JP4044480B2 - Bone meat cutting method and apparatus - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention, bone by cutting is applied to a separation process such as the bone part and the meat portion of the bone laden meat, meat portion of the bone-meal meat obtained by fixing the meat portions on the outside of the bone with a cutter The present invention relates to a method and an apparatus for cutting bone-in meat that separates a meat part from the meat .
[0002]
[Prior art]
In the deboning process of meat with bone, for example, Patent Document 1 (Japanese Patent Application Laid-Open No. 5-184281. The summary of this publication includes deboning suitable for automatically deboning edible thigh meat with bone. For the purpose of creating the method and the same device, as an arrangement thereof, an ankle cut is performed, and meat is removed from the skeleton in the order of sections E, F, and G. During the above operation, the first cut and the second cut are performed. As disclosed in the section of cutting, a tendon is cut by a cutting tool.) , Various automatic means are provided for separation processing of a bone part and a meat part.
[0003]
In such prior art, in performing deboning processing of bone-in meat,
(1) A cutter blade is inserted perpendicularly to the surface of the bone part to cut the meat part or damage the fascia, and then apply force to the bone part or meat part in a parallel direction along the longitudinal direction of the bone part. In addition, the bone part and the meat part are moved opposite to each other to separate the bone part and the meat part.
(2) After manually cutting the fascia, tendon, and muscle in advance in the parallel direction of the surface of the bone part, mechanically apply force to the bone part or meat part in the parallel direction along the longitudinal direction of the bone part. In addition, the bone part and the meat part are moved opposite to each other to separate the bone part and the meat part.
Etc.
[0004]
[Patent Document 1]
JP-A-5-184281 [0005]
[Problems to be solved by the invention]
In the deboning processing mechanical bone laden meat in the prior art as described above, after applying the cut wounds to the surface of the bone portions, said bone portions or meat in a parallel direction along the bone portion longitudinally The bone part and the meat part are separated by applying a force to the part and separating the bone part and the meat part. In such a deboning method, the meat to the bone part is cut by cutting along the surface shape of the bone part having a complicated shape. It is difficult to cut and separate the meat part reliably from the surface of the bone part with minimal residual adhesion of the part.
And so on.
[0006]
In view of the problems in the prior art, the meat portion from the bone portion having a complicated shape, the residual adhesion meat portion along the surface shape of the bone part to minimize, and without the addition of human means any automatically, and aims to provide reliable bone capable of cutting and separating the meat portion from the surface of the bone portion, a cutting method and apparatus of the meat portion fixing member.
[0007]
[Means for Solving the Problems]
The present invention achieves such an object, and is a meat cutting method for bone-attached meat in which a meat part is fixed to the outside of a bone part, and a cutter blade tip is inserted from the meat part toward the bone part surface. After cutting or scratching the meat part (hereinafter referred to as the meat part) consisting of fascia, tendon or muscle, the bone part and the meat part are moved oppositely by applying a force to the meat part in the longitudinal direction of the bone part, In the method of separating and cutting the bone part and the meat part,
A cutter that inserts the blade edge from the meat part toward the surface of the bone part,
Disposed adjacent to the cutter, edge to allow cutting the meat portion with a plate-shaped cutter guides which are formed sharp,
The cutter guide is inserted from the meat part toward the surface of the bone part to detect contact between the end of the cutter guide and the surface of the bone part, and based on the detection signal, the blade edge part of the cutter is moved to the bone part. While maintaining the vicinity of the surface, the cutter guide is moved together with the cutter to the meat part in the longitudinal direction of the bone part to separate and cut the bone part and the meat part.
