Meat transfer device

Abstract

The present invention provides a meat transfer device that can accurately transfer irregularly shaped and flexible workpieces, such as poultry leg meat, without requiring them to be gripped. [Solution] The transfer device 60 comprises a suction unit, an adsorption nozzle 11 that uses the suction force of the suction unit to adsorb meat, a moving unit 13 that moves the adsorption nozzle 11 and changes the posture of the poultry leg meat M, and a release unit that releases the adsorption of the poultry leg meat M by the adsorption nozzle 11 after the adsorption nozzle 11 has been moved.

Description

Technical Field

[0001] The present invention relates to a meat transfer device.

Background Art

[0002] Conventionally, a poultry boning machine that automatically debones boned poultry leg meat (hereinafter simply referred to as poultry leg meat) cut from the thigh bone of a slaughtered poultry has been known. The poultry boning machine grips the ankle of the poultry leg meat with a clamp and suspends the poultry leg meat by this clamp. In the poultry boning machine, the suspended poultry leg meat is moved to a plurality of work stations, and the meat part is gradually peeled off from the thigh bone. Finally, the meat part is completely peeled off from the thigh bone and deboned. The supply of poultry leg meat to the poultry boning machine is performed, for example, by conveying the poultry leg meat by a conveyor or the like from a previous process and loading the poultry leg meat onto a work table or the like. An operator lifts the poultry leg meat loaded onto the work table or the like and suspends the poultry leg meat on the clamp of the poultry boning machine.

[0003] By the way, in recent years, further reduction of the work burden of operators has been desired. For this reason, for example, an input system for reducing the burden of the transfer work (suspension work) of poultry leg meat by an operator has been proposed (see, for example, Patent Document 1). This device includes an imaging unit that images poultry leg meat that is conveyed in a complicated arrangement on a conveyor, and an arm that is driven and controlled based on the imaging result of the imaging unit and grips the ankle of the poultry leg meat. A clamp for gripping the ankle of the poultry leg meat is provided at the tip of the arm. After gripping the ankle of the poultry leg meat with the clamp, the arm replaces the ankle of the poultry leg meat with a transfer hanger. The poultry leg meat replaced with the hanger is transferred to the poultry boning machine. Thereby, the transfer work (suspension work) of the poultry leg meat by the operator to the poultry boning machine can be reduced.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

[0005] In the conventional technology described above, the ankle, which is grasped by the arm's clamp, is then transferred to a hanger. However, this presented a problem: the clamp interfered, making it difficult to accurately attach the poultry leg ankle to the hanger.

[0006] Therefore, the present invention provides a meat transfer device that can accurately transfer irregularly shaped and flexible workpieces, such as poultry leg meat, without having to grip them. [Means for solving the problem]

[0007] To solve the above problems, the meat transfer device according to the present invention comprises a suction unit, an adsorption unit that uses the suction force of the suction unit to adsorb meat, a moving unit that moves the adsorption unit and changes the posture of the meat, and a release unit that releases the adsorption of the meat by the adsorption unit after the adsorption unit has been moved.

[0008] This configuration allows for the accurate transfer of meat from a conveyor belt to subsequent equipment such as a poultry deboning machine without the need to grip the meat. Because the meat is not gripped as in conventional systems, the number of components surrounding the meat that could hinder its transfer can be minimized. Therefore, the meat can be transferred accurately.

[0009] In the above configuration, the system includes a conveying unit for transporting the meat, the conveying unit comprising a conveyor on which the meat is placed, and a guide for regulating the posture of the meat on the conveyor.

[0010] This configuration allows the suction part to be precisely pressed against the desired location on the meat when it is being adsorbed. Therefore, the meat can be transferred with even greater accuracy.

[0011] In the above configuration, the device includes a detection unit for detecting poor adsorption of the meat by the adsorption unit, and the release unit releases the adsorption of the meat and blows air from the adsorption unit when the detection unit detects poor adsorption of the meat.

[0012] With this configuration, when the detection unit detects a poor suction, the meat can be detached from the suction unit. This prevents the meat from falling to unintended locations during transfer. In the event of a poor suction, if, for example, pieces of meat are attached to the suction unit, these pieces can also be blown out. This prevents clogging of the suction unit. [Effects of the Invention]

[0013] According to the present invention, the meat transfer device can accurately transfer irregularly shaped and flexible workpieces such as meat without having to grip them. [Brief explanation of the drawing]

[0014] [Figure 1] This is a schematic diagram of a poultry leg meat processing system in an embodiment of the present invention, viewed from above. [Figure 2] This is a perspective view of the transfer device and the transport section surrounding the transfer device in an embodiment of the present invention. [Figure 3] This is a cross-sectional view of an adsorption nozzle in an embodiment of the present invention. [Figure 4] This is a perspective view of a nozzle holder in an embodiment of the present invention. [Figure 5] This is a perspective view of the nozzle body in an embodiment of the present invention. [Figure 6] This is a perspective view of the movable part in an embodiment of the present invention. [Figure 7] This is a block diagram of an adsorption air device according to an embodiment of the present invention. [Figure 8] This is a perspective view of a transfer device in an embodiment of the present invention, and is an explanatory diagram showing the state of the transfer device when it is started up. [Figure 9]It is an explanatory diagram of a state in which a chicken leg meat is adsorbed to a nozzle body in an embodiment of the present invention. [Figure 10] It is a perspective view of a transfer device in an embodiment of the present invention, and is an explanatory diagram showing a state in the middle of transferring the chicken leg meat M by the transfer device. [Figure 11] It is a perspective view of a transfer device in an embodiment of the present invention, and is an explanatory diagram showing a state in which the ankle of the chicken leg meat is hooked on the rail portion by the transfer device. [Figure 12] It is a perspective view of a transfer device in an embodiment of the present invention, and is an explanatory diagram showing a state in which the arm portion of the transfer device has returned to the standby position.

