Patent Description:
Since the operation of removing a bone to be removed, such as a scapula, from a meat block such as a pork block requires skill and is hard operation, automation is required.

<CIT> shows an example of a conventional bone removing device and, in this bone removing device, a constriction portion of a scapula is gripped by a portal chuck and the scapula is peeled off while a pork block is suspended and conveyed by a clamper.

<CIT> discloses a method and a device for detaching a bone part from a carcass part. <CIT> discloses a scapula removal device and method for meat on the bone, and debonding system for meat on the bone equipped with said device. <CIT> discloses a method and a device for debonding leg pieces of slaughtered animals. <CIT> discloses a device for the automatic removal of bones from meat, in particular from ham. <CIT> discloses a meat debonding apparatus and a method. <CIT>discloses an apparatus for removing a bone from a piece of meat lying upon a horizontal supporting surface.

In order to realize the device of <CIT>, it was necessary to perform operations of photographing a pork block suspended from a clamper by X-ray, measuring a position of a bone in the pork block in an image analysis, bending the pork block in accordance with the position of the bone, gripping a scapula using a hand tool attached to a tip of a robot, and peeling off the scapula from the pork block.

As described above, in the device of <CIT>, since it is necessary to control the operation according to the shape of the pork block or the arrangement of the bones in the suspended state with a high degree of freedom of posture, the position of the bone needs to be measured by X-ray photographing. However, X-ray transmission may be insufficient and bone position measurement by image analysis may not be performed accurately depending on the thickness of meat of the pork block.

Further, when the shape or size of the pork block is different from the usual one or when it is a soft pork block having meat softer than the usual one, the pork block cannot be bent properly according to the position of the bone or the position of the scapula is displaced so that the robot's hand tool cannot accurately grip the scapula in some cases. In such a case, it takes time and effort for an operator to manually adjust each part of a machine so that the bone removing operation can be smoothly performed.

An object of the present invention is to provide a bone removing device and a bone removing method capable of stably performing a bone removing operation even when the shape, size, and softness of a meat block are different.

In this bone removing device, the meat block is placed and conveyed on the transfer mechanism so that a part of the bone in the meat block is introduced into the gap between the first grip portion and the second grip portion. When the part of the bone enters into the gap between the first grip portion and the second grip portion, the drive mechanism moves the grip mechanism and peels off the bone from the meat block.

Thus, according to this bone removing device, since the part of the bone is stably introduced into the gap between the first grip portion and the second grip portion in such a manner that the meat block is placed and conveyed on the transfer mechanism, a bone removing operation can be stably performed even when the shape, size, and softness of the meat block are different. The moving direction of the grip mechanism may be any direction if the bone can be peeled off from the meat block. For example, the moving direction may be a direction away from the transfer mechanism.

[<NUM>] In the device of the above [<NUM>], the drive mechanism may include a pressing mechanism which includes a pressing body disposed closer to the transfer mechanism than the first grip portion and the second grip portion and a pressing actuator moving the pressing body toward the transfer mechanism and presses the meat block by the pressing body when peeling off the bone from the meat block.

In this case, since the meat block is pressed against the transfer mechanism by the pressing body when the grip mechanism is moved by the drive mechanism so that the bone is peeled off from the meat block, the meat block does not lift when peeling off the bone. As a result, there is an advantage that a stable peeling operation can be performed. Further, since the pressing body presses the meat block against the transfer mechanism, the position or shape of the meat block can also be standardized. This point also contributes to the stabilization of processing. The pressing body may be used to press the bone head of the bone remaining in the meat block. In that case, since the hard bone head is pressed, the meat block can be effectively fixed.

In this case, when the meat block is placed on the transfer mechanism and a part of the bone of the meat block is disposed through the gap between the first guide portion and the second guide portion, the meat block moves while the part of the bone is guided through the gap between the first guide portion and the second guide portion by the conveying operation using the transfer mechanism and the part is introduced into the gap between the first grip portion and the second grip portion.

Thus, according to this bone removing device, since the part of the bone is stably introduced into the gap between the first grip portion and the second grip portion by the guidance of the first guide portion and the second guide portion, a bone removing operation can be more stably performed even when the shape, size, and softness of the meat block are different.

