JP2001120165A - Device for semi-automatically deboning pork hock/ shoulder butt and deboning system using the device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a semi-automatic pork hock/shoulder butt-deboning device which can mostly automatically debone the pork hock/shoulder butt in a good meat yield, while only partially manually striping the meats, and to provide a system for the deboning. SOLUTION: The semi-automatic pork hock/shoulder butt-deboning device and the deboning system using the device comprises an automatic deboning line for manually preliminarily striping, automatically removing scapula from shoulder butt, and then cutting off the shoulder butt, a line for manually preliminarily striping in the residual hock and automatically removing bones from the hock, and a line for automatically deboning the separated shoulder butt. The works are suspended, carried to each device in the lines, and subjected to the measurement of the sizes of the works at key points in the lines. The optimal positions of the works and cutters are calculated on the basis of the measurement results, and the works and cutters are automatically moved to the optimal positions to sequentially carry out the deboning operations.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for pre-scratching one side of a pig's skull cut at the cervical vertebra / thoracic vertebra by hand in advance, and half of the pre-processed cervical vertebra / thoracic vertebra, humerus and shoulder. The pig's part including the scapula, radius, ulna, etc. is transported inside the device in a suspended state, and at each station in the device, the clamp claws, work rotating / elevating device, cutter device, meat holding device, position measuring device, etc. are operated. Semi-automatic pigs that automatically deboning
The present invention relates to a meat loin deboning device and a deboning system using the deboning device.

[0002]

2. Description of the Related Art Deboning of pork meat is generally performed manually using a knife except for the use of auxiliary equipment in the-part, and automatic vertebrae and ribs are used. There is one disclosed as a deboning device (Japanese Patent Laid-Open No. 10-179014).
And Japanese Patent Application Laid-Open No. Hei 10-179015), which disclose spine process of vertebrae, deboning of rib joints and automatic deboning of ribs as ends of deboning work of loin and roses divided from semi-round carcass of meat for carcass. It is a bone device, and the bones are sequentially deboned at each station while transporting the body part-it does not automatically perform the piercing operation.

[0003]

As described above, in the deboning operation of the meat of the carcass for meat, auxiliary equipment is partially used, or a device for partially automatic deboning has been proposed. However, most of the work involves manual scoring, cutting, and peeling, and the peeling requires a considerable amount of force. Long contact with meat also has hygiene problems.

Furthermore, the above-mentioned manual deboning requires complicated knife handling and requires a complicated number of steps and time, and the result affects the quality of the deboning yield. It is required to increase costs.

The present invention has been made to solve the above-mentioned problems, and the manual work is limited to only a few scoring operations that are easy even for an unskilled person, and requires other skill and power such as cutting and peeling. The work is automatically performed step by step automatically.
It is an object of the present invention to provide a meat loin deboning device and a deboning system using the deboning device.

[0006]

The present invention is configured as follows to solve the above-mentioned problems. The invention according to claim 1 is characterized in that a pig portion on one side longitudinally cut by a cervical vertebra and a thoracic vertebra subjected to creasing pretreatment is gripped and suspended by a bogie device on a transport line, and a forearm bone, a humerus bone, a scapula, A deboning device for deboning a cervical vertebra, a thoracic vertebra and ribs, wherein a plurality of processing stations are arranged on a base of the deboning line (which may be placed directly on the floor without the base) and the upper part of the deboning line. A trolley is placed on a transfer line installed in parallel with the base in the space, and the trolley holds the ankle of the pork part meat, which is the work, with a clamper and hangs up or hooks the meat. Are fixed on the clamper with the claws of the workpiece, and are moved on the transport line each time the process at each station is completed.Because the deboning method differs depending on the deboned part of the work, the plurality of processing stations are Parts before cutting the part The forearm, humerus, and scapula of the suspended skeletal part of the processing station group consisting of machining stations, It is configured to include a processing station group including a plurality of processing stations to be removed, and a processing station group including a plurality of processing stations to remove the cervical vertebra, the thoracic vertebra, and the ribs by attaching the above-mentioned roasted portion.

According to a second aspect of the present invention, there is provided a plurality of processing stations of a first group for automatically performing deboning until cutting and separating a side portion and a roast portion of the workpiece. Detects the position of the bottom end of the roasted portion of the gripped and suspended work, and calculates the position at the last station of this station group to separate the ribbed portion and the roasted portion. Therefore, the position where the umbilical part and the roasted part should be cut off in a suspended state is different). A loin peeling and cutting device that cuts the remaining membrane portion, and a scapula incision peeling device that peels off a portion where the scapula and meat are strongly bonded and peeling is difficult while making a cut in the meat portion, In person to cut separating the parts Toka was loin section is a structure comprising a loin cut separator.

According to a third aspect of the present invention, there is provided a bogie device which travels on the transport rail while gripping an ankle of a work,
A clamper for firmly holding the ankle of the work, a truck for transporting the clamper, and a connecting shaft penetrating the truck, the connecting shaft having the lower end fixed to the clamper and the upper end being connected to the connecting shaft by external force. Is configured to be rotatable and vertically movable with respect to the carriage, and the carriage is provided with a transport claw fitting portion and a fixed claw fitting portion.

According to a fourth aspect of the present invention, there is provided a work length detecting device for measuring a length of a lower end of a suspended work piece from a reference position at a lower end of a suspended work piece, A limit switch, an elevating unit, and a sensing bar, wherein a point at which the sensing bar is lifted by the elevating unit and the sensing bar contacts the end of the solid roast is detected by the limit switch and a contact point at that time Is measured and stored.

According to a fifth aspect of the present invention, there is provided a method for peeling and cutting a piece of meat from a piece of meat to a piece of roasted meat, peeling both pieces by a certain amount, and cutting and pushing down the remaining piece of combined film. An apparatus comprising a peeling unit, a cutter unit, and an elevating unit for raising and lowering them and stopping at a required position, wherein two of the four plates, which are peeling plates of the peeling unit, are solid ribs of roast meat. The four plates are arranged horizontally in a stepwise fashion on an imaginary plane that rises to the right as viewed from the front side of the work, with the remaining two holding the cervical vertebrae side of the meat loin, The cutter section for cutting the membrane section includes a cutting cylinder for pushing the cutter along the coupling membrane, and a horizontal slide cylinder for sliding the pushed cutter sideways. In addition, the cutter is attached so as to be inclined downward from the near side to the back in order to push the cutter along the bonding film.

According to a sixth aspect of the present invention, the cutting edge of the cutter is so cut that the cutter can be easily inserted along the bonding film while cutting the film along the bonding film when the cutter of the metal-loose separating and cutting apparatus is pushed. It is characterized by having a blade shape.

[0012] The invention according to claim 7 is a scapula incision peeling device for peeling off a portion where the surface of the scapula is strongly bonded to the meat and is difficult to peel off while making a cut in the meat. The cutter is pressed down by a peeling plate and the meat is peeled off by making a large number of cuts to the scapula surface with a cutter in the meat part connected to the cutter, and the cutter is rectangular and the eccentric cam is driven by a cutter drive motor. The cutter performs an elliptical motion through the cutter, and the cutter is pressed with a constant force against the scapula surface by a cutter pressing cylinder, and moves in and out of the anterior-posterior direction according to the shape of the scapula surface, thus covering the entire width of the scapula. The incision can be efficiently made in the meat portion, and further, there is provided an elevating unit for elevating these.

[0013] The invention according to claim 8 is a loin portion cutting apparatus for cutting and separating a rib portion and a loin portion of a work, in which a meat portion is cut by reciprocating a cutter vibratingly. It consists of a cutting device and a back support device. The cutting device is a vibration mechanism that reciprocates the cutter, an angle changing motor that can change the angle of the cutter with respect to the horizontal plane, a cutter cutting motor that cuts the cutter, and a lifting device that moves these up and down. The back support device comprises a back plate lifting motor and a back plate, the back plate comprises two parallel plates, and the back support device is configured such that the cutter is provided between the two parallel back plates. It is raised and lowered in synchronization with the lifting and lowering of the above-mentioned roast cutting and separating device so as to cut the meat portion at the position. Thus, the workpiece is securely supported by the two back plates, and is accurately cut at an intermediate portion between them.

According to a ninth aspect of the present invention, after the solid loin portion is cut off and the sheath portion remaining in a suspended state is creasing with a knife manually, deboning of the sheath portion is automatically performed. A plurality of stations in a second group,
A device that measures the height of the scapula from the reference position of the collar portion that is a work, and a device that performs creasing with a circle cutter in a portion where the flesh of the upper arm and scapula joint is strong,
It is configured to include a device for securely grasping and stripping the neck of the scapula, a plurality of devices for peeling off the meat connected to the forearm and the humerus, and a device for separating the loose portion.