Mode for Carrying Out the Invention

[0015] Next, embodiments of the present invention will be described based on the drawings.

[0016] <Chicken leg meat processing system> FIG. 1 is a schematic configuration diagram of a chicken leg meat processing system 1 including a transfer device 60 according to the present invention as viewed from above. As shown in FIG. 1, the chicken leg meat processing system 1 is a system that automatically debones chicken leg meat not shown. The chicken leg meat processing system 1 includes a transport unit 2 that is laid long in one direction and transports chicken leg meat. The chicken leg meat processing system 1 is provided with an input unit 3, an X-ray imaging device 4, a tendon insertion device 5, a transfer device 60, and an automatic deboning device 6 in this order from the upstream side in the transport direction Y1 (see arrow Y1 in FIG. 1) of the transport unit 2.

[0017] In the following description, the upstream side in the transport direction Y1 is simply referred to as the upstream side, and the downstream side in the transport direction Y1 is simply referred to as the downstream side. When referring to the vertical direction in the following description, it shall refer to the vertical direction in the state where the chicken leg meat processing system 1 is installed. The direction orthogonal to the transport direction Y1 and the vertical direction is referred to as the left-right direction.

[0018] <Transport unit> The conveying unit 2 includes a belt conveyor 7 and a chain conveyor 8. These belt conveyor 7 and chain conveyor 8 are arranged in parallel in the left-right direction. The belt conveyor 7 and the chain conveyor 8 are driven synchronously. Clamps 9 (see Fig. 2 etc.) are provided at equal intervals on the chain conveyor 8. The clamp 9 holds the ankle of the edible bird leg meat M (see Fig. 2 etc.) so as to hook it. The edible bird leg meat M held by the clamp 9 is placed in a lying position on the belt 7a of the belt conveyor 7. The lying position of the edible bird leg meat M refers to the position where the inner thigh side of the edible bird leg meat M is facing upward and it is lying down.

[0019] <Input section> The input section 3 includes a workbench 10 arranged parallel to the conveying unit 2. The workbench 10 is arranged on the opposite side of the chain conveyor 8 across the belt conveyor 7. A large number of edible bird leg meats M (not shown in Fig. 1) are put on the workbench 10. The operator picks up the edible bird leg meat M from the workbench 10 and hooks the ankle of the edible bird leg meat M on the clamp 9 while laying the edible bird leg meat M on the belt 7a of the belt conveyor 7. Thereby, the edible bird leg meat M is input into the edible bird leg meat processing system 1 through the input section 3.

[0020] <X-ray imaging device> The X-ray imaging device 4 irradiates X-rays from above on the edible bird leg meat conveyed by the conveying unit 2, and acquires information on the posture of the edible bird leg meat M, the shape of the bone of the edible bird leg meat M, the position and orientation of the bone with respect to the whole edible bird leg meat M.

[0021] <Injection device> The injection device 5 performs injection along the bone of the edible bird leg meat M based on the information on the shape of the bone of the edible bird leg meat M acquired by the X-ray imaging device 4 and the position and orientation of the bone with respect to the whole edible bird leg meat M. Since the edible bird leg meat M is placed on the belt 7a, it is difficult for the posture of the edible bird leg meat M in the X-ray imaging device 4 and the posture of the edible bird leg meat M in the injection device 5 to change. Therefore, the injection device 5 can perform stable injection.

[0022] <Automatic boning device> The automatic deboning device 6 automatically removes and discharges the meat from the poultry leg meat that has been scored by the muscle-scoring device 5.

[0023] A transfer device 60 is provided between the automatic deboning device 6 and the conveying unit 2. After the sinewed poultry leg meat M is conveyed in front of the automatic deboning device 6 by the conveying unit 2, the poultry leg meat M is transferred from the conveying unit 2 to the automatic deboning device 6 by this transfer device 60.

[0024] <Transfer device> Figure 2 is a perspective view of the transfer device 60 and the transport unit 2 around the transfer device 60. As shown in Figure 2, the transfer device 60 includes an adsorption nozzle 11 for adsorbing poultry leg meat M, an adsorption air device 12 (not shown) that applies suction force to the adsorption nozzle 11 and releases the adsorption of the poultry leg meat M by the adsorption nozzle 11, and a movable part 13 that supports the adsorption nozzle 11.

