first turning step staple S18, a X-ray imaging step S20, a second forearm bone incision step S22, a first S24 incision step, a second S26 incision step, a scapular removal step S27, a second stage of turning of staple S28, a third stage of incision of forearm bone S30, a stage of determining the occurrence of error S32, a third stage of turning of staple S34, a stage of unloading work S36 , a fourth staple turning step S38, a transfer separation step S40, a final separation step S42, a fifth staple turning step S44 and a bone unloading step S46.
[0117] [00117] From this point on in this document, the individual steps will be described together with the device settings used in the steps. Pre-processing step / Pre-processing station
[0118] [00118] In the pre-processing step S10, pre-processing is performed manually on the bone-in meat of a pig's arm part shown schematically in Figure 3 (from this point on in this document also called a job and is designated by reference number W). In the boning method of Figure 2, only the preprocessing step S10 is performed manually.
[0119] [00119] The boning system can boning regardless of whether the arm part is a left arm or a right arm. It is observed that, although the boning system is suitable for boning the arm part, the boning system can be applied to a thigh part and can also be applied to the arm and thigh part of a cow or sheep.
[0120] [00120] In the pre-processing step S10, a foot part is cut along an L1 line in Figure 4.
[0121] [00121] In addition, in the preprocessing step S10, as shown in Figures 5 (a) and 5 (b), the ribs (belly) w1 are turned. It can be seen that the work W in Figure 5 is a right arm (right work) and includes a forearm bone b1, an upper arm bone b2 and a scapula b3 according to the bones.
[0122] [00122] Next, as shown in Figures 5 (c) and 5 (d), an upper meat w2 from the scapula b1 is removed. As indicated by a line L2 in Figure 5 (e), the incision is performed along the scapula b3, the incision is also performed on a joint between the scapula b3 and the upper arm bone b2 as indicated by a line L3 and the preprocessing step S10 is completed.
[0123] [00123] It is observed that in the preprocessing step S10, as shown in Figure 5 (f), ribs w1 can also be cut.
[0124] [00124] Figure 6 shows the work W after the pre-processing step S10 and the length of the work W boned by the boning system is, for example, 400 mm to 600 mm.
[0125] [00125] Left / right determination step / Left / right determination station
[0126] [00126] Figures 7 to 12 are seen to explain the configuration of the left / right determination station ST2. It can be seen that Figures 7 to 12 include the configuration of the ST3 suspension station partially.
[0127] [00127] The left / right determination station ST2 has belt conveyors 24 arranged in, for example, two rows. Work W that has been subjected to pre-processing is disposed at the upstream end of each of the belt conveyors 24 by an operator and is transported to the downstream end. In this document, the operator arranges the work W on the belt conveyor 24 in such a way that the cutting surface separated from the work body W is directed upwards and the wrist side of it is directed towards the downstream side of the conveyor. strap 24.
[0128] [00128] At the downstream end of the belt conveyor 24, a pair of movement regulation bars 25a and 25b is provided according to a mechanism for regulating the movement of work W. The movement regulation bars 25a and 25b can be opened and closed by means of an air cylinder which is not shown and are closed during the execution of the left / right determination step S12.
[0129] [00129] The movement regulation bars 25a and 25b, when closed, form a substantially V shape when viewed in two dimensions and the interval between movement regulation bars 25a and 25b is narrowed in a downstream direction in the direction of transport of the belt conveyor 24. In the upper part of the V-shape, the movement adjustment bars 25a and 25b are separated from each other to form a gap. The movement of work W is regulated in a state where the tip part of the wrist side enters the gap.
[0130] [00130] In addition, the left / right determination station ST has a left / right determination mechanism that determines whether job W is a right arm (right job) or a left arm (left job) based on posture of work W whose movement is regulated. Specifically, the left / right determination mechanism is configured by a pair of photoelectric sensors 27a and 27b and a reflex plate 28.
[0131] [00131] The photoelectric sensors 27a and 27b are arranged side by side in the width direction of the belt conveyor 24 above the belt conveyor 24. The photoelectric sensors 27a and 27b are arranged in such a way that they can receive reflected light from the plate reflection 28 when each of the photoelectric sensors 27a and 27b emits light towards the reflection plate 28. However, when the optical path is blocked by the tip of the work W depending on the posture of the work W, one of the photoelectric sensors 27a and 27b cannot receive reflected light. Consequently, the control device 21 can determine the left or the right side of the work W based on the light receiving state of the reflected light by the photoelectric sensors 27a and 27b.
[0132] [00132] The reflex plate 28 is provided on a movable platform 29. The movable platform 29 can be brought close to or moved in the direction away from the downstream end of each of the belt conveyors 24 in the transport direction of the conveyor. belt 24 by means of an air cylinder 30.
[0133] [00133] The clamp arms 32a and 32b that secure the work tip W to the center of the gap between the movement adjustment bars 25a and 25b are provided on the movable platform 29. The clamp arms 32a and 32b can be brought to near or moved in the direction away from the work tip W in the width direction of the belt conveyor 24.
[0134] [00134] Specifically, two rails 33 are provided on the mobile platform 29 in such a way that they are separated from each other and slides 34 are mounted on the rails 33. The slide 34 is slidable in the longitudinal direction of the rail 33 and the clamp arms 32a and 32b are attached to the slides 34. The slides 34 are coupled to an air cylinder 35 via a connecting mechanism. Consequently, by controlling the air cylinder 35, it is possible to bring the clamp arms 32a and 32b close together or move them in the opposite direction to the work point W.
[0135] [00135] The contact plate parts 36a and 36b that are curved in such a way that they are lowered in relation to the work point W are provided at the ends of the clamp arms 32a and 32b and the work point W is securely fixed and tightened by the contact plate parts 36a and 36b.
[0136] [00136] Furthermore, a work retaining member 37 is provided above the belt conveyor 24. The work retaining member 37 can be brought close to or moved in the opposite direction to work W whose movement is regulated by a linear actuator 38. The work holding member 37 diagonally pushes the work W against the belt conveyor 24 and therefore pushes the work W towards the movement regulation bars 25a and 25b. The clamp arms 32a and 32b secure the work tip W retained by the work retaining member 37. Suspension step. First stage of making a forearm bone incision / Suspension station
[0137] [00137] Figures 13 to 25 show the configuration of the ST3 suspension station. The ST suspension station is a transport device that transports work W from the left / right determination station ST2 to the clamp 10 while involving the change of posture from a horizontally placed state to a suspended state. During transport, the ST3 suspension station performs an incision on the forearm bone b1.
[0138] [00138] For the incision, the ST3 suspension station has a robot arm 40 that can perform a predetermined operation. The robot arm 40 is, for example, a multi-jointed robot with 6 geometry axes and a hooking unit 42 is attached to the tip of the robot arm 40 as an accessory.
[0139] [00139] It is observed that the first ST5 incision station, the second ST6 incision station, the ST7 scapula removal station and the ST8 forearm bone incision station also has robot arms 40 although the fixings are different.
[0140] [00140] The hooking unit 42 has two hooking members 43a and 43b. The robot arm 40 hooks the hooking members 43a and 43b to the tip part of the work W which is retained by the movement adjustment bars 25a and 25b, the clamp arms 32a and 32b and the work retaining member 37. Or that is, the movement regulation bars 25a and 25b, the clamp arms 32a and 32b and the work retaining member 37 constitute a part of the suspension station ST3.
[0141] [00141] More specifically, the hooking members 43a and 43b have main body parts of the belt type 45a and 45b, pointed ends of the blade type 46a and 46b provided at ends on one side of the main body parts 45a and 45b and barbs 47a and 47b provided on first sides of the main body parts 45a and 45b to be continuous with nozzles 46a and 46b.
[0142] [00142] In addition, the hooking unit 42 has a holding mechanism for the hooking members 43a and 43b. The support mechanism supports the hooking members 43a and 43b in such a way that the hooking members 43a and 43b are parallel to each other with an elastically changeable interval between them and are also capable of rotating around the geometric axes of pivot together with the longitudinal geometric axes of the main body parts 45a and 45b.
[0143] [00143] Furthermore, the hooking unit 42 has a pivoting drive mechanism that rotates the hooking members 43a and 43b around the pivoting geometric axes. It is observed that the rotating geometry axes are configured in such a way that the first sides of the main body parts 45a and 45b provided with the barbs 47a and 47b are brought close to or moved in the opposite direction with the rotation.
[0144] [00144] Specifically, the hooking unit 42 has a main frame 49 and two movable platforms 50a and 50b are fixed to the main frame 49 via, for example, a linear guide such that they can be brought close or moved in the direction contrary to each other. Angles 51a and 51b are attached to the main frame 49 in such a way that they tighten the mobile platforms 50a and 50b and the compression spiral springs 52a and 52b are provided between the angles 51a and 51b and the mobile platforms 50a and 50b. Consequently, an elastic force acts on the mobile platforms 50a and 50b in such a way that the mobile platforms 50a and 50b are moved close to each other.
[0145] [00145] The mounting blocks 53a and 53b are fixed to the mobile platforms 50a and 50b and the mounting blocks 53a and 53b rotatively support the rotating members 54a and 54b through bearings. The actuating arms 55a and 55b are coupled to the first ends of the rotating members 54a and 54b that project from the mounting blocks 53a and 53b and the actuating arms 55a and 55b are connected to oblong holes in a coupling plate 56 with the use of pins. The coupling plate 56 is coupled to an air cylinder 57 attached to the main frame 49.
[0146] [00146] On the other hand, the hooking members 43a and 43b are fixed through spacers 58a and 58b to the second ends of the rotating members 54a and 54b that project from the mounting blocks 53a and 53b as necessary.
[0147] [00147] In the hooking unit 42, when the air cylinder 57 is extended or retracted, the actuating arms 55a and 55b rotate and the hooking members 43a and 43b are therefore rotated together with the rotating members 54a and 54b. That is, the air cylinder 57 forms an actuator to rotate the hooking members 43a and 43b and the actuating arms 55a and 55b and coupling plate 56 form a connection that couples the actuator and the rotating members 54a and 54b.
