Carcass restraint device and dressed carcass cutting system

Abstract

To provide a carcass restraint device and dressed carcass cutting system that can cut a dressed carcass with excellent quality.SOLUTION: A carcass restraint device includes: a gambrel for suspending and supporting the carcass; a first restraint unit which includes a first stationary part and a first movable part to clamp and restrain the carcass suspended by the gambrel at a first height position; a second restraint unit which includes a second stationary part and a second movable part to clamp and restrain the carcass suspended by the gambrel at a second height position that is below the first height position; and a controller which controls the first movable part and second movable part so as to restrain the carcass at the second height position by driving the second movable part in such a state that the carcass is restrained by the first restraint unit by driving the first movable part before the second movable part.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a carcass restraint device and carcass cutting system. [Background technology]

[0002] In meat processing for meat carcasses of relatively large livestock such as pigs and cows, the prepared meat carcass is cut into a pair of carcasses by splitting it into left and right halves at the spine (backbone), and each carcass is further cut into a front and rear part. This cutting process has traditionally been performed manually by workers using blades, but from the viewpoints of ensuring uniformity of quality, ensuring safety of workers, and improving processing efficiency, automation using meat processing machines is desired. For example, Patent Document 1 discloses a technology relating to a cutting device and method in a large carcass division process. This document describes that the pair of carcasses to be cut are supported by hanging and supported by support bars extending from the front and back in a substantially horizontal direction, so that the posture of the carcasses during cutting is fixed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-31916 A Summary of the Invention [Problem to be solved by the invention]

[0004] As in Patent Document 1, in order to cut a carcass with good quality in an automated cutting process, it is effective to stabilize the posture of the carcass during cutting. However, as in the cutting device described in the above-mentioned patent document, when the carcass is suspended from above and conveyed along the conveying path and is clamped by the clamping device, the carcass sways when the conveying is stopped. Therefore, the position of the carcass held by the clamping device may become unstable, and the quality of the carcass after cutting may decrease.

[0005] In view of the above circumstances, at least one embodiment of the present disclosure aims to provide a carcass restraining device and a carcass cutting system that can cut carcasses with good quality. [Means for solving the problem]

[0006] (1) A carcass restraint device according to at least one embodiment of the present disclosure, a gambrel for hanging and supporting the carcass; A first restraining unit including a first stationary part and a first movable part for clamping and restraining the carcass suspended by the gambrel at a first height position; a second restraining unit including a second stationary part and a second movable part for clamping and restraining the carcass suspended by the gambrel at a second height position below the first height position; a controller for controlling the first movable unit and the second movable unit so as to drive the second movable unit to restrain the carcass at the second height position while driving the first movable unit prior to the second movable unit to restrain the carcass with the first restraining unit; Equipped with.

[0007] (2) A carcass cutting system according to at least one embodiment of the present disclosure, A restraint device having the configuration of (1) above; A conveying device for conveying the carcass; Equipped with. Effect of the Invention

[0008] At least one embodiment of the present disclosure provides a good quality cut of the carcass. [Brief description of the drawings]

[0009] [Figure 1] 1 is an overall configuration diagram of a carcass dividing device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram showing a pair of carcasses from the front. [Diagram 3]FIG. 2 is a diagram for explaining the configuration of a carcass restraint device according to one embodiment. [Figure 4] 1 is a configuration diagram showing a gripping position specifying system according to an embodiment together with a peripheral configuration. [Diagram 5] 5 is a schematic diagram showing the layout of the imaging device in FIG. 4 from above. FIG. [Figure 6] FIG. 2 is a schematic diagram showing some aspects of characteristic points that can be identified in a pair of left and right carcasses. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, some embodiments of the present disclosure will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of components described as the embodiments or shown in the drawings are merely illustrative examples and are not intended to limit the scope of the present disclosure. For example, expressions expressing relative or absolute configuration, such as "in a certain direction," "along a certain direction," "parallel," "orthogonal," "center," "concentric," or "coaxial," not only strictly express such a configuration, but also express a state in which there is a relative displacement with a tolerance or an angle or distance to the extent that the same function is obtained. For example, expressions indicating that things are in an equal state, such as "identical," "equal," and "homogeneous," not only indicate a state of strict equality, but also indicate a state in which there is a tolerance or a difference to the extent that the same function is obtained. For example, expressions describing shapes such as a rectangular shape or a cylindrical shape do not only refer to rectangular shapes, cylindrical shapes, etc. in the strict geometric sense, but also refer to shapes that include uneven portions, chamfered portions, etc., to the extent that the same effect is obtained. On the other hand, the expressions "comprise," "include," "have," "includes," or "have" of one element are not exclusive expressions excluding the presence of other elements.

[0011] An embodiment in which the present invention is applied to the large division of a meat carcass (hereinafter also simply referred to as a carcass) will be described with reference to Figs. 1 to 6. Fig. 1 is a general configuration diagram of a carcass dividing device 10 according to this embodiment. Fig. 2 shows a pair of left and right carcasses W R and W L 3 is a schematic diagram showing the carcass restraint device 100 according to one embodiment of the present invention. In the carcass dividing device 10, the front-middle body dividing section A and the middle-rear body dividing section B are arranged in series with respect to the rails 12 that form the carcass transport path. The rails 12 are arranged horizontally and are arranged so as to penetrate the upper areas within the compartments of the front-middle body dividing section A and the middle-rear body dividing section B. A pair of carcasses W R and W L The carcass W is a pair of carcasses W of a relatively large livestock such as a pig or a cow, which is cut in half at the vertebrae 7 (backbone). R and W L The patient is suspended from a single Gambrel 14 via both ankles on the thigh side. A pair of carcasses W R and W L Each of the above is positioned symmetrically with the anterior body C facing downward (the posterior body E facing upward), the dorsal side facing inward (the thoracic side facing outward), and the cut surface 4 on which the spine 7 and ribs 8 are visible facing forward, with the cut surface 4 facing forward and the ribs 8 facing outward.