According to a tenth aspect of the present invention, there is provided an apparatus for measuring the height of the scapula, wherein the measurement plate is pressed down on the forearm to lower the scapula, and the measurement plate is attached to the joint between the humerus and the scapula. The encoder senses that the measuring plate moves forward when fitted, and measures the position of the measuring plate to calculate the height of the scapula from the reference plane, and the height grasps the base of the scapula neck in a later process. This is data for calculating the position of the clamp head when performing the operation.

According to an eleventh aspect of the present invention, there is provided an apparatus for creasing a portion of the joint of the humerus and the scapula on the back side of the scapula where the connection with the flesh is strong, wherein the muscle straddles the neck of the scapula. This is to make a scoring, in which the circle cutter is rocked and advanced to make a creasing.

According to a twelfth aspect of the present invention, there is provided an apparatus for removing a scapula by gripping a base of a scapula neck with a nail of a clamp head lowered to a previously calculated position and pulling the same toward the near side. The clamp head presses a nail against the base of the scapula and swings the clamp head when the nail is opened to fit the nail, so that the base of the scapula is reliably gripped by the nail.

According to a thirteenth aspect of the present invention, there is provided a meat separator for peeling off the connection of the forearm bone and the humerus to the meat, wherein the tip is sandwiched between two claw plates having a U-shaped concave shape. The connection is peeled off when the work is raised in the state, and the bones are different in shape and size depending on the site, so a plurality of stations have a U-shaped claw plate adapted to the bone shape and size. Peel off with a meat separator. Further, some stations are provided with a cutter device for cutting meat and muscle over the entire bone just above the nail plate after peeling.

According to a fourteenth aspect of the present invention, the tip of one of the two claw plates of the meat separator is made convex for measuring the height of the elbow head, and the bone near the elbow head on the side surface of the forearm bone. The flesh is strong and it is difficult to peel the bone and meat only by peeling, so it is peeled off with a knife-like knife.

According to a fifteenth aspect of the present invention, the meat separator has a claw plate sandwiching a bone at an upper end of each of the two pivots supported in the middle, and a lower end side of the cylinder. The meat separator is opened and closed by pushing or pulling, and the claw plates are arranged so that both claw plates are vertically overlapped when sandwiching the bone, so that the claw plate is sandwiched evenly around the bone.

According to a sixteenth aspect of the present invention, there is provided a third group of a plurality of stations for automatically deboning the previously cut pork loin portion, wherein the stations can be moved up and down on the loin meat transport cart. A spine process scoring device for the pork loin portion, which is a work fixed to a loin meat clamper attached to a roast meat clamper, a roast cut, rib height measurement, spinous process thickness measurement device, It is configured to include a station in which a projection separating device, a plurality of roins / vertebra separating devices, and a spare rib / vertebra cutting / separating device are respectively disposed.

According to a seventeenth aspect of the present invention, there is provided the above-mentioned roast meat transporting trolley device, wherein a roast meat clamper for fixing a roast portion serving as a work is fixed to a lower end of a connecting shaft penetrating the trolley. The upper end of the connection shaft is configured to be able to move up and down the connection shaft with respect to the carriage by an external force, and the carriage is provided with a transfer claw fitting portion and a fixed claw fitting portion.

The invention according to claim 18 is the above-mentioned loin meat clamper, wherein a plurality of hook-shaped claws are cut into the meat between the ribs of the work by operating a pawl swing cylinder.
The work is firmly fixed to the clamper table by operating the claw toggle lock cylinder to lock the claw.

According to a nineteenth aspect of the present invention, there is provided a spine process creaking device, wherein a lower roasting cylinder is actuated to press the upper portion of the lower roast and pull back the lower portion to the front.
The knife-shaped cutter descends while reciprocating and cuts down the joint with the meat along the spinous process.The knife-shaped cutter changes its angle depending on the location on the spinous process to improve the yield of deboning. Down.

According to a twentieth aspect of the present invention, the rib upper surface height is measured, and the entry position of the cutter in the next step is determined based on the measured data. The device equipped with the measuring lever moves back and forth and left and right and stops at the top of the rib base, and then the work is raised and the position at which the lever contacts the rib base is measured, and the rib top surface height is measured. calculate.

According to a twenty-first aspect of the present invention, there is provided an apparatus for separating a rib and a spare rib, wherein an optimum position of the cutter base having an arcuate cutter and a round blade cutter is determined based on the measured value of the rib upper surface height. The cutter moves forward and downward diagonally while swinging in the left and right direction, and the arc-shaped cutter cuts just below the ribs to hit the spinous process. The thickness of the spinous process is calculated by measuring the position of the cutter table at the time when the cutter cannot move forward on the upper surface. The measurement results of the rib upper surface height and the spinous process thickness are also used in a later step. The round blade cutter is mounted on the cutter base via a spring so that the blade edge can escape even if it hits a bone before the blade edge of the arc-shaped cutter.

According to a twenty-second aspect of the present invention, there is provided an apparatus for cutting meat at a spinous process surface, an apparatus for cutting meat at a side surface of a cervical spine,
A device that cuts on the cervical vertebra upper surface and a cutter device that cuts and separates the meat roast.Each device presses the thoracic vertebra and cervical vertebra of the work by operating the cylinder, and also returns the meat roast to prevent the meat from being left in the bone. The cylinder acts to pull the loin to tension the spinous process and the flesh near the cervical spine to facilitate cutting.

The invention according to claim 23 is characterized in that the spinous process, the thoracic spine,
A cutter device used for each device for separating a piece of rosin along a cervical vertebra, wherein a knife-like cutter is moved to an optimum position based on a previously measured rib upper surface height and spinous process thickness, and attached to the cutter base. The movably mounted cutter moves in the horizontal direction to cut along the bone. If the cutter hits the downwardly bent cervical vertebra during the movement, the cutter base is lowered by the operation of the cutter raising / lowering servomotor, so that the cutter can always be cut along the bone. The cutter is pressed by a cutter tension cylinder with a constant force in the cutting direction.
Further, a pressure reducing valve is provided in a cutting cylinder for moving the cutter base in a horizontal direction to perform cutting, so that the cutter does not cut bone.

According to a twenty-fourth aspect of the present invention, there is provided an apparatus for cutting and separating a spare rib and a vertebra, wherein the spinous process pressing cylinder is operated to press the spinous process against the clamper table, and then the nail toggle lock of the meat loin clamper. When the cylinder is activated and the lock is released, the pawl is released, the cutter vertical cylinder is activated, the disc-shaped rotary cutter of the saw blade is moved to the optimum position, and the cutter slide cylinder is activated to separate the spare rib.

According to a twenty-fifth aspect of the present invention, there is provided a transport line for sequentially transporting a trolley on which a workpiece is suspended to each processing station, comprising a transport unit, a trolley fixing unit, and a transport pitch changing unit. According to a twenty-sixth aspect of the present invention, the line is made into two closed lines due to the difference in the method of fixing the work, and in each line, the dimension of the work is automatically measured at a required station, and the work and the cutter in the subsequent process are measured. This is a deboning system that calculates the optimal position and automatically performs deboning in response to individual differences in the work.

[0031]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to an embodiment shown in the drawings. However, unless otherwise specified, dimensions, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the invention, but are merely illustrative examples. First, in order to facilitate understanding of the configuration and operation of the apparatus and system of the present invention, a step of deboning pork part meat will be described.

FIG. 1 shows a place where the meat is cut manually before attaching the meat of one side of the pig which has been longitudinally cut at the cervical vertebrae and the thoracic vertebrae to the deboning apparatus of the present invention. FIG. 1 (A) shows a forearm bone scoring location, and FIG. 1 (B) shows a vertebra and spare rib scoring location. 1 (A) and 1 (B), 1 is a radius, 2 is an ulna, 3 is a humerus, 4 is a thoracic vertebra, 5 is a cervical vertebra, 6 is a rib, and 7 is a spinous process. The radius 1 and the ulna are collectively referred to as a forearm bone, and the ribbed portion is referred to as a spare rib. As shown in FIG. 1 (A), the forearm muscular struts 21 are located on the radial side surface and the ulnar body surface.
After the side meat is cut open, the meat around the elbow head 8 is cut open to expose the elbow head. Next, as shown in FIG. 1 (B), after the upper surface of the vertebra was cut away 22, a crease 23 was made along the cervical vertebra 5, and a straight sword was applied along the joint film with the rose from the side of the spare rib. A spare rib streak 24 is made to make a trigger to separate the part and the roast part. The above is the pre-scoring pretreatment before attaching the pig meat to the deboning apparatus of the present invention.

