Meat processing equipment

Abstract

An edible meat processing apparatus includes: a conveyor line comprising a plurality of conveying units arranged in series; at least one processing station for processing edible meat conveyed via the conveyor line; and a controller for controlling the conveying units. The plurality of conveying units includes: a first conveying unit having a first sensor for detecting a first conveyor and edible meat on the first conveyor; and a second conveying unit located downstream of the first conveying unit having a second sensor for detecting a second conveyor and edible meat on the second conveyor. The controller is configured to perform drive control of the first and second conveyors based on the detection results of the second sensors.

Description

Technical Field

[0001] This disclosure relates to an apparatus for processing edible meat. Background Technology

[0002] Previously, there was a known edible meat processing apparatus that automatically transported and processed edible meat. For example, the edible meat processing apparatus disclosed in Patent Document 1 includes multiple conveyors for transporting edible meat (workpieces). In Patent Document 1, the workpieces transported by the conveyors are placed into a processing station.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: International Publication No. 2009 / 139031 Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] It is preferable to increase the degree of freedom in transporting edible meat by, for example, changing the transport of edible meat in accordance with the transport conditions of multiple conveyors, but this type of structure is not disclosed in Patent Document 1.

[0008] This disclosure provides an edible meat processing apparatus that improves the flexibility of conveying edible meat.

[0009] (II) Technical Solution

[0010] An edible meat processing apparatus according to at least one embodiment of the present invention includes: a conveyor line comprising a plurality of conveying units arranged in series; at least one processing station for processing edible meat conveyed by the conveyor line; and a controller for controlling the conveying units, the plurality of conveying units comprising: a first conveying unit having a first sensor for detecting a first conveyor and the edible meat on the first conveyor; and a second conveying unit located downstream of the first conveying unit having a second sensor for detecting a second conveyor and the edible meat on the second conveyor, the controller being configured to perform drive control of the first conveyor and the second conveyor based on the detection result of the second sensor.

[0011] (III) Beneficial Effects

[0012] According to this disclosure, an edible meat processing apparatus can be provided, which increases the flexibility of conveying edible meat. Attached Figure Description

[0013] Figure 1 This is a conceptual overall perspective view of an edible meat processing apparatus according to one embodiment.

[0014] Figure 2 This is a top view conceptually representing one embodiment of an edible meat processing apparatus.

[0015] Figure 3 It is a conceptual enlarged perspective view of a distribution unit, supply unit, and handover unit in one embodiment.

[0016] Figure 4 This is a top view conceptually representing the discharge line of one embodiment. Detailed Implementation

[0017] Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc., of the constituent components described as embodiments or shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative examples.

[0018] Figure 1 This is a conceptual perspective view of an edible meat processing apparatus 1 according to one embodiment.

[0019] The meat processing apparatus 1 is a device that automatically conveys and processes the meat 2. The meat 2 can be pork, beef, horse meat, fish, chicken, etc. Furthermore, the meat 2 can be bone-in or boneless meat.

[0020] One embodiment of the edible meat processing apparatus 1 includes: a conveyor line 3 comprising a plurality of conveyor units 30 arranged in series; at least one processing station 7 for processing edible meat 2 conveyed by the conveyor line 3; and a controller 5 for controlling the conveyor units 30.

[0021] Furthermore, the meat processing apparatus 1 in this example includes: a supply unit 8 for supplying meat 2 conveyed by a conveyor line 3 to a processing station 7; a discharge line 9 including a plurality of discharge units 90 for conveying the processed meat 2 through the processing station 7; and a transfer unit 12 for transferring the processed meat 2 from the processing station 7 to the discharge line 9.

[0022] Furthermore, the aforementioned multiple conveying units 30 include a distribution unit 15. The distribution unit 15 is configured to selectively switch the conveying destination of the conveyed edible meat 2 to either the supply unit 8 or the conveying unit 30.

[0023] In this example, the controller 5 is configured to control not only the conveying unit 30, but also the processing station 7, the supply unit 8, the discharge line 9, the distribution unit 15, and the handover unit 12. The controller 5 is one or more computing devices. The processor included in the computing device can be a CPU, GPU, MPU, DSP, or a combination thereof, or it can be implemented using integrated circuits such as PLD, ASIC, FPGA, or MCU. The computing device may appropriately include memory such as ROM, RAM, or flash memory.

[0024] In addition, the meat processing apparatus 1 in other embodiments may not include at least one of the processing station 7, supply unit 8, discharge unit 90, distribution unit 15, or transfer unit 12.

[0025] One embodiment of the conveyor line 3 includes a first conveyor line 3A and a second conveyor line 3B arranged in parallel with each other. In these two conveyor lines, the controller 5 performs independent conveying control.

[0026] In the first conveyor line 3A and the second conveyor line 3B, different types of edible meat 2 are selectively fed into either the first conveyor line 3A or the second conveyor line 3B. As a more specific example, if the edible meat 2 is pork from the right or left leg, the first conveyor line 3A and the second conveyor line 3B are dedicated to pork from the right leg and pork from the left leg, respectively. Furthermore, in other embodiments, the same type of edible meat 2 can be conveyed using either the first conveyor line 3A or the second conveyor line 3B, or multiple types of edible meat 2 can be fed into the first conveyor line 3A and the second conveyor line 3B respectively.

[0027] In one embodiment, at least one processing station 7 comprises a plurality of processing stations 7 arranged along a conveyor line 3. In this example, the processing station 7 corresponding to the first conveyor line 3A, starting from the upstream side of the conveying direction of the conveyor line 3, comprises: a first processing station 7A, a second processing station 7B, and a third processing station 7C. Similarly, the second conveyor line 3B also comprises, starting from the upstream side, the first processing station 7A, the second processing station 7B, and the third processing station 7C. Hereinafter, the first processing station 7A, the second processing station 7B, and the third processing station 7C are sometimes collectively referred to as "processing station 7". The six processing stations 7 in this example have the same structure as each other. In other examples, the six processing stations 7 may also have different structures as each other.

[0028] Each processing station 7 includes: a station conveyor 73 for receiving edible meat 2 from the supply unit 8; and a multi-axis robot 77 equipped with tools 78 for processing the edible meat. In this example, multiple multi-axis robots 77 equipped with different tools 78A, 78B (78) are provided, and the multiple multi-axis robots 77 process the edible meat 2 on the station conveyor 73. The station conveyor 73 is, for example, a belt conveyor. In addition, the number of multi-axis robots 77 can be one or more.

