JP4072972B1 - Frozen food processing equipment - Google Patents

Abstract

A conventional processing apparatus for frozen food or the like complicates the apparatus because the cutting measurement process and the cutting process are separate processes. In some cases, it was difficult to cut the curve. Furthermore, if the band saw cannot be detachable, the existing band saw cannot be used.
A processing apparatus for frozen food or the like according to the present invention includes a clamp that supports a cut and processed product such as frozen food so that it can be held and / or rotated, a placement section, a cutting machine, a position adjustment section, and a conveyance section. And the image of the camera and the control device, and the cutting area of the cut workpiece is grasped by the image of the camera, the irradiation of the laser emission part, and the calculation processing by the control device, and the height position and cutting of the clamp The inclination of the workpiece can be controlled based on the cutting area of the cutting workpiece, and the cutting area of the cutting workpiece can be controlled through the processing of the cutting area by calculation processing by the control device, the height position of the clamp and the inclination of the cutting workpiece. The weight can be cut almost uniformly.
[Selection] Figure 3

Description

  The present invention irradiates a frozen food with laser light, shoots it with a camera, and automatically calculates the cross-sectional area and cutting position in the arithmetic processing body by image analysis via a preset computer program. The present invention relates to a processing apparatus for frozen food or the like that can be cut into a uniform weight, preferably a uniform shape.

  In the current fishery processing industry, most fish fillets are produced by “intuition” by craftsmen. However, since this work is performed by human hands, particularly when cutting frozen fish, a considerable amount of force is required, which is heavy labor, and the production volume is limited. In addition, it takes several years to train craftsmen who cut high-quality fillets in a fixed amount corresponding to demand, and risks and cost burdens increase.

  In order to avoid the problem of processing by this craftsman, it is conceivable to cut frozen fish etc. with a cutting device, but in this case, hold the frozen fish by hand and move it from the fixed saw blade to a few millimeters. Since it is cut close to the door, there is a risk of inadvertently leading to a major accident. Furthermore, when a person manually cuts frozen fish, etc., it is necessary to keep the temperature in the workplace constant in order to maintain the freshness of the frozen fish, etc. Worried and labor saving is desired.

  Accordingly, the following automatic cutting apparatus for food such as fish and meat has been developed that can uniformly and safely cut food such as fish and meat regardless of the hands of craftsmen.

  Patent document 1 is a manufacturing method of a frozen fillet. This is done by twisting a straight portion of a band saw that a human circulates in a frozen fish meat block, and cutting so that one side of the cut surface is curved or curved, and the weight of the cut surface and the cut surface of each block are cut. The area is cut to approximately the same size.

  Patent document 2 is an automatic cutting device and an automatic cutting method for fish and the like. This includes a cutting blade mechanism in which a cutting blade portion screwed into a joint pivotally attached to an eccentric shaft that is rotated by the rotational force of a motor has a combined movement of vertical movement and swinging. A plurality of chopping plate members are arranged in parallel, converged by a chopping plate support frame, and the workpiece supply side can be raised to a predetermined height with the blade receiving side as an axis via an undulation mechanism. It can be swung as a fulcrum, and the workpiece on the cutting board is intermittently swung so that it changes intermittently by a predetermined width by the feed mechanism, and the cutting blade is operated in synchronization with this to correspond to the shape of the workpiece In this way, the cutting angle is controlled to cut cuts and the like excellent in texture in a labor-saving and efficient manner.

  Patent Document 3 is a fish slice slicing apparatus. This is based on the fish half-conveyor and servo motor, the detector that detects the cross-sectional area of the end of the half-body, the density of the half-body measured in advance and the cross-sectional area detected by the detector A controller for controlling the servo motor so that a specified number of slices of the fillet can be sliced, and the detector is provided with an encoder at the crossing portion of the compass, and the compass opening angle Can be measured accurately.

  Patent document 4 is an automatic cutting apparatus for fish meat. This consists of two sets of light sources and an imaging device. The light source and the imaging device scan the abdominal surface separately, and the other light source and the imaging device scan the skin side surface separately. After aligning both data, find the true volume represented by the difference between the volume calculated from the skin side data and the volume calculated from the abdominal nest data, This makes it possible to accurately produce a fillet of a certain volume without being affected by individual differences in fish and the state of being placed on a cutting board.

  Patent Document 5 is an automatic quantitative cutting apparatus. This consists of a weight measuring device, a shape measuring device, a cutting device, and an arithmetic and control device, which accurately measures the volume of materials such as fish and meat, and is extremely high in water from an ultra-high pressure cutting nozzle that is a cutting device. Cuts the object to be cut by jetting under pressure, and the area of the cut surface of each cut piece is almost uniform and can be cut to a constant weight, and the frozen material is cut without thawing. It is something that can be done.

  Patent Document 6 is a method and apparatus for vertically dividing a frozen fish body. This is to drive the chain conveyor, place the frozen fish on a mounting table provided on the carrier chain, and bring this frozen fish to the cutting action position of the cutter system device. Prior to this, cutting the edges of the small bones in the vicinity of the abdominal nest of the frozen fish body, and dividing the frozen fish body vertically, prior to this, cut the guide cut for 40% on the end surface on the tail side of the frozen fish body The present invention provides a method and an apparatus for vertically dividing a frozen fish body that is characterized by being formed and that is accurate and does not cause misplacement.

JP 2006-94749 A JP-A-8-23875 63-45189 JP-A-7-184534 JP 2002-125581 A JP-A-8-51921

  However, in the invention according to Patent Document 1, the frozen fish meat block is cut into pieces by placing it on a band saw that goes around the frozen fish block. is there. Therefore, it is dangerous because a human hits a band saw that circulates a frozen fish block and cuts it. In addition, it may be difficult to cut the food uniformly unless the craftsman has sufficient experience.

  In the invention according to Patent Document 2, a plurality of cutting board members are configured in parallel, and a workpiece is placed on the cutting board member and cut. However, the plurality of cutting board members have a plurality of fulcrums and support the work. Is difficult. Further, since the cutting board is composed of a plurality of cutting board members, there are many gaps between the cutting board members, and there is a problem in terms of hygiene because residues are easily accumulated in the gaps.

  The detector of the invention according to Patent Document 3 is provided with an encoder at the crossing portion of the compass so that the opening angle of the compass can be accurately measured, and is detected by directly applying a probe to the fish. There are hygiene problems.

  In the invention according to Patent Document 4, for example, the front surface and the back surface of fish meat are scanned separately, and after aligning the front surface data and the back surface data, the volume calculated from the back surface data is calculated from the volume calculated from the front surface data. The true volume is obtained by subtracting, but since two sets of light sources and an imaging device are used, there is a possibility that the device becomes complicated and the cost becomes high. Moreover, since the knife is used for the blade, it is impossible to cut the curve. Furthermore, a great deal of labor is required to clean the residue remaining on the conveyor, and the residue remains a sanitary problem.

  In the invention according to Patent Document 5, the cutting means for cutting the cutting target material is for cutting the cutting target material with water ejected from the ultrahigh pressure cutting nozzle. It is different from the invention. In addition, since the apparatus includes a weight measuring device, a shape measuring device, a cutting device, and an arithmetic and control device, the device is complicated and there is a risk that the cost is increased.

  The invention according to Patent Document 6 requires a great amount of labor to clean the residue remaining on the carrier chain, and may cause problems in terms of hygiene.

  Furthermore, according to the present invention, if necessary, a band saw (cutting machine) can be detached from the main body frame and can be used by incorporating an existing band saw. Since existing band saws cannot be incorporated, existing band saws cannot be used effectively.

  The inventions of Patent Documents 2 to 4 cannot be cut while the frozen state is maintained.

  Since the inventions of Patent Documents 3 to 6 are cut by placing a material on a conveyor or the like, an object having a round cross section cannot be cut.