[0148] [00148] Furthermore, the hooking unit 42 additionally has an oscillation regulating mechanism that regulates the oscillation of the work W during the movement of the work W. Specifically, the hooking unit 42 has an oscillation prevention plate 59 which has an L-shaped cross section that is attached to the main frame 49.
[0149] [00149] The robot arm 40 fastens the nozzles 46a and 46b of the hooking members 43a and 43b in the tip part of the work W in the state placed horizontally such that the forearm bone b1 in the tip part is tightened. At that time, the pivoting drive mechanism rotates the hooking members 43a and 43b such that the gap between the first sides of the main body parts 45a and 45b provided with the barbs 46a and 46b is narrower than the gap between the second sides of them.
[0150] [00150] Furthermore, the robot arm 40 hooks the nozzles 46a and 46b of the hooking members 43a and 43b to the tip part of the work W such that the first sides of the main body parts 45a and 45b provided with the barbs 47a and 47b are arranged on the elbow side of the work W and the second sides of the main body parts 45a and 45b are arranged on the wrist side thereof.
[0151] [00151] Then, the robot arm 40 moves the work W in which the hooking members 43a and 43b are inserted at the entrance of the guide rails 60. The guide rails 60 are guide members that define a groove for the transport of suspended work W.
[0152] [00152] In the vicinity of the entrance of the guide rails 60, two thrust rods 61 for the work transfer W from the hooking unit 42 to the guide rails 60 are arranged. The thrust rods 61 extend in a horizontal direction orthogonal to the groove of the guide rails 60. The thrust rods 61 can be moved in a longitudinal direction by means of an air cylinder 62 and can be moved in a parallel direction to the groove of the guide rails 60 by means of a drive mechanism which is not shown.
[0153] [00153] It is observed that, when the work W is removed from the hooking members 43a and 43b by the thrust rods 61, the turning drive mechanism rotates the hooking members 43a and 43b in such a way that the interval between the first the sides of the main body parts 45 preferably reach or correspond to the gap between the second sides thereof. At that time, the robot arm 40 arranges the hooking unit 42 in such a way that the first sides of the main body parts 45, i.e., the barbs 47a and 47b are positioned on a lower side.
[0154] [00154] The guide rails 60 are coupled to guide plates 63a and 63b and the guide plates 63a and 63b also define the groove that carries the suspended work W. The synchronization plates 65a and 65b are supplied adjacent to the guide plates 63a and 63b. The synchronization plates 65a and 65b also define the groove that carries the suspended work W.
[0155] [00155] The synchronization plates 65a and 65b can be moved along the continuous belt 11 in sync with the clamp 10 which rotates around the continuous belt 11 by means of a drive mechanism which is not shown. An air cylinder 66 is attached to the guide plate 63b and the air cylinder 66 drives the suspended work W from the synchronization plates 65a and 65b to the clamp 10 through a booster 68.
[0156] [00156] The suspension station ST3 has a fork 70 for transporting the work W from the entrance of the guide rails 60 to the synchronization plates 65a and 65b. The fork 70 can be inserted into the groove and can be moved along the groove by a drive mechanism that is not shown. A work W is carried by a first nail of the fork 70 and then carried by a second nail of the fork.
[0157] [00157] Furthermore, the triangular upstream side stationary blades 72 projecting upwards on both sides of the groove are fixed to the guide rails 60 and the triangular downstream side stationary blades 74 projecting downwards from both sides. groove sides are attached to guide plates 63a and 63b.
[0158] [00158] Consequently, while the work W is carried along the groove, the incision is performed at the tip part of the work W, that is, the meat around the forearm bone, by the side stationary blades upstream 72 and the downstream side stationary blades 74. At that moment, in each of the upstream side stationary blades 72, the height of the cutting edge is gradually increased in the direction of transport and the incision is performed using the work weight W The downstream side stationary blades 74 perform the incision in such a way that the incisions are continuous with incisions made by the upstream side stationary blades 72.
[0159] [00159] That is, the stationary blade from the upstream side 72 and the stationary blade from the downstream side 74 perform the first step of making a forearm bone incision S16. As a result of the first step of incision of the forearm bone S16, as shown in Figure 26 (a), the wrist side of the forearm bone b1 is exposed and the exposed wrist side of the forearm bone is retained by the clamp 10 .
[0160] [00160] First to fifth staple turning steps / First to fifth staple turning devices
[0161] [00161] Figures 27 to 29 show the schematic configuration of a clamp device 76 that includes clamp 10 and Figure 30 schematically shows the work W suspended from clamp 10. In addition, Figures 31 to 39 show schematically the first to fifth staple turning devices 16, 17, 18, 19 and 20.
[0162] [00162] The clamp device 76 has an axis 83 that extends from the clamp 10 in a vertical direction and the axis 83 extends through a projection of a transport part 84 such that it is relatively rotatable. The transport part 84 is coupled to a chain 85 that extends along the continuous belt 11 and moves on a rail that extends along the continuous belt 11 with the turning of the chain 85.
[0163] [00163] A first disc 86 is attached to the upper end of the shaft 83 and four rollers 87 are attached to the first disc 86 as cam followers at 90 ° intervals. In addition, a second disc 88 is attached to the axis 83 below the first disc 86. The outer peripheral part of the second disc 88 is formed with semicircular notched parts 89 in predetermined positions.
[0164] [00164] On the other hand, a rotatable lever 90 is attached to the transport part 84 in the vicinity of the second disc 88. An engagement pin 91 is attached to lever 90 and the rotation of the axis 83 is adjusted when the engagement pin 91 is fitted to the notched part 89.
[0165] [00165] One end of the lever 90 is pulled by a helical tension spring 92 and the engagement between the engagement pin 91 and the notched part 89 is maintained by the tension. In addition, a roller 93 according to the cam follower for releasing the engagement between the engagement pin 91 and the notched part 89 is fixed to the other end of the lever 90.
[0166] [00166] Figure 30 shows schematically the state of work W immediately after work W is suspended from clamp 10. Immediately after suspension, work W is arranged in such a way that the cutting surface separated from the body is along the belt continuous 11 regardless of the left or right side of the W job.
[0167] [00167] The notched part 89 is provided in such a way that when the angle of rotation of the clamp 10 immediately after suspension is 0 ^o , the angle of rotation of the clamp 10 can be fixed to any of 0 ^o , + 35 ° , -35 °, + 145 ° and + 180 °. It is observed that + denotes the turn to the right side in relation to the direction of travel of the clamp 10, while - denotes the turn to the left side.
[0168] [00168] The first to fifth clamp swinging devices 16, 17, 18, 19 and 20, each have cam surfaces 95, 96, 97, 98 and 99 for releasing the engagement between the engagement pin 91 and the notched part 89. Although the roller 93 is in contact with one of the cam surfaces 95, 96, 97, 98, and 99, the lever 90 is rotated against the tension of the helical tension spring 92 and the engagement between the engagement pin 91 and the notched part 89 is released.
[0169] [00169] The first clamp slewing device 16 has cam surfaces 100a and 100b for turning the shaft 83 while the engagement is released. The cam surface 100a comes into contact with the roller 87 to therefore rotate the shaft 83 to the left side by 35 ° and the cam surface 100b contacts the roller 87 to therefore rotate the shaft 83 towards the left. right side by 35 °.
[0170] [00170] It is observed that the cam surfaces 100a and 100b are coupled to the air cylinders 101a and 101b through connection mechanisms and the control device 21 can cause each of the cam surfaces 100a and 100b to move between an operating position and a waiting position controlling the air cylinders 101a and 101b.
[0171] [00171] That is, according to the result of determining the left / right determination step S12, it is possible to rotate the axis to the right side when a job W is the right arm and to rotate the axis to the left side when the work W is the left arm.
[0172] [00172] The second clamp swinging device 17 has cam surfaces 103a, 103b, 104a and 104b for rotating the shaft 83 twice while the engagement is released. The cam surfaces 103a and 104a and the cam surfaces 103b and 104b subsequently contact the roller 87 to therefore set the rotation angle of the shaft 83 to 180 °.
[0173] [00173] It is observed that the cam surfaces 103a, 103b, 104a and 104b are also coupled to air cylinders 105a and 105b through connection mechanisms and the control device 21 can cause each of the cam surfaces 103a , 103b, 104a and 104b move between the operating position and the standby position by controlling the air cylinders 105a and 105b.
[0174] [00174] The third clamp turning device 18 has cam surfaces 107 and 108 to rotate the shaft 83 by 180 ° only in the event that any error has occurred in the step of determining the occurrence of error S32. That is, the cam surfaces 107 and 108 can set the angle of rotation of ^the shaft 83 to 0. The cam surfaces 107 and 108 are also coupled to an air cylinder 109 via the connecting mechanism and the control device 21 can cause each of the cam surfaces 107 and 108 to move between the operating position and the position by controlling the air cylinder 109.
[0175] [00175] The fourth clip turning device 18 has cam surfaces 110a, 111a, 112a and 110b for rotating the axis 83 in the event that the error does not occur. The cam surfaces 110a, 111a, 112a and 110b are also coupled to air cylinders 113a and 113b via the connecting mechanisms and the control device 21 can cause each of the cam surfaces 110a, 111a, 112a and 110b to move between the operating position and the standby position by controlling the air cylinders 113a and 113b. The control device 21 sets the rotation angle of the axis 83 to -35 ° when the work W is the left arm and sets the rotation angle of the axis 83 to + 35 ° when the work W is the right arm by means of rotation axis 83 using the cam surfaces 110a, 111a, 112a, and 110b.
[0176] [00176] The fifth clip turning device 20 has cam surfaces 115a, 116a, and 115b for rotating shaft 83 in the event that the error does not occur. The cam surfaces 115a, 116a and 115b are also coupled to air cylinders 117a and 117b via the connecting mechanisms and the control device 21 can cause each of the cam surfaces 115a, 116a and 115b to move between the position operating and standby position by controlling air cylinders 117a and 117b. The control device 21 sets the swivel angle 0 to the axis 83 through ^the turning axis 83 using the cam surfaces 115a, 116a and 115b.
