JP2002238444A - Automatically bone-removing treatment system for upper half chicken meat carcass - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatically bone-removing treatment system for upper half chicken meat carcass, free from any problem involved in electrically, hydraulically or pneumatically driven motors and/or cylinders, safe even if washed with high-pressure water, and hygienically operable. SOLUTION: This system includes a lift dividing table 1 with work-attaching jigs 2 set at specified intervals on the upper surface of the outer circumference thereof and a plurality of stations 1st to 12th each provided with a bone-removing-related treatment unit. This system works in such a way that upper half chicken meat carcasses attached respectively to the jigs 2 through a work charge mounting unit 101 are put to bone-removing-related treatment at the relevant sections of the respective stations during repeated actions of the lift dividing table 1 including advancing, stopping, ascending, descending and advancing again by a lift dividing mechanism; wherein the lift dividing mechanism includes a lift mechanism functioning to vertically move the table 1 and an advancing mechanism functioning to advance the table 1, the driving unit for driving the lift mechanism comprises a hydraulic cylinder with water as the hydraulic fluid, the driving unit for the advancing mechanism comprises a hydraulic motor with water as the hydraulic fluid, and both driving controls of the hydraulic cylinder and the hydraulic motor are conducted using a hydraulic control valve.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is capable of cutting ecological tissues such as tendons around the shoulder joint of the upper body of a poultry carcass for meat, and enables high-yield wings, breasts and fillets to be automatically and unmannedly taken. The present invention relates to an automatic deboning apparatus for the upper body of a chicken carcass.

[0002]

2. Description of the Related Art Conventionally, stripping of chicken meat has been performed manually. However, stripping by manual operation has the following problems.

[0003] The value of the commercial product is reduced due to the incorporation of foreign matter into the breast during the separation process, the unstable yield due to manual operations, and the damage to the breast and breasts during the stripping operation.

[0004] It is necessary for an operator to directly touch the meat, which increases management costs in terms of food hygiene.

[0005] Since an operator performs a stripping operation using a blade in a low-temperature room, there is a fear that injuries and tendonitis due to the blade may occur.

[0006] In order to cope with the above-mentioned problems, in recent years, various kinds of meat processing have been automated. In the current deboning of chicken, the deboning automatic processing unit for the upper part of the chicken carcass used mainly consists of a "main tact feeding" section of the table and a "deboning related processing section" of 12 stations in total. Have been. In the "main tact feed" section for performing the step-up and step-down operation of the table, the lifting mechanism is formed by an electric servomotor, a gear train, a fixed upright ball screw or a hydraulic cylinder that can be raised and lowered by rotation of the gear train. The stepping drive unit is driven using a resolver type or stop lockable electric stepping motor.

In general, food processing machines are required to be sprayed with high-pressure water to wash the food processing machines from the viewpoint of safety and hygiene. To cope with this, as described above, when mounting an electric drive motor or cylinder on a food processing machine, it is necessary to surround the surroundings and prevent water Need to be sealed. For this reason, air purging or the like is necessary depending on the enlargement and sealing conditions by adding the sealing part,
Extra accessories may be required. In addition, there are also problems such as failure of heat dissipation due to sealing and failure of the device due to dissolution of lubricating grease.

In addition, a high-output and high-response hydraulic drive motor or cylinder, which is less likely to cause the above-described problems due to the cleaning than an electric drive, is applied to a food processing machine,
There are measures to improve the washing resistance. However, in this measure,
During cleaning or during operation of the apparatus, there is a risk of contaminating the working environment due to leakage of oil inside the apparatus.

[0009] On the other hand, the use of pneumatic drive as a clean drive method is conceivable, but disadvantages such as the problem of oil mist discharge from the compressor for generating pneumatic pressure, low output, low efficiency, and unstable operation speed. Have
It is difficult to apply to food processing machines.

Further, in the automatic deboning apparatus for the upper body of the chicken carcass, air motors or electric motors are mounted as air cylinders and cutter rotating motors at various positions in the drive mechanism during the deboning process of a total of 12 stations. . Again, the use of air cylinders and motors as described above has the problem of oil mist discharge from the compressor, low output and low efficiency. In addition, the use of electric motors needs to be covered to improve washing resistance, which causes problems such as weight increase and danger of electric leakage. It is the current situation.

[0011]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has the problems of the above-described electric drive motor and cylinder, hydraulic drive motor and cylinder, and pneumatic drive motor and cylinder. In addition, an object of the present invention is to provide an automatic deboning apparatus for a chicken carcass upper body that can safely and hygienically deboning the chicken carcass even if the apparatus is washed with high-pressure water.

[0012]

In order to solve the above-mentioned problems, an invention according to a first aspect of the present invention is directed to an elevation indexing table in which a work mounting jig is mounted on an outer peripheral upper surface at predetermined intervals, and the elevation indexing table. Equipped with a plurality of stations each provided with a deboning-related processing unit, arranged along the periphery of, the elevation indexing mechanism, advance, stop, ascend the elevation indexing table,
It is configured to perform deboning-related processing on the chicken carcass upper body mounted on the work mounting jig at the work input mounting part in the deboning-related processing unit of each of the stations during the repetitive operation of the descending and stepping operations. In the automatic deboning apparatus for the upper part of a chicken carcass, the lifting / lowering indexing mechanism includes a lifting / lowering mechanism for raising / lowering the lifting / lowering indexing table and a stepping mechanism for stepping up, and operating a driving unit for driving the lifting / lowering mechanism with water. In addition to being constituted by a hydraulic cylinder as a fluid, the drive unit of the stepping mechanism is constituted by a hydraulic motor using water as a working fluid, and drive control of the hydraulic cylinder and the hydraulic motor is performed using a hydraulic control valve. I do.

As described above, the driving unit for driving the lifting mechanism is constituted by a hydraulic cylinder using water as a working fluid, and the driving unit of the stepping mechanism is constituted by a hydraulic motor using water as a working fluid. And, by performing the drive control of the hydraulic motor using the hydraulic control valve, even if the lifting index table and the lifting index mechanism are washed with high-pressure water, there is no adverse effect such as a short circuit on the equipment constituting them. It will be safe and hygienic.