FIG. 2 shows an end of a forearm bone (hereinafter referred to as an ankle) of the pre-treated pork part meat, which is gripped by an ankle clamper 34.
FIG. 2A shows a process of hanging a bodily part in a deboning process performed in a hanging manner, and shows STa1 shown in FIGS.
To STa5. STa1 is
In the work input step, the ankle of the pork body portion meat, which has been subjected to the pretreatment, which is the work, is manually attached to the ankle clamper 34. STa2 is a work length measuring step, in which the work is suspended and the cut surface 17 of the solid portion meat forms an angle of about 60 ° with the horizontal plane 18 and rises along the direction of the cut surface 17 Senses contact of the sensing bar 50 with the lower end of the work and measures its position to determine the reference position (under the clamper)
Calculate the work length from

STa3 is the first step of peeling off the body and the roasted portion, in which the roasted meat and the roasted meat are peeled and cut at the bonding film portion, and the spare ribs and the roasted portion are peeled off by the peeling plates 66a and 66d. Is pressed down to peel off the film part to a certain extent, and then the remaining film part having a strong inter-meal bond is further removed by the cutter 6.
Insert 8 and cut. Although only two peeling plates are shown in FIG. 2, a total of four plates, two for pushing down the spare ribs and two for pushing down the loin meat, differ in height position as described later. It is arranged. STa
Reference numeral 4 denotes a second step of peeling the armor / loin portion, which is a scapula meat cutting and peeling step, in which a plurality of cuts are made to the bone surface with a cutter 80 in a meat portion firmly connected to the scapula 9. The cutter 80 is pushed down together with the peeling plate 85 while being pushed down by the peeling plate 85.
STa5 cuts and separates the head part and the raw loin part in the head / body loin part cutting / separating step. With the above, the pork loin was cut off from the bowl. 3 (A) to 3 (D) show the places where the clamps hold the ankles and are left in a suspended state, and where the cramps are manually scored.

FIG. 3 (A) shows a ribbed streak, in which the ribs 15 are peeled off along the film. FIG. 2B shows the upper humerus creasing, in which the shin meat 16 is cut off from the forearm / humeral joint 11 and then the meat is cut open from the surface of the humerus 3. FIG. 4C shows a lateral humerus creasing, in which a creasing 25 is made from the forearm / humeral joint 11 to the right side of the humerus, and then from the left side of the humeral head to the left side of the scapula 9. Then, make a crease 26 with one sword. FIG. 4D shows the scapula on the right side of the scapula. After the muscle of the humerus / scapula joint 12 is cut, the flesh on the upper surface of the scapula is peeled off, and the scapula is cut off from the humerus / scapula joint 12 on the right side of the scapula. A crease 27 is made along the surface.

With the above, the manual creasing of the pigtail is completed. FIGS. 4 and 5 show the deboning process of the pork rib meat, which is the work for which creasing has been completed. The steps include 13 steps STb1 to STb13 shown in FIGS. FIGS. 8B and 8C are views of the workpiece viewed from the side, and the other views are viewed from the front.

STb1 in FIG. 4A is a measuring plate 105 pressed down against the humerus 3 in a shoulder blade height measuring step.
Is measured until it fits into the humeral / scapula joint 12 and moves forward, and the scapula height from the reference position is calculated as the first reference value for the pigtail. STb in FIG. 4 (B)
2 is a step of creasing the back of the scapula neck, in which the scapula 9 is pushed with a pressing plate to protrude the scapula neck 13, and the backside of the scapula neck 13 is scored by the circle cutter 111.
In STb3 of FIG. 4C, in the scapula peeling step, the scapula neck 23 is gripped by the claws 121 of the clamp head 120, and the scapula 9 is peeled off. STb4 in FIG. 4D is a step of cutting the entire circumference of the ankle by applying a disk-shaped rotary cutter to the ankle and rotating the clamper 34 counterclockwise by 450 ° when viewed from above, in the ankle full circumference cutting step. Cut it. In addition, the reason why the clamper 34 is rotated by 450 degrees after the bogie traverse in STb3 is that it rotates by 450 degrees in STb3.
In this case, since the work is further rotated by 90 °, the rotation is performed by 450 ° obtained by adding 90 ° to 360 ° for cutting the ankle. STb5 in FIG. 4E is a forearm bone first peeling step, in which the meat separator (see FIG. 21) is closed, the position cut in STb4 is sandwiched, the clamper is raised by 60 mm, and the lower forearm bone (in the suspended state in the figure). Then peel off the top).

STb6 in FIG. 4 (F) is a forearm bone second peeling step in which the meat separator is closed at the peeling end position in STb5 to sandwich the bone, and the clamper is moved 50 m away.
Pull up the m and peel off the upper part of the forearm (lower part in the figure).
A meat separator having a different U-shape is used because the size of the bone is different from that of STb5. STb7 in FIG. 5 (G)
In the first peeling around the forearm / humeral joint and the measurement of the elbow head height, the meat separator is closed at the peeling end position in STb6 to sandwich the bone, and the clamper is pulled up.
In this process, a knife-like blade is applied along the forearm bone, and the meat of the portion along the blade is raised by raising the workpiece so that the meat is cut by the blade. Is difficult). In this step, one claw plate of the meat separator has a convex shape, and its tip is applied to the surface of the forearm bone, and the position where the work rises and the tip fits into the joint just below the elbow head is defined by the rack and the pinion. The linear motion-rotation conversion mechanism and the encoder detect the height, and the height from the reference position to the elbow head is calculated and used as a second reference value for pig meat. This measurement is the most important measurement for grasping the joint position that differs depending on the individual pig meat, and for accurately grasping the positions of muscles and membranes that must not be cut when the cutting causes joint dislocation.

STb8 in FIG. 5H is a forearm bone second peeling and elbow head cutting step, in which the meat separator is closed at the peeling end position in STb7 to sandwich the bone, and the clamper is pulled up to forearm bone. -Peel off the flesh around the humeral joint. Peeling was performed from below the elbow head measured in STb7.
mm, and then use the two left and right round blade cutters located 25 mm above the meat separator to remove the elbow head.
Cut all over 0 mm. This position is immediately below the streaks or membranes that must not be cut as described in STb7, and cutting at this height is an important point. STb9 in FIG. 5 (I)
In the peeling and cutting process just below the elbow head, the STb8
The meat separator is closed at the peeling end position in step 2, sandwiching the bone, peeling to a position 25 mm below the elbow head measured in STb7 (pulling up the clamper), and the left and right two sheets located 25 mm above the meat separator Cut the area directly below the elbow head with a round blade cutter (only one is shown).

STb10 in FIG. 5 (J) is a step of peeling the humerus and measuring the humeral head height, closing the meat separator at the peeling end position of STb9, sandwiching the bone, and pulling up the clamper. Pulling is stopped when it is detected that the thick portion of the humeral head hits the meat separator and the pressure of the air cylinder of the clamper pulling device increases. The amount of pulling at this time is measured by a length measuring machine, and the measured value is used as a third reference value for pig meat. The scapula height is measured in STb1, which is the same as the roast separation height. However, since the work has been pulled many times, joint extension has occurred, and the yield of deboning is improved. Therefore, it is necessary to perform another measurement. FIG.
(K) STb11 is a peeling step around the humeral head, in which the meat separator is closed at the peeling end position of STb10 to sandwich the bone, and the clamper is pulled up by the third reference value + fixed value (40 mm). Around the middle of the humeral head is cut around the entire circumference with two left and right round blade cutters (only one is shown) positioned 25 mm above the separator. Note that ST
At b10, the clamper performs the work by rotating it clockwise by 50 ° when viewed from above.

STb12 in FIG. 5 (L) is an arm meat peeling separation cutting step, in which the meat separator is closed at the peeling end position in STb11 to sandwich the bone, and the clamper is moved to the third reference value + fixed value. (75 mm) and then cut right below the humeral head with one round blade cutter on the right, located 25 mm above the meat separator, to separate the meat from the bone. The fallen poultry meat is discharged by the conveyor under the meat separator. STb13 in FIG. 5 (M) is a step of returning to the clamper rotation origin and performing a bone discharging process.
The clamper rotated at Tb10 is returned to the posture of STa3, and the clamper is opened to open the forearm / humerus. The fallen pork meat is discharged by the conveyor.

