JP6663728B2 - Deboning device - Google Patents

Description

  The present invention relates to a meat processing apparatus, and more particularly to a deboning apparatus for removing ribs from block meat such as cows, pigs, and sheep.

  BACKGROUND ART Conventionally, as one of processing apparatuses for meat animals, a deboning apparatus for removing ribs from prepared meat blocks of meat animals such as cows, pigs, and sheep has been used.

  As such a conventional deboning device, first, the thickness and width of ribs attached to the prepared block meat, the interval between the ribs, and the like are measured, and the robot arm is operated based on the measurement data, and the robot arm is operated. A cut is made on both sides of each rib by two cutters disposed at the tip of the rib so that the interval can be freely extended by a spring. Then, a nylon peeling thread is passed between side plates provided at a predetermined interval provided on another robot arm, and a rib peeling unit configured by hooking the end of each rib exposed by the preparation is hung. By sliding to the end, the rib peeling unit advances along the cut and the ribs are peeled from the meat (for example, see Patent Document 1).

JP 2010-263830 A

  However, in the above-described conventional deboning apparatus, two cutters for making cuts on both sides of each rib are arranged so that the interval can be freely extended by a spring in order to correspond to ribs of various thicknesses. There has been a problem that, when the cutter is brought into contact with the meat, the intervals between the cutters are excessively widened, and the cuts are bent, thereby lowering the yield.

  Therefore, an object of the present invention is to provide a deboning device that can reliably cut along both sides of each rib to prevent a decrease in yield and improve work efficiency. It is assumed that.

  In order to achieve the above-described object, the features of the deboning apparatus according to the present invention include a belt conveyor for placing and transporting prepared meat of a meat animal and a plurality of belts connected by different rotating shafts. At least one scoring arm provided with a scoring hand for making incisions on both sides of each rib attached to the block meat conveyed by the belt conveyor, on a robot arm whose joints are three-dimensionally controlled in motion. A plurality of joints connected by different rotation axes are controlled in a three-dimensional manner by a robot arm, and a wire is passed through each rib of the block meat cut by the creasing hand. A bone pulling arm provided with a bone pulling hand for peeling each rib from the block meat and a plurality of joints connected by different rotation axes are three-dimensionally controlled. A holding arm provided with a holding arm for holding the ribs from above when the wire of the bone pulling hand is passed along the ribs on the robot arm, and the hand for the block meat conveyed by the belt conveyor; In the deboning apparatus provided with a meat holding mechanism for holding the block meat when the processing is performed, the creasing hand may rotatably support two round blades disposed in parallel and opposed to each other. The robot has a tip arm provided with a rotation shaft having a length of, and the tip arm slides a cylinder rod in the axial direction of the rotation shaft provided on the lower surface of a base connected to the robot arm. A pair of second cylinders, which are slidably held by the cylinder rods of the pair of holding cylinders and in which the cylinder rods slide in the axial direction of the rotary shaft; Second cylinder of Luo, each of the respective cylinder rod relative to the distal arm is in that it is configured so as to face arranged to be freely separable.

  By adopting such a configuration, the two round blades, which are fixed in parallel by the rotation shaft and are opposed to each other in parallel, can be made to follow each rib while swinging the tip arm by each holding cylinder. Therefore, the incision can be reliably made at the set intervals on both sides of each rib, so that the yield can be prevented from deteriorating and the working efficiency can be improved. In addition, the second cylinder can always return the distal end arm slid in the axial direction of the rotating shaft at the time of cutting to a predetermined position (base center), so that the creasing of each rib can be started. Positioning can be performed reliably.

  Another feature of the deboning apparatus according to the present invention is that two creasing arms are provided, and rotation shafts having different lengths are provided for the respective creasing hands.

  By adopting such a configuration, the processing of ribs having different thicknesses can be shared by two sets of two round blades each set at a different interval, thereby further preventing the yield from deteriorating. And the work efficiency can be improved by the line work.

  Another feature of the deboning apparatus according to the present invention is that a belt conveyor for placing and conveying prepared meat of meat animals and a plurality of joints connected by different rotation axes are three-dimensional. A robot arm, which is operationally controlled, is provided with at least one creasing arm provided with a scoring hand for making a cut on each side of each rib attached to the block meat conveyed by the belt conveyor, A plurality of joints connected by moving axes are controlled in three-dimensional motion by a robot arm, and a wire is passed along each rib of the block meat cut by the scoring hand, and each of the ribs is moved. Bone pulling arm provided with a bone pulling hand for peeling from the block meat, and a robot arm in which a plurality of joints connected by different rotation axes are controlled in three dimensions. When the wire of the bone pulling hand is passed along the ribs, the processing is performed by the respective hands on the pressing arm provided with the pressing hand for pressing the ribs from above and the block meat conveyed by the belt conveyor. In the deboning apparatus provided with a meat holding mechanism for holding the block meat when being pressed, a pair of claw portions movably arranged in the horizontal direction are urged in the approach direction to the creasing hand. A mounting unit is provided on each of the claw portions of the electric actuator, and a round blade is provided on each of the mounting units at a lower end of the base so as to be rotatable in parallel to a direction in which each of the claw portions comes into contact with and separate from each other. The attached cutter units are respectively fixed, and the electric actuator is disposed on a base connected to the robot arm so as to be slidable in the axial direction of each of the rotating shafts. In addition, a pair of cylinders in which a cylinder rod slides in the axial direction of each of the rotation shafts are arranged on the base so as to face each of the electric actuators such that each of the cylinder rods can freely come and go. In that it is.

  By adopting such a configuration, the two round blades can be urged in the approaching direction by the electric actuator and can be reliably moved along both sides of each rib, and the electric actuator can be swung at the base. Since each round blade can be set along each rib while cutting, it is possible to make a notch on both sides of each rib according to the difference in thickness and shape of each rib and the difference due to individual differences, and the yield deteriorates Can be prevented, and work efficiency can be improved. Also, the electric actuator slid in the axial direction of the rotating shaft at the time of cutting can always be returned to a predetermined position (center of the base) by the cylinder, so that the positioning at the time of starting the creasing of each rib can be performed. It can be done reliably.

  Further, another feature of the deboning device according to the present invention is that each of the mounting units is formed so that a base of the cutter unit can be inserted, and a base of each of the cutter units is inserted into each of the mounting units. , Respectively, in that they are locked by stopper pins.

  By adopting such a configuration, the attachment and detachment of the cutter unit becomes easy, and maintenance such as cleaning and replacement of the round blade becomes easy.

  Another feature of the deboning apparatus according to the present invention is that three-dimensional data of block meat conveyed on the belt conveyor is created, and position coordinates of each rib attached to the block meat based on the three-dimensional data. , A rib detection device for detecting the number and shape of the ribs, and a control device for creating a control table based on information on the ribs detected by the rib detection device and controlling the driving of each section.

  By adopting such a configuration, it is possible to detect the fine information of each rib attached to the block meat and control the driving of each device, so that more precise processing can be performed as compared with the related art. .

  Another feature of the deboning apparatus according to the present invention is that the bone pulling hand houses a reel driven by a motor by winding a bone pulling wire, and a first base connected to the robot arm; A pair of pipe-shaped guide members, which penetrate the bone pulling wire fed out from the lower end of the bone pulling hand and bend the bone puller wire in a U-shape at the lower end of the bone pulling hand, between the first base portion and each of the guide members. An opening for introducing the bone pulling wire fed from the reel is formed on the upper surface, and the bone pulling wire introduced from the opening is formed on one of the guide members on the lower surface. And a second base portion provided with a through-hole for guiding the guide member and a through-hole which is curved in a U-shape and re-introduces the bone pulling wire inserted through the other guide member. In .

  By adopting such a configuration, the U-shaped curved portion is expanded by driving the reel and paying out the bone pulling wire, so that the bone pulling wire can be easily hooked on the rib and the bone hooked on the rib. By driving the reel and winding the pull wire, the curved portion is narrowed, and the bone pull wire can be more closely contacted with the rib and slid, so that the rib can be peeled from the block meat without waste. .

  Further, another feature of the deboning apparatus according to the present invention is that the reel is rotatably and hermetically stored in a casing in which an opening from which the bone drawing wire is drawn out is provided, and the reel is provided between the opening and the guide member. In the above, the present invention is characterized in that it is inserted through a pipe-shaped second guide member fixed to the second base.

  By adopting such a configuration, even if a problem occurs when the curved portion of the bone pulling wire is hooked on the rib and the bone pulling wire is loosened, the entanglement of the bone pulling wire can be prevented.

