DESCRIPTION OF THE PRIOR ARTS Conventionally, stripping of poultry meat has been performed manually. However, there have been the following problems pertaining to the manual stripping process.

(1) During the severing process, foreign matter is apt to be mixed into breast meat, and the recovery rate is likely to be made unstable due to the manual operation. In addition, the breast meat and the white meat are liable to be damaged during each stripping operation, which may reduce the commercial value of the meats.

(2) It is necessary for a worker to place a palm and a finger in direct contact with the meat, which may increase costs from the point of view of hygienic management of food.

(3) Since a worker performs the stripping operation by using a cutting tool in a room with a low-temperature, there is a fear of the worker injuring himself with the

cutting tool and/or suffering from a disease such as tendovaginitis.

To cope with the aforementioned problems (1) to (3), an automated system has recently been introduced into the various steps of processing. An automatic deboning apparatus for the upper half of carcass used in an existing deboning process of poultry comprises principally"a main tact transport"section in the form of a table and"a deboning-related processing section"totaling 12 stations.

In"the main tact transport"section controlling upward, downward and stepwise advance motions of the table, an elevation mechanism consists of an electric servo-motor, a gear train, and a stationary upright ball screw capable of moving upwardly or downwardly with the aid of rotation of the gear-train or a hydraulic cylinder. Further, the stepwise advance driving section is driven by using an electric power stepping motor, capable of being stopped and locked.

Generally, in a food processing machine, it is required from the viewpoint of safety and sanitation, that high-pressure water is injected over a food processing section to wash it. When, in response to this requirement, the electrically driven motor or cylinder is installed in the food processing machine as described above, in order to prevent a danger of electric leakage and/or failure due to water penetration into these units, it is required to enclose the periphery thereof to seal against water penetration. This may result in the entire system being

larger due to this additional sealing and sometimes requires air purging or the like depending on the sealing requirements for such units. Which in turn may raise a need for extra equipment associated with the machine. In addition, the enclosing of these units may cause another problem such as machine breakdown due to poor heat radiation and/or melting-out of the lubricating grease.

On the other hand, there is another method to improve washability in which a hydraulically-driven motor or cylinder using oil as a working fluid with high output and high responsive ability is applied to the food processing machine, which is less risky in the context of those problems arising from said washing manner as compared to the electrically-driven system. However, this method has the risk that a working environment could be contaminated with oil leaked from inside of the units during washing or during operation of the machine.

However, in respect to these aforementioned methods, although the use of pneumatic driving method may be considered a clean driving system, there are several problems: oil mist exhaustion from a compressor for generating air pressure and low output, low efficiency and unstable operating speed, which make it difficult for the pneumatic driving method to be introduced into the food processing machine.

Further, in the above automatic deboning apparatus, an air cylinder and an air motor or an electric motor functioning as a motor for a revolving cutter are installed

in each location of a driving mechanism section, totaling 12 stations for the deboning processes. However, there still exists problems associated with the use of the air cylinder/motor, including those mentioned above: the use of the electric motor requires the covering to be provided thereto for improving the washability and this may result in a weight increase and the risk of electric leakage.

Taking into account all of the aforementioned problems, it is considered that the existing apparatus is insufficient from the viewpoint of safety and sanitation.

SUMMARY OF THE INVENTION The present invention has been made in the light of the above problems. The present invention provides an automatic deboning apparatus for an upper half of poultry that is free from the aforementioned problems inherent in an electrically driven motor or cylinder, a hydraulically driven motor or cylinder using oil as a working fluid, and a pneumatically driven motor or cylinder, and wherein the apparatus can be washed safely with a high-pressure water and also allows a deboning process to be conducted hygienically.

In order to achieve the above object, an aspect of the present invention which is recited in claim 1 is directed to an automatic deboning apparatus for an upper half of poultry comprising an elevation and index table having work mounting jigs arranged in predetermined intervals on an outer peripheral surface thereof and a plurality of stations arranged along an outer periphery of

said elevation and index table. Each comprises a deboning- related processing section, in which a deboning-related processing is applied in said deboning-related processing section of each of said plurality of stations to an upper half of poultry which has been loaded on said work mounting jig in a work feeding/mounting section while said elevation and index table is driven by an elevation and index mechanism so as to repeat stepwise advance, stoppage, rising, lowering and again stepwise advance motions.

The apparatus is characterized in that said elevation and index mechanism comprises an elevation mechanism for moving said elevation and index table upward or downward and a stepping mechanism for causing a stepwise advance motion of said elevation and index table, wherein a driving section for driving said elevation mechanism is constituted of a water hydraulic cylinder using water as a working fluid while a driving section for driving said stepping mechanism is constituted of a water hydraulic motor using water as a working fluid, and a water hydraulic control valve is used to execute a driving control of said water hydraulic cylinder and said water hydraulic motor, respectively.

As described above, since the driving section for driving the elevation mechanism is constituted of a water hydraulic cylinder using the water as a working fluid while the driving section for driving the stepping mechanism is constituted of the water hydraulic motor using the water as a working fluid, and the water hydraulic control valve is

used to execute the driving control of the water hydraulic cylinder and the water hydraulic motor. The elevation and index table and the index mechanism can be washed with high pressure water without causing any adverse effect such as an electric leakage on the devices constituting these table and mechanism, thereby providing an excellent apparatus in terms of safety as well as hygiene.

An aspect of the present invention is directed to an automatic deboning apparatus for an upper half of poultry.

The apparatus comprises an elevation and index table having work mounting jigs arranged in predetermined intervals on an outer peripheral surface thereof and a plurality of stations arranged along an outer periphery of said elevation and index table, each comprising a deboning- related processing section, in which a deboning-related process is applied in said deboning-related processing section of each of said plurality of stations to an upper half of poultry which has been loaded onto said work mounting jig in a work feeding/mounting section while said elevation and index table is driven by an elevation and index mechanism so as to repeat stepwise advance, stoppage, rising, lowering and again stepwise advance motions, said apparatus characterized in that a driving section for driving a mechanical section for executing the deboning- related processing of each deboning-related processing section in said stations is constituted of a water cylinder and/or a water hydraulic motor each using water as a working fluid.

