Patent ID: 12245602

DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

<Automatic Deboning Device>

FIG.1is an enlarged perspective view of a separation device1.

The separation device1is provided in an automatic deboning device110configured to automatically debone a bone from poultry leg meat M (seeFIG.4). The automatic deboning device110includes a controller130configured to perform general driving control of the automatic deboning device110, in addition to the separation device1. Hereinafter, an upward/downward direction in a state in which the automatic deboning device110is placed on a floor (not shown) is simply referred to as an upward/downward direction, and a horizontal direction in this state is simply referred to as a horizontal direction.

As shown inFIG.1, for example, a plurality of work stations are set in the automatic deboning device110in a circumferential direction around a center column114provided at a center in a horizontal direction. The plurality of work stations are work spaces set for processes of performing processing on poultry leg meat step by step. For example, in the automatic deboning device110, a station where the poultry leg meat is input to the device, a station (hereinafter referred to as an slit-forming station) where slit-forming is performed on the input poultry leg meat, a station where the meat around the ankle of the poultry leg meat is cut, a station where a meat part is peeled off until a joint of the poultry leg meat, a station where articular muscle and knee cartilage are cut, a station (hereinafter referred to as a separation station) where the meat part is peeled off and deboned from the femur F (seeFIG.4), and a station where the bone remaining in the ankle holding part is discharged are set in sequence in the circumferential direction. Hereinafter, directions that are simply referred to as the radial direction and the circumferential direction are the radial direction of the center column114and the circumferential direction of the center column114.

Devices having respective functions are provided in the stations. As the poultry leg meat M (seeFIG.4) is conveyed to the stations in sequence, processing is performed on the poultry leg meat M step by step. The separation device1is provided in the separation station. A partial configuration of the separation device1is provided in the slit-forming station (details will be described below). A power unit120configured to power each device is provided in the automatic deboning device110. The power unit120includes, for example, a rotary table (not shown) configured to convey an ankle holding part2(to be described below) to the stations in sequence, or a partial configuration of the separation device1(details will be described below). InFIG.1, illustration of the devices provided in the stations other than the separation device1is omitted.

<Separation Device>

The separation device1includes the ankle holding part2configured to hold an ankle A (seeFIG.4) of the poultry leg meat M, a moving part3configured to move the ankle holding part2upward/downward, a separator4provided below the ankle holding part2, an auxiliary clamp5provided between the ankle holding part2and the separator4, a cutter unit6provided on an outer side of the ankle holding part2in the radial direction, and a leg meat measuring part7provided in the slit-forming station. The moving part3constitutes the power unit120.

<Ankle Holding Part>

The ankle holding part2includes a columnar support bar11extending upward/downward, and a hanger12provided on a lower end11aof the support bar11. In the following description, a state in which the ankle holding part2is conveyed to the separation station will be described.

The hanger12is formed in a C shape, an outer side in the radial direction of which is open when seen in the circumferential direction. An upper end12aof the hanger12is attached to the lower end11aof the support bar11.

A bifurcated claw portion13is formed from a center of the hanger12in the upward/downward direction to a lower portion of the hanger12. A tip13aof a claw portion13is formed outward in the radial direction. A stopper convex portion19protruding upward is provided on the tip13aof the claw portion13. The ankle A of the poultry leg meat M is hooked on the claw portion13to get over the stopper convex portion19. Accordingly, the ankle A of the poultry leg meat M is held on the hanger12(the ankle holding part2), and the poultry leg meat M is hung on the hanger12. The stopper convex portion19prevents the ankle A of the poultry leg meat M from slipping off the claw portion13.

A discharge mechanism10is provided on a back surface12bat a side opposite to an opening of the hanger12(an inner side in the radial direction). The discharge mechanism10discharges the bone over the stopper convex portion19from the hanger12in the station where the bone is discharged.

The moving part3is detachably connected to an upper end (not shown) of the support bar11. A rotary table (not shown) is connected to the upper end of the support bar11. Accordingly, the ankle holding part2is rotated around a shaft center C1.

The moving part3is, for example, an electric linear actuator in which a servomotor (not shown) is used. The electric linear actuator is provided such that a slider (not shown) moves in the upward/downward direction. In the ankle holding part2conveyed to the separation station, for example, the upper end of the support bar11is detachably connected to the slider (not shown) of the moving part3. Accordingly, when the moving part3is driven, the ankle holding part2is pulled upward.

A pulling-up amount (an example of movement in the claims) of the ankle holding part2by the moving part3is detected by a sensor (not shown) provided in the moving part3. The detection result is output to the controller130as a signal. In the controller130, a pulling-up amount of the ankle holding part2is determined on the basis of the detection result of the leg meat measuring part7. The pulling-up amount of the ankle holding part2in the separation station is an amount in which the separator4is located just below an end portion E (seeFIG.4) of the femur F on the side of a femur head Fh in a state in which the ankle holding part2is pulled up completely. The controller130performs driving control with reference to the determined pulling-up amount and the detection result from the moving part3.

<Separator>

The separator4pinches the femur F of the poultry leg meat M from both sides in the radial direction. The separator4includes a fixed part14and a movable part15, which are provided on an outer circumferential surface of the center column114. The fixed part14includes a support bar16fixed to the outer circumferential surface of the center column114, and a fixed separator17provided on an outer end (tip) of the support bar16in the radial direction.

The support bar16is formed by a round bar. The support bar16is formed in a crank shape directed outward in the radial direction. That is, the support bar16extends horizontally from the outer circumferential surface of the center column114, extends to bend downward, and then, extends to bend outward in the radial direction again.

The fixed separator17includes a cylindrical fixed part21fitted and fixed to the tip of the support bar16, and a fixed separator main body22provided integrally with an outer end of the fixed part21in the radial direction. The fixed separator main body22is a plate-shaped member extending in the horizontal direction. A concave portion22bhaving a V-groove shape when seen in the upward/downward direction is formed in an outer side22aof the fixed separator main body22in the radial direction.

