JP6977061B2 - Full length measuring device for bone-in meat and full-length measuring method for bone-in meat - Google Patents

Full length measuring device for bone-in meat and full-length measuring method for bone-in meat Download PDF

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JP6977061B2
JP6977061B2 JP2019561558A JP2019561558A JP6977061B2 JP 6977061 B2 JP6977061 B2 JP 6977061B2 JP 2019561558 A JP2019561558 A JP 2019561558A JP 2019561558 A JP2019561558 A JP 2019561558A JP 6977061 B2 JP6977061 B2 JP 6977061B2
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浩二 木藤
直紀 豊田
浩之 桜山
元 赤羽根
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Mayekawa Manufacturing Co
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    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C17/00—Other devices for processing meat or bones
    • A22C17/02—Apparatus for holding meat or bones while cutting
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C21/00—Processing poultry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
    • G01B5/04—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving

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Description

本開示は、骨付き肉の全長測定装置及び骨付き肉の全長測定方法に関する。 The present disclosure relates to a total length measuring device for bone-in meat and a method for measuring the total length of bone-in meat.

食用鳥獣の屠体の解体処理は、省力化のため人手による作業に代って機械による自動化処理が進められている。
自動化処理装置の例として、特許文献１には、骨付きモモ肉の脱骨処理を行う自動脱骨装置が開示されている。この装置は、骨付きモモ肉をクランプ具に吊架しながら複数の処理ステーション間を断続搬送し、各ステーションで骨付きモモ肉の筋入れや骨肉分離等のステップを順々に行うことで、自動脱骨を可能にしている。
特許文献２には、コンベアで搬送される骨付きモモ肉を多軸多関節アームで把持してハンガに吊架させる動作を自動化した装置が開示されている。In order to save labor, the dismantling of edible birds and beasts is being automated by machines instead of manual work.
As an example of the automated processing apparatus, Patent Document 1 discloses an automatic deboning apparatus for deboning a thigh meat with bone. This device intermittently transports bone-in thigh meat between multiple processing stations while suspending it on a clamp tool, and at each station, steps such as streaking bone-in thigh meat and bone-meat separation are performed in sequence. Enables automatic bone removal.
Patent Document 2 discloses a device that automates the operation of gripping bone-in thigh meat conveyed by a conveyor with a multi-axis articulated arm and suspending it on a hanger.

特表２０１３−５０７１０１号公報Special Table 2013-507101 Gazette 国際公開第２００９／１３９０３１号International Publication No. 2009/139031

特許文献１及び２に開示された自動脱骨装置において、切断刃を骨付きモモ肉の決められた位置に位置決めするためには、骨付きモモ肉の全長に個体差があるので、各骨付きモモ肉の全長を測定し、その測定値に基づいて切断刃を位置決めする必要がある。
しかし、特許文献１及び２に開示された全長測定装置は、クランプ具によって搬送される骨付きモモ肉を測定のため一旦停止する必要があるため、複数の骨付きモモ肉の全長を測定する場合、骨付きモモ肉の搬送及び停止を連続的に繰り返す必要があり、処理効率が低下する。In the automatic deboning device disclosed in Patent Documents 1 and 2, in order to position the cutting blade at a predetermined position of the bone-in thigh meat, the total length of the bone-in thigh meat varies from individual to individual. It is necessary to measure the total length of the thigh meat and position the cutting blade based on the measured value.
However, since the full length measuring device disclosed in Patent Documents 1 and 2 needs to temporarily stop the bone-in thigh meat conveyed by the clamping tool for measurement, when measuring the total length of a plurality of bone-in thigh meat. , It is necessary to continuously transport and stop the bone-in thigh meat, which reduces the processing efficiency.

一実施形態は、骨付き肉の全長を測定する場合に、骨付き肉の動きを停止させることなく移動させながら測定可能にすることを目的とする。 One embodiment aims to enable measurement while moving the bone-in meat without stopping the movement of the bone-in meat when measuring the total length of the bone-in meat.

（１）一実施形態に係る骨付き肉の全長測定装置は、
骨付き肉を把持し水平方向へ移動可能なクランプ具と、
前記骨付き肉の搬送経路に設けられる接触子と、
前記接触子を前記骨付き肉に押し付け可能な押付部と、
前記接触子の上下位置を検出可能な位置センサと、
前記接触子の動作を制御可能な制御部であって、前記クランプ具の搬送と共に移動する移動座標系において、基準位置から、前記位置センサが前記骨付き肉の搬送方向下流側末端を検出した末端検出位置までの距離を前記骨付き肉の全長として求める演算部を含む制御部と、
を備える。
ここで、「移動座標系」とは、クランプ具と共に移動する観測者から視たときの座標系である。(1) The full-length measuring device for bone-in meat according to the embodiment is
Clamping tool that can grip bone-in meat and move horizontally,
With the contacts provided in the bone-in meat transport path,
A pressing portion capable of pressing the contactor against the bone-in meat, and a pressing portion.
A position sensor that can detect the vertical position of the contact and
A control unit that can control the operation of the contact, and is a terminal that the position sensor detects the downstream end of the bone-in meat in the transport direction from the reference position in the moving coordinate system that moves with the transport of the clamp tool. A control unit including a calculation unit that obtains the distance to the detection position as the total length of the bone-in meat, and
To prepare for.
Here, the "moving coordinate system" is a coordinate system when viewed from an observer moving with the clamp tool.

上記（１）の構成において、上記クランプ具によって把持された骨付き肉が搬送経路上を移動するとき、接触子が骨付き肉に接触する。骨付き肉に接触した接触子の上下位置を位置センサで検出する。上記演算部は、移動座標系において、既知の基準位置から位置センサが検出した骨付き肉の搬送方向下流側末端までの距離を骨付き肉の全長として求める。このように、移動座標系で、既知の基準位置から検出した骨付き肉の下流側末端までの距離を求めるだけで、骨付き肉の全長を容易に求めることができる。また、搬送される骨付き肉を停止させずに全長測定が可能になり、測定効率を向上できる。 In the configuration of (1) above, when the bone-in meat gripped by the clamp tool moves on the transport path, the contactor comes into contact with the bone-in meat. The vertical position of the contactor in contact with the bone-in meat is detected by the position sensor. In the moving coordinate system, the calculation unit obtains the distance from the known reference position to the downstream end of the bone-in meat detected by the position sensor in the transport direction as the total length of the bone-in meat. In this way, the total length of the bone-in meat can be easily obtained only by obtaining the distance from the known reference position to the downstream end of the bone-in meat detected in the moving coordinate system. In addition, the total length can be measured without stopping the meat with bone to be transported, and the measurement efficiency can be improved.

（２）一実施形態では、前記（１）の構成において、
前記基準位置は、全長が既知の複数本の骨付き肉について得られた前記末端検出位置から演算される。
上記（２）の構成によれば、基準位置は今まで得た骨付き肉の実測値から適宜設定できる。この基準位置から上記移動座標系で検出した末端検出位置までの距離を求めるだけで骨付き肉の全長を容易に求めることができる。(2) In one embodiment, in the configuration of (1) above,
The reference position is calculated from the end detection position obtained for a plurality of bone-in meats having a known total length.
According to the configuration of (2) above, the reference position can be appropriately set from the actually measured values of the bone-in meat obtained so far. The total length of the bone-in meat can be easily obtained only by obtaining the distance from this reference position to the end detection position detected by the moving coordinate system.

（３）一実施形態では、前記（１）又は（２）の構成において、
前記骨付き肉の筋入れを行うための筋入れ刃を備え、
前記制御部は、前記筋入れ刃による筋入れ時に前記接触子を前記骨付き肉の押えとして動作させるように構成される。
上記（３）の構成によれば、上記筋入れ刃を備えることで、骨付き肉の全長測定と共に、骨付き肉の筋入れを行うことができる。そして、筋入れ時に接触子を骨付き肉の押えとして利用できるので、筋入れ時に骨付き肉のぐらつきを抑制できる。これによって、筋入れを正確に行うことができる。(3) In one embodiment, in the configuration of (1) or (2) above,
Equipped with a scoring blade for scoring the bone-in meat,
The control unit is configured to operate the contactor as a presser for the bone-in meat at the time of muscle insertion by the muscle insertion blade.
According to the configuration of the above (3), by providing the above-mentioned streak blade, it is possible to measure the total length of the bone-in meat and to perform the streak of the bone-in meat. Since the contactor can be used as a presser for the bone-in meat at the time of muscle insertion, it is possible to suppress the wobbling of the bone-in meat at the time of muscle insertion. As a result, it is possible to accurately perform the scoring.