[0029] Furthermore, in other embodiments, conveyor line 3 may not include the second conveyor line 3B, in which case the number of processing stations 7 may be one. Alternatively, conveyor line 3 may include other conveyor lines besides the first conveyor line 3A and the second conveyor line 3B.

[0030] Figure 2 This is a top view of an edible meat processing apparatus 1 according to one embodiment.

[0031] In one embodiment, the first conveyor line 3A and the second conveyor line 3B each include a plurality of conveying units 30. The first conveyor line 3A and the second conveyor line 3B have a mutually symmetrical structure when viewed from above, and the plurality of conveying units 30 of the first conveyor line 3A and the plurality of conveying units 30 of the second conveyor line 3B also have a mutually symmetrical structure. The plurality of conveying units 30 constituting the first conveyor line 3A will be described in detail below.

[0032] The conveying unit 30 in this example includes: a conveyor 33, a sensor 35 for detecting the edible meat 2 on the conveyor 33, and a motor 38 configured to provide driving force to the conveyor 33 for conveying the edible meat 2. As an example, each conveying unit 30 also includes: a conveyor 33, a sensor 35, and a base (not shown) supporting the motor 38. Furthermore, in Figure 2 In the diagram, for ease of viewing, only the two upstream sides of motor 38 are shown.

[0033] Conveyor 33 is, for example, a belt conveyor. Sensor 35 is, for example, a reflective or transmissive photoelectric sensor configured to emit light toward the conveying path of the edible meat 2. In this example, sensor 35 is located downstream of the center position in the conveying direction of conveyor 33.

[0034] Based on the above structure, since each conveying unit 30 is equipped with a sensor 35 for detecting the edible meat 2 and a power source, i.e., an electric motor 38, for conveying the edible meat 2, there are fewer constraints when configuring multiple conveying units 30. For example, it can present... Figure 2The linear arrangement of multiple conveying units 30 shown can also be arranged in an arc shape in other examples, or they can be combined in a single configuration. Therefore, the freedom of layout design for the conveyor line 3 is increased, resulting in increased freedom of conveying the edible meat 2.

[0035] The plurality of conveying units 30 include: a first conveying unit 31 and a second conveying unit 32 located downstream of the first conveying unit 31.

[0036] Hereinafter, the conveyor 33, sensor 35, and motor 38 of the first conveying unit 31 will sometimes be referred to as "first conveyor 33A", "first sensor 35A", and "first motor", respectively, and the conveyor 33, sensor 35, and motor 38 of the second conveying unit 32 will sometimes be referred to as "second conveyor 33B", "second sensor 35B", and "second motor", respectively.

[0037] The controller 5 is configured to drive and control the first conveyor 33A and the second conveyor 33B based on the detection results of the second sensor 35B.

[0038] The controller 5 is capable of performing conveying control, for example, to prevent multiple pieces of edible meat 2 from colliding in the second conveyor 33B. More specifically, during the drive control of the second motor, the controller 5 determines whether edible meat 2 has been discharged from the second conveying unit 32 based on the detection result of the second sensor 35B. If it is determined that no edible meat 2 has been discharged, the controller 5 is capable of performing conveying control on the first motor to put subsequent pieces of edible meat 2 into standby mode in the first conveying unit 31.

[0039] In addition, the concept of standby includes: stopping the meat 2 at a specified position, and slowing down the conveying speed while continuing to convey the meat 2.

[0040] In other examples, the controller 5 may start the conveying control of the first motor and the first conveying unit 31 may start accepting the feeding of edible meat 2 from the downstream side, provided that the edible meat 2 has been discharged from the second conveying unit 32.

[0041] According to the above structure, since the edible meat 2 is conveyed from the first conveying unit 31 to the second conveying unit 32 based on whether there is edible meat 2 on the second conveying unit 32, the degree of freedom in conveying the edible meat 2 is increased.

[0042] Furthermore, the meat processing apparatus 1 may not include at least one of the following: processing station 7, supply unit 8, discharge unit 90, distribution unit 15, or transfer unit 12. In this case, the meat 2 is conveyed from the first conveying unit 31 to the second conveying unit 32 based on whether there is meat 2 on the second conveying unit 32, thus increasing the degree of freedom in conveying the meat 2. Alternatively, the meat processing apparatus 1 may not include the second conveyor line 3B. In this case, the meat 2 is also conveyed from the first conveying unit 31 to the second conveying unit 32 based on whether there is meat 2 in the second conveying unit 32, thus increasing the degree of freedom in conveying the meat 2.

[0043] In one embodiment, the first conveying unit 31 and the second conveying unit 32 are adjacent to each other.

[0044] Controller 5 (reference) Figure 1 The configuration is such that the first conveying unit 31 and the second conveying unit 32 are driven and controlled so that when there is edible meat 2 on the first conveyor 33A and the second conveyor 33B respectively, the edible meat 2 on the first conveyor 33A is on standby in the first conveying unit 31 until the edible meat 2 is discharged from the second conveyor 33B.

[0045] For example, when the edible meat 2 discharged from the first conveying unit 31 stops on the second conveying unit 32, the first sensor 35A switches from a detection state to a non-detection state, and the second sensor 35B switches from a non-detection state to a detection state. When the second motor stops driving due to this state change of the second sensor 35B, when subsequent edible meat 2 is conveyed to the first conveying unit 31, the first sensor 35A switches back to the detection state. At this time, the controller 5 controls the first motor, enabling subsequent edible meat 2 to standby in the first conveying unit 31.

[0046] According to the above structure, since the conveying control is performed on the adjacent first conveying unit 31 and second conveying unit 32, the conveying interval of multiple edible meats 2 can be shortened. Therefore, the conveying interval of multiple edible meats 2 can be shortened, and the degree of freedom in conveying the edible meats 2 can be increased.

[0047] In other embodiments, additional conveying units may be provided between the first conveying unit 31 and the second conveying unit 32. These additional conveying units may be, for example, multiple belt conveyors arranged in series and driven by a single motor.