The movable part15includes a driving part23fixed on the outer circumferential surface of the center column114at below the support bar16of the fixed part14, an arm section24connected to the driving part23, and a movable separator25provided on a side of the arm section24opposite to the driving part23. The driving part23includes a waterproof case27fixed to the center column114via a bracket26, and a separator actuator28accommodated in the waterproof case27.

In the waterproof case27, a guide plate27bis provided on an outer surface27ain the radial direction. The guide plate27bis slanted so that a normal direction of one surface is slightly oblique to the upward/downward direction. The guide plate27bguides the lower portion of the poultry leg meat M conveyed to the separation station, and the poultry leg meat M does not come into direct contact with the waterproof case27.

The separator actuator28includes a rotary shaft29protruding via an outer surface27cof the waterproof case27in the circumferential direction, and an actuator main body (not shown) configured to pivot the rotary shaft29within a predetermined angle range. The arm section24is connected to the rotary shaft29. The actuator main body is constituted by, for example, an air cylinder, and a link mechanism connected to a rod of the air cylinder (neither is shown). The rotary shaft29is connected to the link mechanism. Accordingly, when the air cylinder is operated, the rotary shaft29is pivoted within the predetermined angle range.

The arm section24includes a cylindrical fixed part31fitted and fixed to the rotary shaft29, a lateral arm32extending from the outer circumferential surface of the fixed part31toward an outer side in the radial direction, and a vertical arm33provided on an outer end of the lateral arm32in the radial direction. The lateral arm32and the vertical arm33are formed by a round bar. An annular connecting portion32ais provided integrally with the outer end of the lateral arm32in the radial direction. As a lower end portion of the vertical arm33is inserted through and fixed to the connecting portion32a, the lateral arm32and the vertical arm33are integrated with each other. The vertical arm33extends substantially along the upward/downward direction. The movable separator25is provided on the upper end of the vertical arm33.

The movable separator25includes a cylindrical fixed part34fitted and fixed to the vertical arm33, and a movable separator main body35provided integrally with the upper end of the fixed part34. The movable separator main body35is a plate-shaped member extending in a direction substantially perpendicular to the vertical arm33toward the fixed separator main body22. A plate thickness direction of the movable separator main body35substantially coincides with an extension direction of the vertical arm33. An inner side35aof the movable separator main body35in the radial direction faces the outer side22aof the fixed separator main body22in the radial direction. A V-groove-shaped concave portion35bis formed in the inner side35aof the movable separator main body35in the radial direction when seen in the upward/downward direction. The concave portion35balso faces the concave portion22bof the fixed separator main body22in the radial direction.

With this configuration, when the driving part23is driven to pivot the rotary shaft29, the arm section24and the movable separator25swing together with the rotary shaft29. Then, the movable separator main body35is moved toward and away from the fixed separator main body22. The femur F of the poultry leg meat M is pinched in a state in which the movable separator main body35approaches the fixed separator main body22.

Here, the femur F is stored in the concave portions22band35bof each of the separator main bodies22and35. For this reason, in a state in which the femur F is sandwiched between the separator main bodies22and35from both sides in the radial direction, the entire circumference of the femur F becomes surrounded by the separator main bodies22and35.

In the following description, in the separator4, the position where the movable separator main body35advances and the movable separator main body35approaches the fixed separator main body22most is referred to as a pinching position. The position where the movable separator main body35retreats and the movable separator main body35is most separated from the fixed separator main body22is referred to as a retreated position.

<Auxiliary Clamp>

The auxiliary clamp5holds a root Fr (hereinafter, simply referred to as the root Fr) of the femur F of the poultry leg meat M on the side of a knee joint K (seeFIG.4) from both sides in the circumferential direction. The auxiliary clamp5includes a waterproof case37fixed to the outer circumferential surface of the center column114via a bracket36, an auxiliary actuator38accommodated in the waterproof case37, and an auxiliary clamp unit39attached to a plurality of (for example, two) rods38aof the auxiliary actuator38.

The plurality of rods38aof the auxiliary actuator38protrude downward via the waterproof case37. The auxiliary actuator38expands and contracts the plurality of rods38ain the upward/downward direction. For example, an air cylinder is used as the auxiliary actuator38.

The auxiliary clamp unit39includes a clamp actuator42fixed to tips (lower ends) of the rods38avia an attachment base41, and two clamp portions43attached to the clamp actuator42.

The clamp actuator42is constituted by, for example, an air cylinder and a link mechanism, which are not shown. The clamp actuator42is disposed to be elongated in the radial direction, and for example, a rod (not shown) of the air cylinder slides in the radial direction. The two clamp portions43are attached to the outer end of the clamp actuator42in the radial direction such that the upward/downward direction is a rotary axis. The two clamp portions43are opened and closed (approach and separated from each other) by slide movement of the rod.

The two clamp portions43are line symmetrical around the clamping actuator42in the radial direction. For this reason, in the following description, only one of the two clamp portions43will be described, and description of the other clamp portion43will be omitted. In the following description, a case in which the two clamp portions43are located at an opened position is referred to as a clamp opened position, and a case in which the two clamp portions43are located at a closed position is referred to as a clamp closed position. The two clamp portions43face each other in the circumferential direction at the clamp closed position.

The clamp portions43include arms44extending in the horizontal direction, and clamp main bodies45attached to the arms44. The clamp main bodies45are formed in an L shape in a cross section in the upward/downward direction. That is, the clamp main bodies45are constituted by longitudinal wall portions45aextending in the upward/downward direction, and lateral wall portions45bextending to be bent from lower ends of the longitudinal wall portions45ain the horizontal direction. The lateral wall portions45bextend from the longitudinal wall portions45ain a facing direction of the two clamp portions43at the clamp closed position. A plurality of protrusions45cprotrude from the longitudinal wall portions45ain the same direction as the extension direction of the lateral wall portions45b. A V-groove-shaped concave portion45dwhen seen in the upward/downward direction is formed at a side of a tip of the lateral wall portion45bin the horizontal direction.