[<NUM>] In the device of the above [<NUM>] to [<NUM>], the drive mechanism may include a vertical actuator which moves the grip mechanism in a direction perpendicular to a conveying surface of the transfer mechanism and a horizontal actuator which moves the grip mechanism in a width direction of the transfer mechanism.

In this case, since the operation of the grip mechanism is a moving direction and a moving speed which is a combination of the ascent by the vertical actuator and the horizontal movement in the width direction of the transfer mechanism by the horizontal actuator, an efficient bone peeling operation according to the combination characteristics of the bone and the meat block can be performed. As a result, stable processing can be performed without damaging the meat by peeling the meat or breaking the bones during peeling.

[<NUM>] In the device of the above [<NUM>], the drive mechanism may include a controller which programs a movement locus of the grip mechanism in a virtual plane orthogonal to a conveying direction of the transfer mechanism in advance by controlling a moving speed of each of the vertical actuator and the horizontal actuator.

In this case, since the movement locus of the grip mechanism in the virtual plane and the speed at each position can be programmed in advance by the controller, an efficient bone removing process according to the characteristic of the meat block can be performed. The controller includes an input unit for inputting the shape or size of the meat block and may change the movement locus of the grip mechanism in the virtual plane orthogonal to the conveying direction of the transfer mechanism in response to the signal from the input unit. The signal from the input unit may be an output from a sensor that measures the shape or size of the meat block conveyed by the transfer mechanism or a signal selected by a switch or the like switched by the determination of the operator.

[<NUM>] The device of the above [<NUM>] may further include: a guide position adjustment mechanism which adjusts a height of each of the first guide portion and the second guide portion from the transfer mechanism; and a grip position adjustment mechanism which adjusts a height of each of the first grip portion and the second grip portion from the transfer mechanism.

In this case, for example, even when the shape or size of the meat block is different beyond the allowable range, the heights of the first guide portion and the second guide portion from the transfer mechanism can be adjusted by the guide position adjustment mechanism and the heights of the first grip portion and the second grip portion from the transfer mechanism can be adjusted by the grip position adjustment mechanism. Accordingly, a stable bone removing operation can be performed even when the shape or size of the meat block is different in a wider range.

[<NUM>] In the device of the above [<NUM>] or [<NUM>], the first guide portion may be located at a position closer to the transfer mechanism than the second guide portion and an upstream end of the first guide portion may be provided with a guide bar extending toward an upstream side in relation to the second guide portion.

In this case, when a part of the bone is placed on the guide bar, the part of the bone slides along the guide bar and is smoothly guided into the gap between the first guide portion and the second guide portion. Thus, there is an advantage that a bone removing operation can be more smoothly performed.

[<NUM>] In the device of any one of the above [<NUM>], [<NUM>], and [<NUM>], the transfer mechanism may include a first conveyor, a second conveyor, and a third conveyor which are arranged from an upstream side toward a downstream side and are respectively independently operable, the first guide portion and the second guide portion may be arranged along the second conveyor, and the first grip portion and the second grip portion may be arranged along the third conveyor.

In this case, since the conveying timing of the meat block is adjusted by the first conveyor, the delivery timing from the first guide portion and the second guide portion to the first grip portion and the second grip portion is adjusted by the second conveyor, and the position and timing of the peeling operation are adjusted by the third conveyor, it is easy to harmonize each operation at the optimum timing.

[<NUM>] The device of any one of the above [<NUM>], [<NUM>], [<NUM>], and [<NUM>] may further include: a guide gap adjustment mechanism which adjusts a distance of a gap between the first guide portion and the second guide portion; and a grip gap adjustment mechanism which adjusts a distance of a gap between the first grip portion and the second grip portion.

In this case, for example, even when the thickness or size of the bone of the meat block is different beyond the allowable range, the guide gap adjustment mechanism and/or the grip gap adjustment mechanism is operated to adjust the distance of the gap between the first guide portion and the second guide portion and/or the distance of the gap between the first grip portion and the second grip portion. Accordingly, even when the shape or size of the meat block is different in a wider range, a stable bone removing operation can be performed.