[0177] [00177] It is observed that the meat surfaces 97, 98 and 99, each, for the release of the coupling between the coupling pin 91 and the notched part 89 are also coupled to air cylinders 118, 119 and 120 through the mechanisms connection device and control device 21 controls air cylinders 118, 119 and 120 as needed to release the hitch. X-ray imaging step / X-ray imaging station
[0178] [00178] Figures 40 to 45 show schematically the configuration of the X-ray imaging station ST4. The X-ray imaging station ST4 has an X-ray radiation device 122 and the X-ray radiation device X 122 has an X-ray source 123. In addition, the X-ray imaging station ST4 has a protective housing 124 that accommodates work W as an imaging target for an X-ray image and a line sensor 125 as an X-ray detector is arranged in the enclosure 124. That is, the X-ray imaging station ST4 is a bone-in meat X-ray image capture device.
[0179] [00179] The X-ray source 123 and line sensor 125 are separated from each other in a horizontal direction orthogonal to the continuous belt 11. Consequently, the X-rays are applied to the suspended work W at an incident angle 0 of about 35 ° in relation to the cutting surface separated from the work stem W.
[0180] [00180] It is observed that the turning angle of the work W, that is, the turning angle of the clamp 10 is, more preferably, 35 ° to the left side in the case of the left arm and 35 ° to the right side in the In the case of the right arm, however, the rotation angle of the right arm can be adequately greater than 30 ° and less than 45 °.
[0181] [00181] In addition, the X-ray irradiation device 122 additionally has an X-ray filter 126 placed in the vicinity of the X-ray source 123. The X-ray filter 126 absorbs part of the X-ray and offers a distribution of adequate intensity to the X-rays applied in work W.
[0182] [00182] Specifically, the X-ray filter 126 has a concave lens shape in which the center is lowered. The position of the thinnest part of the X-ray filter 126 is configured to correspond to the position of the X-ray source 123 and the position of the thickest part of the work W in the vertical direction.
[0183] [00183] It is observed that the protective box 124 can be brought close to or moved in the direction opposite to the continuous belt 11 by means of a motor 128 in the horizontal direction orthogonal to the continuous belt 11 and the protective box 124 can be moved by means of a motor 129 in a direction along the continuous belt 11.0 control device 21 can arrange the work W in the protection box 124 without interrupting the transport of the work W by controlling the motors 128 and 129. Consequently, it is possible to capture the X-ray image of work W without interrupting the transport of work W.
[0184] [00184] When the X-ray image of work W is captured at the X-ray imaging station ST4, the control device 21 analyzes the X-ray image and, as shown in Figures 45 and 26 (b), determines the coordinates of a plurality of target positions A to L necessary for the incision. It is observed that the forearm bone b1 is formed by a radius b11 and an ulna b12. Second stage of forearm bone incision / Round blade cutter
[0185] [00185] Figure 46 shows schematically the configuration of the round blade cutter device 22. The round blade cutter device 22 is coupled to an air cylinder 130 and can elastically come into contact with the work W. The cutter device of round 22 round blade 22 performs the incision on the posterior side of the forearm bone b1 according to the second stage of incision of the forearm bone S22.
[0186] [00186] First and second incision stages / First and second incision stations
[0187] [00187] Figures 47 to 52 show schematically the configuration of the first ST5 incision making station. It is observed that the configuration of the second ST6 incision station is the same as the configuration of the first ST5 incision station and therefore its description will be omitted.
[0188] [00188] The first ST5 incision station has a cutting tool 132 according to a fixation fixed to the robot arm 40. A cutter 133 of the cutting tool 132 is oscillatingly supported by an oscillation axis 134. The axis of oscillation 134 is positioned in front of cutter 133 in the cutting direction of cutter 133.
[0189] [00189] The oscillation axis 134 is slidable in a direction orthogonal to itself and the compression spiral springs 135 that incline the oscillation axis 134 towards a neutral position are provided on both sides of the oscillation axis 134. Consequently, cutter 133 is liable to oscillate and elastically slid in a direction of intersection of the cutting direction.
[0190] [00190] Furthermore, the first incision making station ST5 has a support device 136 that elastically supports the work W. The support device 136 can be moved by means of a motor 137 along the continuous belt 11 and can be advanced or retracted by means of an air cylinder 138 in the horizontal direction orthogonal to the continuous belt 11. Consequently, the holding device 136 can be moved in sync with the work W that is transported and the robot arm 40 can perform the incision in work W that is transported using the cutting tool 132.
[0191] [00191] More specifically, the support device 136 has a central plate 140 and the central plate 140 is elastically supported by an air cylinder 141. Consequently, a difference in the size of work W is absorbed by air pressure and work W is adequately sustained regardless of the size of work W.
[0192] [00192] Furthermore, the central plate 140 elastically supports the rear surface of the work W in a direction orthogonal to the continuous mat 11 while the robot arm 40 performs the incision based on target positions A to L. The course of the cutter 133 is precisely determined based on target positions A to L, however, target positions A to L include errors in the direction orthogonal to continuous conveyor 11 (depth direction). The central plate 140 elastically supports the work W in the depth direction and, therefore, the cutter 133 is prevented from being stuck in a bone even when the cutter advances excessively.
[0193] [00193] Furthermore, the support device 136 has a pair of side plates 142 arranged on both sides of the central plate 140. A pair of swing arms 143 that tighten and support the underside of the work W are fixed to the side plates 142. The swing arms 143 tighten the work W and the swing of the work W in the direction of transport of the work W is therefore avoided while the robot arm 40 performs the incision.
[0194] [00194] Particularly, a scapula b3 is present on the underside of work W and therefore the swing arms 143 tighten the part around scapula b3 of work W and the oscillation of work W is therefore safely avoided. At that time, the positions of the swing arms 143 in the direction along the continuous belt 11 can be configured to suitable positions according to the left or right side of the work W.
[0195] [00195] Furthermore, the swing arm 143 has a substantially L-shaped cross section and can retain the robot arm side 40 of work W. Consequently, swing arms 143 also prevent swinging work W in one direction. intersection with continuous track 11 in cooperation with central plate 140.
[0196] [00196] It is observed that the swing arms 143 are coupled to an air cylinder 145 through the connection mechanisms and it is possible to make each of the swing arms 143 move between the operating position and the standby position through control of the air cylinder 145.
[0197] [00197] Thus, with the execution of the first stage of incision S24 by the first station of incision ST5, the incision is performed as indicated by a line L3 in Figure 26 (c).
[0198] [00198] In addition, with the execution of the second incision stage S26 by the second incision station ST6, the incision is performed as indicated by a line L4 in Figure 26 (d). Scapula removal step / Scapula removal station
[0199] [00199] Figures 53 to 60 show the schematic configuration of the scapula removal station ST7. The ST7 scapula removal station is a bone-in meat scapula removal device.
[0200] [00200] The scapula removal station ST7 has a platform 150 that is movable along the continuous belt 11 and the platform 150 is driven by a continuous belt 152 attached to the platform 150 and a motor 154 that rotates the continuous belt 152. The control device 21 controls the motor 154 to move the platform 150 in sync with the clamp 10.
[0201] [00201] An air cylinder 156 is attached to the platform 150 and an upper side support member 158 is attached to the tip of the air cylinder 156. The upper side support member 158 contacts the work part W immediately above the scapula b3 in the horizontal direction orthogonal to the continuous mat 11 and elasticly supports the work W. In addition, on the platform 150, a lower side support member 160 is provided below the upper side support member 158. The lower side support 160 comes into contact with the work part W in the vicinity of the upper end of the scapula b3 in the horizontal direction orthogonal to the continuous mat 11 and elasticly supports the work W.
[0202] [00202] Furthermore, on the platform 150, a horizontally movable platform 162 is provided which is movable in the horizontal direction orthogonal to the continuous conveyor 11 and the horizontally movable platform 162 can be moved by an air cylinder 164. On the horizontally mobile platform 162 , a lift platform 166 is provided which is movable in a vertical direction and the lift platform 166 is coupled to an air cylinder 168 via the connecting mechanism. Consequently, it is possible to move the lifting platform 166 vertically by controlling the air cylinder 168.
[0203] [00203] On the lifting platform 166, a bottom retainer 170 is provided which is movable in the horizontal direction parallel to the continuous belt 11. The bottom retainer 170 is coupled to an air cylinder 172 and it is possible to move the bottom retainer 170 by means of air cylinder control 172. The control device 21 controls the air cylinder 172 according to the left or right side of the work W to arrange the bottom retainer 170 in an ideal position according to the side left or right work W.
[0204] [00204] Bottom retainer 170 is formed by a V-shaped bottom plate 174 and a side plate 176 attached to a side edge 174 of bottom plate 174 on the side of robot arm 40. Bottom retainer 170 is raised upstream from a position below work W in such a way that it accommodates the bottom side of work W and is moved towards the upper side support member 158 after having accommodated the lower side of work W. At that moment, the lower side the work W is driven by the side plate 176. Thus, the work W is curved in the vicinity of the upper end of the scapula 3b and the upper end of the scapula b3 protrudes and towards the robot arm 40.
[0205] [00205] It is observed that the upper side support member 158 has a lowered portion in a central part in a direction that follows the continuous belt 11 such that the central part of the upper side support member 158 has a depression in the opposite direction to the continuous belt 11 and the lower half of the upper side support member 158 is inclined in the opposite direction to the continuous belt 11 in a downward direction.
[0206] [00206] The inclination of the lower half helps to bend the work W in the vicinity of the upper end of the scapula 3b.