（４）一実施形態では、前記（１）又は（２）の構成において、
前記制御部は、前記移動座標系において、前記位置センサにより前記骨付き肉の関節部が検出される関節検出位置（Ｃ点）よりも上流側の位置において前記骨付き肉に対して前記接触子が接触するように動作するように構成される。
上記（４）の構成によれば、筋入れ時に複雑な形状を有する骨付き肉の関節部を接触子で支持できるので、該関節部を正確に筋入れできる。(4) In one embodiment, in the configuration of (1) or (2) above,
The control unit has the contactor with respect to the bone-in meat at a position upstream of the joint detection position (point C) where the joint portion of the bone-in meat is detected by the position sensor in the moving coordinate system. Is configured to work in contact with.
According to the configuration of (4) above, since the joint portion of the bone-in meat having a complicated shape can be supported by the contactor at the time of muscle insertion, the joint portion can be accurately muscle-inserted.

（５）一実施形態では、前記（１）又は（２）の構成において、
前記基準位置は、前記搬送経路上で前記クランプ具が前記接触子に到達した時の前記クランプ具の位置とし、
前記制御部は、前記クランプ具が前記基準位置に到達した時を起点として前記押付部を作動させ、前記接触子を前記骨付き肉に接触させるように構成される。
上記（５）の構成によれば、前記クランプ具が上記基準位置に来た時を起点として押付部を作動させ、接触子を動作させるので、クランプ具にぶつかることなく、クランプ具の搬送方向下流側でかつ骨付き肉の搬送方向上流側部位で接触子を骨付き肉にタイミング良く接触できる。(5) In one embodiment, in the configuration of (1) or (2) above,
The reference position is the position of the clamp tool when the clamp tool reaches the contact on the transport path.
The control unit is configured to operate the pressing portion starting from the time when the clamping tool reaches the reference position, and to bring the contactor into contact with the bone-in meat.
According to the configuration of (5) above, since the pressing portion is operated and the contact is operated starting from the time when the clamp tool reaches the reference position, the clamp tool is not hit and downstream in the transport direction of the clamp tool. The contactor can be brought into contact with the bone-in meat in a timely manner on the side and on the upstream side in the transport direction of the bone-in meat.

（６）一実施形態では、前記（１）〜（５）の何れかの構成において、
前記演算部は、前記接触子が前記骨付き肉に接触した後から前記末端検出位置までの間で選択された選択位置における前記位置センサの検出値が閾値外であるとき、前記骨付き肉が前記クランプ具に把持されていないと判定するように構成される。
上記（６）の構成によれば、位置センサの検出値からクランプ具に骨付き肉が把持されていない場合を検出できる。これによって、全長測定装置の誤検出を防止できる。(6) In one embodiment, in any of the configurations (1) to (5) above,
In the calculation unit, when the detection value of the position sensor at the selected position selected from the time when the contactor comes into contact with the bone-in meat to the end detection position is out of the threshold value, the bone-in meat is released. It is configured to determine that it is not gripped by the clamp tool.
According to the configuration of (6) above, it is possible to detect the case where the bone-in meat is not gripped by the clamp tool from the detection value of the position sensor. This makes it possible to prevent erroneous detection of the full length measuring device.

（７）一実施形態では、前記（１）〜（６）の何れかの構成において、
前記押付部はエアシリンダで構成される。
上記（７）の構成によれば、押付部がエアシリンダで構成されることで、接触子を骨付き肉の表面に弾性力をもって押圧できる。これによって、骨付き肉を傷付けることなく、かつ接触子が骨付き肉から離れることなく、接触子を骨付き肉の表面に倣わせることができる。(7) In one embodiment, in any of the configurations (1) to (6) above,
The pressing portion is composed of an air cylinder.
According to the configuration of (7) above, since the pressing portion is composed of an air cylinder, the contact can be pressed against the surface of the bone-in meat with elastic force. This allows the contacts to imitate the surface of the bone meat without damaging the bone meat and without the contacts separating from the bone meat.

（８）一実施形態では、前記（１）〜（７）の何れかの構成において、
前記位置センサの検出値を第１座標軸とし、第２座標軸として前記骨付き肉の搬送方向位置とした移動座標軸からなる２次元移動座標で、少なくとも前記基準位置から前記末端検出位置までの前記接触子の軌跡を表示した表示部を備える。
上記（８）の構成によれば、接触子の位置を上記２次元座標上に表すことで、接触子の軌跡をビジュアルに表すことができ、骨付き肉の全長をビジュアルに表すことができる。(8) In one embodiment, in any of the configurations (1) to (7) above,
The contactor from at least the reference position to the end detection position in two-dimensional movement coordinates consisting of a movement coordinate axis in which the detection value of the position sensor is set as the first coordinate axis and the position in the transport direction of the bone-in meat is set as the second coordinate axis. It is provided with a display unit that displays the trajectory of.
According to the configuration of (8) above, by expressing the position of the contact on the two-dimensional coordinates, the locus of the contact can be visually represented, and the total length of the bone-in meat can be visually represented.

（９）一実施形態に係る骨付き肉の全長測定方法は、
骨付き肉を水平方向に沿って搬送する搬送ステップと、
前記搬送ステップで搬送される前記骨付き肉に接触子を押し付け、該接触子の上下位置を検出する検出ステップと、
検出された前記接触子の上下位置から前記接触子が前記骨付き肉の搬送方向下流側末端位置に達したと判定する判定ステップと、
前記骨付き肉の搬送と共に移動する移動座標系において、基準位置から、前記判定ステップで判定した前記骨付き肉の前記搬送方向下流側末端位置までの距離を前記骨付き肉の全長として求める演算ステップと、
を備える。(9) The method for measuring the total length of the bone-in meat according to the embodiment is
A transport step that transports bone-in meat along the horizontal direction,
A detection step in which a contactor is pressed against the bone-in meat conveyed in the transfer step to detect the vertical position of the contactor, and a detection step.
A determination step of determining that the contact has reached the downstream end position in the transport direction of the bone-in meat from the detected vertical position of the contact.
In the moving coordinate system that moves with the transportation of the bone-in meat, the calculation step of obtaining the distance from the reference position to the downstream end position of the bone-in meat in the transport direction determined in the determination step as the total length of the bone-in meat. When,
To prepare for.

上記（９）の方法によれば、上記演算ステップにおいて、移動座標系で、既知の基準位置から検出した骨付き肉の搬送方向下流側末端位置までの距離を求めるだけで、骨付き肉の全長を容易に求めることができる。また、搬送される骨付き肉を停止させずに全長測定が可能になり、測定効率を向上できる。 According to the method (9) above, in the above calculation step, the total length of the bone-in meat is obtained only by obtaining the distance from the known reference position to the downstream end position in the transport direction of the bone-in meat detected in the moving coordinate system. Can be easily obtained. In addition, the total length can be measured without stopping the meat with bone to be transported, and the measurement efficiency can be improved.

（１０）一実施形態では、前記（９）の方法において、
前記移動座標系で前記基準位置から前記搬送方向下流側末端位置までの距離は、前記基準位置から前記接触子が前記骨付き肉の前記搬送方向下流側末端位置に達した時までの時間差と、前記骨付き肉の搬送速度との積で求める。
上記（１０）の方法によれば、上記基準位置と接触子が骨付き肉が搬送方向下流側末端位置に達した時との時間差と骨付き肉の搬送速度との積から骨付き肉の全長を容易に求めることができる。(10) In one embodiment, in the method (9) above,
The distance from the reference position to the downstream end position in the transport direction in the moving coordinate system is the time difference from the reference position to the time when the contactor reaches the downstream end position in the transport direction of the bone-in meat. It is calculated by multiplying it with the transport speed of the bone-in meat.
According to the method (10), the total length of the bone-in meat is obtained from the product of the time difference between the reference position and the contact when the bone-in meat reaches the downstream end position in the transport direction and the transport speed of the bone-in meat. Can be easily obtained.

