Poultry leg meat deboning device and method

Abstract

The present invention includes: an ankle retaining part (2) for retaining the ankle of poultry leg meat; a leg meat measuring part for measuring poultry leg meat in a state before the meat portion of the poultry leg meat is peeled off; a partition (4) for clamping the femur; a moving part for moving the ankle retaining part (2) and moving the partition (4) relative to the femur at the end of the femur on the femoral joint side; a control part for determining the amount of movement of the partition (4) relative to the femur caused by the moving part based on the measurement results of the leg meat measuring part; and a circular blade cutter for cutting the meat portion away from the femur at the end of the femur.

Description

Technical Field

[0001] This invention relates to a device and method for deboning poultry leg meat.

[0002] This application claims priority based on Japanese Patent Application No. 2021-206463, filed on December 20, 2021, the contents of which are incorporated herein by reference. Background Technology

[0003] Previously, there were known devices for automatically deboning poultry leg meat (hereinafter referred to as poultry leg meat) that had been cut from the femur of a poultry carcass (leg meat separation device, hereinafter referred to as poultry leg meat deboning device). After the poultry leg meat was placed on the device, the device performed a series of steps called multiple operating stations. These multiple operating stations included, in sequence: a poultry leg meat cutting station, a station for cutting the meat around the ankle of the poultry leg meat, a station for separating the meat down to the joint of the poultry leg meat, and a station for cutting the joint tendons and knee cartilage. In the subsequent station, the meat was separated from the femur, deboned, and the remaining bone was removed.

[0004] In the work station, the meat is specifically peeled off to the end of the femur on the hip joint side (the end on the femoral head side). The deboning of the poultry leg meat is completed by cutting the meat off the femur at the end on the hip joint side. Hereinafter, the end of the femur on the hip joint side will sometimes be simply referred to as the end on the femoral head side.

[0005] The poultry leg meat deboning machine is equipped with multiple devices corresponding to each workstation. Various devices have been proposed to improve the deboning yield of the finished product, serving as the workstations.

[0006] For example, the device used as a workstation includes a liftable auxiliary clamp (knee joint gripping part), a partition (meat partition) consisting of a fixed partition and a movable partition, a sensor for detecting the end position of leg meat peeling, and a cutter (tendon cutting cutter) for cutting the femur and meat (for example, see Patent Document 1).

[0007] The device detects the movement of the movable partition using a sensor that indicates the end of the leg meat separation process. At the detected moment, the separation of the meat from the femur is considered complete. After the relative movement between the meat and the movable partition stops, a cutter separates the femur from the meat.

[0008] The device serving as a workstation includes: an ankle retainer (clamp); a grooved Y-shaped guide member, which has an open end disposed on the upstream side of the movement line of the ankle retainer and the downstream side respectively in the movement direction of the ankle retainer; and a Y-shaped guide member with a cutter (for example, see Patent Document 2).

[0009] In this device, poultry leg meat is guided into the open end of a Y-shaped guide. As the poultry leg meat moves towards the ankle support, the femoral head end and the meat portion move away from each other via the Y-shaped guide. Then, the femur and meat portion are cut apart by the cutter of the Y-shaped guide with a cutting blade.

[0010] Existing technical documents

[0011] Patent documents

[0012] Patent Document 1: Japanese Patent No. 4190705

[0013] Patent Document 2: Japanese Patent No. 4367952 Summary of the Invention

[0014] The problem that the invention aims to solve

[0015] However, the size of poultry leg meat (bone) varies due to differences in breed, age, and farm rearing methods. In Patent Document 1, the cutting position of the cutter is determined by detecting the movement of a movable partition. Therefore, the accuracy of femoral length identification is inaccurate. Consequently, the cutter may sometimes cut off the head of the femur. This impact can cause chipping of the cutter blade, potentially increasing device malfunctions. Furthermore, there are problems with adjusting the assembly position of the partition and auxiliary clamps in conjunction with the poultry leg meat, resulting in poor assembly operability.

[0016] In Patent Document 2 mentioned above, it is difficult to properly maintain the posture of the meat portion being pulled by the guide. Therefore, due to the cutting resistance of the meat portion caused by the cutter, the meat portion becomes shaped to be pushed back in the direction of movement of the ankle retainer, making it difficult to separate the femur from the meat portion at the desired position. As a result, a large amount of residual meat remains on the femur side, leading to a decrease in the yield of deboned products.

[0017] Therefore, the present invention provides a poultry leg meat deboning device and method that can suppress device failures, improve device assemblability, and increase the yield of deboned finished products.

[0018] Methods for solving problems

[0019] To address the aforementioned issues, the poultry leg meat deboning device according to the present invention separates the meat portion from the femur of poultry leg meat that has been peeled away from the femur, specifically from the bone-in poultry leg meat that has been cut from the femur of a poultry carcass up to the knee joint side of the femur. The poultry leg meat deboning device includes: an ankle retaining portion for holding the ankle of the poultry leg meat; and a leg meat measuring portion for measuring, in the state before the meat portion of the poultry leg meat is peeled away, at least the portion of the poultry leg meat from the cut portion (closer to the ankle retaining portion than the knee joint) to the femur joint side, closer to the femur side than the ankle retaining portion. A partition is positioned between the knee joint side of the femur and the fleshy portion, clamping the femur in a direction intersecting the extending direction of the femur; a moving part, while maintaining the clamped state, moves at least one of the ankle holding part and the partition in a separated manner relative to the other, causing the partition to move relative to the femur along the femur to the end of the femur at the hip joint side; a control part, based on the measurement results of the leg flesh measuring part, determines the amount of movement of the partition relative to the femur caused by the moving part; and a cutter, cutting the fleshy portion away from the femur at the end of the femur.

[0020] In this way, the positional recognition accuracy at the end of the femoral head can be improved through the leg meat measuring and control sections. Therefore, the cutter can be easily inserted at the edge of the end of the femoral head where the meat has been separated by the partition. This reduces the possibility of the cutter cutting off the end of the femoral head. Therefore, it can suppress blade damage and other malfunctions of the poultry leg meat deboning device. There is no need to adjust the assembly position of the partition in conjunction with the poultry leg meat. Therefore, the assembly and operability of the poultry leg meat deboning device can be improved. Since the meat can be cut away from the femur while minimizing residual meat on the femoral side, the deboning yield can be increased.

[0021] In the above configuration, the ankle retainer suspends the poultry leg meat, and the movable part can also move the partition relative to the femur downwards.

[0022] This configuration allows for easy control of the poultry leg meat's posture using gravity. While maintaining the poultry leg meat's posture, the meat can be easily separated from the femur via the partition.

[0023] In the above configuration, the moving part can also move only the ankle holding part relative to the partition, thereby moving the partition relative to the femur.

[0024] By configuring it in this way, it is only necessary to make the ankle part move, thus simplifying the configuration of the poultry leg meat deboning device.

[0025] The above configuration may also include an auxiliary clamp that holds the root of the poultry leg meat in a position relative to the root of the femur on the knee joint side without changing its position.

[0026] This configuration prevents stretching between the tibia and femur due to the stripping load caused by the septum separating the muscle from the femur. Therefore, it prevents displacement of the femoral head end due to the stripping of the muscle from the femur via the septum.

[0027] In the above configuration, the control unit can also move the auxiliary clamp synchronously with the ankle retainer when the auxiliary clamp is moved.

[0028] This configuration distributes the load during the separation of the femur from the muscle portion onto the ankle retainer and auxiliary clamps. Therefore, it reduces the risk of bone breakage due to the load during femur separation, thereby further improving the yield of deboned products.

[0029] In the above configuration, the cutter is kept movable in a direction intersecting the extension direction of the femur, and the cutter cuts the flesh away from the femur by moving from the side of the femur opposite to the femoral head towards the femoral head side.

[0030] At the end of the femoral head, on the side opposite to the femoral head, poultry leg meat is attached by tendons. Therefore, by moving the cutter from the side opposite to the femoral head toward the femoral head, the tendons can be reliably cut. That is, for example, if the cutter is moved from the side of the femoral head toward the side opposite to the femoral head, the tendons escape outwards, making it difficult to reliably cut them. As a result, more residual meat remains on the femoral side, reducing the deboning yield. Conversely, if the cutter is moved from the side opposite to the femoral head toward the femoral head, the femur becomes an obstacle, preventing the tendons from escaping, and the tendons can be reliably cut with the cutter. Therefore, the deboning yield can be improved.