[0048] In one embodiment, the first conveying unit 31 and the second conveying unit 32 are disposed between two adjacent processing stations 7 in the conveying direction of the edible meat 2 among a plurality of processing stations 7. As a more specific example, two sets of the first conveying unit 31 and the second conveying unit 32 are prepared, one set disposed between the first processing station 7A and the second processing station 7B, and the other set disposed between the second processing station 7B and the third processing station 7C.

[0049] According to the above structure, for example, if the number of edible meat 2s being conveyed to the downstream processing station 7 (second processing station 7B or third processing station 7C) is too large, the edible meat 2s can be made to standby at least one of the first conveying unit 31 or the second conveying unit 32. This increases the degree of freedom in conveying the edible meat 2s to the processing station 7.

[0050] Other embodiments of the meat processing apparatus 1 may omit at least one of the following: supply unit 8, discharge unit 90, distribution unit 15, or transfer unit 12. In this case, for example, if an excessive number of meat 2 are being conveyed toward the downstream processing station 7 (second processing station 7B or third processing station 7C), the meat 2 can be kept on standby at least one of the first conveying unit 31 or the second conveying unit 32. Alternatively, the meat processing apparatus 1 may omit the second conveyor line 3B. Or, the processing station 7 may not include the third processing station 7C. In these embodiments, also if an excessive number of meat 2 are being conveyed toward the downstream second processing station 7B, the meat 2 can be kept on standby at least one of the first conveying unit 31 or the second conveying unit 32.

[0051] Furthermore, as described above regarding the control performed by the controller 5 to put the edible meat 2 into standby mode in the first conveying unit 31, the same control can be used to put the edible meat 2 into standby mode in the second conveying unit 32.

[0052] In other embodiments, the first conveying unit 31 and the second conveying unit 32 may also be configured on the upstream side of the first processing station 7A.

[0053] In one embodiment, the number of multiple conveying units 30 located between the first processing station 7A and the second processing station 7B (two in this example) in the conveying direction of the conveyor line 3 is more than the number of at least one conveying unit 30 located between the second processing station 7B and the third processing station 7C in the conveying direction (two in this example). The number of multiple conveying units 30 located between the first processing station 7A and the second processing station 7B may also be three or more. The number of at least one conveying unit 30 located between the second processing station 7B and the third processing station 7C may also be three or more.

[0054] According to the above structure, the multiple conveying units 30 located between the first processing station 7A and the second processing station 7B convey more edible meat 2 compared to at least one conveying unit 30 located between the second processing station 7B and the third processing station 7C. Because the number of conveying units 30 arranged between the first processing station 7A and the second processing station 7B increases, more edible meat 2 can be kept in that section. Therefore, it is possible to prevent the edible meat 2 from lingering on the entire conveyor line 3.

[0055] Furthermore, the meat processing apparatus 1 in other embodiments may not include at least one of the following: supply unit 8, discharge unit 90, distribution unit 15, or transfer unit 12. Additionally, the meat processing apparatus 1 may not include the second conveyor line 3B. In these embodiments, the increased number of conveyor units 30 arranged between the first processing station 7A and the second processing station 7B allows for more meat 2 to be stored in that section.

[0056] Furthermore, in other embodiments, the number of conveying units 30 disposed between the first processing station 7A and the second processing station 7B may be greater than the number of conveying units 30 disposed between the second processing station 7B and the third processing station 7C. In this case, the accumulation of edible meat 2 on the entire conveyor line 3 can be further suppressed.

[0057] Figure 3 This is an enlarged perspective view conceptually representing an embodiment of the distribution unit 15, the supply unit 8, and the transfer unit 12.

[0058] In one embodiment, the first conveyor line 3A and the second conveyor line 3B each include the supply unit 8 and the distribution unit 15 described above. Furthermore, the supply unit 8 and the distribution unit 15 are respectively provided corresponding to the first processing station 7A, the second processing station 7B, and the third processing station 7C. That is, in this example, six supply units 8 and six distribution units 15 are provided.

[0059] To avoid repetition, the following will provide a detailed description of the supply unit 8 and the distribution unit 15 corresponding to the first processing station 7A of the first conveyor line 3A.

[0060] In one embodiment, the supply unit 8 is configured to specifically supply edible meat 2 to the first processing station 7A. The structural element of the plurality of conveying units 30, namely the distribution unit 15, is configured to selectively convey edible meat 2 to either the supply unit 8 or the first conveying unit 31.

[0061] The distribution unit 15 is a unit that further adds other structures to the conveying unit 30 described above. Specifically, the distribution unit 15 includes: the conveyor 33 described above, and the sensor 35 (see reference). Figure 2 ), motor 38 (refer to) Figure 2The distribution unit 15 includes a cylinder for raising and lowering a downstream portion of the base, and a support body for rotatably supporting the base, as further additional structures. Hereinafter, the conveyor 33 of the distribution unit 15 will be referred to as the "distribution conveyor 23". The distribution conveyor 23 includes a downstream end 23A, which is used to raise and lower in a manner close to either the supply unit 8 or the first conveying unit 31. In this example, the raising and lowering of the downstream end 23A is achieved using a cylinder; in other examples, a hydraulic cylinder or an electric motor may also be used.

[0062] exist Figure 3 In the diagram, a solid line is used to illustrate the distribution conveyor 23 with its downstream end 23A located below, while a double-dotted line is used to illustrate the distribution conveyor 23 with its downstream end 23A located above. When the downstream end 23A is below, the distribution conveyor 23 conveys the edible meat 2 to the supply unit 8. On the other hand, when the downstream end 23A is above, the conveyor 33 conveys the edible meat 2 to the first conveying unit 31.

[0063] The distribution unit 15 operates, for example, as follows. Motor 38 (see reference) Figure 2 The distribution conveyor 23 operates regardless of the destination of the meat 2. When the destination of the meat 2 is the first conveying unit 31, the downstream end 23A of the distribution conveyor 23 moves upward using a cylinder. This allows the distribution conveyor 23 to deliver the meat 2 from the upstream conveying unit 30 to the first conveying unit 31. Alternatively, the meat 2 may reach the detection area of ​​the sensor 35 before completing the upward movement of the downstream end 23A. In this case, the motor 38 may temporarily stop driving and resume driving after the movement of the downstream end 23A is complete. Furthermore, when the destination of the meat 2 is the supply unit 8, the downstream end 23A moves downward while the meat 2 received from the upstream conveying unit 30 moves on the distribution conveyor 23. This allows the distribution conveyor 23 to deliver the meat 2 to the supply unit 8. When the meat 2 reaches the detection area of ​​the sensor 35 before the downstream end 23A completes its downward movement, the same control as when the destination is the first conveying unit 31 is performed. In this way, during the lifting and lowering of the downstream end 23A of the distribution conveyor 23, the edible meat 2 also moves on the distribution conveyor 23 by the drive of the electric motor 38, thus shortening the time for transporting the edible meat 2 using the distribution conveyor 23.