[0025] <Adsorption part> Figure 3 is a cross-sectional view of the adsorption nozzle 11. As shown in Figure 3, the suction nozzle 11 comprises a nozzle holder 14, an elastic support portion 15 attached to the nozzle holder 14, and a nozzle body 16 supported by the nozzle holder 14 via the elastic support portion 15.

[0026] Figure 4 is a perspective view of the nozzle holder 14. As shown in Figures 2 to 4, the nozzle holder 14 is formed in the shape of a rectangular block. A large opening 17 is formed in the center of the nozzle holder 14, penetrating in the thickness direction. Hereinafter, the central axis of the opening 17 will be referred to as the first axis A1. Of the two end faces 14a and 14b (first end face 14a, second end face 14b) in the direction of the first axis A1 of the nozzle holder 14, a beveled edge 18 is formed on the first end face 14a around the entire circumference of the periphery of the opening 17. The beveled edge 18 is formed such that its diameter gradually increases as it moves outward in the direction of the first axis A1.

[0027] Each of the four side surfaces 14c perpendicular to each end face 14a, 14b of the nozzle holder 14 has a beveled edge 14d formed at each corner. Of the four sides 14c, two sides 14c facing each other with respect to the opening 17 have receiving recesses 19 formed on them to receive the support plates 59b, which will be described later. The receiving recesses 19 extend in a direction perpendicular to the first axis A1 direction and are formed over the entire length of the side 14c. A mounting hole 20 is formed in the center of the receiving recess 19 so as to connect the receiving recess 19 and the opening 17. The mounting hole 20 is used to attach the support plates 59b, which will be described later.

[0028] The nozzle holder 14 has a storage hole 21 formed on the radially outer side of the opening 17 and at a position corresponding to the flat surface portion 14d, which houses a part of the elastic support portion 15. The storage hole 21 is formed to penetrate the nozzle holder 14 in the direction of the first axis A1. The storage hole 21 includes a first storage hole 22 formed on the first end face 14a side of the nozzle holder 14, and a second storage hole 23 which is formed to be larger in diameter than the first storage hole 22 via a stepped portion 22a. The second storage hole 23 communicates with the first storage hole 22 and opens to the second end face 14b side of the nozzle holder 14, opposite to the first end face 14a. The second storage hole 23 is formed along the first axis A1 direction of the nozzle holder 14.

[0029] The elastic support portion 15 includes a retaining plate 24 positioned on the first end face 14a of the nozzle holder 14, a bolt 25 and nut 26 for attaching the retaining plate 24 to the nozzle holder 14, and a coil spring 28. Four retaining plates 24 are provided so as to cover each of the first storage holes 22 of the nozzle holder 14. The retaining plates 24 are formed in a stepped disc shape. That is, the retaining plate 24 is integrally molded with a disc-shaped base plate 31 and a disc-shaped protrusion 32 that projects toward the nozzle holder 14 from most of the radial center of the base plate 31.

[0030] Each protrusion 32 blocks the corresponding first storage hole 22. A bolt insertion hole 24a is formed in the radial center of the retaining plate 24, penetrating the retaining plate 24 in the thickness direction. A bolt 25 is inserted into this bolt insertion hole 24a from the second storage hole 23 side. The tip of the bolt 25 protrudes through the bolt insertion hole 24a to the side of the base plate 31 opposite to the protrusion 32. A nut 26 is screwed onto the tip of this protruding bolt 25. In this way, the nozzle holder 14 and the retaining plate 24 are integrated via the bolt 25 and nut 26. In other words, the retaining plate 24 can be considered a part of the nozzle holder 14.

[0031] The coil spring 28, which is inserted through the bolt 25, is housed in the second storage hole 23 along with most of the bolt 25. The end of the bolt 25 on the head 25a side abuts against the head 25a of the bolt 25 via a flat washer 33. This positions the retaining plate 24 and the bolt 25.

[0032] The coil spring 28 is housed in a slightly compressed state between the flat washer 33 and the stepped portion 22a. As a result, the retaining plate 24 is constantly biased with an elastic pressing force toward the first end face 14a.

[0033] Figure 5 is a perspective view of the nozzle body 16. As shown in Figures 2 and 5, the nozzle body 16 is formed in a cylindrical shape. Hereinafter, the central axis of the nozzle body 16 will be referred to as the second axis A2. The nozzle body 16 is made of a hard resin or metal. Being made of a hard resin or metal prevents elastic deformation of the nozzle body 16. More specifically, the nozzle body 16 is made of, for example, POM (polyacetal) resin. However, it is not limited to this; the nozzle body 16 can be made of any hard resin or metal that does not elastically deform.

[0034] The length of the nozzle body 16 in the direction of the second axis A2 is sufficiently longer than the length of the nozzle holder 14 in the direction of the first axis A1. The outer diameter of the nozzle body 16 is smaller than the inner diameter of the opening 17 formed in the nozzle holder 14.

[0035] An outer flange portion 37 is integrally molded with the base end 16b of the nozzle body 16, which is opposite the tip 16a, and extends radially outward. An inclined surface 37a is formed on the surface of the outer flange portion 37 on the tip 16a side. Due to the inclined surface 37a, the thickness of the outer flange portion 37 gradually decreases as it extends radially outward.