（１１）一実施形態では、前記（９）又は（１０）の方法において、
前記搬送ステップにおいて前記骨付き肉を搬送しながら、搬送される前記骨付き肉の骨部の下部に筋入れ刃を挿入して前記骨付き肉の前記骨部と肉部との間に切れ目を形成する筋入れステップを備え、
前記筋入れステップにおいて、前記接触子を前記骨付き肉に接触させ前記骨付き肉を支持させる。
上記（１１）の方法によれば、筋入れ時に接触子を骨付き肉の押えとして利用できるので、筋入れ時に骨付き肉のぐらつきを抑制できる。これによって、筋入れを正確に行うことができる。(11) In one embodiment, in the method (9) or (10) above,
While transporting the bone-in meat in the transport step, a muscle insertion blade is inserted into the lower part of the bone portion of the bone-in meat to be transported to make a cut between the bone portion and the meat portion of the bone-in meat. With a streak step to form
In the streaking step, the contactor is brought into contact with the bone-in meat to support the bone-in meat.
According to the method (11) above, since the contactor can be used as a presser for the bone-in meat at the time of muscle insertion, it is possible to suppress the wobbling of the bone-in meat at the time of muscle insertion. As a result, it is possible to accurately perform the scoring.

（１２）一実施形態では、前記（９）〜（１１）の何れかの方法において、
前記搬送ステップにおいて、前記骨付き肉をクランプ具で把持し、前記骨付き肉の骨部が水平方向に沿う横向きで前記骨付き肉を搬送する。
上記（１２）の方法によれば、骨付き肉をクランプ具で把持し、骨付き肉の骨部が水平方向に沿う横向きで骨付き肉を搬送するために、骨付き肉を搬送しながら停止させることなく接触子による全長測定が可能になる。(12) In one embodiment, in any of the methods (9) to (11) above,
In the transport step, the bone-in meat is gripped by a clamp tool, and the bone-in meat is transported sideways with the bone portion of the bone-in meat in a horizontal direction.
According to the method (12) above, the bone-in meat is gripped by a clamping tool, and the bone portion of the bone-in meat stops while transporting the bone-in meat in order to transport the bone-in meat sideways along the horizontal direction. It is possible to measure the total length with a contactor without making it.

一実施形態によれば、骨付き肉の動きを停止させることなく移動させながら骨付き肉の全長を容易に測定できる。これによって、測定効率を向上できると共に、骨付き肉の搬送方向下流側末端位置を検出するだけで容易に骨付き肉の全長を求めることができる。 According to one embodiment, the total length of the bone-in meat can be easily measured while moving the bone-in meat without stopping the movement. As a result, the measurement efficiency can be improved, and the total length of the bone-in meat can be easily obtained only by detecting the downstream end position in the transport direction of the bone-in meat.

一実施形態に係る骨付き肉の全長測定装置を示す斜視図である。It is a perspective view which shows the full-length measuring apparatus of the bone-in meat which concerns on one Embodiment. 一実施形態に係る骨付き肉の全長測定装置を示す斜視図である。It is a perspective view which shows the full-length measuring apparatus of the bone-in meat which concerns on one Embodiment. 一実施形態に係る骨付き肉の全長測定装置を示す斜視図である。It is a perspective view which shows the full-length measuring apparatus of the bone-in meat which concerns on one Embodiment. 一実施形態に係る骨付き肉の全長測定装置を示す斜視図である。It is a perspective view which shows the full-length measuring apparatus of the bone-in meat which concerns on one Embodiment. 一実施形態に係る骨付き肉の全長測定装置の２次元座標を示す線図である。It is a diagram which shows the 2D coordinates of the total length measuring apparatus of the bone-in meat which concerns on one Embodiment. 一実施形態に係る骨付き肉の全長測定装置の２次元座標を示す線図である。It is a diagram which shows the 2D coordinates of the total length measuring apparatus of the bone-in meat which concerns on one Embodiment. 骨付き肉の一例として骨付きモモ肉を示す斜視図である。It is a perspective view which shows the thigh meat with a bone as an example of the meat with a bone. 一実施形態に係る骨付き肉の全長測定方法を示す工程図である。It is a process diagram which shows the method of measuring the total length of the bone-in meat which concerns on one Embodiment.

以下、添付図面を参照して本発明の幾つかの実施形態について説明する。ただし、実施形態として記載され又は図面に示されている構成部品の寸法、材質、形状、その相対的配置等は、本発明の範囲をこれに限定する趣旨ではなく、単なる説明例にすぎない。
例えば、「ある方向に」、「ある方向に沿って」、「平行」、「直交」、「中心」、「同心」或いは「同軸」等の相対的或いは絶対的な配置を表す表現は、厳密にそのような配置を表すのみならず、公差、若しくは、同じ機能が得られる程度の角度や距離をもって相対的に変位している状態も表すものとする。
例えば、「同一」、「等しい」及び「均質」等の物事が等しい状態であることを表す表現は、厳密に等しい状態を表すのみならず、公差、若しくは、同じ機能が得られる程度の差が存在している状態も表すものとする。
例えば、四角形状や円筒形状等の形状を表す表現は、幾何学的に厳密な意味での四角形状や円筒形状等の形状を表すのみならず、同じ効果が得られる範囲で、凹凸部や面取り部等を含む形状も表すものとする。
一方、一つの構成要素を「備える」、「具える」、「具備する」、「含む」、又は「有する」という表現は、他の構成要素の存在を除外する排他的な表現ではない。Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the components described as embodiments or shown in the drawings are not intended to limit the scope of the present invention to this, and are merely explanatory examples.
For example, expressions that represent relative or absolute arrangements such as "in one direction", "along a certain direction", "parallel", "orthogonal", "center", "concentric" or "coaxial" are exact. Not only does it represent such an arrangement, but it also represents a tolerance or a state of relative displacement at an angle or distance to the extent that the same function can be obtained.
For example, expressions such as "same", "equal", and "homogeneous" that indicate that things are in the same state not only represent exactly the same state, but also have tolerances or differences to the extent that the same function can be obtained. It shall also represent the existing state.
For example, the expression representing a shape such as a quadrangular shape or a cylindrical shape not only represents a shape such as a quadrangular shape or a cylindrical shape in a geometrically strict sense, but also an uneven portion or a chamfer within the range where the same effect can be obtained. It shall also represent the shape including the part and the like.
On the other hand, the expressions "to have", "to have", "to have", "to include", or "to have" one component are not exclusive expressions that exclude the existence of other components.

図１Ａ〜図１Ｄは、一実施形態に係る骨付き肉の全長測定装置１０を時系列順に示す斜視図である。クランプ具１２は骨付き肉Ｍｂを把持し水平方向（矢印ａ方向）へ移動可能に構成されている。クランプ具１２によって骨付き肉Ｍｂは一定の搬送経路に沿って搬送される。骨付き肉Ｍｂの搬送経路２２に接触子１４が設けられ、接触子１４は押付部１６によって搬送中の骨付き肉Ｍｂに押し付けられる。位置センサ１８によって接触子１４の上下位置が検出され、位置センサ１８の検出値は制御部２４内の演算部２０に入力される。制御部２４は押付部１６の作動を制御することで接触子１４上下位置を制御する。 1A to 1D are perspective views showing the total length measuring device 10 for bone-in meat according to an embodiment in chronological order. The clamp tool 12 is configured to grip the bone-in meat Mb and move in the horizontal direction (arrow a direction). The bone-in meat Mb is transported along a fixed transport path by the clamp tool 12. A contact 14 is provided in the transport path 22 of the bone-in meat Mb, and the contact 14 is pressed against the bone-in meat Mb being transported by the pressing portion 16. The vertical position of the contact 14 is detected by the position sensor 18, and the detected value of the position sensor 18 is input to the calculation unit 20 in the control unit 24. The control unit 24 controls the vertical position of the contact 14 by controlling the operation of the pressing unit 16.

図２及び図３は、クランプ具１２と共に移動する観測者から視た移動座標を示す。即ち、縦軸（第１座標軸）は、位置センサ１８の上下位置の検出値を表す静止座標軸であり、横軸（第２座標軸）は、観測者が骨付き肉Ｍｂと共に移動するとき、観測者から視た接触子１４の上下位置を示す移動座標軸である。演算部２０は、基準位置から、位置センサ１８が骨付き肉Ｍｂの搬送方向下流側末端を検出した末端検出位置までの距離を骨付き肉Ｍｂの全長として求める。基準位置とは、全長が既知の複数本の骨付き肉Ｍｂについて得られた末端検出位置から演算される。 2 and 3 show the moving coordinates as seen by the observer moving with the clamp tool 12. That is, the vertical axis (first coordinate axis) is a stationary coordinate axis representing the detected value of the vertical position of the position sensor 18, and the horizontal axis (second coordinate axis) is the observer when the observer moves with the bone-in meat Mb. It is a moving coordinate axis which shows the vertical position of the contactor 14 seen from. The calculation unit 20 obtains the distance from the reference position to the end detection position where the position sensor 18 detects the downstream end of the bone-in meat Mb in the transport direction as the total length of the bone-in meat Mb. The reference position is calculated from the end detection position obtained for a plurality of bone-in meat Mbs having a known total length.

