Clamper for bone-in thigh meat and clamping method for bone-in thigh meat

Abstract

This clamper for bone-in thigh meat comprises: a lower presser (21) having a lower clamping piece (29) in which an ankle of poultry thigh meat in a lying posture is disposed; and an upper presser having an upper clamping piece (43) that moves vertically with respect to the lower clamping piece (29) and approaches and separates from the lower clamping piece (29). The ankle of the poultry thigh meat in the lying posture is clamped by the lower clamping piece (29) and the upper clamping piece (43).

Description

Clamp for Bone-In Leg Meat and Method for Clamping Bone-In Leg Meat

[0001] The present invention relates to a clamp for bone-in leg meat and a method for clamping bone-in leg meat. This application claims priority based on Japanese Patent Application No. 2024-221809 filed on December 18, 2024, and incorporates its content herein by reference.

[0002] Conventionally, a poultry boning machine that automatically debones bone-in poultry leg meat (hereinafter simply referred to as poultry leg meat) cut from the thigh bone of a poultry carcass has been known (see, for example, Patent Document 1). This poultry boning machine includes a clamp that grips the ankle of the poultry leg meat and suspends the poultry leg meat (see, for example, Patent Document 2). In the poultry boning machine, the suspended poultry leg meat is moved to a plurality of work stations by a conveying device having a clamp. Then, the meat part of the poultry leg meat is gradually peeled off from the thigh bone. Finally, the meat part is completely peeled off from the thigh bone and deboned.

[0003] Japanese Patent No. 5331244 International Publication No. 2024 / 063139

[0004] By the way, when the poultry leg meat is suspended by the clamp, every time the poultry leg meat is moved to each work station, the poultry leg meat shakes due to the reaction. Since the posture of the poultry leg meat is unstable, there is a problem that the accuracy of the processing of the poultry leg meat at each work station varies and the yield deteriorates. In particular, in the process of injecting tendons into the poultry leg meat, there is a problem that it is difficult to accurately inject the tendons along the bone.

[0005] An aspect of the present invention provides a clamp for bone-in leg meat and a method for clamping bone-in leg meat that can stably hold bone-in leg meat such as poultry leg meat.

[0006] The clamp for bone-in leg meat according to the present invention includes a lower retainer having a lower clamping piece on which the ankle of the bone-in leg meat in a lying posture is placed, and an upper retainer that moves up and down with respect to the lower clamping piece and approaches and separates from the lower clamping piece, and the lower clamping piece and the upper clamping piece clamp the ankle of the bone-in leg meat in a lying posture.

[0007] This configuration allows bone-in thigh meat to be held in a lying position. For example, bone-in thigh meat can be held by the clamp while lying on a conveyor belt. As a result, the bone-in thigh meat does not shake during transport as in conventional methods, and can be held stably. The clamp for bone-in thigh meat grips the ankle of the bone-in thigh meat with a lower clamp and an upper clamp. Therefore, bone-in thigh meat can be easily placed into the clamp, and the clamp can easily hold the bone-in thigh meat in a lying position.

[0008] In the above configuration, the upper presser is provided with a biasing part that elastically presses it toward the lower presser.

[0009] This configuration allows for a simple design that grips the ankle of a bone-in thigh with the lower and upper clamps. Because the ankle of the bone-in thigh is elastically gripped by the lower and upper clamps, it can absorb individual differences in bone thickness. Therefore, the ankle of the bone-in thigh can be prevented from breaking by the lower and upper clamps.

[0010] In the above configuration, a lower leg restraint is provided to hold down the shin side of the lower leg of the bone-in thigh meat.

[0011] This configuration allows for correcting the posture of the bone-in thigh meat, which is held at the ankle by the lower and upper clamps. This makes it possible to make the posture of the bone-in thigh meat in a lying position as uniform as possible, regardless of individual differences. Furthermore, even if the bone-in thigh meat is roughly placed into the clamp, the posture of the bone-in thigh meat in a lying position can be made as uniform as possible.

[0012] In the above configuration, the lower leg presser is positioned on the heel side and the femur side of the bone-in thigh meat, sandwiching the lower clamping piece and the upper clamping piece in a plan view of the bone-in thigh meat in a lying position, and comprises a first pressing part and a second pressing part that press down on the bone-in thigh meat, with either the first pressing part or the second pressing part elastically pressing down on the bone-in thigh meat.

[0013] With this configuration, the first and second pressing parts can reliably equalize the posture of the bone-in thigh meat, which tilts with each clamping piece as a fulcrum. One of the two pressing parts elastically presses against the bone-in thigh meat, and this one pressing part can absorb individual differences in the bone-in thigh meat. As a result, the bone-in thigh meat can be reliably held by the two pressing parts without breaking the bone.

[0014] In the above configuration, the second pressing portion presses the heel side of the bone-in thigh meat, the first pressing portion presses the femur side of the bone-in thigh meat, and the second pressing portion elastically presses the bone-in thigh meat.

[0015] With this configuration, the lower leg clamp uses the femur side of the bone-in thigh as a reference point, and the heel side can absorb individual differences in the bone-in thigh. Therefore, compared to a case where the heel side is used as a reference point and individual differences in the bone-in thigh are absorbed on the femur side, the posture of the bone-in thigh can be made as uniform as possible, regardless of individual differences. For example, when performing tendon shaping on a bone-in thigh, the shaping is performed on the femur side of each clamping piece. Therefore, by using the femur side of the bone-in thigh as a reference point, it becomes possible to perform tendon shaping with greater precision.