  Another feature of the deboning apparatus according to the present invention resides in that an urging member for urging the pair of guide members so as to expand outward below the pair of guide members is provided.

  By adopting such a configuration, when the bent portion of the bone pulling wire is hooked on each rib, when the bone pulling wire is pulled out from the reel, the curved portion is widened more and becomes more easily hooked on each rib. After the bent portion is hooked on the rib, when the bone pulling wire is wound on the reel, the bent portion is squeezed against the urging force of the urging member and is brought into close contact with the rib.

  Another feature of the deboning apparatus according to the present invention is that a slide mechanism for reciprocating the pair of guide members toward and away from each rib of the block meat is provided.

  By adopting such a configuration, when the curved portion of the bone pulling wire is hooked on each rib, the sliding mechanism is moved in a direction close to the rib, so that the curved portion of the bone pulling wire is more securely hooked on the rib. be able to.

  Another feature of the deboning device according to the present invention is that the bone pulling wire has one end locked to the second base and only the other end locked to the reel for feeding and winding. The point is that it is taking.

  By adopting such a configuration, when the bone of each rib of the block meat is boned, when the reel is driven to rotate and the bone drawing wire is wound up, the rib is bent into a U-shape hooked on the rib. Since the bone pulling wire can be cut and squeezed with respect to the ribs, the removability of the ribs can be improved and the working efficiency can be improved.

  Another feature of the deboning device according to the present invention resides in that the locking means of the bone pulling wire is a push-one joint.

  By adopting such a configuration, attachment and detachment of the bone pulling wire become easy, and maintenance such as cleaning of the bone pulling wire and repair or replacement when the bone pulling wire is cut becomes easy.

  Further, another feature of the deboning device according to the present invention is that the casing is provided on the first base portion, and includes a flywheel fitted to the reel and rotating the reel by driving the motor. The second base portion is connected to the casing while being fixed by screwing a screw provided with a handle to the substrate.

  By adopting such a configuration, attachment and detachment of the first base portion and the distal end side including the casing become easy, and maintenance such as cleaning and replacement of the reel and the bone pulling wire becomes easy.

  Further, another feature of the deboning device according to the present invention is that the holding hand is provided continuously with a base connected to the robot arm and below the base, and has a predetermined width in a transport direction of the block meat. A point having a pressing portion having a contact surface formed in a substantially circular arc shape in vertical section, and a wire tangling preventing portion formed in an arc shape passing under the base and connecting both end surfaces of the pressing portion. is there.

  By adopting such a configuration, when performing the bone reduction process on each rib by the bone reduction hand, by pressing the ribs from above by the pressing portion, the ribs move and the bone pulling wire is further extended and bent. Can be prevented, the bone reduction process can be performed reliably, and the working efficiency can be improved.

  Further, another feature of the deboning device according to the present invention is that a groove extending in a direction perpendicular to the longitudinal direction is formed in a lower peripheral surface of a center in a longitudinal direction of the pressing portion, and a lower surface is formed in the groove. The bone pulling wire guide hook formed so as to be substantially flush with the lower peripheral surface is disposed so as to protrude from the lower peripheral surface and be retractable by a cylinder.

  By adopting such a configuration, the hook is projected when the curved portion of the bone pulling wire is hooked on the rib by the bone pulling hand, and the projected hook is hooked on the curved portion and guided below the rib. The curved part can be securely hooked on the ribs, and the hook can be retracted when sliding the hooked bent part for bone reduction, and the contact surface can be in contact with the ribs to securely hold the ribs it can.

  Further, another feature of the deboning device according to the present invention is that the meat holding mechanism is configured such that, with respect to the block meat conveyed by the belt conveyor, a base that slides horizontally from the back side of the block meat, And a pair of horizontal retainers that are pressed against the back of the block meat to restrict the block meat from moving back and forth in the transport direction, and are disposed to be able to freely contact and separate from the upper surface of the transported block meat. And a top holder that is fixed in a state of contacting the upper surface of the block meat to restrict the vertical movement of the block meat.

  By adopting such a configuration, the block meat conveyed on the belt conveyor can be reliably fixed, so that the deboning process by each hand can be reliably performed, and the deterioration of the yield can be prevented. Work efficiency can be improved.

  Further, another feature of the deboning device according to the present invention is that the upper retainer is configured such that the upper retainer member formed with a hook-like portion extending to the block meat side conveyed from above the base is formed of the block meat. The upper holding members are respectively raised and lowered by elevating members, and are fixed in a state of contacting the hook-shaped portions with the upper surface of the conveyed block meat. Thus, the vertical movement of the block meat is restricted.

  By adopting such a configuration, by lowering the elevating member from a state where it is raised by the elevating member and fixing each upper holding member at a position where the hook-shaped portion abuts on the block meat, the portion of the block meat is Each upper holding member can be brought into contact with the block meat in accordance with a delicate difference in height due to the individual difference, and the block meat can be securely held and the vertical movement can be restricted.

  Another feature of the deboning apparatus according to the present invention is that the upper retainer has a rod-like upper retainer member having a predetermined width and extending in a direction perpendicular to a direction in which the block meat is conveyed. It is configured to be arranged in a plurality of meat, and each of the upper holding members, with respect to the block meat conveyed to a housing rotatably arranged to face the block meat conveyed from above the base. A state in which the block meat is conveyed and slid in the direction in which the block meat is conveyed and the housing is rotated, and is slid in contact with the upper surface of the block meat and in contact with the upper surface of the block meat. In that the vertical movement of the block meat is regulated.

  By adopting such a configuration, each upper holding member is slid by rotating the housing to abut against the conveyed block meat, and each upper holding member is abutted on the block meat. By fixing the block meat, each upper holding member can be brought into contact with the block meat according to the delicate difference in height due to the site of the block meat or individual difference, and the block meat can be securely held and moved up and down. Can be regulated.

  ADVANTAGE OF THE INVENTION According to the deboning apparatus of this invention, while being able to make a notch along both sides of each rib reliably, it is possible to hold | maintain a block meat reliably and to perform deboning processing, such as creasing and osteotomy, reliably. Can be.

Schematic showing an embodiment of a deboning device according to the present invention Schematic view of the creasing hand in the present embodiment, (a) is a front view, (b) is a perspective view Schematic view of the bone pulling hand in the present embodiment, (a) is a perspective view, (b) is a rear view, and (c) is a side view. Schematic perspective view of a holding hand according to the present embodiment. Schematic diagram of the meat holding mechanism in the present embodiment The schematic diagram which shows the drive state of the meat holding mechanism of FIG. (A), (b) is schematic which shows the creasing process of this embodiment sequentially. (A)-(d) is a schematic diagram which sequentially shows the bone reduction process of this embodiment. Schematic view showing another embodiment of the creasing hand, (a) is a front view, (b) a rear perspective view. Partial exploded view of the creasing hand of FIG. Schematic view showing another embodiment of the bone pulling hand, (a) is a front perspective view, and (b) is a rear view. The schematic diagram which shows the internal structure of the casing of the bone pulling hand of FIG. The schematic diagram which shows the structure of the board | substrate of the 1st base side which fixes the casing of the bone pulling hand of FIG. Schematic view showing another embodiment of the holding hand, (a) is a front perspective view, and (b) is a back view. FIG. 14 is a schematic rear view showing the holding state of the holding hand in FIG. 14. Schematic view showing another embodiment of the meat holding mechanism, (a) is a front perspective view, and (b) is a rear perspective view. FIG. 16 is a schematic side view showing the operation of the meat press mechanism of FIG. 16, (a) during standby, and (b) during meat press.

  Hereinafter, a deboning apparatus according to the present invention will be described with reference to an embodiment shown in the drawings.

  As shown in FIG. 1, the deboning apparatus 1 of the present embodiment includes a belt conveyor 2 that cuts a predetermined width and places and transports block meat from which the meat at the tip of each rib has been removed, and the belt conveyor 2. A plurality of working arms 10a, 10b, 30, 50 for deboning each rib on the block meat conveyed by the belt conveyor 2, and a meat holding mechanism 61a, 61b for holding the block meat conveyed by the belt conveyor 2. And are arranged. In the present embodiment, the working arms 10a, 10b, 30, and 50 are provided on industrial robots 5 and 6 that are provided at predetermined intervals along the belt conveyor 2.

