JPS6393596A - Automatic cutter - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION OBJECTS OF THE INVENTION [Industrial Application Field] The present invention relates to an automatic cutting device for cutting objects having substantially similar shapes and a substantially uniform composition at a predetermined angle.

[Prior Art] Automatic cutting devices that cut objects to be cut, such as bread or ham, into fillets of a constant thickness have been widely known.

[Problems to be Solved by the Invention] However, although these conventional automatic cutting devices are suitable for cutting objects with the same cross-sectional shape into fillets, they are not suitable for cutting objects with different cross-sectional shapes depending on the length, such as fish. There was a problem in that the sizes of the parts were uneven. Therefore, relying on the intuition of a skilled craftsman, he changed the cutting angle according to the shape of the cut part and cut it so that it was the same length as J. However, this manual work, which relied on the help of skilled craftsmen, was inefficient and became a problem.

SUMMARY OF THE INVENTION Therefore, the present invention has been made to solve the above-mentioned problems, and to provide an automatic cutting device that allows anyone to easily obtain fillets of the same shape.

Structure of the Invention [Means for Solving the Problems] In order to achieve the above object, the present invention has the following structure as a means for solving the problems. That is, as illustrated in FIG. 1, it is an automatic cutting device for cutting a workpiece M1 having a substantially similar shape and a substantially uniform composition at a predetermined angle, and includes a weight detection means M2 for detecting the weight of the workpiece M1. - a cutting means M3 that cuts and covers the object to be cut M1 described in V at a specified angle, and the relationship between the weight and shape of the object to be cut M1 determined in advance and the detection result by the weight detection means M2, Thickness distribution detection means M4 for detecting the thickness A5 of the cut object M1; and a cutting angle at which the cut length of a predetermined cutting portion becomes a predetermined length based on the detection result detected by the thickness distribution detection means M4. Angle calculation means M5 for calculating the angle calculation means M5
A cutting angle control means M6 that instructs and controls the cutting means M3 according to the calculation result of .

Here, the predetermined relationship between the weight and shape of the object to be cut M1 refers to, for example, the relationship between the weight and the total length of a plurality of objects to be cut and the thickness distribution relative to the length. Here, the thickness distribution with respect to length represents distribution data indicating what percentage of the total length (length ratio) is at what percentage of the maximum thickness.

[Function] In the automatic cutting device of the present invention having the above configuration, the weight detection means M2 detects the weight of the object to be cut M1, and the thickness distribution detection means M4 detects the weight and shape of the object to be cut M1 determined in advance. From the relationship and the detection result by the weight detection means M2, the thickness distribution of the object to be cut M1 is detected, and the angle calculation means M5
calculates a cutting angle at which the cut length of a predetermined cutting point becomes a predetermined length based on the detection result detected by the thickness distribution detection means M4, and the cutting control means M6 uses the calculation result of the angle tightening means M5. Accordingly, the cutting means M3 is instructed and controlled. Therefore, the cutting means M3 cuts the object M1 at an angle such that the cut length of the object M1 becomes a predetermined length.

[Example] Examples of the present invention will be described below.

First, a procedure for calculating a cutting angle at which the cut length of the object to be cut becomes a predetermined cut length will be explained with reference to the drawings.

FIG. 2 is an external view illustrating an example of the object to be cut, the head of a smoked salmon, cut off and cut into two pieces without a back. If the fish are of the same type, their external shapes are almost similar as shown in Figure 2, and the dimensions of each fish, such as length and maximum thickness 1'', are the cube of the total weight G of the fish ( 1/3 power)
It is almost proportional to , and there is a relationship expressed by the following equations (1) and (2). Therefore, the proportional coefficients αL and αH are calculated in advance, and the weight of the fish body ff1 is
By measuring G, the length and maximum thickness H of the fish body can be determined.

L-αL-Gβ1 (1) H-αH-GβL (2) FIG. 3 is a graph showing the relationship between total length and weight measured using salmon as an example. In this graph, from the total weight G and length, as shown in FIG. 2, the head side A part and the tail part, which cannot be used as fillets, are excluded. From this graph, it is determined that the proportional coefficient αL of the salmon is 39. Furthermore, in this example, the 31st power is changed to the 1/3 power, and the external shape of the actual salmon varies and is not completely similar. Because there is no
-〇- Similarly, from the above graph, the 81st power was set to the 0.35th power.

