Patent Abstract:
An X-ray image capturing device of bone-in meat for capturing an X-ray image of the bone-in meat that is from an arm part or a thigh part of a livestock carcass in a state where the bone-in meat is suspended, comprises: an X-ray source for irradiating the bone-in meat with an X-ray; a shielding box for covering the bone-in meat while the X-ray image is captured; a sensor which is disposed in the shielding box and which detects the X-ray which passes through the bone-in meat; and a filter which is disposed between the bone-in meat and the X-ray source and which adjusts an intensity distribution of the X-ray with which the bone-in meat is irradiated.

Full Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application is a continuation of International Application No. PCT/JP2013/055299, filed on Feb. 28, 2013, and is based on and claims priority to Japanese Patent Application No. JP 2012-056286, filed on Mar. 13, 2012. The disclosure of the Japanese priority application and the PCT application in their entirety, including the drawings, claims, and the specification thereof, are incorporated herein by reference. 
     
    
     BACKGROUND 
       [0002]    1. Field of the Invention 
         [0003]    The present invention relates to a device and a method for capturing x-ray image of bone-in meat from an arm part or a thigh part of a livestock carcass, and a deboning system of bone-in meat including the device. 
         [0004]    2. Discussion of the Background 
         [0005]    A carcass of livestock such as a pig, a cow, or a sheep is served as meat. A deboning method of bone-in meat (hereinafter referred to as a “work”) from an arm part or a thigh part of the livestock carcass roughly has a pre-processing step, an incision making step, and a meat separation step. In the pre-processing step, a hip bone and the like are removed. In the incision making step, an incision is made along a forearm bone and an upper arm bone of the work in the case where the work is the arm part, and an incision is made along a lower thigh bone and a thigh bone of the work in the case where the work is the thigh part. In the meat separation step, meat is torn from bones of the work. 
         [0006]    The present inventors propose a deboning system in which the incision making step and the meat separation step are automatically performed. 
         [0007]    For example, in the deboning system disclosed in Japanese Patent Application Laid-open No. 2008-99574 (Patent Document 1), the work in which incision making of the forearm bone is manually performed in the pre-processing step is supplied. The supplied work is suspended from a clamp manually, and is sent to a robot arm which performs the incision making step. 
         [0008]    A cutter tool is attached to the robot arm, and the cutter tool executes the incision making with a predetermined course using the robot arm. The length of the work is measured by using a photoelectric sensor in advance and the course of the incision making is determined on the basis of the measurement result. During the incision making step, the work is held by a work holding mechanism while being suspended by the clamp. 
         [0009]    In addition, in the meat separation step of the deboning system, the work is lifted while being rotated in a state where a cutter is in contact with the work, and the forearm bone and the upper arm bone are thereby removed the work. The lift amount of the work is also determined on the basis of the measurement result of the length of the work. 
         [0010]    Thereafter, a shoulder blade is removed from the work. Specifically, after the work from which the forearm bone and the arm bone have been removed is transferred to a belt conveyor, the work is rested at a predetermined position by a V-shaped guide. Subsequently, incision making is performed along the shoulder blade of the work. After the incision making, the work is conveyed again by the belt conveyor. When the work reached a predetermined conveyance position, the belt conveyor is stopped, and the shoulder blade of the work is chucked and removed by a chuck cutter and a U-shaped cutter. 
         [0011]    Japanese Patent Application Laid-open No. 1994-324006 (Patent Document 2) discloses the processing equipment of meat tissue. This processing equipment acquires a position information related to a sinew, a tendon, a born, or the like of bone-in meat by using an X-ray irradiation device, and cuts the sinew, the tendon, the born, or the like based on the acquired position information. Specifically, the bone-in meat on the mounting table is irradiated with the X-ray in a vertical direction. 
       SUMMARY 
       [0012]    The processing equipment described in Patent Document 2 irradiates the bone-in meat on the mounting table with the X-ray in the vertical direction. In a case where the X-ray image picked up with the stereotypical arrangement is used, it is difficult to acquire accurate information related to a position of the bone or a shape of the bone in the bone-in meat. If an incision making is performed based on inaccurate information, a yield rate decreases because the trajectory of the cutter deviates from the bone and the meat remains on the bone, or an excessive load is applied to the cutter because the cutter cuts into the bone. 
         [0013]    Specifically, in a case where the incision making is performed in a state where a work moves at high speed, the decrease of the yield rate or the excessive load of the cutter becomes remarkable. Thus, it is necessary to slow down a moving speed of the work, and, as a result, ability of processing decreases. 
         [0014]    Embodiments of the present invention provide a device and a method for capturing a clear x-ray image of bone-in meat from an arm part or a thigh part of a livestock carcass, and a deboning system of bone-in meat including the device. 
         [0015]    According to an aspect of the present invention, there is provided an X-ray image capturing device of bone-in meat for capturing an X-ray image of the bone-in meat including an arm part or a thigh part of a livestock carcass in a state where the bone-in meat is suspended, including: an X-ray source for irradiating the bone-in meat with an X-ray; a shielding box for covering the bone-in meat while the X-ray image is picked up; a sensor which is disposed in the shielding box and which detects the X-ray which passes through the bone-in meat; and a filter which is disposed between the bone-in meat and the X-ray source and which adjusts an intensity distribution of the X-ray with which the bone-in meat is irradiated. 
         [0016]    According to the X-ray image capturing device of the bone-in meat, the filter adjusts the intensity distribution of the X-ray with which the bone-in meat is irradiated, and hence the clear X-ray image can be picked up. Consequently, when the incision making is performed on the bone-in meat based on the X-ray image, the trajectory of the incision making is accurately conforms to the shape of the bone. Thus, yields can be improved and application of an excessive load to the cutter is prevented. 
         [0017]    Preferably, the bone-in meat is suspended from a clamp going around an endless track, and the X-ray image capturing device further includes a rotation mechanism for rotating the clamp so that the bone-in meat rotates about a vertical axis in a rotation direction corresponding to a right or a left of the bone-in meat in order to capture the X-ray image. 
         [0018]    According to the above configuration, the bone-in meat rotates about the vertical axis in the rotation direction corresponding to the right or the left of the bone-in meat, and hence the X-ray image which is suitable for decision about the trajectory of the incision making can be picked up. Consequently, in performing the incision making based on the X-ray image, yields can be further improved and application of an excessive load to the cutter is prevented more effectively. 
         [0019]    Preferably, the rotation mechanism rotates the clamp such that an incident angle of the X-ray relative to a cut surface of the bone-in meat separated from the body is more than 30° and less than 45°. 
         [0020]    According to the above configuration, it is possible to reliably capture an X-ray image suitable for decision of the trajectory of the incision making by rotating the clamp such that an incident angle of the X-ray relative to a cut surface of the bone-in meat separated from the trunk is more than 30° and less than 45°. 
         [0021]    Preferably, the X-ray image capturing device of bone-in meat further includes a shielding-box movement mechanism which moves the shielding box in a direction along the endless track and a direction orthogonal to the endless track in synchronization with the clamp. 
         [0022]    According to the above configuration, the X-ray image can be picked up while the clamp moves. Consequently, when the X-ray image capturing device of bone-in meat is applied to a deboning system, the X-ray image can be picked up without decreasing an ability of processing of the deboning system. 
         [0023]    According to an aspect of the present invention, there is provided a deboning system including an incision making device which performs incision making on the bone-in meat based on the X-ray image picked up by any one of the above-described X-ray image capturing devices. 
         [0024]    According to the above configuration, since the incision making is performed based on the clear X-ray image, the meat which remains on the bone can be reduced and the yield rate can be increased. Further, the cutting of the cutter into the bone can be prevented, and the excessive load on the cutter can be prevented. 
         [0025]    According to an aspect of the present invention, there is provided an X-ray image capturing method for capturing an X-ray image of the bone-in meat including an arm part or a thigh part of a livestock carcass in a state where the bone-in meat is suspended, including the steps of: irradiating the bone-in meat with an X-ray from an X-ray source; covering the bone-in meat with a shielding box in which a sensor for detecting the X-ray passing through the bone-in meat is disposed; and disposing a filter between the bone-in meat and the X-ray source, the filter being configured to adjust an intensity distribution of the X-ray with which the bone-in meat is irradiated. 
         [0026]    According to the X-ray image capturing method of the bone-in meat, the filter adjusts the intensity distribution of the X-ray with which the bone-in meat is irradiated, and hence the clear X-ray image can be picked up. Consequently, when the incision making is performed on the bone-in meat based on the X-ray image, the trajectory of the incision making is accurately conforms to the shape of the bone. Thus, yields can be improved and application of an excessive load to the cutter is prevented. 
         [0027]    According to the present invention, there are provided a device and a method for capturing a clear x-ray image of bone-in meat from an arm part or a thigh part of a livestock carcass, and a deboning system of bone-in meat including the device. 