[0036] Four recesses 38 are formed on the outer circumference of the outer flange portion 37. The recesses 38 are arranged at equal intervals in the circumferential direction. The recesses 38 are formed so that they are open on both sides in the thickness direction and on the outer side in the radial direction of the outer flange portion 37. The recesses 38 are formed in an arc shape when viewed from the direction of the second axis A2. The radius of curvature of the recesses 38 is larger than the diameter of the protrusion 32 on the retaining plate 24. The inner circumferential surface of the nozzle body 16 is configured as a suction passage 43.

[0037] A joint 46 is fastened and secured to the female threaded portion 41 for connecting an air hose 74 (see Figure 7) extending from the suction air device 12. A filter 44 is provided in the suction passage 43 at the center in the direction of the second axis A2, so as to block the suction passage 43. The filter 44 is a so-called perforated metal, a disc-shaped metal plate with multiple holes formed in it. Retaining ring grooves 43a are formed on both sides of the suction passage 43 in the direction of the second axis A2 where the filter 44 is located. Retaining rings 45 are attached to each of these retaining ring grooves 43a. The filter 44 is held in place by these retaining rings 45.

[0038] In this configuration, the nozzle body 16 is inserted into the opening 17 from the first end face 14a side of the nozzle holder 14. At this time, the tip 16a of the nozzle body 16 is inserted toward the nozzle holder 14. When the nozzle body 16 is inserted all the way into the nozzle holder 14, the inclined surface 37a of the outer flange portion 37 comes into contact with the flat portion 18 of the nozzle holder 14. In other words, the inclined surface 37a functions as a contact surface 37b that comes into contact with the flat portion 18 of the nozzle holder 14.

[0039] The nozzle body 16, inserted into the nozzle holder 14, has its tip 16a protruding from the nozzle holder 14 through the opening 17 of the nozzle holder 14. The nozzle body 16 is elastically pressed against the base plate 31 of the retaining plate 24 on the side of the outer flange portion 37 opposite to the nozzle holder 14. As a result, the nozzle body 16 is supported by the nozzle holder 14 via the elastic support portion 15 (coil spring 28).

[0040] In this state, the recess 38 of the outer flange portion 37 fits into the protrusion 32 of the retaining plate 24. Since the radius of curvature of the recess 38 is larger than the diameter of the protrusion 32, the recess 38 is loosely fitted into the protrusion 32. In other words, the recess 38 fits into the protrusion 32 with a small gap. The protrusion 32 and recess 38 restrict the rotation of the nozzle body 16 around the respective axes A1 and A2 relative to the nozzle holder 14. That is, the protrusion 32 and recess 38 function as a rotation-retaining portion 39 that restricts the rotation of the nozzle body 16 around the respective axes A1 and A2 relative to the nozzle holder 14.

[0041] When the outer flange portion 37 is elastically pressed by the retaining plate 24, the inclined surface 37a (contact surface 37b) of the outer flange portion 37 is elastically pressed against the flat-cut portion 18 of the nozzle holder 14. The flat-cut portion 18 and the inclined surface 37a are formed to be inclined in the same direction. As a result, the nozzle body 16 automatically aligns with the nozzle holder 14, and the first axis A1 of the nozzle holder 14 and the second axis A2 of the nozzle body 16 coincide.

[0042] In this state, the outer diameter of the nozzle body 16 is smaller than the inner diameter of the opening 17, so a constant gap G is formed around the entire circumference between the opening 17 and the nozzle body 16. This gap G allows the nozzle body 16 to swing relative to the nozzle holder 14. Since the recess 38 of the outer flange portion 37 is loosely fitted into the convex portion 32 of the retaining plate 24, the anti-rotation portion 39 does not hinder the swinging of the nozzle body 16. Because the flat portion 18 and the inclined surface 37a are inclined in the same direction, the nozzle body 16 swings smoothly relative to the nozzle holder 14.

[0043] The outer flange portion 37 of the nozzle body 16 is constantly biased by an elastic pressing force directed toward the flat surface portion 18 of the nozzle holder 14 by the elastic support portion 15. Therefore, for example, when the nozzle body 16, which has been oscillated under load, becomes unloaded, a restoring force is applied so that the first axis A1 of the nozzle holder 14 and the second axis A2 of the nozzle body 16 coincide again.

[0044] <Mobile section> Figure 6 is a perspective view of the movable part 13. As shown in Figures 2 and 6, the movable part 13 that supports the suction nozzle 11 comprises a frame 51, a drive unit 52 provided on the frame 51, and an arm part 53 that is rotatably supported by the frame 51 and connected to the drive unit 52. The frame 51 is provided with a guide 56 that extends over the belt 7a.

[0045] More specifically, the guide 56 is integrally molded with a fixed portion 56a fixed to the frame 51, a first extension portion 56b that bends and extends diagonally from the fixed portion 56a toward the belt 7a and toward the downstream side in the conveying direction Y1, and a second extension portion 56c that bends and extends diagonally from the end of the first extension portion 56b opposite to the fixed portion 56a toward the upstream side in the conveying direction Y1. The poultry leg meat M conveyed by the conveying unit 2 is prevented from moving by the guide 56. The poultry leg meat M then abuts against the first extension portion 56b and the second extension portion 56c of the guide 56, and its posture is restricted so that it follows these extension portions 56b and 56c. Specifically, the posture of the poultry leg meat M is restricted so that the patella side of the poultry leg meat M follows the respective extension portions 56b and 56c.