FIG. 4 is a graph showing the relationship between maximum thickness and weight, which was also measured using salmon as an example. In this graph, from the total weight iG, as shown in FIG. 2, the head side A part and the tail part, which cannot be used as fillets, are excluded. From this graph, it can be determined that the proportional coefficient αH of salmon is 2°18.Furthermore, in this example, βH is changed to the 1/3 power, so that the external shape of actual salmon varies and is perfectly similar. Since it is not a shape, βF1 was set to the 0.42nd power from the above graph as well.

Next, the procedure for determining the thickness at the cutting position to obtain the predetermined cut length S will be explained with reference to FIG. FIG. 5 is a graph showing the ratio of the thickness ratio to the length ratio of the salmon described above. In this graph, the vertical axis is the thickness ratio h2, which is the percentage of the actual thickness 1-12 to the maximum thickness of the salmon, and the horizontal axis is the length L of the salmon (excluding the A part on the head side and the tail part). This is the length ratio Ω2, which is expressed as a percentage of the length L2 with respect to the cranial side (hereinafter the same applies). This relationship can be expressed as the following equations (3) and (4).

1'Lz = H2/HX 100...(3) Ωz=1
2 / L .

sin θ-t'2/5-(5> Next, as shown in FIG. 2(a), when cutting is already performed at cutting length 11, and then trying to cut at cutting length L2, which is shorter by length ΔL. The length ratio Ω2 when the cutting length L2 is obtained from equation (4), and the length ratio Ω from FIG.
The thickness ratio h2 corresponding to 2 is determined. Above) The relationship between the maximum thickness and weight shown in FIG. 4 and the distribution of the thickness ratio to the width ratio shown in FIG. 5 represent the thickness distribution with respect to length.

The obtained thickness ratio h2 is substituted into the above equation (3) to obtain the actual thickness H2, and then this actual thickness 1-12 is calculated using the above equation (3).
5) The cutting angle θ is determined by substituting into the equation. In this example, equation (6) is obtained from equations (3) and (5) above, and the equation (
The cutting angle θ is obtained by substituting the above thickness ratio h2 into equation 6). Here, in the case of salmon in this example, αl-1=2.18
．． The β-th position is −0,42.

sin θ −h 2 ・ t1/S ・ 100=
h2·αH−GβH/S·100 (6) Next, embodiments of the present invention will be described in detail based on the drawings. FIG. 6 is a schematic diagram of an automatic cutting device according to an embodiment of the present invention.

This automatic cutting device has a disc-shaped cutter 1 that cuts smoked salmon F while rotating, and also includes a gear 2 that rotates together with the disc-shaped cutter 1 and an idle pinion 4 that meshes with the gear 2. These disc-shaped cutters1. The gear 2 and the idle pinion 4 are configured to move integrally. This idle pinion 4 has two small racks 5a,
6b and a rack 10 formed by a pair of half-moon-shaped gears 8a, 3b provided at both ends of the two small racks 6a, 6b, and this rack 10 is fixed to a portal frame 11. Further, the disc-shaped cutter 1 is connected to a chain 12, which is connected to a pair of sprockets 14 rotatably supported on a gate-shaped frame 11.
It is stretched between 16. The sprocket 14 is rotated by an AC motor 18 via a transmission device (not shown).

Incidentally, an encoder 20 is attached to the rear of the AC motor 18 and generates a pulse signal according to the rotation of the AC motor 18.

When the AC motor 18 is driven, the sprocket 14 rotates, and the rotation of the sprocket 14 causes the chain 1 to
2 is driven, and the disc-shaped cutter 1 moves in a track shape as shown by arrow A in the figure.

Furthermore, the idle pinion 4 meshed with the rack 10 rotates due to the movement of the ring 12, so that the gear 2 rotates in the opposite direction and the disc-shaped cutter 1 rotates in the direction of arrow B in the figure. When the AC motor 18 is driven in this manner, the disk-shaped cutter 1 rotates in the direction of the arrow B in the figure and performs a 1-to-raku motion as shown by the arrow A in the figure.

Further, at the lower side of the portal frame 11, a large gear 2 whose rotation center is the lower end (cutting position) of the disc-shaped cutter 1 is provided.
2 is attached, and a small gear 24 that meshes with and covers the large gear 22 is provided. A tooth width 28 attached to the rotating shaft of an AC servo motor 26 is meshed with the pinion 24 . Therefore, when the AC Leevo motor 2G is driven, the large gear 22 rotates via the gear 28 and the small gear 24, and this rotation causes the gate-shaped frame 11 to tilt, thereby making it possible to tilt the disc-shaped cutter 1 at a predetermined angle. Incidentally, an encoder 30 is attached to the rear of the AC servo motor 26 to generate a pulse signal according to the rotation of the AC servo motor 26.