With the above, boning of the pork meat has been completed. Next, the deboning step of the pork loin cut off in the step STa5 is shown in FIGS. The process is shown in Figs.
It comprises eight steps of STc1 to STc8 shown in (A) to (H). STc1 in FIG. 6A is a work input step,
While pressing the vertical cross section of the thoracic spine / spinous process of the pork loin portion, which is the work, manually against the front of the roast meat clamper table 151, the cut surface 17 of the work and the upper surface of the thoracic vertebra are tilted with the inclination reference plate of the clamper table and the thoracic vertebra. After matching with the reference plate, the work is fixed by making three hook-shaped claws 145 bite into the meat between the ribs of the work. STc in FIG. 6 (B)
Numeral 2 denotes a spinous process scoring step, in which the cutter 171 is vibrated in the direction (horizontal direction) along the thoracic vertebra from the cut surface 17 side of the work and descends along the spinous process close to the cut surface to cut off meat from the spinous process. , Make a cut for entry of the cutter in the process of STc4.

STc3 in FIG. 6 (C) is a step of measuring the thickness of the ribs and the ribs and the thickness of the spinous processes in the step of measuring the thickness of the ribs, cutting the ribs, setting the relative position between the workpiece and the cutter, and pointing the cutter obliquely downward. And cut just below the ribs. The measured rib height is a first reference value for the pork loin. It is also used for positioning the cutter in STc4 to STc7 described later. The spinous process thickness is calculated from the position of the cutter when the cutter 195 stops at the base of the spinous process.
The calculated value is a second reference value for the pork loin meat. The first and second reference values correspond to STc4 to STc to be described later.
It is also used for positioning the cutter at c7. FIG. 6 (D)
STc4 is a spinous process surface cutting step in which the knife blade is cut along the spinous process surface. When the cutting edge hits the cervical vertebra, the cutter descends while advancing and separates bone and meat along the cervical vertebra. The position of the cutter is determined based on the two reference values.

STc5 in FIG. 7 (E) is a cervical vertebra side cutting step, in which the cutter of the knife blade is cut along the thoracic vertebra, and when it reaches the cervical vertebra side, the cutter edge hits the cervical vertebra and descends while proceeding from there, along the cervical vertebra. To separate bone and meat. The position of the cutter is determined based on the two reference values. FIG. 7 (F)
STc6 is a cervical vertebra upper surface cutting process, in which the knife blade cutter is advanced along the thoracic vertebra upper surface, and when it reaches the cervical vertebra, the cutter edge hits the cervical vertebral rib transverse process and descends while proceeding there, and the bone along the cervical vertebra rib transverse process. Separate the meat. The position of the cutter is determined based on the two reference values.

STc7 in FIG. 7 (G) is a solid roasting and separating step in which the knife blade is advanced along the upper surface of the thoracic vertebra, descends while proceeding from the cervical vertebra, and moves down the bone and meat along the upper surface of the cervical vertebra rib transverse process. When separated, the loin falls. The position of the cutter is determined based on the two reference values. STc8 in FIG. 7H is a spare rib cutting step, in which the spare rib is pressed against the clamper table 151 by a spare rib pressing plate, and then the hook-shaped claws 145 are not cut into the meat. Cut the spare rib at the joint. When the pressing by the spare rib pressing plate is released after the cutting, the spinous process and the spare rib fall. With the above, deboning of the pork loin was completed, and deboning of the pork part meat was completed.

Next, each device will be described. FIG. 8 is a schematic view showing an arrangement of a station for deboning a rib part of a device for deboning meat of a pig part according to the present invention until the rib part is separated from the rib part.
Reference numerals 1 to STa5 denote first group stations for separating the roasted portion from the arm, and STb1 to STb13 denote second group stations for deboning the arm. Between the first group station and the second group station, there is provided an area where a manual scoring is performed in the collar part. Although not shown in the drawing, the station of STb13 in FIG. 5 is provided next to STb12. The stations are provided in two rows in parallel. In the upper space of each row, a trolley transport line for transporting a trolley to be described later and a frame for suspending and installing a cutter device and the like are provided in parallel with each station row, and both ends of the trolley transport rail. A traverse portion is provided on the side for traversing the carriage from one line to the other line. Thus, the trolley is transferred to each station on the trolley transport rail forming a closed circuit.

FIG. 9 shows a bogie transport line provided in an upper space of a row of stations for deboning the pork loin, which is the third group station of the apparatus for deboning pork part meat according to the present invention. The situation where the carriage 31 is conveyed on the rail 251 can be understood. In the same figure, the main transport part shows the part where the trolley is transported for each station, and the sub-transport part is a transport part that fast-forwards the trolley when there is enough space and there is an empty station, and the attachment attached to the endless chain. And the chain is driven by a motor to convey the truck. The conveyance is stopped by detecting the attachment with a sensor. The main line will be described later. The traverse section is a section for transferring the carriage to the other line arranged in parallel. The fork unit on which the carriage is mounted is provided with a carriage fixing mechanism so that the carriage does not move during the transfer. The difference from the main transport section is that the traverse section is not provided with a pitch changing cylinder, and the transport is performed by a cylinder instead of a servomotor. The clamper traversed in the traverse section is rotated by 180 ° by rotation of the connecting shaft described below due to external force. The bogie transport line provided in the upper space of the first and second group station rows is the same as FIG.

FIG. 10 shows a bogie device used in the first and second group stations. FIG. 10 (A) is a front view, FIG. 10 (B) is a side view, and FIG. 10 (C) is a top view. Trolley 3
1 has four wheels 32, and fixed claw fitting portions 3 on both side surfaces.
7 and a transfer claw fitting portion 38 are provided. The cart 31
The connecting shaft 33 penetrates, an ankle clamper 34 for gripping and fixing the ankle by a toggle mechanism is fixedly provided at the lower end of the connecting shaft 33, and the upper end is eccentrically attached to the axis of the connecting shaft 33. The connecting shaft 33 can be rotated and moved up and down with respect to the bogie by an external force via a rotating roller 35 and a finger 36. FIG. 11A shows a situation in which a rotating plate 271 of an external device is applied to the rotating roller 35 to rotate the connection shaft 33, and FIG. 11B shows a pulling unit 272 of the external device via the finger 36. The situation where the connecting shaft 33 is raised is shown.

FIG. 12 shows a work length detecting device used in STa2. FIG. 12 (A) is a side view and FIG. 12 (B).
Is a front view. In FIG. 12, a positioning portion 41 is provided with a tilt reference plate 43 mounted on a fixed column 42 so as to be movable in the front-rear direction and a lateral push mounted on a bracket 45 fixed on a mounting base 44 fixed on the column 42. A plate 46 is provided. The horizontal pressing plate 46 rotates 90 ° and presses the right (neck side) end face of the work to bring the cut surface 17 on the left side of the work into contact with the inclined surface. The measuring section 40 is provided with a bracket 49 which can be moved up and down by a servomotor 48 which is attached to a mounting table 47 fixed to the column 42 in the same direction as the inclined plate. Is attached. The limit switch 49 senses when the measuring bar 50, which is raised along the extension line S1 of the inclination of the inclination reference plate 43 by the operation of the servomotor 48, contacts the lower end of the work, and the reference position of the work is detected. Measure the length of the work from the bottom of the clamper.

FIG. 13 is a side view of a roasting section peeling / cutting apparatus used in STa3.
1, a positioning unit 62, and a lifting unit 63. The lifting unit 63 is installed on the upper frame of the line.
The peeling portion 60 fixed to the frame 65 connected to the shaft 64 via the shaft 4 and the cutter portion 61 fixed to the frame 65 are moved up and down. FIG. 14 is a diagram showing the peeling plates 66a, 66b, 66c, 66d when the peeling portion 60 in FIG. 13 is viewed in the direction of the arrow X. These are arranged in a stepwise manner on a virtual surface S3 inclined with respect to the horizontal plane S2. It is arranged in a shape and its inclination is the front of the work (Fig. 1
In FIG. 3, the right angle is 11 ° when viewed from the right side. In the suspended body of the work, it rises to the right from the surface of the spare rib to the surface of the solid loin, and the optimum angle for uniformly pressing down these surfaces is 11 °. The solid loin is pushed down by 66a, 66b, and 66c, 66d. Push down the spare rib with. A cutter section 61 shown in FIG. 13 includes a cutting cylinder 67 for cutting the cutter, a rectangular cutter 68 attached to a shaft end of the cylinder, and a mounting table 6 for the cylinder.
9 and a horizontal slide cylinder 70 for sliding the mounting base in the horizontal direction (toward the paper surface). The cutting edge of the cutter has a saw-tooth shape to facilitate cutting into meat.