[0207] [00207] Furthermore, the scapula removal station ST7 has an angle 178 which is movable in the horizontal direction along the continuous belt 11 and a continuous belt 180 is fixed to the angle 178. The continuous belt 180 is rotated by means of a motor 182 and bracket 178 can be moved together with continuous belt 11 by turning the continuous belt 180. The control device 21 moves the angle bracket 178 in sync with the clamp 10 by means of motor control 182.
[0208] [00208] A guide plate 184 is attached to the angle bracket 178 and the guide plate 184 comes into contact with the work W on the opposite side to the upper side support member 158 in the direction parallel to the continuous belt 11.
[0209] [00209] Furthermore, a cleaner 186 is oscillatingly attached to the angle bracket 178. The cleaner 186 is coupled to an air cylinder 188 through the connection mechanism and it is possible to swing the cleaner 186 by controlling the air cylinder 188. The control device 21 oscillates the wiper 186 first to sweep the ribs w1 from above the scapula b3 in the scapula removal step S27.
[0210] [00210] On the other hand, the scapula removal station ST7 has a mandrel unit 190 as an accessory of the robot arm 40. The mandrel unit 190 has a base member 192 attached to the robot arm 40 and a member of handle 194 is attached to the tip of the base member 192. The handle member 194 is formed by two longitudinal plate parts 196 attached to the base member 192 and a continuous side plate part 198 with the ends of the longitudinal plate parts 196 and has a flat U shape. A side edge on the tip side of the longitudinal plate part 196 and a side edge of the side plate part 198 are formed as blades.
[0211] [00211] Furthermore, the mandrel unit 190 has an air cylinder 200 attached to the base member 192 and a lock member 202 is attached to the tip of the air cylinder 180. The lock member 202 can be advanced or retracted in towards or in the opposite direction of the side plate part 198 and the control device 21 causes the side plate part 198 and the locking member 202 to grip the scapula b3 between them by means of the control of the air cylinder 200. It is observed that a plurality of slits are formed at the tip of the lock member 202 to prevent slipping.
[0212] [00212] According to the mandrel unit 190, the blades are formed in the handle member 194 and therefore it is possible to safely grab the scapula b3 and remove the scapula b3 as shown in Figure 26 (e). Third step of making a forearm bone incision / Station of making a forearm bone incision
[0213] [00213] Figures 61 and 62 schematically show the ST8 forearm bone incision making station and the ST9 unloading station.
[0214] [00214] The ST8 forearm bone incision station has a frame 204 that is movable in a horizontal direction along the continuous belt 11 and the frame 204 is attached to a continuous belt 205. The continuous belt 205 is rotated by a motor 206 and the frame 204 is moved with the rotation of the continuous belt 205. The control device 21 moves the frame 204 in sync with the movement of the clamp 10 by means of the motor control 206.
[0215] [00215] An air cylinder 207 is attached to frame 204. An angle bracket is attached to one end of the air cylinder 207 and a lower side support member 208 is attached to the angle bracket. In addition, an air cylinder 210 is attached to the angle bracket and an upper side support member 212 is attached to the tip of the air cylinder 210. The direction of extension and contraction of each of the air cylinders 207 and 210 corresponds to the direction horizontal vertical to continuous mat 11.
[0216] [00216] Furthermore, an air cylinder 214 is tiltable to frame 204 and the air cylinder 214 is coupled to a retaining member 216 through the connection mechanism. The retaining member 216 can be moved by the air cylinder 214 in a substantially horizontal direction orthogonal to the continuous mat 11. The lower side support member 208 and the retaining member 216 tighten and support the work W in cooperation with each other in the horizontal direction orthogonal to the continuous mat 11.
[0217] [00217] On the other hand, the ST8 forearm bone incision station has the cutting tool 132 as an accessory of the robot arm 40 similarly to the first ST5 incision station and the second incision station ST6 incision.
[0218] [00218] The robot arm 40 of the ST8 forearm bone incision station performs the incision at work W using the cutting tool 132 according to the third step of the S30 forearm bone incision. That is, as indicated by a line L5 in Figure 26 (f), the robot arm 40 performs the incision in the part around the forearm bone b1 of work W. At that moment, the forearm bone b1 is elastically supported by the upper side support member 212. Error occurrence determination step
[0219] [00219] Information related to an operation is inserted in the control device 21 from several sensors. The control device 21 determines the occurrence of the error in the boning system based on information entered. Work unloading step / Work unloading station
[0220] [00220] When the control device 21 determines that the error has occurred, the control device 21 unloads the W job from the deboning system. To unload work W, work unloading station ST9 has an air cylinder 220 attached to frame 204 and a protruding member 222 attached to the tip of air cylinder 220. When control device 21 determines that the error has occurred, the control device 21 moves the air cylinder 220 in sync with the clamp 10 and projects the protruding member 222 towards the clamp 10. In this way, the tip portion of the work W is pushed out of the clamp 10 by the protruding member 222 and work W is removed from clamp 10. Transfer separation step / Transfer separation station
[0221] [00221] Figures 63 to 69 show schematically the configuration of the transfer separation station ST10. The transfer separation station ST10 has guide bars 230a and 230b that extend along the continuous belt 11 and tighten the forearm bone b1 of work W. The guide plates 232a and 232b are provided below the guide bars 230a and 230b and guide plates 232a and 232b tighten the work part W in the vicinity of the elbow joint.
[0222] [00222] The positions of the guide plates 232a and 232b in the vertical direction are substantially the same as those of the guide bars 230a and 230b near the entrance of the guide plates 232a and 232b, however, their positions are gradually lowered in the direction to down along the continuous belt 11. Consequently, as work W advances in the downstream direction, the flesh around the forearm bone b1 is driven downward by the guide plates 232a and 232b.
[0223] [00223] It is observed that the guide bar 230b and the guide plate 232b are coupled to an air cylinder 234 and the force of the guide bars 230a and 230b and the guide plates 232a and 232b for tightening the work W is adjusted by the air cylinder 234.
[0224] [00224] The transfer separation station ST10 has stationary blades 236a and 236b which are elastically positioned in the vicinity of the exit of the guide bars 230a and 230b and the guide plates 232a and 232b. Stationary blades 236a and 236b cut a muscle that remains in the vicinity of forearm bone b1.
[0225] [00225] In addition, the transfer separation station ST10 has elevation plates 238a and 238b continuous with guide plates 232a and 232b and tighten the upper end of the forearm bone b2 of work W. The round blade cutter devices 240a and 240b are arranged in the vicinity of the elevation plates 238a and 238b and the round blade cutting devices 240a and 240b cut the joint muscle between the forearm bone b1 and the upper arm bone b2. The round blade cutter devices 240a and 240b can be moved vertically and the control device 21 causes the round blade cutter devices 240a and 240b to cut the muscle based on the coordinates of target position A determined from the radius image X.
[0226] [00226] It is observed that the cutter devices with round blade 240a and 240b come in elastic contact with the joint through the actions of air cylinders 242a and 242b.
[0227] [00227] After the muscle is cut by the round blade cutter devices 240a and 240b, the control device 21 controls a drive mechanism that is not shown and the lifting plates 238a and 238b are therefore moved down along with the stationary blades 236a and 236b and round blade cutter devices 240a and 240b. At that time, since the height of the clamp 10 is unchanged, as shown in Figure 26 (g), the forearm bone b1 and the upper arm bone b2 are separated from each other. After separation, only the forearm bone b1 is suspended from the clamp 10. At that point, the forearm bone b1 is actually removed from work W and work W is formed from the upper arm bone b2 suspended from the elevation plates 238a and 238b and the meat adhered to the upper arm bone b2.
[0228] [00228] It is observed that the lifting plate 238b, the stationary blade 236b and the round blade cutter device 240b are coupled to an air cylinder 244 and the force of the lifting plates 238a and 238b for the tightening of the arm bone upper b2 is adjusted by the air cylinder 244.
[0229] [00229] Furthermore, the transfer separation station ST10 has a stop 246 which prevents the upper arm bone b2 from returning to the upstream side when the lifting plates 238a and 238b descend. In addition, the transfer separation station ST10 has an opening / closing door 248 which prevents the upper arm bone b2 from advancing to the downstream side when the lifting plates 238a and 238b descend.
[0230] [00230] On the other hand, the transfer separation station ST10 has an orientation adjustment bar 250 that forcibly aligns the work orientation W when the lifting plates 238a and 238b descend. The orientation adjustment bar 250 is coupled to an air cylinder 252 and the control device 21 controls the air cylinder 252 so that the orientation adjustment bar 250 oscillates.
[0231] [00231] In addition, the transfer separation station ST10 has a rotating arm 254 that sends the W job to the final separation station ST11 after the lifting plates 238a and 238b descend. The opening / closing door 248 and the rotating arm 254 are coupled to an air cylinder 256 through the connection mechanism. The control device 21 controls the air cylinder 256 by means of which the opening / closing door 248 opens and, at the same time, the rotating arm 254 rotates and the work W is sent to the final separation station ST11. Final separation step / Final separation station
[0232] [00232] Figures 70 to 72 show schematically the configuration of the final separation station ST11.
[0233] [00233] The final separation station ST11 has transport plates 260a and 260b that tighten the upper arm bone b2. The transport plates 260a and 260b are arranged to be continuous with the elevation plates 238a and 238b in descending positions and the work W is transferred from the elevation plates 238a and 238b to the transport plates 260a and 260b by means of the rotating arm 254 .
[0234] [00234] The final separation step S42 includes a meat separation step which consists of pulling the meat adhering to the upper arm bone b2 and a cutting step consisting of cutting the meat adhering to the upper arm bone b2 after the step of meat separation.
[0235] [00235] A separation device for performing the meat separation step is formed from bone retaining members 262a and 262b, the meat retaining members 263a, 264a, 263b and 264b and the meat separators 266a and 266b. The bone retaining members 262a, the meat retaining members 263a and 264a, the separator 266a are used when work W is the left arm, while the bone retaining members 262b, the meat retaining members 263b and 264b and separator 266b are used when work W is the right arm.