Under this configuration, when the clamp actuator42is driven to the clamp closed position, the root Fr of the femur F in the poultry leg meat M is held from both sides in the circumferential direction by the two clamp portions43. Here, the root Fr is accommodated in the concave portion45dof each of the lateral wall portions45b. For this reason, the entire circumference of the root Fr is surrounded by each of the lateral wall portions45bwhile being held by each of the clamp portions43from both sides of the root Fr of the femur F in the circumferential direction. The longitudinal wall portions45arise from each of the lateral wall portions45bat the clamp closed position on both sides of the knee joint K in the circumferential direction. The protrusions45cformed on the longitudinal wall portions45aabut the knee joint K at the clamp closed position.

<Cutter Unit>

The cutter unit6includes a support pipe51fixed to a frame (not shown), disposed on an outer side of the ankle holding part2in the radial direction and extending in the upward/downward direction, a columnar driving bar52passing through the support pipe51and protruding from above and below the support pipe51, and a unit main body54attached to a lower end52bof the driving bar52via an attachment block53. The driving bar52is pivoted within a predetermined range around a shaft center C2by a unit driving part (not shown).

A through-hole53apassing in the upward/downward direction is formed in the attachment block53provided on the lower end52bof the driving bar52. The driving bar52is inserted and fixed into the through-hole53a. The unit main body54is attached to a lower end of the attachment block53.

<Unit Main Body>

The unit main body54includes a root section61attached to a lower end of the attachment block53, a cutter driving part62provided on an upper surface61aof the root section61, and a swing unit63provided on a lower surface61bof the root section61. The root section61extends from the lower end of the attachment block53substantially in the circumferential direction. The cutter driving part62is provided at a side of the root section61opposite to the attachment block53.

The cutter driving part62includes a waterproof case64, and an electric motor65accommodated in the waterproof case64. For example, a brushless motor or the like is used as the electric motor65. A rotary shaft (not shown) of the electric motor65protrudes downward via the root section61. The rotary shaft extends in parallel with the shaft center C2of the driving bar52. The rotary shaft is offset from the driving bar52via the root section61in this way. For this reason, the rotary shaft (the cutter driving part62) is swung around the shaft center C2to approach and be separated from the ankle holding part2according to pivoting of the driving bar52(see an arrow Y1inFIG.1).

FIG.2is a view along an arrow A ofFIG.1.

As shown inFIG.1andFIG.2, the swing unit63includes a support part66attached to the lower surface61bof the base section61, a cutter holding part67rotatably provided on the support part66, a round cutting edge cutter (an example of the cutter in the claims)68held on the cutter holding part67, and a biasing part69configured to elastically bias the cutter holding part67toward the ankle holding part2.

The support part66includes a support pipe71extending in the upward/downward direction, and a lower portion support part72provided integrally with a lower end71aof the support pipe71. An upper end71bof the support pipe71is fixed to the lower surface61bof the base section61. A shaft center C3of the support pipe71is disposed coaxially with the rotary shaft (not shown) of the electric motor65. An intermediate shaft (not shown) is inserted into the support pipe71. The intermediate shaft is connected to the rotary shaft. The intermediate shaft transmits rotation of the rotary shaft to the round cutting edge cutter68.

The lower portion support part72is formed in a C shape when seen in the radial direction of the support pipe71. That is, the lower portion support part72is constituted by an upper lateral wall72aextending from the lower end71aof the support pipe71in the horizontal direction, a longitudinal wall72bextending downward from an end of the upper lateral wall72aopposite to the support pipe71, and a lower lateral wall72cextending from a lower end of the longitudinal wall72bin the horizontal direction. The upper lateral wall72aand the lower lateral wall72care disposed to face each other in the upward/downward direction. The cutter holding part67is rotatably supported by the upper lateral wall72aand the lower lateral wall72c.

The cutter holding part67includes a housing73, and a power transmission mechanism (not shown) provided in the housing73. The housing73includes a cylindrical longitudinal support part74, both ends of which are rotatably supported by the upper lateral wall72aand the lower lateral wall72c, a hollow lateral support part75protruding from the outer circumferential surface of the longitudinal support part74in the horizontal direction, and a cylindrical cutter shaft support part76provided integrally with a side of the lateral support part75opposite to the longitudinal support part74.

A shaft center C4of the cutter shaft support part76is parallel to the shaft center C3of the support pipe71. The cutter shaft support part76is swung about the shaft center C3of the support pipe71to approach and be separated from the ankle holding part2(see an arrow Y2inFIG.2).

The longitudinal support part74, the lateral support part75and the cutter shaft support part76are in internal communication with each other. A power transmission part (not shown) is provided on the longitudinal support part74, the lateral support part75and the cutter shaft support part76. The round cutting edge cutter68is supported on the cutter shaft support part76. The power transmission part (not shown) transmits rotation of the intermediate shaft connected to the rotary shaft of the electric motor65to the round cutting edge cutter68. The power transmission part normally transmits rotation of the rotary shaft (intermediate shaft) of the electric motor65to the round cutting edge cutter68also during swinging of the cutter holding part67.