As described above, since the driving section for driving the mechanical section of the deboning-related processing section of each station is constituted of a water cylinder and/or a water hydraulic motor each using water as a working fluid, it may also become possible to wash the deboning-related processing section with the high- pressure water.

An aspect of the present invention is characterized by an automatic deboning apparatus wherein a variety of control valves for controlling the motion of the water hydraulic cylinder and/or the water hydraulic motor is accommodated in such a space that is located in the proximity to said deboning-related processing section and also surrounded by a partition wall.

As described above, since the driving section is constituted of a water cylinder and/or a water hydraulic motor each using the water as a working fluid, and the variety of control valves is accommodated in such a space that is located in proximity to the deboning-related processing section and also surrounded by the partition wall, each deboning-related processing section can be washed with high pressure water without causing any adverse effects such as an electric leakage on the devices constituting the section, thereby providing an excellent apparatus in terms of safety as well as hygiene.

An aspect of the present invention is characterized by an automatic deboning apparatus wherein a driving section for driving a mechanical section for executing the

deboning-related processing is constituted of a water cylinder and/or a water hydraulic motor each using water as a working fluid.

As described above, since, in the automatic deboning apparatus, the driving section for driving the mechanical section of each deboning-related processing section is constituted of a water cylinder and/or a water hydraulic motor each using water as a working fluid, it becomes possible to wash each deboning-related processing section in addition to the elevation and index table and/or the elevation and index mechanism with high-pressure water.

An aspect of the present invention is characterized by an automatic deboning apparatus wherein a variety of control valves for controlling a motion of the water hydraulic cylinder and/or the water hydraulic motor is accommodated in such a space that is located in proximity to said deboning-related processing section and also surrounded by a partition wall.

Since the variety of control valves is accommodated in a space that is located in proximity to said deboning- related processing section and also surrounded by a partition wall, each deboning-related processing section in addition to the elevation and index table and/or the elevation and index mechanism can be washed with high- pressure water without causing any adverse effects, thereby providing an excellent apparatus in terms of safety as well as hygiene.

An aspect of the present invention is characterized

by an automatic deboning apparatus for an upper half of poultry wherein a timing of a stepwise advance motion of the elevation and index table controlled by the elevation and index mechanism is generated so as to match a motion of the deboning-related processing section.

As described above, each deboning-related processing section can be provided with a sufficient processing time to accomplish proper processing even if there is a difference in dimension among individual pieces or items to be deboned.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic diagram showing a general configuration of an automatic deboning apparatus for an upper half of poultry according to the present invention; Fig. 2 is a schematic diagram showing an exemplary configuration of a main tact transport section of the automatic deboning apparatus according to the present invention; Fig. 3 is a plan view of a part of the main tact transport section of the automatic deboning apparatus according to the present invention; Fig. 4 is an enlarged view of a peripheral portion of an elevation and index table of the automatic deboning apparatus according to the present invention; Fig. 5 is a block diagram showing an exemplary configuration of a control system for the main tact transport section of the automatic deboning apparatus according to the present invention;

Fig. 6 is a schematic diagram showing a flow of processing through respective deboning-related processing sections of the automatic deboning apparatus according to the present invention; Figs. 7 (a) and 7 (b) are schematic diagrams showing an exemplary configuration of a high pressure water supply unit and a water hydraulic driving system for a shoulder skin stripping section, the shoulder portion cutting section and a furcula cutting section of the automatic deboning apparatus according to the present invention; Figs. 8 (a) and 8 (b) are schematic diagrams showing an exemplary configuration of a water hydraulic driving system for the back muscle cutting section and the shoulder joint severing section of the automatic deboning apparatus according to the present invention; Figs. 9 (a) and 9 (b) are schematic diagrams showing an exemplary configuration of a water hydraulic driving system for the side portion cutting section and breast meat stripping section of the automatic deboning apparatus according to the present invention; Figs. 10 (a) and 10 (b) are schematic diagrams showing an exemplary configuration of a water hydraulic driving system for the white meat line-cutting section and the white meat removing section of the automatic deboning apparatus according to the present invention; Fig. 11 is a schematic diagram showing an exemplary configuration of a water hydraulic driving system for a skeleton discharging section of the automatic deboning

apparatus according to the present invention; Fig. 12 is a schematic view showing the side portion cutting condition in the side portion cutting section of the automatic deboning apparatus according to the present invention; Figs. 13 (a) and 13 (b) are two transitional shapes showing an exemplary configuration of a mechanism for the shoulder portion cutting section of the automatic deboning apparatus according to the present invention; Figs. 14 (a) and 14 (b) are schematic plan and elevation views showing an exemplary configuration of a mechanism for the side portion cutting section of the automatic deboning apparatus according to the present invention; Fig. 15 is a schematic view showing an exemplary configuration of a mechanism for the white meat line- cutting section of the automatic deboning apparatus according to the present invention; Figs. 16 (a) and 16 (b) are schematic side and front views showing an exemplary configuration of a mechanism for the carcass discharging section of the automatic deboning apparatus according to the present invention; and Figs. 17 (a) and 17 (b) are schematic diagrams showing another exemplary configuration of the main tact transport section of the automatic deboning apparatus according to the present invention, wherein Fig. 17 (a) is a vertical section view thereof and Fig. 17 (b) is a plan section of a power transmitting mechanism.