[0016] In the above configuration, the lower clamp comprises a base portion and a lower clamping piece rising upward from the base portion, the upper clamp comprises an upper clamping arm portion rotatably supported on the base portion around a first axis along the horizontal direction, an upper clamping piece provided at the tip of the upper clamping arm portion, and an upper clamping operation portion provided at a location separate from the upper clamping piece on the upper clamping arm portion, and by operating the upper clamping operation portion, the upper clamp is moved so that the upper clamping piece moves closer to or further away from the lower clamping piece. The lower leg clamp is rotatable and comprises a lower leg clamp arm portion rotatably supported on the base portion around a second axis along the vertical direction, a first clamp portion and a second clamp portion provided on the lower leg clamp arm portion, and a lower leg clamp operating portion provided at a location separate from the first clamp portion and the second clamp portion on the lower leg clamp arm portion. By operating the lower leg clamp operating portion, the lower leg clamp is rotated so that the first clamp portion and the second clamp portion move closer to and further away from the lower clamping piece.

[0017] This configuration ensures that the ankle of the bone-in thigh is securely held while the thigh is lying down, and also corrects the posture of the bone-in thigh.

[0018] A method for clamping bone-in thigh meat using the bone-in thigh meat clamper described above, wherein the lower clamping piece and the upper clamping piece clamp the ankle of the bone-in thigh meat in a lying position, and then the lower leg presser presses the shin side of the lower leg meat of the bone-in thigh meat.

[0019] This configuration allows for precise correction of the posture of the bone-in thigh meat by holding down the lower leg.

[0020] According to a bone-in thigh clamper in one aspect of the present invention, bone-in thigh meat, such as poultry thigh meat, can be held stably.

[0021] This is a schematic diagram of a poultry leg meat processing system in an embodiment of the present invention, viewed from above. This is a perspective view of the input section in an embodiment of the present invention, viewed from the upstream side. This is a perspective view of the clamper in an embodiment of the present invention, viewed from the upstream side. This is a plan view of the clamper in an embodiment of the present invention, viewed from above. This is a plan view of the clamper holding the poultry leg meat in an embodiment of the present invention, viewed from above. This is a perspective view of the main part of the muscle-grooving device in an embodiment of the present invention, viewed from the upstream side.

[0022] Next, embodiments of the present invention will be described with reference to the drawings.

[0023] <Poultry Thigh Meat Processing System> Figure 1 is a schematic configuration diagram of a poultry thigh meat processing system 1 equipped with a clamper 9 according to the present invention, viewed from above. As shown in Figure 1, the poultry thigh meat processing system 1 is a system that automatically debones poultry thigh meat M (see Figure 2, etc.). The poultry thigh meat processing system 1 is laid out in a long length in one direction and includes a conveying section 2 for transporting poultry thigh meat. In the conveying section 2, the input section 3, X-ray imaging device 4, stenciling device 5, transfer device 80, and automatic deboning device 6 are arranged in this order from the upstream side in the conveying direction Y1 (see arrow Y1 in Figure 1).

[0024] In the following description, the upstream side of the conveying direction Y1 will simply be referred to as the upstream side, and the downstream side of the conveying direction Y1 will simply be referred to as the downstream side. In the following description, when referring to the vertical direction, it refers to the vertical direction with the poultry leg meat processing system 1 installed. The direction perpendicular to the conveying direction Y1 and the vertical direction will be referred to as the left-right direction. The conveying direction Y1 and the left-right direction are aligned with the horizontal direction.

[0025] <Conveying Section> The conveying section 2 includes a belt conveyor 7 and a chain conveyor 8. These belt conveyor 7 and chain conveyor 8 are arranged parallel to each other in the left-right direction. The belt conveyor 7 and chain conveyor 8 are driven synchronously. The chain conveyor 8 is provided with clampers 9 (see Figure 2, etc.) at equal intervals. The clampers 9 hold the ankle A of the poultry leg meat M (see Figure 2, etc.) by hooking it. The poultry leg meat M held by the clampers 9 is placed on the belt 7a of the belt conveyor 7 in a lying position. The lying position of the poultry leg meat M refers to the position in which the poultry leg meat M is laid down with the inner thigh facing upwards. Details of the clampers 9 will be described later.

[0026] <Input Section> Figure 2 is a perspective view of the input section 3 from the upstream side. As shown in Figures 1 and 2, the input section 3 includes a work table 10 and a guide section 11 arranged parallel to the transport section 2. The work table 10 is located on the opposite side of the chain conveyor 8, with the belt conveyor 7 in between. Numerous pieces of poultry thigh meat M (not shown in Figure 1) are fed onto the work table 10. The worker picks up the poultry thigh meat M from the work table 10 and lays it on the belt 7a of the belt conveyor 7, hooking the ankle A of the poultry thigh meat M onto the clamper 9. In this way, the poultry thigh meat M is fed into the poultry thigh meat processing system 1 via the input section 3.

[0027] The guide section 11 is positioned between the belt conveyor 7 and the chain conveyor 8. The guide section 11 includes two roller guides 12 and 13 (first roller guide 12 and second roller guide 13) extending in the conveying direction Y1. The two roller guides 12 and 13 are positioned parallel to each other in the vertical and horizontal directions. That is, of the two roller guides 12 and 13, the first roller guide 12 is positioned closer to the chain conveyor 8, while the second roller guide 13 is positioned closer to the belt conveyor 7.

[0028] The two roller guides 12 and 13 are formed from round bars. The first roller guide 12 is integrally molded with a first guide body 12a extending in the conveying direction Y1, a first inlet inclined portion 12b bent at the upstream end of the first guide body 12a, and a first outlet inclined portion 12c bent at the downstream end of the first guide body 12a. The second roller guide 13 is integrally molded with a second guide body 13a extending in the conveying direction Y1, a second inlet inclined portion 13b bent at the upstream end of the second guide body 13a, and a second outlet inclined portion 13c bent at the downstream end of the second guide body 13a.

[0029] The connection point (inlet bending point 12d) between the first guide body 12a and the first inlet inclined section 12b in the first roller guide 12 is located upstream of the connection point (inlet bending point 13d) between the second guide body 13a and the second inlet inclined section 13b in the second roller guide 13. The connection point (outlet bending point 12e) between the first guide body 12a and the first outlet inclined section 12c in the first roller guide 12 is located downstream of the connection point (outlet bending point 13e) between the second guide body 13a and the second outlet inclined section 13c in the second roller guide 13. The guide section 11 configured in this way, together with the upper pressing operation section 24 (upper roller 45) provided on the clamper 9 (described later), constitutes the opening mechanism 18 (details will be described later).