FIG. 15 is a side view of the cutter of the scapula incision and peeling device used in STa4. The scapula incision and peeling device is composed of a peeling portion, a cutter portion, a positioning portion, and an elevating portion, similarly to the above-mentioned roasting portion peeling and cutting device, and only the peeling portion and the cutter portion are different. As shown in FIG. 15, the cutter unit includes a cutter 80, a cutter pressing cylinder 81, an eccentric cam 82, a cutter driving motor 83, a scapula upper surface peeling plate 84, and a spare rib peeling plate 85,
The cutter 80 has a rectangular shape and performs an elliptical motion when viewed from above via an eccentric cam 82 so that the cutter 80 can make a wide cut in the upper surface meat of the scapula without getting into the scapula. Since the cutter 80 is pressed against the upper surface of the scapula with a constant force by the cutter pressing cylinder 81, the cutter 80 is always in contact with the upper surface of the scapula, and its cutting edge moves differently from a true ellipse. The peeling portion has two peeling plates for pushing down the spare rib and pushing down the roasting portion.

FIG. 16 is a side view of a roasting cutter used in STa5, which comprises a cutting device comprising an elevating unit 90 and a cutter unit 91 and a back support unit 92. The elevating unit 90 raises and lowers the cutter unit 91. I do. FIG. 17 is a view of the cutter unit 91 in FIG. The cutter unit 91 in FIG. 16, FIG. 17, the cutter 93, the cutter cuts the motor 94, the angle changing motor 95 of the cutter includes a cutter drive motor 96, each of the cutter cuts _{(T 1} direction), changes in cut angle ( T ₃ direction), performs oscillatory reciprocating _{(T 2} direction). The back support device 92 includes a back plate lifting / lowering motor 97, a back plate 98, and a horizontal holding plate 99.
The back plate 98 is two parallel plates and is inclined upward to the right as viewed from the front of the work. The cutter 93 is driven by the angle changing motor 95 so that the rear plate 98
The angle is adjusted to cut the meat between the plates. The back support device 92 is moved up and down in synchronization with the cutter unit so that the cutter cuts a meat portion at an intermediate position between two parallel plates of the back plate 90.

FIG. 18 is a side view of a measuring portion of the scapula height measuring device used in STb1, FIG. 18 (A) is a side view, and FIG. 18 (B) is a top view. The measuring unit is moved up and down by a lifting device (not shown). In FIG. 18, reference numeral 101 denotes a measuring instrument base, and 102 denotes a connecting column to which the measuring instrument base is fixed, which is connected to the elevation device (not shown) to move the measuring instrument base 101 up and down. The measuring plate 105 is lowered by the elevation device (not shown) in a state where the cylinder 103 mounted on the measuring device base 101 holds the tip 105 of the measuring plate 104 against the humerus of the work, and the tip 105 is moved to the humerus and the scapula. Because it fits into the joint of the person and moves from retreat to forward,
This is detected by a linear-rotation conversion device composed of a rack and a pinion, and an encoder.
Stop descent. The lowering amount is measured by a servomotor of a lifting device (not shown).

FIG. 19 is a side view of the cutter portion of the backside scoring device at the base of the scapula used in STb2. The device is a circle cutter 111 for performing backside scoring, and is used to cut the muscle and membrane at the base of the scapula neck. A cutting cylinder 112 for swinging the circle cutter 111, a cutter advancing motor 113 for advancing the circle cutter 111, an elevating device (not shown) for elevating and lowering these, and a scapula neck by pushing the upper surface of the scapula to facilitate creasing. It consists of a cylinder that protrudes. FIG.
0 is a side view of the stripped portion of the scapula stripper used in STB 3, clamping head 120 having a cylinder 122 for opening and closing the claws 121 and claw for sandwiching the scapula neck, the clamping head 120 in the T ₄ direction It comprises a cylinder 123 for pulling down and a lifting device (not shown) for raising and lowering these cylinders.

FIG. 21 shows a meat separator used in STb5 to STb12, and FIG.
(B) is a front view. In FIG. 21A, the claw plates 13 are provided at the upper ends of the left and right long arms 133 and 133, respectively.
1 and 132 are fixed, and the lower end is fixed to one end side of the horizontal 134 and 135. Short arms 136 and 136 are fixed to the other end of the horizontal 134 and 135 to support the support frame 139. Pivotally supported by a shaft 137 fixed to the
Cylinders 138, 138 are connected to lower ends of 6, 136. The claw plates are opened and closed by the operation of the cylinders 138 and 138, and when closed, the both claw plates 131 and 132 are configured to overlap vertically. A U-shaped recess is provided for sandwiching the distal end bones of both claw plates 131 and 132, and the shape is optimal depending on the position of the bone from which meat is to be peeled.

FIG. 22 shows a bogie device used in the third group station, showing a loin meat bogie device 140 and a claw locker 160 for grasping and transferring pork meat.
FIG. 1A is a front view, and FIG. 1B is a side view. In FIG. 22, the bogie device has a connecting shaft 141 penetrating the bogie 31 shown in FIG. 10, and a rigid loin clamper 143 is fixed to a lower end of the connecting shaft 141. The lifting of the roast meat clamper is enabled by lifting.
The lowering is due to the weight of the clamper 143 and the connecting shaft 141.

FIG. 23 is an enlarged view of a clamp claw of the roast meat clamper 143 in FIG. 22, wherein FIG. 23A is a front view of the claw 144, FIG. 23B is a top view, and FIG. FIG. 14D is a side view showing a state where the claw 145 is locked. In FIG. 23, brackets 154 and 154 are fixedly mounted on the rear surface of a clamper table 151 having an inclination reference plate 152 and a thoracic vertebral reference plate 153. A claw 145 having three hook-shaped claws is fixed to a claw base 144 mounted on a claw guide 146 so as to be movable in the front-rear direction.
4 is opposite the claw 145 to the claw guide 146.
Bracket 14 fixed on a base plate 147 fixed to the
8 is connected to a link mechanism 150 pivotally supported. When the link mechanism 150 is tilted from the state shown in FIG. 7C as shown in FIG.
(D), the claw 145 is locked. Shafts 155 and 156 are fixed to both sides of the claw guide 146, and the shafts 155 and 156 are pivotally supported by the brackets 154 and 154. The shaft 155 is biased at its end by a spring 157 in a direction in which the claw 145 opens, and the shaft 156 is
It is urged leftward by a spring 158. Therefore, as described below, when the pawl interferes with the ribs when the pawl oscillating cylinder 167 is operated to close the pawl 145, the pawl moves to the right against the force of the spring 158, and the pawl intervenes. Dig into it. In this way, it is possible to cope with the difference in the rib position depending on the individual.

In FIG. 22, the claw locker 160 includes a bracket 161 and a bracket 166 on a fixed frame 168.
Is fixed to the fixed frame body 168 through the
It comprises a claw toggle lock cylinder 164 to which the mounting member 65 is attached, a horizontal member 162 also having a push plate at the tip similarly fixed to the fixed frame 168, and a claw swing cylinder 167.
The endpiece 149 (FIG.
3) When the push-up is performed, the claw 145 is
7 and closes against the force of the pawl toggle lock cylinder 16.
When the link mechanism 150 is pulled down by the trigger member 165 of No. 4, the claw 145 is locked, and the claw is not loosened even when an external force acts on the work.

FIGS. 24A and 24B show a spinous process muscle incising device used in STc2, wherein FIG. 24A is a front view and FIG. 24B is a side view. The apparatus includes a cutter table 178 on which a knife-shaped cutter 171 is mounted, a cutter motor 172 for reciprocating the cutter 171 in a vibrating manner, and a cutter press for pressing the cutter table 178 to press the cutter 171 against a bone (spinous process). The cutter unit includes a cylinder 173, an insertion cylinder 174 that pierces the meat, a cutter unit having an angle changing cylinder 175 for changing the angle, a cutter elevating servomotor 176, and an elevating unit having an elevating platform 177. 177 is mounted so as to be movable in the front-rear and left-right directions.

FIG. 25 shows the cutter 171 when the spinous process muscle is inserted.
Movement is shown. In the figure, 7 is a spinous process, 9
Is a spare rib. The cutter 171 changes the angle in three stages according to the position of the spinous process 7 and cuts down along the spinous process 7. The angle changing cylinder 1 changes the angle.
Perform at 75. Also, it is difficult to stab the cutter 171 at a position exactly along the spinous process from the beginning, and the height position is set based on the calculated value. Next, the cutter pressing cylinder 17
3 presses the cutter 171 against the spinous process side, so that the spinous process 7 follows the base of the thoracic spine. In this state, the cutter 171 descends while vibrating, and then the cutter angle changes to vertical and descends, descends at the tip of the spinous process at an angle of 3 ° in the opposite direction to that at the time of insertion, and finally changes to vertical again. To descend and finish the creasing. In addition, the pork body portion meat, which is a work, is pressed by the body loin holding cylinder 179, and at the same time, the lower part is pulled back by the body returning cylinder 180, and the creasing is performed while tension is applied to the meat of the creasing section. .