[0031] In the above configuration, the partition includes a fixed partition and a movable partition configured to be accessible from and away from the fixed partition. The movable partition is configured to be able to move away from the fixed partition using the load applied when it is placed on the end of the femur. The poultry leg meat deboning device includes a bone pusher having a pusher body that pushes the poultry leg meat out from the fixed partition side toward the movable partition side. The pusher body is arranged side by side with the fixed partition on the side opposite to the ankle holding portion of the fixed partition. When the end of the femur moves in front of the pusher body, the bone pusher pushes the pusher body toward the movable partition.

[0032] When using a septum to peel away the flesh, if the septum is moved relative to the ankle support, it will eventually become positioned to rest on the femoral head side. In this case, there is a possibility that the femoral head side end will get caught on the septum. Therefore, there is a possibility that the femoral head side end may be shaved off and damaged by the septum.

[0033] Therefore, by incorporating a bone pusher, the femoral head end is disengaged from the fixed septum just before it is about to rest against the fixed septum. This prevents the femoral head end from being sheared off by the fixed septum. The movable septum is configured to disengage from the fixed septum using the load applied when it rests against the femoral head end. This also prevents the femoral head end from being sheared off by the movable septum. Consequently, bone fragments and the like are prevented from adhering to the removed muscle tissue, improving the quality of the removed muscle tissue.

[0034] In the above configuration, the control unit can also be configured to calculate the moment when the end of the femur moves in front of the pusher body based on the measurement results of the leg muscle measuring unit, and the bone pusher pushes out the pusher body based on the calculation results of the control unit.

[0035] With this configuration, there is no need to set up additional sensors for the bone actuator; the measurement results from the leg muscle measuring unit can be used to determine whether the end of the femoral head has moved to the front of the actuator body. Therefore, the drive control of the bone actuator can be performed with high precision.

[0036] According to the poultry leg meat deboning method of the present invention, for poultry leg meat with bone cut from the femur of a poultry carcass, the meat portion has been peeled off up to the knee joint side of the femur, the separation of the meat portion from the femur includes: an ankle holding step, using an ankle holding part to hold the ankle of the poultry leg meat; a measurement step, in the state before the meat portion of the poultry leg meat is peeled off, at least the portion of the poultry leg meat from the cut portion closer to the femur side than the ankle holding part to the femur joint side is measured; a partition clamping step, in the... Between the knee joint side of the femur and the fleshy portion, the septum clamps the femur in a direction intersecting the extension direction of the femur; in a moving step, while maintaining the clamping state of the septum, at least one of the ankle retainer and the septum is moved relative to the other, so that the septum moves relative to the femur along the femur to the end of the femur at the hip joint side; and in a cutting step, after the moving step, a cutter is used to cut the fleshy portion from the femur at the end of the femur, wherein in the moving step, the amount of movement of the septum relative to the femur is determined based on the measurement results of the measurement step.

[0037] This measurement process improves the accuracy of identifying the position of the femoral head end. Therefore, the cutter can be easily inserted into the edge of the femoral head end where the meat has been separated by the septum. This reduces the likelihood of the cutter cutting off the femoral head end. Consequently, it prevents blade chipping and other malfunctions in the poultry leg meat deboning device. There is no need to adjust the septum assembly position to match the poultry leg meat. Therefore, the assembly and operability of the poultry leg meat deboning device are improved. Since the meat can be cut away from the femur while minimizing residual meat on the femoral side, the deboning yield is increased.

[0038] In the above method, the poultry leg meat can be suspended in the foot and ankle holding process, and in the moving process, the partition can be moved along the femur to the end of the femur by lifting the foot and ankle holding part.

[0039] By employing this method, the posture of poultry leg meat can be easily controlled using gravity. While maintaining the posture of the poultry leg meat, the meat can be easily separated from the femur through a partition.

[0040] In the above method, an auxiliary clamp is provided to hold the root of the femur on the knee joint side of the poultry leg meat without changing its relative position. In the moving step, the auxiliary clamp can also be moved synchronously with the ankle holding part when the auxiliary clamp moves.

[0041] By employing this method, it is possible to prevent stretching between the tibia and femur due to the stripping load caused by the septum separating the muscle from the femur. Therefore, it is possible to prevent displacement of the femoral head end due to the stripping of the muscle from the femur via the septum.

[0042] In the above method, during the cutting process, the flesh portion can be cut off while the partition is used to stretch the flesh portion from the end of the femur on the hip joint side toward the side opposite to the knee joint.

[0043] By employing this method, the meat can be cut away from the femur using a cutting knife while under tension. This allows for efficient cutting of the meat and minimizes residual meat on the femur side. Consequently, the deboned product yield can be further improved.

[0044] In the above method, during the cutting process, the flesh portion can be cut off while the partition is used to stretch the flesh portion from the femoral head side of the femur to the side opposite to the knee joint.

[0045] This method allows for a reliable separation of the flesh from the femur.

[0046] In the above method, the control unit can also calculate the moment when the end of the femur moves to the front of the pusher body based on the measurement results of the leg muscle measuring unit, and the bone pusher pushes out the pusher body according to the calculation results of the control unit.

[0047] By employing this method, it is possible to prevent the septum from getting caught on the end of the femoral head when it is placed on the femoral head side. Therefore, it is possible to prevent the end of the femoral head side from being sheared off by the septum. Consequently, it is possible to prevent bone fragments and the like from adhering to the removed meat, thus improving the quality of the removed meat.

[0048] Invention Effects

[0049] According to the present invention, the possibility of the femoral head end being cut off by the cutter can be reduced. Therefore, damage to the cutter blade can be prevented, and malfunctions in the poultry leg meat deboning device can be suppressed. There is no need to adjust the assembly position of the partition in conjunction with the poultry leg meat. Therefore, the assembly operability of the poultry leg meat deboning device can be improved. Since the meat can be cut away from the femur while minimizing residual meat on the femoral side, the deboning yield can be increased. Attached Figure Description

[0050] Figure 1 This is an enlarged perspective view of the separation device in an embodiment of the present invention.

[0051] Figure 2 yes Figure 1 A-direction view.

[0052] Figure 3 This is a perspective view of the leg meat measuring part in an embodiment of the present invention.

[0053] Figure 4 This is a perspective view of a separation device showing the state of poultry leg meat immediately after it has been transported to the separation station in an embodiment of the present invention.

[0054] Figure 5 This is a perspective view of a separation device in an embodiment of the present invention, showing the partition in the clamped position.

[0055] Figure 6 This is a perspective view of a separation device in an embodiment of the present invention, showing the partition in the clamping position and the auxiliary clamp in the clamping open position.

[0056] Figure 7 This is a perspective view of the separation device in an embodiment of the present invention, showing the state of the ankle retainer and auxiliary clamp after they have been lifted.

[0057] Figure 8 This is a perspective view of a separation device in an embodiment of the present invention, showing the cutting tool unit in the forward position.

[0058] Figure 9 This is a partially enlarged perspective view of the separation device in a variant of the present invention. Detailed Implementation

[0059] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0060] Automatic bone removal device

[0061] Figure 1 This is an enlarged three-dimensional view of the separation device 1.

[0062] Separation device 1 is installed from poultry leg meat M (refer to Figure 4 The automatic bone removal device 110 is included. In addition to the separation device 1, the automatic bone removal device 110 also includes a control unit 130 that performs overall drive control of the automatic bone removal device 110. In the following text, when the automatic bone removal device 110 is mounted on a floor (not shown), the vertical direction in this state is simply referred to as the vertical direction, and the horizontal direction in this state is simply referred to as the horizontal direction.

[0063] like Figure 1 As shown, in the automatic deboning device 110, for example, multiple operating stations are arranged circumferentially around a central support 114 located in the horizontal direction. These multiple operating stations refer to the operating spaces provided in each step of the process of processing poultry leg meat in stages. For example, in the automatic deboning device 110, the following stations are arranged circumferentially in the following order: a station for feeding poultry leg meat into the device, a station for slicing the fed poultry leg meat (hereinafter referred to as the slicing station), a station for cutting the meat around the ankle of the poultry leg meat, a station for separating the meat to the joint of the poultry leg meat, a station for cutting the joint tendons and knee cartilage, and a station for cutting from the femur F (refer to...). Figure 4 The workstation for separating and deboning the meat (hereinafter referred to as the separation workstation) and the workstation for removing the remaining bone in the ankle retainer. Hereinafter, when referred to as radial and circumferential, it refers to the radial direction of the central support 114 and the circumferential direction of the central support 114.