[<NUM>] The device of any one of the above [<NUM>], [<NUM>], [<NUM>], [<NUM>], and [<NUM>] may further include: a second guide turning mechanism which includes a turning shaft disposed in parallel to the first guide portion and an arm supporting the second guide portion to be turned around the turning shaft.

In this case, the gap between the first guide portion and the second guide portion can be widened by turning the second guide portion around the turning shaft using the second guide turning mechanism and the maintenance can be easily performed.

[<NUM>] Another aspect of the present invention is a bone removing method of removing a bone to be removed from a meat block including: conveying a meat block from an upstream side to a downstream side by a transfer mechanism transferring the meat block; introducing a part of the bone in the meat block into a gap between a first grip portion and a second grip portion; and peeling off the bone from the meat block by moving the first grip portion and the second grip portion gripping the part of the bone in the gap. The method further comprises guiding a part of the bone conveyed by the transfer mechanism to the gap between the first grip portions and the second grip portions through a gap between a first guide portion and a second guide portion disposed along the transfer mechanism.

In this bone removing method, the meat block is placed and conveyed on the transfer mechanism and a part of the bone in the meat block is introduced into the gap between the first grip portion and the second grip portion. When the part of the bone enters the gap between the first grip portion and the second grip portion, the drive mechanism moves the grip mechanism in a direction away from the transfer mechanism and peels off the bone from the meat block.

Thus, according to the bone removing method, since the part of the bone is stably introduced into the gap between the first grip portion and the second grip portion in such a manner that the meat block is placed and conveyed on the transfer mechanism, a bone removing operation can be stably performed even when the shape, size, and softness of the meat block are different.

According to this method, since the part of the bone is stably introduced into the gap between the first grip portion and the second grip portion by the guidance of the first guide portion and the second guide portion, a bone removing operation can be stably performed even when the shape, size, and softness of the meat block are different.

[<NUM>] In the device of the above [<NUM>] to [<NUM>] and the method of the above [<NUM>] to [<NUM>], the meat block may be a pork block of a pork shoulder meat, the bone may be a scapula, and the part of the bone may be a part just below the bone head of the scapula. However, the present invention is not limited to the pork shoulder meat and pork blocks and may be meat blocks of other animals. Further, the bone is not limited to the scapula and any bone having a part at the end can be similarly applied.

Further, as in the embodiments described later, the configurations of the above-described devices [<NUM>] to [<NUM>] and methods [<NUM>] and [<NUM>] can be combined with each other. Advantageous Effects of Invention.

According to the bone removing device and the bone removing method of the present invention, since the part of the bone is stably introduced into the gap between the first grip portion and the second grip portion in such a manner that the meat block is placed and conveyed on the transfer mechanism, there is an excellent effect that a bone removing operation can be stably performed even when the shape, size, and softness of the meat block are different.

In this embodiment, for example, a meat block B shown in <FIG> is processed. This meat block B is a pork shoulder meat block in which shoulder loin and spare ribs are removed from a half-back block of a pork carcass, has a wrist side B1 at one end, and includes a forearm bone B2, an humerus B3, and a scapula B4. The scapula B4 has a bulging bone head B5 at one end, the other end extends in a triangular shape, and a portion just below the bone head B5 is a constriction portion B6 with a narrow diameter. A bone removing device <NUM> of this embodiment is used to grip the constriction portion B6 as a part of the bone and peel that part off from the meat block B. As a pretreatment for the bone removing device <NUM>, it is necessary to cut a circumference C of the bone head B5 and the constriction portion B6 with a knife to expose the bone head B5 and the constriction portion B6. However, the present invention is not limited to the pork shoulder meat and pork blocks and may be meat blocks of other animals. The bone is not limited to the scapula and the present invention can be applied to any other bone as well. A "part" of the bone to be gripped may be the constriction portion or the bone head and the present invention can be applied to one end or the center portion of the bone as well.