     
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         [0028]      FIG. 1  is a view schematically showing the entire configuration of a deboning system of bone-in meat of an embodiment of the present invention; 
           [0029]      FIG. 2  is a flowchart showing processing procedures of a deboning method executed by the deboning system of  FIG. 1 ; 
           [0030]      FIG. 3  is a view for explaining an arm part and a thigh part of a pig; 
           [0031]      FIG. 4  is a view for explaining a pre-processing step in  FIG. 2 ; 
           [0032]      FIGS. 5(   a ),  5 ( b ),  5 ( c ),  5 ( d ),  5 ( e ), and  5 ( f ) are views for explaining the pre-processing step in  FIG. 2 ; 
           [0033]      FIG. 6  is a view for explaining the size of a work after the pre-processing step in  FIG. 2 ; 
           [0034]      FIG. 7  is a plan view schematically showing the configuration of a left/right determination station together with a part of a suspension station; 
           [0035]      FIG. 8  is a plan view schematically showing the configuration of the left/right determination station; 
           [0036]      FIG. 9  is a side view for explaining the disposition of a photoelectric sensor; 
           [0037]      FIG. 10  is a perspective view schematically showing a part around a tip of a movement regulation bar; 
           [0038]      FIGS. 11(   a ) and  11 ( b ) are views for explaining the operation of a clamp arm; 
           [0039]      FIG. 12(   a ) is a view for explaining the posture of the work during left/right determination, and  FIG. 12(   b ) is a view for explaining the posture of the work when a hooking member is stuck; 
           [0040]      FIG. 13  is a side view schematically showing a robot arm; 
           [0041]      FIG. 14  is a side view schematically showing a hooking unit; 
           [0042]      FIG. 15  is a schematic cross-sectional view of the hooking unit; 
           [0043]      FIGS. 16(   a ) and  16 ( b ) are views for explaining a rotation drive mechanism of the hooking member; 
           [0044]      FIG. 17(   a ) shows the disposition of the hooking member when the hooking member is stuck into the work, and  FIG. 17(   b ) shows the disposition of the hooking member when the work is detached; 
           [0045]      FIGS. 18(   a ) and  18 ( b ) are perspective views of the tip side of the hooking member when viewed from different directions; 
           [0046]      FIG. 19  is a view for explaining the disposition of the work and the hooking member when the hooking member is stuck into the work; 
           [0047]      FIG. 20  is a plan view schematically showing a part of the suspension station; 
           [0048]      FIG. 21  is a side view schematically showing a part of the suspension station; 
           [0049]      FIG. 22  is a front view schematically showing a part of the suspension station; 
           [0050]      FIG. 23  is a front view schematically showing a part of the suspension station; 
           [0051]      FIG. 24  is a view schematically showing a part of the suspension station together with the work; 
           [0052]      FIG. 25  is a side view schematically showing the state of the work which is conveyed in the suspension station; 
           [0053]      FIGS. 26(   a ),  26 ( b ),  26 ( c ),  26 ( d ),  26 ( e ),  26 ( f ),  26 ( g ),  26 ( h ),  26 ( i ), and  26 ( j ) are views for explaining the deboning method executed by the deboning system; 
           [0054]      FIG. 27  is a half cross-sectional view schematically showing a clamp device for conveying the work; 
           [0055]      FIG. 28  is a top view schematically showing the clamp device of  FIG. 27 ; 
           [0056]      FIG. 29  is a cross-sectional view along an XXIX-XXIX line of  FIG. 27 ; 
           [0057]      FIG. 30(   a ) is a plan view schematically showing a left work W and a clamp immediately after the work is suspended from the clamp, and  FIG. 30(   b ) is a plan view schematically showing a right work W and the clamp immediately after the work is suspended from the clamp; 
           [0058]      FIGS. 31(   a ),  31 ( b ), and  31 ( c ) are views for explaining the operation of a first clamp rotation device; 
           [0059]      FIG. 32  is a view for explaining the operation of the first clamp rotation device; 
           [0060]      FIG. 33  is a view for explaining the operation of a second clamp rotation device; 
           [0061]      FIG. 34  is a view for explaining the operation of the second clamp rotation device; 
           [0062]      FIG. 35  is a view for explaining the operation of each of third to fifth clamp rotation devices; 
           [0063]      FIG. 36  is a view for explaining the operation of the third clamp rotation device; 
           [0064]      FIG. 37  is a view for explaining the operation of the fourth clamp rotation device; 
           [0065]      FIG. 38  is a view for explaining the operation of the fifth clamp rotation device; 
           [0066]      FIG. 39  is a view for explaining the operation of the fifth clamp rotation device; 
           [0067]      FIG. 40  is a view for explaining the configuration of an X-ray imaging station; 
           [0068]      FIG. 41  is a view for explaining the configuration of the X-ray imaging station; 
           [0069]      FIG. 42(   a ) is a side view of a filter, and  FIG. 42(   b ) is a front view of the filter; 
           [0070]      FIGS. 43(   a ) and  43 ( b ) are views for explaining the configuration of a drive mechanism of a shielding box; 
           [0071]      FIG. 44  is a view for explaining the movement of the shielding box; 
           [0072]      FIG. 45  is a view showing target positions A to L in the work of which coordinates are to be determined on the basis of an X-ray image; 
           [0073]      FIG. 46  is a view schematically showing a round blade cutter device which performs a second forearm-bone incision making step; 
           [0074]      FIG. 47  is a perspective view schematically showing a cutter tool of a first incision making station; 
           [0075]      FIG. 48(   a ) is a plan view of the cutter tool, and  FIG. 48(   b ) is a cross-sectional view of the cutter tool; 
           [0076]      FIGS. 49(   a ) and  49 ( b ) are front views schematically showing a support device of the first incision making station, in which  FIG. 49(   a ) shows an operation state and  FIG. 49(   b ) shows a wait state; 
           [0077]      FIG. 50  is a side view schematically showing a part of the support device; 
           [0078]      FIGS. 51(   a ) and  51 ( b ) are plan views schematically showing a part of the support device; 
           [0079]      FIG. 52  is a front view schematically showing the support device in the operation state together with the work; 
           [0080]      FIG. 53  is a side view schematically showing a shoulder blade removal station; 
           [0081]      FIG. 54  is a front view schematically showing an upper side support member, a lower side support member, a bottom holder, and a guide plate together with the work, and is also a view for explaining the movement of the bottom holder; 
           [0082]      FIG. 55(   a ) includes a top view and a front view of the bottom holder, and  FIG. 55(   b ) includes a top view, a front view, and a side view of the upper side support member; 
           [0083]      FIG. 56  includes a top view and a front view of the guide plate; 
           [0084]      FIG. 57  is a view for explaining ascent and descent of the bottom holder; 
           [0085]      FIG. 58  is a view for explaining a swing of a wiper; 
           [0086]      FIG. 59(   a ) is a side view schematically showing a chuck unit, and  FIG. 59(   b ) is a plan view schematically showing a grip member and a lock member of the chuck unit; 
           [0087]      FIG. 60  is a view for explaining a state in which the grip member and the lock member grip the shoulder blade; 
           [0088]      FIG. 61  is a side view schematically showing a third forearm-bone incision making station and a work discharge station; 
           [0089]      FIG. 62  is a plan view showing a lower side support member and a holding member; 
           [0090]      FIG. 63(   a ) is a plan view schematically showing the upstream side of a transfer separation station, and  FIG. 63(   b ) is a side view schematically showing a guide bar, a guide plate, and a stationary blade of the transfer separation station; 
           [0091]      FIG. 64  is a front view schematically showing the upstream side of the transfer separation station together with the work; 
           [0092]      FIG. 65  is a plan view schematically showing the downstream side of the transfer separation station; 
           [0093]      FIG. 66  is a front view schematically showing the downstream side of the transfer separation station; 
           [0094]      FIG. 67  is a plan view schematically showing the downstream side of the transfer separation station; 
           [0095]      FIG. 68  is a view for explaining separation of the forearm bone from the work in the transfer separation station; 
           [0096]      FIG. 69  is a view for explaining the operation of an orientation adjustment bar; 
           [0097]      FIG. 70(   a ) is a plan view schematically showing a final separation station, and FIG.  70 ( b ) is a side view schematically showing the final separation station; 
           [0098]      FIGS. 71(   a ) and  71 ( b ) are front views schematically showing a separation device in the final separation station; 
           [0099]      FIG. 72  is a plan view showing a meat separator together with an air cylinder; 
           [0100]      FIG. 73  is a plan view schematically showing a pressing device of the transfer separation station according to another embodiment of the present invention; 
           [0101]      FIG. 74  is a side view schematically showing the pressing device of  FIG. 73 ; 
           [0102]      FIG. 75  is a front view schematically showing the pressing device of  FIG. 73  together with the work; 
           [0103]      FIG. 76  is a plan view schematically showing the downstream side of the transfer separation station; 
           [0104]      FIGS. 77(   a ),  77 ( b ),  77 ( c ),  77 ( d ),  77 ( e ),  77 ( f ),  77 ( g ),  77 ( h ),  77 ( i ),  77 ( j ),  77 ( k ), and  77 ( l ) are views for explaining a deboning method executed by a deboning system of another embodiment; 
           [0105]      FIG. 78  is a schematic diagram for explaining an olecranon fossa of an upper arm bone; and 
           [0106]      FIG. 79  is a flowchart schematically showing operation procedures in a transfer separation step. 
       
    
    
     DETAILED DESCRIPTION 
       [0107]    The present invention will be described in detail by using embodiments shown in the drawings. However, it is to be noted that the scope of the present invention is not limited only to dimensions, materials, shapes, and relative arrangements of components described in the embodiments unless specifically described. 
       Entire Configuration of Deboning System   
       [0108]      FIG. 1  shows the schematic configuration of a deboning system of bone-in meat (hereinafter also referred to as a deboning system) of an embodiment of the present invention. 
         [0109]    The deboning system has a pre-processing station ST 1 , a left/right determination station ST 2 , a suspension station ST 3 , an X-ray imaging station ST 4 , a first incision making station ST 5 , a second incision making station ST 6 , a shoulder blade removal station ST 7 , a forearm-bone incision making station ST 8 , a work discharge station ST 9 , a transfer separation station ST 10 , a final separation station ST 11 , and a bone discharge station ST 12 . 
         [0110]    In addition, the deboning system has a plurality of clamps  10  which convey a work W in a state in which the work W is suspended from the clamp  10 , and each clamp  10  goes around an endless track  11 . Specifically, the clamps  10  are coupled to a chain, and the chain is rotated using sprockets  13  and  14  along the endless track  11 . Note that, although not shown in the drawing, a plurality of belt conveyors are disposed along the endless track  11 , and meat and bones separated from each other are separately conveyed to the outside of the deboning system. 
         [0111]    The suspension station ST 3 , the X-ray imaging station ST 4 , the first incision making station ST 5 , the second incision making station ST 6 , the shoulder blade removal station ST 7 , the forearm-bone incision making station ST 8 , the work discharge station ST 9 , the transfer separation station ST 10 , the final separation station ST 11 , and the bone discharge station ST 12  are provided in this order along the endless track  11 . 
         [0112]    In addition, in order to rotate the clamp  10  by a predetermined angle, a first clamp rotation device  16 , a second clamp rotation device  17 , a third clamp rotation device  18 , a fourth clamp rotation device  19 , and a fifth clamp rotation device  20  are provided in this order along the endless track  11 . 
         [0113]    The first clamp rotation device  16  is positioned between the suspension station ST 3  and the X-ray imaging station ST 4 , and the second clamp rotation device  17  is positioned between the shoulder blade removal station ST 7  and the forearm-bone incision making station ST 8 . 
         [0114]    The third clamp rotation device  18  is positioned between the forearm-bone incision making station ST 8  and the work discharge station ST 9 , and the fourth clamp rotation device  19  is positioned between the work discharge station ST 9  and the transfer separation station ST 10 . The fifth clamp rotation device  20  is positioned between the final separation station ST 11  and the bone discharge station ST 12 . 
         [0115]    Further, the deboning system has a control device  21  which controls the entire operation. The control device  21  is configured by, e.g., a computer including a central processing unit, a memory, an external storage device, an input device, and an output device. Preferably, the control device  21  is connected to all of the stations ST 2  to ST 12  except the pre-processing station ST, and the first to fifth clamp rotation devices  16 ,  17 ,  18 ,  19 , and  20 . 
         [0116]    Furthermore, the deboning system has a round blade cutter device  22  which is positioned between the X-ray imaging station ST 4  and the first incision making station S 5 , and is provided along the endless track. 
       Deboning Method   
       [0117]      FIG. 2  is a flowchart schematically showing processing procedures of a deboning method of bone-in meat executed by the deboning system. 
         [0118]    The deboning method includes a pre-processing step S 10 , a left/right determination step S 12 , a suspension step S 14 , a first forearm-bone incision making step S 16 , a first clamp rotation step S 18 , an X-ray imaging step S 20 , a second forearm-bone incision making step S 22 , a first incision making step S 24 , a second incision making step S 26 , a shoulder blade removal step S 27 , a second clamp rotation step S 28 , a third forearm-bone incision making step S 30 , an error occurrence determination step S 32 , a third clamp rotation step S 34 , a work discharge step S 36 , a fourth clamp rotation step S 38 , a transfer separation step S 40 , a final separation step S 42 , a fifth clamp rotation step S 44 , and a bone discharge step S 46 . 
         [0119]    Hereinbelow, the individual steps will be described together with the configurations of devices used in the steps. 
       Pre-Processing Step/Pre-Processing Station   
       [0120]    In the pre-processing step S 10 , pre-processing is manually performed on bone-in meat from an arm part of a pig schematically shown in  FIG. 3  (hereinafter also referred to as a work and is designated by a reference numeral W). In the deboning method of  FIG. 2 , only the pre-processing step S 10  is performed manually. 
         [0121]    The deboning system is capable of deboning irrespective of whether the arm part is a left arm or a right arm. Note that, although the deboning system is suitable for deboning of the arm part, the deboning system can be applied to a thigh part, and can also be applied to the arm part and the thigh part of a cow or a sheep. 
         [0122]    In the pre-processing step S 10 , a foot part is cut off along a line L 1  in  FIG. 4 . In addition, in the pre-processing step S 10 , as shown in  FIGS. 5(   a ) and  5 ( b ), ribs (belly) w 1  is turned over. Note that the work W of  FIGS. 5(   a ),  5 ( b ),  5 ( c ),  5 ( d ),  5 ( e ), and  5 ( f ) is a right arm (right work) and includes a forearm bone b 1 , an upper arm bone b 2 , and a shoulder blade b 3  as bones. 