On the other hand, a large number of nodular bars 32 are arranged in parallel in a direction perpendicular to the hand direction of the gate-shaped frame 110, and a connecting bar 34 is provided at the bottom of the guide bar 32 to connect and integrate the large number of guide bars 32. A load cell 36 is provided.

This load cell 361 generates an analog signal corresponding to the weight of the salmon placed on the guide bar 32.

Furthermore, two feed bars 38 are installed above and below the guide bar 32 in a direction perpendicular to the kite bar 32.
40 are provided. Both ends of each of the feed bars 38.40 are connected to two feed chains 42.4/l provided on either side of the guide bar 32, respectively. These two feeding gears 42 and 44 are connected to two sets of feeding field sprocket 1.
4G and 48, and one of the two feeding sprockets 46 and 48 is connected by a connecting shaft 50.

Small sprockets 1 to 52 are attached to one end of the connecting shaft 50, and these small sprockets 1 to 52 and the AC lever motor 5
A chain 58 is stretched between the subrockets 1 to 56 attached to the 40 rotating shaft.

Furthermore, at the rear of the AC servo motor 54, there is an encoder 6 that generates a pulse signal according to the rotation of the AC servo motor 54.
0 is set.

When the AC sustainer motor 54 is driven, the feed sprockets 46, 4 and 3 are rotated via the chain 58 etc., and the feed chains 42, 4.4 are driven, and one feed bar 38 is rotated. or move in the direction of arrow C in the figure.

At the same time, the other feed bar 40 moves in the direction opposite to arrow C in the figure. Therefore, place the salmon on the guide bar 32,
When the AC zarpo motor 54 is driven, one of the feed bars 3
8 causes the salmon to move in the direction of arrow C in the figure.

Further, a large number of fixed kite bars 62 are provided on the extension of the guide bar 32, each of which has a notch 62a having a depth of 3 mm at one end. The tip cutting edge of the disc-shaped cutter 1 passes through this notch 62a with a gap of 1 mm to reliably cut the salmon.A large number of leaf springs 64 are disposed above the fixed guide bar 62. A swing shaft 66 is provided, and a connecting plate 70 connected to a rod of an air cylinder 68 is provided at one end of the swing shaft 66.
When driven, the swing shaft 66 swings via the connection plate 70, and the leaf spring 64 also swings around the swing shaft 66. Therefore, the plate spring 64 presses the salmon F on the fixed guide bar 62 from above.

Furthermore, on the extension of the fixed guide bar 62, a large number of string-like belts 74 are arranged, which are stretched between a pair of rollers 72, 73. The roller 72 is configured to be rotatable together with the feed field sprocket 48 by means of a chain transmission device (not shown). Therefore, when the AC servo motor 54 is driven, the roller 72 also rotates, and the bells 1 to 74 are also driven by the rotation of the roller 72, and the salmon fed through the fixed guide bar 620 is carried out by the belt 74.

Next, the electrical system of this embodiment will be explained using the block diagram shown in FIG. Each of the above motors is driven and controlled by the electronic control circuit 100 to feed and cut the salmon.

The electronic control circuit 100 is a well-known C
PU101. The input/output circuit, in this case, the keyboard input circuit 104, is configured with the ROMIO2 and RAM103 as the core of the logic operation circuit, and performs input/output with the outside. Pulse input circuit 105. Analog input circuit 106. Motor drive output circuit 107. Drive output circuit 108 etc.”Monbus 109
are interconnected through.

The above RAM 103 contains the salmon F that is about to be cut.
A graph showing the relationship between the total length and weight of Salmon 1, which was previously measured from samples of the group (see Figure 3).

A graph showing the relationship between the maximum thickness and weight of salmon (see Figure 4) and a graph showing the distribution of thickness ratio to length ratio of salmon (see Figure 5) are drawn. By writing in the RAM 103 in this way, it is possible to easily change the data τ'' even if the object to be cut changes.

The CPU 101 inputs data such as length S, length Δ1-, etc. set by the keyboard 110 to each encoder 20, 30, etc. via the keyboard input circuit 104.
The pulse signal from 60 is inputted via the pulse input circuit 105, and the analog signal from the [''-docel 36 is inputted via the analog input circuit 106, respectively.

On the other hand, these data and signals and ROM102°RAM
Based on the data in 103, the CPU 10I outputs a drive signal to the AC motor 1B and each AC summer motor 26.54 via the motor drive output circuit 107, and outputs a signal to drive the cylinder 6B via the drive output circuit 108. It outputs and controls each device.