[0064] The controller 5 performs drive control on the motor 38 and cylinder based on the detection results of the sensor 35 to achieve the above actions. The aforementioned sensor 35 is at least one of the sensor 35 of the upstream conveying unit 30 or the sensor 35 of the distribution unit 15.

[0065] According to the above structure, since the destination of the meat 2 is switched by lifting and lowering only the downstream end 23A of the distribution conveyor 23, the structure of the conveyor line 3 of the meat processing device 1 can be simplified.

[0066] Furthermore, in other embodiments, the dispensing unit 15 may not include the sensor 35. Additionally, the dispensing unit 15 may not include the motor 38 (see reference). Figure 2 In this case, the distribution conveyor 23 can be driven by the motor 38 of the conveying unit 30 located on the upstream side.

[0067] In one embodiment, the supply unit 8 includes: a supply conveyor 81 for conveying edible meat 2; and a supply sensor 85 (see reference 85). Figure 2 It is used to detect the edible meat 2 on the supply conveyor 81. The supply conveyor 81 is, for example, a belt conveyor.

[0068] The supply unit 8 in this example also includes a supply motor (not shown) for driving the supply conveyor 81. The supply conveyor 81, the supply sensor 85, and the supply motor are all supported by a base. Furthermore, the base receives power from a switching drive unit (not shown) to rotate horizontally (i.e., rotate about the vertical axis). Both the base and the switching drive unit are components of the supply unit 8. As an example, the switching drive unit may be a cylinder or an electric motor, etc.

[0069] In this example, the base rotates horizontally by approximately 90 degrees as driven by the switching drive unit, thereby changing the orientation of the supply conveyor 81. Specifically, the supply conveyor 81 is configured to change between an acceptance orientation for conveying the edible meat 2 in a direction parallel to the conveying direction of the conveyor line 3 when viewed from above, and a supply orientation for conveying the edible meat 2 in a direction away from the plurality of conveying units 30 when viewed from above. Figure 3 In the diagram, the supply conveyor 81 in the receiving posture is illustrated by a solid line, and the supply conveyor 81 in the supply posture is illustrated by a double-dotted line. When viewed from above, the supply conveyor 81 in the receiving posture overlaps with the first conveyor 33A, at which point the upstream end of the supply conveyor 81 is close to the downstream end 23A of the distribution conveyor 23. When viewed from above, the supply conveyor 81 in the supply posture is orthogonal to and extends from the first conveyor 33A, at which point the upstream end of the supply conveyor 81 separates from the downstream end 23A of the distribution conveyor 23.

[0070] The supply unit 8 operates as follows: The supply conveyor 81, in a receiving position, is driven by a supply motor and receives edible meat 2 from the distribution conveyor 23. When the supply motor stops driving, the edible meat 2 stops on the supply conveyor 81. Then, the supply conveyor 81 is put into a supply position by the drive of the switching drive unit. As the supply motor restarts driving, the edible meat 2 is conveyed from the supply conveyor 81 to the station conveyor 73.

[0071] The operation of the supply unit 8 is controlled by the controller 5. Control to stop the edible meat 2 on the supply conveyor 81 in its receiving posture can, for example, be based on the sensor 35 of the distribution unit 15 (see reference). Figure 2 It can be performed based on the detection results of sensor 85 (refer to...) or based on the supply of sensor 85 (refer to...) Figure 2 The controller 5 (refer to the detection result) will execute the operation. Alternatively, when there is edible meat 2 on the supply conveyor 81 and subsequent edible meat 2 is conveyed to the distribution conveyor 23, the controller 5 (refer to the detection result) will execute the operation. Figure 1 This allows the distribution motor to be driven and controlled while the subsequent edible meat 2 is in standby mode on the distribution conveyor 23.

[0072] According to the above structure, the supply conveyor 81 has the functions of receiving edible meat 2 from the distribution conveyor 23 and supplying edible meat 2 to the first processing station 7A, thus simplifying the structure of the supply unit 8.

[0073] Furthermore, while the processed meat 2 is waiting in the supply unit 8, subsequent processed meat 2 is waiting in the distribution unit 15. This reduces the downtime at the first processing station 7A (processing station 7) when processed sequentially. Therefore, the productivity of the processed meat processing apparatus 1 is increased.

[0074] In one embodiment, the first processing station 7A (processing station 7) is configured to process the edible meat 2 conveyed from the supply unit 8 to the station conveyor 73.

[0075] Controller 5 of one embodiment (see reference) Figure 1 The configuration is such that, based on data representing the processing status of the first processing station 7A, the supply conveyor 81 (supply motor) is driven and controlled so that when there is edible meat 2 in the processing station 7, subsequent edible meat 2 is on standby in the supply unit 8.

[0076] The data indicating the processing status is data indicating that the first processing station 7A is processing the edible meat 2; for example, data indicating that an edible meat processing procedure is being performed. As another example, the data indicating the processing status could also be photographic images acquired by a photographic device used to photograph the edible meat 2 at the first processing station 7A. The photographic images vary depending on whether there is edible meat 2 on the station conveyor 73. This photographic device can be a visible light camera or a combination of a visible light camera and a 3D camera. In yet another example, the data indicating the processing status could be the detection results of a photoelectric sensor installed on the station conveyor 73.

[0077] According to the above structure, since the subsequent edible meat 2 is on standby in the dedicated supply unit 8 while the first processing station 7A is processing the edible meat 2, the downtime of the first processing station 7A when processing the edible meat 2 sequentially can be reduced. Therefore, the productivity of the edible meat processing apparatus 1 is improved.

[0078] return Figure 2 The retraction conveying unit 39 included in the conveying unit 30 will be described.

