JP2008099574A - Apparatus for automatically deboning bony chop - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for deboning bony chop, such as arm portions or thigh portions of a livestock carcass for meat, which automates the conventionally manually conducted tendon-cutting process for increasing the rate of automation of work, and simplifies the yield of the meat. <P>SOLUTION: This apparatus for automatically deboning of bony chops comprises suspending portions 1 to 3ST and for suspending the bony chops to debone a first bone, and conveyer portions 4 to 6ST, disposed downstream of the suspending portions and used for putting the bony chops for deboning a second bone; cutting tendons in the longitudinal directions of the first bones z, j in a state holding and suspending the exposed neck portion d of the bony chops (1 to 2ST); and then tearing off meats around the first bones to debone the first bones (3ST) in the suspending portions; and exposing the upper side surface of the second bone in the bony chops, in a state with a thin meat portion m1 on a side close to the second bone k turned to the upper side (4ST), cutting tendons along the side face of the second bone (5ST); and then tearing off the second bone to debone the second bone (6ST). <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an automatic deboning device for bone-in meat such as a slaughtered carcass for meat or a thigh, etc., and further increases the automation rate as compared with the conventional method, and makes the bracing line accurate to the bone. The present invention relates to an apparatus that improves the yield of meat by reducing the amount of remaining meat.

  The inventors of the present application have previously proposed a deboning device for a meat loin portion of a carcass of meat for livestock (Patent Document 1; Republished Patent Publication No. WO 2004/068953). As a pretreatment, this device performed the maximum pretreatment in this way by splitting and removing the ribs and spare ribs and removing the forearm bones, then placing the muscles around the humerus and scapulae. After that, meat removal for small and medium-sized processing plants was attempted to save space and reduce costs by performing the minimum deboning process, which involves only removing the scapula (scapula deboning) and automatically dehumidifying the humerus. It is a bone device.

Republished patent publication WO2004 / 068953

  The deboning machine disclosed in Patent Document 1 relies on manpower for muscle placement around the humerus and scapula, and the automation rate is not so high. A brace that cuts longitudinally along the surface of the humerus or scapula requires that the cutting blade be operated along the bone so that the blade does not bite into the bone, and the shape of the bone is bent or twisted. Since it has a complicated three-dimensional curve, it has been difficult in the past to automate the work of creasing along the shape of the bone without damaging meat while keeping the creasing depth appropriate.

  In view of the problems of the prior art, the present invention automates the bracing process that has been performed manually by a machine in a bone removing apparatus for bone-like meat such as a slaughtered meat carcass and a thigh. The purpose of this is to improve the work efficiency by increasing the automation rate of the entire deboning process, and to reduce the amount of meat remaining in the bone by forming an accurate muscle line, thereby improving the meat yield.

In order to achieve such an object, the automatic meat deboning apparatus of the present invention comprises:
In an automatic deboning device for bone-in meat with muscles connected via tendons and having a first bone and a second bone located near the meat surface,
From a suspension hanging portion that suspends the bone-attached meat and removes the first bone, and a conveyor portion that is provided downstream of the suspension suspension portion and mounts the bone-attached meat and removes the second bone. Consisting of
In the suspension hanging portion, after performing the creasing process along the longitudinal direction of the first bone in a state where the exposed neck portion of the boned meat is gripped and suspended, the surrounding suspension of the first bone is performed. The first bone is deboned by peeling off the meat,
In the conveyor unit, after the upper surface of the second bone is exposed in a state where the boned meat is placed with the thin part on the side where the second bone is present in the vicinity, In this configuration, the muscle is inserted along the side surface of the bone, and the second bone is removed by peeling off the second bone.

  The device according to the present invention desuspends the second bone by placing a suspension hanging portion for deboning the first bone and a meat with bone (hereinafter referred to as “work”) on the downstream side of the suspension hanging portion. Consists of a conveyor unit. The suspension hanging portion performs a deboning process in a suspended state in which the workpiece is suspended in the suspended state, thereby facilitating handling of the heavy workpiece, reducing the burden on the worker, and performing work on the cooking table. By eliminating it, it is possible to perform a sanitary deboning process in which dust and bacteria adhering to the cooking table are prevented.

The suspension hanging portion performs a creasing process along the longitudinal direction of the first bone. This creasing process is performed by fixing a suspended workpiece and operating the cutter on the fixed workpiece or by fixing the cutter. This is done by operating the workpiece against. This makes it possible to automate the creasing. For example, a more complicated operation of the cutter is possible by using a driving mechanism such as a multi-axis multi-joint arm that performs a set operation locus.
After the muscle placing step, the first bone is deboned by peeling off the meat around the first bone while the work is suspended.

In the said conveyor part, the deboning process of the 2nd bone located in the meat surface vicinity is mounted and performed on a conveyor. Separation of meat from the second bone having a thin-walled portion where the second bone exists in the vicinity is carried out in a state where the second bone is placed on a conveyor rather than being peeled off in a suspended state, so that accurate creasing and yield rate are achieved. High meat separation can be achieved.
That is, after placing the workpiece with the thin portion on the side where the second bone is present in the vicinity facing upward, the upper surface of the second bone is exposed, and then the creasing process is performed along the second bone side surface. And the second bone is deboned by peeling off the second bone. By performing this process, the deboning process of the second bone can be automated. Moreover, by carrying out on a conveyor, an exact creasing line can be formed and the yield of meat can be improved.

  In this way, by combining the deboning process in the suspended state in the suspended suspension part and the deboning process on the conveyor of the conveyor part, it is possible to facilitate the creasing operation that has been difficult in the past and to automate it. . Thereby, the automation rate of the deboning process of the workpiece can be improved, and the work efficiency can be improved. In addition, it is possible to realize a deboning process with a high yield by reducing the amount of meat remaining in the bone.

  In the present invention, the suspension suspension part has a conveying means for grasping a workpiece, suspending and feeding the workpiece, and at least a creasing process for each tact, and the surrounding of the first bone after the creasing process. Means for stripping meat can be provided. In this way, by feeding the workpiece and stopping the workpiece in each step, the processing in each step can be facilitated.

  The conveyor unit according to the present invention includes a transport conveyor that debones while placing a workpiece, along the transport conveyor, along with the exposing means that exposes the upper surface of the second bone, along the second bone side surface. By providing a second creasing means for performing scoring and a second peeling means for tearing off the second bone, the deboning process of the second bone can be performed.

Further, the second bracing means includes a cutting blade for performing bracing, and a bracing depth based on a descending amount when the sensing terminal comes into contact with the second bone by lowering the sensing terminal from above the second bone. It can be constituted by a creasing depth calculating means for calculating the thickness and a cutting blade driving means for moving the cutting blade according to the calculation result of the calculating means. With this configuration, the upper surface height of the second bone is detected, and the side bracing depth of the second bone is calculated from the detected value. Do not hurt the flesh by deepening the creasing depth.
Further, the penetration depth corresponding to the individual difference of the second bone can be set, and the penetration depth can always be accurately set for the workpiece having individual differences.

