JP2019115277A - Meat deboning mechanism and meat deboning device - Google Patents

Abstract

To stably remove a scapula from a meat block.SOLUTION: A meat deboning mechanism of the embodiment is provided for deboning a meat block obtained by removing a chuck part and a sparerib of a back split half-cut block of a meat carcass in a hanging state. The meat deboning mechanism includes a scapula deboning part capable of performing a tension operation for pulling the scapula contained in the meat block and a twist operation for twisting the scapula to the meat block.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a meat deboning mechanism and a meat deboning device.

  Heretofore, deboning of meats such as pigs, cows, horses, sheep and goats has been carried out after pre-treatment such as creasing in divided back meat carcass blocks. For example, Patent Document 1 discloses a meat deboning apparatus for deboning a meat block from which shoulder shoulders and spare ribs have been removed from a ribbed half block in a meat carcass in a suspended state. In the meat deboning device of Patent Document 1, the upper joint of the scapula is separated from the humerus by opposing the pressure on the back of the fleshy part of the humerus and the pressure on the lower end of the scapula, and the neck of the scapula turned forward After gripping the part with a portal chuck, the scapula is pulled away. In the meat deboning device of Patent Document 1, the scapula is linearly peeled in one direction through an actuator and a linear guide.

Patent No. 4 3270 99

  However, the action of linearly peeling off the scapula in one direction alone may cause an excessive load leading to cracking or the like at the peeling portion of the scapula, and may not be able to stably peel the scapula from the meat block. .

  In view of the circumstances as described above, the present invention aims to provide a meat deboning mechanism and a meat deboning device capable of stably peeling the scapula from the meat block.

  The meat deboning mechanism according to an aspect of the present invention is a meat deboning mechanism for deboning a meat block from which shoulder shoulders and spare ribs have been removed from a split half block of a carcass, in a suspended state, A scapula bone removing portion capable of performing a pulling operation for pulling a scapula contained in a meat block and a twisting operation for twisting the scapula with respect to the meat block. I assume.

According to this configuration, since the twisting operation of the scapula can be performed in addition to the pulling operation of the scapula, the scapula can be compared with the case where the scapula is only linearly removed in one direction. It can suppress that an excessive load is applied to the peeling part of the. Therefore, the scapula can be stably removed from the meat block.
By the way, the meat block contains scapula cartilage softer than the scapula. In the case where the scapula is only linearly removed in one direction, an excessive load leading to cracking of the scapula cartilage and the like is applied at the peeling portion of the scapula, and the scapula cartilage and the scapula are stably removed from the meat block. There is a high possibility that you can not do it. On the other hand, according to this configuration, it is possible to suppress excessive load on the peeling portion of the scapula, and therefore, it is possible to stably peel the scapula cartilage together with the scapula from the meat block.

In one aspect of the present invention, a deboning position for deboning the scapula is set based on previously acquired dimensional data of the meat block, and the scapula is removed from the scapula as the deboning portion. The device may further comprise a twisting motion control unit for twisting the scapula after being pulled to the bone treatment position.
According to this configuration, the deboning position can be changed for each meat block. Since the difference | error of the bone removal process position by the individual difference of a meat block can be suppressed as much as possible by this, a shoulder blade can be stably peeled off irrespective of the individual difference of a meat block. In addition, since the scapula twisting operation is performed after pulling the scapula to the deboning position, the twisting operation can be performed in front of the peeling portion of the scapula (portion of the scapula cartilage) , Along with the scapula can be more stably peeled off the scapula cartilage.

In one aspect of the present invention, a twisting speed for controlling a twisting speed when the scapula bony part performs a twisting motion of the scapula based on previously acquired dimensional data of the meat block. The controller may further include a controller.
According to this configuration, the twisting speed can be changed for each meat block. Thereby, since the error of the torsion speed of the scapula due to the individual difference of the meat block can be suppressed as much as possible, the scapula can be stably peeled off regardless of the individual difference of the meat block. In addition, since the scapula can be peeled off gently while twisting it in the same manner as manual work, the scapula cartilage can be more stably removed together with the scapula.

In one aspect of the present invention, the meat block may further include a work moving unit capable of moving the meat block vertically in a suspended state.
According to this configuration, while the meat block is suspended, the upper and lower positions of the meat block can be set to desired positions.

In one aspect of the present invention, a work height control unit may be further provided that causes the work moving unit to perform the moving operation of the meat block based on previously acquired dimensional data of the meat block.
According to this configuration, the upper and lower positions of the meat block can be changed for each meat block. Since the difference | error of the up-and-down position of the meat block by the individual difference of a meat block can be suppressed as much as possible by this, a shoulder blade can be stably peeled off irrespective of the individual difference of a meat block.

In one aspect of the present invention, the meat block may further include a back support portion capable of supporting the back of the fleshy part of the humerus included in the meat block in a suspended state of the meat block.
According to this configuration, the back surface of the humerus is supported while the meat block is suspended, so that the hanging posture of the meat block can be maintained.

In one aspect of the present invention, the back support portion is a support bar extending in the left and right direction when viewed from the tension direction of the scapula, and both ends of the support bar when viewed from the tension direction of the scapula. A pair of left and right support arms may be provided, which extend downward and are inclined to extend upward in the left-right direction.
According to this configuration, the back surface of the humerus can be guided inward in the left-right direction (a centering of the meat block can be performed) by the pair of left and right support arms while supporting the back of the meat region of the humerus by the support bar Therefore, the hanging posture of the meat block can be held more stably.

In one aspect of the present invention, the scapula bony part pushes the lower part of the scapula from the front to push the lower part of the scapula from the front, with the back support part supporting the back of the fleshy part of the humerus. The joint portion is separated from the humerus, and includes a scapula forward collapse portion capable of advancing the scapula forward, and a scapula chuck portion capable of grasping the neck portion of the scapula advanced by the forward shoulder portion. It may be
According to this configuration, it is possible to perform twisting operation of the scapula in addition to the tension operation of the scapula in a state where the neck portion of the scapula that has been advanced is gripped by the chuck portion. Can be peeled off stably.

In one aspect of the present invention, the scapula chuck portion may include a trapezoidal frame portion having a trapezoidal frame shape as viewed in the tension direction of the scapula.
According to this configuration, since the neck portion of the scapula that has been turned forward can be accommodated in the trapezoidal frame portion, positioning of the scapula can be performed stably.

In one aspect of the present invention, the shoulder blade chucking portion is provided on an upper side of the trapezoidal frame portion, and a shoulder blade positioning portion having a recess having an inverted V shape when viewed from the tension direction of the shoulder blade It may further be provided.
According to this configuration, the constricted portion of the scapula is guided along the slope of the inverted V-shape by the inverted V-shaped concave portion while the constricted portion of the scapula that has been turned over is accommodated in the trapezoidal frame portion Since the neck portion can be centered), positioning of the scapula can be performed more stably.

In one aspect of the present invention, the scapula bony bone includes a gantry that supports the scapula forward-folding portion and the scapula chuck, and a guide rail that can guide the gantry along the tension direction of the scapula. , May be further provided.
According to this configuration, since the scapula anteversion portion and the scapula chuck portion can be moved integrally, the configuration is simplified as compared with the case where the scapula anteversion portion and the scapula chuck portion are moved independently and independently. And energy saving can be achieved.