[0079] In one embodiment, the retraction conveyor unit 39 is located downstream of the conveyor path from the conveyor unit 30 to the processing station 7 in the conveying direction of the conveyor line 3. In this example, the retraction conveyor unit 39 is located downstream of the multiple conveyor paths corresponding to the multiple processing stations 7.

[0080] In this example, two retraction conveying units 39 are respectively provided corresponding to the first conveying unit 31 and the second conveying unit 32. Furthermore, the retraction conveying unit 39 in this example is configured to convey edible meat 2 from the distribution unit 15 located at the downstream end. When the downstream end 23A of the distribution conveyor 23 of the distribution unit 15 is above, edible meat 2 is conveyed from the distribution conveyor 23 to the retraction conveying unit 39.

[0081] For example, when conveying edible meat 2 that may not be suitable for processing at processing station 7, or when too much edible meat 2 is conveyed on conveyor line 3, controller 5 controls conveyor line 3 in such a way that edible meat 2 is conveyed to retraction conveyor unit 39.

[0082] The edible meat 2 conveyed to the retraction conveyor unit 39 can be removed by the operator or discharged through other dedicated conveyor lines. Other dedicated conveyor lines can be formed by adding conveyor units 30.

[0083] According to the above structure, even if there is edible meat 2 that may not be suitable for processing at the processing station 7, or even if edible meat 2 exceeding the conveying capacity of the conveying unit 30 is put into the edible meat processing device 1, the edible meat processing device 1 can still operate properly.

[0084] The handover unit 12 described above is respectively set up with a plurality of processing stations 7 arranged along the conveyor line 3 (that is, in this example, the first processing station 7A, the second processing station 7B, and the third processing station 7C).

[0085] As described above, the transfer conveyor 13 is configured to transfer the edible meat 2 received from the station conveyor 73 contained in the processing station 7 to the discharge unit 90.

[0086] In one embodiment, the handover unit 12 is provided corresponding to each processing station 7. To avoid repetition, the handover unit 12 corresponding to the first processing station 7A will be described in detail below.

[0087] like Figure 2 , Figure 3 As shown, one embodiment of the transfer unit 12 includes: a transfer conveyor 13 for conveying edible meat 2; a transfer motor (not shown) for driving the transfer conveyor 13; and a transfer sensor 19 for detecting edible meat 2 on the transfer conveyor 13.

[0088] The transfer conveyor 13 in this example includes an end 13A, which is used for lifting and lowering in a selective manner to approach the station conveyor 73 or the discharge unit 90. As an example, the lifting and lowering of end 13A is performed by a cylinder. The cylinder is mounted on a support body that rotatably supports the transfer conveyor 13, the transfer motor, and the transfer sensor 19. The transfer conveyor 13 is a belt conveyor.

[0089] One end 13A of the transfer conveyor 13 is close to the station conveyor 73 when it is in the upper position, and close to the discharge unit 90 when it is in the first lower position, which is further down from the upper position. Figure 3 In the example, the solid line represents the transfer conveyor 13 with one end 13A in the upper position, and the double-dotted line represents the transfer conveyor 13 with one end 13A in the lower position.

[0090] The transfer unit 12 operates as follows: Since the transfer motor is driven when one end 13A is in the upper position, the transfer conveyor 13 receives the edible meat 2 from the station conveyor 73. In response to the transfer sensor 19 switching to the detection state, the transfer motor stops driving. After one end 13A descends to the first lower position via cylinder drive, the transfer motor reverses its direction, conveying the edible meat 2 to the discharge unit 90.

[0091] The controller 5 controls the handover unit 12 to perform the above actions.

[0092] According to the above structure, the transfer conveyor 13 has the functions of receiving edible meat 2 from the processing station 7 and transferring edible meat 2 to the discharge unit 90, thus simplifying the structure of the transfer unit 12.

[0093] Furthermore, in other embodiments, one end 13A of the transfer conveyor 13 may also descend to a second lower position, lower than the first lower position. The transfer conveyor 13 with one end 13A at the second lower position is illustrated using a double-dotted line. The end 13A at the second lower position is close to the waste section 29. That is, one end 13A may be raised or lowered selectively, approaching the station conveyor 73, the conveying unit 30, or the waste section 29. The waste section 29 conveys or collects unwanted portions removed from the edible meat 2 by processing at the first processing station 7A (processing station 7). In the case where the edible meat 2 is bone-in meat, the unwanted portion is the removed bone. For example, when the edible meat 2, after being processed and deboned at the first processing station 7A, is conveyed from the station conveyor 73 to the transfer conveyor 13, the multi-axis robot 77 may hold the removed bone. After the processed edible meat 2 is conveyed from the station conveyor 73 to the transfer unit 12, if the multi-axis robot 77 places the unwanted portion, i.e., bones, on the station conveyor 73, then the processed edible meat 2 and the unwanted portion can be conveyed to the discharge line 9 and the waste section 29, respectively. The waste section 29 can be a belt conveyor for conveying the unwanted portion or a box for collecting the unwanted portion.

[0094] Figure 4 This is a top view conceptually representing the discharge line 9 of one embodiment.

[0095] One embodiment of the discharge line 9 includes a first discharge line 9A and a second discharge line 9B, respectively corresponding to the first conveying line 3A and the second conveying line 3B described above. The first discharge line 9A and the second discharge line 9B each include a plurality of discharge units 90 described above. The first discharge line 9A and the second discharge line 9B have mutually symmetrical structures when viewed from above, and the plurality of discharge units 90 of the first discharge line 9A and the plurality of discharge units 90 of the second discharge line 9B also have mutually symmetrical structures. The plurality of discharge units 90 constituting the first discharge line 9A will be described in detail below.

[0096] The discharge unit 90 has the same characteristics as the conveying unit 30 (see reference). Figure 2 The same structure applies. That is, the discharge unit 90 includes: a discharge conveyor 93 for conveying edible meat 2; a discharge sensor 95 for detecting edible meat 2 on the discharge conveyor 93; and a discharge motor 98 for providing driving force to the discharge conveyor 93 for conveying edible meat 2.

[0097] The discharge conveyor 93 is, for example, a belt conveyor. The discharge sensor 95 is located downstream of the center of the discharge conveyor 93 in the conveying direction.