  Further, the cutting blade driving device is provided with a mechanism for detecting the vertical position of the cutting blade, and the cutting blade is configured to contact the second bone from above so that the cutting blade also serves as the sensing terminal. In this case, it is not necessary to provide a sensing terminal other than the cutting blade, the apparatus configuration can be simplified, and creasing can be performed simultaneously with sensing.

  Further, the exposing means for exposing the upper surface of the second bone is provided in the suspension hanging portion, a creasing portion for placing a muscle in the thin portion along the upper surface of the second bone, and a muscle portion provided in the conveyor portion. A peeling portion for peeling off the thin-walled portion inserted by the insertion portion, in which the workpiece is suspended, a cutter capable of elastic deformation is inserted into the thin-walled portion, and the cutter is attached to the second bone surface It is possible to configure such that the muscle is placed along the line and the meat on the surface of the second bone that has been placed in the crease portion is peeled off at the peeling portion.

  In such a configuration, the creasing of the thin wall portion is performed in a suspended state with the suspension suspending portion and is performed in a state where the influence of the weight of the workpiece is eliminated, so that the creasing operation can be facilitated. The cutter can follow the curved surface of the surface of the second bone by the elasticity of the cutter, and the cutter can be moved in close contact with the surface of the second bone. For this reason, the meat separation of the thin portion can be performed with a high yield.

  Further, the creasing portion includes a length measuring means for measuring the length from the neck portion to the lower end in a state where the workpiece is held and suspended, and the elastically deformable cutter in advance according to the length of the meat with bone. A plurality of programs in which an operation locus is set; means for selecting a corresponding program from the plurality of programs based on a detection result of the length measuring means; and means for operating the cutter according to the selected programs You may make it prepare.

  In this way, the length measurement means measures the length from the neck to the lower end of the workpiece, selects a program having a cutter movement locus that matches the workpiece length according to the measurement result, and selects the selected program. By moving the cutter according to the above, it is possible to obtain a creasing locus corresponding to the individual difference of the workpiece. Accordingly, it is possible to eliminate the error of the cutter movement trajectory caused by the individual difference between the workpieces, and to always perform accurate scoring for workpieces of different sizes.

The means for peeling off the first bone includes a meat separator having a hole whose inner diameter is elastically increased when the workpiece is exposed and spread below the position where the exposed neck of the workpiece is suspended, and the suspended position and the meat. A round blade cutter disposed between the separators, a lifting means for lifting the workpiece while holding and holding the workpiece, and a rotating means for rotating the suspended workpiece and the meat separator synchronously. The lifting means lifts the workpiece. While rotating the workpiece synchronously with the meat separator by the rotating means while cutting the workpiece spirally with the round blade cutter, the meat separator is configured to peel off the meat around the first bone. Can do.
Since the periphery of the first bone is cut in a spiral manner while pulling up the workpiece in this way, biological tissues such as meat and tendons attached to the periphery of the first bone can be easily cut and separated.

  In addition, when the second bone is composed of a hard bone and cartilage, a plate-like member is provided to press the upper part of the cartilage when the second bone is peeled off by the conveyor unit, thereby preventing the cartilage from being deformed during the peeling. It is good to do so. For example, when the first bone is a scapula, the end of the scapula has a scapula cartilage, and when the meat is separated, the scapula cartilage and its vicinity are pressed by the plate member, It is advisable to prevent deformation and bending of the scapula cartilage.

  Further, the workpiece to which the present invention is applied is a bone-attached meat with meat around the bone, such as a groin or thigh part of a meat carcass for meat, for example, a half-split block of a meat carcass This is a case where the cervical vertebrae, shoulder loin, and spare ribs are removed, and the first bone is the forearm bone and the humerus, and the second bone is the scapula. In this case, for the work in the state where the ankle part is held and suspended by the suspension hanging part, the muscle is inserted along the longitudinal direction of the forearm bone and the humerus, and then the joint part between the forearm bone and the humerus is extended from the humerus. Then, the forearm bone and humerus are deboned. Next, the forearm bone and the humerus are separated, and the work with only the scapula remaining is placed on the conveyor by the conveyor unit to remove the scapula.

  As described above, according to the present invention, the suspension hanging portion that suspends the workpiece and debones the first bone, and the second bone that is provided downstream of the suspension suspending portion and places the workpiece is deboned. The suspension suspension portion includes a neck portion where the exposed neck portion of the workpiece is held and suspended, and after performing the creasing process along the longitudinal direction of the first bone, the periphery of the first bone The first bone is deboned by peeling off the meat of the second, and in the conveyor portion, the workpiece is placed with the thin portion on the side where the second bone is present in the vicinity being placed on the second side. After the upper surface of the bone is exposed, a creasing process is performed along the side surface of the second bone, and the second bone is removed by peeling off the second bone. By performing the deboning process in the state, it is possible to automate the bracing process. Along with can be achieved, since the incision line can be accurately formed it can improve the yield of the meat.

As a result, the automation rate can be increased compared to the conventional automatic deboning apparatus, the processing time can be shortened, and the processing efficiency can be improved.
Further, in the deboning process of the second bone having a thin part that cannot be separated by a more complex peeling process in the suspended state, the deboning process is performed by placing the deboning process in a state of being placed on the conveyor unit. It is possible to automate the deboning process, accurately perform the creasing, reduce the amount of meat remaining in the bone, and improve the meat yield.

Hereinafter, the present invention will be described in detail with reference to embodiments shown in the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the component parts described in this embodiment are not intended to limit the scope of the present invention to that unless otherwise specified.
FIGS. 1-25 concerns on 1st Embodiment which applied this invention to the deboning process of the porcine gut part.
(Embodiment 1)

  FIG. 1 is an overall configuration diagram of the first embodiment, FIG. 2 is a process diagram showing a process from pork carcass to processing a pork umbilical region to be deboned, and FIG. It is explanatory drawing shown. In FIG. 1, after the pretreatment shown in FIG. 3 is performed on the pig nape region (hereinafter referred to as “work”), the ankle portion d formed by the forearm bone is grasped and suspended by the clamp device 1. 1 is sent on the transport path 2 to each station from the first station 1ST to the third station 3ST. In the work w, the forearm bone z and the humerus j are separated in the process from the first station 1ST to the third station 3ST, and the pork braid m is dropped on the roller conveyor 316 together with the scapula k. From the fourth station 4ST in a state of being transferred onto the belt conveyor 40 of the fourth station 4ST and placed on the belt conveyors 40, 50 and 60 continuously arranged from the fourth station 4ST to the sixth station 6ST. Each process up to the sixth station 6ST is performed.

As shown in FIG. 2, the workpiece w is a cervical vertebra from a porcine carcass part c obtained by dividing the fourth carcass and fifth ribs by a separating line a from a pork carcass e obtained by splitting a pork carcass vertically in the horizontal direction. b, a portion obtained by removing the spare rib s including the loin l and the rib r, and has a forearm bone z including the ankle part d, a humerus j, and a scapula k. The scapula n is attached to the end of the scapula k.
Before gripping the workpiece w by the clamping device 1, as shown in FIG. 3, the forearm bone z is placed as a pretreatment to form a recess for gripping the clamping device 1, and deboning in the subsequent process. Facilitates processing. This crease consists of a crease line 3 that cuts the ulna body side, a crease line 4 that cuts around the elbow head and pierces the elbow head, a crease line 5 that cuts the ulna body surface, and a muscle that cuts the rib body surface. It consists of a filling line 6.