[0030] <Clamper> Figure 3 is a perspective view of the clamper 9 from the upstream side. Figure 4 is a plan view of the clamper 9 from above. As shown in Figures 2 to 4, the clamper 9 comprises a lower clamper 21 on which the poultry leg meat M is placed, an upper clamper 22 and a lower leg clamper 23 rotatably supported by the lower clamper 21, an upper clamper operating part 24 provided on the upper clamper 22, a lower leg clamper operating part 25 provided on the lower leg clamper 23, an upper clamper biasing part 26 connected to the lower clamper 21 and the upper clamper 22, and a lower leg clamper biasing part 27 connected to the lower clamper 21 and the lower leg clamper 23.

[0031] The lower clamp 21 has a rectangular base portion 28 that extends horizontally and is long from left to right when viewed from above. The end of the base portion 28 on the belt conveyor 7 side is bent so that the lower clamping piece 29 rises upward. The lower clamp 21 is positioned so that the lower clamping piece 29 faces the belt conveyor 7. The lower clamping piece 29 has a recess 29a in the center in the conveying direction Y1. The poultry thigh meat M is laid on the belt 7a of the belt conveyor 7, with the base of the ankle A (the femur F side of the ankle A) of the poultry thigh meat M resting on this recess 29a.

[0032] On the downstream side of the base portion 28, tongue-shaped portions 34 and 35 are integrally molded on both ends in the left-right direction, respectively, protruding downstream. Of the two tongue-shaped portions 34 and 35, the tongue-shaped portion 35, which is located on the chain conveyor 8 side opposite the lower clamping piece 29, is provided with a spring that forms part of the lower leg pressing biasing portion 27.

[0033] At the end of the base portion 28 on the chain conveyor 8 side, a support piece 30 is bent upward. A mounting shaft 31 is integrally molded to the support piece 30, protruding toward the chain conveyor 8. The clamper 9 is attached to the chain conveyor 8 via this mounting shaft 31. The clamper 9 moves in the conveying direction Y1 together with the chain conveyor 8.

[0034] An upper support piece 32 is integrally molded at the upstream end of the support piece 30, extending bent toward the lower clamping piece 29. An upper support shaft 37 is provided on the upper support piece 32, passing through it in the conveying direction Y1. The upper presser foot 22 is rotatably supported on the upper support shaft 37.

[0035] A lower leg support block 33 is provided at the upper end of the support piece 30. A lower leg support shaft 41 is provided on the lower leg support block 33, which protrudes upward. The axis C2 of the lower leg support shaft 41 and the axis C1 of the upper support shaft 37 are perpendicular to each other. The lower leg retainer 23 is rotatably supported on the lower leg support shaft 41.

[0036] The upper clamp 22 has an upper clamp arm portion 42 that is formed in an L-shape when viewed from the conveying direction Y1. That is, the upper clamp arm portion 42 has a first arm portion 42a extending in one direction, a second arm portion 42b extending in a direction approximately perpendicular to the direction of extension of the first arm portion 42a and slightly shorter than the length of the first arm portion 42a, and a bent portion 42c to which the first arm portion 42a and the second arm portion 42b are connected. The bent portion 42c is rotatably supported on the upper support shaft 37. In other words, the upper clamp 22 is rotatably supported around the axis C1 of the upper support shaft 37 which is along the conveying direction Y1.

[0037] The upper clamping arm portion 42 is arranged such that the first arm portion 42a extends from the bent portion 42c toward the lower clamping piece 29, and the second arm portion 42b extends upward from the bent portion 42c. An upper clamping piece 43 is bent and extends downstream from the tip of the first arm portion 42a opposite to the bent portion 42c. The upper clamping piece 43 is positioned above the lower clamping piece 29. A recess 43a is formed in the upper clamping piece 43 in the center in the transport direction Y1. The size of the recess 43a is the same as the size of the recess 29a of the lower clamping piece 29, but it does not necessarily have to be the same.

[0038] The upper pressing operation section 24 is provided at the end of the second arm section 42b opposite to the bent portion 42c. The upper pressing operation section 24 comprises a support block 44 that protrudes downstream from the end of the second arm section 42b, and an upper roller 45 provided on the support block 44.

[0039] Under this configuration, the upper clamping piece 43 moves closer to and further away from the lower clamping piece 29 as the upper pressing arm portion 42 rotates. In other words, the upper press 22 opens and closes by moving up and down relative to the lower press 21 around the axis C1. When the upper pressing operation portion 24 is pushed down towards the chain conveyor 8 side around the axis C1 (see arrow Y2 in Figure 3), the upper clamping piece 43 moves away from the lower clamping piece 29 (opens).

[0040] When the upper pressing operation portion 24 is pushed upward about the axis C1 (see arrow Y3 in FIG. 3), the upper clamping piece 43 approaches (closes) the lower clamping piece 29. In a state where the upper clamping piece 43 is closed, the lower clamping piece 29 and the upper clamping piece 43 overlap in the vertical direction. And the recess 43a of the upper clamping piece 43 and the recess 29a of the lower clamping piece 29 overlap in the vertical direction. That is, in a state where each clamping piece 29, 43 is closed, the base of the ankle A in the edible bird leg meat M is received in the recesses 29a, 43a respectively. And the ankle A is clamped (held) by each clamping piece 29, 43.

[0041] Here, the ankle A is swollen more than the base of the ankle A. For this reason, when the ankle A is clamped by the upper clamping piece 43 and the lower clamping piece 29, the ankle A is caught by these clamping pieces 43, 29. Thereby, the escape of the edible bird leg meat M from each clamping piece 29, 43 to the side of the belt conveyor 7 is prevented.

[0042] The upper pressing operation portion 24 cooperates with the second roller guide 13 provided in the input portion 3 to separate (open) the upper clamping piece 43 from the lower clamping piece 29 (details will be described later). That is, the upper pressing operation portion 24 constitutes an opening mechanism 18 that opens the upper presser 22 with respect to the lower presser 21 together with the second roller guide 13.

[0043] The upper presser biasing portion 26 includes a torsion spring 46 inserted into the upper support shaft 37.

[0044] The torsion spring 46 is inserted into the upper support shaft 37 in a compressed state. Thereby, the upper presser biasing portion 26 elastically biases the upper presser 22 in the closing direction at all times.

[0045] The lower leg presser 23 is attached to the lower leg support shaft 41 and includes a support plate 51 rotatably supported around the axis C2 of the lower leg support shaft 41 along the vertical direction, and a lower leg presser arm portion 52 extending from the support plate 51 toward each clamping piece 29, 43 side. The support plate 51 is a plate-like member extending in a direction intersecting the conveying direction Y1 when viewed from the vertical direction. More specifically, the support plate 51 extends obliquely so as to gradually go upstream from the lower leg support shaft 41 toward the chain conveyor 8.

[0046] The lower leg pressing arm portion 52 includes a first extending portion 52a extending from the second end portion 51b on the side of the belt conveyor 7 in the support plate 51 along the extending direction of the support plate 51 toward the belt conveyor 7, a second extending portion 52b bending and extending from the end of the first extending portion 52a opposite to the support plate 51 along the conveying direction Y1 toward the belt conveyor 7, and a third extending portion 52c bending and extending downward from the end of the second extending portion 52b opposite to the first extending portion 52a.

[0047] The second extending portion 52b extends toward the belt conveyor 7 more than the lower presser 21 and the upper presser 22 when viewed from above. A first pressing portion 54 is integrally formed at the end of the third extending portion 52c opposite to the second extending portion 52b. The first pressing portion 54 includes a pressing base portion 54a bent and extending from the third extending portion 52c toward the belt conveyor 7, and a pressing plate 54b bent and extending upward from the upstream end of the pressing base portion 54a. The pressing base portion 54a is located on the same plane as the base portion 28 of the lower presser 21.

[0048] A second pressing portion 55 is provided on the lower surface of the second extending portion 52b on the side of the chain conveyor 8 more than the lower clamping piece 29 and the upper clamping piece 43. That is, the first pressing portion 54 and the second pressing portion 55 are arranged on both sides sandwiching the lower clamping piece 29 and the upper clamping piece 43 when viewed from above. The second pressing portion 55 includes a support block 56 fixed to the lower surface of the second extending portion 52b, and a pressing pin 57 protruding upstream from the support block 56.

[0049] The pressing pin 57 includes a pin body 58. The pin body 58 is slidable in the conveying direction Y1 with respect to the support block 56. A coil spring 59 is inserted into the pin body 58. The coil spring 59 is arranged in a slightly compressed state between the support block 56. Thereby, the pin body 58 is constantly elastically biased toward the upstream side.

[0050] The lower leg pressing operation unit 25 is provided at the first end 51a of the support plate 51. The lower leg pressing operation unit 25 comprises a base plate 61 that bends and extends upstream from the first end 51a of the support plate 51, and a lower leg roller 62 provided on the base plate 61.

[0051] Under this configuration, when the lower leg clamp 23 rotates around the axis C2 of the lower leg support shaft 41, the lower leg clamp arm portion 52 approaches and separates from the lower clamping piece 29 and the upper clamping piece 43. That is, when the lower leg clamp operating portion 25 is pushed upstream around the axis C2 (see arrow Y4 in Figure 4), the lower leg clamp arm portion 52 separates from the lower clamping piece 29 and the upper clamping piece 43 (opens). When the lower leg clamp operating portion 25 is pushed downstream around the axis C2 (see arrow Y5 in Figure 4), the lower leg clamp arm portion 52 approaches from the lower clamping piece 29 and the upper clamping piece 43 (closes). The lower leg clamp operating portion 25 cooperates with the first roller guide 12 provided in the input portion 3 to separate the lower leg clamp 23 from the lower clamping piece 29 and the upper clamping piece 43 (opens; details will be described later).

[0052] The lower leg pressing biasing section 27 is equipped with a coil spring 65 that elastically biases the lower leg press 23 in a direction that constantly brings it closer to the lower clamping piece 29 and the upper clamping piece 43. The spring force of the coil spring 65 is greater than the spring force of the coil spring 59 of the second pressing section 55.

[0053] <Method of feeding poultry leg meat into the input section and behavior of the clamper> Next, the method of feeding poultry leg meat M into the input section 3 and the behavior of the clamper 9 will be explained in detail. As shown in Figure 2, when the clamper 9 is located upstream of the roller guides 12 and 13 in the input section 3 (see section I in Figure 2), the upper presser 22 and lower leg presser 23 are both closed by the upper presser biasing section 26 and the lower leg presser biasing section 27. When the clamper 9 moves in the conveying direction Y1 from this state, the lower leg roller 62 abuts against the first inlet inclined section 12b of the first roller guide 12. The upper roller 45 abuts against the second inlet inclined section 13b of the second roller guide 13.

[0054] As the clamper 9 moves further in the transport direction Y1 from this state, the lower leg roller 62 moves along the first inlet inclined section 12b. As a result, the lower leg pressing operation section 25 is pushed upstream on the axis C2 against the spring force of the coil spring 65 in the lower leg pressing biasing section 27 (see also arrow Y4 in Figure 4). Then the lower leg press 23 opens. Since the lower leg pressing operation section 25 is gradually pushed down by the first inlet inclined section 12b, the impact applied to the lower leg pressing operation section 25 is mitigated as much as possible. The guide body 12a of the first roller guide 12 is positioned so that the lower leg press 23 opens to the desired degree.

[0055] Meanwhile, the upper roller 45 moves along the second inlet inclined section 13b. As a result, the upper pressing operation section 24 is pushed down around the axis C1 against the spring force of the torsion spring 46 in the upper pressing biasing section 26 (see also arrow Y2 in Figure 3). Then the upper pressing section 22 opens. Since the upper pressing operation section 24 is gradually pushed down by the second inlet inclined section 13b, the impact applied to the upper pressing operation section 24 is mitigated as much as possible.