<FIG> shows the bone removing device <NUM> according to an embodiment of the present invention and this bone removing device <NUM> has a rectangular parallelepiped frame <NUM> and a first conveyor <NUM>, a second conveyor <NUM>, and a third conveyor <NUM> arranged horizontally in a row, respectively. The first conveyor <NUM>, the second conveyor <NUM>, and the third conveyor <NUM> constitute a transfer mechanism. The first conveyor <NUM> is disposed outside the frame <NUM> and the second conveyor <NUM> and the third conveyor <NUM> are disposed inside the frame <NUM>. The first conveyor <NUM>, the second conveyor <NUM>, and the third conveyor <NUM> can be individually operated and all meat blocks are conveyed from the upstream side (the right side in <FIG>) to the downstream side (the left side in <FIG>). Inside the frame <NUM>, a guide mechanism <NUM> is disposed above the second conveyor <NUM> and a grip mechanism <NUM> for gripping the scapula B4 is disposed above the third conveyor <NUM>. A drive mechanism <NUM> for driving the grip mechanism <NUM> is disposed on the upper surface of the frame <NUM>. Hereinafter, these configurations will be described in detail.

<FIG> shows the first conveyor <NUM>, the second conveyor <NUM>, and the third conveyor <NUM> and all of these conveyors include a plurality of support plates <NUM> extending in a conveying direction and rollers <NUM> and <NUM>. An endless roller belt (not shown) is wound on the rollers <NUM> and <NUM> so that the roller belt runs. The roller belt is periodically replaced and cleaned.

A distance sensor <NUM> is installed at the end of the first conveyor <NUM>, a distance sensor <NUM> is installed at the tip of the second conveyor <NUM>, and a pair of passage sensors <NUM> is installed at the end of the second conveyor <NUM>. A distance sensor <NUM> is installed at the tip of the third conveyor <NUM> and a distance sensor <NUM> is installed at the end thereof. When the meat block B passes immediately before the distance sensors <NUM>, <NUM>, <NUM>, and <NUM>, the distance sensors measure the distance from the meat block B and detect that the meat block B has passed in a normal posture. The passage sensor <NUM> detects the passage of the meat block B regardless of the posture of the meat block B. These sensors are connected to a control panel (not shown) and their signals are used for the operation control described later. A guide <NUM> is fixed to the side surface of the third conveyor <NUM> to receive the scapula B4 removed from the meat block B and guide the scapula to a container (not shown).

<FIG> shows a relationship between the conveyors <NUM>, <NUM>, and <NUM>, the guide mechanism <NUM>, and the grip mechanism <NUM>. First and second guide portions <NUM> and <NUM> having an elongated rail shape are disposed above the second conveyor <NUM> so that their longitudinal directions are parallel to the conveyor conveying direction. The first guide portion <NUM> is located lower than the second guide portion <NUM>. The first guide portion <NUM> and the second guide portion <NUM> have substantially the same length, but a guide bar <NUM> is attached to the tip on the upstream side of the first guide portion <NUM>. The guide bar <NUM> extends in the extension direction of the first guide portion <NUM> and the tip is rounded in a loop for safety. The guide bar <NUM> is guided to allow an operator to place the constriction portion B6 of the meat block B thereon so that the constriction portion B6 is smoothly introduced between the first guide portion <NUM> and the second guide portion <NUM>.

As shown in <FIG>, there is a gap of almost the same distance over the entire length between a lower end 34A of the first guide portion <NUM> and a lower end of the second guide portion <NUM> and the constriction portion B6 of the scapula B4 in the meat block B conveyed by the second conveyor <NUM> is sandwiched and guided through the gap. The gap between the first guide portion <NUM> and the second guide portion <NUM> is set to be slightly larger than the thickness of the constriction portion B6 and smaller than the diameter of the bone head B5 of the scapula B4. Accordingly, the constriction portion B6 is not pulled out and is smoothly guided over the entire length of the first guide portion <NUM> and the second guide portion <NUM>. The lower ends of the first guide portion <NUM> and the second guide portion <NUM> are rounded not to damage the meat.