[0098] Multiple discharge units 90 include: multiple discharge units 91 connected in series, which are located on conveyor line 3 (refer to...) Figure 2 The lower series configuration of the discharge units 91; and a plurality of parallel discharge units 96, which extend parallel to each other in a manner that intersects with the plurality of series discharge units 91.

[0099] Multiple parallel discharge units 96 are respectively provided corresponding to multiple transfer units 12. Each parallel discharge unit 96 is configured to transport processed edible meat 2 received from one end 13A of the transfer conveyor 13 located at the first lower position to any of the serial discharge units 91.

[0100] Multiple series discharge units 91 are configured to convey the processed edible meat 2 conveyed from each parallel discharge unit 96. In this example, the series discharge units 91 are located on the lower side of the supply conveyor 81 in the vertical direction (see reference). Figure 3 Additionally, in this example, the tandem discharge unit 91 is positioned at a location that overlaps with the conveyor line 3 and the receiving supply conveyor 81 when viewed from above (see reference). Figure 3 Viewed from above, the discharge conveyor 93 of the series discharge unit 91 extends parallel to the length direction of the conveyor 33 of the conveyor line 3.

[0101] The discharge unit 90 operates as follows: The discharge motor 98 of the parallel discharge unit 96 and the discharge motor 98 of the multiple series discharge units 91 are driven, thus conveying the edible meat 2 from the parallel discharge unit 96 to the series discharge units 91. For example, while the series discharge unit 91 on the upstream side in the discharge direction (arrow E) is conveying the edible meat 2, the parallel discharge unit 96 on the upstream side can stop conveying other edible meat 2 after it has been conveyed to a predetermined position. This prevents multiple pieces of edible meat 2 from colliding at the junction of the parallel discharge unit 96 and the series discharge unit 91. The above control is executed independently by the controller 5 in the first discharge line 9A and the second discharge line 9B.

[0102] According to the above structure, the edible meat 2 conveyed by multiple parallel discharge units 96 is conveyed to any one of the series discharge units 91. Since the processed edible meat 2 is concentrated along a specific line, the structure for conveying the processed edible meat 2 can be simplified. In addition, since the multiple series discharge units 91 are located below the multiple conveying units 30, the top view space of the edible meat processing apparatus 1 can be made more compact.

[0103] (Summarize)

[0104] Hereinafter, a summary of some embodiments of the edible meat processing apparatus 1 will be described.

[0105] 1) An edible meat processing apparatus 1 according to at least one embodiment of the present invention comprises: a conveyor line 3 including a plurality of conveyor units 30 arranged in series; at least one processing station 7 for processing edible meat 2 conveyed by the conveyor line 3; and a controller 5 for controlling the conveyor units 30, wherein the plurality of conveyor units 30 include: a first conveyor unit 31 having a first sensor 35A for detecting a first conveyor 33A and the edible meat 2 on the first conveyor 33A; and a second conveyor unit 32 located downstream of the first conveyor unit 31 having a second sensor 35B for detecting a second conveyor 33B and the edible meat 2 on the second conveyor 33B, wherein the controller 5 is configured to perform drive control of the first conveyor 33A and the second conveyor 33B based on the detection result of the second sensor 35B.

[0106] Based on the structure described in 1) above, since the edible meat 2 is conveyed from the first conveying unit 31 to the second conveying unit 32 depending on whether there is edible meat 2 on the second conveying unit 32, the degree of freedom in conveying the edible meat 2 is increased. The controller 5 can perform conveying control, for example, to prevent multiple pieces of edible meat 2 from accumulating on the second conveyor 33B. More specifically, the first conveying unit 31 can begin accepting the insertion of edible meat 2 on the condition that edible meat 2 has been discharged from the second conveying unit 32. In other examples, when there is edible meat 2 on the second conveying unit 32, the controller 5 can perform conveying control to keep subsequent pieces of edible meat 2 on standby in the first conveying unit 31.

[0107] 2) In some embodiments, in the structure described in 1), the at least one processing station 7 includes a plurality of processing stations 7 arranged along the conveyor line 3, wherein the first conveying unit 31 and the second conveying unit 32 are arranged between two adjacent processing stations 7 in the conveying direction of the edible meat 2.

[0108] Based on the structure described in 2), for example, if the number of edible meat 2s being conveyed toward the processing station 7 located downstream is too large, the edible meat 2s can be made to standby at least one of the first conveying unit 31 or the second conveying unit 32. Therefore, the degree of freedom in conveying the edible meat 2s to the processing station 7 can be increased.

[0109] 3) In some embodiments, in the structure described in 2) above, the plurality of processing stations 7 include: a first processing station 7A, a second processing station 7B, and a third processing station 7C arranged sequentially from the upstream side in the conveying direction of the conveyor line 3, wherein the number of the plurality of conveying units 30 located between the first processing station 7A and the second processing station 7B in the conveying direction is greater than or equal to the number of at least one conveying unit 30 located between the second processing station 7B and the third processing station 7C in the conveying direction.

[0110] According to the structure described in 3) above, the multiple conveying units 30 located between the first processing station 7A and the second processing station 7B convey more edible meat 2 compared to at least one conveying unit 30 located between the second processing station 7B and the third processing station 7C. Because the number of conveying units 30 arranged between the first processing station 7A and the second processing station 7B increases, more edible meat 2 can be kept in that section. Therefore, it is possible to prevent the edible meat 2 from lingering on the entire conveyor line 3.

[0111] 4) In some embodiments, in the structure described in 2) or 3) above, a supply unit 8 is further provided, which is located below the first conveying unit 31, for specifically supplying the edible meat 2 to any one of the plurality of processing stations 7. The plurality of conveying units 30 include a distribution unit 15, which is configured to selectively convey the edible meat 2 to either the supply unit 8 or the first conveying unit 31. The distribution unit 15 includes a distribution conveyor 23, which includes a downstream end 23A for lifting and lowering in a manner close to either the supply unit 8 or the first conveying unit 31.

[0112] Based on the structure described in 4), since only the downstream end 23A of the conveyor 23 is allocated to lift and lower to switch the destination of the meat 2, the structure of the conveyor line 3 of the meat processing device 1 can be simplified.