The round cutting edge cutter68includes a cutter shaft77rotatably supported on the cutter shaft support part76, and a round cutting edge main body (an example of the cutter in the claims)78detachably attached to the cutter shaft77via an attachment portion79. Rotation of the rotary shaft of the electric motor65is transmitted to the cutter shaft77via the intermediate shaft and the power transmission part, which are not shown. The lower portion of the cutter shaft77protrudes downward from the lower end of the cutter shaft support part76. The attachment portion79is provided at the protruded place. Accordingly, the round cutting edge main body78is detachably attached to the lower end of the cutter shaft77. The round cutting edge main body78is a cutting edge formed in a disk shape. The round cutting edge main body78is rotated integrally with the cutter shaft77.

The biasing part69includes a first support pin83standing on the upper surface of the lower lateral wall72cin the lower portion support part72, a second support pin84provided integrally with the longitudinal support part74in the cutter holding part67, and a tension spring85engaged with the first support pin83and the second support pin84. The second support pin84is disposed on the outer circumferential surface of the longitudinal support part74at a side opposite to the lateral support part75. The second support pin84is pulled toward the first support pin83by the tension spring85. Accordingly, the cutter shaft support part76(the round cutting edge cutter68) is elastically biased toward the ankle holding part2(see an arrow Y3inFIG.2).

An adjustment screw86facing the second support pin84in the horizontal direction is provided on the longitudinal wall72bof the lower portion support part72. The second support pin84abuts the tip of the adjustment screw86. The second support pin84is normally pulled toward the first support pin83by the tension spring85. For this reason, the second support pin84normally abuts the tip of the adjustment screw86at the initial posture. Accordingly, the initial posture of the cutter holding part67is adjusted according to the screwing-in amount of the adjustment screw86.

With this configuration, the cutter unit6rotates the round cutting edge cutter68using the cutter driving part62, and pivots the driving bar52in a predetermined range about the shaft center C2using the unit driving part (not shown). When the driving bar52is pivoted, the unit main body54(the cutter driving part62, the swing unit63) is swung to approach and be separated from the ankle holding part2. In the following description, in the cutter unit6, a position where the round cutting edge cutter68of the unit main body54gets closest to the ankle holding part2is referred to as an advanced position. A position where the round cutting edge cutter68of the unit main body54gets farthest from the ankle holding part2is referred to as a retreated position. At the advanced position of the cutter unit6, the round cutting edge cutter68is located directly above the fixed separator17.

<Leg Meat Measuring Part>

FIG.3is a perspective view of the leg meat measuring part7.

As shown inFIG.3, the leg meat measuring part7provided in the slit-forming station includes a waterproof case91fixed to the outer circumferential surface of the center column114via an attachment pedestal121, a leg meat measurement actuator92accommodated in the waterproof case91, an encoder (not shown) provided in the leg meat measurement actuator92, and a measurement arm93connected to the leg meat measurement actuator92. The leg meat measuring part7measures an external form of the poultry leg meat when the ankle holding part2is pulled up by the moving part3in the slit-forming station (details will be described below).

The measurement arm93is formed to extend outward in the radial direction from the waterproof case91in the horizontal direction, and then, is formed to be curved to fold back upward. An abutting plate94abutting the poultry leg meat is provided on the tip of the measurement arm93. The measurement arm93is pivoted by the leg meat measurement actuator92such that the abutting plate94moves about the root end of the measurement arm93in the upward/downward direction. The pivoting position is detected by the encoder (not shown). The detection result by the encoder is output to the controller130as a signal. In the following description, in the leg meat measuring part7, a position where the abutting plate94is raised is referred to as a measurement position, and a position where the abutting plate94is lowered is referred to as a retreated position.

<Operation of Separation Device>

Next, operations of the separation device1will be described on the basis ofFIG.1,FIG.3, andFIG.4toFIG.8.

FIG.4is a perspective view of the separation device1showing a state immediately after the poultry leg meat M is conveyed to the separation station.

As shown inFIG.4, upon conveyance of the poultry leg meat M to the separation station, the poultry leg meat M is hung such that the ankle A is hooked to the claw portion13of the hanger12provided on the ankle holding part2. Accordingly, the ankle A of the poultry leg meat M is held on the hanger12(the ankle holding part2) (ankle holding process).

Here, the posture of the poultry leg meat M is in a state in which the tibia T is located above and the femur F is located below. The body height direction of the poultry leg meat M in which the tibia T or the femur F extends is the extension direction of the poultry leg meat M. The extension direction of the poultry leg meat M hung on the hanger12substantially coincides with the upward/downward direction. In the separation station, the poultry leg meat M is conveyed in a state in which a meat part Mp is peeled off until the knee joint K of the femur F in the previous process of the separation station.

As shown inFIG.3, before the poultry leg meat M is conveyed to the separation station, in the slit-forming station, the external form of the poultry leg meat M is measured by the leg meat measuring part7.

In the slit-forming station, the ankle holding part2has the tip13aof the claw portion13on the hanger12facing outward in the radial direction. In this state, in the posture of the poultry leg meat M, a kneecap P faces outward in the radial direction. At the time the ankle holding part2is conveyed to the slit-forming station by the power unit120, the leg meat measuring part7is located at the retreated position. After that, the leg meat measuring part7is moved to the measurement position. Then, the abutting plate94of the leg meat measuring part7abuts slightly above the kneecap P of the poultry leg meat M.

Next, the ankle holding part2is pulled up by the moving part3. Then, when the ankle holding part2is pulled up by the moving part3, the abutting plate94of the leg meat measuring part7is displaced while following the shape of the poultry leg meat M outside in the radial direction. The measurement arm93is pivoted by displacement of the abutting plate94. An external form of the poultry leg meat M where the abutting plate94was in contact is detected by detecting the pivoting position of the measurement arm93using the encoder (not shown). When the detection result is output to the controller130as a signal, it is stored by the controller130as measurement information of a place of the poultry leg meat M where the abutting plate94was in contact with. That is, measurement of the poultry leg meat M by the leg meat measuring part7between a part closer to the ankle holding part2than the knee joint K and a cutting part D of the femur F on the side of the hip joint is completed (measurement process)

As shown inFIG.4, at the time the ankle holding part2is conveyed to the separation station by the power unit120, the ankle holding part2has the tip13aof the claw portion13on the hanger12facing outward in the radial direction. In this state, in the posture of the poultry leg meat M, the kneecap P is directed outward in the radial direction, and the femur head Fh is directed toward a side opposite to the round cutting edge cutter68(a right side inFIG.4) in the circumferential direction. At this time, the separator4is located at the retreated position, the auxiliary clamp5is located at the clamp opened position, and the cutter unit6is located at the retreated position. The auxiliary clamp5has the auxiliary clamp unit39located at the lowermost end position by the auxiliary actuator38.