As shown in <FIG>, a lower end 34A of the first guide portion <NUM> is inclined to be lowered as it goes toward the second guide portion <NUM> and supports a lower surface of the constriction portion B6. An upper end of the first guide portion <NUM> erects perpendicularly and a horizontal rotation shaft <NUM> is attached to a front surface thereof to be rotatable around the axis. The second guide portion <NUM> is attached to the rotation shaft <NUM> through a plurality of arms <NUM> and the second guide portion <NUM> is opened and closed with respect to the first guide portion <NUM> when the rotation shaft <NUM> rotates. The arm <NUM> has a function of finely adjusting the height and angle of the second guide portion <NUM>.

A handle <NUM> is fixed to an end of the rotation shaft <NUM> through a lever <NUM> and when the operator moves the handle <NUM>, the second guide portion <NUM> moves to a jumping-up position and can be fixed at the jumping-up position as shown in <FIG>. Even when the second guide portion <NUM> jumps up in this way, there is an advantage that the guide mechanism <NUM> can be easily washed.

As shown in <FIG>, the upper end of the first guide portion <NUM> is fixed to a lifting plate <NUM> disposed perpendicularly and the lifting plate <NUM> is supported to be elevatable through a pair of linear guides <NUM> attached to the frame <NUM>. A horizontal plate <NUM> is fixed onto the frame <NUM>, a lifting unit <NUM> is provided thereon, and the lifting plate <NUM> can be elevated to an arbitrary position by a servo motor <NUM>. The servo motor <NUM> is connected to a switch and a control panel (not shown) and can adjust the height positions of the first guide portion <NUM> and the second guide portion <NUM> in accordance with the shape or size of the meat block B in such a manner that the operator manipulates the switch or operates the servo motor <NUM> using the control panel.

As shown in <FIG>, the grip mechanism <NUM> includes a first grip portion <NUM> and a second grip portion <NUM> which are disposed on the downstream side of the first guide portion <NUM> and the second guide portion <NUM> and an open-and-close actuator <NUM> which opens and closes a gap between the first grip portion <NUM> and the second grip portion <NUM>. The longitudinal directions of the first grip portion <NUM> and the second grip portion <NUM> are substantially aligned to the longitudinal directions of the first guide portion <NUM> and the second guide portion <NUM> and the constriction portion B6 guided by the first guide portion <NUM> and the second guide portion <NUM> is smoothly received in the gap between the first grip portion <NUM> and the second grip portion <NUM>. The cross-sections of the lower ends of the first grip portion <NUM> and the second grip portion <NUM> are rounded not to damage the meat.

As shown in <FIG>, a lower end 54A of the first grip portion <NUM> is inclined downward as it goes toward the second grip portion <NUM> and supports the lower surface of the constriction portion B6. An upper end of the first grip portion <NUM> erects perpendicularly and is fixed to a lifting plate <NUM> extending perpendicularly. The lifting plate <NUM> is attached to the frame <NUM> through a pair of linear guides <NUM> to be elevatable.

As shown in <FIG>, a horizontal rotation shaft <NUM> is attached to an entire surface of a lower end of the lifting plate <NUM> to be rotatable around the axis. The second grip portion <NUM> is attached to both ends of the rotation shaft <NUM> through a pair of arms <NUM> and the second grip portion <NUM> is opened and closed with respect to the first grip portion <NUM> when the rotation shaft <NUM> rotates. The arm <NUM> has a function of finely adjusting the height and angle of the second grip portion <NUM>. A shaft of the open-and-close actuator <NUM> is eccentrically connected to the center of the rotation shaft <NUM> and the main body of the open-and-close actuator <NUM> is fixed to the lifting plate <NUM>. When the open-and-close actuator <NUM> is operated, the rotation shaft <NUM> rotates so that the second grip portion <NUM> is opened and closed with respect to the first grip portion <NUM>. At the closed position of the second grip portion <NUM>, the constriction portion B6 is elastically sandwiched and fixed between the second grip portion <NUM> and the first grip portion <NUM> with a constant force. The open-and-close actuator <NUM> is connected to a control panel (not shown).