[0046] The drive unit 52 houses an electric motor (not shown) and a reduction unit that reduces the rotation of the electric motor before outputting the result. A servo motor is an example of the electric motor. The output shaft 55 of the reduction unit protrudes along the transport direction Y1. An arm 53 is connected to the output shaft 55.

[0047] The arm portion 53 includes a support shaft 57 connected to the output shaft 55, a cylinder actuator 58 supported by the support shaft 57, and a connecting portion 59 that connects the cylinder actuator 58 to the suction nozzle 11. The support shaft 57 is arranged coaxially with the output shaft 55. Both axial ends of the support shaft 57 are rotatably supported by a pair of pillow-type bearings 61 provided on the frame 51.

[0048] The cylinder actuator 58 is, for example, an air cylinder. The cylinder actuator 58 comprises a rectangular parallelepiped tube 62 and a rod 64 protruding from the tube 62. A support shaft 57 is attached to one end of the tube 62 in the longitudinal direction. The tube 62 swings together with the support shaft 57 around the support shaft 57. The rod 64 protrudes from the end of the tube 62 opposite to the support shaft 57. The rod 64 rotates around its axis A3.

[0049] The connecting portion 59 is attached to the end of the rod 64 and is formed in a C-shape. Specifically, the connecting portion 59 is attached to the end of the rod 64 and comprises a base plate 59a that is long in one direction, and a pair of support plates 59b that are bent and extended from both ends of the base plate 59a in the longitudinal direction toward the opposite side from the rod 64. The base plate 59a extends in a direction perpendicular to the axis A3 of the rod 64. The rod 64 is attached to the longitudinal center of the base plate 59a.

[0050] The width between the pair of support plates 59b is approximately equal to or slightly greater than the width between the bottom surfaces 19a of the two receiving recesses 19 formed in the nozzle holder 14. The width of the support plates 59b in the short-side direction is approximately equal to or slightly less than the width of the receiving recesses 19 in the short-side direction (first axis A1 direction). Such a pair of support plates 59b are inserted into the receiving recesses 19 of the nozzle holder 14.

[0051] <Adsorption Air Equipment> Figure 7 is a block diagram of the adsorption air device 12. The adsorption air device 12 includes a vacuum generator 71, an air supply device 73 that supplies air to the vacuum generator 71 via a first flow path 72, a first switching valve 75 provided in the first flow path 72, a second flow path 76 that connects the vacuum generator 71 and an air hose 74 connected to the adsorption nozzle 11, a second switching valve 77 provided in the second flow path 76, a third flow path 78 that branches off from between the air supply device 73 and the first switching valve 75 in the first flow path 72 and is connected to the air hose 74, a third switching valve 79 provided in the third flow path 78, and a pressure reducing unit 80 provided between the first flow path 72 and the third switching valve 79 in the third flow path 78.

[0052] The first switching valve 75 switches the opening and closing of the first passage 72. The second switching valve 77 switches the opening and closing of the second passage 76. The third switching valve 79 switches the opening and closing of the third passage 78. The pressure reducing unit 80 is equipped with a pressure reducing sensor 70 that detects the pressure inside the pressure reducing unit 80. In addition, the second passage 76 is equipped with a suction pressure sensor 69 that detects the pressure inside the second passage 76.

[0053] Such an adsorption air device 12 is connected to the adsorption nozzle 11 via an air hose 74, and thus has both the function of a suction unit 81 that applies suction force to the adsorption nozzle 11 and the function of a release unit 82 that releases the suction by the adsorption nozzle 11. In other words, the adsorption air device 12 switches between the function of the suction unit 81 and the function of the release unit 82 by switching the respective switching valves 75, 77, and 79. This will be described in detail below.

[0054] <Operation of suction air equipment> Next, the operation of the adsorption air device 12 will be described. First, let's explain the function of the suction unit 81 as it applies suction force to the suction nozzle 11. When the suction air device 12 is to function as a suction section 81, the first flow path 72 is opened by the first switching valve 75, and the second flow path 76 is opened by the second switching valve 77. On the other hand, the third flow path 78 is blocked by the third switching valve 79.

[0055] In this state, when air is supplied to the vacuum generator 71 via the first channel 72 by the air supply device 73, a suction pressure is generated according to Bernoulli's theorem in accordance with the air flow rate (flow velocity). This suction pressure acts on the suction passage 43 of the nozzle body 16 in the adsorption nozzle 11 via the second channel 76. In other words, the vacuum generator 71, air supply device 73, and each of the switching valves 75, 77, and 79 mainly function as a suction section 81. Details of the role of the suction pressure sensor 69 provided in the third channel 78 will be described later.

[0056] Next, we will describe the function of the release unit 82 as a release mechanism that releases suction by the suction nozzle 11. When the suction air device 12 is to function as a release section 82, the first flow path 72 is blocked by the first switching valve 75. The second flow path 76 is blocked by the second switching valve 77. On the other hand, the third flow path 78 is opened by the third switching valve 79.