According to a second aspect of the present invention, there is provided an elevation indexing table on which a work mounting jig is mounted at a predetermined interval on an outer peripheral upper surface, and a deboning-related processing unit disposed along the periphery of the elevation indexing table. , A plurality of stations each having a
During the repeated stop, ascending, descending, and stepping motions, the deboning-related processing unit of each station performs the deboning-related processing on the upper part of the chicken carcass attached to the work mounting jig at the work input mounting unit. In the automatic deboning equipment for the upper body of the chicken carcass, a hydraulic cylinder or hydraulic motor uses water as a working fluid for a drive unit that drives a mechanism unit that performs deboning-related processing in each deboning-related processing unit of the station. It is characterized by comprising.

As described above, the drive unit for driving the mechanism of the deboning-related processing unit at each station is constituted by a hydraulic cylinder or a hydraulic motor using water as a working fluid, so that the deboning-related processing unit is also made of high-pressure water. It becomes possible to wash.

According to a third aspect of the present invention, in the automatic deboning apparatus of the first aspect, various control valves for controlling the operation of the hydraulic cylinder and the hydraulic motor are provided in the vicinity of the deboning-related processing unit and It is characterized in that it is installed in a space surrounded by a partition.

As described above, the drive unit for driving the mechanism of the deboning-related processing unit is constituted by a hydraulic cylinder or a hydraulic motor using water as a working fluid, and various control valves are provided near the deboning-related processing unit and By installing in the space surrounded by the partition walls, even if each deboning-related processing unit is washed with high-pressure water, there is no adverse effect such as electric leakage on the equipment that composes them.
It will be safe and hygienic.

According to a fourth aspect of the present invention, in the automatic deboning apparatus for the upper body of a chicken carcass according to the first aspect, a mechanism for performing deboning-related processing in each deboning-related processing section of the station is driven. The drive unit is characterized by comprising a hydraulic cylinder or a hydraulic motor using water as a working fluid.

As described above, in the automatic deboning apparatus according to the first aspect, the drive unit for driving the mechanism of each deboning-related processing unit is also constituted by a hydraulic cylinder or a hydraulic motor using water as a working fluid. In addition to the lifting index table and the lifting index mechanism, each deboning-related processing section can be washed with high-pressure water.

According to a fifth aspect of the present invention, in the automatic deboning apparatus according to the fourth aspect, various control valves for controlling the operation of the hydraulic cylinder and the hydraulic motor are provided near the deboning-related processing section. It is characterized in that it is installed in a space surrounded by a partition.

By installing various control valves for controlling the operation of the hydraulic cylinder and the hydraulic motor as described above in the vicinity of the deboning-related processing section and in the space surrounded by the partition, the lifting index table and the lifting index Even if the deboning-related processing units are washed with high-pressure water in addition to the dispensing mechanism, the devices constituting them will not have any adverse effect such as electric leakage and will be safe and excellent in hygiene.

According to a sixth aspect of the present invention, in the automatic deboning apparatus for the upper body of a chicken carcass according to the fifth aspect, the timing of the stepping operation of the elevation indexing table by the elevation indexing mechanism is used for deboning-related processing. It is generated in accordance with the operation of the unit.

Since the timing of the step-up operation of the elevation indexing table by the elevation indexing mechanism is generated in accordance with the operation of the deboning-related processing section, even if there is an individual difference in the work, each deboning-related processing section is sufficient. Processing time can be secured and processing can be performed properly.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic view showing a schematic configuration of an automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.
FIG. 1 shows an automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.
As shown in FIG. 1, the main tact feed unit 100 and the auxiliary tact feed unit 200 are provided. Main tact feed unit 100
Are elevation indexing tables 1 and 1st to 12
th station group.

The station groups 1st to 12th include:
It is accurately positioned at the dividing index position every 30 degrees in an annular shape on the outer circumference of the elevation indexing table 1, and at each station, a deboning-related processing unit described below is arranged in a radial direction with respect to the center of rotation of the elevation indexing table 1. It is arranged so that it may face.

The station 1st is provided with a work (upper body of chicken carcass) loading and mounting section 101. The preprocessing unit 110 is provided in the stations 2nd to 5th, the shoulder stripping unit 111 in the station 2nd, the shoulder cutting unit 112 in the station 3rd, and the station 4th.
Is provided with a clavicle cut portion and a back muscle cut portion 113, and a measuring portion 114 is provided at the station 5th.

The stations 6th and 7th are provided with an articulation section 120, and the station 6th is provided with a shoulder crease section 121 and a side cut section 122, respectively. The station 8th has a breast stripping section 1
30 has a scissors scoring section 140 at station 9th.
However, at the station 11th, a scissors removing unit 150 is provided.
The station 12th is provided with a waste discharging unit 160, respectively.

FIG. 2 is a diagram showing a configuration example of the main tact feeding unit 100, and FIG. 3 is a diagram showing a plan configuration of a part of the elevation indexing table 1 of the main tact feeding unit 100. The main tact feed unit 100 has the elevation indexing table 1 as described above, and the work mounting jigs 2 are arranged at equal intervals on the outer peripheral portion of the elevation indexing table 1. Is loaded and mounted from the work loading and mounting section 101 of the station 1st while the elevation indexing table 1 is rising.

After the chicken is mounted, the lifting / lowering indexing table 1 is once lowered to avoid interference with the processing tool 3 of the deboning-related processing section of each station, and indexing is performed at a specified angle.
It is transported to the position of the processing tool 3 in the next deboning-related processing section.
When the table rises at the position of the processing tool 3 in the next deboning-related processing section, the chicken reaches the processing range of the processing tool 3 attached to the frame 4 and is processed. After the processing, the elevation indexing table 1 is lowered again, and indexing is performed to transport the table to the next position of the deboning-related processing unit.