EXPLANATION OF MARKS IN THE DRAWINGS Alphanumeric marks used in the drawings will be explained: 1 indicates an elevation and index table, 2 a work mounting jig, 3 a processing tool, 4 a frame, 5 a rotary table, 6 a slidable bearing, 7 a main elevation shaft, 8 a water hydraulic cylinder, 9 a water hydraulic motor, 10 a manifold block, 11 a water hydraulic servo-valve, 12 a water hydraulic shut-off valve, 13 a cover, 14 a table base, 15 a cross roller bearing, 16 an inner toothed gear, 17 an outer toothed gear, 18 a casing, 19 a roller-equipped slide table, 20 an oil seal, 21 an oil seal, 22 a magnetic drum, 23 a rotary position sensor, 24 a control instrument accommodating section, 40 a water hydraulic cylinder, 41 a water hydraulic motor, 42 a water hydraulic switching valve, 43 a water hydraulic throttle valve, 44 a bevel gear, 45 a roller gear cam, 46 a limit switch, 47 a roller follower, 51 a claw, 52 a cam plate, 61 high pressure water supply means, 62 a tank, 63 a water hydraulic motor, 64 a flow regulating valve, 65 a two way directional control valve, 66 a water hydraulic cylinder, 67 a check valve-equipped flow regulating valve, 68 a 4-port three way directional control valve, 70a, b a horizontal rotary cutter, 71 a limit sensor, 72 a knife-blade jig, 73 a knife blade, 74 a rotary cutter, 75 a proximity sensor, 76 a cutter blade, 77 a jig, 78 a clamp holder, 79 a clamp arm, 80 a clamper, 100 a main tact transport section, 101 a work feeding/mounting section, 110 a preliminary processing section, 111 a

shoulder skin stripping section, 112 a shoulder portion cutting section, 113 a furcula cutting section and a back muscle cutting section, 114 a measuring section, 120 a shoulder joint severing section, 121 a shoulder line- cutting section, 122 a side portion cutting section, 130 a breast meat stripping section, 140 a white meat line- cutting section, 150 a white meat removing section, 160 a carcass discharging section, 170 a high pressure water supply unit, and 200 an auxiliary tact transport section.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Fig. 1 is a schematic diagram showing a general configuration of an automatic deboning apparatus for an upper half of poultry according to the present invention.

The automatic deboning apparatus for an upper half of poultry according to the present invention comprises a main tact transport section 100 and an auxiliary tact transport section 200 as shown in Fig. 1. Said main tact transport section 100 comprises an elevation and index table 1 and a group of 1st to 12th stations, which will be described in detail later.

The group of 1st to 12th stations is located so that the stations accurately assume dividing positions with angular intervals of 30 degrees on the circumference of the elevation and index table 1 along it as in a wheel, and in the respective station, the following deboning-related processing sections are disposed in such a manner that the sections correctly face in radial directions about a rotary center of the elevation and index table 1 to assume a right

facing position.

A work (an upper half of poultry) feeding/mounting section 101 is disposed in the 1st station. A preliminary process section 110 is disposed in 2nd to 5th stations, wherein a shoulder skin stripping section 111 is disposed in the 2nd station, a shoulder portion cutting section 112 is disposed in the 3rd station, a furcula cutting section and a back muscle cutting section designated collectively as 113 is disposed in the 4th station, and a measuring section 114 is disposed in the 5th station respectively.

Further, a shoulder joint severing section 120 is disposed in 6th to 7th stations, wherein a shoulder line- cutting section 121 is disposed in the 6th station and a side portion cutting section 122 is disposed in the 7th station respectively. Furthermore, a breast meat stripping section 130 is disposed in an 8th station, a white meat line-cutting section 140 is disposed in a 9th station, a white meat removing section 150 is disposed in an llth station, and a carcass discharging section 160 is disposed in an 12th station respectively.

Fig. 2 is a schematic diagram showing an exemplary configuration of the main tact transport section 100, and Fig. 3 is a schematic diagram showing a planar configuration of a part of the elevation and index table 1 of the main tact transport section 100. The main tact transport section 100 comprises the elevation and index table 1 as described above with work-mounting jigs 2 disposed in an equally spaced relationship along the outer

peripheral portion of the elevation and index table 1, in which poultry as an object to be processed is fed from and loaded at the work feeding/mounting section 101 in the 1st station while the elevation and index table 1 is in a raised condition.

After the poultry has been loaded, the elevation and index table 1 is once lowered in order to avoid the interference with a processing tool 3 of each station and then the table 1 is indexed at a specified angle to transfer the poultry to a position of the next processing tool 3 for a subsequent deboning-related processing section.

As the table is raised at the position of the next processing tool 3 for the subsequent deboning-related processing section, the poultry comes within the reach of processing by the processing tool 3 mounted on a frame 4 thus to be processed. After the processing of the poultry has been completed, the elevation and index table 1 is again lowered and then indexed in order to transfer the poultry to a forward position for a subsequent deboning- related processing section.

By repeating this cycle, the processing is carried out by means of the processing tool 3 specialized for each of the processing steps of the deboning-related processing sections (i. e., the shoulder skin stripping step, the shoulder portion cutting step, the furcula cutting step, the back muscle cutting step, the measuring step, the shoulder line-cutting step, the side portion cutting step, the breast meat stripping step, the white meat line-cutting

step and the white meat removing step), and then the carcass is automatically discharged at an indexing position ahead by one of the work feeding/mounting section 101.

Between these processing steps, the measuring section 114 is provided to comply with a difference of individual poultry and a deviation in the loading condition as well, in which a geometric feature of the individual poultry is detected by a sensor so as to be utilized in the operations of the subsequent steps. Therefore, it is required to position the elevation and index table 1 on the circumference so as for the central position of the work mounting jig 2 to be located within an acceptable accuracy range required for processing. This can be applied to the positioning of the top end of the work mounting jig 2 when it is raised or lowered.

The elevation and index table 1 is connected to a rotary table 5 via slidable bearings 6 disposed on the elevation and index table 1 in an equally spaced relationship and via a slidable shaft 6a operatively held on the slidable bearing 6 so as to be movable upwardly and downwardly and be fixed to the rotary table 5, so that the elevation and index table 1 can be rotated integrally with the rotary table 5 and at the same time it can move freely in upward and downward directions. The elevation and index table 1 is held by a pair of bearings 7a disposed in the top end of a main elevation shaft 7 and the-main elevation shaft 7 is coupled with an output shaft of a water hydraulic cylinder 8. Accordingly, the rotary positioning

of the elevation and index table 1 is controlled by the positioning of water hydraulic motor 9 driving the rotary table 5, and the vertical positioning thereof is controlled by the positioning of the water hydraulic cylinder 8, independently from each other.