  In the inventions of Patent Documents 4 to 6, the measurement process of the cut object and the cutting process are separate processes, which complicates the apparatus.

  The inventions of Patent Documents 4 to 6 can measure the shape of the surface of the cut product, but cannot calculate the cross-sectional area of a frozen frozen food or the like having a donut-like cross-sectional view in which the internal organs of a fish are removed.

  According to the third to fifth inventions, each member can be easily removed and cleaned by providing a magnet on the head, the first slider, the second slider, the moving piece, and the L-shaped bracket. In the invention disclosed in Patent Literature 6, it is difficult to remove each member easily, and thus it is difficult to clean each member.

In order to eliminate the above problems, the frozen food processing apparatus according to the first invention is a processing apparatus capable of cutting a frozen food cut product provided with each device on the main body frame as follows,
The main body frame has a rear frame that can be moved up and down and back and forth with respect to the main body frame, and a clamp that has a long hole that is removably provided on a support rod of a second slider provided on the rear frame. Or via a universal joint provided on the second slider, a position adjusting unit having a clamp rotatably provided within a range of 180 ° with respect to the rear frame, and a mounting facing the clamp of the position adjusting unit. A mounting unit provided with a table, a clamp of the position adjusting unit, a plurality of cameras for photographing a cutting portion of a cut work mounted on the mounting table, a laser , and a counter to the mounting table and a cutting machine provided with a transport unit which governs the position adjusting section vertical movement and longitudinal movement of having the clamp, and the image of the camera, the irradiation of the laser light emitting portion, the cutting of the cutting workpiece A control device provided for processing the product, the plurality of cameras and lasers, through the irradiation of the laser light emitting portion, obtained from a sensor obtained by the control device for processing the cutting area of the cutting workpiece Based on the cross-sectional area and shape data, the computer calculates and digitizes the three-dimensional coordinates of the X, Y, and Z axes necessary to cut the fillet for the specified weight and length. Yes, the clamp is moved at right angles to the longitudinal direction of the main body frame through movement in the vertical and forward / backward movement directions and the insertion / removal or rotation within a range of 180 °, Alternatively, it can be cut at an inclination, and the weight can be cut substantially uniformly based on the calculation and digitization by the computer .

Processing apparatus of such frozen foods of the second aspect of the invention, in the processing apparatus of frozen food according to claim 1, the machining apparatus, for clamping a mounting portion, the cutting workpiece placing a cutting workpiece position An adjustment unit and a conveyance unit that moves the cut workpiece are configured. The mounting unit includes a front frame fixed to the main body frame, a core provided in the front frame, and both ends of the core. On the upper surface of the front frame that is magnetically attached to the head, a head that is screwed to the feed screw shaft, and a head that is screwed to the feed screw shaft. A first slider provided to be held and a motor that rotates the feed screw shaft, and the position adjusting unit includes a rear frame of the main body frame, a core provided in the rear frame, The feed screw shafts provided at both ends of this core The head screwed to the feed screw shaft, a second slider that moves in the longitudinal direction along the upper surface of the rear frame, the clamp provided on the second slider, and the rear frame are supported. It consists of a piston rod, a cylinder provided in the main body frame in which the piston rod is accommodated, and a motor that rotates the feed screw shaft, and this conveying portion is provided in a plurality of cylinders standing on the main body frame. An outer member, a support member provided in the outer member, a feed screw shaft provided in the support member, a moving piece screwed on the feed screw shaft, and a motor for rotating the feed screw shaft and characterized by being configured in.

A processing apparatus for frozen food according to a third aspect of the present invention is the processing apparatus for frozen food according to claim 2, wherein a magnet is provided in each of the head constituting the mounting section and the first slider provided in the head. The magnet and the first slider can be integrated with or separated from each other.

The processing apparatus for frozen food according to a fourth aspect of the present invention is the processing apparatus for frozen food according to claim 2, wherein a magnet is provided in each of the head constituting the position adjusting unit and the second slider provided in the head , With this magnet, the position adjusting unit and the second slider can be integrated or separated.

The processing apparatus for frozen foods and the like according to the fifth aspect of the present invention is the processing apparatus for frozen foods according to claim 2, wherein the transport unit is provided with a magnet on the moving piece of the transport unit, and a magnet magnetically attached to the magnet is provided. The L-shaped metal fitting fixed to the cylinder is provided on the plate member via a conveying slider, and the moving piece and the L-shaped metal fitting can be integrated or separated by this magnet.

According to a sixth aspect of the present invention, there is provided a frozen food processing apparatus according to the second aspect of the present invention, wherein the second slider constituting the position adjusting unit is fixed to a rotating shaft via a bearing. A gripping part is provided via a universal joint provided at the free end of the rotating shaft, and it is possible to hold the work piece gripped on this gripping part at an arbitrary inclination angle and cut the work piece from various angles. It is characterized by doing.

A processing apparatus for frozen food according to a seventh aspect of the present invention is the processing apparatus for frozen food according to claim 2, wherein the platform is a pair of rotatable tilt bars and a first slider that controls the rotation of the tilt bars. The rotary shaft is fixed to the shaft, and the cut workpiece is supported at a predetermined inclination angle.

The processing apparatus for frozen food according to an eighth aspect of the present invention is the processing apparatus for frozen food according to claim 2, wherein the platform has a substantially V shape in front view with a gentle pair of inclined surfaces, The cut workpiece is supported at a predetermined inclination angle through the gentle pair of inclined surfaces .

  According to the first and second inventions, the X-axis, Y-axis, and Z-axis required to cut the fillet for the specified weight / length based on the cross-sectional area / shape data obtained from the sensor The three-dimensional coordinates are calculated and digitized by a computer, and the position adjustment unit, transport unit, and first and second sliders, which are drive units, are controlled by serial communication, etc., so that they can be controlled accurately and quickly. In addition, since the X axis, the Y axis, and the Z axis can be individually calculated and digitized, it is possible to grasp the cross section that has been actually cut and the cross section to be cut. Therefore, it is possible to cut easily and safely even by anyone, regardless of the craftsman's hand, by measuring the cut workpiece more accurately than the conventional example.

  In addition, the cut workpiece is not placed on the conveyor and cut as in the conventional example, but one of the cut workpieces is sandwiched between the clamps 12 and the other is placed on the platform 33 so that the cut workpiece is in the air. Therefore, since there is nothing that obstructs measurement accuracy, measurement and cutting can be performed more accurately than in the conventional example.

  Furthermore, when cutting frozen food etc. with an automatic cutting device having a fixed saw blade, it is necessary to bring the hand close to a few millimeters from the saw blade, but since this invention can automatically cut frozen food etc., this There is no such danger.

  In addition, the movable cylinder can handle any angle, so it can be used for oblique processing of frozen foods, etc., and the movement of the craftsman's hand can be easily reproduced by the machine, so the cut end of the workpiece is beautiful. As a result, consumers' willingness to purchase increases.

  Furthermore, since frozen foods are fixed at two points of the clamps provided on the first slider and the second slider, a strong clamping force is not required, and the product is less damaged.

  When the frozen foods before processing have almost the same shape, once programmed, the same frozen foods can be cut as many times as possible, so that the programming inconvenience can be avoided.

  Since the cross-sectional area can be measured for each cut portion, it can be processed into the same volume even when the shape of the frozen food or the like before processing is uneven.

  Since frozen foods can be processed easily and safely in a frozen state and there is no product deterioration due to thawing, safe and high-quality products can be provided to consumers.

  Moreover, it is possible to measure frozen foods in the middle of cutting, and the cross-sectional area of dough-shaped hollow frozen foods with a cross sectional view such as a fish internal organ removed can be calculated.

  According to the third aspect of the present invention, a magnet is provided on each of the head of the mounting portion and the first slider, and the head and the first slider can be integrated or separated via the magnet. The first slider can be detached and easily removed for easy cleaning, and the first slider can be cleaned, for example, with water, so that the first slider can always be kept clean.

