Workpiece processing equipment

Abstract

To provide a workpiece processing device that can secure a workpiece in a relatively short amount of time. [Solution] A workpiece processing apparatus according to at least one embodiment of the present disclosure comprises a base, a spray nozzle attached to the base for spraying fluid onto a workpiece, a pressing portion for holding the workpiece, a flexible portion connecting the pressing portion to the base such that the distance between the pressing portion and the base in the direction of fluid spraying by the spray nozzle is variable, and a vibration restricting portion attached to the base for suppressing vibration of the pressing portion relative to the base. The flexible portion is arranged along concentric circles that are concentric with the circumscribed circle of the vibration restricting portion, so as to surround the vibration restricting portion. The inner surface of the flexible portion has a facing region that faces the vibration restricting portion in the radial direction of the concentric circles. The vibration restricting portion is configured to restrict the minimum radial distance between the center of the concentric circles and the facing region.

Description

Technical Field

[0001] The present disclosure relates to a workpiece processing apparatus.

Background Art

[0002] For example, in a production process for producing processed foods from fruits and vegetables, in order to remove abnormal parts of fruits and vegetables as workpieces, detection of abnormal parts is performed (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, after detecting an abnormal part of a workpiece as described in Patent Document 1, if the entire workpiece having the abnormal part is discarded, the yield is poor. Therefore, it is desirable to remove the abnormal part from the workpiece. When removing an abnormal part from a workpiece, if the workpiece moves undesirably, there is a risk of inconveniences such as removing parts that are not abnormal parts, resulting in a decrease in yield, or insufficient removal of the abnormal part. Therefore, when removing an abnormal part with a device for removing the abnormal part, it is advisable to restrict the undesired movement of the workpiece by pressing the workpiece with a pressing part. In such a device, it is conceivable to support the pressing part with a base at the tip of the arm and press the workpiece with the pressing part by moving the arm.

[0005] In order to prevent the workpiece from being damaged or the like when the workpiece is pressed by the pressing part, for example, by making the pressing part displaceable with respect to the base, even if the distance between the base and the workpiece fluctuates somewhat, the pressing force of the workpiece by the pressing part can be prevented from becoming excessively large. However, in this case, if the retaining part is pivotable relative to the base, the retaining part will pivot relative to the base when the base is moved and stopped by the arm.

[0006] If the oscillation of the clamping part relative to the base does not subside when the base is moved and stopped, the positional relationship between the clamping part and the workpiece will deviate from the desired position when the clamping part presses against the workpiece after the base has been moved and stopped. Therefore, it is desirable that the oscillation of the clamping part relative to the base when the base is moved and stopped subsides before the clamping part contacts the workpiece. For this reason, it is desirable that the oscillation of the clamping part relative to the base when the base is moved and stopped subsides in a short time.

[0007] In view of the above circumstances, at least one embodiment of the present disclosure aims to provide a workpiece processing apparatus that can hold a workpiece in a relatively short amount of time. [Means for solving the problem]

[0008] A workpiece processing apparatus according to at least one embodiment of this disclosure is: Bass and, A spray nozzle, which is attached to the base and for injecting fluid onto the workpiece, A pressing portion for holding the workpiece, A flexible part is provided to connect the pressing part to the base such that the distance between the pressing part and the base in the direction of fluid ejection by the spray nozzle is variable, A vibration restricting part is attached to the base and is used to suppress the vibration of the pressing part relative to the base, Equipped with, The flexible portion is arranged along concentric circles that are concentric with the circumscribed circle of the vibration restricting portion, so as to surround the vibration restricting portion. The inner surface of the flexible portion has a region facing the oscillation restricting portion in the radial direction of the concentric circles, The oscillation restricting section is configured to restrict the minimum radial distance between the center of the concentric circle and the opposing region.

Advantages of the Invention

[0009] According to at least one embodiment of the present disclosure, a workpiece can be held in a relatively short time.

Brief Description of the Drawings

[0010] [Figure 1] It is a diagram showing the overall configuration of a workpiece processing apparatus according to this embodiment. [Figure 2A] It is a perspective view of a removal unit according to one embodiment. [Figure 2B] It is a side view of the removal unit. [Figure 2C] It is a perspective view of the removal unit with the description of the shaking restriction unit and the upper plate omitted. [Figure 3] It is a side view of a removal unit according to another embodiment. [Figure 4A] It is a diagram for explaining the removal of abnormal portions of a workpiece. [Figure 4B] It is a diagram for explaining the removal of abnormal portions of a workpiece. [Figure 4C] It is a diagram for explaining the removal of abnormal portions of a workpiece. [Figure 4D] It is a diagram for explaining the removal of abnormal portions of a workpiece. [Figure 5] It is a diagram showing a state where a workpiece having different thicknesses depending on the location is pressed downward by a pressing portion. [Figure 6] It is a diagram schematically showing a cross-section taken along the arrow VI-VI in FIG. 2B. [Figure 7] It is a diagram for explaining the relationship between the flexible portion and the shaking restriction portion due to a difference in the vertical position of the pressing portion. [Figure 8] It is a diagram for explaining a modified example of the flexible portion. [Figure 9A] It is a diagram for explaining a modified example of the regulation plate. [Figure 9B] It is a diagram for explaining a modified example of the regulation plate. [Figure 9C]This is a diagram for explaining a modified example of a regulation plate. [Figure 9D] This is a diagram for explaining a modified example of a regulation plate.

Embodiments for Carrying Out the Invention

[0011] Hereinafter, some embodiments of the present disclosure will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described as embodiments or shown in the drawings are not intended to limit the scope of the present disclosure, but are merely illustrative examples. For example, expressions representing relative or absolute arrangements such as "in a certain direction", "along a certain direction", "parallel", "orthogonal", "center", "concentric", or "coaxial" not only strictly represent such arrangements, but also represent states in which there are tolerances or relative displacements with angles or distances that can obtain the same function. For example, expressions representing that things such as "identical", "equal", and "homogeneous" are in an equal state not only strictly represent an equal state, but also represent states in which there are tolerances or differences that can obtain the same function. For example, expressions representing shapes such as a rectangular shape or a cylindrical shape not only represent shapes such as a rectangular shape or a cylindrical shape in a geometrically strict sense, but also represent shapes including concave-convex portions, chamfered portions, etc. within a range where the same effect can be obtained. On the other hand, the expressions "comprising", "having", "including", or "possessing" a certain component are not exclusive expressions that exclude the existence of other components.