The water hydraulic cylinder 8 and the water hydraulic motor 9 are respectively driven by a water hydraulic serve-valve 11 mounted on a manifold block 10 controlling the supply and discharge of water from a high- pressure water supply device, though not shown. The manifold block 10 also includes a water hydraulic shut-off valve 12 mounted thereon, which can shut off the supply or discharge of the water so as to suspend the operations of the water hydraulic cylinder 8 and the water hydraulic motor 9 when power is not applied or in case of emergency shut down. Further, the manifold block 10 is covered with a cover 13 having a simple configuration so as to prevent malfunctions of the water hydraulic servo-valve 11 and the water hydraulic shut-off valve 12 due to an impact force of the water at the time of washing.

The rotary table 5 is rotatably held by a cross roller bearing 15 mounted on a table base 14 and an inner- toothed gear 16 is attached to the rotary table 5. The inner-toothed gear 16 is engaged with an outer-toothed gear 17 connected to an output shaft of the water hydraulic motor 9. Besides, the water hydraulic motor 9 employed in this embodiment is a unit including a reduction gear of water lubrication type and a sensor as integrated

components (or as built-in components). It is to be noted that the gear mechanism is not limited to a combination of the inner-toothed gear 16 with the outer-toothed gear 17, but may include, for example, a combination of outer- toothed bevel gears and a combination of a worm wheel with a worm.

The inner peripheral side of the rotary table 5 within a casing 18 is provided with generally semi-circular recesses corresponding to a predetermined index angle on its periphery, and when the rotary table 5 is located in a predetermined indexing position, in the recess is disposed a roller-equipped slide table 19, which is biased with a spring toward the direction for bringing the roller to be fitted into the semi-circular recess. The bias force is adjusted so as to rotate the rotary table 5 to some extent yet to become smaller than the driving force of the water hydraulic motor 9. With this configuration, an increase in an alignment error resulting from a backlash of the reduction gear or a deviation of the elevation and index table 1 caused by the reaction force upon processing can be made smaller.

Oil seals 20 and 21 are disposed between the casing 18 and the rotary table 5 and between the table base 14 and the rotary table 5, respectively, so as to prevent the water from penetrating into the inside of the casing 18 even during washing, while the water hydraulic motor 9 with the reduction gear of water lubrication type and the sensor integrated therein as well as the water hydraulic cylinder

8 with the sensor integrate therein (as a built-in component) are disposed outside the casing 18 in the lower portion of the table base 14.

On the other hand, a magnetic drum 22 with magnetic scales recorded at fine pitches thereon is attached on the outer periphery of the rotary table 5 located inside the casing 18, and the position of the rotary table 5 is detected in a non-contact manner on the basis of a magnetic variation by a rotary position sensor 23 using a magneto- resistance element fixed on the table base 14.

It is required from the viewpoint of productivity that the time required for raising and lowering and for indexing the elevation and index table 1 is as short as possible. On the other hand, the diameter of the elevation and index table 1 is determined by the size of the meat, the dimension of the processing tool 3 and the number of processing steps, so that the inertia moment and the weight of the elevation and index table 1 become larger as the elevation and index table 1 becomes larger in dimension.

Accordingly, the base machine is required to have a high output and high responsive ability. It is further preferred from the structural point of view that the dimension of the elevation and index mechanism is as compact as possible because the actual processing of food is effected by the processing tool 3 disposed above the elevation and index table 1.

Further, as the processing work is being carried out by the meat processing tool above the table, meat pieces

are scattered and the pieces of meat and fat stick to the work-mounting jig 2 and the processing tool 3. Accordingly it is required from the point of view of hygiene that washing has to be done frequently. During washing, the water drain containing the pieces of meat and fat flows over not only the elevation and index table 1 but also the frame 4 and the floor, and inevitably the elevation and index mechanism section is also exposed to the washing water, so the mechanism section is also required to have high washability.

Given the foregoing explanation, the mechanism for driving the elevation and index table 1 and the rotary table 5 is required to have high precision and output and to be drivable at a high speed, additionally superior in washability as well as compact in size.

In the embodiment of the present invention, the requirement for the high output and precision can be met by using a reduction mechanism for the index section. If the reduction rate is set to become in excess, this may cause a problem with the high-speed performance, but this problem can be dealt with by using a motor suitable for operation at a high speed and setting the reduction ration to reach an appropriate value. On the other hand, the elevation section is driven directly by the water hydraulic cylinder 8, so that the position control of the water hydraulic cylinder 8 at a high speed and high precision can be realized relatively easily by using a sensor having appropriate precision and the water hydraulic servo-valve

11. Further, the water hydraulic cylinder 8 has a higher output relative to its size. It can be made more compact, that can be achieved by a method in which a rotary movement is converted into a linear movement by a ball screw or the like.

By using a conventional reduction gear, oil- lubrication type, and sensor at the connecting portions of the water hydraulic motor 9 and the water hydraulic cylinder 8, only a water hydraulic motor and a water hydraulic cylinder, neither of which is integral with the above sensor and the reduction gear, may be disposed outside the casing 18, but this may cause a problem whereby the entire mechanism is increased in dimension to accommodate such additional devices within the casing 18.

Further, if the sensor and the reduction gear are accommodated within the casing 18, the casing 18 has to be detached to be disassembled upon maintenance. Since the processing tool 3 has been mounted on the upper portion of the elevation and index table 1 as described before, when the casing 18 is to be removed, the processing tool 3 must be removed. After the completion of maintenance the processing tool 3 has to be assembled with the casing 18 and adjusted again. From the above it is apparent and also important from the viewpoint of productivity that the number of parts and devices to be accommodated within the casing 18 is preferably as small as possible, thereby possibly reducing the amount of work upon maintenance as well as the time required for carry out the maintenance

work.

The water hydraulic actuator and the water hydraulic control valve as well as the pipes and the manifold block 10 cause no problems with washability even if they are exposed to the washing water, because they are fabricated on the presupposition of the use of water and main parts thereof are made of rust-proof materials. The mechanism parts accommodated in the casing 18 are lubricated with grease suitable for food machinery, so that there is no risk of substances being discharged which will pollute or contaminate the producing food environment. Furthermore, basically there is no need for considering the case of the mechanical parts being exposed to the washing water since they are sealed with the oil seals 20 and 21. Electric components including a sensor amplifier for controlling the elevation and index apparatus, a driving amplifier of the water hydraulic control valve, and a controller for providing a control signal, which are all accommodated in a control instrument accommodating section 24 disposed above the frame 4, will not be exposed to water during washing.