  According to the fourth aspect of the present invention, the position adjusting unit and the second slider are each provided with a magnet, and the position adjusting unit and the second slider can be integrated or separated via the magnet. The second slider is detachable and can be easily removed to facilitate cleaning, and the second slider can be cleaned, for example, with water, so that it can always be kept clean.

  According to the fifth aspect of the present invention, a magnet is provided in each of the transport unit, the movable piece of the transport unit and the L-shaped bracket fixed to the cylinder, and the movable piece and the L-shaped bracket are connected to each other through the magnet. Since the cylinders can be integrated or separated from each other, the cylinder can be detached and easily removed for easy cleaning, and the cylinder can be cleaned, for example, by washing with water, so that the cylinder can always be kept clean.

  According to the sixth aspect of the present invention, the rotating shaft is fixed to the second slider constituting the position adjusting portion via the bearing, and the holding portion is provided via the universal joint provided at the free end of the rotating shaft. It is possible to hold the cut workpiece held at an arbitrary inclination angle and cut the cut workpiece from various angles, so that the cut workpiece can have an accurate and uniform cut section. .

  According to the seventh invention, the platform is composed of a pair of rotatable tilt bars and a rotation shaft fixed to the first slider that controls the rotation of the tilt bars, and the workpiece is cut at a predetermined tilt angle. Therefore, according to the shape of the cut workpiece, the cut workpiece can be placed and cut.

  According to an eighth aspect of the present invention, the platform has a substantially V shape when viewed from the front, and the platform has a gentle pair of inclined surfaces via the gentle pair of inclined surfaces. Since the cutting workpiece is supported at a predetermined inclination angle, when the cutting workpiece is placed on the platform, the cutting workpiece is moderately supported by the inclined surfaces on both sides. That is, in the case of a flat surface, there arises a problem that the cut workpiece cannot be slid and fixed by the back-and-forth movement at the time of cutting.

  Further, although the fulcrum is difficult to be determined when it is flat, in the eighth invention, since the cut workpiece is fixed to the substantially V-shaped recess, the recess serves as a fulcrum for controlling the posture.

  In addition, when the platform is flat, both the left front camera and the right front camera installed at 45 ° diagonally should shoot the lower surface of the cut workpiece when the caudal side clamped by the clamp of the cut workpiece is lifted. I can't. However, in the case of a substantially V shape, if the caudal side is lifted and one side is tilted to the left, the bottom surface of the cut workpiece can be photographed when photographed from a camera installed at 45 ° diagonally forward to the right. If this state is photographed from a camera installed at an angle of 45 ° on the opposite side, for example, the lower surface cannot be photographed, the entire cut workpiece can be photographed.

Next, a frozen food processing apparatus according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view of a fish cutting machine. FIG. 2 is a perspective view of a processing apparatus for frozen food or the like incorporating a fish meat cutting machine. 3 and 4 are perspective views in which a part of a processing apparatus for frozen food or the like incorporating a fish meat cutting machine is omitted. FIG. 5A illustrates a state in which the components of the position adjusting unit of the bolt fastening method are disassembled. FIG. 5B is a cross-sectional view of the position adjusting unit of the bolt tightening fixing method. FIG. 5C is a cross-sectional view of the position adjustment unit of the first magnet fixing method. FIG. 5-4 is a cross-sectional view of the position adjustment unit of the second magnet fixing method. FIG. 6A is a perspective view of a state in which a processed product such as frozen food is supported by a clamp and a placement portion. FIG. 6B is a cutaway perspective view of the mounting portion. FIG. 6C is a cross-sectional view of the placement unit. FIG. 6-4 is a perspective view of a second slider using a universal joint and a clamping portion, and FIG. 6-5 is a perspective view of the first slider using an inclined bar. FIG. 7 is a diagram illustrating a state in which a cross-sectional area is obtained by image analysis of a video image of a cut processed product such as frozen food, and a cutting position is automatically calculated. FIG. 8 is a diagram illustrating a state in which a cross-sectional area is obtained by image analysis of an image obtained by photographing a state where the dorsal side of a cut processed product such as frozen food is tilted upward, and a cutting position is automatically calculated. FIG. 9 is a diagram showing a state in which a cross-sectional area is obtained by image analysis of an image obtained by photographing the caudal side of a cut processed product such as frozen food upward, and a cutting position is automatically calculated. FIG. 10 is a diagram illustrating a state in which a cross-sectional area is obtained by image analysis of an image captured by a camera when a cut product such as frozen food is hollow and a cutting position is automatically calculated. FIG. 11 is a process diagram of “perspective calibration”.

  FIG. 1 is a perspective view in which only a fish cutting machine 1 according to the present invention is separated. The fish cutting machine 1 has various configurations and shapes, and the fish cutting machine 1 illustrated in FIG. 1 is an example.

  FIG. 2 shows a state in which a fish cutting machine 1 is provided on the main body frame 2 on the back side of the present invention. The present invention can also be configured so that the cutting machine 1 is detachable. Therefore, the existing equipment can be used effectively and new equipment investment can be avoided. The configuration of the present invention in this case is such that the back side on which the fish cutting machine 1 of the present invention is provided is opened, and the cutting machine 1 is moved straight from the back side to the front side of the present invention, and the back side By providing the cutting machine 1 on the main body frame 2, the main body frame 2 and the cutting machine 1 are integrated. Here, there are various methods for integrating the main body frame 2 and the cutting machine 1. For example, the main body frame 2 can be integrated by providing a lock mechanism and using the lock mechanism. In addition, a lock mechanism that can be fixed and released with one touch is convenient because the existing cutting machine 1 can be attached with a simple operation.

  The front side of the present invention can be classified into upper and lower. A display 4a, an emergency stop button 4b, a lamp 4c, and a door 5 are provided above. The display 4a is a touch panel, and the present invention can be operated by touching the display 4a with a finger. Note that the positions of the display 4a, the emergency stop button 4b, and the like are not limited to the front, and may be any positions where the apparatus can be easily operated. Furthermore, in the unlikely event that an emergency stop device is attached, the device can be stopped by pressing the emergency stop button 4b. Then, by opening the door 5, the internal state can be confirmed, the cut processed product A such as frozen food can be installed, and the cut processed product A such as the frozen frozen food can be taken out. On the other hand, a control device 3 and a controller 4 are installed below. In addition, the internal state can be confirmed by making the material of the door 5 transparent or semi-transparent. Moreover, the cut workpiece A can be taken out by installing a conveyor and a shooter (not shown).

  Further, the right side surface and the left side surface of the present invention can also be classified into upper and lower sides. Then, a door 5 is provided above, and the door 5 is opened to confirm the inside state, to install a cut processed product A such as frozen food, or to a cut processed product A such as a frozen frozen food. Can be taken out. By making the material of the door 5 on the right side surface and the left side surface transparent and semi-transparent, the internal state can be confirmed. Here, it is needless to say that the door 5 may be a sliding door.

  2 to 4, the caster 2a can be attached to the lower side of the present invention, and when the caster 2a is attached, the present invention can be easily moved. Although omitted in FIGS. 2 to 4, an infrared cut panel 2 b may be provided throughout the present invention.

  FIG. 3 is a diagram showing an actual use state. Thus, in the present invention, one of the cut products A such as frozen food is clamped by the clamp 12 of the position adjusting unit 10, and the other of the cut products A such as frozen food is placed on the platform 33 on the first slider 31. The frozen processed food A is irradiated with the line laser 7a emitted from the laser illuminant 7 and photographed with the right camera 6a and the left camera 6b to cut the frozen food. The sectional area of the product A is obtained, the cutting position is automatically calculated, and the processed product A such as frozen food is processed.