In one aspect of the present invention, the guide rail may be inclined so as to be positioned higher toward the side of the back support portion.
By the way, when the guide rail extends linearly in parallel with the horizontal surface or inclines so as to be positioned lower toward the side of the back support portion, while pushing the lower portion of the scapula from the front by the scapula forward tilt portion It is possible that the car may be unable to fully recline the scapula due to the air-stirring (the scapula anterior portion is pulled backward). On the other hand, according to this configuration, since the guide rail is inclined so as to be positioned on the side of the back support portion, the lower portion of the scapula can be continuously pushed by the scapula forward collapse portion. You can move forward enough.

In one aspect of the present invention, the apparatus further comprises a shoulder opening capable of opening the shoulder loose meat contained in the meat block, with the back support portion supporting the back of the fleshy part of the humerus. May be
According to this configuration, the shoulder rib can be opened in a state where the back of the humerus is supported, so that the scapula can be exposed when the shoulder blade is hidden by the shoulder rib. .

In one aspect of the present invention, the shoulder loose portion is provided so as to be capable of swinging in the opening direction of the shoulder looseness, and a first swinging arm capable of swinging in the opening direction of the shoulder looseness; And a second swinging arm longer than the first swinging arm as viewed in the tensile direction of the bone.
By the way, since there are individual differences in thickness and size of the shoulder loose meat, when only one swing arm is provided, the shoulder loose meat can not be opened sufficiently and the scapula can not be sufficiently exposed. there is a possibility. On the other hand, according to this configuration, by providing the first swing arm and the second swing arm, the shoulder looseness can be caught in two steps of the first swing arm and the second swing arm. Can open the shoulder loose enough, can expose the scapula fully.

In one aspect of the present invention, at least one of the first swing arm and the second swing arm can swing the first swing arm and the second swing arm in synchronization. A stopper may be provided.
According to this configuration, since the first swing arm and the second swing arm can be swung synchronously, it is possible to compare the case where the first swing arm and the second swing arm are moved independently and independently. The configuration can be simplified and energy saving can be achieved.

In one aspect of the present invention, further, a meat pressing portion capable of pressing the meat block from the side opposite to the back support portion in a state where the back support portion supports the back surface of the humerus is further included. You may have.
According to this configuration, since the meat block can be pressed from the opposite side to the back of the meat portion by the meat pressing portion while supporting the back of the meat portion of the humerus by the back support portion, the hanging posture of the meat block It can be held more stably.

In one aspect of the present invention, the meat pressure control unit further includes a meat control unit that causes the meat holding unit to perform the meat block pressing operation while the scapula bone removing unit performs the twisting operation of the scapula. You may have.
As a result of intensive investigations, the inventor of the present invention performs the pressing operation of the meat block in the middle of the twisting operation of the scapula to compare with the case where the twisting operation of the scapula is performed after holding the meat block. , It was found that the success rate of stably removing the scapula from the meat block is increased. According to this configuration, by performing the pressing operation of the meat block in the middle of the twisting operation of the scapula, it is possible to further increase the success rate of stably removing the scapula from the meat block.

  According to one aspect of the present invention, there is provided a meat deboning device comprising: an input station to which the meat block is inserted; a scapula deboning station for deboning a scapula from the meat block; and a humeral from the meat block A meat deboning device comprising: a humeral deboning station for deboning treatment, wherein the scapula deboning station comprises the meat deboning mechanism.

  According to this configuration, the scapula deboning station is provided with the above-described meat deboning mechanism, whereby it is possible to provide a meat deboning device capable of stably removing the scapula from the meat block.

In one aspect of the present invention, a work measuring side station for measuring the size of the meat block, and a control device for controlling the meat deboning mechanism based on the size of the meat block measured at the work measuring side station , May be further provided.
According to this configuration, control of the meat deboning mechanism can be changed for each meat block. Since the malfunction of the meat deboning mechanism by the individual difference of a meat block can be suppressed as much as possible by this, a shoulder blade can be stably peeled off irrespective of the individual difference of a meat block.

  According to the present invention, it is possible to provide a meat deboning mechanism and a meat deboning device capable of stably peeling the scapula from the meat block.

The front view of the meat deboning apparatus which concerns on embodiment. The block diagram which shows the structure of the meat deboning apparatus which concerns on embodiment. The perspective view of the meat deboning mechanism which concerns on embodiment. Operation | movement explanatory drawing of the meat deboning mechanism which concerns on embodiment. Operation | movement explanatory drawing of the meat deboning mechanism which concerns on embodiment. Fig.5 (a) is a perspective view of the initial state of the meat deboning mechanism which concerns on embodiment. FIG.5 (b) is explanatory drawing of the tension | pulling operation | movement of the scapula concerning embodiment. FIG.5 (c) is explanatory drawing of the twisting motion of the scapula which concerns on embodiment. The front view of the scapula chuck part which concerns on embodiment. The front view of the back support part which concerns on embodiment. Operation | movement explanatory drawing of the shoulder loose part which concerns on embodiment. Fig.8 (a) is a front view of the initial state of the shoulder loose part which concerns on embodiment. FIG.8 (b) is a front view of the state after the operation | movement of the shoulder loose part which concerns on embodiment. Operation | movement explanatory drawing of the meat deboning mechanism which concerns on embodiment. Fig.9 (a) is a side view of the initial state of the meat deboning mechanism which concerns on embodiment. FIG.9 (b) is operation | movement explanatory drawing of the back support part which concerns on embodiment. Operation | movement explanatory drawing of the meat deboning mechanism which concerns on embodiment. Fig.10 (a) is operation | movement explanatory drawing of the shoulder loose part which concerns on embodiment. FIG.10 (b) is operation | movement explanatory drawing of the workpiece | work movement part which concerns on embodiment, and a shoulder blade forward collapse part. Operation | movement explanatory drawing of the meat deboning mechanism which concerns on embodiment. Fig.11 (a) is operation | movement explanatory drawing of the workpiece movement part which concerns on embodiment. FIG.11 (b) is operation | movement explanatory drawing of the shoulder blade chuck | zipper part which concerns on embodiment. Operation | movement explanatory drawing of the meat deboning mechanism which concerns on embodiment. Fig.12 (a) is operation | movement explanatory drawing of the workpiece | work movement part which concerns on embodiment, and a shoulder blade deboning part. FIG.12 (b) is operation | movement explanatory drawing of the scapula boned part in embodiment. Operation | movement explanatory drawing of the meat deboning mechanism which concerns on embodiment. Fig.13 (a) is operation | movement explanatory drawing of the shoulder blade deboning part which concerns on embodiment. FIG.13 (b) is operation | movement explanatory drawing of discharge of a shoulder blade and origin return based on embodiment. The figure which shows the division part of pork carcass.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each figure, the same reference numeral is given to the same configuration. In the embodiment, as an example of a meat deboning device, a meat deboning device for removing bones from a carcass and a shoulder loin (see FIG. 14) in a carcass block on the left side of pork divided and divided. To explain.

  In the meat deboning device according to the embodiment, after pretreatment of the shoulder rib portion and spare rib split removal and deboning of the forearm bone, the pig bone is put at the periphery of the humerus and scapula, Meat block) is targeted for deboning treatment. The meat deboning device according to the embodiment debons a portion on the left side of the pig's leg into “cape meat”, “humeral bone”, and “scapula”.