[0113] 5) In some embodiments, in the structure of 4) above, the supply unit 8 includes a supply conveyor 81, which is configured to change between a receiving posture for conveying the edible meat 2 in a direction parallel to the conveying direction when viewed from above, and a supply posture for conveying the edible meat 2 in a direction away from the plurality of conveying units 30 when viewed from above.

[0114] Based on the structure described in 5), the supply conveyor 81 has the functions of receiving edible meat 2 from the distribution conveyor 23 and supplying edible meat 2 to the processing station 7, thus simplifying the structure of the supply unit 8.

[0115] 6) In some embodiments, in the structure of 5) above, the supply unit 8 includes a supply sensor 85 for detecting the edible meat 2 on the supply conveyor 81, and the controller 5 is configured to drive and control the distribution unit 15 based on the detection result of the supply sensor 85, so that when there is edible meat 2 on the supply conveyor 81, subsequent edible meat 2 is on standby in the distribution unit 15.

[0116] Based on the structure described in 6) above, while the edible meat 2 is waiting in the supply unit 8, subsequent batches of edible meat 2 are waiting in the distribution unit 15. This reduces the downtime at the processing station 7 when the edible meat 2 is processed sequentially. Therefore, the productivity of the edible meat processing apparatus 1 is increased.

[0117] 7) In some embodiments, in the structure of 5) or 6) above, the controller 5 is configured to drive the supply conveyor 81 based on data representing the processing status of the processing station 7 processing the edible meat 2 from the supply unit 8, such that when the edible meat 2 is in the processing station 7, subsequent edible meat 2 is on standby in the supply unit 8.

[0118] According to the structure described in 7), since the subsequent edible meat 2 is on standby in the supply unit 8 during the processing of edible meat 2 at processing station 7, the downtime of processing station 7 when edible meat 2 is processed sequentially can be reduced. Therefore, the productivity of edible meat processing apparatus 1 is improved.

[0119] 8) In some embodiments, in any of the structures described in 1) to 7), the conveying unit 30 includes a retraction conveying unit 39 located downstream of the conveying path from the conveying unit 30 to the processing station 7 in the conveying direction of the conveying line 3.

[0120] According to the structure described in 8), a portion of the edible meat 2 can be retracted to the retraction conveying unit 39. Thus, even if there is edible meat 2 that may not be suitable for processing at the processing station 7, or even if too much edible meat 2 is conveyed by the conveying unit 30, the edible meat processing apparatus 1 can operate properly.

[0121] 9) In some embodiments, in any of the structures described in 1) to 8) above, the present invention further comprises: a discharge line 9 including a plurality of discharge units 90 for conveying the edible meat 2 processed at the processing station 7; and a transfer unit 12 for transferring the edible meat 2 received from the station conveyor 73 included in the processing station 7 to the discharge units 90, the transfer unit 12 including a transfer conveyor 13 having an end 13A for lifting and lowering in a manner that selectively approaches the station conveyor 73 or the discharge unit 90.

[0122] Based on the structure of 9) above, the transfer conveyor 13 has the functions of receiving edible meat 2 from the processing station 7 and transferring edible meat 2 to the discharge unit 90, thus simplifying the structure of the transfer unit 12.

[0123] 10) In some embodiments, in the structure described in 9) above, the plurality of transfer units 12 are respectively provided corresponding to the plurality of processing stations 7 arranged along the conveyor line 3, and the plurality of discharge units 90 include: a plurality of series discharge units 91 arranged in series below the conveyor line 3, each of the series discharge units 91 including: a discharge conveyor 93 and a discharge sensor 95 for detecting the edible meat 2 on the discharge conveyor 93; and a plurality of parallel discharge units 96 respectively provided corresponding to the plurality of transfer units 12, the plurality of parallel discharge units 96 extending parallel to each other in a manner that intersects with the plurality of series discharge units 91, and each of the parallel discharge units 96 being configured to transport the edible meat 2 received from the transfer unit 12 to any of the series discharge units 91.

[0124] According to the structure described in 10), the edible meat 2 conveyed by the multiple parallel discharge units 96 is conveyed to any one of the series discharge units 91. Since the processed edible meat 2 is concentrated on a specific line, the structure for conveying the processed edible meat 2 can be simplified. In addition, since the multiple series discharge units 91 are located below the multiple conveying units 30, the top view space of the edible meat processing apparatus 1 can be made compact.

[0125] 11) In some embodiments, in any of the structures described in 1) to 10) above, the first conveying unit 31 and the second conveying unit 32 are arranged adjacent to each other, and the controller 5 is configured to drive the first conveying unit 31 and the second conveying unit 32 such that when there is the edible meat 2 on the first conveyor 33A and the second conveyor 33B respectively, the edible meat 2 on the first conveyor 33A remains in the first conveying unit 31 until the edible meat 2 is discharged from the second conveyor 33B.

[0126] According to the structure described in 11), since the conveying control is performed on the adjacent first conveying unit 31 and second conveying unit 32, the conveying interval of multiple edible meats 2 can be shortened. Therefore, the conveying interval of multiple edible meats 2 can be shortened, and the degree of freedom in conveying the edible meats 2 can be increased.

[0127] 12) In some embodiments, in any of the structures described in 1) to 11), each of the plurality of conveying units 30 includes: a conveyor 33, a sensor 35 for detecting the edible meat 2 on the conveyor, and an electric motor 38 configured to provide a driving force to the conveyor for conveying the edible meat 2.

[0128] Based on the structure described in 12) above, since each conveying unit 30 is equipped with a sensor 35 for detecting the edible meat 2 and a power source, i.e., an electric motor 38, for conveying the edible meat 2, there are fewer constraints when configuring multiple conveying units 30. Therefore, the degree of freedom in the layout design of the conveyor line 3 is increased, resulting in an increased degree of freedom in conveying the edible meat 2.

[0129] The embodiments of the present invention have been described above, but the present invention is not limited to the embodiments described above, but also includes ways obtained by modifying the embodiments described above, and ways formed by appropriate combinations of these ways.

[0130] In this specification, expressions such as "in a certain direction", "along a certain direction", "parallel", "orthogonal", "center", "concentric" or "coaxial" that indicate relative or absolute configuration do not only refer to configuration in a strict sense, but also to a state of relative displacement of angle or distance with tolerance, or to the extent that the same function can be obtained.