[0056] In this manner, the second roller guide 13 and the upper pressing operation unit 24 (upper roller 45) constitute an opening mechanism 18 that opens the upper pressing unit 22. The guide body 13a of the second roller guide 13 is positioned so that the upper pressing unit 22 opens to a desired degree.

[0057] The clamper 9 maintains the open state of the lower leg clamp 23 and upper clamp 22 when the corresponding rollers 62 and 45 are pressed against the spring force by the respective guide bodies 12a and 13a. While this open state is maintained, the worker picks up the poultry leg meat M from the workbench 10. Then, while laying the poultry leg meat M on the belt 7a of the belt conveyor 7, the worker places the base of the ankle A of the poultry leg meat M in the recess 29a of the lower clamping piece 29 (see part II in Figure 2).

[0058] In the lying position of the poultry leg meat M, the lower leg shin S side of the poultry leg meat M faces downstream. Here, the belt conveyor 7 and the chain conveyor 8 (clamper 9) are driven synchronously. As a result, the poultry leg meat M is conveyed by the conveying unit 2 while maintaining the lying position with the base of the ankle A resting on the recess 29a.

[0059] As the clamper 9 moves further in the transport direction Y1, the rollers 45 and 62 reach the outlet inclined sections 12c and 13c of the respective roller guides 12 and 13. Here, the outlet bending point 12e of the first roller guide 12 is located downstream of the outlet bending point 13e of the second roller guide 13. Therefore, of the two outlet inclined sections 12c and 13c, the upper roller 45 reaches the second outlet inclined section 13c first.

[0060] Then, the spring force of the torsion spring 46 in the upper pressing biasing section 26 pushes the upper roller 45 along the second outlet inclined section 13c and pushes the upper pressing operating section 24 upward around the axis C1 (see also arrow Y3 in Figure 3). As a result, the upper press 22 closes and the ankle A is gripped by the upper clamping piece 43 and the lower clamping piece 29 (see section III in Figure 2). At this time, the upper press 22 closes gradually due to the second outlet inclined section 13c, preventing the upper press 22 from closing suddenly and damaging the ankle A.

[0061] Next, the lower leg roller 62 reaches the first outlet inclined section 12c. Then, due to the spring force of the coil spring 65 in the lower leg pressing biasing section 27, the lower leg roller 62 follows the first outlet inclined section 12c, and the lower leg pressing operation section 25 is pushed downstream around the axis C2 (see also arrow Y5 in Figure 4). As a result, the lower leg press 23 closes and presses against the lower leg shin S side of the poultry thigh meat M.

[0062] Figure 5 is a plan view from above showing the state in which poultry leg meat M is placed in the clamper 9 and the upper clamp 22 and lower leg clamp 23 are closed. As shown in Figure 5, when the lower leg clamp 23 presses against the lower leg shin S side of the poultry leg meat M, the pressing plate 54b of the first pressing portion 54 of the lower leg clamp 23 comes into contact with the femur F side of the lower leg shin S side of the poultry leg meat M, more so than the clamping pieces 29 and 43. This elastically presses against the femur F side.

[0063] The pin body 58 of the second pressing portion 55 of the lower leg presser 23 is in contact with the heel H side (tarsal bone side) of the lower leg shin S side of the poultry thigh meat M, more so than the clamping pieces 29 and 43. It then elastically presses against this heel H side.

[0064] Here, the pin body 58 is provided so as to be slidable relative to the support block 56. The pin body 58 is constantly elastically biased toward the upstream side (towards the poultry leg meat M) by a coil spring 59. On the other hand, the first pressing part 54 is fixed to the lower leg pressing arm part 52.

[0065] Therefore, the sleeping position of the poultry thigh meat M is always made uniform based on the first pressing part 54. Individual differences in the poultry thigh meat M are absorbed by the pin body 58 of the second pressing part 55 sliding downstream against the spring force of the coil spring 59. The uniformization of the sleeping position of the poultry thigh meat M by the lower leg press 23 will be explained in more detail below.

[0066] As described above, when the poultry leg meat M is placed into the clamper 9, the base of the ankle A is placed in the recess 29a of the lower clamping piece 29. Since the poultry leg meat M is lying on the belt 7a, the position in which the worker places the poultry leg meat M is maintained during transport.

[0067] In other words, when the poultry leg meat M is placed into the clamper 9, the lying position of the poultry leg meat M may be such that the femur F side is tilted downstream with respect to the recess 29a of the lower clamping piece 29 (poultry leg meat M1 shown by the dashed line in Figure 5. Hereafter, this position will be referred to as the downstream tilting position). On the other hand, when the poultry leg meat M is placed into the clamper 9, the lying position of the poultry leg meat M may be such that the femur F side is tilted upstream with respect to the recess 29a of the lower clamping piece 29 (poultry leg meat M2 shown by the dashed line in Figure 5. Hereafter, this position will be referred to as the upstream tilting position).

[0068] Subsequently, the ankle A is held between the upper clamping piece 43 and the lower clamping piece 29 before being pressed by the lower leg restraint 23. In this state, the poultry thigh meat M can tilt downstream or upstream on the femur F side, using the upper clamping piece 43 and the lower clamping piece 29 as pivot points.

[0069] In this state, the lower leg retainer 23 is closed. At this time, if the poultry thigh meat M is in a downstream tilted position (see poultry thigh meat M1), the first retainer 54 first abuts against the femur F side of the poultry thigh meat M. Then, the poultry thigh meat M is pressed by the first retainer 54, and the femur F side tilts upstream with the upper clamping piece 43 and lower clamping piece 29 as fulcrums (see arrow Y6 in Figure 5). As a result, the heel H side of the poultry thigh meat M presses against the pin body 58 of the second retainer 55. The pin body 58 slides downstream against the spring force of the coil spring 59 according to the individual differences of the poultry thigh meat M. At this time, the position of the first retainer 54 and the degree of protrusion of the pin body 58 are determined by the balance of the respective pressing forces. This corrects the lying position of the poultry thigh meat M, and this lying position is fixed.