[Meat deboning device 1]
As shown in FIG. 1, the meat deboning apparatus 1 includes a feeding station 2 into which a left side pig pigtail (also referred to as “work” hereinafter) is loaded, and a work measurement station 3 for measuring the dimensions of the work; The scapula deboning station 4 performs deboning treatment of the scapula from the work, the humeral deboning station 5 performs deboning treatment of the humerus from the work, and the bone portion left by the meat separation by the deboning treatment A bone portion discharging station 6, a work transfer mechanism 7 for transferring a work along a transfer path connecting the stations, and a product transfer unit 8 (hereinafter referred to as "conveyor 8") for transferring meat separated from the work. A controller 10 (see FIG. 2) for controlling each of the stations 2 to 6, a frame 10 for supporting each station, and a leg 11 for supporting the frame 10. The stations 2 to 6 are linearly spaced in one direction.

  In the following description, in the vertical direction, the leg 11 side is described as the lower side, and the side opposite to the leg 11 is described as the upper side. Further, in the direction perpendicular to the vertical direction, the loading station 2 side (upstream side in the work conveying direction) is right, and the opposite side to the loading station 2 (work downstream direction) is left. Moreover, let the direction orthogonal to each of the up-down direction and the left-right direction be the front-back direction.

[Input station 2]
In the input station 2, a work on which the musculoskeletal region around the humerus and the scapula has been performed by a human hand (worker) is input. For example, the loading station 2 includes a hook for hooking a workpiece, an elevating mechanism for moving the hook up and down in the vertical direction, and a switch for operating the elevating mechanism.

  For example, the worker hooks the neck portion of the humerus included in the work. After the constriction of the humerus is hooked on the hook, the operator presses the switch. When the switch is pressed, the lifting and lowering mechanism lifts the work together with the hook, and suspends and introduces the work onto the transport path where the work measuring station 3 of the next process is positioned. After the work is introduced into the transport path, the elevating mechanism lowers the hook and returns it to the initial state (home position) of FIG.

[Work measurement station 3]
As shown in FIG. 1, the workpiece measurement station 3 is disposed adjacent to the downstream side (right side) of the loading station 2. The workpiece measurement station 3 measures the vertical length of the workpiece as a workpiece size (a size of a meat block). For example, the workpiece measurement station 3 includes a humeral neck support portion that supports the neck portion of the humerus, and a workpiece lower end position detector that detects the lower end position of the workpiece in a suspended state.

  For example, the workpiece lower end position detection unit includes a contact type sensor that detects the lower end position of the workpiece, and an elevating device that moves the contact type sensor up and down. The lifting device is disposed below the workpiece in a suspended state. The lifting device moves the contact sensor upward toward the lower end of the workpiece. When the contact type sensor contacts the lower end of the workpiece, the lower end position of the workpiece is detected. The elevating device moves the contact type sensor downward after the lower end position of the work is detected by the contact type sensor. The work transfer mechanism 7 introduces the work whose lower end position has been detected into the transfer path in which the scapula bone disassembling station 4 of the next process is located.

  The workpiece measurement station 3 calculates the vertical length of the workpiece based on the neck portion (supporting position) supported by the humeral neck neck support and the lower end position of the workpiece. Here, the vertical length of the workpiece means the distance between the support position of the necked portion of the humerus and the lower position of the workpiece in the vertical direction.

  The data of the workpiece upper and lower lengths measured by the workpiece measuring station 3 (hereinafter also referred to as “full length measurement data”) is output to the control device 9 (see FIG. 2). The storage unit 70 (see FIG. 2) of the control device 9 stores information (hereinafter also referred to as “work information”) regarding the length, thickness, ratio, etc. of the humerus and scapula contained in the work. . The controller 9 calculates the position of the joint between the humerus and the scapula in the work based on the full length measurement data and the work information. Thereby, an error in the position of the joint can be suppressed as much as possible due to the individual difference of the work.

[Scapular bone bone removal station 4]
As shown in FIG. 1, the scapula bone disassembling station 4 is disposed adjacent to the downstream side (left side) of the workpiece measuring station 3. The scapula bone disassembling station 4 includes a meat bone removing mechanism 19 according to the embodiment. In the embodiment, the meat deboning mechanism 19 suspends the work from which the shoulder rib portion and the spare rib of the half rib block on the left side of the pork carcass are removed, and performs the deboning processing of the scapula in the suspended state of the work. . The work transfer mechanism 7 introduces the work on which the scapula deboning processing is completed to the transfer path where the humeral deboning station 5 is located in the next process.

[A humeral bone disassembly station 5]
As shown in FIG. 1, the humeral deboning station 5 is disposed adjacent to the downstream side (left side) of the scapula deboning station 4. The humeral bone deboning station 5 performs the humeral bone deboning process on the work on which the scapula bones have been completely deboned. Specifically, the humeral bone deboning station 5 peels off the meat near the bony part of the humerus and the upper part of the work on which the deboning treatment of the scapula has been completed (hereinafter also referred to as “second work”). The muscle is cut around the humeral head and the meat is separated by cutting near the lower part of the humerus.

  For example, the humeral bone deboning station 5 peels off the humeral chuck portion capable of gripping the neck portion (upper end) of the humerus included in the second work in a suspended state, and the flesh near the bony portion of the humerus It has a meat separator to be taken, and a horizontal rotary round blade for cutting the vicinity of the lower end of the humerus to separate the meat from the humerus.

  For example, the humeral bone deboning station 5 includes a second work moving unit capable of vertically moving the second work in the suspended state, and a second work dimension measurement unit for measuring the dimensions of the second work in the suspended state And a second workpiece height control unit that causes the second workpiece moving unit to move the second workpiece based on the measurement result of the second workpiece dimension measuring unit, and the second workpiece moving unit is the second workpiece dimension measuring unit And a cutting operation control unit that causes the horizontally rotating round blade to cut the vicinity of the lower end of the humerus after performing the moving operation of the second workpiece based on the measurement result of 1. As a result, errors in the upper and lower positions near the lower end of the humerus due to individual differences of the second work can be suppressed as much as possible. Therefore, the lower end of the humerus can be cut accurately to stabilize the meat separation from the humerus Can be done.

The humeral chuck releases the grip on the neck of the humerus after meat separation from the humerus is complete. The gripped humerus is introduced to the bone removal station 6.
On the other hand, the meat separated from the humerus is introduced into the conveyor 8.

[Meat deboning mechanism 19]
As shown in FIG. 3, the meat deboning mechanism 19 performs a pulling operation of pulling the scapula contained in the work (symbol 90 in the drawing) and a twisting operation of twisting the scapula with respect to the work Included in the work: a workable part 30 capable of moving the work up and down; a back support part 40 capable of supporting the back of the fleshy part of the humerus included in the work; A shoulder loose portion 50 capable of opening the shoulder loose meat, a meat control portion 60 capable of pressing the work from the opposite side to the back support portion 40, and a control portion for controlling each part of the meat deboning mechanism 19 71 to 74 (control device 9, see FIG. 2).
In the following description, in the front-rear direction, the back support portion 40 side will be described as the rear, and the side opposite to the back support portion 40 will be the front.

[Scapular bone dissection part 20]
As shown in FIG. 3, the scapula bone disassembly part 20 is disposed below the meat bone disintegration mechanism 19. The scapula deboning unit 20 twists the scapula contained in the work clockwise (clockwise) of the motor axis C1 in a top view. Specifically, the scapula dissection unit 20 twists the scapula in the direction of arrow V1 in FIG. 4 after pulling the scapula to the deboning position. The deboning position and the twisting angle of the scapula are set by the twisting operation control unit 71 (control device 9, see FIG. 2). For example, the torsion angle of the scapula is 90 ° or more and 150 ° or less. More preferably, the torsion angle of the scapula is 110 degrees or more and 130 degrees or less.