[0064] Each workstation is equipped with a device that has its own function. Poultry leg meat M (refer to...) is sequentially transported to each workstation. Figure 4 The poultry leg meat M is processed in stages. A separation device 1 is installed at the separation station. A portion of the separation device 1 is located at the cutting station (details will be described later). The automatic deboning device 110 is equipped with a power unit 120 for driving each device. The power unit 120 may include, for example, a rotary table (not shown) that sequentially transports the ankle holding part 2 (described later) to each station, or may be part of the separation device 1 (details will be described later). Figure 1 The diagrams of devices other than the separation device 1, which are located at other workstations, are omitted.

[0065] <Separation Device>

[0066] Separation device 1 includes: the ankle A holding the poultry leg meat M (refer to...) Figure 4 The unit comprises: an ankle retainer 2, a moving part 3 for moving the ankle retainer 2 vertically, a partition 4 located below the ankle retainer 2, an auxiliary clamp 5 located between the ankle retainer 2 and the partition 4, a cutting tool unit 6 located radially outward of the ankle retainer 2, and a leg meat measuring part 7 located at the cutting station. The moving part 3 constitutes the power unit 120.

[0067] <Foot and Ankle Maintenance Section>

[0068] The ankle retainer 2 has a cylindrical support rod 11 extending in the vertical direction and a hanger 12 provided on the lower end 11a of the support rod 11. In the following description, the state in which the ankle retainer 2 is transported to the separation station will be described.

[0069] The hanger 12 is formed in the shape of a C-shape with a radially outward opening when viewed from the circumferential direction. The upper end 12a of the hanger 12 is mounted on the lower end 11a of the support rod 11.

[0070] A bifurcated claw portion 13 is formed from the center to the bottom of the hanger 12 in the vertical direction. The front end 13a of the claw portion 13 is shaped to face radially outward. A stop protrusion 19 is provided on the front end 13a of the claw portion 13, protruding upward. The ankle A of the poultry leg meat M is hooked on the claw portion 13 so as to pass over the stop protrusion 19. Thus, the ankle A of the poultry leg meat M is held on the hanger 12 (ankle holding part 2), and the poultry leg meat M is suspended on the hanger 12. The stop protrusion 19 prevents the ankle A of the poultry leg meat M from slipping off the claw portion 13.

[0071] A discharge mechanism 10 is provided on the back side 12b opposite to the opening of the hanger 12 (radially inward). The discharge mechanism 10 discharges the bone from the hanger 12 over the stop protrusion 19 at the bone discharge position.

[0072] A movable part 3 is detachably connected to the upper end (not shown) of the support rod 11. A rotary table (not shown) is connected to the upper end of the support rod 11. As a result, the ankle retaining part 2 rotates about the axis C1.

[0073] The moving part 3 is, for example, an electric linear actuator using a servo motor (not shown). The electric linear actuator is configured to move a slider (not shown) in the vertical direction. The upper end of the support rod 11 is detachably connected to, for example, a slider (not shown) of the moving part 3, in the ankle holding part 2, which is being transported to the separation station. Thus, when the moving part 3 is driven, the ankle holding part 2 is lifted upward.

[0074] The lifting amount of the moving part 3 relative to the ankle retaining part 2 (an example of the moving amount in the claim) is detected by a sensor (not shown) provided on the moving part 3. The detection result is output as a signal to the control unit 130. In the control unit 130, the lifting amount of the ankle retaining part 2 is determined based on the detection result of the leg muscle measuring unit 7. The lifting amount of the ankle retaining part 2 at the separation station is when the ankle retaining part 2 is fully lifted, and the partition 4 is located at the end E of the femoral head Fh side of the femur F (see reference). Figure 4 The amount directly below the moving part. The control unit 130 performs drive control based on the determined lifting amount and the detection results from the moving part 3.

[0075] <Partition>

[0076] The partition 4 holds the femur F of the poultry leg meat M from both radial sides. The partition 4 includes a fixed part 14 and a movable part 15 disposed on the outer peripheral surface of the central support 114. The fixed part 14 includes a support rod 16 fixed to the outer peripheral surface of the central support 114 and a fixed partition 17 disposed on the radially outer end (front end) of the support rod 16.

[0077] The support rod 16 is formed of a round bar. The support rod 16 is formed in a crank shape facing radially outward. That is, after extending horizontally from the outer peripheral surface of the central support 114, the support rod 16 bends downward and then bends outward again radially outward.

[0078] The fixed partition 17 includes: a cylindrical fixing part 21 that is fitted and fixed to the front end of the support rod 16, and a fixed partition body 22 integrally disposed on the radially outer end of the fixing part 21. The fixed partition body 22 is a plate-shaped component extending in the horizontal direction. A recess 22b that is V-shaped when viewed from the vertical direction is formed on the radially outer side 22a of the fixed partition body 22.

[0079] The movable part 15 includes: a drive part 23 fixed to the outer peripheral surface of the central support column 114 below the support rod 16 of the fixed part 14, an arm 24 connected to the drive part 23, and a movable partition 25 disposed on the arm 24 at the end opposite to the drive part 23. The drive part 23 includes a waterproof housing 27 fixed to the central support column 114 by a bracket 26, and a partition actuator 28 housed within the waterproof housing 27.

[0080] A guide plate 27b is provided on the radially outer side 27a of the waterproof housing 27. The guide plate 27b is inclined so that the normal of one surface is slightly inclined relative to the vertical direction. The guide plate 27b guides the lower part of the poultry leg meat M transported to the separation station, so that the poultry leg meat M does not directly contact the waterproof housing 27.

[0081] The diaphragm actuator 28 includes: a rotating shaft 29 protruding through the circumferential outer surface 27c of a waterproof housing 27, and an actuator body (not shown) that rotates the rotating shaft 29 within a predetermined angle range. An arm 24 is connected to the rotating shaft 29. The actuator body is, for example, composed of a cylinder and a linkage mechanism (not shown) connected to the cylinder rod. The rotating shaft 29 is connected to the linkage mechanism. Thus, when the cylinder is actuated, the rotating shaft 29 rotates within a predetermined angle range.

[0082] The arm 24 includes: a cylindrical fixing part 31 fitted and fixed to the rotating shaft 29; a horizontal arm 32 extending radially outward from the outer peripheral surface of the fixing part 31; and a vertical arm 33 disposed at the radially outer end of the horizontal arm 32. The horizontal arm 32 and the vertical arm 33 are formed of round bars. An annular connecting part 32a is integrally provided at the radially outer end of the horizontal arm 32. The horizontal arm 32 and the vertical arm 33 are integrated by inserting and fixing the lower end of the vertical arm 33 into the connecting part 32a. The vertical arm 33 extends generally in the vertical direction. A movable partition 25 is provided at the upper end of the vertical arm 33.

[0083] The movable partition 25 includes a cylindrical fixing part 34 fitted and fixed to the longitudinal arm 33 and a movable partition body 35 integrally disposed at the upper end of the fixing part 34. The movable partition body 35 is a plate-shaped component extending toward the fixed partition body 22 in a direction substantially orthogonal to the longitudinal arm 33. The thickness direction of the movable partition body 35 is substantially consistent with the extension direction of the longitudinal arm 33. The radially inner side 35a of the movable partition body 35 is radially opposite to the radially outer side 22a of the fixed partition body 22. A recess 35b, which is V-shaped when viewed from above, is formed on the radially inner side 35a of the movable partition body 35. This recess 35b is also radially opposite to the recess 22b of the fixed partition body 22.

[0084] In this configuration, when the drive unit 23 is driven to rotate the rotating shaft 29, the arm 24 and the movable partition 25 swing together with the rotating shaft 29. Thus, the movable partition body 35 approaches or moves away from the fixed partition body 22. With the movable partition body 35 close to the fixed partition body 22, the femur F of the poultry leg meat M is clamped in.

[0085] At this point, the femur F is shaped to accommodate the recesses 22b and 35b of each diaphragm body 22 and 35. Therefore, with the femur F sandwiched between the diaphragm bodies 22 and 35 from both radial sides, the entire circumference of the femur F is surrounded by these diaphragm bodies 22 and 35.

[0086] In the following description, the position in the partition 4 where the movable partition body 35 is moved forward and is closest to the fixed partition body 22 is called the clamping position. The position where the movable partition body 35 is moved backward and is furthest from the fixed partition body 22 is called the retraction position.

[0087] <Auxiliary Fixture>

[0088] Auxiliary clamp 5 holds the femur F and knee joint K of the poultry leg meat M from both sides circumferentially (see reference). Figure 4 The root Fr on the side (hereinafter referred to as root Fr). The auxiliary clamp 5 includes: a waterproof housing 37 fixed to the outer peripheral surface of the central support column 114 by a bracket 36, an auxiliary actuator 38 housed in the waterproof housing 37, and an auxiliary clamp unit 39 mounted on multiple (e.g., two) rods 38a of the auxiliary actuator 38.