[0057] In this state, when air is supplied to the first channel 72 by the air supply device 73, this air is blown out to the nozzle body 16 of the suction nozzle 11 via the third channel 78, which is branched from the first channel 72. At this time, the air is depressurized by the depressurization unit 80 before being blown out to the nozzle body 16 of the suction nozzle 11. This releases the suction by the suction nozzle 11. In other words, the air supply device 73 and each of the switching valves 75, 77, and 79 mainly function as release units 82.

[0058] Returning to Figure 2, the transfer device 60 includes a rail section 91 provided above the arm section 53, a pusher 92 provided on the upper part of the rail section 91, and a hanger 93 provided on the opposite side of the rail section 91 from the conveying section 2. The transfer device 60 transfers the poultry leg meat M, which is placed on the belt conveyor 7 of the conveying section 2, to the rail section 91 (details will be described later).

[0059] The rail section 91 is equipped with a pair of guide bars 94 on which the ankles of the poultry thigh meat M can be hooked. The pair of guide bars 94 extend in the left-right direction and are arranged parallel to each other. Of the width between the pair of guide bars 94, the width on the hanger 93 side is wide enough to hook the ankles of the poultry thigh meat M. The pair of guide bars 94 are curved so that they widen towards the conveying section 2 side. This makes it easier to feed the ankles of the poultry thigh meat M between the pair of guide bars 94 from the conveying section 2 side. The pusher 92 pushes the poultry leg meat M, which has been transferred to the rail section 91, into the hanger 93. The poultry leg meat M is then transferred to the automatic deboning device 6 via the hanger 93.

[0060] <Operation of the transfer device> Next, the operation of the transfer device 60 will be explained based on Figures 6 and 8 to 12. As shown in Figure 6, the arm portion 53 of the transfer device 60 swings around the support shaft 57, causing the suction nozzle 11 to reciprocate between the belt conveyor 7 and the rail portion 91 (see arrow Y2 in Figure 6). Until the poultry leg meat M is transported in front of the transfer device 60 by the transport unit 2, the arm portion 53 is in a standby position slightly above the belt 7a. At this time, the tip 16a of the nozzle body 16 of the suction nozzle 11 is facing upwards on the belt 7a. Hereinafter, this orientation of the suction nozzle 11 will be referred to as the standby orientation. Whether or not the poultry leg meat M has been transported in front of the transfer device 60 is determined by a sensor (not shown).

[0061] Figure 8 is a perspective view of the transfer device 60, and is an explanatory diagram showing the state of the transfer device 60 when it is started up. As shown in Figure 8, the transport unit 2 transports the poultry leg meat M in front of the transfer device 60, and the guide 56 regulates the posture of the poultry leg meat M, causing the arm unit 53 to swing. Then, with the suction nozzle 11 in the standby position, the nozzle body 16 is pressed against the vicinity of the patella of the poultry leg meat M (see arrow Y3 in Figure 8). Because the guide 56 regulates the posture of the poultry leg meat M, the nozzle body 16 can be pressed precisely against the desired location (near the patella) of the poultry leg meat M.

[0062] Here, the nozzle body 16 is pivotably supported on the nozzle holder 14 via an elastic support portion 15. Therefore, the nozzle body 16, when pressed against the poultry thigh meat M, pivots to conform to the shape of the poultry thigh meat M. Since the nozzle body 16 is made of a rigid resin or metal that does not elastically deform, it is pressed against the poultry thigh meat M while maintaining a constant pressing force. As a result, the tip 16a of the nozzle body 16 is in close contact with the poultry thigh meat M. In this state, the suction air device 12 is driven, and the poultry thigh meat M is adsorbed by the nozzle body 16.

[0063] Figure 9 is an explanatory diagram showing the state in which poultry leg meat M is adsorbed onto the nozzle body 16. As shown in Figure 9, the poultry leg meat M is drawn into the suction passage 43 of the nozzle body 16. It is preferable that the inner periphery of the tip 16a side of the suction passage 43 be as angular as possible. By forming it in this way, the adhesion force between the tip 16a of the nozzle body 16 and the poultry leg meat M is increased, and the suction force of the nozzle body 16 can be made as large as possible.

[0064] A filter 44 is provided in the suction passage 43, preventing meat pieces and other debris from being sucked into the adsorption air device 12. The filter 44 is positioned to avoid contact with the poultry leg meat M drawn into the suction passage 43. Therefore, the filter 44 does not obstruct the drawing of the poultry leg meat M into the suction passage 43. In other words, the space in the suction passage 43 on the tip 16a side of the filter 44 becomes the meat drawing-in section R that draws in the poultry leg meat M. The volume of this meat drawing-in section R is 6 cm³. 3 ~10cm 3 Therefore, the poultry leg meat M can be sufficiently drawn into the meat entry section R, and the suction force of the nozzle body 16 can be made as large as possible.

