Meat processing equipment

Abstract

To provide a meat processing device which improves the degree of freedom in conveying meat.SOLUTION: A meat processing device 1 includes: a conveyance line 3 including a plurality of conveyance units 30 arranged in series; at least one processing station 7 for processing meat 2 which is conveyed by the conveyance line 3; and a controller for controlling the conveyance units 30. The plurality of conveyance units 30 include: a first conveyance unit 31 having a first conveyor 33A and a first sensor 35A for detecting the meat 2 on the first conveyor 33A; and a second conveyance unit 32 positioned on the downstream side of the first conveyance unit 31, and having a second conveyor 33B and a second sensor 35B for detecting the meat 2 on the second conveyor 33B. The controller is constituted so as to perform drive control of the first conveyor 33A and the second conveyor 33B based on a detection result of the second sensor 35B.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to meat processing equipment. [Background technology]

[0002] Conventionally, meat processing machines that automatically transport and process meat have been known. For example, the meat processing machine disclosed in Patent Document 1 includes multiple conveyors for transporting meat (workpieces). In Patent Document 1, the workpieces transported by the conveyors are fed into a scoring station. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2009 / 139031 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, it would be preferable to improve the flexibility of meat transportation, such as by changing the way meat is transported depending on the transport status of multiple conveyors, but Patent Document 1 does not disclose such a configuration.

[0005] The present disclosure provides a meat processing device that improves the degree of freedom in conveying meat. [Means for solving the problem]

[0006] At least one embodiment of the meat processing device of the present invention comprises: a conveyance line including a plurality of conveyance units arranged in series; at least one processing station for processing meat conveyed by said conveying line; a controller for controlling the transport unit; Equipped with The plurality of transport units include: a first conveying unit having a first conveyor and a first sensor for detecting the meat on the first conveyor; a second conveying unit located downstream of the first conveying unit and having a second conveyor and a second sensor for detecting the meat on the second conveyor; Including, The controller is configured to control the driving of the first conveyor and the second conveyor based on the detection result of the second sensor. [Effects of the Invention]

[0007] According to the present disclosure, a meat processing device can be provided that improves the degree of freedom in conveying meat. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is an overall perspective view conceptually showing a meat processing device according to one embodiment. [Figure 2] 1 is a plan view conceptually showing a meat processing device according to one embodiment. [Figure 3] FIG. 2 is an enlarged perspective view conceptually illustrating a sorting unit, a supply unit, and a delivery unit according to an embodiment. [Figure 4] FIG. 2 is a plan view conceptually illustrating a discharge line according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, several embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of components described as embodiments or shown in the drawings are merely illustrative examples and are not intended to limit the scope of the present invention.

[0010] FIG. 1 is a perspective view conceptually showing an entire meat processing apparatus 1 according to one embodiment. The meat processing apparatus 1 is an apparatus that automatically conveys and processes meat 2. The meat 2 may be meat from pork, beef, horse, or the like, or may be meat from fish or poultry, etc. The meat 2 may be meat with or without bones.

[0011] A meat processing apparatus 1 according to one embodiment comprises a conveying line 3 including a plurality of conveying units 30 arranged in series, at least one processing station 7 for processing meat 2 conveyed by the conveying line 3, and a controller 5 for controlling the conveying units 30. Furthermore, the meat processing apparatus 1 of this example includes a supply unit 8 for supplying the meat 2 transported by the conveying line 3 to the processing station 7, a discharge line 9 including a plurality of discharge units 90 for transporting the meat 2 processed by the processing station 7, and a delivery unit 12 for transferring the processed meat 2 from the processing station 7 to the discharge line 9. Furthermore, the plurality of conveying units 30 described above includes a sorting unit 15. The sorting unit 15 is configured to selectively switch the destination of the conveyed meat 2 to either the supply unit 8 or the conveying unit 30. The controller 5 in this example is configured to control the processing stations 7, the supply unit 8, the discharge line 9, the sorting unit 15, and the delivery unit 12 in addition to the transport unit 30. The controller 5 is one or more arithmetic units. The processor included in the arithmetic unit may be a CPU, a GPU, an MPU, a DSP, or a combination thereof, or may be realized by an integrated circuit such as a PLD, an ASIC, an FPGA, or an MCU. The arithmetic unit may include a memory such as a ROM, a RAM, or a flash memory, as appropriate. It should be noted that the meat processing apparatus 1 according to other embodiments does not necessarily have to include at least one of the processing station 7, the supply unit 8, the discharge unit 90, the sorting unit 15, or the delivery unit 12.

[0012] In one embodiment, the transfer line 3 includes a first transfer line 3A and a second transfer line 3B arranged in parallel with each other, and the controller 5 controls the transfer of these two transfer lines independently of each other. In the first conveying line 3A and the second conveying line 3B, different types of meat 2 are selectively fed onto the first conveying line 3A or the second conveying line 3B. As a more specific example, if the meat 2 is meat from the right or left leg of a pig, the first conveying line 3A and the second conveying line 3B are dedicated conveying lines for the right and left legs, respectively. Note that in other embodiments, meat 2 of the same type may be conveyed by the first conveying line 3A or the second conveying line 3B, or multiple types of meat 2 may be fed onto each of the first conveying line 3A and the second conveying line 3B. In one embodiment, the at least one processing station 7 includes multiple processing stations 7 arranged along the conveyor line 3. In this example, the processing stations 7 corresponding to the first conveyor line 3A include, in order from the upstream side in the conveying direction of the conveyor line 3, a first processing station 7A, a second processing station 7B, and a third processing station 7C. Similarly, the second conveyor line 3B also includes, in order from the upstream side, a first processing station 7A, a second processing station 7B, and a third processing station 7C. Hereinafter, the first processing station 7A, the second processing station 7B, and the third processing station 7C may be collectively referred to as "processing stations 7." In this example, the six processing stations 7 have the same configuration. In other examples, the six processing stations 7 may have different configurations. Each processing station 7 includes a station conveyor 73 for receiving meat 2 from the supply unit 8, and a multi-axis robot 77 equipped with a meat processing tool 78. In this example, a plurality of multi-axis robots 77 equipped with different tools 78A, 78B (78) are provided, and the plurality of multi-axis robots 77 processes the meat 2 on the station conveyor 73. One example of the station conveyor 73 is a belt conveyor. The number of multi-axis robots 77 may be one, or three or more. In other embodiments, the transport line 3 may not include the second transport line 3B, in which case the number of processing stations 7 may be one. Alternatively, the transport line 3 may further include another transport line in addition to the first transport line 3A and the second transport line 3B.

