JP2011177096A - Apparatus for detecting shoulder joint position of poultry carcass - Google Patents

Apparatus for detecting shoulder joint position of poultry carcass Download PDF

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JP2011177096A
JP2011177096A JP2010043614A JP2010043614A JP2011177096A JP 2011177096 A JP2011177096 A JP 2011177096A JP 2010043614 A JP2010043614 A JP 2010043614A JP 2010043614 A JP2010043614 A JP 2010043614A JP 2011177096 A JP2011177096 A JP 2011177096A
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arm member
shoulder joint
poultry carcass
tip
conveyor
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JP5455710B2 (en
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Shiro Nagasawa
史郎 永澤
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Prifoods Co Ltd
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Prifoods Co Ltd
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    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C21/00—Processing poultry

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Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for automatically detecting the shoulder joint position of a poultry carcass. <P>SOLUTION: The apparatus includes an arm member 2 which has a downward-protrusion formed in a tip and is placed on the upper side of a conveyer 100 running while maintaining the upper half part 300 of the poultry carcass from which a cephalic part is extirpated and viscera is eliminated; a spring 5 for downwardly biasing an arm member top by oscillating the arm member 2 in the circumference of a horizontal axis line; a stopper 2f' for specifying the lowest position of the arm member top; a first detector for detecting the vertical distance of the arm member top from the conveyer 100; and a second detector for detecting the horizontal distance of the arm member from the conveyer 100. The detection apparatus presses an arm-member top vicinity section biased downwardly by the spring 5 to the shoulder joint neighborhood of the poultry carcass from above, transfers the arm member top vicinity section to a shoulder joint depression part, and detects the vertical distance and horizontal distance of the arm member top from the conveyer 100 when the downward protrusion of the arm member top makes contact with and rides on a shoulder joint depression part of the poultry carcass. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

本発明は、食鳥屠体の肩関節の位置を自動的に検知する装置に関するものである。 The present invention relates to an apparatus for automatically detecting the position of a shoulder joint of a poultry carcass.

頭部が切除され内蔵が除去された食鳥屠体の上半部から手羽部を分離する作業に先立って、肩甲骨縁部に沿って食鳥屠体に筋入れする作業が行われる。筋入れ作業は、肩関節の上腕骨端部と肩骨端部との間の窪み部を開始位置とし、当該開始位置から肩骨と肩甲骨上端部とを通って、肩甲骨下端部の終了位置まで、刃物を骨の縁部に当接させつつ骨の縁部に沿って移動させることにより行われる。筋入れ作業は従来人手によって行われていた。 Prior to the work of separating the wings from the upper half of the edible carcass whose head has been removed and the internal organs removed, the work of creasing the edible carcass along the scapula edge is performed. The muscle insertion work starts from the indentation between the humeral end of the shoulder joint and the end of the scapula, passes from the start position to the scapula and the upper end of the scapula, and ends the lower end of the scapula To the position, the blade is moved along the bone edge while being brought into contact with the bone edge. The scoring work has been done manually.

食鳥屠体の解体作業を効率化すべく、肩甲骨縁部に沿って食鳥屠体に筋入れする作業を自動化することが望まれる。
筋入れ作業の自動化は、頭部が切除され内蔵が除去された食鳥屠体の上半部を下方から支持しつつ走行するコンベアを配設し、コンベアの側方にロボットアームを配設し、ロボットアームの先端に刃物を取付け、コンベアの移動に連動して刃物を自動操作することにより実現するのが望ましい。
食鳥屠体上半部の寸法には個体差があるので、肩関節窪み部の位置にも個体差がある。従って、ロボットアームを用いて自動的に筋入れするためには、筋入作業に先立って、コンベアで搬送される各食鳥屠体の肩関節窪み部の位置を自動的に検知する必要がある。
本発明は上記課題に鑑みてなされたものであり、食鳥屠体の肩関節窪み部の位置を自動的に検知する装置を提供することを目的とする。 In order to improve the efficiency of dismantling the poultry carcass, it is desirable to automate the work of creasing into the poultry carcass along the scapula margin.
Automating the creasing has been done by arranging a conveyor that travels while supporting the upper half of the poultry carcass from which the head has been removed and the internal part has been removed, and a robot arm is arranged on the side of the conveyor. It is desirable to realize this by attaching a cutter to the tip of the robot arm and automatically operating the cutter in conjunction with the movement of the conveyor.
Since there are individual differences in the size of the upper half of the poultry carcass, there are also individual differences in the position of the shoulder joint depression. Therefore, in order to automatically perform the creasing using the robot arm, it is necessary to automatically detect the position of the shoulder joint depression portion of each poultry carcass conveyed by the conveyor prior to the creasing operation. .
This invention is made | formed in view of the said subject, and it aims at providing the apparatus which detects automatically the position of the shoulder joint hollow part of a poultry carcass.