  The scapula deboning part 20 separates the upper joint part of the scapula from the humerus to enable the scapula to be receded forward The scapula anterior part 21 and a scapular chuck capable of gripping the necked part of the prolapsed scapula The platform 22, which supports the section 22, the scapula forward 21 and the scapula chuck 22, the guide rail 24 which can guide the platform 23 along the direction of tension of the scapula (direction of arrow V2 in FIG. 4) A torsional drive source 25 capable of driving the bone chuck portion 22 in the torsional direction of the scapula (direction of arrow V1 in FIG. 4; see FIG. 5C), and the gantry 23 from the opposite side to the guide rail 24 And a support guide 26 slidably supported.

[Scapula anterior portion 21]
As shown in FIG. 3, the scapula anterior-folding portion 21 has a scapula anterior-posterior plate 21a capable of pressing the scapula from the front in the direction of arrow V3 in FIG. 4 (see FIG. 5 (b)) And a plate inclining portion 21b capable of inclining 21a. In the embodiment, the scapula anterior plate 21a is slightly inclined forward with respect to the horizontal plane in the initial state (see FIG. 5A). The inclination angle of the scapula anterior plate 21 a in the initial state is substantially equal to the inclination angle of the guide rail 24.

  The plate inclining portion 21b can swing the scapula anterior plate 21a between a forwardly inclined posture of the initial state of the scapula anterior plate 21a and a rearwardly inclined posture of the scapula anterior plate 21a. is there. When the scapula retroversion plate 21a is in the forwardly inclined position, the forwardly flipped scapula (work) is placed on the upper surface of the scapula retroversion plate 21a. On the other hand, when the scapula anterior plate 21a is in the backward posture, the scapula (scapula removed from the work) left on the upper surface of the scapula anterior plate 21a is the slope of the scapula anterior plate 21a ( It is discharged along the back).

[Scapular chuck 22]
As shown in FIG. 4, the scapula chuck portion 22 grips the neck portion of the scapula that is advanced by the scapula anterior-folding portion 21. The scapula chuck portion 22 includes a chuck portion main body 22a that holds a neck portion of the scapula, a chuck pedestal 22b that holds the neck portion of the scapula in cooperation with the chuck portion main body 22a, and a chuck portion main body 22a in the vertical direction. And a chuck lifter 22c capable of moving up and down.

FIG. 6 is a view (front view) of the scapula chuck portion 22 as viewed from the front along the tension direction of the scapula.
In the front view of FIG. 6, the chuck body 22a includes a trapezoidal frame 81 having a trapezoidal frame shape, a shoulder blade positioning portion 82 provided on the upper side 81a of the trapezoidal frame 81, the trapezoidal frame 81, and the chuck elevating. And a chuck connecting portion 83 connecting the portion 22c.

  In the side view of FIG. 9A, the upper portion of the trapezoidal frame portion 81 is inclined to be positioned rearward as it approaches the upper side. In the side view of FIG. 9A, the upper side 81 a of the trapezoidal frame 81 is located rearward of the chuck connecting portion 83.

In the front view of FIG. 6, the shoulder blade positioning portion 82 is provided with a recess 82 a having an inverted V shape. In other words, the shoulder blade positioning portion 82 is provided with a pair of left and right inclined side portions that are linearly inclined so as to be positioned on the upper side in the left and right direction in front view.
In the front view of FIG. 6, the upper end edge of the chuck connection portion 83 linearly extends in the left-right direction. A space 85 is formed between the upper end edge of the chuck connecting portion 83 and the pair of left and right inclined side portions, through which the neck portion of the scapula (the upper joint of the scapula) can be inserted.

  As shown in FIG. 9A, the chuck pedestal 22b is disposed at a position facing the upper side 81a of the trapezoidal frame 81 in the vertical direction. The chuck pedestal 22 b is disposed below the upper side portion 81 a of the trapezoidal frame portion 81 in a side view of FIG. 9A. In a side view of FIG. 9A, the chuck pedestal 22b is provided with a triangular convex portion having a triangular shape protruding upward. According to the embodiment, the neck portion of the scapula can be firmly gripped by the inverted V-shaped concave portion 82a (see FIG. 6) in the scapula positioning portion 82 and the triangular convex portion in the chuck pedestal 22b.

  As shown in FIG. 3, in the embodiment, the chuck elevating unit 22 c includes a pair of left and right cylinder mechanisms that can extend and contract in the vertical direction. Thereby, compared with the structure provided with only one cylinder mechanism, a shoulder blade can be stably hold | maintained with chuck part main body 22a, and raising / lowering operation can be performed stably.

[Guide rail 24]
As shown in FIG. 3, the guide rail 24 is disposed on the lower right side of the meat deboning mechanism 19. The guide rail 24 guides the gantry 23 along the scapula tension direction (the direction of arrow V2 in FIG. 4, see FIG. 5 (b)). The guide rails 24 are linearly inclined so as to be located closer to the side of the back support portion 40. For example, the inclination angle (hereinafter also referred to as “rail inclination angle”) of the guide rail 24 with respect to the upper surface 10 a (horizontal surface, see FIG. 1) of the frame 10 is an angle of 5 ° or more and 12 ° or less. More preferably, the rail inclination angle is an angle of 8 ° to 9 °.
In FIG. 3, reference numeral 24 a denotes a rail front support that supports the front end of the guide rail 24, and reference 24 a denotes a rail rear support that supports the rear end of the guide rail 24.

[Twist drive source 25]
For example, the torsional drive source 25 is a servomotor. The rotational axis of the servomotor forms a motor axis C1 (see FIG. 3). In an embodiment, the motor axis C1 is slightly forwardly inclined with respect to the vertical.

[Work moving unit 30]
As shown in FIG. 3, the work moving unit 30 is disposed at the upper part of the meat deboning mechanism 19. The workpiece moving unit 30 moves the meat block in the vertical direction (arrow V4 direction in FIG. 4) in a suspended state of the workpiece. The work moving unit 30 includes a humeral neck suspension portion 31 for suspending the humeral neck portion included in the workpiece, and a suspension elevating portion 32 capable of vertically moving the humeral neck suspension portion 31 up and down.

  In the embodiment, the suspension elevating unit 32 includes a pair of left and right cylinder mechanisms that can extend and contract in the vertical direction. As a result, compared with the configuration provided with only one cylinder mechanism, the workpiece can be stably held together with the humerus neck narrowing suspension 31 and the raising and lowering operation can be stably performed.

[Back support unit 40]
As shown in FIG. 3, the back support portion 40 is disposed at the rear of the meat deboning mechanism 19. The back support portion 40 supports the back of the fleshy part of the humerus included in the work in a suspended state of the work. Specifically, immediately after the work is introduced to the scapula bone disassembling station 4, the back support portion 40 pivots in the direction of arrow V5 in FIG. 4 to support the upper back surface of the work.

FIG. 7 is a view (front view) of the back support portion 40 as viewed from the front along the tension direction of the scapula.
In the front view of FIG. 7, the back support portion 40 is inclined so that the support bar 41 extending linearly in the left-right direction and the lower end from the both ends of the support bar 41 are located upward in the left-right direction. 4 and a pair of left and right support arms 42 and 43, a pair of left and right support pipes 44 connected to the support bar 41 and extending upward and a pair of support pipes 44 swinging in the direction of arrow V5 in FIG. Part 45 (see FIG. 4).

  In the front view of FIG. 7, the shape of the back support portion 40 is left-right asymmetric. In the front view of FIG. 7, the left support arm 42 has a smaller outer shape than the right support arm 43.