  Further, in the deboning apparatus 1 of the present embodiment, the rib detection devices 3 and 4 are respectively disposed on the upstream side in the transport direction of the industrial robots 5 and 6, and the rib detection devices 3 and 4 are For example, the block meat 100 conveyed by the belt conveyor 2 is photographed by a plurality of cameras (not shown), three-dimensional data is created from a plurality of photographed image data, and the position of each rib attached to the block meat. The coordinates, number, shape, and the like are detected. Then, information on each rib detected by each of the rib detecting devices 3 and 4 is stored in a control device (not shown), and based on the stored information, the control device creates a control table and generates a control table. The deboning process is performed by controlling the transport amount of the second, the driving of the industrial robots 5 and 6 and the working hands, and the driving of the meat holding mechanisms 61a and 61b. In the present embodiment, the rib detection devices 3 and 4 are disposed upstream of the industrial robots 5 and 6, respectively. However, the rib detection devices 3 and 4 are disposed only upstream of the industrial robot 5 and May be controlled by the control device based on the information of each rib detected in.

  In each of the industrial robots 5 and 6, a second base 8 that is rotatable in a horizontal direction is disposed on a first base 7 that is erected on the side of the belt conveyor 2, and in this embodiment, In the second base 8 of the industrial robot 5, two round blades 26 at different intervals are attached to robot arms 9a and 9b in which a plurality of joints connected by different rotation axes are operationally controlled in three dimensions. Two creasing arms 10a and 10b, on which creasing hands 11 and 12 are disposed in parallel with each other, are disposed. The second base 8 of the industrial robot 6 has different rotations. Robot arms 9a and 9b in which a plurality of joints connected by axes are controlled to operate three-dimensionally have a bone pulling arm 30 provided with a bone pulling hand 31 and a pressing arm 50 provided with a pressing hand 51, respectively. Is arranged . The working hands 10a, 10b, 30, 50 connected to the robot arms 9a, 9b of the industrial robots 5, 6 are respectively connected to either of the robot arms 9a, 9b in the industrial robots 5, 6. You may connect.

  As shown in FIGS. 1 and 2A and 2B, each of the creasing hands 11 (12) mainly includes a base 13 to which each robot arm 9a (9b) of the industrial robot 5 is connected. A pair of clamping cylinders 15a, 15b disposed opposite to the lower surface of the base 13, and second cylinders 18a, 18b disposed opposite to the lower surfaces of the respective clamping cylinders 15a, 15b. And a tip arm 21 (22) held between the holding cylinders 15a and 15b.

  The base portion 13 is formed of a rectangular flat plate, and on the upper surface, connecting portions 14 to which the respective robot arms 9a (9b) of the industrial robot 5 are respectively connected are arranged. .. Are provided at four positions.

  The sandwiching cylinders 15a and 15b are disposed on the lower surface of the base 13 so as to face each other in the longitudinal direction, and a plurality of (two in this embodiment) cylinder rods 16 are respectively connected to the base 13. Are slidably disposed in the horizontal direction with respect to the upper surface and the lower surface.

  A flat holding plate 17 is disposed on the opposing surface of each of the cylinder rods 16, 16, and these holding plates 17 are attached to tip arms 21 (22) disposed between the holding cylinders 15 a, 15 b. On the other hand, the distal arm 21 (22) is clamped by pressure contact from both sides.

  In the holding cylinders 15a and 15b, the respective cylinder rods 16 and 16 are fixed in a state where the tip arm 21 (22) is arranged at the center during standby, and the tip arm 21 (22) is held during the creasing process. Then, the fixing of each cylinder rod 16 is released, and the cylinder rod 16 can be slid freely with a predetermined fixed sliding width (for example, left and right 20 mm each).

  The second cylinders 18a and 18b are disposed opposite to the lower surfaces of the holding cylinders 15a and 15b, respectively, and a plurality of the cylinders (two in the present embodiment, but only one in the drawing) The cylinder rod 19 described above) is slidably disposed in the horizontal direction and in the same direction as the sliding direction of the cylinder rod 16 of each of the holding cylinders 15a and 15b.

  Block-shaped abutting members 20 made of an elastic resin material such as rubber are provided on the opposing surfaces of the cylinder rods 19 and 19 so as to extend to the adjacent cylinder rods 19 and 19.

  The second cylinders 18a, 18b press the contact members 20, 20 together with the holding plates 17, 17 of the holding cylinders 15a, 15b against the distal arm 21 (22) during standby. In this state, the cylinder rods 19 are fixed, and at the time of the creasing process, the cylinder rods 19 are slid outward to open the tip arm 21 (22) so as to be swingable, and the ribs are creasing. When moving to the next rib after finishing, the distal arm 21 (22) is pressed against the distal arm 21 (22) from both sides to arrange the distal arm 21 (22) at the center.

  In each of the distal arms 21 (22), a base 23 whose lower part is curved in a substantially rectangular shape in side view is held between the holding cylinders 15a and 15b. Two round blades 26, 26 are arranged in parallel with the direction in which the cylinders 15a, 15b face each other.

  The respective round blades 26, 26 are rotatably disposed on the respective base portions 23 by rotating shafts 24 (25) having different lengths. When rotating only the respective round blades 26, 26, the respective round blades 26, 26 are required. Each rotary shaft 24 (25) is fixed to the base 23, and each round blade 26, 26 is rotatably disposed on each rotary shaft 24 (25). On the other hand, when rotating the round blades 26, 26 together with the rotating shafts 24 (25), the round blades 26, 26 are fixed to the rotating shafts 24 (25), respectively, and the rotating shafts 24 (25) are fixed. 25) are rotatably disposed on the respective bases 23. When each of the rotation shafts 24 (25) is rotatably provided, a motor (not shown) is provided, and each of the rotation shafts 24 (25) is driven to rotate by the motor. Good.

  The rotation shafts 24 (25) set the distance between the two round blades 26, 26 in each of the creasing hands 11 (12) according to the length thereof, and are block meat of an integral meat animal. The length is appropriately changed in accordance with the difference in the thickness of the ribs from the head side to the tail side in, and the difference in the thickness of the ribs due to the type of meat animal to be creasing-processed and the individual difference. For example, as an example of performing the boning process of the pork block meat, the interval between the two round blades 26 of the creasing hand 11 is set to 23 mm, and the two round blades 26 of the creasing hand 12 are set. , 26 are changed to those having a length set to 20 mm. Then, according to the ribs which become thinner from the head side to the tail side of the block meat, the round blades 26, 26 have an arbitrary number of head sides by the creasing hands 11 (12) having different intervals between the round blades 26, 26. Is controlled by the control device so that the crevice processing is performed by the creasing hand 11 having a wide interval, and the remaining ribs on the tail side are creased by the creasing hand 12 having a small interval between the round blades 26, 26.

  As shown in FIGS. 1 and 3A to 3C, the bone pulling hand 31 mainly includes a first base 32 that stores a reel 35 around which a bone pulling wire 49 is wound, and the first base 32. A second base 37 disposed on the lower surface of the second base 32 and penetrating the bone pulling wire 49 therein; a guide member 48a disposed on the front surface of the second base 37 and bending the bone pulling wire 49 downward in an arc shape; 48b is provided with the slide mechanism 44 provided.

  The first base portion 32 is provided with a connection portion 34 on the upper surface to which the arm 9a of the industrial robot 6 is connected, and a nylon frame, a piano wire, a stainless steel wire, or the like is provided in a hollow frame 33 having a substantially cubic shape. A reel 35 around which a bone pulling wire 49 is wound is housed, and a motor box 36 housing a motor (not shown) for rotating the reel 35 is provided on the side of the frame 33. ing. The bone pulling wire 49 has one end locked to the reel 35 and the other end locked to the second base 37.

  The second base portion 37 is disposed on the lower surface of the first base portion 32 so as to protrude in a direction in which the bone pulling wire 49 is extended by the reel 35, and is long in the vertical direction and hollow inside. The upper surface 37a of the second base 37 projecting from the first base 32 is provided with an opening 38 for introducing a bone pulling wire 49 fed from the reel 35, and the lower surface 37b is provided with the bone pulling wire 49. A through hole 39a that extends outward from the second base 37 and a through hole 39b through which the bone pulling wire 49 that has been extracted from the through hole 39a is drawn back into the second base 37 are spaced apart in the axial direction of the reel 35. It is drilled with.

  Further, a locking portion 40 for locking one end of the bone pulling wire 49 is provided in the second base portion 37. In the present embodiment, the locking portion 40 is inserted into the second base portion 37 from the through hole 39b. A through hole 41 is formed in the side surface 37c to draw out the pulled-in bone pulling wire 49 out of the second base 37, and a plate 42 is applied to an end of the bone pulling wire 49 pulled out from the through hole 41. The bone pulling wire 49 is locked by screwing the 42 with screws 43, 43.