[0012] A trolley 16 that slides on rails 12 is attached to the upper end of the gambrel 14. After the gambrel 14 stops for a certain period of time, it is pushed by a pusher 15 in the direction of arrow a (the conveying direction) for a certain distance at a time, so that the gambrel 14 advances intermittently. R , W L First, the carcass W from which the pre-middle body has been separated is transported to the pre-middle body separation section A, where it stops for a certain period of time and the pre-middle body C is separated. The separated pre-middle body C falls onto the conveyor 51 and is carried out. R , W Lis transported to the middle and rear body dividing section B, where the middle body D is separated. The separated middle body D falls onto the conveyor 52 and is carried out. The remaining rear body E is transported as it is to the subsequent process.

[0013] (Cutting device 300) The carcass dividing device 10 according to this embodiment divides a pair of carcasses W R and W L In the carcass dividing device 10 according to this embodiment, the cutting device 300 includes a front side front middle body cutting device 310, a rear side front middle body cutting device 320, a front side middle rear body cutting device 330, and a rear side middle rear body cutting device 340. The front side front middle body cutting device 310 is located in front of the front middle body dividing section A, that is, in the horizontal direction perpendicular to the conveying direction in the front middle body dividing section A, a pair of carcasses W R and W L The front-side front-middle body cutting device 310 is a cutting device configured to move a rotating circular blade, for example, whose blade surface is arranged horizontally, in both vertical and horizontal directions. The rear side front middle body cutting device 320 is a device for cutting a pair of carcasses W on the left and right sides in the rear side of the front middle body dividing section A, that is, in the horizontal direction perpendicular to the conveying direction in the front middle body dividing section A. R and W L The rear side front center body cutting device 320 is, for example, a vertical articulated robot having a blade attached to the tip of a robot arm.

[0014] The front side middle rear body cutting device 330 is a cutting device arranged in front of the middle rear body divided part B. The front side middle rear body cutting device 330 is a cutting device configured to be able to move a rotating circular blade with a blade surface arranged horizontally in the vertical direction and horizontal direction, for example. The rear side middle rear body cutting device 340 is a cutting device disposed on the rear side of the middle rear body divided part B. The rear side middle rear body cutting device 340 is, for example, a vertical articulated robot having a blade attached to the tip of a robot arm.

[0015] (Restraint device 100) The carcass dividing device 10 according to this embodiment divides a pair of left and right carcasses W R and W L When cutting, a pair of carcasses W R and W L In the carcass dividing device 10 according to the present embodiment, the restraining device 100 includes a first restraining unit 110 and a second restraining unit 120. In the carcass dividing device 10 according to the present embodiment, the restraining device 100 includes a third restraining unit 130 provided in the front middle body dividing section A. The first restraining unit 110 includes a first restraining unit 110A provided in the front center body division section A, and a first restraining unit 110B provided in the center rear body division section B. The second restraining unit 120 includes a second restraining unit 120A provided in the front center body division A, and a second restraining unit 120B provided in the center rear body division B.

[0016] The first restraining unit 110A provided in the front-middle body division section A and the first restraining unit 110B provided in the middle-rear body division section B have the same configuration. In the following description, when there is no need to particularly distinguish between the first restraining unit 110A provided in the front-middle body division section A and the first restraining unit 110B provided in the middle-rear body division section B, or when the first restraining unit 110A provided in the front-middle body division section A and the first restraining unit 110B provided in the middle-rear body division section B are referred to collectively, the alphabet at the end of the reference numeral will be omitted and they will simply be referred to as the first restraining unit 110. Similarly, the second restraining unit 120A provided in the front-middle body division section A and the second restraining unit 120B provided in the middle-rear body division section B have the same configuration. In the following description, when there is no particular need to distinguish between the second restraining unit 120A provided in the front-middle body division section A and the second restraining unit 120B provided in the middle-rear body division section B, or when the second restraining unit 120A provided in the front-middle body division section A and the second restraining unit 120B provided in the middle-rear body division section B are collectively referred to, the alphabet at the end of the reference numeral will be omitted and they will simply be referred to as the second restraining unit 120.

[0017] (First Detention Unit 110) The first restraining unit 110 is a pair of carcasses W suspended by a gambrel 14. R and W L The first restraining unit 110 includes a first stationary part 111 and a first movable part 113 for clamping and restraining a pair of left and right carcasses W at a first height position h1. R and W L The first restraining unit 110 is configured to sandwich and restrain the rear structure E between a first stationary portion 111 and a rear structure rear presser 116, which will be described later, in a direction perpendicular to the conveying direction in a plan view.

[0018] Of the first stationary portions 111, the first stationary portion 111A in the first restraining unit 110A is provided in front of the front center body dividing portion A, is a rod-shaped member extending in the conveying direction, and is fixed to the frame 56 of the front center body dividing portion A at a first height position h1a. Of the first stationary portions 111, the first stationary portion 111B in the first restraining unit 110B is provided in front of the middle / rear body division portion B, is a rod-shaped member extending in the conveying direction, and is fixed to the frame 57 of the middle / rear body division portion B at a first height position h1b. The first stationary portions 111A and 111B may have, for example, a columnar or cylindrical shape in cross section in a direction perpendicular to the conveying direction.

[0019] Note that the first height position h1a of the first stationary portion 111A in the first restraining unit 110A and the first height position h1b of the first stationary portion 111B in the first restraining unit 110B may be the same or different. In the following description, when there is no need to particularly distinguish between the first stationary portion 111A and the first stationary portion 111B, or when the first stationary portion 111A and the first stationary portion 111B are referred to collectively, or when there is no need to particularly distinguish between the first height position h1a and the first height position h1b, or when the first height position h1a and the first height position h1b are referred to collectively, the alphabet at the end of the reference numerals will be omitted and they will simply be referred to as the first stationary portion 111 and the first height position h1.