FIG. 26 is a front view of a measuring part of the rib top height measuring device used before the cutting in STc3. The measuring part provided with the measuring lever 181 and the proximity sensor 182 pivoted in the middle is moved not shown. The measuring lever 181 is moved by the device so as to be located above the base of the rib, which is the measurement site. The height of the rib is calculated by detecting the position at which the work lever is lifted and the measurement lever 181 contacts the lower surface (the upper surface in the figure) of the thoracic vertebra 4 of the work and the contact of the measurement lever 181 with the proximity sensor 182 is released. .

FIGS. 27A and 27B show a cutter portion of a roasting and spare rib separating apparatus used in STc3, wherein FIG. 27A is a side view and FIG. 27B is a top view. In FIG. 27, a horizontal slide plate 194 is further mounted on a front and rear slide plate 193 slidably mounted on the tilt plate 192 of the cutter base 191, and the horizontal slide plate 194 has a circle. An arc cutter 195 and a round blade cutter 196 are attached. The cutters 195 and 196 integrated with the horizontal slide plate 194 are reciprocated in a lateral direction by a cutter driving motor 197 via an eccentric cam 198. Cutting by the advance of the cutters 195, 196 is provided by a cutting cylinder 199.

FIG. 28 shows a pattern in which the arc-shaped cutter 195 cuts into a loin. An encoder (not shown) detects the position at which the blade edge of the arc-shaped cutter 195 hits the spinous process and the cutter does not advance, but before that, the round blade cutter 196 hits some obstacle and advances. The round blade cutter 196 is flexibly attached in the front-rear direction to the arc-shaped cutter 195 via the attachment shaft 200 and the spring 201 so as not to be disturbed. Note that the cutter table 191 is fixed to the floor together with the slab pressing cylinder 202.

FIGS. 29A and 29B show a roasting and vertebra separating apparatus used in STc4 to STc7. FIG. 29A is a side view and FIG. 29B is a front view. The lifting device 2 includes a cutter base 211 and a lifting servomotor 212.
10, a cutter base 221, a cutter cutting cylinder 222,
A cutter device 220 including a cutter positioning servomotor 223, a cutter tension cylinder 224, and a knife blade-shaped cutter 225, and a thoracic vertebra holding cylinder 231, a cervical vertebra holding cylinder 232, and a lower portion of the roast meat are pulled back to apply tension to the cutting portion. It comprises a meat presser 230 provided with a hanging cylinder return cylinder 233. The cutter table 22
Reference numeral 1 is mounted on the cutter base 211 so as to be able to slide back and forth and left and right. The return cylinder 23
No. 3 pulls forward the loin to apply tension to the meat of the cut-off portion to facilitate the cut-off. The cutter cutting cylinder 222 is provided with a pressure reducing valve so as not to cut bone. As described above, a device having the same configuration as the book-loin / vertebrae separation device is used as the STc.
It is used in stations 4 to STc7, and the shape of the cutting edge of the cutter 225 is different in each station.

FIG. 30 shows a cutter of a spare rib / vertebra cutting and separating apparatus used in STc8. FIG. 30A is a side view, and FIG. 30B is a W view in FIG. The device includes a claw release device for extracting a not-shown clamp claw 145 (see FIGS. 22 and 21), a cylinder for pushing a spare rib from the back so that a spare rib does not fall even when the not-shown clamp claw 145 is extracted, and a cutter device. Consists of
The cutter device includes a circular saw blade cutter 241, an air motor 242 for rotating the cutter, a cutter vertical cylinder 243,
A cutter slide cylinder 244 is provided to cut the root of the rib by raising and sliding the cutter.
The claw release device is obtained by removing the pressing plate 163 and the claw swing cylinder 167 from the claw locker 160 shown in FIG.
The lock is released by pressing 0, and then the clamp claw 145 is pulled out from the meat by pushing down the base plate 147 with a cylinder (not shown).

FIG. 31 is an enlarged view of a part of the main transfer section of the transfer line shown in FIG. 9, and FIG.
FIG. 2B is a sectional view taken along the line ZZ in FIG. FIG.
1, the transport rail 251 and the LM
Guide 256, bracket 252, servo motor 253
The other end of the ball screw 254, one end of which is connected to the servomotor, is rotatably supported by the bracket 252, and the transport bracket 255 screwed to the ball screw 254 is rotated by the rotation of the ball screw. Move left and right. The transfer bracket 255 is connected to the LM guide 256.
Is fixedly mounted on a transfer table 257 which is guided by A transfer pitch changing cylinder 265 is further fixed to the transfer table 257, and the transfer claw table 25 is mounted on the cylinder 265.
8 are connected to each other, and the transport claw table 258 is connected to the cylinder 265.
Is mounted on the transport table 257 so as to be movable left and right.

An air cylinder 26 is provided on the transfer claw base 258.
The transport claw 259 that comes in and out by 0 is mounted, and the transport claw 259 is fitted to and removed from the transport claw fitting portion of the carriage 31.
On the opposite side of the transfer table 257 and the rail 251, there is provided a fixed claw table 261 having an arm 262 having a positioning pin 263 fixedly provided at a distal end thereof and an air cylinder 264 for taking the arm 262 in and out. 250. With this configuration, the transport claw table moves left or right depending on the rotation direction of the servo motor 253. In the state where the transfer claw 259 is fitted to the transfer claw fitting portion 38 of the cart 31,
Then, the claw 259 is escaped to return the transport claw table 258 and thus the transport table 257 to the original position, and fit the transport claw fitting portion of the next carriage. The bogie is fixed by fitting the positioning pin 263 of the arm 262 into the fixed claw fitting portion 37 of the bogie 31 by the operation of the air cylinder 264 so as not to move during the work. Further, the transfer pitch can be changed by the transfer pitch changing cylinder 265.

[0068]

According to the above-mentioned structure of the present invention, the pork portion meat, which is a heavy material, is conveyed to each station in a suspended state, and the manual work is firstly performed before the creasing, and the work is attached to the clamper. The main deboning work can be performed efficiently and with good yield by the automatic deboning equipment including the automatic measurement of the work size, and the heavy labor is eliminated, as long as only the intermediate suspension is used. Hygienic bone removal.

[Brief description of the drawings]

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a schematic diagram showing a manual scoring location of one side pork rib meat cut longitudinally in a cervical vertebra and a thoracic vertebra.

FIG. 2 is a schematic diagram showing the contents of work from STa1 to STa5 by the deboning system of the present invention up to the separation of the meat of the loin part from the meat of the pig part on one side cut longitudinally at the cervical and thoracic vertebrae.

FIG. 3 is a schematic view showing a portion where a rib is cut off and a portion of a pork remaining in a clamper is manually cut into a meat portion.

FIG. 4 is a schematic diagram showing the contents of work from STb1 to STb6 by the bone removal system of the present invention for pork rib meat.

FIG. 5 is a schematic diagram showing the contents of work from STb7 to STb13 by the boning system of the present invention for pork rib meat.

FIG. 6 is a schematic diagram showing the contents of work from STc1 to STc4 by the boning system of the present invention for pork loin portion meat.

FIG. 7 is a schematic diagram showing the contents of work from STc5 to STc8 by the deboning system of the present invention for pork loin loin.

FIG. 8 is a schematic diagram showing an arrangement of a deboning station and a deboning station of a semi-automatic pig paddle deboning apparatus according to the present invention until the ribs are separated from the ribbed part. .

FIG. 9 is a schematic view showing a work transfer device of a station for deboning a loin part by a semi-automatic pork loin loin deboning device of the present invention.

FIG. 10 is a bogie device used in a deboning station and a deboning station of the semi-automatic pork rib deboning device of the present invention until the ribs are separated from the ribbed portion of the bovine portion. (A) is a front view and (B) is a side view.

FIG. 11 shows a clamper of a bogie device used in a deboning station and a deboning station of a semi-automatic pork rib deboning apparatus according to the present invention until the roasting part is cut off from the rib part. It is the schematic which shows the situation which rotates or moves up and down by external force.

FIGS. 12A and 12B are a side view and a front view, respectively, of the work length measuring device of the semi-automatic pig boll deboning apparatus of the present invention.