  The slide mechanism 44 includes a base unit 45 fixed to the front surface of the second base 37, and a slide unit 46 slidably disposed in the front side of the base unit 45 in a vertically slidable manner. At the lower end of the slide unit 46, a pair of pipe-shaped pipes are formed so as to face the respective through holes 39 a and 39 b formed on the lower surface of the second base 37 via urging members 47 such as leaf springs. Guide members 48a and 48b are provided. Then, the bone pulling wire 49 introduced into the second base 37 from the opening 38 is inserted into the guide member 48a from the through hole 39a, drawn out from below the guide member 48a, bent and U-shaped. After forming the curved portion 49a, the guide member 48b is inserted into the through hole 39b. Then, the bone pulling wire 49 introduced into the second base 37 from the through hole 39b is pulled out from the through hole 41 formed in the side surface 37c, and a plate is attached to the drawn end. Then, the plate 42 is locked by screwing the plate 42 to the second base 37 with screws 43, 43.

  Each of the urging members 47, 47 urges the lower part of each of the guide members 48 a, 48 b to expand outward, respectively, and when the slide unit 46 descends, the bone pulling wire is pulled from the reel 35. When the slide unit 46 is extended, the lower part expands, and when the slide unit 46 rises and returns to the reference position, the bone pulling wire 49 is wound on the reel 35 and closes when the total length of the bone pulling wire 49 is shortened. ing. Therefore, the guide members 48a, 48b disposed at the lower ends of the urging members 47, 47 also perform the same movement.

  As shown in FIGS. 1 and 4, the holding hand 51 has a connection portion 53 on the upper surface to which the arm 9b of the industrial robot 6 is connected, and has a cylindrical shape curved in a substantially rectangular shape in side view. A pressing portion 54 having a base 52, a contact surface 54c which is provided at a lower end of the base 52 and has a predetermined width in the conveying direction of the block meat 100 and has a substantially arc-shaped vertical cross section, and Behind the contact surface 54c, the wire entanglement prevention member 55 is bridged in an arc shape at both end surfaces 54a and 54b through the lower portion of the base 52.

  As shown in FIGS. 1, 5 and 6, the meat holding mechanisms 61a and 61b are fixed to a dedicated table 60 installed on the side of the belt conveyor 2 near each of the industrial robots 5 and 6, respectively. A base portion 64 is provided on a cylinder rod 63 of an air cylinder 62 that slides on the belt conveyor 2 in a direction orthogonal to the conveying direction of the belt conveyor 2. The meat holding mechanisms 61a and 61b may be fixed to the frame 2a of the belt conveyor 2 instead of being provided on the dedicated table 60, respectively.

  The base portion 64 has a plurality of (eight in the present embodiment) upper holding members 69 (70) serving as upper holding members for holding the block meat 100 conveyed by the belt conveyor 2 from above on the upper surface. A plurality of openings 65, 65,... Each of which penetrates the block meat 100 in the direction perpendicular to the transport direction. Lateral pressing guides 66a and 66b are provided to press the back of the block meat 100 forward and backward in the transport direction by pressing against the back.

  An elevating member 67 that vertically moves with respect to the base 64 is disposed on the base 64, and the elevating member 67 extends on the upper surface of the base 64 and is disposed on the upper surface of the base 64. , Which are respectively connected to the openings 65, 65..., Which are formed in the upper and lower members 67, 70, respectively.

  Each of the upper holding members 69 (70) is provided with a shaft portion 69b inserted from above the elevating member 67 into each of the openings 68, 68,... Of the elevating member 67 and each of the openings 65, 65,. (70b) and a hook-like portion 69a (70a) extending from the upper end of each of the shaft portions 69b (70b) toward the block meat 100 conveyed by the belt conveyor 2 in a hook shape and abutting on the upper surface of the block meat 100. ) Are formed integrally to form a substantially inverted J-shape, and when the elevating member 67 rises, the hook-shaped portions 69 a (70 a) are suspended from the elevating member 67 and When (70) is raised and the elevating member 67 is lowered, each of the upper holding members 69 (70) is lowered by its own weight. In the present embodiment, the hook portions 69a of the upper holding members 69 extend longer than the hook portions 70a of the upper holding members 70. This is because, when the length of each upper holding member is constant, particularly, when each rib 101 is peeled off by the bone pulling wire 49 of the bone pulling hand 31, the force pulling the bone pulling wire 49 causes the block meat 100 to move. It acts to lift and prevents the tip of the hook-shaped part of each upper holding member from acting as a fulcrum, thereby preventing the block meat from being lifted. In this embodiment, the hook-shaped part has two lengths. However, more types may be used.

  A fixing mechanism (not shown) for fixing the upper holding members 69 (70) is provided in the base 64, and the fixing mechanism is a cylinder that slides in a direction orthogonal to the transport direction. The cylinder is provided with a rod, and a contact member made of an elastic resin material such as rubber provided on the cylinder rod. The contact member is driven by the cylinder so that each of the openings 65, 65. Are pressed against the shafts of the upper pressing members 69 (70) inserted from..., So that the upper pressing members 69 (70) are fixed so as not to move up and down.

  Next, the operation of the deboning device of the present embodiment having the above-described configuration will be described.

  First, block meat 100 cut in advance to a predetermined width and exposing the tip of each rib 101 by removing the meat at the tip of each rib 101 is placed on the back side with each of the industrial robots 5 and 6 and each meat holding mechanism. It is arranged on the side where 61a and 61b are provided, and placed on the most upstream part (left side in FIG. 1) of the belt conveyor 2.

  Then, when the belt conveyor 2 is driven to convey the block meat 100 to the first rib detecting device 3 disposed on the upstream side of the industrial robot 5, the plurality of cameras of the first rib detecting device 3 The meat 100 is photographed, three-dimensional data is created from the plurality of photographed image data, and the position coordinates, number, shape, and the like of the ribs 101 attached to the block meat 100 are detected from the three-dimensional data.

  Information of each rib 101 detected by the first rib detecting device 3 is taken into the control device, and based on this information, the control device uses the belt conveyor 2, the industrial robots 5 and 6, and the work hands 11 and 12. , 31, 51, and a control table for each of the meat press mechanisms 61a, 61b is created, and each drive is controlled.

  The block meat 100 for which information of each rib 101 has been detected by the first rib detecting device 3 is driven by a predetermined amount of the belt conveyor 2 based on a control table created by the control device. 5 is conveyed so as to be located in front of the meat holding mechanism 61a arranged near the center 5.

  Then, the cylinder 62 of the meat holding mechanism 61 is driven with respect to the conveyed block meat 100, and as shown in FIG. Is approached to the back side of the block meat 100. At this time, the horizontal holding guides 66a and 66b disposed on both side ends of the base 64 are pressed against the back of the block meat 100, and when the industrial robot 5 performs the creasing process, the block meat 100 is pressed. It is regulated so as not to shift in the front-back direction in the transport direction.

  Next, when the elevating member 67, which has raised the upper holding members 69, 70, is lowered, the upper holding members 69, 70 are lowered by their own weight, and the hook portions 69a, 69b are moved to the block meat 100. And the fixing mechanism of the meat holding mechanism 61 is driven in this state, and the respective shaft portions of the upper holding members 69 and 70 are pressed and fixed to hold the block meat 100 from above. .

  Next, as shown in FIG. 7A, the first rib detecting device 3 detects the block meat 100 held by the lateral holding guides 66a and 66b and the upper holding members 69 and 70. The industrial robot 5 and the creasing arms 10a and 10b are driven by the control device based on the position coordinates, the number, and the shape of the ribs 101 attached to the block meat 100 to perform the creasing process. At this time, the thickness of each rib 101 is identified, and the ribs to be subjected to the creasing process by the creasing arm 10a provided with the creasing hand 11 in which the interval between the two round blades 26, 26 is provided widely. The rib to be subjected to the scoring process is determined by the scoring arm 10b provided with the scoring hand 12 having a narrow interval between the two round blades 26, 26, and each is controlled by the control device.

  The industrial robot 5 rotates the second base portion 8 in the horizontal direction according to the position of the rib to be processed, and drives the arm 9a to move the creasing hand 11 to the thickest rib of the block meat 101 ( In the present embodiment, it is moved to the most downstream rib (rib) 101a in the transport direction.

  Then, the two round blades 26, 26 of the creasing hand 11 are lowered to the distal end side of the rib 101a so as to sandwich the rib 101a, and the fixing of the cylinder rods 16 of the clamping cylinders 15a, 15b is released. Then, each of the cylinder rods 19 of each of the second cylinders 18a and 18b is slid outwardly to open the distal end arm 21 so as to be swingable.