[0020] The first movable portion 113 has an actuator 114 , a link mechanism 115 driven by the actuator 114 , and a rear body rear retainer 116 attached to the link mechanism 115 . The actuator 114 is, for example, an air cylinder, and is controlled by a controller 40 which will be described later. The link mechanism 115 is configured so that, when the rod of the actuator 114 expands or contracts, it swings the rear body rear presser 116 in a direction perpendicular to the conveying direction as shown by the arrow b in FIG.

[0021] When the rod of the actuator 114 is extended, the rear-body rear retainer 116 swings to move upward while facing the front, so that the rear-body rear retainer 116 presses the rear body E toward the front and presses the rear body E against the first stationary portion 111, thereby restraining the rear body E. Note that the height position of the rear-body rear retainer 116 when restraining the rear body E is the same as the first height position h1, but this does not need to be strictly the same, and since deviation is allowed within a range that does not interfere with the restraint of the rear body E, it is sufficient that the height positions are substantially the same. When the rod of the actuator 114 is retracted, the rear body rear retainer 116 swings so as to move downward while facing the rear surface.

[0022] The rear body rear retainer 116 is a rod-shaped member extending in the conveying direction, and is attached to the link mechanism 115. The cross section of the rear body rear retainer 116 in a direction perpendicular to the conveying direction may have, for example, a rectangular column or rectangular tube shape, or may have a cylindrical or cylindrical shape.

[0023] The first movable part 113A in the front center body section A is provided on the rear surface of the front center body section A and is fixed to the frame 56 of the front center body section A, although not shown in FIG. The first movable part 113B in the central-rear body section B is provided on the rear surface of the central-rear body section B and is fixed to the frame 57 of the central-rear body section B, although not shown in FIG. In the following description, when there is no need to particularly distinguish between first movable portion 113A and first movable portion 113B, or when first movable portion 113A and first movable portion 113B are referred to collectively, the alphabet at the end of the reference numeral will be omitted and they will simply be referred to as first movable portion 113.

[0024] (Second Detention Unit 120) The second restraining unit 120 holds a pair of carcasses W suspended by the gambrel 14. R and W L The second restraining unit 120 includes a second stationary part 121 and a second movable part 123 for clamping and restraining the pair of left and right carcasses W at a second height position h2 below the first height position h1. R and W L The second restraining unit 120 is configured to sandwich and restrain the intermediate body D between a second stationary portion 121 described later and a curved portion 126b of the intermediate body rear retainer 126 in a direction perpendicular to the conveying direction in a plan view.

[0025] Of the second stationary portions 121, the second stationary portion 121A in the second restraining unit 120A is provided in front of the front center body dividing portion A, is a rod-shaped member extending in the conveying direction, and is fixed to the frame 56 of the front center body dividing portion A at the second height position h2a. Of the second stationary portions 121, the second stationary portion 121B in the second restraining unit 120B is provided in front of the middle / rear body division portion B, is a rod-shaped member extending in the conveying direction, and is fixed to the frame 57 of the middle / rear body division portion B at the second height position h2b. The second stationary portions 121A and 121B may have, for example, a columnar or cylindrical shape in cross section in a direction perpendicular to the conveying direction.

[0026] In addition, the second height position h2a of the second stationary portion 121A in the second restraining unit 120A and the first height position h2b of the second stationary portion 121B in the second restraining unit 120B may be the same or different. In the following description, when there is no need to particularly distinguish between the second stationary portion 121A and the second stationary portion 121B, or when the second stationary portion 121A and the second stationary portion 121B are referred to collectively, or when there is no need to particularly distinguish between the second height position h2a and the second height position h2b, or when the second height position h2a and the second height position h2b are referred to collectively, the alphabet at the end of the reference numerals will be omitted and they will simply be referred to as the second stationary portion 121 and the second height position h2.

[0027] The second movable portion 123 has an actuator 124 , a link mechanism 125 driven by the actuator 124 , and a center rear retainer 126 attached to the link mechanism 125 . The actuator 124 is, for example, an air cylinder, and is controlled by a controller 40 which will be described later. The link mechanism 125 is configured so that, when the rod of the actuator 124 expands or contracts, the center rear retainer 126 swings in a direction perpendicular to the conveying direction as shown by the arrow c in FIG.

[0028] When the rod of the actuator 124 is extended, the intermediate body rear retainer 126 swings to move upward while facing the front, and a curved portion 126b (described later) of the intermediate body rear retainer 126 presses the intermediate body D toward the front, pressing the intermediate body D against the second stationary portion 121 and restraining the intermediate body D. Note that the height position of the curved portion 126b when the intermediate body D is restrained is the same as the second height position h2, but this does not need to be strictly the same, and since deviation is allowed within a range that does not interfere with the restraint of the intermediate body D, it is sufficient that the height positions are substantially the same. When the rod of the actuator 124 is retracted, the center rear retainer 126 swings so as to move downward while facing the rear surface.

[0029] The central rear retainer 126 has a rod-shaped member 126a extending in the conveying direction, and a curved portion 126b attached to the front side of this member 126a and curved so as to be concave toward the rear side when viewed from above. The central rear retainer 126 is attached to a link mechanism 125. The member 126a may have a cross section in a direction perpendicular to the conveying direction that has, for example, a rectangular column or rectangular tube shape, or may have a cylindrical or cylindrical shape.