[0008]
Moreover, as an invention of an apparatus for carrying out the method invention, a meat cutting apparatus for meat with bone, wherein a meat part is fixed to the outside of a bone part, and a cutter blade tip is inserted from the meat part toward the bone part surface. After cutting or scratching the meat part consisting of fascia, tendon or muscle (hereinafter referred to as the meat part), the bone part and the meat part are moved oppositely by applying force to the meat part in the longitudinal direction of the bone part, In the device for separating and cutting the bone part and the meat part,
A cutter for inserting a blade edge from the meat part toward the surface of the bone part, and the cutter driving device;
A plate-like cutter guide disposed adjacent to the cutter and having an edge formed sharply so that the meat portion can be cut; and the cutter guide operating device;
And a detection means for the cutter guide infested toward the surface of the bone part from the meat portion detects the contact between the cutter guide end and the bone portion of the surface,
Based on the detection signal of the detection means, the cutter guide is moved in the longitudinal direction of the bone portion together with the cutter by the cutter guide operating device and the cutter driving device in a state where the blade edge portion of the cutter is maintained near the surface of the bone portion. Thus, a bone-cutting apparatus for bone-in meat is proposed in which the bone part and the meat part are separated and cut.
[0009]
In this invention, preferably, the relative displacement of the cutter guide with respect to the cutter in the urging direction of the urging means for urging the end of the cutter guide away from the surface of the bone portion by the urging means such as a spring. The stopper mechanism restricts the relative displacement between the cutter guide and the cutter, maintains the contact between the end of the cutter guide and the surface of the bone part, It is better to move it in the hand direction to separate and cut the bone part and meat part, and when the displacement of the cutter guide end is detected and the time change rate of the displacement becomes smaller than a certain value , the cutter guide ends are determined as those in contact with the surface of the bone, transferred to the bone the longitudinal direction of the cutter guide with the cutter based on the determination It may be carried out the separation and disconnect from the bone portion of the meat portion is.
As an apparatus for carrying out the above method, the cutter guide is urged in the urging direction of the urging means for urging the end of the cutter guide away from the surface of the bone portion by urging means such as a spring. A stopper mechanism that restricts relative displacement of the cutter guide relative to the cutter, the relative displacement between the cutter guide and the cutter is limited by the stopper mechanism, and the contact between the end of the cutter guide and the surface of the bone portion is maintained. While applying force to the meat part in the longitudinal direction of the bone part together with the cutter, the bone part and the meat part may be moved opposite to each other to separate and cut the bone part and the meat part. It comprises a displacement sensor that detects the displacement of the cutter guide end, and the cutter operation control means is a displacement detection signal of the cutter guide end input from the displacement sensor. Calculating a time rate of change of the displacement, and determines the time rate of change of the displacement is assumed that the cutter guide ends when it becomes smaller than the predetermined value is in contact with the surface of the bone, based on the determination preferably a cutter guide is moved in the bone the longitudinal direction of together with the cutter of the separation and cutting of the bone portion of the meat portion.
[0010]
Preferably, in the present invention, when a reaction force in a direction from the flesh portion acting on the cutter guide end portion toward the surface of the bone portion is detected, the rate of time change of the reaction force becomes larger than a certain value. The cutter guide end is determined to be in contact with the surface of the bone part , and the cutter guide is moved together with the cutter in the longitudinal direction of the bone part based on the determination to separate and cut the meat part from the bone part. It is good to do.
As an apparatus for carrying out the above method, the detection means comprises a displacement sensor for detecting a displacement in a direction from the meat part of the cutter guide end part toward the surface of the bone part, and the cutter operation control means is the is input from the displacement sensor to calculate the time rate of change of the displacement from the displacement detection signal of the cutter guide ends, the bone the cutter guide ends when the time change rate of the displacement is smaller than a predetermined value It is preferable to include a controller that determines that the surface is in contact with the surface of the part and moves the cutter guide in the longitudinal direction of the bone part together with the cutter based on the determination to separate and cut the meat part from the bone part. .
[0011]
According to this invention, when the cutter and the cutter guide provided so as to be relatively movable with the cutter are moved, the meat portion is cut, and when the cutter guide contacts a bone portion such as a bone , the displacement of the cutter guide end portion The cutter guide enters from the meat part toward the surface of the bone part by detection means such as a displacement sensor that detects the reaction force or a reaction force sensor that detects a reaction force from the meat part or bone part acting on the cutter guide end. detecting contact between the cutting guide edge portion and the bone portion of the surface of the whore, enter the contact detection signal to the controller which constitutes the cutter actuation control means.