  The manual pretreatment process is as described above, and all subsequent processes are automated by a machine, thereby reducing the burden on the operator and facilitating the scoring work. In the present embodiment, there are 6 stations in total. From the 1st station 1ST to the 3rd station 3ST, the processing is performed in a state where the part w is suspended from the clamp device 1 and the 4th station 4ST to the 6th station. Processing is performed up to the station 6ST while being conveyed on the belt conveyor. The clamping device 1 is tact-fed to each station between the first to third stations by means of an induction motor by means of a conveyance claw fixed to a chain forming the conveyance path 2.

  In the deboning process of the workpiece w, in order to perform stable processing on workpieces of different sizes, it is necessary to measure the individual differences and to make a line at an appropriate position. Therefore, in the first station 1ST, the total length of the workpiece w is measured before starting the creasing operation. This measuring method will be described with reference to FIG. As shown in FIG. 4, a light projecting side photoelectric sensor 11a and a light receiving side photoelectric sensor 11b that face each other across the workpiece w are provided, and the clamp device 1 that suspends the workpiece w is moved up and down by a lift unit 13 (FIG. 4). 5), the light receiving side photoelectric sensor 11b detects the rising value at the moment when the light signal from the light projecting side photoelectric sensor 11a is received.

  FIG. 5 is a block diagram showing a control system of this embodiment. In FIG. 5, the workpiece length detection means 101 of the controller 100 determines the maximum value from the clamping position of the workpiece w by the clamping device 1 based on the elevation value and the height difference between the origin position of the clamping device 1 and the installation height of the photoelectric sensors 11a and 11b. The length to the bottom (hereinafter referred to as “work length”) is calculated. By this operation, as described later, it is possible to eliminate the error of the placement position caused by the individual difference in the size of the workpiece w and perform accurate placement.

  Next, forearm bone z is placed. After completion of the measurement step, the clamping device 1 is lowered again to the origin position by the elevating unit 13, and the work w near the forearm bone z is sandwiched from both sides by a fixing device similar to the meat separators 310 and 310 shown in FIG. Holds the left / right shaking of the workpiece w. In this state, the clamping device 1 corresponding to the measured workpiece length is pulled up. Using a round blade cutter (not shown) arranged in the vertical direction while pulling up the workpiece w, the forearm bone z is lined downward along the bone surface from both sides. That is, the creasing shown by the arrow 14 in FIG. 4 is performed. By the above operation, the forearm bone is placed.

As shown in FIG. 5, the lifting amount of the clamping device 1 is determined by controlling the servo motor of the lifting unit 13 that lifts and lowers the clamping device 1 based on the workpiece length detected by the workpiece length detecting means 101.
As described above, since the lifting amount of the clamping device 1 is adjusted based on the workpiece length measured in the measurement step, the error of the placement position due to the individual difference of the workpiece length can be eliminated.

  Next, a bracing is performed to peel off the thin wall portion attached to the surface of the scapula k from the scapula surface. With the fixing device preventing the workpiece w from shaking, the thin-walled portion m1 on the surface of the scapula is pulled using the thin plate-like cutter tool 16 attached to the tip of the 6-axis vertical articulated robot arm 15 shown in FIG. Do the streak to remove. As shown in FIG. 6, the cutter tool 16 is made of hardened stainless steel having a thickness of 1 mm and has a property of being elastically deformable. Even if the blade tip of the cutter tool 16 is cut at an angle that abuts against the bone, the entire blade is bent before it bites into the bone, so that it does not cut into the bone more than necessary.

The cutter tool 16 having such a configuration is advanced as shown in the operation (1) to the operation (2) shown in FIG. 6 and inserted into the thin portion m1, and abuts against the surface of the scapula k. When the cutter tool 15 is further pressed against the surface of the scapula k, it becomes flexible as shown in action (3), and as a result, it is cut between the bone and meat without biting into the scapula k. Can do. Thereafter, as shown in operation (4), the thin-walled portion m1 can be peeled along the surface of the scapula k. Further, the cutter tool 16 can be in close contact with the uneven shoulder blade surface due to its flexibility.
This reduces meat remaining on the surface of the scapula and enables stable creasing with good yield.

In FIG. 5, the controller 100 stores a plurality of cutting operation programs 102 set in accordance with the work length, and the use program selection unit 103 performs cutting operation corresponding to the detection result in accordance with the detection result of the work length. Select a program. The cutter tool driving device 17 provided on the robot arm 15 is driven by the selected cutting operation program, and the cutter tool 16 is operated.
As a result, the motion trajectory of the cutter tool 16 can be reliably drawn, the deviation of the motion trajectory caused by the individual difference in the work length of the work w can be eliminated, the amount of meat remaining on the scapula k is reduced, and the yield is good. A stable creasing operation is possible.
By providing the robot arm 15 with a servo system gain variable function, the servo rigidity (gain) of each axis of the robot arm 15 can be weakened and the reaction force can be reduced. Thereby, the overload on the workpiece w and the cutter tool 16 can be reduced.

  Next, the work w is tact-fed to the second station 2ST, and the muscle is placed on the surface of the humerus j. As shown by an arrow 21 in FIG. 12, the muscle insertion line performs an operation of cutting a muscle below the elbow joint between the forearm bone z and the humerus j and a muscle insertion operation of the rough surface of the deltoid muscle from the humeral groove. Is. Further, as shown in FIG. 1, this creasing is performed by attaching a cutter tool 24 to a 6-axis vertical articulated robot arm 22, but as shown in FIG. A cutting operation program corresponding to the workpiece length is selected, and the drive device 23 of the cutter tool 24 is driven in accordance with the selected cutting operation program.

As a cutter tool to be used, for example, a cutter tool with a cutter guide using a vibrating blade disclosed in Japanese Patent Application Laid-Open No. 2004-321032 can be used. In this cutter tool, a cutter guide is attached to the cutter tool so as to be movable relative to the cutter tool, detects that the cutter guide has come into contact with the bone, receives the detection signal, operates the cutter tool, and cuts the cutting edge of the cutter tool. The meat attached to the bone surface is cut while moving the part along the surface of the bone, so even if the bone has a complicated shape, the position of the bone is changed during the cutting. There is an advantage that it can be accurately detected and meat can be cut along the surface shape of the bone.
In addition, the cutter tool is cut while applying tension to the meat with the cutter guide, so that the cutting performance is improved and the cutter tool has an advantage that the cutting edge of the cutter tool does not bite into the bone due to the presence of the cutter guide.