[0236] [00236] The bone retaining members 262a and 262b are coupled to the air cylinders 268a and 268b via connecting mechanisms and the control device 21 can cause each bone retaining member 262a and 262b to move between the operating position and the waiting position by controlling the air cylinders 268a and 268b. Similarly, the meat retaining members 263a, 264a, 263b and 264b are coupled to air cylinders 270a and 270b via connecting mechanisms and the control device 21 can cause each of the meat retaining members 263a , 264a, 263b, and 264b move between the operating position and the standby position by controlling the air cylinders 270a and 270b. The bone retaining members 262a and 262b and the meat retaining members 263a, 264a, 263b and 264b are arranged in such a way that they are orthogonal to the axial direction of a groove between the transport plates 260a and 260b when they are in contact. operating positions.
[0237] [00237] Furthermore, the meat separators 266a and 266b are also coupled to air cylinders 272a and 270b and the control device 21 can cause each of the meat separators 266a and 266b to move between a covering position of operation the groove between the transport plates 260a and 260b and a holding position that is far from the groove by controlling the air cylinders 272a and 272b.
[0238] [00238] In addition, the meat separators 266a and 266b can be moved in the vertical direction by means of an actuator that is not shown. The meat separators 266a and 266b have notched parts 274a and 274b next to the bone retaining members 262a and 262b and the meat retaining members 263a, 264a, 263b and 264b and the notched parts 274a and 274b tighten the work W on cooperation with bone retaining members 262a and 262b and meat retaining members 263a, 264a, 263b and 264b. At that time, as the bone retaining members 262a and 262b and the meat retaining members 263a, 264a, 263b and 264b are coupled to the air cylinders 270a, 270b, 272a and 272b, a difference in the work size W can be absorbed by means of an air pressure.
[0239] [00239] The control device 21 moves the meat separators 266a and 266b down in a state where the bone retaining members 262a and 262b and the meat retaining members 263a, 264a, 263b and 264b retain the bone. upper arm b2 and the meat and at the same time, the meat is removed from the upper arm bone b2 using the edges of the carved parts 274a and 274b. Figure 26 (h) shows the work W from which the meat is removed by the meat separation step.
[0240] [00240] It is observed that each of the edges of the notched parts 274a and 274b has a shape obtained by combining an arc and an L. According to the shape of the edge of each of the notched parts 274a and 274b, the edge is moved along the bone surface when each of the meat separators 266a and 266b is moved downward and the meat can be skillfully removed.
[0241] [00241] A cutting device for performing the cutting step is formed by two round blade cutting devices 280a and 280b. The control device 21 determines the length of the upper arm bone 2b from an X-ray image and controls an actuator, which is not shown, according to the determined length of the upper arm bone 2b to adjust the heights of the devices round blade cutters 280a and 280b.
[0242] [00242] In addition, the round blade cutter devices 280a and 280b are coupled to the air cylinders 282a and 282b by means of connection mechanisms and are elastically in contact with the upper arm bone 2b when meat is cut. Consequently, the round blade cutter devices 280a and 280b are prevented from penetrating the upper arm bone 2b.
[0243] [00243] As shown in Figure 26 (i), when the meat is separated by the cutting step, the meat is sent out of the boning system by means of a belt conveyor that is not shown. On the other hand, as shown in Figure 26 (j), the upper arm bone b2 from which the meat is removed is removed from the transport plates 260a and 260b and is discharged from the boning system.
[0244] [00244] In this document, the work transport mechanism W on the transport plates 260a and 260b will be described. The work W, after being transferred to the transport plates 260a and 260b, is driven by a predetermined distance by means of a rod 284 first coupled to an air cylinder.
[0245] [00245] In the groove between the transport plates 260a and 260b, a first sliding member 286 and a second sliding member 288 are provided that have reciprocal relationship along the groove and the first sliding member 286 and the second sliding member 288 are driven by the air cylinders.
[0246] [00246] A contact plate 290 is coupled to the bottom surface of each of the first sliding member 286 and the second sliding member 288, using a hinge. The contact plate 290 is placed on each of the first sliding member 286 and the second sliding member 288 and is configured to tilt in only one direction of that state. Specifically, contact plate 290 is configured to tilt only when contact plate 290 moves in the upstream direction and does not drive work W when contact plate 290 moves in the upstream direction. On the other hand, the tilting of the contact plate 290 is avoided when the contact plate 290 moves in the downstream direction and the contact plate 290 can drive work W when the contact plate 290 moves in the downstream direction.
[0247] [00247] In this way, the work W is transported to the cutting device by the contact plate 290 and then the upper arm bone 2b is transported by the contact plate 290. The groove between the transport plates 260a and 260b it is enlarged on the downstream side and, as shown in Figure 26 (j), the upper arm bone 2b is removed from the groove on the downstream side and discharged from the boning system.
[0248] [00248] On the other hand, the forearm bone b1, after being removed from work W in the transfer separation step S40, is directly transported to the bone unloading station ST12 by clamp 10. Then, the forearm bone b1 it is removed from the clamp 10 at the bone unloading station ST12 and is unloaded from the boning system.
[0249] [00249] Although not shown in the drawing, the ST12 bone unloading station has the same configuration as the ST9 work unloading station. That is, the ST12 bone unloading station has a movable air cylinder in sync with the clamp 10 and a protruding member fixed to the tip of the air cylinder.
[0250] [00250] According to the configuration of the modality described above, when the hooking members 43a and 43b are stuck in the tip part of the work W, the barbs 47a and 47b are engaged with the bone of the tip part and the extraction of the members hooking 43a and 43b of the tip portion is therefore avoided. Consequently, the robot arm 40 can move the work W, in which the hooking members 43a and 43b are attached, to the guide rails 60 without overturning the work W. When the work W is moved to the guide rails 60, as the pivoting drive mechanism rotates the hooking members 43a and 43b to release the engagement between the barbs 47a and 47b and the bone, the work W is moved smoothly.
[0251] [00251] In the configuration, when the nozzles 46a and 46b of the hooking members 43a and 43b are engaged in the tip part of the work W, the gap between the first sides of the main body parts 45a and 45b, that is, the gap between the barbs 47a and 47b, are narrower than the gap between the second sides of the main body parts 45a and 45b. Consequently, after the nozzles 46a and 46b of the hooking members 43a and 43b are inserted, the barbs 47a and 47b are safely engaged with the bone. On the other hand, even in the case where the gap between barbs 47a and 47b is narrow, as the gap between hook members 43a and 43b is temporarily extended elastically when barbs 47a and 47b come into contact with bone, it is possible gently nip the nozzles 46a and 46b of the hooking members 43a and 43b.
[0252] [00252] In the configuration, the turning drive mechanism rotates the hooking members 43a and 43b such that the gap between the first sides of the main body parts 45a and 45b reaches the gap between the second sides of the same and the gap between barbs 47a and 47b is therefore extended. As a result, the engagement between the splinters 47a and 47b and the bone is safely released and it is possible to smoothly move the work W away from the hooking members 43a and 43b.
[0253] [00253] In the configuration, as the oscillation of the work W is regulated by the mechanism of regulation of oscillation, the departure of the work W from the hooking members 43a and 43b by the oscillation is avoided.
[0254] [00254] In the configuration, while the work W is moved along the groove of the guide rails 60, the incision of the forearm bone b1 is performed using the stationary blade from the upstream side 72 and the stationary blade from the side downstream 74. Consequently, it is possible to reduce manual pre-processing to increase the automation rate.
[0255] [00255] Particularly, the downstream side stationary blade 74 performs the incision on the elbow side of the forearm bone b1 after the upstream side stationary blade 72 performs the incision on the wrist side of the forearm bone b1 , where the meat is skillfully removed from the forearm bone b1.
[0256] [00256] According to the configuration, only by placing the W job that was subjected to manual pre-processing at the upstream end of the belt conveyor 24, it is possible to automatically transport the W job to the clamp 10. Consequently, it is possible intensify the boning system's processing ability and achieve the processing ability of, for example, 600 pieces / hour.
[0257] [00257] Depending on the configuration, determining the left or right side based on the position of work W on the belt conveyor 24, it is possible to safely determine the left or right side with a simple configuration. [00257] Depending on the configuration, determining the left or right side based on the position of work W on the belt conveyor 24, it is possible to safely determine the left or right side with a simple configuration.
[0258] [00258] In addition, according to the configuration above, of the modality described above, as the X-ray intensity distribution applied in work W is adjusted using the filter, the clear X-ray image is obtained. Consequently, in the case where the incision is performed based on the X-ray image, it is possible to make the course of the incision correspond precisely to the outline of the bone in such a way that the yields are improved and the application of a excessive load on cutter 133 is avoided.
[0259] [00259] According to the configuration, turning the work W around the vertical geometric axis in the direction of rotation corresponding to the right or left side of the work W, the appropriate X-ray image for determining the incision course is obtained. Consequently, in the case where the incision is performed based on the X-ray image, the yields are further improved and the application of excessive load on the cutter 133 is additionally avoided.
[0260] [00260] According to the configuration, turning the clamp 10 in such a way that the incident X-ray angle in relation to the cut surface separated from the work body W is greater than 30 ° and less than 45 °, the image An adequate X-ray for determining the incision course is safely obtained.