[0030] The second movable section 123A in the front center body section A is provided on the rear surface of the front center body section A and is fixed to the frame 56 of the front center body section A, although not shown in FIG. The second movable section 123B in the central-rear body section B is provided on the rear surface of the central-rear body section B and is fixed to the frame 57 of the central-rear body section B, although not shown in FIG. In the following description, when there is no need to particularly distinguish between second movable portion 123A and second movable portion 123B, or when second movable portion 123A and second movable portion 123B are referred to collectively, the alphabet at the end of the reference numeral will be omitted and they will simply be referred to as second movable portion 123.

[0031] (Third Detention Unit 130) The third restraining unit 130 is a pair of carcasses W suspended by the gambrel 14. R and WL The third restraining unit 130 includes a one-side third movable part 131 and an other-side third movable part 136 for clamping and restraining the pair of left and right carcasses W at a third height position h3 below the second height position h2. R and W L The third restraining unit 130 is configured to sandwich and restrain the front body C between a front body front holder 134 and a curved portion 139b of a front body rear holder 139, which will be described later, in a direction perpendicular to the conveying direction in a plan view.

[0032] The one-side third movable part 131 is provided in front of the front center body divided part A. The one-side third movable part 131 has an actuator 132, an arm 133 that is swung by the actuator 132, a front body front presser 134 attached to the arm 133, and a lifting device 135.

[0033] The actuator 132 is, for example, an air cylinder, and is controlled by a controller 40 which will be described later. The arm 133 is configured to swing the front body front presser 134 in a direction perpendicular to the conveying direction as shown by the arrow d in FIG. 3 when the rod of the actuator 132 is extended or contracted. When the rod of the actuator 132 is extended, the front body front presser 134 swings so as to move downward while moving toward the rear surface, thereby pressing the front body C toward the rear surface with the front body front presser 134. When the rod of the actuator 132 is retracted, the front body front presser 134 swings so as to move upward while facing the front. In the example shown in FIG. 3, the rod of the actuator 132 is extended, and the front body front presser 134 is positioned at the third height position h3.

[0034] The front body front presser 134 is attached to the tip of the arm 133. The cross section of the front body front presser 134 in a direction perpendicular to the conveying direction may have, for example, a cylindrical or columnar shape, or a rectangular column or cylinder shape.

[0035] The lifting device 135 is a device for adjusting the height position at which the front-body front holder 134 holds the front-body C. The lifting device 135 is controlled by a controller 40, which will be described later. The lifting device 135 allows the actuator 132, the arm 133, and the front-body front holder 134 to move up and down as indicated by the arrow f in FIG.

[0036] The other-side third movable portion 136 has an actuator 137 , a link mechanism 138 driven by the actuator 137 , a front body rear presser 139 attached to the link mechanism 138 , and a lifting device 140 . The actuator 137 is, for example, an air cylinder, and is controlled by a controller 40 which will be described later. The link mechanism 138 is configured so that, when the rod of the actuator 137 expands or contracts, it swings the front body rear presser 139 in a direction perpendicular to the conveying direction as shown by the arrow e in FIG. When the rod of the actuator 137 is extended, the front body rear retainer 139 swings to move downward while moving toward the front, and a curved portion 139b (described later) of the front body rear retainer 139 presses the front body C toward the front, pressing the front body C against the front body front retainer 134, thereby restraining the front body C. Note that the height position of the curved portion 139b when the front body C is restrained is the same as the height position of the front body front retainer 134 when the front body C is restrained, but this does not need to be strictly the same, and since a deviation is allowed within a range that does not interfere with the restraint of the front body C, it is sufficient if the height position is substantially the same as the height position of the front body front retainer 134. When the rod of the actuator 137 is retracted, the front body rear retainer 139 swings so as to move upward while facing the rear surface.

[0037] The front body rear presser 139 has a rod-shaped member 139a extending in the conveying direction, and a curved portion 139b attached to the front side of this member 139a and curved so as to be concave toward the rear side when viewed from above. The front body rear presser 139 is attached to a link mechanism 138. The member 139a may have a cross section in a direction perpendicular to the conveying direction that has, for example, a rectangular column or rectangular tube shape, or a cylindrical column or cylinder shape.

[0038] The lifting device 140 is a device for adjusting the height position at which the front body C is restrained by the front body rear retainer 139. The lifting device 140 is controlled by a controller 40 described later. The lifting device 140 allows the actuator 137, the link mechanism 138, and the front body rear retainer 139 to move in the up and down direction as shown by the arrow g in FIG.

[0039] (Controller 40) The controller 40 is a control device for controlling the carcass dividing device 10 according to this embodiment. The controller 40 is composed of, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and a computer-readable storage medium. A series of processes for realizing various functions is stored in a storage medium or the like in the form of a program, for example, and the CPU reads the program into the RAM or the like and executes information processing and arithmetic processing to realize various functions. The program may be installed in a ROM or other storage medium in advance, may be provided in a state stored in a computer-readable storage medium, or may be distributed via a wired or wireless communication means. The computer-readable storage medium may be a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.

[0040] (Identifying gripping position P) Next, the identification of the gripping position P of the predecessor body C by the third restraining unit 130, i.e., the third height position h3, in the carcass divider 10 having the above configuration will be described. Fig. 4 is a configuration diagram showing the gripping position identifying system 20 according to one embodiment together with the peripheral configuration, and Fig. 5 is a schematic diagram showing the arrangement layout of the imaging device 22 in Fig. 4 from above.

[0041] As shown in FIG. 4, the gripping position identifying system 20 is R and W L 4 is a system for identifying the gripping position P of the gripping position identifying system 20, and includes an imaging device 22 and a gripping position identifying device 24. In addition to the gripping position identifying system 20, the above-mentioned third restraining unit 130 and a controller 40 capable of acquiring the gripping position P identified by the gripping position identifying system 20 and controlling the third restraining unit 130 are also shown in FIG.