By repeating this cycle, the processing steps of each deboning-related processing section (shoulder stripping, shoulder cutting, clavicle cutting, back muscle cutting, measurement, shoulder scoring, armpit cutting, breast stripping, breast scissoring) The processing is carried out by the processing tool 3 specialized for
The glass is automatically discharged at the previous indexing position. During these processing steps, a measuring unit 114 is provided in order to cope with individual differences in the chicken and deviations in the installation status, and the shape characteristics of the meat are detected by a sensor, and the work in the next and subsequent steps is performed. Use for For this reason, the elevation indexing table 1 needs to be positioned on the circumference so that the center position of the work mounting jig 2 is within the allowable accuracy range required for processing. The same applies to the positioning of the upper end of the work mounting jig 2 during the elevating operation.

The elevation indexing table 1 includes a swivel table 5, sliding bearings 6 provided at equal intervals on the elevation indexing table 1, and a slide fixed to the swivel table 5 supported by the sliding bearing 6 and moving up and down. Connected via a moving shaft 6a,
Although it rotates integrally with the turntable 5, it can move freely in the up and down direction. The elevating indexing table 1 is supported by a pair of bearings 7 a at the upper end of the elevating spindle 7.
Is connected to the output shaft of the hydraulic cylinder 8. Therefore,
The positioning of the elevation indexing table 1 in the turning direction is independently controlled by the positioning of a hydraulic motor 9 that drives the turning table 5, and the vertical positioning is independently controlled by the positioning of a hydraulic cylinder 8.

The hydraulic cylinder 8 and the hydraulic motor 9 are driven by a hydraulic servo valve 11 mounted on a manifold block 10 controlling the supply and discharge of water from a high-pressure water supply device (not shown). The manifold block 10 is also provided with a water pressure cutoff valve 12, which shuts off water supply and drainage when the power is not turned on or in an emergency stop so that the water pressure cylinder 8 and the water pressure motor 9 do not operate. It has become. Further, the manifold block 10 is covered with a simple cover 13 to prevent the hydraulic servo valve 11 and the hydraulic shutoff valve 12 from being broken by the impact force of water at the time of washing.

The turning table 5 is rotatably supported by a cross roller bearing 15 mounted on a table base 14, and an internal gear 16 is fixed to the turning table 5. The internal gear 16 meshes with an external gear 17 connected to the output shaft of the hydraulic motor 9. The hydraulic motor 9 used here is a hydraulic motor in which a water lubricating reduction gear and a sensor are integrated (built-in). The gear mechanism is not limited to the combination of the internal gear 16 and the external gear 17 but may be, for example, a combination of an external gear bevel gear or a combination of a worm wheel and a worm.

On the inner peripheral side of the turning table 5 inside the casing 18, a substantially semicircular recess is provided on the circumference corresponding to a predetermined indexing angle. When in the indexing position, the slide table with roller 1 biased by a spring in the direction in which the roller fits into the semicircular recess.
9 are arranged. The urging force can slightly rotate the swivel table 5, but is adjusted so as to be smaller than the driving force of the hydraulic motor 9. For this reason, it is possible to suppress an increase in a positioning error due to a backlash of the gear reducer and a shift of the elevation indexing table 1 due to a processing reaction force.

Oil seals 20, 21 are provided between the casing 18 and the swivel table 5 and between the table base 14 and the swivel table 5, respectively, so that water does not enter the casing 18 even during washing. However, a hydraulic motor 9 in which a water lubrication speed reducer and a sensor are integrated and a hydraulic cylinder 8 in which a sensor is integrated (built-in) are disposed outside a casing 18 below the table base 14.

A magnetic drum 22 on which magnetic scales are recorded at a fine pitch is fixed to the outer periphery of the turning table 5 inside the casing 18.
Position sensor 2 using magnetoresistive element fixed to
3, the position of the turntable 5 is detected in a non-contact manner from the change in magnetism.

From the viewpoint of productivity, it is required that the time required to move the indexing table 1 up and down and to determine the index is as short as possible. On the other hand, since the diameter of the elevation indexing table 1 is determined based on the size of the meat and the processing tool 3 and the number of processing steps, when the elevation indexing table 1 becomes large, the elevation indexing table 1 becomes larger. The moment of inertia and weight also increase. Therefore, the base machine is required to have high output and high response. Further, since the processing of the food is actually performed by the processing tool 3 on the upper and lower indexing table 1, it is desirable in terms of the apparatus configuration that the vertical indexing mechanism be as compact as possible.

Also, with the operation of the upper meat processing tool,
Since scattering of the meat pieces and adhesion of the meat pieces and fat to the work mounting jig 2 and the processing tool 3 occur, it is necessary to frequently perform the washing from the viewpoint of hygiene. At this time, the washing wastewater containing the meat pieces and fat is not only placed on the lifting / lowering indexing table 1 but also on the frame 4
Since the water also flows on the upper surface and the floor surface and needs to be washed away, the washing water is also applied to the elevating and lowering index mechanism, and therefore, the washing property is also required.

In view of the above points, a mechanism for driving the elevation indexing table 1 and the turning table 5 has high accuracy and high speed.
A high output, excellent cleaning properties, and a more compact mechanism will be required.

The present embodiment satisfies the demand for high output and high accuracy by utilizing a speed reduction mechanism in the indexing portion. If the reduction ratio is set excessively, some problems will occur in the high-speed operation. However, it is possible to sufficiently cope with the problem by using a motor suitable for high-speed rotation and setting an appropriate reduction ratio. Although the hydraulic cylinder 8 is driven directly by the hydraulic cylinder 8, the high-speed and high-precision position control of the hydraulic cylinder 8 can be relatively easily realized by using a sufficiently accurate sensor and the hydraulic servo valve 11. it can. The hydraulic cylinder 8
Has a very high output compared to its size, so that it can be more compact than a method of converting a rotary motion into a linear motion using a ball screw or the like.