[0089] Multiple rods 38a of the auxiliary actuator 38 protrude downward through the waterproof housing 37. The auxiliary actuator 38 causes the multiple rods 38a to extend and retract in the vertical direction. A cylinder may be used as an example of the auxiliary actuator 38.

[0090] The auxiliary clamping unit 39 includes: a clamping actuator 42 fixed to the front end (lower end) of each rod 38a by a mounting base 41, and two clamping parts 43 mounted on the clamping actuator 42.

[0091] The clamp actuator 42 is, for example, composed of a cylinder and a linkage mechanism (not shown). The clamp actuator 42 is configured in a radially elongated manner, for example, the rod (not shown) of the cylinder slides radially. Two clamping parts 43 are mounted at the radially outer end of the clamp actuator 42 with the vertical direction as the axis of rotation. By sliding the rod, the two clamping parts 43 are opened and closed (separated, approached).

[0092] The two clamping portions 43 are arranged linearly symmetrically about the clamp actuator 42 when viewed radially. Therefore, in the following description, only one of the two clamping portions 43 will be described, and the description of the other clamping portion 43 will be omitted. In the following description, the case where the two clamping portions 43 are in the open position is referred to as the clamp open position, and the case where the two clamping portions 43 are in the closed position is referred to as the clamp closed position. In the clamp closed position, the two clamping portions 43 are circumferentially opposite each other.

[0093] The clamping portion 43 includes an arm 44 extending horizontally and a clamping body 45 mounted on the arm 44. The clamping body 45 is L-shaped in cross-section along the vertical direction. That is, the clamping body 45 is composed of a longitudinal wall portion 45a extending vertically and a transverse wall portion 45b extending horizontally from the lower end of the longitudinal wall portion 45a. In the clamping closed position, the transverse wall portion 45b extends from the longitudinal wall portion 45a in the opposite direction to the two clamping portions 43. On the longitudinal wall portion 45a, a plurality of protrusions 45c are formed in the same direction as the extending direction of the transverse wall portion 45b. On the transverse wall portion 45b, a recess 45d that is V-shaped when viewed from the vertical direction is formed on the side of the front end in the horizontal direction.

[0094] Based on this configuration, when the clamp actuator 42 is set to the clamp closed position, the root Fr of the femur F in the poultry leg meat M is held from both circumferential sides by the two clamping portions 43. At this time, the root Fr is accommodating the recesses 45d of each transverse wall portion 45b. Therefore, with the root Fr of the femur F held from both circumferential sides by each clamping portion 43, the root Fr is surrounded by each transverse wall portion 45b in its entire circumferential direction. In the clamp closed position, the longitudinal wall portions 45a that rise from each transverse wall portion 45b block the circumferential sides of the knee joint K. In the clamp closed position, the protrusions 45c formed in the longitudinal wall portions 45a push against the knee joint K.

[0095] <Tooling Unit>

[0096] The cutting tool unit 6 is fixed to a frame (not shown) and includes: a support tube 51 disposed radially outward of the ankle retainer 2 and extending vertically; a cylindrical drive rod 52 inserted through the support tube 51 and protruding vertically from the support tube 51; and a unit body 54 mounted on the lower end 52b of the drive rod 52 via a mounting block 53. The drive rod 52 rotates within a predetermined range about an axis C2 via a unit drive unit (not shown).

[0097] A through hole 53a is formed on the mounting block 53 located at the lower end 52b of the drive rod 52. The drive rod 52 is inserted into and fixed in the through hole 53a. The unit body 54 is mounted on the lower end of the mounting block 53.

[0098] <Unit Main Body>

[0099] The unit body 54 includes: a base 61 mounted on the lower end of the mounting block 53, a cutter drive unit 62 disposed on the upper surface 61a of the base 61, and a swing unit 63 disposed on the lower surface 61b of the base 61. The base 61 extends approximately circumferentially from the lower end of the mounting block 53. The cutter drive unit 62 is disposed on the side of the base 61 opposite to the mounting block 53.

[0100] The cutter drive unit 62 includes a waterproof housing 64 and an electric motor 65 housed within the waterproof housing 64. The electric motor 65 may be, for example, a brushless motor. A rotation axis (not shown) of the electric motor 65 protrudes downwards via a base 61. The rotation axis extends parallel to the axis C2 of the drive rod 52. Thus, the rotation axis is offset from the drive rod 52 via the base 61. Therefore, by rotating the drive rod 52, the rotation axis (cutter drive unit 62) oscillates about the axis C2 in a manner that approaches and moves away from the ankle retainer 2 (see reference). Figure 1 (arrow Y1 in the image).

[0101] Figure 2 yes Figure 1 A-direction view.

[0102] like Figure 1 , Figure 2 As shown, the swing unit 63 includes: a support portion 66 mounted on the lower surface 61b of the base 61, a cutter holding portion 67 rotatably disposed on the support portion 66, a circular blade cutter (an example of the cutter in the claims) 68 held on the cutter holding portion 67, and a force-applying portion 69 elastically applying force to the cutter holding portion 67 toward the ankle holding portion 2.

[0103] The support portion 66 includes a support tube 71 extending in the vertical direction and a lower support portion 72 integrally provided on the lower end 71a of the support tube 71. The upper end 71b of the support tube 71 is fixed to the lower surface 61b of the base 61. The axis C3 of the support tube 71 is coaxially configured with the rotating shaft (not shown) of the electric motor 65. An intermediate shaft (not shown) is inserted into the support tube 71. This intermediate shaft is connected to the rotating shaft. The intermediate shaft transmits the rotation of the rotating shaft to the circular cutting blade 68.

[0104] The lower support portion 72 is C-shaped when viewed radially from the support tube 71. Specifically, the lower support portion 72 consists of: an upper transverse wall 72a extending horizontally from the lower end 71a of the support tube 71, a longitudinal wall 72b extending downwardly from the side end of the upper transverse wall 72a opposite to the support tube 71, and a lower transverse wall 72c extending horizontally from the lower end of the longitudinal wall 72b. The upper transverse wall 72a and the lower transverse wall 72c are opposite each other in the vertical direction. The cutter holding portion 67 is rotatably supported on these upper transverse walls 72a and lower transverse walls 72c.

[0105] The cutter holder 67 includes a housing 73 and a power transmission mechanism (not shown) disposed within the housing 73. The housing 73 includes: a cylindrical longitudinal support 74 rotatably supported at both ends on an upper transverse wall 72a and a lower transverse wall 72c; a hollow transverse support 75 protruding horizontally from the outer periphery of the longitudinal support 74; and a cylindrical cutter shaft support 76 integrally disposed on the side of the transverse support 75 opposite to the longitudinal support 74.

[0106] The axis C4 of the cutter shaft support 76 is parallel to the axis C3 of the support tube 71. The cutter shaft support 76 approaches and moves away from the ankle retainer 2 around the axis C3 of the support tube 71 (see reference). Figure 2 The arrow Y2 in the image swings in a manner similar to the movement of the arrow.

[0107] These longitudinal support portions 74, transverse support portions 75, and cutter shaft support portions 76 are internally connected to each other. A power transmission unit (not shown) is provided in the longitudinal support portions 74, transverse support portions 75, and cutter shaft support portions 76. The circular blade cutter 68 is supported by the cutter shaft support portion 76. The power transmission unit (not shown) transmits the rotation of the intermediate shaft connected to the rotating shaft of the electric motor 65 to the circular blade cutter 68. Even when the cutter holding portion 67 swings, the power transmission unit always transmits the rotation of the rotating shaft (intermediate shaft) of the electric motor 65 to the circular blade cutter 68.

[0108] The circular blade cutter 68 includes: a cutter shaft 77 rotatably supported on a cutter shaft support 76, and a circular blade body (an example of the cutter in the claims) 78 detachably mounted on the cutter shaft 77 via an attachment 79. Rotation of the rotating shaft of an electric motor 65 is transmitted to the cutter shaft 77 via an intermediate shaft (not shown) and a power transmission section. The lower part of the cutter shaft 77 protrudes downward from the lower end of the cutter shaft support 76. An attachment 79 is provided at this protruding portion. Thus, the circular blade body 78 is detachably mounted at the lower end of the cutter shaft 77. The circular blade body 78 is a blade formed in the shape of a circular plate. The circular blade body 78 rotates integrally with the cutter shaft 77.