  Then, when the two round blades 26, 26 are moved to the back side of the block meat 100 while applying a constant load so as to be pressed against the block meat 100, the two round blades 26, 26 are moved. 26 move to the back side while rotating together with the rotating shaft 24, and cuts are made on both sides of the rib 101a. At this time, the block meat 100 is securely held by the upper pressing members 69 and 70 of the meat pressing mechanism 61 and the horizontal pressing guides 66a and 66b. And the tip arm 21 can be swung freely, so that the two round blades 26, 26 are swung in the horizontal direction in accordance with the delicate curve of the rib 101a, and cut. Can be included. Also, since the interval between the two round blades 26, 26 is kept constant by the rotating shaft 24, it is possible to make a creasing at the set interval without fail, to prevent the yield from deteriorating, and to improve the work efficiency. Can be raised.

  When the creasing process for one rib 101a is completed in this way, the creasing arm 10a once detaches the creasing hand 11 from the block meat 100, and slides the contact member 20 of each of the second cylinders 18a, 18b. While being brought into contact with the arm 21 and returning to the center, it is moved to the adjacent rib 101b.

  Then, when the creasing process by the creasing arm 10a provided with the creasing hand 11 with the wide interval between the two round blades 26, 26 is completed for the predetermined number of ribs 101 set by the control device, The industrial robot 5 performs a scoring process on the remaining predetermined number of the block meat 100 by a scoring arm 10b provided with a creasing hand 12 having a narrow interval between two round blades 26, 26. . The operation of each part in the creasing process for each rib 101 after the rib 101b is the same as the creasing process for the rib 101a, and therefore, detailed description is omitted.

  In the embodiment shown in FIG. 7A, the two round blades 26, 26 of the creasing hands 11, 12 are lowered from the tip side of each rib 101, pressed against the block meat 100, and The ribs 101 are moved to the right side to make cuts on both sides over the entire length of each rib 101. As shown in FIG. 7B, the two round blades 26, 26 of each of the creasing hands 11, 12 are each The ribs 101 may be lowered from the middle part thereof, pressed against the block meat 100, moved to the back side, and cut into both sides from the middle part of each rib 101. As a result of the test, even the creasing process from the middle part of each rib 101 did not affect the bone pulling process described later. By doing so, the interval between the two round blades 26, 26 of the creasing hands 11, 12 can be set according to the thickness of the intermediate portion of each rib 101, which becomes narrower from the tip side to the back side. The amount of meat remaining on each rib 101 after the creasing process can be reduced and the yield can be improved as compared with the case where the thickness is set according to the thickness of the tip of each rib 101. Furthermore, by reducing the length of the cut, the time required for the creasing process can be reduced, and the working efficiency can be improved.

  Then, when the creasing process for all the ribs 101 of the block meat 100 is completed, the creasing hands 11 and 12 stand by upward, and the meat holding mechanism 61a is in contact with the upper surface of the block meat 100. The fixing of the upper holding members 69 and 70 is released and the lifting is performed by the elevating member 67, and the cylinder 62 is driven to separate the base 64 from the block meat 100. The horizontal holding guides 66a and 66b that have restricted the forward and backward movement are separated from the block meat 100, and the block meat 100 is opened.

  Then, the belt conveyor 2 is driven again, and the block meat 100 is conveyed through the second rib detecting device 4 so as to be located in front of a meat holding mechanism 61b disposed near the industrial robot 6, and the meat holding is performed. The block meat 100 is held by the mechanism 61b. Note that the detection of each rib 101 in the second rib detection device 4 is the same as the detection in the first rib detection device 3, and a detailed description thereof will be omitted.

  The industrial robot 6 rotates the second base 8 in the horizontal direction, and drives the arms 9a and 9b to move the bone pulling hand 31 and the holding hand 51 into the ribs for performing the bone pulling process of the block meat 100 at the beginning. Move to 101a.

  Then, as shown in FIG. 8A, when the slide unit 46 of the slide mechanism 44 provided on the bone pulling hand 31 is slid downward and the bone pulling wire 49 is pulled out from the reel 35 at the same time, the slide is performed. The guide members 48a and 48b are expanded together with the biasing members 47 provided in the unit 46, and the curved portions 49a of the bone pulling wires 49 that are inserted into and bent by the guide members 48a and 48b are expanded. .

  The extended curved portion 49a is hooked on the exposed end of the rib 101a, and as shown in FIG. 8 (b), the bone pulling hand 31 is further pulled out of the reel 35 by pulling out the bone pulling wire 49. It is moved to the back of 100.

  Then, as shown in FIG. 8 (c), with the bone pulling wire 49 extended, the pressing part 54 of the pressing hand 51 is pressed from above the rib 101a to hold the rib 101a, and the bone 101a is held. By rotating and driving the reel 35 of the pulling hand 31 in the winding direction, the curved portion 49a is reduced, and the bone pulling wire 49 is wound around the surface of the rib 101a. When the wire 49 is wound up, the bone pulling wire 49 slides along the ribs 101a to tear the meat as shown in FIG. 8D, and the ribs 101a are peeled from the block meat 100. At this time, when the bone pulling wire 49 whose one end is locked to the second base 37 of the bone pulling hand 31 is wound up by rotating the reel 35, the curved portion 49a is bent. Since the ribs 101a of the block meat 100 act in a cut-off manner, the ribs 101a are efficiently peeled off. In addition, since the ribs 101a are held from above by the holding hand 51, the ribs 101a are prevented from swinging during the bone pulling process, thereby preventing the bone pulling wires 49 from being unnecessarily extended. Can be slid while firmly wound around the surface of the rib 101a, so that the rib 101a can be reliably peeled off by the bone pulling wire 49 and the bone pulling wire 49 bends to reduce the yield. Can be prevented.

  When the bone pulling process for one rib 101a is completed in this manner, the bone pulling arm 30 and the pressing arm 50 move the bone pulling hand 31 and the pressing hand 51 to the adjacent rib 101b, and the bone pulling process for the rib 101b is performed. Note that the wire entanglement preventing member 55 of the holding hand 51 ends the bone pulling process for one rib 101, and when the bone pulling wire 49 of the bone pulling hand 31 is removed from the block meat 100, the bone pulling wire 49 is blocked. When the bone pulling hand 31 and the pressing hand 51 are moved and the bone pulling hand 49 moves when the bone pulling hand 31 and the pressing hand 51 move excessively when the meat 100 is caught on any part of the meat 100, the bone pulling wire 49 is prevented from being entangled with the pressing hand 51. Act on.

  When the above-described steps are repeated and the bone-pulling process for all the ribs 101 is completed, the bone-pulling arm 30 and the holding-down arm 50 stand by above, respectively, and the meat holding-down mechanism 61b contacts the upper surface of the block meat 100. The upper holding members 69, 70 are released from being fixed and lifted by the elevating member 67, and the cylinder 62 is driven to separate the base 64 from the block meat 100. The horizontal holding guides 66a and 66b, which have restricted the forward and backward movement of the block 100, are separated from the block block 100 and the block block 100 is opened.

  As described above, according to the deboning apparatus 1 of the present embodiment, since the creasing and the osteotomy can be performed while the block meat 100 is reliably held, the yield can be reduced without scraping off excess meat. Deterioration can be prevented and work efficiency can be improved.

  Note that the present invention is not limited to the above-described embodiment, and various modifications can be made as necessary.

  As shown in FIGS. 9A and 9B, the creasing hand 111 according to another embodiment as an example thereof is mainly connected to the robot arms 9a (9b) of the industrial robot 5, respectively. A base 113, a movable element 116 slidably disposed on the base 113, a pair of cylinders 119, 119 disposed opposite the base 113 with the movable element 116 interposed therebetween; The electric actuator 122 includes an electric actuator 122 disposed on the armature 116, and a cutter unit disposed on each of the pair of claws 124 of the electric actuator 122.

  The base 113 is formed of a substantially quadrangular frame, and on the upper surface, a connecting portion 114 to which each robot arm 9a (9b) of the industrial robot 5 is connected is provided. It is composed of four cylindrical pins 114a, 114a,. Further, between the upper surface and the lower surface of the base portion 113, two sliding shafts 115, 115 on which the moving element 116 is slidably supported are laid horizontally at intervals in the vertical direction.

  The mover 116 has an opposing surface 116a opposing the base 113, and an inclined surface 116b inclined at a predetermined angle with respect to the opposing surface 116a, and is generally formed in a substantially V-shape. . Two connecting portions projecting from the facing surface 116a toward the base portion 113, respectively, and slidingly connecting the slider 116 to the base portion 113 by inserting the respective sliding shafts 115 of the base portion 113 respectively. 117, 117, and a holding piece 118, which protrudes from the base 113 side and is held between the cylinder rods 120 of the cylinders 119, protrudes.