[0013] FIG. 2 is a plan view of the meat processing apparatus 1 according to one embodiment. In one embodiment, the first transfer line 3A and the second transfer line 3B each include a plurality of transfer units 30. The first transfer line 3A and the second transfer line 3B have configurations that are symmetrical to each other in a plan view, and the plurality of transfer units 30 on the first transfer line 3A and the plurality of transfer units 30 on the second transfer line 3B also have configurations that are symmetrical to each other. Below, a detailed explanation will be given focusing on the plurality of transfer units 30 that make up the first transfer line 3A. The transport unit 30 in this example includes a conveyor 33, a sensor 35 for detecting the meat 2 on the conveyor 33, and a motor 38 configured to apply a driving force to the conveyor 33 for transporting the meat 2. As an example, each transport unit 30 further includes a base (not shown) that supports the conveyor 33, the sensor 35, and the motor 38. Note that in Figure 2, for ease of viewing the drawing, only the two motors 38 located on the most upstream side are shown. One example of the conveyor 33 is a belt conveyor. One example of the sensor 35 is a reflective or transmissive photoelectric sensor configured to emit light toward the conveyance path of the meat 2. In this example, the sensor 35 is located downstream of the center position of the conveyor 33 in the conveyance direction. According to the above configuration, each conveying unit 30 is equipped with a sensor 35 that detects the meat 2 and a motor 38 that is a power source for conveying the meat 2, so there are fewer restrictions on the arrangement of multiple conveying units 30. For example, multiple conveying units 30 can be arranged in a straight line as shown in Figure 2, or in another example, they can be arranged in an arc, or a combination of these arrangements is also possible. This increases the degree of freedom in the layout design of the conveying line 3, and as a result, increases the degree of freedom in conveying the meat 2.

[0014] The plurality of transport units 30 includes a first transport unit 31 and a second transport unit 32 located downstream of the first transport unit 31. Hereinafter, the conveyor 33, sensor 35, and motor 38 of the first conveying unit 31 may be referred to as the "first conveyor 33A," the "first sensor 35A," and the "first motor," respectively, and the conveyor 33, sensor 35, and motor 38 of the second conveying unit 32 may be referred to as the "second conveyor 33B," the "second sensor 35B," and the "second motor," respectively.

[0015] The controller 5 is configured to control the driving of the first conveyor 33A and the second conveyor 33B based on the detection result of the second sensor 35B. For example, the controller 5 can execute conveyance control to prevent multiple pieces of meat 2 from colliding with each other on the second conveyor 33B. More specifically, while controlling the drive of the second motor, the controller 5 determines whether or not meat 2 has been discharged from the second conveying unit 32 based on the detection result of the second sensor 35B. If it is determined that meat 2 has not been discharged, the controller 5 can execute conveyance control on the first motor to make the following meat 2 wait on the first conveying unit 31. The concept of waiting includes stopping the meat 2 at a specified position and continuing to transport the meat 2 while reducing the transport speed. In another example, on the condition that the meat 2 has been discharged from the second conveying unit 32, the controller 5 may start conveying control of the first motor, and the first conveying unit 31 may start receiving the meat 2 from the downstream side. According to the above configuration, the meat 2 is transported from the first transport unit 31 to the second transport unit 32 depending on whether or not there is meat 2 in the second transport unit 32, so that the degree of freedom in transporting the meat 2 is improved.

[0016] In one embodiment, the first transport unit 31 and the second transport unit 32 are adjacent to each other. The controller 5 (see Figure 1) is configured to drive and control the first conveying unit 31 and the second conveying unit 32 so that when there is meat 2 on each of the first conveyor 33A and the second conveyor 33B, the meat 2 on the first conveyor 33A waits in the first conveying unit 31 until the meat 2 is discharged from the second conveyor 33B. For example, when meat 2 discharged from first conveying unit 31 remains at second conveying unit 32, first sensor 35A switches from a detecting state to a non-detecting state, and second sensor 35B switches from a non-detecting state to a detecting state. This state change of second sensor 35B triggers the second motor to stop driving, and when the following meat 2 is conveyed to first conveying unit 31, first sensor 35A switches to a detecting state. At this time, controller 5 controls the first motor to make the following meat 2 wait at first conveying unit 31. According to the above configuration, the conveyance of the adjacent first conveying unit 31 and second conveying unit 32 is controlled, thereby making it possible to narrow the intervals between conveyance of the plurality of pieces of meat 2. Therefore, it is possible to improve the degree of freedom in conveying the edible meat 2 while narrowing the intervals between conveyance of the plurality of pieces of meat 2. In another embodiment, another conveying unit may be interposed between the first conveying unit 31 and the second conveying unit 32. The other conveying unit is, for example, a unit in which a plurality of belt conveyors arranged in series are driven by a single motor.