A conventional oil-lubricated speed reducer or sensor is used for the connecting portion of the hydraulic motor 9 or the hydraulic cylinder 8 described above, and only the hydraulic motor or the hydraulic cylinder which does not integrate the sensor and the speed reducer outside the casing 18. Although it is possible to dispose them, there is a problem in that the number of devices housed inside the casing 18 increases and the whole mechanism becomes large. When the sensor and the speed reducer are housed inside the casing 18, it is necessary to disassemble and disassemble the casing 18 at the time of maintenance. As described above, since the machining tool 3 is mounted on the upper part of the elevation indexing table 1, in order to remove the casing 18, these machining tools 3 are required.
Is removed once, and assembly adjustment is required again after maintenance. As described above, it is important from the viewpoint of productivity that the number of components to be accommodated in the casing 18 is as small as possible, which leads to a reduction in the amount of work during maintenance and a reduction in machine downtime.

As for the cleaning performance, the hydraulic actuator, the hydraulic control valve, the piping, the manifold block 10 and the like are manufactured on the assumption that water is used, and the main parts are made of a non-rusting material. There is no problem if done.
The mechanical components housed in the casing 18 are lubricated with grease for a food machine, so that they do not discharge substances contaminating the food manufacturing environment and also have oil seals 20, 21.
, It is basically unnecessary to consider exposure to cleaning water. Electrical components such as a sensor amplifier for controlling the lifting / lowering indexing device, a drive amplifier for the water pressure control valve, and a controller for providing control signals are housed in the control device storage section 24 on the upper portion of the frame 4, so that water is not splashed during washing. Absent.

As described above, the hydraulically driven lifting / lowering indexing device having the structure shown in FIG. 1 fully utilizes the advantages of hydraulically driven operation, and satisfies the items required as a base machine of an automatic meat processing machine due to mechanical considerations. It was done.

FIG. 5 is a diagram showing an example of a circuit configuration of a control system of the main tact feeding unit (hydraulic drive type vertical indexing device). In the figure, the portions denoted by the same reference numerals as those in FIG. 2 indicate the same portions. The same applies to other drawings. The control system is
Switching instruction unit 2 for controlling the timing of switching the control
5, a target path generation unit 26 that generates a target path used during the follow-up control, a target numerical value table 27 preset from a target position of the turning table 5, a convergence determination unit 28, a changeover switch SW
1. It has a changeover switch SW2 and the like. The broken line in the drawing indicates the flow of a signal indicating the switching timing, and the solid line indicates the flow of a physical signal.

The hydraulic motor 9 is driven and controlled so as to follow a target speed to the controller 30 by minor feedback of the detection speed of the motor sensor 29 (built-in to the hydraulic motor 9). First, when there is an indexing request from the outside, the switching instructing unit 25 gives an activation signal to the target route generating unit 26, and at the same time, switches the changeover switch SW2 to the ON side, initializes the convergence determining unit 28, and sets the target numerical value table 27 Is updated so that its output indicates the next target position.

The target path generator 26 starts generating an S-shaped target path that reaches a predetermined indexing position after a certain period of time in response to the start signal, and simultaneously switches the changeover switch SW1 to the ON side. The target path generated by the target path generation unit 26 is a motor sensor 2 integrated (built-in) in the hydraulic motor 9.
9 is compared with the gain signal A33, and a value obtained by multiplying the difference by the gain A33 is input to the controller 30 as a target speed value, and the hydraulic servo valve 11 is controlled to follow the target path.
The drive of the hydraulic motor 9 is controlled via the.

The target path generator 26 operates autonomously, and when the target path reaches a predetermined index position, the changeover switch SW
1 is switched to the OFF side, and the follow-up side that follows the target route is switched to the constant value control for the values in the target numerical value table 27. The target numerical value table 27 stores target values of the position of the turning table 5 and the rotation position sensor 2 of the turning table 5.
3 is compared with the output signal of No. 3 by the comparing unit 32. A value obtained by multiplying the result of the comparison by the gain B34 is given to the controller 30 as a target speed input, and the gain A33 and the gain B34 are determined by the difference in accuracy between the two sensors of the motor sensor 29 and the rotational position sensor 23 at the time of switching (that is, the amount of deviation (that is, the amount of deviation)). , The target speed input to the controller 30) is adjusted appropriately so as not to change suddenly.

At the same time, the difference between the value of the target numerical value table 27 and the value of the rotational position sensor 23 is input to the convergence judging unit 28, and when the convergence has been achieved to the specified accuracy, the switching instructing unit 25 is notified of the convergence end, and The unit 25 accordingly selects the changeover switch S
At the same time as switching W2 to the OFF side, the end of indexing is notified to the outside.

When the two sensors, that is, the motor sensor 29 and the rotational position sensor 23 are switched and used as described above, the following advantages are obtained as compared with the case where the same is realized by one sensor. Occurs.

First, when it is considered that accurate control is performed only by the motor sensor 29 built in the hydraulic motor 9, means for compensating for positioning errors due to backlash of the speed reduction mechanism is provided in some form. I have to have it. For example, a method of positioning the rotation, measuring the error amount, and giving a target path in consideration of the error in advance is conceivable.However, since there is actually variation in backlash, etc., it is necessary to perform trial and error. Adjustments need to be made.

When the same operation is to be performed only with the rotation position sensor 23 fixed to the turning table 5, if the accuracy of the sensor is not sufficiently high, the target path and the detection signal are also stepwise. Signal, and stable control becomes difficult. For this reason, it is generally considered that it is desirable that the accuracy of a sensor necessary for path control or the like be at least 1/20 of the target positioning accuracy.

In order to control the speed of the hydraulic motor,
When a speed signal is generated by differentiating the position detection signal of the rotational position sensor 23, if a low-precision sensor is used, a smooth speed signal cannot be obtained, and the stability of the control system is deteriorated. For this reason, a considerably high-precision sensor is required, but the fine pitch of the magnetic drum 22 provided on the outer periphery of the large-diameter turning table 5 as in the present embodiment is recorded with high accuracy, and the sensor is manufactured with high accuracy. It is difficult.

On the other hand, when the hydraulic motor 9 is started or when the speed direction changes, a state in which the gear teeth do not mesh (separate) occurs due to the backlash of the speed reduction mechanism, and the movement of the hydraulic motor 9 causes the turning table 5 to move. Not fully synchronized with the movement of
For this reason, a stable limit cycle in which the separated state and the meshing state are repeated may occur or become unstable. In order to prevent this, it is effective to reduce the resolution of the sensor or reduce the control gain. But,
In such a case, the path following performance deteriorates as described above, and as a result, it is difficult to obtain good positioning control accuracy at the terminal point.