As described above, the elevation and index apparatus of a water hydraulic driven type having the configuration as shown in Fig. 1 takes advantage of the features and merits as well as the mechanical considerations of the water hydraulic system, so that it can meet the requirements as a base machine for the automated meat processing machine.

Fig. 5 shows an example of the circuit configuration

of a control system of the main tact transport section (the elevation and index apparatus of a water hydraulic driven type). In Fig. 5, the parts provided with the same reference numerals as those shown in Fig. 2 designate the same parts. This can be applicable to those parts in the other drawings. The control system consists of a shift- instructing section 25 for controlling the timing of a shift of the control, a target pass generating section 26 for creating a target pass to be used during the follow-up control, a target point table 27 set in advance from a target position of the rotary table 5, a convergence deciding section 28, a shift switch SW1, a shift switch SW2 and so forth. The broken line as shown in Fig. 5 indicates a flow of signals indicating the timing of the shift and the solid line indicates a flow of physical signals.

The water hydraulic motor 9 is controlled and driven so as to follow the target speed to the control unit 30 by a minor feedback of the speed detected by a motor sensor 29 (built in the water hydraulic motor 9). First, as the request for indexing is given from the outside, the shift- instructing section 25 gives a start-up signal to the target pass generating section 26 and at the same time shifts the shift switch SW2 to the ON side so as to initialize the convergence deciding section 28 and renew the index of the target point table 27 for the output thereof to indicate the next target position.

Upon receipt of the start-up signal, the target pass generating section 26 starts creating an S-shaped target

pass that reaches a predetermined index position in a predetermined duration of time and at the same time shifts the shift switch SW1 to the ON side. The target pass generated by the target pass generating section 26 is compared by a comparing section 31 with the position signal of the motor sensor 29 integrated into (or built into) the water hydraulic motor 9, and a value obtained by multiplying the resulting difference with a gain A 33 is inputted as a target speed value to a control unit 30 so as to control and drive the water hydraulic motor 9 via the water hydraulic servo-valve 11 to follow the target pass.

The target pass generating section 26 is autonomously operated to shift the shift switch SWl to the OFF side as the target pass has reached the predetermined index position, and thereby the control mode is shifted from the side of following the target pass to the side of controlling by a constant value with respect to the value of the target point table 27. The target point table 27 contains a target value of the position of the rotary table 5, which is compared in the comparing section 32 with the output signal from the rotary position sensor 23 of the rotary table 5. The value obtained by multiplying the result of the comparison with a gain B 34 is given as a target speed input to the control unit 30 in order to appropriately adjust the gain A 33 and the gain B 34 such that a deviation amount (i. e., the target speed input to the control unit 30) is not changed rapidly by a difference of precision of the two sensors, i. e., the motor sensor 29

and the rotary position sensor 23, at the time of the shift.

Simultaneously, the difference between the value of the target point table 27 and the value of the rotary position sensor 23 is inputted into the convergence deciding section 28, and the completion of convergence is notified to the shift-instructing section 25 as the difference has been converged to a defined level of accuracy, and then the shift-instructing section 25 accordingly shifts the shift-switch SW2 to the OFF side and at the same time sends to the external system a notice of completion of indexing.

The system, in which the two sensors, i. e ;, the motor sensor 29 and the rotary sensor 23, are shifted towards each other, can provide advantages over a system where only one sensor is used, as will be described below.

First, assuming a condition where the accurate control is to be effective only by the motor sensor 29 built in the water hydraulic motor 9, a means for compensating the positioning error resulting from a backlash of the reduction mechanism is somehow required.

For example, there may be proposed a system in which the positioning of the rotary position is conducted, an amount of the error is measured, and then a target pass with the error taken into account is provided; however, the adjustment has to be made on a trial and error basis because the backlash deviates in the actual working of the mechanism.

Further, assuming another condition where the

accurate control is to be effected only by the rotary position sensor 23 fixed to the rotary table 5, a stable control may become difficult if precision of the sensor is not high enough, because the target pass and the detection signal may appear to be stair step signals. Therefore, it is generally considered that the precision of a sensor necessary for the pass control or the like should preferably be one twentieth or smaller than the target positioning accuracy.

Moreover, in the case where a speed signal is generated by differentiating the signal indicative of the position detected by the rotary position sensor 23 in order to control the speed of the water hydraulic motor, a smooth speed signal cannot be obtained if a sensor of low precision is used, and the stability of a control system may be deteriorated. For these reasons, in this case, a sensor with a considerably high precision is required, but it is difficult to fabricate a sensor with high precision and to record with high accuracy such fine pitches of the magnetic drum 22 disposed on the outer periphery of the rotary table 5 having such a large diameter as applied in this embodiment.

On the other hand, when the water hydraulic motor 9 starts or the speed direction is changed, there may be the occasion that the movement of the water hydraulic motor 9 does not completely synchronize with the movement of the rotary table 5 due to a non-engaged state (in a spaced relation) between the teeth of the gears resulting from the

backlash of the reduction mechanism. Accordingly, there may occur a stable limit cycle in which the spaced-state and the engaged-state are repeated alternately, or otherwise this cycle may become unstable. To prevent such situations, it is effective to reduce a resolution of the sensor or make a control gain smaller. In that case, however, the ability to follow the pass is deteriorated as described above, and this makes it difficult to achieve an appropriate level of accuracy of controlling the positioning at the terminal end point.

In this embodiment of the present invention, since the rotating speed of the water hydraulic motor 9 is reduced and then transmitted to the rotary table 5, the precision of the motor sensor 29 integrated with the water hydraulic motor 9 may be relatively low and therefore can be fabricated easily. Further, the rotary position sensor 23 mounted on the rotary table 5 can provide a sufficient control as long as it has a degree of precision about one fifth of the necessary positioning accuracy, so that the rotary position sensor 23 can be realized easily thus reducing the cost thereof.