  The pair of cylinders 119 are disposed on the base 113 between the sliding shafts 115 in the axial direction of the sliding shafts 115, 115, respectively. Is provided with a cylinder rod 120 that slides in parallel with the axial direction of each of the sliding shafts 115, 115.

  Plate-like holding plates 121 are provided on the opposing surfaces of the cylinder rods 120, 120, respectively. The holding plates 121, 121 are pressed against the holding pieces 118 of the moving member 116 from both sides. The mover 116 is held therebetween.

  The electric actuator 122 is provided movably in the horizontal direction, and has a pair of claws 124, 124 urged in the approaching direction by the control of the motor 123, respectively. The movable member 116 is attached to the inclined surface 116b of the movable member 116. In addition, mounting units 125 to which the cutter units 133 are mounted are disposed on the respective claws 124. As shown in FIG. 10, the mounting units 125 are provided with fitting portions 134 of the cutter units 133, respectively. An insertion hole 126 to be inserted is formed. In addition, a pair of pin insertion holes 127a and 127b, which communicate with the base insertion holes 126 and penetrate perpendicularly to the insertion direction of the insertion portion 134 of the cutter unit 133, are formed in each of the mounting units 125. These pin insertion holes 127a and 127b are communicated with pin insertion holes 135 formed in the insertion portion 134 of the cutter unit 133 inserted in the insertion holes 126, and the connected pin insertion holes 127a are provided. , 127b, and 135, the cutter unit 133 is locked to the mounting unit 125 by inserting the first stopper pin 129 therethrough.

  Further, each of the mounting units 125 is inserted into the corresponding one of the pin insertion holes 127a, 127b, and 135, and is provided at an end of a shaft portion 129a of each of the first stopper pins 129 protruding outside the mounting unit 125. A cylindrical guide portion 128 for guiding the second stopper pin 131 to be inserted is formed integrally with each of the penetrated through holes 130, and each of the guide portions 128 is used to form the first stopper pin 129. The first stopper pins 129 are locked by inserting the second stopper pins 131 into the through holes 130, respectively.

  At the end of the shaft portion 131a of each of the second stopper pins 131, a locking piece 132 elastically urged from the inside is projected and disposed. 2 When the shaft 131a of the stopper pin 131 is inserted into the guide 128 of each of the mounting units 125 and the through hole 130 of each of the first stopper pins 129, the shaft 131a is pushed into the shaft 131a, and the first stopper When the pins 129 protrude from the through holes 130, they protrude outside the shaft portion 131a to lock the second stopper pins 131, respectively.

  Each of the cutter units 133 is integrally formed with a fitting portion 134 fitted into the fitting hole 126 of each of the mounting units 125, and a base 136 rotatably supporting the round blade 138 below the fitting portion 134. Each of the fitting portions 134 is provided with a pin insertion hole 135 that communicates with each of the pin insertion holes 127a and 127b of each of the mounting units 125 and that inserts the first stopper pin 129. At the lower end of each of the bases 136, a round blade 138 is rotatably arranged by a rotating shaft 137 that is arranged orthogonal to the axial direction of the first stopper pin 129 and parallel to the axial direction of the second stopper pin 131. Has been established.

  Then, according to the creasing hand 111 having such a configuration, each round blade 138, 138 of each rib 101 of the block meat 100 is formed by the claw portions 124, 124 urged in the approaching direction by the electric actuator 122. In addition to being able to securely follow both sides and making the creasing while oscillating the electric actuator 122 at the base 113, the ribs 101 differ in the thickness and shape of each rib 101, and according to differences due to individual differences. Cuts can be reliably formed on both sides of each rib 101, and it is possible to prevent a decrease in yield and to improve work efficiency. Further, the electric actuator 122 slid on the base 113 at the time of creasing can be returned to a predetermined position together with the movable element 116 by the pair of cylinders 119, so that the creasing of each rib 101 can be started. Positioning can be performed reliably. Further, by locking the cutter unit 133 with the stopper pins 129 and 131, the cutter unit 133 can be easily attached and detached, and maintenance such as cleaning and replacement of the round blades 138 and 138 can be facilitated.

  In addition, as shown in FIGS. 11A and 11B, a bone pulling hand 151 as another embodiment mainly includes a casing 152 that stores a reel 167 around which a bone pulling wire 49 is wound. A first base 32, a second base 37 disposed on the lower surface of the first base 32 and through which the bone pulling wire 49 is inserted, and a lower bone disposed on the front of the second base 37 and And a slide mechanism 161 provided with guide members 48a and 48b for bending the wire 49 into an arc shape.

  On the upper surface of the first base portion 32, a connecting portion 34 to which the arm 9a of the industrial robot 6 is connected is provided, and the connecting portion 34 is formed by four cylinders protruding at each vertex position of the virtual square. Are constituted by pins 34a. On the lower surface of the first base portion 32, the casing 152 having an opening 153 formed therein for rotatably sealingly storing a reel 167 around which the bone pulling wire 49 is wound and pulling out the bone pulling wire 49 is provided. On the side of the casing 152, a motor box 36 in which a motor (not shown) for rotating the reel 167 is stored is provided.

  The second base portion 37 is disposed on the lower surface of the first base portion 32 so as to protrude in a direction in which the bone pulling wire 49 is extended by the reel 167, and is formed vertically long and hollow inside. The upper surface 37a protruding from the first base portion 32 is provided with an opening 38 for introducing the bone pulling wire 49 fed from the reel 167, and the lower surface 37b is provided with a through hole through which the bone pulling wire 49 is inserted. Holes 39a and 39b are formed at intervals in the axial direction of the reel 167, and a through hole 41 is formed in the side surface 37c to draw out the bone pulling wire 49 to the outside.

  Further, a pipe-shaped second guide member 154 for guiding the bone pulling wire 49 through the opening 153 of the casing 152 and guiding the bone pulling wire 49 above the lower surface 37b is provided in the second base portion 37. The lower end of the second guide member 154 is disposed so as to face the through hole 39a.

  Further, a locking portion 160 for locking one end of the bone pulling wire 49 is provided on the second base portion 37. In this embodiment, the bone pulling-out portion pulled out from the through-hole 41 outwards. The end of the wire 49 is inserted and locked in a push-one joint 155 fixed to the side surface 37c and connectable to push-one.

  The slide mechanism 161 includes a base unit 162 fixed to the front surface of the second base 37, and a slide unit 163 disposed slidably in the vertical direction on the front side of the base unit 162. At the lower end of the slide unit 163, a pair of pipe-shaped guide members 48a and 48b are disposed so as to face the through holes 39a and 39b formed in the lower surface 37b of the second base 37, respectively. . Then, the bone pulling wire 49 inserted through the second guide member 154 and guided to above the through hole 39a is inserted through the guide member 48a from the through hole 39a, and pulled out from below the guide member 48a. After being curved to form a U-shaped curved portion 49a, it is inserted from the guide member 48b into the through hole 39b. Then, the bone pulling wire 49 introduced into the second base 37 from the through hole 39b is pulled out from the through hole 41 formed in the side surface 37c, and inserted into the push one joint 155. Locked.

  A board 156 is fixedly disposed laterally on an extension of the first base 32 in the axial direction of the motor box 36. As shown in FIG. 12, a circular hole 157 is formed in the center of the substrate 156. The circular hole 157 is connected to an output shaft of a motor (not shown) in the motor box 36. The flywheel 158 is rotatably disposed. Also, at the four corners of the substrate 156, equal-length inner screw shafts 159, 159,... The flywheel 158 is provided with a rectangular fitting recess 160.

  On the other hand, at four corners of the casing 152, circular holes 164, 164,... Into which the inner screw shafts 159 are inserted relatively densely, respectively, are formed. Then, each of the inner screw shafts 159 is inserted into each of the circular holes 164, and an outer screw of a handle 165 having an outer screw that can be screwed to the inner screw is screwed into a tip of each of the inner screw shafts 159. The casing 152 can be easily fixed to the substrate 156 by hand with the four handles 165.

  As shown in FIG. 13, a circular hole 166 is formed in the center of the casing 152, and a reel 167 as a driven flywheel disposed opposite to the flywheel 158 is formed in the circular hole 166. Are rotatably arranged. The reel 167 has a rectangular fitting projection 168 that fits relatively tightly into the rectangular fitting recess 160 of the flywheel 158 to transmit the rotation of the flywheel 158 to the reel 167. It is arranged. Further, the bone pulling wire 49 is wound around the reel 167, and the casing 152 is formed with a guide groove 169 for leading the bone pulling wire 49 out of the opening 153 of the casing 152. ing.