FIG.5is a perspective view of the separation device1showing a state in which the separator4is located at the pinching position.

As shown inFIG.5, after the above mentioned process, the separator4is set at the pinching position, and the femur F is pinched by the separator main bodies22and35from both sides of the femur F in the radial direction (separator sandwiching process). Next, pulling-up of the ankle holding part2by the moving part3is started.

FIG.6is a perspective view of the separation device1showing a state in which the separator4is set at the pinching position and the auxiliary clamp5is at the clamp closed position.

An opening/closing timing of the auxiliary clamp5is controlled by the controller130. Since the shape of the poultry leg meat M from a part closer to the ankle holding part2than the knee joint K until the cutting part D of the femur F on the side of the hip joint is stored in the controller130based on the results detected by the leg meat measuring part7, the positional information of the knee joint K of the poultry leg meat M is also stored.

As shown inFIG.6, the controller130adjusts a clamp timing of the auxiliary clamp5on the basis of positional information (a measurement result by the leg meat measuring part7) of the knee joint K and movement amount of the ankle holding part2by the moving part3. That is, the auxiliary clamp5is located at the clamp closed position at the timing when the ankle holding part2is pulled up by a desired movement amount on the basis of positional information of the knee joint K in a state in which the auxiliary clamp unit39is waiting at the lowermost end position without being moved in the upward/downward direction. Accordingly, the root Fr of the femur F of the poultry leg meat M on the side of the knee joint K is accurately held from both sides in the circumferential direction by the clamp portions43of the auxiliary clamp5.

At the clamp closed position, the protrusions45cformed on the clamp portions43are pressed against the knee joint K. For this reason, the knee joint K side of the tibia T and the knee joint K side of the femur F are firmly held together. During such movement of the auxiliary clamp5, the ankle holding part2is continuously pulled up by the moving part3without stopping.

FIG.7is a perspective view of the separation device1showing a state in which the ankle holding part2and the auxiliary clamp5are pulled up.

As shown inFIG.7, after the auxiliary clamp5is located at the clamp closed position, the auxiliary clamp5is pulled up synchronously with the ankle holding part2by the auxiliary actuator38. Here, the auxiliary clamp unit39follows the movement of the femur F. For this reason, the ankle holding part2and the auxiliary clamp5are pulled up without changing the relative positions between the clamp portions43and the root Fr of the femur F (moving process). The separator4maintains its pinching position.

Then, since the vertical position of the separator4is not changed, as a result, the separator4moves downward along the femur M of the poultry leg meat M with respect to the femur F. The meat part Mp is peeled off downward from the femur by the separator4. Here, by storing the femur F in the concave portion35bformed in each of the separator main bodies22and35of the separator4, the entire circumference of the femur F is surrounded by the separator main bodies22and35. In this state, since the meat part Mp is peeled off downward, the meat part Mp remains on the femur F as little as possible.

Here, the load of the meat part Mp during peeling off is distributed to the hanger12of the ankle holding part2and the clamp portions43of the auxiliary clamp5. For this reason, the femur F or the tibia T will not be cut off by the load when the meat part Mp is peeling off. The auxiliary clamp5prevents the portion between the tibia T and the femur F from being stretched by the load when the meat part Mp is peeling off. Here, the circumference of the knee joint K is surrounded by the concave portions45dof the clamp portions43and the longitudinal wall portions45a. For this reason, the knee joint K is securely held by the auxiliary clamp5. Accordingly, it is surely prevented that the portion between the tibia T and the femur F is stretched by the load when the meat part Mp is peeling off.

The controller130stops driving of the moving part3when the ankle holding part2is pulled up by a pulling-up amount on the basis of the detection result of the leg meat measuring part7. Here, the tibia T or the femur F is kept normal by the auxiliary clamp5. For this reason, upon the driving stoppage of the moving part3, the separator4is positioned just below the end portion E on the side of the femur head Fh. A position of the end portion E on the side of the femur head Fh in the upward/downward direction is held constantly.

In the separator actuator28, to which the movable separator25of the separator4is connected, the movable separator main body35is slightly separated from the fixed separator main body22by the load applied when the movable separator main body35rides on the femur head Fh. Accordingly, damage to the femur head Fh by the separator4is suppressed. The separator4maintains its pinching position. For this reason, in a state in which the ankle holding part2is pulled up by the predetermined pulling-up amount, the separator4pulls the meat part Mp from the side of the femur head Fh to the opposite side (lower side) of the knee joint K.

FIG.8is a perspective view of the separation device1showing a state in which the cutter unit6is located at the advanced position.

As shown inFIG.8, after the moving process, the cutter unit6is moved to the advanced position. The moving direction of the round cutting edge cutter68in the cutter unit6follows the horizontal direction because it moves about the shaft center C2. The moving direction of the round cutting edge cutter68is a direction substantially perpendicular with respect to the extension direction (upward/downward direction) of the femur F.