  A camera 6 for photographing the cut processed product A such as frozen food is fixed to the main body frame 2. However, in FIG. 3, as an example, the camera 6 is divided into a right camera 6 a and a left camera 6 b, and the right camera 6 a is fixed to the base 1 a and the left camera 6 b is fixed to the main body frame 2. It is also possible to take a picture so that the angle of the camera 6 can be changed. That is, by separately providing a base perpendicular to the front frame 50a and attaching the camera 6 to the base with a camera fixture, the angle, height, etc. of the camera 6 can be arbitrarily changed.

  Further, the camera 6 is fixed obliquely with respect to the cut processed product A such as frozen food in order to photograph the cut processed product A such as frozen food as the subject from the diagonally left direction and the diagonally right direction. However, as long as the cut processed product A such as frozen food can be measured, it is not limited to the diagonal fixation.

  On the other hand, the laser emitter 7 is fixed to the main body frame 2 and is provided at a position where the line laser 7a can be irradiated onto the cut product A such as frozen food. However, as long as the laser light emitter 7 can irradiate the cut product A such as frozen food with the line laser 7a, it may be provided on the base 1a of the cutting machine 1 as shown in FIG.

  FIG. 4 also shows an actual use state of the present invention. The cylinder 23 and the rear frame 50b move forward from the state of FIG. 3, and the rear frame 50b of the position adjustment unit 10 rises, so that the frozen food or the like Although the state which cut | disconnects the cut workpiece A is shown in figure, a basic structure applies to FIG.

  Here, the movable parts of the present invention are mainly the position adjustment unit 10, the transport unit 20, and the placement unit 30, and the cut processed product A such as frozen food is cut by moving these. Note that the outer member 21 and the cylinder 23 may have a cylindrical shape as well as a square shape as shown in FIG. 4 as long as the effects of the present invention are not impaired.

  Here, the conveyance part 20 which is provided in the main body frame 2 and controls the conveyance of the cut workpiece A and the movement of the clamp 12 in the longitudinal direction B will be described. The transport unit 20 is provided below the right side surface and below the left side surface of the present invention. In addition, in the Example, although the conveyance part 20 is provided below the right side surface and left side surface of this invention, these may be integrated and provided in the center part.

  The cylinder 23 of the transport unit 20 is provided in a direction perpendicular to the outer member 21. Regarding the relationship between the outer member 21 and the cylinder 23, a bolt fastening fixing method, a first magnet fixing method, and a second magnet fixing method are used. There is.

  First, the case where the relationship between the outer member 21 and the cylinder 23 is a bolt fastening method will be described below.

  The figure which decomposed | disassembled the component article of this bolting fixing system is FIG. 5-1. Here, the components of the conveying unit 20 in the case of the bolt fastening method are roughly classified, and the outer member 21, the support material 22, the cylinder 23, the feed screw shaft 24, the moving piece 25, the moving piece 25, and the cylinder 23 are connected to each other. In addition to the metal fitting 26, it includes a rolling bearing (not shown), a fixture, and a motor. A piston rod 13 is provided in the cylinder 23.

  First, at least two L-shaped fittings 26 are provided on the cylinder 23, but both are fixed by the following method. That is, the L-shaped metal fitting 26 has one surface fixed to one surface of the cylinder 23. This fixing may be fixed by a caulking or the like in addition to fixing by a fixing tool such as a screw.

  Then, the outer member 21 is provided with a moving groove 21a that opens, and the surface on which the moving groove 21a is provided faces downward, and the outer member 21 is provided below the right side surface and the left side surface of the present invention. The moving groove 21a of the outer member 21 is provided along the movement of the moving piece 25 described later. Further, when the outer member 21 is viewed from the side, it has an arch-shaped cutout.

  Next, the support member 22 is provided with a moving groove 22a that opens, and the support member 22 is provided in the outer member 21 with the surface provided with the movement groove 22a facing downward. The moving groove 22a of the support member 22 is also provided along the movement of the moving piece 25 described later. Further, when the support member 22 is viewed from the side, the support member 22 has an arch-shaped cutout. In addition, by covering the end portions of the outer member 21 and the support member 22 with a plate body, a lid, or the like, it is possible to prevent intrusion of chips, dust, and the like.

  Further, a feed screw shaft 24 is provided across the support material 22. A moving piece 25 is screwed onto the feed screw shaft 24 that is passed to the support member 22. In addition, a shaft hole 25b is provided on one side of the moving piece 25, and the other side is a fixing surface 25a provided with a hole 25c for fixing the L-shaped fitting 26, and the other surface of the L-shaped fitting 26 and the fixing surface 25a of the moving piece 25 are provided. The moving piece 25 and the cylinder 23 are integrated via the L-shaped bracket 26 by being fixed by a fixing tool such as a screw.

  The feed screw shaft 24 has a tubular body at both ends, and a groove is spirally formed in an intermediate portion thereof. Roller bearings and fixtures are provided on one pipe body of the feed screw shaft 24, and a motor is provided on the other pipe body so that it is supported in the support member 22.

  Here, the rolling bearing is generally composed of an outer ring, an inner ring having a smaller diameter than the outer ring, a plurality of rolling elements, and a cage for holding the rolling elements. An inner ring is provided on the inner side of the outer ring, and a cage and a rolling element held by the cage are provided between the outer ring and the inner ring. However, other examples may be used. Next, the support of the rolling bearing will be described. First, one of the fixtures is provided on the inner upper side of the support member 22, and the other of the fixtures is provided on the outer peripheral surface of the outer ring. Next, one of the fixtures is provided below the support member 22 and the other of the fixtures is provided on the outer peripheral surface of the outer ring. In this way, the rolling bearing is supported on the support member 22. The support of the rolling bearing described here is an example, and it is possible without using a fixture. For example, a case where the outer ring of the rolling bearing is directly fixed to the inside of the support member 22 is also conceivable.

  Then, one pipe body of the feed screw shaft 24 is inserted into the inner ring of this rolling bearing, and the inner ring and the feed screw shaft 24 are supported.

  Then, when the motor provided on the other side of the feed screw shaft 24 rotates, the moving piece 25 screwed to the feed screw shaft 24 moves in the longitudinal direction B along the screw of the feed screw shaft 24, and the L-shaped bracket The cylinder 23 integrated with the moving piece 25 is also moved in the longitudinal direction B along the axial direction of the feed screw shaft 24 via 26. In such a mechanism, it is convenient, economical and useful to use a normal electric cylinder.

  FIG. 5B is a cross-sectional view of the bolted and fixed conveyance unit 20. Further, also in FIG. 5B, only one set of the outer member 21 and the like is illustrated for simplification.

  The feed screw shaft 24 provided in the support member 22 is supported by a rolling bearing and a fixture (not shown) as described above.

  In the case of the bolt tightening fixing method in the relationship between the cylinder 23 and the outer member 21, the L-shaped bracket 26 and the moving piece 25 are fixed with a fixing tool such as a screw as described above. As another example, the first magnet is fixed. It may be fixed by the method and the second magnet fixing method.

  First, the first magnet fixing method will be described below. In the case of the first magnet fixing method, the component of the conveyance unit 20 includes the magnet 54 and the knock pin 27 in addition to the component of the conveyance unit 20 of the bolt fastening method. Therefore, in the case of the magnet fixing method, the point that the support member 22 is provided in the outer member 21, the point that the feed screw shaft 24 and the moving piece 25 are provided in the support member 22, etc. However, it is different in that the moving piece 25 and the L-shaped bracket 26 are fixed using a magnet 54 and the moving piece 25 and the L-shaped bracket 26 are integrated by a knock pin 27.

