| 摘要 |
<p>An object is to generate no excessive load to a cutting blade, reduce damage to the cutting blade or the like to maintain high operation efficiency, and improve the yield of meat in an automatic deboning step of a work. In an automatic deboning apparatus 10, an X-ray irradiation unit 30 is provided on the upstream side of a meat cutting unit 50 in a direction of transport of the work. In the X-ray irradiation unit 30, an X-ray r is irradiated to a work w from an X-ray irradiation device 34, an image of the X-ray transmitted through the work w is subjected to image processing in an image analysis process unit 40, and two-dimensional position coordinates of a bone part are thereby obtained. In the meat cutting unit 50, there are provided three robot arms 52a to 52c provided with cutting blades 58a to 58c. A storage unit 62 of a controller 60 stores three-dimensional position coordinates of a target operation course of each of the cutting blades 58a to 58c. The target operation course is corrected on the basis of the two-dimensional position coordinates of the bone part obtained for each work in the image analysis process unit 40.</p> |
