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    • 4. 发明公开
    • DEBONING METHOD AND DEBONING APPARATUS OF BONY CHOPS WITH X-RAYS
    • 带X射线的BONY剔骨方法和剔皮装置
    • EP2532246A1
    • 2012-12-12
    • EP11835934.8
    • 2011-08-12
    • Mayekawa Mfg. Co., Ltd.
    • HATTORI, KazuhiroMURANAMI, HiroakiUMINO, TatsuyaGOTO, OsamuKIMURA, Kenichiro
    • A22C21/00A22C17/00G01N33/12
    • A22C17/0086A22C17/004
    • An object is to generate no excessive load to a cutting blade, reduce damage to the cutting blade or the like to maintain high operation efficiency, and improve the yield of meat in an automatic deboning step of a work. In an automatic deboning apparatus 10, an X-ray irradiation unit 30 is provided on the upstream side of a meat cutting unit 50 in a direction of transport of the work. In the X-ray irradiation unit 30, an X-ray r is irradiated to a work w from an X-ray irradiation device 34, an image of the X-ray transmitted through the work w is subjected to image processing in an image analysis process unit 40, and two-dimensional position coordinates of a bone part are thereby obtained. In the meat cutting unit 50, there are provided three robot arms 52a to 52c provided with cutting blades 58a to 58c. A storage unit 62 of a controller 60 stores three-dimensional position coordinates of a target operation course of each of the cutting blades 58a to 58c. The target operation course is corrected on the basis of the two-dimensional position coordinates of the bone part obtained for each work in the image analysis process unit 40.
    • 本发明的目的在于不会对切割刀片产生过大的负荷,减少对切割刀片等的损伤以保持高的操作效率,并且在工件的自动剔除步骤中提高肉的产量。 在自动分离装置10中,X射线照射单元30沿着工件的运送方向设置在切肉单元50的上游侧。 在X射线照射单元30中,从X射线照射装置34向工件w照射X射线r,透过工件w的X射线的图像在图像分析中经受图像处理 处理单元40以及骨骼部分的二维位置坐标。 在肉切割单元50中,设置有三个设置有切割刀片58a至58c的机器人臂52a至52c。 控制器60的存储单元62存储每个切割刀片58a至58c的目标操作路线的三维位置坐标。 基于在图像分析处理单元40中针对每个作业获得的骨骼部分的二维位置坐标来校正目标操作路线。
    • 6. 发明公开
    • RIGHT/LEFT DISCRIMINATION SYSTEM FOR PIG CARCASS LIMB SECTIONS
    • FCHR GLIEDMASSENABSCHNITTE EINES SCHWEINEKADAVERS RECHTS- / LINKSUNTERSCHEIDUNGSSYSTEM
    • EP2912946A1
    • 2015-09-02
    • EP12887195.1
    • 2012-10-23
    • Mayekawa Mfg. Co., Ltd.
    • HATTORI, KazuhiroTOKUMOTO, MasaruMURANAMI, Hiroaki
    • A22C17/00G01N21/27G01N23/04
    • A22B7/003A22C17/0073G01N21/251G01N21/27G01N23/04G01N2201/12
    • An object of the present invention is to enable left/right determination while an arm part is being suspended from a clamper in a previous step before a deboning process upon deboning an arm part of a pig carcass that is served as meat, and to improve efficiency of the deboning process. In a deboning apparatus 10, a plurality of clampers 16 move around on an endless track 14. At a suspension station ST2, a work W is suspended from each clamper 16. At a left/right determination station ST3, left/right determination is performed, and front/back determination is also performed in which it is determined whether a front-side portion F or a back-side portion B is facing a side irradiated by X-rays. Based on results of the above determinations, the posture of the work W is corrected by a clamper rotating device 26. That is, at an X-ray imaging station ST4, it is controlled so that the front-side portion F of the work W faces the side irradiated by the X-rays and a longer side faces a movement direction "a" of the endless track 14. At the X-ray imaging station ST4, an X-ray image of the work W is obtained to determine a target coordinate of a bone-part surface required for incision making and deboning process in the downstream process.
    • 本发明的目的在于,在对作为肉类的猪屠体的胳膊部分进行剔骨处理之前,在前一步骤中将手臂部分从夹持器悬挂起来以实现左/右确定,并且提高效率 的剔骨过程。 在剔骨装置10中,多个夹持器16在环形轨道14上移动。在悬挂站ST2处,工件W从每个夹持器16悬挂。在左/右确定站ST3,执行左/右确定 并且还执行前/后确定,其中确定前侧部分F或背侧部分B是否面向被X射线照射的一侧。 基于上述判定结果,通过夹持器旋转装置26对作业W的姿势进行修正。即,在X射线摄像站ST4中,控制工件W的前侧部F 面对由X射线照射的一侧,长边面对环形轨道14的移动方向“a”。在X射线摄像站ST4,获得工件W的X射线图像,以确定目标 在下游过程中切割制作和去骨工艺所需的骨部分表面的坐标。