         [0123]    Next, as shown in  FIGS. 5(   c ) and  5 ( d ), an upper meat w 2  of the shoulder blade b 1  is torn. As indicated by a line L 2  in  FIG. 5(   e ), incision making is performed along the shoulder blade b 3 , incision making is also performed on a joint between the shoulder blade b 3  and the upper arm bone b 2  as indicated by a line L 3 , and the pre-processing step S 10  is ended. 
         [0124]    Note that, in the pre-processing step S 10 , as shown in  FIG. 5(   f ), the ribs w 1  may also be cut off. 
         [0125]      FIG. 6  shows the work W after the pre-processing step S 10 , and the length of the work W deboned by the deboning system is, e.g., 400 mm to 600 mm. 
       Left/Right Determination Step/Left/Right Determination Station   
       [0126]      FIGS. 7 to 12  are views for explaining the configuration of the left/right determination station ST 2 . Note that  FIGS. 7 to 12  include the configuration of the suspension station ST 3  partially. 
         [0127]    The left/right determination station ST 2  has belt conveyors  24  arranged in, e.g., two rows. The work W having been subjected to the pre-processing is disposed at the upstream end of each of the belt conveyors  24  by an operator, and is conveyed to the downstream end. Herein, the operator disposes the work W on the belt conveyor  24  such that the cut surface separated from the body of the work W is directed upward and the wrist side thereof is directed to the downstream side of the belt conveyor  24 . 
         [0128]    At the downstream end of the belt conveyor  24 , a pair of movement regulation bars  25   a  and  25   b  are provided as a mechanism for regulating the movement of the work W. The movement regulation bars  25   a  and  25   b  can be opened and closed by an air cylinder which is not shown, and are closed during the execution of the left/right determination step S 12 . 
         [0129]    The movement regulation bars  25   a  and  25   b  when they are closed form a substantially V-shape when viewed in two dimensions, and the interval between the movement regulation bars  25   a  and  25   b  is narrowed in a downstream direction in the direction of conveyance of the belt conveyor  24 . At the top part of the V-shape, the movement regulation bars  25   a  and  25   b  are spaced apart from each other to form a gap. The movement of the work W is regulated in a state in which the tip part of the wrist side enters into the gap. 
         [0130]    In addition, the left/right determination station ST has a left/right determination mechanism which determines whether the work W is a right arm (right work) or a left arm (left work) on the basis of the posture of the work W of which the movement is regulated. Specifically, the left/right determination mechanism is configured by a pair of photoelectric sensors  27   a  and  27   b  and a reflection plate  28 . 
         [0131]    The photoelectric sensors  27   a  and  27   b  are arranged side by side in the width direction of the belt conveyor  24  above the belt conveyor  24 . The photoelectric sensors  27   a  and  27   b  are disposed so as to be capable of receiving reflected light from the reflection plate  28  when each of the photoelectric sensors  27   a  and  27   b  emits light toward the reflection plate  28 . However, when the optical path is blocked by the tip part of the work W depending on the posture of the work W, one of the photoelectric sensors  27   a  and  27   b  cannot receive the reflected light. Consequently, the control device  21  can determine the left or the right of the work W on the basis of the light reception state of the reflected light by the photoelectric sensors  27   a  and  27   b.    
         [0132]    The reflection plate  28  is provided on a movable stage  29 . The movable stage  29  can be brought close to or moved away from the downstream end of each of the belt conveyors  24  in the direction of conveyance of the belt conveyor  24  by an air cylinder  30 . 
         [0133]    Clamp arms  32   a  and  32   b  which fix the tip of the work W at the center of the gap between the movement regulation bars  25   a  and  25   b  are provided on the movable stage  29 . The clamp arms  32   a  and  32   b  can be brought close to or moved away from the tip of the work W in the width direction of the belt conveyor  24 . 
         [0134]    Specifically, two rails  33  are provided on the movable stage  29  so as to be apart from each other, and sliders  34  are mounted on the rails  33 . The slider  34  is slidable in the longitudinal direction of the rail  33 , and the clamp arms  32   a  and  32   b  are fixed to the sliders  34 . The sliders  34  are coupled to an air cylinder  35  via a link mechanism. Consequently, by controlling the air cylinder  35 , it is possible to bring the clamp arms  32   a  and  32   b  close to or move them away from the tip of the work W. 
         [0135]    Contact plate parts  36   a  and  36   b  which are bent so as to be depressed relative to the tip of the work W are provided at the tips of the clamp arms  32   a  and  32   b,  and the tip of the work W is reliably fixed by being pinched by the contact plate parts  36   a  and  36   b.    
         [0136]    In addition, a work holding member  37  is provided above the belt conveyor  24 . The work holding member  37  can be brought close to or moved away from the work W of which the movement is regulated by a linear actuator  38 . The work holding member  37  diagonally pushes the work W against the belt conveyor  24 , and thereby pushes the work W toward the movement regulation bars  25   a  and  25   b.  The clamp arms  32   a  and  32   b  fix the tip of the work W held by the work holding member  37 . 
       Suspension Step First Forearm-Bone Incision Making Step/Suspension Station   
       [0137]      FIGS. 13 to 25  show the configuration of the suspension station ST 3 . The suspension station ST is a conveyance device which conveys the work W from the left/right determination station ST 2  to the clamp  10  while involving posture change from a horizontally placed state to a suspended state. During the conveyance, the suspension station ST 3  performs incision making on the forearm bone b 1 . 
         [0138]    For the incision making, the suspension station ST 3  has a robot arm  40  which can execute a predetermined operation. The robot arm  40  is, e.g., a 6-axis multi-joint robot, and a hooking unit  42  is attached to the tip of the robot arm  40  as an attachment. 
         [0139]    Note that the first incision making station ST 5 , the second incision making station ST 6 , the shoulder blade removal station ST 7 , and the forearm-bone incision making station ST 8  also have the robot arms  40  though the attachments are different. 
         [0140]    The hooking unit  42  has two hooking members  43   a  and  43   b.  The robot arm  40  sticks the hooking members  43   a  and  43   b  into the tip part of the work W which is held by the movement regulation bars  25   a  and  25   b,  the clamp arms  32   a  and  32   b,  and the work holding member  37 . That is, the movement regulation bars  25   a  and  25   b,  the clamp arms  32   a  and  32   b,  and the work holding member  37  constitute part of the suspension station ST 3 . 
         [0141]    More specifically, the hooking members  43   a  and  43   b  have belt-like main body parts  45   a  and  45   b,  blade-like points  46   a  and  46   b  provided at ends on one side of the main body parts  45   a  and  45   b,  and barbs  47   a  and  47   b  provided on first sides of the main body parts  45   a  and  45   b  to be continuous with the points  46   a  and  46   b.    
         [0142]    In addition, the hooking unit  42  has a support mechanism for the hooking members  43   a  and  43   b.  The support mechanism supports the hooking members  43   a  and  43   b  such that the hooking members  43   a  and  43   b  are in parallel with each other with an elastically changeable interval therebetween, and are also rotatable about rotation axes along the longitudinal axes of the main body parts  45   a  and  45   b.    
         [0143]    Further, the hooking unit  42  has a rotation drive mechanism which rotates the hooking members  43   a  and  43   b  about the rotation axes. Note that the rotation axes are set such that the first sides of the main body parts  45   a  and  45   b  provided with the barbs  47   a  and  47   b  are brought close to or moved away from each other with the rotation. 
         [0144]    Specifically, the hooking unit  42  has a main frame  49 , and two movable stages  50   a  and  50   b  are attached to the main frame  49  via, e.g., a linear guide so as to be able to be brought close to or moved away from each other. Brackets  51   a  and  51   b  are attached to the main frame  49  so as to pinch the movable stages  50   a  and  50   b,  and compression coil springs  52   a  and  52   b  are provided between the brackets  51   a  and  51   b  and the movable stages  50   a  and  50   b.  Consequently, an elastic force acts on the movable stages  50   a  and  50   b  such that the movable stages  50   a  and  50   b  are moved close to each other. 
         [0145]    Mount blocks  53   a  and  53   b  are fixed to the movable stages  50   a  and  50   b,  and the mount blocks  53   a  and  53   b  rotatably support rotary members  54   a  and  54   b  via bearings. Drive arms  55   a  and  55   b  are coupled to first ends of the rotary members  54   a  and  54   b  protruding from the mount blocks  53   a  and  53   b,  and the drive arms  55   a  and  55   b  are connected to oblong holes of a coupling plate  56  using pins. The coupling plate  56  is coupled to an air cylinder  57  fixed to the main frame  49 . 
         [0146]    On the other hand, to second ends of the rotary members  54   a  and  54   b  protruding from the mount blocks  53   a  and  53   b,  the hooking members  43   a  and  43   b  are fixed via spacers  58   a  and  58   b  on an as needed basis. 
         [0147]    In the hooking unit  42 , when the air cylinder  57  is extended or retracted, the drive arms  55   a  and  55   b  rotate, and the hooking members  43   a  and  43   b  are thereby rotated together with the rotary members  54   a  and  54   b.  That is, the air cylinder  57  constitutes an actuator for rotating the hooking members  43   a  and  43   b,  and the drive arms  55   a  and  55   b  and coupling plate  56  constitute a link which couples the actuator and the rotary members  54   a  and  54   b.    
         [0148]    In addition, the hooking unit  42  further has a swing regulation mechanism which regulates the swing of the work W during the movement of the work W. Specifically, the hooking unit  42  has a swing prevention plate  59  having an L-shaped cross section which is coupled to the main frame  49 . 
         [0149]    The robot arm  40  sticks the points  46   a  and  46   b  of the hooking members  43   a  and  43   b  into the tip part of the work W in the horizontally placed state such that the forearm bone b 1  in the tip part is pinched. At this point, the rotation drive mechanism rotates the hooking members  43   a  and  43   b  such that the interval between the first sides of the main body parts  45   a  and  45   b  provided with the barbs  46   a  and  46   b  is narrower than the interval between the second sides thereof. 
         [0150]    In addition, the robot arm  40  sticks the points  46   a  and  46   b  of the hooking members  43   a  and  43   b  into the tip part of the work W such that the first sides of the main body parts  45   a  and  45   b  provided with the barbs  47   a  and  47   b  are disposed on the elbow side of the work W, and the second sides of the main body parts  45   a  and  45   b  are disposed on the wrist side thereof. 
         [0151]    Subsequently, the robot arm  40  moves the work W into which the hooking members  43   a  and  43   b  are stuck to the entrance of guide rails  60 . The guide rails  60  are guide members that define a groove for conveying the suspended work W. 
         [0152]    In the vicinity of the entrance of the guide rails  60 , two push rods  61  for transferring the work W from the hooking unit  42  to the guide rails  60  are disposed. The push rods  61  extend in a horizontal direction orthogonal to the groove of the guide rails  60 . The push rods  61  can be moved in a longitudinal direction thereof by an air cylinder  62 , and can be moved in a direction parallel with the groove of the guide rails  60  by a drive mechanism which is not shown. 
         [0153]    Note that, when the work W is detached from the hooking members  43   a  and  43   b  by the push rods  61 , the rotation drive mechanism rotates the hooking members  43   a  and  43   b  such that the interval between the first sides of the main body parts  45  approaches or preferably matches the interval between the second sides thereof. At this point, the robot arm  40  disposes the hooking unit  42  such that the first sides of the main body parts  45 , i.e., the barbs  47   a  and  47   b  are positioned on a lower side. 