[0109] The force-applying part 69 includes: a first support pin 83 erected on the upper surface of the lower transverse wall 72c of the lower support part 72; a second support pin 84 integrally formed on the longitudinal support part 74 of the cutter holding part 67; and a tension spring 85 engaging with the first support pin 83 and the second support pin 84. The second support pin 84 is disposed on the outer peripheral surface of the longitudinal support part 74 and on the side opposite to the transverse support part 75. The tension spring 85 pulls the second support pin 84 toward the first support pin 83. As a result, the cutter shaft support part 76 (circular blade cutter 68) elastically applies force toward the ankle holding part 2 (see reference). Figure 2 (arrow Y3 in the image).

[0110] An adjusting screw 86 is provided on the longitudinal wall 72b of the lower support portion 72, which is horizontally opposite to the second support pin 84. The second support pin 84 abuts against the front end of the adjusting screw 86. The second support pin 84 is always stretched towards the first support pin 83 by the action of the tension spring 85. Therefore, it always abuts against the front end of the adjusting screw 86 in the initial position. Therefore, the initial position of the cutter holding portion 67 is adjusted by the amount of screwing in the adjusting screw 86.

[0111] Based on this configuration, the tool unit 6 rotates the circular cutting blade 68 via the cutting blade drive unit 62, and simultaneously rotates the drive rod 52 about the axis C2 within a predetermined range via a unit drive unit (not shown). When the drive rod 52 rotates, the unit body 54 (cutting blade drive unit 62, swing unit 63) swings relative to the ankle retainer 2, approaching and moving away. In the following description, the position in the tool unit 6 where the circular cutting blade 68 of the unit body 54 is closest to the ankle retainer 2 is called the forward position. The position where the circular cutting blade 68 of the unit body 54 is furthest away from the ankle retainer 2 is called the retraction position. In the forward position of the tool unit 6, the circular cutting blade 68 is located directly above the fixed partition 17.

[0112] <Leg Meat Measurement Section>

[0113] Figure 3 This is a three-dimensional view of the leg meat measuring section 7.

[0114] like Figure 3 As shown, the leg meat measuring unit 7, installed at the cutting station, includes: a waterproof housing 91 fixed to the outer peripheral surface of the central support column 114 by a mounting base 121; a leg meat measuring actuator 92 housed within the waterproof housing 91; an encoder (not shown) mounted on the leg meat measuring actuator 92; and a measuring arm 93 connected to the leg meat measuring actuator 92. At the cutting station, the leg meat measuring unit 7 measures the external shape of poultry leg meat when the ankle holding part 2 is lifted by the moving part 3 (details described later).

[0115] The measuring arm 93 is formed by extending radially outward from the waterproof housing 91 in the horizontal direction and then bending upward. An abutment plate 94 is provided at the front end of the measuring arm 93 to abut against the poultry leg meat. The measuring arm 93 is rotated by a leg meat measuring actuator 92, which moves the abutment plate 94 vertically about the base of the measuring arm 93. This rotational position is detected by an encoder (not shown). The encoder's detection result is output as a signal to the control unit 130. In the following description, in the leg meat measuring unit 7, the position after the abutment plate 94 is raised is referred to as the measuring position, and the position after the abutment plate 94 is lowered is referred to as the retraction position.

[0116] <Operation of the Separation Device>

[0117] Next, based on Figure 1 , Figure 3 , Figures 4 to 8 The operation of the separation device 1 will be explained.

[0118] Figure 4 This is a perspective view of the separation device 1, showing the state of poultry leg meat M just after it has been transported to the separation station.

[0119] like Figure 4As shown, when transporting poultry leg meat M to the separation station, the poultry leg meat M is suspended by hooking its ankle A onto the claw portion 13 of the hanger 12 provided in the ankle holding part 2. Thus, the ankle A of the poultry leg meat M is held on the hanger 12 (ankle holding part 2) (ankle holding process).

[0120] At this point, the poultry leg meat M is positioned with the tibia T above and the femur F below. The direction of extension of the poultry leg meat M, which is the vertical direction of the tibia T and femur F, constitutes the extension direction of the poultry leg meat M. The extension direction of the poultry leg meat M suspended on the rack 12 is roughly consistent with the vertical direction. At the separation station, the poultry leg meat M, in the previous process, is transported with the meat portion Mp separated down to the knee joint K of the femur F.

[0121] like Figure 3 As shown, before the poultry leg meat M is transported to the separation station, the shape of the poultry leg meat M is measured by the leg meat measuring unit 7 at the cutting station.

[0122] At the slitting station, in the ankle retainer 2, the front end 13a of the claw portion 13 of the hanger 12 faces radially outward. In this state, the poultry leg meat M is positioned with the kneecap P facing radially outward. When the ankle retainer 2 is moved to the slitting station by the power unit 120, the leg meat measuring unit 7 is in a retracted position. Then, the leg meat measuring unit 7 is moved to the measuring position. Thereafter, the abutment plate 94 of the leg meat measuring unit 7 abuts against a position slightly above the kneecap P of the poultry leg meat M.

[0123] Next, the foot and ankle holding part 2 is lifted by the moving part 3. As the foot and ankle holding part 2 is lifted by the moving part 3, the contact plate 94 of the leg meat measuring part 7 moves while following the radially outer shape of the poultry leg meat M. This displacement of the contact plate 94 causes the measuring arm 93 to rotate. The rotational position of the measuring arm 93 is detected by an encoder (not shown), thereby detecting the shape of the portion of the poultry leg meat M that contacts the contact plate 94. When this detection result is output as a signal to the control unit 130, the control unit 130 stores the measurement information of the portion of the poultry leg meat M that contacts the contact plate 94. In other words, the measurement (measurement process) of the portion of the poultry leg meat M from the part closer to the foot and ankle holding part 2 than the knee joint K to the cut portion D on the femoral joint side of the femur F is completed by the leg meat measuring part 7.

[0124] like Figure 4 As shown, when the ankle retainer 2 is moved to the separation station by the power unit 120, the front end 13a of the claw portion 13 of the hanger 12 in the ankle retainer 2 faces radially outward. In this state, in the posture of the poultry leg meat M, the kneecap P faces radially outward, and the femoral head Fh faces circumferentially towards the side opposite to the circular blade cutter 68. Figure 4(Right side of the image). At this time, partition 4 is in the retracted position, auxiliary fixture 5 is in the fixture open position, and tool unit 6 is in the retracted position. In auxiliary fixture 5, auxiliary fixture unit 39 is located at the lowest position via auxiliary actuator 38.

[0125] Figure 5 This is a perspective view of the separation device 1 showing the state of the partition 4 in the clamping position.

[0126] like Figure 5 As shown, after the above steps, the septum 4 is positioned in the clamping position, and the femur F is clamped in from both radial sides through the septum bodies 22 and 35 (septum clamping step). Next, the ankle retaining part 2 is lifted by the moving part 3.

[0127] Figure 6 This is a perspective view of the separation device 1 showing the partition 4 in the clamping position and the auxiliary clamp 5 in the clamping closed position.

[0128] The timing of opening and closing of the auxiliary clamp 5 is controlled by the control unit 130. Since the control unit 130 stores the shape from the part closer to the ankle retainer 2 than the knee joint K of the poultry leg meat M to the cut portion D on the femoral joint side of the femur F based on the results detected by the leg meat measuring unit 7, it also stores the position information of the knee joint K of the poultry leg meat M.

[0129] like Figure 6 As shown, the control unit 130 adjusts the clamping timing of the auxiliary clamp 5 based on the position information of the knee joint K (the measurement result measured by the leg meat measuring unit 7) and the amount of movement of the ankle holding part 2 caused by the moving unit 3. That is, when the auxiliary clamp unit 39 is not moving in the vertical direction and is in standby position at the lowest position, the auxiliary clamp 5 enters the clamping closed position at the moment when the ankle holding part 2 is raised by the desired amount of movement based on the position information of the knee joint K. Thus, the root Fr of the femur F on the knee joint K side of the poultry leg meat M is held with high precision from both sides by the clamping part 43 of the auxiliary clamp 5.

[0130] In the closed position of the clamp, the protrusion 45c formed in the clamping part 43 presses against the knee joint K. Therefore, the knee joint K side of the femur F and the knee joint K side of the tibia T are reliably held together as one. During the operation of such an auxiliary clamp 5, the ankle holding part 2 is continuously lifted by the moving part 3 without stopping.

[0131] Figure 7 This is a perspective view of the separation device 1 after the ankle retainer 2 and the auxiliary clamp 5 have been lifted.

[0132] like Figure 7As shown, after the auxiliary clamp 5 is in the clamp closed position, the auxiliary clamp 5 is lifted synchronously with the ankle retainer 2 via the auxiliary actuator 38. At this time, the auxiliary clamp unit 39 follows the movement of the femur F. Therefore, the ankle retainer 2 and the auxiliary clamp 5 are lifted (movement process) without changing the relative position of the clamping part 43 and the root Fr of the femur F. The partition 4 maintains the clamping position.