  Further, a creasing device having the following configuration can be used for this creasing step. FIG. 7 is an elevation view of the scoring device, FIG. 8 is a plan view thereof, and FIG. 9 is a side view of a cutter tool of the scoring device. 7-9, the cutter tool 24 is attached to the front-end | tip part 22a of the 6-axis vertical articulated robot arm 22, and the cutter tool 24 is operated. Even in the case of this cutter tool, the cutting operation program corresponding to the workpiece w is selected from the cutting operation programs 102 set by the use program selection means 103 in accordance with the detected workpiece length. The cutter tool driving device 23 operates the cutter tool 24 in accordance with the selected cutting operation program.

The structure of the cutter tool 24 includes a base 242, a swing shaft 240 that is swingably supported by the base 242, and a position that is offset with respect to the swing shaft 240 in a direction retreating with respect to the cutter traveling direction f. And a knife-like cutter 241 attached to. The cutter 241 has a sharp V-shaped cross section and has a cutting function on both sides.
By positioning the swing shaft 240 for determining the cutting angle g of the cutter 241 closer to the robot arm 22 than the cutter 241, the cutter 241 where the force for operating the cutter tool 24 actually contacts with bone, meat, etc. As a result, the cutter 241 can easily move along the surface of the bone.

  The base 242 of the cutter 241 is configured to be slidable in a direction perpendicular to the cutter traveling direction f by the slide mechanism 243. That is, the slide mechanism 243 is mounted on the base 244 along the base 244 and the long base 244 fixed in the direction orthogonal to the cutter traveling direction f with respect to the tip 22 a of the robot arm 22. The linear guide rail 245 includes a linear guide bar 246 attached to the base 244 above the linear guide rail 245. The base 242 is slidably fitted to the linear guide rail 245 and the linear guide bar 246, and coil springs 247 are mounted around the linear guide bars 246 on both sides of the base 242 so that the base 242 is linear. The elastic force of the coil spring 247 is biased so as to be positioned at the center of the guide rail 245 and the linear guide bar 246.

As a result, the cutter 241 can reciprocate in the direction of the arrow o perpendicular to the cutter traveling direction f, and the cutting angle g of the cutter 241 can be varied about the swing shaft 240. As a result, it is possible to give flexibility to the position and the cutting angle of the cutter 241 that contacts the bone surface in accordance with the variation in the thickness and length of the bone.

  As described above, a plurality of cutting operation programs are prepared for the cutting operation of the cutter tool 24 at the time of making a line-cutting, and a cutting operation program suitable for the work length can be selected. It is inevitable that minute errors based on individual differences such as bone length, thickness, and joint position occur. The fine adjustment for absorbing this error is performed by the cutter tool 24 having two degrees of freedom including the position adjustment of the cutter 241 by the slide mechanism 243 and the adjustment of the cutting angle g of the cutter 241 by the swing shaft 240.

The cutting operation of the cutter tool 24 will be described with reference to FIG. The cutting operation of the cutter tool 24 is performed by a cutting operation program selected to match the workpiece length. In the cutting operation program, since the initial position of the cutter 241 is set to a position where it contacts the surface of the bone B of the workpiece w, as shown in FIG. Is inserted to the position where it hits.
At this time, the error due to the individual difference between the initial position by the cutting operation program and the actual position of the bone B is caused by the cutter 241 receiving the reaction force of the bone and the base 242 sliding on the linear guide rail 245 to the left or right. Then (in the direction of arrow h in FIG. 10), the error is absorbed.

When the robot arm tip portion 22a moves in the cutter advancing direction f from the initial position according to the cutting operation program, the cutter 241 moves along the surface of the bone B and receives the reaction force on the surface of the bone B so that the swing shaft 240 is moved. The angle of rotation of the cutter 241 is adjusted to an angle g1 which is a direction along the surface of the bone B.
In other words, the cutter 241 absorbs the error between the cutting operation program caused by the individual difference of the workpiece w and the bone B of the workpiece w by the slide mechanism 243 and proceeds along the surface of the bone B, while receiving the reaction force received from the bone B. It can be driven and rotated in a direction along the surface of the bone B around the swing shaft 240 located closer to the robot arm tip 22a side than the cutter 241.

  Therefore, the cutter 241 can move along the surface of the bone B without biting into the bone B and without leaving the surface of the bone B. For this reason, the cutting operation toward the longitudinal direction of the bone B can be smoothly performed along the surface of the bone B, and the boundary between the bone B and the meat M can be accurately moved. It can cut well.

In this humerus muscle insertion step, a work pressing mechanism 25 shown in FIGS. 11 to 13 is used. 11 is an elevation view when the pressing mechanism 25 is retracted, FIG. 12 is an elevation view when the workpiece is pressed by the pressing mechanism, and FIG. 13 is a plan view when the workpiece is pressed by the pressing mechanism 25.
The presser mechanism 25 has a presser bar mounting frame 250 attached to a base 251 so as to be rotatable about a support shaft 252. The frame 250 is suspended from the clamp device 1 by an air cylinder 253 attached to the base 251. It is rotated in a direction to advance and retreat with respect to the workpiece w.

  A meat presser bar 254 is attached to the frame 250. As shown in FIG. 13, the meat presser bar 254 has the same height as the humerus j that receives the muscle insertion when the workpiece is pressed and when the muscle is inserted. It arrange | positions in the horizontal direction on the side which receives the load applied to the workpiece | work w from the line insertion cutter 241. A fat face pressing bar 255 for pressing the fat face i of the workpiece w is attached to the meat pressing bar 254 in a direction orthogonal to the meat pressing bar 254.

Below these presser bars 254 and 255, a scapula upper surface presser bar 256 that presses the surface of the thin portion m 1 of the scapula k is attached to the frame 250 in parallel with the oil surface presser bar 255.
When inserting the humerus muscle, the air cylinder 253 causes the frame 250 to approach the work pressing position as shown in FIG. 12, and as shown in FIG. 13, the meat pressing bar 254 presses the work w from the elbow head z1 side. The oil surface pressing bar 255 is positioned so as to press the oil surface i of the workpiece w, and the scapula upper surface pressing bar 256 is pressed to the surface of the thin portion m1 of the scapula k.

  As a result, it is possible to fix the workpiece w so that the escape operation of the workpiece w is completely prevented, and a stable creasing operation can be performed. In the case of using the cutter tool disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 2004-321032, there is no escape mechanism that absorbs external force unlike the cutter tool 24, so that the cutter tool has a pressure higher than an allowable value on the workpiece w. When a load is applied in the direction of arrow p, a relief mechanism for retreating the frame 250 in the direction of arrow q may be added to the air cylinder 253.

  Next, the workpiece w is tact-fed by the clamp device 1 to the third station 3ST. At the third station 3ST, the work w is rotated together with the meat separator, and the forearm bone and the humerus are all cut and stripped by applying a round blade cutter while pulling up the work w using the lifting unit. , And the operation of discharging meat with the scapula attached. The apparatus used for this process is shown in FIGS. FIG. 14 is an overall configuration diagram of this apparatus. In FIG. 14, a lift motor unit 30 is provided with a servo motor 301, and a lift table 302 that supports the clamp device 1 is moved up and down by the operation of the servo motor 301. Has been.