[0070] On the other hand, if the poultry thigh meat M is in an upstream-leaning position (see poultry thigh meat M2), when the lower leg retainer 23 is closed, the pin body 58 of the second retainer 55 first abuts against the heel H side of the poultry thigh meat M. Then, the poultry thigh meat M is pressed by the pin body 58, and the femur F side tilts downstream with the upper clamping piece 43 and lower clamping piece 29 as fulcrums (see arrow Y7 in Figure 5). As a result, the femur F side of the poultry thigh meat M abuts against the first retainer 54, and the tilting of the poultry thigh meat M is restricted. At the same time, the pin body 58 slides downstream against the spring force of the coil spring 59 according to the individual differences of the poultry thigh meat M. In this case as well, the position of the first retainer 54 and the degree of protrusion of the pin body 58 are determined by the balance of the respective pressing forces. As a result, the lying position of the poultry thigh meat M is corrected and fixed in this lying position.

[0071] <X-ray imaging device> Returning to Figure 1, the X-ray imaging device 4 irradiates the poultry leg meat being transported by the transport unit 2 with X-rays from above, acquiring information on the posture of the poultry leg meat M, the shape of the bones of the poultry leg meat M, and the position and orientation of the bones relative to the entire poultry leg meat M. In the X-ray imaging device 4, the closed state of the upper clamp 22 and lower leg clamp 23 of the clamp 9 is maintained.

[0072] <Creasing Device> Figure 6 is a perspective view of the main part of the creasing device 5 from the upstream side. As shown in Figures 1 and 6, the creasing device 5 performs creasing along the bones of the poultry thigh meat M based on information acquired by the X-ray imaging device 4 regarding the shape of the bones of the poultry thigh meat M and the position and orientation of the bones relative to the entire poultry thigh meat M (hereinafter simply referred to as the information from the X-ray imaging device 4). In the creasing device 5, the closed state of the upper clamp 22 and lower leg clamp 23 of the clamper 9 is maintained. The creasing device 5 comprises a cutter unit 71 and a closing clamp device 72.

[0073] The cutter unit 71 comprises a cutter holder 73 and a cutter body 74 held by the cutter holder 73. The cutter holder 73 is attached to a drive unit (not shown). The drive unit drives the cutter unit 71 based on information from the X-ray imaging device 4. As a result, the cutter body 74 is inserted along the bone of the poultry leg meat M, and grooves are made. A multi-axis robot can be used as the drive unit, for example. However, it is not limited to this, and the drive unit can be any device capable of driving the cutter unit 71 along the bone of the poultry leg meat M.

[0074] The closing and pressing device 72 comprises a pressing guide 75 extending in the conveying direction Y1 and an elastic support portion 76 supporting the pressing guide 75. The pressing guide 75 is positioned to contact the upper roller 45 from the chain conveyor 8 side when the upper press 22 is in the closed position. The pressing guide 75 is provided with a mounting portion 78 on the chain conveyor 8 side. The elastic support portion 76 is attached to the mounting portion 78.

[0075] The elastic support portion 76 elastically supports the retaining guide 75 from the chain conveyor 8 side. The elastic support portion 76 is equipped with an air cylinder 77. The air cylinder 77 is installed in a orientation such that the rod 77a slides in the left-right direction. A mounting portion 78 is attached to the tip of the rod 77a. The air cylinder 77 is always installed with the rod 77a protruding. That is, the retaining guide 75 is elastically supported by the air pressure inside the air cylinder 77.

[0076] Under this configuration, in the creasing device 5, the impact during the creasing operation of the poultry thigh meat M by the cutter unit 71 may cause a force to act on the poultry thigh meat M that tries to push the upper presser 22 in the opening direction. In this case, the upper roller 45 tries to be pushed down toward the chain conveyor 8 side around the axis C1 (see arrow Y2 in Figure 3). However, the creasing device 5 is equipped with a closing presser device 72. Therefore, the presser guide 75 of the closing presser device 72 presses down on the upper roller 45 from the chain conveyor 8 side. As a result, even if a load is placed on the poultry thigh meat M due to the impact during the creasing operation, the upper presser 22 is prevented from opening.

[0077] Furthermore, the closing press device 72 elastically supports the press guide 75 with an elastic support portion 76. As a result, the impact applied to the upper press 22 is absorbed by the elastic support portion 76. In other words, the press guide 75 does not forcibly press down on the upper roller 45. Therefore, damage such as the ankle A of the poultry thigh meat M breaking during the stenciling process is suppressed.

[0078] In addition, since the poultry thigh meat M is placed on the belt 7a, there is little change in the position of the poultry thigh meat M in the X-ray imaging device 4 and in the muscle-growing device 5. For this reason, stable muscle growing is performed in the muscle-growing device 5.

[0079] Furthermore, the lying position of the poultry thigh meat M is always determined based on the first pressing portion 54 by the lower leg clamping portion 23 of the clamper 9. This minimizes variations in the bone orientation of each piece of poultry thigh meat M. It is easier to uniformize the position of the poultry thigh meat M compared to the case where the second pressing portion 55 is used as the reference. In addition, muscle shaping of the poultry thigh meat M is performed on the femur F side of each clamping piece 29, 43. Therefore, by correcting the position of the poultry thigh meat M based on the first pressing portion 54, stable muscle shaping can be performed.

[0080] <Automatic deboning device> The automatic deboning device 6 automatically removes and discharges the meat from the poultry leg meat that has been scored by the scoring device 5.

[0081] A transfer device 80 is provided between the automatic deboning device 6 and the conveying unit 2. This transfer device 80 transfers the scored poultry leg meat M from the conveying unit 2 to the automatic deboning device 6 after it has been conveyed to the front of the automatic deboning device 6 by the conveying unit 2. The transfer device 80 is provided with roller guides (not shown here) that have the same configuration as the roller guides 12 and 13 of the input unit 3. Therefore, in the transfer device 80, the upper clamp 22 and lower leg clamp 23 of the clamper 9 are open.