上記構成によれば、演算部２０は、図２及び図３に示す移動座標系において、既知の基準位置から位置センサ１８が検出した骨付き肉Ｍｂの搬送方向下流側末端（図２中のＤ点）までの距離を骨付き肉Ｍｂの全長として求める。このように、移動座標系で、既知の基準位置から検出した骨付き肉Ｍｂの下流側末端までの距離を求めるだけで、骨付き肉Ｍｂの全長を容易に求めることができる。また、搬送される骨付き肉Ｍｂを停止させずに全長測定が可能になり、測定効率を向上できる。 According to the above configuration, in the moving coordinate system shown in FIGS. 2 and 3, the calculation unit 20 is a terminal on the downstream side in the transport direction of the bone-in meat Mb detected by the position sensor 18 from a known reference position (D in FIG. 2). The distance to the point) is calculated as the total length of the bone-in meat Mb. In this way, the total length of the bone-in meat Mb can be easily obtained only by obtaining the distance from the known reference position to the downstream end of the bone-in meat Mb detected in the moving coordinate system. In addition, the total length can be measured without stopping the conveyed bone-in meat Mb, and the measurement efficiency can be improved.

図２に示すように、接触子１４が骨付き肉Ｍｂの搬送方向下流側末端に達した時、接触子１４の位置は急激に下降するので、位置センサ１８の検出値によって骨付き肉Ｍｂの搬送方向下流側末端位置の検出は容易である。
一実施形態では、図２中のＳ点は、骨付き肉Ｍｂが挿入されるクランプ具１２の凹部１２ａが搬送路上で接触子１４の先端部の真下を通過した時に設定された基準位置である。
一実施形態では、経験値に基づいて接触子１４の上下位置に閾値を設定し、この閾値に達したときを骨付き肉Ｍｂの搬送方向下流側末端位置であると定めてもよい。As shown in FIG. 2, when the contact 14 reaches the downstream end of the bone-in meat Mb in the transport direction, the position of the contact 14 drops sharply. It is easy to detect the terminal position on the downstream side in the transport direction.
In one embodiment, the point S in FIG. 2 is a reference position set when the recess 12a of the clamp tool 12 into which the bone-in meat Mb is inserted passes directly under the tip of the contact 14 on the transport path. ..
In one embodiment, a threshold value may be set at the vertical position of the contactor 14 based on the empirical value, and when the threshold value is reached, it may be defined as the downstream end position of the bone-in meat Mb in the transport direction.

一実施形態では、図１Ａに示すように、搬送経路２２は水平方向に延在する搬送路で構成される。骨付き肉Ｍｂは該搬送路上を搬送される。例えば、該搬送路はＵ字形の横断面を有し、骨付き肉Ｍｂは該搬送路の内部に挿入され、クランプ具１２で搬送路に沿って搬送される。一実施形態では、搬送路は水平方向に沿って延在する直線状の搬送経路を形成する。 In one embodiment, as shown in FIG. 1A, the transport path 22 is composed of a transport path extending in the horizontal direction. The bone-in meat Mb is transported on the transport path. For example, the transport path has a U-shaped cross section, and the bone-in meat Mb is inserted inside the transport path and is transported along the transport path by the clamp tool 12. In one embodiment, the transport path forms a linear transport path that extends along the horizontal direction.

図１Ａは図２中のＡ点の状態を示し、図１Ｂは図２中のＢ点の状態を示し、図１Ｃは図２中のＣ点の状態を示し、図１Ｄは図２中のＤ点の状態を示している。 1A shows the state of point A in FIG. 2, FIG. 1B shows the state of point B in FIG. 2, FIG. 1C shows the state of point C in FIG. 2, and FIG. 1D shows D in FIG. It shows the state of the point.

一実施形態では、位置センサ１８はエンコーダで構成される。
一実施形態では、クランプ具１２の搬送始点からの搬送距離を測定する距離センサ（例えばエンコーダ）２６が設けられる。
一実施形態では、複数のクランプ具１２が所定間隔でチェーン２８に取り付けられ、チェーン２８は移動方向末端で駆動スプロケット３０に巻回される。駆動スプロケット３０はモータ３２で回転され、距離センサ２６は駆動スプロケット３０の回転数を計測して各クランプ具１２の搬送始点からの搬送距離を測定する。In one embodiment, the position sensor 18 comprises an encoder.
In one embodiment, a distance sensor (for example, an encoder) 26 for measuring the transport distance of the clamp tool 12 from the transport start point is provided.
In one embodiment, a plurality of clamps 12 are attached to the chain 28 at predetermined intervals, and the chain 28 is wound around the drive sprocket 30 at the end in the moving direction. The drive sprocket 30 is rotated by the motor 32, and the distance sensor 26 measures the rotation speed of the drive sprocket 30 to measure the transfer distance of each clamp tool 12 from the transfer start point.

図４は、骨付き肉Ｍｂの一例として鶏屠体の骨付きモモ肉を示す。図４では、表皮ｗの領域が少ない内モモ面Ｓｉｎが上方に向けられている。足首部ｆから骨部ｂが連なり、骨部ｂの周囲を肉部ｍが取り巻いている。ひざ部ｎの内側にひざ関節部Ｎが存在する。図４中のＢ点、Ｃ点及びＤ点は図２中のＢ点、Ｃ点及びＤ点に対応する。 FIG. 4 shows bone-in thigh meat of chicken carcass as an example of bone-in meat Mb. In FIG. 4, the inner peach surface Sin, which has a small region of the epidermis w, is directed upward. The bone portion b is connected from the ankle portion f, and the meat portion m surrounds the bone portion b. The knee joint portion N exists inside the knee portion n. Points B, C, and D in FIG. 4 correspond to points B, C, and D in FIG. 2.

一実施形態では、骨付き肉Ｍｂは食用鳥獣の骨付きモモ肉であり、図１に示すように、骨部ｂが水平方向に沿う横向きでかつ内モモ面及び外モモ面が上下方向に沿った状態で搬送経路２２に配置され、足首部ｆがクランプ具１２で把持される。接触子１４は、内モモ面と外モモ面間の起伏に富んだ骨付きモモ肉の輪郭をなぞるために、位置センサ１８による末端の検出が容易になる。例えば、ひざ部ｎを含む起伏に富んだ骨付きモモ肉の輪郭をなぞることができる。 In one embodiment, the bone-in meat Mb is edible bird and beast bone-in thigh meat, and as shown in FIG. 1, the bone portion b is horizontal along the horizontal direction, and the inner and outer peach surfaces are along the vertical direction. It is arranged in the transport path 22 in a state of being in a state of being, and the ankle portion f is gripped by the clamping tool 12. Since the contactor 14 traces the contour of the undulating bone-in peach meat between the inner peach surface and the outer peach surface, the end of the contactor 14 can be easily detected by the position sensor 18. For example, it is possible to trace the contour of the undulating bone-in thigh meat including the knee portion n.

一実施形態では、クランプ具１２は上方に開口し骨付き肉Ｍｂが遊嵌される凹部１２ａを有する。骨付き肉Ｍｂは凹部１２ａに遊嵌され固く把持されないので、凹部１２ａを起点として上下方向へ回動可能である。そのため、骨付き肉Ｍｂは搬送経路２２を構成する搬送路の底面に接した状態で搬送できる。凹部１２ａは上方に開口しているので、骨付き肉Ｍｂが凹部１２ａに遊嵌されていても凹部１２ａから外れない。 In one embodiment, the clamping tool 12 has a recess 12a that opens upward and in which the bone-in meat Mb is loosely fitted. Since the bone-in meat Mb is loosely fitted in the recess 12a and is not firmly gripped, it can rotate in the vertical direction with the recess 12a as the starting point. Therefore, the bone-in meat Mb can be transported in a state of being in contact with the bottom surface of the transport path constituting the transport path 22. Since the recess 12a is open upward, even if the bone-in meat Mb is loosely fitted in the recess 12a, it does not come off from the recess 12a.