         [0154]    The guide rails  60  are coupled to guide plates  63   a  and  63   b,  and the guide plates  63   a  and  63   b  also define the groove which conveys the suspended work W. Synchronization plates  65   a  and  65   b  are provided adjacent to the guide plates  63   a  and  63   b.  The synchronization plates  65   a  and  65   b  also define the groove which conveys the suspended work W. 
         [0155]    The synchronization plates  65   a  and  65   b  can be moved along the endless track  11  in synchronization with the clamp  10  which goes around the endless track  11  by a drive mechanism which is not shown. An air cylinder  66  is fixed to the guide plate  63   b,  and the air cylinder  66  pushes the work W suspended from the synchronization plates  65   a  and  65   b  into the clamp  10  via a pusher  68 . 
         [0156]    The suspension station ST 3  has a fork  70  for carrying the work W from the entrance of the guide rails  60  to the synchronization plates  65   a  and  65   b.  The fork  70  can be inserted into the groove and can be moved along the groove by a drive mechanism which is not shown. One work W is conveyed by a first nail of the fork  70 , and then conveyed by a second nail thereof. 
         [0157]    Further, triangular upstream side stationary blades  72  which protrude upward from both sides of the groove are fixed to the guide rails  60 , and triangular downstream side stationary blades  74  which protrude downward from both sides of the groove are fixed to the guide plates  63   a  and  63   b.    
         [0158]    Consequently, while the work W is conveyed along the groove, incision making is performed on the tip part of the work W, i.e., meat around the forearm bone by the upstream side stationary blades  72  and the downstream side stationary blades  74 . At this point, in each of the upstream side stationary blades  72 , the height of the cutting edge is gradually increased in the conveyance direction, and the incision making is performed by using the weight of the work W. The downstream side stationary blades  74  perform the incision making such that incisions are continuous with incisions made by the upstream side stationary blades  72 . 
         [0159]    That is, the upstream side stationary blade  72  and the downstream side stationary blade  74  execute the first forearm-bone incision making step S 16 . As the result of the first forearm-bone incision making step S 16 , as shown in  FIG. 26(   a ), the wrist side of the forearm bone b 1  is exposed, and the exposed wrist side of the forearm bone is held by the clamp  10 . 
       First to Fifth Clamp Rotation Steps/First to Fifth Clamp Rotation Devices   
       [0160]      FIGS. 27 to 29  show the schematic configuration of a clamp device  76  including the clamp  10 , and  FIG. 30  schematically shows the work W suspended from the clamp  10 . In addition,  FIGS. 31 to 39  schematically show the first to fifth clamp rotation devices  16 ,  17 ,  18 ,  19 , and  20 . 
         [0161]    The clamp device  76  has a shaft  83  which extends from the clamp  10  in a vertical direction, and the shaft  83  extends through a boss of a carriage part  84  so as to be relatively rotatable. The carriage part  84  is coupled to a chain  85  which extends along the endless track  11 , and runs on a rail extending along the endless track  11  with the rotation of the chain  85 . 
         [0162]    A first disk  86  is fixed to the upper end of the shaft  83 , and four rollers  87  are attached to the first disk  86  as cam followers at intervals of 90°. In addition, a second disk  88  is attached to the shaft  83  below the first disk  86 . The outer peripheral part of the second disk  88  is formed with semicircular notched parts  89  at predetermined positions. 
         [0163]    On the other hand, a rotatable lever  90  is attached to the carriage part  84  in the vicinity of the second disk  88 . An engagement pin  91  is attached to the lever  90 , and the rotation of the shaft  83  is regulated when the engagement pin  91  is fitted in the notched part  89 . 
         [0164]    One end of the lever  90  is pulled by a helical tension spring  92 , and the engagement between the engagement pin  91  and the notched part  89  is maintained by the tension. In addition, a roller  93  as the cam follower for releasing the engagement between the engagement pin  91  and the notched part  89  is attached to the other end of the lever  90 . 
         [0165]      FIG. 30  schematically shows the state of the work W immediately after the work W is suspended from the clamp  10 . Immediately after the suspension, the work W is disposed such that the cut surface separated from the body is along the endless track  11  irrespective of the left or the right of the work W. 
         [0166]    The notched part  89  is provided such that, when the rotation angle of the clamp  10  immediately after the suspension is 0°, the rotation angle of the clamp  10  can be fixed to any of 0°, +35°, −35°, +145°, and +180°. Note that + denotes rotation to the right side relative to the running direction of the clamp  10 , while − denotes rotation to the left side. 
         [0167]    The first to fifth clamp rotation devices  16 ,  17 ,  18 ,  19 , and  20  have cam surfaces  95 ,  96 ,  97 ,  98 , and  99  each for releasing the engagement between the engagement pin  91  and the notched part  89 . While the roller  93  is in contact with one of the cam surfaces  95 ,  96 ,  97 ,  98 , and  99 , the lever  90  is rotated against the tension of the helical tension spring  92 , and the engagement between the engagement pin  91  and the notched part  89  is released. 
         [0168]    The first clamp rotation device  16  has cam surfaces  100   a  and  100   b  for rotating the shaft  83  while the engagement is released. The cam surface  100   a  comes in contact with the roller  87  to thereby rotate the shaft  83  to the left side by 35°, and the cam surface  100   b  comes in contact with the roller  87  to thereby rotate the shaft  83  to the right side by 35°. 
         [0169]    Note that the cam surfaces  100   a  and  100   b  are coupled to air cylinders  101   a  and  101   b  via link mechanisms, and the control device  21  can cause each of the cam surfaces  100   a  and  100   b  to run between an operation position and a wait position by controlling the air cylinders  101   a  and  101   b.    
         [0170]    That is, in accordance with the determination result of the left/right determination step S 12 , it is possible to rotate the shaft to the right side when the work W is the right arm, and rotate the shaft to the left side when the work W is the left arm. 
         [0171]    The second clamp rotation device  17  has cam surfaces  103   a,    103   b,    104   a,  and  104   b  for rotating the shaft  83  twice while the engagement is released. The cam surfaces  103   a  and  104   a  and the cam surfaces  103   b  and  104   b  come in contact with the roller  87  sequentially to thereby set the rotation angle of the shaft  83  to 180°. 
         [0172]    Note that the cam surfaces  103   a,    103   b,    104   a,  and  104   b  are also coupled to air cylinders  105   a  and  105   b  via the link mechanisms, and the control device  21  can cause each of the cam surfaces  103   a,    103   b,    104   a,  and  104   b  to run between the operation position and the wait position by controlling the air cylinders  105   a  and  105   b.    
         [0173]    The third clamp rotation device  18  has cam surfaces  107  and  108  for rotating the shaft  83  by 180° only in the case where it is determined that any error has occurred in the error occurrence determination step S 32 . That is, the cam surfaces  107  and  108  can set the rotation angle of the shaft  83  to 0°. The cam surfaces  107  and  108  are also coupled to an air cylinder  109  via the link mechanism, and the control device  21  can cause each of the cam surfaces  107  and  108  to run between the operation position and the wait position by controlling the air cylinder  109 . 
         [0174]    The fourth clamp rotation device  18  has cam surfaces  110   a,    111   a,    112   a,  and  110   b  for rotating the shaft  83  in the case where the error does not occur. The cam surfaces  110   a,    111   a,    112   a,  and  110   b  are also coupled to air cylinders  113   a  and  113   b  via the link mechanisms, and the control device  21  can cause each of the cam surfaces  110   a,    111   a,    112   a,  and  110   b  to run between the operation position and the wait position by controlling the air cylinders  113   a  and  113   b.  The control device  21  sets the rotation angle of the shaft  83  to −35° when the work W is the left arm and sets the rotation angle of the shaft  83  to +35° when the work W is the right arm by rotating the shaft  83  by using the cam surfaces  110   a,    111   a,    112   a,  and  110   b.    
         [0175]    The fifth clamp rotation device  20  has cam surfaces  115   a,    116   a,  and  115   b  for rotating the shaft  83  in the case where the error does not occur. The cam surfaces  115   a,    116   a,  and  115   b  are also coupled to air cylinders  117   a  and  117   b  via the link mechanisms, and the control device  21  can cause each of the cam surfaces  115   a,    116   a,  and  115   b  to run between the operation position and the wait position by controlling the air cylinders  117   a  and  117   b.  The control device  21  sets the rotation angle of the shaft  83  to 0° by rotating the shaft  83  by using the cam surfaces  115   a,    116   a,  and  115   b.    
         [0176]    Note that the cam surfaces  97 ,  98 , and  99  each for releasing the engagement between the engagement pin  91  and the notched part  89  are also coupled to air cylinders  118 ,  119 , and  120  via the link mechanisms, and the control device  21  controls the air cylinders  118 ,  119 , and  120  on an as needed basis to release the engagement. 
       X-Ray Imaging Step/X-Ray Imaging Station   
       [0177]      FIGS. 40 to 45  schematically show the configuration of the X-ray imaging station ST 4 . The X-ray imaging station ST 4  has an X-ray irradiation device  122 , and the X-ray irradiation device  122  has an X-ray source  123 . In addition, the X-ray imaging station ST 4  has a shielding box  124  which accommodates the work W as an imaging target of an X-ray image, and a line sensor  125  as an X-ray detector is disposed in the shielding box  124 . That is, the X-ray imaging station ST 4  is an X-ray image capturing device of bone-in meat. 
         [0178]    The X-ray source  123  and the line sensor  125  are spaced apart from each other in a horizontal direction orthogonal to the endless track  11 . Consequently, an X-ray is applied to the suspended work W at an incident angle θ of about 35° relative to the cut surface separated from the body of the work W. 
         [0179]    Note that the rotation angle of the work W, i.e., the rotation angle of the clamp  10  is most preferably 35° to the left side in the case of the left arm and 35° to the right side in the case of the right arm, but the rotation angle thereof may appropriately be more than 30° and less than 45°. 
         [0180]    In addition, the X-ray irradiation device  122  further has an X-ray filter  126  placed in the vicinity of the X-ray source  123 . The X-ray filter  126  absorbs part of the X-ray, and gives an appropriate intensity distribution to the X-ray applied to the work W. 
         [0181]    Specifically, the X-ray filter  126  has a concave lens shape in which the center is depressed. The position of the thinnest part of the X-ray filter  126  is set to correspond to the position of the X-ray source  123  and the position of the thickest part of the work W in the vertical direction. 
         [0182]    Note that the shielding box  124  can be brought close to or moved away from the endless track  11  by a motor  128  in the horizontal direction orthogonal to the endless track  11 , and the shielding box  124  can be moved by a motor  129  in a direction along the endless track  11 . The control device  21  can dispose the work W in the shielding box  124  without stopping the conveyance of the work W by controlling the motors  128  and  129 . Consequently, it is possible to capture the X-ray image of the work W without stopping the conveyance of the work W. 
         [0183]    When the X-ray image of the work W is picked up in the X-ray imaging station ST 4 , the control device  21  analyzes the X-ray image and, as shown in  FIGS. 45 and 26(   b ), determines coordinates of a plurality of target positions A to L required for incision making. Note that the forearm bone b 1  is formed of a radius b 11  and a ulna b 12 . 
       Second Forearm-Bone Incision Making Step/Round Blade Cutter Device   
       [0184]      FIG. 46  schematically shows the configuration of the round blade cutter device  22 . The round blade cutter device  22  is coupled to an air cylinder  130 , and can elastically come in contact with the work W. The round blade cutter device  22  performs incision making on the back side of the forearm bone b 1  as the second forearm-bone incision making step S 22 . 
       First and Second Incision Making Steps/First and Second Incision Making Stations   
       [0185]      FIGS. 47 to 52  schematically show the configuration of the first incision making station ST 5 . Note that the configuration of the second incision making station ST 6  is the same as the configuration of the first incision making station ST 5 , and hence the description thereof will be omitted. 