[0012] FIG. 1 is a diagram showing the overall configuration of the workpiece processing apparatus 1 according to the present embodiment. FIG. 2A is a perspective view of the removal unit 23 according to an embodiment described later of the workpiece processing apparatus 1. FIG. 2B is a side view of the removal unit 23. FIG. 2C is a perspective view of the removal unit 23 in which the description of the shaking regulation unit 50 and the upper plate 36 described later is omitted. FIG. 3 is a side view of the removal unit 23 according to another embodiment. Figures 4A to 4D are diagrams illustrating the removal of the abnormal portion 5 of workpiece 3.

[0013] The workpiece processing apparatus 1 according to this embodiment is an apparatus for removing abnormal parts 5 from a workpiece 3. The abnormal parts 5 are altered parts that are unsuitable for consumption, or parts that are visually undesirable to be mixed into processed food products from the workpiece 3. If the workpiece 3 is, for example, a potato, these would be greened, corked, or rotten parts. The workpiece processing apparatus 1 according to this embodiment can remove the abnormal portion 5 of the workpiece 3 by spraying it with a water spray, thereby crushing the abnormal portion 5.

[0014] The workpiece processing apparatus 1 according to this embodiment includes a mesh belt conveyor 10 for transporting workpieces 3 and a leveling machine 15 for eliminating overlaps of workpieces 3. The workpiece processing apparatus 1 according to this embodiment includes a removal device 20 for removing abnormal parts 5 of workpieces 3, a drain receiver 17 for receiving the removed abnormal parts 5 and water W, a discharge pipe 19 for discharging the removed abnormal parts 5 and water W, a pressure pump 71 for pressurizing water W for water spraying, a control device 90 for controlling the entire workpiece processing apparatus 1, an imaging device 91 for detecting the abnormal parts 5, and an encoder 93 for detecting the amount of movement of the workpiece transport belt 11.

[0015] (Mesh belt conveyor 10) The mesh belt conveyor 10 according to this embodiment includes a workpiece conveying belt 11, a drive motor 13 for driving the workpiece conveying belt 11, and a plurality of support members 14 for supporting the workpiece conveying belt 11 from below. The support member 14 is, for example, an axial member extending in the conveying direction, and it is preferable that multiple support members are provided at intervals in a direction perpendicular to the conveying direction.

[0016] (Workpiece transport belt 11) The workpiece conveying belt 11 is, for example, a mesh belt 12 made by weaving metal wires into a mesh shape, and has mesh openings that allow the workpiece 3 to be placed on it and allow the abnormal parts 5, which have been crushed by water spray as described later, to pass through. For example, the workpiece conveying belt 11 may have mesh openings large enough to allow the abnormal parts 5, which have been crushed to have an equivalent diameter of 10 mm or less of equivolute spheres, to pass through. The workpiece conveying belt 11 is driven by a drive motor 13 and can convey the workpiece 3 placed on the workpiece conveying belt 11 in the conveying direction.

[0017] Information regarding the amount of movement of the workpiece conveying belt 11 in the conveying direction is detected by the encoder 93 and transmitted to the control device 90, which will be described in detail later.

[0018] (Work 3) The workpiece 3 processed by the workpiece processing apparatus 1 according to this embodiment is, for example, a potato sliced ​​to a specified thickness before heating. The workpiece 3 is transported from a transport device (not shown) in a preceding process to the workpiece processing apparatus 1 and supplied to the upstream side (right side in Figure 1) of the workpiece transport belt 11 of the workpiece processing apparatus 1.

[0019] (Leveling machine 15) In the workpiece processing apparatus 1 according to this embodiment, the leveling machine 15 is positioned upstream of the workpiece conveying belt 11 and above the workpiece conveying belt 11, and is intended to eliminate overlapping of workpieces 3 on the workpiece conveying belt 11. In the workpiece processing apparatus 1 according to this embodiment, the leveling machine 15 is a member 16 that has, for example, a lower tip portion 16a shown in the figure, spaced apart from the upper surface of the workpiece conveying belt 11, and extends in the width direction of the workpiece conveying belt 11 (the depth direction of the paper in Figure 1). For example, the distance between this tip portion 16a and the upper surface of the workpiece conveying belt 11 is greater than the thickness t of the workpiece 3 and less than twice the thickness t of the workpiece 3 (2t).

[0020] If there is no overlap between the workpieces 3, the workpieces 3 will pass below the tip 16a of the leveling machine 15. If the workpieces 3 overlap, the workpiece 3 on top of the workpiece 3 will interfere with the tip 16a of the leveling machine 15 and be removed from the lower workpiece 3. In this way, the leveling machine 15 eliminates the overlap between the workpieces 3 so that they are not transported downstream in the transport direction while overlapping. The leveling machine 15 may be a device positioned above the workpiece conveying belt 11, with multiple members 16 attached radially to a rotating shaft (not shown) extending in the depth direction of the paper in Figure 1. In this case, the leveling machine 15 is preferably configured such that the member 16 rotates around the rotating shaft as the rotating shaft rotates counterclockwise as shown, and when its tip 16a moves toward the upstream side in the conveying direction at the 6 o'clock position around the rotating shaft, it flicks the overlapping upper workpiece 3 toward the upstream side in the conveying direction.

[0021] (Imaging device 91) In the workpiece processing apparatus 1 according to this embodiment, the imaging device 91 is located downstream of the leveling machine 15 in the transport direction and upstream of the removal device 20 (described later) in the transport direction, and is positioned above the workpiece transport belt 11. The imaging device 91 images the workpiece 3 on the workpiece transport belt 11 and transmits the obtained image data to the control device 90. The image data is linked to information about the amount of movement of the workpiece transport belt 11 from the encoder 93 (for example, the number of output pulses of the encoder 93 at the time of imaging) and stored in a storage device (not shown) of the control device 90.

[0022] (Removal device 20) In the workpiece processing apparatus 1 according to this embodiment, the removal apparatus 20 includes a removal unit 23 having a spray nozzle 21 as a workpiece processing apparatus for processing the workpiece 3, a moving device 25 for moving the removal unit 23, a pressure pump 71, and a solenoid valve 27. In the workpiece processing apparatus 1 according to this embodiment, for example, two removal devices 20 are arranged, but there may be one, or three or more.

[0023] The moving device 25 is, for example, a robot, and is a device for moving the removal unit 23, which will be described later, toward the workpiece 3 having the abnormal part 5. The moving device 25 does not have to be a robot; any device that can move the removal unit 23 in the horizontal and vertical directions is acceptable.

[0024] (Regarding the removal section 23) As shown in Figures 2A to 2C and Figure 3, the removal unit 23 according to several embodiments includes a base 31 detachably attached to the tip of the arm 25a of the moving device 25 (see Figures 4A to 4D), a spray nozzle 21 attached to the base 31, a pressing unit 35 for holding the workpiece 3 when spraying water, a flexible unit 40 connecting the pressing unit 35 to the base 31 so that the distance between the pressing unit 35 and the base 31 is variable, and a sway regulating unit 50 attached to the base 31 to suppress the swaying of the pressing unit 35 relative to the base 31.