一実施形態では、図１に示すように、接触子１４は先端部に骨付き肉Ｍｂの搬送方向と直交する方向でかつ水平方向に延在する接触バー１４ａを備える。接触バー１４ａを備えることで、接触子１４が骨付き肉Ｍｂの表面から脱落するのを抑制できる。接触バー１４ａは骨付き肉Ｍｂの表面に安定して接触しながら骨付き肉Ｍｂの表面に沿って滑ることができる。 In one embodiment, as shown in FIG. 1, the contactor 14 is provided with a contact bar 14a at a tip portion extending in a direction orthogonal to the transport direction of the bone-in meat Mb and in a horizontal direction. By providing the contact bar 14a, it is possible to prevent the contact 14 from falling off from the surface of the bone-in meat Mb. The contact bar 14a can slide along the surface of the bone-in meat Mb while stably contacting the surface of the bone-in meat Mb.

一実施形態では、図１Ｃに示すように、骨付き肉Ｍｂの筋入れを行うための筋入れ刃３４を備える。制御部２４は、筋入れ刃３４による筋入れ時に接触子１４を骨付き肉Ｍｂの押えとして動作させる。
この実施形態によれば、筋入れ刃３４を備えることで、骨付き肉Ｍｂの全長測定と共に、骨付き肉Ｍｂの筋入れを行うことができる。そして、筋入れ時に接触子１４を骨付き肉Ｍｂの押えとして利用できるので、筋入れ時に骨付き肉Ｍｂのぐらつきを抑制できる。これによって、筋入れを正確に行うことができる。
一実施形態では、図１Ｃに示すように、接触子１４の先端部の下方位置に筋入れ刃３４を進入可能に配置する。これによって、筋入れ時に接触子１４を骨付き肉Ｍｂの押えとして有効に利用できる。In one embodiment, as shown in FIG. 1C, a scoring blade 34 for scoring the bone-in meat Mb is provided. The control unit 24 operates the contactor 14 as a presser for the bone-in meat Mb at the time of muscle insertion by the muscle insertion blade 34.
According to this embodiment, by providing the streak blade 34, it is possible to measure the total length of the bone-in meat Mb and to perform the streak of the bone-in meat Mb. Since the contactor 14 can be used as a presser for the bone-in meat Mb at the time of muscle insertion, the wobbling of the bone-in meat Mb can be suppressed at the time of muscle insertion. As a result, it is possible to accurately perform the scoring.
In one embodiment, as shown in FIG. 1C, the streak blade 34 is arranged so as to be accessible at a position below the tip of the contactor 14. As a result, the contactor 14 can be effectively used as a presser for the bone-in meat Mb at the time of muscle insertion.

一実施形態では、図２に示す移動座標において、制御部２４は、位置センサ１８により骨付き肉Ｍｂのひざ関節部Ｎが検出される関節検出位置（Ｃ点）よりも上流側の位置において骨付き肉Ｍｂに対して接触子１４が接触するように動作させる。
この実施形態によれば、筋入れ時に複雑な形状を有するひざ関節部Ｎを接触子１４で支持できるので、ひざ関節部Ｎを正確に筋入れできる。In one embodiment, in the moving coordinates shown in FIG. 2, the control unit 24 has a bone at a position upstream of the joint detection position (point C) where the knee joint portion N of the bone-in meat Mb is detected by the position sensor 18. The contactor 14 is operated so as to come into contact with the meat Mb.
According to this embodiment, since the knee joint portion N having a complicated shape can be supported by the contactor 14 at the time of muscle insertion, the knee joint portion N can be accurately muscle-inserted.

一実施形態では、図２に示す移動座標において、基準位置Ｓは、クランプ具１２が搬送経路２２上を接触子１４の真下に到達した時のクランプ具１２の位置とする。制御部２４は、クランプ具１２が上記基準位置Ｓに到達した時を起点として押付部１６を作動させ、接触子１４を骨付き肉Ｍｂに接触させる。
この実施形態によれば、クランプ具１２の搬送方向下流側でかつ骨付き肉Ｍｂの搬送方向上流側部位で接触子１４を骨付き肉Ｍｂにタイミング良く接触できる。従って、接触子１４はクランプ具１２にぶつからず、かつ動作が遅れずに骨付き肉Ｍｂをクランプ具１２に近い部位から接触できる。In one embodiment, in the moving coordinates shown in FIG. 2, the reference position S is the position of the clamp tool 12 when the clamp tool 12 reaches directly below the contactor 14 on the transport path 22. The control unit 24 operates the pressing unit 16 starting from the time when the clamp tool 12 reaches the reference position S, and brings the contact 14 into contact with the bone-in meat Mb.
According to this embodiment, the contactor 14 can be brought into contact with the bone-in meat Mb in a timely manner on the downstream side in the transport direction of the clamp tool 12 and on the upstream side in the transport direction of the bone-in meat Mb. Therefore, the contactor 14 can contact the bone-in meat Mb from a portion close to the clamp tool 12 without hitting the clamp tool 12 and without delaying the operation.

一実施形態では、図１Ａに示す押付部１６はエアシリンダで構成される。これによって、接触子１４を骨付き肉Ｍｂの表面に弾性力をもって押圧できるため、骨付き肉Ｍｂを傷付けることなく、かつ接触子１４が骨付き肉Ｍｂから離れることなく、接触子１４を骨付き肉Ｍｂの表面に倣わせることができる。
一実施形態では、押付部１６はバネ部材（不図示）を有し、該バネ部材によって接触子１４を骨付き肉Ｍｂの表面に弾性力をもって押圧させるようにしてもよい。In one embodiment, the pressing portion 16 shown in FIG. 1A is composed of an air cylinder. As a result, the contact 14 can be pressed against the surface of the bone-in meat Mb with elastic force, so that the contact 14 is attached to the bone without damaging the bone-in meat Mb and without the contact 14 separating from the bone-in meat Mb. It can be made to imitate the surface of meat Mb.
In one embodiment, the pressing portion 16 has a spring member (not shown), and the contactor 14 may be elastically pressed against the surface of the bone-in meat Mb by the spring member.

一実施形態では、図２及び図３において、演算部２０は、接触子１４が骨付き肉Ｍｂに接触した時点（図２中のＢ点）から末端検出位置（図２中のＤ点）までの間で選択された選択位置における位置センサ１８の検出値が閾値外であるとき、骨付き肉Ｍｂがクランプ具１２に把持されていないと判定する。
この実施形態によれば、位置センサ１８の検出値からクランプ具１２に骨付き肉Ｍｂが把持されていない場合を検出できる。これによって、全長測定装置１０の誤検出を防止できる。In one embodiment, in FIGS. 2 and 3, the calculation unit 20 starts from the time when the contactor 14 comes into contact with the bone-in meat Mb (point B in FIG. 2) to the end detection position (point D in FIG. 2). When the detected value of the position sensor 18 at the selected position selected between the two is out of the threshold value, it is determined that the bone-in meat Mb is not gripped by the clamp tool 12.
According to this embodiment, it is possible to detect the case where the bone-in meat Mb is not gripped by the clamp tool 12 from the detection value of the position sensor 18. This makes it possible to prevent erroneous detection of the total length measuring device 10.

一実施形態では、図２及び図３に示す２次元移動座標上で、少なくとも基準位置Ｓから末端検出位置Ｄまでの接触子１４の軌跡を表示した表示部を備える。
この実施形態によれば、接触子１４の位置を２次元座標上に表すことで、接触子１４の軌跡をビジュアルに表すことができ、骨付き肉Ｍｂの全長をビジュアルに表すことができる。
なお、図２及び図３に示す２次元座標では、縦軸は接触子１４の下降量を示し、接触子１４の下降量が大きいほど、縦軸上で接触子１４は上方に位置する。In one embodiment, a display unit is provided that displays the locus of the contactor 14 from at least the reference position S to the end detection position D on the two-dimensional movement coordinates shown in FIGS. 2 and 3.
According to this embodiment, by expressing the position of the contact 14 on the two-dimensional coordinates, the locus of the contact 14 can be visually represented, and the total length of the bone-in meat Mb can be visually represented.
In the two-dimensional coordinates shown in FIGS. 2 and 3, the vertical axis indicates the amount of descent of the contactor 14, and the larger the amount of descent of the contactor 14, the higher the contactor 14 is located on the vertical axis.

図２は、クランプ具１２に骨付き肉Ｍｂが把持されているときの接触子１４の上下位置を示し、図３は、クランプ具１２に骨付き肉Ｍｂが把持されていないときの接触子１４の上下位置を示す。
図２において、測定開始設定位置Ａ０から基準位置Ｓまでの距離Ｌ０は既知であり、Ａ点とＤ点との距離から距離Ｌ０を差し引くことで、骨付き肉Ｍｂの全長Ｌを求めることができる。FIG. 2 shows the vertical position of the contactor 14 when the bone-in meat Mb is gripped by the clamp tool 12, and FIG. 3 shows the contact 14 when the bone-in meat Mb is not gripped by the clamp tool 12. Indicates the vertical position of.
2, the distance L 0 from the measurement start setting position A 0 to the reference position S is known, by subtracting the distance L 0 from the distance between the point A and the point D, determine the total length L of the bone-in meat Mb be able to.