[0012]
When the cutter and the cutter guide cut and pass through the meat part and the end of the cutter guide comes into contact with a bone part such as a bone , the displacement of the end of the cutter guide decreases rapidly, or the end of the cutter guide The cutting reaction force between the bone and the bone part increases rapidly.
[0013]
Therefore, in this invention, the controller calculates the time change rate of the displacement from the displacement detection signal of the cutter guide end, and when the time change rate of the displacement becomes smaller than a certain value, or When the time change rate of the reaction force is calculated from the reaction force detection signal at the end of the cutter guide and the time change rate of the reaction force is larger than a certain value, the end of the cutter guide is a bone part such as a bone. The cutter is driven by operating the cutter driving means.
The cutter drive means to cut the meat portion while moving along the cutting edges of the cutter to the surface of the bone, cutting the meat section that is fixed to the surface of the bone portion, separated from the surface of the bone portions Let me.
[0014]
Therefore, according to this invention, it is detected that the cutter guide attached to the cutter is in contact with the bone part , receives the detection signal, operates the cutter, and the cutting edge part of the cutter is placed on the surface of the bone part . while moving along, since the cutting and separating the meat portion is adhered to the surface of the bone part, even a complicated shape such that the bone portion of the bone meat, during cutting, the bone part and it can detect the position accurately, it is possible to cut the meat portion along the surface shape of the bone part.
This makes it possible to automatically and remains adhering meat portion without adding human means any and minimizing, to reliably cut and separate the meat section from the surface of the bone portion.
[0015]
In this invention, preferably, the meat portion is cut by the cutter while urging the end portion of the cutter guide away from the surface of the bone portion by urging means such as a spring.
And as an apparatus which implements this method, it is preferable to attach urging means, such as a spring, which urges the cutter guide in the direction of pulling the end of the cutter guide away from the surface of the bone part .
[0016]
According to this structure, since the end portion of the cutter guide is applying a force pulling away from the surface of the bone by biasing means such as a spring, the meat portion of the bone such as by the end of the cutter guide By being pulled in the direction away from the surface of the bone part , the cutting resistance to the cutter blade edge part is reduced when cutting the meat part by the cutter, the cutting performance is improved, and high-speed cutting becomes possible.
Moreover, the unnecessary meat | flesh part which remained on the cutting locus | trajectory of a cutter can be removed by the said tensile force of a cutter guide.
[0017]
Furthermore, in this invention, it is preferable that a stopper mechanism for restricting relative displacement of the cutter guide with respect to the cutter is provided.
If comprised in this way, since the relative displacement of a cutter guide and a cutter is restrict | limited by a stopper mechanism, the excessive biting to the bone | frame part side of a cutter blade edge part can be avoided.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described in detail with reference to the embodiments shown in the drawings. However, unless otherwise specified, the dimensions, shapes, relative arrangements, and the like of the components described in this embodiment are merely illustrative examples and not intended to limit the scope of the present invention.
[0019]
FIG. 1 is a control block diagram of a device for cutting and separating a bone portion and a meat portion of meat with bone in a meat processing apparatus according to an embodiment of the present invention. FIG. 2 is a schematic front view showing a configuration of a main part of the cutting and separating apparatus for cutting the bone part and the meat part, and FIG. 3 is a plan perspective view (a perspective view taken along line AA in FIG. 2). FIG. 4 is a diagram for explaining the operation of the cutter guide.
[0020]
In FIG. 2-3 which shows the principal part structure of the cutting | disconnection and separation apparatus of the bone part of meat with a bone which concerns on an Example, and 1 is a cutter, it cut | disconnects the bone part 100 and the meat part 101 of meat with a bone In this example, a known vibratory cutter is used. Reference numeral 3 denotes a cutter driving device that drives the cutter 1 and is controlled by a controller 20 described later. The cutter 1 is moved in the vertical direction (YY direction , Y arrow direction: longitudinal surface of the bone part 100 as shown in FIG. in along direction) and horizontal direction (X-X direction, bone stitched away direction, is moved in the meat cutting direction) and et min away the meat portion 101 or the bone 100 while cutting the meat section 101 Is.