  In the case of the first magnet fixing method, as shown in FIG. 5C, the magnet 54 is provided on the fixed surface 25a of the moving piece 25, and the magnet 54 is also provided on one surface of the L-shaped bracket 26. Then, the moving piece 25 and the L-shaped bracket 26 are fixed by the magnetic force of the magnet 54. Further, a knock pin hole is provided in the fixed surface 25a of the moving piece, and a knock pin hole is also provided in the L-shaped metal fitting 26. The moving piece 25 and the L-shaped bracket 26 are fixed by inserting the knock pin 27 into both the knock pin holes.

  The components of the position adjustment unit 10 for conveying the cut workpiece A and adjusting the height position of the clamp 12 are roughly classified. The rear frame 50b, the second slider 11, the clamp 12, the core 51, the feed screw shaft 52, and the head. 53 and the piston rod 13. If the shape of the rear frame 50b does not hinder the effect of the present invention, the shape of the rear frame 50b may be cylindrical as well as rectangular as shown in FIG.

  The piston rod 13 is internally provided in the cylinder 23 by providing one side of the piston rod 13 on both lower surfaces of the rear frame 50b and inserting the piston rod 13 into the inner path of the cylinder 23 from the other side. The piston rod 13 moves up and down along the inner path of the cylinder 23, and at the same time, the cut product A such as frozen food sandwiched between the clamps 12 moves up and down. The shape of the cylinder 23 may be a cylindrical shape as well as a square shape as shown in FIG. 5-3 as long as the effect of the present invention is not impaired.

  The second slider 11 is provided on the upper surface of the rear frame 50b, and the clamp 12 is provided on the upper surface of the second slider 11. The relationship between the rear frame 50b and the second slider 11 conforms to the description of FIG.

  FIG. 5-4 is a cross-sectional view of the second magnet adhering type conveyance unit 20. The components of the transport unit 20 in the case of the second magnet fixing method are roughly classified. The outer member 21, the support member 22, the cylinder 23, the feed screw shaft 24, the moving piece 25, the magnet 54, the L-shaped bracket 26, and the plate body 28. , A transport slider 29, a third rotating mechanism 40C, and a motor.

  In the case of the second magnet fixing method, the point that the support member 22 is provided in the outer member 21, the point that the feed screw shaft 24 and the moving piece 25 are provided in the support member 22, etc. are almost the same. Although it is based on the method and the bolt fastening method, it is different from these in that the third rotating mechanism 40C is used. The basic configuration of the second magnet fixing method using the third rotating mechanism 40C substantially conforms to FIG. 6-2.

  That is, the plate 28 is provided on the inner upper surface of the third rotation mechanism 40C and the transfer slider 29 on the transfer slider 29 corresponding to the first slider 31 in FIG. 6-2, and the magnet 54 is provided on the plate 28. On the other hand, a magnet 54 is also provided on the fixed surface 25 a of the moving piece 25. The moving piece 25 and the conveying slider 29 are fixed through the outer member 21 by the magnetic force of the magnet 54 provided on the fixed surface 25 a of the moving piece 25 and the magnet 54 provided on the plate 28 of the conveying slider 29.

  Specifically, the conveyance slider 29 and the cylinder 23 are integrated through the L-shaped metal fitting 26 by providing a screw hole on the upper surface of the conveyance slider 29 and providing a screw hole on the other surface of the L-shaped metal fitting 26. Then, screws are inserted into the screw holes of the transport slider 29 and the screw holes of the L-shaped metal tool 26 to fix the transport slider 29 and the L-shaped bracket 26. On the other hand, a hole is also provided on one surface of the L-shaped bracket 26, and a hole is also provided in the cylinder 23. Then, screws are inserted into the holes of the L-shaped bracket 26 and the cylinder 23 to fix the L-shaped bracket 26 and the cylinder 23.

  Thus, since the conveyance slider 29 integrated with the cylinder 23 is fixed to the moving piece 25 through the magnet 54, the cylinder 23 can be easily removed and the cylinder 23 can be cleaned by removing it.

  When the feed screw shaft 24 provided in the support member 22 is rotated by the motor, the upper surface of the outer member 21 is connected to the transfer slider 29 provided with the third rotation mechanism 40C and the transfer slider 29 via the L-shaped bracket 26. The integrated cylinder 23 moves in the longitudinal direction B.

  As shown in FIG. 6A, the clamp 12 holds one of the cut products A such as frozen food. The clamp 12 may have any structure as long as it can hold the cut product A such as frozen food. As an example, a pair of first sandwiching body 12a and second sandwiching body 12b having a sandwiching piece at the tip can be sandwiched by an elastic body (not shown) interposed between the first sandwiching body 12a and the second sandwiching body 12b. The clamp 12 is shown in FIG.

  A hole is provided in the second sandwiching body 12b of the clamp 12 and the second slider 11, the holes are aligned, and the support bar 14 is inserted into the holes, whereby the support bar 14 is erected on the second slider 11, and the clamp 12 And the second slider 11 are integrated. By making a part of the support bar 14 larger in diameter than the hole, the support bar 14 is fixed by locking a part of the support bar 14 to the second sandwiching body 12b. Further, by making the support rod 14 detachable, the clamp 12 can be detachable, so that the clamp 12 can be washed with water and kept clean. Moreover, the clamp 12 is loosely fitted by making this hole into a long hole, and in this case, the clamp 12 moves vertically and horizontally.

  In addition, as a member which connects the 2nd slider 11 and the clamp 12, it is also possible to use the universal joint 70 mentioned later in FIGS. 6-4, for example.

  Here, the second slider 11 has a concave shape in cross section with one side omitted, and the second slider 11 is provided on the upper surface of the rear frame 50b from the side with the second slider 11 omitted. Then, the second slider 11 moves left and right on the upper surface of the rear frame 50b via a second rotation mechanism 40B described later.

  On the other hand, the first slider 31 also has a concave shape in cross section with one side missing. Then, the missing side of the first slider 31 is provided on the upper surface of the front frame 50a. A platform 33 is provided on the upper surface of the first slider 31. The platform 33 has a substantially V shape when viewed from the front, and has a gentle pair of inclined surfaces 33a. By placing the cut workpiece A on the gently inclined surface 33a, the cut workpiece A is appropriately supported and can be cut. Further, a recess 33b is formed in the substantially V-shaped mounting base 33, and the cut workpiece A is fixed to the recess 33b and serves as a fulcrum for controlling the posture of the cut workpiece A. Further, the angle can be adjusted for each shape of the cut workpiece A, and cutting can be performed. In addition, the shape of the mounting base 33 is not limited to a substantially V shape as long as the cut workpiece A can be supported. Then, the first slider 31 moves left and right on the upper surface of the front frame 50a via a first rotation mechanism 40A described later.

  In general, by providing a plate or lid at the ends of the front frame 50a and the rear frame 50b, covering the ends of the front frame 50a and the rear frame 50b prevents intrusion of chips and dust. However, it is not limited to this configuration.

  Then, the line laser 7 emitted from the laser emitter 7 installed in the main body frame 2 is irradiated to the cut processed product A such as frozen food. Then, the image data can be obtained by photographing the subject from the right camera 6a obliquely from the right side and the subject from the left camera 6b obliquely from the left side. Process by.

  The head 53 and the second slider 11 are fixed by the magnet 54 provided on the head 53 and the magnet 54 provided on the second slider 11, and the second slider 11 is also moved to the left and right via the second rotation mechanism 40B. Accordingly, the cut processed product A such as frozen food sandwiched between the clamps 12 also moves left and right. In such a mechanism, it is convenient, economical and useful to use a normal electric cylinder.

  In FIG. 6B, one part of the placement unit 30 is omitted. Here, the description in FIG. 6-2 can also be applied to the position adjustment unit 10 described in FIG. 6A. However, FIGS. 6-2 and 6-3 are limited to the placement unit 30 for convenience. I will explain. Accordingly, the front frame 50a illustrated in FIGS. 6-2 and 6-3 may be replaced with the rear frame 50b, the first rotation mechanism 40A may be replaced with the second rotation mechanism 40B, and the first slider 31 may be replaced with the second slider 11. it can. In FIG. 6B, the platform 33 provided above the first slider 31 is omitted, but it goes without saying that the platform 33 can be provided as shown in FIGS. is there.