図２及び図３において、Ｐｚは接触子１４が骨付き肉Ｍｂに押し付けられた後から測定終了設定位置までの間で選択された位置を示す。例えば、図２では、Ｂ点からＤ点までの間が選択位置となる。
図２に示すように、選択位置Ｐｚにおける位置センサ１８の検出値Ｈが閾値Ｈｔｈ1≦Ｈ≦閾値Ｈｔｈ2であるとき、クランプ具１２が骨付き肉Ｍｂを把持していると判定する。
図３に示すように、時間帯Ｔｚにおける位置センサ１８の検出値ＨがＨ＜Ｈｔｈ1又はＨｔｈ2＜Ｈであるとき、クランプ具１２が骨付き肉Ｍｂを把持していないと判定する。
閾値Ｈｔｈ1及びＨｔｈ2は骨付き肉Ｍｂの大きさ及び形状等に基づいて予め設定される。
このように、図２及び図３から、クランプ具１２が骨付き肉Ｍｂを把持しているか否かを明瞭に把握できる。In FIGS. 2 and 3, Pz indicates a position selected between the time when the contactor 14 is pressed against the bone-in meat Mb and the position where the measurement end is set. For example, in FIG. 2, the selection position is between the point B and the point D.
As shown in FIG. 2, when the detected value H of the position sensor 18 at the selected position Pz is the threshold value Hth 1 ≤ H ≤ threshold value Hth 2 , it is determined that the clamp tool 12 is gripping the bone-in meat Mb.
As shown in FIG. 3, when the detected value H of the position sensor 18 in the time zone Tz is H <Hth 1 or Hth 2 <H, it is determined that the clamp tool 12 does not grip the bone-in meat Mb.
The threshold values Hth 1 and Hth 2 are preset based on the size and shape of the bone-in meat Mb.
In this way, from FIGS. 2 and 3, it is possible to clearly grasp whether or not the clamp tool 12 grips the bone-in meat Mb.

一実施形態では、全長測定装置１０は骨付き肉Ｍｂを解体処理して骨部と肉部とを分離する処理装置（不図示）に設けられる。例えば、全長測定装置１０は、骨付き肉Ｍｂを筋入れする筋入れ装置に設けられる。筋入れ装置では、骨付き肉Ｍｂの骨部ｂと肉部ｍとの間に切れ目が形成され、その後、骨付き肉Ｍｂは骨部ｂと肉部ｍとを分離される。
上記処理装置に全長測定装置１０を設けることで、骨付き肉Ｍｂを搬送しながら停止させずに解体処理を行うことが可能になり、解体処理に要する時間を短縮できる。また、全長測定装置１０で求めた骨付き肉Ｍｂの全長の個体差に基づいて解体処理することで、骨部ｂと肉部ｍとの分離を確実にかつ歩留まり良く行うことができる。In one embodiment, the full length measuring device 10 is provided in a processing device (not shown) for disassembling the bone-in meat Mb to separate the bone portion and the meat portion. For example, the full-length measuring device 10 is provided in the muscle-inserting device for muscle-inserting the bone-in meat Mb. In the muscle insertion device, a cut is formed between the bone portion b and the meat portion m of the bone-in meat Mb, and then the bone-in meat Mb separates the bone portion b and the meat portion m.
By providing the total length measuring device 10 in the processing device, it becomes possible to perform the dismantling process without stopping while transporting the bone-in meat Mb, and the time required for the dismantling process can be shortened. Further, by performing the dismantling treatment based on the individual difference in the total length of the bone-in meat Mb obtained by the total length measuring device 10, the bone portion b and the meat portion m can be separated reliably and with good yield.

図５に示すように、一実施形態に係る骨付き肉Ｍｂの全長測定方法は、まず、骨付き肉Ｍｂを水平方向に沿って搬送する（搬送ステップＳ１０）。次に、搬送ステップＳ１０で搬送される骨付き肉Ｍｂに接触子１４を押し付け、接触子１４の上下位置を検出する（検出ステップＳ１２）。そして、検出された接触子１４の上下位置から接触子１４が骨付き肉Ｍｂの搬送方向下流側末端位置（図２中Ｄ点）に達したかどうかを判定する（判定ステップＳ１４）。次に、図２及び図３に示す移動座標において、基準位置（例えば図２中のＳ点）から、位置センサ１８が骨付き肉Ｍｂの搬送方向下流側末端位置までの距離を骨付き肉Ｍｂの全長として求める（演算ステップＳ１６）。 As shown in FIG. 5, in the method for measuring the total length of the bone-in meat Mb according to the embodiment, first, the bone-in meat Mb is conveyed along the horizontal direction (transport step S10). Next, the contactor 14 is pressed against the bone-in meat Mb conveyed in the transfer step S10, and the vertical position of the contactor 14 is detected (detection step S12). Then, it is determined from the vertical position of the detected contact 14 whether or not the contact 14 has reached the end position on the downstream side in the transport direction of the bone-in meat Mb (point D in FIG. 2) (determination step S14). Next, in the moving coordinates shown in FIGS. 2 and 3, the distance from the reference position (for example, point S in FIG. 2) to the downstream end position of the bone-in meat Mb in the transport direction by the position sensor 18 is the bone-in meat Mb. It is obtained as the total length of (calculation step S16).

この実施形態によれば、演算ステップＳ１６において、既知の基準位置からこの末端検出位置までの距離を骨付き肉Ｍｂの全長として容易に求めることができる。また、骨付き肉Ｍｂを停止させずに搬送しながら全長測定が可能になり、測定効率を向上できる。 According to this embodiment, in the calculation step S16, the distance from the known reference position to the end detection position can be easily obtained as the total length of the bone-in meat Mb. In addition, the total length can be measured while transporting the bone-in meat Mb without stopping, and the measurement efficiency can be improved.

一実施形態では、基準位置から搬送方向下流側末端位置までの距離は、基準位置から接触子１４が骨付き肉Ｍｂの搬送方向下流側末端位置に達した時までの時間差と、骨付き肉Ｍｂの搬送速度との積で求めることができる。これによって、骨付き肉Ｍｂを停止させずに搬送しながら全長測定が可能になり、測定時間を短縮でき測定効率を向上できる。 In one embodiment, the distance from the reference position to the downstream end position in the transport direction is the time difference from the reference position to the time when the contactor 14 reaches the downstream end position in the transport direction of the bone-in meat Mb, and the bone-in meat Mb. It can be calculated by the product of the transport speed of. This makes it possible to measure the total length while transporting the bone-in meat Mb without stopping, shortening the measurement time and improving the measurement efficiency.

一実施形態では、搬送ステップＳ１０において骨付き肉Ｍｂを搬送しながら、搬送される骨付き肉Ｍｂの骨部ｂの下部に筋入れ刃３４を挿入して骨付き肉Ｍｂの骨部ｂと肉部ｍとの間に切れ目を形成する（筋入れステップＳ１８）。筋入れステップＳ１８において、接触子１４を骨付き肉Ｍｂに接触させ、骨付き肉Ｍｂを支持させる。
この実施形態によれば、筋入れ時に接触子１４を骨付き肉Ｍｂの押えとして利用できるので、筋入れ時に骨付き肉Ｍｂのぐらつきを抑制できる。これによって、筋入れを正確に行うことができる。In one embodiment, while transporting the bone-in meat Mb in the transport step S10, the muscle insertion blade 34 is inserted into the lower part of the bone-in meat Mb to be transported, and the bone-in meat Mb bone portion b and the meat are transported. A cut is formed between the portion m and the portion m (stretching step S18). In the streaking step S18, the contactor 14 is brought into contact with the bone-in meat Mb to support the bone-in meat Mb.
According to this embodiment, since the contactor 14 can be used as a presser for the bone-in meat Mb at the time of muscle insertion, it is possible to suppress the wobbling of the bone-in meat Mb at the time of muscle insertion. As a result, it is possible to accurately perform the scoring.