上記課題を解決するために、本発明においては、頭部が切除され内蔵が除去された食鳥屠体の上半部であって背側又は腹側を進行方向前方へ差し向けた上半部を下方から支持しつつ走行するコンベアの上方に配設され、鉛直軸線回りと水平軸線回りとに揺動可能であり先端部に下向きの突部が形成された腕部材と、腕部材を水平軸線回りに揺動させて腕部材先端部を下方へ付勢するバネと、腕部材先端部の最下位置を規定するストッパーと、腕部材先端部のコンベアからの垂直距離を検知する第１検知装置と、腕部材先端部のコンベアからの水平距離を検知する第２検知装置とを備え、バネで下方へ付勢された腕部材先端近傍部を移動中の食鳥屠体の肩関節近傍部に上方から押し当て、上腕骨端部または肩骨端部の丸みに沿って腕部材先端近傍部を肩関節窪み部へ移動させ、移動中の食鳥屠体の肩関節窪み部に腕部材先端部の下向きの突部が当接して乗り上げた時の腕部材先端部のコンベアからの垂直距離と水平距離とを検知することを特徴とする食鳥屠体肩関節位置検知装置を提供する。 In order to solve the above-mentioned problem, in the present invention, the upper half of the poultry carcass whose head has been excised and the internal part removed, and the upper half of the dorsal or ventral side facing forward in the direction of travel The arm member is disposed above the conveyor that travels while being supported from below, is swingable about a vertical axis and a horizontal axis, and has a downward protrusion at the tip, and the arm member is connected to the horizontal axis. A first detecting device that detects a vertical distance from the conveyor of the arm member tip end, a spring that swings around and biases the arm member tip end downward, a stopper that defines the lowest position of the arm member tip end, and And a second detection device that detects a horizontal distance of the arm member tip from the conveyor, and a portion near the arm joint tip that is biased downward by a spring to the shoulder joint vicinity of the moving poultry carcass Press from above, near the tip of the arm member along the roundness of the humeral or scapular end The vertical distance from the conveyor of the arm member tip when the downward projection of the arm member tip abuts on the shoulder joint well of the moving poultry carcass And a horizontal distance are detected, and a poultry carcass shoulder joint position detecting device is provided.

バネで下方へ付勢された腕部材先端近傍部を移動中の食鳥屠体の肩関節近傍部に上方から押し当てると、バネの付勢力を受けた腕部材先端近傍部は上腕骨端部または肩骨端部の丸みに沿って肩関節の窪み部へ移動する。腕部材先端部には下向きの突部が形成されているので、当該突部が肩関節の窪み部に当接して乗り上げた時に、腕部材先端部は最高位置に到達する。腕部材先端部が最高位置に到達した時点は、第１位置検知装置からの検知信号の経時変化履歴から検知することができる。第１位置検知装置からの検知信号の経時変化履歴と第２検知装置からの検知信号の経時変化履歴とに基づいて、腕部材先端部が最高位置に到達した時点での、腕部材先端部のコンベアからの垂直距離と、腕部材先端部のコンベアからの水平距離とを検知することにより、肩関節窪み部のコンベアからの垂直距離と水平距離とを検知することができる。
本発明に係る装置によれば、食鳥屠体の肩関節窪み部の位置を自動的に検知することができる。 When the vicinity of the distal end of the arm member biased downward by the spring is pressed against the shoulder joint vicinity of the moving chicken carcass from above, the distal end of the arm member that receives the biasing force of the spring is the end of the humerus Or it moves to the hollow part of the shoulder joint along the roundness of the end of the shoulder bone. Since the downward protrusion is formed at the tip of the arm member, the tip of the arm member reaches the highest position when the protrusion comes into contact with the recess of the shoulder joint. The point in time when the arm member tip reaches the highest position can be detected from the change history of the detection signal from the first position detector. Based on the time-dependent change history of the detection signal from the first position detection device and the time-change history of the detection signal from the second detection device, the arm member tip portion at the time when the arm member tip portion reaches the highest position. By detecting the vertical distance from the conveyor and the horizontal distance from the conveyor at the tip of the arm member, it is possible to detect the vertical distance and the horizontal distance from the conveyor at the shoulder joint recess.
The apparatus according to the present invention can automatically detect the position of the shoulder joint depression of the edible carcass.

本発明の好ましい態様においては、第１検知装置と第２検知装置とは光センサを備える。
本発明の好ましい態様においては、第１検知装置と第２検知装置とは腕部材の揺動角度を検知するポテンショメータまたはエンコーダを備える。
腕部材先端部の位置は、光センサを用いて検知しても良く、腕部材の揺動角度を検知するポテンショメータまたはエンコーダを用いて検知しても良い。 In a preferred aspect of the present invention, the first detection device and the second detection device include an optical sensor.
In a preferred aspect of the present invention, the first detection device and the second detection device include a potentiometer or an encoder that detects the swing angle of the arm member.
The position of the arm member tip may be detected using an optical sensor, or may be detected using a potentiometer or encoder that detects the swing angle of the arm member.

本発明の実施例に係る食鳥屠体肩関節位置検知装置の斜視図である。1 is a perspective view of a poultry carcass shoulder joint position detection device according to an embodiment of the present invention. 本発明の実施例に係る食鳥屠体肩関節位置検知装置が備える腕部材と食鳥屠体肩関節との関係を示す図である。（ａ）は食鳥屠体と腕部材とを上方から見下ろした図であり、（ｂ）は食鳥屠体と腕部材とをコンベア側方から水平に見た図であり、（ｃ）は食鳥屠体と腕部材とをコンベア進行方向前方から水平に見た図である。It is a figure which shows the relationship between the arm member with which the poultry carcass shoulder joint position detection apparatus which concerns on the Example of this invention is equipped, and a poultry carcass shoulder joint. (A) is the figure which looked down at the poultry carcass and the arm member from above, (b) is the figure which looked at the poultry carcass and the arm member horizontally from the conveyor side, (c) It is the figure which looked at the poultry carcass and the arm member horizontally from the front of the conveyor traveling direction. 本発明の他の実施例に係る食鳥屠体肩関節位置検知装置の腕部材先端部の斜視図である。It is a perspective view of the arm member front-end | tip part of the poultry carcass shoulder joint position detection apparatus which concerns on the other Example of this invention.

本発明の実施例に係る食鳥屠体肩関節位置検知装置を説明する。 A poultry carcass shoulder joint position detection apparatus according to an embodiment of the present invention will be described.