[0025] (Base 31) As shown in Figures 2A to 2C and Figure 3, in some embodiments of the removal unit 23, the base 31 includes a substrate 32 that is detachably attached to the tip of the arm 25a of the mobile device 25, and a nozzle mounting block 33 that is fixed to the lower surface 32d of the substrate 32 and to which the spray nozzle 21 is attached.

[0026] In some embodiments of the removal section 23, the substrate 32 is fixed by sandwiching the upper end of the flexible section 40 (described later) between the lower surface 32d of the substrate 32 and the upper surface of a plate member (not shown).

[0027] As shown in Figures 2B and 3, the nozzle mounting block 33 has a flow path 33a formed inside for supplying water W to the spray nozzle 21. The downstream end of the flow path 33a opens to the lower surface 33d of the nozzle mounting block 33, and the upstream end of the flow path 33a opens to the side surface of the nozzle mounting block 33. The spray nozzle 21 is connected to the downstream end of the flow path 33a. The direction of water W ejection from the spray nozzle 21 is downward in the vertical direction. A nipple 75 is connected to the upstream end of the flow path 33a for connecting the spray nozzle 21 and the water supply line 73.

[0028] The spray nozzle 21 is a spray nozzle capable of spraying water W supplied from a pressurizing pump 71 via a water supply line 73. The water supply line 73 is provided with a solenoid valve 27 whose opening and closing is controlled by a control device 90. In the following description, the fluid sprayed from the spray nozzle 21 is water W, but the fluid sprayed from the spray nozzle 21 may be a liquid other than water W, or a gas such as air.

[0029] (Pressing part 35) In some embodiments of the removal section 23, the pressing section 35 is for holding down the workpiece 3 when water spray is applied, and in some embodiments, for example, it includes an upper member (upper plate 36) and a lower member (lower plate 37), which are two plate-shaped members stacked vertically. The upper plate 36 is an annular member with a through hole 36a formed in the center that penetrates in the thickness direction (vertical direction). Similarly, the lower plate 37 is an annular member with a through hole 37a formed in the center that penetrates in the thickness direction (vertical direction). The water W sprayed from the spray nozzle 21 passes through the through holes 36a and 37a and is sprayed onto the workpiece 3.

[0030] In some embodiments of the removal section 23, the lower plate 37 is provided with a plurality of protrusions 38 that project downward from the lower surface 37d of the lower plate 37.

[0031] In some embodiments of the removal section 23, the upper plate 36 and the lower plate 37 are fixed by sandwiching the lower end of the flexible section 40, which will be described later, between the lower surface 36d of the upper plate 36 and the upper surface 37u of the lower plate 37. The outer edges 36b of the upper plate 36 and 37b of the lower plate 37, when viewed from the vertical direction, are circular, but may also be elliptical. Furthermore, the outer edges 36b of the upper plate 36 and 37b of the lower plate 37, when viewed from the vertical direction, may also be polygonal or other shapes other than circular or elliptical. Furthermore, the radial dimension of the outer edge 36b of the upper plate 36 and the radial dimension of the outer edge 37b of the lower plate 37 may be the same or different. The shape of the outer edge 36b of the upper plate 36 and the shape of the outer edge 37b of the lower plate 37 may be the same or different, including the fact that they are similar shapes with different radial dimensions.

[0032] (Flexible part 40) In some embodiments of the removal section 23, as described above, the flexible section 40 is a member that connects the pressing section 35 to the base 31 such that the distance between the pressing section 35 and the base 31, i.e., the vertical distance between the pressing section 35 and the base 31, is variable. In some embodiments of the removal section 23, the flexible section 40 is arranged radially with spacing in the circumferential direction centered on the position of the spray nozzle 21 when the removal section 23 is viewed from above. In some embodiments of the removal section 23, the flexible section 40 is a plurality of deformable strip-shaped members 41 that connect the pressing section 35 to the base 31, and is arranged in parallel along a concentric circle that is concentric with the circumscribed circle 59 of the swing restricting section 50, as will be described later, centered on the position of the spray nozzle 21. In some embodiments of the removal section 23, the retaining section 35 is suspended from the base 31 by the flexible section 40. That is, the retaining section 35 is supported so as to be displaceable relative to the base 31 via the flexible section 40. The flexible section 40 will be explained in more detail later.

[0033] (Shake-regulating section 50) In some embodiments of the removal unit 23, as described above, the sway restricting unit 50 is attached to the base 31 and is for suppressing the swaying of the pressing unit 35 relative to the base 31. That is, as will be described later, when the base 31 is moved by the arm 25a of the moving device 25 in order to move the removal unit 23, the pressing unit 35, which is suspended from the base 31 by the flexible unit 40, will sway relative to the base 31. Therefore, the sway restricting unit 50 is configured to suppress the swaying of the pressing unit 35 relative to the base 31.

[0034] In terms of its specific configuration, the vibration regulating section 50 has one or more disc-shaped members, which are regulating plates 55, positioned between the base 31 and the retaining section 35. In the removal section 23 according to one embodiment shown in Figures 2A to 2C, the vibration restricting section 50 has two disc-shaped restricting plates 55 that are spaced vertically apart between the base 31 and the retaining section 35. Of the two restricting plates 55 shown in Figures 2A to 2C, the restricting plate 55 on the lower vertical side, i.e., the one closest to the retaining section 35, is also referred to as the first restricting plate 51, and the restricting plate 55 on the upper vertical side is also referred to as the second restricting plate 52. Of the two regulating plates 55 shown in Figures 2A and 2C, the upper second regulating plate 52 is fixed to the lower surface 33d of the nozzle mounting block 33.

[0035] The two restricting plates 55 shown in Figures 2A to 2C are connected via a distance adjustment unit 60 that allows the distance between the first restricting plate 51 and the second restricting plate 52 to be changed. In other words, the first restricting plate 51 is fixed to the nozzle mounting block 33 via the distance adjustment unit 60. In the example shown in Figures 2A to 2C, the distance adjustment unit 60 includes a plurality of bolts 61 arranged at intervals in the circumferential direction of the regulating plate 55, that is, in the circumferential direction of the spray direction of the water W of the spray nozzle 21, a plurality of nuts 62 screwed onto each of these bolts 61, and washers (not shown). In the following description, in the description of each part of the removal section 23 according to several embodiments, "circumferential direction" and "radial direction" refer to the circumferential direction and radial direction centered on the central axis AXs, respectively, unless otherwise specified.