[Shoulder shoulder 50]
As shown in FIG. 3, the shoulder looseness 50 is disposed at the top of the meat removing mechanism 19. The shoulder rib opening 50 opens the shoulder rib meat included in the work in a state where the back support portion 40 supports the back of the humerus.

FIG. 8 is a view (front view) of the shoulder loose portion 50 as viewed from the front along the tension direction of the scapula. FIG. 8A shows an initial state of the shoulder loose portion 50. FIG. FIG. 8 (b) shows a state after operation of the shoulder loose portion 50.
As shown in FIG. 8 (a), the shoulder loose portion 50 has a first swing arm 51 swingable in the direction of the shoulder loose (arrow V6 direction in FIG. 8 (b)), and a first swing arm. A second swinging arm 52 provided in front of the moving arm 51, a swinging pivot support portion 53 for swingably supporting the first swinging arm 51 and the second swinging arm 52, and the first swinging arm 51 And a second swing arm 52 (see FIG. 3).

In the front view (initial state) of FIG. 8A, the first swing arm 51 includes a first arm main body 51a linearly extending leftward from the swing shaft support 53 and a first arm main body 51a. And a first rearward extension 51b extending rearward from the left end.
The second swinging arm 52 is longer than the first swinging arm 51 in a front view of FIG. 8A. In the front view of FIG. 8A, the second swing arm 52 is longer than the first arm body 51a, and a second arm body 52a linearly extending in the left direction from the swing shaft support 53; And a second rearward extension 52b extending rearward from the left end of the arm body 52a.

  The first swing arm 51 is provided with a stopper 55 which can swing the first swing arm 51 and the second swing arm 52 in synchronization. The stopper 55 protrudes forward from the left side portion of the first arm main body 51a in a front view of FIG. 8A.

In the front view of FIG. 8A, the second arm body 52a is in contact with the stopper 55. Thus, the second swing arm 52 can be swung in the direction of arrow V6 in FIG. 8 (b) in accordance with the swing of the first swing arm 51 in the direction of arrow V6 (see FIG. 8B). . In addition, only the second swing arm 52 can be swung by stopping the first swing arm 51 halfway.
On the other hand, when the second swing arm 52 is swung in the direction opposite to the direction of arrow V6 in FIG. 8B from the state after the operation of FIG. The moving arm 52 is caught on the stopper 55 while returning to the origin. Thus, the first swing arm 51 can be swung in the direction opposite to the arrow V6 direction as the second swing arm 52 swings in the direction opposite to the arrow V6 direction.

[Blatter 60]
As shown in FIG. 3, the meat pressing portion 60 is provided on the upper portion of the meat deboning mechanism 19. The weight control unit 60 holds the work from the side opposite to the back support section 40 in a state where the back support section 40 supports the back surface of the humerus.

  The meat presser portion 60 uses a meat presser bar 61 extending in the left-right direction, a presser bar support portion 62 for supporting the right end of the meat presser bar 61, and the meat presser bar 61 as a work through the presser bar support portion 62. And a pressing bar drive unit 63 which is swung in a direction in which it approaches and in a direction away from the work. In FIG. 4, the arrow V <b> 9 direction indicates the direction of the meat pressure by the meat pressure bar 61.

[Control device 9]
As shown in FIG. 2, the control device 9 centrally controls each component of the meat removing apparatus 1. The control device 9 controls the meat deboning mechanism 19 based on the full length measurement data measured at the work measurement station 3. The control device 9 includes a storage unit 70, a twisting operation control unit 71, a twisting speed control unit 72, a work height control unit 73, and a weight control operation control unit 74.

[Twist motion control unit 71]
The twisting operation control unit 71 sets a deboning processing position for deboning the scapula based on previously acquired full-length measurement data. Here, the deboning processing position is a position before the scapula main body is peeled off from the work by the pulling operation of the scapula and the scapula cartilage is peeled off from the work. The torsional motion control unit 71 causes the scapula bone disassembly unit 20 to perform a torsional motion of the scapula after pulling the scapula to the deboning position.

[Torsion speed control unit 72]
The torsional speed control unit 72 controls the torsional speed at which the scapula deboning unit 20 performs a torsional motion of the scapula based on previously obtained full-length measurement data (the motor axis C1 shown in FIG. 3). Control the rotational speed). For example, the torsional speed control unit 72 controls the torsional speed in three steps. Specifically, the twisting speed control unit 72 performs the following three steps of speed control.
(1) The torsional speed control unit 72 sets the torsional speed to the first speed S1 at the initial stage of torsion of the scapula.
(2) The twisting speed control unit 72 sets the twisting speed to a second speed S2 slower than the first speed S1 at the end of torsion of the scapula (S2 <S1).
(3) The twisting speed control unit 72 sets the twisting speed to a third speed S3 between the first speed S1 and the second speed S2 at an intermediate time between the initial and final phases of torsion of the scapula. (S2 <S3 <S1).

As a result of intensive studies, the present inventor pulls the scapula to the deboning position in a suspended state of the work on the left side and then performs a twisting operation of the scapula, in the initial stage of torsion of the scapula It has been found that cracking or the like is less likely to occur at the peeling portion of the scapula, and cracking or the like tends to occur at the peeling portion of the scapula at the later stage of torsion of the scapula. The tendency is that the direction of the scapula included in the work on the left side is fixed, so the width of the crescent-shaped scapula cartilage leading to the scapula is also determined. It is thought that this is due to the fact that the width of the instep cartilage is wide and the width of the shoulder blade is narrow at the later stage of torsion of the scapula.
According to the embodiment, by controlling the twisting speed at the above-mentioned speeds S1 to S3, twisting occurs quickly in a range in which cracking or the like is unlikely to occur in the peeling portion of the scapula, and cracking or the like occurs in the peeling portion of the scapula. You can twist it slowly in the easy range. Therefore, the shoulder blade can be removed more stably and smoothly from the work as compared with the case where the twisting speed is set to a constant speed in the twisting motion of the shoulder blade.

[Work height control unit 73]
The workpiece height control unit 73 causes the workpiece moving unit 30 to perform the workpiece movement operation based on the full length measurement data acquired in advance. The work height control unit 73 controls the work height at a predetermined timing after the work is introduced to the scapula bone disassembling station 4.

[Feeling operation control unit 74]
The weight control operation control unit 74 causes the weight control unit 60 to perform the work of pressing the work while the scapula bone disassembly unit 20 performs the twisting operation of the scapula. The meat pressure control unit 74 causes the meat pressure portion 60 to hold the work at a predetermined timing after the scapula bone disassembly unit 20 starts to twist the scapula. For example, the weight control operation control unit 74 causes the weight control unit 60 to perform the work of pressing the work at an intermediate time between the initial and final stages of torsion of the scapula.

[Operation of meat deboning mechanism 19]
Hereinafter, the operation of the meat deboning mechanism 19 will be described with reference to FIGS. 9 to 13. Each operation of the meat deboning mechanism 19 is controlled by the controller 9.
FIG. 9A shows an initial state (origin position) before the bone removing treatment of the scapula by the meat removing bone mechanism 19. In the initial state shown in FIG. 9A, the control device 9 suspends the neck portion of the humerus (symbol 91 in the drawing) included in the work on the humeral neck suspension portion 31. As a result, the workpiece is held suspended in the vertical direction. In the initial state, the control device 9 disposes the scapula chuck portion 22 in the forward direction of the workpiece and the back support portion 40 in the rearward direction of the workpiece.