FIG. 13 is a side view of a roasting section peeling and cutting apparatus of the semi-automatic pig boll deboning apparatus of the present invention.

14 is a view as viewed in the direction X in FIG.

FIG. 15 is a side view of a cutter portion of the scapula cut-away device of the semi-automatic pig boll deboning device of the present invention.

FIG. 16 is a side view of a semi-automatic pork paddle deboning apparatus for a loin-section cutting device.

FIG. 17 is a Y view in FIG. 16;

FIG. 18 is a side view and a top view of a measuring unit of the scapula height measuring device of the semi-automatic pig bob deboning device of the present invention.

FIG. 19 is a side view of the cutter part of the backside scoring device of the scapula neck of the semi-automatic pig bob deboning device of the present invention.

FIG. 20 is a side view of a peeling portion of the scapula peeling device of the semi-automatic pig bob deboning device of the present invention.

FIG. 21 is a side view and FIG. 21B is a front view of a meat separator of the semi-automatic pig bob deboning apparatus of the present invention.

FIG. 22 is a bogie device used in a station for deboning a loin portion by a semi-automatic pork loin loin deboning device of the present invention, wherein (A) is a front view and (B) is a side view.

FIG. 23 is a clamper portion of a bogie device used in a station for deboning a loin portion by a semi-automatic pork loin loin deboning device of the present invention, (A) is a front view, and (B) is a top view. , (C) is a side view, and (D) is a side view when locked.

24A and 24B are a front view and a side view, respectively, of a spinous process incision device of a semi-automatic pork rib loin deboning device of the present invention.

FIG. 25 is a schematic view showing the movement of a cutter when the semi-automatic pork rib loin deboning apparatus of the present invention makes a crevice with the spinous process scoring apparatus.

FIG. 26 is a front view of a measuring part of a rib top surface height measuring device of the semi-automatic pork rib loin deboning device of the present invention.

FIG. 27 is a cutter part of a roast and spare rib separating device of the semi-automatic pork roast loin deboning device of the present invention;
(A) is a side view, (B) is a top view.

FIG. 28 is a side view showing a situation where the cutter of FIG. 27 cuts into a mold loin;

Fig. 29 is a side view of a semi-automatic pork roast loin deboning apparatus of the present invention, wherein (A) is a side view,
(B) is a front view.

FIG. 30 shows a cutter for a spare rib / vertebra cutting / separating device of the semi-automatic pork rib loin deboning device of the present invention, (A)
Is a side view, and (B) is a front view.

31 is a partially enlarged view of a main transfer section of the transfer line shown in FIG. 9, wherein FIG. 31 (A) is a top view and FIG. 31 (B) is a sectional view taken along the line ZZ in FIG.

[Explanation of symbols]

 Reference Signs List 31 cart 33 connecting shaft 34 ankle clamper 35 rotating roller 36 finger 37 fixed claw fitting section 38 transport claw fitting section 50 measuring bar 51 limit switch 64 elevating shaft 66a-66d peeling plate 67 cutting cylinder 68 cutter 94 cutter cutting motor 95 Angle change motor 96 Cutter drive motor 97 Back plate elevating motor 98 Back plate 102 Connecting column 104 Measuring plate 106 Encoder 121 Claw 122 Cylinder 123 Cylinder 131 Claw plate 132 Claw plate 133 Long arm 136 Short arm 141 Connection shaft 143 145 claw 146 claw guide 150 link mechanism 151 clamper table 162 horizontal member 163 push plate 165 trigger 193 front and rear slide plate 194 horizontal slide plate 201 splice 224 Cutter tension cylinder 225 Cutter 243 Cutter vertical cylinder 258 Transport claw table 261 Fixed claw table 264 Air cylinder

Claims (26)