一実施形態では、搬送ステップＳ１０において、骨付き肉Ｍｂをクランプ具１２で把持し、骨付き肉Ｍｂの骨部ｂが水平方向に沿う横向きで骨付き肉Ｍｂを搬送する。
この実施形態によれば、骨付き肉Ｍｂの骨部ｂが水平方向に沿う横向きで搬送されるために、骨付き肉Ｍｂを搬送しながら停止させることなく接触子１４による全長測定が可能になる。In one embodiment, in the transport step S10, the bone-in meat Mb is gripped by the clamping tool 12, and the bone-in meat Mb is transported sideways along the horizontal direction.
According to this embodiment, since the bone portion b of the bone-in meat Mb is transported sideways along the horizontal direction, the total length can be measured by the contact 14 without stopping while transporting the bone-in meat Mb. ..

一実施形態では、図２に示すＡ点とＤ点との時間差と骨付き肉Ｍｂの搬送速度との積から固定値である距離Ｌ０を減ずることで、Ｌが実際の骨付き肉Ｍｂの全長として求められる。In one embodiment, L is the actual bone-in meat Mb by subtracting the fixed value L 0 from the product of the time difference between points A and D shown in FIG. 2 and the transport speed of the bone-in meat Mb. Obtained as the total length.

一実施形態では、骨付き肉Ｍｂが、図４に示すように食鳥屠体などの骨付きモモ肉であり、この骨付きモモ肉を骨部ｂが水平方向に沿う横向きでかつ内モモ面及び外モモ面が上下方向に沿う姿勢で、足首部ｆがクランプ具１２で把持される。接触子１４は、内モモ面と外モモ面間の起伏に富んだ骨付きモモ肉の輪郭をなぞるために、位置センサ１８による骨付き肉Ｍｂの末端の検出が容易になる。
また、骨付き肉Ｍｂは骨付き肢肉（食鳥屠体及び家畜屠体の前肢及び後肢を含む。）であってもよい。骨付きモモ肉は骨付き肢肉に含まれる。In one embodiment, the bone-in meat Mb is bone-in peach meat such as a poultry carcass as shown in FIG. 4, and the bone-in peach meat is laterally oriented with the bone portion b along the horizontal direction and the inner peach surface. The ankle portion f is gripped by the clamping tool 12 in a posture in which the outer peach surface is along the vertical direction. Since the contactor 14 traces the contour of the undulating bone-in peach meat between the inner peach surface and the outer peach surface, the position sensor 18 facilitates the detection of the end of the bone-in meat Mb.
Further, the bone-in meat Mb may be bone-in limb meat (including forelimbs and hindlimbs of poultry and livestock carcasses). Bone-in thigh meat is included in bone-in limb meat.

一実施形態によれば、骨付き肉の全長を容易に測定できると共に、骨付き肉の動きを停止させることなく骨付き肉を移動させたまま測定できる。従って、骨付き肉の解体処理工程などに適用される場合、解体処理時間を短縮でき解体処理効率を向上できる。 According to one embodiment, the total length of the bone-in meat can be easily measured, and the bone-in meat can be measured while moving without stopping the movement of the bone-in meat. Therefore, when applied to a process of dismantling meat with bone, the dismantling processing time can be shortened and the dismantling processing efficiency can be improved.

１０ 全長測定装置
１２ クランプ具
１２ａ 凹部
１４ 接触子
１４ａ 接触バー
１６ 押付部
１８ 位置センサ
２０ 演算部
２２ 搬送経路
２４ 制御部
２６ エンコーダ
２８ チェーン
３０ 駆動スプロケット
３２ モータ
３４ 筋入れ刃
Ｄ 搬送方向下流側末端位置
Ｈｔｈ1、Ｈｔｈ2 閾値
Ｌ 全長
Ｍｂ 骨付き肉
Ｎ ひざ関節部
Ｐｚ 選択位置
Ｓ 基準位置
Ｓｉｎ 内モモ面
ｂ 骨部
ｆ 足首部
ｍ 肉部
ｎ ひざ部10 Full length measuring device 12 Clamping tool 12a Recession 14 Contactor 14a Contact bar 16 Pushing part 18 Position sensor 20 Calculation part 22 Transfer path 24 Control part 26 Encoder 28 Chain 30 Drive sprocket 32 Motor 34 Reinforcing blade D Downstream end position in the transport direction Hth 1 , Hth 2 Threshold L Full length Mb Bone meat N Knee joint Pz Selection position S Reference position Sin Inner peach surface b Bone f Ankle m Meat n Knee

Claims (12)