[0082] The transfer device 80 includes, for example, an adsorption nozzle for adsorbing the poultry leg meat M and a moving part for moving the adsorption nozzle (neither of which are shown). After the poultry leg meat M is adsorbed by the adsorption nozzle, the poultry leg meat M is transferred to the automatic deboning device 6 by the moving part. At this time, the upper clamp 22 and lower leg clamp 23 of the clamper 9 are open, so these upper clamp 22 and lower leg clamp 23 do not get in the way when lifting the poultry leg meat M. For this reason, the poultry leg meat M can be easily picked up from the clamper 9 by the transfer device 80.

[0083] As described above, the clamper 9 comprises a lower clamper 21 on which the ankle A of the poultry leg meat M in a lying position is positioned, and an upper clamper 22 that moves up and down relative to the lower clamper 21. The lower clamping piece 29 of the lower clamper 21 and the upper clamping piece 43 of the upper clamper 22 clamp the ankle A of the poultry leg meat M in a lying position. In this way, the clamper 9 can hold the bone-in poultry leg meat M in a lying position. For this reason, for example, the bone-in poultry leg meat M can be held by the clamper 9 while lying on the belt conveyor 7. As a result, the poultry leg meat M does not shake during transport as in the conventional method, and the poultry leg meat M can be held stably. Since the upper clamper 22 moves upward relative to the lower clamper 21, the opening of the clamper 9 can be made larger, and the poultry leg meat M can be easily fed into the clamper 9. The clamper 9 can easily hold the poultry leg meat M in a lying position.

[0084] The clamper 9 is equipped with an upper pressing biasing part 26 that elastically presses the upper pressing part 22 toward the lower pressing part 21. Therefore, the ankle A of the poultry thigh meat M can be clamped between the lower pressing part 21 and the upper pressing part 22 with a simple configuration. Since the ankle A of the poultry thigh meat M is elastically clamped between the lower pressing part 21 and the upper pressing part 22, individual differences in the poultry thigh meat M (differences in bone thickness) can be absorbed. Therefore, the lower pressing part 21 and the upper pressing part 22 prevent the ankle A of the poultry thigh meat M from not being able to be attached to the clamper or from falling off the clamper, and also prevent the ankle from breaking.

[0085] The clamper 9 is equipped with a lower leg clamper 23 that holds down the lower leg shin S side of the poultry thigh meat M. This configuration allows the posture of the poultry thigh meat M, whose ankle A is held between the lower clamper 21 and the upper clamper 22, to be corrected. This makes it possible to make the posture of the poultry thigh meat M in a lying position as uniform as possible, regardless of individual differences. Furthermore, even if the lying position of the poultry thigh meat M is uneven when it is placed in the clamper 9, it can be made as uniform as possible.

[0086] The lower leg clamp 23 comprises a first clamping portion 54 and a second clamping portion 55. The second clamping portion 55 elastically presses against the poultry thigh meat M. Therefore, the first clamping portion 54 and the second clamping portion 55 can reliably equalize the posture of the poultry thigh meat M, whose posture is tilted with each clamping piece 29, 43 as a fulcrum. Because the second clamping portion 55 elastically presses against the poultry thigh meat M, it can absorb individual differences in the poultry thigh meat M. As a result, the poultry thigh meat M can be reliably held by the two clamping portions 54 and 55 without breaking the bone of the poultry thigh meat M.

[0087] The first pressing portion 54 is integrally molded with the lower leg pressing arm portion 52. Therefore, the lower leg presser 23 presses the femur F side of the poultry thigh meat M with the first pressing portion 54 as the reference, and can absorb individual differences in the poultry thigh meat M on the heel H side. Thus, compared to the case where the poultry thigh meat M is pressed with the heel H side as the reference and individual differences in the poultry thigh meat M are absorbed on the femur F side, the posture of the poultry thigh meat M can be made as uniform as possible, regardless of individual differences. More specifically, when muscle shaping is performed on the poultry thigh meat M, the shaping is performed on the femur F side of each clamping piece 29, 43. Therefore, by using the femur F side of the poultry thigh meat M as the reference, it becomes possible to perform muscle shaping with high precision.

[0088] The clamping method for the poultry thigh meat M using the clamper 9 involves first clamping the ankle A of the poultry thigh meat M with the lower clamp 21 and upper clamp 22, and then pressing the lower leg shin S side of the poultry thigh meat M with the lower leg clamp 23. Therefore, the posture of the poultry thigh meat M can be precisely corrected using the lower leg clamp 23.

[0089] The present invention is not limited to the embodiments described above, but includes various modifications to the embodiments described above, without departing from the spirit of the invention.

[0090] For example, in the above embodiment, poultry leg meat M was used as an example of bone-in leg meat. However, it is not limited to this, and the configuration of the poultry leg meat processing system 1 described above can be applied to various bone-in leg meats. For example, the configuration of the poultry leg meat processing system 1 can be applied to a system that processes bone-in leg meats of various animals such as pigs, cows, and turkeys instead of poultry leg meat M.

[0091] In the above-described embodiment, the case in which the creasing device 5 includes an air cylinder 77 as the elastic support portion 76 was explained. However, it is not limited to this, and it is sufficient if the pressing guide 75 can be elastically supported. For example, the elastic support portion 76 may be made of rubber or the like instead of the air cylinder 77. The pressing guide 75 may also be supported by rubber.

[0092] In the above-described embodiment, the conveying unit 2 was described in a case where it includes a belt conveyor 7 and a chain conveyor 8 that are arranged parallel to each other in the left-right direction and driven synchronously. The case described was where the poultry leg meat M is placed in a lying position on the belt 7a of the belt conveyor 7. However, it is not limited to this, and the conveying unit 2 may include two conveyors (first conveyor and second conveyor) that are arranged parallel to each other. It is not limited to the belt conveyor 7 and the chain conveyor 8. It is sufficient if the poultry leg meat M can be placed in a lying position on one of the two conveyors (first conveyor). It is sufficient if a clamper 9 is provided on the other of the two conveyors (second conveyor).