[0017] In one embodiment, the first conveying unit 31 and the second conveying unit 32 are arranged between two of the multiple processing stations 7 that are adjacent to each other in the conveying direction of the meat 2. As a more specific example, two sets of the first conveying unit 31 and the second conveying unit 32 are provided, one set being arranged between the first processing station 7A and the second processing station 7B, and the other set being arranged between the second processing station 7B and the third processing station 7C. According to the above configuration, for example, when an excessive number of pieces of meat 2 are being transported toward the downstream processing station 7 (second processing station 7B or third processing station 7C), the meat 2 can be made to wait in at least one of the first transport unit 31 or the second transport unit 32. This improves the degree of freedom in transporting the meat 2 to the processing station 7. The control by the controller 5 to make the meat 2 wait at the first conveying unit 31 is as described above, and the meat 2 can be made to wait at the second conveying unit 32 by similar control. In another embodiment, the first transport unit 31 and the second transport unit 32 may be disposed upstream of the first processing station 7A.

[0018] In one embodiment, the number of multiple conveying units 30 (two in this example) located between the first processing station 7A and the second processing station 7B in the conveying direction of the conveying line 3 is equal to or greater than the number of at least one conveying unit 30 (two in this example) located between the second processing station 7B and the third processing station 7C in the conveying direction. According to the above configuration, the multiple transport units 30 between the first processing station 7A and the second processing station 7B transport more meat 2 than the at least one transport unit 30 between the second processing station 7B and the third processing station 7C. By increasing the number of transport units 30 arranged between the first processing station 7A and the second processing station 7B, it becomes possible to have more meat 2 waiting in that section. Therefore, it is possible to prevent the meat 2 from accumulating on the entire conveyor line 3. In another embodiment, the number of conveying units 30 arranged between the first processing station 7A and the second processing station 7B may be greater than the number of conveying units 30 arranged between the second processing station 7B and the third processing station 7C. In this case, the retention of meat 2 on the entire conveying line 3 is further reduced.

[0019] FIG. 3 is an enlarged perspective view conceptually showing the sorting unit 15, the supply unit 8, and the delivery unit 12 according to one embodiment. Each of the first and second transfer lines 3A and 3B according to one embodiment includes the supply units 8 and sorting units 15 described above. Furthermore, each of the supply units 8 and sorting units 15 is provided corresponding to each of the first processing station 7A, second processing station 7B, and third processing station 7C. That is, in this example, six supply units 8 and six sorting units 15 are provided. To avoid repetition of explanation, the following will focus on the supply unit 8 and the sorting unit 15 corresponding to the first processing station 7A on the first transfer line 3A and will be described in detail.

[0020] In one embodiment, the supply unit 8 is configured to supply the meat 2 exclusively to the first processing station 7A. The sorting unit 15, which is a component of the plurality of conveying units 30, is configured to selectively convey the meat 2 to either the supply unit 8 or the first conveying unit 31. The sorting unit 15 is a unit in which another component is further added to the above-described transport unit 30. Specifically, the sorting unit 15 includes the conveyor 33, sensor 35 (see FIG. 2), motor 38 (see FIG. 2), and base described above, and further includes, as additional components, an air cylinder that raises and lowers the downstream portion of the base, and a support that rotatably supports the base. Hereinafter, the conveyor 33 of the sorting unit 15 will be referred to as the "sorting conveyor 23." The sorting conveyor 23 includes a downstream end 23A that is raised and lowered to approach either the supply unit 8 or the first transport unit 31. In this example, the raising and lowering of the downstream end 23A is achieved by an air cylinder, but in another example, it may be achieved by a hydraulic cylinder, a motor, or the like. 3, sorting conveyors 23 with downstream end 23A at the bottom are shown by solid lines, and sorting conveyors 23 with downstream end 23A at the top are shown by two-dot chain lines. When downstream end 23A is at the bottom, sorting conveyor 23 transports meat 2 to supply unit 8. On the other hand, when downstream end 23A is at the top, conveyor 33 transports meat 2 to first transport unit 31. The sorting unit 15 operates, for example, as follows. The motor 38 (see FIG. 2) is driven regardless of the destination of the meat 2. When the destination of the meat 2 is the first conveying unit 31, the downstream end 23A of the sorting conveyor 23 moves upward by driving the air cylinder. This allows the sorting conveyor 23 to deliver the meat 2 conveyed from the upstream conveying unit 30 to the first conveying unit 31. Note that the meat 2 may reach the detection area of ​​the sensor 35 before the downstream end 23A has completed its upward movement. In this case, the motor 38 may temporarily stop driving and resume driving after the downstream end 23A has completed its movement. Next, when the destination of the meat 2 is the supplying unit 8, the downstream end 23A moves downward while the meat 2 received from the upstream conveying unit 30 moves on the sorting conveyor 23. This allows the sorting conveyor 23 to transport the meat 2 toward the supplying unit 8. If the meat 2 reaches the detection area of ​​sensor 35 before downstream end 23A has completed its downward movement, control is executed in the same way as when the destination is first conveying unit 31. In this way, the meat 2 moves on sorting conveyor 23 by being driven by motor 38 even while downstream end 23A of sorting conveyor 23 is moving up and down, so the time it takes to convey the meat 2 by sorting conveyor 23 can be shortened. The above operation is realized by the controller 5 controlling the drive of the motor 38 and the air cylinder based on the detection result of the sensor 35. The sensor 35 is at least one of the sensor 35 of the transport unit 30 or the sensor 35 of the sorting unit 15 located upstream. According to the above configuration, the destination of the meat 2 can be switched simply by raising or lowering the downstream end 23A of the sorting conveyor 23, so that the configuration of the conveying line 3 of the meat processing apparatus 1 can be simplified. In other embodiments, the sorting unit 15 may not include the sensor 35. Also, the sorting unit 15 may not include the motor 38 (see FIG. 2), in which case the sorting conveyor 23 may be driven by the motor 38 of the transport unit 30 located upstream.

[0021] In one embodiment, the supply unit 8 includes a supply conveyor 81 for transporting the meat 2, and a supply sensor 85 (see FIG. 2) for detecting the meat 2 on the supply conveyor 81. The supply conveyor 81 is, for example, a belt conveyor. The supply unit 8 in this example further includes a supply motor (not shown) for driving the supply conveyor 81. The supply conveyor 81, supply sensor 85, and supply motor are all supported by a base. The base receives power from a switching drive unit (not shown) to rotate horizontally (i.e., rotate around the vertical direction as its axial direction). Both the base and the switching drive unit are components of the supply unit 8. For example, the switching drive unit is an air cylinder or a motor. In this example, the position of the supply conveyor 81 changes when the base rotates horizontally by approximately 90 degrees as the switching drive unit is driven. Specifically, the supply conveyor 81 is configured to change between a receiving position in which the meat 2 is conveyed in a direction parallel to the conveying direction of the conveyor line 3 in a plan view, and a supply position in which the meat 2 is conveyed in a direction away from the multiple conveying units 30 in a plan view. In FIG. 3 , the supply conveyor 81 in the receiving position is illustrated by a solid line, and the supply conveyor 81 in the supply position is illustrated by a two-dot chain line. In a plan view, the supply conveyor 81 in the receiving position overlaps with the first conveyor 33A, and at this time, the upstream end of the supply conveyor 81 is close to the downstream end 23A of the sorting conveyor 23. In a plan view, the supply conveyor 81 in the supply position extends perpendicular to the first conveyor 33A, and at this time, the upstream end of the supply conveyor 81 is separated from the downstream end 23A of the sorting conveyor 23. The supply unit 8 operates, for example, as follows. The supply conveyor 81 in the receiving position is driven by the power of the supply motor and receives the meat 2 from the sorting conveyor 23. When the supply motor stops driving, the meat 2 stops at the supply conveyor 81. The switching drive unit then drives the supply conveyor 81 to change to the supply position. When the supply motor starts driving again, the meat 2 is transported from the supply conveyor 81 to the station conveyor 73. The above operation of the supply unit 8 is controlled by the controller 5. The control to stop the meat 2 on the supply conveyor 81 in the receiving position may be performed based on the detection result of the sensor 35 (see FIG. 2) of the sorting unit 15, for example, or the detection result of the supply sensor 85 (see FIG. 2). Furthermore, when there is meat 2 on the supply conveyor 81 and the following meat 2 is transported to the sorting conveyor 23, the controller 5 (see FIG. 1) may drive and control the sorting motor so that the following meat 2 waits on the sorting conveyor 23. According to the above configuration, the supply conveyor 81 has both the function of receiving the edible meat 2 from the sorting conveyor 23 and the function of supplying the edible meat 2 to the first processing station 7A, so the configuration of the supply unit 8 can be simplified. Furthermore, while the meat 2 is waiting in the supply unit 8, the following meat 2 is waiting in the sorting unit 15. This reduces the downtime of the first processing station 7A (processing station 7) when the meat 2 is processed sequentially, thereby improving the productivity of the meat processing apparatus 1.

[0022] In one embodiment, the first processing station 7A (processing station 7) is configured to process meat 2 conveyed from the supply unit 8 onto the station conveyor 73. In one embodiment, the controller 5 (see Figure 1) is configured to drive and control the supply conveyor 81 (supply motor) so that when there is meat 2 in the processing station 7, subsequent meat 2 waits in the supply unit 8 based on data indicating the processing status of the first processing station 7A. The data indicating the processing status is data indicating that the first processing station 7A is processing meat 2, for example, data indicating that a meat processing program is being executed. As another example, the data indicating the processing status may be a photographed image acquired by a photographing device for photographing the meat 2 in the first processing station 7A. The photographed image changes depending on whether or not there is meat 2 on the station conveyor 73. This photographing device may be a visible light camera, or a combination of a visible light camera and a 3D camera. As yet another example, the data indicating the processing status may be the detection result of a photoelectric sensor provided on the station conveyor 73. According to the above configuration, while the first processing station 7A is processing, the subsequent meat 2 waits in the dedicated supply unit 8, so the downtime of the first processing station 7A when the meat 2 is processed sequentially can be reduced, thereby improving the productivity of the meat processing apparatus 1.

[0023] Returning to FIG. 2, the evacuation transport unit 39 included in the transport unit 30 will be described. In one embodiment, the evacuation transport unit 39 is located downstream in the transport direction of the transport line 3 from the transport path from the transport unit 30 to the processing station 7. In this example, the evacuation transport unit 39 is located downstream of each of the multiple transport paths corresponding to each processing station 7. The evacuation conveying units 39 are provided corresponding to the first conveying unit 31 and the second conveying unit 32. In this example, the evacuation conveying units 39 are configured to convey the meat 2 from the sorting unit 15 located most downstream. When the downstream end 23A of the sorting conveyor 23 of this sorting unit 15 is located upward, the meat 2 is conveyed from the sorting conveyor 23 to the evacuation conveying unit 39. For example, when meat 2 that may not be suitable for processing at the processing station 7 is transported, or when there is an excess of meat 2 being transported on the transport line 3, the controller 5 controls the transport line 3 so that the meat 2 is transported to the evacuation transport unit 39. The meat 2 transported to the evacuation transport unit 39 may be removed by a worker or may be discharged via another dedicated transport line. The other dedicated transport line can be formed by additionally installing a transport unit 30. According to the above configuration, even if there is meat 2 that may not be suitable for processing in the processing station 7, or if meat 2 that exceeds the conveying capacity of the conveying unit 30 is fed into the meat processing apparatus 1, the meat processing apparatus 1 can operate properly.

[0024] The above-described delivery unit 12 is provided corresponding to each of the plurality of processing stations 7 arranged along the conveyor line 3 (i.e., in this example, the first processing station 7A, the second processing station 7B, and the third processing station 7C). As described above, the delivery conveyor 13 is configured to deliver the meat 2 received from the station conveyor 73 included in the processing station 7 to the discharge unit 90. In one embodiment, the delivery units 12 are provided corresponding to the respective processing stations 7. To avoid repetition of explanation, the following will focus on the delivery unit 12 corresponding to the first processing station 7A and provide detailed explanations.

[0025] As shown in Figures 2 and 3, the delivery unit 12 in one embodiment includes a delivery conveyor 13 for transporting the meat 2, a delivery motor (not shown) for driving the delivery conveyor 13, and a delivery sensor 19 for detecting the meat 2 on the delivery conveyor 13. The delivery conveyor 13 in this example includes one end 13A that can be raised and lowered to selectively approach the station conveyor 73 or the discharge unit 90. The one end 13A is raised and lowered by, for example, an air cylinder. The air cylinder is provided on a support that rotatably supports the delivery conveyor 13, a delivery motor, and a delivery sensor 19. The delivery conveyor 13 is a belt conveyor. One end 13A of the delivery conveyor 13 is close to the station conveyor 73 when in the upper position, and close to the discharge unit 90 when in a first lower position that is lower than the upper position. In the example of Fig. 3, the delivery conveyor 13 with one end 13A in the upper position is shown by a solid line, and the delivery conveyor 13 with one end 13A in the first lower position is shown by a two-dot chain line. The delivery unit 12 operates, for example, as follows. When the delivery motor is driven with one end 13A in the upper position, the delivery conveyor 13 receives the meat 2 from the station conveyor 73. In response to the delivery sensor 19 switching to the detection state, the delivery motor stops driving. After the one end 13A is lowered to the first lower position by driving the air cylinder, the delivery motor is driven in the reverse direction and the meat 2 is transported to the discharge unit 90. The above operations are executed by the controller 5 controlling the delivery unit 12 . According to the above configuration, the delivery conveyor 13 has both the function of receiving the edible meat 2 from the processing station 7 and the function of delivering the edible meat 2 to the discharge unit 90, so the configuration of the delivery unit 12 can be simplified. In another embodiment, the one end 13A of the delivery conveyor 13 may be able to descend to a second lower position that is lower than the first lower position. The delivery conveyor 13 with the one end 13A in the second lower position is illustrated by a two-dot chain line. The one end 13A in the second lower position is adjacent to the disposal section 29. That is, the one end 13A may be raised or lowered to selectively approach the station conveyor 73, the transport unit 30, or the disposal section 29. The disposal section 29 transports or stores unwanted parts removed from the meat 2 by processing in the first processing station 7A (processing station 7). If the meat 2 is bone-in meat, the unwanted part is the removed bone. For example, when the bone is removed from the meat 2 by the first processing station 7A and the processed meat 2 is transported from the station conveyor 73 to the delivery conveyor 13, the multi-axis robot 77 may grasp the removed bone. After the processed meat 2 is transported from the station conveyor 73 to the delivery unit 12, the multi-axis robot 77 places the bones, which are unnecessary parts, on the station conveyor 73, so that the processed meat 2 and unnecessary parts can be transported to the discharge line 9 and the disposal section 29, respectively. The disposal section 29 may be a belt conveyor that transports unnecessary parts, or may be a box that stores unnecessary parts.

[0026] FIG. 4 is a plan view conceptually showing the discharge line 9 according to one embodiment. The discharge line 9 in one embodiment includes a first discharge line 9A and a second discharge line 9B corresponding to the first transfer line 3A and the second transfer line 3B, respectively. The first discharge line 9A and the second discharge line 9B each include the plurality of discharge units 90 described above. The first discharge line 9A and the second discharge line 9B have configurations symmetrical to each other in a plan view, and the plurality of discharge units 90 of the first discharge line 9A and the plurality of discharge units 90 of the second discharge line 9B also have configurations symmetrical to each other. Below, a detailed description will be given focusing on the plurality of discharge units 90 that make up the first discharge line 9A. The discharge unit 90 has a similar configuration to the transport unit 30 (see FIG. 2). That is, the discharge unit 90 includes a discharge conveyor 93 for transporting the meat 2, a discharge sensor 95 for detecting the meat 2 on the discharge conveyor 93, and a discharge motor 98 for applying a driving force to the discharge conveyor 93 for transporting the meat 2. The discharge conveyor 93 is, for example, a belt conveyor. The discharge sensor 95 is provided downstream of the center position of the discharge conveyor 93 in the conveying direction. The multiple discharge units 90 include multiple serial discharge units 91 arranged in series below the conveying line 3 (see Figure 2), and multiple parallel discharge units 96 extending parallel to each other so as to intersect with the multiple serial discharge units 91. A plurality of parallel discharge units 96 are provided corresponding to each of the plurality of delivery units 12. Each parallel discharge unit 96 is configured to transport the processed meat 2 received from one end 13A of the delivery conveyor 13 in the first lower position to any one of the serial discharge units 91. The multiple serial discharge units 91 are configured to transport the processed meat 2 transported from each of the parallel discharge units 96. In this example, the serial discharge units 91 are provided vertically below the supply conveyor 81 (see Figure 3). In addition, the serial discharge units 91 are provided in positions that overlap the conveyor line 3 and the supply conveyor 81 in the receiving position in a plan view (see Figure 3). In a plan view, the discharge conveyor 93 of the serial discharge unit 91 extends parallel to the longitudinal direction of the conveyor 33 of the conveyor line 3. The discharge unit 90 operates, for example, as follows. The discharge motor 98 of the parallel discharge unit 96 and the discharge motors 98 of the multiple serial discharge units 91 are driven, thereby transporting the meat 2 from the parallel discharge unit 96 to the serial discharge unit 91. For example, while the serial discharge unit 91 located most upstream in the discharge direction of the meat 2 (arrow E) is transporting the meat 2, the upstream parallel discharge unit 96 may transport another piece of meat 2 to a predetermined position and then stop. This prevents the multiple pieces of meat 2 from colliding with each other at the junction of the parallel discharge unit 96 and the serial discharge unit 91. The above control is executed by the controller 5 independently of each other for the first discharge line 9A and the second discharge line 9B. According to the above configuration, the meat 2 transported by the multiple parallel discharge units 96 is transported to one of the serial discharge units 91. Because the processed meat 2 is collected on a specific line, it is possible to simplify the configuration for transporting the processed meat 2. Furthermore, because the multiple serial discharge units 91 are located below the multiple transport units 30, it is possible to make the space required for the meat processing apparatus 1 compact in plan view.

[0027] (summary) The meat processing apparatus (1) according to several embodiments will be outlined below.

[0028] 1) At least one embodiment of the meat processing device (1) of the present invention comprises: a conveying line (3) including a plurality of conveying units (30) arranged in series; at least one processing station (7) for processing the meat (2) conveyed by the conveying line (3); a controller (5) for controlling the transport unit (30); Equipped with The plurality of transport units (30) a first conveying unit (31) having a first conveyor (33A) and a first sensor (35A) for detecting the meat (2) on the first conveyor (33A); a second conveying unit (32) located downstream of the first conveying unit (31) and having a second conveyor (33B) and a second sensor (35B) for detecting the meat (2) on the second conveyor (33B); Including, The controller (5) is configured to control the driving of the first conveyor (33A) and the second conveyor (33B) based on the detection result of the second sensor (35B).

[0029] According to the configuration 1), the meat 2 is conveyed from the first conveying unit 31 to the second conveying unit 32 depending on whether or not there is meat 2 in the second conveying unit 32, thereby improving the degree of freedom in conveying the meat 2. For example, the controller 5 can execute conveyance control to prevent multiple pieces of meat 2 from accumulating on the second conveyor 33B. More specifically, the first conveying unit 31 can start receiving meat 2 on the condition that meat 2 has been discharged from the second conveying unit 32. In another example, when there is meat 2 in the second conveying unit 32, the controller 5 can execute conveyance control to make the following meat 2 wait at the first conveying unit 31.

[0030] 2) In some embodiments, in the configuration of 1), The at least one processing station (7) includes a plurality of processing stations (7) arranged along the conveying line (3); The first conveying unit (31) and the second conveying unit (32) are arranged between two adjacent processing stations (7) among the plurality of processing stations (7) in the conveying direction of the meat (2).

[0031] According to the configuration 2) above, for example, when an excessive number of pieces of meat 2 are conveyed toward the downstream processing station 7, the meat 2 can be made to wait in at least one of the first conveying unit 31 and the second conveying unit 32. This improves the degree of freedom in conveying the meat 2 to the processing station 7.

[0032] 3) In some embodiments, in the configuration of 2), the plurality of processing stations (7) include a first processing station (7A), a second processing station (7B), and a third processing station (7C) arranged in this order from the upstream side in the conveying direction of the conveying line (3); The number of the plurality of transport units (30) located between the first processing station (7A) and the second processing station (7B) in the transport direction is equal to or greater than the number of at least one transport unit (30) located between the second processing station (7B) and the third processing station (7C) in the transport direction.

[0033] According to the configuration of 3), the plurality of conveying units 30 between the first processing station 7A and the second processing station 7B convey more meat 2 than the at least one conveying unit 30 between the second processing station 7B and the third processing station 7C. By increasing the number of conveying units 30 disposed between the first processing station 7A and the second processing station 7B, it becomes possible to have more meat 2 waiting in that section. Therefore, it is possible to prevent the meat 2 from accumulating on the entire conveying line 3.

[0034] 4) In some embodiments, in the configuration of 2) or 3), a supply unit (8) located below the first conveying unit (31) for supplying the meat (2) exclusively to any one of the processing stations (7); the plurality of conveying units (30) include a sorting unit (15) configured to selectively convey the meat (2) to either the supply unit (8) or the first conveying unit (31); The sorting unit (15) includes a sorting conveyor (23) including a downstream end (23A) for moving up and down so as to approach either the supply unit (8) or the first transport unit (31).

[0035] According to the configuration of 4) above, the destination of the meat (2) can be switched simply by raising or lowering the downstream end (23A) of the sorting conveyor (23), so that the configuration of the conveying line (3) of the meat processing apparatus (1) can be simplified.

[0036] 5) In some embodiments, in the configuration of 4), The supply unit (8) includes a supply conveyor (81) that changes between a receiving position in which the meat (2) is conveyed in a direction parallel to the conveying direction in a plan view, and a supply position in which the meat (2) is conveyed in a direction away from the plurality of conveying units (30) in a plan view.

[0037] According to the configuration of 5) above, the supply conveyor (81) has the dual function of receiving the meat (2) from the sorting conveyor (23) and supplying the meat (2) to the processing station (7), thereby simplifying the configuration of the supply unit (8).

[0038] 6) In some embodiments, in the configuration of 5), The supply unit (8) includes a supply sensor (85) for detecting the meat (2) on the supply conveyor (81), The controller (5) is configured to drive and control the sorting unit (15) based on the detection result of the supply sensor (85) so that when there is meat (2) on the supply conveyor (81), the succeeding meat (2) waits at the sorting unit (15).