[0021]
Reference numeral 2 denotes a plate-like cutter guide, which is disposed adjacent to the cutter 1 as shown in FIG. 3 and has an edge that is sharp so that the meat portion 101 can be cut. Reference numeral 4 denotes a guide moving device for moving the cutter guide 2 and is controlled by a controller 20 described later. The cutter guide 2 is moved in the horizontal direction (XX direction , bone surface) together with the cutter 1 as shown in FIG. The cutter 1 is guided through the meat portion 101 by moving in the surface separation direction meat (cutting direction ) and contacting the bone portion 100 so that the position of the bone portion 100 can be detected.
[0022]
14 is a spring interposed between the guide moving device 4 and the case 15 on which the cutter guide 2 is mounted. The spring 14 is constituted by a tension spring and is connected to the end of the cutter guide 2 via the guide moving device 4. The portion 2a is biased in a direction in which the bone portion 100 is pulled back (a direction in which the end portion 2a of the cutter guide 2 is pulled away from the bone portion 100 side).
Reference numeral 8 denotes a stopper, which is disposed on both sides of the guide moving device 4 so as to regulate the moving range in the horizontal direction (XX direction in FIGS. 2 and 3), which is the moving direction of the cutter guide 2.
[0023]
Reference numeral 5 denotes a cutter displacement sensor for detecting the displacement of the cutter 1. 6 is a cutter guide displacement sensor for detecting the displacement of the cutter guide 2, specifically, the displacement of the cutter guide end 2a, and 7 is a cutter guide reaction force sensor for detecting a reaction force acting on the cutter guide end 2a. It is. The cutter guide reaction force sensor 7 detects a force or pressure from the meat part 101 and the bone part 100 acting on the cutter guide end 2a.
The displacement detection value of the cutter 1 from the cutter displacement sensor 5, the displacement detection value of the cutter guide 2 from the cutter guide displacement sensor 6, and the reaction force detection value of the cutter guide 2 from the cutter guide reaction force sensor 7 are the controller 20. Is input.
[0024]
The controller 20 determines the contact of the cutter guide end 2a with the surface of the bone part 100 based on the displacement detection value of the cutter guide 2 or the reaction force detection value of the cutter guide 2, and the cutter driving device 3 is driven to drive the cutter 1, and the guide moving device 4 is controlled to control the movement of the cutter guide 2. The details will be described later.
[0025]
Next, based on FIG.1 and FIG.2, 3, the operation | movement of the cutting | disconnection and separation | separation apparatus of the bone part and meat part of the meat with a bone which concerns on an Example is demonstrated.
First, in FIGS. 2 and 3, the cutter 1 is moved by a cutter driving device 3 in a vertical direction (YY direction , Y arrow direction: a direction along the longitudinal surface of the bone part 100 ) and a horizontal direction (XX direction , The meat part 101 and the bone part 100 are cut by being moved in the bone surface contact / separation direction and the meat cutting direction .
The cutter guide 2 guides the cutter 1 through the meat portion 101 with the cutter 1 by a guide moving device 4 in advance of the cutter 1 by a fixed amount c, or in the horizontal direction (X− X direction).
[0026]
In the process of cutting the meat part 101 while moving the cutter 1 and the cutter guide 2 and reaching the bone part 100, the displacement detection value of the cutter guide end 2a from the cutter guide displacement sensor 6 is shown in FIG. A reaction force detection value of the cutter guide end 2 a from the cutter guide reaction force sensor 7 is input to the reaction force change rate calculation unit 23 of the controller 20.
The displacement change rate calculation unit 21 calculates the time change rate (differential value dS / dt) of the displacement S of the cutter guide end 2a based on the displacement detection value of the cutter guide end 2a, and determines whether or not the bone has reached. Input to the unit 25.