[0093] In the above-described embodiment, the case in which the two roller guides 12 and 13 are formed from round bars was explained. However, the invention is not limited to this, and various shapes can be used for the roller guides 12 and 13. It is sufficient that the roller guides 12 and 13 can operate each of the pressing operation parts 24 and 25 (upper roller 45, lower leg roller 62). In the above-described embodiment, the case in which each of the pressing operation parts 24 and 25 is equipped with rollers 45 and 62 was explained. However, the invention is not limited to this, and it is sufficient that the roller guides 12 and 13 can operate the corresponding pressing operation parts 24 and 25.

[0094] In the above-described embodiment, the lower leg clamp 23 of the clamper 9 was described as having two clamping parts 54 and 55, a first clamping part 54 and a second clamping part 55. Of these, the second clamping part 55 was described as elastically pressing against the poultry thigh meat M. However, it is not limited to this, and the first clamping part 54 may be configured to elastically press against the poultry thigh meat M instead of the second clamping part 55. One of the two clamping parts 54 and 55 should serve as a standard for equalizing the posture of the poultry thigh meat M, and the other should be able to absorb individual differences in the poultry thigh meat M.

[0095] In the above-described embodiment, the opening mechanism 18 was described as being composed of a guide portion 11 (second roller guide 13) extending in the transport direction Y1 and an upper pressing operation portion 24 (upper roller 45) provided on the clamper 9. However, it is not limited to this, and any configuration that opens the upper press 22 against the spring force of the torsion spring 46 in the upper pressing biasing portion 26 is acceptable.

[0096] In the above-described embodiment, the upper pressing biasing part 26 was described in a case where the upper pressing 22 is elastically closed using the spring force of a torsion spring 46. The lower leg pressing biasing part 27 was described in a case where the lower leg pressing 23 is elastically closed using the spring force of a coil spring 65. The pin body 58 of the second pressing part 55 was described in a case where it is always elastically biased toward the upstream side (towards the poultry thigh meat M side) by a coil spring 59. However, it is not limited to this, and configurations other than those that utilize the spring force of a spring may be adopted as the elastically biasing configuration. For example, rubber, an air cylinder, etc. can be used instead of a spring.

[0097] In the above-described embodiment, the clamper 9 was described in a case where the upper clamp 22 elastically closes relative to the lower clamp 21. However, it is not limited to this, and the lower clamp 21 may be configured to elastically close relative to the upper clamp 22. Both the lower clamp 21 and the upper clamp 22 may be configured to be elastically biased in the direction of approaching each other (closing). The opening mechanism 18 may be configured to open either the lower clamp 21 or the upper clamp 22 against the elastic force.

[0098] 9...Clamper 21...Lower clamp 22...Upper clamp 23...Lower leg clamp 24...Upper clamp operating part 25...Lower leg clamp operating part 26...Upper clamp biasing part (biasing part) 28...Base part 29...Lower clamping piece 42...Upper clamping arm part 43...Upper clamping piece 52...Lower leg clamping arm part 54...First clamping part 55...Second clamping part A...Ankle F...Femur H...Heel M...Poultry leg meat (bone-in leg meat)

Claims

1. A clamp for a bone-in thigh, comprising: a lower clamp having a lower clamping piece on which the ankle of a bone-in thigh in a lying position is positioned; and an upper clamp having an upper clamping piece that moves up and down relative to the lower clamping piece, approaching and moving away from the lower clamping piece, wherein the lower clamping piece and the upper clamping piece clamp the ankle of the bone-in thigh in a lying position.

2. The bone-in thigh clamp according to claim 1, further comprising a biasing portion that elastically presses the upper clamp toward the lower clamp.

3. A clamp for bone-in thigh meat according to claim 1 or claim 2, comprising a lower leg holder for holding down the shin side of the lower leg of the bone-in thigh meat.

4. The lower leg clamp is positioned on the heel side and the femur side of the bone-in thigh meat, sandwiching the lower clamping piece and the upper clamping piece in a plan view of the bone-in thigh meat in a lying position, and comprises a first pressing part and a second pressing part that press the bone-in thigh meat, respectively, and either the first pressing part or the second pressing part elastically presses the bone-in thigh meat, as described in claim 3.

5. The clamper for bone-in thigh meat according to claim 4, wherein the second pressing portion presses the heel side of the bone-in thigh meat, the first pressing portion presses the femur side of the bone-in thigh meat, and the second pressing portion elastically presses the bone-in thigh meat.

6. The lower clamp comprises a base portion and a lower clamping piece rising upward from the base portion; the upper clamp comprises an upper clamping arm portion rotatably supported on the base portion about a first axis along the horizontal direction, an upper clamping piece provided at the tip of the upper clamping arm portion, and an upper clamping operation portion provided at a location separate from the upper clamping piece on the upper clamping arm portion, wherein the upper clamp is rotated so that the upper clamping piece approaches or moves away from the lower clamping piece by operating the upper clamping operation portion; the lower leg clamp comprises a lower leg clamping arm portion rotatably supported on the base portion about a second axis along the vertical direction, a first clamping portion and a second clamping portion provided on the lower leg clamping arm portion, and a lower leg clamping operation portion provided at a location separate from the first clamping portion and the second clamping portion on the lower leg clamping arm portion; The clamper for bone-in thigh meat according to claim 5, wherein the lower leg clamp is rotated so that the first and second clamping portions move closer to and further apart from the lower clamping piece by operating the lower leg clamping operating portion.

7. A method for clamping bone-in thigh meat using the bone-in thigh meat clamper described in claim 3, wherein the lower clamping piece and the upper clamping piece clamp the ankle of the bone-in thigh meat in a lying position, and then the lower leg presser presses the shin side of the bone-in thigh meat.

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