図１、２に示すように、食鳥屠体筋入れ装置の一部を形成するコンベア１００に、複数の直立する支持コーン１０１が、コンベア１００の延在方向に互いに所定間隔を隔てて取り付けられている。コンベア１００は図１、２に白抜矢印で示す方向へ走行している。食鳥屠体上半部２００が支持コーン１０１に上方から外嵌合し、支持コーン１０１が下方から腹腔内に進入して、食鳥屠体上半部２００を下方から支持している。食鳥屠体上半部２００は背側を進行方向前方へ差し向けており、且つ幅方向の中心をコンベアセンターラインＬに一致させている。
コンベア１００の図示しない下流側の部位を間に挟んで一対の図示しないロボットアームが配設されている。ロボットアームには刃物が取り付けられており、食鳥屠体上半部２００の肩関節の上腕骨端部２０１と肩骨端部２０２との間の窪み部２０３を開始位置とし、当該開始位置から肩骨と肩甲骨２０４上端部とを通って、肩甲骨２０４下端部の終了位置まで、接近して来る食鳥屠体上半部２００に前記刃物が対峙し、骨の縁部に当接しつつ骨の縁部に沿って刃物が移動して、食鳥屠体上半部２００に自動的に筋入れする。
コンベア１００の上流側の部位を間に挟んで一対の光センサ３００がコンベア１００の上方に配設されている。 As shown in FIGS. 1 and 2, a plurality of upright support cones 101 are attached to the conveyor 100 forming a part of the poultry carcass creasing device at predetermined intervals in the extending direction of the conveyor 100. ing. The conveyor 100 runs in the direction indicated by the white arrow in FIGS. The upper half 200 of the poultry carcass is externally fitted to the support cone 101 from above, and the support cone 101 enters the abdominal cavity from below to support the upper half 200 of the poultry carcass from below. The upper half 200 of the poultry carcass has its dorsal side directed forward in the traveling direction, and the center in the width direction coincides with the conveyor center line L.
A pair of robot arms (not shown) are arranged with a downstream portion (not shown) of the conveyor 100 interposed therebetween. A cutting tool is attached to the robot arm, and a recess 203 between the humeral end 201 and the scapular end 202 of the shoulder joint of the poultry carcass upper half 200 is set as a starting position, and from the starting position. The blade is opposed to the upper half 200 of the poultry carcass approaching through the shoulder bone and the upper end portion of the scapula 204 to the end position of the lower end portion of the scapula 204, and is in contact with the edge of the bone. The blade moves along the edge of the bone and automatically crates into the upper half of the edible carcass 200.
A pair of optical sensors 300 are disposed above the conveyor 100 with the upstream portion of the conveyor 100 interposed therebetween.

コンベア１００の上流側の部位の光センサ３００よりも僅かに下流側の部位を間に挟んで、一対の食鳥屠体肩関節位置検知装置１が配設されている。
食鳥屠体肩関節位置検知装置１は、第１支点２ａを通る鉛直軸線Ｘ回りと第２支点２ｂを通る水平軸線Ｙ回りとに先端部２ｃが揺動可能であり、第１支点２ａと第２支点２ｂと先端部２ｃとを通って延在する腕部材２を備えている。先端部２ｃには下向きの突部２ｃ’が形成されている。腕部材２はコンベア１００の上方に配設されている。
腕部材２の先端部２ｃから遠い方の支点２ａは支持部材２ｄの一部を形成している。支持部材２ｄは、ステッピングモータ３によって水平に駆動され、コンベア１００に接近離隔可能である。従って、第１支点２ａのコンベアセンターラインＬからの水平距離は可変である。 A pair of poultry carcass shoulder joint position detection devices 1 are arranged with a portion slightly downstream of the optical sensor 300 in the upstream portion of the conveyor 100 interposed therebetween.
The poultry carcass shoulder joint position detection device 1 has a tip 2c that can swing around a vertical axis X passing through the first fulcrum 2a and a horizontal axis Y passing through the second fulcrum 2b, and the first fulcrum 2a An arm member 2 extending through the second fulcrum 2b and the tip 2c is provided. A downward projecting portion 2c ′ is formed at the tip portion 2c. The arm member 2 is disposed above the conveyor 100.
A fulcrum 2a far from the tip 2c of the arm member 2 forms a part of the support member 2d. The support member 2 d is driven horizontally by the stepping motor 3 and can approach and separate from the conveyor 100. Therefore, the horizontal distance from the conveyor center line L of the first fulcrum 2a is variable.