As shown in <FIG>, a horizontal frame <NUM> is fixed to an upper surface of the frame <NUM>, a slide stand <NUM> is horizontally disposed on the horizontal frame <NUM> through a linear guide <NUM>, and the slide stand <NUM> is movable in the width direction of the third conveyor <NUM>. A vertical actuator <NUM> including a servo motor <NUM> is attached onto the slide stand <NUM> and the shaft is connected to the lifting plate <NUM>.

As shown in <FIG>, a shaft of a horizontal actuator <NUM> including a servo motor <NUM> is connected to the slide stand <NUM> and the horizontal actuator <NUM> is fixed to the horizontal frame <NUM>. The vertical actuator <NUM> and the horizontal actuator <NUM> are respectively connected to the control panel and the movement locus of the grip mechanism <NUM> in the virtual plane orthogonal to the conveying direction of the conveyor and the speed at each point can be programmed in advance by controlling the moving speed of each of the vertical actuator <NUM> and the horizontal actuator <NUM>.

As shown in <FIG>, a long and thin plate-shaped pressing body <NUM> is disposed on a lower surface of the lower end 54A of the first grip portion <NUM>. The pressing body <NUM> has a shape extending substantially in parallel to the lower surface of the lower end 54A and has a length extending to the upstream side and the downstream side from the first grip portion <NUM> and the second grip portion <NUM>. As shown in <FIG>, an upstream end of the pressing body <NUM> extends to below a downstream end of the first guide portion <NUM>.

Each of both ends of the pressing body <NUM> is connected to a lower end of the lifting body <NUM> and the lifting body <NUM> is supported by a pair of linear guides <NUM> fixed to the frame <NUM> to be elevatable. A shaft of a pressing mechanism <NUM> driven by a servo motor <NUM> is connected to the lifting body <NUM> and the pressing mechanism <NUM> is fixed onto the frame <NUM>. When the servo motor <NUM> is operated, the pressing body <NUM> can be elevated from a position contacting the lower surface of the lower end 54A of the first grip portion <NUM> to a position in which the meat block B disposed on the third conveyor <NUM> is pressed against the third conveyor <NUM>.

Next, a bone removing method using the bone removing device <NUM> will be described. This method is to repeat step S1 to step S9 for each meat block B according to the flowchart of <FIG>, the following operation is programmed in advance in the above-described control panel (not shown), and the bone removing device <NUM> automatically performs step S3 to step S9 except for step S1 and step S2. Hereinafter, each step will be described sequentially.

In step S1, the operator performs pretreatment for introducing the meat block B into the bone removing device <NUM>. As shown in <FIG>, a pork shoulder meat block in which shoulder loin and spare ribs are removed from a half-back block of a pork carcass is carried as a material. The operator cuts the circumference C of the bone head B5 and the constriction portion B6 of the meat block B with a knife and lightly lifts the bone head B5 and the constriction portion B6 to be exposed from the meat block B. This operation can be done with a light force and does not require skill. The pretreated meat block B is sequentially placed on the first conveyor <NUM> while the wrist side B1 faces the rear side of the bone removing device <NUM>. The meat block B is carried downstream by the first conveyor <NUM>.

In step S2, the operator grips the meat block B carried to the downstream side of the first conveyor <NUM> and places the constriction portion B6 exposed from the meat block B by the pretreatment on the horizontal guide bar <NUM>. Then, as the meat block B is carried to the downstream side, as shown in <FIG>, the constriction portion B6 slides into the gap between the first guide portion <NUM> and the second guide portion <NUM>. At this time, the distance sensor <NUM> and the distance sensor <NUM> confirm whether the meat block B is guided in a normal posture. When an abnormal posture in which the meat block B is obliquely inclined with respect to the conveying direction is detected, the first conveyor <NUM> is stopped.

In step S3, when the distance sensor <NUM> confirms that the meat block B is carried in a normal posture, the second conveyor <NUM> is operated and the meat block B is conveyed to the downstream side at a conveying speed faster than that of the first conveyor <NUM> to be separated from the next meat block B. Here, each constriction portion B6 can be reliably gripped by the first grip portion <NUM> and the second grip portion <NUM> by increasing the distance between the meat blocks B.