[0039] According to the configuration 6) above, while the meat 2 is waiting in the supply unit 8, the following meat 2 is waiting in the sorting unit 15. This reduces the downtime of the processing station 7 when the meat 2 is processed sequentially, thereby improving the productivity of the meat processing apparatus 1.

[0040] 7) In some embodiments, in the configuration of 5) or 6), The controller (5) is configured to drive and control the supply conveyor (81) so that the following meat (2) waits at the supply unit (8) when there is meat (2) at the processing station (7) based on data indicating the processing status of the processing station (7) that processes the meat (2) from the supply unit (8).

[0041] According to the configuration of 7) above, while the processing station 7 is processing, the succeeding meat 2 waits in the supply unit 8, so that the downtime of the processing station 7 when the meat 2 is processed sequentially can be reduced, thereby improving the productivity of the meat processing apparatus 1.

[0042] 8) In some embodiments, in any of the configurations 1) to 7) above, The transport unit (30) includes a retreat transport unit (39) located downstream in the transport direction of the transport line (3) from the transport path from the transport unit (30) to the processing station (7).

[0043] According to the configuration of 8) above, some of the meat 2 can be evacuated to the evacuation conveying unit 39. This allows the meat processing apparatus 1 to operate properly even when there is meat 2 that may not be suitable for processing in the processing station 7 or when there is an excess of meat 2 conveyed by the conveying unit 30.

[0044] 9) In some embodiments, in any of the configurations 1) to 8) above, a discharge line (9) including a plurality of discharge units (90) for conveying the meat (2) processed in the processing station (7); a delivery unit (12) for delivering the meat (2) received from a station conveyor (73) included in the processing station (7) to the discharge unit (90); Furthermore, The delivery unit (12) includes a delivery conveyor (13) having one end 13A for moving up and down to selectively approach the station conveyor (73) or the discharge unit (90).

[0045] According to the configuration of 9) above, the delivery conveyor (13) has the dual function of receiving the meat (2) from the processing station (7) and delivering the meat (2) to the discharge unit (90), thereby simplifying the configuration of the delivery unit (12).

[0046] 10) In some embodiments, in the configuration of 9), The delivery units (12) are provided corresponding to the plurality of processing stations (7) arranged along the conveyor line (3), The plurality of discharge units (90) a plurality of in-line discharge units (91) arranged in line below the conveying line (3), each of which includes a discharge conveyor (93) and a discharge sensor (95) for detecting the meat (2) on the discharge conveyor (93); and a plurality of parallel discharge units (96) provided corresponding to the plurality of delivery units (12), extending parallel to one another so as to intersect with the plurality of serial discharge units (91), and configured to transport the meat (2) received from the delivery units (12) to any one of the serial discharge units (91).

[0047] According to the configuration of 10) above, the meat 2 conveyed by the plurality of parallel discharge units 96 is conveyed to one of the serial discharge units 91. Since the processed meat 2 is collected on a specific line, the configuration for conveying the processed meat 2 can be simplified. Furthermore, since the plurality of serial discharge units 91 are located below the plurality of conveying units 30, the space required for the meat processing apparatus 1 in plan view can be made compact.

[0048] 11) In some embodiments, in any of the configurations 1) to 10) above, The first transport unit (31) and the second transport unit (32) are disposed adjacent to each other, The controller (5) is configured to drive and control the first conveying unit (31) and the second conveying unit (32) so that, when there is meat (2) on each of the first conveyor (33A) and the second conveyor (33B), the meat (2) on the first conveyor (33A) remains in the first conveying unit (31) until the meat (2) is discharged from the second conveyor (33B).

[0049] According to the above configuration 11), the adjacent first conveying unit (31) and second conveying unit (32) are conveyance-controlled, so that the intervals between conveying the plurality of pieces of meat (2) can be narrowed. Therefore, the degree of freedom in conveying the pieces of meat (2) can be improved while narrowing the intervals between conveying the plurality of pieces of meat (2).

[0050] 12) In some embodiments, in any of the configurations 1) to 11) above, Each of the plurality of transport units (30) includes: Conveyor (33) and a sensor (35) for detecting the meat (2) on the conveyor; and a motor (38) configured to provide a driving force to the conveyor for conveying the meat (2).

[0051] According to the configuration of 12), each conveying unit 30 is equipped with a sensor 35 for detecting the meat 2 and a motor 38 as a power source for conveying the meat 2, which reduces restrictions on the arrangement of the conveying units 30. This increases the degree of freedom in the layout design of the conveying line 3, thereby increasing the degree of freedom in conveying the meat 2.

[0052] The above describes an embodiment of the present invention, but the present invention is not limited to the above-described embodiment, and also includes forms in which the above-described embodiment is modified, or forms in which these forms are appropriately combined.

[0053] In this specification, expressions expressing relative or absolute arrangement such as "in a certain direction," "along a certain direction," "parallel," "orthogonal," "center," "concentric," or "coaxial" not only express such an arrangement strictly, 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 such as "identical," "equal," and "homogeneous" that indicate that something is in an equal state 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. Furthermore, in this specification, expressions representing shapes such as a rectangular shape or a cylindrical shape not only represent rectangular shapes or cylindrical shapes in the strict geometric sense, but also represent shapes including uneven portions, chamfered portions, etc., to the extent that the same effect can be obtained. Furthermore, in this specification, the expressions "comprise," "include," or "have" a component are not exclusive expressions that exclude the presence of other components. [Explanation of symbols]

[0054] 1:Meat processing equipment 2: Meat 3: Conveyor line 5: Controller 7: Processing station 8: Supply unit 9: Discharge line 12: Delivery unit 13: Delivery conveyor 13A: One end 15: Sort unit 23: Sort conveyor 23A: Downstream end 30: Transport unit 31: First transport unit 32: Second transport unit 33: Conveyor 33A: First conveyor 33B: Second conveyor 35: Sensor 35A: First sensor 35B: Second sensor 38: Motor 39: Evacuation transport unit 73: Station conveyor 81: Supply conveyor 85: Supply sensor 90: Discharge unit 91: Series discharge unit 93: Discharge conveyor 95: Discharge sensor 96: Parallel discharge unit