腕部材２の第１支点２ａと第２支点２ｂとの間で延在する部位２ｅの第１支点２ａに近接する箇所と、支持部材２ｄから延びる一対の腕部２ｄ’とが、水平に延在する一対のバネ４を介して連結されている。この結果、腕部材先端部２ｃは、無負荷時に、第１支点２ａを通る鉛直軸線Ｘ回りの揺動に関して所定の第１中立位置に保持される。
腕部材２の第２支点２ｂと先端部２ｃとの間で延在する部位２ｆの第２支点２ｂを越えて部位２ｅ側へ突出する箇所と、部位２ｅから延びる腕部２ｅ’とが、上下に延在するバネ５を介して連結されている。バネ５により、腕部材先端部２ｃは、下方へ付勢されている。部位２ｅの第２支点２ｂを超えて部位２ｆ側へ突出する箇所に、部位２ｆから延びるストッパー２ｆ’が当接して、無負荷時に、先端部２ｃを最下位置に保持している。
水平軸線Ｙは、部位２ｅの延在方向に対して直交して延在している。従って、腕部材２は、鉛直軸線Ｘに沿って上方から見下ろすと、部位２ｅと部位２ｆとが整列した直線形状を有している。先端部２ｃが第１中立位置に在り且つ最下位置に在る時、腕部材２は、鉛直軸線Ｘに沿って上方から見下ろすと、コンベアセンターラインＬに対して、先端部２ｃをコンベア１００の進行方向前方へ差し向けて、第１支点２ａから先端部２ｃへ向けてコンベアセンターラインＬに接近する方向へ、僅かに傾斜している。
先端部２ｃが第１中立位置に在り且つ最下位置に在る時、腕部材２は、水平軸線Ｙに沿って水平に見ると、部位２ｆが部位２ｅに対して下方へ折れ曲がった折れ線形状を有している。 A portion of the part 2e extending between the first fulcrum 2a and the second fulcrum 2b of the arm member 2 and the pair of arms 2d ′ extending from the support member 2d extends horizontally. It is connected via a pair of existing springs 4. As a result, the arm member distal end portion 2c is held at a predetermined first neutral position with respect to swinging around the vertical axis X passing through the first fulcrum 2a when there is no load.
A part projecting toward the part 2e beyond the second fulcrum 2b of the part 2f extending between the second fulcrum 2b and the tip part 2c of the arm member 2 and an arm part 2e 'extending from the part 2e are vertically It is connected via a spring 5 extending to. The arm member tip 2c is biased downward by the spring 5. A stopper 2f ′ extending from the part 2f is in contact with a part projecting toward the part 2f beyond the second fulcrum 2b of the part 2e, and the distal end portion 2c is held at the lowest position when there is no load.
The horizontal axis Y extends perpendicular to the extending direction of the part 2e. Therefore, the arm member 2 has a linear shape in which the part 2e and the part 2f are aligned when looking down from above along the vertical axis X. When the distal end portion 2c is at the first neutral position and at the lowest position, the arm member 2 looks down from above along the vertical axis line X, and the distal end portion 2c is located on the conveyor 100 with respect to the conveyor center line L. It is slightly inclined in the direction of approaching the conveyor center line L from the first fulcrum 2a toward the front end 2c.
When the distal end portion 2c is in the first neutral position and in the lowest position, the arm member 2 has a bent line shape in which the portion 2f is bent downward with respect to the portion 2e when viewed horizontally along the horizontal axis Y. Have.

第１支点２ａに隣接して、腕部材先端部２ｃの第１中立位置からの鉛直軸線Ｘ回りの揺動角を検知するポテンショメータ６が配設されている。
第２支点２ｂに隣接して、腕部材先端部２ｃの最下位置からの水平軸線Ｙ回りの揺動角を検知するボテンショメータ７が配設されている。
光センサ３００、ステッピングモータ３、ポテンショメータ６、７は、制御装置８に接続されている。 A potentiometer 6 is disposed adjacent to the first fulcrum 2a to detect the swing angle around the vertical axis X from the first neutral position of the arm member tip 2c.
Adjacent to the second fulcrum 2b, a potentiometer 7 for detecting a swing angle around the horizontal axis Y from the lowest position of the arm member tip 2c is disposed.
The optical sensor 300, the stepping motor 3, and the potentiometers 6 and 7 are connected to the control device 8.

食鳥屠体肩関節位置検知装置１の作動を説明する。
図示しない作業者が、食鳥屠体上半部２００を支持コーン１０１に上方から外嵌合させ、支持コーン１０１を下方から腹腔内に進入させて、支持コーン１０１によって食鳥屠体上半部２００を下方から支持させる。食鳥屠体上半部２００は、背側をコンベア１００の進行方向前方へ差し向けて、且つ幅方向の中心をコンベアセンターラインＬに一致させて、支持コーン１０１によって支持される。
長手方向に整列した複数の支持コーン１０１がそれぞれ食鳥屠体上半部２００を下方から支持したコンベア１００が、図１、２の白抜矢印の方向へ走行する。
コンベア１００を挟んで対峙する一対の光センサ３００が、両者の間を通過する食鳥屠体上半部２００の肩幅を計測する。計測結果は制御装置８に送信される。 The operation of the poultry carcass shoulder joint position detection device 1 will be described.
An operator (not shown) fits the upper half of the poultry carcass 200 into the support cone 101 from above, enters the support cone 101 into the abdominal cavity from below, and the upper half of the poultry carcass is supported by the support cone 101. 200 is supported from below. The poultry carcass upper half 200 is supported by the support cone 101 with the back side directed forward in the direction of travel of the conveyor 100 and the center in the width direction aligned with the conveyor center line L.
A conveyor 100 in which a plurality of support cones 101 aligned in the longitudinal direction support the upper half 200 of the poultry carcass from below runs in the direction of the white arrow in FIGS.
A pair of optical sensors 300 facing each other across the conveyor 100 measure the shoulder width of the upper half 200 of the poultry carcass passing between the two. The measurement result is transmitted to the control device 8.