[Claims] 1. A pig portion on one side, which has been longitudinally cut by a cervical vertebra and a thoracic vertebra subjected to a creasing pretreatment, is gripped and suspended by a bogie device on a transport line, and the forearm, humerus, scapula, cervical vertebra and thoracic vertebra And a plurality of processing stations for deboning ribs, ribs, etc., until the head part and the roast part are cut off,
Multiple processing stations for removing the forearm, humerus, and scapula of the umbilical part, multiple processing stations for removing the cervical vertebra, thoracic vertebra, and ribs of the loin part, and a trolley that grips the workpiece and transports it between stations A semi-automatic pork paddle / peel loin deboning device, comprising a device and a transport device for transporting the cart. 2. A plurality of processing stations for cutting the ribbed portion and the roasted portion, wherein the plurality of processing stations detect the position of the lowermost end of the pig portion, which is a suspended portion of the pig portion. Apparatus, work method Depressing the loin part of the work, peeling off the meat with the connecting meat part with the roast meat meat, and cutting the remaining film part Loin part peeling and cutting equipment, shoulder to peel off the meat while cutting the surface of the scapula Scapular incision peeling device,
2. A semi-automatic pigtail according to claim 1, further comprising a station provided with a roasting section separating device for cutting and separating the bellows section from the roast section.
Loin meat deboning device. 3. The bogie device comprises a clamper for gripping an ankle of the work, a bogie for transporting the clamper to each station, and a connecting shaft penetrating the bogie. The clamper is fixed, and the other end is configured to be able to rotate and move up and down the connecting shaft with respect to the carriage by an external force. The carriage is provided with a transfer claw fitting portion and a fixed claw fitting portion. 3. A semi-automatic pork paddle / peel loin deboning apparatus according to claim 2, wherein: 4. The work length detection device includes a limit switch, an elevating unit, and a sensing bar,
3. The semi-automatic pork ribbed meat loin deboning apparatus according to claim 2, wherein the length of the work from a reference position is measured by sensing the contact of the sensing bar with the lower end of the work. 5. The apparatus for separating and cutting a loin portion comprises a peeling section, a cutter section, and an elevating section which raises and lowers the peeling section, wherein the peeling plates of the peeling section are four rectangular plates, The height position of each rectangular plate as viewed from the front of the work is not the same, that is, each rectangular plate is not in the same horizontal plane but is horizontally arranged in a stepwise manner on an inclined surface, and the cutter portion is a cutter. 3. A cutting cylinder provided with a notch, a cutter attached to a shaft end of the cylinder, a mounting base for the cylinder, and a horizontal slide cylinder for sliding the mounting base. The described semi-automatic pork paddle / peel loin deboning device. 6. The cutter of the above-mentioned roasting part peeling and cutting apparatus has a rectangular shape and a cutting edge having a saw blade shape. The semi-automatic pork paddle and meat loin deboning apparatus according to claim 5, wherein cutting is performed. 7. The scapula incision and peeling device includes an upper scapula peeling plate, a spare rib peeling plate, a rectangular cutter, a cutter pressing cylinder for pressing the cutter against the scapula, an eccentric cam, A cutter drive motor for driving the eccentric cam, and a lifting unit for raising and lowering the cutter drive motor, wherein the cutter performs an elliptical motion on the scapula upper surface peeling plate via the eccentric cam. A semi-automatic pork paddle / peel loin deboning apparatus according to claim 2. 8. The roast cutting and separating device comprises a roast cutting device and a back support device, the roast cutting device includes a cutter, and a cutter driving motor for reciprocatingly moving the cutter. An angle changing motor that can change the angle of the cutter with respect to the horizontal plane, a cutter unit having a cutter notch motor that cuts the cutter, and an elevating unit that moves the cutter unit up and down. 3. The apparatus according to claim 2, further comprising a motor and a back plate, wherein the back plate comprises two parallel plates, and wherein the back support device is moved up and down in synchronization with the rise and fall of the solid roasting device. The semi-automatic pig arm
Loin meat deboning device. 9. A plurality of processing stations for removing the forearm, humerus, and scapula of the umbilical region, wherein the porcine region is a work which has been subjected to creasing and pre-processed to a suspended porcine region held by an ankle. A scapula height measuring device that measures the height of the scapula from the reference position of the part, a scapula neck backside scoring device, a scapula peeling device, and a plurality of forearm and humerus peeling devices 2. A semi-automatic pork belly and rib loin deboning apparatus according to claim 1, further comprising a station in which a head cutting and separating device is provided. 10. The scapula height measuring device includes a measuring device base, a measuring plate and a detecting mechanism attached to the measuring device base and moved back and forth by a cylinder, and an elevating motor for moving the measuring device base up and down. The measurement plate is pressed against the forearm bone of the work by the cylinder and lowered, and when the measurement plate is fitted to the joint of the humerus and the scapula, the measurement plate turns from retreat to forward, and this is detected and lowered. To stop. 10. The semi-automatic pork belly / peel loin deboning apparatus according to claim 9, wherein the lowering amount of the measuring plate at that time is calculated by an elevating motor to calculate the height of the scapula from the reference plane. 11. The scapula neck backside scoring device includes a circle cutter for scoring a scapula joint, a motor for moving the cutter forward, a cutting cylinder for swinging the cutter, and raising and lowering these. 10. A structure including a lifting unit to which a servomotor is attached.
The described semi-automatic pork paddle / peel loin deboning device. 12. The scapula peeling device comprises a scapula neck clamp head for gripping a scapula neck, a cylinder for pulling down the clamp head, and an elevating unit to which a servomotor for elevating these is mounted. The semi-automatic pork belly / peel loin deboning apparatus according to claim 9, wherein the apparatus comprises: 13. The apparatus for peeling a plurality of forearm and humerus bones against a fixed meat separator having a claw plate having a pair of U-shaped recesses sandwiching bones to be boned. 10. A semi-automatic pork as claimed in claim 9, comprising a peeling device comprising a meat separator for peeling the meat from the bone by pulling up the bone and a cutter for cutting the meat and the muscle around the bone all around. Dekata loin deboning device. 14. The peeling device for a plurality of forearm bones and humerus, wherein one of the two nail plates of the meat separator has a U-shaped concave shape at the tip, and the other nail plate has a tip at the tip. It has a convex shape, and when the forearm is pulled up with the forearm bone sandwiched between both claw plates and the flesh is peeled off, the point at which the tip of the convex part enters the lower elbow head along the forearm bone Including a detection mechanism for sensing and detecting the position thereof, and a meat separator with an elbow head position measuring device including a knife-like cutter for reciprocating and cutting the meat near the lateral elbow head of the forearm along the bone. 10. The semi-automatic pork paddle / peel loin deboning apparatus according to claim 9, wherein: 15. The meat separator has a claw plate sandwiching a bone at an upper end, two separator arms pivotably supported between an upper end and a lower end, and pressing a lower end of the separator arm. 14. A cylinder for opening and closing the separator by pulling it apart, wherein the two claw plates are vertically overlapped when closing the separator and sandwiching a bone between the two claw plates. Is a semi-automatic pork rib / body loin deboning apparatus according to 14. 16. A plurality of processing stations for removing cervical vertebrae, thoracic vertebrae, and ribs of the roasted portion, wherein the roasted meat transporting trolley device for fixing the pork roasted portion and transferring between the stations, A height measuring device, a spinous process muscle incising device, a solid loin incision / rib height measurement / spinous process thickness measuring device, a solid loin / spinous process separating device, and a plurality of solid loin / vertebra separating devices, 2. A semi-automatic pork belly / peel loin deboning apparatus according to claim 1, further comprising a station provided with a spare rib and a vertebra cutting and separating apparatus. 17. The meat roasting carrier device, comprising: a meat roasting meat clamper for fixing the pork roasting portion;
A truck for transporting the clamper to each station, and a connecting shaft penetrating the truck, the clamper is fixed to one end of the connecting shaft, and the other end of the connecting shaft is connected to the truck by an external force. 17. The semi-automatic pork belly and meat loin deboning apparatus according to claim 16, wherein the carriage is provided with a transport claw fitting portion and a fixed claw fitting portion. . 18. The meat roast meat clamper according to claim 1, further comprising a clamper table, a plurality of hook-shaped claws, a claw swinging cylinder, and a claw toggle lock mechanism. 2. The pork roast portion is fixed by causing the plurality of hook-shaped claws to bite into each other by operating the claw swing cylinder to perform a toggle lock.
7. A semi-automatic pork paddle / peel loin deboning apparatus according to 7. 19. The spinous process muscle incising device comprises a positioning portion and a cutter portion, the positioning portion including a rotatable pressing cylinder and a returning cylinder, wherein the cutter portion includes a cutter, a cutter base, and a cutter insertion cylinder. 17. The semi-automatic pig head according to claim 16, further comprising a cutter pressing cylinder, a cutter motor, an angle changing cylinder, and a cutter lifting / lowering servomotor, wherein the cutter performs creasing while constantly touching the spinous process.・ Kata loin deboning device. 20. The rib upper surface height measuring device includes a measuring lever pivotally supported in the middle, a proximity sensor, and a moving device for moving these members back and forth, right and left, and the work is lifted so that the rib base is raised. The rib height is calculated by detecting a position when the measuring lever comes into contact with one side from the pivot point and the lever is lifted, and the contact on the other side is separated from the sensor. Semi-automatic pig arm described in 16
Loin meat deboning device. 21. An apparatus for separating roast and spare ribs, comprising: an arc-shaped cutter and a round blade cutter; a motor for oscillating the cutters and an eccentric cam; a cylinder for cutting the cutter; 17. The semi-automatic pork belly / peel loin deboning apparatus according to claim 16, further comprising a detection mechanism for detecting a position at which the arc-shaped cutter hits the base of the spinous process and the cut does not proceed. 22. The apparatus for separating a plurality of roins and vertebrae comprises a spinous process surface cutting device, a cervical vertebra side surface cutting device, a cervical vertebra upper surface cutting device, and a roast separating and cutting device, each of which is a knife. 17. A semi-automatic pork belly and meat roasting meat removing apparatus according to claim 16, comprising a cutter device provided with a cylindrical cutter, and a meat presser device provided with a thoracic vertebra holding cylinder, a cervical vertebra holding cylinder and a return cylinder. Bone equipment. 23. A cutter lifting and lowering device having a cutter platform and a lifting servomotor, wherein each of the cutters of the plurality of roasting / vertebrae separating devices is mounted on the cutter platform so as to be movable in the front-rear and left-right directions. Cutter base, a positioning servomotor that moves the cutter base in the front-rear direction, and a cutting cylinder that moves in the left-right direction, and the knife-shaped cutter installed on the cutter base has a constant force in the cutting direction. 23. The semi-automatic pork belly and meat loin deboning apparatus according to claim 22, wherein the cutting cylinder is pushed by a pushing tension cylinder, and the cutting cylinder is provided with a pressure reducing valve. 24. The spare rib / vertebra cutting and separating apparatus, comprising: a spinous process pressing cylinder for pressing and fixing the spinous process to the clamper table; a circular saw blade cutter; a motor for rotating and driving the cutter; a cutter vertical cylinder; and a cutter slide cylinder. 17. The semi-automatic pork paddle / peel loin deboning apparatus according to claim 16, further comprising: 25. The transfer line, comprising: a transfer rail fixed on a fixed frame; a transfer table movably mounted on the transfer rail; and a cylinder fixed on the transfer table. A transfer table movably mounted on the table, a transfer bracket fixed to the transfer table, a servomotor fixed to the fixed frame and having a ball screw connected to a rotating shaft, A bracket fixed to the fixed frame, the end of which is rotatably supported, and a bogie fixing device fixed to the fixed frame, wherein the carriage has a carriage transport claw operated by an air cylinder. 2. The semi-automatic pig body and meat loin deboning device according to claim 1, wherein the bogie fixing device is provided with a bogie fixing claw operated by an air cylinder. 26. A deboning apparatus for gripping and suspending one end of a forearm bone on a transport line by sequentially gripping one side of a pig who has been longitudinally cut by a cervical vertebra and a thoracic vertebra, which has been subjected to creasing pretreatment. Clamp process, work length measurement process, slab portion peeling / cutting process, scapula cutting / peeling process, sword portion cutting / separating process, and sword portion gripped by an ankle. Perform a manual scoring of the shoulder with a knife. A shoulder scoring process, a scapula height measurement process, a scapula neck scoring process, a scapula peeling process, and a full circumference around the ankle bone. A cutting process, a plurality of forearm bone peeling steps, a forearm / humeral joint vertical cut / elbow head height measuring step, and a forearm / humeral joint right above peeling cutting step,
A closed line having a configuration including a peeling step directly below the elbow head, a humeral part peeling and humeral head upper surface height side fixing step, a peeling cutting step around the humeral head, and an arm meat cutting separation step, A method of fixing the roasted portion to the roast meat clamper, a roast meat clamping process, a spinous process incision process, a roast cut, a rib height and a spinous process thickness measuring process,
Spindle process surface cutting step, cervical vertebra side surface cutting step, cervical vertebra upper surface cutting step, skeletal roast cutting separation step, comprising a closed line of a configuration including a spare rib cutting step,
A semi-automatic pork rib and meat loin deboning system characterized in that a work and a cutter are automatically moved to an optimum position on the basis of a work dimension from a reference position measured during a process to perform the work.