[0133] Therefore, since the vertical position of the partition 4 remains unchanged, the result is that the partition 4 moves downward along the femur M relative to the poultry leg meat M. The meat portion Mp is peeled downward from the femur using the partition 4. At this time, the femur F is accommodated in the recesses 35b formed in each partition body 22, 35 of the partition 4, so that the entire circumference of the femur F is surrounded by these partition bodies 22, 35. In this state, since the meat portion Mp is peeled downward, it results in a shape where the meat portion Mp leaves as little residue as possible on the femur F.

[0134] At this time, the load during the peeling of the fleshy part Mp is distributed to the hanger 12 of the ankle retainer 2 and the clamping part 43 of the auxiliary clamp 5. Therefore, the femur F or tibia T will not be severed due to the load during the peeling of the fleshy part Mp. The auxiliary clamp 5 prevents stretching between the tibia T and femur F due to the load during the peeling of the fleshy part Mp. At this time, the knee joint K is surrounded by the recess 45d and the longitudinal wall 45a of the clamping part 43. Therefore, the knee joint K is reliably held by the auxiliary clamp 5. Thus, stretching between the tibia T and femur F due to the load during the peeling of the fleshy part Mp can be reliably prevented.

[0135] When the ankle retaining part 2 is raised by exactly the amount of elevation based on the detection result of the leg muscle measuring part 7, the control part 130 stops driving the moving part 3. At this time, the tibia T and femur F are normally held by the auxiliary clamp 5. Therefore, when the driving of the moving part 3 stops, the partition 4 is located directly below the end E on the side of the femoral head Fh. The vertical position of the end E on the side of the femoral head Fh remains constant.

[0136] The septum actuator 28, connected to the movable septum 25 of the septum 4, applies a load when the movable septum body 35 rests on the femoral head Fh, causing the movable septum body 35 to slightly move away from the fixed septum body 22. This prevents damage to the femoral head Fh from the septum 4. The septum 4 maintains the clamped position. Therefore, with the ankle retainer 2 raised by a predetermined amount, the septum 4 stretches the muscle portion Mp from the femoral head Fh side toward the side opposite to the knee joint K (lower side).

[0137] Figure 8 This is a perspective view of the separation device 1, showing the cutting tool unit 6 in the forward position.

[0138] like Figure 8 As shown, after the moving operation, the tool unit 6 is moved to the forward position. The circular cutting blade 68 in the tool unit 6 moves in a horizontal direction due to its movement around the axis C2. The direction of movement of the circular cutting blade 68 is approximately orthogonal to the extension direction (vertical direction) of the femur F.

[0139] At the moment the ankle retainer 2 is moved to the separation station, the poultry leg meat M is positioned with the kneecap P facing radially outward. The femoral head Fh faces the side opposite to the circular blade cutter 68 in the circumferential direction. Therefore, as the cutter unit 6 moves to the forward position, the circular blade body 78 moves from the side opposite to the femoral head Fh towards the femoral head Fh side. While the meat portion Mp is held stretched from the femoral head Fh side towards the opposite side (lower side) of the knee joint K by the partition 4, the circular blade body 78 passes directly below the end E on the femoral head Fh side (i.e., the cutting part D). Thus, the meat portion Mp is cut off from the femoral head F (cutting process). As described above, the operation of the separation device 1 ends.

[0140] The poultry leg meat M is improved by moving the process based on the measurement results of the measurement process. Therefore, when the cutting process begins, the position of the end E on the femoral head Fh side is maintained at a roughly certain position (height). Therefore, the horizontal movement position of the circular blade body 78 is fixed, and the edge of the end E on the femoral head Fh side can be aimed at the cutting position of the circular blade body 78.

[0141] The cutter shaft support 76 supporting the circular blade cutter 68 swings about the axis C3 of the support tube 71. Therefore, assuming that the circular blade body 78 touches the femur F, it swings in a manner that overcomes the elastic force of the tension spring 85 in the force application part 69 and causes the circular blade body 78 to avoid the femur F (while referring to...). Figure 2 Arrow Y4 in the diagram is used to mitigate impact. Therefore, it is possible to prevent excessive load on the circular blade body 78, which could lead to damage to the blade of the circular blade body 78, for example.

[0142] On the other hand, when the circular blade cutter 68 moves appropriately below the end E on the femoral head Fh side, the force-applying part 69 elastically applies force to the cutter holding part 67 toward the ankle holding part 2. Therefore, the circular blade cutter 68 will not swing unnecessarily.

[0143] Thus, the separation device 1 includes: a foot and ankle holding part 2, a leg meat measuring part 7, a partition 4, a moving part 3, a control part 8, and a circular blade cutter 68. Therefore, the accuracy of position recognition of the end E on the femoral head Fh side can be improved by using the leg meat measuring part 7 and the control part 8. Therefore, the circular blade body 78 can be easily inserted targeting the edge of the end E on the femoral head Fh side where the meat portion Mp has been peeled off by the partition 4. At this time, the possibility of cutting off the end E on the femoral head Fh side through the circular blade body 78 can be reduced. As a result, blade defects such as those of the circular blade body 78 can be suppressed. Malfunctions of the separation device 1 (automatic deboning device 110) can be suppressed. The assembly position of the partition 4 does not need to be adjusted in conjunction with the poultry leg meat M. Therefore, the assembly operability of the separation device 1 can be improved. The meat portion Mp can be cut off from the femoral head F while reducing residual meat on the femoral F side. Therefore, the deboning yield of the separation device 1 can be improved.

[0144] The separation device 1 suspends the poultry leg meat M via the ankle retainer 2. By lifting the ankle retainer 2 via the moving part 3, the partition 4 moves downward relative to the poultry leg meat M. Therefore, the posture of the poultry leg meat M can be easily controlled by gravity. While maintaining the posture of the poultry leg meat M, the meat portion Mp can be easily separated from the femur F via the partition 4. The separation device 1 is configured so that only the ankle retainer 2 can move, thus simplifying the configuration of the separation device 1.

[0145] The separation device 1 includes an auxiliary clamp 5. The auxiliary clamp 5 holds the root Fr of the femur F on the knee joint K side of the poultry leg meat M without changing its relative position to the root Fr of the femur F. Therefore, it is possible to prevent stretching between the tibia T and the femur F due to the peeling load caused by the septum 4 peeling the meat Mp from the femur F. Therefore, it is possible to prevent the position of the end E on the femoral head Fh side from shifting due to the peeling of the meat Mp from the femur F by the septum 4.

[0146] When the auxiliary clamp unit 39 is in its lowest position and not moving vertically, the control unit 130, based on the position information of the knee joint K, controls the clamp to close at the moment when the ankle retaining part 2 is raised by the desired amount of movement. Therefore, the vertical movement of the auxiliary clamp unit 39 does not require complex control, simplifying the separation device 1. The clamping part 43 of the auxiliary clamp 5 can precisely hold the root Fr of the femur F on the knee joint K side of the poultry leg meat M from both circumferential sides.

[0147] After the control unit 130 places the auxiliary clamp 5 in the clamp closed position, it controls the lifting of the auxiliary clamp 5 and the ankle retainer 2 synchronously via the auxiliary actuator 38. Therefore, the load during the detachment of the muscle portion Mp from the femur F can be distributed to the hanger 12 of the ankle retainer 2 and the clamping portion 43 of the auxiliary clamp 5. Thus, it is possible to prevent the femur F or tibia T from being severed due to the load during the detachment of the muscle portion Mp. The auxiliary clamp 5 reliably prevents the stretching between the tibia T and femur F due to the load during the detachment of the muscle portion Mp.

[0148] In the cutting process, the circular blade cutter 68 (circular blade body 78) cuts the meat portion Mp from the femoral head F by moving from the side opposite to the femoral head Fh toward the femoral head Fh side.

[0149] At the end E on the side of the femoral head Fh, poultry leg meat M is attached via a tendon on the side opposite to the femoral head Fh. Therefore, by moving the circular blade cutter 68 (circular blade body 78) from the side opposite to the femoral head Fh toward the femoral head Fh side, the tendon can be reliably cut. That is, for example, when the circular blade cutter 68 (circular blade body 78) is moved from the side of the femoral head Fh toward the opposite side of the femoral head Fh, the tendon avoids it to the side, making it difficult to reliably cut the tendon. Therefore, more residual meat remains on the side of the femoral head Fh, reducing the deboning yield. In contrast, when the circular blade cutter 68 (circular blade body 78) is moved from the side opposite to the femoral head Fh toward the femoral head Fh side, the femoral head Fh becomes an obstacle, preventing the tendon from avoiding it to the side, and the tendon can be reliably cut by the circular blade cutter 68 (circular blade body 78). Therefore, the deboning yield can be improved.