In addition, the reaction force change rate calculation unit 23 calculates a time change rate (differential value dF / dt) of the reaction force F of the cutter guide end 2a based on the reaction force detection value of the cutter guide end 2a. , Input to the bone portion arrival determination unit 25.
[0027]
Reference numeral 22 denotes a displacement change rate setting unit, in which a change of the cutter guide displacement (displacement of the cutter guide end 2a) S with respect to time t is set as shown in FIG. Reference numeral 24 denotes a reaction force change rate setting unit, in which a change of the cutter guide reaction force (reaction force of the cutter guide end portion 2a) F with respect to time t is set as shown in FIG.
[0028]
When the cutter 1 and the cutter guide 2 cut and pass through the meat portion 101 and the end portion 2a of the cutter guide 2 contacts the bone portion 100 , the cutter guide end portion 2a as shown in FIG. change that is, the time rate of change of displacement of the displacement S of the (differential value dS / dt) becomes drastically reduced from the inflection point S ₁ corresponding to the contact position, also the cutter guide ends as shown in FIG. 4 (B) time rate of change of the change that is the reaction force F of the reaction force F of 2a (differential value dF / dt) is abruptly increased from the inflection point F ₁ corresponding to the contact position.
[0029]
In the bone arrival determination unit 25, the time change rate (differential value dS / dt) of the displacement at the cutter guide end 2 a calculated by the displacement change rate calculation unit 21 is set in the displacement change rate setting unit 22. constant value, that the displacement or smaller than the time rate of change of the inflection point S ₁ corresponding to the displacement of the change, or the time of the reaction force at the cutter guide ends 2a calculated in reaction force change rate calculating section 23 or the rate of change (differential value dF / dt) is greater than the time rate of change of the reaction force corresponding to the inflection point F ₁ of said reaction force change rate set constant value, i.e. reaction force changes in the setting unit 24 It is determined that the cutter guide end 2a is in contact with the bone 100 .
[0030]
And if this bone part arrival determination part 25 determines the contact to the bone part 100 of the said cutter guide edge part 2a, the determination result will be input into the cutter operation command part 26. FIG. The cutter operation command unit 26 receives the determination result signal and outputs an operation command for the operation of separating and cutting the meat portion 101 of the cutter 1 to the cutter operation control unit 27.
The cutter actuation controller 27 receives the operation command of the separation cutting operation, actuates the cutter driving device 3, the cutter driving apparatus 3, the cutter 1, said moved in the arrow Y direction in FIG. 3 meat portion 101 taken along the longitudinal surfaces of the bone portion 100, allowed to separate the meat section 101 are fixed to the surface of the bone portion 100 from the surface of the bone portion 100.
[0031]
At the time of cutting by the cutter 1, the cutter operation control unit 27 controls the operation of the cutter 1 based on the feedback signal of the displacement detection value of the cutter 1 from the cutter displacement sensor 5. It is possible to move along the surface of 100 with high accuracy, and to reliably separate the meat portion 101 fixed to the surface of the bone portion 100.
Further, a feedback signal of the displacement detection value of the cutter guide 2 from the cutter guide displacement sensor 6 is input to the guide operation control unit 28, and the guide operation control unit 28 passes the guide moving device 4 based on this feedback signal. To control the movement of the cutter guide 2. Thereby, it becomes possible to make this cutter guide 2 contact the surface of the bone part 100 correctly.
[0032]
By the above operation, even if the bone part 100 has a complicated shape, the position of the bone part 100 can be accurately detected by the cutter guide 2, and the meat part 101 is automatically aligned along the surface shape of the bone part 100. In addition, it is possible to reliably cut and separate the meat portion 101 from the bone portion 100 by minimizing the remaining attached meat portion 101.
[0033]
Further, since the end portion 2a of the cutter guide 2 is urged away from the bone portion 100 side by the spring 14 constituted by a tension spring via the guide moving device 4, the meat portion 101 is The cutter guide end 2a is pulled in a direction away from the surface of the bone 100.