Claims

1. a conveyance line including a plurality of conveyance units arranged in series; at least one processing station for processing meat conveyed by said conveying line; a controller for controlling the transport unit; Equipped with The plurality of transport units include: a first conveying unit having a first conveyor and a first sensor for detecting the meat on the first conveyor; a second conveying unit located downstream of the first conveying unit and having a second conveyor and a second sensor for detecting the meat on the second conveyor; Including, The controller is configured to control the driving of the first conveyor and the second conveyor based on the detection result of the second sensor so that the meat is transported from the first conveyor to the second conveyor depending on the presence or absence of the meat in the second conveyor unit. Meat processing equipment.

2. A conveying line including a plurality of conveying units arranged in series; at least one processing station for processing meat conveyed by said conveying line; a controller for controlling the transport unit; Equipped with The plurality of transport units include: a first conveying unit having a first conveyor and a first sensor for detecting the meat on the first conveyor; a second conveying unit located downstream of the first conveying unit and having a second conveyor and a second sensor for detecting the meat on the second conveyor; Including, the controller is configured to control the driving of the first conveyor and the second conveyor based on the detection result of the second sensor, the at least one processing station includes a plurality of processing stations arranged along the conveying line; The first conveying unit and the second conveying unit are disposed between two adjacent processing stations in the conveying direction of the meat among the plurality of processing stations. Meat processing equipment.

3. the plurality of processing stations include a first processing station, a second processing station, and a third processing station, which are arranged in this order from the upstream side in the conveying direction of the conveying line; The number of the plurality of transport units between the first processing station and the second processing station in the transport direction is equal to or greater than the number of the at least one transport unit between the second processing station and the third processing station in the transport direction.

3. The meat processing apparatus of claim 2.

4. a supply unit located below the first conveying unit for supplying the meat exclusively to any one of the processing stations; the plurality of conveying units include a sorting unit configured to selectively convey the meat to either the supply unit or the first conveying unit, The sorting unit includes a sorting conveyor including a downstream end that is raised and lowered to approach either the supply unit or the first transport unit.

4. The meat processing apparatus according to claim 2 or 3.

5. The supply unit includes a supply conveyor that changes between a receiving position in which the meat is conveyed in a direction parallel to the conveying direction in a plan view and a supply position in which the meat is conveyed in a direction away from the plurality of conveying units in a plan view.

5. The meat processing apparatus of claim 4.

6. the feeding unit includes a feeding sensor for detecting the meat on the feeding conveyor; The controller is configured to drive and control the sorting unit based on the detection result of the supply sensor, when the meat is on the supply conveyor, so that the subsequent meat waits at the sorting unit.

6. The meat processing apparatus of claim 5.

7. The controller is configured to drive and control the supply conveyor based on data indicating the processing status of the processing station that processes the meat from the supply unit, so that when the meat is present in the processing station, the subsequent meat will wait in the supply unit.

7. The meat processing apparatus according to claim 5 or 6.

8. A conveying line including a plurality of conveying units arranged in series; at least one processing station for processing meat conveyed by said conveying line; a controller for controlling the transport unit; Equipped with The plurality of transport units include: a first conveying unit having a first conveyor and a first sensor for detecting the meat on the first conveyor; a second conveying unit located downstream of the first conveying unit and having a second conveyor and a second sensor for detecting the meat on the second conveyor; Including, the controller is configured to control the driving of the first conveyor and the second conveyor based on the detection result of the second sensor, The transport unit includes a retreat transport unit located downstream in the transport direction of the transport line from the transport unit to the processing station. Meat processing equipment.

9. A conveying line including a plurality of conveying units arranged in series; at least one processing station for processing meat conveyed by said conveying line; a controller for controlling the transport unit; Equipped with The plurality of transport units include: a first conveying unit having a first conveyor and a first sensor for detecting the meat on the first conveyor; a second conveying unit located downstream of the first conveying unit and having a second conveyor and a second sensor for detecting the meat on the second conveyor; Including, the controller is configured to control the driving of the first conveyor and the second conveyor based on the detection result of the second sensor, a discharge line including a plurality of discharge units for conveying the meat processed in the processing station; a delivery unit for delivering the meat received from a station conveyor included in the processing station to the discharge unit; Furthermore, The transfer unit includes a transfer conveyor having one end for raising and lowering to selectively approach the station conveyor or the discharge unit. Meat processing equipment.

10. the transfer units are provided corresponding to the plurality of processing stations arranged along the conveying line, The plurality of discharge units include: a plurality of in-line discharge units arranged in line below the conveying line, each of the in-line discharge units including a discharge conveyor and a discharge sensor for detecting the meat on the discharge conveyor; a plurality of parallel discharge units provided corresponding to the plurality of delivery units, extending parallel to each other so as to intersect with the plurality of serial discharge units, and configured to transport the meat received from the delivery units to any of the serial discharge units; 10. The meat processing apparatus of claim 9.

11. the first transport unit and the second transport unit are disposed adjacent to each other, The controller is configured to drive and control the first conveying unit and the second conveying unit so that, when there is meat on each of the first conveyor and the second conveyor, the meat on the first conveyor remains in the first conveying unit until the meat is discharged from the second conveyor. A meat processing apparatus according to any one of claims 1 to 10.

12. Each of the plurality of transport units includes: Conveyor and a sensor for detecting the meat on the conveyor; a motor configured to provide a driving force to the conveyor for conveying the meat; 12. A meat processing device according to any one of claims 1 to 11, comprising:

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