[0036] For example, in the example shown in Figures 2A to 2C, the first restrictor plate 51 is fixed to the bolt 61 by inserting a bolt 61 from below upward through a plurality of bolt holes (not shown) formed in the first restrictor plate 51, and sandwiching the bolt 61 head between the first nut 63 of the plurality of nuts 62. For example, in the example shown in Figures 2A to 2C, the second restrictor plate 52 is fixed to the bolt 61 by a bolt 61 inserted through a plurality of bolt holes (not shown) formed in the second restrictor plate 52, and by a second nut 64 and a third nut 65 that are screwed onto the bolt 61 with the second restrictor plate 52 in between. In the example shown in Figures 2A to 2C, the vertical relative position of the first restricting plate 51 with respect to the second restricting plate 52, that is, the vertical relative position of the base 31 with respect to the first restricting plate 51, can be changed by changing the vertical relative position of the second restricting plate 52 with respect to the bolt 61.

[0037] In the example shown in Figures 2A to 2C, the first regulating plate 51 and the second regulating plate 52 have an elliptical outer edge 50a when viewed from the vertical direction. However, the first regulating plate 51 and the second regulating plate 52 may also have a circular outer edge 50a when viewed from the vertical direction. In the example shown in Figures 2A to 2C, the first regulating plate 51 and the second regulating plate 52 have the same shape and size of their outer edges 50a when viewed from the vertical direction, but they may be different. In the example shown in Figures 2A to 2C, the shape and size of the outer edge 50a of the first restricting plate 51 and the second restricting plate 52 are defined such that the outer edge 50a and the flexible portion 40 can move toward and away from each other. The fact that the first restricting plate 51 and the second restricting plate 52 and the flexible portion 40 can move toward and away from each other will be explained further later.

[0038] In the removal section 23 of another embodiment shown in Figure 3, the vibration restricting section 50 has a single restricting plate 55 positioned between the base 31 and the pressing section 35.

[0039] In the example shown in Figure 3, the regulatory plate 55 has an elliptical outer edge when viewed from the vertical. Alternatively, the regulatory plate 55 may have a circular outer edge when viewed from the vertical. In the example shown in Figure 3, unless otherwise specified, the regulatory plate 55 has the same configuration as the first regulatory plate 51 shown in Figures 2A to 2C.

[0040] In the example shown in Figure 3, the vibration regulating unit 50 has a distance adjustment unit 60, similar to the vibration regulating unit 50 shown in Figures 2A to 2C. In the example shown in Figure 3, the vibration regulating unit 50 includes a mounting member 66 for fixing to the nozzle mounting block 33 via the distance adjustment unit 60. The mounting member 66 is a member having a plurality of bolt holes (not shown) through which bolts 61 are inserted, and is fixed to the lower surface 33d of the nozzle mounting block 33.

[0041] For example, in the example shown in Figure 3, the restrictor plate 55 is fixed to the bolt 61 by inserting a bolt 61 from below upward through a plurality of bolt holes (not shown) formed in the restrictor plate 55, and sandwiching the head of the bolt 61 between the first nut 63 of the plurality of nuts 62. For example, in the example shown in Figure 3, the mounting member 66 is fixed to the bolt 61 by a bolt 61 inserted through a plurality of bolt holes (not shown) formed in the mounting member 66, and by a second nut 64 and a third nut 65 that are screwed onto the bolt 61 with the mounting member 66 in between. In the example shown in Figure 3, the vertical relative position of the regulating plate 55 with respect to the mounting member 66, that is, the vertical relative position of the base 31 and the regulating plate 55, can be changed by changing the vertical relative position of the mounting member 66 and the bolt 61.

[0042] In the example shown in Figure 3, the regulating plate 55 has an elliptical outer edge 50a when viewed from the vertical direction. Alternatively, the regulating plate 55 may have a circular outer edge 50a when viewed from the vertical direction. In the example shown in Figure 3, similar to the first restricting plate 51 and the second restricting plate 52, the shape and size of the outer edge 50a of the restricting plate 55 are defined so that the outer edge 50a and the flexible portion 40 can move toward and away from each other. In the example shown in Figure 3, the shape and size of the mounting member 66 are defined so that it does not come into contact with the flexible portion 40 during the operation of the workpiece processing device 1, which will be described later.

[0043] The first restricting plate 51 shown in Figures 2A to 2C, and the restricting plate 55 shown in Figure 3, have through holes 56 that are larger in the radial direction than the outer edge of the pressing portion 35, for example, the outer edge 36b of the upper plate 36 or the outer edge 37b of the lower plate 37 (see Figures 2B and 3). The through holes 56 are provided for the purpose of reducing the possibility of interference with the pressing portion 35, as will be described later, and for the purpose of allowing water W sprayed from the spray nozzle 21 to pass through.

[0044] The second restricting plate 52 shown in Figures 2A to 2C may have at least one weight-reducing hole 57 (see Figure 2A). For example, in the example shown in Figure 2A, the second restricting plate 52 has multiple weight-reducing holes 57 in a region radially outward from the nozzle mounting block 33, centered on the central axis AXs. The mounting member 66 shown in Figure 3 may have at least one weight-reducing hole 57, similar to the one formed in the second restricting plate 52 shown in Figure 2A.

[0045] As shown in Figure 4B, when the removal unit 23 is brought closer to the workpiece 3 by the moving device 25, the pressing unit 35 comes into contact with the workpiece 3 from above. As the removal unit 23 is brought even closer to the workpiece 3, the flexible unit 40 bends, causing the pressing unit 35 to press the workpiece 3 downwards. At this time, at least a portion of the pressing unit 35 may bite into the workpiece 3.

[0046] (Control device 90) In the workpiece processing apparatus 1 according to this embodiment, as described above, the control device 90 is a control device for controlling the entire workpiece processing apparatus 1. The control device 90 is composed of, for example, a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), and a computer-readable storage medium. A series of processes for realizing various functions are stored in the storage medium in the form of a program, for example, and the CPU reads this program into the RAM and executes information processing and calculations to realize various functions. The program may be pre-installed in ROM or other storage media, provided in a state where it is stored in a computer-readable storage medium, or distributed via wired or wireless communication means. Computer-readable storage media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memory, etc. The control device 90 includes, as functional blocks of the control device 90, an abnormal part information acquisition unit 90a capable of acquiring information regarding the size of at least the abnormal part 5, and a calculation unit 90b that calculates the water injection conditions based on the size information acquired by the abnormal part information acquisition unit 90a. The details of the control system 90 will be explained later.

[0047] (Regarding the operation of the workpiece processing device 1) The operation of the workpiece processing device 1 will be described below. As described above, the workpieces 3, sliced ​​to a specified thickness, are supplied to the upstream side (right side in Figure 1) of the workpiece conveying belt 11 of the workpiece processing device 1, and move downstream in the conveying direction along with the movement of the workpiece conveying belt 11. At this time, even if the workpieces 3 overlap each other, the leveling machine 15 eliminates the overlap between the workpieces 3. Therefore, the imaging device 91 can image the workpieces 3 without any overlap between them.