  In addition, an induction motor 303 is provided on the upper surface of the lifting platform 302 so that the clamp device 1 can be rotated while moving up and down by the operation of the induction motor 303. A meat separator portion 31 is provided below the clamping device 1, and the meat separator portion 31 has a holding plate 310 a that faces in the horizontal direction as shown in FIG. 15 and is used for holding the holding plate on the side where the holding plates face each other. A pair of meat separators 310 and 310 having a concave groove 311 is provided. The pair of meat separators 310 and 310 are connected to an induction motor 313 via a rotating shaft 312 and are driven to rotate by the operation of the induction motor 313. The induction motors 303 and 313 have a synchronous rotation mechanism, and can synchronize the rotation of the clamping device 1 and the meat separator 310.

  The meat separators 310 and 310 are connected to the cylinder rod of the air cylinder 315 via the link mechanism 314, and are opened and closed in the direction of the arrow t by the operation of the air cylinder 315. A roller conveyor 316 is provided inside the meat separator 310, and the meat m that has been separated from the forearm bone and the humerus falls onto the roller conveyor 316, and when the meat separator 310 is opened, the roller conveyor 316 is interlocked. The meat m is inclined to the side of the adjacent fourth station 4ST and dropped onto the belt conveyor 40 of the fourth station 4ST.

  As shown in FIG. 15, a pair of stripping plates 317a and 317b are attached to the lower surface of a horizontal holding plate 310a having a holding groove 311 of the meat separator 310 so as to be rotatable about rotary shafts 318a and 318b. The coil springs 320a and 320b having one end fixed to the end portions 319a and 319b of the plate are connected. As a result, the plates 317a and 317b are normally stationary at positions parallel to each other so as to shield a part of the groove 311 as shown in the figure, but the ankle part of the work w is inserted into the groove 311 and the ankle part is inserted. When it is pushed and spread, the elastic force of the coil springs 320a and 320b is applied so as to press the ankle portion.

  A pair of cutter parts 33, 33 are provided on both sides of the clamping device 1 between the lifting unit part 30 and the meat separator part 31. The detailed structure of the cutter unit 33 is shown in FIGS. 16 and 17. In FIGS. 16 and 17, the round blade cutter 330 is horizontally arranged toward the work w suspended from the clamp device 1. The support base 332 to which the rotary shaft 331 is attached is rotatably attached to the fixed base 334 via the support shaft 333. A bracket 335 attached to one end of the support base 332 is connected to a cylinder rod of an air cylinder 336 attached to the fixed base 334, and the support base 332 rotates around the support shaft 333 in the direction of the arrow u by the operation of the air cylinder 336. Moved.

  On the upper surface of the round blade cutter 330, a cutter guard 337 having a shape matching the outer shape of the round blade cutter 330 is provided on the side where the workpiece w suspended from the clamping device 1 is disposed. The cutter guard 337 is provided on the support base 332. It is connected to the air cylinder 338 provided above, and can be moved forward and backward in the radial direction of the round blade cutter 330 by the operation of the air cylinder 338, thereby making it possible to make the exposed edge length of the round blade cutter 330 variable. it can. A drive motor 339 for the round blade cutter 330 is attached to the upper surface of the support base 332. Note that the cutter guard 337 of one of the pair of cutter parts 33 may be fixed so as not to move relative to the round blade cutter 330.

Further, an auxiliary clamp device 34 is attached to the clamp device 1 and after the forearm bone z and the meat separation to the joint portion of the forearm bone z and the humerus j are finished, the auxiliary clamp device 34 holds the joint portion and suspends it. In order to prevent dislocation of the joint.
In the third station 3ST having such a configuration, the ankle portion below the clamp position is pinched by the pinching concave groove 311 of the meat separator 310 in a state where the workpiece w is held by the clamp device 1 and suspended. At this time, the plates 317a and 317b mounted on the lower surface of the sandwiching plate 310a are pushed back by the ankle portion inserted in the concave groove 311. However, the ankle surface is kept pressed by the elastic force of the coil springs 319a and 319b. Is done.

Thereafter, the clamp device 1 is raised while the clamp device 1 and the meat separator 310 are rotated synchronously. At the same time, the air cylinder 336 is actuated to bring the round blade cutter 330 closer to the workpiece w and cut biological tissues such as tendons and meat attached around the forearm bone z and the humerus bone j. When the clamp device 1 is lifted in a state where the clamp device 1 and the meat separator 310 are synchronously rotated and cut with the round blade cutter 330, the periphery of the bone of the workpiece w can be cut spirally. Therefore, the bone and the living tissue attached around the joint portion of the bone can be surely cut, and at the same time, the plates 317a and 317b attached to the holding plate 310a of the meat separator 310 follow the shape of the bone and press the bone. Therefore, the living tissue attached to the periphery of the bone can be surely peeled off.
As a result, the humerus j can be reliably deboned even with only one bracing for the humerus j at the second station 2ST.

Further, since the workpiece w is cut while being pulled up, a shearing force acts on the round blade cutter 330 and may be damaged when the cutting amount increases, so a cutter guard 337 is provided to avoid this. Since the cutter guard 337 can adjust the blade edge exposure length v of the round blade cutter, the cutting amount of the round blade cutter 330 can be regulated. Cutter guard when a large cutting force is required, such as when placing a muscle at the joint of the forearm bone z and humerus j, and at the joint of the humerus j and scapula k, or when cutting the joint. 337 is moved backward to increase the cut amount.
By providing the cutter guard 337 in this manner, the round blade cutter 330 can be prevented from being damaged, and smooth scoring can be performed even in places where a large cutting force is required, such as a bone joint.

  The pair of meat separators 310 and 310 are configured to be opened and closed by a link mechanism 314. When the meat separator is opened, the roller conveyor 316 provided below the position where the meat w is sandwiched by the workpiece separator is moved from the horizontal state to the fourth state. The station 4ST is tilted downward, separated from the forearm z and humerus j, and dropped on the roller conveyor 316, and the roller conveyor 316 is rotated by the weight of the meat m and is adjacently moved. Can be transferred to the belt conveyor 40 of the fourth station 4ST.

Also in this step, the lifting amount of the clamping device 1 and the movement amount of the cutter guard 337 corresponding to an arbitrary lifting position can be adjusted based on the work length detection result at the first station. That is, as shown in FIG. 5, the workpiece length detection means 101 sends the workpiece length detection value to the use program selection means 103, and the lifting amount of the clamping device 1, the round blade cutter 330 and the cutter guard 337 according to the workpiece length value. Among the plurality of setting programs that determine the timing at which the front and rear are determined, a program having the lifting amount of the clamping device 1 corresponding to the workpiece length detection value and the timing at which the round blade cutter 330 and the cutter guard 337 move back and forth is selected.
The servo motor 301 of the lifting unit 30 and the air cylinder 338 of the cutter unit 33 are driven by the selected program.