  Next, the control device 9 swings the back support portion 40 forward (in the direction of the arrow V5 in FIG. 9B). Thereby, the back support part 40 supports the back of the fleshy part of the humerus included in the suspended work (see FIG. 9B). In the side view of FIG. 9B, the workpiece in the suspended state in which the back of the meat portion is supported by the back support portion 40 is inclined so as to be positioned forward toward the lower side.

  Next, the control device 9 opens the shoulder looseness (symbol 94 in the figure) located on the front side of the suspended work in the shoulder loose portion 50 in the right side direction (arrow V6 direction in FIG. 10A). (See FIG. 10 (a)). Thereby, the scapula (symbol 92 in the figure) included in the work is exposed forward. In FIG. 10A, illustration of the back support portion 40 and the like is omitted.

  Next, the control device 9 causes the work moving unit 30 to perform the movement operation of the work based on the full length measurement data acquired in advance (see FIG. 10B). For example, the control device 9 causes the work moving unit 30 to move the work upward (in the direction of the arrow V4u in FIG. 10B) (first pulling operation). As a result, the lower part of the scapula contained in the work is placed on the path of the scapula anterior portion 21.

  In addition, with the back support portion 40 supporting the back of the fleshy part of the humerus, the control device 9 moves the gantry 23 back along the guide rail 24 shown in FIG. 3 (arrow V3 in FIG. 10 (b)). Direction) (see FIG. 10 (b)). The control device 9 causes the scapula anterior portion 21 to press the lower part of the scapula from the front to separate the joint part in the upper part of the scapula from the humerus, and causes the scapula to move forward.

  Next, the control device 9 causes the work moving unit 30 to move the work upward (in the direction of the arrow V4u in FIG. 11A) (second pulling operation). Thereby, the work is disposed at a position higher than the position by the first pulling operation (the position in FIG. 10B). In the side view of FIG. 11A, the neck portion of the scapula included in the work is inserted into the space 85 of the trapezoidal frame portion 81.

  Next, the control device 9 causes the chuck lifting unit 22c shown in FIG. 3 to move the trapezoidal frame 81 downward (in the direction of the arrow V7d in FIG. 11B). The control device 9 causes the scapula chuck portion 22 to grip the neck portion of the scapula that has been turned forward (see FIG. 11B). Thereby, the neck portion of the scapula contained in the work is gripped by the scapula positioning portion 82 and the chuck pedestal 22b.

  Next, the control device 9 causes the work moving unit 30 to move the work upward (in the direction of the arrow V4u in FIG. 12A) (third pulling operation). Thereby, the work is disposed at a position higher than the position by the second pulling operation (the position of FIG. 11A).

  In addition, the control device 9 moves the gantry 23 forward (in the direction of the arrow V2 in FIG. 12A) along the guide rails 24 shown in FIG. 3 (see FIG. 12A). The controller 9 causes the scapula disaggregated part 20 to pull the scapula contained in the work to a deboning position before the scapula cartilage (symbol 93 in the figure) is peeled off from the work.

  Next, the control device 9 twists the scapula with respect to the work in the direction of the arrow V1 in FIG. 12 (b) in the scapula dissection 20 (see FIG. 12 (b)). The controller 9 temporarily stops the scapula disaggregated part 20 at the deboning position, and causes the scapula disaggregated part 20 to perform a twisting motion of the scapula at the deboning position.

  Next, the control device 9 moves the gantry 23 forward (in the direction of the arrow V2 in FIG. 13A) along the guide rails 24 shown in FIG. 3 (see FIG. 13A). The control device 9 causes the scapula disaggregated part 20 to pull the scapula included in the work forward of the deboning processing position. This completes the deboning process of the scapula from the work.

  Next, the control device 9 causes the plate inclining portion 21b shown in FIG. 3 to tilt the scapula forward tilt plate 21a in the direction of the arrow V8 in FIG. 13 (b) and tilt it backward (see FIG. 13 (b)). As a result, the scapula (the scapula and scapula cartilage removed from the work) left on the upper surface of the scapula anterior plate 21a are discharged along the inclination (backward inclination) of the scapula anterior plate 21a. In addition, the humerus neck suspension part 31 is suspended in a suspended state for the second work (symbol 90A in the figure) for which the bone removal processing of the scapula has been completed.

Then, the control device 9 returns the scapula bone disassembly unit 20 to the origin position (see FIG. 13B).
For example, the control device 9 causes the work moving unit 30 to move the second work downward (in the direction of the arrow V4d in FIG. 13B) (home position return operation of the second work).
For example, the control device 9 moves the trapezoidal frame 81 upward (in the direction of the arrow V7u in FIG. 13B) to the chuck lifting unit 22c illustrated in FIG. 3 (returning operation of the shoulder chuck 22).
For example, the control device 9 swings the back support portion 40 rearward (in the direction of the arrow V5b in FIG. 13B) (home position return operation of the back support portion 40).

  As described above, the meat de-boning mechanism 19 according to the above-described embodiment is a method for de-boning meat portions in a suspended state of pork loin from which shoulder loin and spare ribs have been removed from the split half block of the carcass. A bone mechanism 19 capable of performing a pulling operation of pulling a scapula contained in a pig belly region (meat block) and a twisting operation of twisting the scapula with respect to a pig belly region Scapula dissection part 20 is provided.

According to this configuration, since the twisting operation of the scapula can be performed in addition to the pulling operation of the scapula, the scapula can be compared with the case where the scapula is only linearly removed in one direction. It can suppress that an excessive load is applied to the peeling part of the. Therefore, the scapula can be stably removed from the site of the pig's beak.
By the way, the pelvic region contains scapula cartilage softer than the scapula. If the scapula is only pulled straight in one direction, an excessive load leading to a crack in the scapula cartilage etc. will be applied at the peeling part of the scapula, and the scapula will be stabilized along with the scapula from the pig's foot There is a high possibility that it can not be removed. On the other hand, according to this configuration, it is possible to suppress an excessive load on the peeling portion of the scapula, so that it is possible to stably peel the scapula cartilage together with the scapula from the site of the pig.

In the above embodiment, the deboning processing position for deboning the scapula is set based on the previously acquired size data of the portion at the pig's beak, and the scapula is deboning processed position with respect to the scapula deboning portion 20. The following effects can be obtained by further including a twisting motion control unit 71 that performs twisting motion of the scapula after being pulled up.
According to this configuration, it is possible to change the deboning position for each pig meat region. Thereby, since the error of the deboning process position by the individual difference of a pig belly can be suppressed as much as possible, the scapula can be stably peeled off regardless of the individual difference of the pig belly. In addition, since the scapula twisting operation is performed after pulling the scapula to the deboning position, the twisting operation can be performed in front of the peeling portion of the scapula (portion of the scapula cartilage) , Along with the scapula can be more stably peeled off the scapula cartilage.

In the above embodiment, a twisting speed control unit that controls a twisting speed when the scapula disaggregating part 20 performs a twisting operation of the scapula on the basis of previously acquired size data of a pig-tail region. By further providing 72, the following effects are achieved.
According to this configuration, it is possible to change the twisting speed for each pig meat region. As a result, it is possible to suppress as much as possible the error in the torsional speed of the scapula due to individual differences in the pig belly, so that the scapula can be stably removed regardless of the individual differences in the pig belly. Can. In addition, since the scapula can be peeled off gently while twisting it in the same manner as manual work, the scapula cartilage can be more stably removed together with the scapula.