[0048] Image data obtained by imaging the workpiece 3 on the workpiece transport belt 11 with the imaging device 91 is transmitted to the control device 90. Then, as described above, the image data is linked to information about the amount of movement of the workpiece transport belt 11 from the encoder 93 (for example, the number of output pulses of the encoder 93 at the time of imaging) and stored in a storage device (not shown) of the control device 90.

[0049] The abnormal portion information acquisition unit 90a of the control device 90 detects the abnormal portion 5 by processing the image data from the imaging device 91. The abnormal portion information acquisition unit 90a then stores information regarding the position and size of the detected abnormal portion 5 in a storage device (not shown). The abnormal portion information acquisition unit 90a stores the position of the detected abnormal portion 5 in the width direction of the workpiece transport belt 11 (the depth direction of the paper in Figures 1 and 4A to 4D) in the storage device (not shown), and stores the position in the transport direction of the workpiece transport belt 11 in the storage device (not shown), for example, linked to the count of the output pulse of the encoder 93 at the time of imaging. In other words, the abnormal part information acquisition unit 90a can acquire information regarding the location and size of the abnormal part 5.

[0050] Next, the control device 90 calculates the target movement position of the removal unit 23. Of the target movement positions, the position in the width direction of the workpiece conveying belt 11 is the position of the abnormal part 5 in that width direction. Of the target movement positions, the position in the conveying direction of the workpiece conveying belt 11 is the position of the abnormal part 5 in that conveying direction, which changes moment by moment as the workpiece conveying belt 11 moves. Of the target movement positions, the position in the height direction is the height position of the spray nozzle 21, which is determined by the distance between the workpiece 3 and the spray nozzle 21 in the water W spraying conditions calculated as follows, for example.

[0051] Furthermore, the calculation unit 90b of the control device 90 calculates the water W injection conditions based on the information regarding the size of the abnormal part 5 acquired by the abnormal part information acquisition unit 90a. Here, the water W injection conditions are, for example, the water W injection time and the distance between the workpiece 3 and the spray nozzle 21.

[0052] Next, the control device 90 controls each part to move the removal unit 23 to the target position. In other words, for example, as shown in Figure 4A, when a workpiece 3 having an abnormal part 5 is transported, the control device 90 moves the removal unit 23 to the target position as shown in Figure 4B.

[0053] More specifically, the control device 90 controls the moving device 25 to move the removal unit 23 horizontally so that the spray nozzle 21, which is located horizontally offset from the abnormal part 5 and sufficiently far vertically above the workpiece 3, is positioned vertically above the abnormal part 5. This operation of the moving device 25 to move the removal unit 23 is referred to as the first operation.

[0054] After the first operation, the control device 90 controls the moving device 25 to move the removal unit 23 downstream in the transport direction in accordance with the movement of the workpiece transport belt 11, while maintaining the spray nozzle 21 positioned vertically above the abnormal part 5. This operation of the moving device 25 to move the removal unit 23 is referred to as the second operation.

[0055] Furthermore, comparing the first and second operations, the movement speed of the removal unit 23 in the first operation is greater than the movement speed of the removal unit 23 in the second operation. Therefore, when transitioning from the first operation to the second operation, the movement speed of the removal unit 23 decelerates with a relatively large acceleration.

[0056] Next, while the second operation of the moving device 25 continues, the control device 90 controls the moving device 25 to move the removal unit 23 downward so that the height position of the spray nozzle 21 becomes the height position of the spray nozzle 21 determined by the distance between the workpiece 3 and the spray nozzle 21, as described above in the water W spraying conditions. This operation of the moving device 25 to move the removal unit 23 downward is referred to as the third operation.

[0057] As a result, the removal unit 23 presses the workpiece 3 downward with the pressing unit 35, while maintaining the spray nozzle 21 positioned above the abnormal portion 5, and moves downstream in the conveying direction in accordance with the movement of the workpiece conveying belt 11 in the conveying direction.

[0058] Then, while the second operation of the mobile device 25 continues, the control device 90 controls each part to spray water W from the spray nozzle 21 to pulverize and remove the abnormal part 5. In other words, the control device 90 controls the solenoid valve 27 to open for a specified time so that water W is sprayed for the amount of time specified in the water W spraying conditions described above. This operation of spraying water W for the amount of time specified above is called the fourth operation. As a result, water W is sprayed from the spray nozzle 21 as shown in Figure 4C, and the abnormal part 5 is pulverized by the sprayed water W and carried through the mesh of the workpiece conveying belt 11 to the drain receiver 17 along with the water W. In this way, the abnormal part 5 is removed from the workpiece 3. The abnormal portion 5, which is carried to the drain receiver 17, flows downward along with the water W as indicated by arrow a, as shown in Figure 4D, and is discharged to the outside of the workpiece processing device 1 via the discharge pipe 19 (Figure 1).

[0059] Subsequently, the control device 90 controls the moving device 25 to move the removal unit 23 upward so that the removal unit 23 is retracted to a position sufficiently far above the workpiece 3 in the vertical direction. This operation of the moving device 25 to move the removal unit 23 upward is referred to as the fifth operation. Figure 4D shows the state after the fifth operation has been performed. Subsequently, the control device 90 controls each part to repeat the first to fifth operations described above.

[0060] (Regarding the flexible section 40 and the vibration-regulating section 50) The flexible section 40 and the vibration-regulating section 50 will be explained further below. As described above, in some embodiments of the removal unit 23, the base 31 and the pressing unit 35 are connected via a plurality of flexible units 40. The plurality of flexible units 40 are arranged radially with spacing in the circumferential direction, centered on the position of the spray nozzle 21 (centered on the central axis AXs) when the removal unit 23 is viewed from above. In some embodiments of the removal unit 23, the number of flexible units 40 is four, but at least two or more are sufficient.

[0061] In some embodiments of the removal section 23, the flexible section 40 may be a spring member having elastic force capable of applying a biasing force to the pressing section 35 for holding down the workpiece 3. The flexible section 40 may be an elastic leaf spring made of metal, resin, rubber, or a composite material thereof. Alternatively, the flexible portion 40 may be a wire or strip-shaped member made of metal, resin, rubber, natural fibers, or chemical fibers, etc., that does not have the elastic force to impart a biasing force to the pressing portion 35 for holding down the workpiece 3, or it may be a composite material containing these members.

[0062] In some embodiments of the removal section 23, by arranging multiple flexible sections 40 as described above, the relative vertical position between the base 31 and the retaining section 35 can be changed, as can the relative horizontal position.