In this embodiment, since the rotation of the hydraulic motor 9 is transmitted to the turning table 5 after being decelerated, the accuracy of the motor sensor 29 integrated with the hydraulic motor 9 may be relatively low, and the manufacturing is easy. It is. In addition, since the rotation position sensor 23 attached to the turning table 5 itself can perform sufficient control if it has an accuracy of about one-fifth of the required positioning accuracy, it can be easily realized, which leads to a reduction in cost.

In the work loading section 101, as shown in FIG. 4, when the elevating and lowering index table 1 is raised, the lock is released by the engagement of the pawls 51 with the cam plate 52. 2 can be surely inserted, and thereafter, the claw 51
Is disengaged from the cam plate 52 and the locked state is restored, so that the work can be fixedly mounted securely. Thereafter, the claw 51 is moved upward and downward by the waste discharging unit 160.
The work is fixed and held until just before the rise.

Next, the ascending and descending indexing table 1 continues to advance while receiving the replenishment of the work at the station 1st.
As shown in FIG.
To cut the shoulder skin of the work, and then cut the meat of the shoulder after peeling at the shoulder cut portion 112 of the station 3rd, and then cut the collarbone and back at the collarbone cut portion and the spine cut portion 113 of the station 4th. I do.

Next, the measurement of the inside width of the shoulder is performed by the measuring section 114 of the station 5th, the shoulder is cut at the shoulder cutting section 121 of the station 6th, and the side of the side cut section 122 at the station 7th. The cut is performed, and then the breast stripping performed through the wings at the breast stripping unit 130 of the station 8th is performed. Next, scissors are scored in the scissors scoring section 140 of the station 9th, scissors are removed in the scissors removing section 150 of the station 11th, and finally, waste is discharged in the scrap discharging section 160 of the station 12th.

The breast and wings performed through the wings in the breast stripping section 130 are separated into breast and wings in the auxiliary tact feeding section 200.

The driving unit for driving the mechanism for performing the deboning-related processing in the deboning-related processing unit of each station is constituted by a hydraulic cylinder or a hydraulic motor using water as a working fluid. 7 to 1
FIG. 1 is a diagram illustrating a configuration of a hydraulic drive system that drives a mechanism unit of each deboning-related processing unit. 7 to 11, the pressurized water lines L1 are connected to each other, and the return water lines L2 are also connected to each other. 7A is a configuration of a water pressure supply unit 170, a shoulder stripping section driving section 111a, and a shoulder cutting section driving section 112a, FIG. 7B is a configuration of a collarbone cutting section driving section 113a, and FIG. 8 (b) shows the configuration of the shoulder joint cutting unit driving unit 120a, and FIG. 9 (a) shows the side cutting unit driving unit 1.
FIG. 9B shows the configuration of the breast stripping section driving section 130a.
FIG. 10 (a) shows a scissors scoring section driving section 140a.
FIG. 10B is a diagram showing a configuration of a scissors removing unit driving unit 150a, and FIG. 11 is a diagram showing a configuration of a waste discharging unit driving unit 160a.

As shown in FIG. 7A, the water pressure supply unit 170 supplies high pressure water as a working fluid to a pressure water supply line L1.
Water supply means 61 for supplying to each deboning-related processing section through the
And a tank 62 for storing return water from each deboning-related processing section through the return water line L2. In addition, the shoulder stripping section driving section 111a includes hydraulic motors 63, 63, flow control valves 64, 64, and two-way switching valves 65, 65. In addition, the shoulder cut drive 112a is provided with the hydraulic cylinders 66, 6
6. Flow control valve 67, 67, 67, 6 with check valve
A seven- and four-port three-way switching valve 68 is provided. Also, as shown in FIG. 7B, the clavicle cutting portion driving portion 113a is provided with hydraulic motors 63, 63, flow regulating valves 64, 64, two-way switching valves 65, 65, hydraulic cylinders 66, 66, and a flow rate with a check valve. Regulating valve 67, 67, 67, 67 and 4 ports 3
The directional control valve 68 is provided.

FIG. 8 (a)
As shown in the figure, the hydraulic motor includes a hydraulic motor 63, a flow control valve 64, a two-way switching valve 65, a hydraulic cylinder 66, flow control valves 67 and 67 with check valves, and a four-port three-way switching valve 68. The shoulder joint drive unit 120a is shown in FIG.
As shown in the figure, the hydraulic motors 63, 63, the flow control valve 6
4, 64, two-way switching valve 65, 65, hydraulic cylinder 6
6, 66, flow regulating valve with check valve 67, 67, 6
7, 67 and a 4-port 3-way switching valve 68 are provided.

As shown in FIG. 9 (a), the side cut section drive section 122a includes hydraulic motors 63, 63, a flow control valve 64,
64, two-way switching valves 65, 65, hydraulic cylinders 66, 6
6. Flow control valve 67, 67, 67, 67 with check valve
And a four-port three-way switching valve 68. As shown in FIG. 9B, the breast stripping section driving section 130a includes a hydraulic cylinder 66, flow control valves 67 and 67 with check valves, and a 4-port 3-way switching valve 68.

The scissors scoring section driving section 140a is shown in FIG.
As shown in (a), hydraulic cylinders 66, 66, 66,
66, flow regulating valve 67, 67, 67, 6 with check valve
7, 67, 67, 67, 67 and a 4-port 3-way switching valve 68, 68. Also, the scissors removing unit driving unit
0a is a hydraulic cylinder 66, as shown in FIG.
66, 66, 66, flow regulating valve with check valve 67, 6
7, 67, 67, 67, 67, 67, 67 and a 4-port three-way switching valve 68, 68, 68.

Further, the waste discharging section driving section 160a is provided as shown in FIG.
As shown in (1), there are provided hydraulic cylinders 66, 66, flow control valves 67, 67, 67, 67 with check valves, and four-port three-way switching valves 68, 68.