Next, the processing performed in the above-mentioned electronic control circuit 100 will be explained based on flowchart X7-1- in FIG.

This automatic cutting rjfT device is powered on, sets the length Δ1 from the toe board 110 and the cut length S, and sets the disc cutter 1. Portal frame 11 and feed bar 38.40
An operation such as returning to the origin is performed.

When the operation is started, the cutting angle control routine shown in FIG. 8 is repeatedly executed along with other control routines. First, the preset length cut length and cut length S are read out (step 200), and the total weight G of the salmon placed on the guide bar 32 with the head side of the salmon in contact with the feeding bar 38. is detected by the load cell 36 (step 210).Next, the total length 1- of the salmon is calculated using the above-mentioned formula (1) based on the above-mentioned total weight G, and the maximum length of the salmon is calculated using the above-mentioned formula (2). Thickness 1'' is calculated (step 220).

Next, calculate the number of cuts N by calculating the total length by lengthening (step 230), and round down the number of cuts N below the decimal point to convert the number of cuts N into an integer (step 240). Next, the origin position of the feed bar 38 (sixth
The distance between the position shown in the figure) and the disc-shaped cutter 1 is calculated by subtracting the above-mentioned overall length 1-, the AC servo motor 54 is driven to move the feed bar 38, and the encoder 60 is used to calculate the distance between this transferred weight and the above-mentioned subtraction. The feed bar 38 is moved until the distance determined by

As a result, the base of the salmon F's tail is fed onto the path through which the disc-shaped cutter 1 passes, as shown by the two-dot chain line in FIG.

Next, the air cylinder 68 is driven to fix the salmon by the leaf spring 64 in step 260>, the △C motor 18 is driven to move the disc cutter 1, and the disc cutter 1 is rotated through the encoder 20. When it is detected that the salmon F has circled, the C motor 1B is stopped. In this way, the tail of the salmon F is cut off (step 270). When the cutting is completed, the air cylinder 68 is driven to release the fixation of the salmon F by the leaf spring 64. Step 280), it is determined whether the number of cuts N is 1 or more or not (Step 290).

-17 = 1 or more, the length △I- is subtracted from the cutting length L1, which is the total length of the uncut portion of the salmon F, to obtain a new cutting length of 1. ,．． Calculate 2. Further, the length ratio Ω2 corresponding to this cutting length L2 is determined from the above equation (/1), and the thickness ratio h2 is determined from the length ratio Ω2 based on FIG. Next, this thickness ratio t)2 is substituted into equation (6) to calculate the cutting angle θ (step 300). The processing of step 300 and step 220 above constitutes a thickness distribution detection means and an angle calculation means.

After calculating the cutting angle θ, the AC swivel motor is driven to tilt the portal frame 11 while detecting the tilt angle using the encoder 30 so that the tilt angle of the portal frame 11 becomes equal to the cutting angle θ (step 310).

Next, the AC servo motor 54 is driven while detecting the amount of movement by the engine 60 so that the distance between the feed bar 38 and the disc-shaped cutter 1 becomes the cutting length L2.
is moved and salmon F is fed (Suup 320). At this time, the fillet M[, which was cut at the same time, is carried out by the belt 74. Next, the air cylinder 6B is driven to release the leaf spring 6.
4 to fix the salmon, the enloader 20 detects the amount of movement of the disc-shaped cutter 1, and drives the AC seven-pointer 18.
is moved one round as shown by arrow A, and the salmon is cut at the cutting angle number θ (step 340). When the cutting is finished, the number of cuts is reduced by 1 from N (step 350), and a new cut is made again. The process from step 280 onwards is repeatedly executed.In this example, the process at step 310
After cutting, if steps 320 and 260 to 300 are completed before the disc-shaped cutter 1 returns to its original position, the disc-shaped cutter 1 continues to move in the direction of arrow A without stopping at its original position. It is configured to do so.

In step 290, if it is determined that the number of cuts N is 1 or less, the AC servo motor 54 is driven while the encoder 60 detects the amount of movement of the feed bar 38, and the feed bar 38 is moved to the feed position shown in FIG. The fillet is moved to the position of the bar 40, and at the same time the fillets are carried out by the bells 1 to 74 (step 360). Once the export is complete, it can be handled as "rNFX".