[0042] As shown in FIG. 5, the imaging device 22 captures a pair of carcasses W R and W L The pair of carcasses W R and W L The imaging device 22 is a device such as a camera capable of capturing an image. The image captured by the imaging device 22 may be a still image or a video image. The number of imaging devices 22 may be one or more. In addition, the pair of carcasses W R and W L The image capture shows a pair of carcasses W on the left and right in the area upstream of the front middle body division part A in the conveying direction (left side in FIG. 1). R and W L This should be done during the period when

[0043] The gripping position specifying device 24 uses the images captured by the imaging device 22 to identify the pair of left and right carcasses W R and W LThe device is configured to specify the gripping position P of the gripper, for example, by a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), and a computer-readable storage medium. A series of processes for realizing various functions is stored in a storage medium or the like in the form of a program, and the CPU reads the program into the RAM or the like and executes information processing and arithmetic processing to realize various functions. The program may be installed in a ROM or other storage medium in advance, may be provided in a state stored in a computer-readable storage medium, or may be distributed via a wired or wireless communication means. The computer-readable storage medium may be a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.

[0044] In FIG. 4, the functional configuration of the gripping position identifying device 24 included in the gripping position identifying system 20 includes an image acquisition unit 28, a storage unit 30, a feature point identifying unit 32, and a gripping position calculation unit .

[0045] The image acquisition unit 28 is a component for acquiring the image captured by the imaging device 22.

[0046] The storage unit 30 is configured to store various data necessary for the computational processing of the grip position identifying device 24, and stores, for example, a learning model 36 used to predict the feature point Pc in the feature point identifying unit 32. The learning model 36 is a prediction model for inputting an image acquired by the image acquiring unit 28 and predicting the feature point Pc based on the image, and is learned using images previously acquired by the image acquiring unit 28 as teacher data.

[0047] The feature point identification unit 32 is a component for identifying a feature point Pc in the image acquired by the image acquisition unit 28. The feature point Pc is identified as a characteristic point that serves as a reference when the grip position calculation unit 34 calculates the grip position P, that is, as a reference position Ps. In the gripping position identifying system 20 shown in FIG. 4, the image acquisition unit 28, the memory unit 30, and the feature point identifying unit 32 of the gripping position identifying device 24 are included in a reference position identifying device 38 for identifying the reference position Ps.

[0048] Here, some aspects of the characteristic point Pc will be described. R and W L 1 is a schematic diagram showing several aspects of feature points Pc that can be identified by

[0049] First, in FIG. 6, the characteristic points Pc1′ and Pc2′ in the comparative example are a pair of carcasses W R and W L However, as shown by the characteristic points Pc1' and Pc2', the neck of the carcass W R and W L The neck of a carcass is generally formed by a worker's manual operation of cutting off the head, and so individual differences are likely to occur (in FIG. 6, the heightwise positions of characteristic points Pc1' and Pc2' are different due to the difference in the length of the neck remaining in the left carcass 1A and the right carcass 1B). Therefore, if the gripping position P is calculated based on characteristic points Pc1' and Pc2', it will be easily affected by individual differences. This problem can be solved by adopting characteristic points Pc according to the various aspects described below.

[0050] In FIG. 6, characteristic points Pc1 to Pc3 are shown as some aspects of the characteristic points Pc. These characteristic points Pc1 to Pc3 are R and W L The feature point Pc is identified from the inner area Ar of the contour R of the cut surface 4. Since the inner area Ar of the contour R of the cut surface 4 is less susceptible to the influence of individual differences in the carcass, by identifying the feature point Pc from the inner area Ar, an appropriate feature point Pc suitable for calculating the grip position P can be obtained.

[0051] First, the feature point Pc1 is a feature in which a spine connected to the first rib included in the inner region Ar of the contour R of the cut surface 4 is selected as the feature point Pc. The feature point Pc2 is a feature in which the lower end of the thoracic cavity (the lower end of the so-called spare rib) included in the inner region Ar of the contour R of the cut surface 4 is selected as the feature point Pc. The feature point Pc3 is a feature in which the first rib included in the inner region Ar of the contour R of the cut surface 4 is selected as the feature point Pc. By selecting the feature points Pc1 to Pc3 included in the inner region Ar of the contour R of the cut surface 4 in this way, the feature points Pc for suitably calculating the gripping position P can be obtained.

[0052] In addition, when the first rib in the inner region Ar is not exposed to the thoracic cavity, it may not be possible to identify the feature points Pc1 and Pc3 related to the first rib, so the accuracy can be improved by using the feature point Pc2 rather than the feature points Pc1 and Pc3. Also, since the feature point Pc2 is relatively close to the calculated gripping position P, the accuracy can be improved by calculating the gripping position P using the feature point Pc2. On the other hand, when internal organs, fat, or pieces of meat are attached to the lower end of the spare rib, the gripping position P can be calculated more accurately by using the feature points Pc1 and Pc3 rather than the feature point Pc2. As the characteristic point Pc for calculating the grip position P, any one of the above-mentioned characteristic points Pc1 to Pc3 may be used, or a combination of these may be used.

[0053] In this embodiment, the feature point identification unit 32 obtains a prediction result of the feature point Pc by inputting the image acquired by the image acquisition unit 28 to the learning model 36 stored in the storage unit 30. As described above, the learning model 36 is constructed by learning in advance using teacher data created by specifying the feature point Pc for the image previously acquired by the image acquisition unit 28. Generally, the carcass W R and W L It is difficult to identify with high accuracy the feature points Pc that are within the inner area Ar of the contour R of the cut surface 4 by simple image processing. However, by using a learning model 36 constructed using the image as training data, it is possible to identify the feature points Pc with high accuracy.

[0054] The gripping position calculation unit 34 is configured to calculate the gripping position P based on the characteristic point Pc predicted by the characteristic point identification unit 32. At this time, the gripping position calculation unit 34 calculates the gripping position P based on the characteristic point Pc identified by the characteristic point identification unit 32 so as to offset the gripping position P to the opposite side of the carcass 1 from the cutting position set in advance. This offset amount can be set as appropriate, but is preferably set so that the gripping position P is not too far from the characteristic point Pc (a position that is somewhat close). The function of the grip position calculation unit 34 may be assigned to the controller 40 .

[0055] The gripping position P calculated by the gripping position calculation unit 34 in this manner is output to the controller 40 as the identification result of the gripping position identification device 24. The controller 40 generates a control signal for setting the third height position h3 in the third constraining unit 130 to the acquired gripping position P. This generated control signal is transmitted to the lifting device 135 of the third constraining unit 130, and the lifting device 135 is driven to set the third height position h3 in the third constraining unit 130 to the gripping position P.

[0056] In the carcass dividing apparatus 10 configured as above, the restraining device 100 operates as follows. First, a pair of carcasses W R and W L When the carcass W is conveyed by the pusher 15 to the upstream side in the conveying direction from the front middle body dividing section A, the gripping position specifying device 24 detects the pair of left and right carcasses W R and W L An image is captured, and based on the captured image, the characteristic points Pc are calculated as described above, and the gripping position P, that is, the target position of the third height position h3 is calculated based on the calculated characteristic points Pc.

[0057] Then, a pair of carcasses W R and W LWhen the object is transported into the front center body section A by the pusher 15, the controller 40 outputs a control signal to set the third height position h3 in the third restraint unit 130 to the acquired gripping position P, thereby driving the lifting device 135. Next, the controller 40 outputs a control signal to extend the rod of the actuator 132 of the one-side third movable part 131. As a result, the front body front presser 134 swings so as to move downward while moving toward the rear surface, thereby pressing the front body C toward the rear surface with the front body front presser 134.

[0058] Next, the controller 40 outputs a control signal to extend the rod of the actuator 114 of the first movable part 113 of the first restraining unit 110A. As a result, the rear-body rear retainer 116 swings so as to move upward while facing forward, thereby pressing the rear body E toward the front with the rear-body rear retainer 116 and pressing the rear body E against the first stationary part 111A, thereby restraining the rear body E.

[0059] Next, the controller 40 outputs a control signal to extend the rod of the actuator 124 of the second movable part 123 of the second restraining unit 120A. As a result, the intermediate body rear retainer 126 swings so as to move upward while facing the front, and the curved part 126b presses the intermediate body D toward the front, pressing the intermediate body D against the second stationary part 121A and restraining the intermediate body D.

[0060] Next, the controller 40 drives the lifting device 140 by outputting a control signal for setting the third height position h3 in the third restraining unit 130 to the obtained gripping position P. Then, the controller 40 outputs a control signal to extend the rod of the actuator 137 of the other-side third movable part 136. As a result, the actuator 137, the link mechanism 138, and the front body rear retainer 139 move in the vertical direction. Then, the front body rear retainer 139 swings to move downward while moving toward the front, thereby pressing the front body C toward the front with the curved part 139b, pressing the front body C against the front body front retainer 134, and restraining the front body C at the third height position h3. In this way, the carcass dividing device 10 divides a pair of carcasses W R and W L can be restrained by the restraint device 100 in order from the top down.

[0061] Thereafter, the controller 40 outputs a control signal to drive the front side front center body cutting device 310 and the rear side front center body cutting device 320, thereby separating the precursor body C from the center body D.

[0062] Next, the controller 40 drives the pusher 15 to separate the pair of carcasses W R and W L is transported to the middle and rear structure section B. A pair of carcasses W R and W L When the rear structure E is carried into the middle rear structure division section B by the pusher 15, the controller 40 outputs a control signal to extend the rod of the actuator 114 of the first movable section 113 of the first restraining unit 110B. As a result, the rear structure rear retainer 116 swings to move upward while facing forward, thereby pressing the rear structure E toward the front with the rear structure rear retainer 116 and pressing the rear structure E against the first stationary section 111B, thereby restraining the rear structure E.

[0063] Next, the controller 40 outputs a control signal to extend the rod of the actuator 124 of the second movable part 123 of the second restraining unit 120B. As a result, the intermediate body rear retainer 126 swings so as to move upward while facing forward, and the curved part 126b presses the intermediate body D toward the front, pressing the intermediate body D against the second stationary part 121B and restraining the intermediate body D.

[0064] Next, the controller 40 outputs a control signal to drive the front side middle rear body cutting device 330 and the rear side middle rear body cutting device 340, thereby separating the middle body D from the rear body E.

[0065] The present disclosure is not limited to the above-described embodiments, and includes modifications to the above-described embodiments and appropriate combinations of these modifications. For example, in the carcass dividing device 10 of the embodiment described above, the front body C is divided from the middle body D at the front-middle body dividing section A, and the middle body D is divided from the posterior body E at the middle-rear body dividing section B. However, the carcass dividing device 10 may not be provided with the middle-rear body dividing section B, and the front body C may be divided from the middle body D at the front-middle body dividing section A, and then the middle body D may be divided from the posterior body E at the front-middle body dividing section A.