  With such a configuration, the creasing detects the workpiece length, and sets the lifting amount of the workpiece w according to the workpiece length and the relative position of the cutter guard 337 with respect to the round blade cutter 330 at an arbitrary lifting position. The cutting amount of the round blade cutter 330 at the spiral line and the arbitrary pulling position can be made to correspond to the individual difference of the region. Accordingly, it is possible to set an accurate scoring line and an incision amount suitable for individual differences of each workpiece w. Therefore, the meat with bone remaining can be reduced and the meat yield can be improved, and the round blade cutter 330 can be smoothly cut without applying an excessive shearing force.

The cutting process is divided into a first half in which the joint portion of the forearm bone z and the humerus j is cut from the forearm bone z, and a second half in which the joint portion of the humerus j and the scapula k is cut from the humerus j. Before moving to the latter half, as shown in FIG. 18, the auxiliary clamp device 34 grips the lower part of the joint between the forearm bone z and the humerus j to prevent dislocation of the joint part. In addition, m1 in FIG. 18 is a thin part peeled off from the surface of the scapula k at the first station 1ST.
Finally, the joint portion of the humerus j and scapula k is cut by the round blade cutter 330, the meat m is dropped onto the roller conveyor 316 with the scapula k remaining, and the meat m is removed by the above mechanism. It is conveyed to the belt conveyor of 4 stations 4ST.
As described above, in the third station 3ST, the muscles around the forearm bone z and the humerus j and the cutting of the humerus j and the scapula k can be continuously performed in a short time by one operation.

  After the 4th station 4ST, only the scapula k remains, and the meat m is raised with the thin wall part m1 of the surface of the scapula peeled off at the 1st station 1ST. The process of peeling off the scapula k from the meat m is necessary. Therefore, in this embodiment, this processing step is divided into three steps from the fourth station 4ST to the sixth station 6ST. In the fourth to sixth stations, the scapula k is deboned on the conveyor, and the meat m is transferred to the next process after the process is completed.

As shown in FIG. 19, the umbilical meat m with scapula processed at the third station 3ST is dropped onto the belt conveyor 40 of the fourth station 4ST and conveyed in the direction of the arrow x. The meat m that has been dropped on the belt conveyor 40 has a different dropping position and falling state, and this will affect the subsequent processing. Therefore, it is necessary to position the meat m on the belt conveyor 40. . However, it is dropped so that the thin-walled portion m1 is always on the upper surface.
Therefore, by utilizing the fact that the fat surface i on the side of the loin and the cut surface between the fourth rib and the fifth rib divided into the parts from the carcass e are V-shaped, both sides of the conveyor 40 Positioning guides 41, 41 that are closed in a V shape on the conveyor 40 from the surface are provided.

  As shown in FIG. 19, the positioning guides 41, 41 are attached to both side surfaces of the belt conveyor 40 so that one end is rotatable about the support shaft 410 in the direction of the arrow y, and is attached to both side surfaces of the belt conveyor 40. It is rotated by air cylinders 411 and 411. The positioning guides 41 and 41 are closed in a V shape on the belt conveyor 40, so that the meat m that has been conveyed on the belt conveyor 40 is pressed against the positioning guides 41 and 41. By this operation, the raw meat m is positioned at the center position of the conveyor 40, and the subsequent processing can be performed stably.

  After the positioning is completed, in the fourth station 4ST, as shown in FIG. 20, the upper surface of the scapula k of the boiled meat m conveyed on the belt conveyor 40 is pressed by the pressing roller 42 and the upper surface of the scapula by the round bar 43. The operation of turning the thin wall portion m1 is performed. A movable frame 432 that can be pivoted up and down about a shaft 431 is attached to a fixed frame 430 disposed above the conveyor surface, and a frame 420 is attached to the movable frame 432 by a shaft 421. One end of the frame 420 is attached to the movable frame 432 via a coil spring 422, and the pressing roller 42 is attached to the other end of the frame 420.

  A round bar 43 is attached to one end of the movable frame 432, and the end of the movable frame 432, to which the round bar 43 is attached, is rotated up and down around an axis 431 by an air cylinder 433 attached to the fixed frame 430. . In this way, the pressing roller 42 and the round bar 43 are configured to move up and down by the operation of the air cylinder 433. The pressing roller 42 is disposed horizontally above the conveyor surface in the direction perpendicular to the conveying direction downstream of the round bar 43 in the conveying direction, and the round bar 43 has a portion that hits the upper surface of the meat m above the conveyor surface. They are arranged horizontally in a direction perpendicular to the transport direction.

  With such a configuration, the air cylinder 433 is actuated and the pressing roller 42 and the round bar 43 are lowered to the conveyor surface, and the pressing roller 42 presses the meat m that has been conveyed, so that the scapula is supported by the pressing portion. k is inclined slightly upward so that the thin portion m1 on the upper surface of the scapula k is easily turned. The pressing roller 42 is urged by a method of pressing the meat m by the elastic force of the coil spring 422, and when an excessive load is applied from the side of the meat m, it moves upward against the elastic force of the coil spring 422. Has the ability to escape.

The round bar 43 performs an operation of contacting the thin wall portion m1 on the upper surface of the scapula and turning the thin wall portion m1 on the upstream side in the conveying direction of the pressing roller 42, thereby exposing the upper surface of the scapula k.
Thus, since the pressing roller 42 is supported by the elastic force of the coil spring 422, there is no risk of applying an excessive load to the boiled meat m and damaging it, and pressing the boiled meat m with an appropriate force. The turning operation by the round bar 43 is facilitated.

Next, the raw meat m is conveyed from the belt conveyor 40 to the belt conveyor 50 of the fifth station 5ST. At the fifth station 5ST, the scapula lateral muscle placement is performed using a 4-axis horizontal articulated robot arm. First, after the turning operation of the scapula thin portion m1 is completed at the fourth station 4ST, the position of the umbilical meat m is again positioned by the V-shaped positioning guide.
At the fifth station 5ST, as shown in FIG. 21, the conveyor 50 is then stopped, and the shoulder blade k of the meat meat m is lowered from the upper side and the shoulder blade presser 51 with needle-like teeth 52 is lowered. The scapula lateral muscle insertion operation is performed after the meat m is securely fixed.

  The cutter tool 54 attached to the tip of the 4-axis horizontal articulated robot arm 53 has the same configuration as the cutter tool shown in FIGS. That is, the knife-like cutter 55 attached to the cutter tool 54 is slidable and swingable in a direction perpendicular to the moving direction of the cutter tool 54, and the swing center is more than the knife-like cutter 55. By making it precede, it is difficult to bite into the bone. Further, errors in the lateral direction can be absorbed by the slide portion. Thereby, when performing a scapula lateral muscle insertion operation | movement, it can respond flexibly also to the dispersion | variation in the magnitude | size of the scapula k.