  According to the bone pulling hand 151 having such a configuration, the reel 167 around which the bone pulling wire 49 is wound is housed in the casing 152 in a sealed state, and the bone pulling out from the opening 153 of the casing 152 is performed. Since the wire 49 is inserted through the second guide member 154, a problem occurs when the curved portion 49 a of the bone pulling wire 49 is hooked on each rib 101, and the bone pulling wire 49 is extraly pulled out from the reel 167 and loosened. Even if it does, entanglement of the bone pulling wire 49 can be prevented. In addition, the casing 154 is fixed to the board 156 provided on the first base 32 by each handle 165, and the drive of the motor is transmitted by the flywheel 158 provided on the board 156. The attachment and detachment of the base 156 and the casing 154 and below become easy, and maintenance such as cleaning and replacement of the reel 167 and the bone pulling wire 49 becomes easy.

  As shown in FIGS. 12A and 12B, a holding hand 181 according to another embodiment mainly includes a base 182 to which the arm 9b of the industrial robot 6 is connected, and a conveyed block meat. A pressing portion 184 which comes into contact with the ribs 100 and presses and presses each rib 101 from above, and is hooked on the curved portion 49 a of the bone pulling wire 49 of the bone pulling hand 131 which is disposed so as to protrude from and be stored in the pressing portion 184. The hook 187 for guiding the bone pulling wire for guiding the lower end of the curved portion 49a below each rib 101, the wire entanglement preventing member 188 provided on the holding portion 184, and the hook 187 are reciprocated. And a cylinder case 189 in which a cylinder 190 is housed. The cylinder case 189 is provided rearward with respect to the contact surface 184c of the pressing portion 184. Case 189 is connected, the base 182 is disposed above the cylinder case 189.

  A connecting portion 183 to which the arm 9b of the industrial robot 6 is connected is provided on an upper surface of the base portion 182. The connecting portion 183 is provided with four cylindrical pins 183a protruding at respective apexes of a virtual square. , 183a...

  The holding portion 184 is formed with a contact surface 184c having a predetermined width in the conveying direction of the block meat 100 and having an arcuate vertical cross section. The hook 187 is provided at the lower center in the width direction of the contact surface 184c. Is formed so as to extend in the direction orthogonal to the width direction from the contact surface 184c to the bottom surface 184d continuously provided. The slit 185 is communicated with the inside of the holding portion 184, and is connected to the hook 187 and the cylinder rod 191 of the cylinder 190 as shown in FIG. A connecting member 186 that reciprocates the hook 187 by driving is slidably disposed.

  The hook 187 is formed to have a width that fits in the slit 185 of the holding portion 184, a base 187 a is formed in a flat plate shape along the bottom surface 184 d of the holding portion 184, and a front end 187 b of the holding portion 184 is formed. A connecting portion 187c which is bent along the contact surface 184c and is introduced into the holding portion 184 and connected to the connecting member 186 is provided upright at the rear end. When the cylinder is driven, it is reciprocated along the slit 185 to be projected and stored. When the cylinder is stored in the slit 185, it is substantially flush with the contact surface 184c and the bottom surface 184d of the pressing portion 184. It is arranged in.

  The wire entanglement preventing member 188 is bridged in an arc shape to both end surfaces 184a and 184b of the pressing portion 184 behind the cylinder case behind the contact surface 184c of the pressing portion 184, In the case where the bone pulling hand 131 is boned by the bone pulling hand 131, if the bone pulling wire 49 is caught at any position and is pulled out from the reel 35 (167) excessively, the bone pulling wire 49 is pressed by the pressing hand 181. To prevent entanglement.

  In the cylinder case 189, a cylinder 190 for reciprocating the cylinder rod 191 in the extending direction of the slit 185 of the pressing portion 184 is provided, and a distal end of the cylinder rod 191 is provided via a fixing member 192. The connecting member 186 connected to the hook 187 is fixed. In the cylinder case 189, a pair of guide rods 193 and 193 are disposed in parallel with the moving direction of the cylinder rod 191. The guide rods 193 and 193 slide in the axial direction, respectively. The slider 194 is freely inserted. Each of the sliders 194 is connected to the fixed member 192 so as to guide the fixed member 192 in the axial direction.

  Then, according to the holding hand 181 having such a configuration, when the bent portion 49a of the bone pulling wire 49 of the bone pulling hand 131 is hooked on the tip of each rib 101, the hook 187 protruding from the contact surface 154c is bent. The curved portion 49a can be reliably hooked on the tip of each rib 101 by hooking on the portion 49a and guiding it below each rib 101. In addition, by storing the hook 187 and bringing the contact surface 154c into contact with the block meat 10, the rib 101 swings during the bone reduction process by the bone reduction hand 131, and the bone reduction wire 49 becomes extra. The bone pulling wire 49 can be slid with the bone pulling wire 49 firmly wound around the surface of the rib 101a, so that the rib 101a can be reliably peeled off by the bone pulling wire 49. The bone pulling wire 49 bends, thereby preventing the yield from deteriorating.

  Further, as shown in FIGS. 16A and 16B, a meat holding mechanism 201 according to another embodiment has a base portion which is slid in the direction of contact and separation with a conveyed block meat 100 by a cylinder (not shown). Above 202, a pair of side plates 203, 203 is arranged at intervals in the direction of transport of the block meat 100. Further, on the surface of the base portion 202 facing the block meat 100, a partially U-shaped horizontal presser which presses against the back of the block meat 100 and restricts the block meat 100 from moving back and forth in the transport direction. Guides 208a and 208b are attached at intervals in the transport direction.

  Between the two side plates 203, a substantially rectangular parallelepiped housing 204 is provided extending to the vicinity of the two side plates 203, 203. The housing 204 is swingably supported by pins 205 projecting from the side plates 203. A cylinder 206 is provided along each side plate 203, and a tip of a cylinder rod 207 of the cylinder 206 is connected to a position separated from a swing center of the housing 204. Therefore, the housing 204 can be swung by supplying and discharging fluid pressure to both cylinders 206.

  A plurality of upper holding members 209 serving as upper holding members for holding the meat from above are arranged in the longitudinal direction of the housing 204 with a small gap therebetween. Each upper holding member 209 is formed in an elongated plate shape, and an upper holding portion 210 and a stopper 211 are formed at both ends so as to bulge in an arc shape. Each of the upper holding members 209 is supported by the housing 204 so as to be slidable in the longitudinal direction. Accordingly, the upper holding members 209 move forward and backward in the respective longitudinal directions synchronously with the swing of the housing 204 by the driving of the two cylinders 206.

  Further, the housing 204 has a plurality of small cylinders 212 attached to the sides of the upper holding members 209 by the number of the upper holding members 209 so as to correspond to the respective upper holding members 209. At 212, a contact member (not shown) that comes into contact with each of the upper holding members 209 is provided, and a cylinder rod (both not shown) that reciprocates toward each of the upper holding members 209 is provided. I have. The supply and discharge of the fluid pressure to and from the small cylinder 212 causes the cylinder rod to reciprocate, and the contact member comes into contact with and separates from the corresponding upper holding member 209. When the contact member comes into pressure contact, the upper holding member 209 moves. Is to be restrained.

  According to the meat holding mechanism 201 having such a configuration, the housing 204 is rotated rearward, that is, rightward in the drawing as shown in FIG. Each of the upper holding members 209 slides rearward and extends, and when the block meat 100 is transported, the base 202 is moved in a direction approaching the block meat 100 on the left side in the figure by a cylinder (not shown). The lateral holding guides 208a and 208b are pressed against the back of the block meat 100 to restrict the movement of the block meat 100 back and forth in the transport direction, and the housing 204 is illustrated as shown in FIG. The upper holding member 209 is slid forward by the inclination of the housing 204 so as to face the block meat 100 on the left side, and the upper holding portion 21 of each upper holding member 209 is slid. There are contact with the upper surface at the position of each corresponding to the subtle difference in shape due to individual differences of the meat block 100. Then, in a state in which each upper pressing portion 210 of each upper pressing member 209 is in contact with the upper surface of the block meat 100, each small cylinder 212 is driven to be disposed on each upper pressing member 209 on the cylinder rod of each small cylinder 212. When the pressed contact members are brought into contact with each other and the upper pressing members 209 are pressed against each other, the movement of each upper pressing member 209 is restrained, the block meat 110 is held, and the bone pulling process by the bone pulling hand (31) 131 is performed. In this case, the vertical movement of the block meat 10 is regulated, and the bone reduction process can be reliably performed.