[0261] [00261] According to the configuration, it is possible to capture the X-ray image while the clip 10 is moved. Consequently, it is possible to capture the X-ray image without decreasing the processing ability of the deboning system.
[0262] [00262] Furthermore, according to the configuration of the modality described above, it is possible to remove scapula b3 from suspended work W.
[0263] [00263] According to the configuration, the motor 154 constitutes the movement mechanism that moves the bottom retainer 170 and the upper side support member 158 in sync with the movement of the clamp 10 and it is possible to remove the scapula b3 from work W which is transported with the movement of the clamp 10. Consequently, in the boning system of meat on bone to which the scapula removal device on bone is applied, it is possible to remove scapula b3 without decreasing the processing ability.
[0264] [00264] In the configuration, the air cylinder 172 constitutes the left / right position adjustment mechanism that adjusts the position of the bottom retainer 170 in the direction of movement of the clamp 10 according to the left or right side of the work W. According to the configuration, work W is suitably curved according to the left or right side of work W and the end part of the scapula b3 is exposed. As a result, mandrel unit 190 can safely carve and remove scapula b3.
[0265] [00265] In the configuration, the bottom retainer 170 bends the bottom plate 174 into a V shape and the side plate 176 fixed to a side edge of the bottom plate 174 along the continuous belt 11. According to the configuration, the work W is adequately curved and the end part of the scapula b3 is exposed with a simple configuration. As a result, a mandrel unit 190 can safely carve and remove scapula b3.
[0266] [00266] According to the above configuration, cleaner 186 sweeps ribs w1 and the end part of the scapula b3 is therefore exposed. As a result, mandrel unit 190 can safely carve and remove scapula b3.
[0267] [00267] According to the above configuration, the handle member 194 is provided with the blade and the handle member 194 can perform the incision in the part around the end part of the scapula b3. As a result, mandrel unit 190 can safely carve and remove scapula b3.
[0268] [00268] The present invention is not limited to the modality described above and includes a modality obtained by modifying the modality described above.
[0269] [00269] For example, Figures 73 to 76 schematically show another configuration of the transfer separation station ST10 to perform the transfer separation step S40. The transfer separation station ST10 has a pressing device 300 and an olecranon incision device 400 which are arranged along the continuous belt 11.
[0270] [00270] The pressing device 300 has a pair of pressing members 301a and 301b arranged on both sides of the continuous belt 11. The pressing members 301a and 301b can have a reciprocal relationship along the transport direction of the work W, i.e. that is, the direction of movement of the clamp 10, can have a reciprocal relationship from side to side along a left and right direction orthogonal to the direction of movement of the clamp 10 and can have a reciprocal relationship vertically along an orthogonal up and down direction. to the direction of movement of the clamp 10.
[0271] [00271] Specifically, the pressing device 300 has a pair of pressing units 302a and 302b that are arranged in such a way that they oppose each other along the continuous belt 11. Each of the pressing units 302a and 302b has a column 303 and a straight guide 304 extending along the up and down direction is attached to the column 303. A slide 306 is attached to the straight guide 304 such that it is slidable along the up and down direction and a wall movable 308 is attached to slide 306. Consequently, the movement of movable wall 308 in the up and down direction is guided by slide 306 and straight guide 304.
[0272] [00272] On the other hand, a cylindrical part 314 of an air cylinder 312 is fixed to the column 303 through an angle bracket 310. The tip of a stem part 316 of the air cylinder 312 is coupled to the movable wall 308. Consequently, the control device 21 can move the movable wall 308 vertically by controlling the air cylinder 312 according to the actuator.
[0273] [00273] An angle bracket 318 is fixed to the movable wall 308 and a straight guide 320 that extends along the left and right direction is fixed to the angle bracket 318. The slide 322 is fixed to the straight guide 320 in such a way that it is slidable to the along the left and right direction.
[0274] [00274] A mobile platform 324 is attached to slide 322 and the movement of mobile platform 324 in the left and right direction is guided by slide 322 and straight guide 320.
[0275] [00275] On the other hand, a cylindrical part 328 of an air cylinder 326 is attached to the corner 318. The tip of a stem part 330 of the air cylinder 326 is coupled to the movable platform 324. Consequently, the control device 21 it can move the mobile platform 324 from side to side by controlling the air cylinder 326 depending on the actuator.
[0276] [00276] A straight guide 332 that extends along continuous track 11, that is, along the direction of movement of the clamp 10 is fixed to the movable platform 324. A slide 334 is fixed to the straight guide 332 in such a way that it is slidable along the direction of movement of the clamp 10.
[0277] [00277] A movable platform 336 is attached to the slide 334 and the movement of the movable platform 336 in the direction of movement of the clamp 10 is guided by the slide 334 and the straight guide 332.
[0278] [00278] On the other hand, the end walls 338 are fixed to the movable platform 324 on both sides in the direction of movement of the clip 10 and the movable platform 336 is disposed between the end walls 338. A rod 340 extending to the along the direction of movement of the clip 10 is provided between the end walls 338 and the rod 340 extends through the movable platform 324.
[0279] [00279] Compression spiral springs 346 and 348 are arranged between the end walls 338 and the movable platform 336 through spring seats 342 and 344 and the stem 340 extends through the spring seats 342 and 344 and the springs compression spiral 346 and 348. Consequently, the mobile platform 336 is movable along the direction of movement of the clamp 10 while receiving inclination forces from the compression spiral springs 346 and 348 according to elastic members.
[0280] [00280] The pressing members 301a and 301b are fixed to the movable platforms 336 that oppose each other along the continuous belt 11. The pressing members 301a and 301b have side edges 350 which are substantially parallel to each other and extend along the continuous belt 11 and protrusion parts 352 that project more towards the continuous belt 11 than the lateral edges 350 . The protruding parts 352 are positioned on the downstream side of the side edges 350 in the direction of movement of the clamp 10. Consequently, each of the pressing members 301a and 301b has a substantially conforming plate shape. As indicated by a two-point chain line in Figure 63, the control device 21 can arrange the pressing members 301a and 301b in first operating positions that cause the protruding parts 352 to contact each other by controlling the air cylinders 326.
[0281] [00281] When the pressing members 301a and 301b are in first operating positions, the pressing members 301a and 301b are positioned slightly below the clamp 10 in the up and down direction and tighten the part in the vicinity of the upper end part of the forearm bone b1 with a space. In other words, when the pressing members 301a and 301b are in the first operating positions, the lateral edges 350 of them form a groove 354 to tighten the part in the vicinity of the upper end part of the forearm bone b1. In addition, when the pressing members 301a and 301b are in the operating positions, the protruding parts 352 of them form an engagement part 356 which is engaged with the part in the vicinity of the upper end part of the forearm bone b1.
[0282] [00282] When the pressing members 301a and 301b tighten the part in the vicinity of the upper end part of the forearm bone b1, the control device 21 can move the movable walls 308 downwards by controlling the air cylinders 312 to arrange the pressing members 301a and 301b in second operating positions, as indicated by the two-point chain line in Figure 65. The second operating positions are positioned slightly below the joint (elbow joint) between the forearm bone b1 and the upper arm bone b2 in the up and down direction. Consequently, as shown in Figure 77 (g), the pressing members 301a and 301b can press the meat around the forearm bone b1 down until the elbow joint is either during movement from the first operating positions to the second operating positions (pressing step).
[0283] [00283] Then, after the meat is pressed down, the control device 21 can arrange the pressing members 301a and 301b in non-operating positions which causes the pressing members 301a and 301b to be separated from each other. another by controlling the air cylinders 326 and can move the movable walls 308 upwards by controlling the air cylinders 312. When the pressing members 301a and 301b are arranged in the non-operating positions, the work W suspended from the clamp 10 can pass between the protrusion parts 352 of the pressing members 301a and 301b.
[0284] [00284] It is observed that, when the pressing members 301a and 301b are arranged in the first operating positions, the protrusion parts 352 are driven by the work W which is carried by the clamp 10 and are moved downstream in the direction of movement of the clamp 10. Press members 301a and 301b can press down on the flesh around the forearm bone b1 by moving to the second operating positions during movement. When the pressing members 301a and 301b are arranged in the non-operating positions, the pressing members 301a and 301b are moved upstream in the direction of movement of the clamp 10 by the tilting force of the compression spiral spring 348 and can return to the original positions.
[0285] [00285] The olecranon incision device 400 is arranged on the downstream side of the pressing device 300 in the direction of movement of the clamp 10. The olecranon incision device 400 is a device for cutting meat around the olecranon from work W suspended from clamp 10 and has two olecranon cutting devices 402a and 402b which are arranged along the continuous belt 11.
[0286] [00286] The olecranon cutter devices 402a and 402b, preferably with round blades 404a and 404b according to olecranon cutters. The olecranon cutter devices 402a and 402b are supported in an oscillating manner within the horizontal plane by means of arms 406 and are movable between the operating positions where the olecranon cutter devices 402a and 402b are in contact with work W and the non-operating positions in which the olecranon cutter devices 402a and 402b are separated from work W by controlling air cylinders 408 according to the actuators.
[0287] [00287] In addition, the olecranon cutter devices 402a and 402b are vertically movable and the control device 21 can configure the positions of the round blades 404a and 404b in the direction of up and down to positions around the olecranon based on the coordinates of the target position E (see Figure 45) determined from the X-ray image.