  Here, when the components of the placement unit 30 are roughly classified, the first rotating mechanism 40A, the first slider 31 provided with the first rotating mechanism 40A, the front frame 50a, the head 53, the core 51, the magnet 54, the feed screw. It consists of a shaft 52.

  The core 51 is provided with a moving groove 51a that opens upward, and the core 51 is installed in the front frame 50a with the moving groove 51a facing upward. Then, both ends of the core 51 are tubed, and a screw shaft 52 that engraves a groove spirally is provided in the middle of the core 51. A head 53 is screwed onto the screw shaft 52.

  The shape of the head 53 is approximately T-shaped at the top and approximately rectangular at the bottom, but the shape of the head 53 is an example. A fixed surface 53a above the head 53 protrudes from the upper surface of the core 51, and a magnet 54 is provided on the fixed surface 53a. The magnet 54 is generally fixed with a fixing tool such as a screw. A shaft hole 53c is provided below the head 53, and a spiral groove is formed in the shaft hole 53c.

  Then, a rolling bearing and a fixing tool are provided on one tube body of the feed screw shaft 52, and a motor is provided on the other tube body, so that it is supported in the core 51.

  A magnet 54 is also provided on the first slider 31. The first slider 31 and the magnet 54 are fixed by interposing the plate body 32 on the inner upper surface of the first slider 31 and fixing the first slider 31, the plate body 32 and the magnet 54 together with a fixing tool such as a screw. To do. Further, screw holes are provided in the side surface of the plate body 32 and the side surface of the first slider 31, and the plate body 32 and the first slider 31 are integrally fixed from the side surface of the first slider 31 by a fixing tool such as a screw.

  The first slider 31 is provided with a first rotation mechanism 40A. The first rotation mechanism 40A includes a shaft body 40a, a roller 40b, and a nut 40c. Then, the roller 40b is fitted to the shaft body 40a, and the roller 40b rotates with the shaft body 40a as a fulcrum. In addition, the shaft body 40a and the slider are attached, for example, with both end portions of the shaft body 40a having a groove shape and the inside of the nut 40c also having a groove shape. Then, holes are provided on both sides of the first slider 31, the shaft body 40 a is inserted into the holes, and the groove shape of the nut 40 c and the groove shape of the shaft body 40 a are screwed into the first slider 31 from the outside of the first slider 31. The first rotation mechanism 40A is fixed.

  The first slider 31 and the head 53 are fixed by the magnet 54 provided in the first slider 31 and the magnet 54 provided in the head 53, and the feed screw shaft 52 provided in the core 51 is rotated by the motor. The head 53 moves left and right along the movement groove 51a of the core 51, and the first slider 31 also moves on the upper surface of the front frame 50a via the first rotation mechanism 40A.

  Further, since the first slider 31 is fixed by the magnet 54, it can be easily removed. Thus, by removing the 1st slider 31, the 1st slider 31 can be cleaned alone, such as washing with water, and can be kept clean.

  Here, a cross-sectional view of the peripheral portion of the mounting portion 30 that is intended to tilt the cut workpiece A is as shown in FIG. A state in which the first slider 31 and the head 53 are fixed by the magnet 54 on the first slider 31 side and the magnet 54 on the head 53 side and a part thereof is missing is shown in FIG. 6-3 partially lacks the upper right portion, but the upper right portion where the portion is partially missing is a cross-sectional view taken along the line BB illustrated in FIG. 6-2 in which the periphery of the first rotation mechanism 40A is divided. The other part is a cross-sectional view taken along lines AA and CC shown in FIG.

  By the movement of the conveyance unit 20 and the position adjustment unit 10 described above, the cut processed product A such as frozen food can be cut at a right angle, and can also be cut at an angle.

  FIG. 6-4 illustrates the second slider 11 that uses the universal joint 70 and the sandwiching portion 80. The movement of the second slider 11 is basically the same as that of the second magnet fixing method shown in FIG. 6B, and the second slider 11 moves on the upper surface of the rear frame 50b. Instead of the clamp 12 that clamps the cut workpiece A, the clamping portion 80 is used to clamp the cut workpiece A.

  Here, an example of a component of the position adjusting unit 10 using the universal joint 70 is shown. The second slider 11, the universal joint 70, the rotating shaft 72, the bearing 75, the clamping unit 80, the second rotating mechanism 40B, and the magnet 54. Consists of. An example of a component of the universal joint 70 includes a first yoke 70a, a second yoke 70b, a top 70c that connects the first yoke 70a and the second yoke 70b, and a screw that connects them.

  An example of the configuration of the sixth invention will be described below. First, the rotary shaft 72 is fixed to the upper surface of the second slider 11 via a bearing 75. It is also possible to provide a stopper at the rear end of the rotating shaft 72 and to fix the stopper to the upper surface of the second slider 11.

  Next, by connecting the free end 72a of the rotating shaft 72 and the rear side 70b1 of the second yoke 70b, the rotating shaft 72 and the second yoke 70b of the universal joint 70 are integrated.

  And the clamping part 80 is connected with the front side 70a1 of the 1st yoke 70a. As described above, the clamping shaft 80 is provided at the free end 72a of the rotating shaft 72 via the universal joint 70, whereby the rotating shaft 72, the universal joint 70, and the clamping portion 80 are integrated.

  Here, when the components of the clamping unit 80 are roughly divided, the main body 80a and the operating screw 80b are configured. However, the configuration is not limited to this.

  A protrusion 80a1 is provided on the lower jaw part of the body 80a of the clamping part 80, and an operating screw 80b is provided as the upper jaw part. The cut workpiece A is sandwiched between the projection 80a1 of the lower jaw and the tip 80b1 of the operating screw 80b. Since the cutting work A can be clamped by adjusting the operating screw 80b according to the size of the cutting work A, the cutting work A can be handled with various sizes. Accurate and uniform cutting is possible.

  FIG. 6-5 illustrates the first slider 31 using the inclined bar 63. The basic movement of the first slider 31 is the same as that of the second magnet fixing method shown in FIG. 6B, and the first slider 31 moves on the upper surface of the front frame 50a. Then, instead of the platform 33 on which the cut workpiece A is placed, a pair of rotatable inclined bars 63 are provided, and the cut workpiece A is placed on the inclined bar 63 and cut.

  Here, the components of the placement unit 30 are roughly divided into a first slider 31, a first rotation mechanism 40 </ b> A, a magnet 54, a support 31, a rotation shaft 62, and an inclined bar 63. Note that the first rotation mechanism 40 </ b> A provided on the first slider 31 is generally provided at two locations on both sides of the first slider 31. An example of the configuration of the seventh invention will be described below.

  The support 61 is provided upright on the upper surface of the first slider 31. For example, there is a method in which the support 61 is provided with a support hole 31a on the upper surface of the first slider 31, and the support 61 is inserted into the support hole 31a. In addition, a method of integrally forming the first slider 31 and the support column 61 is also exemplified.

  The rotation shaft 62 is provided in the support 61. For example, the rotation shaft 62 is provided with a hole 61a for inserting the rotation shaft 62 and a screw hole 61b in the support 61, and after inserting the rotation shaft 62 into the hole 61a, the screw hole There is a method of providing the rotating shaft 62 by inserting the screw 61c into the 61b and fastening the screw 61c. In addition to this, a method of integrally forming the rotating shaft 62 and the support column 61 is also exemplified.

  A pair of inclined bars 63 are provided on the rotating shaft 62. The rotating shaft 62 is provided with, for example, a hole 62a for inserting the inclined bar 63 and a screw hole 62b, and after inserting the inclined bar 63 into the hole 62a, the screw hole In addition to the method of inserting the screw 62c into the 62b and fastening the screw 62c, a method of integrally forming the inclined bar 63 and the rotating shaft 62 can be mentioned.