  Further, in the present embodiment, the creasing arm, the bone pulling arm, and the holding arm are configured by arranging each working hand on the robot arm provided on the industrial robot, respectively. It is not necessary to dispose the arm as a whole, as long as the arm is arranged as the whole device.

  Further, in the case of disposing the arm in an industrial robot, the number of arms is not limited to two, and a large number of arms may be arranged.

REFERENCE SIGNS LIST 1 deboning device 2 belt conveyor 3 first rib detection device 4 second rib detection device 5 industrial robot 6 industrial robot 10a, 10b creasing arm 11 creasing hand 12 creasing hand 30 bone pulling arm 31 bone pulling hand 50 Holding arm 51 Holding hand 61 Meat holding mechanism 111 Creasing hand 151 Bone pulling hand 181 Holding hand 201 Meat holding mechanism

Claims (17)

A belt conveyor for placing and transporting prepared meat blocks of meat animals;
A robot arm, in which a plurality of joints connected by different rotation axes are controlled in a three-dimensional manner, is provided with scoring hands for making cuts on both sides of each rib attached to the block meat conveyed by the belt conveyor. At least one creasing arm provided;
A plurality of joints connected by different rotation axes are controlled in a three-dimensional manner by a robot arm, and a wire is passed through each rib of the block meat cut by the creasing hand to form each of the joints. A bone pulling arm provided with a bone pulling hand for peeling ribs from the block meat;
A holding hand that presses a rib from above when a wire of the bone pulling hand is passed along a rib is disposed on a robot arm in which a plurality of joints connected by different rotation axes are three-dimensionally controlled. Holding arm,
In a deboning apparatus having a meat holding mechanism that holds the block meat when the processing is performed by the hands on the block meat conveyed by the belt conveyor,
The scoring hand has a tip arm provided with a rotation shaft of an arbitrary length rotatably supporting two round blades arranged in parallel and opposed to each other, and the tip arm is provided with the robot arm. A pair of clamping cylinders, which slide in the axial direction of the rotating shaft disposed on the lower surface of the base connected to It has a pair of second cylinders in which a cylinder rod slides in the axial direction, and these second cylinders are arranged so as to be opposed to the tip arm so that the cylinder rods can freely come and go. A deboning device, characterized in that   The deboning device according to claim 1, wherein two creasing arms are provided, and rotation shafts having different lengths are provided for the respective creasing hands. A belt conveyor for placing and transporting prepared meat blocks of meat animals;
A robot arm, in which a plurality of joints connected by different rotation axes are controlled in a three-dimensional manner, is provided with scoring hands for making cuts on both sides of each rib attached to the block meat conveyed by the belt conveyor. At least one creasing arm provided;
A plurality of joints connected by different rotation axes are controlled in a three-dimensional manner by a robot arm, and a wire is passed through each rib of the block meat cut by the creasing hand to form each of the joints. A bone pulling arm provided with a bone pulling hand for peeling ribs from the block meat;
A holding hand that presses a rib from above when a wire of the bone pulling hand is passed along a rib is disposed on a robot arm in which a plurality of joints connected by different rotation axes are three-dimensionally controlled. Holding arm,
In a deboning apparatus having a meat holding mechanism that holds the block meat when the processing is performed by the hands on the block meat conveyed by the belt conveyor,
In the creasing hand, a mounting unit is provided on each of the claw portions of the electric actuator which biases a pair of claw portions movably disposed in a horizontal direction in a proximity direction. Cutter units each having a round blade attached to a rotation shaft arranged rotatably in parallel with the direction of contact and separation of the claw portions are fixed to the lower end of the claw portion, and the electric actuator is connected to the robot arm. A pair of cylinders are provided on the base so as to be slidable in the axial direction of the respective rotary shafts, and a pair of cylinders on the base are slidable in the axial direction of the respective rotary shafts with respect to the electric actuator. A deboning apparatus characterized in that the cylinder rods are arranged so as to be opposed to each other so as to be freely contactable and detachable.   Each of the mounting units is formed so that the base of the cutter unit can be inserted therein, and the base of each of the cutter units is inserted into each of the mounting units and locked by a stopper pin. The deboning device according to claim 3. A rib detecting device that creates three-dimensional data of the block meat conveyed on the belt conveyor, and detects the position coordinates, the number, and the shape of each rib attached to the block meat based on the three-dimensional data;
5. The control device according to claim 1, further comprising: a control device that creates a control table based on information on ribs detected by the rib detection device and controls driving of each unit. 6. The deboning apparatus according to item 1. The bone hand is
A first base that houses a reel that winds a bone pulling wire and is driven by a motor, and is connected to the robot arm;
A pair of pipe-shaped guide members for inserting the bone pulling wire extended from the reel and bending the bone pulling wire into a U-shape at a lower end of the bone pulling hand;
An opening for introducing the bone pulling wire fed from the reel is formed on the upper surface, and the bone introduced from the opening is formed on the lower surface, the opening being provided between the first base and each of the guide members. A through-hole for guiding the pulling wire to one of the guide members, and a through-hole that is curved in a U-shape and re-introduces the bone pulling wire inserted into the other guide member are formed. The deboning device according to any one of claims 1 to 5, further comprising a second base portion.   The reel is rotatably and hermetically stored in a casing provided with an opening for drawing out the bone pulling wire, and a pipe-shaped second fixed to the second base portion between the opening and the guide member. The deboning device according to claim 6, wherein the deboning device is inserted through the guide member.   The deboning apparatus according to claim 6 or 7, further comprising an urging member for urging the pair of guide members so as to expand the lower portions of the pair of guide members outward.   9. The slide mechanism according to claim 6, further comprising a slide mechanism configured to reciprocate the pair of guide members in a direction of approaching and separating from each rib of the block meat. 10. Deboning device.   7. The bone pulling wire according to claim 6, wherein one end is locked to the second base and only the other end is locked to the reel for feeding and winding. Item 10. The deboning apparatus according to any one of items 9 to 9.   The deboning apparatus according to claim 10, wherein the locking means of the bone pulling wire is a push one joint.   The casing is disposed on the first base portion, and is fixed by screwing a screw provided with a handle to a substrate provided with a flywheel fitted to the reel and rotationally driving the reel by driving the motor. The deboning apparatus according to any one of claims 7 to 11, wherein the second base is connected to the casing. The holding hand is
A base connected to the robot arm;
A pressing portion which is provided continuously below the base portion and has a contact surface formed in a substantially circular cross section with a predetermined width in a conveying direction of the block meat,
13. The wire entanglement preventing portion formed in an arc shape that passes under the base and connects both end surfaces of the holding portion, and is provided with the wire tangling preventing portion according to any one of claims 1 to 12. Deboning device.   A groove extending in a direction perpendicular to the longitudinal direction is formed in a lower peripheral surface of a center in a longitudinal direction of the pressing portion, and a lower surface is formed in the groove so that the lower surface is substantially flush with the lower peripheral surface. The deboning device according to claim 13, wherein the hook for guiding the bone pulling wire is provided so as to protrude from the lower peripheral surface by a cylinder and to be retractable. The meat holding mechanism,
For the block meat conveyed by the belt conveyor, a base that slides horizontally from the back side of the block meat,
A pair of horizontal retainers disposed on the base portion and pressed against the back of the block meat to regulate the forward and backward movement of the block meat in the transport direction;
An upper press is provided so as to be able to freely contact and separate from the upper surface of the conveyed block meat, and is fixed in a state in contact with the upper surface of the block meat to regulate the vertical movement of the block meat. The deboning device according to any one of claims 1 to 14, wherein:   The upper retainer is configured by arranging a plurality of upper retainers formed with hook-like portions extending toward the block meat conveyed from above the base in the conveying direction of the block meat. The upper holding member is moved up and down by an elevating member, and is fixed in a state where the hook-shaped portions are in contact with the upper surface of the conveyed block meat, thereby regulating the vertical movement of the block meat. The deboning device according to claim 15.   The upper retainer is configured by arranging a plurality of rod-like upper retainers having a predetermined width and extending in a direction perpendicular to the conveying direction of the block meat on the block meat. The member is slidably inserted in the direction of contact and separation with respect to the block meat conveyed to the housing rotatably disposed so as to face the block meat conveyed from above the base, and the block meat is conveyed. When the housing is rotated, the housing is slid and comes into contact with the upper surface of the block meat, and is fixed in a state of being in contact with the upper surface of the block meat, thereby restricting the vertical movement of the block meat. The deboning device according to claim 15, characterized in that: