and the body processing system

Abstract

To rapidly and accurately perform a process of automatically processing a processing site on recognizing the positional information of the processing site targeted for predetermined processing during animal flesh demolition.SOLUTION: An animal flesh processing system 10 comprises an animal flesh detection system 17 which detects the positional information of animal flesh C moving while being retained by a trolley 19. The animal flesh detection system 17 comprises a projection part 45A that is displaceable so as to make a contact and a non-contact on the forward side in the direction of movement of the trolley 19, an actuator which can move the projection part 45A, and a sensor which detects the migration length of the projection part 45A. The actuator drives the projection part 45A to move in a reverse direction to the direction of movement of the trolley 19 in a condition that the projection part 45A keeps a contact on the trolley 19, where the drive power at this time is so set that the trolley 19 may be movable in the direction of movement while keeping the contact condition of the projection part 45A on the trolley 19 by pushing the projection part 45A against the trolley 19.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a pig carcass processing system, and more particularly to a pig carcass processing system that automatically performs predetermined processing during the disassembly process of a pig carcass.

Background Art

[0002] As disclosed in Patent Document 1 and the like, various devices and systems for automating some processes in the disassembly work of pig carcasses such as cows and pigs have been proposed. For example, the system of Patent Document 1 includes a robot that temporarily stops the pig carcass and performs a predetermined cutting process when the pig carcass passes through a line suspended along a pig carcass rail, and a sensor that detects the position of the tailbone of the pig carcass when performing the cutting process. The sensor functions as a distance measuring device that measures the distance to the tailbone of the pig carcass using a camera, and calculates three-dimensional coordinate data of the tailbone from the distance. Note that Patent Document 1 does not clearly disclose how to recognize the tailbone itself in the pig carcass.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the disassembly process of pig and cow carcasses, there is a process of cutting the leg part of the carcass from the joint part. However, there are individual differences in the position and shape of the joint part, and it is difficult to identify the joint part from the surface of the carcass even by visual judgment by humans. This is one factor that hinders the automation of a wide range of processes in the disassembly work of carcasses.

[0005] The present invention has been devised by paying attention to such problems, and its object is to recognize the position information of the processing site to be processed for each body flowing in the line during the disassembly work of the body, and then to provide a body processing system capable of quickly and accurately performing the process of automatically processing the processing site.

Means for Solving the Problems

[0006] To achieve the above object, the present invention mainly provides a body processing system that performs predetermined processing in the disassembly process of the body. When the body is held by a holder and the holder is moved in a predetermined moving direction by a predetermined power, a body detection system for detecting the position information of the body is provided. The body detection system includes a protrusion that can be displaced so as to be able to contact and non-contact on the front side in the moving direction of the holder, an actuator that enables the movement of the protrusion, and a sensor that detects the moving distance of the protrusion for detecting the position information. The actuator drives the protrusion to move in the direction opposite to the moving direction of the holder in a state where the protrusion is in contact with the holder, and the driving force at this time is set so that the holder can move in the moving direction while pressing the protrusion against the holder to maintain the contact state between the protrusion and the holder.

Effects of the Invention

[0007] According to the present invention, for example, even in a part where it is difficult to specify the position only by visual recognition from the front, such as the joint part of the leg of a pig body, by acquiring a plurality of image data from different angles so as to make its characteristics easier to identify and using the image processing of each of the image data, the processing site can be specified more reliably. Therefore, by performing the operation control of the robot body based on the position information of the processing site, it becomes possible to quickly and accurately perform the automatic processing of the processing site.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0010] FIG. 1 shows a schematic front view of the pig carcass processing system according to this embodiment, FIG. 2 shows a schematic side view thereof, and FIG. 3 shows a schematic plan view thereof. In these figures, the pig carcass processing system 10 functions as a system that automates the process of cutting the joint parts J of the left and right legs of the pig carcass C (dashed line in each figure) when performing the disassembly process of the pig carcass.

[0011] Specifically, in the pig carcass processing system 10, after recognizing the position of the joint part J, which is the processing part of the pig carcass C to be processed, at the position recognition station 11 in the left area in FIG. 1, the cutting process of the joint part J is performed at the processing station 12 in the right area in the same figure. Also, the pig carcass processing system 10 uses an existing pig carcass transfer mechanism 14 that moves the pig carcass C in the direction from the position recognition station 11 to the processing station 12 (rightward in FIG. 1). Note that the present invention is not limited to this, and the pig carcass transfer mechanism 14 can also be a component of the system 10.

[0012] The above-mentioned hog carcass processing system 10 has various devices, members, equipment, etc. described later supported on a frame FR (detailed illustration omitted), enabling continuous processing of each hog carcass C in a line where a plurality of hog carcasses C flow.

[0013] This hog carcass processing system 10 includes a processing site detection system 15 that detects the position information of the joint part J in the hog carcass C to be processed, a robot system 16 that automatically performs cutting processing of the joint part J based on the detection result of the processing site detection system 15, and a carcass detection system 17 that detects the moving state of the hog carcass C when executing various processes in these processing site detection system 15 and robot system 16.

[0014] The above-mentioned carcass moving mechanism 14 is not particularly limited, but has a structure that can move in the horizontal direction from the left side to the right side in FIG. 1 in a suspended state with the head side and front leg side of the hog carcass C facing downward. This carcass moving mechanism 14 has a structure that uses power from a motor (not shown) or the like to move the fixture that holds the hog carcass C in the horizontal direction. The fixture consists of a hook F attached to the buttocks side of the hog carcass C and a trolley 19 to which the hook F is attached. Since these structures are not the essential part of the present invention, detailed illustration and description are omitted. In this embodiment, a ball screw shaft structure that moves the trolley 19 along a slider 20 extending in the horizontal direction is adopted. In addition, in the present invention, a structure can also be adopted in which the trolley 19 is hooked on the teeth of a belt extending in the horizontal direction and the trolley 19 is moved while rotating the belt. In short, as the carcass moving mechanism 14 of the present invention, various types of structures can be adopted as long as the hog carcass C can be moved in the horizontal direction.

[0015] A plurality of trolleys 19 are arranged at predetermined intervals along the slider 20. Although not particularly limited, there are a plurality of trolleys 19, and each trolley 19 holds a different individual hog carcass C in a suspended state. In FIG. 1 and the like, for the sake of avoiding drawing complexity, the trolleys 19 and the hog carcasses C are not shown except for one location on the most upstream side.

[0016] As shown in FIG. 4, the processing part detection system 15 includes an imaging means 22 that acquires image data of a predetermined range including the front leg part of the pig and body C, and an image processing means 23 that specifies the position information of the joint part J of the front leg part by image processing based on the image data.

[0017] The imaging means 22 is composed of first and second cameras 25 and 26 which are 3D cameras fixedly arranged in the position recognition station 11, so that by imaging the pig and body C from two different directions, different shape features at the joint part J appear in each image data.

[0018] As schematically shown in FIGS. 1 to 3, the first camera 25 is arranged so as to be able to image the pig and body C that have reached a predetermined position by the body moving mechanism 14 from the front direction looking from the abdominal side, and image data that can recognize the left - right, up - down positional relationship of the pig and body C is acquired.

[0019] The second camera 26 can image the pig and body C at the aforementioned predetermined position from an oblique rear direction, and image data that can recognize the shape of the oblique rear side of the joint part J in this direction is acquired.

[0020] Although not particularly limited, the first and second cameras 25 and 26 are arranged at a relative angle of about 30 degrees to 60 degrees (preferably 45 degrees) in a plan view, as exemplified in FIG. 3. Also, as exemplified in FIG. 2, the first and second cameras 25 and 26 are arranged so that their height positions from the ground are relatively different. Further, the first camera 25 is arranged so as to be able to image downward at an angle of about 30 degrees from the horizontal direction with respect to the pig and body C, while the second camera 26 is arranged so as to be able to image in the horizontal direction with respect to the pig and body C. In this way, as the imaging means 22, as long as image data that can perform the subsequent processing by the image processing means 23 for accurately specifying the position information of the joint part J can be acquired, various modes can be adopted, such as further adding cameras, applying and arranging various cameras, etc.

[0021] The image processing means 23 is provided in a controller 28 composed of a computer or the like that performs various operation controls and arithmetic processes of the pig carcass processing system 10.

[0022] In this image processing means 23, for the image data respectively acquired by the first and second cameras 25 and 26, the presence position of the joint part J is estimated, and image processing is performed to specify the position where the presence positions overlap as the position information of the joint part J. Specifically, using the image data composed of RGB data and depth data, based on the data learned by deep learning of artificial intelligence, in the image data acquired by the first and second cameras 25 and 26, the joint parts J of the left and right front legs are simultaneously recognized. Then, the three-dimensional position coordinates of each left and right joint part J at the position of the pig carcass C at the timing of imaging by the first and second cameras 25 and 26 are specified as the position information.

[0023] Note that the image processing in the image processing means 23 is not limited to the specification of the position information of the joint part J using artificial intelligence as described above, and it is also possible to specify the position information of the joint part J by using other known image processing methods such as pattern matching that do not use artificial intelligence.

[0024] As shown in FIG. 4, the robot system 16 includes a robot body 30 that operates within a predetermined space range, and an operation control means 31 that controls the operation of the robot body 30.

[0025] The robot body 30 is arranged at the processing station 12 (FIG. 1 etc.), and as shown in FIG. 5, it has a structure that enables the cutting process of the joint parts J of the left and right legs of the pig carcass C that moves by the pig carcass moving mechanism 14. That is, the robot body 30, by the operation control by the operation control means 31 (FIG. 4), moves in a suspended state and follows the pig carcass C, and can operate to cut each joint part J.

[0026] The robot body 30 is arranged to face the abdominal side of the pig body C that is moved by the body movement mechanism 14. Although not particularly limited, it is configured by a mechanism that enables four degrees of freedom of movement. That is, the robot body 30 of the present embodiment includes an arm 33 that enables three degrees of freedom of rotational movement, a slider 34 that translates the arm 33 along the moving direction of the pig body C, and a hand tool 35 that functions as an end effector attached to the tip side of the arm 33 and serves as a tool for cutting the joint part J.

[0027] As shown in FIG. 5(B), the arm 33 has a structure that allows relative rotation of the constituent members through three joint portions 33A, with a drive device M such as a motor driven and controlled by the operation control means 31 as a power source. That is, each joint portion 33A allows relative rotation only around the rotation axis R that is parallel to each other, and each of these rotation axes has a structure that always follows a linear motion axis along the moving direction of the slider that is the same as the moving direction of the pig body C. Therefore, the arm 33 moves only along a plane orthogonal to the moving direction of the pig body C, and moves the hand tool 35 without causing the aforementioned lateral sway.

[0028] The slider 34 includes a rail 37 that extends along the moving direction of the pig body C, and a support body 38 that is slidably attached to the rail 37 and supports the arm 33.

[0029] The support body 38 can translate (linear motion) along the rail 37 with a drive device M such as a motor driven and controlled by the operation control means 31 as a power source. For this reason, the arm 33 is supported by the rail 37 so as to be translatable along the moving direction of the pig body C in a state of hanging down from the rail 37. With this structure, the base of the arm 33 becomes the slider 34 located above it, and a predetermined space portion can be formed between the arm 33 and the floor surface. By securing the space portion, it becomes easier to clean and sweep the floor surface, and a more hygienic robot system 16 can be achieved.