[0150] The cutting tool unit 6 includes a cutting tool holding portion 67, a support portion 66 that pivotally supports the cutting tool holding portion 67, and a force-applying portion 69 that applies force to the cutting tool holding portion 67. Therefore, even assuming the circular cutting edge body 78 contacts the femur F, the circular cutting edge body 78 will avoid the femur F. Thus, the impact on the circular cutting edge body 78 upon contact with the femur F can be mitigated. Therefore, damage to the cutting tool unit 6, such as edge chipping of the circular cutting edge body 78, can be suppressed.

[0151] With the circular blade body 78 moving in the appropriate position relative to the femur F, the force-applying part 69 elastically applies force to the circular blade body 78. Therefore, unnecessary swaying of the circular blade body 78 can be prevented. Therefore, the meat portion Mp can be properly cut away from the femur F.

[0152] The moving part 3 moves the ankle retaining part 2. Therefore, the relative movement of the ankle retaining part 2 and the partition 4 can be controlled with high precision. The movement speed of the ankle retaining part 2 can also be controlled. The measurement results from the leg muscle measuring part 7 can also be appropriately reflected in the relative movement of the ankle retaining part 2 and the partition 4. This stabilizes the movement of the ankle retaining part 2. Therefore, the yield of deboning products can be further improved.

[0153] The separation method includes an ankle holding step, a measuring step, a septum clamping step, a moving step, and a cutting step. In the moving step, the amount of movement of the septum 4 relative to the femur F is determined based on the measurement results from the measuring step. Therefore, the position recognition accuracy of the end portion E on the femoral head Fh side can be improved by using the leg muscle measuring unit 7 and the control unit 8. As a result, the yield of deboned products can be improved, damage to the cutting tool unit 6 can be prevented, and the assembly operability of the separation device 1 can be improved.

[0154] During the cutting process, the circular blade body 78 passes directly below the end E on the femoral head Fh side while the meat portion Mp is stretched from the femoral head Fh side towards the opposite side (lower side) of the knee joint K via the partition 4. This cuts the meat portion Mp from the femoral head F. Therefore, the meat portion Mp can be cut from the femoral head F by the circular blade body 78 while tension is applied to it. Thus, the circular blade body 78 can effectively cut the meat portion Mp. It also minimizes residual meat on the femoral head F side, further improving the deboning yield.

[0155] [Variation Example]

[0156] <Bone Pusher>

[0157] Next, based on Figure 9 A variation of the separation device 1 will be described.

[0158] Figure 9 This is a partially enlarged perspective view showing a variant example of the separation device 1.

[0159] like Figure 9 As shown, the separation device 1 may include a support rod 16 and a bone pusher 101 disposed directly below the fixed partition 17.

[0160] However, when using the septum 4 to peel the femoral head Mp away from the femur, there is a possibility that the end E on the Fh side of the femoral head may get caught on the fixed septum body 22. Therefore, there is a possibility that the end E on the Fh side of the femoral head may be cut off and damaged by the septum 4. Therefore, a bone pusher 101 is provided.

[0161] The bone pusher 101 includes: a waterproof housing 102 fixed to the outer peripheral surface of the central support 114, a bone pusher actuator 103 housed within the waterproof housing 102, and a pusher body 104 mounted on the front end of the rod 103a of the bone pusher actuator 103. During the movement process, just before the movable partition body 35 is about to contact the femoral head Fh, the bone pusher 101 pushes the poultry leg meat M (details to follow) from the fixed partition 17 side towards the movable partition 25 side.

[0162] The rod 103a of the bone actuator 103 protrudes outward from the waterproof housing 102 via a rod insertion through-hole (not shown) formed on the waterproof housing 102. The actuator body 104, mounted on the front end of this protrusion, is L-shaped when viewed radially. That is, the actuator body 104 consists of a base 104a mounted on the rod 103a and an upper plate 104b integrally formed on the upper end of the base 104a.

[0163] The upper plate 104b extends radially outward and horizontally from the upper end of the base 104a. The upper plate 104b is disposed directly below the fixed partition body 22 in the fixed partition 17. In other words, the upper plate 104b and the fixed partition body 22 are arranged side by side in the vertical direction.

[0164] In the bone actuator 101, the actuator body 104 is propelled forward by the bone actuator 103 and moves completely forward (see reference). Figure 9 In the state indicated by arrow Y5, the front end face 104c of the upper plate 104b on its radially outer side is positioned as follows: That is, when viewed from above, the front end face 104c of the upper plate 104b is located above the recess 22b of the fixed partition body 22 (see reference). Figure 1 The most concave part is located slightly radially outward.

[0165] In the bone pusher 101, the pusher body 104 is pushed back completely by the bone pusher actuator 103 (see reference). Figure 9 In the state indicated by arrow Y6), the front end face 104c of the upper plate 104b is positioned as follows: When viewed from above, the front end face 104c of the upper plate 104b is located slightly radially inward than the most recessed part of the recess 22b of the fixed partition body 22.

[0166] In the following description, in the bone pusher 101, the position where the pusher body 104 is fully forward is referred to as the forward position, and the position where the pusher body 104 is fully backward is referred to as the backward position.

[0167] <Bone Pusher Movements>

[0168] Next, the operation of the bone pusher 101 will be explained.

[0169] In the initial movement of the moving process, the bone pusher 101 is in the retracted position. As the ankle retainer 2 and the auxiliary clamp 5 are lifted, the femoral muscle portion Mp is detached from the femur through the diaphragm 4. Simultaneously, the end E on the Fh side of the femoral head moves upward.

[0170] When the end E on the femoral head Fh side moves to the front end face 104c of the upper plate 104b of the pusher body 104, the control unit 130 positions the bone pusher 101 in the forward position at that moment. This moment is determined based on the detection result of the leg muscle measuring unit 7. That is, in the control unit 130, the amount of elevation of the ankle holding part 2 when the end E on the femoral head Fh side is in front of the front end face 104c of the upper plate 104b is calculated based on the detection result of the leg muscle measuring unit 7. Based on this calculation result, the timing for positioning the bone pusher 101 in the forward position is determined.

[0171] With the bone pusher 101 in the forward position, the end E of the femoral head Fh side is slightly pushed out from the fixed septum 17 side to the movable septum 25 side by the pusher body 104. In this state, when the end E of the femoral head Fh side passes through the fixed septum body 22, it is possible to prevent the end E of the femoral head Fh side from hooking onto the recess 22b of the fixed septum body 22.

[0172] On the other hand, the movable diaphragm body 35 is slightly separated from the fixed diaphragm body 22 by the load applied when it rests on the femoral head Fh. Therefore, even if the end E on the femoral head Fh side is slightly pushed from the fixed diaphragm 17 side to the movable diaphragm 25 side, it is possible to prevent the end E on the femoral head Fh side from hooking onto the recess 35b of the movable diaphragm body 35.

[0173] Therefore, according to the above-described variant, just before the fixed septum body 22 and the movable septum body 35 are about to rest on the end E of the femoral head Fh side, the end E can be slightly separated from the fixed septum body 22. This prevents the end E of the femoral head Fh side from being sheared off by the fixed septum body 22. Therefore, it prevents bone fragments from adhering to the detached femoral tissue Mp. This improves the quality of the detached femoral tissue Mp.

[0174] To determine the timing when the end portion E on the femoral head Fh side moves to the front end face 104c of the upper plate 104b, the following configuration is adopted. Specifically, in the control unit 130, based on the detection results of the leg muscle measuring unit 7, the lifting amount of the ankle retaining unit 2 when the end portion E on the femoral head Fh side is located in front of the front end face 104c of the upper plate 104b is calculated. With this configuration, it is unnecessary to install a separate sensor for the bone actuator 101. Therefore, the manufacturing cost of the bone actuator 101 can be reduced, and the drive control of the bone actuator 101 can be performed with high precision.

[0175] In the above variant, the drive control of the bone pusher 101 is described based on the detection results of the leg muscle measuring unit 7. However, it is not limited to this, and a sensor can also be provided to detect whether the end E on the femoral head Fh side has moved to the front end face 104c of the upper plate 104b.

[0176] This invention is not limited to the embodiments described above, but includes embodiments that make various modifications to the above embodiments without departing from the spirit of this invention.