         [0186]    The first incision making station ST 5  has a cutter tool  132  as an attachment attached to the robot arm  40 . A cutter  133  of the cutter tool  132  is swingably supported by a swing shaft  134 . The swing shaft  134  is positioned in front of the cutter  133  in the direction of cutting of the cutter  133 . 
         [0187]    The swing shaft  134  is slidable in a direction orthogonal to itself, and compression coil springs  135  which bias the swing shaft  134  toward a neutral position are provided on both sides of the swing shaft  134 . Consequently, the cutter  133  is swingable and elastically slidable in a direction intersecting the cutting direction. 
         [0188]    In addition, the first incision making station ST 5  has a support device  136  which elastically supports the work W. The support device  136  can be moved by a motor  137  along the endless track  11 , and can be advanced or retracted by an air cylinder  138  in the horizontal direction orthogonal to the endless track  11 . Consequently, the support device  136  can be moved in synchronization with the work W which is being conveyed, and the robot arm  40  can perform incision making on the work W which is being conveyed by using the cutter tool  132 . 
         [0189]    More specifically, the support device  136  has a center plate  140 , and the center plate  140  is elastically supported by an air cylinder  141 . Consequently, a difference in the size of the work W is absorbed by the pressure of air, and the work W is properly supported irrespective of the size of the work W. 
         [0190]    In addition, the center plate  140  elastically supports the back surface of the work W in a direction orthogonal to the endless track  11  while the robot arm  40  performs incision making on the basis of the target positions A to L. The course of the cutter  133  is precisely determined on the basis of the target positions A to L, but the target positions A to L include errors in the direction orthogonal to the endless track  11  (depth direction). The center plate  140  elastically supports the work W in the depth direction, and the cutter  133  is thereby prevented from being stuck into a bone even when the cutter excessively advances. 
         [0191]    In addition, the support device  136  has a pair of side plates  142  disposed on both sides of the center plate  140 . A pair of swing arms  143  which pinch and support the lower side of the work W are attached to the side plates  142 . The swing arms  143  pinch the work W, and the swing of the work W in the direction of conveyance of the work W is thereby prevented while the robot arm  40  performs incision making. 
         [0192]    Particularly, the shoulder blade b 3  is present in the lower side of the work W, and hence the swing arms  143  pinch the part around the shoulder blade b 3  of the work W, and the swing of the work W is thereby prevented reliably. At this point, the positions of the swing arms  143  in the direction along the endless track  11  can be set to appropriate positions according to the left or the right of the work W. 
         [0193]    Further, the swing arm  143  has a substantially L-shaped cross section, and can hold the robot arm  40  side of the work W. Consequently, the swing arms  143  also prevent the swing of the work W in a direction intersecting the endless track  11  in cooperation with the center plate  140 . 
         [0194]    Note that the swing arms  143  are coupled to an air cylinder  145  via the link mechanisms, and it is possible to cause each of the swing arms  143  to run between the operation position and the wait position by controlling the air cylinder  145 . 
         [0195]    Thus, with the execution of the first incision making step S 24  by the first incision making station ST 5 , incision making is performed as indicated by a line L 3  in  FIG. 26(   c ). 
         [0196]    In addition, with the execution of the second incision making step S 26  by the second incision making station ST 6 , incision making is performed as indicated by a line L 4  in  FIG. 26(   d ). 
       Shoulder Blade Removal Step/Shoulder Blade Removal Station   
       [0197]      FIGS. 53 to 60  show the schematic configuration of the shoulder blade removal station ST 7 . The shoulder blade removal station ST 7  is a shoulder blade removal device of bone-in meat. 
         [0198]    The shoulder blade removal station ST 7  has a stage  150  which is movable along the endless track  11 , and the stage  150  is driven by an endless belt  152  fixed to the stage  150  and a motor  154  which rotates the endless belt  152 . The control device  21  controls the motor  154  to move the stage  150  in synchronization with the clamp  10 . 
         [0199]    An air cylinder  156  is fixed onto the stage  150 , and an upper side support member  158  is fixed to the tip of the air cylinder  156 . The upper side support member  158  comes in contact with the part of the work W immediately above the shoulder blade b 3  in the horizontal direction orthogonal to the endless track  11 , and elastically supports the work W. In addition, on the stage  150 , a lower side support member  160  is provided below the upper side support member  158 . The lower side support member  160  comes in contact with the part of the work W in the vicinity of the upper end of the shoulder blade b 3  in the horizontal direction orthogonal to the endless track  11 , and elastically supports the work W. 
         [0200]    Further, on the stage  150 , there is provided a horizontally movable stage  162  which is movable in the horizontal direction orthogonal to the endless track  11 , and the horizontally movable stage  162  can be moved by an air cylinder  164 . On the horizontally movable stage  162 , there is provided a lift stage  166  which is movable in a vertical direction, and the lift stage  166  is coupled to an air cylinder  168  via the link mechanism. Consequently, it is possible to move the lift stage  166  vertically by controlling the air cylinder  168 . 
         [0201]    On the lift stage  166 , there is provided a bottom holder  170  which is movable in the horizontal direction parallel with the endless track  11 . The bottom holder  170  is coupled to an air cylinder  172 , and it is possible to move the bottom holder  170  by controlling the air cylinder  172 . The control device  21  controls the air cylinder  172  according to the left or the right of the work W to dispose the bottom holder  170  at the optimum position according to the left or the right of the work W. 
         [0202]    The bottom holder  170  is formed of a V-shaped bottom plate  174  and a lateral plate  176  attached to a side edge  174  of the bottom plate  174  on the side of the robot arm  40 . The bottom holder  170  is lifted upward from below the work W so as to accommodate the lower side of the work W, and is moved toward the upper side support member  158  after having accommodated the lower side of the work W. At this point, the lower side of the work W is pushed by the lateral plate  176 . With this, the work W is bent in the vicinity of the upper end of the shoulder blade  3   b,  and the upper end of the shoulder blade b 3  protrudes toward the robot arm  40 . 
         [0203]    Note that the upper side support member  158  has a recessed portion at a central part in a direction following the endless track  11  so that the central part of the upper side support member  158  is depressed away from the endless track  11 , and the lower half of the upper side support member  158  is tilted away from the endless track  11  in a downward direction. The tilt of the lower half assists bending of the work W in the vicinity of the upper end of the shoulder blade  3   b.    
         [0204]    In addition, the shoulder blade removal station ST 7  has a bracket  178  which is movable in the horizontal direction along the endless track  11 , and an endless belt  180  is fixed to the bracket  178 . The endless belt  180  is rotated by a motor  182 , and the bracket  178  can be moved along the endless track  11  with the rotation of the endless belt  180 . The control device  21  moves the bracket  178  in synchronization with the clamp  10  by controlling the motor  182 . 
         [0205]    A guide plate  184  is attached to the bracket  178 , and the guide plate  184  comes in contact with the work W from a side opposite to the upper side support member  158  in the direction parallel with the endless track  11 . 
         [0206]    In addition, a wiper  186  is swingably attached to the bracket  178 . The wiper  186  is coupled to an air cylinder  188  via the link mechanism, and it is possible to swing the wiper  186  by controlling the air cylinder  188 . The control device  21  swings the wiper  186  first to sweep away the ribs w 1  from above the shoulder blade b 3  in the shoulder blade removal step S 27 . 
         [0207]    On the other hand, the shoulder blade removal station ST 7  has a chuck unit  190  as an attachment of the robot arm  40 . The chuck unit  190  has a base member  192  attached to the robot arm  40 , and a grip member  194  is attached to the tip of the base member  192 . The grip member  194  is formed of two longitudinal plate parts  196  fixed to the base member  192  and a lateral plate part  198  continuous with the tips of the longitudinal plate parts  196 , and has a U-shaped planar shape. One side edge on the tip side of the longitudinal plate part  196  and one side edge of the lateral plate part  198  are formed as blades. 
         [0208]    In addition, the chuck unit  190  has an air cylinder  200  fixed to the base member  192 , and a lock member  202  is attached to the tip of the air cylinder  180 . The lock member  202  can be advanced or retracted toward or away from the lateral plate part  198 , and the control device  21  causes the lateral plate part  198  and and the lock member  202  to grip the shoulder blade b 3  therebetween by controlling the air cylinder  200 . Note that a plurality of slits are formed in the tip of the lock member  202  to prevent sliding. 
         [0209]    According to the chuck unit  190 , the blades are formed in the grip member  194 , and hence it is possible to reliably grip the shoulder blade b 3  and remove the shoulder blade b 3  as shown in  FIG. 26(   e ). 
       Third Forearm-Bone Incision Making Step/Forearm-Bone Incision Making Station   
       [0210]      FIGS. 61 and 62  schematically show the forearm-bone incision making station ST 8  and the work discharge station ST 9 . 
         [0211]    The forearm-bone incision making station ST 8  has a frame  204  which is movable in a horizontal direction along the endless track  11 , and the frame  204  is fixed to an endless belt  205 . The endless belt  205  is rotated by a motor  206 , and the frame  204  is moved with the rotation of the endless belt  205 . The control device  21  moves the frame  204  in synchronization with the movement of the clamp  10  by controlling the motor  206 . 
         [0212]    An air cylinder  207  is fixed to the frame  204 . A bracket is fixed to the tip of the air cylinder  207 , and a lower side support member  208  is fixed to the bracket. In addition, an air cylinder  210  is fixed to the bracket, and an upper side support member  212  is fixed to the tip of the air cylinder  210 . The direction of extension and contraction of each of the air cylinders  207  and  210  matches a horizontal direction vertical to the endless track  11 . 
         [0213]    In addition, an air cylinder  214  is tiltably attached to the frame  204 , and the air cylinder  214  is coupled to a holding member  216  via the link mechanism. The holding member  216  can be moved by the air cylinder  214  in a substantially horizontal direction orthogonal to the endless track  11 . The lower side support member  208  and the holding member  216  pinch and support the work W in cooperation with each other in the horizontal direction orthogonal to the endless track  11 . 
         [0214]    On the other hand, the forearm-bone incision making station ST 8  has the cutter tool  132  as the attachment of the robot arm  40  similarly to the first incision making station ST 5  and the second incision making station ST 6 . 
         [0215]    The robot arm  40  of the forearm-bone incision making station ST 8  performs incision making on the work W by using the cutter tool  132  as the third forearm-bone incision making step S 30 . That is, as indicated by a line L 5  in  FIG. 26(   f ), the robot arm  40  performs incision making on the part around the forearm bone b 1  of the work W. At this point, the forearm bone b 1  is elastically supported by the upper side support member  212 . 
       Error Occurrence Determination Step   
       [0216]    Information related to an operation is inputted to the control device  21  from various sensors. The control device  21  determines the occurrence of the error in the deboning system on the basis of the inputted information. 
       Work Discharge Step/Work Discharge Station   
       [0217]    When the control device  21  determines that the error has occurred, the control device  21  discharges the work W from the deboning system. In order to discharge the work W, the work discharge station ST 9  has an air cylinder  220  fixed to the frame  204  and a protrusion member  222  attached to the tip of the air cylinder  220 . When the control device  21  determines that the error has occurred, the control device  21  moves the air cylinder  220  in synchronization with the clamp  10 , and protrudes the protrusion member  222  toward the clamp  10 . With this, the tip part of the work W is pushed out of the clamp  10  by the protrusion member  222 , and the work W is detached from the clamp  10 . 
       Transfer Separation Step/Transfer Separation Station   
       [0218]      FIGS. 63 to 69  schematically show the configuration of the transfer separation station ST 10 . The transfer separation station ST 10  has guide bars  230   a  and  230   b  which extend along the endless track  11  and pinch the forearm bone b 1  of the work W. Guide plates  232   a  and  232   b  are provided below the guide bars  230   a  and  230   b,  and the guide plates  232   a  and  232   b  pinch the part of the work W in the vicinity of its elbow joint. 