Thereby, the cutting resistance to the blade edge | tip part of the cutter 1 is reduced at the time of the cutting | disconnection of the meat part 101 by the cutter 1, and cutting performance improves.
Furthermore, the unnecessary meat portion 101 remaining on the cutting locus of the cutter 1 can be removed by the tensile force of the spring 14 acting on the cutter guide 2.
[0034]
Further, since the stopper 8 restricts the relative displacement of the cutter guide 2 with respect to the cutter 1 via the guide moving device 4, the relative displacement between the cutter guide 2 and the cutter 1 is restricted by the stopper 8. Therefore, excessive biting into the bone part 100 side of the cutting edge part of the cutter 1 can be avoided.
[0035]
[0036]
【The invention's effect】
As described above, according to the present invention, it is detected that the cutter guide attached to the cutter has come into contact with the bone portion , the cutter is operated in response to this detection signal, and the cutting edge portion of the cutter is placed on the surface of the bone portion . since the meat portion is adhered to the surface of the bone portion while moving along cutting and separation, even though a complicated shape such that the bone portion of the bone meat, during cutting, the position of the bone portion the made accurately detected, it is possible to cut the meat portion along the surface shape of the bone part. This makes it possible to automatically and remains adhering meat portion without adding human means any and minimizing, to reliably cut and separate the meat section from the surface of the bone portion.
Further, if the end portion of the cutter guide is configured to apply a tensile force in a direction away from the surface of the bone portion by an urging means such as a spring, the meat portion such as meat is boned by the end portion of the cutter guide. become the be pulled in the direction away from the surface of the bone, the cutting resistance to the cutter blade portion is reduced to improve cutting performance during cutting of the meat portion by the cutter, thereby enabling high-speed cutting.
[Brief description of the drawings]
FIG. 1 is a control block diagram of a device for cutting and separating a bone portion and a meat portion of meat with bone in a meat processing apparatus according to an embodiment of the present invention.
FIG. 2 is a schematic front view showing a main configuration of a device for cutting and separating the bone part and the meat part.
FIG. 3 is a plan perspective view (AA perspective view of FIG. 2) of the device for cutting and separating the bone part and the meat part.
4A and 4B are diagrams for explaining the operation of the cutter guide. FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Cutter 2 Cutter guide 2a Cutter guide edge part 3 Cutter drive device 4 Guide moving device 5 Cutter displacement sensor 6 Cutter guide displacement sensor 7 Cutter guide reaction force sensor 8 Stopper 14 Spring 20 Controller 21 Displacement change rate calculation part 22 Displacement change rate setting 22 Unit 23 reaction force change rate calculation unit 24 reaction force change rate setting unit 25 bone part arrival determination unit 26 cutter operation command unit 27 cutter operation control unit 28 guide operation control unit 100 bone part 101 meat part

Claims (8)

A meat cutting method for meat with bone formed by attaching a meat part to the outside of the bone part, and a meat part consisting of fascia, tendon or muscle by inserting a cutter blade from the meat part toward the bone part surface ( After cutting or scratching the meat part), the bone part and the meat part are moved to face each other by applying force to the meat part in the longitudinal direction of the bone part to separate and cut the bone part and the meat part. In the method
A cutter that inserts the blade edge from the meat part toward the surface of the bone part,
Disposed adjacent to the cutter, edge to allow cutting the meat portion with a plate-shaped cutter guides which are formed sharp,
The cutter guide is inserted from the meat part toward the surface of the bone part to detect contact between the end of the cutter guide and the surface of the bone part, and based on the detection signal, the blade edge part of the cutter is moved to the bone part. A method for cutting bone-in meat, wherein the cutter guide is moved to the meat part in the longitudinal direction of the bone part together with the cutter while being maintained in the vicinity of the surface, and the bone part and the meat part are separated and cut. A stopper mechanism for restricting relative displacement of the cutter guide with respect to the cutter in the biasing direction of the biasing means for biasing the end of the cutter guide away from the surface of the bone portion by biasing means such as a spring. The stopper mechanism restricts the relative displacement between the cutter guide and the cutter, maintains contact between the end of the cutter guide and the surface of the bone part, and moves the cutter guide along with the cutter in the longitudinal direction of the bone part. 2. The method for cutting meat with