At the time the ankle holding part2is conveyed to the separation station, in the posture of the poultry leg meat M, the kneecap P is directed to an outer side in the radial direction. The femur head Fh is directed toward a side opposite to the round cutting edge cutter68in the circumferential direction. For this reason, when the cutter unit6is moved to the advanced position, the round cutting edge main body78is moved from the side opposite to the femur head Fh toward the side in which the femur head Fh is located. The round cutting edge main body78passes just below the end portion E (i.e., the cutting part D) on the side of the femur head Fh while the meat part Mp is pulled from the side of the femur head Fh toward the side opposite to the knee joint K (lower side) by the separator4. Accordingly, the meat part Mp is cut off from the femur F (cutting off process). Accordingly, the operations of the separation device1are terminated.

The poultry leg meat M is pulled up by the moving process on the basis of the measurement result of the poultry leg meat M by the measurement process. For this reason, the position of the end portion E on the side of the femur head Fh when the cutting off process is started is almost kept in a constant position (height). For this reason, while the horizontal movement position of the round cutting edge main body78is constant, a close edge of the end portion E on the side of the femur head Fh can be aimed as the cutting position of the round cutting edge main body78.

The cutter shaft support part76that supports the round cutting edge cutter68swings about the shaft center C3of the support pipe71. For this reason, when the round cutting edge main body78hits the femur F, the round cutting edge main body78swings as it escapes away from the femur F against the spring force of the tension spring85in the biasing part69(see also an arrow Y4inFIG.2), and the impact is attenuated. For this reason, for example, it is possible to prevent the cutting edge of the round cutting edge main body78from being chipped due to an excessive load on the round cutting edge main body78.

On the other hand, when the round cutting edge cutter68properly moves just under the end portion E on the side of the femur head Fh, the biasing part69elastically biases the cutter holding part67toward the ankle holding part2. For example, the round cutting edge cutter68is not swung unnecessarily.

In this way, the separation device1includes the ankle holding part2, the leg meat measuring part7, the separator4, the moving part3, a controller8, and the round cutting edge cutter68. For this reason, the leg meat measuring part7and the controller8can improve accuracy of position recognition of the end portion E on the side of the femur head Fh. Accordingly, the round cutting edge main body78can easily enter while aiming toward a part close to the end portion E on the side of the femur head Fh, from which the meat part Mp is peeled off by the separator4. Here, the round cutting edge main body78reduces probability of cutting the end portion E on the side of the femur head Fh. As a result, the edge of the round cutting edge main body78can be suppressed from being chipped. Occurrence of a failure of the separation device1(the automatic deboning device110) can be suppressed. It is no longer necessary to adjust the assembly position of the separator4to match the poultry leg meat M. For this reason, assembly workability of the separation device1can be improved. It is possible to separate the meat part Mp from the femur F while reducing the remaining meat on the side of the femur F. Accordingly, a deboning yield percentage of the separation device1can be improved.

The separation device1hangs the poultry leg meat M using the ankle holding part2. As the moving part3pulls up the ankle holding part2, the separator4is moved downward with respect to the poultry leg meat M. For this reason, the posture of the poultry leg meat M can be easily controlled using gravity. The meat part Mp can be easily peeled off the femur F by the separator4while maintaining the posture of the poultry leg meat M. Since the separation device1may be configured to move only the ankle holding part2, the configuration of the separation device1can be simplified.

The separation device1includes the auxiliary clamp5. The auxiliary clamp5holds the root Fr of the femur F of the poultry leg meat M on the side of the knee joint K without changing the relative position of the femur F with respect to the root Fr. For this reason, it is possible to prevent the tibia T and the femur F from being stretched by the peeling-off load of the meat part Mp from the femur F by the separator4. For this reason, it is possible to prevent the position of the end portion E on the side of the femur head Fh from being shifted by the peeling off of the meat part Mp from the femur F by the separator4.

The controller130controls the ankle holding part2to be located at the clamp closed position at the timing when being pulled up by the desired movement amount on the basis of the positional information of the knee joint K in a state in which the auxiliary clamp unit39waits at the lowermost end position without being moved in the upward/downward direction. For this reason, movement of the auxiliary clamp unit39in the upward/downward direction does not require complicated control, and the separation device1can be simplified. The clamp portions43of the auxiliary clamp5can accurately hold the root Fr of the femur F of the poultry leg meat M on the side of the knee joint K from both sides in the circumferential direction.

After setting the auxiliary clamp5to the clamp closed position, the controller130controls the auxiliary clamp5to be pulled up in synchronization with the ankle holding part2by the auxiliary actuator38. For this reason, the load upon peeling off of the meat part Mp from the femur F can be distributed to the hanger12of the ankle holding part2and the clamp portions43of the auxiliary clamp5. Accordingly, it is possible to prevent the femur F and the tibia T from being cut off by the load when the meat part Mp is peeling off. The auxiliary clamp5can reliably prevent the portion between the tibia T and the femur F from being stretched by the load when the meat part Mp is peeling off.

In the cutting off process, the round cutting edge cutter68(the round cutting edge main body78) separates the meat part Mp from the femur F by moving toward the femur head Fh from the opposite side of the femur head Fh.

At the end portion E on the side of the femur head Fh, the poultry leg meat M is attached to the opposite side of the femur head Fh through the muscle. For this reason, by moving the round cutting edge cutter68(the round cutting edge main body78) from the opposite side of the femur head Fh toward the femur head Fh, the muscle can be cut reliably. That is, for example, when the round cutting edge cutter68(the round cutting edge main body78) is moved from the side of the femur head Fh to the opposite side of the femur head Fh, the muscle escapes to the outside, making it difficult to cut the muscle. For this reason, much remaining meat is remained on the side of the femur F to lower a deboning yield percentage. On the other hand, when the round cutting edge cutter68(the round cutting edge main body78) is moved from the opposite side of the femur head Fh toward the femur head Fh, the femur F gets in the way and prevents the muscle from escaping, and the round cutting edge cutter68(the round cutting edge main body78) can cut the muscle reliably. For this reason, the deboning yield percentage can be improved.