[0063] Figure 5 shows a state in which a workpiece 3, which has different thicknesses in different locations, is being pressed downward by the pressing part 35. For example, if workpiece 3 is a bulb-shaped object like a potato, the thickness of the sliced ​​workpiece 3, especially the slices taken from the ends of the potato, will vary depending on the location, as shown in Figure 5.

[0064] In some embodiments of the removal section 23, as described above, the relative orientation of the base 31 and the pressing section 35, that is, the inclination of the pressing section 35 relative to the base 31, can be changed by arranging multiple flexible sections 40. Therefore, it is permissible for the vertical position of the projections 38 provided on the pressing section 35 to differ for each projection 38. As shown in Figure 5, even if the thickness of the workpiece 3 differs in different places, the workpiece 3 can be pressed downward by the projections 38 in accordance with the shape of the workpiece 3. Furthermore, when the projection 38 presses the workpiece 3 downward, the projection 38 may, at least a portion of it, bite into the workpiece 3 due to the weight of the pressing portion 35 or the elastic force between the pressing portion 35 and the flexible portion 40.

[0065] At least one projection 38 is required, but it is preferable to have multiple projections spaced apart from each other.

[0066] Figure 6 is a schematic diagram showing the cross-section taken along the line VI-VI in Figure 2B. Figure 7 is a diagram illustrating the relationship between the flexible part 40 and the vibration restricting part 50, depending on the vertical position of the retaining part 35. While Figures 6 and 7 illustrate the relationship between the flexible section 40 and the first restricting plate 51, the same applies to the relationship between the flexible section 40 and the second restricting plate 52, and the relationship between the flexible section 40 and the restricting plate 55 shown in Figure 3.

[0067] In some embodiments of the removal section 23, the inner surface 46 of the flexible section 40 has a facing region 47 that faces the sway restricting section 50 in the radial direction. Here, the facing region 47 is the region of the inner surface 46 of the flexible section 40 that comes into contact with the outer edge 50a when the inner surface 46 comes into contact with the outer edge 50a of the first restricting plate 51, as will be described later. In some embodiments of the removal section 23, when the pressing section 35 is not in contact with the workpiece 3, the weight of the pressing section 35 causes the flexible section 40 to be pulled downward and deformed, so that the opposing region 47 comes into contact with the outer edge 50a. At this time, the flexible section 40 is represented by a solid line in Figure 6 and by the diagram to the left of the central axis AXs in Figure 7.

[0068] In some embodiments of the removal section 23, when the pressing section 35 contacts the workpiece 3 and approaches the base 31, the flexible section 40 bends so as to bulge radially outward, causing the opposing region 47 to move radially outward from the outer edge 50a. At this time, the flexible section 40 is represented by a dashed line in Figure 6 and in Figure 7 as shown to the right of the central axis AXs.

[0069] In the removal section 23 according to several embodiments described above, the opposing region 47 of the flexible section 40 is capable of moving toward and away from the outer edge 50a. The vibration restricting section 50 is configured to restrict the minimum radial distance between the central axis AXs and the opposing region 47 by contacting the opposing region 47 when the pressing section 35 is not in contact with the workpiece 3.

[0070] During the operation of the workpiece processing device 1, as described above, when transitioning from the first operation to the second operation, the movement speed of the removal unit 23 decelerates with a relatively large acceleration. As a result, the pressing unit 35, which is displaceably supported relative to the base 31 via the flexible unit 40, swings relative to the base 31 when transitioning from the first operation to the second operation. If the third operation is performed while this swing of the pressing unit 35 has not subsided, the pressing unit 35 will press the workpiece 3 with the pressing unit 35 horizontally shifted relative to the base 31. Therefore, it is desirable that the swing of the pressing unit 35 relative to the base 31 when transitioning from the first operation to the second operation subsides before the pressing unit 35 contacts the workpiece 3. For this reason, it is desirable that the swing of the pressing unit 35 relative to the base 31 when transitioning from the first operation to the second operation subsides in a short time.

[0071] According to the removal section 23 in some embodiments, the oscillation restricting section 50 is configured to restrict the minimum radial distance between the central axis AXs and the opposing region 47, as described above. Therefore, when the base 31 is moved and then decelerated with a relatively large acceleration, the oscillation of the pressing section 35 relative to the base 31 converges in a relatively short time. This shortens the time from when the base is decelerated with a relatively large acceleration until the pressing section 35 presses the workpiece 3, thus shortening the time from when the base 31 starts moving until the pressing section 35 presses the workpiece 3. In other words, the workpiece 3 can be pressed in a relatively short time.

[0072] In some embodiments of the removal section 23, the flexible section 40 may be a plurality of strip-shaped members 41 that connect the retaining section 35 to the base 31. The plurality of strip-shaped members 41 may be arranged in parallel along concentric circles that are concentric with the circumscribed circle 59 of the sway restricting section 50, that is, circles centered on the central axis AXs. This allows the pressing portion 35 to be connected to the base 31 in a relatively simple configuration so that the distance between the pressing portion 35 and the base 31 in the direction of water W spray from the spray nozzle 21 is variable.

[0073] In some embodiments of the removal section 23, the vibration restricting section 50 has a restricting plate 55 which is one or more discs positioned between the base 31 and the pressing section 35. This allows the vibration regulating unit 50 to have a relatively simple configuration.

[0074] In some embodiments of the removal unit 23, as shown in Figures 2A to 2C, the vibration restricting unit 50 has a first restricting plate 51 and a second restricting plate 52, which are two discs spaced apart in the direction of water W injection between the base 31 and the pressing unit 35. This reduces the time required for the vibration of the retaining portion 35 relative to the base 31 to subside.

[0075] (Regarding other matters) In several embodiments of the removal section 23, namely the removal section 23 according to one embodiment shown in Figures 2A to 2C, and the removal section 23 according to another embodiment shown in Figure 3, the outer edge 50a of the regulating plate 55 is a curved surface having a shape that appears in the cross section along the vertical direction at least in the portion that contacts the opposing region 47 of the flexible section 40, and is convex radially outward (see Figure 7). That is, the corners of the outer edge 50a should be rounded at least in the portion that contacts the opposing region 47 of the flexible section 40, in order to prevent damage to the opposing region 47 when it comes into contact with the opposing region 47. This makes the opposing region 47 of the flexible part 40 less susceptible to damage.

[0076] As described above, the first regulating plate 51 shown in Figures 2A to 2C, and the regulating plate 55 shown in Figure 3, have through holes 56 whose radial dimension is larger than the outer edge of the pressing portion 35, for example, the outer edge 36b of the upper plate 36 (see Figures 2B and 3). For example, if the radial dimension of the outer edge 37b of the lower plate 37 is larger than the radial dimension of the outer edge 36b of the upper plate 36, then the radial dimension of the through hole 56 should be larger than the radial dimension of the outer edge 37b of the lower plate 37. This reduces the possibility of interference between the pressing portion 35 and the first restricting plate 51 shown in Figures 2A to 2C, or the restricting plate 55 shown in Figure 3, when the pressing portion 35 presses down on the workpiece 3, as shown in Figure 5.