[0030] Although the hand tool 35 is not particularly limited, examples thereof include a cutter and a saw capable of cutting the joint part J. Using a drive device M such as a motor that is driven and controlled by the operation control means 31 as a power source, a cutting operation can be performed by a cutter or the like.

[0031] Note that, for the constituent members and parts of the robot body 30, it is preferable to adopt a material to which dirt such as blood and oil scattered during the cutting of the pig and the body C and dust are less likely to adhere. In addition, various members can be formed of a rust-proof material such as stainless steel so that the robot body 30 can be washed with water or the like, and a waterproof structure can be adopted for the joint portion 33A. Furthermore, as the lubricant applied to the movable region of each joint portion 33A, it is preferable to adopt food grease from the viewpoint of maintaining food safety. As described above, without using a special cover or instrument in combination, a more hygienic system can be achieved when processing an edible pig and the body C.

[0032] Also, the robot body 30 is not limited to the above-described configuration, and various known robot structures such as the number of degrees of freedom and the structure can be adopted or replaced as long as the same processing operations can be automatically performed.

[0033] The operation control means 31 is provided in the above-described controller 28, and based on the position information of the joint part J detected by the processing part detection system 15 and the movement information of the pig and the body C detected by the body detection system 17 by the computer, the operation control of the robot body 30 is executed so as to cut the joint part J with the hand tool 35.

[0034] As conceptually shown in FIG. 6, the body detection system 17 includes a first position detection unit 41 that detects the timing of acquiring the position information of the joint part J of the pig and the body C existing in the position recognition station 11, and a second position detection unit 42 that detects the position information of the pig and the body C moving within the processing station 12.

[0035] The first position detection unit 41 is not particularly limited, but may be composed of a transmissive laser sensor or the like. When the trolley 19 passes through a predetermined position within the position recognition station 11, it is arranged such that the laser light from a light emitting unit (not shown) to a light receiving unit is blocked. Then, when the blocking of the laser light is detected, the processing site detection system 15 detects the position of the joint J of the pig body C held by the corresponding trolley 19 as described above.

[0036] The second position detection unit 42 is installed within the processing station 12 and includes a fixed cylinder 44 having a movable part that slides by a predetermined power source, a trolley contact cylinder 45 that is integrally attached to the movable part and operates to enable contact with the trolley 19, and control processing means 46 (see FIG. 4) that controls the driving of the fixed cylinder 44 and the trolley contact cylinder 45 and obtains the position information of the moving pig body C.

[0037] Although the detailed structure of the fixed cylinder 44 is not shown, it is configured such that a sensor such as an encoder is provided on an actuator (linear actuator, rodless cylinder, etc.) that moves the trolley contact cylinder 45 at a predetermined timing in the lateral direction that is the moving direction of the pig body C. In this fixed cylinder 44, the sensor detects the lateral movement distance of the trolley contact cylinder 45 and transmits the movement distance to the operation control means 31 of the robot system 16 at a predetermined timing.

[0038] The trolley contact cylinder 45 has a protrusion 45A that can be displaced in a direction perpendicular to the moving direction of the trolley 19 connected to the pig body C. The protrusion 45A is displaced between a protruding state in which it can contact the trolley 19 and a retracted state in which it does not contact the trolley 19 by the driving of the trolley contact cylinder 45. In the protruding state, as will be described later, it is set such that the protrusion 45A contacts on the front side in the moving direction of the trolley 19. In the contacted state, the trolley contact cylinder 45 functions as a moving body that moves integrally with the trolley 19.

[0039] The control processing means 46 is not particularly limited, but is provided in the aforementioned controller 28. As will be described later, the computer drives and controls the fixed cylinder 44 and the trolley contact cylinder 45, and detects the movement information of the target pig and the body C along with their various operations.

[0040] Note that the body detection system 17 is not limited to the aforementioned structure, and various measuring devices and measurement systems such as sensors can be adopted as long as they can detect the movement information of the pig and the body C.