bone according to claim 1, wherein the bone part and the meat part are separated and cut. When the displacement of the cutter guide end in the direction from the meat part toward the surface of the bone part is detected, and the time change rate of the displacement becomes smaller than a certain value, the cutter guide end part becomes the surface of the bone part . and it determines that the contact with the bone according to claim 1, characterized in that the separation and disconnect from the bone portion of the meat portion to move the cutter guide with the bone the longitudinal direction of the cutter on the basis of the determination How to cut meat . When the reaction force in the direction toward the surface of the bone part from the meat part acting on the cutter guide end part is detected, and the time change rate of the reaction force becomes larger than a certain value, the cutter guide end part is It is determined that the bone part is in contact with the surface of the bone part , and based on the determination, the cutter guide is moved together with the cutter in the longitudinal direction of the bone part to separate and cut the meat part from the bone part. Item 2. A method for cutting bone-in meat according to item 1. A meat cutting apparatus for meat with bone formed by attaching a meat part to the outside of a bone part, and a meat part made of fascia, tendon or muscle by inserting a cutter blade tip from the meat part toward the bone part surface ( After cutting or scratching the meat part), the bone part and the meat part are moved to face each other by applying force to the meat part in the longitudinal direction of the bone part to separate and cut the bone part and the meat part. In the device
A cutter for inserting a blade edge from the meat part toward the surface of the bone part, and the cutter driving device;
A plate-like cutter guide disposed adjacent to the cutter and having an edge formed sharply so that the meat portion can be cut; and the cutter guide operating device;
And a detection means for the cutter guide infested toward the surface of the bone part from the meat portion detects the contact between the cutter guide end and the bone portion of the surface,
Based on the detection signal of the detection means, the cutter guide is moved in the longitudinal direction of the bone portion together with the cutter by the cutter guide operating device and the cutter driving device in a state where the blade edge portion of the cutter is maintained near the surface of the bone portion. Then, the bone-cutting apparatus is characterized by separating and cutting the bone part and the meat part. Such an end portion of the cutter guide by biasing means in the biasing direction of the biasing means you biased in a direction away from the surface of the bone part of the spring, a stopper mechanism for restricting a relative displacement with respect to the cutter of the cutter guide The relative displacement between the cutter guide and the cutter is limited by the stopper mechanism, and the contact between the end of the cutter guide and the surface of the bone portion is maintained, and the cutter guide is moved along with the cutter in the longitudinal direction of the bone portion. The bone- cutting apparatus according to claim 5 , wherein the bone part and the meat part are moved opposite to each other while applying a force to the bone part to separate and cut the bone part and the meat part . The detection means includes a displacement sensor that detects a displacement of the cutter guide end portion in a direction from the flesh portion toward the surface of the bone portion, and the cutter operation control means includes a cutter guide end portion that is input from the displacement sensor. Calculating a time change rate of the displacement from a displacement detection signal, and determining that the end of the cutter guide is in contact with the surface of the bone when the time change rate of the displacement is smaller than a predetermined value ; 6. The cutting of bone-in meat according to claim 5 , comprising: a controller that moves the cutter guide in the longitudinal direction of the bone part together with the cutter based on the determination to separate and cut the meat part from the bone part. apparatus. Consists reactive force sensor for detecting a reaction force in a direction toward the surface of the bone from the meat portion acting before Symbol cutter guide ends, the cutter control means of the cutter driving apparatus to be inputted from the reaction sensor The time change rate of the reaction force is calculated from the reaction force detection signal at the guide end, and when the time change rate of the reaction force exceeds a certain value, the cutter guide end contacts the surface of the bone part. it is determined that the objects, claim comprising a controller for separation and disconnect from the bone portion of the meat portion to move the cutter guide to the bone the longitudinal direction of together with the cutter on the basis of the determination, it is characterized by 5 The bone meat cutting apparatus as described.

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