[0077] Furthermore, the inner edge 56a of the through hole 56 is a curved surface having a shape that, when viewed in a cross-section along the vertical direction, is convex inward in the radial direction (see Figure 7). In other words, it is preferable that the corners of the inner edge 56a of the through hole 56 are rounded. As a result, even if, for example as shown in Figure 5, when the pressing portion 35 presses against the workpiece 3, a part of the pressing portion 35 enters the through hole 56 and the pressing portion 35 comes into contact with the inner edge 56a of the through hole 56, the possibility of the pressing portion 35 getting caught in the through hole 56 or otherwise resulting in an undesirable position of the pressing portion 35 pressing against the workpiece 3 can be reduced.

[0078] In some embodiments of the removal section 23, the value L1 / L obtained by dividing the extended length L1 of the flexible section 40 that has traveled from the base 31 to the first restricting plate 51 shown in Figures 2A to 2C, or the restricting plate 55 shown in Figure 3, which is the restricting plate 55 closest to the retaining section 35, by the extended length L of the flexible section 40 that has traveled from the base 31 to the retaining section 35, is preferably greater than 0.5. Furthermore, it is even better if the above value L1 / L exceeds 0.6. As a result, the extended length (L-L1) of the flexible portion 40, which traces from the first restricting plate 51 shown in Figures 2A to 2C, or the restricting plate 55 shown in Figure 3, to the retaining portion 35, becomes relatively short, thus further reducing the time required for the vibration of the retaining portion 35 relative to the base 31 to subside.

[0079] This disclosure is not limited to the embodiments described above, but also includes modified forms of the embodiments described above, as well as forms that combine these forms as appropriate. For example, although the workpiece 3 in the embodiment described above was a potato, it is not limited to potatoes and may be other root vegetables such as pumpkins, radishes, sweet potatoes, or yams, or it may be fruits and vegetables other than root vegetables, or foods other than fruits and vegetables, or materials in the process of being processed into such foods.

[0080] Figure 8 is a diagram illustrating a modified example of the flexible section 40. In Figure 8, components similar to those in the removal section 23 according to some of the embodiments described above are denoted by the same reference numerals, and detailed explanations are omitted. As shown in Figure 8, the flexible portion 40 may be, for example, a bellows-shaped member 42 that extends around the entire circumference in the circumferential direction, with a larger diameter in the region near the vertical center than in both ends in the vertical direction.

[0081] Figures 9A to 9D are diagrams illustrating modified examples of the regulating plate 55, and are views from the vertical direction. In Figures 9A to 9D, components similar to those in the regulating plate 55 according to some of the embodiments described above are denoted by the same reference numerals, and detailed explanations are omitted. As shown in Figure 9A, the regulating plate 55 may be a member 55A that has a radially outer end face 55b that can move toward and away from the opposing region 47 of the flexible portion 40, and extends radially around the central axis AXs. As shown in Figure 9B, the regulating plate 55 may be a member 55B having radially outer end faces 55b that can move toward and away from the opposing region 47 of the flexible portion 40, and an outer edge 50b formed by a straight line connecting the ends of adjacent end faces 55b in the circumferential direction when viewed from the vertical direction.

[0082] As shown in Figure 9C, the regulating plate 55 may be a member 55C that is located radially inward from its outer edge 50c and has a radially outward end face 55b that can move toward and away from the opposing region 47 of the flexible portion 40.

[0083] As shown in Figure 9D, the regulating plate 55 may be a member 55D having a through hole 55d that penetrates vertically, and a part of the inner edge of the through hole 55d is an end face 55e that can move toward and away from the opposing region 47 of the flexible portion 40.

[0084] Members 55A to 55D in Figures 9A to 9D have through-holes 55f through which water W sprayed from the spray nozzle 21 can pass. In Figures 9A to 9D, members 55A to 55D may have through-holes 56 formed in them, rather than through-holes 55f, according to some of the embodiments described above. Water W sprayed from the spray nozzle 21 can pass through these through-holes 56.

[0085] The contents described in each of the above embodiments can be understood, for example, as follows: (1) A workpiece processing apparatus (removal unit 23) according to at least one embodiment of the present disclosure comprises a base 31, a spray nozzle 21 attached to the base 31 for spraying a fluid (water W) onto a workpiece 3, a pressing unit 35 for holding down the workpiece 3, a flexible unit 40 connecting the pressing unit 35 to the base 31 such that the distance between the pressing unit 35 and the base 31 in the direction (vertical direction) of fluid (water W) sprayed by the spray nozzle 21 is variable, and a vibration restricting unit 50 attached to the base 31 for suppressing vibration of the pressing unit 35 relative to the base 31. The flexible unit 40 is arranged along a concentric circle that is concentric with the circumscribed circle 59 of the vibration restricting unit 50, so as to surround the vibration restricting unit 50. The inner surface 46 of the flexible unit 40 has a facing region 47 that faces the vibration restricting unit 50 in the radial direction of the concentric circle. The vibration restricting unit 50 is configured to restrict the minimum radial distance between the center of the concentric circle and the facing region 47.

[0086] According to the configuration of (1) above, the oscillation restricting section 50 is configured to restrict the minimum radial distance between the center of the concentric circles (central axis AXs) and the opposing region 47. As a result, when the base 31 is moved and then decelerated with a relatively large acceleration, the oscillation of the pressing section 35 relative to the base 31 converges in a relatively short time. This shortens the time from when the base is decelerated with a relatively large acceleration until the pressing section 35 presses the workpiece 3, thus shortening the time from when the base 31 starts moving until the pressing section 35 presses the workpiece 3. In other words, the workpiece 3 can be pressed in a relatively short time.

[0087] (2) In some embodiments, in the configuration of (1) above, the flexible portion 40 may be a plurality of strip-shaped members 41 that connect the pressing portion 35 to the base 31. The plurality of strip-shaped members 41 may be arranged in parallel along concentric circles.

[0088] According to the configuration of (2) above, the pressing portion 35 can be connected to the base portion in a relatively simple configuration so that the distance between the pressing portion 35 and the base 31 in the direction of fluid (water W) spraying by the spray nozzle 21 is variable.

[0089] (3) In some embodiments, in the configuration of (2) above, the vibration restricting part 50 may be one or more discs (restricting plates 55) placed between the base 31 and the pressing part 35.

[0090] According to the configuration described in (3) above, the vibration regulating unit 50 can be made into a relatively simple configuration.