The flow control valve 64 for controlling the operation of the hydraulic motor 63 and the hydraulic cylinder 66 of the drive unit of each deboning-related processing unit, a two-way switching valve 65, a flow control valve 67 with a check valve, and a 4-port 3 The electromagnetically driven valves such as the direction switching valve 68 are collectively installed in, for example, an upper space of the device, which is separated from the deboning-related processing units (for example, the control device storage unit 24 in FIG. 2). In this way, the water system and the electric system are separated from each other to avoid electric leakage, thereby enhancing safety.

In the hydraulic drive system having the above-described structure, high-pressure water is supplied from the pressurized water supply means 61 of the hydraulic pressure supply unit 170 to each deboning-related processing section through the pressurized water supply line L1. Are flow control valves 64, 2
Directional switching valve 65, flow regulating valves 67 and 4 with check valve
The port three-way switching valve 68 operates the hydraulic motor 63 and the hydraulic cylinder 66 to perform predetermined processing in each deboning-related processing unit, and return water from the hydraulic motor 63 and the hydraulic cylinder 66 passes through the return water line L2. Water supply unit 170
Return to the tank 62.

For example, in the side cut portion 122 shown in FIG. 12, the driving of the horizontal rotary cutters 70a and 70b is performed as shown in FIG.
The hydraulic motors 63, 63 of the side cut portion driving unit 122a are used, and the hydraulic cylinders 66, 66 are used for the horizontal swing. Here, the rotation / stop of the hydraulic motor is controlled by the two-way switching valve 6.
The rotation speed is set using the flow rate adjustment valves 64, 64, respectively. In addition, each hydraulic cylinder 6
6 and 66 use a 4-port 3-way switching valve 68 to perform expansion and contraction operations, and the operation speed is controlled by a flow control valve 67 with a check valve;
67, 67, and 67. Here, the side cut section 122a has been described as an example, but the hydraulic actuator (the hydraulic motor 6) of each deboning-related processing section is described in a similar manner.
3. Drive the hydraulic cylinder 66).

The hydraulic actuators constituting the deboning-related processing section of each station are driven based on a predetermined operation sequence (timing chart). These operations are arbitrarily set by a device such as a sequencer or a computer to control the operation of the device. Here, input / output information such as “start” and “end” of the operation of each actuator is detected by a sensor such as a limit switch installed in the pressure water actuator, and a control device (not shown)
To communicate. The control device constantly monitors the operation of each deboning-related processing unit based on an input signal from the sensor to operate the device, based on an input signal from the sensor.

As described above, the deboning-related process excellent in safety and hygiene and washing performance can be performed by hydraulically driving the mechanism that directly contacts the work (chicken) or operates in the vicinity of the work.

The timing of the step-up operation of the elevation indexing table 1 by the elevation indexing mechanism is generated in accordance with the operation of each deboning-related processing unit. Since chicken has a large individual difference, the processing time varies depending on the work. For this reason, there is a possibility that a sufficient processing time cannot be secured with uniform tact feeding (stepping operation), and the processing may not be performed properly. In some cases, the work is manually input, so it is necessary to confirm that no human is interposed in order to ensure safety. For this reason, if the tact operation of the main tact feed unit 100, that is, the stepping operation of the elevation indexing table 1, is specified, a problem occurs in terms of safety and yield. In order to solve this, the timing of the stepping operation of the elevation indexing table 1 is generated in accordance with the operation of the deboning-related processing unit.

FIG. 13 is a view showing a mechanism configuration of the shoulder cut portion 112. As shown in FIG. As shown, the mechanism of the shoulder cut portion 112 includes two hydraulic cylinders 66, 66 on the left and right sides, and the cylinder rods 66a, 66a of the hydraulic cylinders 66, 66 are provided.
The knife blade jigs 72, 72 connected to the tips of the blades are rocked, and both shoulders of the workpiece are cut by the knife blade 73 attached to the knife blade jigs 72, 72. Also, limit sensors 71, 7 attached to each hydraulic cylinder 66
1 detects the expansion and contraction of the cylinder rod 66a.
The detection signal is transmitted to the control device.

FIG. 14 is a diagram showing a mechanism configuration of the side cut portion 122. FIG. 14 (a) is a plan view and FIG. 14 (b) is a side view. As illustrated, the mechanism configuration of the side cut portion 122 includes
The two hydraulic motors 63, 63 each having two hydraulic cylinders 66, 66 on the left and right sides and having rotary cutters 74, 74 attached to the rotating shaft, respectively, open and close the gap between the hydraulic motors 63, 63. Water pressure motor 6
Rotating cutters 74, 7 for side cutting by rotation of 3, 63
4 rotates and cuts the side of the work. Double hydraulic motor 6
3, 63, that is, the approach of the two rotary cutters 74, 74 is detected by the proximity sensor, and the detection signal is sequentially transmitted to the control device.

FIG. 15 is a view showing the mechanism of the scissors scoring portion 140. As shown in FIG. As shown in the drawing, the mechanism of the scissors scoring portion 140 includes a hydraulic cylinder 66, and a jig 77 having a cutter blade 76 attached to the tip of a cylinder rod 66a of the hydraulic cylinder 66 is attached. By moving the hydraulic cylinder 66 up and down, the cutter blade 76 also moves up and down, and cuts the cutting line of the work. Although not shown, a limit sensor is installed in the hydraulic cylinder 66,
The expansion / contraction of the cylinder rod 66a is detected, and the detection signal is successively transmitted to the control device.

FIG. 16 is a view showing a mechanism configuration of the glass discharging section 160. FIG. 16 (a) is a side view, and FIG. 16 (b) is a view of the clamp holder viewed from the direction of arrow A. As shown in the drawing, the mechanism of the glass discharging unit 160 includes a clamp arm 79 having a clamp holder 78 attached to a tip thereof.
A clamper 80 is attached to a lower end of the clamp holder 78. In addition, the mechanism of the waste discharging unit 160 includes three hydraulic cylinders 66-1, 66-2, and 66-3. The hydraulic cylinder 66-1 is used for vertically moving the clamp arm 79. Is the clamp holder 78
Of the hydraulic cylinder 66-
Reference numeral 3 is used for opening / closing the clamper 80 for holding the backlash. Here, each hydraulic cylinder 66-1, 66-2, 66-
3 is provided with a limit sensor (not shown) for detecting expansion and contraction of the cylinder rod, and the detection signal sequentially transmits the detection signal to the control device.