  First, the torque of the Z-axis (elevating axis) of the 4-axis horizontal articulated robot arm 53 is reduced, and the cutting edge of the knife-like cutter 55 is abutted against the upper surface of the scapula with a weak force to read the coordinate value at that time. Since an appropriate creasing depth is calculated by the calculation device 56 from the coordinate values, a certain creasing depth is maintained even for the meat m. As shown in FIG. 22, the creasing line first performs creasing as indicated by a line 57 along the side surface of the scapula k, and then performs creasing as indicated by a line 58. Such a muscle insertion line can separate the membrane between the scapula k and the meat m and cut the muscle connecting the scapula k and the meat m.

In this case, by using the cutter tool 54 having the above-described configuration, accurate creasing is performed while utilizing the force of the tension spring and absorbing some errors in the cutting trajectory caused by individual differences in the boiled meat m. be able to.
After finishing this creasing operation, the scapula presser 51 is raised, and the umbilical meat m is positioned again by the V-shaped positioning guide having the above-described configuration. After that, the belt conveyor 50 is restarted, and the meat m is conveyed to the sixth station 6ST.

  At the sixth station 6ST, the scapula k and scapula cartilage n are stripped from the meat m. 23 to 25, when the leading position of the meat m that has been conveyed on the belt conveyor 60 of the sixth station 6ST is detected by a photoelectric sensor (not shown), the belt is linked to the detection signal. The conveyor 60 is stopped. After the belt conveyor 60 is stopped, in order to fix the meat m, the scapula k part is lowered from above and the scapula retainer 61 having spike-like teeth is lowered, and the back side of the scapula is directed to the U-shaped cutter 620. Hold the boiled meat m so that it faces you. Next, the support plate 623 to which the scapula chuck 62 is attached is lowered. A U-shaped cutter 620 is attached to the lower end of the scapula chuck 62, and the U-shaped cutter 620 is inserted into the back side of the scapula k from the downstream end in the conveyor conveyance direction of the scapula k. Move the back of the shoulder blade in the direction opposite to the carrying direction.

The chuck cutter 621 is integrally formed with a base 624 having one end connected to a tension spring 622, and is attached to a support plate 623 by a support shaft 625 so as to be vertically rotatable. Further, since the chuck cutter 621 is always biased downward by the elastic force of the tension spring 622, the scapula k inserted between the chuck cutter 621 and the U-shaped cutter 620 can be reliably chucked. it can.
After chucking the scapula k, the operation begins to peel the scapula k from the meat m. Before that, the flat cartilage retainer 63 is lowered, and the scapula n attached to the tip of the scapula k and its Hold the surrounding scapula. As a result, the scapula cartilage n and the umbilical cartilage n attached to the scapula cartilage n are prevented from warping up.

  In this state, the meat stripping rod 64 is rotated from the upstream side in the transport direction to the downstream side in the transport direction around the support shaft 641 by the air cylinder 640 while the meat m is chucked, and the meat m is downstream in the transport direction. As shown in FIG. 25, the sheet is advanced to an angle of about 85 ° with respect to the conveyor conveyance direction x. As a result, the scapula k is peeled off from the meat m, and then the scapula chuck 62 moves backward in the anti-transport direction while holding the scapula k, and peels off the scapula k. At this time, the cartilage retainer 63 keeps pressing the scapula n and the surrounding scapula until the flesh is peeled off from the scapula.

  When the meat under the scapula peels off on the conveyor surface, the cartilage retainer 63 rises, and only the scapula k and the scapula cartilage n remain on the scapula chuck 62. When the scapula chuck 62 rises and reaches the retreat end point, the scapula discharge rod 65 provided at the same level as the retreat end point on the upstream side of the scapula chuck 62 protrudes in the transport direction. And as shown in FIG. 24, the base part 624 is pushed from the arrow C direction. As a result, the chuck cutter 621 integrated with the base 624 rotates upward about the support shaft 625 to release the scapula k. As a result, scapula k and scapula cartilage n are dropped onto the conveyor surface.

  In this way, in the sixth station 6ST, the separation of the scapula k from the meat m can be automated by a machine without the need for manual labor, and the scapula retainer 61 has a U-shaped cutter 620 on the back side of the scapula. The back of the scapula is cut using the U-shaped cutter 620 of the scapula chuck 62, and the back of the scapula k is inserted to cut into the periosteum on the back of the scapula with the U-shaped cutter 620. Therefore, the meat remaining on the scapula k can be reduced and the meat yield can be improved. Further, since the scapula k and the scapula n are pressed by the cartilage pressing plate 63 when the scapula k is separated by the U-shaped cutter 620, the scapula n is prevented from warping, so that the scapula n is separated from the scapula k. It can be separated and left on the side of the meat m.

As described above, in the present embodiment, in the deboning process of the forearm bone z and the humerus j from the first station to the third station, the work w is suspended while being clamped by the clamp device 1, thereby affecting the weight of the workpiece. In addition to being easy to handle, it is possible to perform a sanitary deboning process that prevents the attachment of bacteria.
In addition, the creasing work at the suspension / hanging portion can be automated by hanging the workpiece w by the clamp device 1 and feeding it in a tact manner, and fixing it with a fixing device at each processing station. In particular, a bracing that requires a complicated cutting trajectory, such as a bracing performed in the longitudinal direction of the humerus j and a bracing of the thin wall portion m1 attached to the scapula k, is a motion trajectory that is set on a multi-axis articulated arm. Automation is possible by using a cutter tool that operates according to a program.

In addition, the muscles around the forearm bone z and the humerus j are cut in a spiral shape by rotating the workpiece w while being pulled up by the clamp device 1, so that biological tissues such as tendons firmly attached to the joints are also included. Can be cut and separated easily.
Further, since the above-mentioned creasing detects the workpiece length and uses the cutting operation locus according to the workpiece length, the error of the cutting operation due to the individual difference of the workpiece w can be eliminated.
In the deboning process of the scapula from the 4th station to the 6th station, by placing the work on the conveyor, it is possible to accurately perform the creasing along the surface of the scapula having a complicated shape. The scapula deboning process can be automated.

  Therefore, deboning of the porcine gut part w can be almost automated including pre-treatment, including forearm, humerus and scapula placement, and work efficiency can be significantly improved over conventional deboning methods. In addition, the forearm, humerus and scapula can be accurately placed, reducing the meat remaining on the bone and improving the meat yield.

  According to the present invention, in the deboning process of the meat carcass carcass for meat or the thigh part, the work is shortened and the processing efficiency is reduced by automating the muscle insertion process which could not be performed conventionally and increasing the automation rate. The meat yield can be improved by accurately performing the creasing line.