骨付き肉を把持し、前記骨付き肉の搬送経路に沿って水平方向へ移動可能なクランプ具と、
前記骨付き肉の搬送経路に設けられる接触子と、
前記接触子を前記骨付き肉に押し付け可能な押付部と、
前記接触子の上下位置を検出可能な位置センサと、
前記接触子の動作を制御可能な制御部であって、前記クランプ具の搬送と共に移動する移動座標系において、基準位置から、前記位置センサが前記骨付き肉の搬送方向下流側末端を検出した末端検出位置までの距離を前記骨付き肉の搬送中に前記骨付き肉の全長として求める演算部を含む制御部と、
を備えることを特徴とする骨付き肉の全長測定装置。 A clamp tool that can grip the bone-in meat and move horizontally along the bone-in meat transport path.
With the contacts provided in the bone-in meat transport path,
A pressing portion capable of pressing the contactor against the bone-in meat, and a pressing portion.
A position sensor that can detect the vertical position of the contact and
A control unit that can control the operation of the contact, and is a terminal that the position sensor detects the downstream end of the bone-in meat in the transport direction from the reference position in the moving coordinate system that moves with the transport of the clamp tool. A control unit including a calculation unit that obtains the distance to the detection position as the total length of the bone-in meat during transportation of the bone-in meat, and a control unit.
A full length measuring device for bone-in meat characterized by being provided with. 前記基準位置は、全長が既知の複数本の骨付き肉について得られた前記末端検出位置から演算されることを特徴とする請求項１に記載の骨付き肉の全長測定装置。 The total length measuring device for bone-in meat according to claim 1, wherein the reference position is calculated from the end detection position obtained for a plurality of bone-in meat having a known total length. 骨付き肉を把持し水平方向へ移動可能なクランプ具と、
前記骨付き肉の搬送経路に設けられる接触子と、
前記接触子を前記骨付き肉に押し付け可能な押付部と、
前記接触子の上下位置を検出可能な位置センサと、
前記接触子の動作を制御可能な制御部であって、前記クランプ具の搬送と共に移動する移動座標系において、基準位置から、前記位置センサが前記骨付き肉の搬送方向下流側末端を検出した末端検出位置までの距離を前記骨付き肉の全長として求める演算部を含む制御部と、
を備え、
前記骨付き肉の筋入れを行うための筋入れ刃を備え、
前記制御部は、前記筋入れ刃による筋入れ時に前記接触子を前記骨付き肉の押えとして動作させるように構成されることを特徴とする骨付き肉の全長測定装置。 Clamping tool that can grip bone-in meat and move horizontally,
With the contacts provided in the bone-in meat transport path,
A pressing portion capable of pressing the contactor against the bone-in meat, and a pressing portion.
A position sensor that can detect the vertical position of the contact and
A control unit that can control the operation of the contact, and is a terminal that the position sensor detects the downstream end of the bone-in meat in the transport direction from the reference position in the moving coordinate system that moves with the transport of the clamp tool. A control unit including a calculation unit that obtains the distance to the detection position as the total length of the bone-in meat, and
Equipped with
Equipped with a scoring blade for scoring the bone-in meat,
Wherein the control unit, the creasing blade total length measuring device features and to Rukotsu-in meat to be configured so that the contacts during creasing operating as pressing of the bone-in meat by. 前記制御部は、前記移動座標系において、前記位置センサにより前記骨付き肉の関節部が検出される関節検出位置（Ｃ点）よりも上流側の位置において前記骨付き肉に対して前記接触子が接触するように動作するように構成されることを特徴とする請求項１又は２に記載の骨付き肉の全長測定装置。 The control unit has the contactor with respect to the bone-in meat at a position upstream of the joint detection position (point C) where the joint portion of the bone-in meat is detected by the position sensor in the moving coordinate system. The full length measuring device for bone-in meat according to claim 1 or 2, wherein the device is configured to operate so as to be in contact with the bone. 前記基準位置は、前記搬送経路上で前記クランプ具が前記接触子に到達した時の前記クランプ具の位置とし、
前記制御部は、前記クランプ具が前記基準位置に到達した時を起点として前記押付部を作動させ、前記接触子を前記骨付き肉に接触させるように構成されることを特徴とする請求項１又は２に記載の骨付き肉の全長測定装置。 The reference position is the position of the clamp tool when the clamp tool reaches the contact on the transport path.
The first aspect of the present invention is characterized in that the control unit is configured to operate the pressing portion starting from the time when the clamping tool reaches the reference position and bring the contactor into contact with the bone-in meat. Or the full length measuring device for bone-in meat according to 2. 骨付き肉を把持し水平方向へ移動可能なクランプ具と、
前記骨付き肉の搬送経路に設けられる接触子と、
前記接触子を前記骨付き肉に押し付け可能な押付部と、
前記接触子の上下位置を検出可能な位置センサと、
前記接触子の動作を制御可能な制御部であって、前記クランプ具の搬送と共に移動する移動座標系において、基準位置から、前記位置センサが前記骨付き肉の搬送方向下流側末端を検出した末端検出位置までの距離を前記骨付き肉の全長として求める演算部を含む制御部と、
を備え、
前記演算部は、前記接触子が前記骨付き肉に接触した後から前記末端検出位置までの間で選択された選択位置における前記位置センサの検出値が閾値外であるとき、前記骨付き肉が前記クランプ具に把持されていないと判定するように構成されることを特徴とする骨付き肉の全長測定装置。 Clamping tool that can grip bone-in meat and move horizontally,
With the contacts provided in the bone-in meat transport path,
A pressing portion capable of pressing the contactor against the bone-in meat, and a pressing portion.
A position sensor that can detect the vertical position of the contact and
A control unit that can control the operation of the contact, and is a terminal that the position sensor detects the downstream end of the bone-in meat in the transport direction from the reference position in the moving coordinate system that moves with the transport of the clamp tool. A control unit including a calculation unit that obtains the distance to the detection position as the total length of the bone-in meat, and
Equipped with
In the calculation unit, when the detection value of the position sensor at the selected position selected from the time when the contactor comes into contact with the bone-in meat to the end detection position is out of the threshold value, the bone-in meat is released. total length measuring device features and to Rukotsu-in meat to be configured to determine not to be gripped by the clamp fixture. 前記押付部はエアシリンダで構成されることを特徴とする請求項１乃至６の何れか一項に記載の骨付き肉の全長測定装置。 The full-length measuring device for bone-in meat according to any one of claims 1 to 6, wherein the pressing portion is composed of an air cylinder. 骨付き肉を把持し水平方向へ移動可能なクランプ具と、
前記骨付き肉の搬送経路に設けられる接触子と、
前記接触子を前記骨付き肉に押し付け可能な押付部と、
前記接触子の上下位置を検出可能な位置センサと、
前記接触子の動作を制御可能な制御部であって、前記クランプ具の搬送と共に移動する移動座標系において、基準位置から、前記位置センサが前記骨付き肉の搬送方向下流側末端を検出した末端検出位置までの距離を前記骨付き肉の全長として求める演算部を含む制御部と、
を備え、
前記位置センサの検出値を第１座標軸とし、第２座標軸として前記骨付き肉の搬送方向位置とした移動座標軸からなる２次元移動座標で、少なくとも前記基準位置から前記末端検出位置までの前記接触子の軌跡を表示した表示部を備えることを特徴とする骨付き肉の全長測定装置。 Clamping tool that can grip bone-in meat and move horizontally,
With the contacts provided in the bone-in meat transport path,
A pressing portion capable of pressing the contactor against the bone-in meat, and a pressing portion.
A position sensor that can detect the vertical position of the contact and
A control unit that can control the operation of the contact, and is a terminal that the position sensor detects the downstream end of the bone-in meat in the transport direction from the reference position in the moving coordinate system that moves with the transport of the clamp tool. A control unit including a calculation unit that obtains the distance to the detection position as the total length of the bone-in meat, and
Equipped with
The contactor from at least the reference position to the end detection position in two-dimensional movement coordinates consisting of a movement coordinate axis whose first coordinate axis is the detection value of the position sensor and whose second coordinate axis is the position in the transport direction of the bone-in meat. total length measuring device features and to Rukotsu-in meat, further comprising a display unit that locus displaying the. 請求項１乃至８の何れかに記載の全長穂測定装置を用いて骨付き肉の全長を測定する方法であって、
骨付き肉を水平方向に沿って搬送する搬送ステップと、
前記搬送ステップで搬送される前記骨付き肉に前記接触子を押し付け、該接触子の上下位置を前記位置センサにより検出する検出ステップと、
検出された前記接触子の上下位置から前記接触子が前記骨付き肉の搬送方向下流側末端位置に達したと判定する判定ステップと、
前記制御部の前記演算部により、前記骨付き肉の搬送と共に移動する移動座標系において、基準位置から、前記判定ステップで判定した前記骨付き肉の前記搬送方向下流側末端位置までの距離を前記骨付き肉の全長として求める演算ステップと、
を備えることを特徴とする骨付き肉の全長測定方法。 A method for measuring the total length of bone-in meat using the full-length panicle measuring device according to any one of claims 1 to 8.
A transport step that transports bone-in meat along the horizontal direction,
Pressing said contacts into the bone-in meat being conveyed by said conveying step, a detecting step of detecting the vertical position of the contact by the position sensor,
A determination step of determining that the contact has reached the downstream end position in the transport direction of the bone-in meat from the detected vertical position of the contact.
In the moving coordinate system that moves with the transportation of the bone-in meat by the calculation unit of the control unit, the distance from the reference position to the downstream end position of the bone-in meat determined in the determination step in the transportation direction is described. The calculation step to be calculated as the total length of the meat with bone,
A method for measuring the total length of bone-in meat, which comprises. 前記移動座標系で前記基準位置から前記搬送方向下流側末端位置までの距離は、前記基準位置から前記接触子が前記骨付き肉の前記搬送方向下流側末端位置に達した時までの時間差と、前記骨付き肉の搬送速度との積で求めることを特徴とする請求項９に記載の骨付き肉の全長測定方法。 The distance from the reference position to the downstream end position in the transport direction in the moving coordinate system is the time difference from the reference position to the time when the contactor reaches the downstream end position in the transport direction of the bone-in meat. The method for measuring the total length of bone-in meat according to claim 9, which is obtained by multiplying the product with the transport speed of the bone-in meat. 骨付き肉を水平方向に沿って搬送する搬送ステップと、
前記搬送ステップで搬送される前記骨付き肉に接触子を押し付け、該接触子の上下位置を検出する検出ステップと、
検出された前記接触子の上下位置から前記接触子が前記骨付き肉の搬送方向下流側末端位置に達したと判定する判定ステップと、
前記骨付き肉の搬送と共に移動する移動座標系において、基準位置から、前記判定ステップで判定した前記骨付き肉の前記搬送方向下流側末端位置までの距離を前記骨付き肉の全長として求める演算ステップと、
を備え、
前記搬送ステップにおいて前記骨付き肉を搬送しながら、搬送される前記骨付き肉の骨部の下部に筋入れ刃を挿入して前記骨付き肉の前記骨部と肉部との間に切れ目を形成する筋入れステップを備え、
前記筋入れステップにおいて、前記接触子を前記骨付き肉に接触させ前記骨付き肉を支持させることを特徴とする骨付き肉の全長測定方法。 A transport step that transports bone-in meat along the horizontal direction,
A detection step in which a contactor is pressed against the bone-in meat conveyed in the transfer step to detect the vertical position of the contactor, and a detection step.
A determination step of determining that the contact has reached the downstream end position in the transport direction of the bone-in meat from the detected vertical position of the contact.
In the moving coordinate system that moves with the transportation of the bone-in meat, the calculation step of obtaining the distance from the reference position to the downstream end position of the bone-in meat in the transport direction determined in the determination step as the total length of the bone-in meat. When,
Equipped with
While transporting the bone-in meat in the transport step, a muscle insertion blade is inserted into the lower part of the bone portion of the bone-in meat to be transported to make a cut between the bone portion and the meat portion of the bone-in meat. With a streak step to form
In the creasing step, full-length measuring method features and to Rukotsu with meat that is supporting the bone-in meat is contacted with the contactor in the bone-in meat. 前記搬送ステップにおいて、前記骨付き肉をクランプ具で把持し、前記骨付き肉の骨部が水平方向に沿う横向きで前記骨付き肉を搬送することを特徴とする請求項９乃至１１の何れか一項に記載の骨付き肉の全長測定方法。
Any of claims 9 to 11, wherein in the transport step, the bone-in meat is gripped by a clamping tool, and the bone portion of the bone-in meat is laterally transported along the horizontal direction. The method for measuring the total length of bone-in meat according to item 1.
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