In this example, salmon F cut into two pieces without a backbone was used as an example of the object to be cut, but salmon F with a backbone or a single fish that has not been cut into two pieces can be cut in advance. By obtaining the above-mentioned measurement data, it is possible to similarly cut the fillets into fillets with a predetermined cut length S.

As described above, the automatic cutting device of this embodiment detects the total weight G of the salmon using the load cell 36, and determines the relationship between the weight and shape of the salmon determined in advance, that is, the relationship between the weight and the total length (
Figure 3) and thickness distribution over length (Figures 4 and 5)
Based on this, a cutting angle θ that results in a predetermined cut length S is calculated, and the gate-shaped frame 11 is tilted to continuously cut fillets with a predetermined cut length S using the disk-shaped cutter 1.

Therefore, according to the automatic cutting device of this embodiment, simply by detecting the total weight G of the salmon F, fillets of a predetermined cut length S can be easily and efficiently continuously obtained without relying on the intuition of a skilled craftsman. be able to.

Furthermore, a large number of guide bars 32 arranged in parallel in the feeding direction allow the salmon to be fed reliably without shifting during feeding, and a large number of leaf springs 64 keep the salmon in the shape of the salmon during cutting. Ensure proper fixation.

In this embodiment, the fillets were cut at predetermined lengths ΔL, but instead of the length ΔL, they could be cut at fillet weights ΔG. This is done by measuring the weight distribution with respect to the length shown in FIG. 9 in advance, and from this graph, finding the weight ratio g1 corresponding to the already cut length ratio Ω1. Next, this weight l
Fillet weight ratio Δg (−Δ
G/GX100) to find the length ratio Ω2. From this length ratio Ω2, from the following equation (7) which is a modification of equation (4), L2-92・L/100... (7) Cutting length L2 is cut out from the log, and based on this cutting length L2, salmon F is calculated. to be sent. As a result, the predetermined cut length S and the predetermined fillet=
A fillet of 4ffiΔG can be obtained.

Although the embodiments of the present invention have been described above, the present invention is not limited to such embodiments; for example, A.
Instead of the encoder 20 attached to the C motor 18, a limit switch may be attached to the portal frame 11 to detect the position of the disc cutter 1, and the present invention may be implemented in various ways without departing from the scope of the invention. q
Of course.

Effects of the Invention As detailed above, the automatic cutting device of the present invention can easily and efficiently cut fillets of a predetermined length by simply detecting the weight of the object to be cut, without relying on the intuition of a skilled craftsman. It has the effect that it can be obtained.

[Brief explanation of the drawing]

Fig. 1 is a block diagram illustrating the basic configuration of the present invention, Fig. 2 is an external view of an object to be cut as an embodiment of the present invention, and Fig. 3 is the size and weight of salmon as an embodiment of the present invention. Figure 4 is a graph showing the relationship between the maximum thickness and weight of the salmon in this example, and Figure 5 is the distribution ratio of the thickness ratio to the length ratio of the salmon in this example. 6 is a schematic configuration diagram of an automatic cutting device as an embodiment of the present invention, FIG. 7 is a block diagram showing the configuration of the electrical system of this embodiment, and FIG. 8 is a control diagram of this embodiment. FIG. 9 is a flowchart showing an example of a control routine carried out in the circuit, and is a graph that does not show the distribution of weight with respect to the length of salmon as another embodiment. 1...Disc cutter 11...Portal frame 18...AC motor 26.54...AC servo motor 20.30, 60...Encoder 32...Guide bar 38.40... Feed bar 100...electronic control circuit

Claims (1)

[Scope of Claims] 1. An automatic cutting device for cutting objects having a substantially similar shape and a substantially uniform composition at a predetermined angle, comprising: a weight detection means for detecting the weight of the object to be cut; A cutting means that cuts the object at a specified angle, and a thickness sensor that detects the actual thickness distribution of the object to be cut from the relationship between the weight and shape of the object determined in advance and the detection result by the weight detection means. thickness distribution detection means; angle calculation means for calculating a cutting angle at which the cut length of a predetermined cutting portion becomes a predetermined length based on the detection result detected by the thickness distribution detection means; and a calculation result of the angle calculation means. An automatic cutting device comprising: a cutting angle control means for instructing and controlling the cutting angle of the cutting means according to the cutting angle; 2 The relationship between the weight and shape of the object to be cut determined in advance is
The thickness distribution detection means calculates the total length from the detection result by the weight detection means based on the relationship between the weight and the total length, and calculates the total length based on the relationship between the weight and the total length. 2. The automatic cutting device according to claim 1, wherein the actual thickness distribution is detected from the determined total length based on the thickness distribution.