[0041] Next, the operations of each part in the body processing system 10 will be described.

[0042] First, the pig and the body C to be cut at the feet are attached to each trolley 19 via the hook F, and the body movement mechanism 14 moves each pig and the body C laterally from the position recognition station 11 on the upstream side of the line toward the processing station 12 on the downstream side.

[0043] Here, as shown in Fig. 7(A), the second position detection unit 42 of the body detection system 17 sets a predetermined position near the entrance of the processing station 12 as a reference position P that is the origin for measuring the movement distance of the trolley contact cylinder 45. The trolley contact cylinder 45 is in a state where the protrusion 45A protrudes under the condition that it does not interfere with the trolley 19 and related components around it.

[0044] From this state, when the trolley 19 holding the pig and the body C to be detected for position passes through the first position detection unit 41 as shown by the dashed line in Fig. 7(A), the processing site detection system 15 detects the position information of the joint J of the pig and the body C held by the trolley 19.

[0045] Thereafter, as shown in FIG. 7(B), a protruding protrusion 45A abuts against the front portion of the trolley 19 in the moving direction thereof. At this time, the fixed cylinder 44 drives the trolley contact cylinder 45 to move in the direction opposite to the moving direction of the trolley 19, but is set such that the moving force of the trolley 19 by the body moving mechanism 14 is greater than this driving force.

[0046] Therefore, as shown in FIG. 7(C), while the protrusion 45A is pressed against the trolley 19, their contact state is maintained, and the trolley contact cylinder 45 moves downstream integrally with the trolley 19. At this time, the moving distance L from the reference position P of the trolley contact cylinder 45 is measured by a sensor such as an encoder provided in the fixed cylinder 44. Thereby, the position information of the hog carcass C held by the trolley 19 that is moving integrally with the trolley contact cylinder 45 is specified over time. Although not particularly limited, this position information is obtained as an absolute coordinate system with a predetermined position within the hog carcass processing system 10 as the origin.

[0047] Thereafter, the operation of the robot system 16 is controlled based on the position information detected by the first and second position detection units 41 and 42. That is, in the operation control means 31 of the robot system 16, the position information of the joint J of the hog carcass C detected by the first position detection unit 41 is associated with the position information of the moving hog carcass C over time, and the position information of the joint J of the hog carcass in the absolute coordinate system over time is calculated. Then, based on the position information of the joint J over time, the operation of the robot main body 30 is controlled, and the end effector 35 held by the robot main body 30 is operated along a predetermined locus so as to cut the joint J of the hog carcass C moving together with the trolley 19. Note that the leg portion after cutting the joint J falls into a collection box (not shown).

[0048] After cutting the joint J of the hog carcass C as described above, the end effector 35 is retracted to a predetermined position after a cleaning operation such as passing through a cleaning tank (not shown) due to the operation of the robot main body 30 from the hog carcass C, and is prepared for the cutting operation of the hog carcass C held by the next trolley 19.

[0049] In addition, after cutting the joint J between the pig and the body C, the driving of the trolley contact cylinder 45 causes the protrusion 45A to displace to a retracted state where it is non-contact with the trolley 19, as shown in FIG. 7(D). From this retracted state, the driving of the fixed cylinder 44 causes the trolley contact cylinder 45 to move in the direction opposite to the moving direction of the trolley 19. When displacing the protrusion 45A from the protruding state to the retracted state, in order to reduce the pressing force of the protrusion 45A against the trolley 19, the driving of the fixed cylinder 44 may be temporarily stopped, and after making the protrusion 45A retracted, the fixed cylinder 44 may be driven again.

[0050] When the trolley contact cylinder 45 reaches a predetermined position on the most downstream side that is the limit of the movable range of the fixed cylinder 44, as a safety measure, the operation of the entire body processing system 10 including the operation of the robot body 30 is set to be immediately stopped.