[0288] [00288] Consequently, the control device 21 can cut the meat around the olecranon as shown in Figure 77 (h) by controlling the positions of the olecranon cutter devices 402a and 402b to therefore make the blades round 404a and 404b come into contact with the part around the olecranium of the work W suspended from the clamp 10 (stage of making the olecranon incision).
[0289] [00289] It is observed that the round blades 404a and 404b can elasticly come into contact with the work W through the actions of air cylinders 408.
[0290] [00290] In the present mode, by placing the round blades 404a and 404b in contact with the work W on the rear side in the direction of movement of the clamp 10, it is possible to cut the meat around the olecranon. It is observed that the clamp 10 is rotated by the fourth clamp turning device 19 in such a way that the olecranon of work W is arranged on the rear side in the direction of movement of the clamp 10.
[0291] [00291] Furthermore, preferably, the olecranon cutting devices 402a and 402b are electric cutters, the round blades 404a and 404b come into contact with the work W during turning and it is therefore possible to safely cut the meat around the olecranon. Preferably, the round blade 404a positioned on the left side in the direction of movement of the clamp 10 is rotated counterclockwise (CCW) as seen from above, while the round blade 404b positioned on the right side is rotated clockwise (CW) as viewed from above.
[0292] [00292] According to the modality described above, the boneless meat boning system is provided which includes the clamp 10 which is movable along the continuous conveyor 11 and used to support the bony meat by grasping the part of forearm bone tip b1 of the bony meat, the forearm bone incision device that is arranged along the continuous mat 11 and used for cutting the meat around the forearm bone b1 of the bone meat suspended by the clamp 10, the olecranon incision device 400 which is arranged along the continuous belt 11 and used for cutting the meat around the olecranon of the bone meat suspended by the clamp 10 and the elevation plates 138a and 138b which are arranged along the continuous conveyor 11 and used to pull the bone meat suspended by the clip 10 such that the forearm bone b1 and the upper arm bone b2 of the meat bone are separated from each other in which the carrying device incision action of the forearm bone has the robot arm 40 arranged along the continuous mat 11 and the cutting tool (forearm cutter) 132 attached to the robot arm 40 and the olecranon incision making device 400 has the pair of the olecranon cutters arranged on both sides of the continuous belt 11.
[0293] [00293] According to the bone-in-bone boning system described above, the meat around the forearm bone b1 is cut using the cutting tool 132 of the forearm bone incision device and the meat to the around the olecranon is cut using the pair of olecranon cutters from the olecranon incision device 400. Thus, using the forearm bone incision device and the olecranon incision device 400 , it is possible to increase the automation rate.
[0294] [00294] On the other hand, according to the bone-in meat boning system described above, after the meat around the olecranon is cut using the pair of olecranon cutters, the forearm bone b1 and the arm bone upper b2 can be separated from each other. In this case, as compared to the case where the meat around the olecranon is cut using the cutting tool 132 attached to the robot arm 40, the meat that adheres to the part around an olecranon pit of the arm bone higher b2 is reduced and yields are improved.
[0295] [00295] In this document, Figure 78 is a perspective view schematically showing the upper arm bone b2 and an olecranon fossa corresponds to a region hatched in Figure 78. In a state where the meat with bone is suspended from the clamp W, the olecranon pit F is covered by the olecranon of the forearm bone b1 and therefore it is not possible to directly cut the meat present in a gap between the olecranon pit F and the olecranon using the cutting tool 132.
[0296] [00296] To deal with this, after several studies carried out by the present inventors, it was found that when the forearm bone b1 and the upper arm bone b2 are separated from each other after the meat around the olecranon is cut with the using the olecranon incision device 400, the meat can be removed from the olecranon pit F and yields are improved.
[0297] [00297] In addition, in the case where the pair of olecranon cutters includes the pair of round blades 404a and 404b, it is possible to safely cut the meat around the olecranon with a simple configuration.
[0298] [00298] Furthermore, the bone-in boning system of the modality described above includes the X-ray imaging station ST4 according to the olecranon position measuring device for measuring the position of the olecranon of the bone-in meat and the realization device of incision of olecranon 400 operates according to the measurement result of the device of measurement of the position of olecranon.
[0299] [00299] According to the above configuration, the olecranon incision making device 400 operates according to the measurement result of the olecranon position measuring device and the yields are therefore further improved.
[0300] [00300] Furthermore, as the transfer separation station ST10 has the lifting plates 238a and 238b according to at least one clamping part that can be moved vertically while tightening the upper end part of the upper arm bone b2, it is possible separate the forearm bone b1 and the upper arm bone b2 from each other in a simple configuration. Then, after the forearm bone b1 and the upper arm bone b2 are separated from each other using the configuration, if the meat is cut from the upper arm bone b2 while the upper end part of the upper arm bone b2 is clamped, it is possible to separate the meat from the upper arm bone b2 with a simple configuration without the need for an auxiliary clamp to avoid displacement of the joint between the forearm bone b1 and the upper arm bone b2.
[0301] [00301] Furthermore, the bone-in boning system of the modality described above includes the pressing device 300 arranged along the continuous belt 11 and the pressing device 300 is arranged on the upstream side of the lifting plates 138a and 138b in the direction of movement of the clamp 10 and presses down the meat around the forearm bone b1 such that the upper end part of the upper arm bone b2 of the bone meat is exposed.
[0302] [00302] According to the above configuration, as the upper end part of the upper arm bone b2 is exposed by the pressing device 300, the lifting plates 138a and 138b can safely grip the upper end part of the arm bone upper b2.
[0303] [00303] Furthermore, the bone-in-bone boning system of the modality described above includes the fourth staple turning device 19 which is arranged along the continuous belt 11 and rotates the staple 10, the fourth staple turning device 19 is positioned on the upstream side of the olecranon incision device 400 in the direction of movement of the clamp 10 and arranges the olecranon of the bony flesh on the rear side in the direction of movement of the clamp 10 and the pair of the olecranon cutters reaches and enters contact with the meat around the back side olecranon in the direction of movement of the clamp 10.
[0304] [00304] According to the above configuration, it is possible to safely cut the meat around the olecranon of the bone-in meat suspended from the clamp 10 without preventing the movement of the clamp 10 along the continuous conveyor 11.
[0305] [00305] Furthermore, the bone-in boning system of the modality described above includes the left / right determination station (left / right determination device) ST2 for determining the left or right side of the bone meat and the fourth staple turning device 19 operates according to the result of determining the left / right determining station ST4.
[0306] [00306] According to the configuration, even when the left and right sides of the meat with bone are confused and the meat with bone is suspended from the clamp 10, the olecranon of the meat with bone is arranged on the rear side in the direction of movement of the clamp 10 by the left / right determination station ST4 and the fourth clamp turning device 19. Consequently, it is possible to boning meat with right bone and meat with left bone in excellent yields.
[0307] [00307] In this document, Figure 79 is a flowchart that schematically shows the procedures of the transfer separation step S40 performed in the transfer separation station ST10. According to the embodiment of the present invention described above, with reference to Figures 2 and 78, the method for boning the meat with bone is provided, which includes the suspension step S14 which consists of grasping the tip of the forearm bone end part b1 of the meat on the bone and support the meat on the bone using the clamp 10 which is movable along the continuous belt 11, the steps of incision of the forearm bone S16, S22 and S30 of cutting the meat around the bone forearm b1 of the bone meat suspended by the clamp 10 using the forearm bone incision device that is arranged along the continuous mat 11 and has the robot arm 40 and the cutting tool (forearm cutter) 132 fixed to the robot arm 40, the S100 olecranon incision step which consists of cutting the meat around the meat olecranon with bone suspended by the clamp 10 using the olecranon incision device 400 that has the pair d the olecranon cutters arranged on both sides of the continuous mat 11 and the forearm bone separation step S106 which consists of separating the forearm bone b1 and the upper arm bone b2 from each other using the lifting plates 138a and 138b which are arranged along the continuous belt 11 and are used to pull the bone meat suspended by the clamp 10 such that the forearm bone b1 and the upper arm bone b2 of the meat bone are separated from each other.
[0308] [00308] According to the method for boning the meat with bone described above, the meat around the forearm bone b1 is cut using the cutting tool 132 of the forearm bone incision device, and the meat around the olecranon, it is cut using the pair of olecranon cutters of the olecranon incision device 400. Thus, using the forearm bone incision device and the olecranon incision device 400, it is possible to increase the automation rate.
[0309] [00309] On the other hand, according to the method for boning the meat with bone described above, after the meat around the olecranon is cut using the pair of olecranon cutters, it is possible to separate the forearm bone b1 and the upper arm bone b2 from each other. In this case, as compared to the case where the meat around the olecranon is cut using the cutting tool 132 attached to the robot arm 40, the meat that adheres to the part around the olecranon pit F of the arm bone higher b2 is reduced and yields are improved.
[0310] [00310] In addition, according to the method for boning the meat with bone of the modality described above, taking the pressing step S100 which consists of pressing down the meat around the forearm bone with the use of the device pressing 300, the lifting plates 138a and 138b can safely tighten the upper end part of the upper arm bone b2.
[0311] [00311] In addition, according to the method for boning the meat with bone of the modality described above, taking the step of making an elbow joint incision S104 which consists of cutting a tendon around the elbow joint with the use from the round blade cutter devices 240a and 240b, it is possible to smoothly separate the forearm bone b1 and the upper arm bone b2 from each other in the step of separating forearm bone S106.