In step S4, when the passage sensor <NUM> confirms that the meat block B has passed, the third conveyor <NUM> is operated. Then, the constriction portion B6 moving along the first guide portion <NUM> and the second guide portion <NUM> slides into the gap between the first grip portion <NUM> and the second grip portion <NUM> and the constriction portion B6 moves to the downstream side while being guided by the first grip portion <NUM> and the second grip portion <NUM> as shown in <FIG>. The distance sensor <NUM> confirms whether the meat block B has passed in a normal posture. When an abnormal posture in which the meat block B is obliquely inclined with respect to the conveying direction is detected, the third conveyor <NUM> is stopped. When there is no abnormality, the meat block B is moved to the center of the longitudinal direction of the first grip portion <NUM> and the third conveyor <NUM> is stopped at that position.

In step S5, the open-and-close actuator <NUM> is operated so that the second grip portion <NUM> approaches the first grip portion <NUM> and the constriction portion B6 is reliably gripped and fixed by the first grip portion <NUM> and the second grip portion <NUM>.

In step S6, as shown in <FIG>, the servo motor <NUM> is operated so that the lifting body <NUM> falls, the pressing body <NUM> is lowered, particularly the bone head B7 of the humerus B3 is pressed by the pressing body <NUM>, and the meat block B is pressed and fixed to the third conveyor <NUM>. Since the pressing body <NUM> is pressed against the bone head B7, the meat block B can be effectively fixed without the pressing body <NUM> striking into the meat.

In step S7, as shown in <FIG>, the vertical actuator <NUM> and the horizontal actuator <NUM> are operated so that the grip mechanism <NUM> is raised upward and is moved in a direction orthogonal to the conveyor conveying direction. Accordingly, the scapula B4 is peeled off from the meat block B and is lifted. At this time, since the grip mechanism <NUM> is moved in the moving direction and at the moving speed in which the movements of the vertical actuator <NUM> and the horizontal actuator <NUM> are combined as shown in <FIG>, an efficient bone peeling operation according to the combination characteristics of the scapula B4 and the meat block B can be performed by setting each operation of the vertical actuator <NUM> and the horizontal actuator <NUM> to an optimal condition in advance. As a result, stable processing can be performed without damaging the meat by peeling the meat in an unreasonable direction or breaking the bones during peeling.

<FIG> is a graph showing operation conditions of the vertical actuator <NUM> and the horizontal actuator <NUM> in an example in which good peeling results are obtained in the test for various conditions by the present inventors. However, the present invention is not limited to this condition.

In step S8, as shown in <FIG>, the open-and-close actuator <NUM> is operated to open the first grip portion <NUM> and the second grip portion <NUM> at a time point in which the scapula B4 suspended by the grip mechanism <NUM> reaches above the guide <NUM>. Then, since the constriction portion B6 is released, the scapula B4 falls into the guide <NUM> (see <FIG>) and is collected in a collection container (not shown).

In step S9, all of the pressing mechanism <NUM>, the vertical actuator <NUM>, and the horizontal actuator <NUM> are returned to the initial positions and the first grip portion <NUM> and the second grip portion <NUM> are returned to the original positions. The pressing body <NUM> is lifted up o release the meat block B and the third conveyor <NUM> is operated to carry the meat block B to the next step. Then, one cycle ends.

As described above, according to this bone removing device, since the constriction portion B6 of the bone in the meat block B is stably introduced into the gap between the first grip portion <NUM> and the second grip portion <NUM> in such a manner that the meat block B is placed and conveyed on the transfer mechanism (the first conveyor <NUM>, the second conveyor <NUM>, and the third conveyor <NUM>), the bone removing operation can be stably performed even when the shape, size, and smoothness of the meat block B are different.

Further, since the constriction portion B6 is highly reliably and stably introduced into the gap between the first grip portion <NUM> and the second grip portion <NUM> by the guidance of the first guide portion <NUM> and the second guide portion <NUM>, the bone removing operation can be more stably performed even when the shape and size of the meat block B and the softness of the muscles of the meat and bone are different.