FIG. 17 is a diagram showing an example of the configuration of the main tact feeding unit 100. FIG.
Shows plan views of the power transmission mechanism. The configuration of the basic lifting / lowering indexing mechanism of the main tact feeding unit 100 is the same as that of FIG. The power transmission mechanism is constituted by a roller gear cam 45 having an appropriate cam curve formed on a substantially cylindrical cam, and a plurality of roller followers 47 corresponding to an indexing interval at which the roller gear cam 45 is fitted by being pressurized. ing.

The input shaft to the roller gear cam 45 is connected to the output shaft of the hydraulic motor 41 by a bevel gear 44.
A limit switch 46 is attached to the roller gear cam 45 on the side opposite to the input shaft. The cam curve of the roller gear cam 45 drives the roller follower 47 using three quarters of one rotation of the cam, and does not transmit power to the roller follower 47 during the remaining quarter rotation. . Therefore, the backlash of the bevel gear 44 has no effect. Further, the limit switch 46 may be set so that a signal is output at one position per rotation.

The hydraulic motor 41 is a hydraulic motor integrated with a water lubricating reduction gear and has no built-in sensor. The speed is controlled by adjusting the opening of the hydraulic throttle valve 43, and the operation timing is controlled by a start signal and a signal from the limit switch 46. Water pressure switching valve 42
Adjust by switching. The hydraulic cylinder 40 does not have a built-in sensor, but uses a so-called cushion cylinder that automatically decelerates near the end point of the stroke. The timing is adjusted by the water pressure switching valve 42.

[0078]

As described above, according to the invention described in each claim, the following excellent effects can be obtained.

According to the first aspect of the present invention, the drive unit for driving the elevating mechanism is a hydraulic cylinder using water as a working fluid, and the hydraulic motor using the drive unit for the stepping mechanism as water as a working fluid. By using a hydraulic control valve to control the operation of the hydraulic cylinder and hydraulic motor using a hydraulic control valve, even if the elevation indexing table and the elevation indexing mechanism are washed with high-pressure water, equipment that constitutes these components will not be subject to leakage. It is possible to provide an automatic deboning device for a chicken carcass upper body that is safe and excellent in hygiene without any adverse effect.

According to the second aspect of the present invention, the driving unit for driving the mechanical unit of the deboning-related processing unit in each station is constituted by a hydraulic cylinder or a hydraulic motor using water as a working fluid, so that deboning is performed. The related processing unit can be washed with high-pressure water, and an automatic deboning apparatus for the upper body of a chicken carcass that is safe and excellent in hygiene can be provided.

According to the third aspect of the present invention, the driving unit for driving the mechanism of the deboning-related processing unit is constituted by a hydraulic cylinder or a hydraulic motor using water as a working fluid, and various control valves are deboned. By installing in the space surrounded by the partition wall in the vicinity of the related processing unit, even if each deboning related processing unit is washed with high-pressure water, it does not have any adverse effect such as electric leakage on the equipment constituting them and is safe. It is possible to provide an automatic deboning apparatus for the upper body of a chicken carcass that is excellent in hygiene.

According to the invention set forth in claim 4, according to claim 1
In the automatic deboning processing device described in the above, since the drive unit that drives the mechanism unit of each deboning-related processing unit is also composed of a hydraulic cylinder or hydraulic motor using water as the working fluid, the lifting index table and the lifting index mechanism In addition, each deboning-related processing unit can be washed with high-pressure water, and a safe and hygienic automatic deboning apparatus for the upper body of a chicken carcass can be provided.

According to the fifth aspect of the present invention, various control valves for controlling the operation of the hydraulic cylinder and the hydraulic motor are provided near the deboning-related processing section and in the space surrounded by the partition. Even if each deboning-related processing unit is washed with high-pressure water in addition to the lifting indexing table and the lifting indexing mechanism, it does not have any adverse effect such as electrical leakage on the equipment that composes them.
It is possible to provide an automatic deboning device for a chicken carcass upper body that is safe and excellent in hygiene.

According to the sixth aspect of the present invention, the timing of the step-up operation of the elevation indexing table by the elevation indexing mechanism is generated in accordance with the operation of the deboning-related processing unit, so that there is an individual difference in the work. Even in such a case, it is possible to provide an automatic deboning apparatus for the upper body of a chicken carcass, in which a sufficient processing time can be ensured in each deboning-related processing section and the processing is properly performed.

[Brief description of the drawings]

FIG. 1 is a schematic view showing a schematic configuration of an automatic deboning apparatus for a chicken carcass upper body according to the present invention.

FIG. 2 is a diagram showing a configuration example of a main tact feeding unit of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 3 is a plan view of a part of a main tact feeding portion of the automatic deboning apparatus for upper body of chicken carcass according to the present invention.

FIG. 4 is an enlarged view of an end portion of a vertical indexing table of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 5 is a diagram showing an example of a control system configuration of a main tact feeding unit of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 6 is a schematic diagram showing a processing flow of each deboning-related processing unit of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 7 is a diagram showing an example of a hydraulic drive system configuration of a water pressure supply unit, a shoulder peeling section, a shoulder cut section, and a collarbone cut section of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 8 is a diagram showing an example of a hydraulic drive system configuration of a spine cut section and a shoulder joint cut section of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 9 is a diagram showing a hydraulic drive system configuration example of a side cut portion and a breast stripping portion of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 10 is a diagram showing an example of a hydraulic drive system configuration of a scissors scoring section and a scissors removing section of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 11 is a diagram showing an example of the configuration of a hydraulic drive system of a waste portion of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 12 is a view showing a situation of a side cut of a side cut portion of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 13 is a diagram showing a configuration example of a mechanism of a shoulder cut portion of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 14 is a view showing a configuration example of a mechanism of a side cut portion of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 15 is a view showing a configuration example of a mechanism of a scissors scoring portion of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 16 is a view showing an example of a structure of a mechanism of a glass discharging unit of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention.