  6-1, FIG. 6-2, and FIG. 6-3, although the shape of the mounting base 33 on which the cut workpiece A of the mounting portion 30 is placed is a valley shape or the mounting base 33 is omitted, FIG. 4, the inclination bar 63 can be freely adjusted at a predetermined inclination angle, and the cut workpiece A can be supported at a predetermined inclination angle. The inclination angle of the inclination bar 63 can be freely adjusted by loosening the screw inserted into the screw hole 61 b of the support 61 fixed to the first slider 31.

  In FIG. 6B, the roller 40b, the nut 60e, the shaft body 40a, and the magnet 54 are built in the first slider 31 and cannot be visually recognized from the outside. -4 can be seen from the outside, but it is also possible to cover them. Covering the cover further improves the prevention of chip intrusion.

  7 to 9 can be divided into an upper diagram and a lower diagram. In the upper diagram, the line laser 7a of the cut workpiece A is irradiated and photographed by the camera 6, and in the lower diagram, the actual situation is illustrated. FIG. 6 illustrates an image processing process from a photographed image. That is, the figure below shows the process of automatically calculating the cross-sectional area and cutting position of the cut processed product A such as frozen food by the image processing through a preset computer program in the arithmetic processing body.

  And when irradiating the line laser 7a, the main body frame 2 is provided with an infrared cut panel 2b that cuts light in the red band including the vicinity of the laser wavelength, cuts off the red band ambient light that overlaps the laser wavelength, By attaching a lens filter that cuts the green and blue bands shorter than the laser wavelength in front, only the laser wavelength can be photographed. 8 and FIG. 9 is also provided with an infrared cut panel 2b. In addition, since the line laser 7a can be irradiated from various angles, it is needless to say that the line laser 7a is not limited to being irradiated from the position shown in each figure.

  The upper diagram of FIG. 7 illustrates a state in which the cut workpiece A is leveled. 7 is an image processing step diagram of the cut workpiece A in the horizontal state.

  In the lower diagram of FIG. 7, the image captured by the right camera 6a follows the process of right (1) → right (2) → right (3). An image taken by the left camera 6b follows the process of left (1) → left (2) → left (3).

  First, the right (1) is an image in which the line laser 7a is irradiated to the cut product A such as frozen food from an oblique direction, and the cut product A such as frozen food is photographed obliquely by the right camera 6a.

  Next, on the right (2), only the line laser 7a is extracted from the image photographed on the right (1) by image processing such as binarization.

  Furthermore, it converts into the state seen from the front by "perspective calibration". This is right (3). This is because the cut workpiece A is photographed from an oblique direction, and the oblique photographing is corrected to a state photographed from the front.

  Further, the left (1) is an image obtained by irradiating the cut product A such as frozen food with the line laser 7a from an oblique direction and photographing the cut product A such as frozen food obliquely with the left camera 6b.

  Next, it is left (2) that only the line laser 7a is extracted from the image photographed on the left (1).

  Furthermore, it converts into the state seen from the front by "perspective calibration". This is the left (3).

  Finally, the right (3) and left (3) images are combined, and information such as the width, height, area, and coordinates of the cut workpiece A is analyzed.

  Here, the control program of the present invention can cut a processed product such as frozen food evenly in thickness and length, and the control program uses a specified weight based on the cross-sectional area / shape data obtained from the sensor. -The computer calculates and digitizes the three-dimensional coordinates of the X, Y, and Z axes necessary to cut the fillet relative to the length, and the position adjustment unit 10 that is the drive unit, the transport unit 20, The first slider 31 and the second slider 11 are controlled by serial communication or the like. In this case, it is possible to control accurately and quickly. It is also possible to calculate and digitize the X axis, the Y axis, and the Z axis individually.

  FIG. 8 shows an image measurement in a state where the dough Aa side of the cut processed product A such as frozen food shown in FIG. 7 is inclined upward. The basic flow of FIG. 8 is the same as that of FIG.

  FIG. 9 shows an image measurement in a state in which the tail fin Ab side of the cut processed product A such as frozen food illustrated in FIG. 7 is inclined upward. The basic flow of FIG. 9 is the same as that of FIG.

  FIG. 10 is an image of a case where the cut product A such as frozen food is hollow, and measures the image. Hereinafter, it demonstrates over (1)-(3). Here, the basic flow of FIG. 10 is the same as (1) to (3) of FIGS. First, (1) is an image of the cut workpiece A taken by the right camera 6a. Here, in FIG. 10 (1), the right camera 6a is used for shooting, but the left camera 6b may be used for shooting. Next, in (2) of FIG. 10, the line laser 7a is extracted. Finally, as shown in (3) of FIG. 10, “perspective calibration” is performed to convert the state into a state seen from the front. In FIG. 10, there is nothing equivalent to (4) in FIGS. 7 to 9, but this is because in FIGS. This is because, in FIG. 10, the image is taken by one camera 6 of the right camera 6a or the left camera 6b and is not synthesized.

  As described above, in FIG. 10, the cut cross section is controlled on the same plane as the line laser 7a, and the angle is controlled to be tilted very small so that the entire cut plane is irradiated with the laser beam. Then, the laser light reflected from the entire cut surface is photographed by the right camera 6a or the left camera 6b, and the image is measured.

  FIG. 11 is a process diagram of “perspective calibration” of the present invention.

  In (1), a grid paper of 10 mm unit is placed on the irradiation surface of the line laser 7a, and the camera 6 takes an image from an oblique direction. The finer the grid paper, the better.

  When the graph paper according to (1) is photographed obliquely by the camera 6, the shape is as shown in (2).

  Then, as shown in (3), a plurality of arbitrary points are plotted and stored as coordinates. It should be noted that the larger the number of arbitrary points, the better.

  Finally, it is corrected to a state as if it was photographed from the front based on the coordinates stored in the image taken obliquely and distorted by perspective.

  The basic principle of this “perspective calibration” is the light cutting method (a method of measuring the surface shape by irradiating the object with sheet-like light, photographing the contour illuminated by the camera 6, and processing the image. ).

  As image processing, there are mainly binarization in which only laser light is extracted from a photographed image and contour coordinate acquisition by “perspective calibration” in FIG.

  Using a plurality of laser beams emitted from a plurality of laser issuing machines 7 and the right camera 6a and the left camera 6b, it is possible to measure not only one side but also a complete cross-sectional contour by synthesizing images. Is possible. Therefore, it is desirable to provide a plurality of cameras 6.

  The measurement site of the measurement object (cut workpiece A) is not in a state of being placed on a conveyor that is common to the conventional example, but one of the measurement objects is clamped by the clamp 12 and the other is placed on the platform 33. Since the measurement object is placed in the air, there is nothing that obstructs the measurement accuracy like a conveyor when measuring the lower surface of the cut workpiece A. Therefore, more accurate measurement than the conventional example is possible.

  The line laser 7a irradiated from the laser emitter 7 is substantially on the same plane as the cutting blade, and the cut surface of the cut workpiece A is a cross-sectional contour illuminated by the line laser 7a = measurement cross section.

  Like the conventional example, in addition to being able to measure the three-dimensional shape of the measurement object in advance, it is possible to grasp the actually cut section and the section to be cut. Therefore, more accurate cutting than the conventional example is possible.

  From the profile of the cross section, the cross-sectional area, height, width, and relative coordinates with the second slider 11 with the first slider 31 as a fulcrum can be calculated.

  Then, the volume to be actually cut can be calculated from the position coordinates of the second slider 11, the coordinates of the cut surface 7d, and the coordinates of the measurement section 7c. In other patent documents, the shape recognition device and the cutting device are separate. However, since the shape recognition device and the cutting device are integrated in this device, the space can be reduced.