         [0219]    The positions of the guide plates  232   a  and  232   b  in the vertical direction are substantially the same as those of the guide bars  230   a  and  230   b  in the vicinity of the entrance of the guide plates  232   a  and  232   b,  but the positions thereof are gradually lowered in the downward direction along the endless track  11 . Accordingly, as the work W advances in the downstream direction, meat around the forearm bone b 1  is pushed downward by the guide plates  232   a  and  232   b.    
         [0220]    Note that the guide bar  230   b  and the guide plate  232   b  are coupled to an air cylinder  234 , and the force of the guide bars  230   a  and  230   b  and the guide plates  232   a  and  232   b  for pinching the work W is adjusted by the air cylinder  234 . 
         [0221]    The transfer separation station ST 10  has stationary blades  236   a  and  236   b  which are elastically positioned in the vicinity of the exit of the guide bars  230   a  and  230   b  and the guide plates  232   a  and  232   b.  The stationary blades  236   a  and  236   b  cut a muscle remaining in the vicinity of the forearm bone b 1 . 
         [0222]    In addition, the transfer separation station ST 10  has lift plates  238   a  and  238   b  continuous with the guide plates  232   a  and  232   b  and pinch the upper end of the forearm bone b 2  of the work W. Round blade cutter devices  240   a  and  240   b  are disposed in the vicinity of the lift plates  238   a  and  238   b,  and the round blade cutter devices  240   a  and  240   b  cut the muscle of the joint between the forearm bone b 1  and the upper arm bone b 2 . The round blade cutter devices  240   a  and  240   b  can be vertically moved, and the control device  21  causes the round blade cutter devices  240   a  and  240   b  to cut the muscle on the basis of coordinates of the target position A determined from the X-ray image. 
         [0223]    Note that the round blade cutter devices  240   a  and  240   b  elastically come in contact with the joint by actions of air cylinders  242   a  and  242   b.    
         [0224]    After the muscle is cut by the round blade cutter devices  240   a  and  240   b,  the control device  21  controls a drive mechanism which is not shown, and the lift plates  238   a  and  238   b  are thereby moved downward together with the stationary blades  236   a  and  236   b  and the round blade cutter devices  240   a  and  240   b.  At this point, since the height of the clamp  10  is unchanged, as shown in  FIG. 26(   g ), the forearm bone b 1  and the upper arm bone b 2  are separated from each other. After the separation, only the forearm bone b 1  is suspended from the clamp  10 . At this point, the forearm bone b 1  is actually removed from the work W, and the work W is formed of the upper arm bone b 2  suspended from the lift plates  238   a  and  238   b  and meat adhering to the upper arm bone b 2 . 
         [0225]    Note that the lift plate  238   b,  the stationary blade  236   b,  and the round blade cutter device  240   b  are coupled to an air cylinder  244 , and the force of the lift plates  238   a  and  238   b  for pinching the upper arm bone b 2  is adjusted by the air cylinder  244 . 
         [0226]    In addition, the transfer separation station ST 10  has a stopper  246  which prevents the upper arm bone b 2  from returning to the upstream side when the lift plates  238   a  and  238   b  descend. Further, the transfer separation station ST 10  has an opening/closing door  248  which prevents the upper arm bone b 2  from advancing to the downstream side when the lift plates  238   a  and  238   b  descend. 
         [0227]    On the other hand, the transfer separation station ST 10  has an orientation adjustment bar  250  which forcibly aligns the orientation of the work W when the lift plates  238   a  and  238   b  descend. The orientation adjustment bar  250  is coupled to an air cylinder  252 , and the control device  21  controls the air cylinder  252  to thereby swing the orientation adjustment bar  250 . 
         [0228]    In addition, the transfer separation station ST 10  has a rotary arm  254  which sends the work W to the final separation station ST 11  after the lift plates  238   a  and  238   b  descend. The opening/closing door  248  and the rotary arm  254  are coupled to an air cylinder  256  via the link mechanism. The control device  21  controls the air cylinder  256 , whereby the opening/closing door  248  opens and, at the same time, the rotary arm  254  rotates, and the work W is sent to the final separation station ST 11 . 
       Final Separation Step/Final Separation Station   FIGS.  70  to  72  schematically show the configuration of the final separation station 
       [0229]    ST 11 . 
         [0230]    The final separation station ST 11  has conveyance plates  260   a  and  260   b  which pinch the upper arm bone b 2 . The conveyance plates  260   a  and  260   b  are disposed to be continuous with the lift plates  238   a  and  238   b  at descent positions, and the work W is transferred from the lift plates  238   a  and  238   b  to the conveyance plates  260   a  and  260   b  by the rotary arm  254 . 
         [0231]    The final separation step S 42  includes a meat separation step of tearing meat adhering to the upper arm bone b 2  and a cutting step of cutting of meat adhering to the upper arm bone b 2  after the meat separation step. 
         [0232]    A separation device for performing the meat separation step is formed of bone holding members  262   a  and  262   b,  meat holding members  263   a,    264   a,    263   b,  and  264   b,  and meat separators  266   a  and  266   b.  The bone holding member  262   a,  the meat holding members  263   a  and  264   a,  the separator  266   a  are used when the work W is the left arm, while the bone holding member  262   b,  the meat holding members  263   b  and  264   b,  and the separator  266   b  are used when the work W is the right arm. 
         [0233]    The bone holding members  262   a  and  262   b  are coupled to air cylinders  268   a  and  268   b  via the link mechanisms, and the control device  21  can cause each of the bone holding members  262   a  and  262   b  to run between the operation position and the wait position by controlling the air cylinders  268   a  and  268   b.  Similarly, the meat holding members  263   a,    264   a,    263   b,  and  264   b  are coupled to air cylinders  270   a  and  270   b  via the link mechanisms, and the control device  21  can cause each of the meat holding members  263   a,    264   a,    263   b,  and  264   b  to run between the operation position and the wait position by controlling the air cylinders  270   a  and  270   b.  The bone holding members  262   a  and  262   b  and the meat holding members  263   a,    264   a,    263   b,  and  264   b  are disposed so as to be orthogonal to the axial direction of a groove between the conveyance plates  260   a  and  260   b  when they are at the operation positions. 
         [0234]    Further, the meat separators  266   a  and  266   b  are also coupled to air cylinders  272   a  and  270   b,  and the control device  21  can cause each of the meat separators  266   a  and  266   b  to run between an operation position which covers the groove between the conveyance plates  260   a  and  260   b  and a wait position which is away from the groove by controlling the air cylinders  272   a  and  272   b.    
         [0235]    In addition, the meat separators  266   a  and  266   b  can be moved in the vertical direction by an actuator which is not shown. The meat separators  266   a  and  266   b  have notched parts  274   a  and  274   b  on the side of the bone holding members  262   a  and  262   b  and the meat holding members  263   a,    264   a,    263   b,  and  264   b,  and the notched parts  274   a  and  274   b  pinch the work W in cooperation with the bone holding members  262   a  and  262   b  and the meat holding members  263   a,    264   a,    263   b,  and  264   b.  At this point, since the bone holding members  262   a  and  262   b  and the meat holding members  263   a,    264   a,    263   b,  and  264   b  are coupled to the air cylinders  270   a,    270   b,    272   a,  and  272   b,  a difference in the size of the work W can be absorbed by the pressure of air. 
         [0236]    The control device  21  moves the meat separators  266   a  and  266   b  downward in a state in which the bone holding members  262   a  and  262   b  and the meat holding members  263   a,    264   a,    263   b,  and  264   b  hold the upper arm bone b 2  and meat, and at this time, the meat is torn from the upper arm bone b 2  using the edges of the notched parts  274   a  and  274   b.    FIG. 26(   h ) shows the work W from which the meat is torn by the meat separation step. 
         [0237]    Note that each of the edges of the notched parts  274   a  and  274   b  has a shape obtained by combining an arc and an L. According to the shape of the edge of each of the notched parts  274   a  and  274   b,  the edge is moved along the surface of the bone when each of the meat separators  266   a  and  266   b  is moved downward, and the meat can be torn neatly. 
         [0238]    A cutting device for performing the cutting step is formed of two round blade cutter devices  280   a  and  280   b.  The control device  21  determines the length of the upper arm bone  2   b  from the X-ray image, and controls an actuator which is not shown according to the determined length of the upper arm bone  2   b  to adjust the heights of the round blade cutter devices  280   a  and  280   b.    
         [0239]    In addition, the round blade cutter devices  280   a  and  280   b  are coupled to air cylinders  282   a  and  282   b  via the link mechanisms, and elastically come in contact with the upper arm bone  2   b  when meat is cut. Accordingly, the round blade cutter devices  280   a  and  280   b  are prevented from biting into the upper arm bone  2   b.    
         [0240]    As shown in  FIG. 26(   i ), when the meat is separated by the cutting step, the meat is sent out of the deboning system by a belt conveyor which is not shown. On the other hand, as shown in  FIG. 26(   j ), the upper arm bone b 2  from which the meat is separated is detached from the conveyance plates  260   a  and  260   b,  and is discharged from the deboning system. 
         [0241]    Herein, the conveyance mechanism of the work W in the conveyance plates  260   a  and  260   b  will be described. The work W having been transferred to the conveyance plates  260   a  and  260   b  is pushed by a predetermined distance by a rod  284  coupled to an air cylinder first. 
         [0242]    On the groove between the conveyance plates  260   a  and  260   b,  there are provided a first slide member  286  and a second slide member  288  which reciprocate along the groove, and the first slide member  286  and the second slide member  288  are driven by air cylinders. 
         [0243]    To the lower surface of each of the first slide member  286  and the second slide member  288 , a contact plate  290  is coupled using a hinge. The contact plate  290  is hung from each of the first slide member  286  and the second slide member  288 , and is configured to be tiltable only in one direction from this state. Specifically, the contact plate  290  is configured to be tiltable only when the contact plate  290  moves in the upstream direction, and does not push the work W when the contact plate  290  moves in the upstream direction. On the other hand, the tilt of the contact plate  290  is prevented when the contact plate  290  moves in the downstream direction, and the contact plate  290  can push the work W when the contact plate  290  moves in the downstream direction. 
         [0244]    Thus, the work W is conveyed to the cutting device by the contact plate  290  and, thereafter, the upper arm bone  2   b  is conveyed by the contact plate  290 . The groove between the conveyance plates  260   a  and  260   b  is widened on the downstream side and, as shown in  FIG. 26(   j ), the upper arm bone  2   b  is detached from the groove on the downstream side and discharged from the deboning system. 
         [0245]    On the other hand, the forearm bone b 1  having been removed from the work W in the transfer separation step S 40  is directly conveyed to the bone discharge station ST 12  by the clamp  10 . Subsequently, the forearm bone b 1  is detached from the clamp  10  in the bone discharge station ST 12 , and is discharged from the deboning system. 
         [0246]    Although not shown in the drawing, the bone discharge station ST 12  has the same configuration as that of the work discharge station ST 9 . That is, the bone discharge station ST 12  has an air cylinder movable in synchronization with the clamp  10  and a protrusion member attached to the tip of the air cylinder. 
         [0247]    According to the above configuration of the embodiment described above, when the hooking members  43   a  and  43   b  are stuck into the tip part of the work W, the barbs  47   a  and  47   b  are engaged with the bone of the tip part and the extraction of the hooking members  43   a  and  43   b  from the tip part is thereby prevented. Consequently, the robot arm  40  can move the work W into which the hooking members  43   a  and  43   b  are stuck to the guide rails  60  without dropping the work W. When the work W is moved to the guide rails  60 , since the rotation drive mechanism rotates the hooking members  43   a  and  43   b  to release the engagement between the barbs  47   a  and  47   b  and the bone, the work W is smoothly moved. 