In the work feeding/mounting section 101, since a claw 51 is free from locking by engagement with a cam plate 52 when the elevation and index table 1 is raised, as shown in Fig. 4, insertion of the work into the work-mounting jig 2 is surely carried out, and thereafter, the locking state is restored since the engagement of the claw 51 with the cam plate 52 is canceled in company with lowering the

elevation and index table 1, whereby mounting of the work in a fixed manner can be secured. Thereafter, the claw 51 is kept such that it fixedly holds the work until the elevation and index table 1 starts an upward movement in the carcass discharge section 160.

Then, after receiving the work at the 1st station, the elevation and index table 1 continues the stepwise advance motion while the work is subjected to processing as shown in Fig. 6 in such a manner that a shoulder skin is stripped from the work at the shoulder skin stripping section 111 of the 2nd station, subsequently at the shoulder portion cutting section 112 of the 3rd station, a cut opening is formed in the meat of the shoulder portion after the stripping of skin, and then at the furcula cutting section and the back muscle cutting section 113 of the 4th station, the furcula cutting and the back muscle cutting is executed.

Subsequently, the inside shoulder width is measured at the measuring section 114 of the 5th station, the shoulder line-cutting is executed at the shoulder line- cutting section 121 of the 6th station, the side portion cutting is executed at the side portion cutting section 122 of the 7th station, and then the breast meat is stripped together with the wings the breast meat stripping section 130 of the 8th station. Then, line-cutting to the white meat membrane is executed at the white meat line-cutting section of 9th station, the white meat is removed at the white meat removing section 150 of the llth station, and

finally the skeleton is discharged at the carcass discharging section 160, the 12th station.

It is to be noted that the breast meat removed together with the wings in the breast meat stripping section 130 as described above is separated from the wings in the auxiliary tact transport section 200.

Driving sections to drive the mechanical sections executing the deboning-related processes disposed in respective stations comprise water hydraulic cylinders and/or water hydraulic motors. Fig. 7 to Fig. 11 show respective water hydraulic driving systems for driving the mechanical sections of respective deboning-related processing sections. It is to be noted that in Figs. 7 to 11, the water hydraulic lines LI are interconnected to one another as are the backwater lines L2.

Referring to the respective drawings, Fig. 7 (a) shows a configuration of a high pressure water supply unit 170, a driving section llla for driving the shoulder skin stripping section and a driving section 112a for driving the shoulder portion cutting section, Fig. 7 (b) shows a configuration of a driving section 113a for driving the furcula cutting section, Fig. 8 (a) shows a configuration of a driving section 113b for driving the back muscle line- cutting section, Fig. 8 (b) shows a configuration of a driving section 120a for driving the shoulder joint severing section, Fig. 9 (a) shows a configuration of a driving section 122a for driving the side portion cutting section, Fig. 9 (b) shows a configuration of a driving

section 130a for driving the breast meat stripping section, Fig. 10 (a) shows a configuration of a driving section 140a for driving the white meat line-cutting section, Fig. 10 (b) shows a configuration of a driving section 150a for driving the white meat removing section, and Fig. 11 shows a configuration of a driving section 160a for driving the skeleton discharging section.

The high pressure water supply unit 170 comprises, as shown in Fig. 7 (a), a high pressure water supply means 61 for supplying high-pressure water as a working fluid to respective deboning-related processing sections though the high pressure water supply line LI and a tank 62 for receiving the water returning from the respective deboning- related processing sections through the backwater line L2.

Further, the driving section llla for the shoulder skin stripping section comprises water hydraulic motors 63 and 63, flow regulating valves 64 and 64, and two way directional control valves 65 and 65. Further, the driving section 112a for the shoulder portion cutting section comprises water hydraulic cylinders 66 and 66, check-valve- equipped flow regulating valves 67,67,67 and 67, and a 4- port three way directional control valve 68. Still further, the driving section 113a for the furcula cutting section comprises, as shown in Fig. 7 (b), the water hydraulic motors 63 and 63, the flow regulating valves 64 and 64, the two way directional control valves 65 and 65, the water hydraulic cylinders 66 and 66, the check-valve-equipped flow regulating valves 67,67,67, and 67, and the 4-port

three way directional control valve 68.

The driving section 113b for the back muscle cutting section comprises, as shown in Fig. 8 (a), the water hydraulic motor 63, the flow regulating valve 64, the two way directional control valve 65, the hydraulic cylinder 66, the check-valve-equipped flow regulating valves 67 and 67, and the 4-port three way directional control valve 68.

Further, the driving section 120a for the shoulder joint severing section comprises, as shown in Fig. 8 (b), the water hydraulic motors 63 and 63, the flow regulating valves 64 and 64, the two way directional control valves 65 and 65, the water hydraulic cylinders 66 and 66, the check- valve-equipped flow regulating valves 67,67,67 and 67, and the 4-port three way directional control valve 68.

The driving section 122a for the side portion cutting section comprises, as shown in Fig. 9 (a), the water hydraulic motors 63 and 63, the flow regulating valves 64 and 64, the two way directional control valves 65 and 65, the water hydraulic cylinders 66 and 66, the check-valve- equipped flow regulating valves 67,67,67, and 67, and the 4-port three way directional control valve 68. Further, the driving section 130a for the breast meat stripping section comprises, as shown in Fig. 9 (b), the water hydraulic cylinder 66, the check-valve-equipped flow regulating valve 67 and 67, and the 4-port three way directional control valve 68.

The driving section 140a for the white meat line- cutting section comprises, as shown in Fig. 10 (a), the

water hydraulic cylinders 66,66,66 and 66, the check- valve-equipped flow regulating valves 67,67,67,67,67, 67,67 and 67, and the 4-port three way directional control valves 68 and 68. Further, the driving section 150a for the white meat removing section comprises, as shown in Fig.

10 (b), the water hydraulic cylinders 66,66,66 and 66, the check-valve-equipped flow regulating valves 67,67,67,67, 67,67,67 and 67, and the 4-port three way directional control valves 68,68 and 68.

Further, the driving section 160a for the carcass discharging section comprises, as shown in Fig. 11, the water hydraulic cylinders 66 and 66, the check-valve- equipped flow regulating valves 67,67,67 and 67, and the 4-port three way directional control valves 68 and 68.