权利要求:
Claims (8)
[0001]
Scapula removal device for removing a scapula from bone-in meat that is part of the arm of a cattle carcass in a state in which meat with bone is suspended, characterized by the fact that it comprises: a bottom retainer (170) that is configured to be in contact with a lower side of the boned meat such that the lower side of the boned meat is raised and moved in a horizontal direction; a support member (158, 160) for pushing a part of the bony meat positioned above the bottom retainer (170) in a direction opposite to the movement of the bottom retainer (170) in the horizontal direction and the curving of the meat with bone in cooperation with the bottom retainer in such a way that one end of the scapula located on one side of the forearm bone protrudes; a robotic arm (40); a mandrel unit (190) attached to the robotic arm (40) and which grips a tip part of the scapula in cooperation with the robotic arm (40); wherein the mandrel unit (190) includes: a base member (192) attached to the robotic arm (40); a handle member (194) which includes two longitudinal plate parts (196) projecting from the base member (192) parallel to each other and a continuous side plate part (198) with the tips of the plate parts longitudinal (196); and a lock member (202) supported by the base member (192) in such a way that the lock member (202) can be advanced or retracted towards or against the side plate part (198), the member being lock (202) tightens the scapula in cooperation with the side plate part (198).
[0002]
Bone scapula removal device according to claim 1, characterized in that the scapula removal device further comprises: a clamp (10) that rotates around a continuous conveyor (11); and the scapular removal device further comprises a movement mechanism for moving the bottom retainer (170) and the support member (158, 160) in sync with the movement of the clamp (10).
[0003]
Bone scapula removal device according to claim 2, characterized in that it additionally comprises a left / right position adjustment mechanism (172) for adjusting a position of the bottom retainer (170) in a direction of movement of the clamp (10) according to the possibility that the bone-in meat is on the right or left side of the cattle carcass.
[0004]
Bone scapula removal device according to any one of claims 1 to 3, characterized in that the bottom retainer (170) includes a bottom plate (174) which includes a recessed portion in a central part in a direction that follows the continuous belt (11), and a side plate fixed to a side edge of the bottom plate (174) along the continuous track (11).
[0005]
Bone scapula removal device according to any one of claims 1 to 4, characterized in that it additionally comprises a cleaner (186).
[0006]
Bone scapula removal device according to any one of claims 1 to 5, characterized in that a side edge on the end side of the longitudinal plate part (196) and a side edge of the side plate part (198) are formed as blades.
[0007]
Bone-in meat boning system characterized by the fact that it comprises the meat-bone scapula removal device defined in any one of claims 1 to 6.
[0008]
Scapula removal method for removing a scapula from bone-in meat that is part of the arm of a cattle carcass in a state in which meat with bone is suspended, characterized by the fact that it comprises the steps of: raising an underside of the bony meat and moving the underside of the bony meat in a horizontal direction while placing a bottom retainer (170) in contact with the underside of the bony meat; propel a part of the bony meat positioned above the bottom retainer in a direction opposite to a direction of movement of the bottom retainer (170) in the horizontal direction using a supporting member (158, 160) and bend the bony meat in such a way so that one end of the scapula on one side of the forearm bone protrudes; attaching a mandrel unit (190) to a robotic arm (40), the mandrel unit (190) including: a base member (192) attached to the robotic arm (40); a handle member (194) which includes two longitudinal plate parts (196) projecting from the base member (192) parallel to each other and a continuous side plate part (198) with the tips of the plate parts longitudinal (196); and a locking member (202) held in such a way that the locking member (202) can be advanced or retracted in the direction of or against the side plate part, the locking member (202) tightening the scapula in cooperation with the side plate part (198); and operating the robotic arm (40) to squeeze one end of the scapula between the side plate part (198) and the locking member (202).

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同族专利:

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公开号 | 公开日

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EP2826378B1|2017-02-15|

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JPWO2013136995A1|2015-08-03|

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EP2826378A1|2015-01-21|

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JP5788076B2|2015-09-30|

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US8992290B2|2015-03-31|

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DK2826378T3|2017-03-27|

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WO2013136995A1|2013-09-19|

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US20140378040A1|2014-12-25|

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EP2826378A4|2015-12-09|

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法律状态:
2018-03-27| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|

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2019-05-28| B06T| Formal requirements before examination|

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2019-12-17| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application according art. 36 industrial patent law|

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2020-04-14| B09A| Decision: intention to grant|

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2020-06-30| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 28/02/2013, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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JP2012056287|2012-03-13|

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JP2012-056287|2012-03-13|

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PCT/JP2013/055300|WO2013136995A1|2012-03-13|2013-02-28|Scapula removal device and method for meat on the bone, and deboning system for meat on the bone equipped with said device|

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