[0051] Then, as shown by the dashed line in FIG. 7(D), after a predetermined time without interfering with the trolley 19 and its related components that hold the pig and the body C after the aforementioned cutting operation, after the trolley contact cylinder 45 moves to a position behind the trolley 19 in the moving direction, the protrusion 45A is made to protrude again by driving the trolley contact cylinder 45.

[0052] Furthermore, as shown in FIG. 7(E), the driving of the fixed cylinder 44 causes the trolley contact cylinder 45 to move toward the next trolley 19 that follows after the position passage is detected by the first position detection unit 41. When the protruding protrusion 45A contacts the next trolley 19, as described above, the movement information of the pig and the body C held by the trolley 19 is specified, and the cutting operation on the robot body 30 is performed. The above operations are repeated for each trolley 19, and the cutting process of the leg portions of the pig and the body C sent at a predetermined interval is sequentially and automatically continuously performed.

[0053] Therefore, according to the above embodiments, the following various effects can be obtained.

[0054] With the above and the body movement mechanism 14, for each pig body C held by a plurality of trolleys 19 provided at regular intervals, the robot main body 30 is operationally controlled following the movement of the pig body C, so that the joints J of the pig body C can be continuously cut while accurately grasping the positions of the joints J of the pig body C that sequentially reach the processing station 12 without stopping the line. As a result, in the above body processing system 10, a faster continuous processing operation becomes possible.

[0055] Also, in the processing part detection system 15, by using the first and second cameras 25 and 26, the position of the joint J, which is difficult to recognize the shape only from the front view image data, can be complemented with image data from another angle where the shape of the joint J clearly appears, and the automatic recognition accuracy of the joint J, which varies from individual to individual and is difficult to distinguish, can be further improved. In particular, in this embodiment, the joints J of the left and right front legs can be recognized simultaneously, and the position information of the joint J can be specified more efficiently. In addition, since such automatic recognition of the joint J is performed by image processing, it is possible to obtain the position information of the joint J with a simpler configuration without irradiating the pig body C with X-rays or the like.

[0056] Furthermore, the arm 33 of the robot main body 30 is limited to operations of rotational movement in a direction along a plane perpendicular to the moving direction of the pig body C and translational movement along the moving direction of the pig body C, and has a structure that does not perform swinging in the left-right direction. Therefore, the base of the arm 33 becomes a sliding member 34 that translates. Even when an operator exists beside the arm 33, compared to a conventional robot in which the base of the arm installed on the floor surface rotates, the possibility of the operator accidentally colliding with the arm 33 can be reduced, and the safety of the system can be further improved.

[0057] As a modification of the body processing system 10 of the above embodiment, each of the following aspects can also be selected, added, or alternatively applied.

[0058] As a first modification example, although not shown in the drawings, it is preferable to further provide a movement restricting means for restricting the movement of the pig and the body C that hinders the processing by the robot body 30, such as the vibration of the pig and the body C generated as the pig in the suspended state and the body C move. Examples of this movement restricting means include a conveyor device that rotates a belt extending in the moving direction of the pig and the body C and that contacts the moving pig and the body C, and the arrangement of a rod-shaped member or the like extending in the moving direction of the pig and the body C.

[0059] As a second modification example, it is also possible to adopt a system configuration that can simultaneously perform the cutting process of the hind legs of the pig and the body C. In this configuration, the robot body 30 is further provided with an arm 33 for moving another hand tool 35 for cutting the hind legs, and the processing site detection system 15 is further provided with imaging means 22 for performing camera imaging of the hind legs. By specifying the position information of the joint J of the hind legs by the same image processing as described above, an example of a mode in which the robot body 30 simultaneously cuts the hind legs can be illustrated.