[0065] Whether or not the poultry thigh meat M has been reliably sucked up by the nozzle body 16 is determined, for example, based on the detection result by the suction pressure sensor 69. That is, if the poultry thigh meat M is reliably adsorbed by the nozzle body 16, the second flow path 76 of the adsorption air device 12 is sufficiently depressurized. Therefore, it can be determined that the poultry thigh meat M has been reliably sucked up by the nozzle body 16. In this case, the suction of the nozzle body 16 by the adsorption air device 12 is continued.

[0066] In contrast, if the nozzle body 16 fails to adsorb the poultry leg meat M, the second flow path 76 of the adsorption air device 12 will not be sufficiently depressurized due to air entering between the nozzle body 16 and the poultry leg meat M. Therefore, it can be determined that the nozzle body 16 has failed to adsorb the poultry leg meat M. In this case, the adsorption air device 12 releases the suction from the adsorption nozzle 11. That is, air is blown out from the nozzle body 16 to separate the poultry leg meat M from the adsorption nozzle 11. This prevents the poultry leg meat M from moving to an unintended location. When the nozzle body 16 fails to adsorb the poultry leg meat M, air is blown out from the nozzle body 16, so if there are pieces of meat attached to the filter 44, for example, these pieces of meat will also be blown out.

[0067] Figure 10 is a perspective view of the transfer device 60, and is an explanatory diagram showing the state in which the poultry leg meat M is being transferred by the transfer device 60. Figure 10 corresponds to Figure 8 mentioned above. Next, as shown in Figure 10, the transfer device 60 swings the arm 53 while maintaining the suction state on the poultry leg meat M by the suction nozzle 11, raising the suction nozzle 11 around the support shaft 57. Then, the arm 53 lifts the poultry leg meat M (see arrow Y4 in Figure 10). At the same time as the swing of the arm 53, the rod 64 rotates around the axis A3. As a result, the posture of the poultry leg meat M rises from a lying position, and furthermore, the patella side of the poultry leg meat M faces the automatic deboning device 6. In this way, the transfer device 60 changes the posture of the poultry leg meat M while lifting it.

[0068] Figure 11 is a perspective view of the transfer device 60, illustrating how the transfer device 60 hooks the ankle of the poultry leg meat M onto the rail section 91. Figure 11 corresponds to the aforementioned Figure 8. As shown in Figure 11, when the suction nozzle 11 is further raised around the support shaft 57 (see arrow Y5 in Figure 11), the ankle of the poultry leg meat M catches on the rail section 91. Since the suction nozzle 11 is adsorbing the area near the patella of the poultry leg meat M, there are no parts around the ankle of the poultry leg meat M to lift it. Therefore, the position of the ankle of the poultry leg meat M can be easily aligned with the position of the rail section 91.

[0069] After the ankle of the poultry leg meat M is hooked onto the rail section 91, the suction by the suction nozzle 11 is released by the suction air device 12. This allows the poultry leg meat M to be easily separated from the suction nozzle 11. When the suction by the suction nozzle 11 is released, air is blown out from the nozzle body 16, so any meat pieces attached to the filter 44 are also blown out from the nozzle body 16. Therefore, the filter 44 does not become clogged with meat pieces. After the suction by the suction nozzle 11 is released, the poultry leg meat M that has been transferred to the rail section 91 is pushed into the hanger 93 by the pusher 92.

[0070] Figure 12 is a perspective view of the transfer device 60, and is an explanatory diagram showing the state in which the arm portion 53 of the transfer device 60 has returned to the standby position. Figure 12 corresponds to the aforementioned Figure 8. As shown in Figure 12, after the transfer of the poultry leg meat M to the rail section 91 by the transfer device 60 is complete, the arm section 53 is swung to lower the suction nozzle 11 around the support shaft 57 (see arrow Y6 in Figure 12). Then, the arm section 53 is returned to the standby position. At this time, the orientation of the suction nozzle 11 is returned to the standby position. This completes the transfer of the poultry leg meat M to the rail section 91 by the transfer device 60.

[0071] As described above, the transfer device 60 comprises a suction unit 81, an adsorption nozzle 11 that uses the suction force of the suction unit 81 to adsorb the poultry leg meat M, a moving unit 13 that moves the adsorption nozzle 11, and a release unit 82 that releases the adsorption of the adsorption nozzle 11 to the poultry leg meat M. Therefore, the poultry leg meat M can be accurately transferred from the transport unit 2 to the automatic deboning device 6 without gripping the ankle or other parts of the poultry leg meat M. In other words, there are no parts around the ankle of the poultry leg meat M to lift it. As a result, the position of the ankle of the poultry leg meat M can be easily aligned with the position of the rail unit 91. Thus, the poultry leg meat M can be accurately transferred from the transport unit 2 to the automatic deboning device 6.

[0072] A guide 56 is provided on the belt 7a in front of the transfer device 60. Since the posture of the poultry leg meat M is regulated by the guide 56, when the suction nozzle 11 picks up the poultry leg meat M, the nozzle body 16 can be pressed precisely against the desired location (near the patella) of the poultry leg meat M. Therefore, the poultry leg meat M can be transferred more accurately from the conveying unit 2 to the automatic deboning device 6.