It is a perspective view of the fish meat cutting machine. It is a perspective view of processing apparatuses, such as frozen food, incorporating a fish cutting machine. It is the perspective view which partly cut off the processing apparatus of frozen food etc. which incorporated the cutting machine of fish meat. It is the perspective view which partly cut off the processing apparatus of frozen food etc. which incorporated the cutting machine of fish meat. The state which decomposed | disassembled the structural article of the position adjustment part of a bolting fixing system is shown in figure. It is sectional drawing of the position adjustment part of a bolt fastening fixing system. It is sectional drawing of the position adjustment part of a 1st magnet adhering system. It is sectional drawing of the position adjustment part of a 2nd magnet adhering system. It is a perspective view of the state which supported processed goods, such as frozen food, with a clamp and a mounting part. It is a missing perspective view of a mounting part. It is sectional drawing of a mounting part. It is a perspective view of the 2nd slider which uses a universal joint and a clamping part. It is a perspective view of the 1st slider which uses an inclination bar. It is the figure showing the state which calculates | requires a cross-sectional area by image analysis, and image | photographs the image | photographed cutting products, such as frozen food, and calculates a cutting position automatically. It is a figure showing the state which calculates | requires a cross-sectional area by image analysis, and image | photographs the state which inclined the dorsal fin side of cutting products, such as frozen food, upwards, and calculates a cutting position automatically. It is a figure showing the state which calculates | requires a cross-sectional area by image analysis, and image | photographs the state which tilted the caudal side of cutting products, such as frozen food, upward, and calculates a cutting position automatically. It is a figure showing the state which calculates | requires a cross-sectional area by image analysis, and image | photographs the image | photographed cutting products, such as hollow frozen food, and calculates a cutting position automatically. It is a process figure of perspective calibration.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Cutting machine 1a Base 2 Main body frame 2a Caster 2b Infrared cut panel 3 Control device 4 Controller 4a Display 4b Emergency stop button 4c Lamp 5 Door 6 Camera 6a Right camera 6b Left camera 7 Laser light emission part 7a Line laser 10 Position adjustment part 11 1st 2 Slider 12 Clamp 12a 1st clamping body 12b 2nd clamping body 13 Piston rod 14 Support rod 20 Conveying part 21 Outer member 21a Moving groove 22 Support material 22a Moving groove 23 Cylinder 24 Feed screw shaft 25 Moving piece 25a Fixed surface 25b Shaft hole 25c hole 26 L-shaped metal fitting 27 knock pin 28 plate body 29 transport slider 30 mounting portion 31 first slider 31a support hole 32 plate body 33 mounting base 33a inclined surface 33b hollow portion 40A first rotation mechanism 40B second time Mechanism 40C Third rotation mechanism 40a Shaft body 40b Roller 40c Nut 50a Front frame 50b Rear frame 51 Core 51a Moving groove 52 Feed screw shaft 53 Head 53a Fixing surface 53c Shaft hole 54 Magnet 61 Post 61a Hole 61b Screw hole 61c Screw 62 Shaft 62a hole 62b screw hole 61c screw 63 inclined bar 70 universal joint 70a first yoke 70a1 front side 70b second yoke 70b1 rear side 70c top 72 rotating shaft 72a free end 75 bearing 80 clamping portion 80a main body 80a1 protrusion 80b operating screw 80 tip A Cut work Aa Back ridge Ab Abalone B Longitudinal direction

Claims (8)

A processing device capable of cutting a frozen food cut product provided with each device as follows on the main body frame,
The main body frame has a rear frame that can be moved up and down and back and forth with respect to the main body frame, and a clamp that has a long hole that is removably provided on a support rod of a second slider provided on the rear frame. Or via a universal joint provided on the second slider, a position adjusting unit having a clamp rotatably provided within a range of 180 ° with respect to the rear frame, and a mounting facing the clamp of the position adjusting unit. A mounting unit provided with a table, a clamp of the position adjusting unit, a plurality of cameras for photographing a cutting portion of a cut work mounted on the mounting table, a laser , and a counter to the mounting table and a cutting machine provided with a transport unit which governs the position adjusting section vertical movement and longitudinal movement of having the clamp, and the image of the camera, the irradiation of the laser light emitting portion, the cutting of the cutting workpiece A control device provided for processing the product,
Based on the cross-sectional area and shape data obtained from the sensor obtained by the control device that computes the cutting area of the cut workpiece through the plurality of cameras and lasers and the irradiation of the laser emission unit, It is a structure that calculates and digitizes the three-dimensional coordinates of the X, Y, and Z axes necessary to cut the fillet for the specified weight and length with a computer.
Through the movement of the clamp in the vertical and forward / rearward movement directions with respect to the longitudinal direction of the main body frame and the insertion / removal or rotation within a range of 180 °, the cutting work is perpendicularly or inclined. And a frozen food processing apparatus capable of cutting the weight substantially uniformly based on the calculation and digitization by the computer . The frozen food processing apparatus according to claim 1, wherein the processing apparatus includes a placing unit for placing the cut product, a position adjusting unit for holding the cut product, and a transport unit for moving the cut product. Consisting of
The mounting portion includes a front frame fixed to the main body frame, a core provided in the front frame, and both ends provided in the core, and a screw portion is exposed in the concave portion of the core. A feed screw shaft provided to the head, a head screwed to the feed screw shaft, a first slider held on the upper surface of a front frame magnetically attached to the head, and the feed screw shaft Consists of a rotating motor,
The position adjusting unit includes a rear frame of the main body frame, a core provided in the rear frame, a feed screw shaft provided at both ends of the core, a head screwed to the feed screw shaft, A second slider that moves in the longitudinal direction along the upper surface of the rear frame, the clamp provided on the second slider, a piston rod that supports the rear frame, and the piston rod are accommodated. , Comprising a cylinder provided in the main body frame and a motor for rotating the feed screw shaft,
The conveying unit includes an outer member provided in a plurality of cylinders standing on the main body frame, a support member provided in the outer member, a feed screw shaft provided in the support member, and the feed screw. A frozen food processing apparatus comprising a moving piece screwed on a shaft and a motor for rotating the feed screw shaft . In the frozen food processing apparatus according to claim 2,
A magnet is provided in each of the head constituting the mounting portion and the first slider provided in the head, and the head and the first slider can be integrated or separated by the magnet. Frozen food processing equipment. In the frozen food processing apparatus according to claim 2,
A magnet is provided in each of the head constituting the position adjusting unit and the second slider provided in the head, and the position adjusting unit and the second slider can be integrated or separated by the magnet. Frozen food processing equipment. In the frozen food processing apparatus according to claim 2,
The transport unit has a structure in which a magnet is provided on a moving piece of the transport unit, and a magnet that is magnetically attached to the magnet is provided on a plate member that is provided on an L-shaped bracket fixed to a cylinder via a transport slider. The frozen food processing apparatus characterized in that the moving piece and the L-shaped bracket can be integrated or separated. In the frozen food processing apparatus according to claim 2,
The second slider constituting the position adjusting unit is fixed to the rotating shaft via a bearing, and a holding portion is provided via a universal joint provided at a free end of the rotating shaft, and the cutting is held by the holding portion. An apparatus for processing frozen food , characterized in that the processed product can be held at an arbitrary inclination angle and the cut processed product can be cut from various angles. In the frozen food processing apparatus according to claim 2,
The platform is composed of a pair of rotatable tilt bars and a rotation shaft fixed to a first slider that controls the rotation of the tilt bars, and is configured to support a cut workpiece at a predetermined tilt angle. Frozen food processing equipment. In the frozen food processing apparatus according to claim 2,
The platform has a substantially V shape when viewed from the front with a gentle pair of inclined surfaces, and supports the cut workpiece at a predetermined inclination angle through the gentle pair of inclined surfaces . Frozen food processing equipment characterized by that.

Images