制御装置８は、光センサ３００からの入力信号により、食鳥屠体上半部２００の腕部材２への接近と、食鳥屠体上半部２００の肩幅とを認識する。
制御装置８は、食鳥屠体上半部２００の肩幅と、食鳥屠体の肩幅と肩関節位置との間の予め記憶した相関データとに基づいて、食鳥屠体上半部２００の肩関節のコンベアセンターラインＬからの水平距離を算出し、当該算出値を食鳥屠体上半部２００の肩関節の予想水平位置として記憶する。次いで、制御装置８は、ステッピングモータ３を駆動し、支持部材２ｄ、ひいては第１支点２ａをコンベア１００に接近離隔させて、接近しつつある食鳥屠体上半部２００の肩関節の予想水平位置へ腕部材先端部２ｃを移動させる。 The control device 8 recognizes the approach to the arm member 2 of the poultry carcass upper half 200 and the shoulder width of the poultry carcass upper half 200 based on the input signal from the optical sensor 300.
Based on the shoulder width of the upper half of the poultry carcass 200 and the correlation data stored in advance between the shoulder width of the poultry carcass and the shoulder joint position, the control device 8 controls the upper half of the poultry carcass 200. The horizontal distance of the shoulder joint from the conveyor center line L is calculated, and the calculated value is stored as the expected horizontal position of the shoulder joint of the upper half 200 of the poultry carcass. Next, the control device 8 drives the stepping motor 3 to move the support member 2d, and thus the first fulcrum 2a closer to and away from the conveyor 100, and to predict the expected horizontal joint of the shoulder joint of the upper half 200 of the poultry carcass approaching. The arm member tip 2c is moved to the position.

図２から分かるように、先端部２ｃが第１中立位置に在り且つ最下位置に在る腕部材２の先端近傍部が、第１支点２ａの下方を通過して腕部材先端部２ｃに接近しつつある食鳥屠体上半部２００の肩関節近傍部に上方から押し当たる。食鳥屠体上半部２００の進行に伴って、バネ５の付勢力に逆らって腕部材２の部位２ｆが上方へ押し上げられる。バネ５の付勢力を受けた部位２ｆは、食鳥屠体上半部２００の進行に伴って、上腕骨端部２０１又は肩骨端部２０２の丸みに沿って両者の間の窪み部２０３へ滑り落ち、その後、窪み部２０３によって案内される。
食鳥屠体上半部２００の進行に伴って、腕部材先端部２ｃは第２支点２ｂを通る水平軸線Ｙ回りに上方へ揺動し、且つ第１支点２ａを通る鉛直軸線Ｘ回りにコンベアセンターラインＬから遠ざかる方向へ揺動する。
食鳥屠体上半部２００の進行に伴って、腕部材先端部２ｃの下向き突部２ｃ’が肩関節の窪み部２０３に接近し該部に当接して乗り上げた時、腕部材先端部２ｃは最高位置に到達し、腕部材先端部２ｃの下向き突部２ｃ’が肩関節の窪み部２０３を通過すると、腕部材先端部２ｃは最下位置へ向けて下降する。 As can be seen from FIG. 2, the vicinity of the distal end of the arm member 2 in which the distal end portion 2c is in the first neutral position and in the lowest position passes below the first fulcrum 2a and approaches the distal end portion 2c of the arm member. It pushes against the shoulder joint vicinity part of the feeding bird carcass upper half 200 which is being pushed from above. As the poultry carcass upper half 200 advances, the part 2 f of the arm member 2 is pushed upward against the biasing force of the spring 5. The portion 2 f that receives the biasing force of the spring 5 moves along the roundness of the humeral end portion 201 or the scapular end portion 202 to the indented portion 203 between the two as the edible carcass upper half 200 advances. After sliding down, it is guided by the depression 203.
As the poultry carcass upper half 200 advances, the arm member tip 2c swings upward about the horizontal axis Y passing through the second fulcrum 2b and conveys around the vertical axis X passing through the first fulcrum 2a. It swings away from the center line L.
As the poultry carcass upper half 200 advances, when the downward projection 2c ′ of the arm member tip 2c approaches the depression 203 of the shoulder joint and abuts on the portion, the arm member tip 2c Reaches the highest position, and when the downward protrusion 2c ′ of the arm member tip 2c passes through the shoulder joint recess 203, the arm member tip 2c is lowered toward the lowest position.

制御装置８は、ポテンショメータ６、７からの入力信号の経時変化、より具体的には揺動角ゼロに対応する基準値から最大揺動角に対応するピーク値を経て基準値に戻るまでの１サイクル分の経時変化、すなわち１個の食鳥屠体上半部２００が食鳥屠体肩関節位置検知装置１を通過する間の経時変化、を記憶している。 The control device 8 changes the input signals from the potentiometers 6 and 7 with time, more specifically, from the reference value corresponding to zero swing angle to the reference value through the peak value corresponding to the maximum swing angle. The time-dependent change for the cycle, that is, the time-dependent change during the passage of the upper half 200 of the single edible carcass through the edible carcass shoulder joint position detecting device 1 is stored.