1 is an overall configuration diagram of a first embodiment of the present invention. It is process drawing which shows the process until it processes from a pork carcass to the pork umbilical region used as deboning object. It is explanatory drawing which shows the pre-processing of the pig navel region | part of the said 1st Embodiment. It is explanatory drawing which shows the full length measurement means of the thigh of the said 1st Embodiment. It is a block diagram of the control system of the first embodiment. FIG. 6 is an explanatory diagram showing a step of peeling the thin portion attached to the scapula in the first embodiment. It is an elevational view of the creasing device of the first embodiment. It is a top view of the creasing device of the first embodiment. It is a side view which shows the cutter tool of the said creasing device. It is explanatory drawing which shows the creasing state by the said cutter tool. It is an elevational view showing the meat pressing mechanism in the second station (the humerus muscle insertion step) of the first embodiment. It is an elevational view showing the meat pressing mechanism in the second station (the humerus muscle insertion step) of the first embodiment. It is a top view which shows the meat pressing mechanism in the 2nd station (the humerus muscle insertion step) of the said 1st Embodiment. FIG. 6 is an elevation view showing a third station (a forearm bone / humerus separation step) of the first embodiment. It is a top view which shows the meat separator clamping board of the 3rd station (forearm and humerus isolation | separation step) of the said 1st Embodiment. FIG. 6 is an elevational view showing a cutter unit of a third station (a forearm bone / humerus bone separation step) of the first embodiment. It is a top view which shows the cutter part of the 3rd station (forearm and humerus isolation | separation step) of the said 1st Embodiment. It is explanatory drawing which shows the use condition of the auxiliary clamp apparatus of the 3rd station (forearm and humerus isolation | separation step) of the said 1st Embodiment. It is a top view which shows the positioning apparatus of the body m of the 4th station of the said 1st Embodiment. It is an elevation view which shows the thin part turning step of the 4th station of the said 1st Embodiment. It is explanatory drawing which shows the scapula upper surface height measurement step of the 5th station of the said 1st Embodiment. It is explanatory drawing which shows the scapula lateral muscle insertion line of the 5th station of the said 1st Embodiment. It is an elevational view of the sixth station (scapular separation step) of the first embodiment. FIG. 24 is a partially enlarged view of FIG. 23. It is a top view of the 6th station of the 1st embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Clamp apparatus 2 Conveyance path 11a, 11b Photoelectric sensor (measurement means)
14 Forearm muscle insertion line 15, 22 6-axis articulated robot arm 16 Plate cutter tool 17, 23 Cutter tool driving device 24 Cutter tool (humerus surface muscle insertion device)
30 Lifting unit (clamping device lifting means)
40, 50, 60 Belt conveyor 43 Meat turning round bar (turning member)
54 Cutter tool (scapular lateral muscle placement device)
55 Cutter (Sensing terminal)
56 arithmetic device 62 scapula chuck (chucking device)
63 Cartilage retainer plate 64 Meat peeling stick 100 Controller 102 Cutting operation setting program 103 Used program selection means 303, 313 Induction motor (synchronous rotation means)
310 Meat separator 311 Ditch for holding 330 Round blade cutter 620 U-shaped cutter d Ankle portion z Forearm bone j Humeral bone k Scapula m Umbilical meat m1 Scapular surface thin-walled part n Scapular cartilage w Porcine gut

Claims (10)

In an automatic deboning device for bone-in meat with muscles connected via tendons and having a first bone and a second bone located near the meat surface,
From a suspension hanging portion that suspends the bone-attached meat and removes the first bone, and a conveyor portion that is provided downstream of the suspension suspension portion and mounts the bone-attached meat and removes the second bone. Consisting of
In the suspension hanging portion, after performing the creasing process along the longitudinal direction of the first bone in a state where the exposed neck portion of the boned meat is gripped and suspended, the surrounding suspension of the first bone is performed. The first bone is deboned by peeling off the meat,
In the conveyor unit, after the upper surface of the second bone is exposed in a state where the boned meat is placed with the thin part on the side where the second bone is present in the vicinity, An automatic deboning device for bone-in meat, characterized in that a muscle insertion process is performed along a bone side surface, and the second bone is deboned by peeling off the second bone.   The suspension suspending unit has a conveying means for grasping the boned meat and suspending and feeding it, and at least a creasing process for each tact, and a meat around the first bone after the creasing process. The automatic deboning apparatus for bone-in meat according to claim 1, further comprising means for peeling off the meat.   The conveyor unit is composed of a transport conveyor that debones while placing the meat with bone, along the transport conveyor, along with the exposing means for exposing the upper surface of the second bone, along the second bone side surface 3. The automatic removal of boned meat according to claim 1, further comprising: a second creasing means for performing creasing and a second peeling means for peeling off the second bone. Bone device.   The second scoring means includes a cutting blade for performing scoring and a scoring depth based on a descending amount when the sensing terminal comes into contact with the second bone by lowering the sensing terminal from above the second bone. And a cutting blade driving means for moving the cutting blade in accordance with the calculation result of the calculating means, and performing the creasing corresponding to the individual difference of the second bone. The automatic deboning device for bone-in meat according to claim 3.   The cutting blade driving device is provided with a mechanism for detecting the vertical position of the cutting blade, and the cutting blade serves as the sensing terminal by contacting the cutting blade with the second bone from above. The automatic deboning apparatus for meat with bone according to claim 4. The exposing means includes
A creasing portion that is provided in the suspension hanging portion and that makes a muscle in the thin wall portion along the upper surface of the second bone, and a peeler that is provided in the conveyor portion and peels off the thin wall portion that has been crooked by the creasing portion. And consists of
In the muscle insertion portion, the boned meat is suspended, an elastically deformable cutter is inserted into the thin wall portion, the muscle is inserted along the surface of the second bone, and the muscle at the peeling portion. The automatic deboning apparatus for bone-in meat according to claim 3, wherein the meat on the surface of the second bone that has been creased in the insertion portion is peeled off.   The creasing portion is a length measuring means for measuring a length from the neck portion to the lower end in a state where the meat with bone is suspended and suspended, and can be elastically deformed in advance according to the length of the meat with bone. A plurality of programs in which the movement locus of the cutter is set, a means for selecting a corresponding program from the plurality of programs based on the detection result of the length measuring means, and the cutter is operated according to the selected program The automatic deboning apparatus for bone-in meat according to claim 6, wherein the thin-walled portion is peeled off from the second bone in accordance with individual differences in the size of the second bone by providing means. The means for peeling off the first bone includes a meat pushing plate having a hole whose inner diameter dimension is elastically increased when the bone is exposed and spread below the position where the exposed neck of the boned meat is suspended, and the suspended position. A round blade cutter disposed between the meat pushing plate, a lifting means for pulling up the boned meat while holding it, and a rotating means for rotating the suspended boned meat and the meat pushing plate synchronously,
While pulling the boned meat with the lifting means, the rotating means is rotated in synchronism with the meat pushing plate to cut the boned meat spirally with the round blade cutter, while the meat pushing plate makes the first bone. The automatic deboning apparatus for bone-in meat according to any one of claims 2 to 7, wherein the meat around the meat is peeled off.   The second bone is composed of a hard bone and cartilage, and has a plate-like member that holds the upper part of the cartilage when the second bone is peeled off by the transport conveyor, and prevents the cartilage from being deformed during the peeling. The automatic deboning apparatus for bone-in meat according to any one of claims 3 to 8.   The bone-in meat is a meat block of the cervical vertebrae, shoulder loin and spare ribs removed from the dorsal hemisphere block of the meat carcass, wherein the first bone is a forearm bone and a humerus, The automatic bone removal apparatus for bone-in meat according to any one of claims 1 to 9, wherein the second bone is a scapula.