FIG. 17 is a view showing an example of the configuration of a main tact feeding unit of the automatic deboning apparatus for the upper body of a chicken carcass according to the present invention;
FIG. 17A is a longitudinal sectional view, and FIG. 17B is a plan view of a power transmission mechanism.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Elevating indexing table 2 Work mounting jig 3 Processing tool 4 Frame 5 Rotating table 6 Sliding bearing 7 Elevating spindle 8 Hydraulic cylinder 9 Hydraulic motor 10 Manifold block 11 Hydraulic servo valve 12 Hydraulic shutoff valve 13 Cover 14 Table base 15 Cross roller Bearing 16 Internal gear 17 External gear 18 Casing 19 Slide table with roller 20 Oil seal 21 Oil seal 22 Magnetic drum 23 Rotational position sensor 24 Control device housing 40 Hydraulic cylinder 41 Hydraulic motor 42 Hydraulic switching valve 43 Hydraulic throttle valve 44 Umbrella Gear 45 Roller gear cam 46 Limit switch 47 Roller follower 51 Claw 52 Cam plate 61 Pressurized water supply means 62 Tank 63 Water pressure motor 64 Flow control valve 65 Two-way switching valve 66 Water pressure cylinder 67 Flow rate with check valve Valve adjustment 68 4-port 3-way switching valve 70a, b Horizontal rotary cutter 71 Limit sensor 72 Knife blade jig 73 Knife blade 74 Rotary cutter 75 Proximity sensor 76 Cutter blade 77 Jig 78 Clamp holder 79 Clamp arm 80 Clamp 100 Main tact feed Part 101 Work input mounting part 110 Pretreatment part 111 Shoulder skin stripping part 112 Shoulder cut part 113 Clavicle cut part and back muscle cut part 114 Measurement part 120 Shoulder joint cut part 121 Shoulder streak part 122 Side cut part 130 Breast peel part 140 Scissor scoring section 150 Scissor removing section 160 Waste discharge section 170 Water pressure supply unit 200 Auxiliary tact feed section

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[Procedure amendment]

[Submission date] February 20, 2001 (2001.2.2)
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 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Shinhei Miyagawa 4-2-1 Motofujisawa, Fujisawa City, Kanagawa Prefecture Inside Ebara Research Institute, Inc. (72) Chishiro Yamashina 4-2-2 Motofujisawa, Fujisawa City, Kanagawa Prefecture No. 1 Inside Ebara Research Institute, Inc. 4-2-1, Ebara Research Institute, Inc. (72) Inventor Shinzo 2-13-1, Botan, Koto-ku, Tokyo Inside Maekawa Works, Ltd. Ryouji Kodama 2-13-1, Botan, Koto-ku, Tokyo 2-13-1, Botan, Inc. Maekawa Works Co., Ltd. F-term in Maekawa Works, Co., Ltd. ) 4B011 EA03

Claims (6)

[Claims] 1. A plurality of stations each having a lifting index table having a work mounting jig mounted on an outer peripheral upper surface thereof at predetermined intervals, and a deboning-related processing unit disposed along the periphery of the lifting index table. With the elevation indexing mechanism, the elevation indexing table step, stop, ascend, descend,
During the repetitive operation of the stepping operation, the upper part of the chicken carcass mounted on the work mounting jig at the work input mounting part is configured to perform the deboning-related processing at the deboning-related processing unit of each station. In the automatic deboning apparatus for the upper body of a chicken carcass, the lifting / lowering index mechanism includes a lifting / lowering mechanism for raising / lowering the lifting / lowering index table and a stepping mechanism for stepping, and a driving unit for driving the lifting / lowering mechanism is provided with water. And a drive unit of the stepping mechanism is configured by a hydraulic motor using water as a working fluid, and drive control of the hydraulic cylinder and the hydraulic motor is performed using a hydraulic control valve. Automatic deboning equipment for upper body of chicken carcass. 2. A plurality of stations each having a lifting / lowering index table on which a work mounting jig is mounted on the outer peripheral upper surface at predetermined intervals, and a deboning-related processing unit arranged along the periphery of the lifting / lowering index table. With the elevation indexing mechanism, the elevation indexing table step, stop, ascend, descend,
During the repetitive movement of the stepping operation, the upper part of the chicken carcass mounted on the work mounting jig at the work input mounting part is configured to perform the deboning-related processing at the deboning-related processing unit of each station. In the automatic deboning apparatus for the upper body of a chicken carcass, a drive unit for driving a mechanism for performing deboning-related processing of each deboning-related processing unit of the station is configured by a hydraulic cylinder or a hydraulic motor using water as a working fluid. An automatic deboning apparatus for the upper body of a chicken carcass. 3. The automatic deboning apparatus according to claim 1, wherein various control valves for controlling the operation of the hydraulic cylinder and the hydraulic motor are located near the deboning-related processing section and surrounded by a partition. Automatic deboning equipment for chicken carcass upper body characterized by being installed in 4. The apparatus for automatically deboning a chicken carcass upper body according to claim 1, wherein the driving unit that drives a mechanism that performs deboning-related processing of each deboning-related processing unit of the station operates water. An automatic deboning apparatus for the upper body of a chicken carcass, comprising a hydraulic cylinder or a hydraulic motor that uses a fluid. 5. The automatic deboning apparatus according to claim 4, wherein various control valves for controlling the operation of the hydraulic cylinder and the hydraulic motor are provided near the deboning-related processing section and surrounded by a partition. Automatic deboning equipment for chicken carcass upper body characterized by being installed in 6. The automatic deboning processing apparatus for an upper body of a chicken carcass according to claim 5, wherein the elevation indexing mechanism determines the timing of a stepping operation of the elevation indexing table by an operation of the deboning-related processing unit. Automatic deboning equipment for chicken carcass, characterized in that it is generated according to