制御装置８は、１サイクルの経時変化が終了すると、直ちにポテンショメータ７からの入力信号の経時変化履歴に基づいて、入力信号のピーク値を検知し、入力信号値と揺動角との間の予め記憶した相関に基づいて、腕部材先端部２ｃの最下位置からの上方への最大揺動角αを算出する。前述の説明から分かるように、最大揺動角αは、腕部材先端部２ｃの下向き突部２ｃ’が食鳥屠体上半部２００の肩関節の窪み部２０３に当接して乗り上げた時の揺動角である。
腕部材先端部２ｃが最下位置に在る時の前記先端部２ｃと第２支点２ｂとの間の上下方向の相対位置関係は既知なので、制御装置８は前記既知の相対位置関係と前記最大揺動角αとを用いて、腕部材先端部２ｃの下向き突部２ｃ’が食鳥屠体上半部２００の肩関節の窪み部２０３に当接して乗り上げた時の腕部材先端部２ｃと第２支点２ｂとの間の上下方向の相対位置関係を算出する。
制御装置８は、第２支点２ｂのコンベア１００からの既知の鉛直距離と、腕部材先端部２ｃの下向き突部２ｃ’が食鳥屠体上半部２００の肩関節の窪み部２０３に当接して乗り上げた時の腕部材先端部２ｃと第２支点２ｂとの間の上下方向の相対位置関とに基づいて、腕部材先端部２ｃの下向き突部２ｃ’が食鳥屠体上半部２００の肩関節の窪み部２０３に当接して乗り上げた時の、腕部材先端部２ｃのコンベア１００からの鉛直距離を算出する。当該鉛直距離から突部２ｃ’の高さを引いた値が、食鳥屠体上半部２００の肩関節の窪み部２０３のコンベア１００からの鉛直距離である。 The control device 8 immediately detects the peak value of the input signal based on the history of change of the input signal from the potentiometer 7 as soon as the change with time of one cycle is completed, and previously determines between the input signal value and the swing angle. Based on the stored correlation, the maximum swing angle α upward from the lowest position of the arm member tip 2c is calculated. As can be seen from the above description, the maximum swing angle α is obtained when the downward projection 2c ′ of the arm member tip 2c is in contact with the depression 203 of the shoulder joint of the upper half of the poultry carcass 200. The swing angle.
Since the relative positional relationship in the vertical direction between the distal end 2c and the second fulcrum 2b when the arm member distal end 2c is at the lowest position is known, the control device 8 determines the known relative positional relationship and the maximum Using the swing angle α, the arm member tip 2c when the downward projection 2c ′ of the arm member tip 2c abuts against the depression 203 of the shoulder joint of the poultry carcass upper half 200 and The relative positional relationship in the vertical direction with respect to the second fulcrum 2b is calculated.
In the control device 8, the known vertical distance of the second fulcrum 2b from the conveyor 100 and the downward projection 2c ′ of the arm member tip 2c abuts against the shoulder joint recess 203 of the upper half 200 of the poultry carcass. On the basis of the vertical relative position between the arm member tip 2c and the second fulcrum 2b, the downward projection 2c 'of the arm member tip 2c is the upper half 200 of the poultry carcass. The vertical distance from the conveyor 100 of the arm member front end portion 2c when it rides on the shoulder 203 of the shoulder joint is calculated. A value obtained by subtracting the height of the protrusion 2c ′ from the vertical distance is a vertical distance from the conveyor 100 of the recess 203 of the shoulder joint of the upper half 200 of the poultry carcass.

制御装置８は次に、ポテンショメータ７からの入力信号の経時変化履歴とポテンショメータ６からの入力信号の経時履歴とに基づいて、ポテンショメータ７からの入力信号がピーク値に達した時のポテンショメータ６からの入力信号値を検知し、入力信号値と揺動角との間の予め記憶した相関に基づいて、腕部材先端部２ｃの第１中立位置からの鉛直軸線Ｘ回りの揺動角βを算出する。
腕部材先端部２ｃが第１中立位置に在る時の前記先端部２ｃと第１支点２ａとの間の上方から見下ろした相対位置関係は既知なので、制御装置８は前記既知の相対位置関係と前記揺動角βとを用いて、腕部材先端部２ｃの下向き突部２ｃ’が食鳥屠体上半部２００の肩関節の窪み部２０３に当接して乗り上げた時の腕部材先端部２ｃと第１支点２ａとの間の上方から見下ろした相対位置関係を算出する。
制御装置８は、腕部材先端部２ｃを肩関節の予想水平位置へ移動させた時のステッピングモータ３の回転角度から、第１支点２ａのコンベアセンターラインＬからの水平距離を算出し、当該水平距離と、腕部材先端部２ｃの下向き突部２ｃ’が食鳥屠体上半部２００の肩関節の窪み部２０３に当接して乗り上げた時の腕部材先端部２ｃと第１支点２ａとの間の上方から見下ろした相対位置関とに基づいて、腕部材先端部２ｃの下向き突部２ｃ’が食鳥屠体上半部２００の肩関節の窪み部２０３に当接して乗り上げた時の、腕部材先端部２ｃのコンベアセンターラインＬからの水平距離を算出する。当該水平距離は、食鳥屠体上半部２００の肩関節の窪み部２０３のコンベアセンターラインＬからの水平距離である。 Next, based on the change history of the input signal from the potentiometer 7 and the change history of the input signal from the potentiometer 6, the control device 8 outputs the signal from the potentiometer 6 when the input signal from the potentiometer 7 reaches the peak value. An input signal value is detected, and a swing angle β around the vertical axis X from the first neutral position of the arm member tip 2c is calculated based on a previously stored correlation between the input signal value and the swing angle. .
Since the relative positional relationship seen from above between the distal end portion 2c and the first fulcrum 2a when the arm member distal end portion 2c is in the first neutral position is known, the control device 8 determines the known relative positional relationship. Using the swing angle β, the arm member tip 2c when the downward projection 2c ′ of the arm member tip 2c rides on the shoulder joint recess 203 of the upper half 200 of the poultry carcass And the relative positional relationship looking down from above between the first fulcrum 2a.
The control device 8 calculates the horizontal distance from the conveyor center line L of the first fulcrum 2a from the rotation angle of the stepping motor 3 when the arm member tip 2c is moved to the expected horizontal position of the shoulder joint, and the horizontal The distance between the arm member distal end 2c and the first fulcrum 2a when the downward projection 2c ′ of the arm member distal end 2c rides on the shoulder joint recess 203 of the poultry carcass upper half 200 Based on the relative positional relationship looking down from above, the downward projection 2c ′ of the arm member tip 2c abuts against the depression 203 of the shoulder joint of the poultry carcass upper half 200 and rides on, The horizontal distance from the conveyor center line L of the arm member tip 2c is calculated. The said horizontal distance is a horizontal distance from the conveyor center line L of the hollow part 203 of the shoulder joint of the poultry carcass upper half 200.