[0060] As a third modification example, an automatic determination system for automatically determining the processing state in the robot system 16 can also be added to the body processing system 10 of the above-described embodiment. In the automatic determination system, a camera capable of imaging a predetermined range including the feet of the pig and the body C after the cutting process is further provided on the outlet side of the processing station 12, and the image data obtained by the camera is compared with the image data obtained by the processing site detection system 15 before the cutting process. Then, the processing state, that is, whether or not the cutting process of the feet is completed, is automatically determined by an image processing unit using known image processing or the like, and the result is managed within the system. Thereby, it is possible to automatically confirm whether the processing operation has been properly completed, and it is possible to feedback the result to the system, thereby assisting the smooth operation of the disassembly work process for the pig and the body C.

[0061] As a fourth modification, for the robot system 16 described above, the configuration of the linear motion with one degree of freedom for moving the robot body 30 horizontally is omitted, and the body moving mechanism 14 is used to temporarily stop the hog carcass C at a predetermined position of the processing station 12, and a mode can be adopted in which the robot body 30 performs cutting processing on the stationary hog carcass C at this position. In this case, the configuration of the second position detection unit 42 in the body detection system 17 can be simplified or omitted.

[0062] In the above embodiment, the hog carcass processing system 10 is configured to cut the feet of the hog carcass C as the processing target. However, the present invention is not limited to this. By replacing the end effector tool 35 corresponding to a desired processing operation with substantially the same configuration as the above embodiment, various other processing operations on the hog carcass C, such as neck cutting, belly cutting, and internal organ scooping, can be performed using the same system. In addition, the hog carcass processing system 10 can also be applied to other processing operations on hog carcasses.

[0063] In addition, the configuration of each part of the device in the present invention is not limited to the illustrated configuration example, and various modifications are possible as long as they exhibit substantially the same function.

Explanation of Reference Numerals

[0064] 10 Hog carcass processing system 11 Position recognition station 12 Processing station 15 Processing part detection system 16 Robot system 17 Hog carcass detection system 19 Trolley (holder) 22 Imaging means 23 Image processing means 25 First camera (camera) 26 Second camera (camera) 33 Arm 33A Joint part 34 Slider 35 End effector tool (tool) 41 First position detection unit 42 Second position detector 44 Fixed cylinder (sensor) 45 Trolley contact cylinder (moving body) C Pig and body (and body) F Hook (holder) J Joint part (processing part) R Rotation axis

Claims

【Claim 1】 In a body processing system that performs predetermined processing during the disassembly process of a body, when moving a trolley that holds the body in a predetermined moving direction by a predetermined power, a body detection system for detecting the position information of the body is provided. The body detection system is composed of a fixed cylinder including a movable part that slides, a trolley contact cylinder that is integrally attached to the movable part and operates to enable contact with the trolley, and control processing means for controlling the driving of the fixed cylinder and the trolley contact cylinder and obtaining the position information of the moving body. The fixed cylinder has a configuration in which a sensor for detecting the lateral movement distance of the trolley contact cylinder in the lateral direction, which is the moving direction of the body, is provided on an actuator that moves the trolley contact cylinder in the lateral direction at a predetermined timing. The trolley contact cylinder has a protrusion that can be displaced in a direction perpendicular to the moving direction of the trolley. The protrusion is displaced between a protruding state in which it can contact the trolley by driving the trolley contact cylinder and a retracted state in which it does not contact the trolley. In the control processing means, while maintaining the contact state between the protrusion and the trolley while pressing the protrusion against the trolley in the protruding state, the driving of the fixed cylinder and the trolley contact cylinder is controlled so that the trolley can move integrally with the trolley contact cylinder. After processing the body, the driving of the fixed cylinder is temporarily stopped to reduce the pressing force of the protrusion against the trolley, and then the protrusion is put into the retracted state, and the trolley contact cylinder is moved in a direction opposite to the moving direction of the trolley. Next, the driving of the fixed cylinder and the trolley contact cylinder is controlled so that the protrusion contacts the next trolley on which the body to be processed next is held. A body processing system characterized by this.

Images