食肉除骨処理の自動化に関する研究 (第1報) : 除骨用インテリジェントカッタの開発

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Natural product cutting, especially deboning process of meat processing is a very difficult problem for machines or robots. This difficulty is caused by the softness, complex heterogeneous structure and undefined shape of meat. Therefore, the development of the special cutting device for deboning machine is very important to realize the process automation. In this study, a kind of intelligent cutter for robot deboning was developed. The feature of it is to separate the functions of cutting and positioning the cutter. The basic structure of this intelligent cutter is as follows. Guide plate is attached parallel to the knife blade. Knife blade is usually hidden into the guide plate. For cutting, knife blade is rotating along the oval orbit by D.C.motor, slider and crank mechanism. By rotating, the tip of the knife blade is projected a little from guide plate, and cutting is done at the boundary between the bone and meat. Strain gauges are attached to the guide plate, therefore, the guide plate can be measured its own stress of bending, torsion, shearing, and compression. The complete set of intelligent cutter is installed to the six-axis industrial robot. By using this intelligent cutter and control program, it is succeeded to separate automatically the scapula and the meat or tendon surrounding it. The improved type intelligent cutter was also developed to separate the joint without cutting the bone. By using the cutter, it is succeeded to separate the joint between scapula and humerus automatically with little damage to the bones.
公益社団法人精密工学会の論文
2000-10-05

食肉除骨処理の自動化に関する研究 (第1報) : 除骨用インテリジェントカッタの開発

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