制御装置８は、食鳥屠体上半部２００の肩関節の窪み部２０３のコンベア１００からの鉛直距離と、コンベアセンターラインＬからの水平距離とを、図示しないロボットアームの制御装置に送信する。ロボットアームの制御装置は、受信した位置情報に基づいて、接近する食鳥屠体上半部２００の肩関節の窪み部２０３の位置へ刃物を移動させて、食鳥屠体上半部２００を待ち受ける。 The control device 8 transmits the vertical distance from the conveyor 100 of the recess 203 of the shoulder joint of the upper half 200 of the poultry carcass and the horizontal distance from the conveyor center line L to the control device of the robot arm (not shown). . Based on the received positional information, the robot arm control device moves the blade to the position of the recess 203 of the shoulder joint of the approaching upper half of the poultry carcass 200 to move the upper half of the poultry carcass 200. I wait.

上記説明か分かるように、本実施例に係る食鳥屠体肩関節位置検知装置１によれば、食鳥屠体上半部２００の肩関節の窪み部２０３の位置を自動的に検知することができる。 As can be seen from the above description, according to the poultry carcass shoulder joint position detection device 1 according to the present embodiment, the position of the shoulder joint dent 203 of the upper half 200 of the poultry carcass is automatically detected. Can do.

上記実施例においては、腕部材先端部２ｃを、遠い方の第１支点２ａを通る鉛直軸線Ｘの回りに揺動させ、近い方の第２支点２ｂを通る水平軸線Ｙ回りに揺動させたが、腕部材先端部２ｃを、遠い方の第１支点２ａを通る水平軸線回りに揺動させ、近い方の第２支点２ｂを通る鉛直軸線回りに揺動させても良い。
上記実施例においては、第１支点２ａと第２支点２ｂとは一致していないが、両者を一致させて、一本の連続した腕部材が、単一の支点を通る鉛直軸線回りと水平軸線回りとに揺動するように構成しても良い。
光センサ３００とステッピングモータ３とを除去し、作業者が食鳥屠体上半部２００を視認しながら支持部材２ｄを手動でコンベア１００に接近離隔させ、腕部材先端部２ｃを食鳥屠体上半部２００の肩関節の近傍へ移動させても良い。この場合、第１支点２ａのコンベアセンターラインＬからの距離をセンサで検知する必要がある。
ポテンショメータ６、７に代えてエンコーダを使用しても良い。
ステッピングモータ３に代えてサーボモータを使用しても良い。
腹側を進行方向前方へ差し向けて食鳥屠体上半部２００を支持コーン１０１に上方から外嵌合させても良い。 In the above embodiment, the arm member tip 2c is swung around the vertical axis X passing through the distant first fulcrum 2a and swung around the horizontal axis Y passing through the near second fulcrum 2b. However, the arm member tip 2c may be swung around a horizontal axis passing through the farther first fulcrum 2a and swung around a vertical axis passing through the closer second fulcrum 2b.
In the above embodiment, the first fulcrum 2a and the second fulcrum 2b do not coincide with each other, but the two fulcrum coincide with each other so that one continuous arm member has a vertical axis and a horizontal axis passing through a single fulcrum. You may comprise so that it may rock | fluctuate around.
The optical sensor 300 and the stepping motor 3 are removed, and the operator manually approaches and separates the support member 2d from the conveyor 100 while visually recognizing the upper half 200 of the edible carcass, and the arm member tip 2c is moved to the edible carcass. The upper half 200 may be moved to the vicinity of the shoulder joint. In this case, it is necessary to detect the distance of the first fulcrum 2a from the conveyor center line L with a sensor.
An encoder may be used in place of the potentiometers 6 and 7.
A servo motor may be used instead of the stepping motor 3.
The upper half 200 of the poultry carcass may be externally fitted to the support cone 101 from above with the abdomen facing forward in the direction of travel.

腕部材２の揺動角度を検知するのに化えて、腕部材先端部２ｃの下向き突部２ｃ’が食鳥屠体上半部２００の肩関節の窪み部２０３に当接して乗り上げた時の腕部材先端部２ｃのコンベア１００からの垂直距離とコンベアセンターラインＬからの水平距離とを、それぞれ光センサを用いて直接検知しても良い。図３に示すように、腕部材先端部２ｃの上面にＴ型断面の反射板９を取付け、Ｔ型断面の上面９ａと側面９ｂとにセンサ１０ａ、１０ｂの光を照射して、前記上面と側面のセンサ１０ａ、１０ｂからの距離を検知し、ひいては腕部材先端部２ｃのコンベア１００からの垂直距離とコンベアセンターラインＬからの水平距離とを検知する。指向性が比較的弱い光センサを使用すれば、腕部材先端部２ｃの下向き突部２ｃ’が食鳥屠体上半部２００の肩関節の窪み部２０３に当接して乗り上げた時の腕部材先端部２ｃの位置が食鳥屠体の個体差によってばらついても、腕部材先端部２ｃの位置を検知することができる。制御装置８は、垂直距離を検知する光センサ１０ａからの入力信号の経時変化履歴に基づいて、当該入力信号のピーク値を検知し、垂直距離を検知する光センサ１０ａからの入力信号がピーク値になった時の垂直距離を検知する光センサ１０ａからの入力信号値と水平距離を検知する光センサ１０ｂからの入力信号値とに基づいて、肩関節の窪み部２０３のコンベア１００からの垂直距離とコンベアセンターラインＬからの水平距離とを算出する。   Instead of detecting the swing angle of the arm member 2, when the downward projection 2 c ′ of the arm member tip 2 c comes in contact with the recess 203 of the shoulder joint of the upper half of the poultry carcass 200, The vertical distance of the arm member tip 2c from the conveyor 100 and the horizontal distance from the conveyor center line L may be directly detected using optical sensors. As shown in FIG. 3, a reflector 9 having a T-shaped cross section is attached to the upper surface of the arm member tip 2c, and the upper surface 9a and the side surface 9b of the T-shaped cross section are irradiated with light from the sensors 10a and 10b. The distances from the side sensors 10a and 10b are detected, and as a result, the vertical distance from the conveyor 100 and the horizontal distance from the conveyor center line L of the arm member tip 2c are detected. If an optical sensor with relatively low directivity is used, the arm member when the downward projection 2c ′ of the arm member tip 2c is brought into contact with the depression 203 of the shoulder joint of the upper half 200 of the poultry carcass Even if the position of the tip 2c varies due to individual differences between the poultry carcasses, the position of the arm member tip 2c can be detected. The control device 8 detects the peak value of the input signal based on the change history of the input signal from the optical sensor 10a that detects the vertical distance, and the input signal from the optical sensor 10a that detects the vertical distance is the peak value. The vertical distance from the conveyor 100 of the shoulder joint recess 203 based on the input signal value from the optical sensor 10a for detecting the vertical distance and the input signal value from the optical sensor 10b for detecting the horizontal distance. And the horizontal distance from the conveyor center line L is calculated.