[0131] For example, expressions such as "same," "equal," and "homogeneous" that indicate that things are in an equal state do not only mean that they are strictly equal, but also that there is a difference in the degree to which they can achieve the same function.

[0132] Furthermore, in this specification, the expressions indicating shapes such as quadrilaterals and cylindrical shapes do not only refer to quadrilaterals and cylindrical shapes in a strictly geometric sense, but also include shapes with concave and convex parts, chamfered parts, etc., within the range that can achieve the same effect.

[0133] Furthermore, in this specification, expressions such as "possessing," "including," or "having" one constituent element are not exclusive expressions that exclude the existence of other constituent elements.

[0134] Explanation of reference numerals in the attached figures

[0135] 1-Meat processing device; 2-Meat; 3-Conveyor line; 5-Controller; 7-Processing station; 8-Supply unit; 9-Discharge line; 12-Transfer unit; 13-Transfer conveyor; 13A-One end; 15-Distribution unit; 23-Distribution conveyor; 23A-Downstream end; 30-Conveying unit; 31-First conveying unit; 32-Second conveying unit; 33-Conveyor; 33A-First conveyor; 33B-Second conveyor; 35-Sensor; 35A-First sensor; 35B-Second sensor; 38-Motor; 39-Retreat conveyor unit; 73-Station conveyor; 81-Supply conveyor; 85-Supply sensor; 90-Discharge unit; 91-Series discharge unit; 93-Discharge conveyor; 95-Discharge sensor; 96-Parallel discharge unit.

Claims

1. An edible meat processing apparatus, comprising: A conveyor line comprising multiple conveyor units arranged in series; At least one processing station for processing edible meat conveyed via the conveyor line; and A controller, used to control the conveying unit. The plurality of conveying units include: A first conveying unit having a first sensor for detecting the first conveyor and the edible meat on the first conveyor; and The second conveying unit, located downstream of the first conveying unit, has a second sensor for detecting the second conveyor and the edible meat on the second conveyor. The first conveying unit and the second conveying unit are arranged in adjacent positions to each other. The controller is configured to drive the first conveyor and the second conveyor in the following manner to convey the edible meat from the first conveying unit to the second conveying unit: determining whether the edible meat has been discharged from the second conveying unit based on the detection result of the second sensor; and if it is determined that the edible meat has not been discharged, keeping the subsequent edible meat in the first conveying unit in standby mode to avoid collision with other edible meat on the second conveyor.

2. The edible meat processing apparatus according to claim 1, characterized in that, The at least one processing station comprises a plurality of the processing stations arranged along the conveyor line. The first conveying unit and the second conveying unit are disposed between two adjacent processing stations in the direction of conveying the edible meat.

3. The edible meat processing apparatus according to claim 2, characterized in that, The plurality of processing stations includes: a first processing station, a second processing station, and a third processing station arranged sequentially from the upstream side in the conveying direction of the conveyor line. The number of the plurality of conveying units located between the first processing station and the second processing station in the conveying direction is greater than or equal to the number of at least one of the conveying units located between the second processing station and the third processing station in the conveying direction.

4. The edible meat processing apparatus according to claim 2, characterized in that, It also includes a supply unit located below the first conveying unit, for supplying the edible meat to any one of the plurality of processing stations. The plurality of conveying units include a dispensing unit configured to selectively convey the edible meat to either the supply unit or any of the first conveying units. The distribution unit includes a distribution conveyor, which includes a downstream end for lifting and lowering in a manner close to either the supply unit or the first conveying unit.

5. The edible meat processing apparatus according to claim 4, characterized in that, The supply unit includes a supply conveyor, which is configured to change between a receiving posture for conveying the edible meat in a direction parallel to the conveying direction when viewed from above, and a supply posture for conveying the edible meat in a direction away from the plurality of conveying units when viewed from above.

6. The edible meat processing apparatus according to claim 5, characterized in that, The supply unit includes a supply sensor for detecting the edible meat on the supply conveyor. The controller is configured to drive and control the distribution unit based on the detection results of the supply sensor, so that when there is edible meat on the supply conveyor, subsequent edible meat is ready to be placed in the distribution unit.

7. The edible meat processing apparatus according to claim 5, characterized in that, The controller is configured to drive the supply conveyor based on data representing the processing status of the processing station processing the edible meat from the supply unit, such that when there is edible meat in the processing station, subsequent edible meat is ready to be served in the supply unit.

8. The edible meat processing apparatus according to claim 1 or 2, characterized in that, The conveying unit includes a retraction conveying unit located downstream of the conveying path from the conveying unit to the processing station in the conveying direction of the conveying line.

9. The edible meat processing apparatus according to claim 1 or 2, characterized in that, It also has: A discharge line comprising multiple discharge units for conveying the edible meat processed at the processing station; and A transfer unit for transferring the edible meat received from the station conveyor included in the processing station to the discharge unit. The handover unit includes a handover conveyor having one end for lifting and lowering in a manner that selectively approaches the station conveyor or the discharge unit.

10. The edible meat processing apparatus according to claim 9, characterized in that, The multiple transfer units are respectively configured to correspond to the multiple processing stations arranged along the conveyor line. The plurality of discharge units include: Multiple series discharge units are arranged in series below the conveyor line. Each series discharge unit includes: a discharge conveyor and a sensor for detecting the discharge of the edible meat on the discharge conveyor; and Multiple parallel discharge units are provided, each corresponding to a plurality of the aforementioned transfer units. The multiple parallel discharge units extend parallel to each other in a manner that intersects with the multiple series discharge units. Each of the multiple parallel discharge units is configured to transport the edible meat received from the transfer unit to any of the series discharge units.

11. The edible meat processing apparatus according to any one of claims 1 to 3, characterized in that, The controller is configured to drive and control the first conveying unit and the second conveying unit such that when there is edible meat on the first conveyor and the second conveyor respectively, the edible meat on the first conveyor remains in the first conveying unit until the edible meat is discharged from the second conveyor.

12. The edible meat processing apparatus according to any one of claims 1 to 3, characterized in that, Each of the multiple conveying units contains: Conveyor; Sensors for detecting the edible meat on the conveyor; and An electric motor is configured to provide driving force to the conveyor for conveying the edible meat.

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