[0091] (4) In some embodiments, in the configuration of (3) above, the one or more discs (regulating plates 55) may be two discs (first regulating plate 51, second regulating plate 52) that are spaced apart between the base 31 and the retaining portion 35 in the direction of fluid (water W) injection (vertical direction).

[0092] According to the configuration described in (4) above, the time required for the vibration of the retaining portion 35 relative to the base 31 to subside can be shortened.

[0093] (5) In some embodiments, the configuration of (4) above may be provided with a distance adjustment unit 60 that can change the distance between the two discs (first regulating plate 51, second regulating plate 52).

[0094] According to the configuration in (5) above, it becomes easier to set the distance between the two discs (first restricting plate 51, second restricting plate 52) to a distance that can effectively reduce the vibration of the retaining portion 35 relative to the base 31.

[0095] (6) In some embodiments, in any of the configurations (3) to (5) above, the opposing region 47 of the flexible portion 40 may be able to move toward and away from the outer edge 50a of one or more discs (regulating plates 55).

[0096] According to the configuration described in (6) above, the vibration of the retaining portion 35 relative to the base 31 can be suppressed with a relatively simple configuration.

[0097] (7) In some embodiments, in any of the configurations (3) to (6) above, the outer edge 50a of the disc (regulating plate 55) is preferably a curved surface having a shape that is convex radially outward in the cross section along the direction of injection of the fluid (water W) at least in the portion that contacts the opposing region 47 of the flexible portion 40.

[0098] According to the configuration described in (7) above, the opposing region 47 of the flexible part 40 becomes less susceptible to damage.

[0099] (8) In some embodiments, in any of the configurations (3) to (7) above, at least one of the one or more discs (regulating plates 55) (the second regulating plate 52) may have at least one weight-reducing hole 57.

[0100] According to the configuration described in (8) above, the disc (regulating plate 55) can be made lighter.

[0101] (9) In some embodiments, in any of the configurations (3) to (8) above, the disc (regulating plate 55) closest to the pressing portion 35 among the one or more discs (regulating plates 55) may have a through hole 56 that is larger in the radial direction than the outer edge of the pressing portion 35 (the outer edge 36b of the upper plate 36 and the outer edge 37b of the lower plate 37).

[0102] According to the configuration in (9) above, when the pressing portion 35 presses the workpiece 3, the possibility of interference between the pressing portion 35 and the disc (regulating plate 55) closest to the pressing portion 35 can be reduced.

[0103] (10) In some embodiments, in the configuration of (9) above, the inner edge 56a of the through hole 56 is a curved surface having a shape that is convex radially inward when viewed in cross-section along the direction of injection of the fluid (water W) (vertical direction).

[0104] According to the configuration of (10) above, even if the pressing portion 35 comes into contact with the inner edge 56a of the through hole 56 when the pressing portion 35 presses the workpiece 3, the possibility that the pressing portion 35 will be in an undesirable position when pressing the workpiece 3, such as by getting caught in the through hole 56, can be reduced.

[0105] (11) In some embodiments, in any of the configurations (1) to (10) above, the vibration restricting section 50 may be one or more discs (restricting plates 55) placed between the base 31 and the retaining section 35. The value L1 / L obtained by dividing the extended length L1 of the flexible section 40 from the base 31 to the disc (restricting plate 55) closest to the retaining section 35 among the one or more discs (restricting plates 55) is the extended length L of the flexible section 40 from the base 31 to the retaining section 35 should be greater than 0.5.

[0106] According to the configuration described in (11) above, the extended length (L-L1) of the flexible part 40, from the disc (regulating plate 55) closest to the pressing part 35 to the pressing part 35, becomes relatively short, thus further reducing the time required for the vibration of the pressing part 35 relative to the base 31 to subside. [Explanation of Symbols]

[0107] 1. Workpiece Processing Device 3 Work 23 Removal section 31 Base 35 Pressing part 40 Flexible section 50 Shaking Control Section 50a Outer edge 51 First Regulatory Board 52 Second Regulatory Board 55 Restriction board 59 Circumscribed circle 60 Distance adjustment section

Claims

1. Bass and, A spray nozzle, which is attached to the base and for injecting fluid onto the workpiece, A pressing portion for holding the workpiece, A flexible part is provided to connect the pressing part to the base such that the distance between the pressing part and the base is variable in the direction of fluid ejection by the spray nozzle, A vibration restricting part is attached to the base and is used to suppress the vibration of the pressing part relative to the base, Equipped with, The flexible portion is arranged along concentric circles that are concentric with the circumscribed circle of the vibration restricting portion, so as to surround the vibration restricting portion. The inner surface of the flexible portion has a region facing the oscillation restricting portion in the radial direction of the concentric circles, The oscillation restricting unit is configured to restrict the minimum radial distance between the center of the concentric circle and the opposing region. Workpiece processing equipment.

2. The flexible portion is a plurality of strip-shaped members that connect the pressing portion to the base. The plurality of strip-shaped members are arranged in parallel along the concentric circles. The workpiece processing apparatus according to claim 1.

3. The vibration restricting part is one or more discs positioned between the base and the pressing part. The workpiece processing apparatus according to claim 2.

4. The one or more discs are two discs positioned spaced apart between the base and the retaining portion in the direction of fluid injection. The workpiece processing apparatus according to claim 3.

5. The system includes a distance adjustment unit that can change the distance between the two disks. The workpiece processing apparatus according to claim 4.

6. The opposing region of the flexible portion is capable of moving toward and away from the outer edge of the one or more disks. A workpiece processing apparatus according to any one of claims 3 to 5.

7. The outer edge of the disc is a curved surface having a shape that, at least in the portion that contacts the opposing region of the flexible part, is convex outward in the radial direction when viewed in a cross-section along the injection direction of the fluid. A workpiece processing apparatus according to any one of claims 3 to 5.

8. At least one of the one or more discs has at least one weight-reducing hole. A workpiece processing apparatus according to any one of claims 3 to 5.

9. Of the one or more discs, the disc closest to the pressing portion has a through hole whose radial dimension is larger than that of the outer edge of the pressing portion. A workpiece processing apparatus according to any one of claims 3 to 5.

10. The inner edge of the through hole is a curved surface having a shape that, when viewed in cross-section along the direction of fluid injection, is convex toward the radially inward direction. The workpiece processing apparatus according to claim 9.

11. The vibration restricting portion is one or more discs positioned between the base and the pressing portion. The value L1 / L obtained by dividing the extended length L1 of the flexible portion, which is the length of the flexible portion that is traced from the base to the disc closest to the presser portion among the one or more discs, by the extended length L of the flexible portion that is traced from the base to the presser portion, is greater than 0.

5. A workpiece processing apparatus according to any one of claims 1 to 5.

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