The cutter unit6includes the cutter holding part67, the support part66configured to swingably support the cutter holding part67, and the biasing part69configured to bias the cutter holding part67. For this reason, even when the round cutting edge main body78hits the femur F, the round cutting edge main body78escapes from the femur F. For this reason, the impact on the round cutting edge main body78can be attenuated when it abuts the femur F. Accordingly, damage to the cutter unit6such as chipping of the cutting edge of the round cutting edge main body78can be suppressed.

When the round cutting edge main body78moves to a proper position with respect to the femur F, the round cutting edge main body78is elastically biased by the biasing part69. For this reason, it is possible to prevent the round cutting edge main body78from swinging unnecessarily. Accordingly, the meat part Mp can be appropriately separated from the femur F.

The moving part3moves the ankle holding part2. For this reason, a relative movement amount between the ankle holding part2and the separator4can be accurately controlled. A moving speed of the ankle holding part2can also be controlled. The measurement result from the leg meat measuring part7can also be properly reflected in the relative movement amount between the ankle holding part2and the separator4. The operations of the ankle holding part2can be stabilized. For this reason, the deboning yield percentage can be further improved.

A method of performing separation has an ankle holding process, a measurement process, a separator sandwiching process, a moving process, and a cutting off process. In the moving process, movement amount of the separator4with respect to the femur F is determined on the basis of the measurement result by the measurement process. For this reason, accuracy of the position recognition of the end portion E on the side of the femur head Fh can be improved by the leg meat measuring part7and the controller8. Accordingly, the deboning yield percentage can be improved, damage on the cutter unit6can be prevented, and assembly workability of the separation device1can be further improved.

In the cutting off process, while the meat part Mp is pulled from the femur head Fh toward the opposite side (lower side) of the knee joint K by the separator4, the round cutting edge main body78passes directly under the end portion E on the side of the femur head Fh. Accordingly, the meat part Mp is separated from the femur F. For this reason, the meat part Mp can be cut off from the femur F by the round cutting edge main body78in a state in which a tension is applied to the meat part Mp. Accordingly, the round cutting edge main body78can cut the meat part Mp well. The remaining meat on the side of the femur F can be reduced as much as possible, and the deboning yield percentage can be further improved.

Variant

<Bone Pressing Pusher>

Next, a variant of the separation device1will be described with reference toFIG.9.

FIG.9is a partially enlarged perspective view showing the variant of the separation device1.

As shown inFIG.9, the separation device1may include a bone pressing pusher101disposed just below the support bar16and the fixed separator17.

Incidentally, when the meat part Mp is peeled off the femur by the separator4, there is a possibility that the end portion E on the side of the femur head Fh is caught on the fixed separator main body22. For this reason, there is a possibility that the end portion on the side of the femur head Fh was damaged such as being scraped off by the separator4. Here, the bone pressing pusher101is provided.

The bone pressing pusher101includes a waterproof case102fixed to the outer circumferential surface of the center column114, a bone pressing actuator103accommodated in the waterproof case102, and a pusher main body104attached to a tip of a rod103ain the bone pressing actuator103. The bone pressing pusher101presses the poultry leg meat M from the side of the fixed separator17toward the movable separator25immediately before the movable separator main body35rides on the femur head Fh during the moving process (details will be described below).

The rod103aof the bone pressing actuator103protrudes outward from the waterproof case102via a rod insertion hole (not shown) formed in the waterproof case102. The pusher main body104attached to the protruded tip is formed in an L shape when seen in the radial direction. That is, the pusher main body104is constituted by a base section104aattached to the rod103a, and an upper plate104bformed integrally with the upper end of the base section104a.

The upper plate104bextends in the horizontal direction from the upper end of the base section104atoward an outer side in the radial direction. The upper plate104bis disposed just below the fixed separator main body22among the fixed separator17. In other words, the upper plate104bis disposed side by side with the fixed separator main body22in the upward/downward direction.

In the bone pressing pusher101, in a state in which the pusher main body104is moved fully forward by the bone pressing actuator103(see an arrow Y5inFIG.9), a position of a tip surface104con an outer side of the upper plate104bin the radial direction is set as follows. That is, when seen in the upward/downward direction, among the concave portion22b(see alsoFIG.1) of the fixed separator main body22, the tip surface104cof the upper plate104bis positioned slightly outside than the most concave portion in the radial direction.

In the bone pressing pusher101, in a state in which the pusher main body104is fully retracted by the bone pressing actuator103(see an arrow Y6ofFIG.9), the position of the tip surface104cof the upper plate104bis set as follows. That is, when seen in the upward/downward direction, among the concave portion22bof the fixed separator main body22, the tip surface104cof the upper plate104bis positioned slightly inside than the most concave portion in the radial direction.

In the following description, in the bone pressing pusher101, a position where the pusher main body104has fully advanced is referred to as an advanced position, and a position where the pusher main body104has fully retreated is referred to as a retreated position.

<Operations of Bone Pressing Pusher>

Next, operations of the bone pressing pusher101will be described.

At the beginning of the moving process, the bone pressing pusher101is at the retreated position. When the ankle holding part2and the auxiliary clamp5are pulled up, the meat part Mp is peeled off the femur by the separator4. At the same time, the end portion E on the side of the femur head Fh is moved upward.

When the end portion E on the side of the femur head Fh is moved to the front surface of the tip surface104con the upper plate104bof the pusher main body104, the controller130moves the bone pressing pusher101to the advanced position at this timing. This timing is determined on the basis of the detection result of the leg meat measuring part7. That is, in the controller130, on the basis of the detection result of the leg meat measuring part7, the pulling-up amount of the ankle holding part2is calculated when the end portion E on the side of the femur head Fh is positioned on the front surface of the tip surface104cof the upper plate104b. The timing for setting the bone pressing pusher101to the advanced position is determined on the basis of the calculation result.