         [0248]    In the configuration, when the points  46   a  and  46   b  of the hooking members  43   a  and  43   b  are stuck into the tip part of the work W, the interval between the first sides of the main body parts  45   a  and  45   b,  i.e., the interval between the barbs  47   a  and  47   b  is narrower than the interval between the second sides of the main body parts  45   a  and  45   b.  Accordingly, after the points  46   a  and  46   b  of the hooking members  43   a  and  43   b  are stuck, the barbs  47   a  and  47   b  are reliably engaged with the bone. On the other hand, even in the case where the interval between the barbs  47   a  and  47   b  is narrow, since the interval between the hooking members  43   a  and  43   b  is temporarily widened elastically when the barbs  47   a  and  47   b  come in contact with the bone, it is possible to smoothly stick the points  46   a  and  46   b  of the hooking members  43   a  and  43   b.    
         [0249]    In the configuration, the rotation drive mechanism rotates the hooking members  43   a  and  43   b  such that the interval between the first sides of the main body parts  45   a  and  45   b  approaches the interval between the second sides thereof, and the interval between the barbs  47   a  and  47   b  is thereby widened. As a result, the engagement between the barbs  47   a  and  47   b  and the bone is reliably released, and it is possible to smoothly detach the work W from the hooking members  43   a  and  43   b.    
         [0250]    In the configuration, since the swing of the work W is regulated by the swing regulation mechanism, the detachment of the work W from the hooking members  43   a  and  43   b  by the swing is prevented. 
         [0251]    In the configuration, while the work W is moved along the groove of the guide rails  60 , the incision making of the forearm bone b 1  is performed using the upstream side stationary blade  72  and the downstream side stationary blade  74 . Consequently, it is possible to reduce manual pre-processing to increase the automation rate. 
         [0252]    Particularly, the downstream side stationary blade  74  performs incision making on the elbow side of the forearm bone b 1  after the upstream side stationary blade  72  performs incision making on the wrist side of the forearm bone b 1 , whereby meat is neatly torn from the forearm bone b 1 . 
         [0253]    According to the above configuration, only by placing the work W having been subjected to the manual pre-processing at the upstream end of the belt conveyor  24 , it is possible to automatically convey the work W to the clamp  10 . Accordingly, it is possible to enhance the processing ability of the deboning system, and achieve the processing ability of, e.g., 600 pieces/hour. 
         [0254]    According to the above configuration, by determining the left or the right on the basis of the posture of the work W on the belt conveyor  24 , it is possible to reliably determine the left or the right with a simple configuration. 
         [0255]    In addition, according to the above configuration of the embodiment described above, since the intensity distribution of the X-ray applied to the work W is adjusted using the filter, the clear X-ray image is obtained. Consequently, in the case where incision making is executed on the basis of the X-ray image, it is possible to cause the course of the incision making to precisely match the outline of the bone so that yields are improved, and application of an excessive load to the cutter  133  is prevented. 
         [0256]    According to the above configuration, by rotating the work W about the vertical axis in the rotation direction corresponding to the right or the left of the work W, the X-ray image suitable for the determination of the course of incision making is obtained. Consequently, in the case where incision making is executed on the basis of the X-ray image, yields are further improved and the application of the excessive load to the cutter  133  is further prevented. 
         [0257]    According to the above configuration, by rotating the clamp  10  such that the incident angle of the X-ray relative to the cut surface separated from the trunk of the work W is more than 30° and less than 45°, the X-ray image suitable for the determination of the course of incision making is reliably obtained. 
         [0258]    According to the above configuration, it is possible to capture the X-ray image while moving the clamp  10 . Consequently, it is possible to capture the X-ray image without lowering the processing ability of the deboning system. 
         [0259]    Further, according to the above configuration of the embodiment described above, it is possible to remove the shoulder blade b 3  from the suspended work W. 
         [0260]    According to the above configuration, the motor  154  constitutes the movement mechanism which moves the bottom holder  170  and the upper side support member  158  in synchronization with the movement of the clamp  10 , and it is possible to remove the shoulder blade b 3  from the work W which is conveyed with the movement of the clamp  10 . Consequently, in the deboning system of the bone-in meat to which the shoulder blade removal device of the bone-in meat is applied, it is possible to remove the shoulder blade b 3  without lowering the processing ability. 
         [0261]    In the configuration, the air cylinder  172  constitutes the left/right position adjustment mechanism which adjusts the position of the bottom holder  170  in the direction of movement of the clamp  10  according to the left or the right of the work W. According to the above configuration, the work W is properly bent according to the left or the right of the work W, and the end part of the shoulder blade b 3  is exposed. As a result, the chuck unit  190  can reliably chuck and remove the shoulder blade b 3 . 
         [0262]    In the configuration, the bottom holder  170  has the bottom plate  174  bent in the V-shape and the side plate  176  attached to one side edge of the bottom plate  174  along the endless track  11 . According to the above configuration, the work W is properly bent and the end part of the shoulder blade b 3  is exposed with a simple configuration. As a result, the chuck unit  190  can reliably chuck and remove the shoulder blade b 3 . 
         [0263]    According to the above configuration, the wiper  186  sweeps away the ribs w 1 , and the end part of the shoulder blade b 3  is thereby exposed. As a result, the chuck unit  190  can reliably chuck and remove the shoulder blade b 3 . 
         [0264]    According to the above configuration, the grip member  194  is provided with the blade, and the grip member  194  can perform incision making on the part around the end part of the shoulder blade b 3 . As a result, the chuck unit  190  can reliably chuck and remove the shoulder blade b 3 . 
         [0265]    The present invention is not limited to the embodiment described above, and includes an embodiment obtained by modifying the above-described embodiment. 
         [0266]    For example,  FIGS. 73 to 76  schematically show another configuration of the transfer separation station ST 10  for performing the transfer separation step S 40 . The transfer separation station ST 10  has a pressing device  300  and an olecranon incision making device  400  which are disposed along the endless track  11 . 
         [0267]    The pressing device  300  has a pair of pressing members  301   a  and  301   b  disposed on both sides of the endless track  11 . The pressing members  301   a  and  301   b  can reciprocate back and forth along the direction of conveyance of the work W, i.e., the direction of movement of the clamp  10 , can reciprocate from side to side along a left and right direction orthogonal to the direction of movement of the clamp  10 , and can reciprocate vertically along an up and down direction orthogonal to the direction of movement of the clamp  10 . 
         [0268]    Specifically, the pressing device  300  has a pair of pressing units  302   a  and  302   b  which are disposed so as to oppose each other over the endless track  11 . Each of the pressing units  302   a  and  302   b  has a column  303 , and a straight guide  304  which extends along the up and down direction is fixed to the column  303 . A slider  306  is attached to the straight guide  304  so as to be slidable along the up and down direction, and a movable wall  308  is fixed to the slider  306 . Consequently, the movement of the movable wall  308  in the up and down direction is guided by the slider  306  and the straight guide  304 . 
         [0269]    On the other hand, a cylinder part  314  of an air cylinder  312  is fixed to the column  303  via a bracket  310 . The tip of a rod part  316  of the air cylinder  312  is coupled to the movable wall  308 . Consequently, the control device  21  can vertically move the movable wall  308  by controlling the air cylinder  312  as the actuator. 
         [0270]    A bracket  318  is fixed to the movable wall  308 , and a straight guide  320  which extends along the left and right direction is attached to the bracket  318 . A slider  322  is attached to the straight guide  320  so as to be slidable along the left and right direction. 
         [0271]    A movable stage  324  is fixed to the slider  322 , and the movement of the movable stage  324  in the left and right direction is guided by the slider  322  and the straight guide  320 . 
         [0272]    On the other hand, a cylinder part  328  of an air cylinder  326  is fixed to the bracket  318 . The tip of a rod part  330  of the air cylinder  326  is coupled to the movable stage  324 . Consequently, the control device  21  can move the movable stage  324  from side to side by controlling the air cylinder  326  as the actuator. 
         [0273]    A straight guide  332  which extends along the endless track  11 , i.e., along the direction of movement of the clamp  10  is attached to the movable stage  324 . A slider  334  is attached to the straight guide  332  so as to be slidable along the direction of movement of the clamp  10 . 
         [0274]    A movable stage  336  is fixed to the slider  334 , and the movement of the movable stage  336  in the direction of movement of the clamp  10  is guided by the slider  334  and the straight guide  332 . 
         [0275]    On the other hand, end walls  338  are fixed to the movable stage  324  on both sides in the direction of movement of the clamp  10 , and the movable stage  336  is disposed between the end walls  338 . A rod  340  which extends along the direction of movement of the clamp  10  is provided between the end walls  338 , and the rod  340  extends through the movable stage  324 . 
         [0276]    Compression coil springs  346  and  348  are disposed between the end walls  338  and the movable stage  336  via spring seats  342  and  344 , and the rod  340  extends through the spring seats  342  and  344  and the compression coil springs  346  and  348 . Consequently, the movable stage  336  is movable along the direction of movement of the clamp  10  while receiving biasing forces of the compression coil springs  346  and  348  as elastic members. 
         [0277]    The pressing members  301   a  and  301   b  are fixed to the movable stages  336  which oppose each other over the endless track  11 . The pressing members  301   a  and  301   b  have side edges  350  which are substantially in parallel with each other and extend along the endless track  11 , and protrusion parts  352  which protrude further toward the endless track  11  than the side edges  350 . The protrusion parts  352  are positioned on the downstream side of the side edges  350  in the direction of movement of the clamp  10 . Accordingly, each of the pressing members  301   a  and  301   b  has the shape of a substantially L-shaped plate. As indicated by a two-dot chain line in  FIG. 63 , the control device  21  can dispose the pressing members  301   a  and  301   b  at first operation positions which bring the protrusion parts  352  into contact with each other by controlling the air cylinders  326 . 
         [0278]    When the pressing members  301   a  and  301   b  are at the first operation positions, the pressing members  301   a  and  301   b  are positioned slightly below the clamp  10  in the up and down direction and pinch the part in the vicinity of the upper end part of the forearm bone b 1  with a space. In other words, when the pressing members  301   a  and  301   b  are at the first operation positions, the side edges  350  thereof form a groove  354  for pinching the part in the vicinity of the upper end part of the forearm bone b 1 . In addition, when the pressing members  301   a  and  301   b  are at the operation positions, the protrusion parts  352  thereof form an engagement part  356  which is engaged with the part in the vicinity of the upper end part of the forearm bone b 1 . 
         [0279]    When the pressing members  301   a  and  301   b  pinch the part in the vicinity of the upper end part of the forearm bone b 1 , the control device  21  can move the movable walls  308  downward by controlling the air cylinders  312  to dispose the pressing members  301   a  and  301   b  at second operation positions, as indicated by the two-dot chain line in  FIG. 65 . The second operation positions are positioned slightly below the joint (elbow joint) between the forearm bone b 1  and the upper arm bone b 2  in the up and down direction. Consequently, as shown in  FIG. 77(   g ), the pressing members  301   a  and  301   b  can press down meat around the forearm bone b 1  until the elbow joint is exposed during the movement from the first operation positions to the second operation positions (pressing step). 
         [0280]    Subsequently, after the meat is pressed down, the control device  21  can dispose the pressing members  301   a  and  301   b  at non-operation positions which cause the pressing members  301   a  and  301   b  to be spaced apart from each other by controlling the air cylinders  326 , and can move the movable walls  308  upward by controlling the air cylinders  312 . When the pressing members  301   a  and  301   b  are disposed at the non-operation positions, the work W suspended from the clamp  10  can pass between the protrusion parts  352  of the pressing members  301   a  and  301   b.    