[0066] The contents described in each of the above embodiments can be understood, for example, as follows. (1) The carcass restraint device 100 according to at least one embodiment of the present disclosure is adapted to restrain a carcass (a pair of carcasses W R and W L ) and a gambrel 14 for hanging and supporting the carcass (a pair of carcasses W R and W L A first restraining unit 110 includes a first stationary part 111 and a first movable part 113 for clamping and restraining a carcass (a pair of carcasses W) hung by a gambrel 14 at a first height position h1. R and W L A second restraining unit 120 includes a second stationary part 121 and a second movable part 123 for clamping and restraining the carcass (a pair of carcasses W) at a second height position h2 below the first height position h1, and a first movable part 113 is driven before the second movable part 123 to clamp the carcass (a pair of carcasses W) at the first restraining unit 110. R and W L In a state where the carcass (a pair of carcasses W) is restrained, the second movable part 123 is driven to move the carcass (a pair of carcasses W) at the second height position h2. R and W L and a controller 40 for controlling the first movable portion 113 and the second movable portion 123 so as to constrain the first movable portion 113 and the second movable portion 123.

[0067] According to the above-mentioned configuration (1), the carcass (a pair of carcasses W) suspended by the gambrel 14 is held by the first holding unit 110 and the second holding unit 120. R and W L ) are restrained from the top. As a result, the carcass (a pair of carcasses WR and W L ) from the bottom up, or when the first and second restraining units 110 and 120 are driven simultaneously, R and W L ) compared to when the carcass (pair of carcasses W R and W L When restraining the carcasses (pair of carcasses W R and W L Even if the carcass (a pair of carcasses W R and W L Therefore, according to the above-mentioned configuration (1), the posture of the carcass (a pair of carcasses W R and W L ) can be cut with good quality.

[0068] (2) In some embodiments, in the configuration of (1) above, the first restraining unit 110 and the second restraining unit 120 are arranged to hold a carcass (a pair of carcasses W R and W L A carcass (a pair of carcasses W) is suspended by a gambrel 14 and transported by a transport device (rail 12, pusher 15, and trolley 16) that transports the carcass. R and W L It is advisable to restrain the carcass (a pair of carcasses W R and W L ) is a pair of carcasses split into left and right halves at the position of the vertebrae 7 (a pair of carcasses W R and W L ) is recommended. Carcasses hung on a Gambrel 14 (a pair of carcasses W R and W L It is preferable that the cut surface 4 of the halved section 10 faces one side in a direction perpendicular to the conveying direction of the conveying device (rail 12, pusher 15, and trolley 16) in a plan view.

[0069] According to the above configuration (2), the carcass (a pair of carcasses W) restrained by the first restraining unit 110 and the second restraining unit 120 R and W L ) from the above mentioned one side, the carcass (a pair of carcasses W R and WL ) cutting position can be easily determined.

[0070] (3) In some embodiments, in the configuration of (2) above, the first stationary portion 111 and the second stationary portion 121 are arranged to support a carcass (a pair of carcasses W R and W L The first movable part 113 and the second movable part 123 are preferably disposed on one side in a direction perpendicular to the conveying direction.

[0071] According to the above-mentioned (3) configuration, the carcass (a pair of carcasses W) suspended by the gambrel 14 R and W L Since the halved cut surface 4 of the conveying device (rail 12, pusher 15, and trolley 16) abuts against the first stationary portion 111 and the second stationary portion 121, the position of the cut surface 4 in a direction perpendicular to the conveying direction by the conveying device (rail 12, pusher 15, and trolley 16) is stabilized.

[0072] (4) In some embodiments, in any of the configurations (1) to (3) above, the carcass (a pair of carcasses W) suspended by the gambrel 14 R and W L The controller 40 may further include a third restraining unit 130 including a pair of third movable parts (one-side third movable part 131, the other-side third movable part 136) for clamping and restraining the carcass (a pair of left and right carcasses W) at a third height position h3 below the second height position h2. R and W L It is preferable to control the second movable part 123 and the pair of third movable parts (the one-side third movable part 131 and the other-side third movable part 136) so as to restrain the second movable part 123.

[0073] According to the above configuration (4), the carcass (a pair of carcasses W) suspended by the gambrel 14 is held by the first holding unit 110, the second holding unit 120, and the third holding unit 130. R and W L) are restrained from the top. As a result, the carcass (a pair of carcasses W R and W L ) from the bottom up, or the first restraining unit 110, the second restraining unit 120, and the third restraining unit 130 are driven simultaneously to restrain the carcass (a pair of carcasses W R and W L ) compared to when the carcass (pair of carcasses W R and W L When restraining the carcasses (pair of carcasses W R and W L Even if the carcass (a pair of carcasses W R and W L Therefore, according to the above configuration (4), the posture of the carcass (a pair of carcasses W R and W L ) can be cut with good quality.

[0074] (5) In some embodiments, in the configuration of (2) or (3) above, the carcass (a pair of carcasses W) suspended by the gambrel 14 is R and W L The third restraining unit 130 may include a pair of third movable parts (one-side third movable part 131, the other-side third movable part 136) for clamping and restraining the carcass (a pair of left and right carcasses W R and W L The one-side third movable part 131 may be disposed on the one side of the one-side moving part 113 relative to the one-side moving part 113, and the other-side third movable part 136 may be disposed on the other side of the carcass in a direction perpendicular to the conveying direction. The controller 40 may control the first movable part 113, the second movable part 123, and the pair of third movable parts (the one-side third movable part 131 and the other-side third movable part 136) so as to drive the one-side third movable part 131 before driving the first movable part 113, and to drive the second movable part 123 before driving the other-side third movable part 136.

[0075] According to the above configuration (5), the first holding unit 110, the second holding unit 120, and the third holding unit 130 hold the carcass (a pair of carcasses W R and W L ) is restrained, the one-side third movable part 131 is moved to the carcass (the pair of carcasses W R and W L ), the first restraining unit 110, the second restraining unit 120, and the third restraining unit 130 are brought into contact with the carcass (a pair of carcasses W R and W L ) before restraining the carcasses (pair of carcasses W R and W L This allows the shaking of the carcass (a pair of carcasses W R and W L ) posture becomes stable.