[0073] The suction air device 12 is equipped with a suction pressure sensor 69 that detects poor suction of the poultry leg meat M. Therefore, if it is determined that poor suction of the poultry leg meat M by the nozzle body 16 has occurred based on the detection result of the suction pressure sensor 69, the suction air device 12 can release the suction by the suction nozzle 11. In other words, air can be blown out from the nozzle body 16 to separate the poultry leg meat M from the suction nozzle 11. This prevents the poultry leg meat M from falling to an unintended location during transfer. When poor suction of the poultry leg meat M by the nozzle body 16 occurs, air is blown out from the nozzle body 16, so if, for example, pieces of meat are attached to the filter 44, these pieces of meat can also be blown out. This prevents clogging of the filter 44.

[0074] The present invention is not limited to the embodiments described above, but includes various modifications to the embodiments described above, without departing from the spirit of the invention. For example, in the embodiment described above, poultry leg meat M was used as an example of a workpiece that is adsorbed and transferred by the adsorption nozzle 11. However, it is not limited to this, and the workpiece is not limited to poultry leg meat M. The adsorption nozzle 11 can be used for various types of meat. The adsorption nozzle 11 can also be used for various other workpieces besides meat.

[0075] In the above-described embodiment, the case was explained in which air was used as the power source to generate suction force in the adsorption nozzle 11 and to release this suction force. However, it is not limited to this, and fluids other than air may be used. Any fluid that can generate suction force on the poultry leg meat M and release the adsorption to the poultry leg meat M is acceptable as the power source.

[0076] In the above-described embodiment, the case in which the anti-rotation portion 39 of the nozzle body 16 relative to the nozzle holder 14 in the suction nozzle 11 is configured by a convex portion 32 of the retaining plate 24 and a concave portion 38 of the nozzle body 16 was explained. However, it is not limited to this, and the convex portion 32 may be provided on the nozzle body 16 and the concave portion 38 on the retaining plate 24. Alternatively, the convex portion 32 and the concave portion 38 may be provided on the nozzle holder 14 itself instead of the retaining plate 24.

[0077] In the above-described embodiment, the case in which the moving unit 13 comprises a drive unit 52 and an arm unit 53 was explained. However, it is not limited to this, and the moving unit 13 only needs to be able to move the suction nozzle 11 up and down (reciprocate) between the transport unit 2 and the rail unit 91 (automatic bone deboning device 6). For example, the moving unit 13 can also be made up of a multi-axis robot or a SCARA robot.

[0078] In the above-described embodiment, the suction air device 12 was described in a case where it has both the function of a suction unit 81 that applies suction force to the suction nozzle 11 and the function of a release unit 82 that releases suction by the suction nozzle 11. That is, the suction air device 12 was described in a case where it switches between the function of the suction unit 81 and the function of the release unit 82 by switching the respective switching valves 75, 77, and 79. However, it is not limited to this, and the suction unit 81 and the release unit 82 may be provided separately.

[0079] In the above-described embodiment, the case in which the nozzle body 16 is supported by the nozzle holder 14 via an elastic support portion 15 was explained. The case in which the elastic support portion 15 is provided with a coil spring 28 as the elastic member was explained. However, it is not limited to this, and various members can be used as the elastic member. It is sufficient that the nozzle body 16 is supported by the nozzle holder 14 via an elastic member. In this case, the elastic member only needs to be able to bias either the flat surface portion 18 of the nozzle holder 14 or the inclined surface 37a of the nozzle body 16 toward the other.

[0080] In the above embodiment, the detection of poor suction of the poultry leg meat M by the suction nozzle 11 was described in a case where the detection was performed based on the detection result of the suction pressure sensor 69. However, it is not limited to this, and various sensors (detection units) can be used instead of the suction pressure sensor 69. The sensor only needs to be able to detect poor suction of the poultry leg meat M by the suction nozzle 11. For example, the sensor may be a device that images the posture of the poultry leg meat M adsorbed by the suction nozzle 11. Based on this imaging result, poor suction of the poultry leg meat M by the suction nozzle 11 may be detected. [Explanation of Symbols]

[0081] 2…Conveyor unit 7… Belt conveyor (conveyor) 11…Suction nozzle (suction part) 12… Adsorption air equipment 13…Moving parts 56… Guide 60…Transfer device (meat transfer device) 69... Suction pressure sensor (detection unit) 81...Suction part 82...Release section M…Poultry thigh meat (meat)

Claims

1. Suction part and An adsorption unit that uses the suction force from the aforementioned suction unit to adsorb meat, A moving part moves the adsorption part and changes the posture of the meat, A release unit for releasing the adsorption of the meat by the adsorption unit after the adsorption unit has moved, Equipped with, Meat transfer equipment.

2. The system includes a conveying unit for transporting the aforementioned meat, The aforementioned transport unit is A conveyor on which the meat is placed, A guide that regulates the position of the meat on the conveyor, Equipped with, The meat transfer device according to claim 1.

3. The system includes a detection unit for detecting poor adsorption of the meat by the adsorption unit, When the detection unit detects a poor adsorption of the meat, the release unit releases the adsorption of the meat and blows air from the adsorption unit. The meat transfer device according to claim 1.

Images