         [0281]    Note that, when the pressing members  301   a  and  301   b  are disposed at the first operation positions, the protrusion parts  352  are pushed by the work W which is conveyed by the clamp  10 , and are moved downstream in the direction of movement of the clamp  10 . The pressing members  301   a  and  301   b  can press down the meat around the forearm bone b 1  by moving to the second operation positions during the movement. When the pressing members  301   a  and  301   b  are disposed at the non-operation positions, the pressing members  301   a  and  301   b  are moved upstream in the direction of movement of the clamp  10  by the biasing force of the compression coil spring  348 , and can return to the original positions. 
         [0282]    The olecranon incision making device  400  is disposed on the downstream side of the pressing device  300  in the direction of movement of the clamp  10 . The olecranon incision making device  400  is a device for cutting meat around the olecranon of the work W suspended from the clamp  10 , and has two olecranon cutter devices  402   a  and  402   b  which are disposed along the endless track  11 . 
         [0283]    The olecranon cutter devices  402   a  and  402   b  preferably have round blades  404   a  and  404   b  as olecranon cutters. The olecranon cutter devices  402   a  and  402   b  are swingably supported within a horizontal plane by arms  406 , and are movable between operation positions at which the olecranon cutter devices  402   a  and  402   b  are in contact with the work W and non-operation positions at which the olecranon cutter devices  402   a  and  402   b  are apart from the work W by controlling air cylinders  408  as the actuators. 
         [0284]    In addition, the olecranon cutter devices  402   a  and  402   b  are vertically movable, and the control device  21  can set the positions of the round blades  404   a  and  404   b  in the up and down direction to positions around the olecranon on the basis of coordinates of the target position E (see  FIG. 45 ) determined from the X-ray image. 
         [0285]    Consequently, the control device  21  can cut the meat around the olecranon as shown in  FIG. 77(   h ) by controlling the positions of the olecranon cutter devices  402   a  and  402   b  to thereby bring the round blades  404   a  and  404   b  into contact with the part around the olecranon of the work W suspended from the clamp  10  (olecranon incision making step). 
         [0286]    Note that the round blades  404   a  and  404   b  can elastically come in contact with the work W by actions of the air cylinders  408 . 
         [0287]    In the present embodiment, by bringing the round blades  404   a  and  404   b  into contact with the work W from the rear side in the direction of movement of the clamp  10 , it is possible to cut the meat around the olecranon. Note that the clamp  10  is rotated by the fourth clamp rotation device  19  such that the olecranon of the work W is disposed on the rear side in the direction of movement of the clamp  10 . 
         [0288]    In addition, preferably, the olecranon cutter devices  402   a  and  402   b  are electric cutters, the round blades  404   a  and  404   b  come in contact with the work W while rotating, and it is thereby possible to reliably cut the meat around the olecranon. Preferably, the round blade  404   a  positioned on the left side in the direction of movement of the clamp  10  is rotated counterclockwise (CCW) as viewed from above, while the round blade  404   b  positioned on the right side is rotated clockwise (CW) as viewed from above. 
         [0289]    According to the embodiment described above, there is provided the deboning system of the bone-in meat including the clamp  10  which is movable along the endless track  11  and used for suspending the bone-in meat by gripping the tip part of the forearm bone b 1  of the bone-in meat, the forearm-bone incision making device which is disposed along the endless track  11  and used for cutting the meat around the forearm bone b 1  of the bone-in meat suspended by the clamp  10 , the olecranon incision making device  400  which is disposed along the endless track  11  and used for cutting the meat around the olecranon of the bone-in meat suspended by the clamp  10 , and the lift plates  138   a  and  138   b  which are disposed along the endless track  11  and used for pulling the bone-in meat suspended by the clamp  10  such that the forearm bone b 1  and the upper arm bone b 2  of the bone-in meat are separated from each other in which the forearm-bone incision making device has the robot arm  40  disposed along the endless track  11  and the cutter tool (forearm cutter)  132  attached to the robot arm  40 , and the olecranon incision making device  400  has the pair of the olecranon cutters disposed on both sides of the endless track  11 . 
         [0290]    According to the deboning system of the bone-in meat described above, the meat around the forearm bone b 1  is cut using the cutter tool  132  of the forearm-bone incision making device, and the meat around the olecranon is cut using the pair of the olecranon cutters of the olecranon incision making device  400 . Thus, by using the forearm-bone incision making device and the olecranon incision making device  400 , it is possible to enhance the automation rate. 
         [0291]    On the other hand, according to the deboning system of the bone-in meat described above, after the meat around the olecranon is cut using the pair of the olecranon cutters, the forearm bone b 1  and the upper arm bone b 2  can be separated from each other. In this case, as compared with the case where the meat around the olecranon is cut using the cutter tool  132  attached to the robot arm  40 , meat adhering to the part around an olecranon fossa of the upper arm bone b 2  is reduced and yields are improved. 
         [0292]    Herein,  FIG. 78  is a perspective view schematically showing the upper arm bone b 2 , and an olecranon fossa F corresponds to a hatched region in  FIG. 78 . In a state in which the bone-in meat is suspended from the clamp W, the olecranon fossa F is covered by the olecranon of the forearm bone b 1 , and hence it is not possible to directly cut meat present in a gap between the olecranon fossa F and the olecranon using the cutter tool  132 . 
         [0293]    To cope with this, after various studies conducted by the present inventors, it has been found that, when the forearm bone b 1  and the upper arm bone b 2  are separated from each other after the meat around the olecranon is cut using the olecranon incision making device  400 , meat can be torn from the olecranon fossa F and yields are improved. 
         [0294]    In addition, in the case where the pair of the olecranon cutters include the pair of the round blades  404   a  and  404   b,  it is possible to reliably cut the meat around the olecranon with a simple configuration. 
         [0295]    Further, the deboning system of the bone-in meat of the embodiment described above includes the X-ray imaging station ST 4  as the olecranon position measurement device for measuring the position of the olecranon of the bone-in meat, and the olecranon incision making device  400  operates according to the result of the measurement of the olecranon position measurement device. 
         [0296]    According to the above configuration, the olecranon incision making device  400  operates according to the measurement result of the olecranon position measurement device, and yields are thereby further improved. 
         [0297]    In addition, since the transfer separation station ST 10  has the lift plates  238   a  and  238   b  as at least one pinching part which can be vertically moved while pinching the upper end part of the upper arm bone b 2 , it is possible to separate the forearm bone b 1  and the upper arm bone b 2  from each other with a simple configuration. Subsequently, after the forearm bone b 1  and the upper arm bone b 2  are separated from each other by using the configuration, if meat is cut off from the upper arm bone b 2  while the upper end part of the upper arm bone b 2  is gripped, it is possible to separate the meat from the upper arm bone b 2  with a simple configuration without requiring an auxiliary clamp for preventing dislocation of the joint between the forearm bone b 1  and the upper arm bone b 2 . 
         [0298]    Further, the deboning system of the bone-in meat of the embodiment described above includes the pressing device  300  disposed along the endless track  11 , and the pressing device  300  is disposed on the upstream side of the lift plates  138   a  and  138   b  in the direction of movement of the clamp  10 , and presses down the meat around the forearm bone b 1  such that the upper end part of the upper arm bone b 2  of the bone-in meat is exposed. 
         [0299]    According to the above configuration, since the upper end part of the upper arm bone b 2  is exposed by the pressing device  300 , the lift plates  138   a  and  138   b  can reliably grip the upper end part of the upper arm bone b 2 . 
         [0300]    Furthermore, the deboning system of the bone-in meat of the embodiment described above includes the fourth clamp rotation device  19  which is disposed along the endless track  11  and rotates the clamp  10 , the fourth clamp rotation device  19  is positioned on the upstream side of the olecranon incision making device  400  in the direction of movement of the clamp  10  and disposes the olecranon of the bone-in meat on the rear side in the direction of movement of the clamp  10 , and the pair of the olecranon cutters approach and come in contact with the meat around the olecranon from the rear side in the direction of movement of the clamp  10 . 
         [0301]    According to the above configuration, it is possible to reliably cut the meat around the olecranon of the bone-in meat suspended from the clamp  10  without preventing the movement of the clamp  10  along the endless track  11 . 
         [0302]    Moreover, the deboning system of the bone-in meat of the embodiment described above includes the left/right determination station (left/right determination device) ST 2  for determining the left or the right of the bone-in meat, and the fourth clamp rotation device  19  operates according to the result of the determination of the left/right determination station ST 4 . 
         [0303]    According to the above configuration, even when the left and the right of the bone-in meat are confused and the bone-in meat is suspended from the clamp  10 , the olecranon of the bone-in meat is disposed on the rear side in the direction of movement of the clamp  10  by the left/right determination station ST 4  and the fourth clamp rotation device  19 . Accordingly, it is possible to perform deboning of the right bone-in meat and the left bone-in meat with excellent yields. 
         [0304]    Herein,  FIG. 79  is a flowchart schematically showing procedures of the transfer separation step S 40  performed in the transfer separation station ST 10 . According to the embodiment of the present invention described above, referring to  FIGS. 2 and 78 , there is provided the deboning method of the bone-in meat including the suspension step S 14  of gripping the tip end part of the forearm bone b 1  of the bone-in meat and suspending the bone-in meat using the clamp  10  which is movable along the endless track  11 , the forearm-bone incision making steps S 16 , S 22 , and S 30  of cutting the meat around the forearm bone b 1  of the bone-in meat suspended by the clamp  10  using the forearm-bone incision making device which is disposed along the endless track  11  and has the robot arm  40  and the cutter tool (forearm cutter)  132  attached to the robot arm  40 , the olecranon incision making step S 100  of cutting the meat around the olecranon of the bone-in meat suspended by the clamp  10  using the olecranon incision making device  400  which has the pair of the olecranon cutters disposed on both sides of the endless track  11 , and the forearm-bone separation step S 106  of separating the forearm bone b 1  and the upper arm bone b 2  from each other using the lift plates  138   a  and  138   b  which are disposed along the endless track  11  and are used for pulling the bone-in meat suspended by the clamp  10  such that the forearm bone b 1  and the upper arm bone b 2  of the bone-in meat are separated from each other. 
         [0305]    According to the deboning method of the bone-in meat described above, the meat around the forearm bone b 1  is cut using the cutter tool  132  of the forearm-bone incision making device, and the meat around the olecranon is cut using the pair of the olecranon cutters of the olecranon incision making device  400 . Thus, by using the forearm-bone incision making device and the olecranon incision making device  400 , it is possible to enhance the automation rate. 
         [0306]    On the other hand, according to the deboning method of the bone-in meat described above, after the meat around the olecranon is cut using the pair of the olecranon cutters, it is possible to separate the forearm bone b 1  and the upper arm bone b 2  from each other. In this case, as compared with the case where the meat around the olecranon is cut using the cutter tool  132  attached to the robot arm  40 , the meat adhering to the part around the olecranon fossa F of the upper arm bone b 2  is reduced and yields are improved. 
         [0307]    In addition, according to the deboning method of the bone-in meat of the embodiment described above, by having the pressing step S 100  of pressing down the meat around the forearm bone using the pressing device  300 , the lift plates  138   a  and  138   b  can reliably pinch the upper end part of the upper arm bone b 2 . 
         [0308]    Further, according to the deboning method of the bone-in meat of the embodiment described above, by having the elbow joint incision making step S 104  of cutting a tendon around the elbow joint using the round blade cutter devices  240   a  and  240   b,  it is possible to smoothly separate the forearm bone b 1  and the upper arm bone b 2  from each other in the forearm-bone separation step S 106 .

Technology Classification (CPC): 6