In the above embodiment, the following effects can be obtained by further including the work moving unit 30 capable of moving the part in the vertical direction in the state of hanging the part in the pork leash.
According to this configuration, it is possible to set the upper and lower positions of the portion at a desired position in a state where the portion is suspended from the pig belly.

In the above-described embodiment, the following effects can be obtained by further including the work height control unit 73 that causes the work moving unit 30 to perform the moving operation of the pigtail based on the full length measurement data acquired in advance.
According to this configuration, it is possible to change the upper and lower positions of the pig belly for each pig pig belly region. As a result, it is possible to suppress errors in the upper and lower positions of the pig belly region due to individual differences in the pig belly region as much as possible, so that the scapula can be stably removed regardless of the individual differences in the pig belly region. Can.

In the said embodiment, the following effects are show | played by further providing the back support part 40 which can support the meat part back surface of the humerus contained in a pork belly region in the hanging condition of a pig belly region.
According to this configuration, since the back surface of the humerus is supported in a state in which the pigtail is suspended, the hanging posture of the pigeon can be maintained.

In the above embodiment, the back support portion 40 extends downward from the both ends of the support bar 41 which extends in the left-right direction as viewed from the tension direction of the scapula, and from both ends of the support bar as viewed from the tension direction of the scapula. After that, by providing the pair of left and right support arms 42 and 43 that extend in an inclined manner so as to be positioned upward toward the inner side in the left-right direction, the following effects can be obtained.
According to this configuration, while supporting the back of the fleshy part of the humerus by the support bar 41, the back of the fleshy part of the humerus is guided inward in the left-right direction by the pair of left and right support arms 42, 43 Can hold the hanging posture of the pig belly more stably.

In the above-described embodiment, the scapula disaggregation part 20 pushes the lower part of the scapula from the front in a state in which the back support part 40 supports the back of the fleshy part of the humerus to make the upper joint part of the scapula humerus The following effects can be obtained by providing the scapula anterior portion 21 which can be separated from the scapula, and the scapula chuck portion 22 capable of grasping the neck portion of the scapula which is advanced by the scapula anterior portion 21. Play.
According to this configuration, it is possible to perform the twisting operation of the scapula in addition to the pulling operation of the scapula in a state in which the neck portion of the scapula that has been advanced is gripped by the chuck portion. The scapula can be removed stably.

In the above embodiment, the shoulder blade chuck portion 22 has the trapezoidal frame portion 81 shaped like a trapezoidal frame when viewed in the tension direction of the shoulder blade, thereby achieving the following effects.
According to this configuration, the neck portion of the scapula that has been turned forward can be accommodated in the trapezoidal frame portion 81, so that the scapula can be positioned stably.

In the above embodiment, the shoulder blade chucking portion 22 is provided on the upper side portion 81a of the trapezoidal frame portion 81, and has a recess 82a having a reverse V shape when viewed from the tension direction of the shoulder blade. The following effects are achieved by further providing
According to this configuration, the constricted portion of the scapula is guided along the slope of the inverted V-shape by the inverted V-shaped concave portion 82a while the constricted portion of the scapula which has been turned forward is accommodated in the trapezoidal frame 81 Since the neck of the scapula can be centered), positioning of the scapula can be performed more stably.

In the above embodiment, the scapula deboning unit 20 includes a gantry 23 supporting the scapula forward 21 and the scapula chuck 22 and a guide rail 24 capable of guiding the gantry 23 along the scapula tension direction. The following effects are achieved by further providing
According to this configuration, since the scapula anteversion 21 and the scapula chuck 22 can be moved integrally, as compared with the case where the scapula anteversion 21 and the scapula chuck 22 are moved independently and independently. The configuration can be simplified and energy saving can be achieved.

In the above embodiment, the guide rail 24 is inclined so as to be positioned closer to the back support portion 40, thereby achieving the following effects.
By the way, when the guide rail 24 linearly extends in parallel with the horizontal surface or inclines downward toward the side of the back support portion 40, the lower part of the scapula is pushed from the front by the scapula forward tilt part 21 There is a possibility that the scapula can not be fully advanced forward by swinging in the middle (the scapula anterior part 21 is pulled backward). On the other hand, according to this configuration, since the guide rail 24 is inclined to be positioned closer to the side of the back support portion 40, the lower part of the scapula can be continuously pushed by the scapula forward collapse part 21. , The scapula can be pushed forward enough.

In the above embodiment, by further providing the shoulder loose portion 50 capable of opening the shoulder loose meat included in the pig belly region in a state in which the back support portion 40 supports the back of the fleshy part of the humerus. , Produces the following effects.
According to this configuration, the shoulder rib can be opened in a state where the back of the humerus is supported, so that the scapula can be exposed when the shoulder blade is hidden by the shoulder rib. .

In the above embodiment, the shoulder loose portion 50 is provided so as to be swingable in the opening direction of the shoulder loose, and the swinging direction of the shoulder loose, and the tension direction of the shoulder blade By providing the second swinging arm 52 longer than the first swinging arm 51, the following effects can be obtained.
By the way, since there are individual differences in thickness and size of the shoulder loose meat, when only one swing arm is provided, the shoulder loose meat can not be opened sufficiently and the scapula can not be sufficiently exposed. there is a possibility. On the other hand, according to this configuration, by providing the first swing arm 51 and the second swing arm 52, shoulder looseness is caught in two steps of the first swing arm 51 and the second swing arm 52. As a result, it is possible to open the shoulder loose enough and expose the shoulder blade sufficiently.

In the above embodiment, the first rocking arm 51 is provided with the stopper 55 capable of rocking the first rocking arm 51 and the second rocking arm 52 in synchronization. Play an effect.
According to this configuration, since the first swing arm 51 and the second swing arm 52 can be swung in synchronization, the first swing arm 51 and the second swing arm 52 are moved independently and independently. Compared with the case, simplification of the configuration and energy saving can be achieved.

In the above embodiment, in the state where the back support portion 40 supports the back of the flesh portion of the humerus, the back support portion 40 is further provided with a meat pressing portion 60 capable of holding a part with pigtails from the opposite side to the back support portion 40. The following effects are achieved.
According to this configuration, while supporting the back of the fleshy part of the humerus by the back support part 40, it is possible to hold the pigtailed part from the side opposite to the back of the fleshed part by the meat pressing part 60. The hanging posture of the part can be held more stably.

In the above embodiment, while the scapula deboning unit 20 is performing the twisting operation of the scapula, the meat pressure control unit 74 that causes the meat pressure unit 60 to perform the pressure holding operation of the portion with the pig belly. By further providing, the following effects are achieved.
As a result of intensive investigations, the inventor of the present invention performs the twisting operation of the scapula after holding the part by holding the part by holding the part by holding the part by holding the part of the pig garnish in the middle of the twisting movement of the scapula. Compared with, it was found that the success rate of being able to stably peel off the scapula from the pig belly region is increased. According to this configuration, by performing the pressing operation of the part with pig's beak in the middle of the twisting movement of the scapula, it is possible to further improve the success rate that the scapula can be stably removed from the part with pig's beak it can.

  The meat deboning device 1 according to the above-described embodiment includes a feeding station 2 for injecting a pig belly region, a scapula deboning station 4 for deboning a shoulder blade from the pig belly region, and a pig belly region A meat removing apparatus 1 comprising: a humeral removing station 5 for removing bones from the humerus; the scapula removing station 4 includes the meat removing mechanism 19 described above.

  According to this configuration, the scapula deboning station 4 is provided with the meat deboning mechanism 19 to provide the meat deboning device 1 capable of stably removing the scapula from the portion of the pig belly. it can.