[0177] For example, in the above embodiment, the case where the poultry leg meat M is suspended by the ankle retainer 2 has been described. However, it is not limited to this, as long as the ankle retainer 2 holds the ankle A of the poultry leg meat M. For example, the poultry leg meat M can also be placed lying down on an operating table (not shown). It can also be configured to hold the ankle A of the placed poultry leg meat M. In this case, the ankle retainer 2 can be configured to move, for example, in the horizontal direction, depending on the posture of the poultry leg meat M. The partition 4 can also be set according to the posture of the poultry leg meat M.

[0178] In the above embodiment, the case where the foot and ankle retaining part 2 is moved by the moving part 3, thereby moving the diaphragm 4 relative to the end E on the femoral head Fh side along the femur F, has been described. However, it is not limited to this; the moving part 3 may also move at least one of the foot and ankle retaining part 2 and the diaphragm 4 relative to the other, thereby moving the diaphragm 4 relative to the end E on the femoral head Fh side along the femur F.

[0179] In the above embodiment, the case where the force-applying part 69 includes a tension spring 85 has been described. The case where the tension spring 85 elastically applies force to the cutter holding part 67 towards the ankle holding part 2 has been described. However, it is not limited to this; any component that elastically applies force to the cutter holding part 67 towards the ankle holding part 2 can serve as the force-applying part. For example, rubber, sponge, or the like can be used instead of the tension spring 85.

[0180] In the above embodiment, the case where the partition 4 clamps the femur F of the poultry leg meat M from both radial sides has been described. Regarding the partition 4, the case where the femur F is clamped by moving the movable partition body 35 relative to the fixed partition body 22 has been described. However, it is not limited to this; the partition 4 can be configured to clamp the femur F between the knee joint K side of the femur F and the meat portion Mp, in a direction intersecting the extending direction of the femur F. For example, the partition 4 can also clamp the femur F from both circumferential sides. The partition 4 can also be composed of two movable partition bodies 35 (movable portions 15).

[0181] In the above embodiment, it was described that the leg meat measuring unit 7 measures the portion from the part closer to the ankle retaining part 2 than the knee joint K of the poultry leg meat M to the cut portion D on the femoral joint side of the femur F. However, it is not limited to this; the leg meat measuring unit 7 may measure at least the portion from the part closer to the ankle retaining part 2 than the knee joint K of the poultry leg meat M to the cut portion D on the femoral joint side of the femur F. For example, the leg meat measuring unit 7 may also measure the entire poultry leg meat M below the ankle A.

[0182] Industrial availability

[0183] The poultry leg meat deboning device described above reduces the likelihood of the cutter severing the femoral head side. Therefore, it reduces the risk of blade breakage and malfunctions in the deboning device. The assembly position of the partition does not need to be adjusted in conjunction with the poultry leg meat. Therefore, the ease of assembly and operation of the deboning device is improved. Since it can cut the meat away from the femur while minimizing residual meat on the femoral side, the deboning yield is increased.

[0184] Explanation of reference numerals in the attached figures

[0185] 1…Separation device (poultry leg meat deboning device);

[0186] 2… Ankle retention area;

[0187] 3…Moving part;

[0188] 4…partition;

[0189] 5…Auxiliary fixtures;

[0190] 6…tool unit;

[0191] 7… Leg muscle measurement section;

[0192] 66… Support section;

[0193] 67… Cutter holding section;

[0194] 68… Circular blade cutter (cutting knife);

[0195] 69…the force-exerting part;

[0196] 78… Circular blade body (cutting knife);

[0197] 101…bone pusher;

[0198] 104… Actuator body;

[0199] 110…Automatic deboning device (poultry leg meat deboning device);

[0200] 130…Control Department;

[0201] A…ankle;

[0202] D…cut-off section;

[0203] E…end;

[0204] F…femur;

[0205] Fh…femoral head;

[0206] Fr…root;

[0207] T… Tibia.

Claims

1. A poultry leg meat deboning device for separating the meat from the femur of a poultry leg meat that has been separated from the femur by cutting it off from the bone, up to the knee joint side of the femur, comprising: Ankle retainer, which holds the poultry leg meat at the ankle; The leg meat measuring section measures at least the portion of the poultry leg meat from the part closer to the ankle retainer than the foot ankle retainer to the cut portion on the hip joint side, in the state before the meat portion of the poultry leg meat is peeled off. A septum is placed between the knee joint side of the femur and the fleshy part, clamping the femur in a direction that intersects with the extending direction of the femur; The movable part, while maintaining the partition in the clamped state, moves at least one of the ankle holding part and the partition in a separated manner relative to the other, so that the partition moves relative to the femur to the end of the femur on the hip joint side; The control unit determines the amount of movement of the septum relative to the femur caused by the moving unit, based on the measurement results of the leg muscle measuring unit. as well as A cutting knife cuts the flesh away from the femur through the end of the femur.

2. The poultry leg meat deboning device according to claim 1, wherein, The ankle support suspends the poultry leg meat. The movable part moves the diaphragm downward relative to the femur.

3. The poultry leg meat deboning device according to claim 1 or 2, wherein, The movable part only moves the ankle retaining part relative to the partition, thereby moving the partition relative to the femur.

4. The poultry leg meat deboning device according to claim 1 or 2, wherein, include: An auxiliary clamp holds the root of the femur on the knee joint side of the poultry leg meat in place without changing its relative position.

5. The poultry leg meat deboning device according to claim 4, wherein, The control unit moves the auxiliary clamp synchronously with the ankle retainer when the auxiliary clamp is moved.

6. The poultry leg meat deboning device according to claim 1 or 2, wherein, The cutter is kept movable in a direction intersecting the extension direction of the femur. The cutter cuts the flesh away from the femur by moving from the side opposite to the femoral head toward the femoral head.

7. The poultry leg meat deboning device according to claim 1 or 2, wherein, The partition includes: Fixed partitions; and The movable partition is configured to be able to approach and move away from the fixed partition. The movable diaphragm is configured to detach from the fixed diaphragm by the load applied when it rests on the end of the femur. The poultry leg meat deboning device includes a bone pusher, which has a pusher body that pushes the poultry leg meat out from the fixed partition side toward the movable partition side. The pusher body is arranged side-by-side with the fixed partition on the side opposite to the ankle retaining part of the fixed partition. The bone pusher extends the pusher body toward the movable partition when the end of the femur moves in front of the pusher body.

8. The poultry leg meat deboning device according to claim 7, wherein, The control unit calculates the moment when the end of the femur moves to the front of the pusher body based on the measurement results of the leg muscle measuring unit. The bone pusher launches the pusher body based on the calculation results of the control unit.

9. A method for deboning poultry leg meat, for poultry leg meat that has been separated from the femur of a poultry carcass, up to the knee joint side of the femur, the method comprising: Ankle holding process, using an ankle holding part to hold the ankle of the poultry leg meat; The measurement process involves measuring, in the state before the meat portion of the poultry leg meat is peeled off, at least the portion of the poultry leg meat from the part closer to the ankle retainer than the femur side, to the cut portion on the hip joint side. In the partition clamping process, the femur is clamped between the knee joint side of the femur and the fleshy part by clamping the partition in a direction that intersects with the extension direction of the femur. In the moving process, while maintaining the partition in the clamped state, at least one of the ankle holding part and the partition is moved relative to the other, so that the partition is moved relative to the femur to the end of the femur on the hip joint side; as well as In the cutting process, after the moving process, a cutter is used to cut the flesh away from the femur through the end of the femur. In the moving process, the amount of movement of the septum relative to the femur is determined based on the measurement results of the measuring process.

10. The method for deboning poultry leg meat according to claim 9, wherein, In the ankle retention process, the poultry leg meat is suspended. In the moving process, by lifting the ankle retainer, the partition is moved along the femur to the end of the femur.

11. The method for deboning poultry leg meat according to claim 10, wherein, Includes an auxiliary clamp for holding the root of the femur on the knee joint side of the poultry leg meat in a position that does not change its relative position to the root of the femur on the knee joint side. During the moving process, when the auxiliary clamp moves, the auxiliary clamp moves synchronously with the ankle retainer.

12. The method for deboning poultry leg meat according to any one of claims 9 to 11, wherein, In the cutting process, the flesh is cut off while the partition is used to stretch the flesh from the femoral head side of the femur toward the side opposite to the knee joint.

13. The method for deboning poultry leg meat according to any one of claims 9 to 11, wherein, The partition includes: Fixed partitions; and The movable partition is configured to be able to approach and move away from the fixed partition. The movable diaphragm is configured to detach from the fixed diaphragm by the load applied when it rests on the end of the femur. The poultry leg meat deboning method includes an ejection step, in which the end of the femur is ejected from the fixed partition side to the movable partition side just before the end of the femur passes the partition.

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