Electromagnetic driving valves such as the flow regulating valve 64, the two way directional control valve 65, the check-valve-equipped flow regulating valve 67 and the 4-port three way directional control valve 68 for controlling the operation of the water hydraulic motor 63 and the water hydraulic cylinder 66 of the driving section for each of the above-described deboning-related processing stations are collectively arranged in such a location that is isolated from each deboning-related processing section with a partition wall, for example, a space above the apparatus (e. g., the control instrument accommodating section 24). This arrangement provides insulation between the water hydraulic system and electric system so as to enhance the safety by avoiding the electric leakage.

In the water hydraulic driving system of the above configuration, as the high-pressure water is supplied from the high pressure water supply means 61 of the high pressure water supply unit 170 to respective deboning- related processing sections through the high pressure water supply line L1, the water hydraulic motors 63 and/or the water hydraulic cylinders 66 are operated under a control of the flow regulating valves 64, the two way directional control valves 65, the check-valve-equipped flow regulating valves 67 and the 4-port three way directional control valves 68 in the driving sections of respective deboning- related processing sections so that each specified processing can be executed in each deboning-related processing section, while the backwater from the water hydraulic motors 63 and/or the water hydraulic cylinders 66 returns to the tank 62 of the high pressure water supply unit 170 through the backwater line L2.

For example, in the side portion cutting section 122 shown in Fig. 12, the water hydraulic motors 63 and 63 of the driving section 122a for the side portion cutting section shown in Fig. 9 (a) are used to drive horizontal rotary cutters 70a and 70b, and for a horizontal swing motion thereof, the water hydraulic cylinders 66 and 66 are used. Herein, the rotary motions of the water hydraulic motors are started and stopped by switching the two way directional control valves 65 and 65, and the rotating speeds thereof are respectively set by the flow regulating valves 64 and 64. On the other hand, respective water

hydraulic cylinders 66 and 66 use the 4-port three way directional control valve 68 to make expansion or contraction motion and use the check-valve-equipped flow regulating valves 67,67,67 and 67 to set the operating speed of the motion. Herein, the explanation has been directed to the side portion cutting section 122a for illustrative purpose, but the same method may be applied to the driving operation of the water hydraulic actuator (i. e., the water hydraulic motor 63, the water hydraulic cylinder 66) in each deboning-related processing section.

The water hydraulic actuator arranged in the deboning-related processing section of each station is adapted to drive on the basis of a motion sequence (a timing chart) which has been determined in advance. A device such as a sequencer, a computer or the like may be used to set the motions as desired so as to control the motions of the apparatus. In this operation, input/output data such as"starting"and"ending"of the motion of each actuator is detected by a sensor such as a limit switch arranged in the high pressure water actuator and the detected data is transmitted to a controller (not shown).

The controller continuously monitors the motions of each deboning-related processing section to see whether or not they are performed according to the specified sequence based on an input signal from the sensor and thus controls the apparatus to be operated normally.

As described above, applying the water hydraulic driving method to the mechanical section, which may come in

direct contact with the work (chicken) or may be operated in the proximity to the work, may realize the deboning- related processing superior in safety and sanitation as well as washability.

The timing of the stepwise advance motion of the elevation and index table 1 by the elevation and index mechanism is generated so as to match the motion of each deboning-related processing section. Since there may be a distinct difference between individual blocks of chicken meat, the processing time should be varied depending on the dimensions of the individual piece. Accordingly, a uniform transport of the tact (a uniform stepwise advance motion) could not ensure a sufficient processing time for every work and there might be a possibility of resulting in an improper processing. In addition, since sometimes the feeding step of the work is performed manually, it is required to confirm there is no worker intervening therein to ensure the safety. For this reason, if the tact motion of the main tact transport section 100, or the stepwise advance motion of the elevation and index table 1, is specified, problems may arise in the area of safety and in regard to the recovery rate. To cope with these problems, the timing of the stepwise advance motion of the elevation and index table 1 should be generated so as to matchthe motions of the deboning-related processing sections.

Figs. 13 (a) and 13 (b) are schematic views showing transitional shapes of a mechanical configuration of the shoulder portion cutting section 112. The mechanism of the

shoulder portion cutting section 112 comprises a pair of left and right water hydraulic cylinders 66 and 66 as illustrated, in which knife-blade jigs 72 and 72 coupled to the top ends of cylinder rods 66a and 66a of the water hydraulic cylinders 66 and 66 are swingably driven to cut the both shoulder portions of the work with the knife- blades 73 and 73 mounted to said knife-blade jigs 72 and 72.

Further, limit sensors 71 and 71 attached to respective water hydraulic cylinders 66 and 66 detect the expansion or contraction motion of the cylinder rods 66a and 66a and sequentially transmit detection signals to the controller.

Figs. 14 (a) and 14 (b) are schematic plan and side views showing a mechanical configuration of the side portion cutting section 122, wherein Fig. 14 (a) is a plan view and Fig. 14 (b) is a side elevation view. The mechanical configuration of the side portion cutting section 122 comprises a pair of left and right water hydraulic cylinders 66 and 66 as illustrated, which extend or shorten a distance between two water hydraulic motors 63 and 63 having rotary cutters 74 and 74 mounted to rotary shafts thereof respectively. The rotary motions of the water hydraulic motors 63 and 63 cause the rotary cutters 74 and 74 for cutting the side portions to rotate and thus cut the side portions of the work. The approaching motion of the two water hydraulic motor 63 and 63 or the two rotary cutters 74 and 74 to each other is detected by a proximity sensor and the detection signal indicative of this approach is sequentially transmitted to the controller.

Fig. 15 is a schematic view showing a mechanical configuration of the white meat line-cutting section 140.

The mechanism of the white meat line-cutting section 140 comprises the water hydraulic cylinder 66 as illustrated, and a jig 77 having a cutter-blade 76 attached thereto is mounted on the top end of the cylinder rod 66a of the water hydraulic cylinder 66. As the water hydraulic cylinder 66 is moved upwardly or downwardly, then the cutter-blade 76 is also moved upwardly or downwardly to cut the white meat of the work. It is to be noted that a limit sensor, thought not shown, is disposed in the water hydraulic cylinder 66 to detect the expansion or contraction of the cylinder rod 66a and transmit sequentially a detection signal indicative of the detected expansion or contraction to the controller.