In the above embodiment, the control unit controls the meat removing bone mechanism 19 based on the dimensions of the portion measured by the workpiece measuring station 3 for measuring the dimensions of the portion of the pig belly and the portion of the portion measured by the workpiece measuring station 3 The following effects can be obtained by further providing:
According to this configuration, it is possible to change the control of the meat deboning mechanism 19 for each pig meat region. Thereby, since the malfunction of the meat deboning mechanism 19 due to the individual difference of the pig belly can be suppressed as much as possible, the scapula can be stably peeled off regardless of the individual difference of the pig belly .

  In the above-described embodiment, as an example of the meat deboning apparatus, among the carcass blocks of the left side portion of the pork divided and divided, the deboning apparatus of the shoulder and shoulder loin (see FIG. 14) is described. However, it is not limited to this. For example, as a meat deboning device, it is possible to use a deboning device for meat other than pork such as cattle, horses, sheep, goats, etc. which are divided by dividing their backs.

  Moreover, although the said embodiment gave and demonstrated the example which makes the site | part the target of a deboning process by the left pig porridge, it does not restrict to this. For example, the site on the right side may be targeted for deboning treatment. For example, in the case where a portion on the right side is targeted for deboning treatment, the deboning device for the left side portion may be different from the meat deboning device for the portion on the other hand (specification difference between left and right objects). Good.

  Moreover, although the said embodiment gave and demonstrated the example in which the stopper 55 is provided in the 1st rocking arm 51, it does not restrict to this. For example, the stopper 55 may be provided on the second swing arm 52. That is, the stopper 55 may be provided on at least one of the first swing arm 51 and the second swing arm 52.

  Further, in the above-described embodiment, although the example in which the chuck elevating unit 22c includes the pair of left and right cylinder mechanisms has been described, the present invention is not limited thereto. For example, the chuck lifting unit 22c may include only one cylinder mechanism, or may include three or more cylinder mechanisms.

  Further, in the above embodiment, although the example in which the suspension elevating unit 32 includes the pair of left and right cylinder mechanisms has been described, the present invention is not limited thereto. For example, the suspension lifting and lowering unit 32 may include only one cylinder mechanism or may include three or more cylinder mechanisms.

  The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Meat deboning apparatus, 2 ... injection | throwing-in station, 3 ... Work measurement station, 4 ... Scapula deboning station, 5 ... Humeral deboning station, 9 ... Control apparatus, 19 ... Meat deboning mechanism, 20 ... Scapula Deboning part, 21 ... scapula forward bending part, 22 ... scapula chucking part, 23 ... pedestal, 24 ... guide rail, 30 ... work moving part, 40 ... back support part, 41 ... support bar, 42 ... left support arm , 43: right side support arm, 50: shoulder loose portion, 51: first swing arm, 52: second swing arm, 55: stopper, 60: meat pressing portion, 71: twisting operation control portion, 72: torsional speed control unit, 73: work height control unit, 74: meat holding operation control unit, 81: trapezoidal frame portion, 81a: upper side portion, 82: shoulder blade positioning portion, 82a: recess, 90: work (Meat meat ), 91 ... humerus, 92 ... scapula, 94 ... shoulder rose meat

Claims (19)

A meat deboning mechanism for deboning a meat block from which a shoulder rib portion and a spare rib have been removed from a ribbed buttock block of a meat carcass in a suspended state,
The scapula deboning portion is capable of performing a pulling operation of pulling the scapula contained in the meat block and a twisting operation of twisting the scapula with respect to the meat block. Meat deboning mechanism. Based on previously obtained dimensional data of the meat block, a deboning position for deboning the scapula is set;
The scapula is further provided with a twisting operation control unit for causing the scapula to perform a twisting operation after the scapula is pulled to the deboning processing position with respect to the scapula dissection. The meat deboning mechanism described in 1. The scapula deboning unit may further include a twisting speed control unit that controls a twisting speed when the scapula performs a twisting operation based on previously acquired size data of the meat block. The meat deboning mechanism according to claim 1 or 2, characterized in that The meat deboning mechanism according to any one of claims 1 to 3, further comprising a work moving unit capable of moving the meat block vertically in a state in which the meat block is suspended. The meat removing bone mechanism according to claim 4, further comprising a work height control unit that causes the work moving unit to move the meat block on the basis of previously acquired size data of the meat block. . The meat according to any one of claims 1 to 5, further comprising a back support portion capable of supporting the back of the fleshy part of the humerus included in the meat block in a suspended state of the meat block. Deboning mechanism. The back support unit is
A support bar extending in the left and right direction as viewed from the tension direction of the scapula,
A pair of left and right support arms extending downward from the ends of the support bar as viewed in the tension direction of the scapula and extending obliquely upward as it extends inward in the left and right direction; The meat deboning mechanism according to claim 6. The scapula bony part is
With the back support portion supporting the back of the fleshy part of the humerus, the lower part of the scapula is pushed from the front to separate the joint part of the upper part of the scapula from the humerus, and the scapula is advanced forward Possible shoulder blade anterior portion,
The meat removing bone mechanism according to claim 6 or 7, further comprising: a scapula chuck portion capable of grasping a neck portion of the scapula advanced by the scapula advancing portion. The meat deboning mechanism according to claim 8, wherein the scapula chuck portion includes a trapezoidal frame portion having a trapezoidal frame shape as viewed in a tension direction of the scapula. The scapula chuck portion further includes a scapula positioning portion provided on the upper side of the trapezoidal frame portion and having a recess having an inverted V shape when viewed from the tension direction of the scapula. The meat deboning mechanism according to claim 9. The scapula bony part is
A frame for supporting the scapula anterior portion and the scapula chuck portion;
The meat deboning mechanism according to any one of claims 8 to 10, further comprising: a guide rail capable of guiding the gantry along the tension direction of the scapula. The meat deboning mechanism according to claim 11, wherein the guide rail is inclined so as to be positioned higher toward the side of the back support portion. In the state in which the back support portion supports the back of the fleshy part of the humerus, it further comprises a shoulder opening capable of opening the shoulder loose contained in the meat block. The meat deboning mechanism according to any one of 12. The shoulder opening is
A first swing arm swingable in a direction of opening the shoulder looseness;
And a second swing arm provided swingably in the opening direction of the shoulder loose and longer than the first swing arm when viewed from the tension direction of the shoulder blade. The meat deboning mechanism described in 13. At least one of the first swing arm and the second swing arm
The meat deboning mechanism according to claim 14, further comprising a stopper capable of synchronously rocking the first rocking arm and the second rocking arm. In the state where the back support portion supports the back surface of the fleshy part of the humerus, it further comprises a meat pressing portion capable of holding the meat block from the side opposite to the back support portion. The meat deboning mechanism according to any one of items 6 to 15. The scapula deboning unit is further provided with a meat control operation control unit that causes the meat control unit to perform the holding operation of the meat block while the torsion movement of the scapula is being performed. The meat deboning mechanism of item 16. An input station into which the meat block is input;
A scapular bone removing station for removing bones of the scapula from the meat block;
A humeral bone removing station for removing bones from the meat block to the humerus, the meat removing bone device comprising:
A meat deboning device comprising the meat deboning mechanism according to any one of claims 1 to 17, wherein the scapula deboning station. A work measuring station that measures the dimensions of the meat block;
The meat deboning apparatus according to claim 18, further comprising: a control device that controls the meat deboning mechanism based on the size of the meat block measured at the work measurement side station.

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