Further, since the operation of the grip mechanism <NUM> is a moving direction, a moving speed, and a driving torque which are a combination of the ascent by the vertical actuator <NUM> and the horizontal movement in the conveyor width direction by the horizontal actuator <NUM>, an efficient bone peeling operation according to the combination characteristics of the scapula B4 and the meat block B can be performed. As a result, stable processing can be performed without damaging the meat or breaking the bones during peeling.

Further, since the movement locus of the grip mechanism <NUM> in the virtual plane and the speed at each position can be programmed in advance by the control panel (controller), an efficient bone removing process can be performed according to the characteristics of the meat block. The control panel may include an input unit for inputting the shape or size of the meat block and may change the movement locus of the grip mechanism <NUM> in the virtual plane in response to the signal from the input unit. The signal from the input unit may be an output from a sensor that measures the shape or size of the meat block conveyed by the conveyor or a signal selected by a switch or the like switched by the determination of the operator.

Further, since the meat block B is pressed by the pressing body <NUM> when the scapula B4 is peeled off by the grip mechanism <NUM>, the meat block B does not lift or change its posture when the scapula B4 is peeled off. As a result, there is an advantage that a stable peeling operation can be performed. Further, since the bone head B7 is pressed by the pressing body <NUM>, an effective pressing operation can be performed.

Further, for example, even when the shape or size of the meat block is different beyond the allowable range, the heights of the first guide portion <NUM> and the first guide portion <NUM> can be adjusted by the lifting unit <NUM> and the heights of the first grip portion <NUM> and the second grip portion <NUM> can be adjusted by the vertical actuator <NUM>. Accordingly, a stable bone removing operation can be performed even when the shape or size of the meat block is different in a wide range.

Further, since the constriction portion B6 is placed on the guide bar <NUM> and the constriction portion B6 is smoothly guided between the first guide portion <NUM> and the second guide portion <NUM>, the bone removing operation can be more smoothly performed and the burden on the operator is small.

Further, since the conveying timing of the meat block B can be adjusted by the first conveyor <NUM>, the delivery timing from the guide mechanism <NUM> to the grip mechanism <NUM> can be adjusted by the second conveyor <NUM>, and the position and timing of the peeling operation can be adjusted by the third conveyor <NUM>, it is easy to harmonize each operation at the optimum timing.

Further, for example, even when the thickness or size of the bone of the meat block is different beyond the allowable range, the adjustment mechanism of the arm <NUM> and/or the adjustment mechanism of the arm <NUM> is adjusted to adjust the gap between the first guide portion <NUM> and the second guide portion <NUM> and/or the gap between the first grip portion <NUM> and the second grip portion <NUM>. Accordingly, even when the shape or size of the meat block is different in a wider range, a stable bone removing operation can be performed.

Further, the gap between the first guide portion <NUM> and the second guide portion <NUM> can be widened by turning the second guide portion <NUM> around the rotation shaft <NUM> in accordance with the operation of the handle <NUM> and the maintenance can be easily performed.

Claim 1:
A bone removing device (<NUM>) for removing a bone to be removed from a meat block, comprising:
a transfer mechanism (<NUM>, <NUM>, <NUM>) which transfers a meat block from an upstream side to a downstream side;
a grip mechanism (<NUM>) which includes first and second grip portions (<NUM>, <NUM>) and an open-and-close actuator (<NUM>) opening and closing a gap between the first and second grip portions (<NUM>, <NUM>) and introduces a part of the bone in the meat block into the gap between the first and second grip portions (<NUM>, <NUM>); and
a drive mechanism (<NUM>) which moves the grip mechanism (<NUM>) so that the bone partially gripped by the grip mechanism (<NUM>) is peeled off from the meat block,
characterized in that the bone removing device (<NUM>) further comprises a guide mechanism (<NUM>) which includes first and second guide portions (<NUM>, <NUM>) arranged along the transfer mechanism (<NUM>, <NUM>, <NUM>) with a gap therebetween and guides a part of the bone in the meat block conveyed by the transfer mechanism (<NUM>, <NUM>, <NUM>) to a gap between the first grip portions (<NUM>) and the second grip portions (<NUM>) through the gap.