Figs. 16 (a) and 16 (b) are schematic side and front views showing a mechanical configuration of the carcass discharging section 160, wherein Fig. 16 (a) is a side elevation view and Fig. 16 (b) shows a clamp holder section viewed from the direction designated by an arrow A in Fig.

16 (a). The carcass discharging section 160 comprises a clamp arm 79 having the clamp holder 78 mounted on the top end thereof as illustrated, and a clamper 80 is mounted to the bottom end of the clamp holder 78. The mechanism of the skeleton discharging section 160 further comprises three water hydraulic cylinders 66-1,66-2 and 66-3, wherein the water hydraulic cylinder 66-1 is used to effect the upward and downward motion of the clamp arm 79, the

water hydraulic cylinder 66-2 is used to effect the swing (swivel) motion of the clamp holder 78 and the water hydraulic cylinder 66-3 is used to effect the opening or closing motion of the clamper 80 for clamping the carcass.

In this mechanism, the water hydraulic cylinders 66-1,66-2 and 66-3 are respectively provided with limit sensors (not shown) for detecting the expansion or contraction of the cylinder rods thereof, and the detection signals from the limit sensors are sequentially sent to the controller.

Figs. 17 (a) and 17 (b) are schematic vertical and plan sections showing another example of a configuration of the main tact transport section 100, wherein Fig. 17 (a) is a vertical section view thereof and Fig. 17 (b) is a plan view of a power transmitting mechanism respectively. A basic configuration of the elevation and index mechanism of the main tact transport section 100 is the same as the configuration of the main tact transport section 100 shown in Fig. 2. The power transmitting mechanism consists of a roller gear cam 45 made up of an approximately cylindrical cam body with a proper cam curve formed thereon and a roller follower 47 with some projections formed thereon at intervals corresponding to the index spacing so as to be engaged with the roller gear cam 45 by a bias force applied thereto.

An input shaft to the roller gear cam 45 is coupled with an output shaft of the water hydraulic motor 41 via a bevel gear 44 and a limit switch 46 is attached to the roller gear cam 45 on the opposite side thereof with

respect to the input shaft. The cam curve of the roller gear cam 45 is formed such that three quarters of one rotation of the cam is used to drive the roller follower 47 and in the remaining one quarter of the one rotation, no power is transmitted to the roller follower 47. Owing to this configuration, the backlash of the bevel gear 44 has no effect on the operation. Further, the limit switch 46 is only required to output a signal at one location in one rotation.

The water hydraulic motor 41 is of an integral type including therein a reduction gear of water lubrication type with no built-in sensor, in which the rotating speed is controlled by regulating an opening of the water hydraulic throttle valve 43, and the operation timing is controlled by switching the water hydraulic switching valve 42 based on an start-up signal and the signal from the limit switch 46. Further, as to the driving in the upward or downward direction, the water hydraulic cylinder 40 is not of a built-in sensor type but employs a so-called cushion cylinder, in which a stroke motion is decelerated automatically in the vicinity of the terminal end of the stroke, and the driving speed is controlled by the water hydraulic throttle valve 43 and the operation timing is controlled by the water hydraulic switching valve 42.

EFFECT OF THE INVENTION As has been explained heretofore, according to the present invention defined in the claims, such excellent effects are obtainable as will be described below.

According to an aspect of the present invention, since the driving section for driving the elevation mechanism is constituted of the water hydraulic cylinder using the water as a working fluid while the driving section for driving the stepping mechanism is constituted of the water hydraulic motor using the water as a working fluid, and the water hydraulic control valve is used to execute the driving control of the water hydraulic cylinder and the water hydraulic motor, the elevation and index table and the elevation and index mechanism can be washed with high pressure water without producing any adverse effects such as an electric leakage on the devices constituting these tables and mechanism, and therefore, an innovative automatic deboning apparatus for an upper half of a poultry carcass, which is excellent in terms of safety as well as hygiene, has been provided.

According to an aspect of the present invention, since the driving section for driving the mechanical section of the deboning-related processing section of each station is constituted of the water cylinder and/or the water hydraulic motor each using the water as a working fluid, it may also become possible to wash the deboning- related processing section with the high-pressure water, and therefore, an innovative automatic deboning apparatus for an upper half of a poultry carcass, which is excellent in terms of safety as well as hygiene, has been provided.

According to an aspect of the present invention, since the driving section for driving the mechanical

section of the deboning-related processing section is constituted of the water cylinder and/or the water hydraulic motor each using water as a working fluid, and the variety of control valves is accommodated in such a space that is located in proximity to the deboning-related processing section and also surrounded by the partition wall, each deboning-related processing section can be washed with high pressure water without any adverse effects such as an electric leakage on the devices constituting the section has been provided.

According to an aspect of the present invention, since, in the automatic deboning apparatus disclosed in claim 1, the driving section for driving the mechanical section of each deboning-related processing section is constituted of the water cylinder and/or the water hydraulic motor each using the water as a working fluid, it becomes possible to wash each deboning-related processing section in addition to the elevation and index table and/or the elevation and index mechanism with high-pressure water.

According to an aspect of the present invention, since the variety of control valves for controlling the motion of the water hydraulic cylinder and/or the water hydraulic motor is accommodated in such a space that is located in the proximity to said deboning-related processing section and also surrounded by a partition wall, each deboning-related processing section in addition to the elevation and index table and/or the elevation and index mechanism can be washed with high-pressure water without

causing any adverse effect such as electric leakage on the devices constituting the section.

According to an aspect of the present invention, since the timing of the stepwise advance motion of the elevation and index table controlled by the elevation and index mechanism is generated so as to match with the motion of the deboning-related processing section, an innovative automatic deboning apparatus for an upper half of poultry, in which each deboning-related processing section can be provided with a sufficient processing time to accomplish proper processing even if there is a difference in dimension among individual works, has been provided.