In a state in which the bone pressing pusher101is at the advanced position, the end portion E on the side of the femur head Fh is slightly pushed from the side of the fixed separator17toward the movable separator25by the pusher main body104. In this state, when the end portion E on the side of the femur head Fh passes through the fixed separator main body22, it is possible to prevent the end portion E on the side of the femur head Fh from being caught in the concave portion22bof the fixed separator main body22.

On the other hand, the movable separator main body35is slightly separated from the fixed separator main body22by the load applied when the movable separator main body35rides on the femur head Fh. For this reason, even when the end portion E on the side of the femur head Fh is slightly pushed from the side of the fixed separator17toward the movable separator25, it is possible to prevent the end portion E on the side of the femur head Fh from being caught in the concave portion35bof the movable separator main body35.

Accordingly, according to the above-mentioned variant, immediately before the fixed separator main body22or the movable separator main body35rides on the end portion E on the side of the femur head Fh, the end portion E can be slightly separated from the fixed separator main body22. Accordingly, the fixed separator main body22can prevent the end portion E on the side of the femur head Fh from being scraped off. For this reason, it is possible to prevent bone flakes and the like from adhering to the meat part Mp cut off from the femur. Quality of the cut off meat part Mp can be improved.

In order to determine the timing at which the end portion E on the side of the femur head Fh moves to the front surface of the tip surface104con the upper plate104b, the following configuration is adopted. That is, in the controller130, on the basis of the detection result of the leg meat measuring part7, the pulling-up amount of the ankle holding part2when the end portion E on the side of the femur head Fh is located on the front surface of the tip surface104cin the upper plate104bis calculated. According to the above-mentioned configuration, there is no need to provide a separate sensor for the bone pressing pusher101. For this reason, manufacturing costs of the bone pressing pusher101can be reduced, and driving control of the bone pressing pusher101can be performed accurately.

In the above-mentioned variant, the case in which driving control of the bone pressing pusher101is performed on the basis of the detection result of the leg meat measuring part7has been described. However, there is no limitation thereto, and a sensor configured to detect whether the end portion E on the side of the femur head Fh is moved to the front surface of the tip surface104cin the upper plate104bmay be provided.

The present invention is not limited to the above-mentioned embodiment, and various modifications may be added to the above-mentioned embodiment without departing from the scope of the present invention.

For example, the case in which the poultry leg meat M is hung by the ankle holding part2has been described in the above-mentioned embodiment. However, there is no limitation thereto, and the ankle holding part2may hold the ankle A of the poultry leg meat M. For example, the poultry leg meat M may be laid down on a work table (not shown). It may be configured to hold the ankle A of this placed poultry leg meat M. In this case, for example, the ankle holding part2may be configured to move in the horizontal direction according to the posture of the poultry leg meat M. The separator4may also be provided according to the posture of the poultry leg meat M.

The case in which the separator4is relatively moved to the end portion E on the side of the femur head Fh along the femur F by moving the ankle holding part2using the moving part3has been described in the above-mentioned embodiment. However, there is no limitation thereto, and the moving part3may move at least one of the ankle holding part2and the separator4to the other, and relatively move the separator4until the end portion E on the side of the femur head Fh along the femur F.

The case in which the biasing part69includes the tension spring85has been described in the above-mentioned embodiment. The case in which the cutter holding part67is elastically biased toward the ankle holding part2by the tension spring85has been described. However, there is no limitation thereto, and a member configured to elastically bias the cutter holding part67toward the ankle holding part2may be provided as a biasing part. For example, rubber, sponge, or the like, may be used instead of the tension spring85.

The case in which the separator4pinches the femur F of the poultry leg meat M from both sides in the radial direction has been described in the above-mentioned embodiment. The case in which the separator4sandwiches the femur F by moving the movable separator main body35with respect to the fixed separator main body22has been described. However, there is no limitation thereto, and the separator4may be configured to sandwich the femur F in a direction crossing the extension direction of the femur F in between the side of the knee joint K of the femur F and the meat part Mp. For example, the separator4may sandwich the femur F from both sides in the circumferential direction. The separator4may be constituted by the two movable separator main bodies35(the movable parts15).

In the above-mentioned embodiment, the case in which the leg meat measuring part7performs measurement of the poultry leg meat M from a part closer to the ankle holding part2than the knee joint K until the cutting part D of the femur F on the side of the hip joint has been described. However, there is no limitation thereto, and the leg meat measuring part7may perform measurement of the poultry leg meat M at least from a part closer to the ankle holding part2than the knee joint K until the cutting part D of the femur F on the side of the hip joint. For example, the entire poultry leg meat M below the ankle A may be measured by the leg meat measuring part7.

INDUSTRIAL APPLICABILITY

According to the above-mentioned poultry leg meat deboning device, it is possible to reduce possibility of cutting the end portion on the side of the femur head by the cutter. For this reason, it is possible to suppress chipping of the cutter cutting edge and occurrence of failure of the poultry leg meat deboning device. There is no need to adjust an assembly position of the separator to match the poultry leg meat. For this reason, it is possible to improve assembly workability of the poultry leg meat deboning device. Since the meat part can be separated from the femur while reducing the remaining meat on the side of the femur, the deboning yield percentage can be improved.

REFERENCE SIGNS LIST

1Separation device (poultry leg meat deboning device)2Ankle holding part3Moving part4Separator5Auxiliary clamp6Cutter unit7Leg meat measuring part66Support part67Cutter holding part68Round cutting edge cutter (cutter)69Biasing part78Round cutting edge main body (cutter)101Bone pressing pusher104Pusher main body110Automatic deboning device (poultry leg meat deboning device)130ControllerA AnkleD Cutting partE End portionF FemurFh Femur headFr RootT Tibia