本発明は、肩甲骨縁部に沿って自動的に食鳥屠体に筋入れする作業に広く利用可能である。 INDUSTRIAL APPLICABILITY The present invention can be widely used for an operation for automatically creasing a poultry carcass along a scapula edge.

１ 食鳥屠体肩関節位置検知装置
２ 腕部材
２ａ 第１支点
２ｂ 第２支点
２ｃ 先端部
２ｃ’ 下向き突部
２ｆ’ ストッパー
３ ステッピングモータ
４、５ バネ
６、７ ポテンショメータ
８ 制御装置
９ 反射板
１０ａ、１０ｂ 光センサ
１００ コンベア
１０１ 支持コーン
２００ 食鳥屠体上半部
２０１ 上腕骨端部
２０２ 肩骨端部
２０３ 窪み部
３００ 光センサ
Ｌ コンベアセンターライン DESCRIPTION OF SYMBOLS 1 Poultry carcass shoulder joint position detection apparatus 2 Arm member 2a 1st fulcrum 2b 2nd fulcrum 2c Tip part 2c 'Downward projecting part 2f' Stopper 3 Stepping motor 4, 5 Spring 6, 7 Potentiometer 8 Control apparatus 9 Reflector 10a 10b Photosensor 100 Conveyor 101 Support cone 200 Poultry carcass upper half 201 End of humerus 202 End of shoulder 203 Indentation 300 Optical sensor L Conveyor center line

Claims (3)

頭部が切除され内蔵が除去された食鳥屠体の上半部であって背側又は腹側を進行方向前方へ差し向けた上半部を下方から支持しつつ走行するコンベアの上方に配設され、鉛直軸線回りと水平軸線回りとに揺動可能であり先端部に下向きの突部が形成された腕部材と、腕部材を水平軸線回りに揺動させて腕部材先端部を下方へ付勢するバネと、腕部材先端部の最下位置を規定するストッパーと、腕部材先端部のコンベアからの垂直距離を検知する第１検知装置と、腕部材先端部のコンベアからの水平距離を検知する第２検知装置とを備え、バネで下方へ付勢された腕部材先端近傍部を移動中の食鳥屠体の肩関節近傍部に上方から押し当て、上腕骨端部または肩骨端部の丸みに沿って腕部材先端近傍部を肩関節窪み部へ移動させ、移動中の食鳥屠体の肩関節窪み部に腕部材先端部の下向きの突部が当接して乗り上げた時の腕部材先端部のコンベアからの垂直距離と水平距離とを検知することを特徴とする食鳥屠体肩関節位置検知装置。 The upper half of the poultry carcass with the head removed and the internal part removed is placed above the conveyor that travels while supporting the upper half with the back or abdomen facing forward in the direction of travel. An arm member that is swingable about a vertical axis and a horizontal axis and has a downward protrusion at the tip, and swings the arm member about the horizontal axis to move the tip of the arm member downward A biasing spring, a stopper for defining the lowest position of the arm member tip, a first detection device for detecting a vertical distance from the conveyor at the arm member tip, and a horizontal distance from the conveyor at the arm member tip And a second detection device for detecting, pressing the vicinity of the distal end of the arm member biased downward by a spring against the vicinity of the shoulder joint of the moving poultry carcass from above, the end of the humerus or the end of the shoulder Move the vicinity of the tip of the arm member to the shoulder joint depression along the roundness of the arm, And detecting the vertical distance and the horizontal distance from the conveyor of the arm member tip when the downward projection of the arm member tip comes into contact with the shoulder joint depression of the shoulder Joint position detection device. 第１検知装置と第２検知装置とは光センサを備えることを特徴とする請求項１に記載食鳥屠体肩関節位置検知装置。 The first detection apparatus and the second detection apparatus each include an optical sensor, and the poultry carcass shoulder joint position detection apparatus according to claim 1. 第１検知装置と第２検知装置とは腕部材の揺動角度を検知するポテンショメータまたはエンコーダを備えることを特徴とする請求項１に記載食鳥屠体肩関節位置検知装置。 2. The apparatus for detecting a shoulder position of a poultry carcass shoulder according to claim 1, wherein the first detection device and the second detection device include a potentiometer or an encoder that detects a swing angle of the arm member.
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