[0076] (6) In some embodiments, in the configuration of (4) or (5) above, the third restraint unit 130 may have a lifting mechanism (lifting devices 135, 140) for moving the pair of third movable parts (one side third movable part 131, the other side third movable part 136) in the vertical direction.

[0077] According to the above configuration (6), the carcass (a pair of carcasses W R and W L ) is restrained by changing the height of the position where the third restraining unit 130 restrains the carcass (a pair of carcasses W R and W L This allows the position of the carcass (a pair of carcasses W R and W L ) posture becomes stable.

[0078] (7) In some embodiments, in the configuration of (6) above, an imaging device 22 for imaging the cut surface 4, and a pair of third movable parts (one-side third movable part 131 and the other-side third movable part 136) are used to capture an image of the carcass (a pair of left and right carcasses W R and W LThe controller 40 may further include a reference position specifying device 38 for specifying a reference position Ps that is a reference for the gripping position P of the carcass (a pair of carcasses W on the left and right). R and W L It is preferable to control the lifting mechanism (lifting devices 135, 140) to move the pair of third movable parts (one-side third movable part 131, the other-side third movable part 136) in the vertical direction so as to sandwich and restrain the third movable part 131 and the other-side third movable part 136.

[0079] According to the above-mentioned configuration (7), the carcass (a pair of carcasses W R and W L Since the height (third height position h3) of the restraining position of the carcass (a pair of carcasses W R and W L ) posture becomes stable.

[0080] (8) In some embodiments, in the configuration of (7) above, the reference position identification device 38 may be configured to identify the reference position Ps based on the image using a learning model 36 that has been trained using the previously acquired image as training data.

[0081] According to the above configuration (8), the reference position Ps can be identified with high accuracy by image analysis using the learning model .

[0082] (9) A carcass cutting system (carcass dividing device 10) according to at least one embodiment of the present disclosure includes a restraining device 100 having any of the configurations (1) to (8) described above, and a carcass (a pair of carcasses W R and W L and a conveying device (rail 12, pusher 15, and trolley 16) for conveying the workpiece.

[0083] According to the above configuration (9), the carcass (a pair of carcasses W R and W L ) can be cut with good quality. [Explanation of symbols]

[0084] 4 Cut surface 7. Spine (backbone) 8 ribs 10. Carcass splitting device 12 Rail 14 Gambrel 15 Pusher 16 Trolley 22 Imaging device 36 Learning Model 38 Reference position identification device 40 Controller 100 Restraint Device 110, 110A, 110B First Detention Unit 111, 111A, 111B 1st stationary part 113 1st moving part 116 Rear Support 120, 120A, 120B Second Detention Unit 121, 121A, 121B 2nd stationary part 123 2nd moving part 126 Middle body rear hold 130 3rd Detention Unit 131 Third movable part on one side 134 Front Body Hold 135 Lifting device 136 Third movable part on the other side 139 Front body rear hold 140 Lifting device 300 cutting equipment

Claims

1. a gambrel for hanging and supporting the carcass; a first restraining unit including a first stationary part and a first movable part for clamping and restraining the carcass suspended by the gambrel at a first height position; a second restraining unit including a second stationary part and a second movable part for clamping and restraining the carcass suspended by the gambrel at a second height below the first height; a controller for controlling the first movable unit and the second movable unit so as to drive the second movable unit to restrain the carcass at the second height position while driving the first movable unit prior to the second movable unit to restrain the carcass with the first restraining unit; Equipped with Carcass restraint device.

2. The first restraining unit and the second restraining unit are capable of restraining the carcass suspended by the gambrel transported by a transport device that transports the carcass, The carcass is a pair of carcasses split into left and right halves at the vertebral column, The halved cut surface of the carcass suspended by the gambrel faces one side in a direction perpendicular to the conveying direction by the conveying device in a plan view.

2. A carcass restraint device according to claim 1.

3. The first stationary portion and the second stationary portion are disposed on the one side of the carcass, The first movable portion and the second movable portion are disposed on the other side in a direction perpendicular to the conveying direction.

3. A carcass restraint device according to claim 2.

4. a third restraining unit including a pair of third movable parts for clamping and restraining the carcass suspended by the gambrel at a third height position below the second height position; The controller controls the second movable part and the pair of third movable parts so that the third restraining unit restrains the carcass after driving the second movable part. A carcass restraint device according to any one of claims 1 to 3.

5. a third restraining unit including a pair of third movable parts for clamping and restraining the carcass suspended by the gambrel at a third height position below the second height position; The pair of third movable parts includes a one-side third movable part arranged on the one side with respect to the carcass, and an other-side third movable part arranged on the other side with respect to the carcass in a direction perpendicular to the conveying direction, the controller controls the first movable part, the second movable part, and the pair of third movable parts so as to drive the one-side third movable part and then drive the first movable part, and to drive the second movable part and then drive the other-side third movable part; A carcass restraining device according to claim 2 or 3.

6. The third restraining unit has a lifting mechanism for moving the pair of third movable parts in a vertical direction.

6. A carcass restraint device according to claim 5.

7. an imaging device for imaging the cut surface; a reference position specifying device for specifying a reference position serving as a reference for a gripping position of the carcass by the pair of third movable parts in an image captured by the imaging device; Equipped with The controller controls the lifting mechanism to move the pair of third movable parts in the vertical direction so as to sandwich and restrain the carcass at the third height position calculated based on the reference position specified by the reference position specifying device.

7. A carcass restraint device according to claim 6.

8. the reference position identifying device identifies the reference position based on the image by using a learning model that has been learned using the previously acquired image as training data; 8. A carcass restraint device according to claim 7.

9. A restraint device according to any one of claims 1 to 3; A conveying device for conveying the carcass; Equipped with Carcass cutting system.

Images